Добавление канонического графа M4.7

src/k1link/perception/providers.py

@@ -19,7 +19,11 @@ from .contracts import (
 )
 
 REFERENCE_GRAPH_CONFIG_SCHEMA: Final = "missioncore.reference-perception-graph-config/v1"
+REFERENCE_GRAPH_CONFIG_SCHEMA_V2: Final = "missioncore.reference-perception-graph-config/v2"
 REFERENCE_GRAPH_STAGE_IDS: Final = frozenset({"detector", "geometry", "temporal", "threat"})
+REFERENCE_GRAPH_STAGE_IDS_V2: Final = frozenset(
+    {"detector", "geometry", "temporal", "rolling", "threat"}
+)
 _SHA256 = re.compile(r"^[a-f0-9]{64}$")
 _IDENTIFIER = re.compile(r"^[A-Za-z0-9][A-Za-z0-9._:/-]{0,159}$")
 
@@ -34,9 +38,23 @@ class ProviderRole(StrEnum):
     GEOMETRY = "geometry"
     TEMPORAL = "temporal"
     MOTION = "motion"
+    ROLLING = "rolling"
     THREAT = "threat"
 
 
+REFERENCE_GRAPH_PROVIDER_ROLES: Final = frozenset(
+    {
+        ProviderRole.SOURCE,
+        ProviderRole.DETECTOR,
+        ProviderRole.GEOMETRY,
+        ProviderRole.TEMPORAL,
+        ProviderRole.MOTION,
+        ProviderRole.THREAT,
+    }
+)
+REFERENCE_GRAPH_PROVIDER_ROLES_V2: Final = frozenset(ProviderRole)
+
+
 @dataclass(frozen=True, slots=True)
 class SourcePacket:
     """Execution-only carrier; the graph never interprets opaque sensor payloads."""
@@ -211,7 +229,7 @@ class ReferencePerceptionGraphConfig:
         _identifier(self.graph_id, "graph id")
         _identifier(self.source_profile_id, "source profile id")
         roles = [provider.role for provider in self.providers]
-        if len(set(roles)) != len(roles) or set(roles) != set(ProviderRole):
+        if len(set(roles)) != len(roles) or set(roles) != REFERENCE_GRAPH_PROVIDER_ROLES:
             raise ProviderContractError("graph must pin each provider role exactly once")
         stage_ids = [queue.stage_id for queue in self.queues]
         if len(set(stage_ids)) != len(stage_ids):
@@ -248,6 +266,57 @@ class ReferencePerceptionGraphConfig:
         )
 
 
+@dataclass(frozen=True, slots=True)
+class ReferencePerceptionGraphConfigV2:
+    """Final M4 graph contract with explicit retained rolling occupancy."""
+
+    graph_id: str
+    source_profile_id: str
+    providers: tuple[ProviderPin, ...]
+    queues: tuple[QueuePolicy, ...]
+    authority: GraphAuthority = GraphAuthority()
+
+    def __post_init__(self) -> None:
+        _identifier(self.graph_id, "graph id")
+        _identifier(self.source_profile_id, "source profile id")
+        roles = [provider.role for provider in self.providers]
+        if len(set(roles)) != len(roles) or set(roles) != REFERENCE_GRAPH_PROVIDER_ROLES_V2:
+            raise ProviderContractError("graph v2 must pin each provider role exactly once")
+        stage_ids = [queue.stage_id for queue in self.queues]
+        if len(set(stage_ids)) != len(stage_ids):
+            raise ProviderContractError("graph v2 queue policies must be unique")
+        if set(stage_ids) != REFERENCE_GRAPH_STAGE_IDS_V2:
+            raise ProviderContractError("graph v2 must bound each reference stage exactly once")
+
+    def to_dict(self) -> dict[str, object]:
+        return {
+            "schema_version": REFERENCE_GRAPH_CONFIG_SCHEMA_V2,
+            "graph_id": self.graph_id,
+            "source_profile_id": self.source_profile_id,
+            "providers": [provider.to_dict() for provider in self.providers],
+            "queues": [queue.to_dict() for queue in self.queues],
+            "authority": self.authority.to_dict(),
+        }
+
+    @classmethod
+    def from_dict(cls, value: object) -> ReferencePerceptionGraphConfigV2:
+        document = _object(value, "reference graph v2 config")
+        _exact_keys(
+            document,
+            {"schema_version", "graph_id", "source_profile_id", "providers", "queues", "authority"},
+            "reference graph v2 config",
+        )
+        if document.get("schema_version") != REFERENCE_GRAPH_CONFIG_SCHEMA_V2:
+            raise ProviderContractError("reference graph v2 config schema is incompatible")
+        return cls(
+            graph_id=_string(document, "graph_id"),
+            source_profile_id=_string(document, "source_profile_id"),
+            providers=tuple(ProviderPin.from_dict(item) for item in _array(document, "providers")),
+            queues=tuple(QueuePolicy.from_dict(item) for item in _array(document, "queues")),
+            authority=GraphAuthority.from_dict(document.get("authority")),
+        )
+
+
 class SourceProvider(Protocol):
     provider_id: str
 
@@ -290,6 +359,16 @@ class MotionProvider(Protocol):
     ) -> tuple[TemporalObstacle, ...]: ...
 
 
+class RollingMapProvider(Protocol):
+    provider_id: str
+
+    def update(
+        self,
+        packet: SourcePacket,
+        obstacles: tuple[TemporalObstacle, ...],
+    ) -> tuple[TemporalObstacle, ...]: ...
+
+
 class ThreatProvider(Protocol):
     provider_id: str