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feat: wire physical K1 surface shadow

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DCCONSTRUCTIONS
2026-07-26 01:30:53 +03:00
parent e6d5411bdd
commit a1e2cb523f
14 changed files with 1444 additions and 41 deletions
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experiments/perception/worker/Invoke-E15ShadowInference.ps1
+17 -2
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@@ -136,11 +136,26 @@ if (
$live = Get-Content -LiteralPath $liveProfile -Raw | ConvertFrom-Json
if (
$live.schema_version -ne "missioncore.e15-shadow-inference-profile/v1" -or
$live.mode -ne "replay-shadow-gate" -or
$live.mode -notin @("replay-shadow-gate", "physical-shadow-gate") -or
[bool]$live.authority.commands_enabled -or
[bool]$live.authority.navigation_or_safety_accepted -or
$live.transport.pyav_version -ne "18.0.0"
) { throw "LAB E15 replay-shadow authority contract changed" }
) { throw "LAB E15/E28 shadow authority contract changed" }
if ($live.mode -eq "physical-shadow-gate") {
foreach ($relative in @(
"k1link\compute\lidar_local_surface_geometry.py",
"k1link\compute\lidar_local_surface_shadow.py",
"k1link\ground_segmentation.py"
)) {
if (-not (Test-Path -LiteralPath (Join-Path $package $relative) -PathType Leaf)) {
throw "LAB E28 worker package lacks local-surface runtime"
}
}
if (
-not [bool]$live.local_surface.enabled -or
$live.local_surface.profile_id -ne "k1-vendor-map-dynamic-local-surface/v1"
) { throw "LAB E28 local-surface profile contract changed" }
}
if ($stabilityProfile) {
$stability = Get-Content -LiteralPath $stabilityProfile -Raw | ConvertFrom-Json
if (