feat(perception): integrate vegetation policy review

2026-08-28 11:22:00 +03:00
parent 30080c51aa
commit c4c2392c79
17 changed files with 2388 additions and 105 deletions
@@ -108,7 +108,9 @@ test("M4.9T5 viewer prefers autonomous chunks and keeps a sealed legacy fallback
  assert.doesNotMatch(source, /centersXyM\.map\(/);
  assert.match(source, /fetchE47SemanticSlamResult/);
  assert.match(source, /next\.baseM4ResultId !== result\.source\.linkedVisualResultId/);
-  assert.match(source, /semantic=\{semantic \? \{/);
+  assert.match(source, /semantic=\{semanticOverride \?\? \(semantic \? \{/);
+  assert.match(source, /semanticOverride/);
+  assert.doesNotMatch(visual, /classifiedSpatialLayer \|\| !showReferenceMediaLayers \? \[\]/);
  assert.match(
    visual,
    /classifiedSpatialFrame\s*&&\s*classifiedSpatialFrame\.sampleAvailable !== false/,
@@ -104,45 +104,89 @@ function routeVideo() {
  };
 }

+function coarseRouteVideo() {
+  return {
+    ...routeVideo(),
+    view_kind: "coarse-material-policy-review",
+    linked_tgs_result_id: `m49-tgs-full-shadow-${"2".repeat(64)}`,
+    taxonomy: {
+      schema_version: "missioncore.lab-v1-terrain-policy-taxonomy/v1",
+      classes: Array.from({ length: 9 }, (_, classId) => ({
+        class_id: classId,
+        label: `policy-${classId}`,
+        color_rgb: [classId, classId, classId],
+        disposition: classId === 0 ? "ambiguous" : "prediction",
+        material_class: classId === 0 ? null : "grass",
+        evidence_state: classId === 0 ? "UNOBSERVED" : "SUPPORTED_GROUND",
+      })),
+    },
+    aggregate_prediction_pixels: Array(9).fill(0),
+    mask_archive: {
+      path: "video/coarse-material-policy-masks.zip",
+      sha256: "8".repeat(64),
+      byte_length: 2048,
+    },
+    policy: {
+      presets: {
+        urban: { grass: "NO_GO" },
+        rural: { grass: "HIGH_COST" },
+        offroad: { grass: "HIGH_COST" },
+      },
+    },
+    fusion: {
+      mode: "synchronised-multilayer-review",
+      pixel_raster_fusion: false,
+      camera_semantic_temporal_filter: "none",
+    },
+  };
+}
+
+function labPayload(route = routeVideo()) {
+  return {
+    schema_version: "missioncore.lab-v1-vegetation-shadow/v1",
+    result_id: resultId,
+    created_at_utc: "2026-08-27T20:00:00Z",
+    status: "visual-shadow-ready-policy-not-authorized",
+    ground_truth: false,
+    identity: { selected_candidate: "ddrnet" },
+    metrics: {
+      candidates: {
+        ddrnet: candidate("ddrnet", 0.64),
+        ppliteseg: candidate("ppliteseg", 0.61),
+      },
+    },
+    decision: {
+      selected_candidate: "ddrnet",
+      visual_shadow_ready: true,
+      mission_policy_ready_for_configuration: true,
+      navigation_accepted: false,
+      production_accepted: false,
+    },
+    limitations: ["shadow only"],
+    authority: {
+      commands_enabled: false,
+      navigation_or_safety_accepted: false,
+      actuation_accepted: false,
+      camera_semantics_can_clear_rigid_geometry: false,
+    },
+    catalogs: {
+      goose: Array.from({ length: 12 }, (_, index) => visualCase("goose", index)),
+      ravnoves: [],
+    },
+    route_video: route,
+    access: "read-only",
+  };
+}
+
 test("vegetation LAB keeps autonomous assets and fail-closed authority", async () => {
  let requestedUrl = "";
  const result = await fetchVegetationShadowResult(resultId, {
    fetcher: async (url) => {
      requestedUrl = String(url);
-      return new Response(JSON.stringify({
-        schema_version: "missioncore.lab-v1-vegetation-shadow/v1",
-        result_id: resultId,
-        created_at_utc: "2026-08-27T20:00:00Z",
-        status: "visual-shadow-ready-policy-not-authorized",
-        ground_truth: false,
-        identity: { selected_candidate: "ddrnet" },
-        metrics: {
-          candidates: {
-            ddrnet: candidate("ddrnet", 0.64),
-            ppliteseg: candidate("ppliteseg", 0.61),
-          },
-        },
-        decision: {
-          selected_candidate: "ddrnet",
-          visual_shadow_ready: true,
-          mission_policy_ready_for_configuration: true,
-          navigation_accepted: false,
-          production_accepted: false,
-        },
-        limitations: ["shadow only"],
-        authority: {
-          commands_enabled: false,
-          navigation_or_safety_accepted: false,
-          actuation_accepted: false,
-          camera_semantics_can_clear_rigid_geometry: false,
-        },
-        catalogs: {
-          goose: Array.from({ length: 12 }, (_, index) => visualCase("goose", index)),
-          ravnoves: [],
-        },
-        route_video: routeVideo(),
-        access: "read-only",
-      }), { status: 200, headers: { "Content-Type": "application/json" } });
+      return new Response(JSON.stringify(labPayload()), {
+        status: 200,
+        headers: { "Content-Type": "application/json" },
+      });
    },
  });
  assert.equal(
@@ -154,6 +198,8 @@ test("vegetation LAB keeps autonomous assets and fail-closed authority", async (
  assert.equal(result.routeCases.length, 0);
  assert.equal(result.validationCases.length, 12);
  assert.equal(result.routeVideo.frameCount, 4489);
+  assert.equal(result.routeVideo.viewKind, "fine-semantic-prediction");
+  assert.equal(result.routeVideo.linkedTgsResultId, null);
  assert.equal(result.routeVideo.taxonomy[0].disposition, "undefined");
  assert.equal(result.validationCases[0].focus.className, "high_grass");
  assert.match(result.validationCases[0].assets.ddrnet_error, /\/assets\/visual\/goose\//);
@@ -165,6 +211,21 @@ test("vegetation LAB keeps autonomous assets and fail-closed authority", async (
  });
 });

+test("vegetation LAB parses coarse material policy and sealed TGS binding", async () => {
+  const result = await fetchVegetationShadowResult(resultId, {
+    fetcher: async () => new Response(JSON.stringify(labPayload(coarseRouteVideo())), {
+      status: 200,
+      headers: { "Content-Type": "application/json" },
+    }),
+  });
+  assert.equal(result.routeVideo.viewKind, "coarse-material-policy-review");
+  assert.match(result.routeVideo.linkedTgsResultId, /^m49-tgs-full-shadow-/);
+  assert.equal(result.routeVideo.taxonomy.length, 9);
+  assert.equal(result.routeVideo.taxonomy[0].evidenceState, "UNOBSERVED");
+  assert.equal(result.routeVideo.policyPresets.urban.grass, "NO_GO");
+  assert.equal(result.routeVideo.fusionMode, "synchronised-multilayer-review");
+});
+
 test("vegetation LAB reuses the admitted M4.8 and M4.7 instruments", async () => {
  const resultSource = await readFile(
    new URL("../src/workspaces/laboratory/VegetationShadowResult.tsx", import.meta.url),
@@ -172,8 +233,10 @@ test("vegetation LAB reuses the admitted M4.8 and M4.7 instruments", async () =>
  );
  assert.match(resultSource, /M48MaskComparisonVisual/);
  assert.match(resultSource, /M4ReplayThreatVisual/);
+  assert.match(resultSource, /M49TgsFullShadowEvidence/);
+  assert.match(resultSource, /semanticOverride/);
  assert.equal(resultSource.match(/<LaboratoryEvidence\b/g)?.length, 2);
-  assert.match(resultSource, /showReferenceMediaLayers=\{false\}/);
+  assert.match(resultSource, /linkedTgsResultId/);
  assert.doesNotMatch(resultSource, /VegetationRouteVisual|urban\/rural\/off-road presets/);
  await assert.rejects(
    access(new URL("../src/workspaces/laboratory/VegetationShadowVisual.tsx", import.meta.url)),