gps-denied-onboard/docs/02_components/14_result_manager/result_manager_spec.md

Result Manager

Interface Definition

Interface Name: IResultManager

Interface Methods

class IResultManager(ABC):
    @abstractmethod
    def update_frame_result(self, flight_id: str, frame_id: int, result: FrameResult) -> bool:
        pass
    
    @abstractmethod
    def publish_waypoint_update(self, flight_id: str, frame_id: int) -> bool:
        pass
    
    @abstractmethod
    def get_flight_results(self, flight_id: str) -> FlightResults:
        pass
    
    @abstractmethod
    def mark_refined(self, flight_id: str, frame_ids: List[int]) -> bool:
        pass
    
    @abstractmethod
    def get_changed_frames(self, flight_id: str, since: datetime) -> List[int]:
        pass

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
• Convert optimized poses to GPS coordinates

Scope

• Result state management
• Flight Database integration (waypoint storage)
• SSE event triggering
• Incremental update detection
• Result persistence

API Methods

update_frame_result(flight_id: str, frame_id: int, result: FrameResult) -> bool

Description: Updates result for a processed frame.

Called By:

• Main processing loop (after each frame)
• F10 Factor Graph (after refinement)

Input:

flight_id: str
frame_id: int
result: FrameResult:
    gps_center: GPSPoint
    altitude: float
    heading: float
    confidence: float
    timestamp: datetime
    refined: bool
    objects: List[ObjectLocation]  # From external detector

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

Test Cases:

1. New frame result → stored and published
2. Refined result → updates existing, marks refined=True

---

publish_waypoint_update(flight_id: str, frame_id: int) -> bool

Description: Updates waypoint in Flight Database via F03.

Called By:

• Internal (after update_frame_result)

Input:

flight_id: str
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)

Test Cases:

1. Successful update → Waypoint stored in database
2. Database unavailable → logs error, continues

---

get_flight_results(flight_id: str) -> FlightResults

Description: Retrieves all results for a flight.

Called By:

• F01 REST API (results endpoint)
• Testing/validation

Input: flight_id: str

Output:

FlightResults:
    flight_id: str
    frames: List[FrameResult]
    statistics: FlightStatistics

Test Cases:

1. Get all results → returns complete trajectory

---

mark_refined(flight_id: str, frame_ids: List[int]) -> bool

Description: Marks frames as refined after batch optimization.

Called By:

• F10 Factor Graph (after asynchronous refinement)

Input:

flight_id: str
frame_ids: List[int]  # Frames with updated poses

Output: bool

Processing Flow:

1. For each frame_id:
   • Get refined pose from F10 Factor Graph Optimizer → ENU pose
   • Convert ENU pose to GPS via F13 Coordinate Transformer.enu_to_gps(flight_id, enu_pose)
   • Update result with refined=True via F03 Flight Database.save_frame_result()
   • Update waypoint via F03 Flight Database.update_waypoint()
   • Call F15 SSE Event Streamer.send_refinement()

Test Cases:

1. Batch refinement → all frames updated and published

---

get_changed_frames(flight_id: str, since: datetime) -> List[int]

Description: Gets frames changed since timestamp (for incremental updates).

Called By:

• F15 SSE Event Streamer (for reconnection replay)

Input:

flight_id: str
since: datetime

Output: List[int] - Frame IDs changed since timestamp

Test Cases:

1. Get changes → returns only modified frames
2. No changes → returns empty list

---

update_results_after_chunk_merge(flight_id: str, merged_frames: List[int]) -> bool

Description: Updates frame results after chunk merging changes frame poses.

Called By:

• F11 Failure Recovery Coordinator (after chunk merging)

Input:

flight_id: str
merged_frames: List[int]  # Frames whose poses changed due to chunk merge

Output: bool - True if updated successfully

Processing Flow:

1. For each frame_id in merged_frames:
   • Get updated pose from F10 Factor Graph Optimizer.get_trajectory() → ENU pose
   • Convert ENU pose to GPS via F13 Coordinate Transformer.enu_to_gps(flight_id, enu_pose)
   • 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

Test Cases:

1. Chunk merge updates: All merged frames updated and published
2. GPS accuracy: Updated GPS matches optimized poses

Integration Tests

Test 1: Per-Frame Processing

1. Process frame 237
2. update_frame_result() → stores result
3. Verify publish_waypoint_update() called (F03.update_waypoint())
4. Verify F15 SSE event sent

Test 2: Batch Refinement

1. Process 100 frames
2. Factor graph refines frames 10-50
3. mark_refined([10-50]) → updates all
4. Verify Flight Database updated (F03.batch_update_waypoints())
5. Verify SSE refinement events sent

Test 3: Incremental Updates

1. Process frames 1-100
2. Client disconnects at frame 50
3. Client reconnects
4. get_changed_frames(since=frame_50_time)
5. Client receives frames 51-100

Non-Functional Requirements

Performance

• update_frame_result: < 50ms
• publish_waypoint_update: < 100ms (non-blocking)
• get_flight_results: < 200ms for 2000 frames

Reliability

• Result persistence survives crashes
• Guaranteed at-least-once delivery to Flight Database
• Idempotent updates

Dependencies

Internal Components

• F03 Flight Database: For waypoint and frame result persistence
• F10 Factor Graph Optimizer: For refined pose retrieval
• F13 Coordinate Transformer: For ENU to GPS conversion
• F15 SSE Event Streamer: For real-time result streaming
• F11 Failure Recovery Coordinator: Triggers chunk merge result updates

External Dependencies

• None

Data Models

FrameResult

class ObjectLocation(BaseModel):
    object_id: str
    pixel: Tuple[float, float]
    gps: GPSPoint
    class_name: str
    confidence: float

class FrameResult(BaseModel):
    frame_id: int
    gps_center: GPSPoint
    altitude: float
    heading: float
    confidence: float
    timestamp: datetime
    refined: bool
    objects: List[ObjectLocation]
    updated_at: datetime

FlightResults

class FlightStatistics(BaseModel):
    total_frames: int
    processed_frames: int
    refined_frames: int
    mean_confidence: float
    processing_time: float

class FlightResults(BaseModel):
    flight_id: str
    frames: List[FrameResult]
    statistics: FlightStatistics