feat(perception): integrate calibrated operator pipeline
Add calibrated K1 projection, recorded and near-live perception qualification, unified Rerun operator layers, bounded replay admission, audited viewer controls, worker experiments, and lab evidence.
This commit is contained in:
DCCONSTRUCTIONS
@@ -1,15 +1,13 @@
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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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import { createServer } from "vite";
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let server;
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let fetchVerifiedRecordedMediaArchive;
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let fetchRecordedMediaArchive;
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let recordedMediaPresentationState;
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let recordedMediaSeekableCoverage;
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let appendRecordedMediaBuffer;
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before(async () => {
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server = await createServer({
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@@ -18,10 +16,9 @@ before(async () => {
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server: { middlewareMode: true },
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});
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({
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fetchVerifiedRecordedMediaArchive,
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fetchRecordedMediaArchive,
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recordedMediaPresentationState,
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recordedMediaSeekableCoverage,
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appendRecordedMediaBuffer,
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} = await server.ssrLoadModule("/src/components/RecordedFmp4Player.tsx"));
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});
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@@ -29,41 +26,28 @@ after(async () => {
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await server?.close();
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});
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function digest(payload) {
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return createHash("sha256").update(payload).digest("hex");
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}
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function fixture() {
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function fixture({ byteLength = 36_000_000_000 } = {}) {
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const manifestUrl = "/api/v1/observation-sessions/session-1/media/camera-1/manifest";
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const init = Buffer.from("canonical-init");
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const first = Buffer.from("canonical-first-fragment");
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const second = Buffer.from("canonical-second-fragment");
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const generation = "a".repeat(64);
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const segmentPrefix = manifestUrl.replace("/manifest", "/epochs/1/segments/");
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const streamUrl = manifestUrl.replace(
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"/manifest",
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`/epochs/1/recording.mp4?generation=${generation}`,
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);
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const manifest = {
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schema_version: "missioncore.observation-recorded-media/v2",
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schema_version: "missioncore.observation-recorded-media/v3",
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source_id: "recorded.camera.camera-1",
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generation_sha256: generation,
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byte_length: init.byteLength + first.byteLength + second.byteLength,
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byte_length: byteLength,
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timeline_start_seconds: 0,
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timeline_end_seconds: 20,
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timeline_end_seconds: 36_000,
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synchronization: "host-arrival-best-effort",
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epochs: [{
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ordinal: 1,
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timeline_start_seconds: 0,
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timeline_end_seconds: 20,
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timeline_end_seconds: 36_000,
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media_type: 'video/mp4; codecs="avc1.640028"',
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init_url: manifestUrl.replace("/manifest", "/epochs/1/init.mp4"),
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init_byte_length: init.byteLength,
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init_sha256: digest(init),
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segment_count: 2,
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segment_url_prefix: segmentPrefix,
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segments: [first, second].map((payload, index) => ({
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sequence: index + 1,
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url: `${segmentPrefix}${index + 1}.m4s`,
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byte_length: payload.byteLength,
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sha256: digest(payload),
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})),
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byte_length: byteLength,
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stream_url: streamUrl,
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}],
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};
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const source = {
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@@ -72,14 +56,14 @@ function fixture() {
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modality: "video",
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manifestUrl,
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manifestGenerationSha256: generation,
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byteLength: manifest.byte_length,
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byteLength,
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mediaType: "video/mp4",
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timelineStartSeconds: 0,
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timelineEndSeconds: 20,
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timelineEndSeconds: 36_000,
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seekable: true,
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synchronization: "host-arrival-best-effort",
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};
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return { source, manifest, generation, init, first, second };
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return { source, manifest, generation, streamUrl };
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}
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function jsonResponse(payload, generation) {
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@@ -92,145 +76,54 @@ function jsonResponse(payload, generation) {
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});
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}
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function mediaResponse(payload, sha = digest(payload), length = payload.byteLength) {
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return new Response(payload, {
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status: 200,
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headers: {
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"Content-Length": String(length),
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ETag: `"sha256:${sha}"`,
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test("multi-hour camera admission fetches only its compact generation-bound manifest", async () => {
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const { source, manifest, generation, streamUrl } = fixture();
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const requested = [];
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const archive = await fetchRecordedMediaArchive(source, {
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fetcher: async (input, request = {}) => {
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requested.push(String(input));
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assert.equal(new Headers(request.headers).get("If-Match"), `"sha256:${generation}"`);
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return jsonResponse(manifest, generation);
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},
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});
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}
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function deferred() {
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let resolve;
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let reject;
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const promise = new Promise((resolvePromise, rejectPromise) => {
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resolve = resolvePromise;
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reject = rejectPromise;
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});
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return { promise, resolve, reject };
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}
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async function flushAsync() {
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await new Promise((resolve) => setTimeout(resolve, 0));
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await new Promise((resolve) => setTimeout(resolve, 0));
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}
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test("recorded camera archive stays pending until every canonical byte is verified", async () => {
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const { source, manifest, generation, init, first, second } = fixture();
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const finalSegment = deferred();
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const requested = [];
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let manifestRequests = 0;
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const fetcher = async (input, request = {}) => {
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const url = String(input);
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requested.push(url);
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const headers = new Headers(request.headers);
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if (url === source.manifestUrl) {
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manifestRequests += 1;
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assert.equal(headers.get("If-Match"), `"sha256:${generation}"`);
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return jsonResponse(manifest, generation);
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}
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const epoch = manifest.epochs[0];
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if (url === epoch.init_url) {
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assert.equal(headers.get("If-Match"), `"sha256:${epoch.init_sha256}"`);
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return mediaResponse(init);
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}
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if (url === epoch.segments[0].url) return mediaResponse(first);
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if (url === epoch.segments[1].url) return finalSegment.promise;
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throw new Error(`Unexpected URL ${url}`);
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};
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let settled = false;
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const archivePromise = fetchVerifiedRecordedMediaArchive(source, { fetcher })
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.then((archive) => {
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settled = true;
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return archive;
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});
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await flushAsync();
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assert.equal(settled, false, "init and a partial segment prefix must not publish the camera");
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assert.deepEqual(requested.slice(0, 4), [
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source.manifestUrl,
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manifest.epochs[0].init_url,
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manifest.epochs[0].segments[0].url,
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manifest.epochs[0].segments[1].url,
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]);
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finalSegment.resolve(mediaResponse(second));
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const archive = await archivePromise;
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assert.equal(manifestRequests, 2, "the immutable generation is revalidated after transfer");
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assert.equal(archive.byteLength, init.byteLength + first.byteLength + second.byteLength);
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assert.equal(archive.epochs[0].segments.length, 2);
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assert.deepEqual(requested, [source.manifestUrl]);
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assert.equal(archive.byteLength, 36_000_000_000);
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assert.equal(archive.manifest.epochs[0].streamUrl, streamUrl);
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});
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test("first camera manifest request is launch-generation bound and rejects replacement", async () => {
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test("first camera manifest request rejects a replaced generation", async () => {
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const { source, manifest, generation } = fixture();
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const replacementGeneration = "d".repeat(64);
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let requests = 0;
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const fetcher = async (input, request = {}) => {
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requests += 1;
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assert.equal(String(input), source.manifestUrl);
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assert.equal(
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new Headers(request.headers).get("If-Match"),
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`"sha256:${generation}"`,
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);
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return jsonResponse(
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{ ...manifest, generation_sha256: replacementGeneration },
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replacementGeneration,
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);
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};
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await assert.rejects(
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fetchVerifiedRecordedMediaArchive(source, { fetcher }),
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fetchRecordedMediaArchive(source, {
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fetcher: async (_input, request = {}) => {
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assert.equal(new Headers(request.headers).get("If-Match"), `"sha256:${generation}"`);
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return jsonResponse(
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{ ...manifest, generation_sha256: replacementGeneration },
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replacementGeneration,
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);
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},
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}),
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/несовместим|заменён/,
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);
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assert.equal(requests, 1);
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});
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test("recorded camera archive fails closed on truncation despite plausible headers", async () => {
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const { source, manifest, generation, init, first, second } = fixture();
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const fetcher = async (input) => {
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const url = String(input);
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if (url === source.manifestUrl) return jsonResponse(manifest, generation);
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const epoch = manifest.epochs[0];
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if (url === epoch.init_url) return mediaResponse(init);
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if (url === epoch.segments[0].url) return mediaResponse(first);
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if (url === epoch.segments[1].url) {
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return mediaResponse(second.subarray(0, second.byteLength - 1), digest(second), second.byteLength);
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}
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throw new Error(`Unexpected URL ${url}`);
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test("camera manifest fails closed when epoch bytes do not match launch bytes", async () => {
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const { source, manifest, generation } = fixture();
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const mismatched = {
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...manifest,
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epochs: [{ ...manifest.epochs[0], byte_length: manifest.byte_length - 1 }],
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};
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await assert.rejects(
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fetchVerifiedRecordedMediaArchive(source, { fetcher }),
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/усечён/,
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fetchRecordedMediaArchive(source, {
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fetcher: async () => jsonResponse(mismatched, generation),
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}),
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/не совпадает/,
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);
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});
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test("recorded camera archive fails closed when bytes are replaced under an old ETag", async () => {
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const { source, manifest, generation, init, first, second } = fixture();
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const replacement = Buffer.from(second.map((value) => value ^ 0xff));
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assert.equal(replacement.byteLength, second.byteLength);
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const fetcher = async (input) => {
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const url = String(input);
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if (url === source.manifestUrl) return jsonResponse(manifest, generation);
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const epoch = manifest.epochs[0];
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if (url === epoch.init_url) return mediaResponse(init);
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if (url === epoch.segments[0].url) return mediaResponse(first);
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if (url === epoch.segments[1].url) {
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return mediaResponse(replacement, digest(second), second.byteLength);
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}
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throw new Error(`Unexpected URL ${url}`);
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};
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await assert.rejects(
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fetchVerifiedRecordedMediaArchive(source, { fetcher }),
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/SHA-256/,
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);
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});
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test("camera presentation gate opens only for the completely appended selected epoch", () => {
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test("camera presentation gate opens only for the seekable selected epoch", () => {
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assert.equal(recordedMediaPresentationState("loading", null, "g1", false), "loading");
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assert.equal(recordedMediaPresentationState("ready", null, "g1", false), "loading");
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assert.equal(recordedMediaPresentationState("ready", "g2", "g1", false), "loading");
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@@ -251,40 +144,13 @@ test("decoded duration and seekable range cover the complete declared epoch", ()
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assert.equal(recordedMediaSeekableCoverage(20, 20, 20, 1, 1.01), false);
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});
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test("aborting SourceBuffer append removes every temporary listener", async () => {
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const listeners = new Map();
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const sourceBuffer = {
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addEventListener(type, listener) {
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const bucket = listeners.get(type) ?? new Set();
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bucket.add(listener);
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listeners.set(type, bucket);
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},
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removeEventListener(type, listener) {
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listeners.get(type)?.delete(listener);
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},
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appendBuffer() {},
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};
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const abort = new AbortController();
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const pending = appendRecordedMediaBuffer(
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sourceBuffer,
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new ArrayBuffer(8),
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abort.signal,
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);
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assert.equal(listeners.get("updateend")?.size, 1);
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assert.equal(listeners.get("error")?.size, 1);
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abort.abort();
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await assert.rejects(pending, (error) => error?.name === "AbortError");
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assert.equal(listeners.get("updateend")?.size, 0);
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assert.equal(listeners.get("error")?.size, 0);
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});
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test("verified camera archives remain immutable for safe player remount", async () => {
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test("recorded player range-streams and never builds a whole-video RAM Blob", async () => {
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const source = await readFile(
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new URL("../src/components/RecordedFmp4Player.tsx", import.meta.url),
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"utf8",
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);
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assert.doesNotMatch(source, /\.init\s*=\s*new ArrayBuffer/);
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assert.doesNotMatch(source, /\.segments\.length\s*=\s*0/);
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assert.match(source, /video\.src\s*=\s*descriptor\.streamUrl/);
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assert.doesNotMatch(source, /new Blob\(|response\.arrayBuffer\(|SourceBuffer/);
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});
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test("loading and error overlays fully conceal recorded camera pixels", async () => {
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@@ -301,3 +167,20 @@ test("loading and error overlays fully conceal recorded camera pixels", async ()
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/\.recorded-media-player__notice\s*\{[^}]*inset:\s*0;[^}]*background:\s*#070809/s,
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);
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});
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test("point-cloud fullscreen keeps the admitted recorded camera worker mounted", async () => {
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const source = await readFile(
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new URL("../src/workspaces/Workspaces.tsx", import.meta.url),
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"utf8",
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);
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assert.match(source, /\{visibleMediaSources\.map\(\(source, index\) => \(/);
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assert.match(source, /hidden=\{pointCloudFocused \|\| unifiedPerception\}/);
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assert.doesNotMatch(
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source,
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/\{!pointCloudFocused \? visibleMediaSources\.map/,
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);
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assert.doesNotMatch(
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source,
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/\(pointCloudFocused \|\| !observationLayout\.visibleSourceIds\.has\(source\.id\)\)/,
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);
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});
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