feat(lab): separate current increment from rolling map

apps/control-station/src/core/laboratory/m4ReplayThreat.ts

@@ -18,6 +18,7 @@ export interface M4ThreatReplayResult {
     evidence: {
       cameraOnly: number;
       currentMetric: number;
+      rollingMapRetained: number;
       staleOrHeld: number;
     };
     fixtures: {
@@ -69,7 +70,7 @@ export interface M4ThreatAssessment {
 
 export interface M4ThreatMetricVisual {
   componentId: string;
-  state: "current" | "held" | "expired";
+  state: "current" | "retained" | "held" | "expired";
   motion: M4ThreatMotion;
   centroidBodyXyzM: M4Point3;
   cellCentersBodyXyzM: readonly M4Point3[];
@@ -96,6 +97,8 @@ export interface M4ThreatVisualFrame {
   pointCloudBodyXyzM: readonly M4Point3[];
   pointCloudSourceCount: number;
   pointCloudSampleCount: number;
+  pointCloudLayer: "current-increment";
+  rollingMapComponentCount: number;
   metricObstacles: readonly M4ThreatMetricVisual[];
   cameraProposals: readonly M4ThreatCameraProposal[];
   rig: {
@@ -296,6 +299,9 @@ export async function fetchM4ThreatReplayResult({
       evidence: {
         cameraOnly: integer(evidence["camera-only"], "M4.6 camera-only"),
         currentMetric: integer(evidence["current-metric"], "M4.6 metric"),
+        rollingMapRetained: evidence["rolling-map-retained"] === undefined
+          ? 0
+          : integer(evidence["rolling-map-retained"], "M4.6 rolling map"),
         staleOrHeld: integer(evidence["stale-or-held"], "M4.6 stale"),
       },
       fixtures: {
@@ -389,7 +395,14 @@ export async function fetchM4ThreatVisual(
   );
   if (!response.ok) throw new M4ThreatContractError(`M4.6 visual frame: HTTP ${response.status}.`);
   const item = object(await response.json(), "M4.6 visual frame");
-  exact(item.schema_version, "missioncore.perception-threat-visual-frame/v1", "M4.6 frame schema");
+  const frameSchema = text(item.schema_version, "M4.6 frame schema");
+  if (
+    frameSchema !== "missioncore.perception-threat-visual-frame/v1"
+    && frameSchema !== "missioncore.perception-threat-visual-frame/v2"
+  ) {
+    throw new M4ThreatContractError("M4.6 frame schema: нарушен контракт.");
+  }
+  const rollingMapV2 = frameSchema === "missioncore.perception-threat-visual-frame/v2";
   exact(item.result_id, result, "M4.6 frame result");
   const rig = object(item.rig, "M4.6 visual rig");
   const corridor = object(item.corridor, "M4.6 visual corridor");
@@ -404,10 +417,21 @@ export async function fetchM4ThreatVisual(
     ),
     pointCloudSourceCount: integer(item.point_cloud_source_count, "M4.6 source points"),
     pointCloudSampleCount: integer(item.point_cloud_sample_count, "M4.6 sample points"),
+    pointCloudLayer: rollingMapV2
+      ? exact(item.point_cloud_layer, "current-increment", "M4.6 point layer")
+      : "current-increment",
+    rollingMapComponentCount: rollingMapV2
+      ? integer(item.rolling_map_component_count, "M4.6 rolling components")
+      : 0,
     metricObstacles: array(item.metric_obstacles, "M4.6 metric visuals").map((raw) => {
       const value = object(raw, "M4.6 metric visual");
       const state = text(value.state, "M4.6 temporal state");
-      if (state !== "current" && state !== "held" && state !== "expired") {
+      if (
+        state !== "current"
+        && state !== "retained"
+        && state !== "held"
+        && state !== "expired"
+      ) {
         throw new M4ThreatContractError("M4.6 temporal state: неизвестное состояние.");
       }
       return {