NODEDC_MISSION_CORE/apps/control-station/test/e29Evidence.test.mjs

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

import { createServer } from "vite";

let server;
let parseE29EvidenceCatalog;
let parseE29EvidenceFrame;
let fetchE29EvidenceCatalog;
let fetchE29EvidenceFrame;
let E29EvidenceContractError;

const resultId = `e29-camera-geometry-${"a".repeat(64)}`;

function result(overrides = {}) {
  return {
    result_id: resultId,
    created_at_utc: "2026-07-26T00:00:00Z",
    status: "diagnostic-replay-complete",
    identity: {
      frame_count: 4489,
      timeline_start_seconds: 35.4,
      timeline_end_seconds: 484.0,
    },
    metrics: {
      frames: {
        total: 4489,
        source_available: 3928,
        local_surface_valid: 3928,
      },
      semantic_observations: {
        total: 20513,
        current: 19625,
        agreement_fraction_of_current: 0.3231,
        geometry_status: {
          agree: 6341,
          "single-source-camera": 13246,
          conflict: 38,
          unknown: 888,
        },
      },
      geometry_only_occupied: {
        cluster_count: 21321,
        point_count: 2021343,
      },
      runtime: {
        build_elapsed_ms: 8466.6,
        frame_processing_ms: { p95: 2.517 },
      },
    },
    decision: {
      camera_first_contract_implemented: true,
      parallel_geometry_only_layer_implemented: true,
      production_promotion: false,
      next_gate: "operator review",
    },
    limitations: ["not ground truth"],
    authority: {
      commands_enabled: false,
      navigation_or_safety_accepted: false,
    },
    review_frames: [{
      frame_index: 343,
      source_frame_index: 343,
      session_seconds: 69.799,
      conflict_count: 1,
      semantic_observation_count: 6,
      geometry_only_cluster_count: 5,
    }],
    linked_evidence: {
      source_session_id: "20260720T065719Z_viewer_live",
      local_surface_model_id: `k1-local-surface-${"b".repeat(64)}`,
      source_pack_id: `e10-lidar-pack-${"c".repeat(64)}`,
      source_result_id: `e10-integrated-perception-${"d".repeat(64)}`,
      published_on_control_plane: true,
      worker_copy_required: false,
    },
    ground_truth: false,
    access: "read-only",
    ...overrides,
  };
}

function catalog(overrides = {}) {
  return {
    schema_version: "missioncore.laboratory-e29-catalog/v1",
    configured: true,
    items: [result()],
    candidate_total: 3,
    invalid_total: 0,
    access: "read-only",
    ...overrides,
  };
}

function frame(overrides = {}) {
  return {
    schema_version: "missioncore.laboratory-e29-frame/v1",
    result_id: resultId,
    frame: {
      schema_version: "missioncore.e29-camera-geometry-frame/v1",
      frame_index: 343,
      source_frame_index: 343,
      session_seconds: 69.799,
      semantic_observations: [{
        track_id: 240042,
        label: "car",
        geometry_status: "conflict",
        geometry_reason: "camera-object-region-observed-as-local-surface",
        range_m: null,
        score: 0.76,
        support: {
          classified_points_in_bbox: 8,
          occupied_points_in_bbox: 0,
          surface_points_in_bbox: 7,
        },
      }],
      geometry_only_occupied: [{
        nearest_range_m: 3.71,
        point_count: 7,
        voxel_count: 5,
        height_range_m: [1.61, 1.86],
      }],
    },
    access: "read-only",
    ...overrides,
  };
}

before(async () => {
  server = await createServer({
    appType: "custom",
    logLevel: "silent",
    server: { middlewareMode: true },
  });
  ({
    parseE29EvidenceCatalog,
    parseE29EvidenceFrame,
    fetchE29EvidenceCatalog,
    fetchE29EvidenceFrame,
    E29EvidenceContractError,
  } = await server.ssrLoadModule("/src/core/laboratory/e29Evidence.ts"));
});

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

test("decodes only verified non-authoritative E29 evidence", () => {
  const decoded = parseE29EvidenceCatalog(catalog());
  assert.equal(decoded.items.length, 1);
  assert.equal(decoded.candidateTotal, 3);
  assert.equal(decoded.items[0].metrics.semanticObservations.geometryStatus.conflict, 38);
  assert.equal(decoded.items[0].linkedEvidence.publishedOnControlPlane, true);

  const decodedFrame = parseE29EvidenceFrame(frame());
  assert.equal(decodedFrame.semanticObservations[0].geometryStatus, "conflict");
  assert.equal(decodedFrame.geometryOnlyOccupied[0].pointCount, 7);
});

test("rejects command authority and unverified publication", () => {
  assert.throws(
    () => parseE29EvidenceCatalog(catalog({
      items: [result({
        authority: {
          commands_enabled: true,
          navigation_or_safety_accepted: false,
        },
      })],
    })),
    E29EvidenceContractError,
  );
  assert.throws(
    () => parseE29EvidenceCatalog(catalog({
      items: [result({
        linked_evidence: {
          ...result().linked_evidence,
          published_on_control_plane: false,
        },
      })],
    })),
    E29EvidenceContractError,
  );
});

test("fetches canonical catalog and exact review frame read-only", async () => {
  const requests = [];
  const fetchedCatalog = await fetchE29EvidenceCatalog({
    fetcher: async (input, init) => {
      requests.push({ input: String(input), method: init?.method });
      return new Response(JSON.stringify(catalog()), {
        status: 200,
        headers: { "Content-Type": "application/json" },
      });
    },
  });
  const fetchedFrame = await fetchE29EvidenceFrame(resultId, 343, {
    fetcher: async (input, init) => {
      requests.push({ input: String(input), method: init?.method });
      return new Response(JSON.stringify(frame()), {
        status: 200,
        headers: { "Content-Type": "application/json" },
      });
    },
  });
  assert.equal(fetchedCatalog.items[0].identity.frameCount, 4489);
  assert.equal(fetchedFrame.sourceFrameIndex, 343);
  assert.deepEqual(requests, [
    {
      input: "/api/v1/laboratory/e29/results?limit=1",
      method: "GET",
    },
    {
      input: `/api/v1/laboratory/e29/results/${resultId}/frames/343`,
      method: "GET",
    },
  ]);
});