autopilot/crates/mapobjects_store/tests/classify.rs

//! AZ-665 — H3 indexing + k-ring classify acceptance tests.

use chrono::Utc;
use mapobjects_store::{Classification, ClassifyInput, MapObjectsStore, MapObjectsStoreConfig};

/// Approximate metres-per-degree of latitude. Good enough at all
/// latitudes for the small per-test offsets used below (5–60 m).
const M_PER_DEG_LAT: f64 = 111_320.0;

/// Approximate metres-per-degree of longitude at a given latitude.
fn m_per_deg_lon(lat_deg: f64) -> f64 {
    M_PER_DEG_LAT * lat_deg.to_radians().cos()
}

/// Shift a base point north by `dn` metres and east by `de` metres.
/// Sufficiently accurate for the < 100 m offsets in these tests.
fn shift_m(base_lat: f64, base_lon: f64, dn_m: f64, de_m: f64) -> (f64, f64) {
    let lat = base_lat + dn_m / M_PER_DEG_LAT;
    let lon = base_lon + de_m / m_per_deg_lon(base_lat);
    (lat, lon)
}

fn input(lat: f64, lon: f64, class: &str) -> ClassifyInput {
    ClassifyInput {
        gps_lat: lat,
        gps_lon: lon,
        mgrs: format!("MGRS({lat:.6},{lon:.6})"),
        class: class.into(),
        size_width_m: 2.0,
        size_length_m: 2.0,
        confidence: 0.9,
        mission_id: "m-az665".into(),
        observed_at: Utc::now(),
        uav_id: "uav-az665".into(),
        observed_at_monotonic_ns: 0,
    }
}

const ANCHOR_LAT: f64 = 50.450_000;
const ANCHOR_LON: f64 = 30.520_000;

// ---------------------------------------------------------------------
// AC-1: New detection at unseen MGRS → Classification::New
// ---------------------------------------------------------------------

#[test]
fn ac1_first_detection_returns_new() {
    // Arrange
    let h = MapObjectsStore::default().handle();

    // Act
    let c = h.classify(input(ANCHOR_LAT, ANCHOR_LON, "tank")).unwrap();

    // Assert
    assert!(
        matches!(c, Classification::New { .. }),
        "expected New, got {c:?}",
    );
    assert_eq!(h.len().unwrap(), 1);
}

// ---------------------------------------------------------------------
// AC-2: Existing within distance_threshold → Classification::Existing
//   distance_threshold_m = 30, move_threshold high enough that
//   delta < move_threshold yields Existing.
// ---------------------------------------------------------------------

#[test]
fn ac2_within_distance_threshold_returns_existing() {
    // Arrange
    let cfg = MapObjectsStoreConfig {
        distance_threshold_m: 30.0,
        // Anything > distance_threshold guarantees the in-window match
        // never flips to Moved.
        move_threshold_m: 100.0,
        ..MapObjectsStoreConfig::default()
    };
    let store = MapObjectsStore::new(cfg);
    let h = store.handle();
    let first = h.classify(input(ANCHOR_LAT, ANCHOR_LON, "tank")).unwrap();
    let original_id = match first {
        Classification::New { id } => id,
        other => panic!("setup: expected New, got {other:?}"),
    };

    // Act — same class, 5 m north of the anchor.
    let (lat2, lon2) = shift_m(ANCHOR_LAT, ANCHOR_LON, 5.0, 0.0);
    let c = h.classify(input(lat2, lon2, "tank")).unwrap();

    // Assert
    match c {
        Classification::Existing { id } => assert_eq!(id, original_id),
        other => panic!("expected Existing, got {other:?}"),
    }
    assert_eq!(h.len().unwrap(), 1, "no new objects should be inserted");
}

// ---------------------------------------------------------------------
// AC-3: Moved beyond move_threshold → Classification::Moved
//   distance_threshold large enough to admit the 60 m candidate.
// ---------------------------------------------------------------------

#[test]
fn ac3_beyond_move_threshold_returns_moved() {
    // Arrange
    let cfg = MapObjectsStoreConfig {
        distance_threshold_m: 100.0,
        move_threshold_m: 50.0,
        ..MapObjectsStoreConfig::default()
    };
    let store = MapObjectsStore::new(cfg);
    let h = store.handle();
    let initial = input(ANCHOR_LAT, ANCHOR_LON, "tank");
    let from_mgrs = initial.mgrs.clone();
    let first = h.classify(initial).unwrap();
    let original_id = match first {
        Classification::New { id } => id,
        other => panic!("setup: expected New, got {other:?}"),
    };

    // Act — same class, 60 m north of the anchor.
    let (lat2, lon2) = shift_m(ANCHOR_LAT, ANCHOR_LON, 60.0, 0.0);
    let next = input(lat2, lon2, "tank");
    let to_mgrs = next.mgrs.clone();
    let c = h.classify(next).unwrap();

    // Assert
    match c {
        Classification::Moved {
            id,
            from_mgrs: f,
            to_mgrs: t,
        } => {
            assert_eq!(id, original_id);
            assert_eq!(f, from_mgrs);
            assert_eq!(t, to_mgrs);
        }
        other => panic!("expected Moved, got {other:?}"),
    }
    assert_eq!(h.len().unwrap(), 1, "Moved is an update, not an insert");
}

// ---------------------------------------------------------------------
// AC-4: k-ring boundary lookup. A second detection in a *different* H3
// cell (boundary cell) must still match the original because k=2 widens
// the lookup. We pick a delta (~12 m east) that crosses the ~15 m res-10
// cell boundary while staying well within distance_threshold.
// ---------------------------------------------------------------------

#[test]
fn ac4_k_ring_finds_match_in_neighbour_cell() {
    // Arrange
    let cfg = MapObjectsStoreConfig {
        h3_resolution: 10,
        k_ring: 2,
        distance_threshold_m: 30.0,
        move_threshold_m: 100.0,
        ..MapObjectsStoreConfig::default()
    };
    let store = MapObjectsStore::new(cfg);
    let h = store.handle();
    h.classify(input(ANCHOR_LAT, ANCHOR_LON, "tank")).unwrap();

    // Act — 12 m east. At res 10 (~15 m edge) this crosses to a
    // neighbouring cell with very high probability for arbitrary anchor.
    let (lat2, lon2) = shift_m(ANCHOR_LAT, ANCHOR_LON, 0.0, 12.0);
    let c = h.classify(input(lat2, lon2, "tank")).unwrap();

    // Assert — the k-ring widen must catch it.
    assert!(
        matches!(c, Classification::Existing { .. }),
        "expected Existing (k-ring match), got {c:?}",
    );
    assert_eq!(h.len().unwrap(), 1);
}

// ---------------------------------------------------------------------
// Class-group similarity widens matching beyond exact-class equality.
// Covers `similar_classes` configuration.
// ---------------------------------------------------------------------

#[test]
fn similar_classes_collapse_to_same_group() {
    // Arrange
    let cfg = MapObjectsStoreConfig {
        distance_threshold_m: 30.0,
        move_threshold_m: 100.0,
        similar_classes: vec![vec!["tree".into(), "shrub".into()]],
        ..MapObjectsStoreConfig::default()
    };
    let store = MapObjectsStore::new(cfg);
    let h = store.handle();
    h.classify(input(ANCHOR_LAT, ANCHOR_LON, "tree")).unwrap();

    // Act — same place, different (but collapsed) class.
    let c = h.classify(input(ANCHOR_LAT, ANCHOR_LON, "shrub")).unwrap();

    // Assert
    assert!(matches!(c, Classification::Existing { .. }), "got {c:?}");
}

#[test]
fn different_classes_do_not_collapse() {
    // Arrange
    let store = MapObjectsStore::default();
    let h = store.handle();
    h.classify(input(ANCHOR_LAT, ANCHOR_LON, "tree")).unwrap();

    // Act
    let c = h.classify(input(ANCHOR_LAT, ANCHOR_LON, "tank")).unwrap();

    // Assert — disjoint classes must each get their own row.
    assert!(matches!(c, Classification::New { .. }), "got {c:?}");
    assert_eq!(h.len().unwrap(), 2);
}

// ---------------------------------------------------------------------
// AC-5: p99 ≤ 1 ms with 10 000 warm objects.
//
// Debug builds are 3-10× slower than release. Gate behind `--ignored`
// so default `cargo test` stays fast and CI explicitly opts in via
// `cargo test --release -- --ignored ac5_classify_p99`. Asserting on a
// debug build would be flaky.
// ---------------------------------------------------------------------

#[test]
#[ignore = "perf-only: run with `cargo test --release -p mapobjects_store -- --ignored`"]
fn ac5_classify_p99_under_one_ms() {
    // Arrange — tight match window so seeded points placed on a 30 m grid
    // remain distinct rows. 100 × 100 grid → 3 km × 3 km area, 10 000 rows.
    let cfg = MapObjectsStoreConfig {
        h3_resolution: 10,
        k_ring: 2,
        distance_threshold_m: 5.0,
        move_threshold_m: 100.0,
        similar_classes: Vec::new(),
    };
    let store = MapObjectsStore::new(cfg);
    let h = store.handle();
    const GRID_STEP_M: f64 = 30.0;
    for i in 0..10_000_u32 {
        let row = i / 100;
        let col = i % 100;
        let dn = row as f64 * GRID_STEP_M;
        let de = col as f64 * GRID_STEP_M;
        let (lat, lon) = shift_m(ANCHOR_LAT, ANCHOR_LON, dn, de);
        h.classify(input(lat, lon, "tank")).unwrap();
    }
    assert_eq!(h.len().unwrap(), 10_000);

    // Act — 1 000 classifications at points midway between grid nodes so
    // most queries land inside a populated k-ring without matching any
    // single row (worst-case lookup cost).
    let mut samples = Vec::with_capacity(1_000);
    for i in 0..1_000_u32 {
        let row = (i / 50) as f64;
        let col = (i % 50) as f64;
        let dn = row * GRID_STEP_M + GRID_STEP_M / 2.0;
        let de = col * GRID_STEP_M + GRID_STEP_M / 2.0;
        let (lat, lon) = shift_m(ANCHOR_LAT, ANCHOR_LON, dn, de);
        let t0 = std::time::Instant::now();
        let _ = h.classify(input(lat, lon, "tank")).unwrap();
        samples.push(t0.elapsed());
    }

    // Assert — p99 ≤ 1 ms.
    samples.sort();
    let p99 = samples[(samples.len() as f64 * 0.99) as usize];
    assert!(
        p99 <= std::time::Duration::from_millis(1),
        "p99 was {p99:?} (expected ≤1 ms)",
    );
}