feat(lidar): add dataset gateway boundary

2026-07-25 11:21:22 +03:00
parent 3333e9ac0f
commit f57d64bf52
14 changed files with 1314 additions and 17 deletions
@@ -0,0 +1,139 @@
+import assert from "node:assert/strict";
+import { after, before, test } from "node:test";
+
+import { createServer } from "vite";
+
+let server;
+let parseDatasetGatewayCatalog;
+let fetchDatasetGatewayCatalog;
+let DatasetGatewayContractError;
+
+before(async () => {
+  server = await createServer({
+    appType: "custom",
+    logLevel: "silent",
+    server: { middlewareMode: true },
+  });
+  ({
+    parseDatasetGatewayCatalog,
+    fetchDatasetGatewayCatalog,
+    DatasetGatewayContractError,
+  } = await server.ssrLoadModule("/src/core/lidar/datasetGateway.ts"));
+});
+
+after(async () => {
+  await server?.close();
+});
+
+function catalog(overrides = {}) {
+  return {
+    schema_version: "missioncore.dataset-gateway-catalog/v1",
+    access: "read-only",
+    storage: {
+      configured: false,
+      required_windows_root: "D:\\NDC_MISSIONCORE\\datasets",
+      required_wsl_root: "/mnt/d/NDC_MISSIONCORE/datasets",
+      admitted: false,
+      status: "blocked-storage-policy",
+      path_exposed: false,
+    },
+    sources: [{
+      source_id: "goose-3d/v2025-08-22",
+      display_name: "GOOSE 3D",
+      role: "primary-offroad-semantic-baseline",
+      license: "CC-BY-SA-4.0",
+      format: "semantickitti-xyzi-label",
+      frame_semantics: "one-lidar-revolution",
+      platforms: ["MuCAR-3", "ALICE", "Spot"],
+      annotations: ["semantic-point", "instance-point"],
+      superclasses: ["natural-ground", "obstacle"],
+      download: {
+        automatic: false,
+        reason: "operator-admitted-large-artifact-only",
+        validation_archive_gb: 3.3,
+      },
+      admission: {
+        status: "blocked-storage-policy",
+      },
+    }],
+    representations: [
+      {
+        id: "native-scan",
+        title: "Одиночный исходный скан",
+        purpose: "dataset-ground-truth-and-sensor-domain",
+        accumulation: false,
+      },
+      {
+        id: "normalized-scan",
+        title: "Нормализованный sensor-frame скан",
+        purpose: "deskew-filter-inference-and-algorithm-comparison",
+        accumulation: false,
+      },
+      {
+        id: "rolling-local-map",
+        title: "Накопленная локальная карта",
+        purpose: "stable-operator-view-and-local-planning",
+        accumulation: true,
+      },
+    ],
+    pipeline: [{
+      stage: "deskew",
+      requires: ["per-point-time", "imu-or-odometry"],
+      produces: "normalized-scan",
+    }],
+    known_inputs: [{
+      source_id: "current-recorded-lidar/vendor-map",
+      representation: "vendor-mapped-increment",
+      native_scan: false,
+      per_point_time: false,
+      ring_or_line: false,
+      admitted_for_patchworkpp: false,
+      reason: "post-lio-map-product-cannot-be-reconstructed-as-a-native-scan",
+    }],
+    next_action: "configure-dataset-root-on-worker-d",
+    ...overrides,
+  };
+}
+
+test("parses three distinct LiDAR representations and current-input boundary", () => {
+  const parsed = parseDatasetGatewayCatalog(catalog());
+  assert.deepEqual(
+    parsed.representations.map((item) => item.id),
+    ["native-scan", "normalized-scan", "rolling-local-map"],
+  );
+  assert.equal(parsed.representations[2].accumulation, true);
+  assert.equal(parsed.currentInput.admittedForPatchworkpp, false);
+  assert.equal(parsed.source.frameSemantics, "one-lidar-revolution");
+});
+
+test("rejects path exposure and upgraded K1 semantics", () => {
+  const exposed = catalog();
+  exposed.storage.path_exposed = true;
+  assert.throws(
+    () => parseDatasetGatewayCatalog(exposed),
+    DatasetGatewayContractError,
+  );
+
+  const upgraded = catalog();
+  upgraded.known_inputs[0].per_point_time = true;
+  assert.throws(
+    () => parseDatasetGatewayCatalog(upgraded),
+    DatasetGatewayContractError,
+  );
+});
+
+test("fetches the read-only gateway endpoint", async () => {
+  const calls = [];
+  const parsed = await fetchDatasetGatewayCatalog({
+    fetcher: async (url, init) => {
+      calls.push({ url, init });
+      return new Response(JSON.stringify(catalog()), {
+        status: 200,
+        headers: { "Content-Type": "application/json" },
+      });
+    },
+  });
+  assert.equal(calls[0].url, "/api/v1/lidar/dataset-gateway");
+  assert.equal(calls[0].init.method, "GET");
+  assert.equal(parsed.source.displayName, "GOOSE 3D");
+});