feat(k1): add live cameras and reliable spatial following

apps/control-station/test/runtimeStateOrdering.test.mjs

@@ -0,0 +1,111 @@
+import assert from "node:assert/strict";
+import { after, before, test } from "node:test";
+
+import { createServer } from "vite";
+
+let server;
+let selectMonotonicXgridsState;
+
+before(async () => {
+  server = await createServer({
+    appType: "custom",
+    logLevel: "silent",
+    server: { middlewareMode: true },
+  });
+  ({ selectMonotonicXgridsState } = await server.ssrLoadModule(
+    "/src/device-plugins/xgrids-k1/stateOrdering.ts",
+  ));
+});
+
+after(async () => {
+  await server?.close();
+});
+
+function snapshot(revision, generation, phase = "streaming", sessionId = "device-session-a") {
+  return {
+    phase: "connected",
+    message: `${phase}:${revision}:${generation}`,
+    device_session: sessionId === null
+      ? null
+      : {
+          device_session_id: sessionId,
+          device_id: `device-for-${sessionId}`,
+          connectivity: "connected",
+        },
+    camera_preview: {
+      phase,
+      revision,
+      generation,
+      active_source_id: generation === null ? null : "sensor.camera.left",
+      delivery: null,
+    },
+  };
+}
+
+test("accepts the first camera preview snapshot", () => {
+  const incoming = snapshot(1, 1);
+  assert.equal(selectMonotonicXgridsState(null, incoming), incoming);
+});
+
+test("rejects a lower revision even when its generation is higher", () => {
+  const current = snapshot(8, 3);
+  const stale = snapshot(7, 99);
+  assert.equal(selectMonotonicXgridsState(current, stale), current);
+});
+
+test("uses generation only as a tie-breaker for equal revisions", () => {
+  const current = snapshot(8, 3);
+  const stale = snapshot(8, 2);
+  const equal = snapshot(8, 3, "selected");
+
+  assert.equal(selectMonotonicXgridsState(current, stale), current);
+  assert.equal(selectMonotonicXgridsState(current, equal), equal);
+});
+
+test("accepts a newer stop revision with a null generation", () => {
+  const current = snapshot(8, 3);
+  const stopped = snapshot(9, null, "idle");
+
+  assert.equal(selectMonotonicXgridsState(current, stopped), stopped);
+});
+
+test("rejects an unversioned camera snapshot after a versioned one", () => {
+  const current = snapshot(8, 3);
+  const stale = {
+    phase: "connected",
+    device_session: current.device_session,
+  };
+
+  assert.equal(selectMonotonicXgridsState(current, stale), current);
+});
+
+test("accepts revision reset when the authoritative device session changes", () => {
+  const current = snapshot(18, 7, "streaming", "device-session-a");
+  const nextDevice = snapshot(0, null, "idle", "device-session-b");
+
+  assert.equal(selectMonotonicXgridsState(current, nextDevice), nextDevice);
+});
+
+test("accepts backend reset that clears and later recreates the device session", () => {
+  const current = snapshot(18, 7, "streaming", "device-session-a");
+  const reset = snapshot(0, null, "idle", null);
+  const reconnected = snapshot(0, null, "idle", "device-session-c");
+
+  assert.equal(selectMonotonicXgridsState(current, reset), reset);
+  assert.equal(selectMonotonicXgridsState(reset, reconnected), reconnected);
+});
+
+test("rejects the entire stale atomic snapshot instead of merging unrelated fields", () => {
+  const current = {
+    ...snapshot(8, 3),
+    metrics: { point_count: 2_500 },
+  };
+  const stale = {
+    ...snapshot(7, 2),
+    metrics: { point_count: 9_999 },
+  };
+
+  const accepted = selectMonotonicXgridsState(current, stale);
+  assert.equal(accepted, current);
+  assert.equal(accepted.metrics.point_count, 2_500);
+});