feat(observatory): share native result replay and expose saved TGS layers
This commit is contained in:
DCCONSTRUCTIONS
@@ -166,6 +166,12 @@ interface RecordedRerunIdentity {
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const RECORDED_RRD_PATH = /^\/api\/v1\/observation-sessions\/[A-Za-z0-9][A-Za-z0-9._:-]{0,127}\/recording\.rrd$/;
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const LAB_RECORDED_REPLAY_PATH = /^\/api\/v1\/laboratory\/vegetation-shadow\/lab-v1-vegetation-shadow-[a-f0-9]{64}\/canonical-replay\.rrd$/;
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const PORTABLE_RECORDED_REPLAY_PATH = /^\/api\/v1\/observatory\/portable-results\/m49-tgs-portable-review-[a-f0-9]{64}\/replays\/[a-f0-9]{64}\/recording\.rrd$/;
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export function isRecordedRrdSource(path: string): boolean {
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return RECORDED_RRD_PATH.test(path) || LAB_RECORDED_REPLAY_PATH.test(path)
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|| PORTABLE_RECORDED_REPLAY_PATH.test(path);
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}
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const RECORDED_BLUEPRINT_PATH = /^\/api\/v1\/observation-sessions\/[A-Za-z0-9][A-Za-z0-9._:-]{0,127}\/blueprint\.rrd$/;
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const RECORDED_PERCEPTION_PATH = /^\/api\/v1\/observation-sessions\/[A-Za-z0-9][A-Za-z0-9._:-]{0,127}\/perception\.rrd$/;
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const LAB_RECORDED_PERCEPTION_PATH = /^\/api\/v1\/laboratory\/vegetation-shadow\/lab-v1-vegetation-shadow-[a-f0-9]{64}\/canonical-overlay\.rrd$/;
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@@ -230,8 +236,7 @@ export function resolveRecordedViewerSourceUrl(
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const expectedViewerSourceUrl = `${descriptor.sourceUrl}?generation=${descriptor.sha256}`;
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const endpoint = new URL(descriptor.viewerSourceUrl, `${base.origin}/`);
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if (
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!(RECORDED_RRD_PATH.test(descriptor.sourceUrl)
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|| LAB_RECORDED_REPLAY_PATH.test(descriptor.sourceUrl)) ||
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!isRecordedRrdSource(descriptor.sourceUrl) ||
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descriptor.viewerSourceUrl !== expectedViewerSourceUrl ||
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endpoint.origin !== base.origin ||
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endpoint.pathname !== descriptor.sourceUrl ||
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@@ -262,7 +267,7 @@ export function resolveRecordedBlueprintUrl(
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if (explicitSourceUrl !== undefined) {
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const explicit = explicitSourceUrl.trim();
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if (
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!LAB_RECORDED_REPLAY_PATH.test(normalized)
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!(LAB_RECORDED_REPLAY_PATH.test(normalized) || PORTABLE_RECORDED_REPLAY_PATH.test(normalized))
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|| !RECORDED_BLUEPRINT_PATH.test(explicit)
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) return null;
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const endpoint = new URL(explicit, `${base.origin}/`);
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@@ -438,6 +443,7 @@ export async function fetchRecordedBlueprintRrd(
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perceptionLayers.detections2d,
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perceptionLayers.segmentation,
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perceptionLayers.cuboids3d,
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perceptionLayers.costmap ?? false,
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].some((value) => typeof value !== "boolean") ||
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identity.applicationId !== "nodedc_mission_core_recorded" ||
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!/^[A-Za-z0-9][A-Za-z0-9._:-]{0,127}$/.test(identity.recordingId) ||
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@@ -473,6 +479,10 @@ export async function fetchRecordedBlueprintRrd(
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show_detections_2d: perceptionLayers.detections2d,
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show_segmentation: perceptionLayers.segmentation,
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show_cuboids_3d: perceptionLayers.cuboids3d,
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...(perceptionLayers.costmap === undefined ? {} : {
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show_costmap: perceptionLayers.costmap,
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reactivate_updates: true,
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}),
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}),
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signal,
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});
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@@ -791,8 +801,7 @@ export function RerunViewport({
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return;
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}
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const isRecordedSource = RECORDED_RRD_PATH.test(normalizedSource)
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|| LAB_RECORDED_REPLAY_PATH.test(normalizedSource);
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const isRecordedSource = isRecordedRrdSource(normalizedSource);
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let resolvedSource: string;
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try {
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if (isRecordedSource) {
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@@ -1938,6 +1947,9 @@ export function RerunViewport({
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useEffect(() => {
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if (!recordedBlueprintUrl || !sceneSettings) return;
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// Initialize the portable following-eye blueprint after native admission
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// and its initial seek, not while the base RRD is still arriving.
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if (recordedPerceptionLayers.costmap !== undefined && status !== "ready") return;
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const active = blueprintChannelRef.current;
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const identity = recordedIdentityRef.current;
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if (
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@@ -1986,6 +1998,8 @@ export function RerunViewport({
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recordedPerceptionLayers.detections2d,
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recordedPerceptionLayers.segmentation,
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recordedPerceptionLayers.cuboids3d,
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recordedPerceptionLayers.costmap,
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status,
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sceneSettings?.accumulationSeconds,
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sceneSettings?.customColor,
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sceneSettings?.colorMode,
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@@ -0,0 +1,397 @@
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import {
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useCallback,
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useEffect,
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useMemo,
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useRef,
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useState,
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type CSSProperties,
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type PointerEvent as ReactPointerEvent,
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} from "react";
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import {
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ActivityIndicator,
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Button,
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Icon,
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SegmentedControl,
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} from "@nodedc/ui-react";
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import { ObservationTimeline } from "../ObservationTimeline";
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import {
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RerunViewport,
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isRecordedPlaybackPresentationReady,
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type RerunPlaybackController,
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type RerunPlaybackState,
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type RerunViewportStatus,
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} from "../RerunViewport";
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import {
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CanonicalRecordedLabReplay,
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useCanonicalRecordedLabReplayState,
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} from "../laboratory/CanonicalRecordedLabReplay";
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import {
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type CanonicalLabReplayDescriptor,
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} from "../../core/laboratory/canonicalLabReplay";
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import type { ObservationSessionReplayLaunch } from "../../core/observation/sessionArchive";
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import { recordedSessionRerunProfile } from "../../core/observation/viewerProfile";
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import { resolveObservationSessionReplay } from "../../core/observation/useObservationSessions";
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import { defaultSceneSettings } from "../../sceneSettings";
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type MediaMode = "video" | "camera";
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type SpatialMode = "3d" | "plan";
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type SpatialLayer = "source" | "local" | "tgs" | "semantic";
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type SemanticLayer = "city" | "vegetation";
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interface CanonicalReplayLaunch {
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base: ObservationSessionReplayLaunch;
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replay: CanonicalLabReplayDescriptor;
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}
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const RERUN_UNIFIED_CAMERA_SHARE_PERCENT = 46;
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const RERUN_NATIVE_DIVIDER_HIT_SLOP_PX = 10;
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export function CanonicalResultRerunReplay({
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resultId,
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sessionId,
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initialPlaybackStartSeconds,
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resolveReplay,
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semantics = false,
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costmap = false,
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label = "Сохранённый результат · синхронизированный повтор",
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}: {
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resultId: string;
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sessionId: string;
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initialPlaybackStartSeconds?: number;
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resolveReplay: (resultId: string, launch: ObservationSessionReplayLaunch, options: { signal: AbortSignal }) => Promise<CanonicalLabReplayDescriptor>;
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semantics?: boolean;
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costmap?: boolean;
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label?: string;
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}) {
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const {
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mediaMode,
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spatialMode,
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splitPrimarySize,
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splitOrientation,
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expanded,
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onMediaModeChange,
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onSpatialModeChange,
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onSplitPrimarySizeChange,
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onExpandedChange,
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} = useCanonicalRecordedLabReplayState<MediaMode, SpatialMode>({
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initialMediaMode: "video",
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initialSpatialMode: "3d",
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});
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const splitView = mediaMode !== null && spatialMode !== null;
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const [semanticLayer, setSemanticLayer] = useState<SemanticLayer>("vegetation");
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const [showSemantics, setShowSemantics] = useState(true);
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const [spatialLayer, setSpatialLayer] = useState<SpatialLayer>(costmap ? "tgs" : "source");
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// Give the portable composition its own initial native view identity.
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const [viewResetGeneration, setViewResetGeneration] = useState<0 | 1>(costmap ? 1 : 0);
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const [playback, setPlayback] = useState<RerunPlaybackState | null>(null);
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const [playbackController, setPlaybackController] =
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useState<RerunPlaybackController | null>(null);
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const [viewerStatus, setViewerStatus] = useState<RerunViewportStatus>("idle");
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const [launch, setLaunch] = useState<CanonicalReplayLaunch | null>(null);
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const [launchError, setLaunchError] = useState<string | null>(null);
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const viewerFrameRef = useRef<HTMLDivElement>(null);
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const nativeSplitPercentRef = useRef(RERUN_UNIFIED_CAMERA_SHARE_PERCENT);
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const nativeSplitTrackingCleanupRef = useRef<(() => void) | null>(null);
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const previousSplitViewRef = useRef(splitView);
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const trackedLaunchSha256Ref = useRef<string | null>(null);
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const stopNativeSplitTracking = useCallback(() => {
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nativeSplitTrackingCleanupRef.current?.();
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nativeSplitTrackingCleanupRef.current = null;
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}, []);
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const trackNativeSplit = useCallback((event: ReactPointerEvent<HTMLDivElement>) => {
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if (
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!splitView
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|| event.button !== 0
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|| !(event.target instanceof HTMLCanvasElement)
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) return;
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const frame = viewerFrameRef.current;
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if (!frame) return;
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const bounds = frame.getBoundingClientRect();
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if (bounds.width <= 0) return;
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const dividerX = bounds.left
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+ bounds.width * nativeSplitPercentRef.current / 100;
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if (Math.abs(event.clientX - dividerX) > RERUN_NATIVE_DIVIDER_HIT_SLOP_PX) return;
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stopNativeSplitTracking();
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const pointerId = event.pointerId;
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const update = (pointerEvent: PointerEvent) => {
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if (pointerEvent.pointerId !== pointerId) return;
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const currentBounds = frame.getBoundingClientRect();
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if (currentBounds.width <= 0) return;
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const next = Math.min(90, Math.max(
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10,
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(pointerEvent.clientX - currentBounds.left) / currentBounds.width * 100,
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));
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nativeSplitPercentRef.current = next;
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frame.style.setProperty("--canonical-rerun-camera-pane", `${next}%`);
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};
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const stop = (pointerEvent: PointerEvent) => {
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if (pointerEvent.pointerId !== pointerId) return;
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stopNativeSplitTracking();
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};
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window.addEventListener("pointermove", update, true);
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window.addEventListener("pointerup", stop, true);
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window.addEventListener("pointercancel", stop, true);
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nativeSplitTrackingCleanupRef.current = () => {
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window.removeEventListener("pointermove", update, true);
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window.removeEventListener("pointerup", stop, true);
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window.removeEventListener("pointercancel", stop, true);
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};
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}, [splitView, stopNativeSplitTracking]);
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useEffect(() => stopNativeSplitTracking, [stopNativeSplitTracking]);
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useEffect(() => {
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if (!splitView) stopNativeSplitTracking();
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const launchSha256 = launch?.replay.sha256 ?? null;
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if (
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trackedLaunchSha256Ref.current !== launchSha256
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|| (splitView && !previousSplitViewRef.current)
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) {
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nativeSplitPercentRef.current = RERUN_UNIFIED_CAMERA_SHARE_PERCENT;
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}
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trackedLaunchSha256Ref.current = launchSha256;
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previousSplitViewRef.current = splitView;
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const cameraPanePercent = mediaMode === null
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? 0
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: splitView
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? nativeSplitPercentRef.current
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: 100;
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viewerFrameRef.current?.style.setProperty(
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"--canonical-rerun-camera-pane",
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`${cameraPanePercent}%`,
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);
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}, [launch?.replay.sha256, mediaMode, splitView, stopNativeSplitTracking]);
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useEffect(() => {
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const controller = new AbortController();
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setLaunch(null);
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setLaunchError(null);
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setPlayback(null);
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setPlaybackController(null);
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setViewerStatus("idle");
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void resolveObservationSessionReplay(sessionId, {
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signal: controller.signal,
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maximumWaitMs: 30 * 60 * 1000,
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onUpdate: () => undefined,
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}).then(async (value) => ({
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base: value,
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replay: await resolveReplay(resultId, value, {
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signal: controller.signal,
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}),
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})).then((value) => {
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if (!controller.signal.aborted) setLaunch(value);
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}).catch((caught: unknown) => {
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if (!controller.signal.aborted) {
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setLaunchError(
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caught instanceof Error ? caught.message : "Сохранённая запись недоступна.",
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);
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}
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});
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return () => controller.abort();
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}, [resultId, sessionId, resolveReplay]);
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const presentationReady = playbackController !== null
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&& isRecordedPlaybackPresentationReady(viewerStatus, playback);
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const presentationState = launchError || viewerStatus === "error"
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? "error"
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: presentationReady
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? "ready"
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: "loading";
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const sceneSettings = useMemo(() => ({
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...defaultSceneSettings,
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accumulationSeconds: spatialLayer === "local" ? 5 : 0,
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showPoints: spatialMode !== null,
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showTrajectory: spatialMode !== null,
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showGrid: spatialMode !== null,
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pointSize: 3.8,
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}), [spatialLayer, spatialMode]);
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const profile = launch ? recordedSessionRerunProfile({
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sourceUrl: launch.replay.sourceUrl,
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artifact: {
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sourceUrl: launch.replay.sourceUrl,
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viewerSourceUrl: launch.replay.viewerSourceUrl,
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byteLength: launch.replay.byteLength,
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sha256: launch.replay.sha256,
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},
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blueprintSourceUrl: launch.replay.blueprintSourceUrl,
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autoplayWhenReady: false,
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presentationGate: "ready",
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expectedTimelineStartSeconds: launch.base.timelineStartSeconds,
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expectedTimelineEndSeconds: launch.base.timelineEndSeconds,
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// Seek just inside the first portable sample, not onto the exact latest-at
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// boundary. This changes only the initial cursor, never source timestamps.
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initialPlaybackStartSeconds: initialPlaybackStartSeconds
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?? ((launch.base.mediaSources[0]?.timelineStartSeconds ?? launch.base.timelineStartSeconds)
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+ (costmap ? 0.000001 : 0)),
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view: mediaMode !== null ? "perception" : "spatial",
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viewResetGeneration,
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followTrajectory: true,
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semanticLayer,
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unifiedPerception: splitView,
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planView: spatialMode === "plan",
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perceptionLayers: {
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enabled: mediaMode !== null,
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detections2d: semantics && mediaMode === "video",
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segmentation: semantics && mediaMode === "video" && showSemantics,
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cuboids3d: false,
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...(costmap ? { costmap: spatialMode !== null && spatialLayer === "tgs" } : {}),
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},
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perceptionRetryGeneration: 0,
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lockPerceptionCameraInteraction: mediaMode !== null,
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}) : null;
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const mediaLayerControls = semantics ? (
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<div
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className="m4-replay-threat-visual__pane-layer-controls"
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role="group"
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aria-label="Слои камеры и видео"
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>
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<Button
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size="dense"
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shape="pill"
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variant={showSemantics ? "primary" : "secondary"}
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aria-pressed={showSemantics}
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onClick={() => setShowSemantics((visible) => !visible)}
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>
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СЕМАНТИКА
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</Button>
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<SegmentedControl
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value={semanticLayer}
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items={[
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{ value: "city", label: "ГОРОД · EoMT" },
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{ value: "vegetation", label: "ПРИРОДА · DDRNet" },
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]}
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label="Источник семантики"
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size="dense"
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onChange={(value) => {
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setSemanticLayer(value);
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setShowSemantics(true);
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}}
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/>
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</div>
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) : undefined;
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const spatialLayerControls = (
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<div
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className="m4-replay-threat-visual__pane-layer-controls"
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role="group"
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aria-label="Пространственные слои результата"
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>
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<SegmentedControl
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value={spatialLayer}
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items={[
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{ value: "source", label: "ИСХ. ТОЧКИ" },
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{ value: "local", label: "ЛОК. SLAM" },
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{ value: "tgs", label: "TGS", disabled: !costmap },
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{ value: "semantic", label: "СЕМАНТИКА", disabled: true },
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]}
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label="Пространственные слои"
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size="dense"
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onChange={setSpatialLayer}
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/>
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</div>
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);
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const resetSpatialView = (
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<Button
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size="dense"
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variant="ghost"
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icon={<Icon name="refresh" size={14} />}
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aria-label="Сбросить положение 3D камеры"
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title="Сбросить положение 3D камеры"
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onClick={() => setViewResetGeneration((value) => value === 0 ? 1 : 0)}
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>
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</Button>
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);
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const transport = presentationReady && playback && playbackController ? (
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<ObservationTimeline
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className="m4-replay-threat-visual__timeline canonical-vegetation-rerun-replay__timeline"
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active
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sourceCount={3}
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mode="recorded"
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seekable
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synchronization="shared-clock"
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rangeNs={playback.rangeNs}
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currentNs={playback.currentNs}
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playing={playback.playing}
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onSeek={playbackController.seek}
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onPlayingChange={playbackController.setPlaying}
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showJumpToEnd={false}
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/>
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) : undefined;
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return (
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<div
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className="canonical-vegetation-rerun-replay"
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data-presentation-state={presentationState}
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aria-busy={presentationState === "loading"}
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>
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<CanonicalRecordedLabReplay
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label={label}
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mediaMode={mediaMode ?? "none"}
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mediaModes={[
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{ value: "video", label: "ВИДЕО" },
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{ value: "camera", label: "КАМЕРА" },
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]}
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spatialMode={spatialMode ?? "none"}
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spatialModes={[
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{ value: "3d", label: "3D" },
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{ value: "plan", label: "ПЛАН" },
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]}
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expanded={expanded}
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splitPrimarySize={splitPrimarySize}
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splitOrientation={splitOrientation}
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||||
mediaAriaLabel={mediaMode === "camera" ? "Камера" : "Видео и семантика"}
|
||||
spatialAriaLabel={spatialMode === "plan" ? "Вид сверху" : "Трёхмерная сцена"}
|
||||
mediaLayerControls={mediaLayerControls}
|
||||
spatialLayerControls={spatialLayerControls}
|
||||
spatialLeadingControl={resetSpatialView}
|
||||
mediaMultiLayer
|
||||
unifiedContent={profile ? (
|
||||
<div
|
||||
ref={viewerFrameRef}
|
||||
className="canonical-vegetation-rerun-replay__viewport-lock"
|
||||
data-split-view={splitView ? "true" : undefined}
|
||||
style={{
|
||||
"--canonical-rerun-camera-pane": `${
|
||||
mediaMode === null
|
||||
? 0
|
||||
: splitView
|
||||
? nativeSplitPercentRef.current
|
||||
: 100
|
||||
}%`,
|
||||
} as CSSProperties}
|
||||
onPointerDownCapture={splitView ? trackNativeSplit : undefined}
|
||||
>
|
||||
<RerunViewport
|
||||
profile={profile}
|
||||
sceneSettings={sceneSettings}
|
||||
onStatusChange={setViewerStatus}
|
||||
onPlaybackChange={setPlayback}
|
||||
onPlaybackControllerChange={setPlaybackController}
|
||||
/>
|
||||
</div>
|
||||
) : launchError ? (
|
||||
<div className="l3-visual-audit__state" role="alert">
|
||||
{launchError}
|
||||
</div>
|
||||
) : (
|
||||
<div aria-hidden="true" />
|
||||
)}
|
||||
emptyMessage="Выберите ВИДЕО/КАМЕРА или 3D/ПЛАН. Общие часы Rerun останутся на месте."
|
||||
deckOverlays={presentationState === "loading" ? (
|
||||
<div className="canonical-vegetation-rerun-replay__loading">
|
||||
<ActivityIndicator label="Загружаем синхронизированную запись" />
|
||||
</div>
|
||||
) : undefined}
|
||||
transport={transport}
|
||||
onMediaModeChange={onMediaModeChange}
|
||||
onSpatialModeChange={onSpatialModeChange}
|
||||
onExpandedChange={onExpandedChange}
|
||||
onSplitPrimarySizeChange={onSplitPrimarySizeChange}
|
||||
/>
|
||||
</div>
|
||||
);
|
||||
}
|
||||
@@ -1,383 +1,12 @@
|
||||
import {
|
||||
useCallback,
|
||||
useEffect,
|
||||
useMemo,
|
||||
useRef,
|
||||
useState,
|
||||
type CSSProperties,
|
||||
type PointerEvent as ReactPointerEvent,
|
||||
} from "react";
|
||||
import {
|
||||
ActivityIndicator,
|
||||
Button,
|
||||
Icon,
|
||||
SegmentedControl,
|
||||
} from "@nodedc/ui-react";
|
||||
|
||||
import { ObservationTimeline } from "../ObservationTimeline";
|
||||
import {
|
||||
RerunViewport,
|
||||
isRecordedPlaybackPresentationReady,
|
||||
type RerunPlaybackController,
|
||||
type RerunPlaybackState,
|
||||
type RerunViewportStatus,
|
||||
} from "../RerunViewport";
|
||||
import {
|
||||
CanonicalRecordedLabReplay,
|
||||
useCanonicalRecordedLabReplayState,
|
||||
} from "../laboratory/CanonicalRecordedLabReplay";
|
||||
import {
|
||||
resolveCanonicalLabReplay,
|
||||
type CanonicalLabReplayDescriptor,
|
||||
} from "../../core/laboratory/canonicalLabReplay";
|
||||
import { CanonicalResultRerunReplay } from "./CanonicalResultRerunReplay";
|
||||
import { resolveCanonicalLabReplay } from "../../core/laboratory/canonicalLabReplay";
|
||||
import type { VegetationFullRouteReview } from "../../core/laboratory/vegetationShadow";
|
||||
import type { ObservationSessionReplayLaunch } from "../../core/observation/sessionArchive";
|
||||
import { recordedSessionRerunProfile } from "../../core/observation/viewerProfile";
|
||||
import { resolveObservationSessionReplay } from "../../core/observation/useObservationSessions";
|
||||
import { defaultSceneSettings } from "../../sceneSettings";
|
||||
|
||||
type MediaMode = "video" | "camera";
|
||||
type SpatialMode = "3d" | "plan";
|
||||
type SpatialLayer = "source" | "local" | "tgs" | "semantic";
|
||||
type SemanticLayer = "city" | "vegetation";
|
||||
|
||||
interface CanonicalReplayLaunch {
|
||||
base: ObservationSessionReplayLaunch;
|
||||
replay: CanonicalLabReplayDescriptor;
|
||||
}
|
||||
|
||||
const RERUN_UNIFIED_CAMERA_SHARE_PERCENT = 46;
|
||||
const RERUN_NATIVE_DIVIDER_HIT_SLOP_PX = 10;
|
||||
|
||||
export function CanonicalVegetationRerunReplay({
|
||||
resultId,
|
||||
review,
|
||||
}: {
|
||||
export function CanonicalVegetationRerunReplay({ resultId, review }: {
|
||||
resultId: string;
|
||||
review: VegetationFullRouteReview;
|
||||
}) {
|
||||
const {
|
||||
mediaMode,
|
||||
spatialMode,
|
||||
splitPrimarySize,
|
||||
splitOrientation,
|
||||
expanded,
|
||||
onMediaModeChange,
|
||||
onSpatialModeChange,
|
||||
onSplitPrimarySizeChange,
|
||||
onExpandedChange,
|
||||
} = useCanonicalRecordedLabReplayState<MediaMode, SpatialMode>({
|
||||
initialMediaMode: "video",
|
||||
initialSpatialMode: "3d",
|
||||
});
|
||||
const splitView = mediaMode !== null && spatialMode !== null;
|
||||
const [semanticLayer, setSemanticLayer] = useState<SemanticLayer>("vegetation");
|
||||
const [showSemantics, setShowSemantics] = useState(true);
|
||||
const [spatialLayer, setSpatialLayer] = useState<SpatialLayer>("source");
|
||||
const [viewResetGeneration, setViewResetGeneration] = useState<0 | 1>(0);
|
||||
const [playback, setPlayback] = useState<RerunPlaybackState | null>(null);
|
||||
const [playbackController, setPlaybackController] =
|
||||
useState<RerunPlaybackController | null>(null);
|
||||
const [viewerStatus, setViewerStatus] = useState<RerunViewportStatus>("idle");
|
||||
const [launch, setLaunch] = useState<CanonicalReplayLaunch | null>(null);
|
||||
const [launchError, setLaunchError] = useState<string | null>(null);
|
||||
const viewerFrameRef = useRef<HTMLDivElement>(null);
|
||||
const nativeSplitPercentRef = useRef(RERUN_UNIFIED_CAMERA_SHARE_PERCENT);
|
||||
const nativeSplitTrackingCleanupRef = useRef<(() => void) | null>(null);
|
||||
const previousSplitViewRef = useRef(splitView);
|
||||
const trackedLaunchSha256Ref = useRef<string | null>(null);
|
||||
|
||||
const stopNativeSplitTracking = useCallback(() => {
|
||||
nativeSplitTrackingCleanupRef.current?.();
|
||||
nativeSplitTrackingCleanupRef.current = null;
|
||||
}, []);
|
||||
|
||||
const trackNativeSplit = useCallback((event: ReactPointerEvent<HTMLDivElement>) => {
|
||||
if (
|
||||
!splitView
|
||||
|| event.button !== 0
|
||||
|| !(event.target instanceof HTMLCanvasElement)
|
||||
) return;
|
||||
const frame = viewerFrameRef.current;
|
||||
if (!frame) return;
|
||||
const bounds = frame.getBoundingClientRect();
|
||||
if (bounds.width <= 0) return;
|
||||
const dividerX = bounds.left
|
||||
+ bounds.width * nativeSplitPercentRef.current / 100;
|
||||
if (Math.abs(event.clientX - dividerX) > RERUN_NATIVE_DIVIDER_HIT_SLOP_PX) return;
|
||||
|
||||
stopNativeSplitTracking();
|
||||
const pointerId = event.pointerId;
|
||||
const update = (pointerEvent: PointerEvent) => {
|
||||
if (pointerEvent.pointerId !== pointerId) return;
|
||||
const currentBounds = frame.getBoundingClientRect();
|
||||
if (currentBounds.width <= 0) return;
|
||||
const next = Math.min(90, Math.max(
|
||||
10,
|
||||
(pointerEvent.clientX - currentBounds.left) / currentBounds.width * 100,
|
||||
));
|
||||
nativeSplitPercentRef.current = next;
|
||||
frame.style.setProperty("--canonical-rerun-camera-pane", `${next}%`);
|
||||
};
|
||||
const stop = (pointerEvent: PointerEvent) => {
|
||||
if (pointerEvent.pointerId !== pointerId) return;
|
||||
stopNativeSplitTracking();
|
||||
};
|
||||
window.addEventListener("pointermove", update, true);
|
||||
window.addEventListener("pointerup", stop, true);
|
||||
window.addEventListener("pointercancel", stop, true);
|
||||
nativeSplitTrackingCleanupRef.current = () => {
|
||||
window.removeEventListener("pointermove", update, true);
|
||||
window.removeEventListener("pointerup", stop, true);
|
||||
window.removeEventListener("pointercancel", stop, true);
|
||||
};
|
||||
}, [splitView, stopNativeSplitTracking]);
|
||||
|
||||
useEffect(() => stopNativeSplitTracking, [stopNativeSplitTracking]);
|
||||
|
||||
useEffect(() => {
|
||||
if (!splitView) stopNativeSplitTracking();
|
||||
const launchSha256 = launch?.replay.sha256 ?? null;
|
||||
if (
|
||||
trackedLaunchSha256Ref.current !== launchSha256
|
||||
|| (splitView && !previousSplitViewRef.current)
|
||||
) {
|
||||
nativeSplitPercentRef.current = RERUN_UNIFIED_CAMERA_SHARE_PERCENT;
|
||||
}
|
||||
trackedLaunchSha256Ref.current = launchSha256;
|
||||
previousSplitViewRef.current = splitView;
|
||||
const cameraPanePercent = mediaMode === null
|
||||
? 0
|
||||
: splitView
|
||||
? nativeSplitPercentRef.current
|
||||
: 100;
|
||||
viewerFrameRef.current?.style.setProperty(
|
||||
"--canonical-rerun-camera-pane",
|
||||
`${cameraPanePercent}%`,
|
||||
);
|
||||
}, [launch?.replay.sha256, mediaMode, splitView, stopNativeSplitTracking]);
|
||||
|
||||
useEffect(() => {
|
||||
const controller = new AbortController();
|
||||
setLaunch(null);
|
||||
setLaunchError(null);
|
||||
setPlayback(null);
|
||||
setPlaybackController(null);
|
||||
setViewerStatus("idle");
|
||||
void resolveObservationSessionReplay(review.sessionId, {
|
||||
signal: controller.signal,
|
||||
maximumWaitMs: 30 * 60 * 1000,
|
||||
onUpdate: () => undefined,
|
||||
}).then(async (value) => ({
|
||||
base: value,
|
||||
replay: await resolveCanonicalLabReplay(resultId, value, {
|
||||
signal: controller.signal,
|
||||
}),
|
||||
})).then((value) => {
|
||||
if (!controller.signal.aborted) setLaunch(value);
|
||||
}).catch((caught: unknown) => {
|
||||
if (!controller.signal.aborted) {
|
||||
setLaunchError(
|
||||
caught instanceof Error ? caught.message : "Каноническая запись RAV004 недоступна.",
|
||||
);
|
||||
}
|
||||
});
|
||||
return () => controller.abort();
|
||||
}, [resultId, review.sessionId]);
|
||||
|
||||
const presentationReady = playbackController !== null
|
||||
&& isRecordedPlaybackPresentationReady(viewerStatus, playback);
|
||||
const presentationState = launchError || viewerStatus === "error"
|
||||
? "error"
|
||||
: presentationReady
|
||||
? "ready"
|
||||
: "loading";
|
||||
const sceneSettings = useMemo(() => ({
|
||||
...defaultSceneSettings,
|
||||
accumulationSeconds: spatialLayer === "local" ? 5 : 0,
|
||||
showPoints: spatialMode !== null,
|
||||
showTrajectory: spatialMode !== null,
|
||||
showGrid: spatialMode !== null,
|
||||
pointSize: 3.8,
|
||||
}), [spatialLayer, spatialMode]);
|
||||
const profile = launch ? recordedSessionRerunProfile({
|
||||
sourceUrl: launch.replay.sourceUrl,
|
||||
artifact: {
|
||||
sourceUrl: launch.replay.sourceUrl,
|
||||
viewerSourceUrl: launch.replay.viewerSourceUrl,
|
||||
byteLength: launch.replay.byteLength,
|
||||
sha256: launch.replay.sha256,
|
||||
},
|
||||
blueprintSourceUrl: launch.replay.blueprintSourceUrl,
|
||||
autoplayWhenReady: false,
|
||||
presentationGate: "ready",
|
||||
expectedTimelineStartSeconds: launch.base.timelineStartSeconds,
|
||||
expectedTimelineEndSeconds: launch.base.timelineEndSeconds,
|
||||
initialPlaybackStartSeconds: review.timelineStartSeconds,
|
||||
view: mediaMode !== null ? "perception" : "spatial",
|
||||
viewResetGeneration,
|
||||
followTrajectory: true,
|
||||
semanticLayer,
|
||||
unifiedPerception: splitView,
|
||||
planView: spatialMode === "plan",
|
||||
perceptionLayers: {
|
||||
enabled: mediaMode !== null,
|
||||
detections2d: mediaMode === "video",
|
||||
segmentation: mediaMode === "video" && showSemantics,
|
||||
cuboids3d: false,
|
||||
},
|
||||
perceptionRetryGeneration: 0,
|
||||
lockPerceptionCameraInteraction: mediaMode !== null,
|
||||
}) : null;
|
||||
|
||||
const mediaLayerControls = (
|
||||
<div
|
||||
className="m4-replay-threat-visual__pane-layer-controls"
|
||||
role="group"
|
||||
aria-label="Слои камеры и видео"
|
||||
>
|
||||
<Button
|
||||
size="dense"
|
||||
shape="pill"
|
||||
variant={showSemantics ? "primary" : "secondary"}
|
||||
aria-pressed={showSemantics}
|
||||
onClick={() => setShowSemantics((visible) => !visible)}
|
||||
>
|
||||
СЕМАНТИКА
|
||||
</Button>
|
||||
<SegmentedControl
|
||||
value={semanticLayer}
|
||||
items={[
|
||||
{ value: "city", label: "ГОРОД · EoMT" },
|
||||
{ value: "vegetation", label: "ПРИРОДА · DDRNet" },
|
||||
]}
|
||||
label="Источник семантики"
|
||||
size="dense"
|
||||
onChange={(value) => {
|
||||
setSemanticLayer(value);
|
||||
setShowSemantics(true);
|
||||
}}
|
||||
/>
|
||||
</div>
|
||||
);
|
||||
const spatialLayerControls = (
|
||||
<div
|
||||
className="m4-replay-threat-visual__pane-layer-controls"
|
||||
role="group"
|
||||
aria-label="Пространственные слои RAV004"
|
||||
>
|
||||
<SegmentedControl
|
||||
value={spatialLayer}
|
||||
items={[
|
||||
{ value: "source", label: "ИСХ. ТОЧКИ" },
|
||||
{ value: "local", label: "ЛОК. SLAM" },
|
||||
{ value: "tgs", label: "TGS", disabled: true },
|
||||
{ value: "semantic", label: "СЕМАНТИКА", disabled: true },
|
||||
]}
|
||||
label="Пространственные слои"
|
||||
size="dense"
|
||||
onChange={setSpatialLayer}
|
||||
/>
|
||||
</div>
|
||||
);
|
||||
const resetSpatialView = (
|
||||
<Button
|
||||
size="dense"
|
||||
variant="ghost"
|
||||
icon={<Icon name="refresh" size={14} />}
|
||||
aria-label="Сбросить положение 3D камеры"
|
||||
title="Сбросить положение 3D камеры"
|
||||
onClick={() => setViewResetGeneration((value) => value === 0 ? 1 : 0)}
|
||||
>
|
||||
</Button>
|
||||
);
|
||||
|
||||
const transport = presentationReady && playback && playbackController ? (
|
||||
<ObservationTimeline
|
||||
className="m4-replay-threat-visual__timeline canonical-vegetation-rerun-replay__timeline"
|
||||
active
|
||||
sourceCount={3}
|
||||
mode="recorded"
|
||||
seekable
|
||||
synchronization="shared-clock"
|
||||
rangeNs={playback.rangeNs}
|
||||
currentNs={playback.currentNs}
|
||||
playing={playback.playing}
|
||||
onSeek={playbackController.seek}
|
||||
onPlayingChange={playbackController.setPlaying}
|
||||
showJumpToEnd={false}
|
||||
/>
|
||||
) : undefined;
|
||||
return (
|
||||
<div
|
||||
className="canonical-vegetation-rerun-replay"
|
||||
data-presentation-state={presentationState}
|
||||
aria-busy={presentationState === "loading"}
|
||||
>
|
||||
<CanonicalRecordedLabReplay
|
||||
label="RAVNOVES004TREE · канонический повтор Rerun"
|
||||
mediaMode={mediaMode ?? "none"}
|
||||
mediaModes={[
|
||||
{ value: "video", label: "ВИДЕО" },
|
||||
{ value: "camera", label: "КАМЕРА" },
|
||||
]}
|
||||
spatialMode={spatialMode ?? "none"}
|
||||
spatialModes={[
|
||||
{ value: "3d", label: "3D" },
|
||||
{ value: "plan", label: "ПЛАН" },
|
||||
]}
|
||||
expanded={expanded}
|
||||
splitPrimarySize={splitPrimarySize}
|
||||
splitOrientation={splitOrientation}
|
||||
mediaAriaLabel={mediaMode === "camera" ? "Камера" : "Видео и семантика"}
|
||||
spatialAriaLabel={spatialMode === "plan" ? "Вид сверху" : "Трёхмерная сцена"}
|
||||
mediaLayerControls={mediaLayerControls}
|
||||
spatialLayerControls={spatialLayerControls}
|
||||
spatialLeadingControl={resetSpatialView}
|
||||
mediaMultiLayer
|
||||
unifiedContent={profile ? (
|
||||
<div
|
||||
ref={viewerFrameRef}
|
||||
className="canonical-vegetation-rerun-replay__viewport-lock"
|
||||
data-split-view={splitView ? "true" : undefined}
|
||||
style={{
|
||||
"--canonical-rerun-camera-pane": `${
|
||||
mediaMode === null
|
||||
? 0
|
||||
: splitView
|
||||
? nativeSplitPercentRef.current
|
||||
: 100
|
||||
}%`,
|
||||
} as CSSProperties}
|
||||
onPointerDownCapture={splitView ? trackNativeSplit : undefined}
|
||||
>
|
||||
<RerunViewport
|
||||
profile={profile}
|
||||
sceneSettings={sceneSettings}
|
||||
onStatusChange={setViewerStatus}
|
||||
onPlaybackChange={setPlayback}
|
||||
onPlaybackControllerChange={setPlaybackController}
|
||||
/>
|
||||
</div>
|
||||
) : launchError ? (
|
||||
<div className="l3-visual-audit__state" role="alert">
|
||||
{launchError}
|
||||
</div>
|
||||
) : (
|
||||
<div aria-hidden="true" />
|
||||
)}
|
||||
emptyMessage="Выберите ВИДЕО/КАМЕРА или 3D/ПЛАН. Общие часы Rerun останутся на месте."
|
||||
deckOverlays={presentationState === "loading" ? (
|
||||
<div className="canonical-vegetation-rerun-replay__loading">
|
||||
<ActivityIndicator label="Загружаем синхронизированную запись" />
|
||||
</div>
|
||||
) : undefined}
|
||||
transport={transport}
|
||||
onMediaModeChange={onMediaModeChange}
|
||||
onSpatialModeChange={onSpatialModeChange}
|
||||
onExpandedChange={onExpandedChange}
|
||||
onSplitPrimarySizeChange={onSplitPrimarySizeChange}
|
||||
/>
|
||||
</div>
|
||||
);
|
||||
return <CanonicalResultRerunReplay resultId={resultId} sessionId={review.sessionId}
|
||||
initialPlaybackStartSeconds={review.timelineStartSeconds} semantics
|
||||
resolveReplay={resolveCanonicalLabReplay} label="RAVNOVES004TREE · канонический повтор Rerun" />;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,30 @@
|
||||
import { GlassSurface, StatusBadge } from "@nodedc/ui-react";
|
||||
import { CanonicalResultRerunReplay } from "./CanonicalResultRerunReplay";
|
||||
import { resolveCanonicalLabReplay } from "../../core/laboratory/canonicalLabReplay";
|
||||
import type { ObservatoryPortableResultReview } from "../../core/observatory/recordedRun";
|
||||
import type { ObservationSessionReplayLaunch } from "../../core/observation/sessionArchive";
|
||||
|
||||
function resolvePortableReplay(resultId: string, launch: ObservationSessionReplayLaunch,
|
||||
options: { signal: AbortSignal }) {
|
||||
return resolveCanonicalLabReplay(resultId, launch, { ...options, sourceKind: "portable-tgs" });
|
||||
}
|
||||
|
||||
export function PortableResultReplay({ review }: { review: ObservatoryPortableResultReview }) {
|
||||
const tgs = review.resultDocument.schema_version === "missioncore.recorded-tgs-costmap-review/v2";
|
||||
if (!tgs) return (
|
||||
<GlassSurface className="observatory-replay-state" padding="lg">
|
||||
<div><StatusBadge tone="success">Проверено</StatusBadge>
|
||||
<h3>{review.resultKind}</h3><p>Связанных артефактов: {review.artifacts.length}</p>
|
||||
<details><summary>Документ результата</summary>
|
||||
<pre>{JSON.stringify(review.resultDocument, null, 2)}</pre></details>
|
||||
</div>
|
||||
</GlassSurface>
|
||||
);
|
||||
return <>
|
||||
<p>Камера, исходное облако и TGS · общая шкала времени. Зелёный — опора,
|
||||
красный — занятое пространство, жёлтый — отклонённые точки.
|
||||
Отсутствие ячеек не означает свободный путь. Сегментация и детекция в этот профиль не входят.</p>
|
||||
<CanonicalResultRerunReplay key={review.resultId} resultId={review.resultId}
|
||||
sessionId={review.sourceSessionId} costmap resolveReplay={resolvePortableReplay} />
|
||||
</>;
|
||||
}
|
||||
@@ -23,26 +23,28 @@ export async function resolveCanonicalLabReplay(
|
||||
origin = window.location.origin,
|
||||
signal,
|
||||
fetcher = globalThis.fetch,
|
||||
sourceKind = "legacy-vegetation",
|
||||
}: {
|
||||
origin?: string;
|
||||
signal?: AbortSignal;
|
||||
fetcher?: typeof globalThis.fetch;
|
||||
sourceKind?: "legacy-vegetation" | "portable-tgs";
|
||||
} = {},
|
||||
): Promise<CanonicalLabReplayDescriptor> {
|
||||
const base = new URL(origin);
|
||||
if (
|
||||
!SAFE_RESULT_ID.test(resultId)
|
||||
!(sourceKind === "portable-tgs" ? /^m49-tgs-portable-review-[a-f0-9]{64}$/.test(resultId) : SAFE_RESULT_ID.test(resultId))
|
||||
|| !SAFE_SESSION_SOURCE.test(launch.sourceUrl)
|
||||
|| launch.viewerSourceUrl !== `${launch.sourceUrl}?generation=${launch.sha256}`
|
||||
|| !/^[a-f0-9]{64}$/.test(launch.sha256)
|
||||
) {
|
||||
throw new Error("Канонический replay LAB имеет небезопасный descriptor.");
|
||||
}
|
||||
const sourceUrl =
|
||||
`/api/v1/laboratory/vegetation-shadow/${encodeURIComponent(resultId)}`
|
||||
+ "/canonical-replay.rrd";
|
||||
const sourceUrl = sourceKind === "portable-tgs"
|
||||
? `/api/v1/observatory/portable-results/${resultId}/replays/${launch.sha256}/recording.rrd`
|
||||
: `/api/v1/laboratory/vegetation-shadow/${encodeURIComponent(resultId)}/canonical-replay.rrd`;
|
||||
const descriptorUrl = new URL(sourceUrl, `${base.origin}/`);
|
||||
descriptorUrl.searchParams.set("base_generation", launch.sha256);
|
||||
if (sourceKind === "legacy-vegetation") descriptorUrl.searchParams.set("base_generation", launch.sha256);
|
||||
if (descriptorUrl.origin !== base.origin) {
|
||||
throw new Error("Канонический replay LAB должен быть same-origin.");
|
||||
}
|
||||
|
||||
@@ -27,6 +27,7 @@ export interface RecordedPerceptionLayers {
|
||||
detections2d: boolean;
|
||||
segmentation: boolean;
|
||||
cuboids3d: boolean;
|
||||
costmap?: boolean;
|
||||
}
|
||||
|
||||
export interface RecordedRrdArtifactDescriptor {
|
||||
|
||||
@@ -15,6 +15,7 @@ import {
|
||||
} from "@nodedc/ui-react";
|
||||
|
||||
import { CanonicalVegetationRerunReplay } from "../../components/laboratory/CanonicalVegetationRerunReplay";
|
||||
import { PortableResultReplay } from "../../components/laboratory/PortableResultReplay";
|
||||
import type { ObservationSessionStatus } from "../../core/observation/sessionArchive";
|
||||
import { createObservationReplayCoordinator } from "../../core/observation/replayCoordinator";
|
||||
import {
|
||||
@@ -715,15 +716,13 @@ export function ObservatoryWorkspace({
|
||||
<header className="observatory-replay__header">
|
||||
<div>
|
||||
<span className="section-eyebrow">
|
||||
{replay.review.kind === "canonical-recorded-rerun"
|
||||
? "ВИЗУАЛЬНЫЙ РАЗБОР / ЗАПИСАННАЯ СЕССИЯ"
|
||||
: "РЕЗУЛЬТАТ / ПРОВЕРЕННЫЙ ДОКУМЕНТ"}
|
||||
СОХРАНЁННЫЙ РЕЗУЛЬТАТ / ЗАПИСАННАЯ СЕССИЯ
|
||||
</span>
|
||||
<h3>{replayEvidence?.label ?? replay.binding.resultId}</h3>
|
||||
<p>
|
||||
{replay.review.kind === "canonical-recorded-rerun"
|
||||
? "Записанный маршрут синхронизирован по общей временной шкале."
|
||||
: "Показан проверенный документ результата и связанные с ним артефакты."}
|
||||
: "Просмотр сохранённых данных результата без повторного расчёта."}
|
||||
</p>
|
||||
</div>
|
||||
<Button
|
||||
@@ -741,17 +740,7 @@ export function ObservatoryWorkspace({
|
||||
review={replay.review.review}
|
||||
/>
|
||||
) : (
|
||||
<GlassSurface className="observatory-replay-state" padding="lg">
|
||||
<div>
|
||||
<StatusBadge tone="success">Проверено</StatusBadge>
|
||||
<h3>{replay.review.resultKind}</h3>
|
||||
<p>Связанных артефактов: {replay.review.artifacts.length}</p>
|
||||
<details>
|
||||
<summary>Документ результата</summary>
|
||||
<pre>{JSON.stringify(replay.review.resultDocument, null, 2)}</pre>
|
||||
</details>
|
||||
</div>
|
||||
</GlassSurface>
|
||||
<PortableResultReplay review={replay.review} />
|
||||
)}
|
||||
</section>
|
||||
) : null}
|
||||
|
||||
Reference in New Issue
Block a user