feat(perception): add E34 temporal occupied layer
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@@ -24,6 +24,11 @@ from k1link.compute.e33_worker_shadow import (
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E33WorkerShadowResult,
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read_e33_worker_shadow_result,
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)
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from k1link.compute.e34_temporal_occupied_replay import (
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E34TemporalOccupiedReplay,
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E34TemporalOccupiedReplayError,
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read_e34_temporal_occupied_replay,
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)
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LABORATORY_ADVANCED_CATALOG_SCHEMA: Final = (
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"missioncore.laboratory-advanced-catalog/v1"
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@@ -32,6 +37,7 @@ LABORATORY_ADVANCED_CATALOG_SCHEMA: Final = (
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_E31_RESULT_ID = re.compile(r"^e31-source-qualification-[a-f0-9]{64}$")
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_E32_RESULT_ID = re.compile(r"^e32-track-geometry-[a-f0-9]{64}$")
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_E33_RESULT_ID = re.compile(r"^e33-worker-shadow-[a-f0-9]{64}$")
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_E34_RESULT_ID = re.compile(r"^e34-temporal-occupied-[a-f0-9]{64}$")
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RootProvider = Callable[[], Path | None]
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@@ -73,6 +79,15 @@ def _read_e33_cached(
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return read_e33_worker_shadow_result(Path(root_text))
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@lru_cache(maxsize=16)
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def _read_e34_cached(
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root_text: str,
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signature: tuple[int, ...],
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) -> E34TemporalOccupiedReplay:
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del signature
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return read_e34_temporal_occupied_replay(Path(root_text))
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def _configured_root(provider: RootProvider) -> Path | None:
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value = provider()
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if value is None:
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@@ -294,6 +309,113 @@ def _project_e33(
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}
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def _project_e34(result: E34TemporalOccupiedReplay) -> dict[str, object]:
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identity = _object(result.manifest.get("identity"), "E34 identity")
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profile = _object(identity.get("profile"), "E34 profile")
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layer = _object(profile.get("layer"), "E34 layer")
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association = _object(profile.get("association"), "E34 association")
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metrics = _object(result.report.get("metrics"), "E34 metrics")
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frames = _object(metrics.get("frames"), "E34 frames")
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components = _object(metrics.get("components"), "E34 components")
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occupancy = _object(metrics.get("occupancy"), "E34 occupancy")
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aging = _object(metrics.get("aging"), "E34 aging")
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map_frame = _object(metrics.get("map_frame"), "E34 map frame")
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runtime = _object(metrics.get("runtime"), "E34 runtime")
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frame_processing = _object(
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runtime.get("frame_processing_ms"),
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"E34 frame processing",
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)
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acceptance = _object(result.report.get("acceptance"), "E34 acceptance")
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if acceptance.get("accepted") is not True:
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raise ValueError("E34 result is not accepted")
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return {
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"result_id": result.result_id,
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"created_at_utc": result.manifest.get("created_at_utc"),
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"source_session_id": identity.get("source_session_id"),
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"status": result.manifest.get("acceptance_state"),
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"e32_result_id": identity.get("e32_result_id"),
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"e33_result_id": identity.get("e33_result_id"),
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"profile_id": profile.get("profile_id"),
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"pipeline_id": identity.get("pipeline"),
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"coordinate_frame": identity.get("coordinate_frame"),
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"configuration": {
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"voxel_size_m": layer.get("voxel_size_m"),
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"occupied_ttl_seconds": layer.get("occupied_ttl_seconds"),
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"maximum_active_components": layer.get(
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"maximum_active_components"
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),
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"maximum_cells_per_component": layer.get(
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"maximum_cells_per_component"
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),
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"geometry_maximum_gap_seconds": association.get(
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"geometry_maximum_gap_seconds"
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),
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"geometry_maximum_centroid_distance_m": association.get(
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"geometry_maximum_centroid_distance_m"
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),
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},
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"metrics": {
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"source_frames": frames.get("source"),
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"processed_frames": frames.get("processed"),
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"frames_with_current_layer": frames.get("with_current_layer"),
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"held_only_frames": frames.get("held_only"),
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"unknown_empty_frames": frames.get("unknown_empty"),
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"created_components": components.get("created"),
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"camera_created_components": components.get("camera_created"),
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"geometry_created_components": components.get("geometry_created"),
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"geometry_reassociated_components": components.get(
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"geometry_reassociated_components"
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),
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"exact_camera_associations": components.get(
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"exact_camera_associations"
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),
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"geometry_spatial_reassociations": components.get(
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"geometry_spatial_reassociations"
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),
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"held_publications": components.get("held_publications"),
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"expired_components": components.get("expired"),
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"peak_active_components": components.get("peak_active"),
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"maximum_observed_span_seconds": components.get(
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"maximum_observed_span_seconds"
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),
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"continuity_fraction": components.get("continuity_fraction"),
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"geometry_only_reassociation_fraction": components.get(
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"geometry_only_reassociation_fraction"
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),
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"e32_current_point_rows": occupancy.get(
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"e32_current_point_rows"
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),
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"e34_consumed_current_point_rows": occupancy.get(
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"e34_consumed_current_point_rows"
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),
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"current_cell_rows": occupancy.get("current_cell_rows"),
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"held_cell_rows": occupancy.get("held_cell_rows"),
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"stored_cell_rows": occupancy.get("stored_cell_rows"),
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"free_cell_rows": occupancy.get("free_cell_rows"),
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"peak_cells_per_component": occupancy.get(
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"peak_cells_per_component"
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),
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"maximum_held_age_seconds": aging.get(
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"maximum_held_age_seconds"
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),
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"maximum_expiry_delay_seconds": aging.get(
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"maximum_expiry_delay_seconds"
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),
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"maximum_replay_materialization_delay_seconds": aging.get(
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"maximum_replay_materialization_delay_seconds"
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),
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"map_frame_jump_candidates": map_frame.get("jump_candidates"),
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"frame_processing_p95_ms": frame_processing.get("p95"),
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"build_elapsed_ms": runtime.get("build_elapsed_ms"),
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},
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"review": copy.deepcopy(result.review),
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"acceptance": copy.deepcopy(acceptance),
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"decision": copy.deepcopy(result.report.get("decision")),
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"authority": copy.deepcopy(result.report.get("authority")),
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"access": "read-only",
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}
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def _empty_catalog(configured: bool) -> dict[str, object]:
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return {
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"schema_version": LABORATORY_ADVANCED_CATALOG_SCHEMA,
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@@ -310,6 +432,7 @@ def build_advanced_laboratory_router(
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e31_root_provider: RootProvider = lambda: None,
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e32_root_provider: RootProvider = lambda: None,
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e33_root_provider: RootProvider = lambda: None,
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e34_root_provider: RootProvider = lambda: None,
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) -> APIRouter:
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router = APIRouter(prefix="/api/v1/laboratory", tags=["laboratory"])
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@@ -434,4 +557,39 @@ def build_advanced_laboratory_router(
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"invalid_total": invalid_total,
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}
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@router.get("/e34/results")
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def list_e34_results(
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limit: int = Query(default=1, ge=1, le=10),
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) -> dict[str, object]:
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root = _configured_root(e34_root_provider)
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if root is None:
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return _empty_catalog(False)
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candidates = _candidates(root, _E34_RESULT_ID)
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items: list[dict[str, object]] = []
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invalid_total = 0
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for candidate in candidates:
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try:
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result = _read_e34_cached(
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str(candidate.resolve()),
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_result_signature(candidate),
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)
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if not result.accepted:
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raise ValueError("E34 result is not accepted")
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if len(items) < limit:
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items.append(_project_e34(result))
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except (
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E34TemporalOccupiedReplayError,
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KeyError,
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OSError,
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TypeError,
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ValueError,
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):
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invalid_total += 1
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return {
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**_empty_catalog(True),
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"items": items,
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"candidate_total": len(candidates),
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"invalid_total": invalid_total,
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}
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return router
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@@ -520,6 +520,13 @@ app.include_router(
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/ "e33"
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/ "results"
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),
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e34_root_provider=lambda: (
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REPOSITORY_ROOT
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/ ".runtime"
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/ "compute-experiments"
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/ "e34"
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/ "results"
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),
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)
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)
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app.include_router(
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