SILVER/NODEDC_MISSION_CORE
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

fix(m4): retain compact obstacle evidence

Browse Source
This commit is contained in:
DCCONSTRUCTIONS
2026-08-05 22:16:33 +03:00
parent 13ed096f80
commit aacc6dc43b
24 changed files with 981 additions and 410 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/control-station/test/m4ReplayThreat.test.mjs
+10 -4
View File
@@ -63,7 +63,7 @@ test("M4.6 decodes accepted dual-evidence result without physical authority", as
},
metrics: {
decisions: { threat: 8010, "not-threat": 6610, unknown: 60832 },
evidence: { "camera-only": 10158, "current-metric": 27299, "stale-or-held": 37995 },
evidence: { "camera-only": 10158, "current-metric": 28081, "rolling-map-retained": 70989, "stale-or-held": 38025 },
fixtures: { critical: 4, critical_false_not_threat: 0, passed: 9, total: 9 },
runtime: {
frames_per_second: 116.4,
@@ -99,7 +99,7 @@ test("M4.6 decodes accepted dual-evidence result without physical authority", as
}), { status: 200 }),
});
assert.equal(result.resultId, resultId);
assert.equal(result.metrics.evidence.currentMetric, 27299);
assert.equal(result.metrics.evidence.currentMetric, 28081);
assert.equal(result.metrics.fixtures.criticalFalseNotThreat, 0);
assert.equal(result.metrics.bodyFrame.qualified, 3861);
assert.equal(result.metrics.bodyFrame.cameraForwardAlignmentDeg.p95, 8.439);
@@ -112,6 +112,7 @@ test("M4.6 binds exact CAMERA and metric 3D evidence to one replay frame", async
fetcher: async () => new Response(JSON.stringify({
schema_version: "missioncore.perception-threat-visual-frame/v1",
result_id: resultId,
camera_url: `/api/v1/laboratory/m4-threat/results/${resultId}/visuals/1/camera`,
ordinal: 1,
sequence: 20,
frame_id: "frame-000020",
@@ -146,6 +147,7 @@ test("M4.6 binds exact CAMERA and metric 3D evidence to one replay frame", async
}), { status: 200 }),
});
assert.equal(frame.sequence, 20);
assert.match(frame.cameraUrl, /\/visuals\/1\/camera$/);
assert.equal(frame.metricObstacles[0].assessment.decision, "threat");
assert.equal(frame.cameraProposals[0].threatDecision, "unknown");
assert.equal(frame.pointCloudSampleCount, 2);
@@ -156,6 +158,7 @@ test("M4.6 v2 keeps CURRENT INCREMENT separate from ROLLING MAP", async () => {
fetcher: async () => new Response(JSON.stringify({
schema_version: "missioncore.perception-threat-visual-frame/v2",
result_id: resultId,
camera_url: `/api/v1/laboratory/m4-threat/results/${resultId}/visuals/14/camera`,
ordinal: 14,
sequence: 1880,
frame_id: "frame-001880",
@@ -231,18 +234,21 @@ test("M4.6 full video preserves camera-only unknown and nearest-frame selection"
assert.equal(selectM4ThreatVideoFrame(overlay.frames, 35.50).frameIndex, 1);
});
test("M4.6 viewer reuses shared video and metric evidence renderers", async () => {
const [visual, videoScene, metricScene] = await Promise.all([
test("M4.6 viewer reuses shared camera, video and metric evidence renderers", async () => {
const [visual, imageScene, videoScene, metricScene] = await Promise.all([
readFile(new URL("../src/workspaces/laboratory/M4ReplayThreatVisual.tsx", import.meta.url), "utf8"),
readFile(new URL("../src/components/laboratory/RecordedEvidenceImageScene.tsx", import.meta.url), "utf8"),
readFile(new URL("../src/components/laboratory/RecordedEvidenceVideoScene.tsx", import.meta.url), "utf8"),
readFile(new URL("../src/components/laboratory/LaboratoryMetricEvidenceScene.tsx", import.meta.url), "utf8"),
]);
assert.match(visual, /<RecordedEvidenceVideoScene/);
assert.match(visual, /<RecordedEvidenceImageScene/);
assert.match(visual, /<LaboratoryMetricEvidenceScene/);
assert.match(visual, /label: "VIDEO"/);
assert.match(visual, /label: "CAMERA"/);
assert.match(visual, /label: "3D"/);
assert.match(videoScene, /<RecordedFmp4Player/);
assert.match(imageScene, /<RecordedEvidenceBoxOverlay/);
assert.match(metricScene, /OrbitControls/);
assert.match(metricScene, /CURRENT INCREMENT/);
assert.match(metricScene, /ROLLING MAP/);