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feat(perception): integrate vegetation policy review

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DCCONSTRUCTIONS
2026-08-28 11:22:00 +03:00
parent 30080c51aa
commit c4c2392c79
17 changed files with 2388 additions and 105 deletions
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apps/control-station/test/vegetationShadow.test.mjs
+98 -35
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@@ -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)),