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.
163 lines
9.1 KiB
Markdown
163 lines
9.1 KiB
Markdown
# Planning STOP lifecycle and burst delivery
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## Scope and decision
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Owner-authorized follow-up to the physical 017/018 review. Preserve the v6
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dense-start / route-search cascade and all geometric, causal, identity and
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freshness gates. This increment addresses intentional STOP and bounded derived
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delivery, not K1 SLAM, vegetation robustness, vehicle control or a new retrieval
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algorithm. Original captures and comparison reports remain immutable.
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## Commanded stop is not unexpected loss
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Both physical runs stopped supplying clouds after operator STOP but retained
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their raw-recording owners for approximately 51 seconds. The eight-second
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localisation freshness check correctly expired; the planning owner incorrectly
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treated intentional cessation as a reason to recover localisation.
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The K1 lifecycle facade now signals `spatial-stop-requested` after its existing
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canonical `request_stop` has admitted the command. It supplies the exact
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evidence session and ingress generation. This is an admitted **intent**, not
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proof of physical STOP success or READY. A synchronous admission rejection
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does not emit it; an asynchronous device failure remains owned and reported by
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the existing physical-command lifecycle. Localisation does not automatically
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resume after a failed STOP or replay a command.
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The ingress latches that signal independently of queue consumption. It cannot
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stop another generation, survives a slow consumer and resets on a new session.
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It neither closes raw capture nor rejects its subsequent publications. The
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planning owner checks it before freshness/recovery work, clears live authority
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and completes the study with `termination_reason=spatial-stop-requested`.
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An already-running fit retains its compute lease until cleanup; its late output
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is recorded as unaccepted evidence and cannot publish a new candidate/green
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state or overwrite the last accepted historical alignment. End-of-input also
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no longer publishes an intermediate synthetic `lost` phase.
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The existing UI already renders completed studies as the neutral
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“Исследование завершено”. No frontend, visual components, clipping range or
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operator-copy changes are part of this increment. Real stale data, rejected
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geometry, receipt gaps and pose jumps still revoke localisation and initiate
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the existing recovery flow.
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## Delivery findings and changes
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Physical evidence from the preceding audit: 017 discarded 9/1125 derived lidar
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receipts, 018 discarded 34/1439 lidar and 1/1439 pose receipts. These are queue
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overflows, **not missing raw recording packets**. Both physical walks passed
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all fresh fits despite those losses.
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The retained receipt indexes show bursty delivery:
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| Recorded burst | 017 | 018 |
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|---|---:|---:|
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| Maximum lidar receipts in 100 ms | 12 | 12 |
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| Maximum lidar receipts in 200 ms | 14 | 17 |
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| Maximum lidar receipts in 500 ms | 17 | 19 |
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| Previous lidar queue capacity | 8 | 8 |
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Both spatial modality queues now retain 32 receipts (previously lidar 8,
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pose 16). This is bounded burst/scheduling headroom, not a route-length or
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geometric acceptance limit. The existing 2 MiB packet bound makes the worst
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case 64 MiB per spatial queue. Overflow counters, source order, original
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receipt timestamps and all freshness limits remain unchanged. No unbounded
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queue, new decoder thread, synthetic timestamp or interpolation was added.
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`PlanningLiveTests` also caches height bounds for each immutable reference
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array. Summary and scene polling previously rescanned/copied the route-wide
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point array while holding the planning lock. Replacing the reference invalidates
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the cache; finite-point handling and the existing 80 m ceiling are unchanged.
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This removes unnecessary work but does not prove that UI polling was the sole
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cause of the physical packet losses.
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## Validation and evidence boundaries
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Focused suites r2/r3 plus acquisition-control regressions covered 170 distinct
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tests: exact-generation stop, rejected admission, active raw capture after
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stop, stop before first cloud, blocked initial/fresh workers, late worker error,
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51-second virtual finalisation, real loss/recovery, queue overflow/order,
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fresh-window separation, registration cascade and cached scene bounds.
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Evidence: `.runtime/qualification-20260920-stop-tests-r2.xml`,
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`qualification-20260920-stop-tests-r3.xml`, and
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`qualification-20260920-stop-control-tests.xml`.
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An exploratory cProfile replay is retained at
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`.runtime/qualification-20260920-stop-delivery-018-baseline`. It is **not an
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acceptance pass or a timing baseline**: instrumentation caused the route search
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to exceed its budget, expected-tracking/complete-search failed, and a test-file
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edit during that diagnostic run invalidated its code-unchanged check. Original
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input hashes remained unchanged. No result was promoted into the planner.
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The unprofiled final replay is independently sealed under
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`.runtime/qualification-20260920-stop-delivery-018-final`. It uses raw 018
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receipts at their original 1x intervals, the real ingress, decoder, planner,
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numerical child and 10 Hz in-process scene-delta endpoint. An explicitly
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declared archived last-cloud boundary models admitted STOP while the private
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capture source remains active; this is not a replay of the K1 command protocol.
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The separate fake-device tests cover the actual facade admission edge. No
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socket, scanner command, production comparison mutation or extra app server is
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used by the archive probe.
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Final unprofiled result: **13/13 acceptance checks passed**, all input/code
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hashes unchanged, full route search and tracking at 52.40 s, 20/20 disjoint
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fresh fits accepted, 85.023 m accumulated travel. Maximum fresh-fit worker
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wall time was 0.524 s; no recovery was initiated. STOP ended the study while
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capture ownership remained active, with no green after completion and all
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temporary leases released. The probe exercised 1,267 scene-delta requests.
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Each spatial queue published 1,439 receipts, consumed 1,436, reached a maximum
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depth of 11/32, and recorded **zero overflow or oversize rejections**. Three
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receipts per modality remained queued at intentional STOP; they were not
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reported as processed or lost from raw capture. Maximum publisher scheduling
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lag was 0.049 s. No camera/video producer or second browser was included, so
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this is not proof of zero overflow under all field workloads. A new physical
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pass must confirm the integrated host/device/browser workload.
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Final focused lifecycle/ingress rerun is retained separately in
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`.runtime/qualification-20260920-stop-tests-r4-final.xml`. Ruff passed for all
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changed production modules and qualification helpers; existing Starlette/httpx
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deprecation warnings were not treated as new product failures.
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## Local runtime handoff
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After the final 37-test lifecycle/ingress rerun passed, the canonical LaunchAgent
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was reloaded through `manage_mission_core_launch_agent.py plan/apply`, using
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the unchanged current/desired declaration SHA
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`5d7a58122c016f8021fede27d1b21891ee20238fc38c281e5b33574ff8204e3f`.
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Its normal backup and health-acceptance path succeeded. Post-reload `/api/health`
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reported operational readiness; `/api/state` reported idle acquisition, inactive
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ingress, the new 32/32 capacities and `spatial_stop_requested=false`. The original
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018 comparison remained selected/completed/historical with an 80 m ceiling.
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Only the canonical backend listened on 8000 (PID 4146); no backend on 8765,
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temporary replay, numerical child, pytest process or Docker backend remained.
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Memory-pressure free percentage was 49%; swap did not grow during final
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qualification/reload. No K1 command or Ops write was issued by this task.
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## Kilometre-scale next stage
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The selected-route policy has no fixed maximum walking distance or duration.
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Tracking fits a local reference region and recovery starts at the last confirmed
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place. That supports testing a longer taught route from its known start; it is
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not evidence that the current system is qualified at kilometre scale.
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Cold route-wide retrieval still checks eligible regions at 5 m spacing, with
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three precise yaw seeds per region and a 35-second combined search budget.
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A 2 km polyline has 401 anchors rather than the 26 in physical 018. An incomplete
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search must remain incomplete, not be accepted merely because one good result
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was found before checking alternatives. The next scaling work is reusable
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reference preparation and an indexed, ambiguity-aware retrieval strategy—not
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lowering overlap thresholds or deleting freshness protection.
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Other implementation bounds still need qualification on the longer recording:
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40 m preparation tiles, repeated source verification/staging and extraction,
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90-second extraction/export budgets, a 100,000-pose / 30 MiB trajectory cache,
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and route-wide map storage/scans. These are not claims of a physical 40 m or
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100 m route limit; their cost grows with the reference. This increment does
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not silently rewrite that architecture.
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Recommended field sequence: record a 1–2 km reference; qualify its preparation
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and existing saved-pass localisation offline; then repeat from the known start.
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Cold restart in the middle of the long route is a separate acceptance gate.
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Foliage/grass changes and handheld motion are relevant nuisance geometry;
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these two same-day passes show encouraging tolerance, not seasonal acceptance
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or an absolute scanner-position error certificate.
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