mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 09:41:13 +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>
139 lines
4.1 KiB
TOML
139 lines
4.1 KiB
TOML
[build-system]
|
|
requires = ["setuptools>=68", "wheel"]
|
|
build-backend = "setuptools.build_meta"
|
|
|
|
[project]
|
|
name = "gps-denied-onboard"
|
|
version = "0.1.0"
|
|
description = "Companion onboard system for GPS-denied UAV navigation"
|
|
readme = "README.md"
|
|
requires-python = ">=3.10,<3.12"
|
|
license = {text = "Proprietary"}
|
|
authors = [{name = "AZAION onboard team"}]
|
|
|
|
dependencies = [
|
|
"numpy>=1.26,<2.0",
|
|
"scipy>=1.11,<2.0",
|
|
"pyyaml>=6.0",
|
|
"pydantic>=2.5,<3.0",
|
|
# OpenCV pin gate originally enforced >= 4.12.0 (D-CROSS-CVE-1). Held to
|
|
# 4.11.x while gtsam (4.2 on PyPI) only ships numpy-1.x wheels and
|
|
# opencv-python>=4.12 mandates numpy>=2. See
|
|
# _docs/_process_leftovers/<dated>_d_cross_cve_1_deferred.md — the gate
|
|
# will be restored to >=4.12.0 once a numpy-2-compatible gtsam wheel is
|
|
# available.
|
|
"opencv-python>=4.11.0.86,<4.12",
|
|
"psycopg[binary]>=3.1",
|
|
# AZ-305 / E-C6: `PostgresFilesystemStore` uses ConnectionPool to amortise
|
|
# pool startup across the read-heavy `read_tile_pixels` path. Pinned to the
|
|
# 3.x line in lockstep with `psycopg` itself.
|
|
"psycopg-pool>=3.2,<4.0",
|
|
"sqlalchemy>=2.0",
|
|
"alembic>=1.13",
|
|
"pymavlink>=2.4",
|
|
# iNav MSP2 wire decoder for C8 inbound (AZ-391). MSPy is request-response
|
|
# on a serial transport; AP uses pymavlink for the same role.
|
|
"yamspy>=0.3.3,<0.4",
|
|
"pyserial>=3.5",
|
|
"requests>=2.31",
|
|
"structlog>=24.1",
|
|
"click>=8.1",
|
|
# SE(3) math backend for helpers.se3_utils + C1/C2.5/C3/C3.5/C4/C5/C8 consumers (AZ-264 / AZ-277).
|
|
"gtsam>=4.2,<5.0",
|
|
# Atomic-rename backend for helpers.sha256_sidecar (D-C10-3, AZ-280).
|
|
"atomicwrites>=1.4,<2.0",
|
|
# WGS84 geodesy backend for helpers.wgs_converter (AZ-264 / AZ-279).
|
|
"pyproj>=3.6,<4.0",
|
|
# FDR wire format for fdr_client.records (E-CC-FDR-CLIENT / AZ-272).
|
|
"orjson>=3.9,<4.0",
|
|
# HTTPS client for C12 FlightsApiClient (AZ-489 / ADR-010). Picked over
|
|
# `requests` because httpx ships `MockTransport` natively, so the
|
|
# FlightsApi unit tests need no extra HTTP-mocking dep.
|
|
"httpx>=0.28,<1.0",
|
|
]
|
|
|
|
[project.optional-dependencies]
|
|
dev = [
|
|
"pytest>=7.4",
|
|
"pytest-cov>=4.1",
|
|
"pytest-asyncio>=0.23",
|
|
"ruff>=0.4",
|
|
"mypy>=1.8",
|
|
"types-PyYAML",
|
|
"types-requests",
|
|
]
|
|
inference = [
|
|
"torch>=2.2",
|
|
"torchvision>=0.17",
|
|
"onnxruntime>=1.17",
|
|
# tensorrt is installed out-of-band on Jetson — not a pip dep
|
|
]
|
|
# AZ-302: thermal telemetry backends used by C7's ThermalStatePublisher.
|
|
# Both are Jetson / NVIDIA-host-only and not import-required for Tier-1;
|
|
# the publisher selects whichever is importable at start() time and
|
|
# raises TelemetryUnavailableError if neither is present.
|
|
telemetry = [
|
|
"jetson-stats>=4.2",
|
|
"pynvml>=11.5",
|
|
]
|
|
indexing = [
|
|
"faiss-cpu>=1.7",
|
|
]
|
|
|
|
[project.scripts]
|
|
gps-denied-replay = "gps_denied_onboard.cli.replay:main"
|
|
|
|
[tool.setuptools]
|
|
package-dir = {"" = "src"}
|
|
|
|
[tool.setuptools.packages.find]
|
|
where = ["src"]
|
|
include = ["gps_denied_onboard*"]
|
|
|
|
[tool.pytest.ini_options]
|
|
minversion = "7.0"
|
|
testpaths = ["tests"]
|
|
pythonpath = ["src"]
|
|
# log_schema.py is the contract-mandated file name (AZ-245 AC-4); kept
|
|
# in python_files so the contract test is discovered alongside the
|
|
# standard `test_*.py` pattern.
|
|
python_files = ["test_*.py", "*_test.py", "log_schema.py"]
|
|
addopts = [
|
|
"--strict-markers",
|
|
"-ra",
|
|
]
|
|
markers = [
|
|
"tier2: tests that require Jetson hardware (auto-skipped on Tier-1)",
|
|
"gpu: tests that require an NVIDIA GPU",
|
|
"docker: tests that require Docker compose services",
|
|
"ardupilot_sitl: tests that require ArduPilot SITL container",
|
|
"slow: tests slower than ~5s",
|
|
"contract: contract-suite test (frozen public surfaces)",
|
|
]
|
|
|
|
[tool.coverage.run]
|
|
source = ["src/gps_denied_onboard"]
|
|
branch = true
|
|
|
|
[tool.coverage.report]
|
|
show_missing = true
|
|
skip_covered = false
|
|
|
|
[tool.ruff]
|
|
line-length = 100
|
|
target-version = "py310"
|
|
src = ["src", "tests"]
|
|
|
|
[tool.ruff.lint]
|
|
select = ["E", "F", "W", "I", "B", "UP", "RUF"]
|
|
ignore = ["E501"]
|
|
|
|
[tool.mypy]
|
|
python_version = "3.10"
|
|
strict = true
|
|
warn_unused_ignores = true
|
|
warn_return_any = true
|
|
ignore_missing_imports = true
|
|
mypy_path = "src"
|
|
packages = ["gps_denied_onboard"]
|