feat(lab): stabilize autonomous TGS playback
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DCCONSTRUCTIONS
@@ -1,4 +1,5 @@
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import assert from "node:assert/strict";
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import { createHash } from "node:crypto";
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import { readFile } from "node:fs/promises";
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import { after, before, test } from "node:test";
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@@ -9,6 +10,8 @@ let fetchM4ThreatReplayResult;
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let fetchM4ThreatVisual;
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let fetchM4ThreatTimeline;
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let fetchM4ThreatTimelineChunk;
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let fetchM4ThreatPlaybackManifest;
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let fetchM4ThreatPlaybackPointChunk;
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let fetchM4ThreatCameraPointOverlay;
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let hydrateM4ThreatTimelineFrame;
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let selectM4ThreatTimelineFrame;
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@@ -33,6 +36,8 @@ before(async () => {
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fetchM4ThreatVisual,
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fetchM4ThreatTimeline,
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fetchM4ThreatTimelineChunk,
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fetchM4ThreatPlaybackManifest,
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fetchM4ThreatPlaybackPointChunk,
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fetchM4ThreatCameraPointOverlay,
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hydrateM4ThreatTimelineFrame,
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selectM4ThreatTimelineFrame,
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@@ -373,6 +378,76 @@ test("M4.6 hydrates a lightweight timeline frame from one retained binary point
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assert.equal(typeof hydrateM4ThreatTimelineFrame, "function");
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});
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test("M4.6 source cloud opens from one verified bounded chunk instead of the 105 MiB track", async () => {
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const pointOffsets = [0, ...Array(4489).fill(2)];
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const points = new Float32Array([11, 20, 30.25, 12, 19.5, 30]);
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const pointBytes = points.buffer;
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const pointSha256 = createHash("sha256").update(Buffer.from(pointBytes)).digest("hex");
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const endpointRoot = "/api/v1/laboratory/m4-threat/results";
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const chunks = Array.from({ length: 188 }, (_, index) => {
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const start = index * 24;
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const count = Math.min(24, 4489 - start);
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const pointStart = pointOffsets[start];
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const pointStop = pointOffsets[start + count];
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const pointCount = pointStop - pointStart;
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return {
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index,
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start,
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count,
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point_start: pointStart,
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point_count: pointCount,
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url: `${endpointRoot}/${resultId}/timeline/playback/chunks/${index}`,
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media_type: "application/octet-stream",
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dtype: "<f4",
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shape: [pointCount, 3],
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bytes: pointCount * 3 * 4,
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sha256: index === 0 ? pointSha256 : "0".repeat(64),
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};
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});
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const manifestPayload = {
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schema_version: "missioncore.recorded-spatial-playback/v1",
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result_id: resultId,
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frame_count: 4489,
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point_count: 2,
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point_offsets: pointOffsets,
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chunk_frame_count: 24,
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resident_chunk_count_max: 4,
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forward_prefetch_chunk_count: 1,
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chunks,
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track: {
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id: "points-map-f32",
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url: `${endpointRoot}/${resultId}/timeline/playback/tracks/points-map-f32`,
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media_type: "application/octet-stream",
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dtype: "<f4",
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shape: [2, 3],
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bytes: pointBytes.byteLength,
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sha256: pointSha256,
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},
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coordinate_frame: "map",
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access: "read-only-sealed-binary-playback",
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};
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const requested = [];
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const fetcher = async (input) => {
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const url = String(input);
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requested.push(url);
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if (url.endsWith("/timeline/playback")) return Response.json(manifestPayload);
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if (url.endsWith("/timeline/playback/chunks/0")) return new Response(pointBytes.slice(0));
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return new Response(null, { status: 404 });
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};
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const manifest = await fetchM4ThreatPlaybackManifest(resultId, { fetcher });
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const chunk = await fetchM4ThreatPlaybackPointChunk(manifest, 0, { fetcher });
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assert.deepEqual(requested, [
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`${endpointRoot}/${resultId}/timeline/playback`,
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`${endpointRoot}/${resultId}/timeline/playback/chunks/0`,
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]);
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assert.equal(chunk.pointCount, 2);
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assert.equal(chunk.pointStart, 0);
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assert.equal(chunk.sequenceCount, 24);
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assert.equal(chunk.pointsMapXyzM.byteLength, 24);
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assert.equal(requested.some((url) => url.endsWith("points-map-f32")), false);
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});
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test("M4.8S timeline binds factory-KB4 camera points through its exact endpoint", async () => {
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const replayResultId = `m48s-fixed-class-detector-lab-${"b".repeat(64)}`;
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const endpointRoot = "/api/v1/laboratory/m48s/fixed-class-detector";
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@@ -825,10 +900,15 @@ test("M4.6 viewer keeps media and spatial panes on one playback clock", async ()
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assert.match(visualCss, /width: 33\.333333%/);
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assert.match(visualCss, /flex-flow: column nowrap/);
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assert.match(visualCss, /m4-replay-threat-visual__overlay > div/);
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assert.match(visualCss, /grid-template-columns: minmax\(0, max-content\)/);
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assert.match(visualCss, /width: max-content/);
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assert.match(visualCss, /grid-template-columns: minmax\(0, 1fr\)/);
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assert.match(visualCss, /width: min\(17\.5rem/);
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assert.match(visualCss, /grid-auto-rows: 3\.8rem/);
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assert.match(visualCss, /--m4-replay-threat-overlay-pane-width/);
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assert.match(visualCss, /white-space: nowrap/);
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assert.match(visualCss, /-webkit-line-clamp: 2/);
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assert.match(visual, /classifiedCellCount/);
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assert.match(visual, /lastAvailableClassifiedSpatialFrame/);
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assert.match(visual, /current UNOBSERVED/);
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assert.match(visualCss, /laboratory-metric-evidence-scene__legend/);
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assert.match(visualCss, /bottom: auto/);
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assert.match(videoScene, /<RecordedFmp4Player/);
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@@ -842,16 +922,18 @@ test("M4.6 viewer keeps media and spatial panes on one playback clock", async ()
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assert.match(visual, /showLocalSurface/);
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assert.match(
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visual,
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/pointCloudBodyXyzM=\{displayedClassifiedSpatialFrame && replaceClassifiedPointCloud[\s\S]*\? classifiedPointsBody[\s\S]*: activeSpatialFrame\?\.pointCloudBodyXyzM \?\? \[\]\}/,
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/pointCloudBodyXyzM=\{displayedClassifiedSpatialFrame && replaceClassifiedPointCloud[\s\S]*\? classifiedPointsBody[\s\S]*: classifiedContextSpatialFrame\?\.pointCloudBodyXyzM \?\? \[\]\}/,
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);
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assert.match(
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visual,
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/const classifiedSpatialFrame = classifiedSpatialLayer\?\.frame\?\.sourceSequence === timelineFrame\.activeSequence[\s\S]*const displayedClassifiedSpatialFrame = classifiedSpatialFrame[\s\S]*lastClassifiedSpatialFrameRef/,
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/const classifiedSpatialFrame = classifiedSpatialLayer\?\.frame\?\.sourceSequence === timelineFrame\.activeSequence[\s\S]*lastClassifiedSpatialFrameRef[\s\S]*const displayedClassifiedSpatialFrame = classifiedSpatialFrame\s*&&\s*classifiedSpatialFrame\.sampleAvailable !== false/,
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);
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assert.doesNotMatch(visual, /classifiedSpatialFrame\?\.sampleAvailable !== false/);
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assert.match(visual, /timelineFrame\.availableFrames\.find/);
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assert.match(visual, /localSurfaceBodyXyzM=\{localSurface\.pointsBodyXyzM\}/);
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assert.match(visual, /showLocalSurface=\{showLocalSurface\}/);
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assert.match(visual, /\{semantic \? \([\s\S]*>\s*SEMANTICS\s*<\/Button>/);
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assert.match(visual, /все 2 244 TGS-ячейки явно UNOBSERVED/);
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assert.match(visual, /current safety — все \{classifiedCellCount\.toLocaleString\("ru-RU"\)\} TGS-ячейки UNOBSERVED/);
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assert.match(
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visual,
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/mapGravityLocalSensorToBodyGround[\s\S]*rotated\[2\] \+ nominalSensorHeightM/,
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