feat(simulation): drive stock rover through PX4 offboard

apps/control-station/src/workspaces/PolygonLivePanel.tsx

@@ -1,4 +1,4 @@
-import { lazy, Suspense, useEffect, useState } from "react";
+import { lazy, Suspense, useEffect, useRef, useState } from "react";
 import {
   Button,
   GlassSurface,
@@ -8,12 +8,28 @@ import {
 import {
   fetchPolygonVehicleState,
   fetchPolygonWorkerStatus,
+  sendPolygonRoverCommand,
   startPolygonWorker,
   stopPolygonWorker,
+  type PolygonCommandAcceptance,
   type PolygonVehicleState,
   type PolygonWorkerStatus,
 } from "../core/polygon/liveWorker";
 
+interface ControlIntent {
+  id: "forward" | "reverse" | "left" | "right";
+  label: string;
+  speedMps: number;
+  steeringNormalized: number;
+}
+
+const CONTROL_INTENTS: ControlIntent[] = [
+  { id: "forward", label: "Вперёд", speedMps: 1, steeringNormalized: 0 },
+  { id: "left", label: "Влево", speedMps: 0.8, steeringNormalized: -0.55 },
+  { id: "right", label: "Вправо", speedMps: 0.8, steeringNormalized: 0.55 },
+  { id: "reverse", label: "Назад", speedMps: -0.65, steeringNormalized: 0 },
+];
+
 const PolygonRoverScene = lazy(async () => {
   const module = await import("./PolygonRoverScene");
   return { default: module.PolygonRoverScene };
@@ -30,7 +46,11 @@ export function PolygonLivePanel() {
   const [trajectory, setTrajectory] = useState<PolygonVehicleState[]>([]);
   const [error, setError] = useState<string | null>(null);
   const [actionBusy, setActionBusy] = useState(false);
+  const [controlIntent, setControlIntent] = useState<ControlIntent | null>(null);
+  const [commandAcceptance, setCommandAcceptance] =
+    useState<PolygonCommandAcceptance | null>(null);
   const [generation, setGeneration] = useState(0);
+  const commandInFlight = useRef(false);
 
   useEffect(() => {
     if (actionBusy) return;
@@ -73,12 +93,75 @@ export function PolygonLivePanel() {
 
   const runActive = Boolean(worker?.activeRunId);
 
+  useEffect(() => {
+    const runId = worker?.activeRunId;
+    if (!runId || worker.runState !== "running" || !controlIntent) return;
+    const controller = new AbortController();
+    let timer: number | null = null;
+    const publish = async () => {
+      if (commandInFlight.current || controller.signal.aborted) return;
+      commandInFlight.current = true;
+      try {
+        const accepted = await sendPolygonRoverCommand(runId, {
+          speedMps: controlIntent.speedMps,
+          steeringNormalized: controlIntent.steeringNormalized,
+          idempotencyKey: crypto.randomUUID(),
+          signal: controller.signal,
+        });
+        if (controller.signal.aborted) return;
+        setCommandAcceptance(accepted);
+        setError(null);
+      } catch (commandError) {
+        if (controller.signal.aborted) return;
+        setControlIntent(null);
+        setError(message(commandError));
+      } finally {
+        commandInFlight.current = false;
+        if (!controller.signal.aborted) {
+          timer = window.setTimeout(() => void publish(), 100);
+        }
+      }
+    };
+    void publish();
+    return () => {
+      controller.abort();
+      if (timer !== null) window.clearTimeout(timer);
+    };
+  }, [controlIntent, worker?.activeRunId, worker?.runState]);
+
+  useEffect(() => {
+    if (!worker?.activeRunId) {
+      setControlIntent(null);
+      setCommandAcceptance(null);
+    }
+  }, [worker?.activeRunId]);
+
+  const stopMotion = async () => {
+    const runId = worker?.activeRunId;
+    setControlIntent(null);
+    if (!runId || worker?.runState !== "running") return;
+    try {
+      const accepted = await sendPolygonRoverCommand(runId, {
+        speedMps: 0,
+        steeringNormalized: 0,
+        idempotencyKey: crypto.randomUUID(),
+      });
+      setCommandAcceptance(accepted);
+      setError(null);
+    } catch (commandError) {
+      setError(message(commandError));
+    }
+  };
+
   const runAction = async () => {
     if (!worker?.controlAvailable || actionBusy) return;
     setActionBusy(true);
     setError(null);
     try {
       const idempotencyKey = crypto.randomUUID();
+      if (worker.activeRunId) {
+        await stopMotion();
+      }
       const next = worker.activeRunId
         ? await stopPolygonWorker(worker.activeRunId, { idempotencyKey })
         : await startPolygonWorker({ idempotencyKey });
@@ -136,6 +219,40 @@ export function PolygonLivePanel() {
         </Suspense>
 
         <div className="polygon-live-telemetry">
+          <div className="polygon-rover-controls">
+            <div className="polygon-rover-controls__heading">
+              <span>Управление PX4</span>
+              <StatusBadge tone={commandAcceptance?.offboard ? "success" : "neutral"}>
+                {commandAcceptance?.offboard ? "Armed · Offboard" : "Ожидает прогона"}
+              </StatusBadge>
+            </div>
+            <div className="polygon-rover-controls__grid">
+              {CONTROL_INTENTS.map((intent) => (
+                <Button
+                  key={intent.id}
+                  size="compact"
+                  variant={controlIntent?.id === intent.id ? "primary" : "secondary"}
+                  disabled={!runActive || worker?.runState !== "running" || actionBusy}
+                  onClick={() => setControlIntent(intent)}
+                >
+                  {intent.label}
+                </Button>
+              ))}
+              <Button
+                size="compact"
+                variant="secondary"
+                disabled={!runActive || worker?.runState !== "running" || actionBusy}
+                onClick={() => void stopMotion()}
+              >
+                Стоп
+              </Button>
+            </div>
+            <small>
+              {controlIntent
+                ? `${controlIntent.label}: ${controlIntent.speedMps.toFixed(2)} m/s · steering ${controlIntent.steeringNormalized.toFixed(2)}`
+                : "Команда 250 мс; потеря браузера автоматически обнуляет скорость."}
+            </small>
+          </div>
           <div>
             <span>Прогон</span>
             <strong>{worker?.activeRunId ?? "—"}</strong>
@@ -156,11 +273,19 @@ export function PolygonLivePanel() {
             <span>Провайдеры</span>
             <strong>{worker?.providerIds.join(" · ") || "—"}</strong>
           </div>
+          <div>
+            <span>Последняя команда</span>
+            <strong>
+              {commandAcceptance
+                ? `#${commandAcceptance.sequence} · ${commandAcceptance.speedMps.toFixed(2)} m/s · ${commandAcceptance.steeringNormalized.toFixed(2)}`
+                : "—"}
+            </strong>
+          </div>
           <div className="polygon-live-boundary">
             <StatusBadge tone="success">Virtual only</StatusBadge>
             <p>
-              Нет actuator authority. Live-поза диагностическая и пока не доказывает
-              приёмку PX4/ROS 2 telemetry, navigation или safety.
+              Команды проходят PX4 ROS 2 Offboard только в SITL. Физического actuator
+              authority нет; live-поза остаётся диагностической.
             </p>
           </div>
           {error && <p className="polygon-live-error">{error}</p>}