feat(simulation): add Gaussian UGV runtime pipeline

src/k1link/web/simulation_projects_api.py

@@ -4,7 +4,7 @@ from __future__ import annotations
 
 from typing import Any, Literal
 
-from fastapi import APIRouter, BackgroundTasks, Header, HTTPException, Request, Response
+from fastapi import APIRouter, Header, HTTPException, Request, Response
 from fastapi.responses import FileResponse
 from pydantic import BaseModel, ConfigDict, Field
 
@@ -46,11 +46,18 @@ class SimulationProjectUpdate(BaseModel):
     scene_type: Literal["interior", "outdoor", "object"]
 
 
+class SimulationEulerRotation(BaseModel):
+    model_config = ConfigDict(extra="forbid", frozen=True)
+
+    x: float = Field(ge=-360, le=360)
+    y: float = Field(ge=-360, le=360)
+    z: float = Field(ge=-360, le=360)
+
+
 class SimulationLayerViewerSettings(BaseModel):
     model_config = ConfigDict(extra="forbid", frozen=True)
 
-    inverted: bool
-    axis: Literal["x", "y", "z"]
+    rotation_degrees: SimulationEulerRotation
 
 
 class SimulationCameraViewerSettings(BaseModel):
@@ -60,14 +67,35 @@ class SimulationCameraViewerSettings(BaseModel):
     invert_vertical: bool
 
 
+class SimulationUgvDimensions(BaseModel):
+    model_config = ConfigDict(extra="forbid", frozen=True)
+
+    length: float = Field(ge=0.01, le=1_000_000_000)
+    width: float = Field(ge=0.01, le=1_000_000_000)
+    height: float = Field(ge=0.07, le=1_000_000_000)
+    ground_clearance: float = Field(ge=0.01, le=1_000_000_000)
+
+
+class SimulationUgvViewerSettings(BaseModel):
+    model_config = ConfigDict(extra="forbid", frozen=True)
+
+    preset_name: str = Field(min_length=1, max_length=80)
+    mass_kg: float = Field(ge=0.01, le=1_000_000_000)
+    dimensions_m: SimulationUgvDimensions
+    max_speed_mps: float = Field(ge=0, le=1_000_000_000)
+    max_turn_rate_degrees: float = Field(ge=0, le=1_000_000_000)
+    invert_steering: bool
+
+
 class SimulationViewerSettings(BaseModel):
     model_config = ConfigDict(extra="forbid", frozen=True)
 
-    schema_version: Literal["missioncore.simulation-viewer-settings/v1"] = VIEWER_SETTINGS_SCHEMA
+    schema_version: Literal["missioncore.simulation-viewer-settings/v3"] = VIEWER_SETTINGS_SCHEMA
     quality: Literal["low", "medium", "high", "ultra", "maximum"]
     visual: SimulationLayerViewerSettings
     collision: SimulationLayerViewerSettings
     camera: SimulationCameraViewerSettings
+    ugv: SimulationUgvViewerSettings
 
 
 class SimulationProjectDocument(BaseModel):
@@ -162,11 +190,14 @@ def build_simulation_projects_router(
     def source_upload_state(project_id: str, file_id: str) -> Response:
         try:
             offset, byte_length = store.upload_state(project_id, file_id)
-            return Response(status_code=204, headers={
-                "Upload-Offset": str(offset),
-                "Upload-Length": str(byte_length),
-                "Cache-Control": "no-store",
-            })
+            return Response(
+                status_code=204,
+                headers={
+                    "Upload-Offset": str(offset),
+                    "Upload-Length": str(byte_length),
+                    "Cache-Control": "no-store",
+                },
+            )
         except SimulationProjectNotFoundError as exc:
             raise HTTPException(status_code=404, detail="Исходный файл не найден.") from exc
 
@@ -199,11 +230,14 @@ def build_simulation_projects_router(
             source_file = next(
                 item for item in project["source"]["files"] if item["file_id"] == file_id
             )
-            return Response(status_code=204, headers={
-                "Upload-Offset": str(source_file["uploaded_bytes"]),
-                "Upload-Length": str(source_file["byte_length"]),
-                "Cache-Control": "no-store",
-            })
+            return Response(
+                status_code=204,
+                headers={
+                    "Upload-Offset": str(source_file["uploaded_bytes"]),
+                    "Upload-Length": str(source_file["byte_length"]),
+                    "Cache-Control": "no-store",
+                },
+            )
         except SimulationProjectNotFoundError as exc:
             raise HTTPException(status_code=404, detail="Исходный файл не найден.") from exc
         except SimulationProjectConflictError as exc:
@@ -212,13 +246,10 @@ def build_simulation_projects_router(
             raise HTTPException(status_code=400, detail=str(exc)) from exc
 
     @router.post("/projects/{project_id}/build", response_model=SimulationProjectDocument)
-    def build_project(
-        project_id: str,
-        background_tasks: BackgroundTasks,
-    ) -> dict[str, Any]:
+    def build_project(project_id: str) -> dict[str, Any]:
         try:
             project = service.begin_build(project_id)
-            background_tasks.add_task(service.process, project_id)
+            service.enqueue(project_id)
             return project
         except SimulationProjectNotFoundError as exc:
             raise HTTPException(status_code=404, detail="Проект симуляции не найден.") from exc