Preserve onboard preview recordings across backpressure and share the complete spatial scene

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

@@ -1,3 +1,4 @@
+import {SpatialScene, EmptySpatialStage} from '../../../../packages/spatial-ui/src';
 import {SpatialToolbarActions} from "../../../../packages/spatial-ui/src/SpatialToolbarActions";
 import { VehiclesWorkspace } from "./fleet/VehiclesWorkspace";
 import { useCallback, useEffect, useMemo, useRef, useState } from "react";
@@ -33,7 +34,6 @@ import {
   type WorkspaceDefinition,
 } from "../productModel";
 import { finiteMetric, formatNumber, pipelineLatency, sourceModeLabel } from "../presentation";
-import type { SceneSettings } from "../sceneSettings";
 import type { WorkspaceRendererProps } from "./contracts";
 import { DatasetGatewayWorkspace } from "./DatasetGatewayWorkspace";
 import { ArtifactHealthWorkspace } from "./data/ArtifactHealthWorkspace";
@@ -91,26 +91,6 @@ function WorkspaceLead({ definition, note }: { definition: WorkspaceDefinition;
     </section>
   );
 }
-function EmptySpatialStage({ settings }: { settings: SceneSettings }) {
-  return (
-    <div className="empty-spatial-stage" data-grid={settings.showGrid ? "true" : undefined}>
-      <div className="empty-spatial-stage__grid" aria-hidden="true" />
-      <div className="spatial-axis" aria-hidden="true">
-        <span data-axis="x">X</span>
-        <span data-axis="z">Z</span>
-      </div>
-      <div className="empty-spatial-stage__message">
-        <span className="empty-spatial-stage__icon"><Icon name="globe" size={20} /></span>
-        <strong>Визуальный источник не назначен</strong>
-        <p>
-          Область сцены не подставляет демонстрационные точки. Назначьте RRD или Rerun gRPC, чтобы
-          открыть реальные данные.
-        </p>
-      </div>
-    </div>
-  );
-}
-
 function SpatialWorkspace({
   state,
   sourceUrl,
@@ -412,14 +392,9 @@ function SpatialWorkspace({
           : null,
       });
 
-  return (
-    <div
-      className="spatial-workspace"
-      data-focused={pointCloudFocused || floatingSourceMaximized ? "true" : undefined}
-    >
-      <div className="spatial-toolbar" data-viewer-controls="v1">
-        <div className="spatial-toolbar__actions">
-          {recordedPerceptionSupported || livePerceptionAvailable ? (
+  return <SpatialScene viewportRef={viewportRef} focused={pointCloudFocused||floatingSourceMaximized}
+    primaryFocused={pointCloudFocused} mediaMaximized={floatingSourceMaximized}
+    toolbar={<>          {recordedPerceptionSupported || livePerceptionAvailable ? (
             <div className="spatial-toolbar__view-switch" role="group" aria-label="Слои распознавания сцены">
               <Button
                 size="compact"
@@ -499,17 +474,7 @@ function SpatialWorkspace({
               Сброс вида
             </Button>
           ) : null}
-          <SpatialToolbarActions openSource={navigation.openSource} openLayers={navigation.openLayers} openDisplay={navigation.openDisplay}/>
-        </div>
-      </div>
-
-      <div
-        ref={viewportRef}
-        className="spatial-viewport-shell"
-        data-primary-focused={pointCloudFocused ? "true" : undefined}
-        data-media-maximized={floatingSourceMaximized ? "true" : undefined}
-      >
-          {sourceUrl.trim() && pointCloudVisible && !intentionalSourceEnd ? (
+          <SpatialToolbarActions openSource={navigation.openSource} openLayers={navigation.openLayers} openDisplay={navigation.openDisplay}/></>} renderer={<>          {sourceUrl.trim() && pointCloudVisible && !intentionalSourceEnd ? (
             <RerunViewport
               profile={rerunViewerProfile}
               sceneSettings={sceneSettings}
@@ -523,20 +488,15 @@ function SpatialWorkspace({
           ) : (
             <EmptySpatialStage settings={sceneSettings} />
           )}
-
-          {spatialControls && !recordedSource ? (
-            <div className="scene-device-controls">
-              <spatialControls.View
+</>}
+    deviceControls={spatialControls&&!recordedSource?(              <spatialControls.View
                 model={spatialControls.model}
                 host={{
                   openSpatialScene: () => navigation.openView("spatial-scene"),
                   activateAutomaticSpatialSource: navigation.activateAutomaticSpatialSource,
                 }}
-              />
-            </div>
-          ) : null}
-
-          {pointCloudFocused ? (
+              />):null}
+    sourceControls={<>          {pointCloudFocused ? (
             <button
               type="button"
               className="scene-focus-exit"
@@ -567,22 +527,9 @@ function SpatialWorkspace({
               ) : null}
             </div>
           ) : null}
-
-          <div
-            className="scene-status scene-status--top-left"
-            aria-hidden={pointCloudFocused || floatingSourceMaximized}
-          >
-            <span className="section-eyebrow">ВИЗУАЛЬНЫЙ ДВИЖОК</span>
-            <StatusBadge tone={viewerStatusTone}>{viewerStatusLabel}</StatusBadge>
-            {!intentionalSourceEnd && viewerMessage ? <small>{viewerMessage}</small> : null}
-          </div>
-
-          <div
-            className="scene-metrics"
-            aria-label="Метрики пространственной сцены"
-            aria-hidden={pointCloudFocused || floatingSourceMaximized}
-          >
-            <div>
+</>}
+    status={{label:viewerStatusLabel,tone:viewerStatusTone,message:!intentionalSourceEnd?viewerMessage:undefined}}
+    metrics={<>            <div>
               <span>КАДР/С</span>
               <strong>{formatNumber(frameRate)}</strong>
             </div>
@@ -603,10 +550,7 @@ function SpatialWorkspace({
                   {aiFrameRate === null ? null : <small> · {formatNumber(aiFrameRate)} Гц</small>}
                 </strong>
               </div>
-            ) : null}
-          </div>
-
-          {!pointCloudFocused && !floatingSourceMaximized && state?.sourceMode && state.sourceMode !== "idle" && !sourceUrl.trim() ? (
+            ) : null}</>} overlays={<>          {!pointCloudFocused && !floatingSourceMaximized && state?.sourceMode && state.sourceMode !== "idle" && !sourceUrl.trim() ? (
             <div className="scene-adapter-note">
               <Icon name="alert" />
               <span>
@@ -661,14 +605,8 @@ function SpatialWorkspace({
             </div>
           ) : null}
 
-          {presentedViewerStatus === "ready" && !floatingSourceMaximized ? (
-            <div className="scene-navigation-hint" aria-label="Навигация по 3D-сцене">
-              <span>Колесо · зум к курсору</span>
-              <span>WASD · свободный проход</span>
-            </div>
-          ) : null}
-
-          {!pointCloudFocused && !floatingSourceMaximized && recordedPlaybackReady ? (
+</>}
+    navigationReady={presentedViewerStatus==='ready'} timeline={<>          {!pointCloudFocused && !floatingSourceMaximized && recordedPlaybackReady ? (
             <ObservationTimeline
               active={presentedViewerStatus === "ready"}
               sourceCount={Math.max(1, (unifiedPerception ? 2 : 1) + presentedMediaSourceCount)}
@@ -691,8 +629,8 @@ function SpatialWorkspace({
               className="scene-timeline"
             />
           ) : null}
-
-          {visibleMediaSources.map((source, index) => (
+</>}
+    media={<>          {visibleMediaSources.map((source, index) => (
             <FloatingObservationWindow
               key={source.id}
               source={source}
@@ -743,10 +681,7 @@ function SpatialWorkspace({
                 />
               ))}
             </div>
-          ) : null}
-      </div>
-
-      <div className="spatial-contract-strip">
+          ) : null}</>} footer={      <div className="spatial-contract-strip">
         <span><i data-state="ready" />Облако точек</span>
         <span><i data-state="ready" />Траектория</span>
         <span><i data-state="ready" />Преобразования</span>
@@ -755,9 +690,7 @@ function SpatialWorkspace({
         <span><i data-state={segmentationActive ? "ready" : "contract"} />Сегментация</span>
         <span><i data-state={cuboids3dActive ? "ready" : "contract"} />Кубы 3D</span>
         <span><i data-state="contract" />Компоновка</span>
-      </div>
-    </div>
-  );
+      </div>}/>;
 }
 
 function CameraSourceCard({

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

@@ -191,11 +191,13 @@ test("XGRIDS frontend is physically plugin-owned and split by operator pipeline"
   assert.match(spatialControls, /role="alert"/);
   assert.doesNotMatch(spatialControls, /Повторить остановку/);
   assert.match(spatialControls, /stopLocalReceiver/);
-  assert.match(spatialControls, /<ActivityIndicator size="compact"/);
-  assert.match(spatialControls, /aria-busy=\{phase\.busy\}/);
-  assert.match(spatialControls, /K1 калибруется и готовит облако точек/);
-  assert.match(spatialControls, /Первые данные могут появиться через десятки секунд/);
-  assert.match(spatialControls, /Не перемещайте устройство/);
+  assert.match(spatialControls, /<K1SpatialSession/);
+  const spatialSession = readFileSync(join(pluginFrontendRoot, "components/K1SpatialSession.tsx"), "utf8");
+  assert.match(spatialSession, /<ActivityIndicator size="compact"/);
+  assert.match(spatialSession, /aria-busy=\{phase\.busy\}/);
+  assert.match(spatialSession, /K1 калибруется и готовит облако точек/);
+  assert.match(spatialSession, /Первые данные могут появиться через десятки секунд/);
+  assert.match(spatialSession, /Не перемещайте устройство/);
 
   const styles = readFileSync(join(pluginFrontendRoot, "styles.css"), "utf8");
   assert.doesNotMatch(styles, /@keyframes xgrids-k1-spin/);

apps/control-station/test/k1ManualControl.test.mjs

@@ -37,7 +37,7 @@ test('active acquisition exposes STOP and Rerun without another START',()=>{
  assert.match(markup,/Остановить устройство/);
  assert.match(markup,/rerun-viewport__canvas/);
  assert.match(markup,/>Статус</);
- assert.match(markup,/>Пространственная модель</);
+ assert.match(markup,/>Пространственная сцена</);
  for(const label of ['Движок','Слои','Отображение','Камера K1','Окно накопления облака точек'])assert.ok(markup.includes(label));
  assert.ok(markup.includes('data-presented="false"'));
  assert.ok(!markup.includes('Loading Rerun'));
@@ -53,8 +53,8 @@ test('calibration loader stays inside the primary action',()=>{
  const starting={...device,control:{...device.control,can_start:false},snapshot:{...device.snapshot,acquisition:'starting'}};
  const markup=render(starting);
  assert.match(markup,/<button[^>]*aria-busy="true"[\s\S]*?nodedc-activity-indicator[\s\S]*?Запускаем устройство<\/button>/);
- assert.equal((markup.match(/nodedc-activity-indicator"/g)||[]).length,1);
- assert.doesNotMatch(markup,/Остановить устройство|k1-preview-spatial/);
+ assert.match(markup,/K1 калибруется и готовит облако точек/);
+ assert.doesNotMatch(markup,/Обновить просмотр/);
 });
 test('completed STOP remains visible while the control connection is checked again',()=>{
  const stopped={...device,online:false,verified:false,control:{...device.control,phase:'completed',can_start:false,network_applied:true}};

apps/control-station/test/k1PreviewFrames.test.mjs

@@ -78,3 +78,16 @@ test('onboard camera admits immediate sourceopen and ignores callbacks after clo
   assert.equal(ready,1);assert.equal(failed,0);
  }finally{globalThis.MediaSource=saved.media;URL.createObjectURL=saved.create;URL.revokeObjectURL=saved.revoke;}
 });
+
+test('a recovered media peer resumes a recording without reinserting old RRD batches',async()=>{
+ const {previewRecording}=await server.ssrLoadModule('@xgrids-k1/frontend/sensors/previewFrames.ts');
+ const sent=[];const cursor=previewRecording(value=>sent.push(value));
+ const payload=new Uint8Array(12);payload.set([82,82,70,50]);
+ assert.equal(cursor.accept(1,payload),true);
+ // The ACK was lost, so the new peer resends the exact complete batch.
+ assert.equal(cursor.accept(1,payload),false);
+ assert.equal(cursor.after,1);
+ assert.throws(()=>cursor.accept(3,payload),/cursor gap/);
+ assert.equal(cursor.accept(2,payload),true);
+ assert.equal(sent.length,2);
+});

apps/node-agent/packaging/build_deb.py

@@ -11,7 +11,7 @@ import sys
 
 
 ROOT = Path(__file__).resolve().parents[1]
-VERSION = "0.8.9"
+VERSION = "0.8.10"
 sys.path.insert(0, str(ROOT.parents[1] / "scripts/packaging"))
 from debian import package