# Swarm House

**An on-prem data platform for autonomous drone swarms** — a design proposal from a DevOps perspective.

A fleet of drones flies fully autonomously: no internet uplink, no external access, all data stays inside the swarm. Each drone collects high-rate sensor telemetry and runs on-board video object detection. The swarm must exchange just enough state to coordinate flight, store everything else locally, and hand its data over to a ground warehouse after landing — reproducibly, securely, and at scale.

This repository describes how to build, deliver, test, and operate that platform: the storage layout, the sync strategy, the network trust model, the CI/CD chain, and the simulation environment that makes it all testable without touching real hardware.

## Design principles

1. **Every drone is autonomous.** No cluster orchestrator spans the swarm; intermittent mesh connectivity makes that an anti-pattern. Coordination happens through data exchange, not through a control plane.
2. **One storage format on every floor.** Parquet + DuckDB with an identical Hive-partitioned layout on the drone, in the ground warehouse, and in the dev environment. Flight offload is a plain mirror operation.
3. **Sync results, not raw data.** Only derived state (position, attitude, detections) crosses the air. Raw telemetry stays on local NVMe until the drone lands.
4. **Event-driven, not polled.** New derived data triggers downstream actions through hooks; nothing burns cycles asking "anything new yet?".
5. **Zero trust, provisioned ahead.** Keys are issued per device before deployment; nothing joins the swarm at runtime. Dev channels are physically absent from production builds.
6. **The whole fleet has one version.** A release manifest pins every image digest, model weight, schema, and config. Rollback is atomic.
7. **SQL is the contract.** Peer data access is read-only DuckDB SQL over SSH forced commands — the query language already lives on both ends, so no service, port, or protocol is invented for it.
8. **No debug API.** The bench and the flight use the same channel: an engineer debugging on the ground runs the identical query through the identical wrapper, permissions, and output format a peer drone would use. What you test is what flies.

## Documentation

| Document | Contents |
| --- | --- |
| [00 — Glossary](docs/00-glossary.md) | Terms and abbreviations used throughout |
| [01 — Problem statement](docs/01-problem-statement.md) | Goal, constraints, knowns vs assumptions |
| [02 — Architecture](docs/02-architecture.md) | On-board layers, service composition, communication planes |
| [03 — Data platform](docs/03-data-platform.md) | Parquet/DuckDB storage tiers, partitioning, hot-write path |
| [04 — Swarm sync](docs/04-swarm-sync.md) | What syncs, what does not, pub/sub transport, query standard |
| [05 — Network & security](docs/05-network-security.md) | Zero-trust mesh, key provisioning, encrypted transport |
| [06 — Environments](docs/06-environments.md) | Drone / ground warehouse / dev-simulation infrastructures |
| [07 — Observability](docs/07-observability.md) | Logs, service metrics, hardware telemetry |
| [08 — Roadmap](docs/08-roadmap.md) | Dependency graph, simple to complex |
| [09 — Open questions](docs/09-open-questions.md) | Known unknowns and proposed answers |
| [10 — Domain context](docs/10-domain-context.md) | Swarm autonomy principles this design builds on |
| [11 — CI/CD & delivery](docs/11-cicd-delivery.md) | Pipelines, registry, dev containers, fleet releases |

## Runnable parts

| Component | Purpose | Stack |
| --- | --- | --- |
| [`simulator/`](simulator/) | Virtual drone fleet: generates realistic telemetry through the same Parquet/DuckDB pipeline a real drone would use; N drones via Docker Compose | Python, pyarrow, DuckDB |
| [`prototype/`](prototype/) | 2D top-down swarm visualization: drones, obstacles, inter-drone links with live transfer metrics; **live mode** renders real positions from the k3d fleet | React, TypeScript, Vite, SVG |
| [`infra/ansible/`](infra/ansible/) | Host preparation: drone bench provisioning (keys, forced commands, WireGuard, Compose bundle) and local k3d simulation cluster | Ansible |
| [`infra/terraform/`](infra/terraform/) | Declared workloads on the sim cluster: virtual fleet + observability ([`sim-env`](infra/terraform/sim-env/)), warehouse + T1→T3 offload ([`ground`](infra/terraform/ground/)) | Terraform, kubernetes provider |
| [`infra/gitops/`](infra/gitops/) | Flux overlays for the ground segment — policy labels, dashboard bundles; drones stay on the fleet manifest | Flux, Kustomize |

Shared runtime data (gitignored): `var/t1/` (live lake), `var/t3/` (warehouse). See [`CONTRIBUTING.md`](CONTRIBUTING.md).

## Quick start

```bash
# Spin up a virtual swarm of 10 drones (Compose, no cluster needed)
cd simulator && DRONE_COUNT=10 docker compose up

# Run the visualization
cd prototype && npm install && npm run dev
```

Or run the full miniature of the ground segment — k3d cluster, fleet as
StatefulSet, Grafana, explorer, warehouse with post-flight offload:

```bash
ansible-playbook infra/ansible/sim-cluster.yml
cd infra/terraform/sim-env && terraform init && terraform apply
cd ../ground && terraform init && terraform apply
# then press "go live" in the prototype header
```

See [06 — Environments → IaC boundaries](docs/06-environments.md#iac-boundaries) for why Ansible owns hosts, Terraform owns the ground segment, and neither flies on the drone.

Contributing (TDD-first workflow): [`CONTRIBUTING.md`](CONTRIBUTING.md).

## CI & releases

Every push runs the pipeline in [`.github/workflows/release.yaml`](.github/workflows/release.yaml): **pytest unit tests**, a compile check, a 10-second virtual smoke flight verified with DuckDB, and a Trivy vulnerability/misconfiguration scan. The simulator Docker build also runs `pytest` — a failing test blocks the image. Pushes to `main` then cut a semantic version from the conventional-commit type (`feat:` → minor, `!`/`BREAKING CHANGE` → major, else patch), tag the commit, and publish a release with a **fleet release manifest** (versioned artifact list with checksums — the delivery unit described in [11 — CI/CD & delivery](docs/11-cicd-delivery.md)) plus a source bundle.