feat(perception): project recorded results into Rerun

apps/control-station/test/observationSources.test.mjs

@@ -23,6 +23,8 @@ let formatAccumulationDuration;
 let resolveRerunSourceUrl;
 let resolveRecordedBlueprintUrl;
 let fetchRecordedBlueprintRrd;
+let resolveRecordedPerceptionUrl;
+let fetchRecordedPerceptionRrd;
 let isRecordedPlaybackFullyBuffered;
 let recordedObservationSources;
 let selectRecordedMediaEpoch;
@@ -62,6 +64,8 @@ before(async () => {
     resolveRerunSourceUrl,
     resolveRecordedBlueprintUrl,
     fetchRecordedBlueprintRrd,
+    resolveRecordedPerceptionUrl,
+    fetchRecordedPerceptionRrd,
     isRecordedPlaybackFullyBuffered,
   } = await server.ssrLoadModule(
     "/src/components/RerunViewport.tsx",
@@ -265,6 +269,7 @@ test("recorded blueprint fetch is bounded, strict and sends only display setting
     { applicationId: "nodedc_mission_core_recorded", recordingId: "recording-001" },
     {
       origin: "http://127.0.0.1:5174",
+      activeView: "perception",
       fetcher: async (input, init) => {
         calls.push({ input: String(input), init, body: JSON.parse(String(init.body)) });
         return new Response(payload, {
@@ -287,6 +292,7 @@ test("recorded blueprint fetch is bounded, strict and sends only display setting
     point_size: 4.5,
     palette: "custom",
     custom_color: "#35d7c1",
+    active_view: "perception",
   });
 
   await assert.rejects(
@@ -308,6 +314,49 @@ test("recorded blueprint fetch is bounded, strict and sends only display setting
   );
 });
 
+test("recorded perception fetch admits one complete same-origin RRD or no layer", async () => {
+  const endpoint = resolveRecordedPerceptionUrl(
+    "/api/v1/observation-sessions/session-1/recording.rrd",
+    "http://127.0.0.1:5174",
+  );
+  assert.equal(
+    endpoint,
+    "http://127.0.0.1:5174/api/v1/observation-sessions/session-1/perception.rrd",
+  );
+  const payload = Uint8Array.from([0x52, 0x52, 0x46, 0x32, 0x01]);
+  const result = await fetchRecordedPerceptionRrd(
+    endpoint,
+    { applicationId: "nodedc_mission_core_recorded", recordingId: "recording-001" },
+    {
+      origin: "http://127.0.0.1:5174",
+      fetcher: async (_input, init) => {
+        assert.deepEqual(JSON.parse(String(init.body)), {
+          application_id: "nodedc_mission_core_recorded",
+          recording_id: "recording-001",
+        });
+        return new Response(payload, {
+          status: 200,
+          headers: {
+            "Content-Type": "application/vnd.rerun.rrd",
+            "Content-Length": String(payload.byteLength),
+          },
+        });
+      },
+    },
+  );
+  assert.deepEqual([...result], [...payload]);
+
+  const absent = await fetchRecordedPerceptionRrd(
+    endpoint,
+    { applicationId: "nodedc_mission_core_recorded", recordingId: "recording-001" },
+    {
+      origin: "http://127.0.0.1:5174",
+      fetcher: async () => new Response(null, { status: 204 }),
+    },
+  );
+  assert.equal(absent, null);
+});
+
 test("recorded replay creates an isolated source catalog without live device bindings", () => {
   const sources = recordedObservationSources({
     kind: "rerun-recording",