fix(perception): reuse M4.8 for vegetation evidence

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

@@ -1,4 +1,5 @@
 import assert from "node:assert/strict";
+import { access, readFile } from "node:fs/promises";
 import { after, before, test } from "node:test";
 
 import { createServer } from "vite";
@@ -51,7 +52,7 @@ function candidate(candidateKey, vegetationIou) {
 function visualCase(sourceKind, index) {
   const caseId = `case-${index}`;
   const keys = sourceKind === "goose"
-    ? ["source", "truth", "ddrnet", "ppliteseg"]
+    ? ["source", "truth", "ddrnet", "ppliteseg", "ddrnet_error", "ppliteseg_error"]
     : ["source", "ddrnet", "ppliteseg", "urban", "rural", "offroad"];
   return {
     case_id: caseId,
@@ -60,6 +61,13 @@ function visualCase(sourceKind, index) {
     height: sourceKind === "goose" ? 512 : 600,
     center_crop_xyxy: sourceKind === "goose" ? [0, 0, 512, 512] : [100, 0, 700, 600],
     outside_crop_state: sourceKind === "goose" ? "not-applicable" : "undefined",
+    focus: sourceKind === "goose" ? {
+      class_name: "high_grass",
+      label_id: 51,
+      truth_pixels: 16384,
+      truth_fraction: 0.0625,
+      stratum_rank: index + 1,
+    } : null,
     assets: Object.fromEntries(keys.map((key) => [key, {
       path: `visual/${sourceKind}/${caseId}/${key}.png`,
       sha256: "d".repeat(64),
@@ -101,7 +109,7 @@ test("vegetation LAB keeps autonomous assets and fail-closed authority", async (
         },
         catalogs: {
           goose: Array.from({ length: 12 }, (_, index) => visualCase("goose", index)),
-          ravnoves: Array.from({ length: 12 }, (_, index) => visualCase("ravnoves", index)),
+          ravnoves: [],
         },
         access: "read-only",
       }), { status: 200, headers: { "Content-Type": "application/json" } });
@@ -113,9 +121,10 @@ test("vegetation LAB keeps autonomous assets and fail-closed authority", async (
   );
   assert.equal(result.selectedCandidate, "ddrnet");
   assert.equal(result.candidates[0].vegetationMeanIouPercent, 64);
-  assert.equal(result.routeCases.length, 12);
+  assert.equal(result.routeCases.length, 0);
   assert.equal(result.validationCases.length, 12);
-  assert.match(result.routeCases[0].assets.offroad, /\/assets\/visual\/ravnoves\//);
+  assert.equal(result.validationCases[0].focus.className, "high_grass");
+  assert.match(result.validationCases[0].assets.ddrnet_error, /\/assets\/visual\/goose\//);
   assert.deepEqual(result.authority, {
     commandsEnabled: false,
     navigationOrSafetyAccepted: false,
@@ -123,3 +132,17 @@ test("vegetation LAB keeps autonomous assets and fail-closed authority", async (
     cameraSemanticsCanClearRigidGeometry: false,
   });
 });
+
+test("vegetation LAB reuses the admitted M4.8 instrument", 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.doesNotMatch(resultSource, /VegetationRouteVisual|urban\/rural\/off-road presets/);
+  await assert.rejects(
+    access(new URL("../src/workspaces/laboratory/VegetationShadowVisual.tsx", import.meta.url)),
+    { code: "ENOENT" },
+  );
+});