feat(lidar): add point-aligned ground review

src/k1link/web/lidar_api.py

@@ -14,14 +14,13 @@ from k1link.compute import (
     LidarReplayError,
     LidarReplayPackV2,
     lidar_ground_benchmark_catalog_item,
+    lidar_ground_frame_detail,
     lidar_pack_catalog_item,
     lidar_pack_detail,
 )
 
 LIDAR_CATALOG_SCHEMA: Final = "missioncore.lidar-replay-pack-catalog/v1"
-LIDAR_GROUND_CATALOG_SCHEMA: Final = (
-    "missioncore.lidar-ground-benchmark-catalog/v1"
-)
+LIDAR_GROUND_CATALOG_SCHEMA: Final = "missioncore.lidar-ground-benchmark-catalog/v1"
 _PACK_ID = re.compile(r"^lidar-replay-pack-[a-f0-9]{64}$")
 _BENCHMARK_ID = re.compile(r"^ground-benchmark-[a-f0-9]{64}$")
 RootProvider = Callable[[], Path | None]
@@ -143,8 +142,7 @@ def build_lidar_router(
             (
                 candidate
                 for candidate in root.iterdir()
-                if candidate.is_dir()
-                and _BENCHMARK_ID.fullmatch(candidate.name) is not None
+                if candidate.is_dir() and _BENCHMARK_ID.fullmatch(candidate.name) is not None
             ),
             key=lambda candidate: candidate.stat().st_mtime_ns,
             reverse=True,
@@ -153,13 +151,8 @@ def build_lidar_router(
             try:
                 benchmark = LidarGroundBenchmarkV1(candidate)
                 try:
-                    if (
-                        pack_id is None
-                        or benchmark.identity.get("replay_pack_id") == pack_id
-                    ):
-                        items.append(
-                            lidar_ground_benchmark_catalog_item(benchmark)
-                        )
+                    if pack_id is None or benchmark.identity.get("replay_pack_id") == pack_id:
+                        items.append(lidar_ground_benchmark_catalog_item(benchmark))
                 finally:
                     benchmark.close()
             except (LidarGroundError, OSError):
@@ -196,9 +189,7 @@ def build_lidar_router(
             benchmark = LidarGroundBenchmarkV1(candidate)
             try:
                 return {
-                    "schema_version": (
-                        "missioncore.lidar-ground-benchmark-detail/v1"
-                    ),
+                    "schema_version": ("missioncore.lidar-ground-benchmark-detail/v1"),
                     "benchmark": lidar_ground_benchmark_catalog_item(benchmark),
                     "report": benchmark.report,
                     "access": "read-only",
@@ -211,4 +202,71 @@ def build_lidar_router(
                 detail="LiDAR ground benchmark не прошёл проверку целостности",
             ) from exc
 
+    @router.get("/ground-benchmarks/{benchmark_id}/frames/{frame_index}")
+    def get_lidar_ground_frame(
+        benchmark_id: str,
+        frame_index: int,
+    ) -> dict[str, object]:
+        if _BENCHMARK_ID.fullmatch(benchmark_id) is None or frame_index < 0:
+            raise HTTPException(
+                status_code=404,
+                detail="LiDAR ground frame не найден",
+            )
+        ground_root = ground_root_provider()
+        replay_root = root_provider()
+        if ground_root is None or not ground_root.is_dir():
+            raise HTTPException(
+                status_code=503,
+                detail="LiDAR ground storage не настроен",
+            )
+        if replay_root is None or not replay_root.is_dir():
+            raise HTTPException(
+                status_code=503,
+                detail="LiDAR replay storage не настроен",
+            )
+        benchmark_path = ground_root / benchmark_id
+        if not benchmark_path.is_dir():
+            raise HTTPException(
+                status_code=404,
+                detail="LiDAR ground benchmark не найден",
+            )
+        try:
+            benchmark = LidarGroundBenchmarkV1(benchmark_path)
+            try:
+                replay_pack_id = benchmark.identity.get("replay_pack_id")
+                if (
+                    not isinstance(replay_pack_id, str)
+                    or _PACK_ID.fullmatch(replay_pack_id) is None
+                ):
+                    raise LidarGroundError("Ground benchmark replay identity is invalid")
+                replay_path = replay_root / replay_pack_id
+                if not replay_path.is_dir():
+                    raise HTTPException(
+                        status_code=404,
+                        detail="Связанный LiDAR replay pack не найден",
+                    )
+                replay = LidarReplayPackV2(replay_path)
+                try:
+                    return lidar_ground_frame_detail(
+                        benchmark,
+                        replay,
+                        frame_index,
+                    )
+                finally:
+                    replay.close()
+            finally:
+                benchmark.close()
+        except IndexError as exc:
+            raise HTTPException(
+                status_code=404,
+                detail="LiDAR ground frame не найден",
+            ) from exc
+        except HTTPException:
+            raise
+        except (LidarGroundError, LidarReplayError, OSError) as exc:
+            raise HTTPException(
+                status_code=409,
+                detail="LiDAR ground frame не прошёл проверку целостности",
+            ) from exc
+
     return router