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fix: P0+P1 audit — memory leak, hardcoded camera/GPS, lifespan init, background processing, batch validation, ABC interfaces

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This commit is contained in:
Yuzviak
2026-03-22 23:35:12 +02:00
parent 8649d13a78
commit ca327034c0
9 changed files with 161 additions and 38 deletions
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src/gps_denied/core/chunk_manager.py
+8 -1
View File
@@ -1,6 +1,7 @@
"""Route Chunk Manager (Component F12)."""
import logging
from abc import ABC, abstractmethod
from typing import Dict, List, Optional
import uuid
@@ -11,22 +12,28 @@ from gps_denied.schemas.metric import Sim3Transform
logger = logging.getLogger(__name__)
class IRouteChunkManager:
class IRouteChunkManager(ABC):
@abstractmethod
def create_new_chunk(self, flight_id: str, start_frame_id: int) -> ChunkHandle:
pass
@abstractmethod
def get_active_chunk(self, flight_id: str) -> Optional[ChunkHandle]:
pass
@abstractmethod
def get_all_chunks(self, flight_id: str) -> List[ChunkHandle]:
pass
@abstractmethod
def add_frame_to_chunk(self, flight_id: str, frame_id: int) -> bool:
pass
@abstractmethod
def update_chunk_status(self, flight_id: str, chunk_id: str, status: ChunkStatus) -> bool:
pass
@abstractmethod
def merge_chunks(self, flight_id: str, new_chunk_id: str, main_chunk_id: str, transform: Sim3Transform) -> bool:
pass
src/gps_denied/core/graph.py
+30 -18
View File
@@ -3,7 +3,7 @@
import logging
from abc import ABC, abstractmethod
from typing import Dict, List, Optional
from datetime import datetime
from datetime import datetime, timezone
import numpy as np
@@ -87,10 +87,11 @@ class FactorGraphOptimizer(IFactorGraphOptimizer):
def __init__(self, config: FactorGraphConfig):
self.config = config
# Keyed by flight_id
# Value structure: {"graph": graph, "initial": values, "isam": isam2_obj, "poses": {frame_id: Pose}}
self._flights_state: Dict[str, dict] = {}
# Keyed by chunk_id
self._chunks_state: Dict[str, dict] = {}
# Per-flight ENU origin (set from first absolute GPS factor)
self._enu_origins: Dict[str, GPSPoint] = {}
def _init_flight(self, flight_id: str):
if flight_id not in self._flights_state:
@@ -134,26 +135,32 @@ class FactorGraphOptimizer(IFactorGraphOptimizer):
frame_id=frame_j,
position=new_pos,
orientation=new_orientation,
timestamp=datetime.now(),
timestamp=datetime.now(timezone.utc),
covariance=np.eye(6)
)
state["dirty"] = True
return True
return False
def _gps_to_enu(self, flight_id: str, gps: GPSPoint) -> np.ndarray:
"""Convert GPS to local ENU using per-flight origin."""
origin = self._enu_origins.get(flight_id)
if origin is None:
# First GPS factor sets the origin
self._enu_origins[flight_id] = gps
return np.zeros(3)
enu_x = (gps.lon - origin.lon) * 111000 * np.cos(np.radians(origin.lat))
enu_y = (gps.lat - origin.lat) * 111000
return np.array([enu_x, enu_y, 0.0])
def add_absolute_factor(self, flight_id: str, frame_id: int, gps: GPSPoint, covariance: np.ndarray, is_user_anchor: bool) -> bool:
self._init_flight(flight_id)
state = self._flights_state[flight_id]
# Mock GPS to ENU mapping (1 degree lat ~= 111km)
# Assuming origin is some coordinate
enu_x = (gps.lon - 30.0) * 111000 * np.cos(np.radians(49.0))
enu_y = (gps.lat - 49.0) * 111000
enu_z = 0.0
enu = self._gps_to_enu(flight_id, gps)
if frame_id in state["poses"]:
# Hard snap
state["poses"][frame_id].position = np.array([enu_x, enu_y, enu_z])
state["poses"][frame_id].position = enu
state["dirty"] = True
return True
return False
@@ -163,7 +170,11 @@ class FactorGraphOptimizer(IFactorGraphOptimizer):
state = self._flights_state[flight_id]
if frame_id in state["poses"]:
state["poses"][frame_id].position[2] = altitude
state["poses"][frame_id].position = np.array([
state["poses"][frame_id].position[0],
state["poses"][frame_id].position[1],
altitude,
])
state["dirty"] = True
return True
return False
@@ -201,7 +212,7 @@ class FactorGraphOptimizer(IFactorGraphOptimizer):
frame_id=start_frame_id,
position=np.zeros(3),
orientation=np.eye(3),
timestamp=datetime.now(),
timestamp=datetime.now(timezone.utc),
covariance=np.eye(6)
)
return True
@@ -219,7 +230,7 @@ class FactorGraphOptimizer(IFactorGraphOptimizer):
frame_id=frame_j,
position=new_pos,
orientation=np.eye(3),
timestamp=datetime.now(),
timestamp=datetime.now(timezone.utc),
covariance=np.eye(6)
)
state["dirty"] = True
@@ -232,9 +243,8 @@ class FactorGraphOptimizer(IFactorGraphOptimizer):
state = self._chunks_state[chunk_id]
if frame_id in state["poses"]:
# Snap logic for mock
state["poses"][frame_id].position[0] = (gps.lon - 30.0) * 111000 * np.cos(np.radians(49.0))
state["poses"][frame_id].position[1] = (gps.lat - 49.0) * 111000
enu = self._gps_to_enu(flight_id, gps)
state["poses"][frame_id].position = enu
state["dirty"] = True
return True
return False
@@ -296,7 +306,9 @@ class FactorGraphOptimizer(IFactorGraphOptimizer):
)
def delete_flight_graph(self, flight_id: str) -> bool:
removed = False
if flight_id in self._flights_state:
del self._flights_state[flight_id]
return True
return False
removed = True
self._enu_origins.pop(flight_id, None)
return removed
src/gps_denied/core/processor.py
+17 -3
View File
@@ -23,6 +23,7 @@ from gps_denied.schemas.flight import (
BatchMetadata,
BatchResponse,
BatchUpdateResponse,
CameraParameters,
DeleteResponse,
FlightCreateRequest,
FlightDetailResponse,
@@ -76,6 +77,7 @@ class FlightProcessor:
# Per-flight processing state
self._flight_states: dict[str, TrackingState] = {}
self._prev_images: dict[str, np.ndarray] = {} # previous frame cache
self._flight_cameras: dict[str, CameraParameters] = {} # per-flight camera
# Lazy-initialised component references (set via `attach_components`)
self._vo = None # SequentialVisualOdometry
@@ -130,11 +132,10 @@ class FlightProcessor:
vo_ok = False
if self._vo and flight_id in self._prev_images:
try:
from gps_denied.schemas.flight import CameraParameters
cam = CameraParameters(
cam = self._flight_cameras.get(flight_id, CameraParameters(
focal_length=4.5, sensor_width=6.17, sensor_height=4.55,
resolution_width=640, resolution_height=480,
)
))
rel_pose = self._vo.compute_relative_pose(
self._prev_images[flight_id], image, cam
)
@@ -246,6 +247,9 @@ class FlightProcessor:
altitude=req.altitude,
camera_params=req.camera_params.model_dump(),
)
# P0#2: Store camera params for process_frame VO calls
self._flight_cameras[flight.id] = req.camera_params
for poly in req.geofences.polygons:
await self.repository.insert_geofence(
flight.id,
@@ -308,8 +312,18 @@ class FlightProcessor:
async def delete_flight(self, flight_id: str) -> DeleteResponse:
deleted = await self.repository.delete_flight(flight_id)
# P0#1: Cleanup in-memory state to prevent memory leaks
self._cleanup_flight(flight_id)
return DeleteResponse(deleted=deleted, flight_id=flight_id)
def _cleanup_flight(self, flight_id: str) -> None:
"""Remove all in-memory state for a flight (prevents memory leaks)."""
self._prev_images.pop(flight_id, None)
self._flight_states.pop(flight_id, None)
self._flight_cameras.pop(flight_id, None)
if self._graph:
self._graph.delete_flight_graph(flight_id)
async def update_waypoint(
self, flight_id: str, waypoint_id: str, waypoint: Waypoint
) -> UpdateResponse:
src/gps_denied/core/recovery.py
+4 -1
View File
@@ -1,6 +1,7 @@
"""Failure Recovery Coordinator (Component F11)."""
import logging
from abc import ABC, abstractmethod
from typing import List, Optional
import numpy as np
@@ -13,10 +14,12 @@ from gps_denied.schemas.chunk import ChunkStatus
logger = logging.getLogger(__name__)
class IFailureRecoveryCoordinator:
class IFailureRecoveryCoordinator(ABC):
@abstractmethod
def handle_tracking_lost(self, flight_id: str, current_frame_id: int) -> bool:
pass
@abstractmethod
def process_chunk_recovery(self, flight_id: str, chunk_id: str, images: List[np.ndarray]) -> bool:
pass