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feat(k1): add live cameras and reliable spatial following

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DCCONSTRUCTIONS
2026-07-17 00:26:03 +03:00
parent a281faf923
commit 2bda1986bd
33 changed files with 2927 additions and 330 deletions
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tests/test_rerun_bridge.py
+143 -35
View File
@@ -1,7 +1,6 @@
from __future__ import annotations
import json
import socket
import struct
import threading
import time
@@ -14,7 +13,12 @@ from k1link.data_plane import DecodedDataPlaneView, NormalizationError
from k1link.mqtt.capture import FRAME_HEADER, RAW_MAGIC
from k1link.protocol.normalizer import normalize_k1_message
from k1link.viewer.messages import StreamMessage
from k1link.viewer.rerun_bridge import RerunBridge, RerunSceneSettings, _point_colors
from k1link.viewer.rerun_bridge import (
RerunBridge,
RerunSceneSettings,
_live_time_panel,
_point_colors,
)
from k1link.viewer.runtime import VisualizationRuntime
@@ -24,6 +28,7 @@ class FakeRecording:
self.times: list[tuple[str, dict[str, object]]] = []
self.blueprints: list[object] = []
self.disconnected = False
self.flush_count = 0
def serve_grpc(self, **_: object) -> str:
return "rerun+http://127.0.0.1:9876/proxy"
@@ -41,23 +46,52 @@ class FakeRecording:
self.disconnected = True
def flush(self, **_: object) -> None:
return
self.flush_count += 1
def _message(topic: str, payload: bytes, *, sequence: int = 7) -> StreamMessage:
class BlueprintFailureRecording(FakeRecording):
def send_blueprint(self, blueprint: object, **kwargs: object) -> None:
super().send_blueprint(blueprint, **kwargs)
raise RuntimeError("synthetic blueprint failure")
class DisconnectFailureRecording(FakeRecording):
def disconnect(self) -> None:
super().disconnect()
raise RuntimeError("synthetic disconnect failure")
def _message(
topic: str,
payload: bytes,
*,
sequence: int = 7,
received_at_epoch_ns: int = 1_784_124_315_186_225_000,
) -> StreamMessage:
return StreamMessage(
sequence=sequence,
topic=topic,
payload=payload,
received_at_epoch_ns=1_784_124_315_186_225_000,
received_at_epoch_ns=received_at_epoch_ns,
received_monotonic_ns=None,
source="test",
)
def _envelope(topic: str, payload: bytes, *, sequence: int = 7) -> DecodedDataPlaneView:
def _envelope(
topic: str,
payload: bytes,
*,
sequence: int = 7,
received_at_epoch_ns: int = 1_784_124_315_186_225_000,
) -> DecodedDataPlaneView:
envelope = normalize_k1_message(
_message(topic, payload, sequence=sequence),
_message(
topic,
payload,
sequence=sequence,
received_at_epoch_ns=received_at_epoch_ns,
),
processing_started_monotonic_ns=time.monotonic_ns(),
)
assert envelope is not None
@@ -89,9 +123,58 @@ def test_legacy_points_and_pose_are_logged_to_rerun() -> None:
"message_sequence",
"stream_time",
}
assert recording.flush_count == 1
bridge.close()
assert recording.disconnected is True
assert recording.flush_count == 2
def test_live_blueprint_follows_stream_time_without_frontend_cursor_writes() -> None:
panel = _live_time_panel()
assert panel.timeline == "stream_time"
assert panel.play_state == "following"
assert panel.state == "hidden"
def test_constructor_disconnects_recording_after_partial_setup_failure() -> None:
recording = BlueprintFailureRecording()
with pytest.raises(RuntimeError, match="synthetic blueprint failure"):
RerunBridge(recording_factory=lambda _: recording) # type: ignore[arg-type]
assert recording.disconnected is True
def test_fast_replay_trajectory_sampling_uses_source_time() -> None:
recording = FakeRecording()
bridge = RerunBridge(recording_factory=lambda _: recording) # type: ignore[arg-type]
base_time_ns = 1_784_124_315_000_000_000
for index in range(4):
pose_payload = struct.pack(
"<ffffffff",
index * 0.1,
2.0,
3.0,
99.0,
0.9,
0.1,
0.2,
0.3,
)
bridge.process(
_envelope(
"RealtimePath",
pose_payload,
sequence=index + 1,
received_at_epoch_ns=base_time_ns + index * 600_000_000,
)
)
assert bridge.metrics.snapshot()["trajectory_poses"] == 4
bridge.close()
def test_bad_frame_is_rejected_before_rerun_without_publishing() -> None:
@@ -134,34 +217,7 @@ def test_palettes_are_deterministic_and_custom_color_is_exact() -> None:
assert custom.tolist() == [[16, 32, 48], [16, 32, 48]]
def test_real_grpc_server_releases_its_port() -> None:
probe = socket.socket()
probe.bind(("127.0.0.1", 0))
port = int(probe.getsockname()[1])
probe.close()
bridge = RerunBridge(
grpc_port=port,
cors_allow_origin=("http://127.0.0.1:8000",),
)
assert bridge.grpc_url == f"rerun+http://127.0.0.1:{port}/proxy"
bridge.close()
deadline = time.monotonic() + 2.0
while True:
available = socket.socket()
try:
available.bind(("127.0.0.1", port))
break
except OSError:
if time.monotonic() >= deadline:
raise
time.sleep(0.02)
finally:
available.close()
def test_runtime_exposes_rerun_url_and_stops_cleanly(tmp_path: Path) -> None:
def test_runtime_reuses_one_bridge_across_sequential_sessions(tmp_path: Path) -> None:
capture = tmp_path / "mqtt.raw.k1mqtt"
point_topic = "RealtimePointcloud"
pose_topic = "RealtimePath"
@@ -237,11 +293,63 @@ def test_runtime_exposes_rerun_url_and_stops_cleanly(tmp_path: Path) -> None:
assert len(created) == 1
assert runtime.snapshot()["metrics"]["pcl_frames"] == 1
assert runtime.snapshot()["rerun_grpc_url"] == "rerun+http://127.0.0.1:9876/proxy"
assert recording.disconnected is False
runtime.close()
assert runtime.snapshot()["rerun_grpc_url"] is None
assert recording.disconnected is True
def test_runtime_reports_bridge_close_failure_instead_of_false_idle(tmp_path: Path) -> None:
capture = tmp_path / "mqtt.raw.k1mqtt"
topic = b"RealtimePointcloud"
payload = struct.pack("<III", 16, 0, 0) + struct.pack(
"<fffBBBB", 1.0, -2.0, 3.0, 10, 20, 30, 40
)
capture.write_bytes(RAW_MAGIC + FRAME_HEADER.pack(len(topic), len(payload)) + topic + payload)
(tmp_path / "mqtt.metadata.jsonl").write_text(
json.dumps(
{
"record_type": "message",
"sequence": 1,
"received_at_epoch_ns": 1_000_000_000,
"received_monotonic_ns": 1_000_000_000,
}
)
+ "\n",
encoding="utf-8",
)
recording = DisconnectFailureRecording()
runtime = VisualizationRuntime(
bridge_factory=lambda **kwargs: RerunBridge(
recording_factory=lambda _: recording, # type: ignore[arg-type]
**kwargs, # type: ignore[arg-type]
),
normalizer=normalize_k1_message,
)
runtime.start_replay(capture, speed=0.0)
deadline = time.monotonic() + 5.0
snapshot = runtime.snapshot()
while snapshot["phase"] not in {"idle", "error"} and time.monotonic() < deadline:
time.sleep(0.01)
snapshot = runtime.snapshot()
assert snapshot["phase"] == "idle"
assert snapshot["rerun_grpc_url"] == "rerun+http://127.0.0.1:9876/proxy"
assert recording.disconnected is False
with pytest.raises(RuntimeError, match="synthetic disconnect failure"):
runtime.close()
snapshot = runtime.snapshot()
assert snapshot["phase"] == "error"
assert "synthetic disconnect failure" in snapshot["message"]
assert snapshot["rerun_grpc_url"] is None
assert recording.disconnected is True
def test_close_during_blocked_factory_closes_the_late_bridge(tmp_path: Path) -> None:
capture = tmp_path / "mqtt.raw.k1mqtt"
topic = b"RealtimePointcloud"