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

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

import { createServer } from "vite";

let server;
let xgridsK1Manifest;
let xgridsK1ObservationSources;

before(async () => {
  server = await createServer({
    appType: "custom",
    logLevel: "silent",
    server: { middlewareMode: true },
  });
  ({ xgridsK1Manifest } = await server.ssrLoadModule(
    "/src/device-plugins/xgrids-k1/manifest.ts",
  ));
  ({ xgridsK1ObservationSources } = await server.ssrLoadModule(
    "/src/device-plugins/xgrids-k1/observationSources.ts",
  ));
});

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

function model() {
  const activeModel = xgridsK1Manifest.spec.models[0];
  assert.ok(activeModel, "XGRIDS plugin must declare at least one model");
  return activeModel;
}

function declaredState() {
  const activeModel = model();
  return {
    phase: "connected",
    source_mode: "idle",
    k1_ip: "192.168.7.10",
    foxglove_ws_url: "ws://192.168.7.10:8765",
    foxglove_viewer_url: "http://192.168.7.10:8765/vendor-viewer",
    compatibility: {
      profile_id: "xgrids.lixelkity-k1.fw-3.0.2.direct-lan.v1",
      camera_preview: "rtsp://192.168.7.10:8554/vendor-preview",
    },
    device_ref: {
      device_id: "device-k1-001",
      model_id: activeModel.id,
      identity_stability: "stable",
      identity_basis: "hardware-identifier",
    },
    device_session: {
      device_session_id: "device-session-001",
      device_id: "device-k1-001",
      compatibility_profile_id: "xgrids.lixelkity-k1.fw-3.0.2.direct-lan.v1",
      connectivity: "connected",
    },
    sensor_catalog: {
      schema_version: "missioncore.sensor-catalog/v1alpha2",
      revision: "test-profile",
      streams: [
        { stream_id: "spatial.point-cloud.live", modality: "point-cloud", availability: "observed" },
        { stream_id: "camera.preview.live", modality: "encoded-video", availability: "observed" },
      ],
    },
  };
}

function streamingState() {
  return {
    ...declaredState(),
    phase: "streaming",
    source_mode: "live",
    rerun_grpc_url: "rerun+http://127.0.0.1:9877/proxy",
    acquisition: {
      acquisition_id: "acquisition-001",
      device_id: "device-k1-001",
      device_session_id: "device-session-001",
      compatibility_profile_id: "xgrids.lixelkity-k1.fw-3.0.2.direct-lan.v1",
      control_mode: "operator-manual",
      requested_streams: ["spatial.point-cloud.live"],
      target_host: "127.0.0.1",
      duration_seconds: 0,
      evidence_policy: "required",
      state: "acquiring",
      state_revision: 3,
    },
  };
}

function collectUrlLikeStrings(value, found = []) {
  if (typeof value === "string") {
    if (value.includes("://")) found.push(value);
    return found;
  }
  if (Array.isArray(value)) {
    for (const item of value) collectUrlLikeStrings(item, found);
    return found;
  }
  if (value && typeof value === "object") {
    for (const item of Object.values(value)) collectUrlLikeStrings(item, found);
  }
  return found;
}

test("K1 maps to one primary point cloud and two auxiliary camera channels", () => {
  const sources = xgridsK1ObservationSources(declaredState(), model());

  assert.equal(sources.length, 3);
  assert.deepEqual(
    sources.map(({ sourceId, semanticChannelId, modality, role }) => ({
      sourceId,
      semanticChannelId,
      modality,
      role,
    })),
    [
      {
        sourceId: "sensor.lidar.primary",
        semanticChannelId: "spatial.point-cloud.live",
        modality: "point-cloud",
        role: "primary",
      },
      {
        sourceId: "sensor.camera.left",
        semanticChannelId: "camera.preview.live",
        modality: "video",
        role: "auxiliary",
      },
      {
        sourceId: "sensor.camera.right",
        semanticChannelId: "camera.preview.live",
        modality: "video",
        role: "auxiliary",
      },
    ],
  );

  assert.equal(new Set(sources.map(({ id }) => id)).size, sources.length);
  assert.ok(sources.every(({ provider }) => provider.pluginId && provider.modelId));
  assert.ok(sources.every(({ provider }) => provider.pluginVersion));
  assert.ok(sources.every(({ binding }) => binding.deviceId === "device-k1-001"));
  assert.ok(sources.every(({ capabilities }) => capabilities.timelineMode === "live-only"));
});

test("observation source ids remain stable while runtime availability changes", () => {
  const declared = xgridsK1ObservationSources(declaredState(), model());
  const streaming = xgridsK1ObservationSources(streamingState(), model());

  assert.deepEqual(
    streaming.map(({ id }) => id),
    declared.map(({ id }) => id),
  );
  assert.equal(declared[0].availability, "available");
  assert.equal(streaming[0].availability, "streaming");
  assert.equal(streaming[0].previewUrl, "rerun+http://127.0.0.1:9877/proxy");
});

test("camera descriptors stay declared and URL-free until a browser delivery adapter exists", () => {
  const sources = xgridsK1ObservationSources(streamingState(), model());
  const cameras = sources.filter(({ modality }) => modality === "video");

  assert.equal(cameras.length, 2);
  for (const camera of cameras) {
    assert.equal(camera.availability, "declared");
    assert.equal(camera.transport, "rtsp");
    assert.equal(camera.previewUrl, null);
    assert.equal(camera.capabilities.spatialRegistration, "unresolved");
    assert.equal(camera.capabilities.resizable, true);
    assert.doesNotMatch(camera.endpointLabel ?? "", /:\/\//);
  }

  assert.deepEqual(collectUrlLikeStrings(sources), [
    "rerun+http://127.0.0.1:9877/proxy",
  ]);
  const serialized = JSON.stringify(sources);
  assert.doesNotMatch(serialized, /rtsp:\/\//i);
  assert.doesNotMatch(serialized, /192\.168\.7\.10/);
  assert.doesNotMatch(serialized, /vendor-(?:preview|viewer)/);
});

test("unattested camera catalog entries remain unverified", () => {
  const state = declaredState();
  state.compatibility.profile_id = null;
  state.device_session.compatibility_profile_id = null;
  state.sensor_catalog.streams = state.sensor_catalog.streams.map((stream) =>
    stream.stream_id === "camera.preview.live"
      ? { ...stream, availability: "unverified", decode_status: "profile-not-attested" }
      : stream);

  const cameras = xgridsK1ObservationSources(state, model()).filter(
    ({ modality }) => modality === "video",
  );
  assert.equal(cameras.length, 2);
  assert.ok(cameras.every(({ availability }) => availability === "unverified"));
  assert.ok(cameras.every(({ previewUrl }) => previewUrl === null));
});