SILVER/NODEDC_MISSION_CORE
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

perf(perception): phase vegetation behind safety

Browse Source
This commit is contained in:
DCCONSTRUCTIONS
2026-08-28 13:14:35 +03:00
parent 7a3b0b84d0
commit 7fcfecd063
6 changed files with 152 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files
tests/test_lab_v1_vegetation_integrated_shadow.py
+12 -4
View File
@@ -55,6 +55,7 @@ def test_three_layer_gate_joins_exact_frames_and_preserves_false_authority(
"policy_sha256": "d" * 64,
"provider_map_sha256": "e" * 64,
"inference_stride": 2,
"inference_phase_offset_ms": 40.0,
},
},
"acceptance": {
@@ -115,6 +116,7 @@ def test_three_layer_gate_joins_exact_frames_and_preserves_false_authority(
"effective_timeline_fps": 11.75,
"effective_inference_fps": 5.875,
"inference_stride": 2,
"inference_phase_offset_ms": 40.0,
"inference_frame_count": 2245,
"held_evidence_frame_count": 2244,
"capacity_drop_count": 0,
@@ -160,10 +162,11 @@ def test_three_layer_gate_joins_exact_frames_and_preserves_false_authority(
{
"schema_version": "missioncore.lab-v1-vegetation-integrated-frame/v2",
"sequence": index,
"completion_age_ms": 20.0,
"completion_age_ms": 60.0 if index % 2 == 0 else 20.0,
"inference_executed": index % 2 == 0,
"inference_phase_offset_ms": 40.0 if index % 2 == 0 else 0.0,
"semantic_source_sequence": index - (index % 2),
"semantic_evidence_source_age_ms": 20.0
"semantic_evidence_source_age_ms": 60.0
if index % 2 == 0
else 103.333333,
}
@@ -205,7 +208,7 @@ def test_three_layer_gate_joins_exact_frames_and_preserves_false_authority(
assert result["status"] == "passed"
assert result["source"]["joined_frame_count"] == EVIDENCE.FRAME_COUNT
assert result["performance"]["three_layer_output_age_ms"]["p99"] == 40.0
assert result["performance"]["three_layer_output_age_ms"]["p99"] == 60.0
assert result["checks"]["authority_remains_false"] is True
assert result["production_accepted"] is False
@@ -242,8 +245,12 @@ def test_integrated_release_is_deterministic_and_contains_one_vegetation_candida
release = json.loads(release_stream.read())
assert "payload/run_vegetation_integrated_load.py" in names
assert "payload/build_vegetation_integrated_graph_evidence.py" in names
assert "payload/lab-v1-vegetation-integrated-multirate-shadow-v2.json" in names
assert (
"payload/lab-v1-vegetation-integrated-multirate-phased-shadow-v3.json"
in names
)
assert release["semantic_inference_rate_hz"] == 6.0
assert release["semantic_inference_phase_offset_ms"] == 40.0
assert release["scope"]["heavy_vegetation_candidates"] == ["ddrnet"]
assert all(value is False for value in release["authority"].values())
@@ -261,6 +268,7 @@ def test_worker_gate_reuses_shared_barrier_and_keeps_canonical_triton_unchanged(
assert '"camera_semantics_can_clear_rigid_geometry": False' in runner
assert "--runtime-video-cache /tmp/vegetation-right.mp4" in wrapper
assert "--inference-stride 2" in wrapper
assert "--inference-phase-offset-ms 40.0" in wrapper
assert '--tmpfs "/tmp:rw,noexec,nosuid,size=2g"' in wrapper
assert "$VegetationLoadGate" in wrapper
assert '"vegetation"' in wrapper