feat(lidar): admit and benchmark GOOSE baseline

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

@@ -1,4 +1,4 @@
-import { useEffect, useState } from "react";
+import { useEffect, useMemo, useState } from "react";
 import {
   Button,
   GlassSurface,
@@ -7,8 +7,16 @@ import {
 
 import {
   fetchDatasetGatewayCatalog,
+  fetchDatasetGroundComparison,
+  fetchDatasetNativeScanPreview,
   type DatasetGatewayCatalog,
+  type DatasetGroundComparison,
+  type DatasetNativeScanPreview,
 } from "../core/lidar/datasetGateway";
+import {
+  LidarGroundPointCloud,
+  type LidarGroundViewMode,
+} from "./LidarGroundPointCloud";
 
 const representationLabels: Record<string, string> = {
   "native-scan": "Исходный скан",
@@ -22,11 +30,39 @@ function errorMessage(error: unknown): string {
     : "Каталог датасетов недоступен.";
 }
 
+function admissionLabel(status: DatasetGatewayCatalog["source"]["admissionStatus"]) {
+  const labels: Record<typeof status, string> = {
+    "blocked-storage-policy": "Worker не настроен",
+    "ready-for-download": "Готов к загрузке",
+    downloading: "Загружается",
+    downloaded: "Загружен",
+    verifying: "Проверяется",
+    verified: "Проверен",
+    "frame-ready": "Первый кадр готов",
+  };
+  return labels[status];
+}
+
+function formatBytes(value: number): string {
+  return new Intl.NumberFormat("ru-RU", {
+    style: "unit",
+    unit: "gigabyte",
+    maximumFractionDigits: 2,
+  }).format(value / 1_000_000_000);
+}
+
 export function DatasetGatewayWorkspace() {
   const [catalog, setCatalog] = useState<DatasetGatewayCatalog | null>(null);
   const [loading, setLoading] = useState(true);
   const [error, setError] = useState<string | null>(null);
   const [reloadGeneration, setReloadGeneration] = useState(0);
+  const [previewOpen, setPreviewOpen] = useState(false);
+  const [preview, setPreview] = useState<DatasetNativeScanPreview | null>(null);
+  const [comparison, setComparison] = useState<DatasetGroundComparison | null>(null);
+  const [previewError, setPreviewError] = useState<string | null>(null);
+  const [comparisonError, setComparisonError] = useState<string | null>(null);
+  const [previewMode, setPreviewMode] =
+    useState<LidarGroundViewMode>("semantic");
 
   useEffect(() => {
     const controller = new AbortController();
@@ -47,6 +83,73 @@ export function DatasetGatewayWorkspace() {
     return () => controller.abort();
   }, [reloadGeneration]);
 
+  useEffect(() => {
+    if (catalog?.source.admissionStatus !== "downloading") return;
+    const timer = window.setTimeout(
+      () => setReloadGeneration((value) => value + 1),
+      5_000,
+    );
+    return () => window.clearTimeout(timer);
+  }, [catalog]);
+
+  useEffect(() => {
+    if (!previewOpen || preview) return;
+    const controller = new AbortController();
+    setPreviewError(null);
+    void fetchDatasetNativeScanPreview({ signal: controller.signal })
+      .then((value) => {
+        if (!controller.signal.aborted) setPreview(value);
+      })
+      .catch((loadError: unknown) => {
+        if (!controller.signal.aborted) setPreviewError(errorMessage(loadError));
+      });
+    return () => controller.abort();
+  }, [previewOpen, preview]);
+
+  useEffect(() => {
+    if (!previewOpen || comparison) return;
+    const controller = new AbortController();
+    setComparisonError(null);
+    void fetchDatasetGroundComparison({ signal: controller.signal })
+      .then((value) => {
+        if (!controller.signal.aborted) setComparison(value);
+      })
+      .catch((loadError: unknown) => {
+        if (!controller.signal.aborted) {
+          setComparisonError(errorMessage(loadError));
+        }
+      });
+    return () => controller.abort();
+  }, [comparison, previewOpen]);
+
+  const previewFrame = useMemo(() => {
+    if (!preview) return null;
+    const emptyMask = new Array<number>(preview.pointCount).fill(0);
+    const comparisonAligned = (
+      comparison
+      && comparison.frameId === preview.frameId
+      && comparison.pointCount === preview.pointCount
+    ) ? comparison : null;
+    return {
+      pointCount: preview.pointCount,
+      pointsXyzM: preview.pointsXyzM,
+      intensity0To255: preview.remission0To255,
+      semanticRgb0To255: preview.semanticRgb0To255,
+      masks: {
+        currentGround: comparisonAligned?.currentGround ?? emptyMask,
+        currentAssigned: comparisonAligned?.evaluated ?? emptyMask,
+        candidateGround: comparisonAligned?.groundTruthGround ?? emptyMask,
+        candidateAssigned: comparisonAligned?.evaluated ?? emptyMask,
+        disagreement: comparisonAligned?.disagreement ?? emptyMask,
+        groundTruthGround: preview.groundTruthGround,
+      },
+    };
+  }, [comparison, preview]);
+
+  const downloadProgress = catalog?.source.archive
+    ? catalog.source.archive.bytesTransferred / catalog.source.archive.totalBytes
+    : null;
+
   return (
     <div className="standard-workspace dataset-workspace">
       <section className="dataset-purpose" aria-label="Назначение датасетов">
@@ -117,35 +220,56 @@ export function DatasetGatewayWorkspace() {
               <dl>
                 <div>
                   <dt>Состояние</dt>
-                  <dd>Не загружен</dd>
+                  <dd>{admissionLabel(catalog.source.admissionStatus)}</dd>
                 </div>
                 <div>
                   <dt>Validation</dt>
                   <dd>{catalog.source.validationArchiveGb} ГБ</dd>
                 </div>
                 <div>
-                  <dt>Разметка</dt>
-                  <dd>{catalog.source.superclasses.length} классов</dd>
+                  <dt>Группы</dt>
+                  <dd>{catalog.source.superclasses.length} superclass</dd>
                 </div>
                 <div>
                   <dt>Лицензия</dt>
                   <dd>{catalog.source.license}</dd>
                 </div>
               </dl>
+              {catalog.source.admissionStatus === "downloading"
+              && catalog.source.archive
+              && downloadProgress !== null ? (
+                <div className="dataset-download" aria-label="Загрузка GOOSE validation">
+                  <span style={{ width: `${downloadProgress * 100}%` }} />
+                  <p>
+                    {formatBytes(catalog.source.archive.bytesTransferred)}
+                    {" из "}
+                    {formatBytes(catalog.source.archive.totalBytes)}
+                  </p>
+                </div>
+              ) : null}
               <footer>
                 <p>
-                  {catalog.storage.admitted
-                    ? "Следующий шаг: загрузить validation archive на worker и проверить hash/license."
-                    : "Сначала нужно допустить Dataset Root на диске D worker. Сейчас открывать нечего."}
+                  {catalog.source.admissionStatus === "frame-ready"
+                    ? "Native scan и разметка прошли admission. Можно открыть независимый ground truth."
+                    : catalog.source.admissionStatus === "downloading"
+                      ? "Архив остаётся на D worker. После загрузки проверим ZIP, лицензию, digest и point-label alignment."
+                      : catalog.storage.admitted
+                        ? "Следующий шаг: загрузить validation archive на worker и проверить hash/license."
+                        : "Сначала нужно допустить Dataset Root на диске D worker. Сейчас открывать нечего."}
                 </p>
                 <div>
                   <Button
                     size="compact"
                     variant="secondary"
-                    disabled
-                    title="Первый реальный кадр ещё не импортирован"
+                    disabled={catalog.source.admissionStatus !== "frame-ready"}
+                    title={
+                      catalog.source.admissionStatus === "frame-ready"
+                        ? "Открыть первый размеченный native scan"
+                        : "Первый реальный кадр ещё не импортирован"
+                    }
+                    onClick={() => setPreviewOpen((value) => !value)}
                   >
-                    Открыть
+                    {previewOpen ? "Закрыть" : "Открыть"}
                   </Button>
                   <Button
                     size="compact"
@@ -159,6 +283,106 @@ export function DatasetGatewayWorkspace() {
             </article>
           </GlassSurface>
 
+          {previewOpen ? (
+            <section className="dataset-preview" aria-label="Первый GOOSE native scan">
+              <header>
+                <div>
+                  <span className="section-eyebrow">NATIVE SCAN · GROUND TRUTH</span>
+                  <h2>
+                    {preview
+                      ? `${preview.frameId} · ${preview.sourcePointCount.toLocaleString("ru-RU")} точек`
+                      : "Первый размеченный кадр"}
+                  </h2>
+                </div>
+                <div className="lidar-ground-modes" aria-label="Режим окраски">
+                  {([
+                    ["semantic", "Классы"],
+                    ["ground-truth", "Ground"],
+                    ...(comparison
+                      ? ([
+                          ["current", "Current"],
+                          ["disagreement", "Ошибки"],
+                        ] as const)
+                      : []),
+                    ["intensity", "Remission"],
+                  ] as const).map(([mode, label]) => (
+                    <button
+                      key={mode}
+                      type="button"
+                      aria-pressed={previewMode === mode}
+                      onClick={() => setPreviewMode(mode)}
+                    >
+                      {label}
+                    </button>
+                  ))}
+                </div>
+              </header>
+              {comparison ? (
+                <dl className="dataset-preview__metrics">
+                  <div>
+                    <dt>Ground IoU</dt>
+                    <dd>{(comparison.metrics.groundIou * 100).toFixed(1)}%</dd>
+                  </div>
+                  <div>
+                    <dt>Precision</dt>
+                    <dd>{(comparison.metrics.precision * 100).toFixed(1)}%</dd>
+                  </div>
+                  <div>
+                    <dt>Recall</dt>
+                    <dd>{(comparison.metrics.recall * 100).toFixed(1)}%</dd>
+                  </div>
+                  <div>
+                    <dt>Latency</dt>
+                    <dd>{comparison.latencyMs.toFixed(0)} ms</dd>
+                  </div>
+                </dl>
+              ) : comparisonError ? (
+                <p className="dataset-preview__comparison-note">
+                  Current baseline пока не рассчитан: {comparisonError}
+                </p>
+              ) : null}
+              {previewFrame ? (
+                <>
+                  <LidarGroundPointCloud frame={previewFrame} mode={previewMode} />
+                  <div className="dataset-preview__legend">
+                    {previewMode === "semantic" ? (
+                      preview?.classes.map((item) => (
+                        <span key={item.labelId}>
+                          <i style={{ background: item.hex }} />
+                          {item.className}
+                        </span>
+                      ))
+                    ) : previewMode === "ground-truth" ? (
+                      <>
+                        <span><i className="dataset-legend-ground" />ground truth</span>
+                        <span><i className="dataset-legend-other" />остальные точки</span>
+                      </>
+                    ) : previewMode === "current" ? (
+                      <>
+                        <span><i className="dataset-legend-ground" />current ground</span>
+                        <span><i className="dataset-legend-other" />current non-ground</span>
+                      </>
+                    ) : previewMode === "disagreement" ? (
+                      <>
+                        <span><i className="dataset-legend-error" />ошибка относительно labels</span>
+                        <span><i className="dataset-legend-other" />совпадение</span>
+                      </>
+                    ) : (
+                      <span>Remission нормализован только для визуального просмотра 0–255</span>
+                    )}
+                  </div>
+                </>
+              ) : (
+                <div className="lidar-ground-scene-placeholder">
+                  <StatusBadge tone={previewError ? "danger" : "accent"}>
+                    {previewError ? "Preview недоступен" : "Читаем frame"}
+                  </StatusBadge>
+                  <p>{previewError ?? "Проверяем point alignment и разметку."}</p>
+                </div>
+              )}
+            </section>
+          ) : null}
+
           <details className="dataset-contract">
             <summary>
               <span>Технический контракт</span>

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

@@ -6,18 +6,22 @@ export type LidarGroundViewMode =
   | "intensity"
   | "current"
   | "candidate"
-  | "disagreement";
+  | "disagreement"
+  | "semantic"
+  | "ground-truth";
 
 export interface LidarGroundPointCloudFrame {
   pointCount: number;
   pointsXyzM: Array<[number, number, number]>;
   intensity0To255: number[] | null;
+  semanticRgb0To255?: number[] | null;
   masks: {
     currentGround: number[];
     currentAssigned: number[];
     candidateGround: number[];
     candidateAssigned: number[];
     disagreement: number[];
+    groundTruthGround?: number[];
   };
 }
 
@@ -68,6 +72,24 @@ function frameColors(
         neutral,
         neutral,
       );
+    } else if (mode === "semantic") {
+      const semantic = frame.semanticRgb0To255;
+      setRgb(
+        colors,
+        offset,
+        (semantic?.[offset] ?? 96) / 255,
+        (semantic?.[offset + 1] ?? 96) / 255,
+        (semantic?.[offset + 2] ?? 96) / 255,
+      );
+    } else if (mode === "ground-truth") {
+      const groundTruth = frame.masks.groundTruthGround?.[index] === 1;
+      setRgb(
+        colors,
+        offset,
+        groundTruth ? 0.78 : 0.29,
+        groundTruth ? 0.9 : 0.33,
+        groundTruth ? 0.42 : 0.38,
+      );
     } else if (mode === "current") {
       setRgb(
         colors,
@@ -88,14 +110,17 @@ function frameColors(
           candidate ? 1 : 0.43,
         );
       }
-    } else if (current && candidate) {
-      setRgb(colors, offset, 0.73, 1, 0.29);
-    } else if (current) {
-      setRgb(colors, offset, 1, 0.64, 0.18);
-    } else if (candidate) {
-      setRgb(colors, offset, 0.24, 0.84, 1);
+    } else if (mode === "disagreement") {
+      const disagreement = frame.masks.disagreement[index] === 1;
+      setRgb(
+        colors,
+        offset,
+        disagreement ? 1 : 0.24,
+        disagreement ? 0.31 : 0.29,
+        disagreement ? 0.22 : 0.35,
+      );
     } else {
-      setRgb(colors, offset, 0.24, 0.29, 0.35);
+      setRgb(colors, offset, candidate ? 0.24 : 0.29, candidate ? 0.84 : 0.36, 0.43);
     }
   }
   return colors;