A chronological companion to the ADRs: how the design came together, from
the first mental model and 2D prototype through the three data tiers, the
relative-pose broadcast, the layered WireGuard/SSH trust model, SQL as the
peer contract, offload and replication, and the end-to-end proof of concept.
Each chapter links straight into the relevant source and decision records.
Flagged as the recommended first read in the README.
Add docs/adr/ with a chronological ADR set reconstructed from the project
history (no orchestrator, one storage format, derived-state sync,
SQL-over-SSH contract, WireGuard beneath SSH, IaC boundaries, non-root
image, runtime data paths, bounded lake scans), an index README, and a
template. Distinguish repo-local ADRs from ecosystem-wide ASRs.
Expand AGENTS.md with a decision-records section and a runtime/operations
guide (service URLs, rebuild workflow, CPU budget knobs). Reference the
ADRs from README, CONTRIBUTING, and the affected design docs, and add an
open question for T1 partition pruning.
Explorer and exporter were scanning the full Parquet lake every 1–5s
(~2000 files, 200MB+), driving ~2.2 CPU cores. Limit metrics to the
last N flights, cache DuckDB views and the partition tree, slow live
polls to 2s, and keep drones alive after seal to stop restart churn.
Add node-exporter, scan-duration metrics, and a Swarm Platform Grafana
dashboard for node CPU/memory and scan health.
Use the real hive column name (`drone`) in the prototype's live query
and pin the Grafana datasource uid to `swarm-prom` so provisioned
dashboards resolve their Prometheus source in k3d.
Non-root drone pods need write access on the hostPath lake. Ansible now
creates var/t1 and var/t3 owned by uid 10001 instead of relying on 0777
alone after legacy root-owned parquet trees.
Add swarm uid 10001 in both build stages so Trivy config scan passes
and containers do not run as root. Mounted /data volumes should be
world-writable or owned by uid 10001 (var/t1 from Ansible is 0777).
Document why WireGuard and SSH are complementary layers, add Flux
boundaries for the ground segment, shared var/ data paths in docs/06,
and a contributor guide with the required test-first workflow.
Ansible provisions the k3d cluster and Flux controllers; Terraform
modules deploy the simulated fleet and ground warehouse. Compose and
k3d share var/t1 (live lake) and var/t3 (warehouse). The prototype
gains a live mode fed by the explorer read-only SQL API.
Unit tests cover the SQL gate, broadcast codec, Hive writer layout,
and flight kinematics. CI runs pytest first; the simulator image build
runs tests in a dedicated stage before the final layer.
Grafana was checking grafana.com for updates and sending usage
reporting by default - the only outbound traffic in the whole stack.
Verified empty latestVersion and no established external connections
from any container after the change.
The field was a fixed square, leaving wide monitors with dead side
margins. Field width now follows the window aspect (capped at 2.2:1,
quantized to avoid rebuilds on minor resizes); routes, obstacles and
transit spawns stretch with it, and the grid keeps 100 m cells.
Mobile obstacles used to bounce until they wedged into far corners, and
a single perimeter route let the mesh stretch into segments that stopped
exchanging data. Even drones now fly the perimeter while odd drones fly
an X through the center, keeping bridge links alive, and transit objects
enter at one edge, cross the area, and respawn at a fresh edge.
Gitea Actions: compile check, virtual-drone smoke flight validated with
DuckDB, read-only SQL gate tests, Trivy vuln and misconfig scans. Pushes
to main cut a semantic version from the conventional-commit type and
publish a release with a fleet release manifest and source bundle.
Single-page view over the Parquet lake: live partition tree with
rolled-up sizes and a SQL console gated by the same read-only rules
as the peer query channel. Ships in the monitoring profile.
Bench and flight share one query channel, so debugging exercises the
production path daily. Grafana/Prometheus/exporter host ports become
env-overridable for shared hosts.
Record the full reasoning path (GraphQL service, Arrow Flight, raw SSH,
forced-command synthesis) and specify read-only enforcement as five
fail-safe layers: key-per-operation, SELECT-only statement gate,
read-only OS user, engine hardening, resource caps. Promote 'SQL is
the contract' to a top-level design principle.
Monitoring compose profile: dependency-free Prometheus exporter that
scans the Parquet output with DuckDB (rows, detections, pose frames,
battery, RSSI, link distance, bytes on disk), Prometheus scrape config
and a provisioned Grafana dashboard. Demonstrates the observability
doctrine: fleet statistics derived from the data platform itself.
Replace object-store replication with rsync over persistent multiplexed
SSH (ed25519, pinned known_hosts, forced commands as the only remote
API); demote GraphQL to the ground integration standard. Add DuckDB
spatial extension for separation audits, perimeter predicates and
trajectory analysis in the local planar frame.
Top-down SVG view: patrol flight with separation and obstacle avoidance,
mesh links appearing within radio range, pose-broadcast flashes, bulk
sync transfers with live rate and cumulative up/down counters, channel
hopping and battery per drone. Pure client-side simulation (Vite/React/TS).
One process per drone: seeded patrol kinematics, sensor streams at
realistic rates, detection events, hot current/ blocks sealed into
Hive-partitioned Parquet, and the compact UDP state broadcast with
peer RSSI derivation. Scales via docker compose --scale.
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