fix(lab): enforce canonical replay runtime

tests/test_session_api.py

@@ -17,6 +17,7 @@ from fastapi.responses import FileResponse
 from fastapi.routing import APIRoute
 
 import k1link.sessions.media as recorded_media_module
+import k1link.web.session_api as session_api_module
 from k1link.compute import RecordedPerceptionOverlayArtifact, RecordedPerceptionVideo
 from k1link.device_plugins.xgrids_k1 import xgrids_k1_archive_source
 from k1link.device_plugins.xgrids_k1.mqtt.capture import FRAME_HEADER, RAW_MAGIC
@@ -458,6 +459,80 @@ def test_completed_recording_get_does_not_hold_delete_for_launch_lease(
         manager.close()
 
 
+def test_canonical_lab_spatial_frame_uses_ready_immutable_recording(
+    tmp_path: Path,
+    monkeypatch: pytest.MonkeyPatch,
+) -> None:
+    repository = tmp_path / "repo"
+    sessions = repository / "sessions"
+    session = make_legacy_session(sessions, "20260716T205632Z_viewer_live")
+    store = SessionStore(repository, data_dir=tmp_path / "data")
+    store.reconcile_archive(xgrids_k1_archive_source(sessions))
+    payload = b"sealed-spatial-recording"
+
+    def export_recording(source: Path, destination: Path) -> dict[str, object]:
+        destination.write_bytes(payload)
+        return {
+            "source_sha256": hashlib.sha256(source.read_bytes()).hexdigest(),
+            "rrd_sha256": hashlib.sha256(payload).hexdigest(),
+            "rrd_bytes": len(payload),
+            "timeline": "session_time",
+            "timeline_start_ns": 0,
+            "timeline_end_ns": 1_000_000_000,
+        }
+
+    materializer = SessionRecordingMaterializer(store.data_dir, exporter=export_recording)
+    command = store.prepare_replay(session.name)
+    recording = materializer.materialize(command)
+    manager = SessionRecordingPreparationManager(materializer)
+    resolved = manager.resolve_cached(command)
+    assert resolved is not None and resolved.recording is not None
+    generation = hashlib.sha256(payload).hexdigest()
+    expected = {
+        "schema_version": "missioncore.canonical-recorded-lab-spatial-frame/v1",
+        "target_time_ns": 500_000_000,
+        "source_time_ns": 499_000_000,
+        "pose_time_ns": 499_000_000,
+        "trajectory_time_ns": 490_000_000,
+        "body_frame": {
+            "origin_map_xyz_m": [0.0, 0.0, 0.0],
+            "basis_map_from_body": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]],
+        },
+        "source_point_count": 1,
+        "source_points_body_xyz_m": [[1.0, 2.0, 3.0]],
+        "local_slam_body_xyz_m": [[0.0, 0.0, 0.0]],
+    }
+
+    def spatial_frame(path: Path, sha256: str, time_ns: int) -> dict[str, object]:
+        assert path == recording.path
+        assert sha256 == generation
+        assert time_ns == 500_000_000
+        return expected
+
+    monkeypatch.setattr(session_api_module, "canonical_lab_spatial_frame", spatial_frame)
+    router = build_session_router(
+        store,
+        recording_materializer=materializer,
+        recording_preparation_manager=manager,
+    )
+    spatial_route = endpoint(
+        router,
+        "/api/v1/observation-sessions/{session_id}/canonical-lab/spatial-frame",
+        "GET",
+    )
+    try:
+        response = asyncio.run(spatial_route(
+            session_id=session.name,
+            generation=generation,
+            time_ns=500_000_000,
+        ))
+        assert json.loads(response.body) == expected
+        assert response.headers["etag"] == f'"{generation}:499000000"'
+        assert response.headers["cache-control"].endswith("immutable")
+    finally:
+        manager.close()
+
+
 def test_session_router_returns_seekable_recording_and_serves_byte_ranges(
     tmp_path: Path,
 ) -> None:

tests/test_vegetation_shadow_lab.py

@@ -21,11 +21,48 @@ from k1link.laboratory import LaboratoryEvidenceRegistry
 from k1link.laboratory.evidence_report import verify_laboratory_evidence_result
 from k1link.laboratory.vegetation_policy_review import seal_vegetation_policy_review
 from k1link.laboratory.vegetation_shadow_lab import seal_vegetation_shadow_lab
-from k1link.web.vegetation_shadow_lab_api import build_vegetation_shadow_lab_router
+from k1link.web.vegetation_shadow_lab_api import (
+    _route_tgs_anchor_payload,
+    build_vegetation_shadow_lab_router,
+)
 
 REPOSITORY_ROOT = Path(__file__).resolve().parents[1]
 
 
+def test_route_tgs_anchor_payload_preserves_metric_evidence(tmp_path: Path) -> None:
+    path = tmp_path / "tgs-evidence.npz"
+    point_counts = np.arange(1, 11, dtype=np.int64)
+    offsets = np.concatenate(([0], np.cumsum(point_counts)))
+    points = np.arange(int(offsets[-1]) * 3, dtype=np.float32).reshape(-1, 3)
+    centers = np.arange(2244 * 2, dtype=np.float32).reshape(2244, 2) * 0.45
+    states = np.tile(np.arange(2244, dtype=np.uint16) % 4, (10, 1)).astype(np.uint8)
+    z_bounds = np.zeros((10, 2244, 2), dtype=np.float32)
+    z_bounds[..., 0] = np.nan
+    z_bounds[..., 1] = 1.25
+    np.savez(
+        path,
+        source_frame_indices=np.array(
+            [20, 408, 789, 1189, 1609, 1992, 2380, 3190, 4810, 6381],
+            dtype=np.int64,
+        ),
+        current_increment_point_offsets=offsets,
+        current_increment_points_xyz_m=points,
+        costmap_cell_centers_xy_m=centers,
+        causal_rolling_1s_costmap_states=states,
+        causal_rolling_1s_costmap_z_bounds_m=z_bounds,
+    )
+
+    payload = _route_tgs_anchor_payload(path, 409)
+
+    assert payload["schema_version"] == "missioncore.lab-v1-route-tgs-anchor/v1"
+    assert payload["source_sequence"] == 409
+    assert payload["slot"] == 1
+    assert len(payload["current_points_xyz_m"]) == 2
+    assert len(payload["costmap"]["centers_xy_m"]) == 2244
+    assert set(payload["costmap"]["state_codes"]) == {0, 1, 2, 3}
+    assert payload["costmap"]["z_bounds_m"][0] == [None, 1.25]
+
+
 def test_coarse_policy_masks_mark_every_outside_fov_pixel_undefined(
     tmp_path: Path,
     monkeypatch,