feat(lab): visualize dual evidence replay
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DCCONSTRUCTIONS
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import assert from "node:assert/strict";
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import { readFile } from "node:fs/promises";
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import { after, before, test } from "node:test";
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import { createServer } from "vite";
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let server;
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let fetchM4ThreatReplayResult;
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let fetchM4ThreatVisual;
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let fetchM4ThreatVideoOverlay;
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let selectM4ThreatVideoFrame;
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const resultId = `m4-threat-replay-${"a".repeat(64)}`;
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before(async () => {
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server = await createServer({
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appType: "custom",
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logLevel: "silent",
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server: { middlewareMode: true },
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});
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({
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fetchM4ThreatReplayResult,
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fetchM4ThreatVisual,
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fetchM4ThreatVideoOverlay,
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selectM4ThreatVideoFrame,
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} = await server.ssrLoadModule("/src/core/laboratory/m4ReplayThreat.ts"));
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});
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after(async () => {
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await server?.close();
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});
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function proposal(overrides = {}) {
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return {
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proposal_id: "proposal-1",
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bbox_xyxy: [100, 120, 240, 360],
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objectness: 0.91,
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semantic_hint: "person",
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occupied_support: false,
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range_m: null,
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threat_decision: "unknown",
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threat_reason_codes: ["camera-only-no-metric-geometry"],
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...overrides,
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};
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}
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test("M4.6 decodes accepted dual-evidence result without physical authority", async () => {
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const result = await fetchM4ThreatReplayResult({
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fetcher: async () => new Response(JSON.stringify({
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schema_version: "missioncore.m4-threat-replay-catalog/v1",
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items: [{
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schema_version: "missioncore.m4-threat-replay-view/v1",
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result_id: resultId,
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created_at_utc: "2026-08-05T15:36:01.553Z",
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status: "accepted",
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profile_id: "m4-ravnoves00-virtual-corridor/v1",
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rig_profile_id: "virtual-handheld-body-1000x600/v1",
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corridor_profile_id: "ravnoves00-forward-corridor-8m/v1",
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source_result_ids: {
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detector: `m4-detector-replay-${"b".repeat(64)}`,
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geometry: `m4-geometry-replay-${"c".repeat(64)}`,
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temporal: `m4-temporal-replay-${"d".repeat(64)}`,
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},
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metrics: {
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decisions: { threat: 8010, "not-threat": 6610, unknown: 60832 },
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evidence: { "camera-only": 10158, "current-metric": 27299, "stale-or-held": 37995 },
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fixtures: { critical: 4, critical_false_not_threat: 0, passed: 9, total: 9 },
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runtime: {
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frames_per_second: 116.4,
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provider_latency_p50_ms: 4.3,
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provider_latency_p95_ms: 19.8,
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provider_latency_max_ms: 194.3,
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},
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reason_counts: { "geometry-only-evidence": 21958 },
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},
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configuration: {
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virtual_body_m: [1, 0.6],
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nominal_sensor_height_m: 1.25,
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forward_corridor_m: 8,
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prediction_horizon_seconds: 5,
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},
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limitations: ["replay only"],
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accepted: true,
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authority: "replay-simulated",
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physical_collision_accepted: false,
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actuation_allowed: false,
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}],
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}), { status: 200 }),
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});
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assert.equal(result.resultId, resultId);
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assert.equal(result.metrics.evidence.currentMetric, 27299);
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assert.equal(result.metrics.fixtures.criticalFalseNotThreat, 0);
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assert.deepEqual(result.configuration.virtualBodyM, [1, 0.6]);
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});
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test("M4.6 binds exact CAMERA and metric 3D evidence to one replay frame", async () => {
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const frame = await fetchM4ThreatVisual(resultId, 1, {
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fetcher: async () => new Response(JSON.stringify({
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schema_version: "missioncore.perception-threat-visual-frame/v1",
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result_id: resultId,
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ordinal: 1,
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sequence: 20,
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frame_id: "frame-000020",
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source_time_ns: 37421857292,
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point_cloud_body_xyz_m: [[1, 0, 0.1], [2, 0.2, 0.3]],
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point_cloud_source_count: 12000,
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point_cloud_sample_count: 2,
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metric_obstacles: [{
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component_id: "temporal-20-1",
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state: "current",
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motion: "moving",
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centroid_body_xyz_m: [2, 0.1, 0.4],
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cell_centers_body_xyz_m: [[2, 0.1, 0.4]],
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assessment: {
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component_id: "temporal-20-1",
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decision: "threat",
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corridor_intersection: "intersects",
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relative_speed_mps: 1.2,
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closest_approach_m: 0.4,
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ttc_seconds: 1.6,
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reason_codes: ["geometry-only-evidence"],
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},
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}],
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camera_proposals: [proposal()],
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rig: { length_m: 1, width_m: 0.6, nominal_sensor_height_m: 1.25 },
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corridor: {
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forward_length_m: 8,
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rear_margin_m: 0.5,
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half_width_m: 0.5,
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prediction_horizon_seconds: 5,
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},
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}), { status: 200 }),
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});
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assert.equal(frame.sequence, 20);
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assert.equal(frame.metricObstacles[0].assessment.decision, "threat");
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assert.equal(frame.cameraProposals[0].threatDecision, "unknown");
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assert.equal(frame.pointCloudSampleCount, 2);
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});
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test("M4.6 full video preserves camera-only unknown and nearest-frame selection", async () => {
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const overlay = await fetchM4ThreatVideoOverlay(resultId, {
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fetcher: async () => new Response(JSON.stringify({
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schema_version: "missioncore.m4-threat-video-overlay/v1",
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result_id: resultId,
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recorded_source: { session_id: "20260720T065719Z_viewer_live" },
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image_width: 800,
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image_height: 600,
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timeline_start_seconds: 35.421857292,
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timeline_end_seconds: 484.044857292,
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frame_count: 4489,
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frames: [
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{
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frame_index: 0,
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session_seconds: 35.421857292,
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source_available: true,
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camera_proposals: [],
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decision_counts: { threat: 0, "not-threat": 0, unknown: 0 },
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},
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{
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frame_index: 1,
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session_seconds: 35.521857292,
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source_available: true,
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camera_proposals: [proposal()],
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decision_counts: { threat: 0, "not-threat": 0, unknown: 1 },
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},
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],
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authority: "replay-simulated",
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}), { status: 200 }),
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});
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assert.equal(overlay.frames[1].cameraProposals[0].rangeM, null);
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assert.equal(selectM4ThreatVideoFrame(overlay.frames, 35.50).frameIndex, 1);
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});
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test("M4.6 viewer reuses shared video and metric evidence renderers", async () => {
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const [visual, videoScene, metricScene] = await Promise.all([
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readFile(new URL("../src/workspaces/laboratory/M4ReplayThreatVisual.tsx", import.meta.url), "utf8"),
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readFile(new URL("../src/components/laboratory/RecordedEvidenceVideoScene.tsx", import.meta.url), "utf8"),
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readFile(new URL("../src/components/laboratory/LaboratoryMetricEvidenceScene.tsx", import.meta.url), "utf8"),
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]);
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assert.match(visual, /<RecordedEvidenceVideoScene/);
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assert.match(visual, /<LaboratoryMetricEvidenceScene/);
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assert.match(visual, /label: "VIDEO"/);
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assert.match(visual, /label: "CAMERA"/);
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assert.match(visual, /label: "3D"/);
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assert.match(videoScene, /<RecordedFmp4Player/);
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assert.match(metricScene, /OrbitControls/);
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});
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