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fix(lab): seal RAV004 spatial replay transport

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DCCONSTRUCTIONS
2026-08-30 10:42:41 +03:00
parent f1cbe0061a
commit 757d368c86
11 changed files with 492 additions and 91 deletions
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apps/control-station/src/components/laboratory/RecordedEvidenceVideoScene.tsx
+4 -1
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@@ -28,6 +28,7 @@ export function RecordedEvidenceVideoScene({
imageWidth,
imageHeight,
boxes,
overlaySeconds,
semanticOverlay,
pointCloudOverlay,
ariaLabel,
@@ -46,6 +47,7 @@ export function RecordedEvidenceVideoScene({
imageWidth: number;
imageHeight: number;
boxes: readonly RecordedEvidenceBox[];
overlaySeconds?: number;
semanticOverlay?: RecordedEvidenceSemanticOverlay;
pointCloudOverlay?: RecordedEvidencePointCloudOverlayData;
ariaLabel: string;
@@ -77,7 +79,8 @@ export function RecordedEvidenceVideoScene({
const sourceReady = admissionPhase === "ready";
const overlaysPresented = sourceReady
&& presentedSeconds !== null
&& Math.abs(presentedSeconds - playback.currentSeconds) <= 0.25;
&& Math.abs(presentedSeconds - playback.currentSeconds) <= 0.25
&& (overlaySeconds === undefined || Math.abs(presentedSeconds - overlaySeconds) <= 0.25);
const handlePlaybackChange = (next: RecordedObservationPlayback) => {
setPresentedSeconds(next.currentSeconds);
// During a paused operator seek the existing media element can emit its old
apps/control-station/src/core/laboratory/m4ReplayThreat.ts
+7 -4
View File
@@ -238,7 +238,7 @@ export interface M4ThreatPlaybackProgress {
export interface M4ThreatPlaybackPointPack {
resultId: string;
frameCount: 4489;
frameCount: number;
pointCount: number;
pointOffsets: Uint32Array;
pointsMapXyzM: Float32Array;
@@ -261,7 +261,7 @@ export interface M4ThreatPlaybackChunkDescriptor {
export interface M4ThreatPlaybackManifest {
resultId: string;
frameCount: 4489;
frameCount: number;
pointCount: number;
pointOffsets: Uint32Array;
chunkFrameCount: 24;
@@ -341,7 +341,7 @@ const motion = (value: unknown): M4ThreatMotion => {
};
const resultId = (value: unknown): string => {
const parsed = text(value, "M4.6 result id");
if (!/^m4-threat-replay-[a-f0-9]{64}$/.test(parsed)) {
if (!/^[a-z0-9][a-z0-9-]{0,127}-[a-f0-9]{64}$/.test(parsed)) {
throw new M4ThreatContractError("M4.6 result id: нарушена идентичность.");
}
return parsed;
@@ -1001,7 +1001,10 @@ export async function fetchM4ThreatPlaybackManifest(
exact(manifest.result_id, result, "M4.6 playback result");
exact(manifest.coordinate_frame, "map", "M4.6 playback coordinate frame");
exact(manifest.access, "read-only-sealed-binary-playback", "M4.6 playback access");
const frameCount = exact(integer(manifest.frame_count, "M4.6 playback frames"), 4489, "M4.6 playback frames");
const frameCount = integer(manifest.frame_count, "M4.6 playback frames");
if (frameCount < 1) {
throw new M4ThreatContractError("M4.6 playback frames: пустой playback недопустим.");
}
const pointCount = integer(manifest.point_count, "M4.6 playback points");
const offsetsRaw = array(manifest.point_offsets, "M4.6 playback offsets");
if (offsetsRaw.length !== frameCount + 1) {
apps/control-station/src/workspaces/laboratory/M4ReplayThreatVisual.tsx
+4
View File
@@ -180,6 +180,7 @@ export function M4ReplayThreatVisual({
showReferenceMediaLayers = true,
showSpatialOverlaySummary = true,
playbackTransport = "epoch-stream",
spatialPlaybackTransport = "auto",
recoverTimestampStalls = false,
onActiveSequenceChange,
}: {
@@ -198,6 +199,7 @@ export function M4ReplayThreatVisual({
showReferenceMediaLayers?: boolean;
showSpatialOverlaySummary?: boolean;
playbackTransport?: "segmented" | "epoch-stream";
spatialPlaybackTransport?: "auto" | "sealed-binary" | "json";
recoverTimestampStalls?: boolean;
onActiveSequenceChange?: (sequence: number | null) => void;
}) {
@@ -293,6 +295,7 @@ export function M4ReplayThreatVisual({
currentSeconds: playbackController.playback.currentSeconds,
includeSpatialPoints: evidenceDemand.sourceSpatialPoints,
endpointRoot: timelineEndpointRoot,
spatialPlaybackTransport,
});
const [videoSource, setVideoSource] = useState<ObservationSourceDescriptor | null>(null);
const [videoLoading, setVideoLoading] = useState(false);
@@ -1143,6 +1146,7 @@ export function M4ReplayThreatVisual({
imageWidth={timeline.imageWidth}
imageHeight={timeline.imageHeight}
boxes={activeBoxes}
overlaySeconds={frame?.sessionSeconds}
semanticOverlay={mediaMode === "video" ? semanticOverlay : undefined}
pointCloudOverlay={mediaMode === "video" ? pointCloudOverlay : undefined}
ariaLabel={`${evidenceLabel} recorded-realtime frame ${frame?.sequence ?? 0}: ${activeBoxes.length} proposals`}
apps/control-station/src/workspaces/laboratory/VegetationShadowResult.tsx
+1
View File
@@ -80,6 +80,7 @@ function FullRouteReviewEvidence({
classifiedSpatialLayer={sealedSpatialGap}
evidenceLabel="RAVNOVES004TREE"
playbackTransport="segmented"
spatialPlaybackTransport="sealed-binary"
recoverTimestampStalls
showReferenceMediaLayers
showSpatialOverlaySummary
apps/control-station/src/workspaces/laboratory/useM4ThreatTimeline.ts
+10 -6
View File
@@ -34,14 +34,14 @@ export function m4ThreatChunkWindowStarts(
if (chunkSize < 1 || frameCount < 1) return [];
return [
activeChunkStart,
...Array.from(
{ length: RETAINED_CHUNKS_BEHIND },
(_, index) => activeChunkStart - (index + 1) * chunkSize,
),
...Array.from(
{ length: PREFETCH_CHUNKS_AHEAD },
(_, index) => activeChunkStart + (index + 1) * chunkSize,
),
...Array.from(
{ length: RETAINED_CHUNKS_BEHIND },
(_, index) => activeChunkStart - (index + 1) * chunkSize,
),
].filter((start) => start >= 0 && start < frameCount);
}
@@ -86,12 +86,14 @@ export function useM4ThreatTimelineFrame({
currentSeconds,
includeSpatialPoints = true,
endpointRoot,
spatialPlaybackTransport = "auto",
}: {
resultId: string;
timeline: M4ThreatTimeline | null;
currentSeconds: number;
includeSpatialPoints?: boolean;
endpointRoot?: string;
spatialPlaybackTransport?: "auto" | "sealed-binary" | "json";
}) {
const [chunks, setChunks] = useState<ReadonlyMap<number, M4ThreatTimelineChunk>>(
() => new Map(),
@@ -104,8 +106,10 @@ export function useM4ThreatTimelineFrame({
totalBytes: 0,
});
const [playbackError, setPlaybackError] = useState<string | null>(null);
const binaryPlayback = endpointRoot === undefined
|| endpointRoot === M4_THREAT_TIMELINE_ENDPOINT_ROOT;
const binaryPlayback = spatialPlaybackTransport === "sealed-binary"
|| (spatialPlaybackTransport === "auto" && (
endpointRoot === undefined || endpointRoot === M4_THREAT_TIMELINE_ENDPOINT_ROOT
));
const inFlight = useRef(new Map<number, AbortController>());
const chunksRef = useRef(chunks);
const activeChunkStartRef = useRef<number | null>(null);
apps/control-station/test/m4ReplayThreat.test.mjs
+14 -12
View File
@@ -379,14 +379,16 @@ test("M4.6 hydrates a lightweight timeline frame from one retained binary point
});
test("M4.6 source cloud opens from one verified bounded chunk instead of the 105 MiB track", async () => {
const pointOffsets = [0, ...Array(4489).fill(2)];
const playbackResultId = `lab-v1-vegetation-shadow-${"b".repeat(64)}`;
const frameCount = 48;
const pointOffsets = [0, ...Array(frameCount).fill(2)];
const points = new Float32Array([11, 20, 30.25, 12, 19.5, 30]);
const pointBytes = points.buffer;
const pointSha256 = createHash("sha256").update(Buffer.from(pointBytes)).digest("hex");
const endpointRoot = "/api/v1/laboratory/m4-threat/results";
const chunks = Array.from({ length: 188 }, (_, index) => {
const chunks = Array.from({ length: Math.ceil(frameCount / 24) }, (_, index) => {
const start = index * 24;
const count = Math.min(24, 4489 - start);
const count = Math.min(24, frameCount - start);
const pointStart = pointOffsets[start];
const pointStop = pointOffsets[start + count];
const pointCount = pointStop - pointStart;
@@ -396,7 +398,7 @@ test("M4.6 source cloud opens from one verified bounded chunk instead of the 105
count,
point_start: pointStart,
point_count: pointCount,
url: `${endpointRoot}/${resultId}/timeline/playback/chunks/${index}`,
url: `${endpointRoot}/${playbackResultId}/timeline/playback/chunks/${index}`,
media_type: "application/octet-stream",
dtype: "<f4",
shape: [pointCount, 3],
@@ -406,8 +408,8 @@ test("M4.6 source cloud opens from one verified bounded chunk instead of the 105
});
const manifestPayload = {
schema_version: "missioncore.recorded-spatial-playback/v1",
result_id: resultId,
frame_count: 4489,
result_id: playbackResultId,
frame_count: frameCount,
point_count: 2,
point_offsets: pointOffsets,
chunk_frame_count: 24,
@@ -416,7 +418,7 @@ test("M4.6 source cloud opens from one verified bounded chunk instead of the 105
chunks,
track: {
id: "points-map-f32",
url: `${endpointRoot}/${resultId}/timeline/playback/tracks/points-map-f32`,
url: `${endpointRoot}/${playbackResultId}/timeline/playback/tracks/points-map-f32`,
media_type: "application/octet-stream",
dtype: "<f4",
shape: [2, 3],
@@ -434,12 +436,12 @@ test("M4.6 source cloud opens from one verified bounded chunk instead of the 105
if (url.endsWith("/timeline/playback/chunks/0")) return new Response(pointBytes.slice(0));
return new Response(null, { status: 404 });
};
const manifest = await fetchM4ThreatPlaybackManifest(resultId, { fetcher });
const manifest = await fetchM4ThreatPlaybackManifest(playbackResultId, { fetcher });
const chunk = await fetchM4ThreatPlaybackPointChunk(manifest, 0, { fetcher });
assert.deepEqual(requested, [
`${endpointRoot}/${resultId}/timeline/playback`,
`${endpointRoot}/${resultId}/timeline/playback/chunks/0`,
`${endpointRoot}/${playbackResultId}/timeline/playback`,
`${endpointRoot}/${playbackResultId}/timeline/playback/chunks/0`,
]);
assert.equal(chunk.pointCount, 2);
assert.equal(chunk.pointStart, 0);
@@ -769,7 +771,7 @@ test("M4.6 local SLAM surface reprojects registered increments into the active b
});
test("M4.6 spatial buffering keeps the active and one future chunk", () => {
assert.deepEqual(m4ThreatChunkWindowStarts(48, 24, 4489), [48, 24, 72]);
assert.deepEqual(m4ThreatChunkWindowStarts(48, 24, 4489), [48, 72, 24]);
assert.deepEqual(m4ThreatChunkWindowStarts(0, 24, 4489), [0, 24]);
});
@@ -787,7 +789,7 @@ test("M4.6 spatial buffering drops stale in-flight windows across rapid jumps",
}
}
assert.deepEqual([...inFlight.keys()], [4488, 4464]);
assert.deepEqual(aborted, [0, 24, 1488, 1464, 1512]);
assert.deepEqual(aborted, [0, 24, 1488, 1512, 1464]);
});
test("recorded evidence clock advances by selected rate and stops at the sealed end", () => {