460 lines
18 KiB
JavaScript
460 lines
18 KiB
JavaScript
import assert from "node:assert/strict";
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import { readFile } from "node:fs/promises";
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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 fetchM4ThreatReplayResult;
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let fetchM4ThreatVisual;
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let fetchM4ThreatTimeline;
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let fetchM4ThreatTimelineChunk;
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let selectM4ThreatTimelineFrame;
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let selectM4ThreatTimelineSequence;
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let advanceRecordedEvidencePlayback;
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let m4ThreatChunkWindowStarts;
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let buildM4LocalSurface;
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const resultId = `m4-threat-replay-${"a".repeat(64)}`;
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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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fetchM4ThreatReplayResult,
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fetchM4ThreatVisual,
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fetchM4ThreatTimeline,
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fetchM4ThreatTimelineChunk,
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selectM4ThreatTimelineFrame,
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selectM4ThreatTimelineSequence,
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} = await server.ssrLoadModule("/src/core/laboratory/m4ReplayThreat.ts"));
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({ advanceRecordedEvidencePlayback } = await server.ssrLoadModule(
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"/src/components/laboratory/useRecordedEvidencePlayback.ts",
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));
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({ m4ThreatChunkWindowStarts } = await server.ssrLoadModule(
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"/src/workspaces/laboratory/useM4ThreatTimeline.ts",
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));
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({ buildM4LocalSurface } = await server.ssrLoadModule(
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"/src/core/laboratory/m4LocalSurface.ts",
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));
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});
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after(async () => {
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await server?.close();
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});
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function proposal(overrides = {}) {
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return {
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proposal_id: "proposal-1",
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bbox_xyxy: [100, 120, 240, 360],
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objectness: 0.91,
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semantic_hint: "person",
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occupied_support: false,
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range_m: null,
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threat_decision: "unknown",
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threat_reason_codes: ["camera-only-no-metric-geometry"],
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...overrides,
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};
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}
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function timelineFrame(sequence, sessionSeconds, overrides = {}) {
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return {
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schema_version: "missioncore.recorded-spatial-evidence-frame/v1",
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sequence,
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frame_id: `frame-${String(sequence).padStart(6, "0")}`,
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source_time_ns: Math.round(sessionSeconds * 1_000_000_000),
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session_seconds: sessionSeconds,
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source_available: true,
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spatial_available: true,
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body_frame: {
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origin_map_xyz_m: [sequence, 0, 0],
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basis_map_from_body: [[1, 0, 0], [0, 1, 0], [0, 0, 1]],
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},
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point_cloud_body_xyz_m: [[1, 0, 0.1]],
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point_cloud_source_count: 1,
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point_cloud_sample_count: 1,
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point_cloud_layer: "current-increment",
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rolling_map_component_count: 0,
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metric_obstacles: [],
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camera_proposals: [],
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decision_counts: { threat: 0, "not-threat": 0, unknown: 0 },
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camera_url: `/api/v1/laboratory/m4-threat/results/${resultId}/timeline/frames/${sequence}/camera`,
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authority: "replay-simulated",
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...overrides,
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};
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}
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test("M4.6 decodes accepted dual-evidence result without physical authority", async () => {
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const result = await fetchM4ThreatReplayResult({
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fetcher: async () => new Response(JSON.stringify({
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schema_version: "missioncore.m4-threat-replay-catalog/v1",
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items: [{
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schema_version: "missioncore.m4-threat-replay-view/v1",
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result_id: resultId,
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created_at_utc: "2026-08-05T15:36:01.553Z",
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status: "accepted",
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profile_id: "m4-ravnoves00-virtual-corridor/v1",
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rig_profile_id: "virtual-base-footprint-1000x600/v2",
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corridor_profile_id: "ravnoves00-forward-corridor-8m/v2",
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source_result_ids: {
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detector: `m4-detector-replay-${"b".repeat(64)}`,
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geometry: `m4-geometry-replay-${"c".repeat(64)}`,
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temporal: `m4-temporal-replay-${"d".repeat(64)}`,
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},
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metrics: {
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decisions: { threat: 8010, "not-threat": 6610, unknown: 60832 },
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evidence: { "camera-only": 10158, "current-metric": 28081, "rolling-map-retained": 70989, "stale-or-held": 38025 },
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fixtures: { critical: 4, critical_false_not_threat: 0, passed: 9, total: 9 },
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runtime: {
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frames_per_second: 116.4,
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provider_latency_p50_ms: 4.3,
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provider_latency_p95_ms: 19.8,
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provider_latency_max_ms: 194.3,
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},
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body_frame: {
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available: 3928,
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qualified: 3861,
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rejected: 67,
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camera_forward_alignment_deg: { p95: 8.439, maximum: 24.252 },
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},
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reason_counts: { "geometry-only-evidence": 21958 },
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},
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configuration: {
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virtual_body_m: [1, 0.6],
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nominal_sensor_height_m: 1.25,
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forward_corridor_m: 8,
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prediction_horizon_seconds: 5,
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body_frame: {
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origin: "local-surface-vertical-projection",
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up: "vendor-slam-map-gravity-axis",
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forward: "smoothed-slam-trajectory-validated-by-camera-axis",
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},
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},
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limitations: ["replay only"],
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accepted: true,
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authority: "replay-simulated",
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physical_collision_accepted: false,
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actuation_allowed: false,
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}],
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}), { status: 200 }),
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});
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assert.equal(result.resultId, resultId);
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assert.equal(result.metrics.evidence.currentMetric, 28081);
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assert.equal(result.metrics.fixtures.criticalFalseNotThreat, 0);
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assert.equal(result.metrics.bodyFrame.qualified, 3861);
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assert.equal(result.metrics.bodyFrame.cameraForwardAlignmentDeg.p95, 8.439);
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assert.deepEqual(result.configuration.virtualBodyM, [1, 0.6]);
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assert.equal(result.configuration.bodyFrame.up, "vendor-slam-map-gravity-axis");
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});
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test("M4.6 binds exact CAMERA and metric 3D evidence to one replay frame", async () => {
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const frame = await fetchM4ThreatVisual(resultId, 1, {
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fetcher: async () => new Response(JSON.stringify({
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schema_version: "missioncore.perception-threat-visual-frame/v1",
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result_id: resultId,
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camera_url: `/api/v1/laboratory/m4-threat/results/${resultId}/visuals/1/camera`,
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ordinal: 1,
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sequence: 20,
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frame_id: "frame-000020",
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source_time_ns: 37421857292,
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point_cloud_body_xyz_m: [[1, 0, 0.1], [2, 0.2, 0.3]],
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point_cloud_source_count: 12000,
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point_cloud_sample_count: 2,
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metric_obstacles: [{
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component_id: "temporal-20-1",
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state: "current",
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motion: "moving",
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centroid_body_xyz_m: [2, 0.1, 0.4],
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cell_centers_body_xyz_m: [[2, 0.1, 0.4]],
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assessment: {
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component_id: "temporal-20-1",
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decision: "threat",
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corridor_intersection: "intersects",
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relative_speed_mps: 1.2,
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closest_approach_m: 0.4,
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ttc_seconds: 1.6,
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reason_codes: ["geometry-only-evidence"],
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},
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}],
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camera_proposals: [proposal()],
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rig: { length_m: 1, width_m: 0.6, nominal_sensor_height_m: 1.25 },
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corridor: {
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forward_length_m: 8,
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rear_margin_m: 0.5,
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half_width_m: 0.5,
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prediction_horizon_seconds: 5,
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},
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}), { status: 200 }),
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});
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assert.equal(frame.sequence, 20);
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assert.match(frame.cameraUrl, /\/visuals\/1\/camera$/);
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assert.equal(frame.metricObstacles[0].assessment.decision, "threat");
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assert.equal(frame.cameraProposals[0].threatDecision, "unknown");
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assert.equal(frame.pointCloudSampleCount, 2);
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});
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test("M4.6 v2 keeps CURRENT INCREMENT separate from ROLLING MAP", async () => {
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const frame = await fetchM4ThreatVisual(resultId, 14, {
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fetcher: async () => new Response(JSON.stringify({
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schema_version: "missioncore.perception-threat-visual-frame/v2",
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result_id: resultId,
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camera_url: `/api/v1/laboratory/m4-threat/results/${resultId}/visuals/14/camera`,
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ordinal: 14,
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sequence: 1880,
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frame_id: "frame-001880",
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source_time_ns: 223304857292,
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point_cloud_body_xyz_m: [[1, 0, 0.1]],
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point_cloud_source_count: 1652,
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point_cloud_sample_count: 1652,
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point_cloud_layer: "current-increment",
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rolling_map_component_count: 10,
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metric_obstacles: [{
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component_id: "rolling-sphere-near",
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state: "retained",
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motion: "unknown",
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centroid_body_xyz_m: [0.76, -0.27, 0.38],
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cell_centers_body_xyz_m: [[0.52, -0.3, 0.08]],
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assessment: {
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component_id: "rolling-sphere-near",
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decision: "threat",
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corridor_intersection: "intersects",
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relative_speed_mps: null,
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closest_approach_m: 0.1,
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ttc_seconds: null,
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reason_codes: ["retained-corridor-intersection"],
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},
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}],
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camera_proposals: [],
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rig: { length_m: 1, width_m: 0.6, nominal_sensor_height_m: 1.25 },
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corridor: {
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forward_length_m: 8,
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rear_margin_m: 0.5,
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half_width_m: 0.5,
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prediction_horizon_seconds: 5,
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},
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}), { status: 200 }),
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});
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assert.equal(frame.pointCloudLayer, "current-increment");
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assert.equal(frame.rollingMapComponentCount, 10);
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assert.equal(frame.metricObstacles[0].state, "retained");
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assert.equal(frame.metricObstacles[0].assessment.decision, "threat");
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});
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test("M4.6 timeline keeps only a compact index and decodes bounded spatial chunks", async () => {
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const frameTimesNs = Array.from(
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{ length: 4489 },
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(_, index) => 35_421_857_292 + index * 100_000_000,
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);
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const timeline = await fetchM4ThreatTimeline(resultId, {
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fetcher: async () => new Response(JSON.stringify({
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schema_version: "missioncore.recorded-spatial-evidence-timeline/v1",
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result_id: resultId,
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recorded_source: {
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session_id: "20260720T065719Z_viewer_live",
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source_id: "RAVNOVES00",
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representation_id: "registered-map-increment-v1",
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synchronization: "host-arrival-best-effort",
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},
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image_width: 800,
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image_height: 600,
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frame_count: 4489,
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frame_times_ns: frameTimesNs,
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timeline_start_seconds: 35.421857292,
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timeline_end_seconds: 484.221857292,
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nominal_frame_interval_seconds: 0.1,
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nominal_rate_hz: 10,
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max_chunk_frames: 24,
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point_sample_limit: 4096,
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maximum_source_points_per_frame: 3092,
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point_delivery: "exact-current-increment",
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local_surface_visualization: {
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derivation: "bounded-registered-increment-accumulation",
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window_seconds: 2,
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voxel_size_m: 0.1,
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radius_m: 12,
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point_limit: 20000,
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authority: "visual-derived",
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},
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rig: { length_m: 1, width_m: 0.6, nominal_sensor_height_m: 1.25 },
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corridor: {
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forward_length_m: 8,
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rear_margin_m: 0.5,
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half_width_m: 0.5,
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occupied_voxel_size_m: 0.45,
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prediction_horizon_seconds: 5,
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},
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authority: "replay-simulated",
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}), { status: 200 }),
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});
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assert.equal(timeline.frameTimesNs.length, 4489);
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assert.equal(timeline.pointDelivery, "exact-current-increment");
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assert.equal(timeline.maximumSourcePointsPerFrame, 3092);
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assert.equal(timeline.occupiedVoxelSizeM, 0.45);
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assert.equal(timeline.localSurfaceVisualization.windowSeconds, 2);
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assert.equal(timeline.localSurfaceVisualization.authority, "visual-derived");
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assert.equal(selectM4ThreatTimelineSequence(timeline.frameTimesNs, 35.50), 1);
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const chunk = await fetchM4ThreatTimelineChunk(resultId, 0, 2, {
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fetcher: async () => new Response(JSON.stringify({
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schema_version: "missioncore.recorded-spatial-evidence-chunk/v1",
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result_id: resultId,
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start_sequence: 0,
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frame_count: 2,
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next_sequence: 2,
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frames: [
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timelineFrame(0, 35.421857292),
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timelineFrame(1, 35.521857292, {
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camera_proposals: [proposal()],
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decision_counts: { threat: 0, "not-threat": 0, unknown: 1 },
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}),
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],
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authority: "replay-simulated",
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}), { status: 200 }),
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});
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assert.equal(chunk.frames[1].cameraProposals[0].rangeM, null);
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assert.equal(selectM4ThreatTimelineFrame(chunk.frames, 35.50).sequence, 1);
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});
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test("M4.6 local SLAM surface reprojects registered increments into the active body frame", () => {
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const frames = [
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timelineFrame(0, 10, {
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body_frame: {
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origin_map_xyz_m: [0, 0, 0],
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basis_map_from_body: [[0, -1, 0], [1, 0, 0], [0, 0, 1]],
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},
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point_cloud_body_xyz_m: [[1, 0, 0]],
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}),
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timelineFrame(1, 10.1, {
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body_frame: {
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origin_map_xyz_m: [0, 0, 0],
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basis_map_from_body: [[1, 0, 0], [0, 1, 0], [0, 0, 1]],
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},
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point_cloud_body_xyz_m: [[1, 0, 0]],
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}),
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].map((raw, index) => ({
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sequence: raw.sequence,
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frameId: raw.frame_id,
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sourceTimeNs: raw.source_time_ns,
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sessionSeconds: raw.session_seconds,
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sourceAvailable: true,
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spatialAvailable: true,
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bodyFrame: {
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originMapXyzM: raw.body_frame.origin_map_xyz_m,
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basisMapFromBody: raw.body_frame.basis_map_from_body,
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},
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pointCloudBodyXyzM: raw.point_cloud_body_xyz_m,
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pointCloudSourceCount: 1,
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pointCloudSampleCount: 1,
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pointCloudLayer: "current-increment",
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rollingMapComponentCount: 0,
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metricObstacles: [],
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cameraProposals: [],
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decisionCounts: { threat: 0, "not-threat": 0, unknown: 0 },
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cameraUrl: raw.camera_url,
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}));
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const surface = buildM4LocalSurface(frames, frames[1], {
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windowSeconds: 2,
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voxelSizeM: 0.1,
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radiusM: 12,
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pointLimit: 20_000,
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});
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assert.equal(surface.sourceFrameCount, 2);
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assert.equal(surface.sourcePointCount, 2);
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assert.deepEqual(surface.pointsBodyXyzM, [[0, 1, 0], [1, 0, 0]]);
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});
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test("M4.6 spatial buffering keeps previous, active and two future chunks", () => {
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assert.deepEqual(m4ThreatChunkWindowStarts(48, 24, 4489), [24, 48, 72, 96]);
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assert.deepEqual(m4ThreatChunkWindowStarts(0, 24, 4489), [0, 24, 48]);
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});
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test("recorded evidence clock advances by selected rate and stops at the sealed end", () => {
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const range = { startSeconds: 10, endSeconds: 20 };
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assert.deepEqual(
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advanceRecordedEvidencePlayback(
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{ currentSeconds: 12, playing: true, rate: 2 },
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1.5,
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range,
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),
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{ currentSeconds: 15, playing: true, rate: 2 },
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);
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assert.deepEqual(
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advanceRecordedEvidencePlayback(
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{ currentSeconds: 19.5, playing: true, rate: 1 },
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1,
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range,
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),
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{ currentSeconds: 20, playing: false, rate: 1 },
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);
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});
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test("M4.6 viewer keeps media and spatial panes on one playback clock", async () => {
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const [visual, visualCss, imageScene, videoScene, metricScene] = await Promise.all([
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readFile(new URL("../src/workspaces/laboratory/M4ReplayThreatVisual.tsx", import.meta.url), "utf8"),
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readFile(new URL("../src/styles/m4-replay-threat.css", import.meta.url), "utf8"),
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readFile(new URL("../src/components/laboratory/RecordedEvidenceImageScene.tsx", import.meta.url), "utf8"),
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readFile(new URL("../src/components/laboratory/RecordedEvidenceVideoScene.tsx", import.meta.url), "utf8"),
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readFile(new URL("../src/components/laboratory/LaboratoryMetricEvidenceScene.tsx", import.meta.url), "utf8"),
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]);
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assert.match(visual, /<RecordedEvidenceVideoScene/);
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assert.match(visual, /<RecordedEvidenceImageScene/);
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assert.match(visual, /<LaboratoryMetricEvidenceScene/);
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assert.match(visual, /m4-replay-threat-visual__deck/);
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assert.match(visual, /lastFrameRef/);
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assert.match(visual, /lastSpatialFrameRef/);
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assert.match(visual, /const spatialFrame = frame\?\.spatialAvailable/);
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assert.match(visual, /<ObservationTimeline/);
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assert.match(visual, /useM4ThreatTimelineFrame/);
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assert.match(visual, /label: "VIDEO"/);
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assert.match(visual, /label: "CAMERA"/);
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assert.match(visual, /label: "3D"/);
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assert.match(visual, /label: "PLAN"/);
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assert.match(visual, /mediaMode/);
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assert.match(visual, /spatialMode/);
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assert.match(visual, /current === next \? null : next/);
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assert.match(visual, /data-split=\{splitView \? "true" : undefined\}/);
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assert.match(visual, /<SplitPane/);
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assert.match(visual, /primarySize=\{splitView \? splitPrimarySize : mediaMode \? 100 : 0\}/);
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assert.match(visual, /resizable=\{splitView\}/);
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assert.match(visual, /separatorLabel="Изменить размер VIDEO\/CAMERA и 3D\/PLAN"/);
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assert.match(visual, /secondaryMode=\{\{/);
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assert.match(visual, /playback=\{playbackController\.playback\}/);
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assert.match(visual, /currentSeconds: playbackController\.playback\.currentSeconds/);
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assert.doesNotMatch(visual, /setPlaying\(false\)/);
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assert.match(visualCss, /m4-replay-threat-visual__deck > \.nodedc-split-pane/);
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assert.match(visualCss, /m4-replay-threat-visual__pane-toolbar\[data-pane-toolbar="media"\]/);
|
|
assert.match(visualCss, /m4-replay-threat-visual__pane-toolbar\[data-pane-toolbar="spatial"\]/);
|
|
assert.match(visualCss, /width: 33\.333333%/);
|
|
assert.match(visualCss, /flex-flow: column nowrap/);
|
|
assert.match(visualCss, /m4-replay-threat-visual__overlay > div/);
|
|
assert.match(visualCss, /laboratory-metric-evidence-scene__legend/);
|
|
assert.match(visualCss, /bottom: auto/);
|
|
assert.match(videoScene, /<RecordedFmp4Player/);
|
|
assert.match(imageScene, /<RecordedEvidenceBoxOverlay/);
|
|
assert.match(metricScene, /OrbitControls/);
|
|
assert.match(visual, /LOCAL SLAM/);
|
|
assert.match(visual, /showLocalSurface/);
|
|
assert.match(visual, /pointCloudBodyXyzM=\{spatialFrame\.pointCloudBodyXyzM\}/);
|
|
assert.match(metricScene, /Local SLAM surface/);
|
|
assert.match(visual, /showJumpToEnd=\{false\}/);
|
|
assert.doesNotMatch(visual, /Назад на 5 секунд/);
|
|
assert.doesNotMatch(visual, /Вперёд на 5 секунд/);
|
|
assert.doesNotMatch(metricScene, /ЛКМ · вращение/);
|
|
});
|
|
|
|
test("M4.6 keeps the recorded VIDEO player mounted across media mode toggles", async () => {
|
|
const visual = await readFile(
|
|
new URL("../src/workspaces/laboratory/M4ReplayThreatVisual.tsx", import.meta.url),
|
|
"utf8",
|
|
);
|
|
assert.match(visual, /const mediaPane = \(/);
|
|
assert.match(visual, /hidden=\{!mediaMode\}/);
|
|
assert.match(visual, /data-media="video"/);
|
|
assert.match(visual, /hidden=\{mediaMode !== "video"\}/);
|
|
assert.match(visual, /\{videoSource \? \(/);
|
|
assert.doesNotMatch(visual, /\{mediaMode === "video" \? videoSource \? \(/);
|
|
});
|