fix(polygon): focus runs on operator playback

2026-07-25 17:02:35 +03:00 · 2026-07-25 17:02:35 +03:00 · 2e5c4ba1c5
parent b037076506
commit 2e5c4ba1c5
5 changed files with 100 additions and 65 deletions
--- a/apps/control-station/src/styles/workspaces.css
+++ b/apps/control-station/src/styles/workspaces.css
@ -1244,7 +1244,7 @@
  display: flex;
  height: 2.4rem;
  align-items: stretch;
-  gap: 1px;
+  gap: 0;
  overflow: hidden;
  margin: 0 0.65rem;
  border-radius: 0.42rem;
@ -1253,8 +1253,8 @@
 }

 .polygon-review-timeline button {
-  min-width: 1px;
-  flex: 1 1 1px;
+  min-width: 0;
+  flex: 1 1 0;
  border: 0;
  border-radius: 0;
  outline: 0;
@ -1266,9 +1266,8 @@

 .polygon-review-timeline button:hover,
 .polygon-review-timeline button[data-active="true"] {
-  min-width: 3px;
  opacity: 1;
-  box-shadow: 0 0 0 1px rgb(255 255 255 / 0.86);
+  box-shadow: inset 0 0 0 1px rgb(255 255 255 / 0.95);
 }

 .polygon-review-timeline-note {
--- a/apps/control-station/src/workspaces/LidarGroundPointCloud.tsx
+++ b/apps/control-station/src/workspaces/LidarGroundPointCloud.tsx
@ -88,17 +88,17 @@ function frameColors(
      setRgb(
        colors,
        offset,
-        groundTruth ? 0.78 : 0.29,
-        groundTruth ? 0.9 : 0.33,
-        groundTruth ? 0.42 : 0.38,
+        groundTruth ? 0.76 : 0.29,
+        groundTruth ? 0.86 : 0.33,
+        groundTruth ? 0.52 : 0.36,
      );
    } else if (mode === "current") {
      setRgb(
        colors,
        offset,
-        current ? 0.73 : 0.29,
-        current ? 1 : 0.36,
-        current ? 0.29 : 0.43,
+        current ? 0.88 : 0.29,
+        current ? 0.68 : 0.34,
+        current ? 0.28 : 0.37,
      );
    } else if (mode === "candidate") {
      if (!candidateAssigned) {
@ -107,9 +107,9 @@ function frameColors(
        setRgb(
          colors,
          offset,
-          candidate ? 0.24 : 0.29,
-          candidate ? 0.84 : 0.36,
-          candidate ? 1 : 0.43,
+          candidate ? 0.78 : 0.29,
+          candidate ? 0.91 : 0.34,
+          candidate ? 0.48 : 0.37,
        );
      }
    } else if (mode === "disagreement") {
@ -131,7 +131,7 @@ function frameColors(
        disagreement ? 0.22 : 0.35,
      );
    } else {
-      setRgb(colors, offset, candidate ? 0.24 : 0.29, candidate ? 0.84 : 0.36, 0.43);
+      setRgb(colors, offset, candidate ? 0.78 : 0.29, candidate ? 0.91 : 0.34, 0.4);
    }
  }
  return colors;
--- a/apps/control-station/src/workspaces/PolygonRunWorkspace.tsx
+++ b/apps/control-station/src/workspaces/PolygonRunWorkspace.tsx
@ -430,6 +430,41 @@ export function PolygonRunWorkspace({ route }: PolygonRunWorkspaceProps) {
              </div>
            </header>

+            <div className="polygon-review-controls">
+              <button
+                type="button"
+                aria-label={playing ? "Пауза" : "Воспроизвести"}
+                onClick={() => setPlaying((value) => !value)}
+              >
+                {playing ? "Пауза" : "Play"}
+              </button>
+              <button
+                type="button"
+                aria-label="Предыдущий кадр"
+                disabled={selectedPosition <= 0}
+                onClick={() => selectPosition(selectedPosition - 1)}
+              >
+                ←
+              </button>
+              <button
+                type="button"
+                aria-label="Следующий кадр"
+                disabled={selectedPosition >= orderedFrames.length - 1}
+                onClick={() => selectPosition(selectedPosition + 1)}
+              >
+                →
+              </button>
+              <input
+                type="range"
+                min={0}
+                max={Math.max(0, orderedFrames.length - 1)}
+                value={selectedPosition}
+                aria-label="Позиция в записи"
+                onChange={(event) => selectPosition(Number(event.target.value))}
+              />
+              <span>{selectedPosition + 1} / {orderedFrames.length}</span>
+            </div>
+
            <div className="polygon-review-stage">
              {scene ? (
                <LidarGroundPointCloud frame={scene} mode={reviewMode} />
@ -469,41 +504,6 @@ export function PolygonRunWorkspace({ route }: PolygonRunWorkspaceProps) {
              </div>
            ) : null}

-            <div className="polygon-review-controls">
-              <button
-                type="button"
-                aria-label={playing ? "Пауза" : "Воспроизвести"}
-                onClick={() => setPlaying((value) => !value)}
-              >
-                {playing ? "Пауза" : "Play"}
-              </button>
-              <button
-                type="button"
-                aria-label="Предыдущий кадр"
-                disabled={selectedPosition <= 0}
-                onClick={() => selectPosition(selectedPosition - 1)}
-              >
-                ←
-              </button>
-              <button
-                type="button"
-                aria-label="Следующий кадр"
-                disabled={selectedPosition >= orderedFrames.length - 1}
-                onClick={() => selectPosition(selectedPosition + 1)}
-              >
-                →
-              </button>
-              <input
-                type="range"
-                min={0}
-                max={Math.max(0, orderedFrames.length - 1)}
-                value={selectedPosition}
-                aria-label="Позиция в записи"
-                onChange={(event) => selectPosition(Number(event.target.value))}
-              />
-              <span>{selectedPosition + 1} / {orderedFrames.length}</span>
-            </div>
-
            <div className="polygon-review-order">
              <div>
                {orderLabels.map(([order, label]) => (
--- a/docs/12_SIMULATION_POLYGON_PRODUCT_AND_SRS.md
+++ b/docs/12_SIMULATION_POLYGON_PRODUCT_AND_SRS.md
@ -847,7 +847,8 @@ show an explicit offline state.

 The Polygon navigation is task-oriented:

- `Прогоны` owns live simulation lifecycle, history and qualification evidence;
+- `Прогоны` owns recorded replay/simulation history and operator review of
+  qualification evidence;
 - `Датасеты` owns admitted replay inputs and the entry point for a future
  qualification run.

@ -857,16 +858,27 @@ remain under Fleet. A dataset preview is not a qualification result; the
 result is a versioned run with pipeline, sensor profile, metrics, provenance
 and decision.

+Live simulation is a different operator task. A rover scene, worker health and
+start/control actions must not be mounted above an archived dataset replay.
+They require a separate live surface that appears only when the Simulation
+Worker capability is available. The current `Прогоны` implementation is
+read-only and remains fully usable while that worker is offline.
+
 ### UI-0 — early read-only run view

-Target S1B proves persisted start/health/stop history. UI-0 is implemented as a
-direct internal run view and exposes:
+Target S1B proves persisted start/health/stop history. The first direct
+developer-oriented view exposed lifecycle, events, provider pins and artifact
+hashes on the main screen. Operator review rejected that composition. The
+current UI-0 makes the recorded evidence primary:

- run identity, lifecycle and terminal reason;
- authoritative clock and current pause/running state;
- provider health/process ownership;
- qualification events and admitted artifact links;
- explicit limitations and gate status.
+- full source-order frame index instead of five selected examples;
+- Play/pause, previous/next and arbitrary scrub;
+- direct ground-truth, Current, Patchwork++ and error-map modes;
+- current-frame metrics and a clickable all-frame improvement/regression strip;
+- automatic best/worst ordering without preventing arbitrary manual selection;
+- aggregate comparison after, rather than before, visual evidence;
+- acceptance/degradation and run identity/provider/artifact details collapsed
+  below the operator workflow.

 The backend reads the configured repository from
 `MISSIONCORE_POLYGON_RUNS_ROOT` using
@ -875,12 +887,17 @@ The backend reads the configured repository from
 ```text
 GET /api/v1/polygon/runs
 GET /api/v1/polygon/runs/{run-id}
+GET /api/v1/polygon/runs/{run-id}/qualification
+GET /api/v1/polygon/runs/{run-id}/qualification/review
+GET /api/v1/polygon/runs/{run-id}/qualification/review/frames/{frame-id}
 ```

 Missing/malformed configuration returns `503`; invalid or corrupt evidence
-fails closed. Responses never contain the configured root, artifact bytes or
-command payloads. `?workspace=polygon-run[&run=<run-id>]` remains a compatible
-deep-link into the same product workspace.
+fails closed. The review index exposes no paths or digests. A selected frame is
+verified against the content-bound review manifest before its bounded point
+preview is decoded. Responses never contain the configured root, raw dataset
+bytes or command payloads. `?workspace=polygon-run[&run=<run-id>]` remains a
+compatible deep-link into the same product workspace.

 UI-0 itself has no PX4 transport or lifecycle/command operations. It remains a
 read-only evidence contract backed by the server-owned run repository and is
--- a/docs/14_LIDAR_DATASET_GATEWAY.md
+++ b/docs/14_LIDAR_DATASET_GATEWAY.md
@ -312,7 +312,7 @@ points (required `>= 7`), natural-ground recall gain is `24.46` points
 (required `>= 90%`), assigned fraction is `100%` (required `>= 99.9%`) and
 p95 latency is `23.40 ms` (required `<= 50 ms`). No frame exceeded the
 catastrophic regression boundary of `-20` Ground-IoU points; the worst observed
-delta was `-13.51` points and remains visible as a bounded failure preview.
+delta was `-13.51` points.

 | Deterministic profile | Source coverage | Ground IoU | Natural recall | p95 latency |
 | --- | ---: | ---: | ---: | ---: |
@ -327,9 +327,28 @@ delta was `-13.51` points and remains visible as a bounded failure preview.
 Every degradation profile stayed inside the predeclared `15`-point Ground-IoU
 loss, `20`-point natural-recall loss and `50 ms` p95 limits. The sealed
 decision is therefore `shadow-candidate`, explicitly
-`promoted_to_navigation_or_safety = false`. The compact `12 MB` run journal,
-report and five worst-frame previews are available in `Polygon -> Runs`; the
-source archive and crash-resume frame cache remain only on worker D.
+`promoted_to_navigation_or_safety = false`.
+
+The first aggregate-only Polygon screen was rejected as an operator product:
+five selected failure previews could not let an operator verify the decision.
+Commit `b037076` adds a separate immutable visual derivative bound to the
+qualification report:
+
+- schema `missioncore.goose-ground-review-pack/v1`;
+- identity
+  `6ddc2de0154196088049b8654d9187fba0c52e28783e5ada6be5266dd16bd641`;
+- all `961/961` validation frames in source order;
+- deterministic `12,000`-point frame previews with remission, public
+  point-aligned ground truth, Current and Patchwork++ masks;
+- compact size `67 MB`, versus multiple gigabytes for equivalent JSON;
+- `Play`, frame scrubber, a clickable all-frame delta strip, best/worst
+  ordering and direct modes for geometry, ground truth, both providers and
+  both error maps.
+
+The source archive and full-resolution crash-resume cache remain only on worker
+D. A bounded review mirror may be served by a Mission Core backend, but SSH is
+not a product data plane. The replay UI does not render the unrelated live
+Ackermann rover and does not depend on Simulation Worker online status.

 Primary source evidence: