fix(control-station): align lidar viewer and expose polygon

apps/control-station/src/App.tsx

@@ -47,7 +47,6 @@ import type {
 import { useRecordedSessionAdmission } from "./core/observation/useRecordedSessionAdmission";
 import { useWorkspaceLayoutProfile } from "./core/observation/useWorkspaceLayoutProfile";
 import { resolvePolygonRunRoute } from "./core/polygon/runArchive";
-import { usePolygonWorkerCapability } from "./core/polygon/usePolygonWorkerCapability";
 import {
   OBSERVATION_WORKSPACE_ID,
   OBSERVATION_WORKSPACE_LAYOUT_VERSION,
@@ -55,7 +54,7 @@ import {
 } from "./core/observation/workspaceLayout";
 import {
   rootById,
-  rootsForCapabilities,
+  roots,
   workspaceById,
   workspacesForRoot,
   type RootId,
@@ -151,7 +150,6 @@ function mergeViewerSettings(
 export default function App() {
   const runtime = useMissionRuntime();
   const { selection } = useDevicePluginHost();
-  const polygonWorker = usePolygonWorkerCapability();
   const polygonRunRoute = useMemo(
     () => resolvePolygonRunRoute(typeof window === "undefined" ? "" : window.location.search),
     [],
@@ -199,10 +197,7 @@ export default function App() {
   const polygonRunRouteOpenedRef = useRef(false);
 
   const currentRoot = rootById(activeRoot);
-  const visibleRoots = useMemo(
+  const visibleRoots = roots;
-    () => rootsForCapabilities({ polygonWorkerAvailable: polygonWorker.available }),
-    [polygonWorker.available],
-  );
   const activeDefinition = workspaceById(workspace.activeView);
   const spatialWorkspaceActive = Boolean(
     workspace.contentOpen && activeDefinition?.kind === "spatial",

apps/control-station/src/productModel.ts

@@ -796,14 +796,6 @@ export function rootById(id: RootId | null): RootDefinition | null {
   return id ? roots.find((root) => root.id === id) ?? null : null;
 }
 
-export function rootsForCapabilities({
-  polygonWorkerAvailable,
-}: {
-  polygonWorkerAvailable: boolean;
-}): RootDefinition[] {
-  return roots.filter((root) => root.id !== "polygon" || polygonWorkerAvailable);
-}
-
 export function workspaceById(id: string | null): WorkspaceDefinition | null {
   return id ? workspaces.find((workspace) => workspace.id === id) ?? null : null;
 }

apps/control-station/src/styles/workspaces.css

@@ -1441,9 +1441,8 @@
 .lidar-field-cloud {
   overflow: hidden;
   min-width: 0;
-  border: 1px solid rgb(255 255 255 / 0.09);
   border-radius: 0.9rem;
-  background: #071018;
+  background: #06070a;
 }
 
 .lidar-field-camera {
@@ -1461,7 +1460,6 @@
 .lidar-field-camera > .lidar-field-stage__label,
 .lidar-field-cloud > header {
   min-height: 3.45rem;
-  border-bottom: 1px solid rgb(255 255 255 / 0.08);
   padding: 0.66rem 0.72rem;
 }
 
@@ -1487,7 +1485,6 @@
   display: flex;
   justify-content: space-between;
   gap: 0.5rem;
-  border-top: 1px solid rgb(255 255 255 / 0.08);
   padding: 0.52rem 0.7rem;
 }
 
@@ -1548,7 +1545,7 @@
   overflow: hidden;
   margin-top: 0.8rem;
   border-radius: 0.9rem;
-  background: #071018;
+  background: #06070a;
 }
 
 .lidar-fallback-review > header {
@@ -1557,7 +1554,6 @@
   align-items: center;
   justify-content: space-between;
   gap: 0.8rem;
-  border-bottom: 1px solid rgb(255 255 255 / 0.08);
   padding: 0.65rem 0.75rem;
 }
 
@@ -1569,7 +1565,6 @@
 }
 
 .lidar-fallback-review > footer {
-  border-top: 1px solid rgb(255 255 255 / 0.08);
   padding: 0.58rem 0.75rem;
   color: var(--nodedc-text-muted);
   font-size: 0.58rem;
@@ -1646,11 +1641,8 @@
   display: grid;
   gap: 0.75rem;
   margin-top: 0.85rem;
-  border: 1px solid rgb(74 215 255 / 0.18);
   border-radius: 1rem;
-  background:
+  background: #06070a;
-    radial-gradient(circle at 18% 0%, rgb(56 124 255 / 0.12), transparent 34%),
-    rgb(4 12 19 / 0.72);
   padding: 0.85rem;
 }
 
@@ -1716,9 +1708,9 @@
 .lidar-ground-modes button,
 .lidar-ground-frame-control button,
 .lidar-ground-scene__toolbar button {
-  border: 1px solid var(--station-hairline);
+  border: 0;
   border-radius: 999px;
-  background: rgb(255 255 255 / 0.035);
+  background: transparent;
   padding: 0.4rem 0.62rem;
   color: var(--nodedc-text-secondary);
   font: inherit;
@@ -1730,9 +1722,16 @@
 .lidar-ground-modes button[data-active="true"],
 .lidar-ground-frame-control button:hover:not(:disabled),
 .lidar-ground-scene__toolbar button:hover {
-  border-color: rgb(74 215 255 / 0.48);
+  background: rgb(255 255 255 / 0.11);
-  background: rgb(74 215 255 / 0.1);
   color: var(--nodedc-text-primary);
+  outline: none;
+}
+
+.lidar-ground-modes button:focus-visible,
+.lidar-ground-frame-control button:focus-visible,
+.lidar-ground-scene__toolbar button:focus-visible {
+  background: rgb(255 255 255 / 0.14);
+  outline: none;
 }
 
 .lidar-ground-frame-control button {
@@ -1751,16 +1750,15 @@
 
 .lidar-ground-frame-control input {
   width: min(16rem, 24vw);
-  accent-color: #4ad7ff;
+  accent-color: #f2f2f2;
 }
 
 .lidar-ground-scene {
   position: relative;
   overflow: hidden;
   min-height: 30rem;
-  border: 1px solid rgb(255 255 255 / 0.09);
   border-radius: 0.9rem;
-  background: #071018;
+  background: #06070a;
 }
 
 .lidar-ground-scene__viewport {
@@ -1782,15 +1780,15 @@
   display: flex;
   align-items: center;
   gap: 0.5rem;
-  border: 1px solid rgb(255 255 255 / 0.08);
+  border: 0;
   border-radius: 999px;
-  background: rgb(5 13 21 / 0.82);
+  background: rgb(10 11 14 / 0.78);
   padding: 0.28rem;
   backdrop-filter: blur(14px);
 }
 
 .lidar-ground-scene__toolbar button {
-  background: rgb(74 215 255 / 0.08);
+  background: rgb(255 255 255 / 0.06);
 }
 
 .lidar-ground-scene__error {
@@ -1808,9 +1806,8 @@
   place-content: center;
   justify-items: center;
   gap: 0.55rem;
-  border: 1px solid var(--station-hairline);
   border-radius: 0.9rem;
-  background: #071018;
+  background: #06070a;
   text-align: center;
 }
 

apps/control-station/src/workspaces/LidarGroundPointCloud.tsx

@@ -60,12 +60,13 @@ function frameColors(
     const candidateAssigned = frame.masks.candidateAssigned[index] === 1;
     if (mode === "intensity") {
       const intensity = (frame.intensity0To255?.[index] ?? 96) / 255;
+      const neutral = 0.16 + intensity * 0.8;
       setRgb(
         colors,
         offset,
-        0.12 + intensity * 0.74,
+        neutral,
-        0.24 + intensity * 0.68,
+        neutral,
-        0.34 + intensity * 0.6,
+        neutral,
       );
     } else if (mode === "current") {
       setRgb(
@@ -131,7 +132,7 @@ export function LidarGroundPointCloud({
     }
     renderer.setPixelRatio(Math.min(window.devicePixelRatio, 2));
     renderer.outputColorSpace = THREE.SRGBColorSpace;
-    renderer.setClearColor(0x071018, 0.96);
+    renderer.setClearColor(0x06070a, 1);
     renderer.domElement.setAttribute(
       "aria-label",
       "Интерактивное облако LiDAR",
@@ -139,7 +140,7 @@ export function LidarGroundPointCloud({
     host.prepend(renderer.domElement);
 
     const scene = new THREE.Scene();
-    const fog = new THREE.FogExp2(0x071018, 0.035);
+    const fog = new THREE.FogExp2(0x06070a, 0.035);
     scene.fog = fog;
     fogRef.current = fog;
     const camera = new THREE.PerspectiveCamera(48, 1, 0.01, 1_000);
@@ -172,7 +173,7 @@ export function LidarGroundPointCloud({
     materialRef.current = material;
     scene.add(new THREE.Points(geometry, material));
 
-    const grid = new THREE.GridHelper(10, 40, 0x71963d, 0x26312a);
+    const grid = new THREE.GridHelper(10, 40, 0x454846, 0x252725);
     gridRef.current = grid;
     const gridMaterials = Array.isArray(grid.material)
       ? grid.material

apps/control-station/src/workspaces/PolygonRoverScene.tsx

@@ -378,7 +378,7 @@ export function PolygonRoverScene({
           <span>
             {workerAvailable
               ? "Запустите PX4/Gazebo — модель останется доступна для осмотра."
-              : "Полигон появится в шапке после подтверждения Simulation Worker."}
+              : "Прогоны и датасеты доступны; запуск и управление откроются после подтверждения Simulation Worker."}
           </span>
         </div>
       ) : null}

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

@@ -21,7 +21,7 @@ let stopPolygonWorker;
 let PolygonWorkerContractError;
 let workspaceById;
 let workspacesForRoot;
-let rootsForCapabilities;
+let roots;
 
 before(async () => {
   server = await createServer({
@@ -51,7 +51,7 @@ before(async () => {
   ({
     workspaceById,
     workspacesForRoot,
-    rootsForCapabilities,
+    roots,
   } = await server.ssrLoadModule("/src/productModel.ts"));
 });
 
@@ -290,7 +290,7 @@ function commandAcceptance(overrides = {}) {
   };
 }
 
-test("Polygon is a worker-gated product root and keeps a compatible direct route", () => {
+test("Polygon stays visible while worker capability gates live actions", () => {
   assert.deepEqual(resolvePolygonRunRoute("?workspace=polygon-run"), {
     active: true,
     runId: null,
@@ -320,16 +320,7 @@ test("Polygon is a worker-gated product root and keeps a compatible direct route
     workspacesForRoot("system").some(({ id }) => id === "polygon-run"),
     false,
   );
-  assert.equal(
+  assert.equal(roots.some(({ id }) => id === "polygon"), true);
-    rootsForCapabilities({ polygonWorkerAvailable: false })
-      .some(({ id }) => id === "polygon"),
-    false,
-  );
-  assert.equal(
-    rootsForCapabilities({ polygonWorkerAvailable: true })
-      .some(({ id }) => id === "polygon"),
-    true,
-  );
 });
 
 test("Polygon contracts decode path-free evidence and preserve the safety boundary", () => {

docs/01_IMPLEMENTATION_PLAN.md

@@ -164,8 +164,8 @@ fresh loopback-only namespace, the run reached `completed`, and both provider
 groups stopped without residue. S1C commit `b7ccca3` adds a persistent
 unprivileged worker agent in the same isolation boundary, a bounded Unix-socket
 gateway, an explicit `internal-virtual-only` backend gate and a browser-native
-live panel. UI-2 commit `60e7916` promotes that panel into a worker-gated
+live panel. UI-2 commit `60e7916` promotes that panel into a top-level product
-top-level product root and replaces the diagnostic 2D marker with a
+root and replaces the diagnostic 2D marker with a
 browser-native Three.js Ackermann Rover scene. The exact D-only generation
 passed 35 target tests and one UI-driven provider run with diagnostic Gazebo
 `VehicleState`, eight persisted lifecycle events, terminal `completed` and zero

docs/12_SIMULATION_POLYGON_PRODUCT_AND_SRS.md

@@ -834,15 +834,16 @@ safety policy.
 
 ## 20. UI gate
 
-Polygon is implemented as a capability-gated seventh top-level bounded context:
+Polygon is implemented as a permanent seventh top-level bounded context:
 
 ```text
-Center | Fleet | Observation | Missions | Data | Polygon* | System
+Center | Fleet | Observation | Missions | Data | Polygon | System
-
-* visible only while Mission Core confirms an admitted available Simulation Worker
 ```
 
-Two UI gates are intentionally distinct.
+The product surface and execution capability are intentionally distinct.
+`Полигон` and its dataset catalog remain visible without a worker. Worker
+capability gates only live lifecycle and command actions, which fail closed and
+show an explicit offline state.
 
 The Polygon navigation is task-oriented:
 
@@ -886,7 +887,7 @@ read-only evidence contract backed by the server-owned run repository and is
 composed into UI-2. A shared review deployment requires a reviewed read-only D
 mount or a co-located backend; SSH is not a product data plane.
 
-### UI-2 — worker-gated top-level Polygon
+### UI-2 — permanent Polygon with worker-gated live actions
 
 The full UI-2 control/scenario gate begins only after:
 
@@ -894,8 +895,10 @@ The full UI-2 control/scenario gate begins only after:
 2. S1 target backend lifecycle and command authority are proven;
 3. run history is persisted independently of a browser session.
 
-Commit `60e7916` accepts the presentation/lifecycle slice before all three
+Commit `60e7916` accepted the presentation/lifecycle slice before all three
-conditions are complete: conditional header root, direct workspace,
+conditions were complete. The root is now permanent so datasets and persisted
+evidence remain reachable while the worker is offline; live start/stop and
+commands remain capability-gated. The slice includes the direct workspace,
 virtual-only start/stop, 3D rover inspection, diagnostic ENU pose and read-only
 history. It does not claim command authority. Scenarios, pause/step/reset,
 canonical rover commands, Compare and Report remain planned. UI-2 cannot own

docs/adr/0015-simulation-polygon-qualification-boundary.md

@@ -55,9 +55,10 @@ reports easy to misuse.
 13. S1 uses exact `px4_msgs` directly. The experimental
     `px4-ros2-interface-lib` is not a mandatory S1 dependency.
 14. The read-only direct UI-0 run view consumes proven target S1B persisted
-    history through GET-only server routes. It is hidden from navigation and
+    history through GET-only server routes and cannot mutate a run. The
-    cannot mutate a run. Top-level Polygon UI and control remain gated on
+    top-level Polygon product surface remains visible so datasets and persisted
-    accepted S1 target command/lifecycle behavior.
+    evidence are reachable offline; live lifecycle and command actions remain
+    gated on admitted worker capability and accepted S1 target behavior.
 15. Real actuator authority requires a new decision and physical safety gate.
 16. S0 processes run inside an ephemeral loopback-only Linux network namespace.
     Micro XRCE-DDS Agent's UDP wildcard bind is acceptable only inside that