NODEDC_MISSION_CORE/apps/control-station/test/e46jRawFisheyeRealtime.test.mjs

import assert from "node:assert/strict";
import { readFile } from "node:fs/promises";
import test, { after, before } from "node:test";
import { createServer } from "vite";

let server;
let fetchE46JRawFisheyeRealtime;

before(async () => {
  server = await createServer({
    server: { middlewareMode: true },
    appType: "custom",
    logLevel: "silent",
  });
  ({ fetchE46JRawFisheyeRealtime } = await server.ssrLoadModule(
    "/src/core/laboratory/e46jRawFisheyeRealtime.ts",
  ));
});

after(async () => {
  await server?.close();
});

test("E46J binds full raw fisheye capacity to an honest visual exception", async () => {
  const identity = "b".repeat(64);
  const resultId = `e46j-raw-fisheye-realtime-${"a".repeat(64)}`;
  const payload = {
    schema_version: "missioncore.e46j-raw-fisheye-realtime-catalog/v1",
    items: [{
      schema_version: "missioncore.e46j-raw-fisheye-realtime-view/v1",
      result_id: resultId,
      created_at_utc: "2026-08-04T18:20:00.000Z",
      status: "realtime-capacity-passed-awaiting-temporal-layer",
      source: {
        camera_source_id: "sensor.camera.right",
        session_id: "20260720T065719Z_viewer_live",
        resolution: [800, 600],
        frame_count: 4489,
        frame_rate: 10.003944527024467,
        calibration_model: "KB4",
      },
      detector: {
        architecture: "YOLOX-S",
        source: "Megvii-BaseDetection/YOLOX release 0.1.1rc0",
        license: "Apache-2.0",
        runtime: "NVIDIA Triton 2.70.0 ONNX Runtime GPU backend",
      },
      detection: { minimum_score: 0.5, nms_iou_threshold: 0.45 },
      metrics: {
        frame_count: 4489,
        failed_frame_count: 0,
        detection_observation_count: 15499,
        class_observation_counts: { car: 14229, person: 625, truck: 608 },
        mean_detections_per_frame: 3.452662,
        max_detections_per_frame: 9,
        zero_detection_frame_count: 181,
        longest_zero_detection_run_frames: 24,
        core_capacity_fps: 47.84049,
        core_path_mean_ms: 20.902796,
        core_path_p95_ms: 25.355265,
        inference_request_mean_ms: 12.437504,
        inference_request_p95_ms: 16.414979,
        gpu_utilization_mean_percent: 26.396947,
        operator_shadow_window_frame_count: 75,
        operator_shadow_person_frame_count: 35,
      },
      visual_review: {
        reviewed_video_range_seconds: [0, 448.723],
        verdict: "realtime-detector-progress-with-known-shadow-exception",
        review_windows: [
          ["wall", 6, 10.9, "legacy-background-false-positive-suppressed"],
          ["shrub", 178.6, 180.3, "legacy-background-false-positive-suppressed"],
          ["ground", 250.7, 265.6, "legacy-background-false-positive-suppressed"],
          ["road", 392.2, 400.6, "legacy-background-false-positive-suppressed"],
          ["shadow", 419.4, 426.9, "operator-shadow-person-false-positive-observed"],
          ["terrace", 440.8, 448.4, "legacy-background-false-positive-suppressed"],
        ].map(([id, start, end, verdict]) => ({
          id,
          label: `${start}–${end}`,
          start_seconds: start,
          end_seconds: end,
          verdict,
        })),
        finding: "full raw fisheye retained",
        known_error: "operator shadow becomes person",
      },
      acceptance: {
        ten_hz_capacity_gate_passed: true,
        latency_gate_passed: true,
        full_raw_fisheye_retained: true,
      },
      decision: {
        selected_provider: "megvii-yolox-s-0.1.1rc0",
        realtime_capacity_passed: true,
        ready_for_temporal_bakeoff: true,
        provider_promoted: false,
        next_action: "attach ready temporal tracker",
      },
      method: {
        schema_version: "missioncore.laboratory-method/v1",
        completeness: "complete",
        execution_class: "hybrid",
        pipeline_id: "e46j-k1-right-raw-kb4-yolox-s-one-pass/v1",
        components: [{
          kind: "model",
          name: "YOLOX-S",
          version: "0.1.1rc0",
          role: "ready detector",
          identity_sha256: identity,
        }],
      },
      limitations: ["not truth", "no temporal identity"],
      video: {
        url: `/api/v1/laboratory/e46j/results/${resultId}/overlay.mp4`,
        media_type: "video/mp4",
        byte_length: 150563706,
        sha256: identity,
        width: 800,
        height: 600,
        frame_rate: 10.003944527024467,
        frame_count: 4489,
        duration_seconds: 448.723,
      },
      visuals: Object.fromEntries(
        ["full_route", "targeted_windows", "operator_shadow"].map((key) => [key, {
          url: `/visual/${key}.png`,
          media_type: "image/png",
          byte_length: 1000,
          sha256: identity,
        }]),
      ),
      ground_truth: false,
      authority: {
        ground_truth: false,
        provider_promoted: false,
        commands_enabled: false,
        navigation_or_safety_accepted: false,
      },
    }],
  };
  const result = await fetchE46JRawFisheyeRealtime({
    fetcher: async () => new Response(JSON.stringify(payload), {
      status: 200,
      headers: { "Content-Type": "application/json" },
    }),
  });
  assert.equal(result.source.frameCount, 4489);
  assert.equal(result.source.resolution.join("x"), "800x600");
  assert.equal(result.metrics.coreCapacityFps, 47.84049);
  assert.equal(result.metrics.operatorShadowPersonFrameCount, 35);
  assert.equal(result.visualReview.reviewWindows.length, 6);
  assert.equal(result.decision.providerPromoted, false);
  assert.doesNotMatch(JSON.stringify(result), /Users|D:\\|runtime\/experiments/);
});

test("E46J uses the fixed LAB anatomy and seekable full video", async () => {
  const [resultView, visual] = await Promise.all([
    readFile(new URL("../src/workspaces/laboratory/E46JRawFisheyeRealtimeResult.tsx", import.meta.url), "utf8"),
    readFile(new URL("../src/workspaces/laboratory/E46JRawFisheyeRealtimeVisual.tsx", import.meta.url), "utf8"),
  ]);
  assert.match(resultView, /LaboratorySummary/);
  assert.match(resultView, /LaboratoryEvidence/);
  assert.match(resultView, /LaboratoryResultSummary/);
  assert.match(resultView, /full raw fisheye realtime gate/);
  assert.match(visual, /LaboratoryEvidenceViewer/);
  assert.match(visual, /operator-shadow/);
  assert.match(visual, /<video/);
  assert.match(visual, /\[mode, selectedWindow\]/);
});