mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 08:31:13 +00:00
Oleksandr Bezdieniezhnykh
d1c1cd9ab4
Adds the production PostgresFilesystemStore implementing both protocols in a single class. Filesystem-backed JPEG I/O (atomic sidecar write, read-only mmap) + Postgres-backed metadata (spatial bbox, LRU, voting, upload bookkeeping). Wires composition via `from_config` classmethod. Key behaviors: - AC-3 strict reading: INSERT runs first inside an open transaction; duplicate-key collisions raise `TileMetadataError` BEFORE any byte is written, leaving the original file + sidecar byte-identical. Atomic sidecar write happens inside the same transaction; commit closes it. Comp-delete remains as a safety net for the rare commit-after-write failure path. - AC-2 content-hash gate runs before any I/O. - Construction performs an orphan-file reconciliation scan and emits an INFO `c6.store.construct` log with steady-state stats. Adds `c6.write` and `c6.write_failed` FDR record kinds (schema v1.1.0, forward-compatible) and a thin operator CLI at `c6_tile_cache.tools dump` for inspection. Dependencies: adds `psycopg-pool>=3.2,<4.0` for the connection pool used on the F3 read-hot path. Tests: 25 new tests for c6_tile_cache cover AC-1..AC-15 plus MmapTilePixelHandle + helper round-trips. Full Tier-2 unit suite passes (1215 passed, 8 skipped, 1 pre-existing unrelated failure `test_ac8_read_host_tuple_on_jetson` — missing `pynvml` on macOS, Jetson-only). 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.