autopilot/crates/mapobjects_store/src/internal/store.rs

//! In-memory hashmap of known map objects, keyed by H3 cell.
//!
//! Classification logic (NEW / MOVED / EXISTING) lives here. Per
//! `architecture.md §7.12` the on-device map keeps the full per-mission
//! state in memory; persistence (AZ-668) lands later.
//!
//! Concurrency: this module is intentionally single-threaded and not
//! `Sync`. The public `MapObjectsStoreHandle` wraps it in an `Arc<Mutex<…>>`
//! so the lock surface is a single owned mutex instead of fine-grained
//! per-cell locking. With p99 ≤ 1 ms and detection rates < 30 Hz the
//! single mutex is comfortably within budget.

use std::collections::HashMap;

use chrono::{DateTime, Utc};
use h3o::CellIndex;
use serde::{Deserialize, Serialize};
use shared::error::Result;
use shared::models::mapobject::{
    BundleFreshness, DiffKind, IgnoredItem, IgnoredItemSource, MapObject, MapObjectObservation,
    MapObjectsBundle,
};
use uuid::Uuid;

use super::h3_index::{cell_of, grid_disk, haversine_m, DEFAULT_K_RING, DEFAULT_RESOLUTION};
use super::ignored::IgnoredSet;
use super::passes::{bbox_contains, PassTracker, RegionBbox};
use super::snapshot::{Snapshot, SnapshotMapObject};

/// Sync state machine surfaced to `scan_controller` + health aggregator.
///
/// See `_docs/02_document/components/mapobjects_store/description.md §3`.
/// `Failed` is the bounded-retries-exhausted terminal state for the
/// post-flight push (Frozen choice 7 / `description.md §7`).
#[derive(Debug, Clone, Copy, PartialEq, Eq, Serialize, Deserialize)]
#[serde(rename_all = "snake_case")]
pub enum SyncState {
    /// Initial state at process boot; no hydrate has run yet.
    FreshBoot,
    /// Last pull / push succeeded against the central API.
    Synced,
    /// Last pull failed but the on-device cache was applied as a
    /// fallback. `scan_controller` MUST gate this on operator
    /// acknowledgement before takeoff.
    CachedFallback,
    /// Stale cache or transient push failure; new MapObject diff
    /// classifications are suppressed by `scan_controller`.
    Degraded,
    /// Bounded retries exhausted (post-flight push). Operator-visible
    /// warning; mission's central data integrity at risk until
    /// manually replayed.
    Failed,
}

/// Per-detection input to `classify`. This bundles the georeferenced
/// payload the architecture-level "detection" carries (gps, class, conf,
/// size — see `system-flows.md §F7`) without forcing the shared
/// `Detection` model to grow geolocation fields. `scan_controller` builds
/// this from `Detection` + GPS / MGRS context at the call site.
#[derive(Debug, Clone)]
pub struct ClassifyInput {
    pub gps_lat: f64,
    pub gps_lon: f64,
    pub mgrs: String,
    pub class: String,
    pub size_width_m: f32,
    pub size_length_m: f32,
    pub confidence: f32,
    pub mission_id: String,
    pub observed_at: DateTime<Utc>,
    /// Airframe identifier the detection originated from. Threaded into
    /// `MapObjectObservation::uav_id` for the post-flight push log
    /// (AZ-667). Empty string is acceptable for single-UAV deployments
    /// and unit tests; production callers (`scan_controller`) supply
    /// the configured UAV id.
    #[doc(alias = "uav")]
    pub uav_id: String,
    /// Monotonic clock reading at detection time. Threaded into
    /// `MapObjectObservation::observed_at_monotonic_ns` so observation
    /// ordering survives wallclock skew. `0` is acceptable when the
    /// caller has no monotonic source (e.g. unit tests).
    pub observed_at_monotonic_ns: u64,
}

/// Configuration for the spatial-index + classification policy.
#[derive(Debug, Clone)]
pub struct MapObjectsStoreConfig {
    /// H3 cell resolution. Default 10 (~15 m edge).
    pub h3_resolution: u8,
    /// K-ring radius for boundary-safe lookups. Default 2.
    pub k_ring: u32,
    /// Maximum distance (m) between input and stored object for the pair
    /// to be considered a possible match. Beyond this → `NEW`.
    pub distance_threshold_m: f64,
    /// Above this delta (m) between input position and the matched
    /// object's stored position, classification flips to `MOVED`.
    pub move_threshold_m: f64,
    /// Class-similarity groups. Each inner vec is one group; classes in
    /// the same group are considered equivalent for matching (e.g.
    /// `tree` and `shrub` collapsed). A class not listed in any group
    /// is its own group of one.
    pub similar_classes: Vec<Vec<String>>,
}

impl Default for MapObjectsStoreConfig {
    fn default() -> Self {
        Self {
            h3_resolution: DEFAULT_RESOLUTION,
            k_ring: DEFAULT_K_RING,
            // Defaults follow `system-flows.md §F7` (distance 50 m,
            // move 10 m). The task brief lists different per-AC values
            // (30 m / 50 m) — callers override per scenario.
            distance_threshold_m: 50.0,
            move_threshold_m: 10.0,
            similar_classes: Vec::new(),
        }
    }
}

/// Outcome of `MapObjectsStore::classify`.
#[derive(Debug, Clone, PartialEq, Eq)]
pub enum Classification {
    New {
        id: Uuid,
    },
    Moved {
        id: Uuid,
        from_mgrs: String,
        to_mgrs: String,
    },
    Existing {
        id: Uuid,
    },
    /// Suppressed because the `(mgrs, class_group)` pair is in the
    /// `IgnoredSet` — the operator previously declined this POI.
    /// `scan_controller` must drop the detection without queueing it.
    Ignored,
}

/// Object that the store knew about at pass start but did not see
/// re-observed before `end_of_pass`. See `system-flows.md §F7`
/// "end-of-pass sweep" — operator (not device) decides removal.
#[derive(Debug, Clone, PartialEq)]
pub struct RemovedCandidate {
    pub id: Uuid,
    pub mgrs: String,
    pub class: String,
    pub class_group: String,
    pub gps_lat: f64,
    pub gps_lon: f64,
    pub last_seen: DateTime<Utc>,
}

/// Stored shape. Fields beyond what `classify` reads are kept for the
/// next batch in the same component (AZ-666 ignored-suppression / sweep,
/// AZ-667 hydrate / dump_pending) which will surface them via the engine
/// API. The lint allow is scoped to those forward-use fields.
#[allow(dead_code)]
#[derive(Debug, Clone)]
struct StoredMapObject {
    id: Uuid,
    h3_cell: CellIndex,
    mgrs: String,
    class: String,
    class_group: String,
    gps_lat: f64,
    gps_lon: f64,
    size_width_m: f32,
    size_length_m: f32,
    confidence: f32,
    first_seen: DateTime<Utc>,
    last_seen: DateTime<Utc>,
    mission_id: String,
}

/// In-memory spatial index of known map objects.
pub struct Store {
    config: MapObjectsStoreConfig,
    by_cell: HashMap<CellIndex, Vec<StoredMapObject>>,
    /// Total object count, maintained alongside `by_cell` for O(1) metrics.
    len: usize,
    ignored: IgnoredSet,
    passes: PassTracker,
    /// Append-only log of NEW / MOVED / EXISTING / REMOVED-CANDIDATE
    /// events for the post-flight push (AZ-667). Drained by
    /// `mission_client::push_mapobjects_diff` after landing — central
    /// writes mid-flight are forbidden (Frozen choice 6).
    pending_observations: Vec<MapObjectObservation>,
    /// Append-only log of locally-appended `IgnoredItem`s for the
    /// post-flight push (AZ-667).
    pending_ignored: Vec<IgnoredItem>,
    sync_state: SyncState,
    last_pull_ts: Option<DateTime<Utc>>,
    last_push_ts: Option<DateTime<Utc>>,
}

impl Store {
    pub fn new(config: MapObjectsStoreConfig) -> Self {
        Self {
            config,
            by_cell: HashMap::new(),
            len: 0,
            ignored: IgnoredSet::new(),
            passes: PassTracker::new(),
            pending_observations: Vec::new(),
            pending_ignored: Vec::new(),
            sync_state: SyncState::FreshBoot,
            last_pull_ts: None,
            last_push_ts: None,
        }
    }

    pub fn len(&self) -> usize {
        self.len
    }

    /// Forward-use hook for AZ-667 / AZ-668 engine plug-points.
    #[allow(dead_code)]
    pub fn config(&self) -> &MapObjectsStoreConfig {
        &self.config
    }

    /// Suppression query used by `scan_controller`'s POI gate.
    pub fn is_ignored(&self, mgrs: &str, class_group: &str) -> bool {
        self.ignored.is_ignored(mgrs, class_group)
    }

    /// Append an `IgnoredItem` (operator declined a POI, or a hydrate
    /// from `mission_client` pulled it down). When the item is
    /// `LocalAppended` it ALSO joins `pending_ignored` so the
    /// post-flight push surfaces it to central.
    pub fn append_ignored(&mut self, item: IgnoredItem) {
        if matches!(item.source, IgnoredItemSource::LocalAppended) {
            self.pending_ignored.push(item.clone());
        }
        self.ignored.append(item);
    }

    /// Number of distinct ignored `(mgrs, class_group)` pairs.
    pub fn ignored_len(&self) -> usize {
        self.ignored.len()
    }

    /// Open a scan pass over `bbox`. `scan_controller` / `mission_executor`
    /// call this when entering a region; the matching `end_of_pass`
    /// returns un-observed objects as `RemovedCandidate`s.
    pub fn pass_start(&mut self, bbox: RegionBbox, started_at: DateTime<Utc>) {
        self.passes.pass_start(bbox, started_at);
    }

    /// Close the pass over `bbox` and return objects in the region that
    /// were not observed since the pass started, excluding ignored
    /// objects. Returns an empty vec if no pass was open.
    ///
    /// Each returned `RemovedCandidate` is also appended to the
    /// `pending_observations` log as a `DiffKind::RemovedCandidate`
    /// event so the post-flight push surfaces it to central.
    pub fn end_of_pass(&mut self, bbox: &RegionBbox) -> Vec<RemovedCandidate> {
        let Some(result) = self.passes.pass_end(bbox) else {
            return Vec::new();
        };
        let mut out = Vec::new();
        for objects in self.by_cell.values() {
            for obj in objects {
                if !bbox_contains(bbox, obj.gps_lat, obj.gps_lon) {
                    continue;
                }
                if result.observed.contains(&obj.id) {
                    continue;
                }
                // Filter out ignored — operator already said "no" on
                // this pair; surfacing it again would be noise.
                if self.ignored.is_ignored(&obj.mgrs, &obj.class_group) {
                    continue;
                }
                // Pass started after the object's last_seen → object
                // was known at pass start.
                if obj.last_seen > result.started_at {
                    continue;
                }
                out.push(RemovedCandidate {
                    id: obj.id,
                    mgrs: obj.mgrs.clone(),
                    class: obj.class.clone(),
                    class_group: obj.class_group.clone(),
                    gps_lat: obj.gps_lat,
                    gps_lon: obj.gps_lon,
                    last_seen: obj.last_seen,
                });
            }
        }
        // Mirror each removed candidate into the pending observation
        // log; lookup of the stored object's mission_id keeps the
        // observation traceable end-to-end.
        let ended_at = Utc::now();
        for r in &out {
            let mission_id = self.find_mission_id(r.id).unwrap_or_default();
            self.pending_observations.push(MapObjectObservation {
                id: r.id,
                h3_cell: u64::from(
                    cell_of(r.gps_lat, r.gps_lon, self.config.h3_resolution)
                        .expect("H3 cell lookup must succeed for stored coordinates"),
                ),
                class: r.class.clone(),
                class_group: r.class_group.clone(),
                mission_id,
                uav_id: String::new(),
                observed_at_monotonic_ns: 0,
                observed_at_wallclock: ended_at,
                gps_lat: r.gps_lat,
                gps_lon: r.gps_lon,
                mgrs: r.mgrs.clone(),
                size_width_m: 0.0,
                size_length_m: 0.0,
                confidence: 0.0,
                diff_kind: DiffKind::RemovedCandidate,
                photo_ref: None,
                raw_evidence: None,
            });
        }
        out
    }

    fn find_mission_id(&self, id: Uuid) -> Option<String> {
        self.by_cell.values().flatten().find_map(|o| {
            if o.id == id {
                Some(o.mission_id.clone())
            } else {
                None
            }
        })
    }

    pub fn open_passes(&self) -> usize {
        self.passes.open_passes()
    }

    /// Number of unpushed local observations.
    pub fn pending_observations_count(&self) -> usize {
        self.pending_observations.len()
    }

    /// Number of unpushed locally-declined items.
    pub fn pending_ignored_count(&self) -> usize {
        self.pending_ignored.len()
    }

    pub fn sync_state(&self) -> SyncState {
        self.sync_state
    }

    pub fn last_pull_ts(&self) -> Option<DateTime<Utc>> {
        self.last_pull_ts
    }

    pub fn last_push_ts(&self) -> Option<DateTime<Utc>> {
        self.last_push_ts
    }

    pub fn set_sync_state(&mut self, state: SyncState) {
        self.sync_state = state;
    }

    /// Load the in-memory map from a central-pulled bundle. Replaces
    /// any existing entries (the bundle is authoritative). The
    /// sync_state moves to `Synced` for a fresh bundle or
    /// `CachedFallback` for a `Stale` one. `last_pull_ts` is set to
    /// `bundle.as_of`.
    pub fn hydrate(&mut self, bundle: MapObjectsBundle) -> Result<()> {
        self.by_cell.clear();
        self.len = 0;
        // Replace the IgnoredSet entirely — central is authoritative.
        self.ignored = IgnoredSet::new();
        let MapObjectsBundle {
            map_objects,
            ignored_items,
            as_of,
            freshness,
            ..
        } = bundle;

        for mo in map_objects {
            self.insert_hydrated(mo)?;
        }
        for item in ignored_items {
            self.ignored.append(item);
        }

        self.sync_state = match freshness {
            Some(BundleFreshness::Stale) => SyncState::CachedFallback,
            _ => SyncState::Synced,
        };
        self.last_pull_ts = Some(as_of);
        Ok(())
    }

    fn insert_hydrated(&mut self, mo: MapObject) -> Result<()> {
        let cell = cell_of(mo.gps_lat, mo.gps_lon, self.config.h3_resolution)?;
        self.by_cell.entry(cell).or_default().push(StoredMapObject {
            id: Uuid::new_v4(),
            h3_cell: cell,
            mgrs: mo.mgrs_key,
            class: mo.class,
            class_group: mo.class_group,
            gps_lat: mo.gps_lat,
            gps_lon: mo.gps_lon,
            size_width_m: mo.size_width_m,
            size_length_m: mo.size_length_m,
            confidence: mo.confidence,
            first_seen: mo.first_seen,
            last_seen: mo.last_seen,
            mission_id: mo.mission_id,
        });
        self.len += 1;
        Ok(())
    }

    /// Drain and return all pending observations + ignored items. The
    /// store's pending counts return to 0. Called by
    /// `mission_client::push_mapobjects_diff` post-flight.
    pub fn drain_pending(&mut self) -> (Vec<MapObjectObservation>, Vec<IgnoredItem>) {
        (
            std::mem::take(&mut self.pending_observations),
            std::mem::take(&mut self.pending_ignored),
        )
    }

    /// Cascade-delete every object, ignored entry, and pending log
    /// row whose `mission_id` matches. Mirrors the central
    /// `DELETE /missions/{id}` semantics.
    pub fn cascade_mission(&mut self, mission_id: &str) {
        let mut empty_cells = Vec::new();
        let mut removed = 0usize;
        for (cell, bucket) in self.by_cell.iter_mut() {
            let before = bucket.len();
            bucket.retain(|o| o.mission_id != mission_id);
            removed += before - bucket.len();
            if bucket.is_empty() {
                empty_cells.push(*cell);
            }
        }
        for c in empty_cells {
            self.by_cell.remove(&c);
        }
        self.len = self.len.saturating_sub(removed);
        self.ignored.drop_by_mission(mission_id);
        self.pending_observations
            .retain(|o| o.mission_id != mission_id);
        self.pending_ignored.retain(|i| i.mission_id != mission_id);
    }

    /// Mark a post-flight push as acknowledged. Resets sync_state to
    /// `Synced` and records the push timestamp.
    pub fn mark_pushed_ok(&mut self) {
        self.sync_state = SyncState::Synced;
        self.last_push_ts = Some(Utc::now());
    }

    /// Materialise the in-memory state into a serializable [`Snapshot`].
    /// Open passes are intentionally NOT captured — they are transient
    /// in-flight state and should restart after a process restart.
    pub fn to_snapshot(&self, mission_id: String) -> Snapshot {
        let map_objects: Vec<SnapshotMapObject> = self
            .by_cell
            .values()
            .flatten()
            .map(|o| SnapshotMapObject {
                id: o.id,
                h3_cell: u64::from(o.h3_cell),
                mgrs: o.mgrs.clone(),
                class: o.class.clone(),
                class_group: o.class_group.clone(),
                gps_lat: o.gps_lat,
                gps_lon: o.gps_lon,
                size_width_m: o.size_width_m,
                size_length_m: o.size_length_m,
                confidence: o.confidence,
                first_seen: o.first_seen,
                last_seen: o.last_seen,
                mission_id: o.mission_id.clone(),
            })
            .collect();
        let ignored_items: Vec<IgnoredItem> = self.ignored.items().cloned().collect();
        Snapshot {
            schema_version: Snapshot::CURRENT_SCHEMA_VERSION,
            mission_id,
            as_of: Utc::now(),
            map_objects,
            ignored_items,
            pending_observations: self.pending_observations.clone(),
            pending_ignored: self.pending_ignored.clone(),
            sync_state: self.sync_state,
            last_pull_ts: self.last_pull_ts,
            last_push_ts: self.last_push_ts,
        }
    }

    /// Rehydrate from a [`Snapshot`]. Re-keys map objects into their
    /// canonical H3 buckets using the supplied config's resolution
    /// (so a snapshot taken at one resolution can be loaded into a
    /// store configured differently — the spatial buckets are rebuilt
    /// either way).
    pub fn from_snapshot(config: MapObjectsStoreConfig, snapshot: Snapshot) -> Result<Self> {
        let mut store = Self::new(config);
        for mo in snapshot.map_objects {
            let cell = cell_of(mo.gps_lat, mo.gps_lon, store.config.h3_resolution)?;
            store
                .by_cell
                .entry(cell)
                .or_default()
                .push(StoredMapObject {
                    id: mo.id,
                    h3_cell: cell,
                    mgrs: mo.mgrs,
                    class: mo.class,
                    class_group: mo.class_group,
                    gps_lat: mo.gps_lat,
                    gps_lon: mo.gps_lon,
                    size_width_m: mo.size_width_m,
                    size_length_m: mo.size_length_m,
                    confidence: mo.confidence,
                    first_seen: mo.first_seen,
                    last_seen: mo.last_seen,
                    mission_id: mo.mission_id,
                });
            store.len += 1;
        }
        for item in snapshot.ignored_items {
            store.ignored.append(item);
        }
        store.pending_observations = snapshot.pending_observations;
        store.pending_ignored = snapshot.pending_ignored;
        store.sync_state = snapshot.sync_state;
        store.last_pull_ts = snapshot.last_pull_ts;
        store.last_push_ts = snapshot.last_push_ts;
        Ok(store)
    }

    /// Resolve a raw class string to its canonical group key.
    ///
    /// The first class listed in a `similar_classes` group is the group
    /// key. A class absent from all groups is its own group.
    fn group_key(&self, class: &str) -> String {
        for group in &self.config.similar_classes {
            if group.iter().any(|c| c == class) {
                // group[0] is guaranteed by Vec invariants once we filter
                // empty groups out (see new). But be defensive.
                if let Some(first) = group.first() {
                    return first.clone();
                }
            }
        }
        class.to_string()
    }

    /// Classify a single detection input. Mutates the store on `New` /
    /// `Moved` / `Existing` (insert / position-update / last_seen-update
    /// respectively). Returns `Ignored` and DOES NOT mutate when the
    /// resolved `(mgrs, class_group)` is in the ignored set.
    ///
    /// Also notes the matched id into every open pass whose bbox
    /// contains the input GPS so end-of-pass sweeps see this object
    /// as observed.
    pub fn classify(&mut self, input: ClassifyInput) -> Result<Classification> {
        let query_cell = cell_of(input.gps_lat, input.gps_lon, self.config.h3_resolution)?;
        let group = self.group_key(&input.class);

        if self.ignored.is_ignored(&input.mgrs, &group) {
            return Ok(Classification::Ignored);
        }

        // Find the nearest matching object across the k-ring.
        let mut best: Option<(CellIndex, usize, f64)> = None;
        let disk = grid_disk(query_cell, self.config.k_ring);
        for cell in &disk {
            if let Some(objects) = self.by_cell.get(cell) {
                for (idx, obj) in objects.iter().enumerate() {
                    if obj.class_group != group {
                        continue;
                    }
                    let d = haversine_m(input.gps_lat, input.gps_lon, obj.gps_lat, obj.gps_lon);
                    if d > self.config.distance_threshold_m {
                        continue;
                    }
                    if best.is_none_or(|(_, _, prev_d)| d < prev_d) {
                        best = Some((*cell, idx, d));
                    }
                }
            }
        }

        let classification = match best {
            Some((cell, idx, delta_m)) if delta_m >= self.config.move_threshold_m => {
                // MOVED — update stored position to the new observation.
                let bucket = self
                    .by_cell
                    .get_mut(&cell)
                    .expect("cell present during best-match scan");
                let obj = &mut bucket[idx];
                let from_mgrs = obj.mgrs.clone();
                let id = obj.id;
                let class_group = obj.class_group.clone();
                let class = obj.class.clone();
                obj.gps_lat = input.gps_lat;
                obj.gps_lon = input.gps_lon;
                obj.mgrs = input.mgrs.clone();
                obj.last_seen = input.observed_at;
                obj.confidence = input.confidence;

                // If the new GPS sits in a different H3 cell, re-bucket.
                if cell != query_cell {
                    let moved = bucket.remove(idx);
                    if bucket.is_empty() {
                        self.by_cell.remove(&cell);
                    }
                    self.by_cell
                        .entry(query_cell)
                        .or_default()
                        .push(StoredMapObject {
                            h3_cell: query_cell,
                            ..moved
                        });
                }
                self.passes.note_observed(id, input.gps_lat, input.gps_lon);
                self.append_observation(
                    id,
                    query_cell,
                    &class,
                    &class_group,
                    &input,
                    DiffKind::Moved,
                );
                Classification::Moved {
                    id,
                    from_mgrs,
                    to_mgrs: input.mgrs.clone(),
                }
            }
            Some((cell, idx, _)) => {
                // EXISTING — just refresh last_seen.
                let bucket = self
                    .by_cell
                    .get_mut(&cell)
                    .expect("cell present during best-match scan");
                let obj = &mut bucket[idx];
                obj.last_seen = input.observed_at;
                let id = obj.id;
                let class_group = obj.class_group.clone();
                let class = obj.class.clone();
                self.passes.note_observed(id, input.gps_lat, input.gps_lon);
                self.append_observation(id, cell, &class, &class_group, &input, DiffKind::Existing);
                Classification::Existing { id }
            }
            None => {
                // NEW — insert.
                let id = Uuid::new_v4();
                let stored = StoredMapObject {
                    id,
                    h3_cell: query_cell,
                    mgrs: input.mgrs.clone(),
                    class: input.class.clone(),
                    class_group: group.clone(),
                    gps_lat: input.gps_lat,
                    gps_lon: input.gps_lon,
                    size_width_m: input.size_width_m,
                    size_length_m: input.size_length_m,
                    confidence: input.confidence,
                    first_seen: input.observed_at,
                    last_seen: input.observed_at,
                    mission_id: input.mission_id.clone(),
                };
                self.by_cell.entry(query_cell).or_default().push(stored);
                self.len += 1;
                self.passes.note_observed(id, input.gps_lat, input.gps_lon);
                self.append_observation(
                    id,
                    query_cell,
                    &input.class,
                    &group,
                    &input,
                    DiffKind::New,
                );
                Classification::New { id }
            }
        };

        Ok(classification)
    }

    /// Build and append a `MapObjectObservation` to the post-flight
    /// push log. Called on every NEW / MOVED / EXISTING classification
    /// (the REMOVED-CANDIDATE variant is appended by `end_of_pass`).
    fn append_observation(
        &mut self,
        id: Uuid,
        cell: CellIndex,
        class: &str,
        class_group: &str,
        input: &ClassifyInput,
        diff_kind: DiffKind,
    ) {
        self.pending_observations.push(MapObjectObservation {
            id,
            h3_cell: u64::from(cell),
            class: class.to_string(),
            class_group: class_group.to_string(),
            mission_id: input.mission_id.clone(),
            uav_id: input.uav_id.clone(),
            observed_at_monotonic_ns: input.observed_at_monotonic_ns,
            observed_at_wallclock: input.observed_at,
            gps_lat: input.gps_lat,
            gps_lon: input.gps_lon,
            mgrs: input.mgrs.clone(),
            size_width_m: input.size_width_m,
            size_length_m: input.size_length_m,
            confidence: input.confidence,
            diff_kind,
            photo_ref: None,
            raw_evidence: None,
        });
    }
}

#[cfg(test)]
mod tests {
    use super::*;

    fn input(lat: f64, lon: f64, class: &str) -> ClassifyInput {
        ClassifyInput {
            gps_lat: lat,
            gps_lon: lon,
            mgrs: format!("MGRS({lat},{lon})"),
            class: class.into(),
            size_width_m: 1.0,
            size_length_m: 1.0,
            confidence: 0.9,
            mission_id: "m1".into(),
            observed_at: Utc::now(),
            uav_id: "uav1".into(),
            observed_at_monotonic_ns: 0,
        }
    }

    #[test]
    fn group_key_returns_class_when_unknown() {
        // Arrange
        let s = Store::new(MapObjectsStoreConfig::default());
        // Act + Assert
        assert_eq!(s.group_key("tank"), "tank");
    }

    #[test]
    fn group_key_collapses_similar_classes() {
        // Arrange
        let cfg = MapObjectsStoreConfig {
            similar_classes: vec![vec!["tree".into(), "shrub".into()]],
            ..MapObjectsStoreConfig::default()
        };
        let s = Store::new(cfg);
        // Assert
        assert_eq!(s.group_key("tree"), "tree");
        assert_eq!(s.group_key("shrub"), "tree");
        assert_eq!(s.group_key("rock"), "rock");
    }

    #[test]
    fn empty_store_has_zero_len() {
        // Arrange
        let s = Store::new(MapObjectsStoreConfig::default());
        // Assert
        assert_eq!(s.len(), 0);
    }

    #[test]
    fn first_classify_is_new() {
        // Arrange
        let mut s = Store::new(MapObjectsStoreConfig::default());
        // Act
        let c = s.classify(input(50.45, 30.52, "tank")).unwrap();
        // Assert
        assert!(matches!(c, Classification::New { .. }));
        assert_eq!(s.len(), 1);
    }
}