feat(lab): publish full TGS shadow evidence
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DCCONSTRUCTIONS
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"""Seal and verify the complete source-paced TRAVEL TGS shadow."""
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from __future__ import annotations
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import hashlib
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import json
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import shutil
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import tempfile
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from dataclasses import dataclass
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from datetime import UTC, datetime
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from pathlib import Path
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from typing import Any, Final
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RESULT_SCHEMA: Final = "missioncore.m49-tgs-full-shadow-lab/v1"
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REPORT_SCHEMA: Final = "missioncore.m49-tgs-full-shadow-report/v1"
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WORKER_SCHEMA: Final = "missioncore.m49-tgs-full-shadow-result/v1"
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PREFIX: Final = "m49-tgs-full-shadow-"
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PROFILE_SCHEMA: Final = "missioncore.m49-tgs-full-shadow-profile/v1"
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EVIDENCE_FILES: Final = (
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"costmap-cell-centers-xy-m.npy",
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"costmap-cell-indices-xy.npy",
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"costmap-states.npy",
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"costmap-z-bounds-m.npy",
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"frames.ndjson",
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)
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_HASH_CHUNK_BYTES: Final = 1024 * 1024
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_MAX_JSON_BYTES: Final = 4 * 1024 * 1024
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class M49TgsFullShadowError(RuntimeError):
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"""The full TGS shadow is unavailable or violates its immutable contract."""
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@dataclass(frozen=True, slots=True)
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class M49TgsFullShadowResult:
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result_id: str
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root: Path
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manifest: dict[str, Any]
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report: dict[str, Any]
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def _sha256(path: Path) -> str:
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digest = hashlib.sha256()
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with path.open("rb") as stream:
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for chunk in iter(lambda: stream.read(_HASH_CHUNK_BYTES), b""):
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digest.update(chunk)
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return digest.hexdigest()
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def _canonical_sha256(value: object) -> str:
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content = json.dumps(
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value, ensure_ascii=False, sort_keys=True, separators=(",", ":"), allow_nan=False
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).encode("utf-8")
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return hashlib.sha256(content).hexdigest()
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def _json(path: Path, label: str) -> dict[str, Any]:
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if path.is_symlink() or not path.is_file() or path.stat().st_size > _MAX_JSON_BYTES:
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raise M49TgsFullShadowError(f"{label} is unavailable")
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value = json.loads(path.read_text(encoding="utf-8-sig"))
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if not isinstance(value, dict):
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raise M49TgsFullShadowError(f"{label} is invalid")
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return value
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def _artifact(path: Path, role: str, media_type: str) -> dict[str, object]:
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return {
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"path": path.name,
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"role": role,
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"media_type": media_type,
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"byte_length": path.stat().st_size,
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"sha256": _sha256(path),
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}
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def seal_m49_tgs_full_shadow(
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*,
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source_root: Path,
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destination_root: Path,
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profile_path: Path,
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linked_visual_result_id: str,
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created_at_utc: str | None = None,
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) -> M49TgsFullShadowResult:
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source = source_root.expanduser().resolve(strict=True)
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if source.is_symlink() or not source.is_dir():
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raise M49TgsFullShadowError("Worker evidence root is unavailable")
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destination = destination_root.expanduser().absolute()
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destination.mkdir(parents=True, exist_ok=True)
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if destination.is_symlink():
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raise M49TgsFullShadowError("destination must not be a symlink")
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profile = _json(profile_path, "full-shadow profile")
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worker = _json(source / "result.json", "Worker result")
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summary = _json(source / "worker-summary.json", "Worker summary")
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timeline = worker.get("timeline")
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if (
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profile.get("schema_version") != PROFILE_SCHEMA
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or worker.get("schema_version") != WORKER_SCHEMA
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or not isinstance(timeline, dict)
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or (
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timeline.get("frame_count") != 4489
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or timeline.get("available_lidar_frame_count") != 3928
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or timeline.get("missing_lidar_frame_count") != 561
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)
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or worker.get("point_accounting", {}).get("unaccounted") != 0
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or summary.get("schema_version") != "missioncore.m49-tgs-full-shadow-worker-summary/v1"
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or summary.get("gpu_requested") is not False
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or summary.get("aos_used") is not False
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or summary.get("all_timeline_frames_accounted") is not True
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or summary.get("all_eligible_points_accounted") is not True
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or summary.get("canonical_triton_health") != "healthy"
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):
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raise M49TgsFullShadowError("Worker full-shadow contract changed")
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if (
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not linked_visual_result_id.startswith("m4-threat-replay-")
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or len(linked_visual_result_id) != len("m4-threat-replay-") + 64
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):
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raise M49TgsFullShadowError("linked visual result is invalid")
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for name in EVIDENCE_FILES:
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path = source / name
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proof = worker.get("files", {}).get(name, {})
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if (
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path.is_symlink()
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or not path.is_file()
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or proof.get("bytes") != path.stat().st_size
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or proof.get("sha256") != _sha256(path)
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):
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raise M49TgsFullShadowError(f"Worker evidence changed: {name}")
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identity = {
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"schema_version": RESULT_SCHEMA,
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"source_pack_sha256": worker["source_pack_sha256"],
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"input_manifest_sha256": worker["input_manifest_sha256"],
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"config_sha256": worker["config_sha256"],
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"linked_visual_result_id": linked_visual_result_id,
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"files": {name: worker["files"][name]["sha256"] for name in EVIDENCE_FILES},
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"authority": {
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"commands_enabled": False,
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"navigation_or_safety_accepted": False,
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"visual_quality_accepted": False,
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},
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}
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identity_sha256 = _canonical_sha256(identity)
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result_id = f"{PREFIX}{identity_sha256}"
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target = destination / result_id
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if target.exists():
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return read_m49_tgs_full_shadow(target)
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created = created_at_utc or datetime.now(tz=UTC).isoformat().replace("+00:00", "Z")
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performance_accepted = worker.get("status") == "passed"
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report = {
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"schema_version": REPORT_SCHEMA,
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"result_id": result_id,
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"created_at_utc": created,
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"source": {
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"source_id": "RAVNOVES00",
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"source_session_id": "20260720T065719Z_viewer_live",
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"source_pack_sha256": worker["source_pack_sha256"],
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"linked_visual_result_id": linked_visual_result_id,
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},
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"configuration": {
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"profile_id": profile["profile_id"],
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"config_sha256": worker["config_sha256"],
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"coordinate_frame": "map-gravity-local",
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"history_seconds": profile["profile"]["history_seconds"],
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"cell_size_m": worker["costmap"]["cell_size_m"],
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"radius_m": worker["costmap"]["radius_m"],
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"state_priority": profile["costmap"]["state_priority"],
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},
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"execution": {
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"worker": "Worker 006",
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"device": "cpu",
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"gpu_used": False,
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"aos_used": False,
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"wrapper_elapsed_seconds": summary["wall_seconds"],
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"canonical_triton_id": summary["canonical_triton_id"],
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"canonical_triton_health": summary["canonical_triton_health"],
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},
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"timeline": worker["timeline"],
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"point_accounting": worker["point_accounting"],
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"performance": worker["performance"],
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"acceptance": {
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**worker["acceptance"],
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"representation_complete": True,
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"visual_quality_accepted": False,
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"integrated_graph_performance_accepted": False,
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},
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"decision": {
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"state": (
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"source-paced-qualified-visual-review-required"
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if performance_accepted
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else "performance-rejected"
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),
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"candidate_retained": performance_accepted,
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"next_action": (
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"Review the complete camera-synchronised TGS costmap timeline; "
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"then measure the integrated graph regression separately."
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),
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},
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"limitations": [
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"The run proves recorded source-paced CPU shadow performance, not live sensor transport.",
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"No independent traversability truth or vehicle envelope is present.",
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"Missing LiDAR frames are explicit all-cell UNOBSERVED and never inferred free.",
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"Camera projection, navigation and actuation remain disabled.",
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],
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"authority": {
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"mode": "replay-simulated",
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"commands_enabled": False,
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"realtime_shadow_accepted": performance_accepted,
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"integrated_graph_performance_accepted": False,
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"navigation_or_safety_accepted": False,
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"visual_quality_accepted": False,
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},
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"visual_review": {
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"instrument": "m4-canonical-reference-graph",
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"linked_visual_result_id": linked_visual_result_id,
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"frame_count": 4489,
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"state_codes": profile["state_codes"],
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},
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}
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with tempfile.TemporaryDirectory(prefix="mission-core-m49-tgs-full-", dir=destination) as raw:
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staging = Path(raw) / result_id
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staging.mkdir()
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for name in EVIDENCE_FILES:
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shutil.copyfile(source / name, staging / name)
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shutil.copyfile(source / "worker-summary.json", staging / "worker-summary.json")
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(staging / "report.json").write_text(
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json.dumps(report, indent=2, sort_keys=True) + "\n", encoding="utf-8"
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)
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artifacts = [
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_artifact(staging / "report.json", "report", "application/json"),
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_artifact(staging / "worker-summary.json", "runtime-summary", "application/json"),
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]
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artifacts.extend(
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_artifact(
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staging / name,
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"frame-catalog" if name == "frames.ndjson" else "spatial-evidence",
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"application/x-ndjson" if name == "frames.ndjson" else "application/x-npy",
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)
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for name in EVIDENCE_FILES
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)
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manifest = {
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"schema_version": RESULT_SCHEMA,
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"result_id": result_id,
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"created_at_utc": created,
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"identity_sha256": identity_sha256,
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"identity": identity,
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"artifacts": artifacts,
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}
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(staging / "manifest.json").write_text(
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json.dumps(manifest, indent=2, sort_keys=True) + "\n", encoding="utf-8"
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)
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staging.replace(target)
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return read_m49_tgs_full_shadow(target)
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def read_m49_tgs_full_shadow(root: Path) -> M49TgsFullShadowResult:
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candidate = root.expanduser().resolve(strict=True)
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if candidate.is_symlink() or not candidate.is_dir() or not candidate.name.startswith(PREFIX):
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raise M49TgsFullShadowError("full-shadow result root is invalid")
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manifest = _json(candidate / "manifest.json", "full-shadow manifest")
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report = _json(candidate / "report.json", "full-shadow report")
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identity = manifest.get("identity")
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if (
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manifest.get("schema_version") != RESULT_SCHEMA
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or report.get("schema_version") != REPORT_SCHEMA
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or manifest.get("result_id") != candidate.name
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or report.get("result_id") != candidate.name
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or not isinstance(identity, dict)
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or manifest.get("identity_sha256") != _canonical_sha256(identity)
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or candidate.name != f"{PREFIX}{manifest['identity_sha256']}"
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):
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raise M49TgsFullShadowError("full-shadow identity changed")
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artifacts = manifest.get("artifacts")
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if not isinstance(artifacts, list):
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raise M49TgsFullShadowError("full-shadow artifact catalog changed")
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for artifact in artifacts:
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if not isinstance(artifact, dict) or not isinstance(artifact.get("path"), str):
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raise M49TgsFullShadowError("full-shadow artifact entry changed")
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path = candidate / artifact["path"]
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if (
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path.parent != candidate
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or path.is_symlink()
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or not path.is_file()
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or artifact.get("byte_length") != path.stat().st_size
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or artifact.get("sha256") != _sha256(path)
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):
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raise M49TgsFullShadowError("full-shadow artifact digest changed")
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return M49TgsFullShadowResult(candidate.name, candidate, manifest, report)
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__all__ = [
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"M49TgsFullShadowError",
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"M49TgsFullShadowResult",
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"PREFIX",
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"read_m49_tgs_full_shadow",
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"seal_m49_tgs_full_shadow",
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]
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