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feat(k1): complete primary acquisition lifecycle

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DCCONSTRUCTIONS
2026-07-17 23:03:59 +03:00
parent 9d51080d2e
commit aa3680948f
66 changed files with 6093 additions and 544 deletions
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tests/test_rrd_export.py
+170 -15
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@@ -11,8 +11,13 @@ from pathlib import Path
import pytest
import k1link.device_plugins.xgrids_k1.rrd_export as export_module
from k1link.device_plugins.xgrids_k1.mqtt.capture import FRAME_HEADER, RAW_MAGIC
from k1link.device_plugins.xgrids_k1.mqtt.capture import (
CAPTURE_CLOCK_FILENAME,
FRAME_HEADER,
RAW_MAGIC,
)
from k1link.device_plugins.xgrids_k1.rrd_export import (
RECORDED_METRICS_VIEW_ID,
RECORDED_POINTS_VISUALIZER_ID,
RECORDED_ROOT_CONTAINER_ID,
RECORDED_SPATIAL_VIEW_ID,
@@ -43,9 +48,41 @@ def _pose_payload(x: float) -> bytes:
return struct.pack("<ffffffff", x, 2.0, 3.0, 99.0, 1.0, 0.0, 0.0, 0.0)
def _varint(value: int) -> bytes:
encoded = bytearray()
while value > 0x7F:
encoded.append((value & 0x7F) | 0x80)
value >>= 7
encoded.append(value)
return bytes(encoded)
def _proto_key(number: int, wire_type: int) -> bytes:
return _varint((number << 3) | wire_type)
def _proto_uint(number: int, value: int) -> bytes:
return _proto_key(number, 0) + _varint(value)
def _proto_bytes(number: int, value: bytes) -> bytes:
return _proto_key(number, 2) + _varint(len(value)) + value
def _proto_float32(number: int, value: float) -> bytes:
return _proto_key(number, 5) + struct.pack("<f", value)
def _modeling_payload(*, distance: float, speed: float, scan_ticks: int) -> bytes:
status = _proto_float32(1, distance) + _proto_float32(2, speed) + _proto_uint(3, scan_ticks)
return _proto_uint(2, 0) + _proto_bytes(3, status)
def _write_capture(
directory: Path,
frames: list[tuple[str, bytes, int]],
*,
capture_clock_offsets_ns: tuple[int, int] | None = None,
) -> Path:
capture = directory / "mqtt.raw.k1mqtt"
raw = bytearray(RAW_MAGIC)
@@ -70,6 +107,34 @@ def _write_capture(
"".join(json.dumps(item) + "\n" for item in metadata),
encoding="utf-8",
)
if capture_clock_offsets_ns is not None:
started_offset_ns, completed_offset_ns = capture_clock_offsets_ns
(directory / "mqtt.timeline.origin.json").write_text(
json.dumps(
{
"schema_version": 1,
"started_at_epoch_ns": epoch_origin_ns + started_offset_ns,
"started_monotonic_ns": monotonic_origin_ns + started_offset_ns,
},
separators=(",", ":"),
)
+ "\n",
encoding="utf-8",
)
(directory / CAPTURE_CLOCK_FILENAME).write_text(
json.dumps(
{
"schema_version": 1,
"started_at_epoch_ns": epoch_origin_ns + started_offset_ns,
"started_monotonic_ns": monotonic_origin_ns + started_offset_ns,
"completed_at_epoch_ns": epoch_origin_ns + completed_offset_ns,
"completed_monotonic_ns": monotonic_origin_ns + completed_offset_ns,
},
separators=(",", ":"),
)
+ "\n",
encoding="utf-8",
)
return capture
@@ -139,9 +204,7 @@ def test_recorded_blueprint_accumulates_point_frames_on_session_timeline() -> No
def test_zero_accumulation_uses_latest_frame_instead_of_empty_time_range() -> None:
blueprint = _recorded_blueprint(
RerunSceneSettings(accumulation_seconds=0.0, show_grid=True)
)
blueprint = _recorded_blueprint(RerunSceneSettings(accumulation_seconds=0.0, show_grid=True))
spatial_view = blueprint.root_container.contents[0]
assert "VisibleTimeRanges" not in spatial_view.properties
@@ -149,9 +212,7 @@ def test_zero_accumulation_uses_latest_frame_instead_of_empty_time_range() -> No
trajectory_behavior = spatial_view.visualizer_overrides["/world/trajectory"]
assert point_behavior.visible.as_arrow_array().to_pylist() == [True]
assert trajectory_behavior.visible.as_arrow_array().to_pylist() == [True]
point_components = {
str(batch.component_descriptor()) for batch in point_visualizer.overrides
}
point_components = {str(batch.component_descriptor()) for batch in point_visualizer.overrides}
assert point_components == {"Points3D:radii"}
@@ -171,10 +232,10 @@ def test_dynamic_blueprint_reuses_scene_ids_without_playback_mutation() -> None:
first_view = first.root_container.contents[0]
second_view = second.root_container.contents[0]
assert first_view.id == second_view.id == RECORDED_SPATIAL_VIEW_ID
assert first.root_container.contents[1].id == RECORDED_METRICS_VIEW_ID
assert second.root_container.contents[1].id == RECORDED_METRICS_VIEW_ID
first_point_behavior, first_point_visualizer = first_view.visualizer_overrides[
"/world/points"
]
first_point_behavior, first_point_visualizer = first_view.visualizer_overrides["/world/points"]
second_point_behavior, second_point_visualizer = second_view.visualizer_overrides[
"/world/points"
]
@@ -209,6 +270,7 @@ def test_export_preserves_every_decodable_frame_and_source_timeline(tmp_path: Pa
("RealtimePath", _pose_payload(1.2), 1_200_000_000),
("lixel/application/report/heartbeat", b"opaque-tail", 9_500_000_000),
],
capture_clock_offsets_ns=(-500_000_000, 10_000_000_000),
)
output = tmp_path / "session.rrd"
@@ -222,13 +284,13 @@ def test_export_preserves_every_decodable_frame_and_source_timeline(tmp_path: Pa
assert summary["points"] == 2
assert summary["trajectory_poses"] == 2
assert summary["trajectory_updates"] == 2
assert summary["session_origin_monotonic_ns"] == 9_000_000_000
assert summary["session_origin_monotonic_ns"] == 8_500_000_000
assert summary["timeline"] == "session_time"
assert summary["timeline_start_ns"] == 0
assert summary["timeline_end_ns"] == 1_200_000_000
assert summary["timeline_span_ns"] == 1_200_000_000
assert summary["first_decoded_time_ns"] == 100_000_000
assert summary["last_decoded_time_ns"] == 1_200_000_000
assert summary["timeline_end_ns"] == 10_500_000_000
assert summary["timeline_span_ns"] == 10_500_000_000
assert summary["first_decoded_time_ns"] == 600_000_000
assert summary["last_decoded_time_ns"] == 1_700_000_000
assert summary["source_sha256"] == _sha256(capture)
assert summary["rrd_bytes"] == output.stat().st_size
assert summary["rrd_sha256"] == _sha256(output)
@@ -240,6 +302,99 @@ def test_export_preserves_every_decodable_frame_and_source_timeline(tmp_path: Pa
assert "session_time" in origin_table
assert "P0D" in origin_table
assert "[true]" in origin_table
end_table = _print_rrd_entity(output, "/__mission_core/session_end")
assert "/__mission_core/session_end" in end_table
assert "PT10.5S" in end_table
def test_export_records_device_route_time_series_on_shared_timeline(tmp_path: Path) -> None:
capture = _write_capture(
tmp_path,
[
("RealtimePointcloud", _point_payload(1.0), 0),
(
"lixel/application/report/modeling",
_modeling_payload(distance=2.25, speed=0.75, scan_ticks=20),
500_000_000,
),
(
"lixel/application/report/modeling",
_modeling_payload(distance=3.5, speed=1.25, scan_ticks=22),
1_000_000_000,
),
],
)
output = tmp_path / "session.rrd"
summary = export_k1mqtt_to_rrd(capture, output)
assert summary["modeling_reports"] == 2
assert summary["decoded_messages"] == 1
assert summary["ignored_messages"] == 0
assert summary["timeline_end_ns"] == 1_000_000_000
distance_table = _print_rrd_entity(output, "/metrics/device/route_distance_meters")
elapsed_table = _print_rrd_entity(output, "/metrics/device/scan_elapsed_seconds")
assert "2.25" in distance_table and "3.5" in distance_table
assert "10.0" in elapsed_table and "11.0" in elapsed_table
def test_export_uses_explicit_catalog_bound_sealed_clock(tmp_path: Path) -> None:
capture = _write_capture(
tmp_path,
[("RealtimePointcloud", _point_payload(1.0), 500_000_000)],
)
origin = {
"schema_version": 1,
"started_at_epoch_ns": 1_784_124_314_000_000_000,
"started_monotonic_ns": 8_000_000_000,
}
origin_path = tmp_path / "mqtt.timeline.origin.json"
origin_path.write_text(json.dumps(origin, separators=(",", ":")) + "\n")
provisional = {
**origin,
"completed_at_epoch_ns": 1_784_124_316_000_000_000,
"completed_monotonic_ns": 10_000_000_000,
}
(tmp_path / "mqtt.timeline.json").write_text(
json.dumps(provisional, separators=(",", ":")) + "\n"
)
sealed = {
**origin,
"completed_at_epoch_ns": 1_784_124_321_000_000_000,
"completed_monotonic_ns": 15_000_000_000,
}
sealed_payload = (json.dumps(sealed, separators=(",", ":")) + "\n").encode()
sealed_digest = hashlib.sha256(sealed_payload).hexdigest()
sealed_path = tmp_path / f"mqtt.timeline.session-{sealed_digest}.json"
sealed_path.write_bytes(sealed_payload)
output = tmp_path / "session.rrd"
summary = export_k1mqtt_to_rrd(
capture,
output,
capture_clock_path=sealed_path,
capture_clock_origin_path=origin_path,
)
assert summary["session_origin_monotonic_ns"] == 8_000_000_000
assert summary["timeline_end_ns"] == 7_000_000_000
def test_export_rejects_malformed_known_modeling_report(tmp_path: Path) -> None:
capture = _write_capture(
tmp_path,
[
("RealtimePointcloud", _point_payload(1.0), 0),
("lixel/application/report/modeling", b"malformed", 1_000_000),
],
)
output = tmp_path / "session.rrd"
output.write_bytes(b"trusted-existing-recording")
with pytest.raises(RrdExportError, match="modeling report"):
export_k1mqtt_to_rrd(capture, output)
assert output.read_bytes() == b"trusted-existing-recording"
def test_atomic_rename_failure_preserves_existing_recording(