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

refactor(worker): defer optional visualization imports

Browse Source
This commit is contained in:
DCCONSTRUCTIONS
2026-08-31 17:15:13 +03:00
parent e2de8188ab
commit 892d0085e3
4 changed files with 858 additions and 302 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/k1link/compute/__init__.py
+377
View File
@@ -1,5 +1,9 @@
"""Host-owned compute handoff contracts.""" """Host-owned compute handoff contracts."""
from importlib import import_module
from typing import TYPE_CHECKING, Any, Final
if TYPE_CHECKING:
from .annotation_workspace import ( from .annotation_workspace import (
ANNOTATION_WORKSPACE_SCHEMA, ANNOTATION_WORKSPACE_SCHEMA,
AnnotationWorkspace, AnnotationWorkspace,
@@ -495,3 +499,376 @@ __all__ = [
"sensor_frame_xyzi", "sensor_frame_xyzi",
"verify_lidar_replay_equivalence", "verify_lidar_replay_equivalence",
] ]
_EXPORTS: Final[dict[str, str]] = {
**dict.fromkeys(
(
"ANNOTATION_WORKSPACE_SCHEMA",
"AnnotationWorkspace",
"AnnotationWorkspaceError",
"prepare_annotation_workspace",
"validate_annotation_workspace",
),
".annotation_workspace",
),
**dict.fromkeys(
(
"DEFAULT_E31_SOURCE_QUALIFICATION_PROFILE",
"E31_BINDING_PROFILE_SCHEMA",
"E31_SOURCE_QUALIFICATION_REPORT_SCHEMA",
"E31_SOURCE_QUALIFICATION_SCHEMA",
"E31SourceQualification",
"E31SourceQualificationError",
"E31SourceQualificationProfile",
"build_e31_source_qualification",
),
".e31_source_qualification",
),
**dict.fromkeys(
(
"E32_TRACK_GEOMETRY_RECORD_SCHEMA",
"E32_TRACK_GEOMETRY_REPLAY_SCHEMA",
"E32_TRACK_GEOMETRY_REPORT_SCHEMA",
"E32TrackGeometryReplay",
"E32TrackGeometryReplayError",
"build_e32_track_geometry_replay",
"e32_track_geometry_frame",
"read_e32_track_geometry_replay",
),
".e32_track_geometry_replay",
),
**dict.fromkeys(
(
"E33_FRAME_SCHEMA",
"E33_OUTCOME_SCHEMA",
"E33_PACKAGE_SCHEMA",
"E33_PROFILE_SCHEMA",
"E33_REPORT_SCHEMA",
"E33_RESOURCE_SCHEMA",
"E33_RESULT_SCHEMA",
"E33WorkerShadowError",
"E33WorkerShadowResult",
"read_e33_worker_shadow_result",
"run_e33_worker_shadow",
),
".e33_worker_shadow",
),
**dict.fromkeys(
(
"E51_FRAME_SCHEMA",
"E51_PROFILE_SCHEMA",
"E51_REPORT_SCHEMA",
"E51_RESULT_SCHEMA",
"E51_SIGNAL_SCHEMA",
"E51MotionSemanticError",
"E51MotionSemanticResult",
"build_e51_motion_semantic_qualification",
"derive_motion_semantic_signal",
"read_e51_motion_semantic_qualification",
),
".e51_motion_semantic_qualification",
),
**dict.fromkeys(
(
"E52_CASE_SCHEMA",
"E52_PROFILE_SCHEMA",
"E52_REPORT_SCHEMA",
"E52_RESULT_SCHEMA",
"E52CameraFirstRestoration",
"E52CameraFirstRestorationError",
"build_e52_camera_first_restoration",
"evaluate_camera_first_case",
"read_e52_camera_first_restoration",
),
".e52_camera_first_restoration",
),
**dict.fromkeys(
(
"ANNOTATION_CONTRACT_SCHEMA",
"EVALUATION_PACK_SCHEMA",
"EvaluationFrameRequest",
"EvaluationPackFrame",
"RecordedEvaluationPack",
"RecordedEvaluationPackError",
"prepare_recorded_evaluation_pack",
"validate_recorded_evaluation_pack",
),
".evaluation_pack",
),
**dict.fromkeys(
(
"RecordedCalibratedFusion",
"RecordedCalibratedFusionStore",
"RecordedPerceptionOverlayMux",
"validate_recorded_calibrated_fusion",
),
".fusion_epoch",
),
**dict.fromkeys(
(
"IntegratedPerceptionOverlayStore",
"IntegratedPerceptionResult",
"validate_integrated_perception_result",
),
".integrated_perception",
),
**dict.fromkeys(
(
"COMPUTE_JOB_SCHEMA",
"CameraComputeJob",
"prepare_camera_compute_job",
"validate_camera_compute_job",
),
".jobs",
),
**dict.fromkeys(
(
"PublishedCameraEgoMotionLabInstance",
"PublishedIntegratedLabInstance",
"PublishedPersistentSupportLabInstance",
"PublishedTemporalLabInstance",
"PublishedWorldMotionLabInstance",
"publish_e21_lab_instance",
"publish_e22_lab_instance",
"publish_e23_lab_instance",
"publish_e24_lab_instance",
"publish_e25_lab_instance",
"publish_e26_lab_instance",
"publish_integrated_lab_instance",
),
".lab_instances",
),
**dict.fromkeys(
(
"K1_LAB_LIDAR_PACK_V1_PROFILE",
"K1_LIDAR_PACK_V2_PROFILE",
"K1_LIVE_LIDAR_PROFILE",
"LIDAR_EVIDENCE_PROFILE_SCHEMA",
"LIDAR_READINESS_SCHEMA",
"LidarContractError",
"LidarCoordinateSpace",
"LidarEvidenceProfile",
"LidarPipelineStage",
"LidarPointField",
"LidarPoseStatus",
"LidarQualityMonitor",
"LidarReadiness",
"LidarRepresentation",
"LidarStageAssessment",
"LidarTimeBasis",
"assess_lidar_profile",
"lidar_readiness_document",
"sensor_frame_xyzi",
),
".lidar_contract",
),
**dict.fromkeys(
(
"E10_LIDAR_PACK_SCHEMA",
"FIELD_REVIEW_ARRAYS_NAME",
"FIELD_REVIEW_MANIFEST_NAME",
"FIELD_REVIEW_REPORT_NAME",
"LIDAR_FIELD_REVIEW_REPORT_SCHEMA",
"LIDAR_FIELD_REVIEW_SCHEMA",
"LIDAR_FIELD_REVIEW_WINDOW_SCHEMA",
"MAX_FIELD_REVIEW_WINDOW_POINTS",
"RAVNOVES00_CENTRAL_WINDOWS",
"E10LidarFieldSource",
"FieldReviewWindowSpec",
"LidarFieldReviewV1",
"build_lidar_field_review",
"lidar_field_review_catalog_item",
),
".lidar_field_review",
),
**dict.fromkeys(
(
"DEFAULT_GROUND_BENCHMARK_PROFILE",
"LIDAR_GROUND_ANNOTATION_TEMPLATE_SCHEMA",
"LIDAR_GROUND_BENCHMARK_REPORT_SCHEMA",
"LIDAR_GROUND_BENCHMARK_SCHEMA",
"LIDAR_GROUND_FRAME_SCHEMA",
"PATCHWORKPP_SOURCE_COMMIT",
"PATCHWORKPP_SOURCE_TAG",
"PATCHWORKPP_SOURCE_URL",
"GroundBenchmarkProfile",
"GroundSegmentation",
"LidarGroundBenchmarkV1",
"LidarGroundError",
"LocalPercentileGroundSegmenter",
"PatchworkPPGroundSegmenter",
"build_lidar_ground_annotation_template",
"build_lidar_ground_benchmark",
"lidar_ground_benchmark_catalog_item",
"lidar_ground_frame_detail",
"score_ground_labels",
),
".lidar_ground",
),
**dict.fromkeys(
(
"DEFAULT_K1_LOCAL_SURFACE_PROFILE",
"K1_LOCAL_SURFACE_FRAME_SCHEMA",
"K1_LOCAL_SURFACE_REPORT_SCHEMA",
"K1_LOCAL_SURFACE_REVIEW_SCHEMA",
"K1_LOCAL_SURFACE_SCHEMA",
"K1_LOCAL_SURFACE_TIMELINE_SCHEMA",
"K1LocalSurfaceProfile",
"K1LocalSurfaceV1",
"build_k1_local_surface",
"k1_local_surface_catalog_item",
),
".lidar_local_surface",
),
**dict.fromkeys(
(
"K1_LOCAL_SURFACE_BINDER_SCHEMA",
"K1_LOCAL_SURFACE_SHADOW_FRAME_SCHEMA",
"K1_LOCAL_SURFACE_SHADOW_SCHEMA",
"K1LocalSurfaceBoundViews",
"K1LocalSurfacePoseBinder",
"K1LocalSurfaceShadowCoordinator",
"K1LocalSurfaceShadowEstimator",
"K1LocalSurfaceShadowInput",
"K1LocalSurfaceShadowResult",
"K1LocalSurfaceShadowRuntime",
),
".lidar_local_surface_shadow",
),
**dict.fromkeys(
(
"LIDAR_EQUIVALENCE_REPORT_SCHEMA",
"LIDAR_QUALITY_REPORT_SCHEMA",
"LIDAR_REPLAY_PACK_SCHEMA",
"LidarReplayError",
"LidarReplayPackV2",
"LidarReplayPointFrame",
"LidarReplayPoseFrame",
"build_lidar_replay_pack_v2",
"lidar_pack_catalog_item",
"lidar_pack_detail",
"verify_lidar_replay_equivalence",
),
".lidar_replay",
),
**dict.fromkeys(
(
"LIVE_INGRESS_SCHEMA",
"LIVE_INGRESS_WIRE_SCHEMA",
"TELEMETRY_SCHEMA",
"WORLD_STATE_SCHEMA",
"LatestWinsQueue",
"LiveIngressEvent",
"LivePerceptionIngress",
"QueueSnapshot",
"WorldStateProjector",
"classify_health",
),
".live_perception",
),
**dict.fromkeys(
(
"LiveReplayQualificationResult",
"validate_live_replay_qualification_result",
),
".live_replay_qualification",
),
**dict.fromkeys(
(
"MultiratePerceptionArtifact",
"MultiratePerceptionQualificationResult",
"validate_multirate_perception_qualification_result",
),
".multirate_perception_qualification",
),
**dict.fromkeys(
(
"RecordedPerceptionEpochResult",
"RecordedPerceptionEpochStore",
"RecordedPerceptionVideo",
"validate_recorded_perception_epoch_result",
),
".perception_epoch",
),
**dict.fromkeys(
(
"DEFAULT_QUALIFICATION_FRAME_COUNT",
"QUALIFICATION_POLICY",
"QualificationFrame",
"RecordedQualificationSlice",
"RecordedQualificationSliceError",
"prepare_recorded_qualification_slice",
"validate_recorded_qualification_slice",
),
".qualification",
),
**dict.fromkeys(
(
"RealtimeTrackingArtifact",
"RealtimeTrackingQualificationResult",
"validate_realtime_tracking_qualification_result",
),
".realtime_tracking_qualification",
),
**dict.fromkeys(
(
"DetectionFrame",
"ObjectDetection",
"RecordedPerceptionOverlayArtifact",
"RecordedPerceptionOverlayError",
"RecordedPerceptionOverlayStore",
"RecordedPerceptionResult",
"validate_recorded_perception_result",
),
".results",
),
**dict.fromkeys(
(
"POINT_SLAB_SCHEMA",
"TRACK_GEOMETRY_BINDING_SCHEMA",
"TRACK_GEOMETRY_FRAME_SCHEMA",
"TRACK_GEOMETRY_SCHEMA",
"PointSlab",
"TrackGeometry",
"TrackGeometryContractError",
"TrackGeometryCurrentness",
"TrackGeometryEvidenceState",
"TrackGeometryFrame",
"TrackGeometryMetricBasis",
"TrackGeometryOwnerKind",
"TrackGeometrySourceBinding",
),
".track_geometry",
),
**dict.fromkeys(
(
"TrackedFusionQualificationResult",
"validate_tracked_fusion_qualification_result",
),
".tracked_fusion_qualification",
),
**dict.fromkeys(
(
"TrackingQualificationArtifact",
"TrackingQualificationResult",
"validate_tracking_qualification_result",
),
".tracking_qualification",
),
}
if set(_EXPORTS) != set(__all__) or len(_EXPORTS) != len(__all__):
raise RuntimeError("compute lazy export table does not match __all__")
def __getattr__(name: str) -> Any:
module_name = _EXPORTS.get(name)
if module_name is None:
raise AttributeError(f"module {__name__!r} has no attribute {name!r}")
value: Any = getattr(import_module(module_name, __name__), name)
globals()[name] = value
return value
def __dir__() -> list[str]:
return sorted({*globals(), *__all__})
src/k1link/device_plugins/xgrids_k1/__init__.py
+25
View File
@@ -1,5 +1,30 @@
"""XGRIDS/LixelKity K1 compatibility plugin implementation.""" """XGRIDS/LixelKity K1 compatibility plugin implementation."""
from importlib import import_module
from typing import TYPE_CHECKING, Any, Final
if TYPE_CHECKING:
from .observation import build_xgrids_k1_observation, xgrids_k1_archive_source from .observation import build_xgrids_k1_observation, xgrids_k1_archive_source
__all__ = ["build_xgrids_k1_observation", "xgrids_k1_archive_source"] __all__ = ["build_xgrids_k1_observation", "xgrids_k1_archive_source"]
_EXPORTS: Final = {
"build_xgrids_k1_observation": ".observation",
"xgrids_k1_archive_source": ".observation",
}
if set(_EXPORTS) != set(__all__) or len(_EXPORTS) != len(__all__):
raise RuntimeError("XGRIDS K1 lazy export table does not match __all__")
def __getattr__(name: str) -> Any:
module_name = _EXPORTS.get(name)
if module_name is None:
raise AttributeError(f"module {__name__!r} has no attribute {name!r}")
value: Any = getattr(import_module(module_name, __name__), name)
globals()[name] = value
return value
def __dir__() -> list[str]:
return sorted({*globals(), *__all__})
src/k1link/device_plugins/xgrids_k1/analyze/__init__.py
+63
View File
@@ -1,5 +1,9 @@
"""Bounded, offline analysis of sensitive K1 evidence artifacts.""" """Bounded, offline analysis of sensitive K1 evidence artifacts."""
from importlib import import_module
from typing import TYPE_CHECKING, Any, Final
if TYPE_CHECKING:
from k1link.device_plugins.xgrids_k1.analyze.calibrated_overlay import ( from k1link.device_plugins.xgrids_k1.analyze.calibrated_overlay import (
CalibratedOverlayExperiment, CalibratedOverlayExperiment,
CalibratedOverlayExperimentError, CalibratedOverlayExperimentError,
@@ -51,3 +55,62 @@ __all__ = [
"unproject_pixels_kb4", "unproject_pixels_kb4",
"validate_k1_valid_fov_mask", "validate_k1_valid_fov_mask",
] ]
_EXPORTS: Final = {
**dict.fromkeys(
(
"CalibratedOverlayExperiment",
"CalibratedOverlayExperimentError",
"run_calibrated_overlay_experiment",
),
".calibrated_overlay",
),
**dict.fromkeys(
(
"CalibratedProjectionError",
"Kb4ProjectionProfile",
"ProjectedPointCloud",
"depth_colors",
"map_points_to_lidar",
"project_map_points_kb4",
"quaternion_xyzw_to_rotation_matrix",
"unproject_pixels_kb4",
),
".calibrated_projection",
),
**dict.fromkeys(
(
"DEFAULT_STREAM_SUMMARY_MAX_PAYLOAD_BYTES",
"MAX_STREAM_SUMMARY_PAYLOAD_BYTES",
"StreamSummary",
"summarize_mqtt_streams",
),
".stream_summary",
),
**dict.fromkeys(
(
"DEFAULT_EDGE_MARGIN_PIXELS",
"K1ValidFovMask",
"K1ValidFovMaskError",
"prepare_k1_valid_fov_mask",
"validate_k1_valid_fov_mask",
),
".valid_fov",
),
}
if set(_EXPORTS) != set(__all__) or len(_EXPORTS) != len(__all__):
raise RuntimeError("XGRIDS K1 analysis lazy export table does not match __all__")
def __getattr__(name: str) -> Any:
module_name = _EXPORTS.get(name)
if module_name is None:
raise AttributeError(f"module {__name__!r} has no attribute {name!r}")
value: Any = getattr(import_module(module_name, __name__), name)
globals()[name] = value
return value
def __dir__() -> list[str]:
return sorted({*globals(), *__all__})
tests/test_m49_worker_minimal_import.py
+91
View File
@@ -0,0 +1,91 @@
from __future__ import annotations
import os
import subprocess
import sys
import textwrap
from pathlib import Path
REPOSITORY_ROOT = Path(__file__).resolve().parents[1]
SOURCE_ROOT = REPOSITORY_ROOT / "src"
def test_m49_container_import_excludes_optional_visualization_dependencies() -> None:
script = textwrap.dedent(
"""
import hashlib
import importlib.abc
import json
import sys
blocked = frozenset({"PIL", "pyarrow", "rerun"})
class OptionalDependencyBlocker(importlib.abc.MetaPathFinder):
def find_spec(self, fullname, path=None, target=None):
if fullname.partition(".")[0] in blocked:
raise ModuleNotFoundError(
f"blocked optional dependency: {fullname}",
name=fullname,
)
return None
assert blocked.isdisjoint(sys.modules)
sys.meta_path.insert(0, OptionalDependencyBlocker())
import k1link.compute as compute
import k1link.device_plugins.xgrids_k1 as xgrids_k1
import k1link.device_plugins.xgrids_k1.analyze as analyze
import k1link.observatory.m49_worker_container_main as container_main
from k1link.compute import LidarReplayPackV2
from k1link.compute.lidar_replay import LidarReplayPackV2 as DirectReplayPack
from k1link.device_plugins.xgrids_k1.analyze import Kb4ProjectionProfile
from k1link.device_plugins.xgrids_k1.analyze.calibrated_projection import (
Kb4ProjectionProfile as DirectProjectionProfile,
)
expected_public_api = {
compute: (219, "a8616ca1402ee26774fb8c8ca2df12b77877305260bde2d64db75acbdc79b598"),
xgrids_k1: (2, "735cce20efdc7b1abd12006073233051c6702b00e8f15d21c2142d671061a79b"),
analyze: (20, "4a3edcb6b9c735338c0392838be0eac89cad2db1178a5ab7833c1231b6ecc4c2"),
}
for package, (length, digest) in expected_public_api.items():
payload = json.dumps(package.__all__, separators=(",", ":")).encode()
assert len(package.__all__) == length
assert hashlib.sha256(payload).hexdigest() == digest
assert set(package.__all__).issubset(dir(package))
assert LidarReplayPackV2 is DirectReplayPack
assert Kb4ProjectionProfile is DirectProjectionProfile
assert container_main.__name__ == "k1link.observatory.m49_worker_container_main"
assert "k1link.compute.fusion_epoch" not in sys.modules
assert "k1link.device_plugins.xgrids_k1.observation" not in sys.modules
assert (
"k1link.device_plugins.xgrids_k1.analyze.calibrated_overlay"
not in sys.modules
)
assert "k1link.device_plugins.xgrids_k1.analyze.valid_fov" not in sys.modules
assert all(
module.partition(".")[0] not in blocked
for module in sys.modules
)
"""
)
environment = os.environ.copy()
inherited_python_path = environment.get("PYTHONPATH")
python_path = [str(SOURCE_ROOT)]
if inherited_python_path:
python_path.append(inherited_python_path)
environment["PYTHONPATH"] = os.pathsep.join(python_path)
environment["PYTHONNOUSERSITE"] = "1"
completed = subprocess.run(
[sys.executable, "-c", script],
cwd=REPOSITORY_ROOT,
env=environment,
check=False,
capture_output=True,
text=True,
timeout=30,
)
assert completed.returncode == 0, completed.stderr