feat(perception): add PointPillars visual audit
This commit is contained in:
DCCONSTRUCTIONS
@@ -10,6 +10,8 @@ from typing import Any, Final
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from fastapi import APIRouter, Query
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from k1link.web.l3_pointpillars_visual_api import latest_l3_visual_identity
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from k1link.compute.e31_source_qualification import (
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E31SourceQualification,
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E31SourceQualificationError,
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@@ -825,12 +827,13 @@ def build_advanced_laboratory_router(
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e38_root_provider: RootProvider = lambda: None,
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e39_root_provider: RootProvider = lambda: None,
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e40_root_provider: RootProvider = lambda: None,
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l3_visual_root_provider: RootProvider = lambda: None,
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) -> APIRouter:
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router = APIRouter(prefix="/api/v1/laboratory", tags=["laboratory"])
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@router.get("/advanced-index")
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def list_advanced_results() -> dict[str, object]:
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return _advanced_index(
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result = _advanced_index(
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(
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(
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"e31-source-binding",
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@@ -897,6 +900,16 @@ def build_advanced_laboratory_router(
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),
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)
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)
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l3_identity = latest_l3_visual_identity(l3_visual_root_provider)
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if l3_identity is not None:
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result["items"].append(
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{
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"work_id": "l3-pointpillars-visual-audit",
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**l3_identity,
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"access": "read-only",
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}
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)
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return result
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@router.get("/e31/results")
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def list_e31_results(
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@@ -34,6 +34,9 @@ from k1link.sessions import (
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SessionStore,
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)
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from k1link.web.advanced_laboratory_api import build_advanced_laboratory_router
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from k1link.web.l3_pointpillars_visual_api import (
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build_l3_pointpillars_visual_router,
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)
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from k1link.web.artifact_health_api import build_artifact_health_router
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from k1link.web.compute_contour_api import build_compute_contour_router
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from k1link.web.device_plugin_composition import load_installed_device_plugins
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@@ -599,6 +602,24 @@ app.include_router(
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/ "e40"
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/ "results"
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),
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l3_visual_root_provider=lambda: (
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REPOSITORY_ROOT
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/ ".runtime"
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/ "compute-experiments"
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/ "l3"
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/ "visual-audits"
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),
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)
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)
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app.include_router(
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build_l3_pointpillars_visual_router(
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root_provider=lambda: (
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REPOSITORY_ROOT
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/ ".runtime"
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/ "compute-experiments"
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/ "l3"
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/ "visual-audits"
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)
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)
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)
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app.include_router(
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@@ -0,0 +1,329 @@
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"""Read-only projection of sealed L3 PointPillars visual-audit evidence."""
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from __future__ import annotations
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import copy
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import hashlib
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import json
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import re
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from collections.abc import Callable
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from pathlib import Path
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from typing import Any, Final
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from fastapi import APIRouter, HTTPException, Query
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RootProvider = Callable[[], Path | None]
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VISUAL_AUDIT_SCHEMA: Final = "missioncore.l3-pointpillars-visual-audit/v1"
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VISUAL_CATALOG_SCHEMA: Final = (
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"missioncore.l3-pointpillars-visual-audit-catalog/v1"
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)
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VISUAL_FRAME_SCHEMA: Final = "missioncore.l3-pointpillars-visual-frame/v1"
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VISUAL_RESULT_SCHEMA: Final = (
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"missioncore.l3-pointpillars-visual-audit-result/v1"
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)
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VISUAL_RESULT_ID: Final = re.compile(
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r"^l3-pointpillars-visual-audit-[a-f0-9]{64}$"
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)
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FRAME_ID: Final = re.compile(r"^[0-9]{6}$")
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MAX_JSON_BYTES: Final = 16 * 1024 * 1024
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MAX_CANDIDATES: Final = 64
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MAX_FRAMES: Final = 24
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def build_l3_pointpillars_visual_router(
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*,
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root_provider: RootProvider = lambda: None,
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) -> APIRouter:
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router = APIRouter(
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prefix="/api/v1/laboratory/l3/pointpillars-visual-audits",
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tags=["laboratory"],
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)
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@router.get("/results")
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def list_results(
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limit: int = Query(default=1, ge=1, le=10),
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) -> dict[str, object]:
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root = _configured_root(root_provider)
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if root is None:
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return _empty_catalog(False)
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candidates = _candidates(root)
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items: list[dict[str, object]] = []
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invalid_total = 0
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for candidate in candidates:
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try:
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items.append(_project_result(candidate))
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except RuntimeError:
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invalid_total += 1
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items.sort(
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key=lambda item: (
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str(item["created_at_utc"]),
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str(item["result_id"]),
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),
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reverse=True,
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)
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return {
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"schema_version": (
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"missioncore.l3-pointpillars-visual-audit-catalog-results/v1"
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),
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"configured": True,
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"items": items[:limit],
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"candidate_total": len(candidates),
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"invalid_total": invalid_total,
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"access": "read-only",
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}
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@router.get("/{result_id}/frames/{frame_id}")
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def get_frame(result_id: str, frame_id: str) -> dict[str, object]:
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if not VISUAL_RESULT_ID.fullmatch(result_id):
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raise HTTPException(status_code=404, detail="visual audit not found")
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if not FRAME_ID.fullmatch(frame_id):
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raise HTTPException(status_code=404, detail="visual frame not found")
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root = _configured_root(root_provider)
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if root is None:
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raise HTTPException(status_code=404, detail="visual audit not found")
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candidate = root / result_id
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try:
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result = _load_result(candidate)
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descriptor = next(
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item
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for item in result["catalog"]["frames"]
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if item["frame_id"] == frame_id
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)
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relative = descriptor["detail_path"]
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if relative != f"frames/{frame_id}.json":
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raise RuntimeError("visual frame path changed")
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path = candidate / relative
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payload = _read_json(path)
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if (
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payload.get("schema_version") != VISUAL_FRAME_SCHEMA
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or payload.get("frame_id") != frame_id
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or descriptor["detail_sha256"] != _sha256(path)
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or descriptor["detail_byte_length"] != path.stat().st_size
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):
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raise RuntimeError("visual frame identity changed")
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except (RuntimeError, StopIteration):
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raise HTTPException(
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status_code=404,
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detail="visual frame not found",
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) from None
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return {**copy.deepcopy(payload), "access": "read-only"}
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return router
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def latest_l3_visual_identity(
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root_provider: RootProvider,
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) -> dict[str, str] | None:
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"""Return the newest verified identity for the shared LAB index."""
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root = _configured_root(root_provider)
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if root is None:
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return None
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valid: list[dict[str, object]] = []
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for candidate in _candidates(root):
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try:
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valid.append(_project_result(candidate))
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except RuntimeError:
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continue
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if not valid:
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return None
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latest = max(
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valid,
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key=lambda item: (
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str(item["created_at_utc"]),
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str(item["result_id"]),
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),
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)
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return {
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"result_id": str(latest["result_id"]),
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"created_at_utc": str(latest["created_at_utc"]),
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}
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def _project_result(candidate: Path) -> dict[str, object]:
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result = _load_result(candidate)
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manifest = result["manifest"]
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catalog = result["catalog"]
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metrics = manifest["source_metrics"]
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return {
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"schema_version": VISUAL_RESULT_SCHEMA,
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"result_id": manifest["result_id"],
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"created_at_utc": manifest["created_at_utc"],
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"status": manifest["status"],
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"source_run_id": manifest["identity"]["source_run_id"],
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"source_frame_results_identity_sha256": manifest["identity"][
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"source_frame_results_identity_sha256"
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],
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"dataset_source_id": manifest["identity"]["dataset_source_id"],
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"dataset_release_identity_sha256": manifest["identity"][
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"dataset_release_identity_sha256"
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],
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"metrics": copy.deepcopy(metrics),
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"frames": copy.deepcopy(catalog["frames"]),
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"matching": copy.deepcopy(manifest["identity"]["matching"]),
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"point_sampling": copy.deepcopy(
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manifest["identity"]["point_sampling"]
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),
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"authority": copy.deepcopy(manifest["authority"]),
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"access": "read-only",
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}
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def _load_result(candidate: Path) -> dict[str, Any]:
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if (
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not candidate.is_dir()
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or candidate.is_symlink()
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or not VISUAL_RESULT_ID.fullmatch(candidate.name)
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):
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raise RuntimeError("visual audit candidate is invalid")
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manifest_path = candidate / "manifest.json"
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manifest = _read_json(manifest_path)
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identity = manifest.get("identity")
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authority = manifest.get("authority")
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catalog_descriptor = manifest.get("catalog")
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if (
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manifest.get("schema_version") != VISUAL_AUDIT_SCHEMA
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or manifest.get("result_id") != candidate.name
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or manifest.get("status") != "operator-visual-review-required"
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or not isinstance(manifest.get("created_at_utc"), str)
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or not isinstance(identity, dict)
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or not isinstance(authority, dict)
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or authority.get("read_only") is not True
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or authority.get("commands_enabled") is not False
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or authority.get("navigation_or_safety_accepted") is not False
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or manifest.get("identity_sha256")
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!= hashlib.sha256(_canonical_json(identity)).hexdigest()
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or candidate.name
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!= f"l3-pointpillars-visual-audit-{manifest.get('identity_sha256')}"
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or not isinstance(catalog_descriptor, dict)
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or catalog_descriptor.get("path") != "catalog.json"
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or catalog_descriptor.get("role") != "visual-frame-catalog"
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):
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raise RuntimeError("visual audit manifest is invalid")
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catalog_path = candidate / "catalog.json"
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if (
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catalog_descriptor.get("sha256") != _sha256(catalog_path)
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or catalog_descriptor.get("byte_length") != catalog_path.stat().st_size
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):
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raise RuntimeError("visual audit catalog changed")
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catalog = _read_json(catalog_path)
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frames = catalog.get("frames")
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if (
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catalog.get("schema_version") != VISUAL_CATALOG_SCHEMA
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or catalog.get("result_id") != candidate.name
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or catalog.get("source_run_id") != identity.get("source_run_id")
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or not isinstance(frames, list)
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or not 1 <= len(frames) <= MAX_FRAMES
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or catalog.get("frame_count") != len(frames)
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or len({item.get("frame_id") for item in frames if isinstance(item, dict)})
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!= len(frames)
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or any(not _valid_frame_descriptor(item) for item in frames)
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):
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raise RuntimeError("visual audit catalog is invalid")
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if not isinstance(manifest.get("source_metrics"), dict):
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raise RuntimeError("visual audit metrics are unavailable")
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return {"manifest": manifest, "catalog": catalog}
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def _valid_frame_descriptor(value: object) -> bool:
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if not isinstance(value, dict):
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return False
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frame_id = value.get("frame_id")
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counts = (
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"prediction_count",
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"evaluated_prediction_count",
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"outside_shared_range_count",
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"truth_count",
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"true_positive_count",
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"false_positive_count",
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"false_negative_count",
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"detail_byte_length",
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)
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return (
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isinstance(frame_id, str)
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and FRAME_ID.fullmatch(frame_id) is not None
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and value.get("detail_path") == f"frames/{frame_id}.json"
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and isinstance(value.get("detail_sha256"), str)
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and re.fullmatch(r"[a-f0-9]{64}", value["detail_sha256"]) is not None
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and all(
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isinstance(value.get(key), int)
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and not isinstance(value.get(key), bool)
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and value[key] >= 0
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for key in counts
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)
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and 0 < value["detail_byte_length"] <= MAX_JSON_BYTES
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and isinstance(value.get("inference_ms"), (int, float))
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and not isinstance(value.get("inference_ms"), bool)
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and 0 < value["inference_ms"] < 60_000
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and isinstance(value.get("truth_classes"), list)
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)
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def _configured_root(provider: RootProvider) -> Path | None:
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value = provider()
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if value is None:
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return None
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root = value.expanduser().absolute()
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if not root.is_dir() or root.is_symlink():
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return None
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return root
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def _candidates(root: Path) -> list[Path]:
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candidates = [
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path
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for path in root.iterdir()
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if path.is_dir()
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and not path.is_symlink()
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and VISUAL_RESULT_ID.fullmatch(path.name)
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]
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if len(candidates) > MAX_CANDIDATES:
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raise RuntimeError("visual audit candidate bound exceeded")
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return candidates
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def _empty_catalog(configured: bool) -> dict[str, object]:
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return {
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"schema_version": (
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"missioncore.l3-pointpillars-visual-audit-catalog-results/v1"
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),
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"configured": configured,
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"items": [],
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"candidate_total": 0,
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"invalid_total": 0,
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"access": "read-only",
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}
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def _read_json(path: Path) -> dict[str, Any]:
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try:
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if (
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not path.is_file()
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or path.is_symlink()
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or not 0 < path.stat().st_size <= MAX_JSON_BYTES
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):
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raise RuntimeError(f"{path.name} is unavailable")
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payload = json.loads(path.read_text(encoding="utf-8"))
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except (OSError, json.JSONDecodeError) as exc:
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raise RuntimeError(f"{path.name} is invalid") from exc
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if not isinstance(payload, dict):
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raise RuntimeError(f"{path.name} is not an object")
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return payload
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def _sha256(path: Path) -> str:
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digest = hashlib.sha256()
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with path.open("rb") as source:
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for chunk in iter(lambda: source.read(1024 * 1024), b""):
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digest.update(chunk)
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return digest.hexdigest()
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def _canonical_json(payload: object) -> bytes:
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return json.dumps(
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payload,
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ensure_ascii=False,
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separators=(",", ":"),
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sort_keys=True,
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).encode("utf-8")
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