feat(lab): visualize M4.8R3 system occupancy

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

@@ -26,6 +26,7 @@ export interface LaboratoryMetricObstacleVisual {
   state: "current" | "retained" | "held" | "expired";
   centroidBodyXyzM: LaboratoryMetricPoint3;
   cellCentersBodyXyzM: readonly LaboratoryMetricPoint3[];
+  occupancySource?: "baseline" | "mixed" | "additive-low-step";
 }
 
 export interface LaboratoryMetricRigVisual {
@@ -41,7 +42,7 @@ export interface LaboratoryMetricCorridorVisual {
 }
 
 export interface LaboratoryMetricLegendEntry {
-  id: LaboratoryMetricDecision | "context" | "local-surface" | "rolling";
+  id: LaboratoryMetricDecision | "context" | "local-surface" | "rolling" | "low-step";
   label: string;
 }
 
@@ -52,6 +53,7 @@ export function laboratoryMetricLegendEntries({
   showCurrentIncrement,
   showLocalSurface,
   showRollingMap,
+  showLowStep = true,
 }: {
   pointCloudCount: number;
   localSurfaceCount: number;
@@ -59,19 +61,29 @@ export function laboratoryMetricLegendEntries({
   showCurrentIncrement: boolean;
   showLocalSurface: boolean;
   showRollingMap: boolean;
+  showLowStep?: boolean;
 }): readonly LaboratoryMetricLegendEntry[] {
   const visibleObstacles = obstacles.filter((obstacle) => (
-    obstacle.state === "current"
+    (showLowStep || obstacle.occupancySource === undefined || obstacle.occupancySource === "baseline")
+    && (obstacle.state === "current"
       ? showCurrentIncrement
       : obstacle.state === "retained"
         ? showRollingMap
-        : false
+        : false)
   ));
   const decisions = new Set(visibleObstacles.map(({ decision }) => decision));
   const entries: LaboratoryMetricLegendEntry[] = [];
   if (decisions.has("threat")) entries.push({ id: "threat", label: "Угроза" });
   if (decisions.has("not-threat")) entries.push({ id: "not-threat", label: "Вне коридора" });
   if (decisions.has("unknown")) entries.push({ id: "unknown", label: "Неизвестно" });
+  if (
+    showLowStep
+    && visibleObstacles.some((obstacle) => (
+      obstacle.occupancySource !== undefined && obstacle.occupancySource !== "baseline"
+    ))
+  ) {
+    entries.push({ id: "low-step", label: "LOW-STEP · добавлено системой" });
+  }
   if (showCurrentIncrement && pointCloudCount > 0) {
     entries.push({ id: "context", label: "Текущий кадр" });
   }
@@ -153,6 +165,16 @@ function decisionColor(
   return tokenColor(host, "--nodedc-warning-rgb", [255, 197, 92]);
 }
 
+function obstacleColor(
+  host: HTMLElement,
+  obstacle: LaboratoryMetricObstacleVisual,
+): THREE.Color {
+  if (obstacle.occupancySource !== "baseline") {
+    return tokenColor(host, "--nodedc-accent-rgb", [232, 56, 126]);
+  }
+  return decisionColor(host, obstacle.decision);
+}
+
 export interface LaboratoryMetricEvidenceSceneHandle {
   resetView: () => void;
 }
@@ -171,6 +193,7 @@ LaboratoryMetricEvidenceSceneHandle,
   showCurrentIncrement: boolean;
   showLocalSurface: boolean;
   showRollingMap: boolean;
+  showLowStep?: boolean;
   pointSemanticClassIds?: readonly (number | null)[];
   semanticClasses?: readonly RecordedEvidenceSemanticClass[];
   semanticPalette?: readonly RecordedEvidenceSemanticPaletteEntry[];
@@ -187,6 +210,7 @@ LaboratoryMetricEvidenceSceneHandle,
   showCurrentIncrement,
   showLocalSurface,
   showRollingMap,
+  showLowStep = true,
   pointSemanticClassIds,
   semanticClasses,
   semanticPalette,
@@ -352,6 +376,12 @@ LaboratoryMetricEvidenceSceneHandle,
 
     for (const obstacle of obstacles) {
       if (
+        (
+          !showLowStep
+          && obstacle.occupancySource !== undefined
+          && obstacle.occupancySource !== "baseline"
+        )
+        ||
         (obstacle.state === "current" && !showCurrentIncrement)
         || (obstacle.state === "retained" && !showRollingMap)
         || obstacle.state === "held"
@@ -359,7 +389,7 @@ LaboratoryMetricEvidenceSceneHandle,
       ) {
         continue;
       }
-      const color = decisionColor(host, obstacle.decision);
+      const color = obstacleColor(host, obstacle);
       if (obstacle.state === "retained") {
         const geometry = new THREE.BoxGeometry(
           occupiedVoxelSizeM * 0.82,
@@ -424,6 +454,7 @@ LaboratoryMetricEvidenceSceneHandle,
     showCurrentIncrement,
     showLocalSurface,
     showRollingMap,
+    showLowStep,
   ]);
 
   useEffect(() => {
@@ -538,6 +569,7 @@ LaboratoryMetricEvidenceSceneHandle,
     showCurrentIncrement,
     showLocalSurface,
     showRollingMap,
+    showLowStep,
   });
 
   return (