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import type { LaboratoryFetch } from "./advancedResults";
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const RESULT_ID = /^m49-tgs-fail-closed-[a-f0-9]{64}$/;
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export type M49TgsProfile = "current_increment" | "causal_rolling_1s";
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export type M49TgsStateCode = 0 | 1 | 2 | 3;
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export type M49TgsPointStateCode = 1 | 2 | 3;
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export interface M49TgsAnchorSummary {
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anchorFrameIndex: number;
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slot: number;
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pointCount: number;
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groundPointCount: number;
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nongroundPointCount: number;
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rejectedPointCount: number;
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groundCellCount: number;
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nongroundCellCount: number;
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rejectedCellCount: number;
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unobservedCellCount: number;
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allPointsAccounted: true;
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}
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export interface M49TgsFailClosedResult {
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resultId: string;
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createdAtUtc: string;
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source: {
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sourceId: "RAVNOVES00";
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sourceSessionId: "20260720T065719Z_viewer_live";
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sourcePackSha256: string;
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linkedVisualResultId: string;
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anchorFrameIndices: readonly number[];
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};
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configuration: {
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profileId: string;
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configSha256: string;
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coordinateFrame: "map-gravity-local";
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primaryProfile: "causal_rolling_1s";
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cellSizeM: number;
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radiusM: number;
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};
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execution: {
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worker: "Worker 006";
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device: "cpu";
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gpuUsed: false;
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wrapperElapsedSeconds: number;
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};
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metrics: {
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anchorCount: number;
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anchorProfileCount: number;
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allEligiblePointsAccounted: true;
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costmapCellCount: number;
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processWallCurrentP50Ms: number;
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processWallCurrentMaxMs: number;
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processWallRollingP50Ms: number;
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processWallRollingMaxMs: number;
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processMaxRssKib: number;
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primary: readonly M49TgsAnchorSummary[];
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};
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acceptance: {
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representationComplete: true;
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allPointsAccounted: true;
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aosAbsent: true;
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gpuAbsent: true;
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visualQualityAccepted: false;
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traversabilityAccepted: false;
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};
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decision: {
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state: "visual-review-required";
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candidateRetained: true;
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nextAction: string;
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};
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limitations: readonly string[];
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}
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export interface M49TgsAnchorSpatial {
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resultId: string;
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anchorFrameIndex: number;
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sourceSequence: number;
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profile: M49TgsProfile;
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coordinateFrame: "map-gravity-local";
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pointsXyzM: readonly (readonly [number, number, number])[];
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pointStates: readonly M49TgsPointStateCode[];
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costmap: {
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cellSizeM: number;
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radiusM: number;
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centersXyM: readonly (readonly [number, number])[];
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states: readonly M49TgsStateCode[];
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zBoundsM: readonly (readonly [number | null, number | null])[];
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};
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allPointsAccounted: true;
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aosUsed: false;
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}
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export class M49TgsContractError extends Error {}
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function objectValue(value: unknown, label: string): Record<string, unknown> {
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if (!value || typeof value !== "object" || Array.isArray(value)) {
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throw new M49TgsContractError(`${label}: ожидался объект.`);
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}
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return value as Record<string, unknown>;
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}
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function text(value: unknown, label: string): string {
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if (typeof value !== "string" || !value.trim()) {
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throw new M49TgsContractError(`${label}: ожидалась строка.`);
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}
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return value;
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}
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function exact<T extends string | boolean>(value: unknown, expected: T, label: string): T {
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if (value !== expected) throw new M49TgsContractError(`${label}: нарушен контракт.`);
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return expected;
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}
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function numberValue(value: unknown, label: string): number {
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if (typeof value !== "number" || !Number.isFinite(value)) {
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throw new M49TgsContractError(`${label}: ожидалось число.`);
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}
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return value;
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}
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function integer(value: unknown, label: string): number {
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const parsed = numberValue(value, label);
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if (!Number.isSafeInteger(parsed) || parsed < 0) {
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throw new M49TgsContractError(`${label}: ожидалось целое число.`);
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}
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return parsed;
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}
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function sha256(value: unknown, label: string): string {
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const parsed = text(value, label);
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if (!/^[a-f0-9]{64}$/.test(parsed)) {
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throw new M49TgsContractError(`${label}: неверный SHA-256.`);
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}
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return parsed;
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}
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function resultId(value: unknown): string {
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const parsed = text(value, "M49 result id");
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if (!RESULT_ID.test(parsed)) throw new M49TgsContractError("M49 identity недопустима.");
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return parsed;
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}
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function numbers(value: unknown, size: number, label: string): number[] {
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if (!Array.isArray(value) || value.length !== size) {
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throw new M49TgsContractError(`${label}: неверная размерность.`);
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}
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return value.map((item) => numberValue(item, label));
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}
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function anchor(value: unknown, label: string): M49TgsAnchorSummary {
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const row = objectValue(value, label);
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exact(row.profile_id, "causal_rolling_1s", `${label}.profile`);
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exact(row.all_points_accounted, true, `${label}.accounting`);
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const parsed: M49TgsAnchorSummary = {
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anchorFrameIndex: integer(row.anchor_frame_index, `${label}.anchor`),
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slot: integer(row.slot, `${label}.slot`),
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pointCount: integer(row.point_count, `${label}.points`),
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groundPointCount: integer(row.ground_point_count, `${label}.ground points`),
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nongroundPointCount: integer(row.nonground_point_count, `${label}.nonground points`),
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rejectedPointCount: integer(row.rejected_point_count, `${label}.rejected points`),
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groundCellCount: integer(row.ground_cell_count, `${label}.ground cells`),
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nongroundCellCount: integer(row.nonground_cell_count, `${label}.nonground cells`),
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rejectedCellCount: integer(row.rejected_cell_count, `${label}.rejected cells`),
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unobservedCellCount: integer(row.unobserved_cell_count, `${label}.unobserved cells`),
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allPointsAccounted: true,
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};
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if (
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parsed.groundPointCount + parsed.nongroundPointCount + parsed.rejectedPointCount
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!== parsed.pointCount
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|| parsed.groundCellCount + parsed.nongroundCellCount
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+ parsed.rejectedCellCount + parsed.unobservedCellCount !== 2244
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) {
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throw new M49TgsContractError(`${label}: fail-closed accounting нарушен.`);
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}
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return parsed;
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}
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export async function fetchM49TgsFailClosedResult(
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id: string,
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{ fetcher = fetch, signal }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
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): Promise<M49TgsFailClosedResult> {
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if (!RESULT_ID.test(id)) throw new M49TgsContractError("M49 identity недопустима.");
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const response = await fetcher(
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`/api/v1/laboratory/m49/tgs-fail-closed/${encodeURIComponent(id)}`,
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{ method: "GET", headers: { Accept: "application/json" }, signal },
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);
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if (!response.ok) throw new M49TgsContractError(`M49 TGS недоступен: HTTP ${response.status}.`);
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const payload = objectValue(await response.json(), "M49 TGS");
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exact(payload.schema_version, "missioncore.m49-tgs-fail-closed-view/v1", "M49 schema");
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exact(payload.result_id, id, "M49 result");
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exact(payload.ground_truth, false, "M49 ground truth");
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exact(payload.access, "read-only", "M49 access");
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const source = objectValue(payload.source, "M49 source");
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const configuration = objectValue(payload.configuration, "M49 configuration");
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const execution = objectValue(payload.execution, "M49 execution");
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const metrics = objectValue(payload.metrics, "M49 metrics");
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const acceptance = objectValue(payload.acceptance, "M49 acceptance");
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const decision = objectValue(payload.decision, "M49 decision");
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if (!Array.isArray(source.anchor_frame_indices) || !Array.isArray(metrics.primary)) {
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throw new M49TgsContractError("M49 anchors: ожидался массив.");
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}
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if (!Array.isArray(payload.limitations)) {
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throw new M49TgsContractError("M49 limitations: ожидался массив.");
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}
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const anchorFrameIndices = source.anchor_frame_indices.map(
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(item, index) => integer(item, `M49 anchor ${index}`),
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);
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const primary = metrics.primary.map((item, index) => anchor(item, `M49 primary ${index}`));
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if (
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anchorFrameIndices.length !== 10
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|| new Set(anchorFrameIndices).size !== 10
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|| primary.length !== 10
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|| integer(metrics.anchor_count, "M49 anchor count") !== 10
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|| integer(metrics.anchor_profile_count, "M49 profile count") !== 20
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|| integer(metrics.costmap_cell_count, "M49 costmap cells") !== 2244
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|| primary.some((item, index) => item.anchorFrameIndex !== anchorFrameIndices[index])
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) {
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throw new M49TgsContractError("M49 anchor set или costmap contract нарушен.");
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}
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return {
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resultId: resultId(payload.result_id),
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createdAtUtc: text(payload.created_at_utc, "M49 created"),
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source: {
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sourceId: exact(source.source_id, "RAVNOVES00", "M49 source id"),
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sourceSessionId: exact(
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source.source_session_id,
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"20260720T065719Z_viewer_live",
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"M49 source session",
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),
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sourcePackSha256: sha256(source.source_pack_sha256, "M49 source pack"),
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linkedVisualResultId: text(source.linked_visual_result_id, "M49 visual result"),
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anchorFrameIndices,
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},
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configuration: {
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profileId: text(configuration.profile_id, "M49 profile"),
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configSha256: sha256(configuration.config_sha256, "M49 config"),
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coordinateFrame: exact(configuration.coordinate_frame, "map-gravity-local", "M49 frame"),
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primaryProfile: exact(configuration.primary_profile, "causal_rolling_1s", "M49 primary"),
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cellSizeM: numberValue(configuration.cell_size_m, "M49 cell size"),
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radiusM: numberValue(configuration.radius_m, "M49 radius"),
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},
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execution: {
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worker: exact(execution.worker, "Worker 006", "M49 worker"),
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device: exact(execution.device, "cpu", "M49 device"),
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gpuUsed: exact(execution.gpu_used, false, "M49 GPU"),
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wrapperElapsedSeconds: numberValue(execution.wrapper_elapsed_seconds, "M49 wall"),
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},
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metrics: {
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anchorCount: 10,
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anchorProfileCount: 20,
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allEligiblePointsAccounted: exact(metrics.all_eligible_points_accounted, true, "M49 accounting"),
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costmapCellCount: 2244,
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processWallCurrentP50Ms: numberValue(metrics.process_wall_current_p50_ms, "M49 current p50"),
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processWallCurrentMaxMs: numberValue(metrics.process_wall_current_max_ms, "M49 current max"),
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processWallRollingP50Ms: numberValue(metrics.process_wall_rolling_p50_ms, "M49 rolling p50"),
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processWallRollingMaxMs: numberValue(metrics.process_wall_rolling_max_ms, "M49 rolling max"),
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processMaxRssKib: integer(metrics.process_max_rss_kib, "M49 RSS"),
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primary,
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},
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acceptance: {
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representationComplete: exact(acceptance.representation_complete, true, "M49 representation"),
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allPointsAccounted: exact(acceptance.all_points_accounted, true, "M49 points"),
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aosAbsent: exact(acceptance.aos_absent, true, "M49 AOS"),
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gpuAbsent: exact(acceptance.gpu_absent, true, "M49 GPU absent"),
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visualQualityAccepted: exact(acceptance.visual_quality_accepted, false, "M49 visual quality"),
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traversabilityAccepted: exact(acceptance.traversability_accepted, false, "M49 traversability"),
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},
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decision: {
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state: exact(decision.state, "visual-review-required", "M49 decision"),
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candidateRetained: exact(decision.candidate_retained, true, "M49 retained"),
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nextAction: text(decision.next_action, "M49 next action"),
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},
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limitations: payload.limitations.map((item, index) => text(item, `M49 limitation ${index}`)),
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};
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}
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export async function fetchM49TgsAnchorSpatial(
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id: string,
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anchorFrameIndex: number,
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profile: M49TgsProfile = "causal_rolling_1s",
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{ fetcher = fetch, signal }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
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): Promise<M49TgsAnchorSpatial> {
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if (!RESULT_ID.test(id) || !Number.isSafeInteger(anchorFrameIndex) || anchorFrameIndex < 0) {
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throw new M49TgsContractError("M49 anchor identity недопустима.");
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}
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const response = await fetcher(
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`/api/v1/laboratory/m49/tgs-fail-closed/${encodeURIComponent(id)}/anchors/${anchorFrameIndex}/spatial?profile=${encodeURIComponent(profile)}`,
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{ method: "GET", headers: { Accept: "application/json" }, signal },
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);
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if (!response.ok) throw new M49TgsContractError(`M49 anchor недоступен: HTTP ${response.status}.`);
|
|
|
|
|
const payload = objectValue(await response.json(), "M49 anchor");
|
|
|
|
|
exact(payload.schema_version, "missioncore.m49-tgs-anchor-spatial/v1", "M49 anchor schema");
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|
|
|
|
exact(payload.result_id, id, "M49 anchor result");
|
|
|
|
|
exact(payload.coordinate_frame, "map-gravity-local", "M49 anchor frame");
|
|
|
|
|
exact(payload.all_points_accounted, true, "M49 anchor accounting");
|
|
|
|
|
exact(payload.aos_used, false, "M49 anchor AOS");
|
|
|
|
|
if (!Array.isArray(payload.points_xyz_m) || !Array.isArray(payload.point_states)) {
|
|
|
|
|
throw new M49TgsContractError("M49 points: ожидался массив.");
|
|
|
|
|
}
|
|
|
|
|
const costmap = objectValue(payload.costmap, "M49 costmap");
|
|
|
|
|
if (!Array.isArray(costmap.centers_xy_m) || !Array.isArray(costmap.states) || !Array.isArray(costmap.z_bounds_m)) {
|
|
|
|
|
throw new M49TgsContractError("M49 costmap arrays: нарушен контракт.");
|
|
|
|
|
}
|
|
|
|
|
const points = payload.points_xyz_m.map((item, index) => numbers(item, 3, `M49 point ${index}`) as [number, number, number]);
|
|
|
|
|
const pointStates = payload.point_states.map((item, index) => {
|
|
|
|
|
const state = integer(item, `M49 point state ${index}`);
|
|
|
|
|
if (state !== 1 && state !== 2 && state !== 3) throw new M49TgsContractError("M49 point state неизвестен.");
|
|
|
|
|
return state;
|
|
|
|
|
});
|
|
|
|
|
if (points.length !== pointStates.length) throw new M49TgsContractError("M49 point accounting нарушен.");
|
|
|
|
|
const centers = costmap.centers_xy_m.map((item, index) => numbers(item, 2, `M49 cell ${index}`) as [number, number]);
|
|
|
|
|
const states = costmap.states.map((item, index) => {
|
|
|
|
|
const state = integer(item, `M49 cell state ${index}`);
|
|
|
|
|
if (state !== 0 && state !== 1 && state !== 2 && state !== 3) throw new M49TgsContractError("M49 cell state неизвестен.");
|
|
|
|
|
return state;
|
|
|
|
|
});
|
|
|
|
|
const zBounds = costmap.z_bounds_m.map((item, index) => {
|
|
|
|
|
if (!Array.isArray(item) || item.length !== 2) throw new M49TgsContractError(`M49 z ${index}: размерность.`);
|
|
|
|
|
return item.map((value) => value === null ? null : numberValue(value, `M49 z ${index}`)) as [number | null, number | null];
|
|
|
|
|
});
|
|
|
|
|
if (
|
|
|
|
|
centers.length !== 2244
|
|
|
|
|
|| centers.length !== states.length
|
|
|
|
|
|| centers.length !== zBounds.length
|
|
|
|
|
|| integer(payload.anchor_frame_index, "M49 anchor frame") !== anchorFrameIndex
|
|
|
|
|
|| integer(payload.source_sequence, "M49 source sequence") !== anchorFrameIndex
|
|
|
|
|
) {
|
|
|
|
|
throw new M49TgsContractError("M49 costmap accounting нарушен.");
|
|
|
|
|
}
|
|
|
|
|
return {
|
|
|
|
|
resultId: id,
|
|
|
|
|
anchorFrameIndex,
|
|
|
|
|
sourceSequence: anchorFrameIndex,
|
|
|
|
|
profile: exact(payload.profile, profile, "M49 profile"),
|
|
|
|
|
coordinateFrame: "map-gravity-local",
|
|
|
|
|
pointsXyzM: points,
|
|
|
|
|
pointStates,
|
|
|
|
|
costmap: {
|
|
|
|
|
cellSizeM: numberValue(costmap.cell_size_m, "M49 cell size"),
|
|
|
|
|
radiusM: numberValue(costmap.radius_m, "M49 radius"),
|
|
|
|
|
centersXyM: centers,
|
|
|
|
|
states,
|
|
|
|
|
zBoundsM: zBounds,
|
|
|
|
|
},
|
|
|
|
|
allPointsAccounted: true,
|
|
|
|
|
aosUsed: false,
|
|
|
|
|
};
|
|
|
|
|
}
|
DCCONSTRUCTIONS