Tracker Service v0.4: scene config dynamic loading & update (#1009)

Co-authored-by: Tomasz Dorau <tomasz.dorau@intel.com>
Co-authored-by: Lukasz Talarczyk <lukasz.talarczyk@intel.com>

Author: 3 people

controller/src/robot_vision/src/rv/tracking/ObjectMatching.cpp

@@ -11,8 +11,6 @@
 #include "rv/apollo/secure_matrix.hpp"
 #include "rv/tracking/Classification.hpp"
 
-#include <iostream>
-
 namespace rv {
 namespace tracking {
 

controller/src/robot_vision/src/rv/tracking/TrackManager.cpp

@@ -3,7 +3,6 @@
 
 #include "rv/Utils.hpp"
 #include "rv/tracking/TrackManager.hpp"
-#include <iostream>
 #include <omp.h>
 
 namespace rv {
@@ -354,10 +353,6 @@ void TrackManager::updateTrackerConfig(int camera_frame_rate)
   mConfig.mMaxNumberOfUnreliableFrames = std::ceil(camera_frame_rate*mConfig.mMaxUnreliableTime);
   mConfig.mNonMeasurementFramesDynamic = std::ceil(camera_frame_rate*mConfig.mNonMeasurementTimeDynamic);
   mConfig.mNonMeasurementFramesStatic = std::ceil(camera_frame_rate*mConfig.mNonMeasurementTimeStatic);
-  std::cout << "Updated parameters for reference camera frame rate = " << camera_frame_rate << "fps" << std::endl;
-  std::cout << "max_unreliable_frames = " << mConfig.mMaxNumberOfUnreliableFrames << std::endl;
-  std::cout << "non_measurement_frames_dynamic = " << mConfig.mNonMeasurementFramesDynamic << std::endl;
-  std::cout << "non_measurement_frames_static = " << mConfig.mNonMeasurementFramesStatic << std::endl;
 }
 
 } // namespace tracking

docs/design/tracker-service.md

@@ -71,10 +71,10 @@ graph LR
 
 **Topics Subscribed:**
 
-| Topic                           | Description                                                                  |
-| ------------------------------- | ---------------------------------------------------------------------------- |
-| `scenescape/data/camera/+`      | Detection messages from AI pipeline with bounding boxes in pixel coordinates |
-| `scenescape/cmd/scene/update/+` | Config change notifications from Manager API (dynamic mode only)             |
+| Topic                      | Description                                                                  |
+| -------------------------- | ---------------------------------------------------------------------------- |
+| `scenescape/data/camera/+` | Detection messages from AI pipeline with bounding boxes in pixel coordinates |
+| `scenescape/cmd/database`  | Database change notifications from Manager API (dynamic mode only)           |
 
 **Detection Message:**
 
@@ -179,8 +179,9 @@ Scenes fetched from Manager API at startup:
 
 - Set `scenes.source: "api"` or omit `scenes` section (defaults to API mode)
 - Requires `infrastructure.manager` with API URL and credentials
-- Subscribes to `scenescape/cmd/scene/update/{scene_id}` for change notifications
+- Subscribes to `scenescape/cmd/database` for change notifications
 - On notification: logs change, exits gracefully (Docker restarts the service which loads new config at startup)
+- Fires on any database change: scene create/update/delete, camera changes, region edits, etc.
 - Suitable for multi-node deployments with centralized scene management
 
 ### Observability

sample_data/docker-compose-dl-streamer-example.yml

@@ -26,6 +26,8 @@ secrets:
     file: ${SECRETSDIR}/django
   controller.auth:
     environment: CONTROLLER_AUTH
+  controller-auth-file:
+    file: manager/secrets/controller.auth
   browser.auth:
     file: ${SECRETSDIR}/browser.auth
   calibration.auth:
@@ -458,13 +460,19 @@ services:
     depends_on:
       broker:
         condition: service_started
+      web:
+        condition: service_healthy
     environment:
       - TRACKER_LOG_LEVEL=info
       - TRACKER_MQTT_HOST=broker.scenescape.intel.com
       - TRACKER_MQTT_PORT=1883
       - TRACKER_MQTT_INSECURE=false
       - TRACKER_MQTT_TLS_CA_CERT=/run/secrets/certs/scenescape-ca.pem
       - TRACKER_MQTT_TLS_VERIFY_SERVER=true
+      - TRACKER_MANAGER_URL=https://web.scenescape.intel.com
+      - TRACKER_MANAGER_AUTH_PATH=/run/secrets/controller.auth
+      - TRACKER_MANAGER_CA_CERT_PATH=/run/secrets/certs/scenescape-ca.pem
+      - TRACKER_SCENES_SOURCE=api
       # Override host proxy settings - Paho MQTT dont respect no_proxy var, so as a WA
       # tracker code detects empty vars and unsets them (see mqtt_client.cpp clearEmptyProxyVars)
       - http_proxy=
@@ -474,12 +482,17 @@ services:
     secrets:
       - source: root-cert
         target: certs/scenescape-ca.pem
+      - source: controller-auth-file
+        target: /run/secrets/controller.auth
     read_only: true
     cap_drop:
       - ALL
     security_opt:
       - no-new-privileges:true
-    restart: always
+    # Exit 0: graceful stop or non-retryable error (bad auth) — stay stopped
+    # Exit 1: retryable error (broker unavailable) — restart
+    # Exit 99: scene update received — restart to reload config
+    restart: on-failure
     mem_limit: ${TRACKER_MEM_LIMIT:-512m}
     # Scale: ~1 CPU per 100 tracked objects. Increase TRACKER_CPUS for larger deployments.
     cpus: ${TRACKER_CPUS:-2.0}

tracker/CMakeLists.txt

@@ -43,6 +43,7 @@ find_package(CLI11 REQUIRED)
 find_package(httplib REQUIRED)
 find_package(RapidJSON REQUIRED)
 find_package(PahoMqttCpp REQUIRED)
+find_package(OpenSSL REQUIRED)
 
 #####################################################################
 # System-provided packages
@@ -76,6 +77,8 @@ set(PROJECT_SOURCE_LIST
   ${CMAKE_CURRENT_SOURCE_DIR}/src/cli.cpp
   ${CMAKE_CURRENT_SOURCE_DIR}/src/config_loader.cpp
   ${CMAKE_CURRENT_SOURCE_DIR}/src/scene_loader.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/api_scene_loader.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/manager_rest_client.cpp
   ${CMAKE_CURRENT_SOURCE_DIR}/src/coordinate_transformer.cpp
   ${CMAKE_CURRENT_SOURCE_DIR}/src/healthcheck_server.cpp
   ${CMAKE_CURRENT_SOURCE_DIR}/src/healthcheck_command.cpp
@@ -122,6 +125,8 @@ target_link_libraries(${PROJECT_NAME}
     httplib::httplib
     rapidjson
     PahoMqttCpp::paho-mqttpp3-static
+    OpenSSL::SSL
+    OpenSSL::Crypto
 )
 
 #####################################################################

tracker/Makefile

@@ -75,7 +75,7 @@ format-python:
 		echo "autopep8 not found. Install: pip install autopep8"; \
 		exit 1; \
 	fi
-	@cd test/service && autopep8 --in-place --indent-size=2 --max-line-length=120 *.py
+	@cd test/service && autopep8 --in-place --indent-size=2 --max-line-length=120 *.py mocks/*.py
 	@echo "✓ Python files formatted"
 
 install-hooks:
@@ -111,7 +111,7 @@ lint-python:
 		echo "autopep8 not found. Install: pip install autopep8"; \
 		exit 1; \
 	fi
-	@cd test/service && autopep8 --diff --exit-code --indent-size=2 --max-line-length=120 *.py && echo "✓ Python lint passed"
+	@cd test/service && autopep8 --diff --exit-code --indent-size=2 --max-line-length=120 *.py mocks/*.py && echo "✓ Python lint passed"
 
 lint-trivy:
 	@echo "Running Trivy security scan..."

tracker/conanfile.txt

@@ -17,7 +17,7 @@ CMakeDeps
 CMakeToolchain
 
 [options]
-cpp-httplib/*:with_openssl=False
+cpp-httplib/*:with_openssl=True
 opencv/*:shared=True
 opencv/*:tracking=True
 opencv/*:video=True

tracker/config/tracker.json

@@ -13,6 +13,10 @@
       "healthcheck": {
         "port": 8080
       }
+    },
+    "manager": {
+      "url": "https://web.scenescape.intel.com",
+      "auth_path": "/run/secrets/controller.auth"
     }
   },
   "observability": {
@@ -29,7 +33,6 @@
     "non_measurement_time_static_s": 1.6
   },
   "scenes": {
-    "source": "file",
-    "file_path": "scenes.json"
+    "source": "api"
   }
 }

tracker/inc/config_loader.hpp

@@ -3,7 +3,7 @@
 
 #pragma once
 
-#include "scene_loader.hpp"
+#include "scenes_config.hpp"
 
 #include <filesystem>
 #include <optional>
@@ -47,12 +47,22 @@ struct TrackerConfig {
     bool schema_validation = true;
 };
 
+/**
+ * @brief Manager REST API connection settings.
+ */
+struct ManagerConfig {
+    std::string url;                         ///< Manager API base URL
+    std::string auth_path;                   ///< Path to JSON auth file {user, password}
+    std::optional<std::string> ca_cert_path; ///< CA cert for HTTPS verification
+};
+
 /**
  * @brief External service connections.
  */
 struct InfrastructureConfig {
     MqttConfig mqtt;
     TrackerConfig tracker;
+    std::optional<ManagerConfig> manager; ///< Required when scenes.source='api'
 };
 
 /**
@@ -134,6 +144,12 @@ constexpr char TRACKING_NON_MEASUREMENT_TIME_DYNAMIC_S[] =
     "/tracking/non_measurement_time_dynamic_s";
 constexpr char TRACKING_NON_MEASUREMENT_TIME_STATIC_S[] = "/tracking/non_measurement_time_static_s";
 
+// Manager
+constexpr char INFRASTRUCTURE_MANAGER[] = "/infrastructure/manager";
+constexpr char INFRASTRUCTURE_MANAGER_URL[] = "/infrastructure/manager/url";
+constexpr char INFRASTRUCTURE_MANAGER_AUTH_PATH[] = "/infrastructure/manager/auth_path";
+constexpr char INFRASTRUCTURE_MANAGER_CA_CERT_PATH[] = "/infrastructure/manager/ca_cert_path";
+
 // Scenes
 constexpr char SCENES_SOURCE[] = "/scenes/source";
 constexpr char SCENES_FILE_PATH[] = "/scenes/file_path";

tracker/inc/env_vars.hpp

@@ -58,6 +58,17 @@ constexpr const char* NON_MEASUREMENT_TIME_DYNAMIC_S = "TRACKER_NON_MEASUREMENT_
 /// seconds, >= 0 - RobotVision tracker parameter
 constexpr const char* NON_MEASUREMENT_TIME_STATIC_S = "TRACKER_NON_MEASUREMENT_TIME_STATIC_S";
 
+// Manager API overrides
+
+/// Manager API base URL
+constexpr const char* MANAGER_URL = "TRACKER_MANAGER_URL";
+
+/// Path to JSON auth file {user, password}
+constexpr const char* MANAGER_AUTH_PATH = "TRACKER_MANAGER_AUTH_PATH";
+
+/// Path to CA certificate for HTTPS verification
+constexpr const char* MANAGER_CA_CERT_PATH = "TRACKER_MANAGER_CA_CERT_PATH";
+
 // Scenes overrides
 
 /// "file"|"api"