feat: add passive K1 local surface replay

2026-07-25 22:47:12 +03:00
parent cfe17e49bb
commit 04a658b218
16 changed files with 2715 additions and 21 deletions
@@ -0,0 +1,212 @@
+import assert from "node:assert/strict";
+import { after, before, test } from "node:test";
+
+import { createServer } from "vite";
+
+let server;
+let parseLidarLocalSurfaceCatalog;
+let parseLidarLocalSurfaceFrame;
+let LidarLocalSurfaceContractError;
+
+const modelId = `k1-local-surface-${"a".repeat(64)}`;
+const sourcePackId = `e10-lidar-pack-${"b".repeat(64)}`;
+
+function distribution(value) {
+  return {
+    sample_count: 10,
+    minimum: value,
+    mean: value,
+    p50: value,
+    p95: value,
+    maximum: value,
+  };
+}
+
+function policy(overrides = {}) {
+  return {
+    observed_surface_class: 1,
+    observed_occupied_class: 2,
+    below_surface_or_negative_outlier_class: 3,
+    absence_of_points_means_free: false,
+    unknown_is_traversable: false,
+    persistent_reconstruction_mutated: false,
+    dynamic_object_layer_available: false,
+    ...overrides,
+  };
+}
+
+function model(overrides = {}) {
+  return {
+    model_id: modelId,
+    display_name: "RAVNOVES00 · динамическая локальная поверхность K1",
+    session_id: "20260720T065719Z_viewer_live",
+    source_pack_id: sourcePackId,
+    status: "diagnostic-only",
+    source: {
+      representation: "legacy-e10-vendor-map-with-pose",
+      immutable: true,
+      passive_processing_only: true,
+      firmware_or_device_commands_used: false,
+      frame_count: 12,
+      available_lidar_frames: 10,
+      point_count: 100,
+      timeline_start_seconds: 1,
+      timeline_end_seconds: 2,
+    },
+    surface_model: {},
+    occupancy_policy: policy(),
+    metrics: {
+      frames: {
+        total: 12,
+        source_available: 10,
+        valid: 10,
+        source_unavailable: 2,
+        pose_stale: 0,
+        insufficient_surface: 0,
+        fit_failed: 0,
+      },
+      sensor_height_m: distribution(1.3),
+      slope_deg: distribution(2),
+      roughness_m: distribution(0.04),
+      confidence: distribution(0.8),
+      pose_binding_age_ms: distribution(7),
+      surface_max_age_ms: distribution(1000),
+      build_elapsed_ms: 20,
+    },
+    anchors: [{
+      key: "long-street",
+      label: "Длинная улица",
+      frame_index: 2,
+      source_frame_index: 1350,
+      session_seconds: 1.5,
+      valid: true,
+    }],
+    decision: {
+      status: "replay-experiment-only",
+      production_promotion: false,
+      next_gate: "shadow",
+    },
+    created_at_utc: "2026-07-25T00:00:00Z",
+    ground_truth: false,
+    authority: {
+      commands_enabled: false,
+      navigation_or_safety_accepted: false,
+    },
+    ...overrides,
+  };
+}
+
+function catalog(overrides = {}) {
+  return {
+    schema_version: "missioncore.k1-local-surface-catalog/v1",
+    configured: true,
+    items: [model()],
+    valid_total: 1,
+    invalid_total: 0,
+    access: "read-only",
+    ...overrides,
+  };
+}
+
+function frame(overrides = {}) {
+  return {
+    schema_version: "missioncore.k1-local-surface-frame/v1",
+    model_id: modelId,
+    source_pack_id: sourcePackId,
+    session_id: "20260720T065719Z_viewer_live",
+    frame_index: 2,
+    frame_count: 12,
+    source_frame_index: 1350,
+    session_seconds: 1.5,
+    source_available: true,
+    valid: true,
+    failure_code: 0,
+    point_count: 4,
+    coordinate_frame: "map",
+    distance_unit: "m",
+    points_xyz_m: [[0, 0, 0], [1, 0, 0], [1, 1, 0.7], [2, 0, -0.3]],
+    point_class: [1, 1, 2, 3],
+    point_height_m: [0, 0.02, 0.7, -0.3],
+    pose: {
+      position_xyz_m: [0, 0, 1.3],
+      orientation_xyzw: [0, 0, 0, 1],
+      binding_age_ms: 7,
+    },
+    surface: {
+      plane_coefficients_map: [0, 0, 1, 0],
+      sensor_height_m: 1.3,
+      slope_deg: 0,
+      roughness_m: 0.02,
+      confidence: 0.8,
+      surface_max_age_ms: 1000,
+      cell_count: 40,
+      inlier_cell_count: 35,
+    },
+    counts: {
+      classified: 4,
+      surface: 2,
+      occupied: 1,
+      below_surface: 1,
+    },
+    classes: {},
+    occupancy_policy: policy(),
+    ground_truth: false,
+    access: "read-only",
+    authority: {
+      commands_enabled: false,
+      navigation_or_safety_accepted: false,
+    },
+    ...overrides,
+  };
+}
+
+before(async () => {
+  server = await createServer({
+    appType: "custom",
+    logLevel: "silent",
+    server: { middlewareMode: true },
+  });
+  ({
+    parseLidarLocalSurfaceCatalog,
+    parseLidarLocalSurfaceFrame,
+    LidarLocalSurfaceContractError,
+  } = await server.ssrLoadModule("/src/core/lidar/localSurface.ts"));
+});
+
+after(async () => {
+  await server?.close();
+});
+
+test("decodes passive local-surface evidence", () => {
+  const decoded = parseLidarLocalSurfaceCatalog(catalog());
+  assert.equal(decoded.items[0].source.passiveProcessingOnly, true);
+  assert.equal(decoded.items[0].metrics.sensorHeightM.p50, 1.3);
+  assert.equal(decoded.items[0].anchors[0].sourceFrameIndex, 1350);
+
+  const decodedFrame = parseLidarLocalSurfaceFrame(frame());
+  assert.equal(decodedFrame.counts.occupied, 1);
+  assert.equal(decodedFrame.surface.sensorHeightM, 1.3);
+});
+
+test("rejects inferred free space", () => {
+  assert.throws(
+    () => parseLidarLocalSurfaceCatalog(catalog({
+      items: [model({
+        occupancy_policy: policy({ absence_of_points_means_free: true }),
+      })],
+    })),
+    LidarLocalSurfaceContractError,
+  );
+});
+
+test("rejects command authority", () => {
+  assert.throws(
+    () => parseLidarLocalSurfaceFrame(frame({
+      authority: {
+        commands_enabled: true,
+        navigation_or_safety_accepted: false,
+      },
+    })),
+    LidarLocalSurfaceContractError,
+  );
+});