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refactor(worker): defer optional visualization imports

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DCCONSTRUCTIONS
2026-08-31 17:15:13 +03:00
parent e2de8188ab
commit 892d0085e3
4 changed files with 858 additions and 302 deletions
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src/k1link/compute/__init__.py
+650 -273
View File
@@ -1,278 +1,282 @@
"""Host-owned compute handoff contracts.""" """Host-owned compute handoff contracts."""
from .annotation_workspace import ( from importlib import import_module
ANNOTATION_WORKSPACE_SCHEMA, from typing import TYPE_CHECKING, Any, Final
AnnotationWorkspace,
AnnotationWorkspaceError, if TYPE_CHECKING:
prepare_annotation_workspace, from .annotation_workspace import (
validate_annotation_workspace, ANNOTATION_WORKSPACE_SCHEMA,
) AnnotationWorkspace,
from .e31_source_qualification import ( AnnotationWorkspaceError,
DEFAULT_E31_SOURCE_QUALIFICATION_PROFILE, prepare_annotation_workspace,
E31_BINDING_PROFILE_SCHEMA, validate_annotation_workspace,
E31_SOURCE_QUALIFICATION_REPORT_SCHEMA, )
E31_SOURCE_QUALIFICATION_SCHEMA, from .e31_source_qualification import (
E31SourceQualification, DEFAULT_E31_SOURCE_QUALIFICATION_PROFILE,
E31SourceQualificationError, E31_BINDING_PROFILE_SCHEMA,
E31SourceQualificationProfile, E31_SOURCE_QUALIFICATION_REPORT_SCHEMA,
build_e31_source_qualification, E31_SOURCE_QUALIFICATION_SCHEMA,
) E31SourceQualification,
from .e32_track_geometry_replay import ( E31SourceQualificationError,
E32_TRACK_GEOMETRY_RECORD_SCHEMA, E31SourceQualificationProfile,
E32_TRACK_GEOMETRY_REPLAY_SCHEMA, build_e31_source_qualification,
E32_TRACK_GEOMETRY_REPORT_SCHEMA, )
E32TrackGeometryReplay, from .e32_track_geometry_replay import (
E32TrackGeometryReplayError, E32_TRACK_GEOMETRY_RECORD_SCHEMA,
build_e32_track_geometry_replay, E32_TRACK_GEOMETRY_REPLAY_SCHEMA,
e32_track_geometry_frame, E32_TRACK_GEOMETRY_REPORT_SCHEMA,
read_e32_track_geometry_replay, E32TrackGeometryReplay,
) E32TrackGeometryReplayError,
from .e33_worker_shadow import ( build_e32_track_geometry_replay,
E33_FRAME_SCHEMA, e32_track_geometry_frame,
E33_OUTCOME_SCHEMA, read_e32_track_geometry_replay,
E33_PACKAGE_SCHEMA, )
E33_PROFILE_SCHEMA, from .e33_worker_shadow import (
E33_REPORT_SCHEMA, E33_FRAME_SCHEMA,
E33_RESOURCE_SCHEMA, E33_OUTCOME_SCHEMA,
E33_RESULT_SCHEMA, E33_PACKAGE_SCHEMA,
E33WorkerShadowError, E33_PROFILE_SCHEMA,
E33WorkerShadowResult, E33_REPORT_SCHEMA,
read_e33_worker_shadow_result, E33_RESOURCE_SCHEMA,
run_e33_worker_shadow, E33_RESULT_SCHEMA,
) E33WorkerShadowError,
from .e51_motion_semantic_qualification import ( E33WorkerShadowResult,
E51_FRAME_SCHEMA, read_e33_worker_shadow_result,
E51_PROFILE_SCHEMA, run_e33_worker_shadow,
E51_REPORT_SCHEMA, )
E51_RESULT_SCHEMA, from .e51_motion_semantic_qualification import (
E51_SIGNAL_SCHEMA, E51_FRAME_SCHEMA,
E51MotionSemanticError, E51_PROFILE_SCHEMA,
E51MotionSemanticResult, E51_REPORT_SCHEMA,
build_e51_motion_semantic_qualification, E51_RESULT_SCHEMA,
derive_motion_semantic_signal, E51_SIGNAL_SCHEMA,
read_e51_motion_semantic_qualification, E51MotionSemanticError,
) E51MotionSemanticResult,
from .e52_camera_first_restoration import ( build_e51_motion_semantic_qualification,
E52_CASE_SCHEMA, derive_motion_semantic_signal,
E52_PROFILE_SCHEMA, read_e51_motion_semantic_qualification,
E52_REPORT_SCHEMA, )
E52_RESULT_SCHEMA, from .e52_camera_first_restoration import (
E52CameraFirstRestoration, E52_CASE_SCHEMA,
E52CameraFirstRestorationError, E52_PROFILE_SCHEMA,
build_e52_camera_first_restoration, E52_REPORT_SCHEMA,
evaluate_camera_first_case, E52_RESULT_SCHEMA,
read_e52_camera_first_restoration, E52CameraFirstRestoration,
) E52CameraFirstRestorationError,
from .evaluation_pack import ( build_e52_camera_first_restoration,
ANNOTATION_CONTRACT_SCHEMA, evaluate_camera_first_case,
EVALUATION_PACK_SCHEMA, read_e52_camera_first_restoration,
EvaluationFrameRequest, )
EvaluationPackFrame, from .evaluation_pack import (
RecordedEvaluationPack, ANNOTATION_CONTRACT_SCHEMA,
RecordedEvaluationPackError, EVALUATION_PACK_SCHEMA,
prepare_recorded_evaluation_pack, EvaluationFrameRequest,
validate_recorded_evaluation_pack, EvaluationPackFrame,
) RecordedEvaluationPack,
from .fusion_epoch import ( RecordedEvaluationPackError,
RecordedCalibratedFusion, prepare_recorded_evaluation_pack,
RecordedCalibratedFusionStore, validate_recorded_evaluation_pack,
RecordedPerceptionOverlayMux, )
validate_recorded_calibrated_fusion, from .fusion_epoch import (
) RecordedCalibratedFusion,
from .integrated_perception import ( RecordedCalibratedFusionStore,
IntegratedPerceptionOverlayStore, RecordedPerceptionOverlayMux,
IntegratedPerceptionResult, validate_recorded_calibrated_fusion,
validate_integrated_perception_result, )
) from .integrated_perception import (
from .jobs import ( IntegratedPerceptionOverlayStore,
COMPUTE_JOB_SCHEMA, IntegratedPerceptionResult,
CameraComputeJob, validate_integrated_perception_result,
prepare_camera_compute_job, )
validate_camera_compute_job, from .jobs import (
) COMPUTE_JOB_SCHEMA,
from .lab_instances import ( CameraComputeJob,
PublishedCameraEgoMotionLabInstance, prepare_camera_compute_job,
PublishedIntegratedLabInstance, validate_camera_compute_job,
PublishedPersistentSupportLabInstance, )
PublishedTemporalLabInstance, from .lab_instances import (
PublishedWorldMotionLabInstance, PublishedCameraEgoMotionLabInstance,
publish_e21_lab_instance, PublishedIntegratedLabInstance,
publish_e22_lab_instance, PublishedPersistentSupportLabInstance,
publish_e23_lab_instance, PublishedTemporalLabInstance,
publish_e24_lab_instance, PublishedWorldMotionLabInstance,
publish_e25_lab_instance, publish_e21_lab_instance,
publish_e26_lab_instance, publish_e22_lab_instance,
publish_integrated_lab_instance, publish_e23_lab_instance,
) publish_e24_lab_instance,
from .lidar_contract import ( publish_e25_lab_instance,
K1_LAB_LIDAR_PACK_V1_PROFILE, publish_e26_lab_instance,
K1_LIDAR_PACK_V2_PROFILE, publish_integrated_lab_instance,
K1_LIVE_LIDAR_PROFILE, )
LIDAR_EVIDENCE_PROFILE_SCHEMA, from .lidar_contract import (
LIDAR_READINESS_SCHEMA, K1_LAB_LIDAR_PACK_V1_PROFILE,
LidarContractError, K1_LIDAR_PACK_V2_PROFILE,
LidarCoordinateSpace, K1_LIVE_LIDAR_PROFILE,
LidarEvidenceProfile, LIDAR_EVIDENCE_PROFILE_SCHEMA,
LidarPipelineStage, LIDAR_READINESS_SCHEMA,
LidarPointField, LidarContractError,
LidarPoseStatus, LidarCoordinateSpace,
LidarQualityMonitor, LidarEvidenceProfile,
LidarReadiness, LidarPipelineStage,
LidarRepresentation, LidarPointField,
LidarStageAssessment, LidarPoseStatus,
LidarTimeBasis, LidarQualityMonitor,
assess_lidar_profile, LidarReadiness,
lidar_readiness_document, LidarRepresentation,
sensor_frame_xyzi, LidarStageAssessment,
) LidarTimeBasis,
from .lidar_field_review import ( assess_lidar_profile,
E10_LIDAR_PACK_SCHEMA, lidar_readiness_document,
FIELD_REVIEW_ARRAYS_NAME, sensor_frame_xyzi,
FIELD_REVIEW_MANIFEST_NAME, )
FIELD_REVIEW_REPORT_NAME, from .lidar_field_review import (
LIDAR_FIELD_REVIEW_REPORT_SCHEMA, E10_LIDAR_PACK_SCHEMA,
LIDAR_FIELD_REVIEW_SCHEMA, FIELD_REVIEW_ARRAYS_NAME,
LIDAR_FIELD_REVIEW_WINDOW_SCHEMA, FIELD_REVIEW_MANIFEST_NAME,
MAX_FIELD_REVIEW_WINDOW_POINTS, FIELD_REVIEW_REPORT_NAME,
RAVNOVES00_CENTRAL_WINDOWS, LIDAR_FIELD_REVIEW_REPORT_SCHEMA,
E10LidarFieldSource, LIDAR_FIELD_REVIEW_SCHEMA,
FieldReviewWindowSpec, LIDAR_FIELD_REVIEW_WINDOW_SCHEMA,
LidarFieldReviewV1, MAX_FIELD_REVIEW_WINDOW_POINTS,
build_lidar_field_review, RAVNOVES00_CENTRAL_WINDOWS,
lidar_field_review_catalog_item, E10LidarFieldSource,
) FieldReviewWindowSpec,
from .lidar_ground import ( LidarFieldReviewV1,
DEFAULT_GROUND_BENCHMARK_PROFILE, build_lidar_field_review,
LIDAR_GROUND_ANNOTATION_TEMPLATE_SCHEMA, lidar_field_review_catalog_item,
LIDAR_GROUND_BENCHMARK_REPORT_SCHEMA, )
LIDAR_GROUND_BENCHMARK_SCHEMA, from .lidar_ground import (
LIDAR_GROUND_FRAME_SCHEMA, DEFAULT_GROUND_BENCHMARK_PROFILE,
PATCHWORKPP_SOURCE_COMMIT, LIDAR_GROUND_ANNOTATION_TEMPLATE_SCHEMA,
PATCHWORKPP_SOURCE_TAG, LIDAR_GROUND_BENCHMARK_REPORT_SCHEMA,
PATCHWORKPP_SOURCE_URL, LIDAR_GROUND_BENCHMARK_SCHEMA,
GroundBenchmarkProfile, LIDAR_GROUND_FRAME_SCHEMA,
GroundSegmentation, PATCHWORKPP_SOURCE_COMMIT,
LidarGroundBenchmarkV1, PATCHWORKPP_SOURCE_TAG,
LidarGroundError, PATCHWORKPP_SOURCE_URL,
LocalPercentileGroundSegmenter, GroundBenchmarkProfile,
PatchworkPPGroundSegmenter, GroundSegmentation,
build_lidar_ground_annotation_template, LidarGroundBenchmarkV1,
build_lidar_ground_benchmark, LidarGroundError,
lidar_ground_benchmark_catalog_item, LocalPercentileGroundSegmenter,
lidar_ground_frame_detail, PatchworkPPGroundSegmenter,
score_ground_labels, build_lidar_ground_annotation_template,
) build_lidar_ground_benchmark,
from .lidar_local_surface import ( lidar_ground_benchmark_catalog_item,
DEFAULT_K1_LOCAL_SURFACE_PROFILE, lidar_ground_frame_detail,
K1_LOCAL_SURFACE_FRAME_SCHEMA, score_ground_labels,
K1_LOCAL_SURFACE_REPORT_SCHEMA, )
K1_LOCAL_SURFACE_REVIEW_SCHEMA, from .lidar_local_surface import (
K1_LOCAL_SURFACE_SCHEMA, DEFAULT_K1_LOCAL_SURFACE_PROFILE,
K1_LOCAL_SURFACE_TIMELINE_SCHEMA, K1_LOCAL_SURFACE_FRAME_SCHEMA,
K1LocalSurfaceProfile, K1_LOCAL_SURFACE_REPORT_SCHEMA,
K1LocalSurfaceV1, K1_LOCAL_SURFACE_REVIEW_SCHEMA,
build_k1_local_surface, K1_LOCAL_SURFACE_SCHEMA,
k1_local_surface_catalog_item, K1_LOCAL_SURFACE_TIMELINE_SCHEMA,
) K1LocalSurfaceProfile,
from .lidar_local_surface_shadow import ( K1LocalSurfaceV1,
K1_LOCAL_SURFACE_BINDER_SCHEMA, build_k1_local_surface,
K1_LOCAL_SURFACE_SHADOW_FRAME_SCHEMA, k1_local_surface_catalog_item,
K1_LOCAL_SURFACE_SHADOW_SCHEMA, )
K1LocalSurfaceBoundViews, from .lidar_local_surface_shadow import (
K1LocalSurfacePoseBinder, K1_LOCAL_SURFACE_BINDER_SCHEMA,
K1LocalSurfaceShadowCoordinator, K1_LOCAL_SURFACE_SHADOW_FRAME_SCHEMA,
K1LocalSurfaceShadowEstimator, K1_LOCAL_SURFACE_SHADOW_SCHEMA,
K1LocalSurfaceShadowInput, K1LocalSurfaceBoundViews,
K1LocalSurfaceShadowResult, K1LocalSurfacePoseBinder,
K1LocalSurfaceShadowRuntime, K1LocalSurfaceShadowCoordinator,
) K1LocalSurfaceShadowEstimator,
from .lidar_replay import ( K1LocalSurfaceShadowInput,
LIDAR_EQUIVALENCE_REPORT_SCHEMA, K1LocalSurfaceShadowResult,
LIDAR_QUALITY_REPORT_SCHEMA, K1LocalSurfaceShadowRuntime,
LIDAR_REPLAY_PACK_SCHEMA, )
LidarReplayError, from .lidar_replay import (
LidarReplayPackV2, LIDAR_EQUIVALENCE_REPORT_SCHEMA,
LidarReplayPointFrame, LIDAR_QUALITY_REPORT_SCHEMA,
LidarReplayPoseFrame, LIDAR_REPLAY_PACK_SCHEMA,
build_lidar_replay_pack_v2, LidarReplayError,
lidar_pack_catalog_item, LidarReplayPackV2,
lidar_pack_detail, LidarReplayPointFrame,
verify_lidar_replay_equivalence, LidarReplayPoseFrame,
) build_lidar_replay_pack_v2,
from .live_perception import ( lidar_pack_catalog_item,
LIVE_INGRESS_SCHEMA, lidar_pack_detail,
LIVE_INGRESS_WIRE_SCHEMA, verify_lidar_replay_equivalence,
TELEMETRY_SCHEMA, )
WORLD_STATE_SCHEMA, from .live_perception import (
LatestWinsQueue, LIVE_INGRESS_SCHEMA,
LiveIngressEvent, LIVE_INGRESS_WIRE_SCHEMA,
LivePerceptionIngress, TELEMETRY_SCHEMA,
QueueSnapshot, WORLD_STATE_SCHEMA,
WorldStateProjector, LatestWinsQueue,
classify_health, LiveIngressEvent,
) LivePerceptionIngress,
from .live_replay_qualification import ( QueueSnapshot,
LiveReplayQualificationResult, WorldStateProjector,
validate_live_replay_qualification_result, classify_health,
) )
from .multirate_perception_qualification import ( from .live_replay_qualification import (
MultiratePerceptionArtifact, LiveReplayQualificationResult,
MultiratePerceptionQualificationResult, validate_live_replay_qualification_result,
validate_multirate_perception_qualification_result, )
) from .multirate_perception_qualification import (
from .perception_epoch import ( MultiratePerceptionArtifact,
RecordedPerceptionEpochResult, MultiratePerceptionQualificationResult,
RecordedPerceptionEpochStore, validate_multirate_perception_qualification_result,
RecordedPerceptionVideo, )
validate_recorded_perception_epoch_result, from .perception_epoch import (
) RecordedPerceptionEpochResult,
from .qualification import ( RecordedPerceptionEpochStore,
DEFAULT_QUALIFICATION_FRAME_COUNT, RecordedPerceptionVideo,
QUALIFICATION_POLICY, validate_recorded_perception_epoch_result,
QualificationFrame, )
RecordedQualificationSlice, from .qualification import (
RecordedQualificationSliceError, DEFAULT_QUALIFICATION_FRAME_COUNT,
prepare_recorded_qualification_slice, QUALIFICATION_POLICY,
validate_recorded_qualification_slice, QualificationFrame,
) RecordedQualificationSlice,
from .realtime_tracking_qualification import ( RecordedQualificationSliceError,
RealtimeTrackingArtifact, prepare_recorded_qualification_slice,
RealtimeTrackingQualificationResult, validate_recorded_qualification_slice,
validate_realtime_tracking_qualification_result, )
) from .realtime_tracking_qualification import (
from .results import ( RealtimeTrackingArtifact,
DetectionFrame, RealtimeTrackingQualificationResult,
ObjectDetection, validate_realtime_tracking_qualification_result,
RecordedPerceptionOverlayArtifact, )
RecordedPerceptionOverlayError, from .results import (
RecordedPerceptionOverlayStore, DetectionFrame,
RecordedPerceptionResult, ObjectDetection,
validate_recorded_perception_result, RecordedPerceptionOverlayArtifact,
) RecordedPerceptionOverlayError,
from .track_geometry import ( RecordedPerceptionOverlayStore,
POINT_SLAB_SCHEMA, RecordedPerceptionResult,
TRACK_GEOMETRY_BINDING_SCHEMA, validate_recorded_perception_result,
TRACK_GEOMETRY_FRAME_SCHEMA, )
TRACK_GEOMETRY_SCHEMA, from .track_geometry import (
PointSlab, POINT_SLAB_SCHEMA,
TrackGeometry, TRACK_GEOMETRY_BINDING_SCHEMA,
TrackGeometryContractError, TRACK_GEOMETRY_FRAME_SCHEMA,
TrackGeometryCurrentness, TRACK_GEOMETRY_SCHEMA,
TrackGeometryEvidenceState, PointSlab,
TrackGeometryFrame, TrackGeometry,
TrackGeometryMetricBasis, TrackGeometryContractError,
TrackGeometryOwnerKind, TrackGeometryCurrentness,
TrackGeometrySourceBinding, TrackGeometryEvidenceState,
) TrackGeometryFrame,
from .tracked_fusion_qualification import ( TrackGeometryMetricBasis,
TrackedFusionQualificationResult, TrackGeometryOwnerKind,
validate_tracked_fusion_qualification_result, TrackGeometrySourceBinding,
) )
from .tracking_qualification import ( from .tracked_fusion_qualification import (
TrackingQualificationArtifact, TrackedFusionQualificationResult,
TrackingQualificationResult, validate_tracked_fusion_qualification_result,
validate_tracking_qualification_result, )
) from .tracking_qualification import (
TrackingQualificationArtifact,
TrackingQualificationResult,
validate_tracking_qualification_result,
)
__all__ = [ __all__ = [
"ANNOTATION_CONTRACT_SCHEMA", "ANNOTATION_CONTRACT_SCHEMA",
@@ -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
+26 -1
View File
@@ -1,5 +1,30 @@
"""XGRIDS/LixelKity K1 compatibility plugin implementation.""" """XGRIDS/LixelKity K1 compatibility plugin implementation."""
from .observation import build_xgrids_k1_observation, xgrids_k1_archive_source 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
__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
+91 -28
View File
@@ -1,33 +1,37 @@
"""Bounded, offline analysis of sensitive K1 evidence artifacts.""" """Bounded, offline analysis of sensitive K1 evidence artifacts."""
from k1link.device_plugins.xgrids_k1.analyze.calibrated_overlay import ( from importlib import import_module
CalibratedOverlayExperiment, from typing import TYPE_CHECKING, Any, Final
CalibratedOverlayExperimentError,
run_calibrated_overlay_experiment, if TYPE_CHECKING:
) from k1link.device_plugins.xgrids_k1.analyze.calibrated_overlay import (
from k1link.device_plugins.xgrids_k1.analyze.calibrated_projection import ( CalibratedOverlayExperiment,
CalibratedProjectionError, CalibratedOverlayExperimentError,
Kb4ProjectionProfile, run_calibrated_overlay_experiment,
ProjectedPointCloud, )
depth_colors, from k1link.device_plugins.xgrids_k1.analyze.calibrated_projection import (
map_points_to_lidar, CalibratedProjectionError,
project_map_points_kb4, Kb4ProjectionProfile,
quaternion_xyzw_to_rotation_matrix, ProjectedPointCloud,
unproject_pixels_kb4, depth_colors,
) map_points_to_lidar,
from k1link.device_plugins.xgrids_k1.analyze.stream_summary import ( project_map_points_kb4,
DEFAULT_STREAM_SUMMARY_MAX_PAYLOAD_BYTES, quaternion_xyzw_to_rotation_matrix,
MAX_STREAM_SUMMARY_PAYLOAD_BYTES, unproject_pixels_kb4,
StreamSummary, )
summarize_mqtt_streams, from k1link.device_plugins.xgrids_k1.analyze.stream_summary import (
) DEFAULT_STREAM_SUMMARY_MAX_PAYLOAD_BYTES,
from k1link.device_plugins.xgrids_k1.analyze.valid_fov import ( MAX_STREAM_SUMMARY_PAYLOAD_BYTES,
DEFAULT_EDGE_MARGIN_PIXELS, StreamSummary,
K1ValidFovMask, summarize_mqtt_streams,
K1ValidFovMaskError, )
prepare_k1_valid_fov_mask, from k1link.device_plugins.xgrids_k1.analyze.valid_fov import (
validate_k1_valid_fov_mask, DEFAULT_EDGE_MARGIN_PIXELS,
) K1ValidFovMask,
K1ValidFovMaskError,
prepare_k1_valid_fov_mask,
validate_k1_valid_fov_mask,
)
__all__ = [ __all__ = [
"CalibratedOverlayExperiment", "CalibratedOverlayExperiment",
@@ -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