feat(perception): add E34 temporal occupied layer

2026-07-27 16:55:40 +03:00
parent 95c6540691
commit 621084fcd6
22 changed files with 4732 additions and 104 deletions
@@ -123,6 +123,89 @@ function e33() {
  };
 }

+function e34() {
+  return {
+    result_id: `e34-temporal-occupied-${"4".repeat(64)}`,
+    created_at_utc: "2026-07-27T13:28:30Z",
+    source_session_id: "20260720T065719Z_viewer_live",
+    status: "accepted-bounded-occupied-unknown-temporal-layer",
+    e32_result_id: e32().result_id,
+    e33_result_id: e33().result_id,
+    profile_id: "e34-short-ttl-hit-only-occupied-unknown/v1",
+    pipeline_id: "lidar-local-map/short-ttl-hit-only/v1",
+    coordinate_frame: "map",
+    configuration: {
+      voxel_size_m: 0.45,
+      occupied_ttl_seconds: 0.75,
+      maximum_active_components: 256,
+      maximum_cells_per_component: 4096,
+      geometry_maximum_gap_seconds: 0.35,
+      geometry_maximum_centroid_distance_m: 0.9,
+    },
+    metrics: {
+      source_frames: 4489,
+      processed_frames: 4489,
+      frames_with_current_layer: 3928,
+      held_only_frames: 540,
+      unknown_empty_frames: 21,
+      created_components: 4912,
+      camera_created_components: 1027,
+      geometry_created_components: 3885,
+      geometry_reassociated_components: 2366,
+      exact_camera_associations: 5168,
+      geometry_spatial_reassociations: 17433,
+      held_publications: 39664,
+      expired_components: 4895,
+      peak_active_components: 37,
+      maximum_observed_span_seconds: 13.394,
+      continuity_fraction: 0.821466,
+      geometry_only_reassociation_fraction: 0.81776,
+      e32_current_point_rows: 2119302,
+      e34_consumed_current_point_rows: 2119302,
+      current_cell_rows: 834478,
+      held_cell_rows: 531581,
+      stored_cell_rows: 1366059,
+      free_cell_rows: 0,
+      peak_cells_per_component: 324,
+      maximum_held_age_seconds: 0.75,
+      maximum_expiry_delay_seconds: 0,
+      maximum_replay_materialization_delay_seconds: 0.283,
+      map_frame_jump_candidates: 0,
+      frame_processing_p95_ms: 1.483,
+      build_elapsed_ms: 4317,
+    },
+    review: {
+      schema_version: "missioncore.e34-temporal-review-timeline/v1",
+      result_id: `e34-temporal-occupied-${"4".repeat(64)}`,
+      frames: [{
+        frame_index: 238,
+        session_seconds: 59.206,
+        source_available: false,
+        layer_state: "unknown",
+        counts: { current: 0, held: 0, expired: 1 },
+        cell_centers_map_xyz_m: [],
+        components: [{
+          temporal_id: 136,
+          state: "expired",
+          occupancy_state: "unknown",
+          owner_kind: "camera-track",
+          centroid_map_xyz_m: [20.25, -2.83, 0.21],
+          last_observed_age_seconds: 0.75,
+          association_reason: "independent-ttl-deadline",
+          history_tail: [{
+            frame_index: 230,
+            session_seconds: 58.456,
+            centroid_map_xyz_m: [20.25, -2.83, 0.21],
+          }],
+        }],
+      }],
+    },
+    acceptance: { accepted: true },
+    authority,
+    access: "read-only",
+  };
+}
+
 before(async () => {
  server = await createServer({
    appType: "custom",
@@ -139,9 +222,9 @@ after(async () => {
  await server?.close();
 });

-test("decodes E31, E32 and E33 from separate read-only catalogs", async () => {
+test("decodes E31–E34 from separate read-only catalogs", async () => {
  const requests = [];
-  const items = [e31(), e32(), e33()];
+  const items = [e31(), e32(), e33(), e34()];
  const decoded = await fetchAdvancedLaboratoryResults({
    fetcher: async (input, init) => {
      requests.push({ input: String(input), method: init?.method });
@@ -156,10 +239,13 @@ test("decodes E31, E32 and E33 from separate read-only catalogs", async () => {
  assert.equal(decoded.e33.metrics.deliveredFrames, 4489);
  assert.equal(decoded.e33.metrics.sourceAvailableFrames, 3928);
  assert.equal(decoded.e33.metrics.resultAgeMaxMs, 13.638);
+  assert.equal(decoded.e34.metrics.processedFrames, 4489);
+  assert.equal(decoded.e34.reviewFrames[0].components[0].state, "expired");
  assert.deepEqual(requests, [
    { input: "/api/v1/laboratory/e31/results?limit=1", method: "GET" },
    { input: "/api/v1/laboratory/e32/results?limit=1", method: "GET" },
    { input: "/api/v1/laboratory/e33/results?limit=1", method: "GET" },
+    { input: "/api/v1/laboratory/e34/results?limit=1", method: "GET" },
  ]);
 });

@@ -172,7 +258,8 @@ test("rejects authority escalation in an accepted-looking result", async () => {
    () => fetchAdvancedLaboratoryResults({
      fetcher: async (input) => new Response(JSON.stringify(catalog(
        String(input).includes("/e31/") ? forged
-          : String(input).includes("/e32/") ? e32() : e33(),
+          : String(input).includes("/e32/") ? e32()
+            : String(input).includes("/e33/") ? e33() : e34(),
      )), { status: 200 }),
    }),
    AdvancedLaboratoryContractError,
@@ -22,6 +22,14 @@ const e33ResultUrl = new URL(
  "../src/workspaces/laboratory/E33Result.tsx",
  import.meta.url,
 );
+const e34ResultUrl = new URL(
+  "../src/workspaces/laboratory/E34Result.tsx",
+  import.meta.url,
+);
+const advancedLaboratoryResultUrl = new URL(
+  "../src/workspaces/laboratory/AdvancedLaboratoryResult.tsx",
+  import.meta.url,
+);
 const workspacesUrl = new URL(
  "../src/workspaces/Workspaces.tsx",
  import.meta.url,
@@ -136,6 +144,23 @@ test("E33 explains the experiment, its method and its retained limits", async ()
  assert.doesNotMatch(e33Source, /name: result\.e32ResultId/);
 });

+test("E34 keeps temporal evidence inside the canonical LAB and viewer contracts", async () => {
+  const [e34Source, advancedSource] = await Promise.all([
+    readFile(e34ResultUrl, "utf8"),
+    readFile(advancedLaboratoryResultUrl, "utf8"),
+  ]);
+
+  assert.match(e34Source, /<LaboratoryWorkTemplate/);
+  assert.match(e34Source, /<LaboratoryEvidenceViewer/);
+  assert.match(e34Source, /\{ value: "3d", label: "3D" \}/);
+  assert.match(e34Source, /\{ value: "plan", label: "План" \}/);
+  assert.match(e34Source, /Первый immutable replay был отклонён/);
+  assert.match(e34Source, /Слой не вычисляет свободное пространство/);
+  assert.match(e34Source, /Следующий критический gate — E35/);
+  assert.match(advancedSource, /id: "e34-temporal-layer"/);
+  assert.match(advancedSource, /<E34Result/);
+});
+
 test("the primary point-cloud viewer restores from fullscreen on Escape", async () => {
  const workspacesSource = await readFile(workspacesUrl, "utf8");