feat(perception): add dual evidence replay threat
This commit is contained in:
DCCONSTRUCTIONS
@@ -127,7 +127,7 @@ def test_product_registry_declares_every_advanced_evidence_source() -> None:
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repository_root / "config" / "laboratories"
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)
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assert len(registry.definitions) == 31
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assert len(registry.definitions) == 32
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assert {item.work_id for item in registry.definitions} >= {
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"e31-source-binding",
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"e46j-raw-fisheye-realtime",
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@@ -136,4 +136,5 @@ def test_product_registry_declares_every_advanced_evidence_source() -> None:
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"l32-pointpillars-camera-review",
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"l33-camera-first-detector-review",
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"l34f-adjudicated-reference",
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"m4-replay-threat",
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}
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@@ -90,6 +90,7 @@ def test_repository_registry_classifies_every_evidence_definition() -> None:
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evidence, execution = _registries()
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assert {row.work_id for row in execution.definitions} == {
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"m4-replay-threat",
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"e33-worker-shadow",
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"e35-degradation-recovery",
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"e46j-raw-fisheye-realtime",
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@@ -80,11 +80,12 @@ def test_product_value_review_registry_covers_reviewed_laboratory_families() ->
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root / "config" / "laboratory-value-review.json"
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)
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assert len(registry.entries) == 34
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assert len(registry.entries) == 35
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assert {entry.catalog_id for entry in registry.entries} >= {
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"e28-local-surface",
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"e46d-temporal-failure-audit",
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"e46j-raw-fisheye-realtime",
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"l31-pointpillars-ravnoves",
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"l34f-adjudicated-reference",
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"m4-replay-threat",
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}
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@@ -0,0 +1,113 @@
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from __future__ import annotations
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from pathlib import Path
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from fastapi.routing import APIRoute
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from k1link.perception.threat_replay import read_threat_replay_result
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from k1link.web.m4_threat_replay_api import build_m4_threat_replay_router
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REPOSITORY_ROOT = Path(__file__).resolve().parents[1]
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RESULT_ID = (
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"m4-threat-replay-"
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"7e1613a3ea35638b5ea7a3f7c1c78fe9eba1a3adae540b652dec167f815d45b2"
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)
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RESULTS_ROOT = REPOSITORY_ROOT / ".runtime/compute-experiments/m4/replay-threat"
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def _endpoint(path: str):
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router = build_m4_threat_replay_router(root_provider=lambda: RESULTS_ROOT)
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return next(
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route.endpoint
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for route in router.routes
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if isinstance(route, APIRoute) and route.path == path
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)
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def test_full_source_threat_result_closes_m4_6_contract() -> None:
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result = read_threat_replay_result(RESULTS_ROOT / RESULT_ID)
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assert result.accepted is True
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assert result.metrics["frames"] == {"total": 4489, "failed": 0}
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assert result.metrics["evidence"] == {
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"camera-only": 10158,
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"current-metric": 27299,
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"stale-or-held": 37995,
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}
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assert result.metrics["decisions"] == {
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"not-threat": 6610,
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"threat": 8010,
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"unknown": 60832,
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}
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assert result.metrics["fixtures"] == {
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"critical": 4,
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"critical_false_not_threat": 0,
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"passed": 9,
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"total": 9,
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}
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def test_threat_result_is_content_bound_and_visual_evidence_is_complete() -> None:
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result = read_threat_replay_result(RESULTS_ROOT / RESULT_ID)
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identity = result.manifest["identity"]
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assert isinstance(identity, dict)
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assert identity["frames_sha256"] == (
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"bf690358efb45c323db7172251074b33c3ef7ede6ae99bd8d3da53cfba86b142"
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)
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assert identity["visuals_sha256"] == (
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"fb022c6efd84f27c0916a6c87887443c9b43993ac4b1f9910332433152533dea"
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)
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visual = result.metrics["visual_evidence"]
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assert isinstance(visual, dict)
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assert visual["frame_count"] == 32
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assert all(
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visual[key] is True
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for key in (
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"video_overlay_available",
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"camera_boxes_available",
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"point_cloud_available",
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"metric_distance_available",
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"virtual_corridor_available",
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)
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)
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def test_m4_6_lab_api_projects_report_and_exact_visual_frame() -> None:
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list_results = _endpoint("/api/v1/laboratory/m4-threat/results")
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list_visuals = _endpoint(
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"/api/v1/laboratory/m4-threat/results/{result_id}/visuals"
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)
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get_visual = _endpoint(
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"/api/v1/laboratory/m4-threat/results/{result_id}/visuals/{ordinal}"
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)
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catalog = list_results(limit=1)
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assert catalog["items"][0]["result_id"] == RESULT_ID
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assert catalog["items"][0]["authority"] == "replay-simulated"
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visuals = list_visuals(RESULT_ID)
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assert len(visuals["items"]) == 32
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frame = get_visual(RESULT_ID, 1)
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assert frame["schema_version"] == "missioncore.perception-threat-visual-frame/v1"
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assert frame["point_cloud_sample_count"] > 0
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assert frame["rig"] == {
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"length_m": 1.0,
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"nominal_sensor_height_m": 1.25,
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"width_m": 0.6,
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}
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def test_m4_6_video_overlay_covers_the_exact_recorded_camera_timeline() -> None:
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get_overlay = _endpoint(
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"/api/v1/laboratory/m4-threat/results/{result_id}/video-overlay"
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)
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overlay = get_overlay(RESULT_ID)
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assert overlay["frame_count"] == 4489
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assert overlay["recorded_source"]["session_id"] == (
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"20260720T065719Z_viewer_live"
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)
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assert overlay["frames"][0]["frame_index"] == 0
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assert overlay["frames"][-1]["frame_index"] == 4488
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assert overlay["authority"] == "replay-simulated"
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@@ -52,6 +52,20 @@ TEMPORAL_RUNTIME_MODULES = (
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"temporal_replay.py",
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"temporal_replay_cli.py",
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)
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THREAT_RUNTIME_MODULES = (
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"contracts.py",
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"detector_replay_contracts.py",
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"detector_replay_result.py",
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"geometry.py",
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"geometry_math.py",
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"geometry_replay.py",
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"providers.py",
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"recorded_source.py",
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"temporal_replay.py",
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"threat.py",
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"threat_replay.py",
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"threat_replay_cli.py",
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)
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def _imports(path: Path) -> set[str]:
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@@ -224,6 +238,25 @@ def test_temporal_runtime_closure_imports_no_legacy_compute_or_device_package()
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assert {name: modules for name, modules in violations.items() if modules} == {}
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def test_threat_runtime_closure_imports_no_legacy_compute_device_lab_or_web_package() -> None:
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violations = {
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name: sorted(
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module
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for module in _imports(PERCEPTION_ROOT / name)
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if module.startswith(
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(
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"k1link.compute",
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"k1link.device_plugins",
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"k1link.laboratory",
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"k1link.web",
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)
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)
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)
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for name in THREAT_RUNTIME_MODULES
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}
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assert {name: modules for name, modules in violations.items() if modules} == {}
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def test_new_perception_boundary_has_no_experiment_specific_imports() -> None:
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violations: dict[str, str] = {}
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for path in PERCEPTION_ROOT.glob("*.py"):
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@@ -234,8 +234,7 @@ class _Threat:
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provider_id = "test-threat/v1"
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def assess(self, obstacle_map: LocalObstacleMap) -> tuple[ThreatAssessment, ...]:
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occupied = obstacle_map.occupied
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return tuple(
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metric = tuple(
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ThreatAssessment(
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assessment_id=f"assessment-{item.component_id}",
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component_id=item.component_id,
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@@ -249,8 +248,41 @@ class _Threat:
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decision=ThreatDecision.NOT_THREAT,
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reason_codes=("qualified-corridor-clear",),
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)
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for item in occupied
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for item in obstacle_map.occupied
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)
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unknown = tuple(
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ThreatAssessment(
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assessment_id=f"assessment-{item.component_id}",
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component_id=item.component_id,
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rig_profile_id="ravnoves00-virtual-rig/v1",
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corridor_profile_id="ravnoves00-virtual-corridor/v1",
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qualification=QualificationState.UNQUALIFIED,
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relative_speed_mps=None,
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closest_approach_m=None,
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ttc_seconds=None,
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corridor_intersection=CorridorIntersection.UNKNOWN,
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decision=ThreatDecision.UNKNOWN,
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reason_codes=("incomplete-evidence",),
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)
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for item in obstacle_map.unknown
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)
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camera = tuple(
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ThreatAssessment(
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assessment_id=f"assessment-{item.proposal_id}",
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component_id=item.proposal_id,
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rig_profile_id="ravnoves00-virtual-rig/v1",
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corridor_profile_id="ravnoves00-virtual-corridor/v1",
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qualification=QualificationState.UNQUALIFIED,
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relative_speed_mps=None,
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closest_approach_m=None,
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ttc_seconds=None,
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corridor_intersection=CorridorIntersection.UNKNOWN,
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decision=ThreatDecision.UNKNOWN,
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reason_codes=("camera-only",),
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)
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for item in obstacle_map.camera_uncertainty
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)
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return (*metric, *unknown, *camera)
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def _config(
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@@ -0,0 +1,277 @@
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from __future__ import annotations
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from pathlib import Path
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from k1link.perception.contracts import (
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BoundingRegion2D,
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CorridorIntersection,
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GridCell,
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HistorySample,
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LocalObstacleMap,
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MotionState,
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ObjectProposal2D,
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SourceAccounting,
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TemporalObstacle,
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TemporalState,
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ThreatDecision,
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)
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from k1link.perception.graph_validation import validate_threats
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from k1link.perception.threat import (
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DualEvidenceReplayThreatProvider,
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ReplayPose,
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load_replay_threat_profile,
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)
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REPOSITORY_ROOT = Path(__file__).resolve().parents[1]
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PROFILE_PATH = REPOSITORY_ROOT / "config/perception/m4-replay-threat-v1.json"
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class _Poses:
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def pose_for_frame(self, frame_id: str) -> ReplayPose:
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return ReplayPose(
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frame_id=frame_id,
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position_map_xyz_m=(0.0, 0.0, 0.0),
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orientation_map_from_lidar_xyzw=(0.0, 0.0, 0.0, 1.0),
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)
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def _obstacle(
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component_id: str,
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cell: GridCell,
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*,
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motion: MotionState,
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history: tuple[tuple[str, int, tuple[float, float, float]], ...],
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state: TemporalState = TemporalState.CURRENT,
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semantic_hint: str | None = None,
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) -> TemporalObstacle:
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samples = tuple(
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HistorySample(frame_id=frame_id, evidence_time_ns=time_ns, centroid_xyz_m=point)
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for frame_id, time_ns, point in history
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)
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current = samples[-1]
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return TemporalObstacle(
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component_id=component_id,
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identity_scope="ephemeral",
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state=state,
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ttl_ns=750_000_000,
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last_hit_ns=current.evidence_time_ns,
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age_ns=0 if state is TemporalState.CURRENT else 100_000_000,
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association_basis="test-spatial-support",
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history=samples,
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cells=() if state is TemporalState.EXPIRED else (cell,),
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coordinate_frame=None if state is TemporalState.EXPIRED else "map",
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last_centroid_xyz_m=None if state is TemporalState.EXPIRED else current.centroid_xyz_m,
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motion=MotionState.UNKNOWN if state is not TemporalState.CURRENT else motion,
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motion_confidence=(
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0.0
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if state is not TemporalState.CURRENT or motion is MotionState.UNKNOWN
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else 1.0
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),
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motion_reason=(
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"stale-support"
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if state is not TemporalState.CURRENT
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else "bounded-map-history-moving"
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if motion is MotionState.MOVING
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else "bounded-map-history-stationary"
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if motion is MotionState.STATIONARY
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else "insufficient-history"
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),
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semantic_hint=semantic_hint,
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)
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def _proposal(frame_id: str = "frame-000002") -> ObjectProposal2D:
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return ObjectProposal2D(
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proposal_id="proposal-camera-only",
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source_id="RAVNOVES00",
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frame_id=frame_id,
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region=BoundingRegion2D(10.0, 10.0, 20.0, 20.0),
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objectness=0.8,
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provider_id="test-detector/v1",
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model_id="test-model/v1",
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preprocess_id="test-preprocess/v1",
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semantic_hint="person",
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)
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def _map(
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*,
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occupied: tuple[TemporalObstacle, ...] = (),
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unknown: tuple[TemporalObstacle, ...] = (),
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camera: tuple[ObjectProposal2D, ...] = (),
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frame_id: str = "frame-000002",
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) -> LocalObstacleMap:
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return LocalObstacleMap(
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source_id="RAVNOVES00",
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session_id="20260720T065719Z_viewer_live",
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frame_id=frame_id,
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graph_id="reference-perception-graph/v1",
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generated_monotonic_ns=0,
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output_age_ns=0,
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occupied=occupied,
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unknown=unknown,
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camera_uncertainty=camera,
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accounting=SourceAccounting(1, 1, 0, 0),
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)
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def test_replay_threat_profile_freezes_virtual_authority_and_dual_evidence_policy() -> None:
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profile = load_replay_threat_profile(PROFILE_PATH)
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assert profile.rig.body_length_m == 1.0
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assert profile.rig.body_width_m == 0.6
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assert profile.rig.nominal_sensor_height_m == 1.25
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assert profile.corridor.forward_length_m == 8.0
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assert profile.calibration_content_sha256 == (
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"05f3ad9b38b3a4fc95388a8ec83da83c745e217709e51787b3d5aad0969f6fa9"
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)
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def test_static_crossing_approaching_and_geometry_only_critical_cases_are_never_safe() -> None:
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provider = DualEvidenceReplayThreatProvider(
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pose_resolver=_Poses(),
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profile=load_replay_threat_profile(PROFILE_PATH),
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)
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current_frame = "frame-000002"
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critical = (
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_obstacle(
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"static-in-corridor",
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GridCell(6, 0, 0),
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motion=MotionState.STATIONARY,
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history=(
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("frame-000000", 0, (2.925, 0.225, 0.225)),
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(current_frame, 300_000_000, (2.925, 0.225, 0.225)),
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),
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),
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_obstacle(
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"crossing",
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GridCell(6, 3, 0),
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motion=MotionState.MOVING,
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history=(
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("frame-000000", 0, (2.925, 2.575, 0.225)),
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(current_frame, 300_000_000, (2.925, 1.575, 0.225)),
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),
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),
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_obstacle(
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"approaching",
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GridCell(9, 0, 0),
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motion=MotionState.MOVING,
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history=(
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("frame-000000", 0, (6.275, 0.225, 0.225)),
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(current_frame, 300_000_000, (4.275, 0.225, 0.225)),
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),
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semantic_hint="car",
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),
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_obstacle(
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"geometry-only",
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GridCell(4, 0, 0),
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motion=MotionState.STATIONARY,
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history=(
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("frame-000000", 0, (2.025, 0.225, 0.225)),
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(current_frame, 300_000_000, (2.025, 0.225, 0.225)),
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),
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semantic_hint=None,
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),
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)
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result = provider.assess(_map(occupied=critical))
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assert {item.decision for item in result} == {ThreatDecision.THREAT}
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assert all(item.corridor_intersection is CorridorIntersection.INTERSECTS for item in result)
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assert (
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next(item for item in result if item.component_id == "approaching").ttc_seconds
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is not None
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)
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assert "geometry-only-evidence" in next(
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item for item in result if item.component_id == "geometry-only"
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).reason_codes
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def test_receding_and_static_outside_are_clear_but_incomplete_evidence_is_unknown() -> None:
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provider = DualEvidenceReplayThreatProvider(
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pose_resolver=_Poses(),
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profile=load_replay_threat_profile(PROFILE_PATH),
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)
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current_frame = "frame-000002"
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clear = (
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_obstacle(
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"static-outside",
|
||||
GridCell(6, 7, 0),
|
||||
motion=MotionState.STATIONARY,
|
||||
history=(
|
||||
("frame-000000", 0, (2.925, 3.375, 0.225)),
|
||||
(current_frame, 300_000_000, (2.925, 3.375, 0.225)),
|
||||
),
|
||||
),
|
||||
_obstacle(
|
||||
"receding-behind",
|
||||
GridCell(-5, 0, 0),
|
||||
motion=MotionState.MOVING,
|
||||
history=(
|
||||
("frame-000000", 0, (-1.025, 0.225, 0.225)),
|
||||
(current_frame, 300_000_000, (-2.025, 0.225, 0.225)),
|
||||
),
|
||||
),
|
||||
)
|
||||
incomplete = _obstacle(
|
||||
"unknown-motion",
|
||||
GridCell(6, 7, 0),
|
||||
motion=MotionState.UNKNOWN,
|
||||
history=((current_frame, 300_000_000, (2.925, 3.375, 0.225)),),
|
||||
)
|
||||
held = _obstacle(
|
||||
"occluded-held",
|
||||
GridCell(6, 0, 0),
|
||||
motion=MotionState.UNKNOWN,
|
||||
history=((current_frame, 300_000_000, (2.925, 0.225, 0.225)),),
|
||||
state=TemporalState.HELD,
|
||||
)
|
||||
obstacle_map = _map(
|
||||
occupied=(*clear, incomplete),
|
||||
unknown=(held,),
|
||||
camera=(_proposal(),),
|
||||
)
|
||||
|
||||
result = provider.assess(obstacle_map)
|
||||
by_id = {item.component_id: item for item in result}
|
||||
|
||||
assert by_id["static-outside"].decision is ThreatDecision.NOT_THREAT
|
||||
assert by_id["receding-behind"].decision is ThreatDecision.NOT_THREAT
|
||||
assert by_id["unknown-motion"].decision is ThreatDecision.UNKNOWN
|
||||
assert by_id["occluded-held"].decision is ThreatDecision.UNKNOWN
|
||||
assert by_id["proposal-camera-only"].decision is ThreatDecision.UNKNOWN
|
||||
assert by_id["proposal-camera-only"].closest_approach_m is None
|
||||
validate_threats(obstacle_map, result)
|
||||
|
||||
|
||||
def test_semantic_hint_and_ephemeral_component_name_do_not_change_threat_geometry() -> None:
|
||||
provider = DualEvidenceReplayThreatProvider(
|
||||
pose_resolver=_Poses(),
|
||||
profile=load_replay_threat_profile(PROFILE_PATH),
|
||||
)
|
||||
history = (
|
||||
("frame-000000", 0, (2.925, 0.225, 0.225)),
|
||||
("frame-000002", 300_000_000, (2.925, 0.225, 0.225)),
|
||||
)
|
||||
first = _obstacle(
|
||||
"ephemeral-a",
|
||||
GridCell(6, 0, 0),
|
||||
motion=MotionState.STATIONARY,
|
||||
history=history,
|
||||
semantic_hint="car",
|
||||
)
|
||||
second = _obstacle(
|
||||
"ephemeral-b",
|
||||
GridCell(6, 0, 0),
|
||||
motion=MotionState.STATIONARY,
|
||||
history=history,
|
||||
semantic_hint=None,
|
||||
)
|
||||
|
||||
values = provider.assess(_map(occupied=(first, second)))
|
||||
|
||||
assert values[0].decision == values[1].decision
|
||||
assert values[0].corridor_intersection == values[1].corridor_intersection
|
||||
assert values[0].relative_speed_mps == values[1].relative_speed_mps
|
||||
assert values[0].closest_approach_m == values[1].closest_approach_m
|
||||
assert values[0].ttc_seconds == values[1].ttc_seconds
|
||||
Reference in New Issue
Block a user