135 lines
3.7 KiB
JavaScript
135 lines
3.7 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 decodeGroundQualification;
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let decodeGroundFailurePreview;
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let fetchGroundQualification;
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let GroundQualificationContractError;
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const aggregate = {
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micro: {
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ground_iou: 0.75,
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natural_ground_recall: 0.8,
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obstacle_non_ground_recall: 0.92,
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},
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latency_ms: { p50: 12, p95: 18, maximum: 25 },
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assigned_fraction: 1,
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source_coverage: 1,
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frame_count: 961,
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};
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const qualification = {
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schema_version: "missioncore.polygon-ground-qualification/v1",
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access: "read-only",
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run_id: "goose-ground-abc",
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identity_sha256: "a".repeat(64),
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source_id: "goose-3d/v2025-08-22",
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split: "validation",
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frame_count: 961,
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aggregates: {
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current: { ...aggregate, micro: { ...aggregate.micro, ground_iou: 0.5 } },
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patchworkpp: aggregate,
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},
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degradations: { "range-20m": { ...aggregate, source_coverage: 0.6 } },
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checks: [{
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check_id: "ground-iou-gain",
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observed: 0.25,
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operator: ">=",
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threshold: 0.07,
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passed: true,
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}],
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worst_frames: [{
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frame_id: "2022-07-22_flight__0071_0001",
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current_ground_iou: 0.6,
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patchwork_ground_iou: 0.55,
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ground_iou_delta: -0.05,
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patchwork_natural_ground_recall: 0.7,
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}],
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decision: {
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status: "shadow-candidate",
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passed: true,
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promoted_to_navigation_or_safety: false,
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reason: "all gates passed",
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},
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safety: {
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qualification_only: true,
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actuator_authority: false,
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navigation_or_safety_accepted: false,
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},
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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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decodeGroundQualification,
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decodeGroundFailurePreview,
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fetchGroundQualification,
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GroundQualificationContractError,
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} = await server.ssrLoadModule("/src/core/polygon/groundQualification.ts"));
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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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test("decodes a bounded shadow-only qualification", () => {
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const decoded = decodeGroundQualification(qualification);
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assert.equal(decoded.frameCount, 961);
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assert.equal(decoded.patchwork.micro.groundIou, 0.75);
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assert.equal(decoded.degradations["range-20m"].sourceCoverage, 0.6);
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assert.equal(decoded.decision.promotedToNavigationOrSafety, false);
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});
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test("rejects navigation or safety promotion", () => {
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assert.throws(
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() => decodeGroundQualification({
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...qualification,
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decision: {
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...qualification.decision,
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promoted_to_navigation_or_safety: true,
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},
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}),
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GroundQualificationContractError,
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);
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});
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test("decodes point-aligned failure preview", () => {
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const decoded = decodeGroundFailurePreview({
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schema_version: "missioncore.polygon-ground-failure-preview/v1",
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access: "read-only",
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run_id: "goose-ground-abc",
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source_id: "goose-3d/v2025-08-22",
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frame_id: "2022-07-22_flight__0071_0001",
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source_point_count: 2,
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point_count: 2,
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sampling: "deterministic-even-index",
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points_xyz_m: [[0, 0, 0], [1, 1, 1]],
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ground_truth_ground: [1, 0],
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evaluated: [1, 1],
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current_ground: [0, 0],
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patchwork_ground: [1, 0],
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current_disagreement: [1, 0],
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patchwork_disagreement: [0, 0],
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safety: { navigation_or_safety_accepted: false },
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});
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assert.equal(decoded.pointCount, 2);
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assert.deepEqual(decoded.patchworkGround, [1, 0]);
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});
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test("treats missing qualification as a generic run", async () => {
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const result = await fetchGroundQualification("goose-ground-abc", {
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fetcher: async () => new Response(
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JSON.stringify({ detail: "not found" }),
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{ status: 404, headers: { "content-type": "application/json" } },
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),
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});
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assert.equal(result, null);
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});
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