DCCONSTRUCTIONS
e515ab1b8c
Preserve the completed teach-and-repeat laboratory stage: reference preparation, cascaded acquisition, local tracking and recovery, recording lifecycle, replay qualification, and persistent Rerun scene controls. Document the open grid-picking regression and Rerun upgrade contract. No autonomous driving or loop-closure optimization is claimed.
4.9 KiB
Mission planner: recorded zone and route draft
Date: 2026-09-11. Ops: MISSIONCOR-81. Canonical service: http://127.0.0.1:8000.
Delivered boundary
The existing Missions/Planner workspace now selects a source from the shared observation-session catalog, reads its complete scanner trajectory, selects a contiguous interval in travelled metres and either direction, and persists a versioned draft without a vehicle. The original disabled five-step mock and its placeholder readiness badge are removed. The three blocks are Apparatus, Zone and Route. Parameters stay inside their blocks for this increment; the wider three-panel inspector composition remains a later refinement.
The cloud view reuses the existing bounded Rerun overview, top/3D and visual height clip. The route view uses an equal-axis XY schematic and a position slider over the selected original pose indices. This is inspection of a recorded scanner path, not measured localization or a certified chassis path. Selected interval and direction are editable; arbitrary waypoints, direct Rerun drawing and timed playback are not implemented.
Source and persistence contracts
missions/sources.py: immutable generation from validated source identity, approved-prefix staging, input digests before/after preparation and source-bound cache. One preparation at a time, maximum 100,000 poses / 30 MiB derived JSON, parser time/message bounds.- The plugin's
planning_source.pypreserves all pose indices, message ordinals, metric positions, elapsed arrival times when available, and cumulative distance. No second pose transform is applied. One decoded nonempty point-cloud frame confirms spatial evidence. Other cloud messages are counted without decoding every point again; this is not a full point-cloud integrity/accuracy audit. Full overview diagnostics remain separate. missions/drafts.py: SQLite transactions and compare-and-swap revisions, frozen source identity, selected source indices and resolved points. Changing/missing source never removes a saved draft.web/mission_planner_api.py: bounded request models; no vehicle ID or execution parameter is accepted. Data checks bind an exact saved revision, reverify source digests, measure length and largest position step, and retain an immutable report. A concurrent draft change rejects publication of a stale report.core/missions,components/missions,workspaces/missions: separated domain contracts, reusable renderers and workspace composition. Existing Design Guideline Select, RangeControl, TextField, Window and actions are reused.- Raw captures, cached poses, SQLite drafts/checks and real scene media remain runtime data outside Git. Nothing is installed on the board.
Validation
- 846 frontend tests passed before final bounded UX refinements. The subsequent metre-input change passed the five focused planner tests plus four architecture tests. Final production build includes TypeScript checking.
- 16 focused backend tests passed (planner + existing overview); 10 planner tests passed again after removing unnecessary cloud decoding.
- First real source preparation after the optimization: HTTP 200 in 2.35 seconds for 4,959 poses and a 487.61 m recorded path. This is a local functional measurement, not a board or localization benchmark.
- Browser on the actual 8000: selected the existing road session, obtained the initial 30.01 m / 578-pose interval, saved a named draft without a vehicle, ran its data check (matching source digests; largest step about 0.10 m), reloaded the client and reopened it. Reverse direction starts at the selected final source pose. Exact interval entry uses metres, not hidden frame indices.
- Another source named
35loaded independently with 283 poses / 0.089 m, proving the selector is not bound to the road session. Unsupported derived LAB entries remain visible with a reason. - UI QA used the actual narrow in-app browser surface and expanded window, including Escape. Desktop-width rendering is not separately qualified here.
- All checks/builds/browser work ran sequentially. No duplicate backend or port 8765 was introduced. Canonical 8000 remains durable operator state.
Next experiment
No new scan is required to inspect the saved draft. Before claiming live testing, implement a bounded geometric-registration runner, prove known synthetic transforms and reject a wrong reference segment. Then acquire an independent B recording in a new K1 project over the same 20–30 m section, retaining both Mission Core session and native capture. Freeze reference A. Compare B windows against A without future B frames, report failures/ambiguity, timing and memory. Only after offline evidence passes should the same pipeline feed a live testing viewport.
The current “Проверить маршрут” action does not compare clouds, estimate the scanner's location, determine passability, detect obstacles or send commands. The starting-position tolerance and target-board capacity remain experimental questions.