feat(polygon): qualify GOOSE ground providers

2026-07-25 16:02:20 +03:00
parent 60ba64004b
commit d6decbe05c
14 changed files with 2718 additions and 22 deletions
@@ -0,0 +1,134 @@
+import assert from "node:assert/strict";
+import { after, before, test } from "node:test";
+
+import { createServer } from "vite";
+
+let server;
+let decodeGroundQualification;
+let decodeGroundFailurePreview;
+let fetchGroundQualification;
+let GroundQualificationContractError;
+
+const aggregate = {
+  micro: {
+    ground_iou: 0.75,
+    natural_ground_recall: 0.8,
+    obstacle_non_ground_recall: 0.92,
+  },
+  latency_ms: { p50: 12, p95: 18, maximum: 25 },
+  assigned_fraction: 1,
+  source_coverage: 1,
+  frame_count: 961,
+};
+
+const qualification = {
+  schema_version: "missioncore.polygon-ground-qualification/v1",
+  access: "read-only",
+  run_id: "goose-ground-abc",
+  identity_sha256: "a".repeat(64),
+  source_id: "goose-3d/v2025-08-22",
+  split: "validation",
+  frame_count: 961,
+  aggregates: {
+    current: { ...aggregate, micro: { ...aggregate.micro, ground_iou: 0.5 } },
+    patchworkpp: aggregate,
+  },
+  degradations: { "range-20m": { ...aggregate, source_coverage: 0.6 } },
+  checks: [{
+    check_id: "ground-iou-gain",
+    observed: 0.25,
+    operator: ">=",
+    threshold: 0.07,
+    passed: true,
+  }],
+  worst_frames: [{
+    frame_id: "2022-07-22_flight__0071_0001",
+    current_ground_iou: 0.6,
+    patchwork_ground_iou: 0.55,
+    ground_iou_delta: -0.05,
+    patchwork_natural_ground_recall: 0.7,
+  }],
+  decision: {
+    status: "shadow-candidate",
+    passed: true,
+    promoted_to_navigation_or_safety: false,
+    reason: "all gates passed",
+  },
+  safety: {
+    qualification_only: true,
+    actuator_authority: false,
+    navigation_or_safety_accepted: false,
+  },
+};
+
+before(async () => {
+  server = await createServer({
+    appType: "custom",
+    logLevel: "silent",
+    server: { middlewareMode: true },
+  });
+  ({
+    decodeGroundQualification,
+    decodeGroundFailurePreview,
+    fetchGroundQualification,
+    GroundQualificationContractError,
+  } = await server.ssrLoadModule("/src/core/polygon/groundQualification.ts"));
+});
+
+after(async () => {
+  await server?.close();
+});
+
+test("decodes a bounded shadow-only qualification", () => {
+  const decoded = decodeGroundQualification(qualification);
+  assert.equal(decoded.frameCount, 961);
+  assert.equal(decoded.patchwork.micro.groundIou, 0.75);
+  assert.equal(decoded.degradations["range-20m"].sourceCoverage, 0.6);
+  assert.equal(decoded.decision.promotedToNavigationOrSafety, false);
+});
+
+test("rejects navigation or safety promotion", () => {
+  assert.throws(
+    () => decodeGroundQualification({
+      ...qualification,
+      decision: {
+        ...qualification.decision,
+        promoted_to_navigation_or_safety: true,
+      },
+    }),
+    GroundQualificationContractError,
+  );
+});
+
+test("decodes point-aligned failure preview", () => {
+  const decoded = decodeGroundFailurePreview({
+    schema_version: "missioncore.polygon-ground-failure-preview/v1",
+    access: "read-only",
+    run_id: "goose-ground-abc",
+    source_id: "goose-3d/v2025-08-22",
+    frame_id: "2022-07-22_flight__0071_0001",
+    source_point_count: 2,
+    point_count: 2,
+    sampling: "deterministic-even-index",
+    points_xyz_m: [[0, 0, 0], [1, 1, 1]],
+    ground_truth_ground: [1, 0],
+    evaluated: [1, 1],
+    current_ground: [0, 0],
+    patchwork_ground: [1, 0],
+    current_disagreement: [1, 0],
+    patchwork_disagreement: [0, 0],
+    safety: { navigation_or_safety_accepted: false },
+  });
+  assert.equal(decoded.pointCount, 2);
+  assert.deepEqual(decoded.patchworkGround, [1, 0]);
+});
+
+test("treats missing qualification as a generic run", async () => {
+  const result = await fetchGroundQualification("goose-ground-abc", {
+    fetcher: async () => new Response(
+      JSON.stringify({ detail: "not found" }),
+      { status: 404, headers: { "content-type": "application/json" } },
+    ),
+  });
+  assert.equal(result, null);
+});