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perf(perception): split safety and vegetation rates

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DCCONSTRUCTIONS
2026-08-28 12:59:34 +03:00
parent e1c3e7e90a
commit 7a3b0b84d0
7 changed files with 292 additions and 56 deletions
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experiments/perception/worker/Invoke-M49TgsIntegratedGraphShadow.ps1
+10 -7
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@@ -148,12 +148,12 @@ foreach ($directory in @("bin", "control", "graph", "tgs", "vegetation")) {
$releaseDocument = Get-Content -LiteralPath (Join-Path $payload "release.json") -Raw | ConvertFrom-Json
$expectedReleaseSchema = if ($VegetationLoadGate) {
"missioncore.lab-v1-vegetation-integrated-worker-release/v1"
"missioncore.lab-v1-vegetation-integrated-worker-release/v2"
} else {
"missioncore.m49-tgs-integrated-graph-worker-release/v1"
}
$expectedTransition = if ($VegetationLoadGate) {
"lab-v1-vegetation-m49-integrated-shadow/v1"
"lab-v1-vegetation-m49-integrated-multirate-shadow/v2"
} else {
"m49-tgs-native-risk-integrated-shadow/v1"
}
@@ -380,7 +380,7 @@ try {
& docker create --name $tgsName --network none --cpus 16 --memory 24g `
--read-only --security-opt "no-new-privileges:true" --cap-drop ALL `
--pids-limit 256 --tmpfs "/tmp:rw,noexec,nosuid,size=1g" `
--pids-limit 256 --tmpfs "/tmp:rw,noexec,nosuid,size=2g" `
-e ("M49_SOURCE_RATE_HZ={0}" -f $rate) `
--entrypoint /bin/bash `
--volume ($dockerRelease + ":/release:ro") `
@@ -412,8 +412,11 @@ try {
--video-sha256 $videoSha256 `
--runtime-video-cache /tmp/vegetation-right.mp4 `
--source-rate-hz $rate `
--minimum-effective-fps 11.209069 `
--maximum-completion-p95-ms 125.0 `
--inference-stride 2 `
--minimum-effective-timeline-fps 11.209069 `
--minimum-effective-inference-fps 5.604534 `
--maximum-inference-completion-p95-ms 125.0 `
--maximum-evidence-source-age-ms 125.0 `
--shared-start-ready-file /shared/control/vegetation.ready `
--shared-start-file /shared/control/start.signal `
--frame-ledger /shared/vegetation/frames.jsonl `
@@ -559,7 +562,7 @@ try {
--volume ($dockerRelease + ":/release:ro") `
--volume ($dockerRun + ":/shared:rw") `
$ParityImageTag /release/build_vegetation_integrated_graph_evidence.py `
--profile /release/lab-v1-vegetation-integrated-shadow-v1.json `
--profile /release/lab-v1-vegetation-integrated-multirate-shadow-v2.json `
--m49-result /shared/m49-result.json `
--graph-frames /shared/graph/frames.jsonl `
--tgs-timing /shared/tgs/tgs-full-timing.tsv `
@@ -588,7 +591,7 @@ if (-not (Test-Path -LiteralPath $resultPath -PathType Leaf)) {
$result = Get-Content -LiteralPath $resultPath -Raw | ConvertFrom-Json
$summary = [ordered]@{
schema_version = if ($VegetationLoadGate) {
"missioncore.lab-v1-vegetation-integrated-worker-summary/v1"
"missioncore.lab-v1-vegetation-integrated-worker-summary/v2"
} else {
"missioncore.m49-tgs-integrated-graph-worker-summary/v1"
}