mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 08:31:13 +00:00
Oleksandr Bezdieniezhnykh
ba20c2d195
AZ-273: lock-free SPSC ring buffer with pre-allocated slots, power-of- two capacity, opt-in SPSC guard, and EnqueueResult / FdrSpscViolationError on the public surface. make_fdr_client caches one client per producer_id and reads capacity from config.fdr.per_producer_capacity with fallback to queue_size. AZ-274: default_overrun_policy implements drop-oldest + retry + immediate marker emission, with prior-marker dropped_count folding via _evict_one so user-loss info is never lost across iterations. ERROR diagnostic is rate-limited to <=1/sec per producer. AZ-275: FakeFdrSink mirrors the FdrClient public surface and reuses the production default_overrun_policy via a duck-typed _PolicyAdapter. The test-only records/all_records_ever properties let component tests assert both in-buffer and lifetime state. tests/conftest.py registers the fake_fdr_sink fixture and an AST architecture lint forbids production imports of fakes. AZ-267: FdrLogBridgeHandler installs on the root logger via wire_log_bridge and forwards only WARN+ERROR records into the FDR with kind="log". Thread-local recursion guard short-circuits internal logging; saturated- queue diagnostics go to stderr every N=1000 drops. AZ-268: tests/contract/log_schema.py covers every row of the schema's Test Cases table plus the "DEBUG+INFO never reach FDR" invariant. pyproject.toml registers the contract pytest marker and the contract-mandated log_schema.py file-name. 251 unit + contract tests pass (48 new). Review verdict: PASS_WITH_WARNINGS; findings are NFR-perf deferrals + documented relaxation of AZ-274 AC-2 coalescing under permanently-stalled consumer. Co-authored-by: Cursor <cursoragent@cursor.com>
gps-denied-onboard
Companion onboard system for GPS-denied UAV navigation. Detailed design and architecture documentation lives under _docs/.
Quick links
- Problem statement:
_docs/00_problem/problem.md - Architecture:
_docs/02_document/architecture.md - Module layout (file ownership):
_docs/02_document/module-layout.md - Component docs:
_docs/02_document/components/ - Test specs:
_docs/02_document/tests/ - Deployment:
_docs/02_document/deployment/
Local development
python -m venv .venv && source .venv/bin/activate
pip install -e ".[dev]"
pytest -q tests/unit/
For full Tier-1 integration via Docker, see _docs/02_document/deployment/containerization.md.
Build matrix
Four binaries built from this codebase: airborne, research, operator-tooling, replay-cli. CMake BUILD_* flags gate component inclusion per binary — see cmake/build_options.cmake and _docs/02_document/module-layout.md § Build-Time Exclusion Map.