[
  {
    "name": "один динамический источник: активна вторая карта",
    "routes": [
      { "id": "r1", "source": "camera.robot", "map_id": "m1", "space": "floor1", "calibration": [1, 0, 0, 0, 1, 0] },
      { "id": "r2", "source": "camera.robot", "map_id": "m2", "space": "floor2", "calibration": [2, 0, 0, 0, 2, 0] }
    ],
    "observed": { "camera.robot": "m2" },
    "spaces": ["floor1", "floor2"],
    "expected": { "kind": "ready", "route_id": "r2", "space": "floor2" }
  },
  {
    "name": "порядок списка не выбирает этаж",
    "routes": [
      { "id": "r2", "source": "camera.robot", "map_id": "m2", "space": "floor2", "calibration": [2, 0, 0, 0, 2, 0] },
      { "id": "r1", "source": "camera.robot", "map_id": "m1", "space": "floor1", "calibration": [1, 0, 0, 0, 1, 0] }
    ],
    "observed": { "camera.robot": "m1" },
    "spaces": ["floor1", "floor2"],
    "expected": { "kind": "ready", "route_id": "r1", "space": "floor1" }
  },
  {
    "name": "две камеры с неразличимым default одновременно активны",
    "routes": [
      { "id": "r1", "source": "camera.floor1", "map_id": "default", "space": "floor1", "calibration": [1, 0, 0, 0, 1, 0] },
      { "id": "r2", "source": "camera.floor2", "map_id": "default", "space": "floor2", "calibration": [1, 0, 0, 0, 1, 0] }
    ],
    "observed": { "camera.floor1": "default", "camera.floor2": "default" },
    "spaces": ["floor1", "floor2"],
    "expected": { "kind": "ambiguous", "route_ids": ["r1", "r2"] }
  },
  {
    "name": "две камеры, различимые map id — неоднозначности нет",
    "routes": [
      { "id": "r1", "source": "camera.floor1", "map_id": "a", "space": "floor1", "calibration": [1, 0, 0, 0, 1, 0] },
      { "id": "r2", "source": "camera.floor2", "map_id": "b", "space": "floor2", "calibration": [1, 0, 0, 0, 1, 0] }
    ],
    "observed": { "camera.floor1": "x", "camera.floor2": "b" },
    "spaces": ["floor1", "floor2"],
    "expected": { "kind": "ready", "route_id": "r2", "space": "floor2" }
  },
  {
    "name": "активная карта не размечена",
    "routes": [
      { "id": "r1", "source": "camera.robot", "map_id": "m1", "space": "floor1", "calibration": [1, 0, 0, 0, 1, 0] }
    ],
    "observed": { "camera.robot": "m3" },
    "spaces": ["floor1"],
    "expected": { "kind": "unmapped", "source": "camera.robot", "map_id": "m3" }
  },
  {
    "name": "маршрут без калибровки",
    "routes": [
      { "id": "r1", "source": "camera.robot", "map_id": "m1", "space": "floor1", "calibration": null }
    ],
    "observed": { "camera.robot": "m1" },
    "spaces": ["floor1"],
    "expected": { "kind": "needs_calibration", "route_id": "r1" }
  },
  {
    "name": "матрица из пяти чисел калибровкой не считается",
    "routes": [
      { "id": "r1", "source": "camera.robot", "map_id": "m1", "space": "floor1", "calibration": [1, 0, 0, 0, 1] }
    ],
    "observed": { "camera.robot": "m1" },
    "spaces": ["floor1"],
    "expected": { "kind": "needs_calibration", "route_id": "r1" }
  },
  {
    "name": "целевое пространство удалено",
    "routes": [
      { "id": "r1", "source": "camera.robot", "map_id": "m1", "space": "gone", "calibration": [1, 0, 0, 0, 1, 0] }
    ],
    "observed": { "camera.robot": "m1" },
    "spaces": ["floor1"],
    "expected": { "kind": "missing_space", "route_id": "r1" }
  },
  {
    "name": "нулевой map id значим и не путается с default",
    "routes": [
      { "id": "r0", "source": "camera.robot", "map_id": "0", "space": "floor1", "calibration": [1, 0, 0, 0, 1, 0] },
      { "id": "rd", "source": "camera.robot", "map_id": "default", "space": "floor2", "calibration": [1, 0, 0, 0, 1, 0] }
    ],
    "observed": { "camera.robot": "0" },
    "spaces": ["floor1", "floor2"],
    "expected": { "kind": "ready", "route_id": "r0", "space": "floor1" }
  },
  {
    "name": "пустая строка тоже идентификатор карты",
    "routes": [
      { "id": "re", "source": "camera.robot", "map_id": "", "space": "floor2", "calibration": [1, 0, 0, 0, 1, 0] }
    ],
    "observed": { "camera.robot": "" },
    "spaces": ["floor1", "floor2"],
    "expected": { "kind": "ready", "route_id": "re", "space": "floor2" }
  },
  {
    "name": "телеметрии нет ни у одного источника",
    "routes": [
      { "id": "r1", "source": "camera.robot", "map_id": "m1", "space": "floor1", "calibration": [1, 0, 0, 0, 1, 0] }
    ],
    "observed": {},
    "spaces": ["floor1"],
    "expected": { "kind": "none" }
  },
  {
    "name": "маршрутов нет вовсе, но карта наблюдается",
    "routes": [],
    "observed": { "camera.robot": "m9" },
    "spaces": ["floor1"],
    "expected": { "kind": "unmapped", "source": "camera.robot", "map_id": "m9" }
  }
]