autopilot/crates/mapobjects_store/tests/ignored_and_sweep.rs

//! AZ-666 acceptance tests — `IgnoredItem` set + end-of-pass sweep.

use chrono::{Duration as ChronoDuration, Utc};
use mapobjects_store::{
    Classification, ClassifyInput, MapObjectsStore, MapObjectsStoreConfig, RegionBbox,
};
use shared::models::mapobject::{IgnoredItem, IgnoredItemSource, RetentionScope};
use shared::models::mission::Coordinate;
use uuid::Uuid;

const M_PER_DEG_LAT: f64 = 111_320.0;

fn m_per_deg_lon(lat_deg: f64) -> f64 {
    M_PER_DEG_LAT * lat_deg.to_radians().cos()
}

fn shift_m(base_lat: f64, base_lon: f64, dn_m: f64, de_m: f64) -> (f64, f64) {
    (
        base_lat + dn_m / M_PER_DEG_LAT,
        base_lon + de_m / m_per_deg_lon(base_lat),
    )
}

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-az666".into(),
        observed_at: Utc::now(),
        uav_id: "uav-az666".into(),
        observed_at_monotonic_ns: 0,
    }
}

fn ignored(mgrs: &str, class_group: &str) -> IgnoredItem {
    IgnoredItem {
        id: Uuid::new_v4(),
        mgrs: mgrs.into(),
        h3_cell: 0,
        class_group: class_group.into(),
        decline_time: Utc::now(),
        operator_id: None,
        mission_id: "m-az666".into(),
        retention_scope: RetentionScope::Mission,
        expires_at: None,
        source: IgnoredItemSource::LocalAppended,
        pending_upload: true,
    }
}

fn bbox(nw_lat: f64, nw_lon: f64, se_lat: f64, se_lon: f64) -> RegionBbox {
    [
        Coordinate {
            latitude: nw_lat,
            longitude: nw_lon,
            altitude_m: 0.0,
        },
        Coordinate {
            latitude: se_lat,
            longitude: se_lon,
            altitude_m: 0.0,
        },
    ]
}

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

// ---------------------------------------------------------------------
// AC-1: append(IgnoredItem { mgrs, class_group }) → is_ignored returns true.
// ---------------------------------------------------------------------

#[test]
fn ac1_ignored_item_suppresses_lookup() {
    // Arrange
    let store = MapObjectsStore::default();
    let h = store.handle();

    // Act
    h.append_ignored(ignored("MGRS-A", "concealed_position_group"))
        .unwrap();

    // Assert
    assert!(h.is_ignored("MGRS-A", "concealed_position_group").unwrap());
    assert!(!h.is_ignored("MGRS-A", "movement_candidate").unwrap());
    assert!(!h.is_ignored("MGRS-B", "concealed_position_group").unwrap());
}

// ---------------------------------------------------------------------
// classify() with an ignored (mgrs, class_group) returns Classification::Ignored
// and DOES NOT insert into the store.
// ---------------------------------------------------------------------

#[test]
fn classify_returns_ignored_when_pair_is_in_set() {
    // Arrange
    let store = MapObjectsStore::default();
    let h = store.handle();
    let input = input(ANCHOR_LAT, ANCHOR_LON, "tank");
    h.append_ignored(ignored(&input.mgrs, "tank")).unwrap();

    // Act
    let c = h.classify(input).unwrap();

    // Assert
    assert!(matches!(c, Classification::Ignored), "got {c:?}");
    assert_eq!(h.len().unwrap(), 0);
}

// ---------------------------------------------------------------------
// AC-2: end_of_pass returns objects un-observed during the pass.
// ---------------------------------------------------------------------

#[test]
fn ac2_end_of_pass_returns_un_observed() {
    // Arrange
    let cfg = MapObjectsStoreConfig {
        distance_threshold_m: 5.0,
        move_threshold_m: 50.0,
        ..MapObjectsStoreConfig::default()
    };
    let store = MapObjectsStore::new(cfg);
    let h = store.handle();
    // Seed three objects M1, M2, M3 spaced 50 m apart.
    let (m1_lat, m1_lon) = (ANCHOR_LAT, ANCHOR_LON);
    let (m2_lat, m2_lon) = shift_m(ANCHOR_LAT, ANCHOR_LON, 50.0, 0.0);
    let (m3_lat, m3_lon) = shift_m(ANCHOR_LAT, ANCHOR_LON, 100.0, 0.0);
    let m1_in = input(m1_lat, m1_lon, "tank");
    let m1_mgrs = m1_in.mgrs.clone();
    let _ = h.classify(m1_in).unwrap();
    let m2_in = input(m2_lat, m2_lon, "tank");
    let m2_mgrs = m2_in.mgrs.clone();
    let _ = h.classify(m2_in).unwrap();
    let m3_in = input(m3_lat, m3_lon, "tank");
    let m3_mgrs = m3_in.mgrs.clone();
    let _ = h.classify(m3_in).unwrap();
    let region = bbox(
        ANCHOR_LAT + 0.01,
        ANCHOR_LON - 0.01,
        ANCHOR_LAT - 0.01,
        ANCHOR_LON + 0.01,
    );

    // Act — open pass, re-observe only M1, close pass.
    // Backdate seeded last_seen so the un-observed objects qualify.
    // (Pass tracker only flags objects whose last_seen <= pass.started_at;
    // since we just inserted them, advance the wall clock by sleeping is
    // expensive, so instead start the pass with an as-of slightly in
    // the future relative to the seeded timestamps.)
    std::thread::sleep(std::time::Duration::from_millis(2));
    h.pass_start(region).unwrap();
    // Re-observe M1 via a small ε offset so it stays an Existing match.
    let (m1_obs_lat, m1_obs_lon) = shift_m(m1_lat, m1_lon, 0.5, 0.0);
    let again = h.classify(input(m1_obs_lat, m1_obs_lon, "tank")).unwrap();
    assert!(matches!(again, Classification::Existing { .. }));
    let removed = h.end_of_pass(&region).unwrap();

    // Assert
    let mgrs_seen: Vec<_> = removed.iter().map(|r| r.mgrs.clone()).collect();
    assert!(
        mgrs_seen.contains(&m2_mgrs),
        "expected M2 in removed candidates, got {mgrs_seen:?}",
    );
    assert!(mgrs_seen.contains(&m3_mgrs));
    assert!(!mgrs_seen.contains(&m1_mgrs));
    assert_eq!(removed.len(), 2);
}

// ---------------------------------------------------------------------
// AC-3: end_of_pass excludes ignored objects from the candidate list.
// ---------------------------------------------------------------------

#[test]
fn ac3_end_of_pass_excludes_ignored() {
    // Arrange
    let cfg = MapObjectsStoreConfig {
        distance_threshold_m: 5.0,
        move_threshold_m: 50.0,
        ..MapObjectsStoreConfig::default()
    };
    let store = MapObjectsStore::new(cfg);
    let h = store.handle();
    let m2_in = input(ANCHOR_LAT, ANCHOR_LON, "tank");
    let m2_mgrs = m2_in.mgrs.clone();
    let _ = h.classify(m2_in).unwrap();
    let region = bbox(
        ANCHOR_LAT + 0.01,
        ANCHOR_LON - 0.01,
        ANCHOR_LAT - 0.01,
        ANCHOR_LON + 0.01,
    );
    h.append_ignored(ignored(&m2_mgrs, "tank")).unwrap();

    // Act
    std::thread::sleep(std::time::Duration::from_millis(2));
    h.pass_start(region).unwrap();
    let removed = h.end_of_pass(&region).unwrap();

    // Assert — M2 was un-observed during the pass but ignored, so it
    // MUST NOT be surfaced.
    assert!(
        removed.iter().all(|r| r.mgrs != m2_mgrs),
        "ignored object leaked into removed candidates: {removed:?}",
    );
}

// ---------------------------------------------------------------------
// apply_decline(POI) installs the equivalent IgnoredItem.
// ---------------------------------------------------------------------

#[test]
fn apply_decline_suppresses_subsequent_detections() {
    use shared::models::poi::{Poi, VlmPipelineStatus};
    // Arrange
    let store = MapObjectsStore::default();
    let h = store.handle();
    let now = Utc::now();
    let poi = Poi {
        id: Uuid::new_v4(),
        confidence: 0.9,
        mgrs: "MGRS-DECLINED".into(),
        class: "concealed_position".into(),
        class_group: "concealed_position_group".into(),
        source_detection_ids: vec![],
        enqueued_at: now,
        priority: 1.0,
        decline_suppressed: false,
        vlm_status: VlmPipelineStatus::NotRequested,
        tier2_evidence: None,
        deadline: now + ChronoDuration::seconds(60),
    };

    // Act
    h.apply_decline(poi).unwrap();

    // Assert
    assert!(h
        .is_ignored("MGRS-DECLINED", "concealed_position_group")
        .unwrap());
}