feat(polygon): qualify GOOSE ground providers
This commit is contained in:
DCCONSTRUCTIONS
@@ -0,0 +1,128 @@
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from __future__ import annotations
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import json
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import struct
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import zipfile
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from collections.abc import Mapping
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from pathlib import Path
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import numpy as np
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import numpy.typing as npt
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import pytest
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from k1link.datasets import goose_qualification
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from k1link.datasets.goose_qualification import (
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DegradationProfile,
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qualify_goose_ground,
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)
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from k1link.ground_segmentation import GroundSegmentation
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from k1link.simulation import QualificationRunStore, RunState
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class _NeverGround:
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@property
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def identity(self) -> Mapping[str, object]:
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return {"provider_id": "test-current", "revision": "1"}
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def segment(self, xyzi: npt.NDArray[np.float32]) -> GroundSegmentation:
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count = xyzi.shape[0]
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return GroundSegmentation(
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ground_mask=np.zeros(count, dtype=np.bool_),
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assigned_mask=np.ones(count, dtype=np.bool_),
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latency_ms=2.0,
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)
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class _NegativeZGround:
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@property
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def identity(self) -> Mapping[str, object]:
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return {"provider_id": "test-patchwork", "revision": "1"}
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def segment(self, xyzi: npt.NDArray[np.float32]) -> GroundSegmentation:
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count = xyzi.shape[0]
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return GroundSegmentation(
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ground_mask=np.asarray(xyzi[:, 2] < 0, dtype=np.bool_),
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assigned_mask=np.ones(count, dtype=np.bool_),
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latency_ms=3.0,
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)
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def _frame_bytes(offset: float) -> tuple[bytes, bytes]:
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points = (
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(-1.0 + offset, 0.0, -2.0, 0.1),
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(0.0 + offset, 0.0, -2.0, 0.2),
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(1.0 + offset, 0.0, 2.0, 0.3),
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(2.0 + offset, 0.0, 2.0, 0.4),
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)
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labels = (1, 3, 2, 2)
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return (
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b"".join(struct.pack("<ffff", *point) for point in points),
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b"".join(struct.pack("<I", label) for label in labels),
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)
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def _dataset(tmp_path: Path) -> Path:
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root = tmp_path / "datasets"
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archive_sha = "a" * 64
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archive = root / "goose-3d/v2025-08-22/archives/goose_3d_val.zip"
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archive.parent.mkdir(parents=True)
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with zipfile.ZipFile(archive, "w") as target:
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for index in range(2):
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frame_id = f"2022-01-01_flight__0001_{index:019d}"
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points, labels = _frame_bytes(index * 0.1)
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target.writestr(f"goose/lidar/val/{frame_id}_vls128.bin", points)
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target.writestr(f"goose/labels/val/{frame_id}_goose.label", labels)
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state = root / "state/goose-3d-v2025-08-22.json"
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state.parent.mkdir(parents=True)
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state.write_text(json.dumps({"archive": {"sha256": archive_sha}}), encoding="utf-8")
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install = root / "goose-3d/v2025-08-22/installs" / archive_sha
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install.mkdir(parents=True)
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(install / "goose_label_mapping.csv").write_text(
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"class_name,label_key,hex\nasphalt,1,#111111\nrock,2,#222222\nsoil,3,#333333\n",
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encoding="utf-8",
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)
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return root
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def test_full_split_qualification_is_sealed_and_resumable(
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tmp_path: Path,
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monkeypatch: pytest.MonkeyPatch,
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) -> None:
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root = _dataset(tmp_path)
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runs_root = tmp_path / "runs"
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monkeypatch.setattr(goose_qualification, "_is_worker_dataset_root", lambda _: True)
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report = qualify_goose_ground(
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root,
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runs_root,
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mission_core_commit="1" * 40,
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parallel_workers=1,
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expected_frame_count=2,
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current_segmenter=_NeverGround(),
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patchwork_segmenter=_NegativeZGround(),
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degradations=(DegradationProfile("range-20m", "maximum-range-m", 20.0),),
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)
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assert report["frame_count"] == 2
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assert report["decision"]["status"] == "shadow-candidate"
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assert report["aggregates"]["current"]["micro"]["ground_iou"] == 0
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assert report["aggregates"]["patchworkpp"]["micro"]["ground_iou"] == 1
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assert len(report["frames"]) == 2
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run = QualificationRunStore(runs_root, read_only=True).load(report["run_id"])
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assert run.state is RunState.COMPLETED
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assert {artifact.kind for artifact in run.artifacts} == {
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"goose-ground-qualification-report",
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"goose-ground-qualification-failure-preview",
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}
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resumed = qualify_goose_ground(
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root,
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runs_root,
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mission_core_commit="1" * 40,
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parallel_workers=1,
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expected_frame_count=2,
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current_segmenter=_NeverGround(),
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patchwork_segmenter=_NegativeZGround(),
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degradations=(DegradationProfile("range-20m", "maximum-range-m", 20.0),),
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)
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assert resumed["identity_sha256"] == report["identity_sha256"]
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+143
-3
@@ -1,5 +1,7 @@
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from __future__ import annotations
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import hashlib
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import json
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from collections.abc import Callable
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from pathlib import Path
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from typing import Any
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@@ -191,6 +193,146 @@ def test_polygon_api_rejects_corrupt_evidence_without_partial_response(
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assert "целостности" in failure.value.detail
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def _qualification_run(root: Path) -> tuple[QualificationRun, str]:
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store = QualificationRunStore(root)
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admitted = store.create(_run("goose-ground-test"))
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starting = store.transition(
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admitted.run_id,
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RunState.STARTING,
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expected_revision=0,
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observed_at_utc="2026-07-24T15:35:01Z",
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host_monotonic_ns=1,
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)
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store.transition(
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admitted.run_id,
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RunState.RUNNING,
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expected_revision=starting.revision,
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observed_at_utc="2026-07-24T15:35:02Z",
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host_monotonic_ns=2,
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)
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evidence = root / admitted.run_id / "evidence"
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failures = evidence / "failures"
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failures.mkdir(parents=True)
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frame_id = "2022-07-22_flight__0071_0001"
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report = {
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"schema_version": "missioncore.goose-ground-qualification-report/v1",
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"identity_sha256": SHA_A,
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"source_id": "goose-3d/v2025-08-22",
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"split": "validation",
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"frame_count": 961,
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"aggregates": {"current": {}, "patchworkpp": {}},
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"degradations": {},
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"checks": [],
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"worst_frames": [{"frame_id": frame_id}],
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"decision": {"status": "shadow-candidate", "passed": True},
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"safety": {"navigation_or_safety_accepted": False},
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"frames": [{"private": "not-published"}],
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}
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preview = {
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"schema_version": "missioncore.goose-ground-qualification-failure-preview/v1",
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"source_id": "goose-3d/v2025-08-22",
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"frame_id": frame_id,
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"source_point_count": 2,
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"point_count": 2,
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"sampling": "deterministic-even-index",
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"points_xyz_m": [[0, 0, 0], [1, 1, 1]],
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"ground_truth_ground": [1, 0],
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"evaluated": [1, 1],
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"current_ground": [0, 0],
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"patchwork_ground": [1, 0],
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"current_disagreement": [1, 0],
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"patchwork_disagreement": [0, 0],
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"safety": {"navigation_or_safety_accepted": False},
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}
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for artifact_id, kind, path, value in (
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(
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"qualification-report",
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"goose-ground-qualification-report",
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evidence / "qualification.json",
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report,
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),
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(
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"failure-preview-01",
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"goose-ground-qualification-failure-preview",
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failures / f"{frame_id}.json",
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preview,
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),
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):
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path.write_text(json.dumps(value), encoding="utf-8")
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store.register_artifact(
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admitted.run_id,
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QualificationArtifact(
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artifact_id=artifact_id,
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kind=kind,
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relative_path=path.relative_to(root / admitted.run_id).as_posix(),
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sha256=hashlib.sha256(path.read_bytes()).hexdigest(),
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byte_length=path.stat().st_size,
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source_of_record=True,
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),
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)
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current = store.load(admitted.run_id)
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stopping = store.transition(
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admitted.run_id,
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RunState.STOPPING,
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expected_revision=current.revision,
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observed_at_utc="2026-07-24T15:35:04Z",
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host_monotonic_ns=4,
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)
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completed = store.transition(
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admitted.run_id,
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RunState.COMPLETED,
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expected_revision=stopping.revision,
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observed_at_utc="2026-07-24T15:35:05Z",
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host_monotonic_ns=5,
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reason="qualification-evidence-sealed",
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)
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return completed, frame_id
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def test_polygon_api_publishes_verified_ground_qualification(
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tmp_path: Path,
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) -> None:
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root = tmp_path / "runs"
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run, frame_id = _qualification_run(root)
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router = build_polygon_router(root_provider=lambda: root)
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qualification = _endpoint(
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router,
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"/api/v1/polygon/runs/{run_id}/qualification",
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"GET",
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)(run_id=run.run_id)
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preview = _endpoint(
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router,
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"/api/v1/polygon/runs/{run_id}/qualification/failures/{frame_id}",
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"GET",
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)(run_id=run.run_id, frame_id=frame_id)
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assert qualification["schema_version"] == "missioncore.polygon-ground-qualification/v1"
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assert qualification["frame_count"] == 961
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assert "frames" not in qualification
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assert preview["schema_version"] == "missioncore.polygon-ground-failure-preview/v1"
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assert preview["frame_id"] == frame_id
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assert str(tmp_path) not in repr({"qualification": qualification, "preview": preview})
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def test_polygon_api_rejects_tampered_ground_qualification(
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tmp_path: Path,
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) -> None:
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root = tmp_path / "runs"
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run, _ = _qualification_run(root)
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(root / run.run_id / "evidence/qualification.json").write_text("{}", encoding="utf-8")
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router = build_polygon_router(root_provider=lambda: root)
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with pytest.raises(HTTPException) as failure:
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_endpoint(
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router,
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"/api/v1/polygon/runs/{run_id}/qualification",
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"GET",
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)(run_id=run.run_id)
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assert failure.value.status_code == 500
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assert "SHA-256" in failure.value.detail or "файла" in failure.value.detail
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class _FakeWorkerGateway:
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def __init__(self) -> None:
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self.calls: list[tuple[str, str]] = []
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@@ -286,9 +428,7 @@ class _FakeWorkerGateway:
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"control_available": True,
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"active_run_id": self.active_run_id,
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"run_state": "running" if self.active_run_id else None,
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"active_provider_ids": (
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["px4-gazebo-stock-rover"] if self.active_run_id else []
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),
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"active_provider_ids": (["px4-gazebo-stock-rover"] if self.active_run_id else []),
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"provider_profile": STOCK_ROVER_PROVIDER_PROFILE.to_dict(),
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"isolation": {
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"network": "loopback-only-netns",
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