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/);
+});