mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 10:31:13 +00:00
Oleksandr Bezdieniezhnykh
8e71f6c002
AZ-266: schema-compliant JSON logging entrypoint, level normalisation, handler-topology guard, format-error fallback (log_record_schema v1.0.0). AZ-269: env > YAML > defaults config loader, frozen Config dataclass, missing-var fail-fast with pointer to .env.example, component-block registry. AZ-277: GTSAM-backed SE3Utils (matrix<->SE3 + exp/log/adjoint) with strict orthogonality, dtype, and bottom-row contract enforcement. AZ-280: atomicwrites-backed write_atomic + independent verify + order-deterministic aggregate_hash; sidecar format strictness. pyproject.toml pins gtsam>=4.2,<5.0 and atomicwrites>=1.4,<2.0 (named-backend deps per the AZ-277 / AZ-280 contracts). 139 unit tests pass (44 new). Review verdict: PASS_WITH_WARNINGS; findings are perf-NFR + journald deferrals, no blocking issues. Co-authored-by: Cursor <cursoragent@cursor.com>
105 lines
2.4 KiB
TOML
105 lines
2.4 KiB
TOML
[build-system]
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requires = ["setuptools>=68", "wheel"]
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build-backend = "setuptools.build_meta"
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[project]
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name = "gps-denied-onboard"
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version = "0.1.0"
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description = "Companion onboard system for GPS-denied UAV navigation"
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readme = "README.md"
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requires-python = ">=3.10,<3.12"
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license = {text = "Proprietary"}
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authors = [{name = "AZAION onboard team"}]
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dependencies = [
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"numpy>=1.26,<2.0",
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"scipy>=1.11,<2.0",
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"pyyaml>=6.0",
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"pydantic>=2.5,<3.0",
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# OpenCV pin gate enforces >= 4.12.0 (D-CROSS-CVE-1)
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"opencv-python>=4.12.0",
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"psycopg[binary]>=3.1",
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"sqlalchemy>=2.0",
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"alembic>=1.13",
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"pymavlink>=2.4",
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"requests>=2.31",
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"structlog>=24.1",
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"click>=8.1",
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# SE(3) math backend for helpers.se3_utils + C1/C2.5/C3/C3.5/C4/C5/C8 consumers (AZ-264 / AZ-277).
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"gtsam>=4.2,<5.0",
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# Atomic-rename backend for helpers.sha256_sidecar (D-C10-3, AZ-280).
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"atomicwrites>=1.4,<2.0",
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]
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[project.optional-dependencies]
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dev = [
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"pytest>=7.4",
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"pytest-cov>=4.1",
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"pytest-asyncio>=0.23",
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"ruff>=0.4",
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"mypy>=1.8",
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"types-PyYAML",
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"types-requests",
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]
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inference = [
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"torch>=2.2",
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"torchvision>=0.17",
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"onnxruntime>=1.17",
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# tensorrt is installed out-of-band on Jetson — not a pip dep
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]
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indexing = [
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"faiss-cpu>=1.7",
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]
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[project.scripts]
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gps-denied-replay = "gps_denied_onboard.cli.replay:main"
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[tool.setuptools]
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package-dir = {"" = "src"}
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[tool.setuptools.packages.find]
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where = ["src"]
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include = ["gps_denied_onboard*"]
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[tool.pytest.ini_options]
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minversion = "7.0"
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testpaths = ["tests"]
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pythonpath = ["src"]
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addopts = [
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"--strict-markers",
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"-ra",
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]
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markers = [
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"tier2: tests that require Jetson hardware (auto-skipped on Tier-1)",
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"gpu: tests that require an NVIDIA GPU",
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"docker: tests that require Docker compose services",
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"ardupilot_sitl: tests that require ArduPilot SITL container",
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"slow: tests slower than ~5s",
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]
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[tool.coverage.run]
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source = ["src/gps_denied_onboard"]
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branch = true
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[tool.coverage.report]
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show_missing = true
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skip_covered = false
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[tool.ruff]
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line-length = 100
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target-version = "py310"
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src = ["src", "tests"]
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[tool.ruff.lint]
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select = ["E", "F", "W", "I", "B", "UP", "RUF"]
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ignore = ["E501"]
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[tool.mypy]
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python_version = "3.10"
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strict = true
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warn_unused_ignores = true
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warn_return_any = true
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ignore_missing_imports = true
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mypy_path = "src"
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packages = ["gps_denied_onboard"]
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