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feat: Relocate experiment designer routes under studies, update ROS2 topic paths, and enhance designer hashing and performance.

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This commit is contained in:
Sean O'Connor
2025-11-19 18:05:19 -05:00
parent 86b5ed80c4
commit b21ed8e805
19 changed files with 647 additions and 288 deletions
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38
src/components/experiments/designer/state/hashing.ts
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@@ -130,7 +130,7 @@ export interface DesignHashOptions {
}
const DEFAULT_OPTIONS: Required<DesignHashOptions> = {
includeParameterValues: false,
includeParameterValues: true, // Changed to true so parameter changes trigger hash updates
includeActionNames: true,
includeStepNames: true,
};
@@ -175,16 +175,16 @@ function projectExecutionDescriptor(
timeoutMs: exec.timeoutMs ?? null,
ros2: exec.ros2
? {
topic: exec.ros2.topic ?? null,
service: exec.ros2.service ?? null,
action: exec.ros2.action ?? null,
}
topic: exec.ros2.topic ?? null,
service: exec.ros2.service ?? null,
action: exec.ros2.action ?? null,
}
: null,
rest: exec.rest
? {
method: exec.rest.method,
path: exec.rest.path,
}
method: exec.rest.method,
path: exec.rest.path,
}
: null,
};
}
@@ -244,10 +244,10 @@ export async function computeActionSignature(
baseActionId: def.baseActionId ?? null,
execution: def.execution
? {
transport: def.execution.transport,
retryable: def.execution.retryable ?? false,
timeoutMs: def.execution.timeoutMs ?? null,
}
transport: def.execution.transport,
retryable: def.execution.retryable ?? false,
timeoutMs: def.execution.timeoutMs ?? null,
}
: null,
schema: def.parameterSchemaRaw ? canonicalize(def.parameterSchemaRaw) : null,
};
@@ -301,7 +301,12 @@ export async function computeIncrementalDesignHash(
// First compute per-action hashes
for (const step of steps) {
for (const action of step.actions) {
const existing = previous?.actionHashes.get(action.id);
// Only reuse cached hash if we're NOT including parameter values
// (because parameter values can change without changing the action ID)
const existing = !options.includeParameterValues
? previous?.actionHashes.get(action.id)
: undefined;
if (existing) {
// Simple heuristic: if shallow structural keys unchanged, reuse
// (We still project to confirm minimal structure; deeper diff omitted for performance.)
@@ -316,7 +321,12 @@ export async function computeIncrementalDesignHash(
// Then compute step hashes (including ordered list of action hashes)
for (const step of steps) {
const existing = previous?.stepHashes.get(step.id);
// Only reuse cached hash if we're NOT including parameter values
// (because parameter values in actions can change without changing the step ID)
const existing = !options.includeParameterValues
? previous?.stepHashes.get(step.id)
: undefined;
if (existing) {
stepHashes.set(step.id, existing);
continue;