feat(polygon): qualify GOOSE ground providers

tests/test_goose_qualification.py

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+from __future__ import annotations
+
+import json
+import struct
+import zipfile
+from collections.abc import Mapping
+from pathlib import Path
+
+import numpy as np
+import numpy.typing as npt
+import pytest
+
+from k1link.datasets import goose_qualification
+from k1link.datasets.goose_qualification import (
+    DegradationProfile,
+    qualify_goose_ground,
+)
+from k1link.ground_segmentation import GroundSegmentation
+from k1link.simulation import QualificationRunStore, RunState
+
+
+class _NeverGround:
+    @property
+    def identity(self) -> Mapping[str, object]:
+        return {"provider_id": "test-current", "revision": "1"}
+
+    def segment(self, xyzi: npt.NDArray[np.float32]) -> GroundSegmentation:
+        count = xyzi.shape[0]
+        return GroundSegmentation(
+            ground_mask=np.zeros(count, dtype=np.bool_),
+            assigned_mask=np.ones(count, dtype=np.bool_),
+            latency_ms=2.0,
+        )
+
+
+class _NegativeZGround:
+    @property
+    def identity(self) -> Mapping[str, object]:
+        return {"provider_id": "test-patchwork", "revision": "1"}
+
+    def segment(self, xyzi: npt.NDArray[np.float32]) -> GroundSegmentation:
+        count = xyzi.shape[0]
+        return GroundSegmentation(
+            ground_mask=np.asarray(xyzi[:, 2] < 0, dtype=np.bool_),
+            assigned_mask=np.ones(count, dtype=np.bool_),
+            latency_ms=3.0,
+        )
+
+
+def _frame_bytes(offset: float) -> tuple[bytes, bytes]:
+    points = (
+        (-1.0 + offset, 0.0, -2.0, 0.1),
+        (0.0 + offset, 0.0, -2.0, 0.2),
+        (1.0 + offset, 0.0, 2.0, 0.3),
+        (2.0 + offset, 0.0, 2.0, 0.4),
+    )
+    labels = (1, 3, 2, 2)
+    return (
+        b"".join(struct.pack("<ffff", *point) for point in points),
+        b"".join(struct.pack("<I", label) for label in labels),
+    )
+
+
+def _dataset(tmp_path: Path) -> Path:
+    root = tmp_path / "datasets"
+    archive_sha = "a" * 64
+    archive = root / "goose-3d/v2025-08-22/archives/goose_3d_val.zip"
+    archive.parent.mkdir(parents=True)
+    with zipfile.ZipFile(archive, "w") as target:
+        for index in range(2):
+            frame_id = f"2022-01-01_flight__0001_{index:019d}"
+            points, labels = _frame_bytes(index * 0.1)
+            target.writestr(f"goose/lidar/val/{frame_id}_vls128.bin", points)
+            target.writestr(f"goose/labels/val/{frame_id}_goose.label", labels)
+    state = root / "state/goose-3d-v2025-08-22.json"
+    state.parent.mkdir(parents=True)
+    state.write_text(json.dumps({"archive": {"sha256": archive_sha}}), encoding="utf-8")
+    install = root / "goose-3d/v2025-08-22/installs" / archive_sha
+    install.mkdir(parents=True)
+    (install / "goose_label_mapping.csv").write_text(
+        "class_name,label_key,hex\nasphalt,1,#111111\nrock,2,#222222\nsoil,3,#333333\n",
+        encoding="utf-8",
+    )
+    return root
+
+
+def test_full_split_qualification_is_sealed_and_resumable(
+    tmp_path: Path,
+    monkeypatch: pytest.MonkeyPatch,
+) -> None:
+    root = _dataset(tmp_path)
+    runs_root = tmp_path / "runs"
+    monkeypatch.setattr(goose_qualification, "_is_worker_dataset_root", lambda _: True)
+
+    report = qualify_goose_ground(
+        root,
+        runs_root,
+        mission_core_commit="1" * 40,
+        parallel_workers=1,
+        expected_frame_count=2,
+        current_segmenter=_NeverGround(),
+        patchwork_segmenter=_NegativeZGround(),
+        degradations=(DegradationProfile("range-20m", "maximum-range-m", 20.0),),
+    )
+
+    assert report["frame_count"] == 2
+    assert report["decision"]["status"] == "shadow-candidate"
+    assert report["aggregates"]["current"]["micro"]["ground_iou"] == 0
+    assert report["aggregates"]["patchworkpp"]["micro"]["ground_iou"] == 1
+    assert len(report["frames"]) == 2
+    run = QualificationRunStore(runs_root, read_only=True).load(report["run_id"])
+    assert run.state is RunState.COMPLETED
+    assert {artifact.kind for artifact in run.artifacts} == {
+        "goose-ground-qualification-report",
+        "goose-ground-qualification-failure-preview",
+    }
+
+    resumed = qualify_goose_ground(
+        root,
+        runs_root,
+        mission_core_commit="1" * 40,
+        parallel_workers=1,
+        expected_frame_count=2,
+        current_segmenter=_NeverGround(),
+        patchwork_segmenter=_NegativeZGround(),
+        degradations=(DegradationProfile("range-20m", "maximum-range-m", 20.0),),
+    )
+    assert resumed["identity_sha256"] == report["identity_sha256"]