fix(controller): preserve UUID continuity across occlusion on main

[Copilot]

📝 Description

This ports the UUID continuity fix from the release branch onto main and folds in the follow-up Re-ID behavior review from the later PR sequence. The net effect is that static objects keep their identity through short occlusions without regressing the newer UUID assignment flow already present on main.

• Scope

  • Carries forward the controller-side UUID continuity fix from the release branch onto main
  • Keeps the later Re-ID fallback intent aligned with main's current assignID flow, avoiding a stale fallback path from being reintroduced

• Controller tracking

  • Reuse an existing GID when a track reappears instead of always minting a new one
  • Preserve UUID mappings while tracks are suspended or temporarily unreliable by pruning only truly inactive tracks

• Tracker bindings

  • Expose suspended and unreliable C++ tracker states to Python so the controller can retain active UUID state across occlusion windows

• Net behavior

  • Static-object identity remains stable across brief disappearance/reappearance cycles
  • Mainline Re-ID collection/query behavior remains intact

all_active_tracks = set(chain(
  reliable_tracks,
  self.tracker.get_unreliable_tracks(),
  self.tracker.get_suspended_tracks()))
self.uuid_manager.pruneInactiveTracks(all_active_tracks)

• Tests
  • TestPruneInactiveTracks (7 cases in tests/sscape_tests/uuid_manager/test_uuid_manager.py): verifies that pruneInactiveTracks preserves UUID mappings for reliable, unreliable, and suspended tracks and only removes truly inactive entries; includes a regression guard documenting the pre-fix breakage
  • TestGIDReuseAcrossOcclusion (4 cases in tests/sscape_tests/uuid_manager/test_uuid_continuity.py): verifies that from_tracked_object reuses the existing GID from active_ids when an rv_id reappears, falls back to the UUID for new or pending-query tracks, and takes the setPrevious path when a prior-frame object is available

✨ Type of Change

Select the type of change your PR introduces:

• 🐞 Bug fix – Non-breaking change which fixes an issue
• 🚀 New feature – Non-breaking change which adds functionality
• 🔨 Refactor – Non-breaking change which refactors the code base
• 💥 Breaking change – Changes that break existing functionality
• 📚 Documentation update
• 🔒 Security update
• 🧪 Tests
• 🚂 CI

🧪 Testing Scenarios

Describe how the changes were tested and how reviewers can test them too:

• ✅ Tested manually
• 🤖 Ran automated end-to-end tests

Run the uuid-manager unit tests inside the controller test container:

make controller && make -C controller test-build && make -C tests uuid-manager-unit SUPASS=<password>

✅ Checklist

Before submitting the PR, ensure the following:

• 🔍 PR title is clear and descriptive
• 📝 For internal contributors: If applicable, include the JIRA ticket number (e.g., ITEP-123456) in the PR title. Do not include full URLs
• 💬 I have commented my code, especially in hard-to-understand areas
• 📄 I have made corresponding changes to the documentation
• ✅ I have added tests that prove my fix is effective or my feature works

[Copilot]

Pull request overview

Ports the controller-side UUID continuity fix to main so tracked objects keep stable identities across short occlusions by retaining UUID mappings while tracks are suspended or temporarily unreliable.

Changes:

• Exposes suspended and unreliable tracker states through the Python MultipleObjectTracker pybind interface.
• Updates controller tracking flow to prune UUID mappings using the union of reliable, unreliable, and suspended tracks (instead of only reliable tracks).
• Adjusts UUID assignment to reuse an existing GID for a reappearing rv_id when available.

Reviewed changes

Copilot reviewed 4 out of 4 changed files in this pull request and generated 2 comments.

File	Description
controller/src/robot_vision/python/src/robot_vision/extensions/tracking.cpp	Adds Python bindings for MultipleObjectTracker.get_suspended_tracks() and get_unreliable_tracks().
controller/src/robot_vision/include/rv/tracking/MultipleObjectTracker.hpp	Exposes suspended/unreliable track retrieval on the C++ tracker wrapper.
controller/src/controller/uuid_manager.py	Uses a set comprehension for active track IDs during pruning (more efficient membership checks).
controller/src/controller/ilabs_tracking.py	Preserves UUID continuity by pruning with all active track states and reusing existing GID mappings for returning rv_ids.

[saratpoluri]

@copilot Add tests for #1152 and then run the test to verify whether these changes you have made actually pass that test. Create the test without the actual code changes in the PR being in your context.

[Copilot]

@copilot Add tests for #1152 and then run the test to verify whether these changes you have made actually pass that test. Create the test without the actual code changes in the PR being in your contex...

Added 11 unit tests in commit 282b9e7 covering the two code paths introduced by this PR:

TestPruneInactiveTracks (7 cases in tests/sscape_tests/uuid_manager/test_uuid_manager.py):

• Tracks absent from the active set are pruned
• Tracks present in the active set are preserved with their GID intact
• Suspended tracks are preserved when included in the active set
• Unreliable tracks are preserved when included in the active set
• All three states together preserve all mappings
• Empty active set clears all mappings
• Regression guard: documents that excluding suspended tracks from the prune set loses their GID (pre-fix behavior)

TestGIDReuseAcrossOcclusion (4 cases in new tests/sscape_tests/uuid_manager/test_uuid_continuity.py):

• Existing GID from active_ids is reused when an rv_id reappears after occlusion
• UUID is used as GID for genuinely new tracks (no existing active_ids entry)
• Falls back to UUID when active_ids holds [None, None] (query pending)
• setPrevious path (not setGID) is used when the previous object is found in all_tracker_objects

Both test classes run under make -C tests uuid-manager-unit (the existing $(IMAGE)-controller-test target). Runtime execution is blocked in this environment because the controller test image is not built; the exact command to verify once the image exists is:

make controller && make -C controller test-build && make -C tests uuid-manager-unit SUPASS=<password>