feat(perception): add lossless lidar replay v2

src/k1link/compute/__init__.py

@@ -50,6 +50,7 @@ from .lab_instances import (
 )
 from .lidar_contract import (
     K1_LAB_LIDAR_PACK_V1_PROFILE,
+    K1_LIDAR_PACK_V2_PROFILE,
     K1_LIVE_LIDAR_PROFILE,
     LIDAR_EVIDENCE_PROFILE_SCHEMA,
     LIDAR_READINESS_SCHEMA,
@@ -68,6 +69,19 @@ from .lidar_contract import (
     lidar_readiness_document,
     sensor_frame_xyzi,
 )
+from .lidar_replay import (
+    LIDAR_EQUIVALENCE_REPORT_SCHEMA,
+    LIDAR_QUALITY_REPORT_SCHEMA,
+    LIDAR_REPLAY_PACK_SCHEMA,
+    LidarReplayError,
+    LidarReplayPackV2,
+    LidarReplayPointFrame,
+    LidarReplayPoseFrame,
+    build_lidar_replay_pack_v2,
+    lidar_pack_catalog_item,
+    lidar_pack_detail,
+    verify_lidar_replay_equivalence,
+)
 from .live_perception import (
     LIVE_INGRESS_SCHEMA,
     LIVE_INGRESS_WIRE_SCHEMA,
@@ -139,7 +153,10 @@ __all__ = [
     "EvaluationPackFrame",
     "LatestWinsQueue",
     "LIDAR_EVIDENCE_PROFILE_SCHEMA",
+    "LIDAR_EQUIVALENCE_REPORT_SCHEMA",
+    "LIDAR_QUALITY_REPORT_SCHEMA",
     "LIDAR_READINESS_SCHEMA",
+    "LIDAR_REPLAY_PACK_SCHEMA",
     "LIVE_INGRESS_SCHEMA",
     "LIVE_INGRESS_WIRE_SCHEMA",
     "LiveIngressEvent",
@@ -152,6 +169,10 @@ __all__ = [
     "LidarPoseStatus",
     "LidarQualityMonitor",
     "LidarReadiness",
+    "LidarReplayError",
+    "LidarReplayPackV2",
+    "LidarReplayPointFrame",
+    "LidarReplayPoseFrame",
     "LidarRepresentation",
     "LidarStageAssessment",
     "LidarTimeBasis",
@@ -167,6 +188,7 @@ __all__ = [
     "MultiratePerceptionQualificationResult",
     "QUALIFICATION_POLICY",
     "K1_LAB_LIDAR_PACK_V1_PROFILE",
+    "K1_LIDAR_PACK_V2_PROFILE",
     "K1_LIVE_LIDAR_PROFILE",
     "QueueSnapshot",
     "RecordedCalibratedFusion",
@@ -201,6 +223,7 @@ __all__ = [
     "validate_multirate_perception_qualification_result",
     "prepare_recorded_qualification_slice",
     "assess_lidar_profile",
+    "build_lidar_replay_pack_v2",
     "DetectionFrame",
     "ObjectDetection",
     "RecordedPerceptionOverlayError",
@@ -221,5 +244,8 @@ __all__ = [
     "validate_tracked_fusion_qualification_result",
     "validate_annotation_workspace",
     "lidar_readiness_document",
+    "lidar_pack_catalog_item",
+    "lidar_pack_detail",
     "sensor_frame_xyzi",
+    "verify_lidar_replay_equivalence",
 ]

src/k1link/compute/lidar_contract.py

@@ -621,3 +621,17 @@ K1_LAB_LIDAR_PACK_V1_PROFILE: Final = LidarEvidenceProfile(
     lidar_imu_extrinsic_available=False,
     camera_extrinsic_available=True,
 )
+
+K1_LIDAR_PACK_V2_PROFILE: Final = LidarEvidenceProfile(
+    profile_id="xgrids-k1-lidar-replay-pack/v2",
+    representation=LidarRepresentation.VENDOR_MAP_INCREMENT,
+    coordinate_space=LidarCoordinateSpace.MAP,
+    coordinate_frame="map",
+    frame_time_basis=LidarTimeBasis.HOST_ARRIVAL,
+    point_fields=(LidarPointField.XYZ, LidarPointField.INTENSITY),
+    pose_status=LidarPoseStatus.BEST_EFFORT,
+    scan_geometry_known=False,
+    imu_samples_available=False,
+    lidar_imu_extrinsic_available=False,
+    camera_extrinsic_available=True,
+)

src/k1link/web/app.py

@@ -33,6 +33,7 @@ from k1link.sessions import (
     SessionStore,
 )
 from k1link.web.device_plugin_composition import load_installed_device_plugins
+from k1link.web.lidar_api import build_lidar_router
 from k1link.web.plugin_catalog import DevicePluginCatalog, PluginCatalogError
 from k1link.web.plugin_runtime import (
     STATE_READ_ACTION_ID,
@@ -398,6 +399,17 @@ app.include_router(
     )
 )
 app.include_router(build_polygon_router())
+app.include_router(
+    build_lidar_router(
+        root_provider=lambda: (
+            REPOSITORY_ROOT
+            / ".runtime"
+            / "compute-experiments"
+            / "lidar-replay-v2"
+            / "packs"
+        )
+    )
+)
 
 
 frontend_dist = REPOSITORY_ROOT / "apps" / "control-station" / "dist"

src/k1link/web/lidar_api.py

@@ -0,0 +1,110 @@
+from __future__ import annotations
+
+import os
+import re
+from collections.abc import Callable
+from pathlib import Path
+from typing import Any, Final
+
+from fastapi import APIRouter, HTTPException, Query
+
+from k1link.compute import (
+    LidarReplayError,
+    LidarReplayPackV2,
+    lidar_pack_catalog_item,
+    lidar_pack_detail,
+)
+
+LIDAR_CATALOG_SCHEMA: Final = "missioncore.lidar-replay-pack-catalog/v1"
+_PACK_ID = re.compile(r"^lidar-replay-pack-[a-f0-9]{64}$")
+RootProvider = Callable[[], Path | None]
+
+
+def configured_lidar_replay_root() -> Path | None:
+    value = os.environ.get("MISSIONCORE_LIDAR_REPLAY_ROOT", "").strip()
+    return Path(value).expanduser().absolute() if value else None
+
+
+def build_lidar_router(
+    *,
+    root_provider: RootProvider = configured_lidar_replay_root,
+) -> APIRouter:
+    router = APIRouter(prefix="/api/v1/lidar", tags=["lidar"])
+
+    @router.get("/replay-packs")
+    def list_lidar_replay_packs(
+        limit: int = Query(default=20, ge=1, le=100),
+    ) -> dict[str, Any]:
+        root = root_provider()
+        if root is None or not root.is_dir():
+            return {
+                "schema_version": LIDAR_CATALOG_SCHEMA,
+                "configured": root is not None,
+                "items": [],
+                "valid_total": 0,
+                "invalid_total": 0,
+                "duplicate_total": 0,
+                "access": "read-only",
+            }
+        items: list[dict[str, object]] = []
+        invalid_total = 0
+        duplicate_total = 0
+        seen_logical_content: set[str] = set()
+        candidates = sorted(
+            (
+                candidate
+                for candidate in root.iterdir()
+                if candidate.is_dir() and _PACK_ID.fullmatch(candidate.name) is not None
+            ),
+            key=lambda candidate: candidate.stat().st_mtime_ns,
+            reverse=True,
+        )
+        for candidate in candidates:
+            try:
+                pack = LidarReplayPackV2(candidate)
+                try:
+                    item = lidar_pack_catalog_item(pack)
+                    logical_content = str(item["logical_content_sha256"])
+                    if logical_content in seen_logical_content:
+                        duplicate_total += 1
+                        continue
+                    seen_logical_content.add(logical_content)
+                    item["created_at_utc"] = pack.manifest.get("created_at_utc")
+                    items.append(item)
+                finally:
+                    pack.close()
+            except (LidarReplayError, OSError):
+                invalid_total += 1
+        return {
+            "schema_version": LIDAR_CATALOG_SCHEMA,
+            "configured": True,
+            "items": items[:limit],
+            "valid_total": len(items),
+            "invalid_total": invalid_total,
+            "duplicate_total": duplicate_total,
+            "access": "read-only",
+        }
+
+    @router.get("/replay-packs/{pack_id}")
+    def get_lidar_replay_pack(pack_id: str) -> dict[str, object]:
+        if _PACK_ID.fullmatch(pack_id) is None:
+            raise HTTPException(status_code=404, detail="LiDAR replay pack не найден")
+        root = root_provider()
+        if root is None or not root.is_dir():
+            raise HTTPException(status_code=503, detail="LiDAR replay storage не настроен")
+        candidate = root / pack_id
+        if not candidate.is_dir():
+            raise HTTPException(status_code=404, detail="LiDAR replay pack не найден")
+        try:
+            pack = LidarReplayPackV2(candidate)
+            try:
+                return lidar_pack_detail(pack)
+            finally:
+                pack.close()
+        except (LidarReplayError, OSError) as exc:
+            raise HTTPException(
+                status_code=409,
+                detail="LiDAR replay pack не прошёл проверку целостности",
+            ) from exc
+
+    return router