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

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

import { createServer } from "vite";

let server;
let fetchM49TgsFullShadowSpatialChunk;
let parseM49TgsNpyTrack;

const resultId = `m49-tgs-full-shadow-${"a".repeat(64)}`;

before(async () => {
  server = await createServer({
    appType: "custom",
    logLevel: "silent",
    server: { middlewareMode: true },
  });
  ({ fetchM49TgsFullShadowSpatialChunk, parseM49TgsNpyTrack } = await server.ssrLoadModule(
    "/src/core/laboratory/m49TgsFullShadow.ts",
  ));
});

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

test("M4.9T5 chunk keeps every missing-LiDAR cell explicitly UNOBSERVED", async () => {
  let requestedUrl = "";
  const centers = Array.from({ length: 2244 }, (_, index) => [index * 0.45, 0]);
  const unobserved = Array.from({ length: 2244 }, () => 0);
  const zBounds = Array.from({ length: 2244 }, () => [null, null]);
  const metrics = {
    eligible_point_count: 0,
    ground_point_count: 0,
    nonground_point_count: 0,
    rejected_point_count: 0,
    occupied_cell_count: 0,
  };
  const chunk = await fetchM49TgsFullShadowSpatialChunk(resultId, 7, 1, {
    fetcher: async (url) => {
      requestedUrl = String(url);
      return new Response(JSON.stringify({
        schema_version: "missioncore.m49-tgs-full-shadow-spatial-chunk/v1",
        result_id: resultId,
        start: 7,
        count: 1,
        coordinate_frame: "map-gravity-local",
        costmap: {
          cell_size_m: 0.45,
          radius_m: 12,
          centers_xy_m: centers,
        },
        frames: [{
          source_sequence: 7,
          source_frame_index: 7,
          session_seconds: 36.119857292,
          sample_available: false,
          states: unobserved,
          z_bounds_m: zBounds,
          metrics,
        }],
      }), { status: 200, headers: { "Content-Type": "application/json" } });
    },
  });

  assert.equal(
    requestedUrl,
    `/api/v1/laboratory/m49/tgs-full-shadow/${resultId}/spatial/chunk?start=7&count=1`,
  );
  assert.equal(chunk.count, 1);
  assert.equal(chunk.frames[0].sampleAvailable, false);
  assert.equal(chunk.frames[0].costmap.states.length, 2244);
  assert.deepEqual(new Set(chunk.frames[0].costmap.states), new Set([0]));
});

test("M4.9T5 viewer prefers autonomous chunks and keeps a sealed legacy fallback", async () => {
  const [source, visual, scene, contract] = await Promise.all([
    readFile(
      new URL("../src/workspaces/laboratory/M49TgsFullShadowEvidence.tsx", import.meta.url),
      "utf8",
    ),
    readFile(
      new URL("../src/workspaces/laboratory/M4ReplayThreatVisual.tsx", import.meta.url),
      "utf8",
    ),
    readFile(
      new URL("../src/components/laboratory/LaboratoryMetricEvidenceScene.tsx", import.meta.url),
      "utf8",
    ),
    readFile(
      new URL("../src/core/laboratory/m49TgsFullShadow.ts", import.meta.url),
      "utf8",
    ),
  ]);
  assert.match(source, /fetchM49PhysicalSafetyPlaybackIdForSource/);
  assert.match(source, /M49PhysicalSafetyPlaybackBuffer\.open/);
  assert.match(source, /physicalPlayback\.frameIfResident/);
  assert.match(source, /physicalPlayback\.prepare/);
  assert.match(source, /fetchM49TgsFullShadowPlaybackPack/);
  assert.match(source, /playbackProgress/);
  assert.doesNotMatch(source, /fetchM49TgsFullShadowSpatialChunk/);
  assert.match(source, /sampleAvailable: frame\.sampleAvailable/);
  assert.match(source, /packedCellsMapGravityLocal/);
  assert.match(source, /playbackPack\.states\.subarray/);
  assert.match(source, /playbackPack\.zBoundsM\.subarray/);
  assert.doesNotMatch(source, /Array\.from\(\s*playbackPack\.states/);
  assert.doesNotMatch(source, /centersXyM\.map\(/);
  assert.match(source, /fetchE47SemanticSlamResult/);
  assert.match(source, /next\.baseM4ResultId !== result\.source\.linkedVisualResultId/);
  assert.match(source, /semantic=\{semantic \? \{/);
  assert.match(
    visual,
    /classifiedSpatialFrame\s*&&\s*classifiedSpatialFrame\.sampleAvailable !== false/,
  );
  assert.doesNotMatch(visual, /classifiedSpatialFrame\?\.sampleAvailable !== false/);
  assert.match(visual, /timelineFrame\.availableFrames\.find/);
  assert.match(visual, /<LaboratoryMetricEvidenceScene/);
  assert.doesNotMatch(
    visual,
    /\{\(!classifiedSpatialLayer \? spatialFrame : displayedClassifiedSpatialFrame\) \? \(/,
  );
  assert.match(scene, /useEffect\(\(\) => resetView\(\), \[mode, resetView\]\)/);
  assert.match(contract, /linked_semantic_result_id/);
  assert.match(contract, /missioncore\.m49-tgs-full-shadow-playback\/v1/);
});

function npyFloat32(values, shape) {
  const shapeText = shape.length === 1 ? `${shape[0]},` : shape.join(", ");
  const prefixLength = 10;
  let header = `{'descr': '<f4', 'fortran_order': False, 'shape': (${shapeText}), }`;
  const padding = (16 - ((prefixLength + header.length + 1) % 16)) % 16;
  header += " ".repeat(padding) + "\n";
  const buffer = new ArrayBuffer(prefixLength + header.length + values.length * 4);
  const bytes = new Uint8Array(buffer);
  bytes.set([0x93, 0x4e, 0x55, 0x4d, 0x50, 0x59, 1, 0]);
  new DataView(buffer).setUint16(8, header.length, true);
  bytes.set(new TextEncoder().encode(header), prefixLength);
  new Float32Array(buffer, prefixLength + header.length, values.length).set(values);
  return buffer;
}

test("M4.9T5 parses sealed NPY tracks without JSON point arrays", () => {
  const parsed = parseM49TgsNpyTrack(
    npyFloat32([1.25, -2.5, 3.75, 4.5], [2, 2]),
    "<f4",
    [2, 2],
  );
  assert.deepEqual([...parsed], [1.25, -2.5, 3.75, 4.5]);
});