feat(perception): project recorded results into Rerun

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

@@ -45,6 +45,7 @@ import {
   type RerunPlaybackState,
   type RerunSelection,
   type RerunViewportStatus,
+  type RecordedRerunView,
 } from "../components/RerunViewport";
 import {
   capabilityStatusLabel,
@@ -294,6 +295,8 @@ function SpatialWorkspace({
   const [selection, setSelection] = useState<RerunSelection | null>(null);
   const [playbackState, setPlaybackState] = useState<RerunPlaybackState | null>(null);
   const [playbackController, setPlaybackController] = useState<RerunPlaybackController | null>(null);
+  const [recordedRerunView, setRecordedRerunView] = useState<RecordedRerunView>("spatial");
+  const [perceptionAvailable, setPerceptionAvailable] = useState(false);
   const recordedSource = state?.sourceMode === "replay" || /\.rrd(?:$|[?#])/i.test(sourceUrl);
   const recordedSessionGate: RecordedAdmissionPhase = recordedSource
     ? recordedSessionAdmission?.phase ?? "loading"
@@ -369,6 +372,15 @@ function SpatialWorkspace({
     (next: RerunPlaybackController | null) => setPlaybackController(next),
     [],
   );
+  const onPerceptionAvailabilityChange = useCallback((available: boolean) => {
+    setPerceptionAvailable(available);
+    if (!available) setRecordedRerunView("spatial");
+  }, []);
+
+  useEffect(() => {
+    setPerceptionAvailable(false);
+    setRecordedRerunView("spatial");
+  }, [sourceUrl]);
 
   useEffect(() => {
     if (pointCloudVisible && sourceUrl.trim()) return;
@@ -377,6 +389,8 @@ function SpatialWorkspace({
     setSelection(null);
     setPlaybackState(null);
     setPlaybackController(null);
+    setPerceptionAvailable(false);
+    setRecordedRerunView("spatial");
   }, [pointCloudVisible, sourceUrl]);
 
   useEffect(() => {
@@ -419,6 +433,17 @@ function SpatialWorkspace({
           <span className="section-eyebrow">СЦЕНА 3D · RERUN</span>
         </div>
         <div className="spatial-toolbar__actions">
+          {recordedSource && perceptionAvailable ? (
+            <Button
+              size="compact"
+              variant={recordedRerunView === "perception" ? "primary" : "secondary"}
+              icon={<Icon name={recordedRerunView === "perception" ? "globe" : "image"} />}
+              onClick={() => setRecordedRerunView((current) =>
+                current === "perception" ? "spatial" : "perception")}
+            >
+              {recordedRerunView === "perception" ? "Облако точек" : "Распознавание"}
+            </Button>
+          ) : null}
           <Button size="compact" variant="secondary" icon={<Icon name="network" />} onClick={navigation.openSource}>
             Движок
           </Button>
@@ -451,6 +476,8 @@ function SpatialWorkspace({
                 ? state?.observationTimeline?.range?.endSeconds
                 : undefined}
               sceneSettings={sceneSettings}
+              recordedView={recordedRerunView}
+              onPerceptionAvailabilityChange={onPerceptionAvailabilityChange}
               onStatusChange={onStatusChange}
               onSelectionChange={onSelectionChange}
               onPlaybackChange={onPlaybackChange}
@@ -630,7 +657,7 @@ function SpatialWorkspace({
         <span><i data-state="ready" />Траектория</span>
         <span><i data-state="ready" />Преобразования</span>
         <span><i data-state="contract" />Камеры в 3D</span>
-        <span><i data-state="contract" />Объекты / маски</span>
+        <span><i data-state={perceptionAvailable ? "ready" : "contract"} />Объекты / рамки</span>
         <span><i data-state="contract" />Компоновка</span>
       </div>
     </div>