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feat(ui): add M4.8S replay with LiDAR overlay

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DCCONSTRUCTIONS
2026-08-25 16:44:52 +03:00
parent 3679e43fe3
commit 15be698097
17 changed files with 1448 additions and 31 deletions
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apps/control-station/test/m4ReplayThreat.test.mjs
+101 -1
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@@ -326,6 +326,100 @@ test("M4.6 timeline keeps only a compact index and decodes bounded spatial chunk
assert.equal(selectM4ThreatTimelineFrame(chunk.frames, 35.50).sequence, 1);
});
test("M4.8S timeline binds factory-KB4 camera points through its exact endpoint", async () => {
const replayResultId = `m48s-fixed-class-detector-lab-${"b".repeat(64)}`;
const endpointRoot = "/api/v1/laboratory/m48s/fixed-class-detector";
const frameTimesNs = Array.from(
{ length: 4489 },
(_, index) => 35_421_857_292 + index * 100_000_000,
);
let requested = "";
const timeline = await fetchM4ThreatTimeline(replayResultId, {
endpointRoot,
fetcher: async (input) => {
requested = String(input);
return new Response(JSON.stringify({
schema_version: "missioncore.recorded-spatial-evidence-timeline/v1",
result_id: replayResultId,
recorded_source: {
session_id: "20260720T065719Z_viewer_live",
source_id: "RAVNOVES00",
representation_id: "registered-map-increment-v1",
synchronization: "host-arrival-best-effort",
},
image_width: 800,
image_height: 600,
frame_count: 4489,
frame_times_ns: frameTimesNs,
timeline_start_seconds: 35.421857292,
timeline_end_seconds: 484.221857292,
nominal_frame_interval_seconds: 0.1,
nominal_rate_hz: 10,
max_chunk_frames: 24,
point_sample_limit: 4096,
maximum_source_points_per_frame: 3092,
point_delivery: "exact-current-increment",
camera_point_delivery: "factory-kb4-projected-current-increment",
camera_point_sample_limit: 4096,
world_state_delivery: "source-paced-latest-wins",
world_state_frame_count: 4481,
superseded_frame_count: 8,
local_surface_visualization: {
derivation: "bounded-registered-increment-accumulation",
window_seconds: 2,
voxel_size_m: 0.1,
radius_m: 12,
point_limit: 20000,
authority: "visual-derived",
},
rig: { length_m: 1, width_m: 0.6, nominal_sensor_height_m: 1.25 },
corridor: {
forward_length_m: 8,
rear_margin_m: 0.5,
half_width_m: 0.5,
occupied_voxel_size_m: 0.45,
prediction_horizon_seconds: 5,
},
authority: "replay-simulated",
}), { status: 200 });
},
});
assert.equal(requested, `${endpointRoot}/${replayResultId}/timeline`);
assert.equal(timeline.cameraPointDelivery, "factory-kb4-projected-current-increment");
assert.equal(timeline.worldStateFrameCount, 4481);
assert.equal(timeline.supersededFrameCount, 8);
const chunk = await fetchM4ThreatTimelineChunk(replayResultId, 1, 1, {
endpointRoot,
fetcher: async (input) => {
requested = String(input);
return new Response(JSON.stringify({
schema_version: "missioncore.recorded-spatial-evidence-chunk/v1",
result_id: replayResultId,
start_sequence: 1,
frame_count: 1,
next_sequence: 2,
frames: [timelineFrame(1, 35.521857292, {
world_state_available: false,
terminal_outcome: "superseded",
camera_projected_points_xyd: [[100.5, 200.25, 3.75]],
camera_projected_source_count: 847,
camera_projected_point_count: 1,
camera_projected_sample_count: 1,
camera_projection: "factory-kb4-exact",
camera_url: `${endpointRoot}/${replayResultId}/timeline/frames/1/camera`,
})],
authority: "replay-simulated",
}), { status: 200 });
},
});
assert.match(requested, new RegExp(`^${endpointRoot}/${replayResultId}/timeline/chunk`));
assert.equal(chunk.frames[0].worldStateAvailable, false);
assert.equal(chunk.frames[0].terminalOutcome, "superseded");
assert.deepEqual(chunk.frames[0].cameraProjectedPointsXyd[0], [100.5, 200.25, 3.75]);
assert.equal(chunk.frames[0].cameraProjection, "factory-kb4-exact");
});
test("M4.6 local SLAM surface reprojects registered increments into the active body frame", () => {
const frames = [
timelineFrame(0, 10, {
@@ -453,11 +547,12 @@ test("recorded VIDEO clock cannot reverse an explicit operator pause", () => {
});
test("M4.6 viewer keeps media and spatial panes on one playback clock", async () => {
const [visual, visualCss, imageScene, videoScene, metricScene] = await Promise.all([
const [visual, visualCss, imageScene, videoScene, pointOverlay, metricScene] = await Promise.all([
readFile(new URL("../src/workspaces/laboratory/M4ReplayThreatVisual.tsx", import.meta.url), "utf8"),
readFile(new URL("../src/styles/m4-replay-threat.css", import.meta.url), "utf8"),
readFile(new URL("../src/components/laboratory/RecordedEvidenceImageScene.tsx", import.meta.url), "utf8"),
readFile(new URL("../src/components/laboratory/RecordedEvidenceVideoScene.tsx", import.meta.url), "utf8"),
readFile(new URL("../src/components/laboratory/RecordedEvidencePointCloudOverlay.tsx", import.meta.url), "utf8"),
readFile(new URL("../src/components/laboratory/LaboratoryMetricEvidenceScene.tsx", import.meta.url), "utf8"),
]);
assert.match(visual, /<RecordedEvidenceVideoScene/);
@@ -474,6 +569,8 @@ test("M4.6 viewer keeps media and spatial panes on one playback clock", async ()
assert.match(visual, /label: "CAMERA"/);
assert.match(visual, /label: "3D"/);
assert.match(visual, /label: "PLAN"/);
assert.match(visual, />\s*POINTS\s*</);
assert.match(visual, /pointCloudOverlay=/);
assert.match(visual, /mediaMode/);
assert.match(visual, /spatialMode/);
assert.match(visual, /current === next \? null : next/);
@@ -504,6 +601,9 @@ test("M4.6 viewer keeps media and spatial panes on one playback clock", async ()
assert.match(visualCss, /bottom: auto/);
assert.match(videoScene, /<RecordedFmp4Player/);
assert.match(imageScene, /<RecordedEvidenceBoxOverlay/);
assert.match(imageScene, /<RecordedEvidencePointCloudOverlay/);
assert.match(videoScene, /<RecordedEvidencePointCloudOverlay/);
assert.match(pointOverlay, /factory-kb4-exact/);
assert.match(metricScene, /OrbitControls/);
assert.match(visual, /LOCAL SLAM/);
assert.match(visual, /showLocalSurface/);