feat(lab): publish fail-closed TGS evidence
This commit is contained in:
DCCONSTRUCTIONS
@@ -133,6 +133,7 @@ from k1link.web.m48s_fixed_class_detector_lab_api import (
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build_m48s_fixed_class_detector_lab_router,
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)
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from k1link.web.m48t_risk_quality_lab_api import build_m48t_risk_quality_lab_router
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from k1link.web.m49_tgs_fail_closed_api import build_m49_tgs_fail_closed_router
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from k1link.web.map_api import (
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MapGatewayConfiguration,
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MapGatewayProxy,
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@@ -992,6 +993,17 @@ app.include_router(
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),
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)
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)
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app.include_router(
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build_m49_tgs_fail_closed_router(
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root_provider=lambda: (
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REPOSITORY_ROOT
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/ ".runtime"
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/ "compute-experiments"
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/ "m49"
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/ "tgs-fail-closed-results"
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),
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)
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)
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app.include_router(
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build_m48s_fixed_class_detector_lab_router(
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root_provider=lambda: (
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@@ -0,0 +1,284 @@
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"""Read-only API for sealed gravity-aligned M49 TGS evidence."""
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from __future__ import annotations
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import copy
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import json
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import math
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import re
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from collections.abc import Callable
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from functools import lru_cache
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from pathlib import Path
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from typing import Final
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import numpy as np
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from fastapi import APIRouter, HTTPException, Query, Response
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from k1link.laboratory.m49_tgs_fail_closed import (
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M49_TGS_ANCHORS,
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M49_TGS_PREFIX,
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M49TgsFailClosedError,
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M49TgsFailClosedResult,
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read_m49_tgs_fail_closed,
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)
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RootProvider = Callable[[], Path | None]
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RESULT_ID: Final = re.compile(rf"^{re.escape(M49_TGS_PREFIX)}[a-f0-9]{{64}}$")
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RESULT_VIEW_SCHEMA: Final = "missioncore.m49-tgs-fail-closed-view/v1"
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RESULT_CATALOG_SCHEMA: Final = "missioncore.m49-tgs-fail-closed-catalog/v1"
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ANCHOR_CATALOG_SCHEMA: Final = "missioncore.m49-tgs-anchor-catalog/v1"
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ANCHOR_SPATIAL_SCHEMA: Final = "missioncore.m49-tgs-anchor-spatial/v1"
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ENDPOINT_ROOT: Final = "/api/v1/laboratory/m49/tgs-fail-closed"
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PROFILES: Final = ("current_increment", "causal_rolling_1s")
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def build_m49_tgs_fail_closed_router(*, root_provider: RootProvider = lambda: None) -> APIRouter:
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router = APIRouter(prefix=ENDPOINT_ROOT, tags=["laboratory"])
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def result(result_id: str) -> M49TgsFailClosedResult:
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candidate = _resolve_candidate(root_provider, result_id)
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try:
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return _read_result_cached(str(candidate), _signature(candidate))
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except (M49TgsFailClosedError, OSError, ValueError):
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raise HTTPException(status_code=404, detail="M49 TGS result not found") from None
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@router.get("/results")
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def list_results(limit: int = Query(default=1, ge=1, le=10)) -> dict[str, object]:
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root = _configured_root(root_provider)
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if root is None:
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return _empty_catalog(configured=False)
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items: list[dict[str, object]] = []
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invalid_total = 0
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for candidate in sorted(root.iterdir()):
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if not candidate.is_dir() or RESULT_ID.fullmatch(candidate.name) is None:
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continue
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try:
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sealed = _read_result_cached(str(candidate.resolve()), _signature(candidate))
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items.append(_project_result(sealed))
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except (M49TgsFailClosedError, OSError, ValueError):
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invalid_total += 1
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items.sort(
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key=lambda item: (str(item["created_at_utc"]), str(item["result_id"])),
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reverse=True,
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)
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return {
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"schema_version": RESULT_CATALOG_SCHEMA,
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"configured": True,
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"items": items[:limit],
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"candidate_total": len(items) + invalid_total,
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"invalid_total": invalid_total,
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"access": "read-only",
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}
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@router.get("/{result_id}")
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def get_result(result_id: str) -> dict[str, object]:
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return _project_result(result(result_id))
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@router.get("/{result_id}/anchors")
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def get_anchors(result_id: str) -> dict[str, object]:
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sealed = result(result_id)
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return {
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"schema_version": ANCHOR_CATALOG_SCHEMA,
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"result_id": result_id,
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"linked_visual_result_id": sealed.report["visual_review"]["linked_visual_result_id"],
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"anchors": copy.deepcopy(sealed.report["metrics"]["primary"]),
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"anchor_count": len(M49_TGS_ANCHORS),
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"profiles": list(PROFILES),
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"default_profile": "causal_rolling_1s",
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"access": "read-only",
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}
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@router.get("/{result_id}/anchors/{anchor_frame_index}/spatial")
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def get_anchor_spatial(
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result_id: str,
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anchor_frame_index: int,
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profile: str = Query(default="causal_rolling_1s"),
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) -> Response:
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if profile not in PROFILES or anchor_frame_index not in M49_TGS_ANCHORS:
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raise HTTPException(status_code=404, detail="M49 TGS anchor not found")
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sealed = result(result_id)
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try:
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content = _anchor_json_cached(
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str(sealed.evidence_path),
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result_id,
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anchor_frame_index,
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profile,
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_evidence_signature(sealed.evidence_path),
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)
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except (KeyError, OSError, ValueError):
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raise HTTPException(
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status_code=503, detail="M49 TGS spatial evidence failed verification"
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) from None
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return Response(
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content=content,
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media_type="application/json",
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headers={
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"Cache-Control": "private, max-age=31536000, immutable",
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"X-Content-Type-Options": "nosniff",
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},
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)
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return router
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@lru_cache(maxsize=4)
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def _read_result_cached(result_root: str, signature: tuple[int, ...]) -> M49TgsFailClosedResult:
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del signature
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return read_m49_tgs_fail_closed(Path(result_root))
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@lru_cache(maxsize=24)
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def _anchor_json_cached(
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evidence_path: str,
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result_id: str,
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anchor_frame_index: int,
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profile: str,
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signature: tuple[int, int],
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) -> bytes:
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del signature
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slot = M49_TGS_ANCHORS.index(anchor_frame_index)
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with np.load(evidence_path, allow_pickle=False) as evidence:
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offsets = evidence[f"{profile}_point_offsets"]
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start = int(offsets[slot])
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end = int(offsets[slot + 1])
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points = evidence[f"{profile}_points_xyz_m"][start:end]
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point_states = evidence[f"{profile}_point_states"][start:end]
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centers = evidence["costmap_cell_centers_xy_m"]
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cell_states = evidence[f"{profile}_costmap_states"][slot]
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z_bounds = evidence[f"{profile}_costmap_z_bounds_m"][slot]
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if (
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points.shape[1:] != (3,)
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or point_states.shape != (points.shape[0],)
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or centers.shape != (2244, 2)
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or cell_states.shape != (2244,)
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or z_bounds.shape != (2244, 2)
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or not np.isfinite(points).all()
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or not np.isfinite(centers).all()
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or not np.isin(point_states, np.asarray([1, 2, 3], dtype=np.uint8)).all()
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or not np.isin(cell_states, np.asarray([0, 1, 2, 3], dtype=np.uint8)).all()
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):
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raise ValueError("M49 TGS spatial shape changed")
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payload = {
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"schema_version": ANCHOR_SPATIAL_SCHEMA,
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"result_id": result_id,
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"anchor_frame_index": anchor_frame_index,
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"source_sequence": anchor_frame_index,
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"profile": profile,
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"coordinate_frame": "map-gravity-local",
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"points_xyz_m": points.astype(float).tolist(),
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"point_states": point_states.astype(int).tolist(),
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"costmap": {
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"cell_size_m": 0.45,
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"radius_m": 12.0,
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"centers_xy_m": centers.astype(float).tolist(),
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"states": cell_states.astype(int).tolist(),
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"z_bounds_m": [
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[
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float(row[0]) if math.isfinite(float(row[0])) else None,
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float(row[1]) if math.isfinite(float(row[1])) else None,
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]
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for row in z_bounds
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],
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},
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"state_codes": {
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"UNOBSERVED": 0,
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"GROUND_SUPPORT": 1,
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"NONGROUND_OCCUPIED": 2,
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"UNKNOWN_REJECTED": 3,
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},
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"all_points_accounted": True,
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"aos_used": False,
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"authority": {
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"visual_quality_accepted": False,
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"navigation_or_safety_accepted": False,
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},
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"access": "read-only",
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}
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return json.dumps(
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payload,
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ensure_ascii=False,
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sort_keys=True,
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separators=(",", ":"),
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allow_nan=False,
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).encode("utf-8")
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def _project_result(result: M49TgsFailClosedResult) -> dict[str, object]:
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report = result.report
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return {
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"schema_version": RESULT_VIEW_SCHEMA,
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"result_id": result.result_id,
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"created_at_utc": result.manifest["created_at_utc"],
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"source": copy.deepcopy(report["source"]),
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"configuration": copy.deepcopy(report["configuration"]),
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"method": copy.deepcopy(report["method"]),
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"execution": copy.deepcopy(report["execution"]),
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"metrics": copy.deepcopy(report["metrics"]),
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"acceptance": copy.deepcopy(report["acceptance"]),
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"decision": copy.deepcopy(report["decision"]),
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"limitations": copy.deepcopy(report["limitations"]),
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"authority": copy.deepcopy(report["authority"]),
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"visual_review": copy.deepcopy(report["visual_review"]),
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"ground_truth": False,
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"access": "read-only",
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}
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def _resolve_candidate(provider: RootProvider, result_id: str) -> Path:
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if RESULT_ID.fullmatch(result_id) is None:
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raise HTTPException(status_code=404, detail="M49 TGS result not found")
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root = _configured_root(provider)
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if root is None:
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raise HTTPException(status_code=404, detail="M49 TGS result not found")
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candidate = root / result_id
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if candidate.is_symlink() or not candidate.is_dir():
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raise HTTPException(status_code=404, detail="M49 TGS result not found")
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resolved = candidate.resolve(strict=True)
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if resolved.parent != root:
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raise HTTPException(status_code=404, detail="M49 TGS result not found")
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return resolved
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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 or value.is_symlink() or not value.is_dir():
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return None
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return value.resolve(strict=True)
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def _signature(candidate: Path) -> tuple[int, ...]:
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result: list[int] = []
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for name in (
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"manifest.json",
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"report.json",
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"evidence.npz",
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"worker-summary.json",
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"input-manifest.json",
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"tgs-timing.tsv",
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):
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path = candidate / name
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if path.is_symlink() or not path.is_file():
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raise ValueError("M49 TGS artifact unavailable")
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stat = path.stat()
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result.extend((stat.st_size, stat.st_mtime_ns))
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return tuple(result)
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def _evidence_signature(path: Path) -> tuple[int, int]:
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stat = path.stat()
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return stat.st_size, stat.st_mtime_ns
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def _empty_catalog(*, configured: bool) -> dict[str, object]:
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return {
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"schema_version": RESULT_CATALOG_SCHEMA,
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"configured": configured,
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"items": [],
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"candidate_total": 0,
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"invalid_total": 0,
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"access": "read-only",
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}
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__all__ = ["build_m49_tgs_fail_closed_router"]
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