feat: qualify complete RELLIS ground dataset

apps/control-station/src/core/lidar/datasetGateway.ts

@@ -12,7 +12,8 @@ export type DatasetSourceAdmissionStatus =
   | "verifying"
   | "verified"
   | "frame-ready"
-  | "smoke-ready";
+  | "smoke-ready"
+  | "dataset-ready";
 
 export interface DatasetSource {
   sourceId: string;
@@ -308,6 +309,7 @@ export function parseDatasetGatewayCatalog(
       && admissionStatus !== "verified"
       && admissionStatus !== "frame-ready"
       && admissionStatus !== "smoke-ready"
+      && admissionStatus !== "dataset-ready"
     ) {
       throw new DatasetGatewayContractError("source admission status неизвестен");
     }

apps/control-station/src/core/polygon/groundQualification.ts

@@ -42,7 +42,10 @@ export interface GroundQualification {
   checks: QualificationCheck[];
   worstFrames: QualificationWorstFrame[];
   decision: {
-    status: "shadow-candidate" | "qualification-rejected";
+    status:
+      | "shadow-candidate"
+      | "cross-dataset-qualified"
+      | "qualification-rejected";
     passed: boolean;
     promotedToNavigationOrSafety: false;
     reason: string;
@@ -75,7 +78,7 @@ export interface GroundReviewFrameSummary {
   frameId: string;
   datasetSequenceId: string;
   datasetFrameNumber: number;
-  sensorTimestampNs: string;
+  sensorTimestampNs: string | null;
   sourcePointCount: number;
   pointCount: number;
   current: GroundReviewFrameMetrics;
@@ -264,7 +267,11 @@ export function decodeGroundQualification(payload: unknown): GroundQualification
   );
   const decision = record(source.decision, "decision");
   const status = text(decision.status, "decision.status", 64);
-  if (status !== "shadow-candidate" && status !== "qualification-rejected") {
+  if (
+    status !== "shadow-candidate"
+    && status !== "cross-dataset-qualified"
+    && status !== "qualification-rejected"
+  ) {
     throw new GroundQualificationContractError("Решение квалификации неизвестно.");
   }
   if (decision.promoted_to_navigation_or_safety !== false) {
@@ -384,7 +391,11 @@ export function decodeGroundReview(payload: unknown): GroundReview {
     throw new GroundQualificationContractError("Неизвестная схема покадрового просмотра.");
   }
   const frameCount = integer(source.frame_count, "frame_count", 1);
-  const frames = array(source.frames, "frames", 2_000).map(
+  const sourceId = text(source.source_id, "source_id");
+  if (sourceId !== "goose-3d/v2025-08-22" && sourceId !== "rellis-3d/v1.1") {
+    throw new GroundQualificationContractError("Источник review неизвестен.");
+  }
+  const frames = array(source.frames, "frames", 3_000).map(
     (value, index): GroundReviewFrameSummary => {
       const frame = record(value, `frames[${index}]`);
       const sequence = integer(frame.sequence, `frames[${index}].sequence`);
@@ -392,7 +403,6 @@ export function decodeGroundReview(payload: unknown): GroundReview {
         throw new GroundQualificationContractError("Кадры просмотра идут не по порядку.");
       }
       const frameId = id(frame.frame_id, `frames[${index}].frame_id`);
-      const frameIdentity = parseGooseFrameId(frameId);
       const datasetSequenceId = id(
         frame.dataset_sequence_id,
         `frames[${index}].dataset_sequence_id`,
@@ -401,18 +411,30 @@ export function decodeGroundReview(payload: unknown): GroundReview {
         frame.dataset_frame_number,
         `frames[${index}].dataset_frame_number`,
       );
-      const sensorTimestampNs = text(
-        frame.sensor_timestamp_ns,
-        `frames[${index}].sensor_timestamp_ns`,
-        20,
-      );
-      if (
-        datasetSequenceId !== frameIdentity.datasetSequenceId
-        || datasetFrameNumber !== frameIdentity.datasetFrameNumber
-        || sensorTimestampNs !== frameIdentity.sensorTimestampNs
+      let sensorTimestampNs: string | null = null;
+      if (sourceId === "goose-3d/v2025-08-22") {
+        const frameIdentity = parseGooseFrameId(frameId);
+        sensorTimestampNs = text(
+          frame.sensor_timestamp_ns,
+          `frames[${index}].sensor_timestamp_ns`,
+          20,
+        );
+        if (
+          datasetSequenceId !== frameIdentity.datasetSequenceId
+          || datasetFrameNumber !== frameIdentity.datasetFrameNumber
+          || sensorTimestampNs !== frameIdentity.sensorTimestampNs
+        ) {
+          throw new GroundQualificationContractError(
+            `frames[${index}] противоречит идентичности GOOSE-кадра.`,
+          );
+        }
+      } else if (
+        frame.sensor_timestamp_ns !== null
+        || !/^rellis-0000[0-4]-[0-9]{6}$/.test(frameId)
+        || frameId !== `rellis-${datasetSequenceId}-${String(datasetFrameNumber).padStart(6, "0")}`
       ) {
         throw new GroundQualificationContractError(
-          `frames[${index}] противоречит идентичности GOOSE-кадра.`,
+          `frames[${index}] противоречит идентичности RELLIS-кадра.`,
         );
       }
       return {
@@ -457,7 +479,7 @@ export function decodeGroundReview(payload: unknown): GroundReview {
   return {
     runId: id(source.run_id, "run_id"),
     identitySha256,
-    sourceId: text(source.source_id, "source_id"),
+    sourceId,
     frameCount,
     previewPoints: integer(source.preview_points, "preview_points", 1),
     frames,