SILVER/NODEDC_MISSION_CORE
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

refactor(lab): restore canonical RAV004 replay

Browse Source
This commit is contained in:
DCCONSTRUCTIONS
2026-08-30 01:22:44 +03:00
parent 74da6437e9
commit f1cbe0061a
21 changed files with 1181 additions and 719 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/control-station/test/vegetationShadow.test.mjs
+11 -20
View File
@@ -407,7 +407,7 @@ test("canonical recorded LAB spatial frame keeps source, SLAM and body identity
fetcher: async (url) => {
requestedUrl = String(url);
return new Response(JSON.stringify({
schema_version: "missioncore.canonical-recorded-lab-spatial-frame/v2",
schema_version: "missioncore.canonical-recorded-lab-spatial-frame/v3",
target_time_ns: 82_770_000_000,
source_time_ns: 82_769_535_708,
pose_time_ns: 82_769_535_708,
@@ -415,13 +415,13 @@ test("canonical recorded LAB spatial frame keeps source, SLAM and body identity
coordinate_frame: "body-ground",
sensor_height: {
meters: 0.32,
source: "initial-source-cloud-lower-quantile-median",
source: "local-source-cloud-ground-quantile-median",
sample_count: 20,
mad_m: 0.03,
authority: "visual-derived",
},
spatial_profile: {
profile_id: "source-paced-ground-v2",
profile_id: "source-paced-ground-v3",
local_slam_history_seconds: 5,
local_slam_radius_m: 30,
local_slam_voxel_size_m: 0.12,
@@ -443,7 +443,7 @@ test("canonical recorded LAB spatial frame keeps source, SLAM and body identity
});
assert.equal(
requestedUrl,
`/api/v1/observation-sessions/session-004/canonical-lab/spatial-frame?generation=${generation}&time_ns=82770000000&profile=source-paced-ground-v2`,
`/api/v1/observation-sessions/session-004/canonical-lab/spatial-frame?generation=${generation}&time_ns=82770000000&profile=source-paced-ground-v3`,
);
assert.equal(frame.sourcePointCount, 2);
assert.equal(frame.localSlamBodyXyzM.length, 2);
@@ -473,32 +473,23 @@ test("vegetation realtime LAB and archival benchmark use separate admitted instr
assert.doesNotMatch(resultSource, /M48MaskComparisonVisual/);
assert.match(resultSource, /M49TgsFullShadowEvidence/);
assert.match(resultSource, /semanticOverride/);
assert.match(resultSource, /EoMT CITY \/ DDRNet VEGETATION/);
assert.match(m49Source, /spatialSemantic=\{spatialSemantic\}/);
assert.match(m49Source, /controlLabel: "SEMANTICS"/);
assert.equal(resultSource.match(/<LaboratoryEvidence\b/g)?.length, 2);
assert.doesNotMatch(resultSource, /RAVNOVES004TREE mixed route review/);
assert.match(resultSource, /RAVNOVES004TREE full recorded review/);
assert.match(resultSource, /CanonicalRecordedLabReplay/);
assert.match(resultSource, /RecordedEvidenceVideoScene/);
assert.match(resultSource, /LaboratoryMetricEvidenceScene/);
assert.match(resultSource, /CANONICAL RECORDED LAB · RAVNOVES004TREE/);
assert.match(resultSource, /<M4ReplayThreatVisual/);
assert.match(resultSource, /timelineEndpointRoot=\{VEGETATION_TIMELINE_ENDPOINT\}/);
assert.match(resultSource, /playbackTransport="segmented"/);
assert.match(resultSource, /recoverTimestampStalls/);
assert.doesNotMatch(resultSource, /RerunViewport/);
assert.match(resultSource, /useCanonicalRecordedLabSpatialFrame/);
assert.doesNotMatch(resultSource, /cacheRef|pumpRef|desiredRef/);
assert.match(resultSource, /useCanonicalRecordedLabReplayState/);
assert.match(resultSource, /playbackTransport="epoch-stream"/);
assert.match(resultSource, /causalTgsCase/);
assert.match(resultSource, /TGS visible only inside sealed 1 s evidence window/);
assert.match(resultSource, /canonicalRecordedLabPackedTgsCells/);
assert.doesNotMatch(resultSource, /LaboratoryRecordedClipPlayer|M48EvidenceModeRail/);
assert.doesNotMatch(resultSource, /assets\.tgs|<img/);
assert.match(resultSource, /SOURCE POINTS/);
assert.match(resultSource, /LOCAL SLAM/);
assert.match(resultSource, /TGS COSTMAP/);
assert.match(resultSource, /onClick=\{\(\) => setShowTgs\(\(visible\) => !visible\)\}/);
assert.match(resultSource, /showClassifiedCells=\{showTgs && Boolean\(packedTgsCells\)\}/);
assert.doesNotMatch(resultSource, /setShowTgs\(false\)/);
assert.doesNotMatch(resultSource, /setPlaying\(false\);[\s\S]{0,160}setShowTgs/);
assert.match(resultSource, /point-aligned 3D semantics пока не запечатаны/);
assert.match(resultSource, /cellLayerAvailable: false/);
assert.match(canonicalSource, /primary=\{mediaPane\}/);
assert.match(canonicalSource, /secondary=\{spatialPane/);
assert.match(canonicalSource, /missioncore\.canonical-recorded-lab-replay\/v1/);