fix(perception): bound LAB replay to AI window

2026-07-23 21:15:53 +03:00
parent 10019a454a
commit 082b7057da
7 changed files with 429 additions and 38 deletions
@@ -37,6 +37,9 @@ def test_publish_lab_replay_cache_hardlinks_rrd_and_rebinds_sidecars(
        "recording_byte_length": source_rrd.stat().st_size,
        "recording_mtime_ns": source_rrd.stat().st_mtime_ns,
        "recording_sha256": hashlib.sha256(source_rrd.read_bytes()).hexdigest(),
+        "timeline": "session_time",
+        "timeline_start_ns": 0,
+        "timeline_end_ns": 1,
    }
    (source / RECORDING_CACHE_SIDECAR_FILENAME).write_text(
        json.dumps(source_sidecar),
@@ -87,3 +90,81 @@ def test_publish_lab_replay_cache_hardlinks_rrd_and_rebinds_sidecars(

    lab_rrd.unlink()
    assert source_rrd.read_bytes() == b"RRF2immutable"
+
+
+def test_publish_lab_replay_cache_materializes_exact_bounded_window(
+    tmp_path: Path,
+) -> None:
+    import numpy as np
+    import rerun as rr
+
+    data = tmp_path / "mission-core"
+    recordings = data / "recordings"
+    source = recordings / "source-session"
+    source.mkdir(parents=True)
+    source_rrd = source / RECORDING_CACHE_FILENAME
+    recording = rr.RecordingStream(
+        "nodedc_mission_core_recorded",
+        recording_id=source.name,
+    )
+    stream = rr.binary_stream(recording)
+    try:
+        for index, timestamp in enumerate((0, 2_000_000_000, 4_000_000_000, 8_000_000_000)):
+            recording.set_time(
+                "session_time",
+                duration=np.timedelta64(timestamp, "ns"),
+            )
+            recording.log(
+                "/world/points",
+                rr.Points3D([[float(index), 0.0, 0.0]]),
+            )
+        payload = stream.read(flush=True, flush_timeout_sec=5.0)
+    finally:
+        recording.disconnect()
+    assert payload is not None
+    source_rrd.write_bytes(payload)
+    source_sidecar = {
+        "schema_version": CACHE_SCHEMA,
+        "session_id": source.name,
+        "recording_byte_length": source_rrd.stat().st_size,
+        "recording_mtime_ns": source_rrd.stat().st_mtime_ns,
+        "recording_sha256": hashlib.sha256(source_rrd.read_bytes()).hexdigest(),
+        "timeline": "session_time",
+        "timeline_start_ns": 0,
+        "timeline_end_ns": 8_000_000_000,
+    }
+    (source / RECORDING_CACHE_SIDECAR_FILENAME).write_text(
+        json.dumps(source_sidecar),
+        encoding="utf-8",
+    )
+
+    publish_lab_replay_cache(
+        data,
+        source_session_id=source.name,
+        lab_session_id="lab-e21-bounded",
+        timeline_start_ns=2_000_000_000,
+        timeline_end_ns=4_000_000_000,
+    )
+
+    lab = recordings / "lab-e21-bounded"
+    lab_rrd = lab / RECORDING_CACHE_FILENAME
+    assert lab_rrd.stat().st_ino != source_rrd.stat().st_ino
+    bounded = json.loads(
+        (lab / RECORDING_CACHE_SIDECAR_FILENAME).read_text(encoding="utf-8")
+    )
+    assert bounded["timeline_start_ns"] == 2_000_000_000
+    assert bounded["timeline_end_ns"] == 4_000_000_000
+    assert bounded["recording_byte_length"] == lab_rrd.stat().st_size
+    assert bounded["recording_sha256"] == hashlib.sha256(lab_rrd.read_bytes()).hexdigest()
+    assert "lab_window" not in bounded
+
+    original_stat = lab_rrd.stat()
+    publish_lab_replay_cache(
+        data,
+        source_session_id=source.name,
+        lab_session_id="lab-e21-bounded",
+        timeline_start_ns=2_000_000_000,
+        timeline_end_ns=4_000_000_000,
+    )
+    assert lab_rrd.stat().st_ino == original_stat.st_ino
+    assert lab_rrd.stat().st_mtime_ns == original_stat.st_mtime_ns