feat(perception): qualify E35 degradation recovery

2026-07-27 17:53:59 +03:00
parent 621084fcd6
commit b894945344
21 changed files with 3985 additions and 17 deletions
@@ -206,6 +206,99 @@ function e34() {
  };
 }

+function e35() {
+  return {
+    result_id: `e35-degradation-recovery-${"5".repeat(64)}`,
+    created_at_utc: "2026-07-27T15:00:00Z",
+    source_session_id: "20260720T065719Z_viewer_live",
+    status: "accepted-deterministic-degradation-recovery",
+    e32_result_id: e32().result_id,
+    e33_result_id: e33().result_id,
+    e34_result_id: e34().result_id,
+    profile_id: "e35-six-channel-degradation-recovery/v1",
+    pipeline_id: "track-geometry/temporal-layer/degradation-recovery/v1",
+    coordinate_frame: "map",
+    configuration: {
+      maximum_recovery_seconds: 0.25,
+      scenario_count: 6,
+    },
+    metrics: {
+      source_frames: 4489,
+      variant_count: 6,
+      variant_frame_outcomes: 26934,
+      injection_records: 360,
+      variant_frame_processing_p95_ms: 1.08,
+      build_elapsed_ms: 18618,
+    },
+    scenarios: [{
+      scenario_id: "camera-loss",
+      kind: "camera-loss",
+      frame_start: 600,
+      frame_end: 659,
+      frames_processed: 4489,
+      injected_frames: 60,
+      dropped_frames: 0,
+      hidden_success_frames: 0,
+      false_free_rows: 0,
+      semantic_claims_during_camera_loss: 0,
+      metric_rows_during_lidar_or_pose_loss: 0,
+      agree_claims_during_timing_offset: 0,
+      late_results_reintroduced: 0,
+      maximum_current_components_during_fault: 13,
+      maximum_held_components_during_fault: 24,
+      expired_components_during_fault: 60,
+      recovery_frame_index: 660,
+      recovery_seconds: 0.086,
+    }],
+    review: {
+      schema_version: "missioncore.e35-recovery-review/v1",
+      result_id: `e35-degradation-recovery-${"5".repeat(64)}`,
+      scenarios: [{
+        scenario: {
+          schema_version: "missioncore.e35-degradation-scenario/v1",
+          scenario_id: "camera-loss",
+          kind: "camera-loss",
+          frame_start: 600,
+          frame_end: 659,
+          parameters: { drop_camera_observations: true },
+        },
+        frames: [{
+          scenario_id: "camera-loss",
+          kind: "camera-loss",
+          frame_index: 600,
+          source_frame_index: 600,
+          session_seconds: 95.4,
+          fault_phase: "during",
+          action: "camera-observations-removed",
+          channels: {
+            camera: "unavailable",
+            lidar: "available",
+            pose: "available",
+            delivery: "on-time",
+          },
+          input_point_rows: 300,
+          transformed_point_rows: 300,
+          layer_state: "current",
+          counts: { current: 5, held: 2, expired: 0 },
+          components: [{
+            temporal_id: 10,
+            state: "current",
+            occupancy_state: "occupied",
+            owner_kind: "geometry-cluster",
+            semantic_labels: [],
+            last_observed_age_seconds: 0,
+            centroid_map_xyz_m: [1, 2, 0.5],
+          }],
+          cell_centers_map_xyz_m: [[1, 2, 0.5]],
+        }],
+      }],
+    },
+    acceptance: { accepted: true },
+    authority,
+    access: "read-only",
+  };
+}
+
 before(async () => {
  server = await createServer({
    appType: "custom",
@@ -222,9 +315,9 @@ after(async () => {
  await server?.close();
 });

-test("decodes E31–E34 from separate read-only catalogs", async () => {
+test("decodes E31–E35 from separate read-only catalogs", async () => {
  const requests = [];
-  const items = [e31(), e32(), e33(), e34()];
+  const items = [e31(), e32(), e33(), e34(), e35()];
  const decoded = await fetchAdvancedLaboratoryResults({
    fetcher: async (input, init) => {
      requests.push({ input: String(input), method: init?.method });
@@ -241,11 +334,15 @@ test("decodes E31–E34 from separate read-only catalogs", async () => {
  assert.equal(decoded.e33.metrics.resultAgeMaxMs, 13.638);
  assert.equal(decoded.e34.metrics.processedFrames, 4489);
  assert.equal(decoded.e34.reviewFrames[0].components[0].state, "expired");
+  assert.equal(decoded.e35.metrics.variantFrameOutcomes, 26934);
+  assert.equal(decoded.e35.scenarios[0].recoverySeconds, 0.086);
+  assert.equal(decoded.e35.reviewScenarios[0].frames[0].faultPhase, "during");
  assert.deepEqual(requests, [
    { input: "/api/v1/laboratory/e31/results?limit=1", method: "GET" },
    { input: "/api/v1/laboratory/e32/results?limit=1", method: "GET" },
    { input: "/api/v1/laboratory/e33/results?limit=1", method: "GET" },
    { input: "/api/v1/laboratory/e34/results?limit=1", method: "GET" },
+    { input: "/api/v1/laboratory/e35/results?limit=1", method: "GET" },
  ]);
 });

@@ -259,7 +356,8 @@ test("rejects authority escalation in an accepted-looking result", async () => {
      fetcher: async (input) => new Response(JSON.stringify(catalog(
        String(input).includes("/e31/") ? forged
          : String(input).includes("/e32/") ? e32()
-            : String(input).includes("/e33/") ? e33() : e34(),
+            : String(input).includes("/e33/") ? e33()
+              : String(input).includes("/e34/") ? e34() : e35(),
      )), { status: 200 }),
    }),
    AdvancedLaboratoryContractError,
@@ -26,6 +26,10 @@ const e34ResultUrl = new URL(
  "../src/workspaces/laboratory/E34Result.tsx",
  import.meta.url,
 );
+const e35ResultUrl = new URL(
+  "../src/workspaces/laboratory/E35Result.tsx",
+  import.meta.url,
+);
 const advancedLaboratoryResultUrl = new URL(
  "../src/workspaces/laboratory/AdvancedLaboratoryResult.tsx",
  import.meta.url,
@@ -161,6 +165,25 @@ test("E34 keeps temporal evidence inside the canonical LAB and viewer contracts"
  assert.match(advancedSource, /<E34Result/);
 });

+test("E35 extends the canonical LAB with fault and recovery evidence", async () => {
+  const [e35Source, advancedSource] = await Promise.all([
+    readFile(e35ResultUrl, "utf8"),
+    readFile(advancedLaboratoryResultUrl, "utf8"),
+  ]);
+
+  assert.match(e35Source, /<LaboratoryWorkTemplate/);
+  assert.match(e35Source, /<LaboratoryEvidenceViewer/);
+  assert.match(e35Source, /\{ value: "3d", label: "3D" \}/);
+  assert.match(e35Source, /\{ value: "plan", label: "План" \}/);
+  assert.match(e35Source, /Шесть неизменяемых полных replay-вариантов/);
+  assert.match(e35Source, /небезопасных утверждений —/);
+  assert.match(e35Source, /Следующий критический gate — A9\/E36/);
+  assert.match(e35Source, /SCENARIO_LABELS/);
+  assert.match(e35Source, /PHASE_LABELS/);
+  assert.match(advancedSource, /id: "e35-degradation-recovery"/);
+  assert.match(advancedSource, /<E35Result/);
+});
+
 test("the primary point-cloud viewer restores from fullscreen on Escape", async () => {
  const workspacesSource = await readFile(workspacesUrl, "utf8");