feat(lab): seal full RAVNOVES004TREE semantic review

2026-08-29 13:37:57 +03:00
parent 24b65926fe
commit 9dec37a8a9
12 changed files with 1494 additions and 30 deletions
@@ -106,6 +106,39 @@ export interface VegetationMixedRouteReview {
  cases: readonly VegetationMixedRouteCase[];
 }

+export interface VegetationFullRouteLayer {
+  name: string;
+  resultId: string;
+  frameCount: 6830;
+  taxonomy: readonly VegetationVideoSemanticClass[];
+  inferenceFps: number;
+  latencyP95Ms: number;
+  peakReservedVramBytes: number;
+}
+
+export interface VegetationFullRouteReview {
+  sourceId: "RAVNOVES004TREE";
+  sessionId: "20260828T130511Z_viewer_live";
+  sourceJobId: "recorded-camera-eb2783c5480d56bda07c8af0";
+  sourceJobInputSha256: string;
+  sourceStreamSha256: string;
+  recordedMediaSourceId: "recorded.camera.6a3945242828a038";
+  recordedMediaGenerationSha256: string;
+  frameCount: 6830;
+  width: 800;
+  height: 600;
+  timelineStartSeconds: number;
+  timelineEndSeconds: number;
+  frameSourceTimesNs: readonly number[];
+  decodeRepair: {
+    repairedFrameCount: 1;
+    sequence: 6092;
+    method: "duplicate-previous-decoded-frame";
+  };
+  city: VegetationFullRouteLayer;
+  vegetation: VegetationFullRouteLayer;
+}
+
 export interface VegetationShadowResult {
  resultId: string;
  createdAtUtc: string;
@@ -116,6 +149,7 @@ export interface VegetationShadowResult {
  validationCases: readonly VegetationVisualCase[];
  routeVideo: VegetationRouteVideo | null;
  routeReview: VegetationMixedRouteReview | null;
+  routeFullReview: VegetationFullRouteReview | null;
  limitations: readonly string[];
  visualShadowReady: true;
  missionPolicyReadyForConfiguration: true;
@@ -545,6 +579,246 @@ function mixedRouteReviewValue(
  };
 }

+function fullRouteTaxonomyValue(
+  value: unknown,
+  label: string,
+  schema: string,
+  classCount: number,
+): readonly VegetationVideoSemanticClass[] {
+  const taxonomy = objectValue(value, `${label}.taxonomy`);
+  exact(taxonomy.schema_version, schema, `${label}.taxonomy.schema`);
+  const classes = arrayValue(taxonomy.classes, `${label}.taxonomy.classes`).map(
+    (raw, expectedId): VegetationVideoSemanticClass => {
+      const item = objectValue(raw, `${label}.taxonomy[${expectedId}]`);
+      const classId = integerValue(item.class_id, `${label}.class_id[${expectedId}]`);
+      if (classId !== expectedId) {
+        throw new VegetationShadowContractError(`${label}: taxonomy order changed.`);
+      }
+      const color = arrayValue(item.color_rgb, `${label}.color[${expectedId}]`)
+        .map((channel, index) => integerValue(channel, `${label}.color[${expectedId}][${index}]`));
+      if (color.length !== 3 || color.some((channel) => channel > 255)) {
+        throw new VegetationShadowContractError(`${label}: taxonomy color invalid.`);
+      }
+      const disposition = item.disposition;
+      if (
+        disposition !== "labeled"
+        && disposition !== "ambiguous"
+        && disposition !== "prediction"
+        && disposition !== "undefined"
+      ) {
+        throw new VegetationShadowContractError(`${label}: taxonomy disposition changed.`);
+      }
+      return {
+        classId,
+        label: textValue(item.label, `${label}.label[${expectedId}]`),
+        colorRgb: color as unknown as readonly [number, number, number],
+        disposition,
+        materialClass: item.material_class === null || item.material_class === undefined
+          ? null
+          : textValue(item.material_class, `${label}.material[${expectedId}]`),
+        evidenceState: item.evidence_state === null || item.evidence_state === undefined
+          ? null
+          : textValue(item.evidence_state, `${label}.evidence[${expectedId}]`),
+      };
+    },
+  );
+  if (classes.length !== classCount) {
+    throw new VegetationShadowContractError(`${label}: taxonomy size changed.`);
+  }
+  return classes;
+}
+
+function fullRouteLayerValue(
+  value: unknown,
+  layer: "city" | "vegetation",
+): VegetationFullRouteLayer {
+  const label = `vegetation.route_full_review.layers.${layer}`;
+  const row = objectValue(value, label);
+  const resultId = textValue(row.result_id, `${label}.result_id`);
+  const identity = layer === "city"
+    ? /^result-[a-f0-9]{64}$/
+    : /^lab-v1-ravnoves-video-ddrnet-[a-f0-9]{64}$/;
+  if (!identity.test(resultId)) {
+    throw new VegetationShadowContractError(`${label}: identity invalid.`);
+  }
+  exact(row.frame_count, 6830, `${label}.frame_count`);
+  const archive = objectValue(row.mask_archive, `${label}.mask_archive`);
+  exact(
+    archive.path,
+    layer === "city" ? "video/eomt-semantic-masks.zip" : "video/ddrnet-semantic-masks.zip",
+    `${label}.mask_archive.path`,
+  );
+  const digest = textValue(archive.sha256, `${label}.mask_archive.sha256`);
+  if (!SHA256.test(digest)) {
+    throw new VegetationShadowContractError(`${label}: archive digest invalid.`);
+  }
+  integerValue(archive.byte_length, `${label}.mask_archive.byte_length`);
+  return {
+    name: textValue(row.name, `${label}.name`),
+    resultId,
+    frameCount: 6830,
+    taxonomy: fullRouteTaxonomyValue(
+      row.taxonomy,
+      label,
+      layer === "city"
+        ? "missioncore.recorded-eomt-taxonomy/v1"
+        : "missioncore.lab-v1-vegetation-taxonomy/v1",
+      layer === "city" ? 16 : 64,
+    ),
+    inferenceFps: numberValue(row.inference_fps, `${label}.inference_fps`),
+    latencyP95Ms: numberValue(row.latency_p95_ms, `${label}.latency_p95_ms`),
+    peakReservedVramBytes: integerValue(
+      row.peak_reserved_vram_bytes,
+      `${label}.peak_reserved_vram_bytes`,
+    ),
+  };
+}
+
+function fullRouteReviewValue(value: unknown): VegetationFullRouteReview | null {
+  if (value === null || value === undefined) return null;
+  const row = objectValue(value, "vegetation.route_full_review");
+  exact(row.source_id, "RAVNOVES004TREE", "vegetation.route_full_review.source_id");
+  exact(
+    row.session_id,
+    "20260828T130511Z_viewer_live",
+    "vegetation.route_full_review.session_id",
+  );
+  exact(
+    row.source_job_id,
+    "recorded-camera-eb2783c5480d56bda07c8af0",
+    "vegetation.route_full_review.source_job_id",
+  );
+  exact(row.frame_count, 6830, "vegetation.route_full_review.frame_count");
+  exact(row.width, 800, "vegetation.route_full_review.width");
+  exact(row.height, 600, "vegetation.route_full_review.height");
+  exact(row.ground_truth, false, "vegetation.route_full_review.ground_truth");
+  const sourceJobInputSha256 = textValue(
+    row.source_job_input_sha256,
+    "vegetation.route_full_review.source_job_input_sha256",
+  );
+  const sourceStreamSha256 = textValue(
+    row.source_stream_sha256,
+    "vegetation.route_full_review.source_stream_sha256",
+  );
+  exact(
+    sourceJobInputSha256,
+    "eb2783c5480d56bda07c8af008dff5344d19dc550ef70fe2075d6f098f7cc715",
+    "vegetation.route_full_review.source_job_input_sha256",
+  );
+  exact(
+    sourceStreamSha256,
+    "e5eb017e2cc0f546736eda5235ca157b501913093cb64af5e548e335417e1bac",
+    "vegetation.route_full_review.source_stream_sha256",
+  );
+  exact(
+    row.recorded_media_source_id,
+    "recorded.camera.6a3945242828a038",
+    "vegetation.route_full_review.recorded_media_source_id",
+  );
+  const recordedMediaGenerationSha256 = textValue(
+    row.recorded_media_generation_sha256,
+    "vegetation.route_full_review.recorded_media_generation_sha256",
+  );
+  exact(
+    recordedMediaGenerationSha256,
+    "b073ea1e7babf1c77a664e1a5b95e3702d0e05b0e34c1e85a7c67a6f8b392ded",
+    "vegetation.route_full_review.recorded_media_generation_sha256",
+  );
+  if (
+    !SHA256.test(sourceJobInputSha256)
+    || !SHA256.test(sourceStreamSha256)
+    || !SHA256.test(recordedMediaGenerationSha256)
+  ) {
+    throw new VegetationShadowContractError("vegetation.route_full_review: source digest invalid.");
+  }
+  const timelineStartSeconds = numberValue(
+    row.timeline_start_seconds,
+    "vegetation.route_full_review.timeline_start_seconds",
+  );
+  const timelineEndSeconds = numberValue(
+    row.timeline_end_seconds,
+    "vegetation.route_full_review.timeline_end_seconds",
+  );
+  if (timelineEndSeconds <= timelineStartSeconds) {
+    throw new VegetationShadowContractError("vegetation.route_full_review: timeline invalid.");
+  }
+  const frameSourceTimesNs = arrayValue(
+    row.frame_source_times_ns,
+    "vegetation.route_full_review.frame_source_times_ns",
+  ).map((raw, index) => {
+    const time = integerValue(raw, `vegetation.route_full_review.frame_source_times_ns[${index}]`);
+    if (!Number.isSafeInteger(time)) {
+      throw new VegetationShadowContractError("vegetation.route_full_review: unsafe frame time.");
+    }
+    return time;
+  });
+  if (
+    frameSourceTimesNs.length !== 6830
+    || frameSourceTimesNs.some((time, index) => index > 0 && time <= frameSourceTimesNs[index - 1]!)
+  ) {
+    throw new VegetationShadowContractError("vegetation.route_full_review: frame timeline changed.");
+  }
+  const decodeRepair = objectValue(
+    row.decode_repair,
+    "vegetation.route_full_review.decode_repair",
+  );
+  exact(decodeRepair.repaired_frame_count, 1, "vegetation.route_full_review.decode_repair.count");
+  exact(decodeRepair.sequence, 6092, "vegetation.route_full_review.decode_repair.sequence");
+  exact(
+    decodeRepair.method,
+    "duplicate-previous-decoded-frame",
+    "vegetation.route_full_review.decode_repair.method",
+  );
+  const repairProofs = objectValue(
+    decodeRepair.proofs,
+    "vegetation.route_full_review.decode_repair.proofs",
+  );
+  for (const [key, expectedPath] of Object.entries({
+    eomt: "proofs/decode_repair.json",
+    ddrnet: "proofs/ddrnet_decode_repair.json",
+  })) {
+    const proof = objectValue(
+      repairProofs[key],
+      `vegetation.route_full_review.decode_repair.proofs.${key}`,
+    );
+    exact(
+      proof.path,
+      expectedPath,
+      `vegetation.route_full_review.decode_repair.proofs.${key}.path`,
+    );
+    const digest = textValue(
+      proof.sha256,
+      `vegetation.route_full_review.decode_repair.proofs.${key}.sha256`,
+    );
+    if (!SHA256.test(digest)) {
+      throw new VegetationShadowContractError("vegetation.route_full_review: repair proof invalid.");
+    }
+  }
+  const layers = objectValue(row.layers, "vegetation.route_full_review.layers");
+  return {
+    sourceId: "RAVNOVES004TREE",
+    sessionId: "20260828T130511Z_viewer_live",
+    sourceJobId: "recorded-camera-eb2783c5480d56bda07c8af0",
+    sourceJobInputSha256,
+    sourceStreamSha256,
+    recordedMediaSourceId: "recorded.camera.6a3945242828a038",
+    recordedMediaGenerationSha256,
+    frameCount: 6830,
+    width: 800,
+    height: 600,
+    timelineStartSeconds,
+    timelineEndSeconds,
+    frameSourceTimesNs,
+    decodeRepair: {
+      repairedFrameCount: 1,
+      sequence: 6092,
+      method: "duplicate-previous-decoded-frame",
+    },
+    city: fullRouteLayerValue(layers.city, "city"),
+    vegetation: fullRouteLayerValue(layers.vegetation, "vegetation"),
+  };
+}
+
 function parseResult(
  value: unknown,
  resultId: string,
@@ -589,9 +863,10 @@ function parseResult(
  const validationCases = arrayValue(catalogs.goose, "vegetation.catalogs.goose")
    .map((item) => visualCaseValue(item, resultId, "goose", endpointRoot));
  const routeReview = mixedRouteReviewValue(payload.route_review, resultId, endpointRoot);
+  const routeFullReview = fullRouteReviewValue(payload.route_full_review);
  if (
    routeCases.length !== 0
-    || (routeReview ? validationCases.length !== 0 : validationCases.length !== 12)
+    || (routeReview || routeFullReview ? validationCases.length !== 0 : validationCases.length !== 12)
  ) {
    throw new VegetationShadowContractError("vegetation.catalogs: ожидалось 12 truth-backed GOOSE случаев без route viewer.");
  }
@@ -605,6 +880,7 @@ function parseResult(
    validationCases,
    routeVideo: routeVideoValue(payload.route_video),
    routeReview,
+    routeFullReview,
    limitations: arrayValue(payload.limitations, "vegetation.limitations")
      .map((item, index) => textValue(item, `vegetation.limitations[${index}]`)),
    visualShadowReady: true,
@@ -625,6 +901,23 @@ export function vegetationVideoMaskUrl(resultId: string, sequence: number): stri
  return `/api/v1/laboratory/vegetation-shadow/${encodeURIComponent(resultId)}/masks/${sequence}`;
 }

+export function vegetationFullRouteMaskUrl(
+  resultId: string,
+  layer: "city" | "vegetation",
+  sequence: number,
+): string {
+  if (
+    !RESULT_ID.test(resultId)
+    || (layer !== "city" && layer !== "vegetation")
+    || !Number.isInteger(sequence)
+    || sequence < 0
+    || sequence >= 6830
+  ) {
+    throw new VegetationShadowContractError("Vegetation full-route mask identity недопустима.");
+  }
+  return `/api/v1/laboratory/vegetation-shadow/${encodeURIComponent(resultId)}/route-masks/${layer}/${sequence}`;
+}
+
 export async function fetchVegetationShadowResult(
  resultId: string,
  {
@@ -1,7 +1,8 @@
-import { useEffect, useState } from "react";
+import { useEffect, useMemo, useState } from "react";
 import { Icon, IconButton, StatusBadge } from "@nodedc/ui-react";

 import { LaboratoryEvidenceViewer } from "../../components/laboratory/LaboratoryEvidenceViewer";
+import { LaboratoryRecordedClipPlayer } from "../../components/laboratory/LaboratoryRecordedClipPlayer";
 import {
  LaboratoryEvidence,
  LaboratoryResultSummary,
@@ -9,10 +10,21 @@ import {
  LaboratoryWorkTemplate,
 } from "../../components/laboratory/LaboratoryPresentation";
 import {
+  RecordedEvidenceSemanticMaskOverlay,
+  type RecordedEvidenceSemanticClass,
+  type RecordedEvidenceSemanticPaletteEntry,
+} from "../../components/laboratory/RecordedEvidenceSemanticMaskOverlay";
+import {
+  vegetationFullRouteMaskUrl,
  vegetationVideoMaskUrl,
+  type VegetationFullRouteLayer,
+  type VegetationFullRouteReview,
  type VegetationMixedRouteReview,
  type VegetationShadowResult,
 } from "../../core/laboratory/vegetationShadow";
+import { recordedObservationSources } from "../../core/observation/recordedObservationSources";
+import { resolveObservationSessionReplay } from "../../core/observation/useObservationSessions";
+import type { ObservationSourceDescriptor } from "../../core/runtime/contracts";
 import {
  fetchM49TgsFullShadowResult,
  type M49TgsFullShadowResult,
@@ -31,6 +43,217 @@ const MIXED_ROUTE_MODES = [
  { value: "tgs", label: "TGS" },
 ] as const;

+const FULL_ROUTE_MODES = [
+  { value: "source", label: "SOURCE" },
+  { value: "city", label: "ГОРОД · EoMT" },
+  { value: "vegetation", label: "ПРИРОДА · DDRNet" },
+] as const;
+
+function semanticPresentation(layer: VegetationFullRouteLayer): {
+  classes: readonly RecordedEvidenceSemanticClass[];
+  palette: readonly RecordedEvidenceSemanticPaletteEntry[];
+} {
+  return {
+    classes: layer.taxonomy.map((item) => ({ id: item.classId, label: item.label })),
+    palette: layer.taxonomy.map((item) => ({
+      classId: item.classId,
+      color: item.classId === 0
+        ? { kind: "transparent" as const }
+        : { kind: "diagnostic" as const, rgb: item.colorRgb },
+    })),
+  };
+}
+
+function FullRouteReviewEvidence({
+  resultId,
+  review,
+}: {
+  resultId: string;
+  review: VegetationFullRouteReview;
+}) {
+  const [sequence, setSequence] = useState(1);
+  const [playing, setPlaying] = useState(false);
+  const [playbackRate, setPlaybackRate] = useState(1);
+  const [mode, setMode] = useState<typeof FULL_ROUTE_MODES[number]["value"]>("vegetation");
+  const [expanded, setExpanded] = useState(false);
+  const [videoSource, setVideoSource] = useState<ObservationSourceDescriptor | null>(null);
+  const [videoError, setVideoError] = useState<string | null>(null);
+  const frames = useMemo(
+    () => review.frameSourceTimesNs.map((sourceTimeNs, index) => ({
+      sequence: index + 1,
+      sourceTimeNs,
+    })),
+    [review.frameSourceTimesNs],
+  );
+  const layer = mode === "source" ? null : review[mode];
+  const semantic = useMemo(() => layer ? semanticPresentation(layer) : null, [layer]);
+  const maskSequence = sequence - 1;
+  const prefetchSrcs = useMemo(() => layer
+    ? Array.from({ length: 8 }, (_, offset) => maskSequence + offset + 1)
+      .filter((candidate) => candidate < review.frameCount)
+      .map((candidate) => vegetationFullRouteMaskUrl(resultId, mode as "city" | "vegetation", candidate))
+    : [], [layer, maskSequence, mode, resultId, review.frameCount]);
+
+  useEffect(() => {
+    const controller = new AbortController();
+    setVideoSource(null);
+    setVideoError(null);
+    void resolveObservationSessionReplay(review.sessionId, { signal: controller.signal })
+      .then((launch) => {
+        const source = recordedObservationSources(launch).find((candidate) => (
+          candidate.id === review.recordedMediaSourceId
+          && candidate.modality === "video"
+          && candidate.semanticChannelId === "camera.video.recorded"
+          && candidate.delivery?.kind === "recorded-fmp4-manifest"
+          && candidate.delivery.manifestGenerationSha256 === review.recordedMediaGenerationSha256
+          && candidate.delivery.timelineStartSeconds === review.timelineStartSeconds
+          && candidate.delivery.timelineEndSeconds >= review.timelineEndSeconds
+        ));
+        if (!source) {
+          throw new Error("RIGHT-видео не совпало с sealed RAVNOVES004TREE timeline.");
+        }
+        if (!controller.signal.aborted) setVideoSource(source);
+      })
+      .catch((caught: unknown) => {
+        if (!controller.signal.aborted) {
+          setVideoError(caught instanceof Error ? caught.message : "Записанное видео недоступно.");
+        }
+      });
+    return () => controller.abort();
+  }, [
+    review.recordedMediaGenerationSha256,
+    review.recordedMediaSourceId,
+    review.sessionId,
+    review.timelineEndSeconds,
+    review.timelineStartSeconds,
+  ]);
+
+  return (
+    <LaboratoryEvidenceViewer
+      label="RAVNOVES004TREE full recorded review"
+      className="m48-atlas-visual"
+      mode={mode}
+      modes={FULL_ROUTE_MODES}
+      expanded={expanded}
+      onModeChange={setMode}
+      onExpandedChange={setExpanded}
+      chromeLayout="stacked"
+    >
+      {videoSource ? (
+        <LaboratoryRecordedClipPlayer
+          source={videoSource}
+          segmentCount={review.frameCount}
+          frames={frames}
+          sequence={sequence}
+          playing={playing}
+          playbackRate={playbackRate}
+          cameraPresentation="primary"
+          continuousPlayback
+          sourceCount={1}
+          onSequenceChange={setSequence}
+          onPlayingChange={setPlaying}
+          onPlaybackRateChange={setPlaybackRate}
+          cameraOverlay={(
+            <>
+              <div className="m48-clip-player__pane-label" data-pane="camera">
+                {mode === "source" ? "SOURCE" : `${mode === "city" ? "EoMT CITY" : "DDRNet NATURE"} · КАДР ${sequence}/${review.frameCount}`}
+              </div>
+              {layer && semantic ? (
+                <RecordedEvidenceSemanticMaskOverlay
+                  src={vegetationFullRouteMaskUrl(resultId, mode as "city" | "vegetation", maskSequence)}
+                  prefetchSrcs={prefetchSrcs}
+                  imageWidth={review.width}
+                  imageHeight={review.height}
+                  classes={semantic.classes}
+                  palette={semantic.palette}
+                  opacity={0.76}
+                  ariaLabel={`${layer.name} semantic prediction`}
+                />
+              ) : null}
+            </>
+          )}
+        />
+      ) : (
+        <div className="m4-replay-threat-visual__pane-status" role={videoError ? "alert" : "status"}>
+          {videoError ?? "Открываем автономный recorded source…"}
+        </div>
+      )}
+    </LaboratoryEvidenceViewer>
+  );
+}
+
+function FullRouteReviewResult({
+  rigLabel,
+  resultId,
+  review,
+}: {
+  rigLabel: string;
+  resultId: string;
+  review: VegetationFullRouteReview;
+}) {
+  return (
+    <LaboratoryWorkTemplate
+      summary={(
+        <LaboratorySummary
+          title="LAB V1 · RAVNOVES004TREE · полный маршрут"
+          description="Существующий M4.7-шаблон воспроизводит всю запись и переключает два независимых sealed semantic-слоя: городской EoMT и природный DDRNet. Worker для открытия результата не нужен."
+          status="FULL RECORDED REVIEW · truth отсутствует · commands OFF"
+          statusTone="warning"
+          facts={[
+            { label: "Источник", value: `${review.sourceId} · ${review.frameCount}/${review.frameCount} frames` },
+            { label: "Город", value: `${review.city.name} · ${decimal(review.city.inferenceFps, 2)} fps` },
+            { label: "Природа", value: `${review.vegetation.name} · ${decimal(review.vegetation.inferenceFps, 2)} fps` },
+            { label: "Authority", value: `${rigLabel} · VISUAL REVIEW ONLY · commands OFF` },
+          ]}
+          brief={{
+            question: "Как оба semantic-кандидата ведут себя на полном переходе от сельской среды к городской?",
+            approach: "Все 6830 позиции одной recorded timeline последовательно прогнаны на Worker 006 и сохранены двумя независимыми архивами масок. В M4.7 переключается только видимый слой.",
+            principalResult: "Полная временная шкала доступна локально в SOURCE / EoMT CITY / DDRNet NATURE без обращения к Worker.",
+            limitation: "Ручной truth отсутствует. Один повреждённый H.264-пакет на позиции 6092 представлен предыдущим декодированным кадром и явно зафиксирован в proof. Полный TGS и кюветы этим прогоном не проверялись.",
+          }}
+          method={{
+            completeness: "complete",
+            executionClass: "ai-inference",
+            pipelineId: "ravnoves004tree-full-eomt-ddrnet-recorded-review/v1",
+            components: [
+              { kind: "model", name: review.city.name, version: "sealed Worker 006 run", role: "urban semantic review", identitySha256: null },
+              { kind: "model", name: review.vegetation.name, version: "GOOSE DDRNet-39", role: "vegetation semantic review", identitySha256: null },
+            ],
+          }}
+        />
+      )}
+      evidence={(
+        <LaboratoryEvidence
+          eyebrow="M4.7 TEMPLATE · RAVNOVES004TREE FULL VIDEO"
+          title="SOURCE / EoMT CITY / DDRNet NATURE · 6830/6830 · TRUTH отсутствует"
+          kind="diagnostic-model"
+          resizable
+        >
+          <FullRouteReviewEvidence resultId={resultId} review={review} />
+        </LaboratoryEvidence>
+      )}
+      result={(
+        <LaboratoryResultSummary
+          title="Полный двухслойный visual review собран; управление не авторизовано"
+          status="Recorded evidence ready · navigation/actuation OFF"
+          statusTone="warning"
+          metrics={[
+            { label: "Route masks", value: "6830/6830 × 2", hint: "sealed local archives · Worker не требуется" },
+            { label: "EoMT p95", value: `${decimal(review.city.latencyP95Ms, 2)} ms`, hint: "последовательный изолированный прогон" },
+            { label: "DDRNet p95", value: `${decimal(review.vegetation.latencyP95Ms, 2)} ms`, hint: "последовательный изолированный прогон" },
+            { label: "Decode repair", value: "1/6830", hint: "sequence 6092 · previous frame · sealed proof" },
+          ]}
+          conclusion={{
+            proved: "Городской EoMT и природный DDRNet воспроизводимо обработали полную запись и доступны в одном существующем M4.7 viewer.",
+            notProved: "Не доказаны truth accuracy, одновременный realtime-load, полный TGS, отрицательные препятствия и безопасное управление ровером.",
+            decision: "Использовать результат только как визуальную диагностику. Navigation/actuation оставить OFF; следующий gate — оценка временной стабильности и независимый person/vehicle STOP.",
+          }}
+        />
+      )}
+    />
+  );
+}
+
 function MixedRouteReviewEvidence({ review }: { review: VegetationMixedRouteReview }) {
  const [index, setIndex] = useState(0);
  const [mode, setMode] = useState<typeof MIXED_ROUTE_MODES[number]["value"]>("vegetation");
@@ -224,6 +447,15 @@ export function VegetationShadowResultView({
  rigLabel: string;
  result: VegetationShadowResult;
 }) {
+  if (result.routeFullReview) {
+    return (
+      <FullRouteReviewResult
+        rigLabel={rigLabel}
+        resultId={result.resultId}
+        review={result.routeFullReview}
+      />
+    );
+  }
  if (result.routeReview) {
    return <MixedRouteReviewResult rigLabel={rigLabel} review={result.routeReview} />;
  }