fix(lab): enforce canonical replay runtime
This commit is contained in:
DCCONSTRUCTIONS
@@ -6,7 +6,9 @@ import { createServer } from "vite";
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let server;
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let fetchVegetationBenchmarkResult;
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let fetchCanonicalRecordedLabSpatialFrame;
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let fetchVegetationShadowResult;
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let fetchVegetationRouteTgsAnchor;
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let vegetationFullRouteMaskUrl;
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before(async () => {
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@@ -17,7 +19,9 @@ before(async () => {
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});
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({
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fetchVegetationBenchmarkResult,
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fetchCanonicalRecordedLabSpatialFrame,
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fetchVegetationShadowResult,
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fetchVegetationRouteTgsAnchor,
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vegetationFullRouteMaskUrl,
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} = await server.ssrLoadModule(
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"/src/core/laboratory/vegetationShadow.ts",
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@@ -365,8 +369,68 @@ test("vegetation GOOSE benchmark opens through its separate archival endpoint",
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assert.equal(result.validationCases.length, 12);
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});
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test("vegetation route TGS anchor keeps exact sealed metric shapes", async () => {
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let requestedUrl = "";
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const anchor = await fetchVegetationRouteTgsAnchor(resultId, 409, {
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fetcher: async (url) => {
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requestedUrl = String(url);
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return new Response(JSON.stringify({
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schema_version: "missioncore.lab-v1-route-tgs-anchor/v1",
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source_sequence: 409,
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slot: 1,
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current_points_xyz_m: [[1, 2, 3], [4, 5, 6]],
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costmap: {
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cell_size_m: 0.45,
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centers_xy_m: Array.from({ length: 2244 }, (_, index) => [index, -index]),
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state_codes: Array.from({ length: 2244 }, (_, index) => index % 4),
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z_bounds_m: Array.from({ length: 2244 }, () => [null, null]),
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},
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}), { status: 200, headers: { "Content-Type": "application/json" } });
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},
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});
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assert.equal(
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requestedUrl,
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`/api/v1/laboratory/vegetation-shadow/${resultId}/route-tgs-anchor/409`,
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);
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assert.equal(anchor.sourceSequence, 409);
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assert.equal(anchor.currentPointsXyzM.length, 2);
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assert.equal(anchor.costmap.centersXyM.length, 2244);
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assert.deepEqual(new Set(anchor.costmap.stateCodes), new Set([0, 1, 2, 3]));
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});
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test("canonical recorded LAB spatial frame keeps source, SLAM and body identity on one clock", async () => {
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const generation = "e".repeat(64);
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let requestedUrl = "";
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const frame = await fetchCanonicalRecordedLabSpatialFrame("session-004", generation, 82_770_000_000, {
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fetcher: async (url) => {
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requestedUrl = String(url);
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return new Response(JSON.stringify({
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schema_version: "missioncore.canonical-recorded-lab-spatial-frame/v1",
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target_time_ns: 82_770_000_000,
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source_time_ns: 82_769_535_708,
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pose_time_ns: 82_769_535_708,
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trajectory_time_ns: 82_700_000_000,
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source_point_count: 2,
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source_points_body_xyz_m: [[1, 2, 3], [4, 5, 6]],
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local_slam_body_xyz_m: [[0, 0, 0], [1, 0, 0]],
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body_frame: {
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origin_map_xyz_m: [33, 4, 1],
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basis_map_from_body: [[1, 0, 0], [0, 1, 0], [0, 0, 1]],
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},
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}), { status: 200, headers: { "Content-Type": "application/json" } });
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},
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});
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assert.equal(
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requestedUrl,
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`/api/v1/observation-sessions/session-004/canonical-lab/spatial-frame?generation=${generation}&time_ns=82770000000`,
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);
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assert.equal(frame.sourcePointCount, 2);
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assert.equal(frame.localSlamBodyXyzM.length, 2);
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assert.deepEqual(frame.bodyFrame.originMapXyzM, [33, 4, 1]);
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});
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test("vegetation realtime LAB and archival benchmark use separate admitted instruments", async () => {
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const [resultSource, benchmarkSource, m49Source] = await Promise.all([
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const [resultSource, benchmarkSource, m49Source, canonicalSource] = await Promise.all([
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readFile(
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new URL("../src/workspaces/laboratory/VegetationShadowResult.tsx", import.meta.url),
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"utf8",
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@@ -379,6 +443,10 @@ test("vegetation realtime LAB and archival benchmark use separate admitted instr
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new URL("../src/workspaces/laboratory/M49TgsFullShadowEvidence.tsx", import.meta.url),
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"utf8",
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),
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readFile(
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new URL("../src/components/laboratory/CanonicalRecordedLabReplay.tsx", import.meta.url),
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"utf8",
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),
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]);
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assert.doesNotMatch(resultSource, /M48MaskComparisonVisual/);
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assert.match(resultSource, /M49TgsFullShadowEvidence/);
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@@ -389,12 +457,28 @@ test("vegetation realtime LAB and archival benchmark use separate admitted instr
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assert.equal(resultSource.match(/<LaboratoryEvidence\b/g)?.length, 2);
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assert.doesNotMatch(resultSource, /RAVNOVES004TREE mixed route review/);
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assert.match(resultSource, /RAVNOVES004TREE full recorded review/);
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assert.match(resultSource, /LaboratoryRecordedClipPlayer/);
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assert.match(resultSource, /RerunViewport/);
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assert.match(resultSource, /M48EvidenceModeRail/);
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assert.match(resultSource, /CanonicalRecordedLabReplay/);
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assert.match(resultSource, /RecordedEvidenceVideoScene/);
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assert.match(resultSource, /LaboratoryMetricEvidenceScene/);
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assert.doesNotMatch(resultSource, /RerunViewport/);
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assert.match(resultSource, /fetchCanonicalRecordedLabSpatialFrame/);
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assert.match(resultSource, /useCanonicalRecordedLabReplayState/);
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assert.match(resultSource, /playbackTransport="epoch-stream"/);
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assert.match(resultSource, /causalTgsCase/);
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assert.match(resultSource, /latest causal of 10 sealed anchors/);
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assert.doesNotMatch(resultSource, /LaboratoryRecordedClipPlayer|M48EvidenceModeRail/);
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assert.doesNotMatch(resultSource, /assets\.tgs|<img/);
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assert.match(resultSource, /SOURCE POINTS/);
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assert.match(resultSource, /LOCAL SLAM/);
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assert.match(resultSource, /TGS COSTMAP/);
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assert.match(resultSource, /onClick=\{\(\) => setShowTgs\(\(visible\) => !visible\)\}/);
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assert.match(resultSource, /showClassifiedCells=\{showTgs && Boolean\(packedTgsCells\)\}/);
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assert.doesNotMatch(resultSource, /setShowTgs\(false\)/);
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assert.doesNotMatch(resultSource, /setPlaying\(false\);[\s\S]{0,160}setShowTgs/);
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assert.match(canonicalSource, /primary=\{mediaPane\}/);
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assert.match(canonicalSource, /secondary=\{spatialPane/);
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assert.match(canonicalSource, /missioncore\.canonical-recorded-lab-replay\/v1/);
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assert.match(canonicalSource, /separatorLabel="Изменить размер VIDEO\/CAMERA и 3D\/PLAN"/);
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assert.match(resultSource, /linked canonical M4\.9 TGS evidence/);
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assert.match(resultSource, /linkedTgsResultId/);
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assert.match(benchmarkSource, /M48MaskComparisonVisual/);
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