Port complete CAN-aware risk pipeline to C++

src/serialization.cpp

@@ -0,0 +1,38 @@
+#include "serialization.hpp"
+namespace cms {
+namespace {
+template<class T> Json optional(std::optional<T> const& x){return x?Json(*x):Json(nullptr);}
+Json riskJson(RiskResult const& r) {
+    Json out={{"status",r.status},{"risk_score",optional(r.risk_score)},{"risk_level",r.risk_level},{"decision",r.decision},{"source",optional(r.source)},{"track_id",optional(r.track_id)},{"side",optional(r.side)},{"regions",Json::array()}};
+    if(!r.risk_type.empty()){out["risk_type"]=r.risk_type;out["door_id"]=optional(r.door_id);}
+    if(!r.door_mask.status.empty()) {
+        auto const& d=r.door_mask;out["door_mask"]={{"status",d.status},{"annotation_index",d.annotation_index},{"path",optional(d.path)},{"format",d.format},{"area_px",d.area_px}};
+        out["warning_distance_relative"]=r.warning_distance_relative;out["release_distance_relative"]=r.release_distance_relative;
+    }
+    for(auto const& v:r.regions) {
+        Json j={{"status",v.status},{"risk_score",optional(v.risk_score)},{"risk_level",v.risk_level},{"decision",v.decision},{"source",v.source},{"track_id",v.track_id},{"side",v.side}};
+        if(v.state)j["state"]=*v.state;
+        if(!v.door_zone.empty())j["door_zone"]=v.door_zone;
+        if(v.region_area_px) {
+            j["region_area_px"]=optional(v.region_area_px);j["door_overlap_px"]=optional(v.door_overlap_px);j["region_overlap_ratio"]=optional(v.region_overlap_ratio);
+            j["min_distance_px"]=optional(v.min_distance_px);j["region_scale_px"]=optional(v.region_scale_px);j["distance_relative"]=optional(v.distance_relative);
+        }
+        out["regions"].push_back(std::move(j));
+    }
+    return out;
+}
+}
+Json serializeResult(FrameResult const& r) {
+    Json out={{"frame_index",r.frame_index},{"track_ids",r.track_ids},{"boxes",r.boxes},{"skeletons",Json::array()},{"active_door",r.active_door},{"door_assignments",Json::array()},{"door_risks",Json::object()},{"risk",riskJson(r.risk)},{"ungated_risk",riskJson(r.ungated_risk)}};
+    for(std::size_t i=0;i<r.persons.size();++i) {
+        auto const& p=r.persons[i];Json points=Json::array(),metadata=Json::object();for(auto const& k:p.selected)points.push_back({rounded(k.x,3),rounded(k.y,3)});
+        for(int s=0;s<2;++s){auto const& h=p.hands[s];metadata[s==0?"left":"right"]={{"limb_state",h.limb_consensus?"consensus":"inferred"},{"hand_source",h.source},{"hand_state",h.state},{"distance_eligible",h.distance_eligible},{"alarm_eligible",h.alarm_eligible}};}
+        out["skeletons"].push_back({{"track_id",p.track_id},{"person_index",i},{"layout","coco_wholebody_133"},{"keypoints",points},{"metadata",metadata}});
+    }
+    for(auto const& a:r.door_assignments)out["door_assignments"].push_back({{"track_id",a.track_id},{"person_index",a.person_index},{"door_zone",a.door_zone},{"raw_door_zone",a.raw_door_zone},{"front_probability",a.front_probability},{"smoothed_front_probability",a.smoothed_front_probability},{"confidence",a.confidence},{"evidence_source",a.evidence_source},{"pose_feature_count",a.pose_feature_count},{"history_frames",a.history_frames},{"features",a.features},{"feature_frontness",a.feature_frontness}});
+    for(auto const& entry:r.door_risks)out["door_risks"][entry.first]=riskJson(entry.second);
+    out["can"]={{"positions",r.can.positions},{"age_ms",r.can.age_ms},{"valid",r.can.valid},{"source",r.can.source},{"side",r.can.side}};
+    out["capture"]={{"sequence",r.capture.driver_sequence},{"capture_monotonic_ms",r.capture.capture_monotonic_ns*1e-6},{"driver_timestamp_ms",r.capture.driver_timestamp_ns*1e-6}};
+    out["capture_to_result_ms"]=rounded(r.timing.capture_to_result_ms,3);out["calibration_verified"]=r.door_mask_calibration_verified;return out;
+}
+}