NODEDC_MISSION_CORE/apps/control-station/test/canonicalRecordedLab.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 canonicalMapGravityLocalPointToBodyGround;
let canonicalRecordedLabPackedTgsCells;
let canonicalRecordedLabTgsIsCurrent;
let resolveCanonicalLabReplay;

before(async () => {
  server = await createServer({
    appType: "custom",
    logLevel: "silent",
    server: { middlewareMode: true },
  });
  ({
    canonicalMapGravityLocalPointToBodyGround,
    canonicalRecordedLabPackedTgsCells,
    canonicalRecordedLabTgsIsCurrent,
  } = await server.ssrLoadModule("/src/core/laboratory/canonicalRecordedLab.ts"));
  ({ resolveCanonicalLabReplay } = await server.ssrLoadModule(
    "/src/core/laboratory/canonicalLabReplay.ts",
  ));
});

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

const identity = [
  [1, 0, 0],
  [0, 1, 0],
  [0, 0, 1],
];

test("canonical TGS validity never retains a sparse anchor beyond its sealed history", () => {
  assert.equal(canonicalRecordedLabTgsIsCurrent(2_000_000_000, 1_000_000_000), true);
  assert.equal(canonicalRecordedLabTgsIsCurrent(2_000_000_001, 1_000_000_000), false);
  assert.equal(canonicalRecordedLabTgsIsCurrent(999_999_999, 1_000_000_000), false);
});

test("map-gravity-local TGS uses sensor translation and current ground body exactly once", () => {
  const anchor = {
    originMapXyzM: [10, 20, 0.68],
    sensorOriginMapXyzM: [10, 20, 1],
    basisMapFromBody: identity,
  };
  const current = {
    originMapXyzM: [8, 20, 0],
    sensorOriginMapXyzM: [8, 20, 0.32],
    basisMapFromBody: identity,
  };
  assert.deepEqual(
    canonicalMapGravityLocalPointToBodyGround([1, 2, -1], anchor, current),
    [3, 2, 0],
  );
  const packed = canonicalRecordedLabPackedTgsCells({
    centersXyM: [[1, 2]],
    stateCodes: [2],
    zBoundsM: [[-1, 0]],
  }, anchor, current);
  assert.deepEqual([...packed.centersBodyXyM], [3, 2]);
  assert.deepEqual([...packed.zBoundsM], [0, 1]);
  assert.deepEqual([...packed.stateCodes], [2]);
});

test("recorded LAB spatial loading is shared, profile-bound and experiment-neutral", async () => {
  const [contract, scheduler, vegetation] = await Promise.all([
    readFile(new URL("../src/core/laboratory/canonicalRecordedLabSpatial.ts", import.meta.url), "utf8"),
    readFile(new URL("../src/components/laboratory/useCanonicalRecordedLabSpatialFrame.ts", import.meta.url), "utf8"),
    readFile(new URL("../src/core/laboratory/vegetationShadow.ts", import.meta.url), "utf8"),
  ]);
  assert.match(contract, /CANONICAL_RECORDED_LAB_SPATIAL_PROFILE/);
  assert.match(contract, /profile: CANONICAL_RECORDED_LAB_SPATIAL_PROFILE/);
  assert.match(scheduler, /Shared latest-request-wins scheduler/);
  assert.match(scheduler, /identityRef\.current !== requestIdentity/);
  assert.doesNotMatch(scheduler, /RAVNOVES|vegetation|DDRNet/);
  assert.doesNotMatch(vegetation, /fetchCanonicalRecordedLabSpatialFrame|CanonicalRecordedLabSpatialFrame/);
});

test("canonical LAB resolves one generation-bound merged RRD", async () => {
  const baseGeneration = "a".repeat(64);
  const replayGeneration = "b".repeat(64);
  const resultId = `lab-v1-vegetation-shadow-${"c".repeat(64)}`;
  let request;
  const replay = await resolveCanonicalLabReplay(resultId, {
    kind: "rerun-recording",
    sessionId: "session-001",
    sourceUrl: "/api/v1/observation-sessions/session-001/recording.rrd",
    viewerSourceUrl:
      `/api/v1/observation-sessions/session-001/recording.rrd?generation=${baseGeneration}`,
    mediaType: "application/vnd.rerun.rrd",
    timeline: "session_time",
    timelineStartSeconds: 0,
    timelineEndSeconds: 10,
    seekable: true,
    byteLength: 100,
    sha256: baseGeneration,
    playback: { speed: 1, loop: false },
    mediaSources: [],
  }, {
    origin: "http://mission-core.test",
    fetcher: async (url, options) => {
      request = { url, options };
      return new Response(null, {
        status: 200,
        headers: {
          "Content-Type": "application/vnd.rerun.rrd",
          "Content-Length": "234567",
          "ETag": `"${replayGeneration}"`,
          "X-Rerun-Format": "RRF2",
        },
      });
    },
  });

  const sourceUrl =
    `/api/v1/laboratory/vegetation-shadow/${resultId}/canonical-replay.rrd`;
  assert.equal(
    request.url,
    `http://mission-core.test${sourceUrl}?base_generation=${baseGeneration}`,
  );
  assert.equal(request.options.method, "HEAD");
  assert.deepEqual(replay, {
    sourceUrl,
    viewerSourceUrl: `${sourceUrl}?generation=${replayGeneration}`,
    byteLength: 234567,
    sha256: replayGeneration,
    blueprintSourceUrl: "/api/v1/observation-sessions/session-001/blueprint.rrd",
  });
});

for (const [prefix, sourceKind] of [
  ["m49-tgs-portable-review", "portable-tgs"],
  ["lab-v1-eomt-ddrnet", "portable-semantic"],
]) test(`${sourceKind} resolves Core cache for the exact result and base, never a legacy LAB`, async () => {
  const base = "a".repeat(64), generation = "b".repeat(64);
  const resultId = `${prefix}-${"c".repeat(64)}`;
  const launch = { sourceUrl: "/api/v1/observation-sessions/source/recording.rrd",
    viewerSourceUrl: `/api/v1/observation-sessions/source/recording.rrd?generation=${base}`,
    sha256: base };
  let calls = 0;
  const fetcher = async (url, options) => {
    calls++;
    assert.equal(url, `http://mission-core.test/api/v1/observatory/portable-results/${resultId}/replays/${base}/recording.rrd`);
    assert.equal(options.method, "HEAD");
    return new Response(null, { headers: { "Content-Type": "application/vnd.rerun.rrd",
      "Content-Length": "100", "ETag": `"${generation}"`, "X-Rerun-Format": "RRF2" } });
  };
  const options = { sourceKind, origin: "http://mission-core.test", fetcher };
  const replay = await resolveCanonicalLabReplay(resultId, launch, options);
  assert.equal(replay.viewerSourceUrl, `${replay.sourceUrl}?generation=${generation}`);
  assert.equal(replay.blueprintSourceUrl, "/api/v1/observation-sessions/source/blueprint.rrd");
  await assert.rejects(resolveCanonicalLabReplay(`lab-v1-vegetation-shadow-${"c".repeat(64)}`, launch, options));
  await assert.rejects(resolveCanonicalLabReplay(resultId, launch, {
    ...options, sourceKind: sourceKind === "portable-tgs" ? "portable-semantic" : "portable-tgs",
  }));
  await assert.rejects(resolveCanonicalLabReplay(resultId, { ...launch, sha256: "d".repeat(64) }, options));
  assert.equal(calls, 1);
});