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feat(perception): add E34 temporal occupied layer

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DCCONSTRUCTIONS
2026-07-27 16:55:40 +03:00
parent 95c6540691
commit 621084fcd6
22 changed files with 4732 additions and 104 deletions
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src/k1link/web/advanced_laboratory_api.py
+158
View File
@@ -24,6 +24,11 @@ from k1link.compute.e33_worker_shadow import (
E33WorkerShadowResult,
read_e33_worker_shadow_result,
)
from k1link.compute.e34_temporal_occupied_replay import (
E34TemporalOccupiedReplay,
E34TemporalOccupiedReplayError,
read_e34_temporal_occupied_replay,
)
LABORATORY_ADVANCED_CATALOG_SCHEMA: Final = (
"missioncore.laboratory-advanced-catalog/v1"
@@ -32,6 +37,7 @@ LABORATORY_ADVANCED_CATALOG_SCHEMA: Final = (
_E31_RESULT_ID = re.compile(r"^e31-source-qualification-[a-f0-9]{64}$")
_E32_RESULT_ID = re.compile(r"^e32-track-geometry-[a-f0-9]{64}$")
_E33_RESULT_ID = re.compile(r"^e33-worker-shadow-[a-f0-9]{64}$")
_E34_RESULT_ID = re.compile(r"^e34-temporal-occupied-[a-f0-9]{64}$")
RootProvider = Callable[[], Path | None]
@@ -73,6 +79,15 @@ def _read_e33_cached(
return read_e33_worker_shadow_result(Path(root_text))
@lru_cache(maxsize=16)
def _read_e34_cached(
root_text: str,
signature: tuple[int, ...],
) -> E34TemporalOccupiedReplay:
del signature
return read_e34_temporal_occupied_replay(Path(root_text))
def _configured_root(provider: RootProvider) -> Path | None:
value = provider()
if value is None:
@@ -294,6 +309,113 @@ def _project_e33(
}
def _project_e34(result: E34TemporalOccupiedReplay) -> dict[str, object]:
identity = _object(result.manifest.get("identity"), "E34 identity")
profile = _object(identity.get("profile"), "E34 profile")
layer = _object(profile.get("layer"), "E34 layer")
association = _object(profile.get("association"), "E34 association")
metrics = _object(result.report.get("metrics"), "E34 metrics")
frames = _object(metrics.get("frames"), "E34 frames")
components = _object(metrics.get("components"), "E34 components")
occupancy = _object(metrics.get("occupancy"), "E34 occupancy")
aging = _object(metrics.get("aging"), "E34 aging")
map_frame = _object(metrics.get("map_frame"), "E34 map frame")
runtime = _object(metrics.get("runtime"), "E34 runtime")
frame_processing = _object(
runtime.get("frame_processing_ms"),
"E34 frame processing",
)
acceptance = _object(result.report.get("acceptance"), "E34 acceptance")
if acceptance.get("accepted") is not True:
raise ValueError("E34 result is not accepted")
return {
"result_id": result.result_id,
"created_at_utc": result.manifest.get("created_at_utc"),
"source_session_id": identity.get("source_session_id"),
"status": result.manifest.get("acceptance_state"),
"e32_result_id": identity.get("e32_result_id"),
"e33_result_id": identity.get("e33_result_id"),
"profile_id": profile.get("profile_id"),
"pipeline_id": identity.get("pipeline"),
"coordinate_frame": identity.get("coordinate_frame"),
"configuration": {
"voxel_size_m": layer.get("voxel_size_m"),
"occupied_ttl_seconds": layer.get("occupied_ttl_seconds"),
"maximum_active_components": layer.get(
"maximum_active_components"
),
"maximum_cells_per_component": layer.get(
"maximum_cells_per_component"
),
"geometry_maximum_gap_seconds": association.get(
"geometry_maximum_gap_seconds"
),
"geometry_maximum_centroid_distance_m": association.get(
"geometry_maximum_centroid_distance_m"
),
},
"metrics": {
"source_frames": frames.get("source"),
"processed_frames": frames.get("processed"),
"frames_with_current_layer": frames.get("with_current_layer"),
"held_only_frames": frames.get("held_only"),
"unknown_empty_frames": frames.get("unknown_empty"),
"created_components": components.get("created"),
"camera_created_components": components.get("camera_created"),
"geometry_created_components": components.get("geometry_created"),
"geometry_reassociated_components": components.get(
"geometry_reassociated_components"
),
"exact_camera_associations": components.get(
"exact_camera_associations"
),
"geometry_spatial_reassociations": components.get(
"geometry_spatial_reassociations"
),
"held_publications": components.get("held_publications"),
"expired_components": components.get("expired"),
"peak_active_components": components.get("peak_active"),
"maximum_observed_span_seconds": components.get(
"maximum_observed_span_seconds"
),
"continuity_fraction": components.get("continuity_fraction"),
"geometry_only_reassociation_fraction": components.get(
"geometry_only_reassociation_fraction"
),
"e32_current_point_rows": occupancy.get(
"e32_current_point_rows"
),
"e34_consumed_current_point_rows": occupancy.get(
"e34_consumed_current_point_rows"
),
"current_cell_rows": occupancy.get("current_cell_rows"),
"held_cell_rows": occupancy.get("held_cell_rows"),
"stored_cell_rows": occupancy.get("stored_cell_rows"),
"free_cell_rows": occupancy.get("free_cell_rows"),
"peak_cells_per_component": occupancy.get(
"peak_cells_per_component"
),
"maximum_held_age_seconds": aging.get(
"maximum_held_age_seconds"
),
"maximum_expiry_delay_seconds": aging.get(
"maximum_expiry_delay_seconds"
),
"maximum_replay_materialization_delay_seconds": aging.get(
"maximum_replay_materialization_delay_seconds"
),
"map_frame_jump_candidates": map_frame.get("jump_candidates"),
"frame_processing_p95_ms": frame_processing.get("p95"),
"build_elapsed_ms": runtime.get("build_elapsed_ms"),
},
"review": copy.deepcopy(result.review),
"acceptance": copy.deepcopy(acceptance),
"decision": copy.deepcopy(result.report.get("decision")),
"authority": copy.deepcopy(result.report.get("authority")),
"access": "read-only",
}
def _empty_catalog(configured: bool) -> dict[str, object]:
return {
"schema_version": LABORATORY_ADVANCED_CATALOG_SCHEMA,
@@ -310,6 +432,7 @@ def build_advanced_laboratory_router(
e31_root_provider: RootProvider = lambda: None,
e32_root_provider: RootProvider = lambda: None,
e33_root_provider: RootProvider = lambda: None,
e34_root_provider: RootProvider = lambda: None,
) -> APIRouter:
router = APIRouter(prefix="/api/v1/laboratory", tags=["laboratory"])
@@ -434,4 +557,39 @@ def build_advanced_laboratory_router(
"invalid_total": invalid_total,
}
@router.get("/e34/results")
def list_e34_results(
limit: int = Query(default=1, ge=1, le=10),
) -> dict[str, object]:
root = _configured_root(e34_root_provider)
if root is None:
return _empty_catalog(False)
candidates = _candidates(root, _E34_RESULT_ID)
items: list[dict[str, object]] = []
invalid_total = 0
for candidate in candidates:
try:
result = _read_e34_cached(
str(candidate.resolve()),
_result_signature(candidate),
)
if not result.accepted:
raise ValueError("E34 result is not accepted")
if len(items) < limit:
items.append(_project_e34(result))
except (
E34TemporalOccupiedReplayError,
KeyError,
OSError,
TypeError,
ValueError,
):
invalid_total += 1
return {
**_empty_catalog(True),
"items": items,
"candidate_total": len(candidates),
"invalid_total": invalid_total,
}
return router
src/k1link/web/app.py
+7
View File
@@ -520,6 +520,13 @@ app.include_router(
/ "e33"
/ "results"
),
e34_root_provider=lambda: (
REPOSITORY_ROOT
/ ".runtime"
/ "compute-experiments"
/ "e34"
/ "results"
),
)
)
app.include_router(