feat(lidar): admit and benchmark GOOSE baseline

src/k1link/web/lidar_api.py

@@ -20,7 +20,15 @@ from k1link.compute import (
     lidar_pack_catalog_item,
     lidar_pack_detail,
 )
-from k1link.datasets import dataset_gateway_catalog
+from k1link.datasets import (
+    DatasetAdmissionError,
+    configured_dataset_admission_manifest,
+    configured_dataset_ground_preview,
+    configured_dataset_preview,
+    dataset_gateway_catalog,
+    read_dataset_ground_preview,
+    read_dataset_native_scan_preview,
+)
 
 LIDAR_CATALOG_SCHEMA: Final = "missioncore.lidar-replay-pack-catalog/v1"
 LIDAR_GROUND_CATALOG_SCHEMA: Final = "missioncore.lidar-ground-benchmark-catalog/v1"
@@ -29,6 +37,7 @@ _PACK_ID = re.compile(r"^lidar-replay-pack-[a-f0-9]{64}$")
 _BENCHMARK_ID = re.compile(r"^ground-benchmark-[a-f0-9]{64}$")
 _FIELD_REVIEW_ID = re.compile(r"^lidar-field-review-[a-f0-9]{64}$")
 RootProvider = Callable[[], Path | None]
+DatasetArtifactProvider = Callable[[], Path | None]
 
 
 def configured_lidar_replay_root() -> Path | None:
@@ -51,12 +60,49 @@ def build_lidar_router(
     root_provider: RootProvider = configured_lidar_replay_root,
     ground_root_provider: RootProvider = configured_lidar_ground_root,
     field_review_root_provider: RootProvider = configured_lidar_field_review_root,
+    dataset_admission_provider: DatasetArtifactProvider = configured_dataset_admission_manifest,
+    dataset_preview_provider: DatasetArtifactProvider = configured_dataset_preview,
+    dataset_ground_preview_provider: DatasetArtifactProvider = configured_dataset_ground_preview,
 ) -> APIRouter:
     router = APIRouter(prefix="/api/v1/lidar", tags=["lidar"])
 
     @router.get("/dataset-gateway")
     def get_dataset_gateway() -> dict[str, object]:
-        return dataset_gateway_catalog()
+        return dataset_gateway_catalog(
+            admission_manifest_path=dataset_admission_provider(),
+        )
+
+    @router.get("/dataset-gateway/preview")
+    def get_dataset_gateway_preview() -> dict[str, Any]:
+        path = dataset_preview_provider()
+        if path is None or not path.is_file():
+            raise HTTPException(
+                status_code=404,
+                detail="Первый размеченный native scan ещё не импортирован.",
+            )
+        try:
+            return read_dataset_native_scan_preview(path)
+        except DatasetAdmissionError as exc:
+            raise HTTPException(
+                status_code=500,
+                detail="Preview датасета не прошло проверку целостности.",
+            ) from exc
+
+    @router.get("/dataset-gateway/ground-comparison")
+    def get_dataset_gateway_ground_comparison() -> dict[str, Any]:
+        path = dataset_ground_preview_provider()
+        if path is None or not path.is_file():
+            raise HTTPException(
+                status_code=404,
+                detail="Ground baseline ещё не сравнивался с GOOSE-разметкой.",
+            )
+        try:
+            return read_dataset_ground_preview(path)
+        except DatasetAdmissionError as exc:
+            raise HTTPException(
+                status_code=500,
+                detail="Ground comparison не прошло проверку целостности.",
+            ) from exc
 
     @router.get("/replay-packs")
     def list_lidar_replay_packs(