feat(perception): map vegetation provider labels

src/k1link/laboratory/vegetation_mission_policy.py

@@ -9,6 +9,7 @@ from pathlib import Path
 from typing import Any, Final
 
 SCHEMA: Final = "missioncore.vegetation-mission-policy/v1"
+PROVIDER_MAP_SCHEMA: Final = "missioncore.vegetation-provider-label-map/v1"
 VEHICLE_SCHEMA: Final = "missioncore.m49-physical-safety-shadow-profile/v1"
 _MAX_JSON_BYTES: Final = 1024 * 1024
 
@@ -163,6 +164,64 @@ def load_vegetation_mission_policy(
     return policy
 
 
+def load_vegetation_provider_label_map(
+    path: Path,
+    *,
+    policy: dict[str, Any],
+) -> dict[str, Any]:
+    """Load the provider-label adapter without inventing material claims."""
+
+    label_map = _json(path, "vegetation provider label map")
+    providers = label_map.get("providers")
+    invariants = label_map.get("invariants")
+    if (
+        label_map.get("schema_version") != PROVIDER_MAP_SCHEMA
+        or label_map.get("policy_profile_id") != policy.get("profile_id")
+        or not isinstance(providers, dict)
+        or not providers
+        or not isinstance(invariants, dict)
+        or any(value is not False for value in invariants.values())
+    ):
+        raise VegetationMissionPolicyError("provider label map identity changed")
+
+    materials = set(policy["material_classes"])
+    for provider_id, provider in providers.items():
+        if not isinstance(provider_id, str) or not isinstance(provider, dict):
+            raise VegetationMissionPolicyError("provider label map is invalid")
+        labels = provider.get("labels")
+        if (
+            provider.get("unmapped_policy") != "no-material-claim"
+            or not isinstance(provider.get("class_granularity"), str)
+            or not isinstance(provider.get("can_distinguish_low_and_high_grass"), bool)
+            or not isinstance(provider.get("can_distinguish_tree_trunk"), bool)
+            or not isinstance(labels, dict)
+            or any(
+                not isinstance(label, str)
+                or not label
+                or not isinstance(material, str)
+                or material not in materials
+                for label, material in labels.items()
+            )
+        ):
+            raise VegetationMissionPolicyError(f"provider label map is invalid: {provider_id}")
+    return label_map
+
+
+def map_provider_material(
+    label_map: dict[str, Any],
+    *,
+    provider_id: str,
+    provider_label: str,
+) -> str | None:
+    """Return an exact material claim, or none when the provider did not make one."""
+
+    provider = label_map["providers"].get(provider_id)
+    if not isinstance(provider, dict):
+        raise VegetationMissionPolicyError(f"unknown vegetation provider: {provider_id}")
+    material = provider["labels"].get(provider_label)
+    return material if isinstance(material, str) else None
+
+
 def resolve_terrain_policy(
     policy: dict[str, Any],
     *,