[Feature - NOKIA] Controller multiprocessing, time chunking, cache safety, tracking improvements

controller/Dockerfile

@@ -4,7 +4,7 @@
 ARG RUNTIME_OS_IMAGE=ubuntu:24.04@sha256:a08e551cb33850e4740772b38217fc1796a66da2506d312abe51acda354ff061
 
 # -------------- Common Base Stage (ported to Ubuntu 24.04) --------------
-FROM ubuntu:24.04@sha256:a08e551cb33850e4740772b38217fc1796a66da2506d312abe51acda354ff061 AS scenescape-common-base-24-04
+FROM ${RUNTIME_OS_IMAGE} AS scenescape-common-base-24-04
 
 # We use root for runtime init. The command in ENTRYPOINT will drop to an unprivileged user.
 # hadolint ignore=DL3002
@@ -16,22 +16,22 @@ SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 RUN : \
     && apt-get update \
     && apt-get install -y --no-install-recommends \
-        # Keep package list in alphabetical order
-        cmake \
-        curl \
-        g++ \
-        git \
-        libeigen3-dev \
-        libgtest-dev \
-        make \
-        # needed by fast_geometry
-        pkg-config \
-        pybind11-dev \
-        python3-dev \
-        python3-pip \
-        # needed by fast_geometry
-        python3-scipy \
-        python-is-python3 \
+    # Keep package list in alphabetical order
+    cmake \
+    curl \
+    g++ \
+    git \
+    libeigen3-dev \
+    libgtest-dev \
+    make \
+    # needed by fast_geometry
+    pkg-config \
+    pybind11-dev \
+    python3-dev \
+    python3-pip \
+    # needed by fast_geometry
+    python3-scipy \
+    python-is-python3 \
     && rm -rf /var/lib/apt/lists/*
 
 # install common dependencies
@@ -56,8 +56,8 @@ SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 RUN : \
     && apt-get update \
     && apt-get install -y --no-install-recommends \
-        libopencv-dev \
-        python3-venv \
+    libopencv-dev \
+    python3-venv \
     && rm -rf /var/lib/apt/lists/*
 
 # create and set up Python virtual environment
@@ -78,7 +78,7 @@ RUN export OpenCV_DIR="/usr/lib/x86_64-linux-gnu/cmake/opencv4" \
     && cd dist \
     && ${BUILD_ENV_DIR}/bin/pip3 install --no-cache-dir ./*.whl \
     && cd \
-   && rm -rf /tmp/robot_vision
+    && rm -rf /tmp/robot_vision
 
 # Build main controller package
 COPY ./controller/src/controller /tmp/controller/controller
@@ -116,14 +116,14 @@ USER root
 RUN : \
     && apt-get update \
     && apt-get install -y --no-install-recommends \
-        gosu \
-        libgl1 \
-        libopencv-contrib406t64 \
-        libopencv-stitching406t64 \
-        libpython3.12 \
-        netbase \
-        python3-pip \
-        sudo \
+    gosu \
+    libgl1 \
+    libopencv-contrib406t64 \
+    libopencv-stitching406t64 \
+    libpython3.12 \
+    netbase \
+    python3-pip \
+    sudo \
     && rm -rf /usr/lib/x86_64-linux-gnu/libLLVM-15.so.1 \
     && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
 

controller/requirements-runtime.txt

@@ -1,13 +1,15 @@
-# SPDX-FileCopyrightText: (C) 2025 Intel Corporation
+# SPDX-FileCopyrightText: (C) 2025 - 2026 Intel Corporation
 # SPDX-License-Identifier: Apache-2.0
 # This file is licensed under Apache 2.0 License.
+# Modifications:
+# Nokia VPOD (Emerging Products, BLR), 2026
 
 mapbox_earcut==1.0.3
 ntplib==0.4.0
 numpy==1.26.4
 open3d-cpu==0.19.0
 opencv-python-headless==4.11.0.86
-orjson==3.11.3
+orjson==3.11.5
 paho-mqtt==2.1.0
 scipy==1.16.1
 shapely==2.1.1
@@ -16,3 +18,4 @@ vdms==0.0.22
 opentelemetry-api==1.38.0
 opentelemetry-sdk==1.38.0
 opentelemetry-exporter-otlp-proto-grpc==1.38.0
+requests==2.32.3

controller/src/controller-cmd

@@ -2,13 +2,37 @@
 
 # SPDX-FileCopyrightText: (C) 2024 - 2025 Intel Corporation
 # SPDX-License-Identifier: Apache-2.0
+# Modifications:
+# Nokia VPOD (Emerging Products, BLR), 2026
 
 import argparse
 import os
+import threading
+from http.server import BaseHTTPRequestHandler, HTTPServer
 
 from controller.scene_controller import SceneController
 from controller.observability import metrics, tracing
 
+class HealthCheckHandler(BaseHTTPRequestHandler):
+  def do_GET(self):
+    if self.path == '/healthz':
+      self.send_response(200)
+      self.send_header('Content-type', 'text/plain')
+      self.end_headers()
+      self.wfile.write(b'OK')
+    else:
+      self.send_response(404)
+      self.end_headers()
+
+  def log_message(self, format, *args):
+    pass
+
+def start_health_server(port):
+  server = HTTPServer(('0.0.0.0', port), HealthCheckHandler)
+  thread = threading.Thread(target=server.serve_forever, daemon=True)
+  thread.start()
+  return server
+
 def build_argparser():
   parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
   parser.add_argument("--rewriteBadTime", action="store_true",
@@ -18,9 +42,6 @@ def build_argparser():
   parser.add_argument("--maxlag", help="Maximum amount of lag in seconds",
                       default=1.0, type=float)
 
-  # FIXME - configure mosquitto to authenticate against REST so that
-  # same user/pass can be used for both REST and MQTT
-  # https://pypi.org/project/django-mqtt/
   parser.add_argument("--broker", default="broker.scenescape.intel.com:1883",
                       help="hostname or IP of MQTT broker, optional :port")
   parser.add_argument("--brokerauth", default="/run/secrets/controller.auth",
@@ -43,12 +64,20 @@ def build_argparser():
   parser.add_argument("--visibility_topic", help="Which topic to publish visibility on."
                       "Valid options are 'unregulated', 'regulated', or 'none'",
                       default="regulated")
+  parser.add_argument("--healthcheck_port", type=int,
+                      default=int(os.environ.get("CONTROLLER_HEALTHCHECK_PORT", "0")),
+                      help="HTTP port for /healthz endpoint (0 disables)")
   return parser
 
 def main():
   args = build_argparser().parse_args()
+
   metrics.init()
   tracing.init()
+
+  if args.healthcheck_port > 0:
+    start_health_server(args.healthcheck_port)
+
   controller = SceneController(args.rewriteBadTime, args.rewriteAllTime,
                               args.maxlag, args.broker,
                               args.brokerauth, args.resturl,