Merge main and switch Cesium and Navara in place through Vue

Preserve the camera, map source and layer selection across engine sessions. Restore the previous engine if startup fails and retain local history navigation.

scripts/qa-cctv-v2.mjs

@@ -11,8 +11,10 @@
  *      exactly once per camera ACTIVATION (the §9.1 obstruction probe) and
  *      never again in steady state; shared mesh-floor sampling fires at most
  *      once per coarse cell during the staggered geometry-load drain, and
- *      actually COMPLETES once tiles load (>=1 real sample — the
- *      ceiling alone would pass trivially at Δ=0 if the snap never finished),
+ *      actually COMPLETES once tiles load in photoreal mode (>=1 real sample
+ *      — the ceiling alone would pass trivially at Δ=0 if the snap never
+ *      finished). Globe mode instead proves the rendered mount uses a real
+ *      terrain height with zero mesh samples. Sampling
  *      stays flat while idle, and stays flat for non-positional pose edits.
  *   2. Geometry contract: the 5-polyline frustum wireframe + far-cap plane
  *      exist for the active camera, the plane's corners coincide with the
@@ -164,6 +166,56 @@ function record(name, ok, detail) {
 
 const sleep = (ms) => new Promise((r) => setTimeout(r, ms));
 
+// Each page.evaluate is bounded by puppeteer's `protocolTimeout` (default
+// 180s). Waits never come close: they poll from Node (below). The headroom is
+// for the few long evaluates, such as enabling the full ~3,700-camera catalog
+// on a real GPU, and matches the other qa-*.mjs harnesses.
+const PROTOCOL_TIMEOUT_MS = 300_000;
+
+/**
+ * Polls an in-page predicate from Node, one short page.evaluate per tick,
+ * until it holds or the budget runs out. Used instead of page.waitForFunction
+ * for two reasons: its default rAF polling stops in a minimised or hidden
+ * headful window (timers keep running, rAF does not), and its result is one
+ * CDP call that protocolTimeout cuts off, while the headful drain budget
+ * reaches ~50 minutes. A predicate that throws fails the run instead of
+ * silently spending the budget.
+ * @param {import('puppeteer').Page} page
+ * @param {Function} predicate - In-page predicate.
+ * @param {object} opts
+ * @param {number} opts.timeoutMs - Overall budget.
+ * @param {number} [opts.intervalMs=250] - Delay between checks.
+ * @param {unknown[]} [opts.args=[]] - Arguments passed to the predicate.
+ *   The predicate must return a boolean: its result crosses CDP by value.
+ * @returns {Promise<boolean>} True if the predicate held within the budget.
+ */
+async function waitForPredicate(
+  page,
+  predicate,
+  { timeoutMs, intervalMs = 250, args = [] },
+) {
+  // performance.now() is monotonic and doesn't advance while the machine
+  // sleeps, so neither a clock change nor a laptop sleep eats the budget.
+  const deadline = performance.now() + timeoutMs;
+  for (;;) {
+    try {
+      if (await page.evaluate(predicate, ...args)) return true;
+    } catch (err) {
+      // A navigation or Vite reload replaces the execution context: poll again.
+      if (
+        !/Execution context was destroyed|Cannot find context/.test(
+          err?.message ?? '',
+        )
+      ) {
+        throw err;
+      }
+    }
+    const remaining = deadline - performance.now();
+    if (remaining <= 0) return false;
+    await sleep(Math.min(intervalMs, remaining));
+  }
+}
+
 // SwiftShader can spend tens of seconds servicing the hover drillPick emitted
 // by page.mouse.move(), before the LEFT_DOWN under test even runs. Position the
 // pointer while ADJUST is disabled, then re-enable it and explicitly render a
@@ -180,29 +232,58 @@ async function positionPointerForGizmoDrag(page, point, frameCount = 3) {
     gev.dataManager.layers
       .get('cctv')
       .module.setParams({ calibrationMode: true });
-    const scene = gev.viewer.scene;
-    let rendered = 0;
-    return new Promise((resolve) => {
-      let settled = false;
-      const finish = (complete) => {
-        if (settled) return;
-        settled = true;
-        clearTimeout(timer);
-        remove();
-        resolve(complete);
-      };
-      const remove = scene.postRender.addEventListener(() => {
-        rendered += 1;
-        if (rendered >= count) {
-          finish(true);
-          return;
-        }
+    return (await window.__qaRenderFrames(count, 5000)) >= count;
+  }, frameCount);
+}
+
+/**
+ * Saves a screenshot for human review. These are never a gate, so a capture
+ * that fails (for example when the renderer stalls in a hidden headful window)
+ * is logged instead of ending the run.
+ * @param {import('puppeteer').Page} page
+ * @param {string} file
+ * @param {string} label
+ */
+async function saveReviewShot(page, file, label) {
+  try {
+    await page.screenshot({ path: file });
+    console.log(`  screenshot (${label}) → ${path.relative(REPO_ROOT, file)}`);
+  } catch (err) {
+    console.warn(
+      `  screenshot skipped (${label}): ${path.relative(REPO_ROOT, file)}: ${err?.message ?? err}`,
+    );
+  }
+}
+
+/**
+ * Installs window.__qaRenderFrames(count, capMs) in the page: requests renders
+ * until `count` frames have passed scene.postRender or capMs runs out, and
+ * resolves with the number of frames rendered. The cap keeps a stalled
+ * renderer (headful window asleep or hidden) from hanging the CDP call.
+ * @param {import('puppeteer').Page} page
+ */
+function installRenderFramesHelper(page) {
+  return page.evaluate(() => {
+    window.__qaRenderFrames = (count, capMs) =>
+      new Promise((resolve) => {
+        const scene = window.__godsEyeView.viewer.scene;
+        let frames = 0;
+        const finish = () => {
+          clearTimeout(timer);
+          remove();
+          resolve(frames);
+        };
+        const remove = scene.postRender.addEventListener(() => {
+          if (++frames >= count) {
+            finish();
+            return;
+          }
+          scene.requestRender();
+        });
+        const timer = setTimeout(finish, capMs);
         scene.requestRender();
       });
-      const timer = setTimeout(() => finish(false), 5000);
-      scene.requestRender();
-    });
-  }, frameCount);
+  });
 }
 
 // In-page helper (stringified and re-defined inside each evaluate that needs
@@ -305,23 +386,21 @@ const BEARING_SHIFT_SRC = `
  * @returns {Promise<boolean>} True if tilesLoaded was observed within the timeout.
  */
 function waitForTilesLoaded(page, timeoutMs = 15000) {
-  return page
-    .waitForFunction(
-      () => {
-        const scene = window.__godsEyeView.viewer.scene;
-        const prims = scene.primitives;
-        for (let i = 0; i < prims.length; i++) {
-          const p = prims.get(i);
-          if (p && p.constructor && p.constructor.name === 'Cesium3DTileset') {
-            return p.tilesLoaded === true;
-          }
+  return waitForPredicate(
+    page,
+    () => {
+      const scene = window.__godsEyeView.viewer.scene;
+      const prims = scene.primitives;
+      for (let i = 0; i < prims.length; i++) {
+        const p = prims.get(i);
+        if (p && p.constructor && p.constructor.name === 'Cesium3DTileset') {
+          return p.tilesLoaded === true;
         }
-        return true; // no tileset in the scene — nothing to wait for
-      },
-      { timeout: timeoutMs },
-    )
-    .then(() => true)
-    .catch(() => false);
+      }
+      return true; // no tileset in the scene — nothing to wait for
+    },
+    { timeoutMs },
+  );
 }
 
 /**
@@ -388,7 +467,11 @@ async function main() {
 
   const chromeExecutable = findChromeExecutable();
   const browser = await puppeteer.launch({
-    headless: 'new',
+    headless: true,
+    protocolTimeout: PROTOCOL_TIMEOUT_MS,
+    // Talk CDP over a pipe, so no debugging port stays open on localhost for
+    // the length of a headful run.
+    pipe: true,
     ...(chromeExecutable ? { executablePath: chromeExecutable } : {}),
     args: [
       '--no-sandbox',
@@ -436,12 +519,15 @@ async function main() {
     });
     console.log('Loading app...');
     await page.goto(APP_URL, { waitUntil: 'domcontentloaded', timeout: 60000 });
-    await page.waitForFunction(
+    const appReady = await waitForPredicate(
+      page,
       () =>
-        window.__godsEyeView &&
-        window.__godsEyeView.viewer &&
-        window.__godsEyeView.dataManager,
-      { timeout: 60000 },
+        Boolean(
+          window.__godsEyeView &&
+          window.__godsEyeView.viewer &&
+          window.__godsEyeView.dataManager,
+        ),
+      { timeoutMs: 60000 },
     );
     await page.evaluate(async () => {
       const app = window.__godsEyeView;
@@ -554,18 +640,15 @@ async function main() {
     console.log(
       `Waiting for geometry-load queue to drain (N=${camCount}, budget ${Math.round(drainBudgetMs / 1000)}s)...`,
     );
-    const drained = await page
-      .waitForFunction(
-        () => {
-          const mod =
-            window.__godsEyeView.dataManager.layers.get('cctv').module;
-          const ui = mod.getUIState();
-          return ui.loading && ui.loading.active === false;
-        },
-        { timeout: drainBudgetMs },
-      )
-      .then(() => true)
-      .catch(() => false);
+    const drained = await waitForPredicate(
+      page,
+      () => {
+        const mod = window.__godsEyeView.dataManager.layers.get('cctv').module;
+        const ui = mod.getUIState();
+        return Boolean(ui.loading) && ui.loading.active === false;
+      },
+      { timeoutMs: drainBudgetMs, intervalMs: 1000 },
+    );
     record(
       `geometry-load queue drains within ${Math.round(drainBudgetMs / 1000)}s (N=${camCount})`,
       drained,
@@ -678,6 +761,85 @@ async function main() {
         ? `total real samples since enable=${cFloor.sampleHeight - c0.sampleHeight}`
         : 'tilesLoaded never observed within 45s — floor not assessable this run',
     );
+    const globeMode = await page.evaluate(() => window.__godsEyeView.viewer.scene.globe?.show !== false);
+    if (globeMode) {
+      // Globe stacks intentionally perform no scene.sampleHeight query.
+      // Require independently fetched DEM heights and the actual rendered
+      // mount, so a catalog/geoid fallback cannot turn zero samples into a pass.
+      console.log(
+        'Checking terrain-globe completion against live DEM heights...',
+      );
+      const terrain = await page.evaluate(async () => {
+        const camera = window.__godsEyeView.dataManager.layers
+          .get('cctv')
+          .module.getUIState().activeCamera;
+        const exact = `${camera.lon.toFixed(5)},${camera.lat.toFixed(5)}`;
+        const cell = `${camera.lon.toFixed(3)},${camera.lat.toFixed(3)}`;
+        const response = await fetch(
+          `/api/terrain/heights?points=${encodeURIComponent(`${exact};${cell}`)}`,
+          { signal: AbortSignal.timeout(30000) },
+        );
+        const body = await response.json();
+        return { ok: response.ok, results: body.results };
+      });
+      const heights = terrain.results?.map((result) => result?.ellipsoid);
+      const terrainReady =
+        terrain.ok && heights?.length === 2 && heights.every(Number.isFinite);
+      const mountResolved =
+        terrainReady &&
+        (await waitForPredicate(
+          page,
+          (expected, base) => {
+            const { viewer, dataManager } = window.__godsEyeView;
+            const camera = dataManager.layers
+              .get('cctv')
+              .module.getUIState().activeCamera;
+            const ray = viewer.entities.getById(`cctv-${camera.id}-ray-tl`);
+            const mount = ray?.polyline?.positions.getValue(
+              viewer.clock.currentTime,
+            )?.[0];
+            const height =
+              mount &&
+              viewer.scene.globe.ellipsoid.cartesianToCartographic(mount)
+                .height;
+            return (
+              Number.isFinite(camera.groundPriorM) &&
+              Math.abs(camera.groundPriorM - expected[0]) < 0.01 &&
+              Number.isFinite(height) &&
+              expected.some(
+                (ground) =>
+                  Math.abs(height - ground - camera.mountHeightM) < 0.05,
+              ) &&
+              window.__qaCounters.sampleHeight === base
+            );
+          },
+          { timeoutMs: 30000, args: [heights, c0.sampleHeight] },
+        ));
+      record(
+        'terrain-globe completion uses a real DEM height at the rendered mount without mesh samples',
+        Boolean(mountResolved),
+        `terrain=${JSON.stringify(heights)}, mesh sample Δ=${(await readCounters()).sampleHeight - c0.sampleHeight}`,
+      );
+    } else {
+      console.log('Waiting for tiles + the one-shot completion pass...');
+      const tilesSeenLoaded = await waitForTilesLoaded(page, 45000);
+      let sampleFloorOk = false;
+      if (tilesSeenLoaded) {
+        sampleFloorOk = await waitForPredicate(
+          page,
+          (base) => window.__qaCounters.sampleHeight - base >= 1,
+          { timeoutMs: 30000, args: [c0.sampleHeight] },
+        );
+      }
+      const cFloor = await readCounters();
+      record(
+        '>=1 real ground sample once tilesLoaded observed (one-shot snap completed)',
+        tilesSeenLoaded ? sampleFloorOk : null,
+        tilesSeenLoaded
+          ? `total real samples since enable=${cFloor.sampleHeight - c0.sampleHeight}`
+          : 'tilesLoaded never observed within 45s — floor not assessable this run',
+      );
+    }
 
     // Let the completion pass finish before the steady-state window: require
     // the sampleHeight counter quiet for 12s (> the 10s update interval, so
@@ -1452,18 +1614,7 @@ async function main() {
         },
       });
       window.__qaCctvSiblingOwner = owner;
-      await new Promise((resolve) => {
-        let frames = 0;
-        const remove = scene.postRender.addEventListener(() => {
-          if (++frames < 3) {
-            scene.requestRender();
-            return;
-          }
-          remove();
-          resolve();
-        });
-        scene.requestRender();
-      });
+      const framesRendered = await window.__qaRenderFrames(3, 10000);
       const rect = scene.canvas.getBoundingClientRect();
       const picked = scene.pick(canvasPoint);
       const pickedId = picked?.id?.id ?? picked?.id ?? null;
@@ -1476,26 +1627,33 @@ async function main() {
           typeof pickedId === 'string' ? pickedId : (pickedId?.id ?? null),
         ownerId: owner.id,
         ownsExactObject: picked?.id === owner,
+        framesRendered,
         projectionDelta: Math.hypot(
           projected.x - canvasPoint.x,
           projected.y - canvasPoint.y,
         ),
       };
     }, emptyClickPoint);
+    const siblingOwnsPick =
+      siblingTarget?.pickedId === 'qa-cctv-sibling-owner' &&
+      siblingTarget.ownsExactObject;
+    // No frame at all within the 10s cap points at a stalled renderer rather
+    // than at picking, though the harness can't rule out both. Fail it on the
+    // real-GPU sign-off path; leave it inconclusive under headless GL. A slow
+    // SwiftShader frame (1-2 of 3) still counts as a real miss.
+    const siblingRendererStalled =
+      siblingTarget && !siblingOwnsPick && siblingTarget.framesRendered === 0;
     record(
       'sibling test object owns its canvas pick',
+      !siblingTarget
+        ? null
+        : siblingOwnsPick ||
+            (siblingRendererStalled ? null : false),
       siblingTarget
-        ? siblingTarget.pickedId === 'qa-cctv-sibling-owner' &&
-            siblingTarget.ownsExactObject
-        : null,
-      siblingTarget
-        ? `picked=${siblingTarget.pickedId} exactOwner=${siblingTarget.ownsExactObject} projectionΔ=${siblingTarget.projectionDelta}`
+        ? `${siblingRendererStalled ? 'renderer stalled: ' : ''}frames=${siblingTarget.framesRendered}/3 picked=${siblingTarget.pickedId} exactOwner=${siblingTarget.ownsExactObject} projectionΔ=${siblingTarget.projectionDelta}`
         : 'no previously verified empty canvas ray was available',
     );
-    if (
-      siblingTarget?.pickedId === 'qa-cctv-sibling-owner' &&
-      siblingTarget.ownsExactObject
-    ) {
+    if (siblingOwnsPick) {
       await page.mouse.click(siblingTarget.x, siblingTarget.y);
       await sleep(250);
     }
@@ -1520,8 +1678,7 @@ async function main() {
     });
     record(
       'sibling canvas click passes through without CCTV selection or deselection',
-      siblingTarget?.pickedId === 'qa-cctv-sibling-owner' &&
-        siblingTarget.ownsExactObject
+      siblingOwnsPick
         ? siblingClick.activeId === clickEvidenceSetup.activeId &&
             siblingClick.transitions === siblingClick.baselineTransitions &&
             siblingClick.focusEvents === 0 &&
@@ -1753,10 +1910,7 @@ async function main() {
     );
 
     const viewshedShot = path.join(SHOTS_DIR, 'cctv-v3-viewshed.png');
-    await page.screenshot({ path: viewshedShot });
-    console.log(
-      `  screenshot (visual review only) → ${path.relative(REPO_ROOT, viewshedShot)}`,
-    );
+    await saveReviewShot(page, viewshedShot, 'visual review only');
 
     // =========================================================================
     // Group 7: calibration gizmo (v3 design §3c — ADJUST mode + drag)
@@ -2095,10 +2249,7 @@ async function main() {
     // -----------------------------------------------------------------------
     await sleep(1000);
     const shot = path.join(SHOTS_DIR, 'cctv-v2-active.png');
-    await page.screenshot({ path: shot });
-    console.log(
-      `  screenshot (visual review only, not a gate) → ${path.relative(REPO_ROOT, shot)}`,
-    );
+    await saveReviewShot(page, shot, 'visual review only, not a gate');
 
     // No console errors during the whole exercise.
     record(