feat(perception): add recorded replay maturation labs

2026-08-05 07:47:15 +03:00
parent c1b0f6f8a3
commit 3982256f08
101 changed files with 24009 additions and 4 deletions
@@ -0,0 +1,124 @@
+[CmdletBinding()]
+param(
+    [Parameter(Mandatory = $true)]
+    [string]$JobRoot,
+
+    [Parameter(Mandatory = $true)]
+    [string]$OutputPath,
+
+    [ValidateRange(1, 1000)]
+    [int]$FreeGiBFloor = 360
+)
+
+$ErrorActionPreference = "Stop"
+$ProgressPreference = "SilentlyContinue"
+
+function Assert-DDrivePath {
+    param([string]$Path, [string]$Label)
+    $fullPath = [IO.Path]::GetFullPath($Path)
+    if ([IO.Path]::GetPathRoot($fullPath).TrimEnd("\") -ine "D:") {
+        throw "$Label must be stored on D:"
+    }
+    return $fullPath
+}
+
+function Assert-FreeSpace {
+    param([string]$Phase, [int64]$RequiredAdditionalBytes = 0)
+    $freeBytes = [int64](Get-PSDrive -Name D).Free
+    $floorBytes = [int64]$FreeGiBFloor * 1GB
+    Write-Output (
+        "DISK_GUARD PHASE={0} FREE_GIB={1} FLOOR_GIB={2}" -f
+        $Phase,
+        [math]::Round($freeBytes / 1GB, 3),
+        $FreeGiBFloor
+    )
+    if ($freeBytes -lt ($floorBytes + $RequiredAdditionalBytes)) {
+        throw "D: does not have the guarded replay reserve during $Phase"
+    }
+}
+
+$jobDirectory = Assert-DDrivePath (
+    (Resolve-Path -LiteralPath $JobRoot).Path
+) "Job root"
+$output = Assert-DDrivePath $OutputPath "Output path"
+if (Test-Path -LiteralPath $output) {
+    Write-Output "REPLAY_ALREADY_PRESENT=$output"
+    exit 0
+}
+
+$jobPath = Join-Path $jobDirectory "job.json"
+$job = Get-Content -LiteralPath $jobPath -Raw | ConvertFrom-Json
+if (
+    $job.schema_version -ne "missioncore.compute-job/v1" -or
+    $job.job_id -ne "recorded-camera-602ac89026ed12978619801d" -or
+    $job.input.session_id -ne "20260720T065719Z_viewer_live" -or
+    $job.input.source_id -ne "sensor.camera.right" -or
+    [int]$job.input.segment_count -ne 4489
+) {
+    throw "The requested job is not the immutable RAVNOVES00 right-camera source"
+}
+
+$epochRoot = Join-Path $jobDirectory "input\camera\sensor.camera.right\epoch-1"
+$initPath = Join-Path $epochRoot "init.mp4"
+$segmentsRoot = Join-Path $epochRoot "segments"
+if (-not (Test-Path -LiteralPath $initPath -PathType Leaf)) {
+    throw "Camera initialization segment is absent"
+}
+if (-not (Test-Path -LiteralPath $segmentsRoot -PathType Container)) {
+    throw "Camera segment directory is absent"
+}
+
+$parent = Split-Path $output -Parent
+$null = New-Item -ItemType Directory -Path $parent -Force
+$temporary = Join-Path $parent (".{0}.{1}.partial" -f (Split-Path $output -Leaf), [Guid]::NewGuid().ToString("N"))
+$requiredBytes = [int64]$job.input.byte_length + 1GB
+Assert-FreeSpace "preflight" $requiredBytes
+
+try {
+    $destination = [IO.File]::Open(
+        $temporary,
+        [IO.FileMode]::CreateNew,
+        [IO.FileAccess]::Write,
+        [IO.FileShare]::None
+    )
+    try {
+        $source = [IO.File]::OpenRead($initPath)
+        try { $source.CopyTo($destination) } finally { $source.Dispose() }
+        for ($sequence = 1; $sequence -le 4489; $sequence++) {
+            $segment = Join-Path $segmentsRoot ("{0}.m4s" -f $sequence)
+            if (-not (Test-Path -LiteralPath $segment -PathType Leaf)) {
+                throw "Camera segment is absent: $sequence"
+            }
+            $source = [IO.File]::OpenRead($segment)
+            try { $source.CopyTo($destination) } finally { $source.Dispose() }
+        }
+        $destination.Flush($true)
+    }
+    finally {
+        $destination.Dispose()
+    }
+
+    $probe = & ffprobe -v error -select_streams v:0 -count_frames `
+        -show_entries stream=width,height,nb_read_frames `
+        -of json $temporary | ConvertFrom-Json
+    if ($LASTEXITCODE -ne 0) {
+        throw "ffprobe failed for the reconstructed camera source"
+    }
+    $stream = @($probe.streams)[0]
+    if (
+        [int]$stream.width -ne 800 -or
+        [int]$stream.height -ne 600 -or
+        [int]$stream.nb_read_frames -ne 4489
+    ) {
+        throw "Reconstructed camera stream violates the immutable frame contract"
+    }
+    Move-Item -LiteralPath $temporary -Destination $output
+    Assert-FreeSpace "published"
+    Write-Output "REPLAY_PATH=$output"
+    Write-Output "FRAME_COUNT=4489"
+}
+finally {
+    if (Test-Path -LiteralPath $temporary) {
+        Remove-Item -LiteralPath $temporary -Force
+    }
+}