feat(perception): add persistent lidar motion evidence

src/k1link/compute/lab_instances.py

@@ -28,6 +28,10 @@ from .integrated_perception import (
     validate_integrated_perception_result,
 )
 from .jobs import CameraComputeJob, validate_camera_compute_job
+from .occupancy_motion import (
+    PersistentSupportBuild,
+    build_persistent_support_result,
+)
 from .temporal_stability import (
     TemporalStabilityBuild,
     _quality_metrics,
@@ -59,6 +63,14 @@ class PublishedWorldMotionLabInstance:
     build: WorldMotionBuild
 
 
+@dataclass(frozen=True, slots=True)
+class PublishedPersistentSupportLabInstance:
+    binding: LabSessionBinding
+    job: CameraComputeJob
+    result: IntegratedPerceptionResult
+    build: PersistentSupportBuild
+
+
 def publish_integrated_lab_instance(
     *,
     repository_root: Path,
@@ -590,6 +602,113 @@ def publish_e24_lab_instance(
     )
 
 
+def publish_e25_lab_instance(
+    *,
+    repository_root: Path,
+    source_result_root: Path,
+    world_motion_profile_path: Path,
+    profile_path: Path,
+    benchmark_path: Path,
+    lab_session_id: str,
+    lab_id: str,
+    display_name: str,
+) -> PublishedPersistentSupportLabInstance:
+    """Derive and publish one bounded persistent-support motion LAB run."""
+
+    root = repository_root.expanduser().resolve(strict=True)
+    jobs_root = root / ".runtime" / "compute-jobs"
+    results_root = root / ".runtime" / "compute-experiments" / "e10" / "worker-results"
+    packs_root = root / ".runtime" / "compute-experiments" / "e10" / "lidar-packs"
+    source_path = source_result_root.expanduser().resolve(strict=True)
+    source_document = _read_object(source_path / "result.json", source_path)
+    identity = source_document.get("identity")
+    if not isinstance(identity, dict) or not isinstance(identity.get("job_id"), str):
+        raise SessionIntegrityError("E25 source has no job identity")
+    source = validate_integrated_perception_result(
+        jobs_root / identity["job_id"],
+        source_path,
+        packs_root,
+    )
+    if not source.accepted:
+        raise SessionIntegrityError("E25 source result is not accepted")
+
+    lab_job = _publish_lab_job(source.job, jobs_root, lab_session_id)
+    lab_pack = _publish_lab_pack(source, lab_job, packs_root, lab_session_id)
+    build = build_persistent_support_result(
+        source=source,
+        lab_job=lab_job,
+        lab_pack=lab_pack,
+        results_root=results_root,
+        world_motion_profile_path=world_motion_profile_path,
+        profile_path=profile_path,
+        benchmark_path=benchmark_path,
+    )
+    validated = validate_integrated_perception_result(
+        lab_job.job_root,
+        build.result_root,
+        packs_root,
+    )
+    if not validated.accepted:
+        failed = [
+            name for name, accepted in build.report["acceptance"]["checks"].items() if not accepted
+        ]
+        raise SessionIntegrityError(
+            f"E25 persistent-support artifact acceptance failed: {', '.join(failed)}"
+        )
+
+    store = SessionStore(root)
+    source_lab = store.get_lab_instance(source.job.session_id)
+    source_session_id = (
+        source.job.session_id if source_lab is None else source_lab.source_session_id
+    )
+    publish_lab_replay_cache(
+        store.data_dir,
+        source_session_id=source_session_id,
+        lab_session_id=lab_session_id,
+        timeline_start_ns=round(validated.timeline_start_seconds * 1_000_000_000),
+        timeline_end_ns=round(validated.timeline_end_seconds * 1_000_000_000),
+    )
+    metrics = build.report["metrics"]
+    binding = store.publish_lab_instance(
+        session_id=lab_session_id,
+        source_session_id=source_session_id,
+        display_name=display_name,
+        lab_id=lab_id,
+        result_kind="e25-persistent-support-motion",
+        result_id=validated.result_id,
+        source_result_id=source.result_id,
+        config_sha256=build.profile_sha256,
+        run_created_at_utc=validated.created_at_utc,
+        duration_seconds=(validated.timeline_end_seconds - validated.timeline_start_seconds),
+        include_recorded_media=False,
+        provenance={
+            "schema_version": "missioncore.e25-lab-publication/v1",
+            "storage_mode": "bounded-persistent-support-and-immutable-source-replay",
+            "source_result_id": source.result_id,
+            "source_lab_session_id": (None if source_lab is None else source_lab.session_id),
+            "source_payloads_mutated": False,
+            "coordinate_frame": "k1-map",
+            "measurement": "persistent-object-support-occupancy",
+            "lookahead_frames": 0,
+            "benchmark_sha256": build.benchmark_sha256,
+            "benchmark_passed": metrics["benchmark"]["passed"],
+            "benchmark_passed_events": metrics["benchmark"]["passed_events"],
+            "benchmark_total_events": metrics["benchmark"]["total_events"],
+            "persistent_support_processing_p95_ms": metrics["runtime"][
+                "persistent_support_frame_processing_ms"
+            ]["p95"],
+            "peak_tracks": metrics["runtime"]["peak_tracks"],
+            "navigation_or_safety_accepted": False,
+        },
+    )
+    return PublishedPersistentSupportLabInstance(
+        binding=binding,
+        job=lab_job,
+        result=validated,
+        build=build,
+    )
+
+
 def _validate_e23_inputs(
     worker_root: Path,
     source_report_path: Path,