fix(lab): enforce canonical replay runtime

2026-08-29 22:42:30 +03:00
parent 525ab74168
commit bd2892140f
17 changed files with 1765 additions and 507 deletions
@@ -106,6 +106,36 @@ export interface VegetationMixedRouteReview {
  cases: readonly VegetationMixedRouteCase[];
 }

+export interface VegetationRouteTgsAnchor {
+  sourceSequence: number;
+  slot: number;
+  currentPointsXyzM: readonly (readonly [number, number, number])[];
+  costmap: {
+    cellSizeM: 0.45;
+    centersXyM: readonly (readonly [number, number])[];
+    stateCodes: readonly number[];
+    zBoundsM: readonly (readonly [number | null, number | null])[];
+  };
+}
+
+export interface CanonicalRecordedLabSpatialFrame {
+  targetTimeNs: number;
+  sourceTimeNs: number;
+  poseTimeNs: number;
+  trajectoryTimeNs: number;
+  sourcePointCount: number;
+  bodyFrame: {
+    originMapXyzM: readonly [number, number, number];
+    basisMapFromBody: readonly [
+      readonly [number, number, number],
+      readonly [number, number, number],
+      readonly [number, number, number],
+    ];
+  };
+  sourcePointsBodyXyzM: readonly (readonly [number, number, number])[];
+  localSlamBodyXyzM: readonly (readonly [number, number, number])[];
+}
+
 export interface VegetationFullRouteLayer {
  name: string;
  resultId: string;
@@ -942,6 +972,172 @@ export function vegetationFullRouteMaskUrl(
  return `/api/v1/laboratory/vegetation-shadow/${encodeURIComponent(resultId)}/route-masks/${layer}/${sequence}`;
 }

+export async function fetchVegetationRouteTgsAnchor(
+  resultId: string,
+  sourceSequence: number,
+  {
+    fetcher = fetch,
+    signal,
+  }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
+): Promise<VegetationRouteTgsAnchor> {
+  if (!RESULT_ID.test(resultId) || !Number.isInteger(sourceSequence) || sourceSequence < 1) {
+    throw new VegetationShadowContractError("Vegetation TGS anchor identity недопустима.");
+  }
+  const response = await fetcher(
+    `/api/v1/laboratory/vegetation-shadow/${encodeURIComponent(resultId)}`
+      + `/route-tgs-anchor/${sourceSequence}`,
+    { method: "GET", headers: { Accept: "application/json" }, signal },
+  );
+  if (!response.ok) {
+    throw new VegetationShadowContractError(`Vegetation TGS anchor недоступен: HTTP ${response.status}.`);
+  }
+  const payload = objectValue(await response.json(), "vegetation.route_tgs_anchor");
+  exact(
+    payload.schema_version,
+    "missioncore.lab-v1-route-tgs-anchor/v1",
+    "vegetation.route_tgs_anchor.schema_version",
+  );
+  exact(payload.source_sequence, sourceSequence, "vegetation.route_tgs_anchor.source_sequence");
+  const pointValue = (value: unknown, label: string): readonly number[] => {
+    const point = arrayValue(value, label).map((item, index) => numberValue(item, `${label}[${index}]`));
+    if (point.length !== 2 && point.length !== 3) {
+      throw new VegetationShadowContractError(`${label}: размер изменён.`);
+    }
+    return point;
+  };
+  const points = arrayValue(payload.current_points_xyz_m, "vegetation.route_tgs_anchor.points")
+    .map((value, index) => pointValue(value, `vegetation.route_tgs_anchor.points[${index}]`));
+  const costmap = objectValue(payload.costmap, "vegetation.route_tgs_anchor.costmap");
+  exact(costmap.cell_size_m, 0.45, "vegetation.route_tgs_anchor.costmap.cell_size_m");
+  const centers = arrayValue(costmap.centers_xy_m, "vegetation.route_tgs_anchor.costmap.centers")
+    .map((value, index) => pointValue(value, `vegetation.route_tgs_anchor.costmap.centers[${index}]`));
+  const stateCodes = arrayValue(costmap.state_codes, "vegetation.route_tgs_anchor.costmap.states")
+    .map((value, index) => integerValue(value, `vegetation.route_tgs_anchor.costmap.states[${index}]`));
+  const zBounds = arrayValue(costmap.z_bounds_m, "vegetation.route_tgs_anchor.costmap.z_bounds")
+    .map((value, index) => {
+      const row = arrayValue(value, `vegetation.route_tgs_anchor.costmap.z_bounds[${index}]`);
+      if (row.length !== 2 || row.some((item) => item !== null && (typeof item !== "number" || !Number.isFinite(item)))) {
+        throw new VegetationShadowContractError("vegetation.route_tgs_anchor.costmap.z_bounds: контракт изменён.");
+      }
+      return row as readonly [number | null, number | null];
+    });
+  if (
+    centers.length !== 2244
+    || stateCodes.length !== 2244
+    || zBounds.length !== 2244
+    || stateCodes.some((value) => value > 3)
+    || points.some((point) => point.length !== 3)
+    || centers.some((point) => point.length !== 2)
+  ) {
+    throw new VegetationShadowContractError("Vegetation TGS anchor shape изменён.");
+  }
+  return {
+    sourceSequence,
+    slot: integerValue(payload.slot, "vegetation.route_tgs_anchor.slot"),
+    currentPointsXyzM: points.map((point) => [point[0]!, point[1]!, point[2]!] as const),
+    costmap: {
+      cellSizeM: 0.45,
+      centersXyM: centers.map((point) => [point[0]!, point[1]!] as const),
+      stateCodes,
+      zBoundsM: zBounds,
+    },
+  };
+}
+
+export async function fetchCanonicalRecordedLabSpatialFrame(
+  sessionId: string,
+  generationSha256: string,
+  targetTimeNs: number,
+  {
+    fetcher = fetch,
+    signal,
+  }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
+): Promise<CanonicalRecordedLabSpatialFrame> {
+  if (
+    !/^[A-Za-z0-9][A-Za-z0-9._:-]{0,127}$/.test(sessionId)
+    || !SHA256.test(generationSha256)
+    || !Number.isSafeInteger(targetTimeNs)
+    || targetTimeNs < 0
+  ) {
+    throw new VegetationShadowContractError("Canonical LAB spatial identity недопустима.");
+  }
+  const query = new URLSearchParams({
+    generation: generationSha256,
+    time_ns: String(targetTimeNs),
+  });
+  const response = await fetcher(
+    `/api/v1/observation-sessions/${encodeURIComponent(sessionId)}`
+      + `/canonical-lab/spatial-frame?${query.toString()}`,
+    { method: "GET", headers: { Accept: "application/json" }, signal },
+  );
+  if (!response.ok) {
+    throw new VegetationShadowContractError(
+      `Canonical LAB spatial frame недоступен: HTTP ${response.status}.`,
+    );
+  }
+  const payload = objectValue(await response.json(), "canonical_lab.spatial_frame");
+  exact(
+    payload.schema_version,
+    "missioncore.canonical-recorded-lab-spatial-frame/v1",
+    "canonical_lab.spatial_frame.schema_version",
+  );
+  exact(payload.target_time_ns, targetTimeNs, "canonical_lab.spatial_frame.target_time_ns");
+  const pointList = (value: unknown, label: string) => arrayValue(value, label).map(
+    (entry, index) => {
+      const point = arrayValue(entry, `${label}[${index}]`).map(
+        (channel, channelIndex) => numberValue(channel, `${label}[${index}][${channelIndex}]`),
+      );
+      if (point.length !== 3) {
+        throw new VegetationShadowContractError(`${label}[${index}]: размер изменён.`);
+      }
+      return [point[0]!, point[1]!, point[2]!] as const;
+    },
+  );
+  const sourcePoints = pointList(
+    payload.source_points_body_xyz_m,
+    "canonical_lab.spatial_frame.source_points",
+  );
+  const localSlam = pointList(
+    payload.local_slam_body_xyz_m,
+    "canonical_lab.spatial_frame.local_slam",
+  );
+  const sourcePointCount = integerValue(
+    payload.source_point_count,
+    "canonical_lab.spatial_frame.source_point_count",
+  );
+  if (sourcePointCount !== sourcePoints.length || sourcePointCount > 100_000 || localSlam.length > 10_000) {
+    throw new VegetationShadowContractError("Canonical LAB spatial accounting изменён.");
+  }
+  const bodyFrame = objectValue(payload.body_frame, "canonical_lab.spatial_frame.body_frame");
+  const origin = pointList(
+    [bodyFrame.origin_map_xyz_m],
+    "canonical_lab.spatial_frame.body_frame.origin",
+  )[0]!;
+  const basisRows = pointList(
+    bodyFrame.basis_map_from_body,
+    "canonical_lab.spatial_frame.body_frame.basis",
+  );
+  if (basisRows.length !== 3) {
+    throw new VegetationShadowContractError("Canonical LAB spatial basis изменён.");
+  }
+  return {
+    targetTimeNs,
+    sourceTimeNs: integerValue(payload.source_time_ns, "canonical_lab.spatial_frame.source_time_ns"),
+    poseTimeNs: integerValue(payload.pose_time_ns, "canonical_lab.spatial_frame.pose_time_ns"),
+    trajectoryTimeNs: integerValue(
+      payload.trajectory_time_ns,
+      "canonical_lab.spatial_frame.trajectory_time_ns",
+    ),
+    sourcePointCount,
+    bodyFrame: {
+      originMapXyzM: origin,
+      basisMapFromBody: [basisRows[0]!, basisRows[1]!, basisRows[2]!],
+    },
+    sourcePointsBodyXyzM: sourcePoints,
+    localSlamBodyXyzM: localSlam,
+  };
+}
+
 export async function fetchVegetationShadowResult(
  resultId: string,
  {