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fix(viewer): make recorded layers deterministic

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DCCONSTRUCTIONS
2026-07-23 11:42:19 +03:00
parent 3a64f54dea
commit ee15160862
6 changed files with 222 additions and 34 deletions
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src/k1link/viewer/recorded.py
+42 -25
View File
@@ -55,48 +55,58 @@ class _RecordedBlueprintStream:
def __init__(
self,
application_id: str,
recording_id: str,
*,
view_reset_generation: Literal[0, 1],
) -> None:
self.view_reset_generation = view_reset_generation
self._lock = Lock()
self._pending: list[bytes] = []
self._initial_payload: bytes | None = None
self._latest_payload = b""
self._sequence = 0
self._closed = False
native = bindings.new_blueprint(
application_id=application_id,
make_default=False,
make_thread_default=False,
default_enabled=True,
)
self._recording = rr.RecordingStream._from_native(native)
bindings.set_callback_sink_blueprint(
lambda chunk: self._pending.append(bytes(chunk)),
True,
False,
native,
self._blueprint_recording = rr.RecordingStream._from_native(native)
self._blueprint_memory = self._blueprint_recording.memory_recording()
self._transport_recording = rr.RecordingStream(
application_id,
recording_id=recording_id,
send_properties=False,
)
self._recording.set_time("blueprint", sequence=0)
self._transport = rr.binary_stream(self._transport_recording)
def render(self, blueprint: rrb.Blueprint) -> bytes:
with self._lock:
if self._initial_payload is not None:
self._pending.clear()
blueprint._log_to_stream(self._recording)
self._recording.flush(timeout_sec=5.0)
delta = b"".join(self._pending)
if not delta:
if self._closed:
raise RecordedBlueprintError("stable blueprint stream is closed")
self._blueprint_recording.set_time(
"blueprint",
sequence=self._sequence,
)
self._sequence += 1
blueprint._log_to_stream(self._blueprint_recording)
self._blueprint_recording.flush(timeout_sec=5.0)
bindings.send_blueprint(
self._blueprint_memory.storage,
True,
False,
self._transport_recording.to_native(),
)
payload = self._transport.read(flush=True, flush_timeout_sec=5.0)
if not payload:
raise RecordedBlueprintError("stable blueprint stream produced no data")
if self._initial_payload is None:
self._initial_payload = delta
self._latest_payload = b""
else:
self._latest_payload = delta
return self._initial_payload + self._latest_payload
return payload
def close(self) -> None:
with suppress(Exception):
self._recording.disconnect()
with self._lock:
self._closed = True
with suppress(Exception):
self._blueprint_recording.disconnect()
with suppress(Exception):
self._transport_recording.disconnect()
_MAX_RECORDED_BLUEPRINT_STREAMS = 32
@@ -123,6 +133,7 @@ def _stable_recorded_blueprint_stream(
if stream is None:
stream = _RecordedBlueprintStream(
application_id,
recording_id,
view_reset_generation=view_reset_generation,
)
_recorded_blueprint_streams[key] = stream
@@ -197,7 +208,13 @@ def recorded_blueprint(
# object-history trail when the operator widens the cloud window.
"/world/points": point_overrides,
"/world/trajectory": trajectory_overrides,
"/world/perception": rrb.EntityBehavior(visible=False),
"/world/perception": rrb.EntityBehavior(visible=show_cuboids_3d),
"/world/perception/lidar": rrb.EntityBehavior(visible=False),
"/world/perception/support": rrb.EntityBehavior(visible=False),
"/world/perception/semantic_points": rrb.EntityBehavior(visible=False),
"/world/perception/boxes3d": rrb.EntityBehavior(
visible=show_cuboids_3d,
),
},
# Log an explicit empty range set so a previous accumulated blueprint
# for this stable view id is cleared instead of surviving in Rerun.