jess

CI

A jess is the falconry tether that holds the bird during training before free flight.

The hardware-integration + release-watch hub that takes falcon (the relay flight stack) onto real hardware through the PulseEngine wasm→embedded pipeline: meld fuse → loom optimize → synth wasm→ARM → on gale verified RTOS primitives, emulated/run via rules_wasm_component + Renode.

jess is not a code library — it is an evidence-as-code project: the substance lives in rivet artifacts (artifacts/) and a spar/AADL hardware model (hardware/), exercised by a hermetic Bazel firmware chain.

flowchart LR
 relay["relay<br/>falcon flight component<br/>(CCSDS + relay-sec comms)"]
 subgraph pipe["wasm → embedded pipeline"]
 direction LR
 meld["meld<br/>fuse"] --> loom["loom<br/>optimize fused whole"] --> synth["synth<br/>wasm → ARM Cortex-M"]
 end
 fw["falcon firmware<br/>(Cortex-M ELF)"]
 gale["gale<br/>verified RTOS primitives"]
 kiln["kiln<br/>QM validation runtime"]
 renode["Renode<br/>emulation (no hardware in this loop)"]
 rwc["rules_wasm_component<br/>hermetic Bazel chain"]
 subgraph gov["evidence & architecture"]
 rivet["rivet<br/>traceability"]
 spar["spar<br/>AADL model"]
 sigil["sigil<br/>supply-chain"]
 end
 relay --> meld
 gale -.->|"also fused as wasm"| meld
 kiln -.->|"also fused as wasm"| meld
 synth --> fw
 gale -.->|underpins| fw
 fw --> kiln
 fw --> renode
 rwc -.->|drives| pipe
 jess(["jess<br/>hub + release-watch loop"]) -.->|orchestrates| rwc
 jess -.->|"records / models"| gov

flowchart TB
 subgraph fmu["NXP i.MX RT1176 — FMU"]
 m7["Cortex-M7<br/>falcon cascade<br/>(fused wasm component)"]
 m4["Cortex-M4<br/>IEKF estimator<br/>(fused wasm component)"]
 m4 -->|"VehicleState<br/>SHMEM · CCSDS + relay-sec"| m7
 end
 sensors["IMUs (ICM-42688-P ...)<br/>BMP388 · BMM150"] -->|"SPI / I2C"| m7
 m7 -->|"ActuatorCmd<br/>LPUART · CCSDS + relay-sec"| io["STM32F100 I/O MCU<br/>failsafe + PWM mixing"]
 io --> act["motors / servos"]
 m7 <-->|"DroneCAN · CAN-FD"| can["ESCs · GPS · smart actuators"]
 m7 <-->|"MAVLink"| gcs["ground station"]
 gale["gale verified primitives + Zephyr"] -.->|underpin| m7
 gale -.->|underpin| m4

Same WIT contract either way: components on one core are meld-fused (direct calls); across cores/MCUs they speak CCSDS Space Packets wrapped by relay-sec (counter + anti-replay + AEAD) over a shared-memory / LPUART transport — see DD-009.

1. HIL against relay's simulation on gale's STM32F4 / Renode flight-control target.
2. Real drone hardware — Holybro Pixhawk 6X-RT (NXP i.MX RT1176; M7 + M4 + STM32F100 I/O), bench/tethered. See DD-007.
3. A real flying drone (DO-178C bridge added).

Order is meld → loom → synth: fuse first, then loom optimizes the fused whole (more than per-component), then synth emits ARM. In the maximal-wasm direction (DD-006), gale + kiln are themselves compiled to wasm and fused in here too, so loom optimizes the entire fused system.

@falcon_flight_wasm (sha256-pinned relay release asset)
 → adopt_wasm_component (//:falcon-flight)
 → wasm_validate (//:falcon-validate)
 → meld_fuse (//:falcon-fused) # fuse component(s) → one core module
 → wasm_optimize [loom] (//:falcon-optimized) # loom optimizes the fused whole
 → synth_compile [→ARM] (//:falcon-firmware, cortex-m4f/m7)

bazel build //:falcon-validate //:falcon-optimized //:falcon-fused //:falcon-firmware

jess runs a feedback loop over its upstream suppliers: poll each new release, test every piece individually (the wasmtime SIL gate — run-stabilization < 0.1 rad, run-position-hold < 0.6 m — then meld→kiln differential, then synth→Cortex-M), record results as rivet ai-found-defect artifacts, and feed problems back upstream as respectful issues. Behavioral differential before adoption is mandatory (see docs/release-watch-runbook.md §3a). Findings live in artifacts/findings.yaml.

rivet validate # the artifact spine
spar parse hardware/pixhawk6x-rt.aadl # the hardware model
spar instance --root Pixhawk6XRT::Pixhawk6XRT.v2a hardware/pixhawk6x-rt.aadl

Part of the PulseEngine toolchain.