feat(perception): split vegetation evidence layers

apps/control-station/test/m49TgsFullShadow.test.mjs

@@ -108,8 +108,13 @@ 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=\{semanticOverride \?\? \(semantic \? \{/);
+  assert.match(source, /semanticLayers=\{semanticLayers\}/);
+  assert.match(source, /ГОРОД · EoMT/);
+  assert.match(source, /ПРИРОДА · DDRNet/);
   assert.match(source, /semanticOverride/);
+  assert.doesNotMatch(source, /if \(semanticOverride\) return/);
+  assert.match(visual, /label="Источник семантики"/);
+  assert.match(visual, /availableSemanticLayers\.length > 1/);
   assert.doesNotMatch(visual, /classifiedSpatialLayer \|\| !showReferenceMediaLayers \? \[\]/);
   assert.match(
     visual,

apps/control-station/test/vegetationShadow.test.mjs

@@ -5,6 +5,7 @@ import { after, before, test } from "node:test";
 import { createServer } from "vite";
 
 let server;
+let fetchVegetationBenchmarkResult;
 let fetchVegetationShadowResult;
 
 before(async () => {
@@ -13,7 +14,7 @@ before(async () => {
     logLevel: "silent",
     server: { middlewareMode: true },
   });
-  ({ fetchVegetationShadowResult } = await server.ssrLoadModule(
+  ({ fetchVegetationBenchmarkResult, fetchVegetationShadowResult } = await server.ssrLoadModule(
     "/src/core/laboratory/vegetationShadow.ts",
   ));
 });
@@ -23,6 +24,7 @@ after(async () => {
 });
 
 const resultId = `lab-v1-vegetation-shadow-${"a".repeat(64)}`;
+const benchmarkResultId = `lab-v1-vegetation-benchmark-${"d".repeat(64)}`;
 
 function candidate(candidateKey, vegetationIou) {
   return {
@@ -111,21 +113,26 @@ function coarseRouteVideo() {
     linked_tgs_result_id: `m49-tgs-full-shadow-${"2".repeat(64)}`,
     taxonomy: {
       schema_version: "missioncore.lab-v1-terrain-policy-taxonomy/v1",
-      classes: Array.from({ length: 9 }, (_, classId) => ({
+      classes: Array.from({ length: 10 }, (_, classId) => ({
         class_id: classId,
         label: `policy-${classId}`,
         color_rgb: [classId, classId, classId],
-        disposition: classId === 0 ? "ambiguous" : "prediction",
-        material_class: classId === 0 ? null : "grass",
-        evidence_state: classId === 0 ? "UNOBSERVED" : "SUPPORTED_GROUND",
+        disposition: classId === 0 ? "ambiguous" : classId === 9 ? "undefined" : "prediction",
+        material_class: classId === 0 || classId === 9 ? null : "grass",
+        evidence_state: classId === 0 || classId === 9 ? "UNOBSERVED" : "SUPPORTED_GROUND",
       })),
     },
-    aggregate_prediction_pixels: Array(9).fill(0),
+    aggregate_prediction_pixels: Array(10).fill(0),
     mask_archive: {
       path: "video/coarse-material-policy-masks.zip",
       sha256: "8".repeat(64),
       byte_length: 2048,
     },
+    valid_fov: {
+      mask_path: "video/valid-fov-mask.png",
+      mask_sha256: "7".repeat(64),
+      outside_valid_fov_class_id: 9,
+    },
     policy: {
       presets: {
         urban: { grass: "NO_GO" },
@@ -220,23 +227,55 @@ test("vegetation LAB parses coarse material policy and sealed TGS binding", asyn
   });
   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.length, 10);
   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),
-    "utf8",
+test("vegetation GOOSE benchmark opens through its separate archival endpoint", async () => {
+  let requestedUrl = "";
+  const result = await fetchVegetationBenchmarkResult(benchmarkResultId, {
+    fetcher: async (url) => {
+      requestedUrl = String(url);
+      return new Response(JSON.stringify({
+        ...labPayload(null),
+        result_id: benchmarkResultId,
+      }), {
+        status: 200,
+        headers: { "Content-Type": "application/json" },
+      });
+    },
+  });
+  assert.equal(
+    requestedUrl,
+    `/api/v1/laboratory/vegetation-benchmark/${benchmarkResultId}`,
   );
-  assert.match(resultSource, /M48MaskComparisonVisual/);
+  assert.equal(result.routeVideo, null);
+  assert.equal(result.validationCases.length, 12);
+});
+
+test("vegetation realtime LAB and archival benchmark use separate admitted instruments", async () => {
+  const [resultSource, benchmarkSource] = await Promise.all([
+    readFile(
+      new URL("../src/workspaces/laboratory/VegetationShadowResult.tsx", import.meta.url),
+      "utf8",
+    ),
+    readFile(
+      new URL("../src/workspaces/laboratory/VegetationBenchmarkResult.tsx", import.meta.url),
+      "utf8",
+    ),
+  ]);
+  assert.doesNotMatch(resultSource, /M48MaskComparisonVisual/);
   assert.match(resultSource, /M4ReplayThreatVisual/);
   assert.match(resultSource, /M49TgsFullShadowEvidence/);
   assert.match(resultSource, /semanticOverride/);
+  assert.match(resultSource, /EoMT CITY \/ DDRNet VEGETATION/);
   assert.equal(resultSource.match(/<LaboratoryEvidence\b/g)?.length, 2);
   assert.match(resultSource, /linkedTgsResultId/);
+  assert.match(benchmarkSource, /M48MaskComparisonVisual/);
+  assert.doesNotMatch(benchmarkSource, /M49TgsFullShadowEvidence/);
+  assert.equal(benchmarkSource.match(/<LaboratoryEvidence\b/g)?.length, 1);
   assert.doesNotMatch(resultSource, /VegetationRouteVisual|urban\/rural\/off-road presets/);
   await assert.rejects(
     access(new URL("../src/workspaces/laboratory/VegetationShadowVisual.tsx", import.meta.url)),