[shark0F0497]

Pull Request Checklist

• Code follows the style guidelines
• Tests pass locally
• Code is formatted
• Documentation updated if needed
• Commit messages follow conventional commits
• PR description is complete and clear

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Summary

Make the stereo-split job write the Archebase Ego topic layout (/archebase/<part>/<data_stream>[/<transport>]) in its output MCAP instead of mirroring the legacy DECXIN topic names.

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Motivation

The topic naming specification requires normalized topic names such as /archebase/cam_0/image_raw/h264, not just an /archebase prefix on /decxin/.... See the Feishu spec: https://archebase.feishu.cn/wiki/RWnrw7cPQiqqL1kqUE4csUeGngh

The existing prefix-compatibility work (PR #232) only preserved an optional /archebase prefix and still emitted /archebase/decxin/left_rgb/h264-style names. This PR implements the actual rename.

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Changes

Output mapping:

Role	Output topic
Left eye	/archebase/cam_0/image_raw/h264
Right eye	/archebase/cam_1/image_raw/h264
IMU	/archebase/imu_0/imu
Device serial	/archebase/device/serial_number

Modified Files

• jobs/stereo-split/convert_mcap_stereo_h264.py - separate input topics from output topics; rename copied channels in both the joined-conversion and split-H.264 timestamp-repair paths; detect rename collisions.
• jobs/stereo-split/run_processing.py - build the converter config with canonical output topics, update metadata.yaml, and add topic_layout: archebase_v1 to the processing manifest.
• internal/services/stereosplit/reconciler.go - select the QA topic contract from topic_layout (legacy/absent vs archebase_v1) and reject unknown layouts.
• internal/services/stereosplit/manager_test.go - cover the new layout, explicit legacy layout, and unknown layout rejection.
• jobs/stereo-split/tests/test_run_processing.py - assert canonical topics for joined and split-H.264 inputs, including the renamed serial topic.
• jobs/stereo-split/README.md - document the new output layout.

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Type of Change

• Bug fix
• New feature
• Breaking change
• Documentation update
• Refactoring
• Performance improvement
• Test changes

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Impact Analysis

Breaking Changes

Consumers of newly generated stereo-split output MCAPs must use the new topic names. Existing derivatives and in-flight generations are unaffected because each generation stays pinned to its immutable image digest.

Backward Compatibility

• Keystone continues to validate legacy manifests that omit topic_layout or use topic_prefix.
• New images advertise topic_layout: archebase_v1 explicitly, so Keystone can support both layouts during rollout.
• Deployment order must be: Keystone first, then switch the stereo-split image digest. Rolling the image digest back restores the legacy layout.

Follow-up coordination

The following consumers still hardcode legacy /decxin/... names and must be updated before the new image is enabled for their workflows:

• motion-store / hilbert-store E40KDescriptor
• color_aberration_fix/calibrate_stereo.py
• imu_dedup.py

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Testing

Test Environment

• Local Go 1.24 and Python 3.12 with jobs/stereo-split/requirements.txt

Test Cases

• Unit tests pass locally
• Integration tests pass locally
• E2E tests pass (if applicable)
• Manual testing completed

Manual Testing Steps

1. Run go test ./internal/services/... (passes).
2. Run the full stereo-split Python suite: 91 passed.
3. Run the job against the real 310 MB ego-portal-stereo_ep-200534_20260922T065845Z.mcap; the output MCAP contains exactly the four canonical topics above, and the manifest reports topic_layout: archebase_v1.

Test Coverage

• New tests added
• Existing tests updated
• Coverage maintained or improved