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feat(perception): split vegetation evidence layers

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DCCONSTRUCTIONS
2026-08-28 15:37:10 +03:00
parent a2c3385062
commit e10b96b546
26 changed files with 868 additions and 233 deletions
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apps/control-station/src/core/laboratory/advancedIndex.ts
+14 -3
View File
@@ -48,9 +48,13 @@ import { fetchM48SFixedClassDetectorResult } from "./m48sFixedClassDetector";
import { fetchM48TRiskQualityResult } from "./m48tRiskQuality";
import { fetchM49TgsFailClosedResult } from "./m49TgsFailClosed";
import { fetchM49TgsFullShadowResult } from "./m49TgsFullShadow";
import { fetchVegetationShadowResult } from "./vegetationShadow";
import {
fetchVegetationBenchmarkResult,
fetchVegetationShadowResult,
} from "./vegetationShadow";
export type AdvancedLaboratoryWorkId =
| "lab-v1-vegetation-benchmark"
| "lab-v1-vegetation-shadow"
| "m48-object-centric-quality"
| "m48-small-static-passage-regression"
@@ -102,6 +106,7 @@ export interface AdvancedLaboratoryIndexItem {
}
const WORK_IDS: readonly AdvancedLaboratoryWorkId[] = [
"lab-v1-vegetation-benchmark",
"lab-v1-vegetation-shadow",
"m48-object-centric-quality",
"m48-small-static-passage-regression",
@@ -148,6 +153,7 @@ const WORK_IDS: readonly AdvancedLaboratoryWorkId[] = [
];
const RESULT_PREFIX: Readonly<Record<AdvancedLaboratoryWorkId, string>> = {
"lab-v1-vegetation-benchmark": "lab-v1-vegetation-benchmark",
"lab-v1-vegetation-shadow": "lab-v1-vegetation-shadow",
"m48-object-centric-quality": "m48-object-quality-(?:pack|result)",
"m48-small-static-passage-regression": "m48-small-static-passage-regression",
@@ -201,6 +207,7 @@ export function isAdvancedLaboratoryWorkId(
export function emptyAdvancedLaboratoryResults(): AdvancedLaboratoryResults {
return {
vegetationBenchmark: null,
vegetationShadow: null,
m47Graph: null,
m48: null,
@@ -335,7 +342,8 @@ export function advancedLaboratoryResultAvailable(
workId: AdvancedLaboratoryWorkId,
results: AdvancedLaboratoryResults,
): boolean {
return workId === "lab-v1-vegetation-shadow" ? results.vegetationShadow !== null
return workId === "lab-v1-vegetation-benchmark" ? results.vegetationBenchmark !== null
: workId === "lab-v1-vegetation-shadow" ? results.vegetationShadow !== null
: workId === "m48-object-centric-quality" ? results.m48 !== null
: workId === "m48-small-static-passage-regression" ? results.m48SmallStatic !== null
: workId === "m48-static-occupancy-qualification" ? results.m48StaticOccupancy !== null
@@ -393,7 +401,10 @@ export async function fetchAdvancedLaboratoryResult(
} = {},
): Promise<AdvancedLaboratoryResults> {
const results = emptyAdvancedLaboratoryResults();
if (workId === "lab-v1-vegetation-shadow") {
if (workId === "lab-v1-vegetation-benchmark") {
if (!resultId) throw new AdvancedLaboratoryContractError("Vegetation benchmark identity не выбрана.");
results.vegetationBenchmark = await fetchVegetationBenchmarkResult(resultId, { fetcher, signal });
} else if (workId === "lab-v1-vegetation-shadow") {
if (!resultId) throw new AdvancedLaboratoryContractError("Vegetation LAB identity не выбрана.");
results.vegetationShadow = await fetchVegetationShadowResult(resultId, { fetcher, signal });
} else if (workId === "m48-object-centric-quality") {
apps/control-station/src/core/laboratory/advancedLaboratoryResults.ts
+1
View File
@@ -45,6 +45,7 @@ import type { M49TgsFullShadowResult } from "./m49TgsFullShadow";
import type { VegetationShadowResult } from "./vegetationShadow";
export interface AdvancedLaboratoryResults {
vegetationBenchmark: VegetationShadowResult | null;
vegetationShadow: VegetationShadowResult | null;
m47Graph: M47ReferenceGraphLabResult | null;
m48: M48AdvancedResult | null;
apps/control-station/src/core/laboratory/advancedResults.ts
+1
View File
@@ -967,6 +967,7 @@ export async function fetchAdvancedLaboratoryResults({
const e39 = settledCatalogValue(settled[7]);
const e40 = settledCatalogValue(settled[8]);
return {
vegetationBenchmark: null,
vegetationShadow: null,
m47Graph: null, m48: null, m48SmallStatic: null, m48StaticOccupancy: null,
m48r3StaticOccupancy: null,
apps/control-station/src/core/laboratory/vegetationShadow.ts
+62 -6
View File
@@ -1,6 +1,7 @@
import type { LaboratoryFetch } from "./advancedResults";
const RESULT_ID = /^lab-v1-vegetation-shadow-[a-f0-9]{64}$/;
const BENCHMARK_RESULT_ID = /^lab-v1-vegetation-benchmark-[a-f0-9]{64}$/;
const SHA256 = /^[a-f0-9]{64}$/;
const CANDIDATES = ["ddrnet", "ppliteseg"] as const;
const ROUTE_MODES = ["source", "ddrnet", "ppliteseg", "urban", "rural", "offroad"] as const;
@@ -75,6 +76,7 @@ export interface VegetationRouteVideo {
aggregatePredictionPixels: readonly number[];
policyPresets: Readonly<Record<string, Readonly<Record<string, string>>>> | null;
fusionMode: "synchronised-multilayer-review" | null;
validFovMaskSha256: string | null;
}
export interface VegetationShadowResult {
@@ -192,6 +194,7 @@ function visualCaseValue(
value: unknown,
resultId: string,
expectedKind: "goose" | "ravnoves",
endpointRoot: string,
): VegetationVisualCase {
const row = objectValue(value, `vegetation.${expectedKind}.case`);
exact(row.source_kind, expectedKind, "vegetation.case.source_kind");
@@ -210,7 +213,7 @@ function visualCaseValue(
if (!SHA256.test(sha256) || !path.startsWith(`visual/${expectedKind}/${caseId}/`)) {
throw new VegetationShadowContractError(`vegetation.case.assets.${key}: proof invalid.`);
}
projected[key] = `/api/v1/laboratory/vegetation-shadow/${encodeURIComponent(resultId)}/assets/${path
projected[key] = `${endpointRoot}/${encodeURIComponent(resultId)}/assets/${path
.split("/")
.map(encodeURIComponent)
.join("/")}`;
@@ -342,10 +345,16 @@ function routeVideoValue(value: unknown): VegetationRouteVideo | null {
evidenceState,
};
});
const expectedClassCount = viewKind === "coarse-material-policy-review" ? 9 : 64;
const expectedClassCount = viewKind === "coarse-material-policy-review" ? 10 : 64;
if (classes.length !== expectedClassCount) {
throw new VegetationShadowContractError("vegetation.route_video: taxonomy size changed.");
}
if (
viewKind === "coarse-material-policy-review"
&& (classes[9]?.disposition !== "undefined" || classes[9]?.evidenceState !== "UNOBSERVED")
) {
throw new VegetationShadowContractError("vegetation.route_video: valid-FOV class changed.");
}
const aggregatePredictionPixels = arrayValue(
row.aggregate_prediction_pixels,
"vegetation.route_video.aggregate_prediction_pixels",
@@ -364,7 +373,18 @@ function routeVideoValue(value: unknown): VegetationRouteVideo | null {
integerValue(maskArchive.byte_length, "vegetation.route_video.mask_archive.byte_length");
let policyPresets: VegetationRouteVideo["policyPresets"] = null;
let fusionMode: VegetationRouteVideo["fusionMode"] = null;
let validFovMaskSha256: string | null = null;
if (viewKind === "coarse-material-policy-review") {
const validFov = objectValue(row.valid_fov, "vegetation.route_video.valid_fov");
exact(validFov.mask_path, "video/valid-fov-mask.png", "vegetation.route_video.valid_fov.path");
validFovMaskSha256 = textValue(
validFov.mask_sha256,
"vegetation.route_video.valid_fov.sha256",
);
if (!SHA256.test(validFovMaskSha256)) {
throw new VegetationShadowContractError("vegetation.route_video: valid-FOV digest invalid.");
}
exact(validFov.outside_valid_fov_class_id, 9, "vegetation.route_video.valid_fov.class_id");
const policy = objectValue(row.policy, "vegetation.route_video.policy");
const presets = objectValue(policy.presets, "vegetation.route_video.policy.presets");
policyPresets = Object.fromEntries(Object.entries(presets).map(([presetId, rawRules]) => {
@@ -399,10 +419,15 @@ function routeVideoValue(value: unknown): VegetationRouteVideo | null {
aggregatePredictionPixels,
policyPresets,
fusionMode,
validFovMaskSha256,
};
}
function parseResult(value: unknown, resultId: string): VegetationShadowResult {
function parseResult(
value: unknown,
resultId: string,
endpointRoot: string,
): VegetationShadowResult {
const payload = objectValue(value, "Vegetation LAB");
exact(payload.schema_version, "missioncore.lab-v1-vegetation-shadow/v1", "vegetation.schema");
exact(payload.result_id, resultId, "vegetation.result_id");
@@ -438,9 +463,9 @@ function parseResult(value: unknown, resultId: string): VegetationShadowResult {
"vegetation.authority.camera_semantics_can_clear_rigid_geometry",
);
const routeCases = arrayValue(catalogs.ravnoves, "vegetation.catalogs.ravnoves")
.map((item) => visualCaseValue(item, resultId, "ravnoves"));
.map((item) => visualCaseValue(item, resultId, "ravnoves", endpointRoot));
const validationCases = arrayValue(catalogs.goose, "vegetation.catalogs.goose")
.map((item) => visualCaseValue(item, resultId, "goose"));
.map((item) => visualCaseValue(item, resultId, "goose", endpointRoot));
if (routeCases.length !== 0 || validationCases.length !== 12) {
throw new VegetationShadowContractError("vegetation.catalogs: ожидалось 12 truth-backed GOOSE случаев без route viewer.");
}
@@ -490,5 +515,36 @@ export async function fetchVegetationShadowResult(
if (!response.ok) {
throw new VegetationShadowContractError(`Vegetation LAB недоступна: HTTP ${response.status}.`);
}
return parseResult(await response.json(), resultId);
return parseResult(
await response.json(),
resultId,
"/api/v1/laboratory/vegetation-shadow",
);
}
export async function fetchVegetationBenchmarkResult(
resultId: string,
{
fetcher = fetch,
signal,
}: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
): Promise<VegetationShadowResult> {
if (!BENCHMARK_RESULT_ID.test(resultId)) {
throw new VegetationShadowContractError("Vegetation benchmark identity недопустима.");
}
const endpointRoot = "/api/v1/laboratory/vegetation-benchmark";
const response = await fetcher(
`${endpointRoot}/${encodeURIComponent(resultId)}`,
{ method: "GET", headers: { Accept: "application/json" }, signal },
);
if (!response.ok) {
throw new VegetationShadowContractError(
`Vegetation benchmark недоступен: HTTP ${response.status}.`,
);
}
const result = parseResult(await response.json(), resultId, endpointRoot);
if (result.routeVideo) {
throw new VegetationShadowContractError("Vegetation benchmark содержит route video.");
}
return result;
}