fix(m4): retain compact obstacle evidence

2026-08-05 22:16:33 +03:00
parent 13ed096f80
commit aacc6dc43b
24 changed files with 981 additions and 410 deletions
@@ -31,6 +31,7 @@ from k1link.laboratory import (
 )
 from k1link.sessions import (
    MaterializedRecording,
+    RecordedCameraFrameService,
    RecordedMediaInspector,
    RecordedMediaManifest,
    RecordingPreparationQueueFull,
@@ -191,6 +192,16 @@ session_recorded_media_inspector = RecordedMediaInspector(
 )
 _ffmpeg = _resolve_media_tool("ffmpeg")
 _ffprobe = _resolve_media_tool("ffprobe")
+session_recorded_camera_frame_service = (
+    RecordedCameraFrameService(
+        session_store,
+        session_recorded_media_inspector,
+        ffmpeg_path=_ffmpeg,
+        cache_root=session_store.data_dir / "camera-frame-cache",
+    )
+    if _ffmpeg is not None
+    else None
+)
 session_legacy_perception_overlay_store = (
    RecordedPerceptionOverlayStore(
        jobs_root=REPOSITORY_ROOT / ".runtime" / "compute-jobs",
@@ -586,9 +597,7 @@ app.include_router(
 app.include_router(
    build_advanced_laboratory_router(
        evidence_registry=LABORATORY_EVIDENCE_REGISTRY,
-        evidence_runtime_root_provider=lambda: (
-            REPOSITORY_ROOT / ".runtime" / "compute-experiments"
-        ),
+        evidence_runtime_root_provider=lambda: REPOSITORY_ROOT / ".runtime" / "compute-experiments",
        e31_root_provider=lambda: (
            REPOSITORY_ROOT / ".runtime" / "compute-experiments" / "e31" / "source-qualifications"
        ),
@@ -756,22 +765,19 @@ app.include_router(
 app.include_router(
    build_m4_threat_replay_router(
        root_provider=lambda: (
-            REPOSITORY_ROOT
-            / ".runtime"
-            / "compute-experiments"
-            / "m4"
-            / "replay-threat"
+            REPOSITORY_ROOT / ".runtime" / "compute-experiments" / "m4" / "replay-threat"
+        ),
+        camera_frame_provider=(
+            session_recorded_camera_frame_service.extract
+            if session_recorded_camera_frame_service is not None
+            else None
        ),
    )
 )
 app.include_router(
    build_e46e_ready_stack_router(
        root_provider=lambda: (
-            REPOSITORY_ROOT
-            / ".runtime"
-            / "compute-experiments"
-            / "e46e"
-            / "ready-stack-results"
+            REPOSITORY_ROOT / ".runtime" / "compute-experiments" / "e46e" / "ready-stack-results"
        ),
    )
 )
@@ -785,11 +791,7 @@ app.include_router(
            / "dashcam-bakeoff-results"
        ),
        e46e_root_provider=lambda: (
-            REPOSITORY_ROOT
-            / ".runtime"
-            / "compute-experiments"
-            / "e46e"
-            / "ready-stack-results"
+            REPOSITORY_ROOT / ".runtime" / "compute-experiments" / "e46e" / "ready-stack-results"
        ),
    )
 )
@@ -10,7 +10,7 @@ from functools import lru_cache
 from pathlib import Path
 from typing import Final

-from fastapi import APIRouter, HTTPException, Query
+from fastapi import APIRouter, HTTPException, Query, Response

 from k1link.perception.threat_replay import (
    THREAT_REPLAY_FRAME_SCHEMA,
@@ -22,20 +22,21 @@ from k1link.perception.threat_replay import (
    ThreatReplayResult,
    read_threat_replay_result,
 )
+from k1link.sessions import RecordedCameraFrame, SessionIntegrityError

 M4_THREAT_CATALOG_SCHEMA: Final = "missioncore.m4-threat-replay-catalog/v1"
 M4_THREAT_VIEW_SCHEMA: Final = "missioncore.m4-threat-replay-view/v1"
 M4_THREAT_VIDEO_SCHEMA: Final = "missioncore.m4-threat-video-overlay/v1"
-M4_THREAT_VISUAL_CATALOG_SCHEMA: Final = (
-    "missioncore.m4-threat-visual-catalog/v1"
-)
+M4_THREAT_VISUAL_CATALOG_SCHEMA: Final = "missioncore.m4-threat-visual-catalog/v1"
 _RESULT_ID = re.compile(rf"^{THREAT_REPLAY_RESULT_PREFIX}[a-f0-9]{{64}}$")
 RootProvider = Callable[[], Path | None]
+CameraFrameProvider = Callable[[str, int], RecordedCameraFrame]


 def build_m4_threat_replay_router(
    *,
    root_provider: RootProvider = lambda: None,
+    camera_frame_provider: CameraFrameProvider | None = None,
 ) -> APIRouter:
    router = APIRouter(prefix="/api/v1/laboratory/m4-threat", tags=["laboratory"])

@@ -109,10 +110,52 @@ def build_m4_threat_replay_router(
            **copy.deepcopy(frames[ordinal - 1]),
            "result_id": result_id,
            "ordinal": ordinal,
+            "camera_url": (
+                f"/api/v1/laboratory/m4-threat/results/{result_id}/visuals/{ordinal}/camera"
+            ),
            "ground_truth": False,
            "access": "read-only-replay-simulated",
        }

+    @router.get("/results/{result_id}/visuals/{ordinal}/camera")
+    def get_visual_camera(result_id: str, ordinal: int) -> Response:
+        if camera_frame_provider is None:
+            raise HTTPException(status_code=503, detail="M4.6 camera decoder недоступен")
+        frozen = result(result_id)
+        if not 1 <= ordinal <= 32:
+            raise HTTPException(status_code=404, detail="M4.6 visual frame не найден")
+        frames = _read_jsonl(frozen.result_root / "visual-frames.jsonl")
+        if len(frames) != 32:
+            raise HTTPException(status_code=404, detail="M4.6 visual frame не найден")
+        identity = frozen.manifest.get("identity")
+        if not isinstance(identity, dict):
+            raise HTTPException(status_code=404, detail="M4.6 source identity не найдена")
+        session_id = identity.get("source_session_id")
+        sequence = frames[ordinal - 1].get("sequence")
+        if not isinstance(session_id, str) or not isinstance(sequence, int):
+            raise HTTPException(status_code=404, detail="M4.6 camera identity не найдена")
+        try:
+            camera = camera_frame_provider(session_id, sequence)
+        except (OSError, SessionIntegrityError, ValueError):
+            raise HTTPException(
+                status_code=503,
+                detail="M4.6 exact camera frame недоступен",
+            ) from None
+        if camera.width != 800 or camera.height != 600:
+            raise HTTPException(
+                status_code=503,
+                detail="M4.6 camera frame нарушил размерный контракт",
+            )
+        return Response(
+            content=camera.payload,
+            media_type=camera.media_type,
+            headers={
+                "Cache-Control": "private, max-age=31536000, immutable",
+                "ETag": f'"{camera.sha256}"',
+                "X-Content-Type-Options": "nosniff",
+            },
+        )
+
    @router.get("/results/{result_id}/video-overlay")
    def get_video_overlay(result_id: str) -> dict[str, object]:
        frozen = result(result_id)
@@ -160,9 +203,7 @@ def _cached_video_overlay(
        frames.append(
            {
                "frame_index": expected_sequence,
-                "session_seconds": _nonnegative_int(
-                    row.get("source_time_ns"), "source time"
-                )
+                "session_seconds": _nonnegative_int(row.get("source_time_ns"), "source time")
                / 1_000_000_000,
                "source_available": row["source_available"],
                "camera_proposals": copy.deepcopy(row["camera_proposals"]),
@@ -209,9 +250,7 @@ def _project_result(result: ThreatReplayResult) -> dict[str, object]:
        },
        "metrics": copy.deepcopy(result.metrics),
        "configuration": copy.deepcopy(result.report["configuration"]),
-        "acceptance_requirements": copy.deepcopy(
-            result.report["acceptance_requirements"]
-        ),
+        "acceptance_requirements": copy.deepcopy(result.report["acceptance_requirements"]),
        "limitations": copy.deepcopy(result.report["limitations"]),
        "accepted": result.accepted,
        "ground_truth": False,
@@ -271,9 +310,7 @@ def _candidates(provider: RootProvider) -> list[Path]:
        (
            item
            for item in root.iterdir()
-            if item.is_dir()
-            and not item.is_symlink()
-            and _RESULT_ID.fullmatch(item.name)
+            if item.is_dir() and not item.is_symlink() and _RESULT_ID.fullmatch(item.name)
        ),
        key=lambda item: item.stat().st_mtime_ns,
        reverse=True,