refactor(lab): canonicalize recorded spatial replay

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

@@ -0,0 +1,78 @@
+import assert from "node:assert/strict";
+import { readFile } from "node:fs/promises";
+import { after, before, test } from "node:test";
+
+import { createServer } from "vite";
+
+let server;
+let canonicalMapGravityLocalPointToBodyGround;
+let canonicalRecordedLabPackedTgsCells;
+let canonicalRecordedLabTgsIsCurrent;
+
+before(async () => {
+  server = await createServer({
+    appType: "custom",
+    logLevel: "silent",
+    server: { middlewareMode: true },
+  });
+  ({
+    canonicalMapGravityLocalPointToBodyGround,
+    canonicalRecordedLabPackedTgsCells,
+    canonicalRecordedLabTgsIsCurrent,
+  } = await server.ssrLoadModule("/src/core/laboratory/canonicalRecordedLab.ts"));
+});
+
+after(async () => {
+  await server?.close();
+});
+
+const identity = [
+  [1, 0, 0],
+  [0, 1, 0],
+  [0, 0, 1],
+];
+
+test("canonical TGS validity never retains a sparse anchor beyond its sealed history", () => {
+  assert.equal(canonicalRecordedLabTgsIsCurrent(2_000_000_000, 1_000_000_000), true);
+  assert.equal(canonicalRecordedLabTgsIsCurrent(2_000_000_001, 1_000_000_000), false);
+  assert.equal(canonicalRecordedLabTgsIsCurrent(999_999_999, 1_000_000_000), false);
+});
+
+test("map-gravity-local TGS uses sensor translation and current ground body exactly once", () => {
+  const anchor = {
+    originMapXyzM: [10, 20, 0.68],
+    sensorOriginMapXyzM: [10, 20, 1],
+    basisMapFromBody: identity,
+  };
+  const current = {
+    originMapXyzM: [8, 20, 0],
+    sensorOriginMapXyzM: [8, 20, 0.32],
+    basisMapFromBody: identity,
+  };
+  assert.deepEqual(
+    canonicalMapGravityLocalPointToBodyGround([1, 2, -1], anchor, current),
+    [3, 2, 0],
+  );
+  const packed = canonicalRecordedLabPackedTgsCells({
+    centersXyM: [[1, 2]],
+    stateCodes: [2],
+    zBoundsM: [[-1, 0]],
+  }, anchor, current);
+  assert.deepEqual([...packed.centersBodyXyM], [3, 2]);
+  assert.deepEqual([...packed.zBoundsM], [0, 1]);
+  assert.deepEqual([...packed.stateCodes], [2]);
+});
+
+test("recorded LAB spatial loading is shared, profile-bound and experiment-neutral", async () => {
+  const [contract, scheduler, vegetation] = await Promise.all([
+    readFile(new URL("../src/core/laboratory/canonicalRecordedLabSpatial.ts", import.meta.url), "utf8"),
+    readFile(new URL("../src/components/laboratory/useCanonicalRecordedLabSpatialFrame.ts", import.meta.url), "utf8"),
+    readFile(new URL("../src/core/laboratory/vegetationShadow.ts", import.meta.url), "utf8"),
+  ]);
+  assert.match(contract, /CANONICAL_RECORDED_LAB_SPATIAL_PROFILE/);
+  assert.match(contract, /profile: CANONICAL_RECORDED_LAB_SPATIAL_PROFILE/);
+  assert.match(scheduler, /Shared latest-request-wins scheduler/);
+  assert.match(scheduler, /identityRef\.current !== requestIdentity/);
+  assert.doesNotMatch(scheduler, /RAVNOVES|vegetation|DDRNet/);
+  assert.doesNotMatch(vegetation, /fetchCanonicalRecordedLabSpatialFrame|CanonicalRecordedLabSpatialFrame/);
+});

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

@@ -19,13 +19,15 @@ before(async () => {
   });
   ({
     fetchVegetationBenchmarkResult,
-    fetchCanonicalRecordedLabSpatialFrame,
     fetchVegetationShadowResult,
     fetchVegetationRouteTgsAnchor,
     vegetationFullRouteMaskUrl,
   } = await server.ssrLoadModule(
     "/src/core/laboratory/vegetationShadow.ts",
   ));
+  ({ fetchCanonicalRecordedLabSpatialFrame } = await server.ssrLoadModule(
+    "/src/core/laboratory/canonicalRecordedLabSpatial.ts",
+  ));
 });
 
 after(async () => {
@@ -405,16 +407,35 @@ test("canonical recorded LAB spatial frame keeps source, SLAM and body identity
     fetcher: async (url) => {
       requestedUrl = String(url);
       return new Response(JSON.stringify({
-        schema_version: "missioncore.canonical-recorded-lab-spatial-frame/v1",
+        schema_version: "missioncore.canonical-recorded-lab-spatial-frame/v2",
         target_time_ns: 82_770_000_000,
         source_time_ns: 82_769_535_708,
         pose_time_ns: 82_769_535_708,
         trajectory_time_ns: 82_700_000_000,
+        coordinate_frame: "body-ground",
+        sensor_height: {
+          meters: 0.32,
+          source: "initial-source-cloud-lower-quantile-median",
+          sample_count: 20,
+          mad_m: 0.03,
+          authority: "visual-derived",
+        },
+        spatial_profile: {
+          profile_id: "source-paced-ground-v2",
+          local_slam_history_seconds: 5,
+          local_slam_radius_m: 30,
+          local_slam_voxel_size_m: 0.12,
+          local_slam_point_limit: 27000,
+        },
         source_point_count: 2,
         source_points_body_xyz_m: [[1, 2, 3], [4, 5, 6]],
+        local_slam_source_frame_count: 2,
+        local_slam_source_point_count: 4,
+        local_slam_point_count: 2,
         local_slam_body_xyz_m: [[0, 0, 0], [1, 0, 0]],
         body_frame: {
           origin_map_xyz_m: [33, 4, 1],
+          sensor_origin_map_xyz_m: [33, 4, 1.32],
           basis_map_from_body: [[1, 0, 0], [0, 1, 0], [0, 0, 1]],
         },
       }), { status: 200, headers: { "Content-Type": "application/json" } });
@@ -422,10 +443,11 @@ test("canonical recorded LAB spatial frame keeps source, SLAM and body identity
   });
   assert.equal(
     requestedUrl,
-    `/api/v1/observation-sessions/session-004/canonical-lab/spatial-frame?generation=${generation}&time_ns=82770000000`,
+    `/api/v1/observation-sessions/session-004/canonical-lab/spatial-frame?generation=${generation}&time_ns=82770000000&profile=source-paced-ground-v2`,
   );
   assert.equal(frame.sourcePointCount, 2);
   assert.equal(frame.localSlamBodyXyzM.length, 2);
+  assert.equal(frame.sensorHeight.meters, 0.32);
   assert.deepEqual(frame.bodyFrame.originMapXyzM, [33, 4, 1]);
 });
 
@@ -461,11 +483,13 @@ test("vegetation realtime LAB and archival benchmark use separate admitted instr
   assert.match(resultSource, /RecordedEvidenceVideoScene/);
   assert.match(resultSource, /LaboratoryMetricEvidenceScene/);
   assert.doesNotMatch(resultSource, /RerunViewport/);
-  assert.match(resultSource, /fetchCanonicalRecordedLabSpatialFrame/);
+  assert.match(resultSource, /useCanonicalRecordedLabSpatialFrame/);
+  assert.doesNotMatch(resultSource, /cacheRef|pumpRef|desiredRef/);
   assert.match(resultSource, /useCanonicalRecordedLabReplayState/);
   assert.match(resultSource, /playbackTransport="epoch-stream"/);
   assert.match(resultSource, /causalTgsCase/);
-  assert.match(resultSource, /latest causal of 10 sealed anchors/);
+  assert.match(resultSource, /TGS visible only inside sealed 1 s evidence window/);
+  assert.match(resultSource, /canonicalRecordedLabPackedTgsCells/);
   assert.doesNotMatch(resultSource, /LaboratoryRecordedClipPlayer|M48EvidenceModeRail/);
   assert.doesNotMatch(resultSource, /assets\.tgs|<img/);
   assert.match(resultSource, /SOURCE POINTS/);