chore(perception): freeze vegetation candidates

tests/test_vegetation_mission_policy.py

@@ -1,5 +1,6 @@
 from __future__ import annotations
 
+import json
 from pathlib import Path
 
 import pytest
@@ -14,6 +15,12 @@ REPOSITORY_ROOT = Path(__file__).resolve().parents[1]
 POLICY_PATH = (
     REPOSITORY_ROOT / "config" / "perception" / "lab-v1-vegetation-mission-policy-v1.json"
 )
+CANDIDATE_MANIFEST_PATH = (
+    REPOSITORY_ROOT
+    / "config"
+    / "perception"
+    / "lab-v1-vegetation-candidate-manifest-v1.json"
+)
 
 
 def _policy() -> dict[str, object]:
@@ -117,3 +124,26 @@ def test_unknown_material_is_treated_as_unknown_vegetation() -> None:
     assert decision.material_class == "vegetation_unknown"
     assert decision.effective_action == "NO_GO"
     assert decision.safety_reason == "hard_safety_interlock:vegetation_unknown"
+
+
+def test_candidate_manifest_freezes_unique_assets_sources_and_no_authority() -> None:
+    manifest = json.loads(CANDIDATE_MANIFEST_PATH.read_text(encoding="utf-8"))
+    assert manifest["schema_version"] == "missioncore.vegetation-candidate-manifest/v1"
+    assert manifest["worker"]["canonical_runtime_mutation_allowed"] is False
+
+    sources = manifest["upstream_sources"]
+    assert {source["source_id"] for source in sources} == {
+        "wildscenes",
+        "rellis-3d",
+        "orfd-offnet",
+    }
+    assert all(len(source["revision"]) == 40 for source in sources)
+
+    candidates = manifest["candidate_assets"]
+    candidate_ids = [candidate["candidate_id"] for candidate in candidates]
+    assert len(candidate_ids) == len(set(candidate_ids)) == 10
+    assert all(candidate["size_bytes"] > 0 for candidate in candidates)
+    assert all(len(candidate["sha256"]) == 64 for candidate in candidates)
+    assert manifest["invariants"]["missing_or_unknown_is_free"] is False
+    assert manifest["invariants"]["navigation_authority"] is False
+    assert manifest["invariants"]["actuation_authority"] is False