mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 08:31:13 +00:00
Oleksandr Bezdieniezhnykh
f7a99282fb
Batch 66 — fixes the production gap surfaced during the cycle-1 completeness-gate post-mortem: the central _STRATEGY_REGISTRY was empty in production source, so compose_root() raised StrategyNotLinkedError on the first component lookup and the airborne binary couldn't reach takeoff. Changes: - New module `src/.../runtime_root/airborne_bootstrap.py` exposes `register_airborne_strategies()` and a documented `AIRBORNE_REQUIRED_PRE_CONSTRUCTED_KEYS` table. The function registers 14 entries into the central registry across 7 strategy-selecting slots (c1_vio + c2_vpr + c2_5_rerank + c3_matcher + c3_5_adhop + c4_pose + c5_state). Per-slot wrappers adapt the registry-factory signature (config, constructed) to each per-component factory's kwarg surface and surface a AirborneBootstrapError when a required infrastructure dep is missing from constructed. - `compose_root` gains a `pre_constructed` kwarg in live mode, symmetric with the replay-mode seam. Replay entries still take precedence on key collision (ADR-011). Existing callers unaffected (kwarg defaults to None). - `runtime_root/__init__.py::main()` now calls `register_airborne_strategies()` before `compose_root(config)` so production binaries no longer crash at the registry-lookup step. - Lazy-loading preserved: state_factory's private _STATE_REGISTRY is populated lazily inside the c5_state wrapper, gated by BUILD_STATE_GTSAM_ISAM2 / BUILD_STATE_ESKF env flags. pose_factory's own lazy-import fallback handles c4_pose without an explicit register() call. - 7 new unit tests in `tests/unit/runtime_root/test_az591_airborne_\ bootstrap.py` cover AC-1..AC-5 plus the negative-path AirborneBootstrapError contract. Full unit suite 2105 passed / 88 environment-gated skips / 0 failures. End-to-end takeoff still needs a follow-up task to wire infrastructure pre-construction (c13_fdr / c6_* / c7_inference / etc.) into the pre_constructed dict passed to compose_root. That follow-up is gated by AZ-591 landing first; recommended split into per-component infrastructure-prep tasks (3pt each). 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-orchestrator, 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.