Modular AirStack 3/9: reference stacks (wrap form), --stack dispatch, single-locus lint - #390
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andrewjong wants to merge 4 commits into
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Modular AirStack 3/9: reference stacks (wrap form), --stack dispatch, single-locus lint#390andrewjong wants to merge 4 commits into
andrewjong wants to merge 4 commits into
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…, single-locus lint
- stacks/{full_default,full_droan_cpu,full_macvo}: self-contained stack
folders (modules.repos w/ airstack_compat, flat wrap-form stack.launch.xml,
compose stub, README). full_macvo FIXES the broken
local_macvo_obstacle_avoidance.launch.xml wiring in the stack file
(correct local_-prefixed args, real perception/macvo/disparity topic,
launch_macvo actually enabled) — collapses the local_* variant explosion
into named stacks differing by include lines
- robot.launch.xml: stack_dir/stack_entry env-default args; stack group
replaces role groups when AIRSTACK_STACK_DIR set; legacy role path
byte-preserved. Compose: stacks/ volume + env passthrough in robot-base
- airstack up --stack <name>[:<entry>]: host-side validation, container-path
exports, effective-config lines; AUTONOMY_ROLE deprecation warning
- single-locus launch lint (unit mark): no remaps outside stacks/*/launch/,
frozen shrink-only allowlist (19 grandfathered files), description=
required on stack args. write-launch-file skill rewritten same commit
(canonical-default args, never remap in module files)
- wiring mark is stack-aware: --stack makes the golden stacks/<name>/wiring.md
- docs/development/stacks.md + nav; 8 new launch-intent contract tests
Unit suite: 294 passed.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Captured from live isaacsim bring-ups @ d02a346: - full_default: 83 nodes / 405 edges — diff vs the legacy AUTONOMY_ROLE=full golden is IDENTICAL (machine-proven wrap-form equivalence) - full_droan_cpu: 84 nodes / 419 edges (CPU droan + live disparity_expansion) - full_macvo: 84 nodes / 407 edges — first working MACVO topology: droan's disparity_expander subscribes /perception/macvo/disparity (the wiring the broken legacy variant never achieved) These are the E2 flatten gates: the refactor must reproduce these graphs. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Gap found by the asm_macvo extraction: the workflow ran module add/sync (layer plan only) but never 'module lock --build', so tier-2/3 Dockerfile.module / overlay layers went unbuilt and untested in module CI. The build step runs after trunk image-ensure (the chain builds FROM those bases); the zero-module identity rule keeps it a no-op for dep-free modules. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
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Stack 3/9 · base:
rfc/s2-module-cli-layersStacks land: self-contained topology folders that make the launch graph a reviewable artifact. This PR introduces them in wrap form — graph-neutral by construction — so the flatten steps later in the stack can be gated on wiring equality.
What's inside
stacks/reference folders (full_default,full_droan_cpu,full_macvo): pinnedmodules.repos, an XML entry launch file, compose stub, README, and a CI-observedwiring.mdbaseline each.airstack up --stack <name>dispatch viaAIRSTACK_STACK_DIR/AIRSTACK_STACK_ENTRY, coexisting with the (then-current) role path.write-launch-fileskill rewritten in the same change.module lock --buildstep so tier-2 module Dockerfiles are actually built in CI.Validation
full_defaultvs the legacy full role — wiring diffidentical: trueon live Isaac bring-ups.--stack full_defaultliveliness+wiring green in one session; takeoff/hover/land green on the stack path.🤖 Generated with Claude Code