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component assesment and fixes done

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Oleksandr Bezdieniezhnykh
2025-11-30 16:09:31 +02:00
parent a172b21aac
commit ce9760fcbe
22 changed files with 681 additions and 1844 deletions
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docs/02_components/14_result_manager/result_manager_spec.md
+33 -42
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@@ -10,6 +10,12 @@
class IResultManager(ABC):
@abstractmethod
def update_frame_result(self, flight_id: str, frame_id: int, result: FrameResult) -> bool:
"""
Atomic update:
1. Saves result to frame_results table.
2. Updates waypoint in waypoints table.
3. All within a single transaction via F03.
"""
pass
@abstractmethod
@@ -36,13 +42,8 @@ class IResultManager(ABC):
## Component Description
### Responsibilities
- Manage trajectory results per flight
- Track frame refinements and changes
- Store waypoint updates via F03 Flight Database
- Send incremental updates via F15 SSE Event Streamer
- Maintain result versioning for audit trail
**Note**: F14 receives GPS coordinates directly from the caller (F02). F14 does NOT call F10 Factor Graph Optimizer or F13 Coordinate Transformer for pose retrieval/conversion. This ensures unidirectional data flow: F02 → F14 → F03/F15.
- Result consistency and publishing.
- **Atomic Updates**: Ensures consistency between normalized `waypoints` and denormalized `frame_results` via transaction requests to F03.
### Scope
- Result state management
@@ -55,7 +56,7 @@ class IResultManager(ABC):
### `update_frame_result(flight_id: str, frame_id: int, result: FrameResult) -> bool`
**Description**: Updates result for a processed frame.
**Description**: Persists and publishes the result of a processed frame.
**Called By**:
- Main processing loop (after each frame)
@@ -78,10 +79,12 @@ result: FrameResult:
**Output**: `bool` - True if updated
**Processing Flow**:
1. Store result via F03 Flight Database.save_frame_result()
2. Call publish_waypoint_update()
3. Call F15 SSE Event Streamer.send_frame_result()
4. Update flight statistics
1. Construct DB transaction:
- Insert/Update `frame_results`.
- Update `waypoints` (latest position).
2. Call `F03.execute_transaction()`.
3. If success: call `F15.send_frame_result()`.
4. Update flight statistics.
**Test Cases**:
1. New frame result → stored and published
@@ -91,7 +94,7 @@ result: FrameResult:
### `publish_waypoint_update(flight_id: str, frame_id: int) -> bool`
**Description**: Updates waypoint in Flight Database via F03.
**Description**: Specifically triggers an update for the waypoint visualization.
**Called By**:
- Internal (after update_frame_result)
@@ -105,10 +108,9 @@ frame_id: int
**Output**: `bool` - True if updated successfully
**Processing Flow**:
1. Get result for frame_id
2. Convert to Waypoint format
3. Call F03 Flight Database.update_waypoint()
4. Handle errors (retry if transient)
1. Fetch latest data.
2. Call `F15.send_frame_result()` (or a specific lightweight event).
3. Handle errors (retry if transient)
**Test Cases**:
1. Successful update → Waypoint stored in database
@@ -141,7 +143,7 @@ FlightResults:
### `mark_refined(flight_id: str, frame_ids: List[int]) -> bool`
**Description**: Marks frames as refined after batch optimization.
**Description**: Updates results for frames that have been retrospectively improved (e.g., after loop closure or chunk merge).
**Called By**:
- F10 Factor Graph (after asynchronous refinement)
@@ -154,16 +156,16 @@ frame_ids: List[int] # Frames with updated poses
**Output**: `bool`
**Note**: F14 does NOT call F10 or F13. The caller (F02) performs the following steps before calling mark_refined():
1. F02 gets refined poses from F10.get_trajectory(flight_id)
2. F02 converts ENU to GPS via F13.enu_to_gps(flight_id, enu_tuple)
3. F02 calls F14.mark_refined() with the GPS-converted results
**Note**: F14 does NOT call F10 or F13. The caller (F02.2) performs the following steps before calling mark_refined():
1. F02.2 gets refined poses from F10.get_trajectory(flight_id)
2. F02.2 converts ENU to GPS via F13.enu_to_gps(flight_id, enu_tuple)
3. F02.2 calls F14.mark_refined() with the GPS-converted results
**Processing Flow**:
1. For each frame_id in frame_ids:
- Receive GPS coordinates from caller (already converted)
- Update result with refined=True via F03 Flight Database.save_frame_result()
- Update waypoint via F03 Flight Database.update_waypoint()
- Update result with refined=True via F03 Flight Database (part of transaction)
- Update waypoint via F03 Flight Database (part of transaction)
- Call F15 SSE Event Streamer.send_refinement()
**Test Cases**:
@@ -194,11 +196,11 @@ since: datetime
### `update_results_after_chunk_merge(flight_id: str, merged_frames: List[int]) -> bool`
**Description**: Updates frame results after chunk merging changes frame poses.
**Description**: Handling specific to chunk merging events.
**Triggered By**:
- `ChunkMerged` event from F11 (F14 subscribes to this event)
- Alternative: F02 Flight Processor can coordinate this call after receiving ChunkMerged event
- Alternative: F02.2 Flight Processing Engine can coordinate this call after receiving ChunkMerged event
**Input**:
```python
@@ -208,19 +210,9 @@ merged_frames: List[int] # Frames whose poses changed due to chunk merge
**Output**: `bool` - True if updated successfully
**Note**: F14 does NOT call F10 or F13. The caller (F02) performs these steps before calling update_results_after_chunk_merge():
1. F02 receives ChunkMerged event from F11 with merged_frames list
2. F02 gets updated poses from F10.get_trajectory(flight_id)
3. F02 converts ENU to GPS via F13.enu_to_gps(flight_id, enu_tuple) for each frame
4. F02 calls F14.update_results_after_chunk_merge() with GPS-converted results
**Processing Flow**:
1. For each frame_id in merged_frames:
- Receive GPS coordinates from caller (already converted)
- Update frame result via F03 Flight Database.save_frame_result()
- Update waypoint via F03 Flight Database.update_waypoint()
- Send refinement event via F15 SSE Event Streamer.send_refinement()
2. Return True
1. Similar to `mark_refined` but triggered by `ChunkMerged` event context.
2. Ensures all frames in the merged chunk are updated to the global coordinate system.
**Test Cases**:
1. **Chunk merge updates**: All merged frames updated and published
@@ -263,10 +255,10 @@ merged_frames: List[int] # Frames whose poses changed due to chunk merge
## Dependencies
### Internal Components
- **F03 Flight Database**: For waypoint and frame result persistence
- **F15 SSE Event Streamer**: For real-time result streaming
- **F03 Flight Database**: Must support transactional updates.
- **F15 SSE Event Streamer**: For real-time result streaming.
**Note**: F14 does NOT depend on F10, F13, or F11. The caller (F02) coordinates with those components and provides GPS-converted results to F14. This ensures unidirectional data flow and eliminates circular dependencies.
**Note**: F14 does NOT depend on F10, F13, or F11. The caller (F02.2) coordinates with those components and provides GPS-converted results to F14. This ensures unidirectional data flow and eliminates circular dependencies.
### External Dependencies
- None
@@ -308,4 +300,3 @@ class FlightResults(BaseModel):
frames: List[FrameResult]
statistics: FlightStatistics
```