feat(lab): project system obstacles into fisheye

apps/control-station/test/m4ReplayThreat.test.mjs

@@ -17,6 +17,7 @@ let synchronizeRecordedEvidencePlayback;
 let m4ThreatChunkWindowStarts;
 let cancelM4ThreatChunkRequestsOutsideWindow;
 let buildM4LocalSurface;
+let buildM4StaticObstacleBoxes;
 
 const resultId = `m4-threat-replay-${"a".repeat(64)}`;
 
@@ -50,6 +51,9 @@ before(async () => {
   ({ buildM4LocalSurface } = await server.ssrLoadModule(
     "/src/core/laboratory/m4LocalSurface.ts",
   ));
+  ({ buildM4StaticObstacleBoxes } = await server.ssrLoadModule(
+    "/src/workspaces/laboratory/m4StaticObstacleBoxes.ts",
+  ));
 });
 
 after(async () => {
@@ -365,6 +369,8 @@ test("M4.8S timeline binds factory-KB4 camera points through its exact endpoint"
         camera_point_window_seconds: 2,
         camera_point_sample_limit: 20000,
         world_state_delivery: "source-paced-latest-wins",
+        occupancy_provenance_delivery: "baseline-versus-additive-component-diff",
+        camera_obstacle_projection_delivery: "factory-kb4-occupied-voxel-bounds",
         world_state_frame_count: 4481,
         superseded_frame_count: 8,
         local_surface_visualization: {
@@ -392,9 +398,14 @@ test("M4.8S timeline binds factory-KB4 camera points through its exact endpoint"
   assert.equal(timeline.cameraPointWindowSeconds, 2);
   assert.equal(timeline.worldStateFrameCount, 4481);
   assert.equal(timeline.supersededFrameCount, 8);
+  assert.equal(
+    timeline.cameraObstacleProjectionDelivery,
+    "factory-kb4-occupied-voxel-bounds",
+  );
 
   const chunk = await fetchM4ThreatTimelineChunk(replayResultId, 1, 1, {
     endpointRoot,
+    cameraObstacleProjectionDelivery: timeline.cameraObstacleProjectionDelivery,
     fetcher: async (input) => {
       requested = String(input);
       return new Response(JSON.stringify({
@@ -411,6 +422,30 @@ test("M4.8S timeline binds factory-KB4 camera points through its exact endpoint"
           camera_projected_point_count: 1,
           camera_projected_sample_count: 1,
           camera_projection: "factory-kb4-exact",
+          metric_obstacles: [{
+            component_id: "temporal-1855-7",
+            state: "current",
+            motion: "stationary",
+            centroid_body_xyz_m: [2.4, 0.1, 0.3],
+            cell_centers_body_xyz_m: [[2.4, 0.1, 0.3]],
+            occupancy_source: "additive-low-step",
+            camera_projection: {
+              bbox_xyxy: [390.5, 280.25, 408.75, 318.5],
+              nearest_depth_m: 2.3,
+              projected_cell_count: 1,
+              projection: "factory-kb4-occupied-voxel-bounds",
+              authority: "visual-derived",
+            },
+            assessment: {
+              component_id: "temporal-1855-7",
+              decision: "threat",
+              corridor_intersection: "intersects",
+              relative_speed_mps: null,
+              closest_approach_m: 0.2,
+              ttc_seconds: null,
+              reason_codes: ["current-corridor-intersection"],
+            },
+          }],
           camera_url: `${endpointRoot}/${replayResultId}/timeline/frames/1/camera`,
         })],
         authority: "replay-simulated",
@@ -418,10 +453,18 @@ test("M4.8S timeline binds factory-KB4 camera points through its exact endpoint"
     },
   });
   assert.match(requested, new RegExp(`^${endpointRoot}/${replayResultId}/timeline/chunk`));
+  assert.match(
+    requested,
+    /obstacle_projection=factory-kb4-occupied-voxel-bounds/,
+  );
   assert.equal(chunk.frames[0].worldStateAvailable, false);
   assert.equal(chunk.frames[0].terminalOutcome, "superseded");
   assert.deepEqual(chunk.frames[0].cameraProjectedPointsXyd[0], [100.5, 200.25, 3.75]);
   assert.equal(chunk.frames[0].cameraProjection, "factory-kb4-exact");
+  assert.deepEqual(
+    chunk.frames[0].metricObstacles[0].cameraProjection.bboxXyxy,
+    [390.5, 280.25, 408.75, 318.5],
+  );
 
   const overlay = await fetchM4ThreatCameraPointOverlay(replayResultId, 1, {
     endpointRoot,
@@ -453,6 +496,43 @@ test("M4.8S timeline binds factory-KB4 camera points through its exact endpoint"
   assert.equal(overlay.projection, "factory-kb4-causal-registered-accumulation");
 });
 
+test("M4.8R3 turns active low-step components into native fisheye obstacle boxes", () => {
+  const obstacle = {
+    componentId: "temporal-1855-7",
+    state: "current",
+    motion: "stationary",
+    centroidBodyXyzM: [2.4, 0.1, 0.3],
+    cellCentersBodyXyzM: [[2.4, 0.1, 0.3]],
+    occupancySource: "additive-low-step",
+    cameraProjection: {
+      bboxXyxy: [398, 298, 402, 302],
+      nearestDepthM: 2.3,
+      projectedCellCount: 1,
+      projection: "factory-kb4-occupied-voxel-bounds",
+      authority: "visual-derived",
+    },
+    assessment: {
+      componentId: "temporal-1855-7",
+      decision: "threat",
+      corridorIntersection: "intersects",
+      relativeSpeedMps: null,
+      closestApproachM: 0.2,
+      ttcSeconds: null,
+      reasonCodes: ["current-corridor-intersection"],
+    },
+  };
+  const boxes = buildM4StaticObstacleBoxes([
+    obstacle,
+    { ...obstacle, componentId: "baseline", occupancySource: "baseline" },
+    { ...obstacle, componentId: "held", state: "held" },
+  ], 800, 600);
+  assert.equal(boxes.length, 1);
+  assert.deepEqual(boxes[0].boxXyxy, [394, 294, 406, 306]);
+  assert.equal(boxes[0].label, "OBS #7 · 2,3 м");
+  assert.equal(boxes[0].tone, "danger");
+  assert.equal(boxes[0].dashed, false);
+});
+
 test("M4.6 local SLAM surface reprojects registered increments into the active body frame", () => {
   const frames = [
     timelineFrame(0, 10, {
@@ -603,6 +683,9 @@ test("M4.6 viewer keeps media and spatial panes on one playback clock", async ()
   assert.match(visual, /label: "3D"/);
   assert.match(visual, /label: "PLAN"/);
   assert.match(visual, />\s*POINTS\s*</);
+  assert.match(visual, />\s*OBSTACLES\s*</);
+  assert.match(visual, /useState\(true\);[\s\S]*setShowStaticObstacles/);
+  assert.match(visual, /buildM4StaticObstacleBoxes/);
   assert.match(visual, /pointCloudOverlay=/);
   assert.match(visual, /mediaMode/);
   assert.match(visual, /spatialMode/);