refactor(lab): canonicalize recorded spatial replay

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

@@ -23,6 +23,7 @@ import {
   type LaboratoryMetricPackedCellEvidence,
 } from "../../components/laboratory/LaboratoryMetricEvidenceScene";
 import { RecordedEvidenceVideoScene } from "../../components/laboratory/RecordedEvidenceVideoScene";
+import { useCanonicalRecordedLabSpatialFrame } from "../../components/laboratory/useCanonicalRecordedLabSpatialFrame";
 import { useRecordedEvidencePlayback } from "../../components/laboratory/useRecordedEvidencePlayback";
 import {
   LaboratoryEvidence,
@@ -35,12 +36,14 @@ import {
   type RecordedEvidenceSemanticPaletteEntry,
 } from "../../components/laboratory/RecordedEvidenceSemanticMaskOverlay";
 import {
-  fetchCanonicalRecordedLabSpatialFrame,
+  canonicalRecordedLabPackedTgsCells,
+  canonicalRecordedLabTgsIsCurrent,
+} from "../../core/laboratory/canonicalRecordedLab";
+import {
   fetchVegetationShadowResult,
   fetchVegetationRouteTgsAnchor,
   vegetationFullRouteMaskUrl,
   vegetationVideoMaskUrl,
-  type CanonicalRecordedLabSpatialFrame,
   type VegetationFullRouteLayer,
   type VegetationFullRouteReview,
   type VegetationMixedRouteCase,
@@ -105,9 +108,7 @@ function causalTgsCase(
       && (!latest || candidate.sourceSequence > latest.sourceSequence)
       ? candidate
       : latest
-  ), null) ?? cases.reduce((first, candidate) => (
-    candidate.sourceSequence < first.sourceSequence ? candidate : first
-  ));
+  ), null);
 }
 
 function nearestFullRouteFrameIndex(
@@ -130,92 +131,6 @@ function nearestFullRouteFrameIndex(
     : low;
 }
 
-function useCanonicalRavSpatialFrame(
-  review: VegetationFullRouteReview,
-  replayLaunch: ObservationSessionReplayLaunch | null,
-  targetTimeNs: number,
-) {
-  const [frame, setFrame] = useState<CanonicalRecordedLabSpatialFrame | null>(null);
-  const [error, setError] = useState<string | null>(null);
-  const desiredRef = useRef<number | null>(null);
-  const runningRef = useRef(false);
-  const mountedRef = useRef(true);
-  const cacheRef = useRef(new Map<number, CanonicalRecordedLabSpatialFrame>());
-  const pumpRef = useRef<() => void>(() => undefined);
-
-  pumpRef.current = () => {
-    if (runningRef.current || desiredRef.current === null || !replayLaunch) return;
-    runningRef.current = true;
-    let settledTimeNs: number | null = null;
-    void (async () => {
-      while (mountedRef.current && desiredRef.current !== null) {
-        const requestedTimeNs = desiredRef.current;
-        const cached = cacheRef.current.get(requestedTimeNs);
-        try {
-          const next = cached ?? await fetchCanonicalRecordedLabSpatialFrame(
-            review.sessionId,
-            replayLaunch.sha256,
-            requestedTimeNs,
-          );
-          if (!cached) {
-            cacheRef.current.set(requestedTimeNs, next);
-            while (cacheRef.current.size > 12) {
-              const oldest = cacheRef.current.keys().next().value as number | undefined;
-              if (oldest === undefined) break;
-              cacheRef.current.delete(oldest);
-            }
-          }
-          if (!mountedRef.current) break;
-          setFrame(next);
-          setError(null);
-        } catch (caught: unknown) {
-          if (!mountedRef.current) break;
-          setError(caught instanceof Error ? caught.message : "Spatial-слои RAV004 недоступны.");
-        }
-        settledTimeNs = requestedTimeNs;
-        if (desiredRef.current === requestedTimeNs) break;
-      }
-    })().finally(() => {
-      runningRef.current = false;
-      if (
-        mountedRef.current
-        && desiredRef.current !== null
-        && desiredRef.current !== settledTimeNs
-      ) {
-        pumpRef.current();
-      }
-    });
-  };
-
-  useEffect(() => {
-    mountedRef.current = true;
-    return () => {
-      mountedRef.current = false;
-      desiredRef.current = null;
-    };
-  }, []);
-
-  useEffect(() => {
-    cacheRef.current.clear();
-    setFrame(null);
-    setError(null);
-  }, [replayLaunch?.sha256, review.sessionId]);
-
-  useEffect(() => {
-    if (!replayLaunch) return;
-    desiredRef.current = targetTimeNs;
-    const cached = cacheRef.current.get(targetTimeNs);
-    if (cached) {
-      setFrame(cached);
-      setError(null);
-      return;
-    }
-    pumpRef.current();
-  }, [replayLaunch, targetTimeNs]);
-
-  return { frame, error, loading: Boolean(replayLaunch) && !frame && !error };
-}
-
 function FullRouteReviewEvidence({
   resultId,
   review,
@@ -266,7 +181,11 @@ function FullRouteReviewEvidence({
   const spatialRequestTimeNs = review.frameSourceTimesNs[spatialRequestIndex]
     ?? review.frameSourceTimesNs[sequenceIndex]
     ?? Math.round(playbackController.playback.currentSeconds * 1_000_000_000);
-  const spatialEvidence = useCanonicalRavSpatialFrame(review, replayLaunch, spatialRequestTimeNs);
+  const spatialEvidence = useCanonicalRecordedLabSpatialFrame({
+    sessionId: review.sessionId,
+    generationSha256: replayLaunch?.sha256 ?? null,
+    targetTimeNs: spatialRequestTimeNs,
+  });
   const layer = review[semanticLayer];
   const semantic = useMemo(() => semanticPresentation(layer), [layer]);
   const prefetchSrcs = useMemo(() => showCameraSemantic
@@ -343,11 +262,17 @@ function FullRouteReviewEvidence({
     ? review.frameSourceTimesNs[selectedTgsCase.sourceSequence - 1]
       ?? Math.round(selectedTgsCase.sessionSeconds * 1_000_000_000)
     : spatialRequestTimeNs;
-  const tgsReferenceEvidence = useCanonicalRavSpatialFrame(
-    review,
-    replayLaunch,
-    selectedTgsTimeNs,
+  const currentFrameTimeNs = review.frameSourceTimesNs[sequenceIndex]
+    ?? Math.round(playbackController.playback.currentSeconds * 1_000_000_000);
+  const tgsWithinEvidenceWindow = Boolean(
+    selectedTgsCase
+    && canonicalRecordedLabTgsIsCurrent(currentFrameTimeNs, selectedTgsTimeNs),
   );
+  const tgsReferenceEvidence = useCanonicalRecordedLabSpatialFrame({
+    sessionId: review.sessionId,
+    generationSha256: replayLaunch?.sha256 ?? null,
+    targetTimeNs: selectedTgsTimeNs,
+  });
 
   useEffect(() => {
     if (!showTgs || !selectedTgsCase) {
@@ -376,53 +301,24 @@ function FullRouteReviewEvidence({
   }, [review.linkedRouteReviewResultId, selectedTgsCase?.sourceSequence, showTgs]);
 
   const packedTgsCells = useMemo<LaboratoryMetricPackedCellEvidence | undefined>(() => {
-    if (!tgsAnchor) return undefined;
+    if (!tgsAnchor || !tgsWithinEvidenceWindow) return undefined;
     const currentBody = spatialEvidence.frame?.bodyFrame;
     const anchorBody = tgsReferenceEvidence.frame?.bodyFrame;
-    const transformPoint = (point: readonly [number, number, number]) => {
-      if (!currentBody || !anchorBody) return point;
-      const map = [0, 1, 2].map((row) => (
-        anchorBody.originMapXyzM[row]!
-        + anchorBody.basisMapFromBody[row]!.reduce(
-          (sum, coefficient, column) => sum + coefficient * point[column]!,
-          0,
-        )
-      ));
-      const delta = map.map((value, index) => value - currentBody.originMapXyzM[index]!);
-      return [0, 1, 2].map((column) => (
-        currentBody.basisMapFromBody.reduce(
-          (sum, row, rowIndex) => sum + row[column]! * delta[rowIndex]!,
-          0,
-        )
-      )) as [number, number, number];
-    };
-    const centers: number[] = [];
-    const zBounds: number[] = [];
-    tgsAnchor.costmap.centersXyM.forEach(([x, y], index) => {
-      const bounds = tgsAnchor.costmap.zBoundsM[index] ?? [null, null];
-      const center = transformPoint([x, y, 0]);
-      centers.push(center[0], center[1]);
-      if (bounds[0] === null || bounds[1] === null) {
-        zBounds.push(Number.NaN, Number.NaN);
-      } else {
-        const bottom = transformPoint([x, y, bounds[0]]);
-        const top = transformPoint([x, y, bounds[1]]);
-        zBounds.push(Math.min(bottom[2], top[2]), Math.max(bottom[2], top[2]));
-      }
-    });
-    return {
-      centersBodyXyM: Float32Array.from(centers),
-      zBoundsM: Float32Array.from(zBounds),
-      stateCodes: Uint8Array.from(tgsAnchor.costmap.stateCodes),
-    };
-  }, [spatialEvidence.frame?.bodyFrame, tgsAnchor, tgsReferenceEvidence.frame?.bodyFrame]);
+    if (!currentBody || !anchorBody) return undefined;
+    return canonicalRecordedLabPackedTgsCells(tgsAnchor.costmap, anchorBody, currentBody);
+  }, [
+    spatialEvidence.frame?.bodyFrame,
+    tgsAnchor,
+    tgsReferenceEvidence.frame?.bodyFrame,
+    tgsWithinEvidenceWindow,
+  ]);
 
   const semanticOverlay = showCameraSemantic ? {
     src: vegetationFullRouteMaskUrl(resultId, semanticLayer, sequenceIndex),
     prefetchSrcs,
     classes: semantic.classes,
     palette: semantic.palette,
-    opacity: 0.76,
+    opacity: 0.46,
     ariaLabel: `${layer.name} semantic prediction frame ${sequence}`,
   } : undefined;
 
@@ -464,7 +360,11 @@ function FullRouteReviewEvidence({
             ? spatialEvidence.frame.localSlamBodyXyzM
             : []}
           obstacles={[]}
-          rig={{ lengthM: 1, widthM: 0.8, nominalSensorHeightM: 0.4 }}
+          rig={{
+            lengthM: 1,
+            widthM: 0.8,
+            nominalSensorHeightM: spatialEvidence.frame.sensorHeight.meters,
+          }}
           corridor={{ forwardLengthM: 12, rearMarginM: 1, halfWidthM: 0.4 }}
           occupiedVoxelSizeM={tgsAnchor?.costmap.cellSizeM ?? 0.45}
           mode={spatialMode}
@@ -487,7 +387,9 @@ function FullRouteReviewEvidence({
         <div className="m4-replay-threat-visual__pane-status" role="status">
           {tgsAnchorError ?? linkedReviewError ?? (tgsAnchorLoading
             ? `Открываем sealed TGS anchor ${selectedTgsCase.sourceSequence}; source/SLAM и общий clock продолжаются.`
-            : `TGS anchor ${selectedTgsCase.sourceSequence} из 10; source/SLAM и общий clock продолжаются.`)}
+            : tgsWithinEvidenceWindow
+              ? `TGS anchor ${selectedTgsCase.sourceSequence} из 10; source/SLAM и общий clock продолжаются.`
+              : `TGS anchor ${selectedTgsCase.sourceSequence} старше доказанного окна 1 с; слой скрыт, playback продолжается.`)}
         </div>
       ) : null}
     </>
@@ -597,12 +499,12 @@ function FullRouteReviewEvidence({
       </div>
       <div>
         <span>Spatial evidence</span>
-        <strong>{showTgs && selectedTgsCase
+        <strong>{showTgs && selectedTgsCase && tgsWithinEvidenceWindow
           ? `TGS anchor ${selectedTgsCase.sourceSequence} · ${selectedTgsCase.tgs.occupiedCells} occupied`
-          : "source RRD · points + SLAM"}</strong>
+          : "source RRD · points + bounded Local SLAM"}</strong>
         <small>{showTgs
-          ? "latest causal of 10 sealed anchors · continuous playback retained"
-          : "causal 1 s view · grayscale intensity · recorded source identity"}</small>
+          ? "TGS visible only inside sealed 1 s evidence window · playback retained"
+          : "5 s bounded Local SLAM · ground-rebased recorded source"}</small>
       </div>
     </div>
   );
@@ -673,7 +575,7 @@ function FullRouteReviewResult({
       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."
+          description="Общий recorded-LAB шаблон воспроизводит запись с травой и оврагами: RIGHT camera, исходное облако, ограниченный Local SLAM, два независимых semantic-слоя и десять реально просчитанных TGS-якорей."
           status="FULL RECORDED REVIEW · truth отсутствует · commands OFF"
           statusTone="warning"
           facts={[
@@ -686,7 +588,7 @@ function FullRouteReviewResult({
           ]}
           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.",
+            approach: "Одна recorded timeline открывается общим LAB viewer. Camera и RRD синхронизированы; EoMT/DDRNet переключаются на камере, source points и 5-секундный Local SLAM — в 3D, TGS — только в доказанном окне десяти запечатанных якорей.",
             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.",
           }}
@@ -695,7 +597,7 @@ function FullRouteReviewResult({
             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: "algorithm", name: "Recorded source points + bounded Local SLAM", version: "source-paced-ground-v2", 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 },
@@ -725,7 +627,7 @@ function FullRouteReviewResult({
             { 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.",
+            proved: "Полный RAV004 открывается в каноническом recorded viewer с camera, source points, bounded Local SLAM, 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.",
           }}