fix(lab): restore canonical RAV004 replay

apps/control-station/src/components/laboratory/LaboratoryRecordedClipPlayer.tsx

@@ -81,7 +81,9 @@ export function LaboratoryRecordedClipPlayer({
   sourceCount,
   cameraRef,
   cameraOverlay,
+  cameraControls,
   alternativeScene,
+  spatialControls,
   onSequenceChange,
   onPlayingChange,
   onPlaybackRateChange,
@@ -97,7 +99,9 @@ export function LaboratoryRecordedClipPlayer({
   sourceCount: number;
   cameraRef?: RefObject<HTMLDivElement | null>;
   cameraOverlay?: ReactNode;
+  cameraControls?: ReactNode;
   alternativeScene?: ReactNode;
+  spatialControls?: ReactNode;
   onSequenceChange: (sequence: number) => void;
   onPlayingChange: (playing: boolean) => void;
   onPlaybackRateChange: (rate: number) => void;
@@ -173,6 +177,14 @@ export function LaboratoryRecordedClipPlayer({
       aria-hidden={cameraPresentation === "primary"}
     >
       {alternativeScene}
+      {spatialControls ? (
+        <div
+          className="laboratory-recorded-clip-player__pane-controls"
+          data-pane="spatial"
+        >
+          {spatialControls}
+        </div>
+      ) : null}
     </div>
   );
   const cameraPane = (
@@ -195,6 +207,14 @@ export function LaboratoryRecordedClipPlayer({
         />
       ) : null}
       {cameraPresentation !== "hidden" ? cameraOverlay : null}
+      {cameraPresentation !== "hidden" && cameraControls ? (
+        <div
+          className="laboratory-recorded-clip-player__pane-controls"
+          data-pane="camera"
+        >
+          {cameraControls}
+        </div>
+      ) : null}
     </div>
   );
   return (

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

@@ -119,6 +119,7 @@ export interface VegetationFullRouteLayer {
 export interface VegetationFullRouteReview {
   sourceId: "RAVNOVES004TREE";
   sessionId: "20260828T130511Z_viewer_live";
+  linkedRouteReviewResultId: string;
   sourceJobId: "recorded-camera-eb2783c5480d56bda07c8af0";
   sourceJobInputSha256: string;
   sourceStreamSha256: string;
@@ -692,6 +693,15 @@ function fullRouteReviewValue(value: unknown): VegetationFullRouteReview | null
     "recorded-camera-eb2783c5480d56bda07c8af0",
     "vegetation.route_full_review.source_job_id",
   );
+  const linkedRouteReviewResultId = textValue(
+    row.linked_route_review_result_id,
+    "vegetation.route_full_review.linked_route_review_result_id",
+  );
+  if (!RESULT_ID.test(linkedRouteReviewResultId)) {
+    throw new VegetationShadowContractError(
+      "vegetation.route_full_review: linked route review identity invalid.",
+    );
+  }
   exact(row.frame_count, 6830, "vegetation.route_full_review.frame_count");
   exact(row.width, 800, "vegetation.route_full_review.width");
   exact(row.height, 600, "vegetation.route_full_review.height");
@@ -810,6 +820,7 @@ function fullRouteReviewValue(value: unknown): VegetationFullRouteReview | null
   return {
     sourceId: "RAVNOVES004TREE",
     sessionId: "20260828T130511Z_viewer_live",
+    linkedRouteReviewResultId,
     sourceJobId: "recorded-camera-eb2783c5480d56bda07c8af0",
     sourceJobInputSha256,
     sourceStreamSha256,

apps/control-station/src/styles/laboratory-recorded-clip-player.css

@@ -33,6 +33,29 @@
   pointer-events: auto;
 }
 
+.laboratory-recorded-clip-player__pane-controls {
+  position: absolute;
+  z-index: 6;
+  top: 0.6rem;
+  display: flex;
+  max-width: calc(100% - 1.2rem);
+  flex-wrap: wrap;
+  align-items: center;
+  gap: 0.38rem;
+  border-radius: var(--nodedc-radius-control-pill);
+  background: var(--nodedc-floating-surface);
+  padding: 0.28rem;
+  backdrop-filter: blur(var(--nodedc-blur-control));
+}
+
+.laboratory-recorded-clip-player__pane-controls[data-pane="spatial"] {
+  right: 0.6rem;
+}
+
+.laboratory-recorded-clip-player__pane-controls[data-pane="camera"] {
+  left: 0.6rem;
+}
+
 .laboratory-recorded-clip-player__split
   > .nodedc-split-pane__separator::before {
   background: transparent;

apps/control-station/src/workspaces/laboratory/VegetationShadowResult.tsx

@@ -1,5 +1,9 @@
-import { useEffect, useState } from "react";
+import { useCallback, useEffect, useMemo, useRef, useState } from "react";
+import { Button, SegmentedControl } from "@nodedc/ui-react";
 
+import { LaboratoryEvidenceViewer } from "../../components/laboratory/LaboratoryEvidenceViewer";
+import { LaboratoryRecordedClipPlayer } from "../../components/laboratory/LaboratoryRecordedClipPlayer";
+import { RerunViewport } from "../../components/RerunViewport";
 import {
   LaboratoryEvidence,
   LaboratoryResultSummary,
@@ -7,7 +11,18 @@ import {
   LaboratoryWorkTemplate,
 } from "../../components/laboratory/LaboratoryPresentation";
 import {
+  RecordedEvidenceSemanticMaskOverlay,
+  type RecordedEvidenceSemanticClass,
+  type RecordedEvidenceSemanticPaletteEntry,
+} from "../../components/laboratory/RecordedEvidenceSemanticMaskOverlay";
+import {
+  fetchVegetationShadowResult,
+  vegetationFullRouteMaskUrl,
   vegetationVideoMaskUrl,
+  type VegetationFullRouteLayer,
+  type VegetationFullRouteReview,
+  type VegetationMixedRouteCase,
+  type VegetationMixedRouteReview,
   type VegetationShadowResult,
 } from "../../core/laboratory/vegetationShadow";
 import {
@@ -15,11 +30,480 @@ import {
   type M49TgsFullShadowResult,
 } from "../../core/laboratory/m49TgsFullShadow";
 import { M49TgsFullShadowEvidence } from "./M49TgsFullShadowEvidence";
+import { recordedObservationSources } from "../../core/observation/recordedObservationSources";
+import type { ObservationSessionReplayLaunch } from "../../core/observation/sessionArchive";
+import { resolveObservationSessionReplay } from "../../core/observation/useObservationSessions";
+import {
+  recordedSessionRerunProfile,
+  type RerunPlaybackController,
+} from "../../core/observation/viewerProfile";
+import type { ObservationSourceDescriptor } from "../../core/runtime/contracts";
+import { defaultSceneSettings, type SceneSettings } from "../../sceneSettings";
+import {
+  M48EvidenceModeRail,
+  type M48BlindEvidenceMode,
+} from "./annotation/M48EvidenceModeControls";
 
 function decimal(value: number, digits = 1): string {
   return value.toLocaleString("ru-RU", { maximumFractionDigits: digits });
 }
 
+const FULL_ROUTE_SEMANTIC_MODES = [
+  { value: "city", label: "ГОРОД · EoMT" },
+  { value: "vegetation", label: "ПРИРОДА · DDRNet" },
+] as const;
+
+function semanticPresentation(layer: VegetationFullRouteLayer): {
+  classes: readonly RecordedEvidenceSemanticClass[];
+  palette: readonly RecordedEvidenceSemanticPaletteEntry[];
+} {
+  return {
+    classes: layer.taxonomy.map((item) => ({ id: item.classId, label: item.label })),
+    palette: layer.taxonomy.map((item) => ({
+      classId: item.classId,
+      color: item.classId === 0
+        ? { kind: "transparent" as const }
+        : { kind: "diagnostic" as const, rgb: item.colorRgb },
+    })),
+  };
+}
+
+function nearestTgsCase(
+  cases: readonly VegetationMixedRouteCase[],
+  sequence: number,
+): VegetationMixedRouteCase | null {
+  return cases.reduce<VegetationMixedRouteCase | null>((nearest, candidate) => (
+    !nearest
+      || Math.abs(candidate.sourceSequence - sequence)
+        < Math.abs(nearest.sourceSequence - sequence)
+      ? candidate
+      : nearest
+  ), null);
+}
+
+function FullRouteReviewEvidence({
+  resultId,
+  review,
+}: {
+  resultId: string;
+  review: VegetationFullRouteReview;
+}) {
+  const [sequence, setSequence] = useState(1);
+  const [playing, setPlaying] = useState(false);
+  const [playbackRate, setPlaybackRate] = useState(1);
+  const [semanticLayer, setSemanticLayer] = useState<"city" | "vegetation">("vegetation");
+  const [showCameraSemantic, setShowCameraSemantic] = useState(true);
+  const [expanded, setExpanded] = useState(false);
+  const [evidenceMode, setEvidenceMode] = useState<M48BlindEvidenceMode>("3d");
+  const [cameraVisible, setCameraVisible] = useState(true);
+  const [sceneSettings, setSceneSettings] = useState<SceneSettings>(() => ({
+    ...defaultSceneSettings,
+    accumulationSeconds: 12,
+    showPoints: true,
+    showTrajectory: true,
+  }));
+  const [videoSource, setVideoSource] = useState<ObservationSourceDescriptor | null>(null);
+  const [replayLaunch, setReplayLaunch] = useState<ObservationSessionReplayLaunch | null>(null);
+  const [videoError, setVideoError] = useState<string | null>(null);
+  const [linkedReview, setLinkedReview] = useState<VegetationMixedRouteReview | null>(null);
+  const [linkedReviewError, setLinkedReviewError] = useState<string | null>(null);
+  const spatialControllerRef = useRef<RerunPlaybackController | null>(null);
+  const frames = useMemo(
+    () => review.frameSourceTimesNs.map((sourceTimeNs, index) => ({
+      sequence: index + 1,
+      sourceTimeNs,
+    })),
+    [review.frameSourceTimesNs],
+  );
+  const layer = review[semanticLayer];
+  const semantic = useMemo(() => semanticPresentation(layer), [layer]);
+  const maskSequence = sequence - 1;
+  const prefetchSrcs = useMemo(() => showCameraSemantic
+    ? Array.from({ length: 8 }, (_, offset) => maskSequence + offset + 1)
+      .filter((candidate) => candidate < review.frameCount)
+      .map((candidate) => vegetationFullRouteMaskUrl(resultId, semanticLayer, candidate))
+    : [], [maskSequence, resultId, review.frameCount, semanticLayer, showCameraSemantic]);
+
+  useEffect(() => {
+    const controller = new AbortController();
+    setVideoSource(null);
+    setReplayLaunch(null);
+    setVideoError(null);
+    void resolveObservationSessionReplay(review.sessionId, { signal: controller.signal })
+      .then((launch) => {
+        const source = recordedObservationSources(launch).find((candidate) => (
+          candidate.id === review.recordedMediaSourceId
+          && candidate.modality === "video"
+          && candidate.semanticChannelId === "camera.video.recorded"
+          && candidate.delivery?.kind === "recorded-fmp4-manifest"
+          && candidate.delivery.manifestGenerationSha256 === review.recordedMediaGenerationSha256
+          && candidate.delivery.timelineStartSeconds === review.timelineStartSeconds
+          && candidate.delivery.timelineEndSeconds >= review.timelineEndSeconds
+        ));
+        if (!source) {
+          throw new Error("RIGHT-видео не совпало с sealed RAVNOVES004TREE timeline.");
+        }
+        if (!controller.signal.aborted) {
+          setVideoSource(source);
+          setReplayLaunch(launch);
+        }
+      })
+      .catch((caught: unknown) => {
+        if (!controller.signal.aborted) {
+          setVideoError(caught instanceof Error ? caught.message : "Записанное видео недоступно.");
+        }
+      });
+    return () => controller.abort();
+  }, [
+    review.recordedMediaGenerationSha256,
+    review.recordedMediaSourceId,
+    review.sessionId,
+    review.timelineEndSeconds,
+    review.timelineStartSeconds,
+  ]);
+
+  useEffect(() => {
+    const controller = new AbortController();
+    setLinkedReview(null);
+    setLinkedReviewError(null);
+    void fetchVegetationShadowResult(review.linkedRouteReviewResultId, {
+      signal: controller.signal,
+    }).then((result) => {
+      if (
+        !result.routeReview
+        || result.routeReview.sourceId !== review.sourceId
+        || result.routeReview.sessionId !== review.sessionId
+      ) {
+        throw new Error("TGS anchors имеют другую source identity.");
+      }
+      if (!controller.signal.aborted) setLinkedReview(result.routeReview);
+    }).catch((caught: unknown) => {
+      if (!controller.signal.aborted) {
+        setLinkedReviewError(caught instanceof Error ? caught.message : "TGS anchors недоступны.");
+      }
+    });
+    return () => controller.abort();
+  }, [review.linkedRouteReviewResultId, review.sessionId, review.sourceId]);
+
+  const spatialProfile = useMemo(() => replayLaunch ? recordedSessionRerunProfile({
+    sourceUrl: replayLaunch.viewerSourceUrl,
+    artifact: {
+      sourceUrl: replayLaunch.sourceUrl,
+      viewerSourceUrl: replayLaunch.viewerSourceUrl,
+      byteLength: replayLaunch.byteLength,
+      sha256: replayLaunch.sha256,
+    },
+    autoplayWhenReady: false,
+    presentationGate: "ready",
+    expectedTimelineStartSeconds: replayLaunch.timelineStartSeconds,
+    expectedTimelineEndSeconds: replayLaunch.timelineEndSeconds,
+    initialPlaybackStartSeconds: review.timelineStartSeconds,
+    view: "spatial",
+    viewResetGeneration: 0,
+    followTrajectory: false,
+    perceptionLayers: {
+      enabled: false,
+      detections2d: false,
+      segmentation: false,
+      cuboids3d: false,
+    },
+    perceptionRetryGeneration: 0,
+    lockPerceptionCameraInteraction: false,
+  }) : null, [replayLaunch, review.timelineStartSeconds]);
+  const activeFrame = frames.find((candidate) => candidate.sequence === sequence)
+    ?? frames[0]
+    ?? null;
+  const activeSourceTimeNsRef = useRef(activeFrame?.sourceTimeNs ?? null);
+  activeSourceTimeNsRef.current = activeFrame?.sourceTimeNs ?? null;
+  const handleSpatialControllerChange = useCallback((controller: RerunPlaybackController | null) => {
+    spatialControllerRef.current = controller;
+    const sourceTimeNs = activeSourceTimeNsRef.current;
+    if (!controller || sourceTimeNs === null) return;
+    controller.setPlaying(false);
+    controller.seek(sourceTimeNs);
+  }, []);
+
+  useEffect(() => {
+    const controller = spatialControllerRef.current;
+    if (!controller || !activeFrame) return;
+    controller.setPlaying(false);
+    controller.seek(activeFrame.sourceTimeNs);
+  }, [activeFrame]);
+
+  const selectedTgsCase = linkedReview
+    ? nearestTgsCase(linkedReview.cases, sequence)
+    : null;
+  const selectTgsPlan = useCallback(() => {
+    if (!linkedReview) return;
+    const item = nearestTgsCase(linkedReview.cases, sequence);
+    if (!item) return;
+    setPlaying(false);
+    setSequence(item.sourceSequence);
+    setEvidenceMode("plan");
+  }, [linkedReview, sequence]);
+  const handleEvidenceModeChange = useCallback((nextMode: M48BlindEvidenceMode) => {
+    if (nextMode === "plan") {
+      selectTgsPlan();
+      return;
+    }
+    setEvidenceMode(nextMode);
+  }, [selectTgsPlan]);
+  const cameraPresentation = evidenceMode === "camera"
+    ? "primary"
+    : cameraVisible ? "companion" : "hidden";
+  const spatialScene = evidenceMode === "plan" ? (
+    selectedTgsCase ? (
+      <div className="recorded-evidence-image-scene">
+        <img
+          src={selectedTgsCase.assets.tgs}
+          alt={`TGS costmap · sequence ${selectedTgsCase.sourceSequence}`}
+          draggable={false}
+        />
+        <div className="m48-clip-player__pane-label" data-pane="spatial">
+          TGS COSTMAP · ЯКОРЬ {selectedTgsCase.sourceSequence} · {selectedTgsCase.tgs.occupiedCells} OCCUPIED
+        </div>
+      </div>
+    ) : (
+      <div className="m4-replay-threat-visual__pane-status" role="status">
+        {linkedReviewError ?? "Открываем sealed TGS anchors…"}
+      </div>
+    )
+  ) : spatialProfile ? (
+    <RerunViewport
+      profile={spatialProfile}
+      sceneSettings={sceneSettings}
+      onPlaybackControllerChange={handleSpatialControllerChange}
+    />
+  ) : (
+    <div className="m4-replay-threat-visual__pane-status" role="status">
+      Открываем sealed RRD, source points и SLAM trajectory…
+    </div>
+  );
+
+  return (
+    <LaboratoryEvidenceViewer
+      label="RAVNOVES004TREE full recorded review"
+      className="m48-atlas-visual"
+      mode={semanticLayer}
+      modes={FULL_ROUTE_SEMANTIC_MODES}
+      expanded={expanded}
+      onModeChange={setSemanticLayer}
+      onExpandedChange={setExpanded}
+      modeControlsVisible={false}
+      chromeLayout="stacked"
+    >
+      <div className="m48-evidence-stage">
+        {videoSource ? (
+          <LaboratoryRecordedClipPlayer
+            source={videoSource}
+            segmentCount={review.frameCount}
+            frames={frames}
+            sequence={sequence}
+            playing={playing}
+            playbackRate={playbackRate}
+            cameraPresentation={cameraPresentation}
+            continuousPlayback
+            sourceCount={4}
+            onSequenceChange={setSequence}
+            onPlayingChange={setPlaying}
+            onPlaybackRateChange={setPlaybackRate}
+            alternativeScene={spatialScene}
+            cameraControls={(
+              <>
+                <Button
+                  size="compact"
+                  shape="pill"
+                  variant={showCameraSemantic ? "primary" : "secondary"}
+                  aria-pressed={showCameraSemantic}
+                  onClick={() => setShowCameraSemantic((visible) => !visible)}
+                >
+                  SEMANTICS
+                </Button>
+                <SegmentedControl
+                  value={semanticLayer}
+                  items={[...FULL_ROUTE_SEMANTIC_MODES]}
+                  label="Источник семантики"
+                  onChange={(value) => {
+                    setSemanticLayer(value);
+                    setShowCameraSemantic(true);
+                  }}
+                />
+              </>
+            )}
+            spatialControls={(
+              <>
+                <Button
+                  size="compact"
+                  shape="pill"
+                  variant={sceneSettings.showPoints ? "primary" : "secondary"}
+                  aria-pressed={sceneSettings.showPoints}
+                  onClick={() => {
+                    setEvidenceMode("3d");
+                    setSceneSettings((settings) => ({
+                      ...settings,
+                      showPoints: !settings.showPoints,
+                    }));
+                  }}
+                >
+                  SOURCE POINTS
+                </Button>
+                <Button
+                  size="compact"
+                  shape="pill"
+                  variant={sceneSettings.showTrajectory ? "primary" : "secondary"}
+                  aria-pressed={sceneSettings.showTrajectory}
+                  onClick={() => {
+                    setEvidenceMode("3d");
+                    setSceneSettings((settings) => ({
+                      ...settings,
+                      showTrajectory: !settings.showTrajectory,
+                    }));
+                  }}
+                >
+                  LOCAL SLAM
+                </Button>
+                <Button
+                  size="compact"
+                  shape="pill"
+                  variant={evidenceMode === "plan" ? "primary" : "secondary"}
+                  aria-pressed={evidenceMode === "plan"}
+                  disabled={!linkedReview}
+                  title={linkedReviewError ?? "10 sealed causal TGS anchors; continuous TGS отсутствует"}
+                  onClick={selectTgsPlan}
+                >
+                  TGS COSTMAP
+                </Button>
+                <Button
+                  size="compact"
+                  shape="pill"
+                  variant="secondary"
+                  disabled
+                  title="Для RAV004 не опубликован point-aligned 3D semantic archive"
+                >
+                  SEMANTICS
+                </Button>
+              </>
+            )}
+            cameraOverlay={(
+              <>
+                <div className="m48-clip-player__pane-label" data-pane="camera">
+                  {showCameraSemantic
+                    ? `${semanticLayer === "city" ? "EoMT CITY" : "DDRNet NATURE"} · КАДР ${sequence}/${review.frameCount}`
+                    : `SOURCE · КАДР ${sequence}/${review.frameCount}`}
+                </div>
+                {showCameraSemantic ? (
+                  <div className="m48-clip-player__overlay">
+                    <RecordedEvidenceSemanticMaskOverlay
+                      src={vegetationFullRouteMaskUrl(resultId, semanticLayer, maskSequence)}
+                      prefetchSrcs={prefetchSrcs}
+                      imageWidth={review.width}
+                      imageHeight={review.height}
+                      classes={semantic.classes}
+                      palette={semantic.palette}
+                      opacity={0.76}
+                      ariaLabel={`${layer.name} semantic prediction`}
+                    />
+                  </div>
+                ) : null}
+              </>
+            )}
+          />
+        ) : (
+          <div className="m4-replay-threat-visual__pane-status" role={videoError ? "alert" : "status"}>
+            {videoError ?? "Открываем автономный RAVNOVES004TREE source…"}
+          </div>
+        )}
+        {videoSource ? (
+          <M48EvidenceModeRail
+            mode={evidenceMode}
+            cameraVisible={cameraVisible}
+            spatialAvailable={Boolean(spatialProfile)}
+            planAvailable={Boolean(linkedReview)}
+            onModeChange={handleEvidenceModeChange}
+            onCameraVisibleChange={setCameraVisible}
+          />
+        ) : null}
+      </div>
+    </LaboratoryEvidenceViewer>
+  );
+}
+
+function FullRouteReviewResult({
+  rigLabel,
+  resultId,
+  review,
+}: {
+  rigLabel: string;
+  resultId: string;
+  review: VegetationFullRouteReview;
+}) {
+  return (
+    <LaboratoryWorkTemplate
+      summary={(
+        <LaboratorySummary
+          title="LAB V1 · RAVNOVES004TREE · полный маршрут"
+          description="Общий recorded-LAB шаблон воспроизводит запись с травой и оврагами: RIGHT camera, исходное облако, SLAM trajectory, два независимых semantic-слоя и десять реально просчитанных TGS-якорей."
+          status="FULL RECORDED REVIEW · truth отсутствует · commands OFF"
+          statusTone="warning"
+          facts={[
+            { label: "Источник", value: `${review.sourceId} · ${review.frameCount}/${review.frameCount} frames` },
+            { label: "3D", value: "1437 source point chunks · 2825 SLAM poses · recorded RRD" },
+            { label: "Город", value: `${review.city.name} · ${decimal(review.city.inferenceFps, 2)} fps` },
+            { label: "Природа", value: `${review.vegetation.name} · ${decimal(review.vegetation.inferenceFps, 2)} fps` },
+            { label: "TGS", value: "10 sealed causal anchors · continuous costmap отсутствует" },
+            { label: "Authority", value: `${rigLabel} · VISUAL REVIEW ONLY · commands OFF` },
+          ]}
+          brief={{
+            question: "Что реально видно на полном RAV004-прогоне с высокой травой, оврагами и переходом к городу?",
+            approach: "Одна recorded timeline открывается общим LAB viewer. Camera и RRD синхронизированы; EoMT/DDRNet переключаются на камере, source points и SLAM trajectory — в 3D, TGS — только на десяти запечатанных якорях.",
+            principalResult: "RAV004 больше не подменяется RAV00: доступна полная исходная запись и её реальные пространственные слои.",
+            limitation: "Ручной truth, continuous TGS и point-aligned 3D semantics отсутствуют. Один повреждённый H.264-пакет на позиции 6092 заменён предыдущим декодированным кадром и отражён в proof.",
+          }}
+          method={{
+            completeness: "complete",
+            executionClass: "ai-inference",
+            pipelineId: "ravnoves004tree-full-eomt-ddrnet-recorded-review/v1",
+            components: [
+              { kind: "algorithm", name: "Recorded source points + SLAM trajectory", version: "sealed RRD", role: "spatial source evidence", identitySha256: null },
+              { kind: "model", name: review.city.name, version: "sealed Worker 006 run", role: "urban semantic review", identitySha256: null },
+              { kind: "model", name: review.vegetation.name, version: "GOOSE DDRNet-39", role: "vegetation semantic review", identitySha256: null },
+              { kind: "algorithm", name: "Causal TGS", version: "10 linked route anchors", role: "bounded geometric evidence", identitySha256: null },
+            ],
+          }}
+        />
+      )}
+      evidence={(
+        <LaboratoryEvidence
+          eyebrow="CANONICAL RECORDED LAB · RAVNOVES004TREE"
+          title="CAMERA + SOURCE POINTS + LOCAL SLAM + TGS COSTMAP + SEMANTICS · 6830/6830"
+          kind="recorded-replay"
+          resizable
+        >
+          <FullRouteReviewEvidence resultId={resultId} review={review} />
+        </LaboratoryEvidence>
+      )}
+      result={(
+        <LaboratoryResultSummary
+          title="Полный RAV004 visual review восстановлен; управление не авторизовано"
+          status="Recorded evidence ready · navigation/actuation OFF"
+          statusTone="warning"
+          metrics={[
+            { label: "Route masks", value: "6830/6830 × 2", hint: "sealed local archives · Worker не требуется" },
+            { label: "EoMT throughput", value: `${decimal(review.city.inferenceFps, 2)} fps`, hint: "изолированный полный прогон" },
+            { label: "DDRNet throughput", value: `${decimal(review.vegetation.inferenceFps, 2)} fps`, hint: "изолированный полный прогон" },
+            { label: "Spatial evidence", value: "RRD + 10 TGS anchors", hint: "continuous TGS и 3D semantics отсутствуют" },
+          ]}
+          conclusion={{
+            proved: "Полный RAV004 открывается в каноническом recorded viewer с camera, source points, SLAM trajectory, EoMT, DDRNet и связанными TGS-якорями.",
+            notProved: "Не доказаны truth accuracy, временная стабильность DDRNet, continuous negative-obstacle detection и безопасное управление ровером.",
+            decision: "Использовать как visual audit. Следующий gate — truth-набор овраг/трава/дерево/яма и motion-aware temporal evaluation при целевых ≥10 FPS; navigation/actuation оставить OFF.",
+          }}
+        />
+      )}
+    />
+  );
+}
+
 function VegetationRouteEvidence({ result }: { result: VegetationShadowResult }) {
   const route = result.routeVideo!;
   const linkedTgsResultId = route.linkedTgsResultId;
@@ -92,6 +576,15 @@ export function VegetationShadowResultView({
   rigLabel: string;
   result: VegetationShadowResult;
 }) {
+  if (result.routeFullReview) {
+    return (
+      <FullRouteReviewResult
+        rigLabel={rigLabel}
+        resultId={result.resultId}
+        review={result.routeFullReview}
+      />
+    );
+  }
   if (!result.routeVideo?.linkedTgsResultId) {
     throw new Error(
       "Vegetation LAB result has no canonical M4 source timeline and linked M4.9 TGS evidence.",

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

@@ -185,6 +185,7 @@ function fullRouteReview() {
   return {
     source_id: "RAVNOVES004TREE",
     session_id: "20260828T130511Z_viewer_live",
+    linked_route_review_result_id: `lab-v1-vegetation-shadow-${"9".repeat(64)}`,
     source_job_id: "recorded-camera-eb2783c5480d56bda07c8af0",
     source_job_input_sha256: "eb2783c5480d56bda07c8af008dff5344d19dc550ef70fe2075d6f098f7cc715",
     source_stream_sha256: "e5eb017e2cc0f546736eda5235ca157b501913093cb64af5e548e335417e1bac",
@@ -385,12 +386,15 @@ test("vegetation realtime LAB and archival benchmark use separate admitted instr
   assert.match(resultSource, /EoMT CITY \/ DDRNet VEGETATION/);
   assert.match(m49Source, /spatialSemantic=\{spatialSemantic\}/);
   assert.match(m49Source, /controlLabel: "SEMANTICS"/);
-  assert.equal(resultSource.match(/<LaboratoryEvidence\b/g)?.length, 1);
+  assert.equal(resultSource.match(/<LaboratoryEvidence\b/g)?.length, 2);
   assert.doesNotMatch(resultSource, /RAVNOVES004TREE mixed route review/);
-  assert.doesNotMatch(resultSource, /RAVNOVES004TREE full recorded review/);
+  assert.match(resultSource, /RAVNOVES004TREE full recorded review/);
-  assert.doesNotMatch(resultSource, /LaboratoryRecordedClipPlayer/);
+  assert.match(resultSource, /LaboratoryRecordedClipPlayer/);
-  assert.doesNotMatch(resultSource, /RerunViewport/);
+  assert.match(resultSource, /RerunViewport/);
-  assert.doesNotMatch(resultSource, /M48EvidenceModeRail/);
+  assert.match(resultSource, /M48EvidenceModeRail/);
+  assert.match(resultSource, /SOURCE POINTS/);
+  assert.match(resultSource, /LOCAL SLAM/);
+  assert.match(resultSource, /TGS COSTMAP/);
   assert.match(resultSource, /linked canonical M4\.9 TGS evidence/);
   assert.match(resultSource, /linkedTgsResultId/);
   assert.match(benchmarkSource, /M48MaskComparisonVisual/);

src/k1link/laboratory/mixed_route_vegetation_review.py

@@ -742,6 +742,7 @@ def seal_mixed_route_full_video_review(
         full_route = {
             "source_id": FULL_ROUTE_SOURCE_ID,
             "session_id": job.session_id,
+            "linked_route_review_result_id": base["result_id"],
             "source_job_id": job.job_id,
             "source_job_input_sha256": job.input_sha256,
             "source_stream_sha256": FULL_ROUTE_STREAM_SHA256,

src/k1link/web/advanced_laboratory_api.py

@@ -77,6 +77,7 @@ _E39_RESULT_ID = re.compile(r"^e39-perception-refinement-[a-f0-9]{64}$")
 _E40_RESULT_ID = re.compile(r"^e40-perception-product-gate-[a-f0-9]{64}$")
 _M4_RESULT_ID = re.compile(r"^m4-threat-replay-[a-f0-9]{64}$")
 _M49_TGS_RESULT_ID = re.compile(r"^m49-tgs-full-shadow-[a-f0-9]{64}$")
+_VEGETATION_RESULT_ID = re.compile(r"^lab-v1-vegetation-shadow-[a-f0-9]{64}$")
 
 RootProvider = Callable[[], Path | None]
 
@@ -266,6 +267,21 @@ def _validate_product_publication_shape(
 ) -> None:
     if work_id != "lab-v1-vegetation-shadow":
         return
+    full_route = document.get("route_full_review")
+    if isinstance(full_route, dict):
+        if (
+            full_route.get("source_id") != "RAVNOVES004TREE"
+            or full_route.get("session_id") != "20260828T130511Z_viewer_live"
+            or full_route.get("frame_count") != 6830
+            or _VEGETATION_RESULT_ID.fullmatch(
+                str(full_route.get("linked_route_review_result_id", ""))
+            )
+            is None
+            or document.get("route_video") is not None
+            or document.get("route_review") is not None
+        ):
+            raise ValueError("vegetation LAB has no canonical RAVNOVES004TREE publication shape")
+        return
     route = document.get("route_video")
     fusion = route.get("fusion") if isinstance(route, dict) else None
     if (

tests/test_advanced_laboratory_api.py

@@ -152,10 +152,10 @@ def test_advanced_index_projects_one_most_mature_lifecycle_phase(tmp_path: Path)
     ]
 
 
-def test_advanced_index_skips_noncanonical_vegetation_viewers(tmp_path: Path) -> None:
+def test_advanced_index_prefers_canonical_rav004_full_review(tmp_path: Path) -> None:
     root = tmp_path / "vegetation"
 
-    def publish(digest: str, *, canonical: bool) -> Path:
+    def publish(digest: str, *, publication: str) -> Path:
         result_id = f"lab-v1-vegetation-shadow-{digest}"
         candidate = root / result_id
         candidate.mkdir(parents=True)
@@ -167,7 +167,17 @@ def test_advanced_index_skips_noncanonical_vegetation_viewers(tmp_path: Path) ->
                 "mode": "synchronised-multilayer-review",
                 "pixel_raster_fusion": False,
             },
-        } if canonical else None
+        } if publication == "rav00" else None
+        route_full_review = {
+            "source_id": "RAVNOVES004TREE",
+            "session_id": "20260828T130511Z_viewer_live",
+            "frame_count": 6830,
+            "linked_route_review_result_id": (
+                f"lab-v1-vegetation-shadow-{'4' * 64}"
+                if publication == "rav004"
+                else None
+            ),
+        } if publication != "rav00" else None
         (candidate / "manifest.json").write_text(
             json.dumps(
                 {
@@ -184,17 +194,19 @@ def test_advanced_index_skips_noncanonical_vegetation_viewers(tmp_path: Path) ->
                     "ground_truth": False,
                     "route_video": route_video,
                     "route_review": None,
-                    "route_full_review": None if canonical else {"frame_count": 6830},
+                    "route_full_review": route_full_review,
                 }
             ),
             encoding="utf-8",
         )
         return candidate
 
-    canonical = publish("a" * 64, canonical=True)
+    rav00 = publish("a" * 64, publication="rav00")
-    incomplete = publish("b" * 64, canonical=False)
+    incomplete = publish("b" * 64, publication="incomplete")
-    os.utime(canonical, ns=(10_000_000_000, 10_000_000_000))
+    rav004 = publish("c" * 64, publication="rav004")
+    os.utime(rav00, ns=(10_000_000_000, 10_000_000_000))
     os.utime(incomplete, ns=(20_000_000_000, 20_000_000_000))
+    os.utime(rav004, ns=(30_000_000_000, 30_000_000_000))
     registry = _evidence_registry(
         root,
         work_id="lab-v1-vegetation-shadow",
@@ -211,7 +223,7 @@ def test_advanced_index_skips_noncanonical_vegetation_viewers(tmp_path: Path) ->
     assert index["items"] == [  # type: ignore[index]
         {
             "work_id": "lab-v1-vegetation-shadow",
-            "result_id": canonical.name,
+            "result_id": rav004.name,
             "created_at_utc": "2026-08-29T10:00:00Z",
             "access": "read-only",
         }