gps-denied-onboard/pyproject.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",
    # AZ-307 / E-C6: FreshnessGate uses an in-memory R-tree to look up
    # the sector classification for a (lat, lon) at every write_tile
    # call. `rtree` is the libspatialindex Python wrapper — small,
    # stable, sub-microsecond point-in-rect queries at the few-hundred-
    # sector scale operators ship per flight (NFR p99 ≤ 100 µs).
    "rtree>=1.0,<2.0",
    # Ed25519 keypair generation + detached signing for AZ-323 C10
    # ManifestBuilder + AZ-318 C11 per-flight signing key. Pinned here
    # because AZ-323 is the first concrete consumer; AZ-318 inherits
    # the pin when it lands. Major-version bound (<46) follows the
    # standard "two majors of compatibility" pattern other deps in
    # this file use.
    "cryptography>=43.0,<46.0",
    # AZ-306 / E-C6: production-default `DescriptorIndex` strategy.
    # `FaissDescriptorIndex` builds `IndexHNSWFlat` + `IndexIDMap2`,
    # serialises via `faiss.write_index`, and mmap-loads via
    # `faiss.read_index(..., IO_FLAG_MMAP | IO_FLAG_READ_ONLY)`.
    # Promoted from the legacy `[indexing]` extras to main deps because
    # the production airborne binary ALWAYS needs the descriptor index
    # (no "Tier-0 dev runtime can ship without faiss" path remains).
    # Major-version bound (<2.0) follows the same pattern as other
    # third-party deps in this file. Research fact #92 + arch tech-stack
    # both pin upstream FAISS via this PyPI distribution.
    "faiss-cpu>=1.7,<2.0",
    # AZ-325 / E-C10: `CacheProvisioner` acquires a fcntl-based file
    # lock at `cache_root/.c10.lock` to enforce CP-INV-4 (concurrent
    # `build_cache_artifacts` invocations are mutually exclusive on the
    # same cache root). `filelock` provides the cross-platform
    # acquisition primitive with timeout + auto-release on process
    # exit. Major-version bound (<4) follows the same pattern as other
    # third-party deps in this file.
    "filelock>=3.13,<4.0",
    # AZ-327 / E-C12: `CompanionBringup` opens an SSH session against the
    # operator-side companion to verify pre-flight artifacts. Shell-out
    # to `ssh ...` is forbidden by the spec (security + reliability), so
    # paramiko is the only allowed transport. Major-version bound (<4)
    # follows the same pattern as other third-party deps in this file;
    # the `MissingHostKeyPolicy` subclass surface (RejectPolicy /
    # AutoAddPolicy) is stable across paramiko 3.x.
    "paramiko>=3.4,<4.0",
]

[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",
    # AZ-406 (blackbox harness internals): the mock-suite-sat-service unit
    # test exercises a FastAPI app via fastapi.testclient.TestClient. The
    # production runtime of the mock lives inside its own Docker image so
    # the SUT does not depend on FastAPI; this is a test-only dep.
    "fastapi>=0.111,<0.120",
]
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",
]

[project.scripts]
gps-denied-replay = "gps_denied_onboard.cli.replay:main"
operator-orchestrator = "gps_denied_onboard.components.c12_operator_orchestrator.cli:main"

[tool.setuptools]
package-dir = {"" = "src"}

[tool.setuptools.packages.find]
where = ["src"]
include = ["gps_denied_onboard*"]

[tool.pytest.ini_options]
minversion = "7.0"
# `tests` is the in-process unit / integration / contract / perf test tree
# owned by per-component module-layout entries. `e2e/_unit_tests` is the
# OUT-OF-CONTAINER unit tree owned by the `blackbox_tests` cross-cutting
# entry — exercises the harness internals (CSV reporter, helpers, parsers,
# mock app, conftest skip rules) without Docker / SITL. The Docker-bound
# blackbox tree at `e2e/tests/` is intentionally NOT in testpaths: it runs
# inside the e2e-runner image via its own pytest.ini.
testpaths = ["tests", "e2e/_unit_tests"]
pythonpath = ["src", "e2e"]
# 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"]