feat(lab): publish full TGS shadow evidence

tests/test_laboratory_evidence_registry.py

@@ -127,7 +127,7 @@ def test_product_registry_declares_every_advanced_evidence_source() -> None:
         repository_root / "config" / "laboratories"
     )
 
-    assert len(registry.definitions) == 41
+    assert len(registry.definitions) == 42
     assert {item.work_id for item in registry.definitions} >= {
         "e31-source-binding",
         "e46j-raw-fisheye-realtime",
@@ -145,6 +145,7 @@ def test_product_registry_declares_every_advanced_evidence_source() -> None:
         "m48s-fixed-class-detector",
         "m48t-risk-quality-temporal",
         "m49-tgs-fail-closed-evidence",
+        "m49-tgs-full-shadow",
     }
     m48 = next(
         item for item in registry.definitions if item.work_id == "m48-object-centric-quality"

tests/test_laboratory_execution.py

@@ -102,6 +102,7 @@ def test_repository_registry_classifies_every_evidence_definition() -> None:
         "m48s-fixed-class-detector",
         "m48t-risk-quality-temporal",
         "m49-tgs-fail-closed-evidence",
+        "m49-tgs-full-shadow",
     }
     by_work_id = {row.work_id: row for row in execution.definitions}
     assert by_work_id["m48-small-static-passage-regression"].evidence_contract == (
@@ -121,6 +122,8 @@ def test_repository_registry_classifies_every_evidence_definition() -> None:
     assert by_work_id["m48t-risk-quality-temporal"].isolation == "bounded-adapter"
     assert by_work_id["m49-tgs-fail-closed-evidence"].lifecycle == "experimental"
     assert by_work_id["m49-tgs-fail-closed-evidence"].isolation == "bounded-adapter"
+    assert by_work_id["m49-tgs-full-shadow"].lifecycle == "experimental"
+    assert by_work_id["m49-tgs-full-shadow"].isolation == "bounded-adapter"
     assert all(
         row.lifecycle == "canonical"
         for row in execution.definitions
@@ -130,6 +133,7 @@ def test_repository_registry_classifies_every_evidence_definition() -> None:
             "m48s-fixed-class-detector",
             "m48t-risk-quality-temporal",
             "m49-tgs-fail-closed-evidence",
+            "m49-tgs-full-shadow",
         }
     )
     assert len(execution.definitions) + len(execution.legacy_work_ids) == len(

tests/test_laboratory_value_review_registry.py

@@ -80,7 +80,7 @@ def test_product_value_review_registry_covers_reviewed_laboratory_families() ->
         root / "config" / "laboratory-value-review.json"
     )
 
-    assert len(registry.entries) == 39
+    assert len(registry.entries) == 40
     assert {entry.catalog_id for entry in registry.entries} >= {
         "e28-local-surface",
         "e46d-temporal-failure-audit",
@@ -92,4 +92,5 @@ def test_product_value_review_registry_covers_reviewed_laboratory_families() ->
         "m48s-fixed-class-detector",
         "m48t-risk-quality-temporal",
         "m49-tgs-fail-closed-evidence",
+        "m49-tgs-full-shadow",
     }

tests/test_m49_tgs_full_shadow.py

@@ -0,0 +1,106 @@
+from __future__ import annotations
+
+import importlib.util
+import json
+import sys
+from pathlib import Path
+
+import numpy as np
+
+from k1link.web import m49_tgs_full_shadow_api as full_shadow_api
+
+REPOSITORY_ROOT = Path(__file__).resolve().parents[1]
+WORKER_ROOT = REPOSITORY_ROOT / "experiments" / "perception" / "worker" / "m49_t3_travel"
+sys.path.insert(0, str(WORKER_ROOT))
+
+EVIDENCE_SPEC = importlib.util.spec_from_file_location(
+    "m49_tgs_full_shadow_evidence", WORKER_ROOT / "build_tgs_full_shadow_evidence.py"
+)
+assert EVIDENCE_SPEC and EVIDENCE_SPEC.loader
+EVIDENCE = importlib.util.module_from_spec(EVIDENCE_SPEC)
+EVIDENCE_SPEC.loader.exec_module(EVIDENCE)
+
+ARTIFACT_SPEC = importlib.util.spec_from_file_location(
+    "m49_tgs_full_shadow_artifact",
+    REPOSITORY_ROOT / "scripts" / "build_m49_tgs_full_shadow_worker_artifact.py",
+)
+assert ARTIFACT_SPEC and ARTIFACT_SPEC.loader
+ARTIFACT = importlib.util.module_from_spec(ARTIFACT_SPEC)
+ARTIFACT_SPEC.loader.exec_module(ARTIFACT)
+
+
+def test_full_shadow_exact_multiset_and_costmap_priority() -> None:
+    native = np.asarray(
+        [[2.0, 0.0, 0.0, 0.0], [2.0, 0.0, 0.0, 0.0], [3.0, 0.0, 1.0, 0.0], [4.0, 0.0, 2.0, 0.0]],
+        dtype=np.float32,
+    )
+    points, states = EVIDENCE.classify_exact_input(native, native[[0]], native[[1, 2]])
+    assert sorted(states.tolist()) == [1, 2, 2, 3]
+    grid = EVIDENCE.costmap_grid(12.0, 0.45)
+    cell_states, _ = EVIDENCE.rasterize(points, states, grid, 0.45)
+    assert np.count_nonzero(cell_states == 2) == 2
+
+
+def test_full_shadow_worker_artifact_is_deterministic_and_cpu_only(tmp_path: Path) -> None:
+    revision = "a" * 40
+    first = ARTIFACT.build("m49-tgs-full-test", tmp_path / "one", revision=revision)
+    second = ARTIFACT.build("m49-tgs-full-test", tmp_path / "two", revision=revision)
+    assert first["sha256"] == second["sha256"]
+    import tarfile
+
+    with tarfile.open(first["artifact"], "r:gz") as archive:
+        release = archive.extractfile("payload/release.json")
+        runner = archive.extractfile("payload/Invoke-M49TgsFullShadow.ps1")
+        assert release is not None and runner is not None
+        release_text = release.read().decode()
+        runner_text = runner.read().decode()
+    assert '"candidate_id": "travel-tgs-full-shadow"' in release_text
+    assert "--gpus" not in runner_text
+    assert "gpu_requested = $false" in runner_text
+
+
+def test_full_shadow_chunk_contract_keeps_missing_lidar_unobserved(
+    monkeypatch,
+    tmp_path: Path,
+) -> None:
+    frames = tuple(
+        {
+            "source_frame_index": index,
+            "session_seconds": index / 10,
+            "sample_available": index != 1,
+            "eligible_point_count": 0 if index == 1 else 1,
+            "ground_point_count": 0,
+            "nonground_point_count": 0 if index == 1 else 1,
+            "rejected_point_count": 0,
+            "occupied_cell_count": 0 if index == 1 else 1,
+        }
+        for index in range(4489)
+    )
+    centers = np.zeros((2244, 2), dtype=np.float32)
+    states = np.broadcast_to(np.zeros((1, 2244), dtype=np.uint8), (4489, 2244))
+    z_bounds = np.broadcast_to(
+        np.full((1, 2244, 2), np.nan, dtype=np.float32),
+        (4489, 2244, 2),
+    )
+
+    monkeypatch.setattr(full_shadow_api, "_frames", lambda *_args: frames)
+    monkeypatch.setattr(
+        full_shadow_api.np,
+        "load",
+        lambda path, **_kwargs: (
+            centers if "centers" in str(path) else states if "states" in str(path) else z_bounds
+        ),
+    )
+    content = full_shadow_api._chunk_json_cached.__wrapped__(
+        str(tmp_path),
+        "m49-tgs-full-shadow-" + "a" * 64,
+        0,
+        2,
+        (0, 0),
+    )
+    payload = json.loads(content)
+    assert payload["schema_version"] == "missioncore.m49-tgs-full-shadow-spatial-chunk/v1"
+    assert payload["count"] == 2
+    assert len(payload["costmap"]["centers_xy_m"]) == 2244
+    assert payload["frames"][1]["sample_available"] is False
+    assert set(payload["frames"][1]["states"]) == {0}