feat(control-station): present static occupancy qualification

2026-08-26 11:52:03 +03:00
parent 3c81c39a1c
commit 6290c75210
11 changed files with 461 additions and 6 deletions
@@ -44,6 +44,7 @@ import { M4ReplayThreatResultView } from "./M4ReplayThreatResult";
 import { M47ReferenceGraphResultView } from "./M47ReferenceGraphResult";
 import { M48ObjectCentricQualityResultView } from "./M48ObjectCentricQualityResult";
 import { M48SmallStaticPassageRegressionResultView } from "./M48SmallStaticPassageRegressionResult";
+import { M48StaticOccupancyQualificationResultView } from "./M48StaticOccupancyQualificationResult";
 import { M48SFixedClassDetectorResultView } from "./M48SFixedClassDetectorResult";
 import { M48TRiskQualityResultView } from "./M48TRiskQualityResult";

@@ -94,6 +95,9 @@ export function AdvancedLaboratoryResult({
  if (workId === "m48-small-static-passage-regression" && results.m48SmallStatic) {
    return <M48SmallStaticPassageRegressionResultView rigLabel={rigLabel} result={results.m48SmallStatic} />;
  }
+  if (workId === "m48-static-occupancy-qualification" && results.m48StaticOccupancy) {
+    return <M48StaticOccupancyQualificationResultView rigLabel={rigLabel} result={results.m48StaticOccupancy} />;
+  }
  if (workId === "m48s-fixed-class-detector" && results.m48s) {
    return <M48SFixedClassDetectorResultView rigLabel={rigLabel} result={results.m48s} />;
  }
@@ -0,0 +1,91 @@
+import { useEffect, useMemo, useState } from "react";
+import { Icon } from "@nodedc/ui-react";
+
+import { fetchM47ReferenceGraphLab, type M47ReferenceGraphLabResult } from "../../core/laboratory/m47ReferenceGraph";
+import {
+  fetchM48StaticOccupancyCases,
+  type M48StaticOccupancyCase,
+  type M48StaticOccupancyQualificationResult,
+} from "../../core/laboratory/m48StaticOccupancyQualification";
+import {
+  M4ReplayThreatVisual,
+  type M4ReplayThreatReviewAnchor,
+} from "./M4ReplayThreatVisual";
+
+function message(error: unknown): string {
+  return error instanceof Error && error.message.trim()
+    ? error.message
+    : "Каноническое graph evidence M4.8R2 недоступно.";
+}
+
+export function M48StaticOccupancyQualificationEvidence({
+  result,
+}: {
+  result: M48StaticOccupancyQualificationResult;
+}) {
+  const [graph, setGraph] = useState<M47ReferenceGraphLabResult | null>(null);
+  const [cases, setCases] = useState<readonly M48StaticOccupancyCase[]>([]);
+  const [loading, setLoading] = useState(true);
+  const [error, setError] = useState<string | null>(null);
+
+  useEffect(() => {
+    const controller = new AbortController();
+    setLoading(true);
+    setError(null);
+    void Promise.all([
+      fetchM47ReferenceGraphLab({
+        resultId: result.referenceGraphLabResultId,
+        signal: controller.signal,
+      }),
+      fetchM48StaticOccupancyCases(result.resultId, { signal: controller.signal }),
+    ])
+      .then(([nextGraph, nextCases]) => {
+        if (controller.signal.aborted) return;
+        if (nextCases.some((item) => item.sequence < 1 || item.sequence > nextGraph.frames.expected)) {
+          throw new Error("M4.8R2 anchor вышел за immutable timeline Canonical Reference Graph.");
+        }
+        setGraph(nextGraph);
+        setCases(nextCases);
+      })
+      .catch((caught: unknown) => {
+        if (!controller.signal.aborted) setError(message(caught));
+      })
+      .finally(() => {
+        if (!controller.signal.aborted) setLoading(false);
+      });
+    return () => controller.abort();
+  }, [result.referenceGraphLabResultId, result.resultId]);
+
+  const reviewAnchors = useMemo<readonly M4ReplayThreatReviewAnchor[]>(() => (
+    cases.map((item) => ({
+      id: item.anchorId,
+      sourceSequence: item.sequence - 1,
+      extentXyxyNormalized: item.extentXyxy,
+      matchedAtThreshold: item.candidateQualified,
+    }))
+  ), [cases]);
+
+  if (loading) {
+    return (
+      <div className="l3-visual-audit__state" role="status">
+        <span className="busy-indicator" aria-hidden="true" />
+        <span>Открываем M4.7 graph и M4.8R2 static anchors</span>
+      </div>
+    );
+  }
+  if (error || !graph) {
+    return (
+      <div className="l3-visual-audit__state" role="alert">
+        <Icon name="alert" size={18} />
+        <span>{error ?? "Canonical Reference Graph не связан с M4.8R2."}</span>
+      </div>
+    );
+  }
+  return (
+    <M4ReplayThreatVisual
+      resultId={graph.visual.resultId}
+      semantic={{ resultId: graph.semantic.resultId, taxonomy: graph.semantic.taxonomy }}
+      reviewAnchors={reviewAnchors}
+    />
+  );
+}
@@ -0,0 +1,85 @@
+import {
+  LaboratoryEvidence,
+  LaboratoryResultSummary,
+  LaboratorySummary,
+  LaboratoryWorkTemplate,
+} from "../../components/laboratory/LaboratoryPresentation";
+import type { M48StaticOccupancyQualificationResult } from "../../core/laboratory/m48StaticOccupancyQualification";
+import { M48StaticOccupancyQualificationEvidence } from "./M48StaticOccupancyQualificationEvidence";
+
+function percent(value: number): string {
+  return `${(value * 100).toLocaleString("ru-RU", { maximumFractionDigits: 1 })}%`;
+}
+
+export function M48StaticOccupancyQualificationResultView({
+  rigLabel,
+  result,
+}: {
+  rigLabel: string;
+  result: M48StaticOccupancyQualificationResult;
+}) {
+  const nearReady = result.decision.criticalNearCandidateReadyForShadow;
+  const status = nearReady
+    ? "0–8 м: кандидат закрыл все assisted-якоря; готов к Worker shadow"
+    : "0–8 м: статическая occupancy ещё не закрыта";
+  return (
+    <LaboratoryWorkTemplate
+      summary={(
+        <LaboratorySummary
+          title="M4.8R2 · консервативная static occupancy"
+          description="RF-DETR не изменяется. Отдельный детерминированный прогон проверяет, удерживает ли current/rolling LiDAR низкие полусферы, столбы и другие безымянные ограничения, и оценивает уже вычисляемый CPU-признак low-step как additive occupied-only слой."
+          status={status}
+          statusTone={nearReady ? "success" : "warning"}
+          facts={[
+            { label: "Конфигурация", value: `${rigLabel} RIGHT · Canonical Reference Graph · VIDEO/CAMERA/3D/PLAN/SEMANTICS` },
+            { label: "Пайплайн", value: result.pipelineId },
+            { label: "Прогон", value: `${result.runLabel} · immutable ${result.resultId}` },
+            { label: "Нагрузка", value: "CPU-only geometry · 0 дополнительных detector inference" },
+            { label: "Authority", value: "REPLAY-SIMULATED · free-space/commands/actuation OFF" },
+          ]}
+          brief={{
+            question: "Не превратятся ли близкие полусферы, столбы и другие статические ограничения в пропуск только потому, что камера не знает их название?",
+            approach: `На ${result.metrics.operatorStaticAnchorCount} существующих operator-assisted static anchors принятую current/rolling occupancy сравнили с additive low-step evidence. Отдельно сохранены четыре канонических hemisphere-якоря кадров 1880/2584.`,
+            principalResult: `Принятый граф покрывает ${result.metrics.baselineQualifiedCount}/${result.metrics.operatorStaticAnchorCount}; additive кандидат — ${result.metrics.candidateQualifiedCount}/${result.metrics.operatorStaticAnchorCount}. В критической зоне 0–8 м: ${percent(result.metrics.criticalNearCandidateRecall)}.`,
+            limitation: "Это assisted diagnostic, а не independent truth. Кандидат пока не включён в Worker и может увеличить ложную занятость; требуются полный shadow-прогон, FPS и occupancy-volume gate.",
+          }}
+          method={{
+            completeness: "complete",
+            executionClass: "deterministic",
+            pipelineId: result.pipelineId,
+            components: [
+              { kind: "source", name: result.referenceGraphLabResultId, version: "accepted M4.7", role: "immutable current/rolling occupied/unknown + threat graph", identitySha256: result.referenceGraphLabResultId.split("-").at(-1) ?? null },
+              { kind: "source", name: result.smallStaticResultId, version: "M4.8R1 assisted seed", role: "static avoidance anchors · not independent truth", identitySha256: result.smallStaticResultId.split("-").at(-1) ?? null },
+              { kind: "algorithm", name: "low-step occupied-only candidate", version: "v1", role: "additive CPU geometry; never clearing", identitySha256: result.resultId.split("-").at(-1) ?? null },
+            ],
+          }}
+        />
+      )}
+      evidence={(
+        <LaboratoryEvidence eyebrow="M4.8R2 VISUAL EVIDENCE · CANONICAL REFERENCE GRAPH" title="Те же CAMERA/3D/PLAN, 11 static anchors и неизменённый M4.7 timeline" kind="recorded-replay" resizable>
+          <M48StaticOccupancyQualificationEvidence result={result} />
+        </LaboratoryEvidence>
+      )}
+      result={(
+        <LaboratoryResultSummary
+          title="Что дал прогон: локализован лёгкий геометрический слой для близких препятствий"
+          status={status}
+          statusTone={nearReady ? "success" : "warning"}
+          metrics={[
+            { label: "Current graph", value: `${result.metrics.baselineQualifiedCount}/${result.metrics.operatorStaticAnchorCount}`, hint: `${percent(result.metrics.criticalNearBaselineRecall)} в 0–8 м` },
+            { label: "+ low-step candidate", value: `${result.metrics.candidateQualifiedCount}/${result.metrics.operatorStaticAnchorCount}`, hint: `${percent(result.metrics.criticalNearCandidateRecall)} в 0–8 м` },
+            { label: "8–12 м", value: percent(result.metrics.approachCandidateRecall), hint: `${result.metrics.approachAnchorCount} assisted anchors · ещё не gate` },
+            { label: "False free", value: result.metrics.falseFreeCount.toLocaleString("ru-RU"), hint: `${result.metrics.canonicalEngineeringAnchorCount}/${result.metrics.canonicalEngineeringAnchorCount} canonical anchors retained` },
+          ]}
+          conclusion={{
+            proved: `На замороженном assisted seed additive low-step evidence поднял покрытие близких static anchors до ${percent(result.metrics.criticalNearCandidateRecall)} без дополнительной нейросети и без единого free-space утверждения.`,
+            notProved: "Не доказаны independent precision/recall, приемлемый рост консервативной occupancy, realtime Worker FPS после интеграции, физический clearance и collision safety.",
+            decision: nearReady
+              ? "Интегрировать low-step только как occupied/unknown Worker shadow. Затем прогнать все 4 489 кадров и принять по FPS, росту компонентов, отсутствию capacity drops и повторному static-anchor gate."
+              : "Не интегрировать в Worker до исправления близких пропусков.",
+          }}
+        />
+      )}
+    />
+  );
+}
@@ -77,6 +77,13 @@ const KNOWN_WORKS: Readonly<Record<Exclude<LaboratoryWorkId, `session:${string}`
    experimentName: "M4.8 · small static passage regression",
    variantName: "M4.8R1 · Worker 006 small-static assisted baseline",
  },
+  "m48-static-occupancy-qualification": {
+    profileId: "rig-dual-evidence-virtual-corridor-v1",
+    profileName: (rigLabel) => `${rig(rigLabel)} RIGHT · Canonical Reference Graph`,
+    experimentId: "m48-static-occupancy-qualification",
+    experimentName: "M4.8 · conservative static occupancy qualification",
+    variantName: "M4.8R2 · current/rolling + low-step occupied-only candidate",
+  },
  "m48s-fixed-class-detector": {
    profileId: "rig-ravnoves-perception-gate-v1",
    profileName: (rigLabel) => `${rig(rigLabel)} RIGHT · RAVNOVES00 perception gate`,
@@ -21,6 +21,7 @@ function mergeResults(
    m47Graph: next.m47Graph ?? current.m47Graph,
    m48: next.m48 ?? current.m48,
    m48SmallStatic: next.m48SmallStatic ?? current.m48SmallStatic,
+    m48StaticOccupancy: next.m48StaticOccupancy ?? current.m48StaticOccupancy,
    m48s: next.m48s ?? current.m48s,
    m48t: next.m48t ?? current.m48t,
    m4Threat: next.m4Threat ?? current.m4Threat,
@@ -120,6 +121,7 @@ export function useAdvancedLaboratoryCatalog({
        "m47-reference-graph-shadow",
        "m48-object-centric-quality",
        "m48-small-static-passage-regression",
+        "m48-static-occupancy-qualification",
      ].includes(selectedWorkId)
      && !indexedResultId
    ) return;