feat(perception): add autonomous vegetation shadow lab

2026-08-27 23:26:35 +03:00
parent 7594c71dd1
commit 57204b3b0b
26 changed files with 2494 additions and 5 deletions
@@ -0,0 +1,125 @@
+import assert from "node:assert/strict";
+import { after, before, test } from "node:test";
+
+import { createServer } from "vite";
+
+let server;
+let fetchVegetationShadowResult;
+
+before(async () => {
+  server = await createServer({
+    appType: "custom",
+    logLevel: "silent",
+    server: { middlewareMode: true },
+  });
+  ({ fetchVegetationShadowResult } = await server.ssrLoadModule(
+    "/src/core/laboratory/vegetationShadow.ts",
+  ));
+});
+
+after(async () => {
+  await server?.close();
+});
+
+const resultId = `lab-v1-vegetation-shadow-${"a".repeat(64)}`;
+
+function candidate(candidateKey, vegetationIou) {
+  return {
+    loaded_model_name: candidateKey === "ddrnet" ? "ddrnet_39" : "pp_lite_t_seg",
+    checkpoint_sha256: (candidateKey === "ddrnet" ? "b" : "c").repeat(64),
+    validation_metrics: {
+      mean_iou_percent: 44.2,
+      published_mean_iou_percent: 46.53,
+      vegetation_mean_iou: vegetationIou,
+    },
+    validation_timing: {
+      latency_ms_p95: 22.4,
+      throughput_fps_from_mean_inference: 48.1,
+    },
+    shadow_timing: {
+      prewarm_latency_ms: 612.4,
+      latency_ms_p95: 21.8,
+      throughput_fps_from_mean_inference: 49.2,
+    },
+    resource: {
+      peak_reserved_vram_bytes: 2_000_000_000,
+      gpu_name: "NVIDIA GeForce RTX 4090",
+    },
+  };
+}
+
+function visualCase(sourceKind, index) {
+  const caseId = `case-${index}`;
+  const keys = sourceKind === "goose"
+    ? ["source", "truth", "ddrnet", "ppliteseg"]
+    : ["source", "ddrnet", "ppliteseg", "urban", "rural", "offroad"];
+  return {
+    case_id: caseId,
+    source_kind: sourceKind,
+    width: sourceKind === "goose" ? 512 : 800,
+    height: sourceKind === "goose" ? 512 : 600,
+    center_crop_xyxy: sourceKind === "goose" ? [0, 0, 512, 512] : [100, 0, 700, 600],
+    outside_crop_state: sourceKind === "goose" ? "not-applicable" : "undefined",
+    assets: Object.fromEntries(keys.map((key) => [key, {
+      path: `visual/${sourceKind}/${caseId}/${key}.png`,
+      sha256: "d".repeat(64),
+    }])),
+  };
+}
+
+test("vegetation LAB keeps autonomous assets and fail-closed authority", async () => {
+  let requestedUrl = "";
+  const result = await fetchVegetationShadowResult(resultId, {
+    fetcher: async (url) => {
+      requestedUrl = String(url);
+      return new Response(JSON.stringify({
+        schema_version: "missioncore.lab-v1-vegetation-shadow/v1",
+        result_id: resultId,
+        created_at_utc: "2026-08-27T20:00:00Z",
+        status: "visual-shadow-ready-policy-not-authorized",
+        ground_truth: false,
+        identity: { selected_candidate: "ddrnet" },
+        metrics: {
+          candidates: {
+            ddrnet: candidate("ddrnet", 0.64),
+            ppliteseg: candidate("ppliteseg", 0.61),
+          },
+        },
+        decision: {
+          selected_candidate: "ddrnet",
+          visual_shadow_ready: true,
+          mission_policy_ready_for_configuration: true,
+          navigation_accepted: false,
+          production_accepted: false,
+        },
+        limitations: ["shadow only"],
+        authority: {
+          commands_enabled: false,
+          navigation_or_safety_accepted: false,
+          actuation_accepted: false,
+          camera_semantics_can_clear_rigid_geometry: false,
+        },
+        catalogs: {
+          goose: Array.from({ length: 12 }, (_, index) => visualCase("goose", index)),
+          ravnoves: Array.from({ length: 12 }, (_, index) => visualCase("ravnoves", index)),
+        },
+        access: "read-only",
+      }), { status: 200, headers: { "Content-Type": "application/json" } });
+    },
+  });
+  assert.equal(
+    requestedUrl,
+    `/api/v1/laboratory/vegetation-shadow/${resultId}`,
+  );
+  assert.equal(result.selectedCandidate, "ddrnet");
+  assert.equal(result.candidates[0].vegetationMeanIouPercent, 64);
+  assert.equal(result.routeCases.length, 12);
+  assert.equal(result.validationCases.length, 12);
+  assert.match(result.routeCases[0].assets.offroad, /\/assets\/visual\/ravnoves\//);
+  assert.deepEqual(result.authority, {
+    commandsEnabled: false,
+    navigationOrSafetyAccepted: false,
+    actuationAccepted: false,
+    cameraSemanticsCanClearRigidGeometry: false,
+  });
+});