Add D455 sensor host and shared Node/Core preparation surface

2026-09-05 22:27:07 +03:00
parent 3616acc648
commit b1aaa40508
41 changed files with 2293 additions and 19 deletions
@@ -0,0 +1,128 @@
+"""Fleet projects Node-owned sensor state and forwards SDK operations, never hardware calls."""
+
+import json
+import time
+from datetime import UTC, datetime
+
+from missioncore_plugin_sdk.v0alpha2.operations import OperationRequest
+from missioncore_plugin_sdk.v0alpha2.session import DeviceSessionSnapshot
+
+from .trust import PairingError
+
+ACTIONS = {
+    "prepare",
+    "details",
+    "rename",
+    "verify",
+    "start",
+    "stop",
+    "option",
+    "offer",
+    "close-peer",
+}
+
+
+def validate_inventory(value, node_id):
+    items = value.get("devices", [])
+    if not isinstance(items, list) or len(items) > 16:
+        raise ValueError("Invalid device inventory")
+    seen = set()
+    for item in items:
+        snapshot = DeviceSessionSnapshot.model_validate(item["snapshot"])
+        if (
+            snapshot.context.execution.node_id != node_id
+            or snapshot.context.device.device_id != item["id"]
+            or item["id"] in seen
+        ):
+            raise ValueError("Invalid device execution binding")
+        seen.add(item["id"])
+    state = value.get("sensor_state", {"items": items, "operations": [], "preparation": None})
+    if state.get("items") != items or len(json.dumps(state)) > 262144:
+        raise ValueError("Invalid sensor state")
+    return state
+
+
+def submit(fleet, vehicle_id, value):
+    command = OperationRequest.model_validate(value)
+    if (
+        command.action_id not in ACTIONS
+        or command.idempotency_key != command.operation_id
+        or len(json.dumps(value)) > 65536
+    ):
+        raise PairingError("Неподдерживаемая команда устройства.")
+    with fleet.lock:
+        row = fleet.find(vehicle_id)
+        if fleet.public(row)["connectivity"] != "online":
+            raise PairingError("БК недоступен. Дождитесь связи перед настройкой устройства.")
+        existing = row.setdefault("sensor_commands", {}).get(command.operation_id)
+        if existing:
+            if existing["command"] != value:
+                raise PairingError("Идентификатор операции уже использован.")
+            return existing
+        if (
+            not datetime.now(UTC) < command.deadline_at
+            or (command.deadline_at - command.requested_at).total_seconds() > 360
+        ):
+            raise PairingError("Срок команды истёк. Обновите устройство.")
+        item = next(
+            (
+                item
+                for item in row.get("sensor_state", {}).get("items", [])
+                if item["id"] == command.session.device_id
+            ),
+            None,
+        )
+        if item is None or item["snapshot"]["context"]["session_id"] != command.session.session_id:
+            raise PairingError("Сеанс устройства изменился. Обновите сведения.")
+        row["sensor_commands"] = {
+            k: v for k, v in row["sensor_commands"].items() if time.time() - v["updated_at"] < 600
+        }
+        if len(row["sensor_commands"]) >= 32:
+            raise PairingError("Слишком много запросов к устройству. Повторите позже.")
+        operation = {"command": value, "state": "queued", "updated_at": time.time()}
+        row["sensor_commands"][command.operation_id] = operation
+        fleet.save(row)
+        return operation
+
+
+def operation(fleet, vehicle_id, identifier):
+    with fleet.lock:
+        value = fleet.find(vehicle_id).get("sensor_commands", {}).get(identifier)
+        if value is None:
+            raise PairingError("Операция не найдена.")
+        if value["state"] in ("queued", "running") and datetime.fromisoformat(
+            value["command"]["deadline_at"]
+        ) < datetime.now(UTC):
+            return {
+                **value,
+                "state": "unknown",
+                "error": "Подтверждение не получено. Обновите фактическое состояние устройства.",
+            }
+        return value
+
+
+def heartbeat(row, value):
+    commands = row.setdefault("sensor_commands", {})
+    acknowledgements = []
+    results = value.get("sensor_results", [])
+    if not isinstance(results, list) or len(results) > 64:
+        raise ValueError("Invalid sensor operations")
+    for result in results:
+        command = result.get("command", {})
+        identifier = command.get("operation_id")
+        existing = commands.get(identifier)
+        if (
+            existing
+            and existing["command"] == command
+            and result.get("state") in ("running", "complete", "error", "unknown")
+        ):
+            commands[identifier] = {**result, "updated_at": time.time()}
+            if result["state"] != "running":
+                acknowledgements.append(identifier)
+    pending = []
+    for entry in commands.values():
+        if entry["state"] == "queued" and datetime.fromisoformat(
+            entry["command"]["deadline_at"]
+        ) > datetime.now(UTC):
+            pending.append(entry["command"])
+    return {"sensor_commands": pending[:4], "sensor_acknowledgements": acknowledgements}