227 lines
7.4 KiB
JavaScript
227 lines
7.4 KiB
JavaScript
import assert from "node:assert/strict";
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import { after, before, test } from "node:test";
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import { createServer } from "vite";
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let server;
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let fetchM48SFixedClassDetectorResult;
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let fetchM48SFixedClassDetectorFrame;
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const resultId = `m48s-fixed-class-detector-lab-${"b".repeat(64)}`;
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const authority = {
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actuation_allowed: false,
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candidate_accepted: false,
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commands_enabled: false,
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ground_truth: false,
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navigation_or_safety_accepted: false,
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};
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before(async () => {
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server = await createServer({
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appType: "custom",
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logLevel: "silent",
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server: { middlewareMode: true },
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});
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({
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fetchM48SFixedClassDetectorResult,
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fetchM48SFixedClassDetectorFrame,
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} = await server.ssrLoadModule("/src/core/laboratory/m48sFixedClassDetector.ts"));
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});
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after(async () => server?.close());
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function response(value) {
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return { ok: true, status: 200, json: async () => value };
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}
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function resultPayload() {
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const candidate = (id, overrides = {}) => ({
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id,
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label: id,
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provider_id: `${id}/v1`,
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capacity_fps: 40,
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p95_ms: 35,
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frame_253_dog_detected: false,
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frame_253_dog_score: null,
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selected: false,
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...overrides,
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});
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return {
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schema_version: "missioncore.m48s-fixed-class-detector-result-view/v1",
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result_id: resultId,
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created_at_utc: "2026-08-25T11:06:28Z",
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status: "complete-reference-graph-shadow-passed-production-not-authorized",
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bounded_question_accepted: true,
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ground_truth: false,
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source: {
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source_session_id: "RAVNOVES00",
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camera_source_id: "sensor.camera.right",
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camera_raster: [800, 600],
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evidence_frame_count: 1,
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},
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configuration: {
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comparison_threshold: 0.5,
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display_modes: ["source", "yolox", "dfine", "rf-detr"],
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single_inference_per_frame: true,
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geometry_owns_static_occupancy: true,
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unknown_stationary_response: "route-around",
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unknown_moving_response: "conservative-risk",
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},
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method: {
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schema_version: "missioncore.laboratory-method/v1",
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completeness: "complete",
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execution_class: "ai-inference",
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pipeline_id: "raw-kb4-fixed-class-risk-detector-tournament/v1",
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components: [{
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kind: "model",
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name: "RF-DETR-L COCO",
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version: "trt11-fp16",
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role: "selected fixed-class risk detector",
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identity_sha256: "9".repeat(64),
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}],
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},
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metrics: {
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candidates: [
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candidate("yolox"),
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candidate("dfine"),
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candidate("rf-detr", {
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label: "RF-DETR-L",
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capacity_fps: 42.496232,
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frame_253_dog_detected: true,
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frame_253_dog_score: 0.741674,
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selected: true,
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}),
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],
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detector_load: {
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duration_seconds: 1800.019643,
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source_frames_consumed: 18008,
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source_frame_replacements: 0,
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effective_consumed_fps: 10.004444,
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end_to_end_p95_ms: 32.41534,
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completion_age_p95_ms: 40.620542,
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gpu_utilization_mean_percent: 51.407556,
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gpu_utilization_maximum_percent: 65,
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gpu_memory_maximum_mib: 9556,
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queue_maximum_depth: 1,
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queue_capacity: 2,
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failures: 0,
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},
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integrated_world_state: {
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duration_seconds: 458.900859,
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source_frames_admitted: 4489,
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delivered_world_states: 4481,
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superseded_frames: 8,
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effective_world_state_fps: 9.764636,
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world_state_completion_age_p95_ms: 74.733648,
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world_state_completion_age_p99_ms: 102.62048,
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world_state_completion_age_maximum_ms: 669.142137,
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local_obstacle_map_output_age_p95_ms: 70.635141,
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queue_high_watermarks: { detector: 2, geometry: 2, temporal: 2, rolling: 2, threat: 2 },
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queue_capacity: 2,
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gpu_utilization_mean_percent: 50.903371,
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gpu_utilization_maximum_percent: 60,
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gpu_memory_maximum_mib: 9576,
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gpu_power_maximum_w: 153.51,
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gpu_temperature_maximum_c: 39,
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unique_component_count: 44979,
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multi_frame_component_count: 15887,
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maximum_component_publications: 219,
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duplicate_component_ids_within_frame: 0,
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advisory_family_counts: {
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animal: 63,
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"generic-obstacle": 123919,
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"light-road-user": 329,
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person: 5600,
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vehicle: 55818,
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},
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semantic_hint_counts: { dog: 60, person: 5600, "geometry-only": 123919 },
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motion_counts: { moving: 12252, stationary: 1433, unknown: 172044 },
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additional_inference_passes: 0,
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failures: 0,
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},
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},
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decision: {
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selected_candidate: "rf-detr",
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ready_for_reference_graph_shadow: true,
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integrated_world_state_gate_evaluated: true,
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integrated_world_state_gate_passed: true,
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detector_replacement_authorized: false,
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production_accepted: false,
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},
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limitations: ["No independent semantic ground truth."],
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authority,
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frames: [{
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frame_id: "000253",
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source_sequence: 253,
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counts: { yolox: 4, dfine: 7, "rf-detr": 8 },
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}],
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access: "read-only",
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};
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}
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test("M4.8S result exposes complete graph load without production authority", async () => {
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const result = await fetchM48SFixedClassDetectorResult(resultId, {
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fetcher: async (url) => {
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assert.equal(
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url,
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`/api/v1/laboratory/m48s/fixed-class-detector/${resultId}`,
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);
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return response(resultPayload());
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},
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});
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assert.equal(result.metrics.detectorLoad.sourceFramesConsumed, 18008);
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assert.equal(result.metrics.detectorLoad.completionAgeP95Ms, 40.620542);
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assert.equal(result.metrics.candidates[2].frame253DogScore, 0.741674);
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assert.equal(result.metrics.integratedWorldState.deliveredWorldStates, 4481);
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assert.equal(result.metrics.integratedWorldState.worldStateCompletionAgeP95Ms, 74.733648);
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assert.equal(result.metrics.integratedWorldState.additionalInferencePasses, 0);
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assert.equal(result.decision.integratedWorldStateGatePassed, true);
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assert.equal(result.decision.productionAccepted, false);
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assert.equal(result.authority.navigationOrSafetyAccepted, false);
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});
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test("M4.8S frame binds exact camera endpoint and risk-only boxes", async () => {
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const frame = await fetchM48SFixedClassDetectorFrame(resultId, "000253", {
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fetcher: async () => response({
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schema_version: "missioncore.m48s-fixed-class-detector-frame/v1",
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result_id: resultId,
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frame_id: "000253",
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source_sequence: 253,
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camera: {
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media_type: "image/jpeg",
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width: 800,
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height: 600,
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exact_source_frame: true,
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},
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comparison_threshold: 0.5,
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detections: {
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yolox: [],
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dfine: [{ label: "skateboard", score: 0.782227, bbox_xyxy: [236, 334, 274, 372] }],
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"rf-detr": [{ label: "dog", score: 0.741674, bbox_xyxy: [235, 336, 273, 376] }],
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},
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ground_truth_available: false,
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authority,
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access: "read-only",
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}),
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});
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assert.equal(frame.detections["rf-detr"][0].label, "dog");
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assert.equal(
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frame.cameraUrl,
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`/api/v1/laboratory/m48s/fixed-class-detector/${resultId}/frames/000253/camera`,
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);
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assert.equal(frame.groundTruthAvailable, false);
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});
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test("M4.8S adapter rejects any navigation authority escalation", async () => {
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await assert.rejects(
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fetchM48SFixedClassDetectorResult(resultId, {
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fetcher: async () => response({
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...resultPayload(),
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authority: { ...authority, navigation_or_safety_accepted: true },
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}),
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}),
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/navigation_or_safety_accepted/,
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);
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});
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