feat(perception): add DDRNet full-video vegetation replay

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

@@ -75,6 +75,35 @@ function visualCase(sourceKind, index) {
   };
 }
 
+function routeVideo() {
+  return {
+    worker_result_id: `lab-v1-ravnoves-video-ddrnet-${"e".repeat(64)}`,
+    m47_reference_graph_result_id: `m47-reference-graph-lab-${"f".repeat(64)}`,
+    base_m4_result_id: `m4-threat-replay-${"1".repeat(64)}`,
+    frame_count: 4489,
+    width: 800,
+    height: 600,
+    center_crop_xyxy: [100, 0, 700, 600],
+    outside_crop_state: "undefined",
+    sequence_binding: "sequence-0-to-masks/frame-000001.png",
+    taxonomy: {
+      schema_version: "missioncore.lab-v1-vegetation-taxonomy/v1",
+      classes: Array.from({ length: 64 }, (_, classId) => ({
+        class_id: classId,
+        label: classId === 0 ? "undefined" : `class-${classId}`,
+        color_rgb: [classId, classId, classId],
+        disposition: classId === 0 ? "undefined" : "prediction",
+      })),
+    },
+    aggregate_prediction_pixels: Array(64).fill(0),
+    mask_archive: {
+      path: "video/ddrnet-semantic-masks.zip",
+      sha256: "9".repeat(64),
+      byte_length: 1024,
+    },
+  };
+}
+
 test("vegetation LAB keeps autonomous assets and fail-closed authority", async () => {
   let requestedUrl = "";
   const result = await fetchVegetationShadowResult(resultId, {
@@ -111,6 +140,7 @@ test("vegetation LAB keeps autonomous assets and fail-closed authority", async (
           goose: Array.from({ length: 12 }, (_, index) => visualCase("goose", index)),
           ravnoves: [],
         },
+        route_video: routeVideo(),
         access: "read-only",
       }), { status: 200, headers: { "Content-Type": "application/json" } });
     },
@@ -123,6 +153,8 @@ test("vegetation LAB keeps autonomous assets and fail-closed authority", async (
   assert.equal(result.candidates[0].vegetationMeanIouPercent, 64);
   assert.equal(result.routeCases.length, 0);
   assert.equal(result.validationCases.length, 12);
+  assert.equal(result.routeVideo.frameCount, 4489);
+  assert.equal(result.routeVideo.taxonomy[0].disposition, "undefined");
   assert.equal(result.validationCases[0].focus.className, "high_grass");
   assert.match(result.validationCases[0].assets.ddrnet_error, /\/assets\/visual\/goose\//);
   assert.deepEqual(result.authority, {
@@ -133,13 +165,15 @@ test("vegetation LAB keeps autonomous assets and fail-closed authority", async (
   });
 });
 
-test("vegetation LAB reuses the admitted M4.8 instrument", async () => {
+test("vegetation LAB reuses the admitted M4.8 and M4.7 instruments", async () => {
   const resultSource = await readFile(
     new URL("../src/workspaces/laboratory/VegetationShadowResult.tsx", import.meta.url),
     "utf8",
   );
   assert.match(resultSource, /M48MaskComparisonVisual/);
-  assert.equal(resultSource.match(/<LaboratoryEvidence\b/g)?.length, 1);
+  assert.match(resultSource, /M4ReplayThreatVisual/);
+  assert.equal(resultSource.match(/<LaboratoryEvidence\b/g)?.length, 2);
+  assert.match(resultSource, /showReferenceMediaLayers=\{false\}/);
   assert.doesNotMatch(resultSource, /VegetationRouteVisual|urban\/rural\/off-road presets/);
   await assert.rejects(
     access(new URL("../src/workspaces/laboratory/VegetationShadowVisual.tsx", import.meta.url)),