fix(lab): restore semantic overlay in M4.7

apps/control-station/src/core/laboratory/e47SemanticSlam.ts

@@ -360,27 +360,65 @@ function parseResult(value: unknown): E47SemanticSlamResult {
 }
 
 export async function fetchE47SemanticSlamResult({
+  resultId: requestedResultId,
   fetcher = fetch,
   signal,
 }: {
+  resultId?: string;
   fetcher?: LaboratoryFetch;
   signal?: AbortSignal;
 } = {}): Promise<E47SemanticSlamResult | null> {
-  const response = await fetcher("/api/v1/laboratory/e47-semantic-slam/results?limit=1", {
-    headers: { Accept: "application/json" },
-    signal,
-  });
+  if (requestedResultId !== undefined) resultId(requestedResultId);
+  let response = await fetcher(
+    requestedResultId === undefined
+      ? "/api/v1/laboratory/e47-semantic-slam/results?limit=1"
+      : `/api/v1/laboratory/e47-semantic-slam/results/${requestedResultId}`,
+    { headers: { Accept: "application/json" }, signal },
+  );
+  let catalogFallback = false;
+  if (requestedResultId !== undefined && response.status === 404) {
+    response = await fetcher("/api/v1/laboratory/e47-semantic-slam/results?limit=10", {
+      headers: { Accept: "application/json" },
+      signal,
+    });
+    catalogFallback = true;
+  }
   if (!response.ok) {
     throw new E47SemanticSlamContractError(`E47 LAB недоступен: HTTP ${response.status}.`);
   }
-  const payload = object(await response.json(), "E47 catalog");
-  exact(
-    payload.schema_version,
-    "missioncore.e47-semantic-slam-catalog/v1",
-    "E47 catalog schema",
-  );
-  const items = array(payload.items, "E47 catalog items");
-  return items.length ? parseResult(items[0]) : null;
+  const payload = await response.json();
+  if (requestedResultId === undefined || catalogFallback) {
+    const catalog = object(payload, "E47 catalog");
+    exact(
+      catalog.schema_version,
+      "missioncore.e47-semantic-slam-catalog/v1",
+      "E47 catalog schema",
+    );
+    const items = array(catalog.items, "E47 catalog items");
+    if (!items.length) return null;
+    const selected = requestedResultId === undefined
+      ? items[0]
+      : items.find((candidate) => (
+        typeof candidate === "object"
+        && candidate !== null
+        && (candidate as Record<string, unknown>).result_id === requestedResultId
+      ));
+    if (selected === undefined) {
+      throw new E47SemanticSlamContractError(
+        "E47 requested result: точный semantic-result отсутствует в каталоге.",
+      );
+    }
+    const parsed = parseResult(selected);
+    if (requestedResultId !== undefined && parsed.resultId !== requestedResultId) {
+      throw new E47SemanticSlamContractError("E47 requested result: нарушена идентичность.");
+    }
+    return parsed;
+  }
+  const parsed = parseResult(payload);
+  if (parsed.resultId !== requestedResultId) {
+    throw new E47SemanticSlamContractError("E47 requested result: нарушена идентичность.");
+  }
+  return parsed;
 }
 
 function parseFrame(

apps/control-station/src/core/laboratory/m47ReferenceGraph.ts

@@ -6,6 +6,10 @@ import {
   fetchM4ThreatReplayResult,
   type M4ThreatReplayResult,
 } from "./m4ReplayThreat";
+import {
+  fetchE47SemanticSlamResult,
+  type E47SemanticSlamResult,
+} from "./e47SemanticSlam";
 
 export interface M47ReferenceGraphLabResult {
   resultId: string;
@@ -41,6 +45,7 @@ export interface M47ReferenceGraphLabResult {
   >>;
   limitations: readonly string[];
   visual: M4ThreatReplayResult;
+  semantic: E47SemanticSlamResult;
 }
 
 type LaboratoryFetch = (input: RequestInfo | URL, init?: RequestInit) => Promise<Response>;
@@ -154,7 +159,7 @@ export async function fetchM47ReferenceGraphLab({
   const report = evidence.rawReport;
   exact(
     report.schema_version,
-    "missioncore.reference-perception-graph-lab-report/v1",
+    "missioncore.reference-perception-graph-lab-report/v2",
     "M4.7 report schema",
   );
   exact(report.result_id, resultId, "M4.7 report result");
@@ -176,6 +181,16 @@ export async function fetchM47ReferenceGraphLab({
     true,
     "M4.7 visual evidence",
   );
+  exact(
+    visualEvidence.camera_semantic_overlay_available,
+    true,
+    "M4.7 camera semantic overlay",
+  );
+  exact(
+    visualEvidence.semantic_binding,
+    "exact-sequence-and-session-time",
+    "M4.7 semantic binding",
+  );
   const linkedVisualResultId = text(
     visualEvidence.linked_result_id,
     "M4.7 linked visual result",
@@ -193,6 +208,31 @@ export async function fetchM47ReferenceGraphLab({
       "M4.7 visual binding: сервер вернул другой replay result.",
     );
   }
+  const semanticResultId = text(
+    visualEvidence.semantic_result_id,
+    "M4.7 linked semantic result",
+  );
+  if (!/^e47-semantic-slam-[a-f0-9]{64}$/.test(semanticResultId)) {
+    throw new M47ReferenceGraphContractError(
+      "M4.7 semantic binding: нарушена идентичность.",
+    );
+  }
+  const semantic = await fetchE47SemanticSlamResult({
+    resultId: semanticResultId,
+    fetcher,
+    signal,
+  });
+  if (
+    !semantic
+    || semantic.resultId !== semanticResultId
+    || semantic.baseM4ResultId !== linkedVisualResultId
+    || semantic.metrics.frames.total !== 4489
+    || semantic.metrics.frames.maskAvailable !== 4489
+  ) {
+    throw new M47ReferenceGraphContractError(
+      "M4.7 semantic binding: сервер вернул несвязанный semantic-result.",
+    );
+  }
   const graphResultId = text(source.graph_result_id, "M4.7 graph result");
   if (!/^m47-reference-graph-[a-f0-9]{64}$/.test(graphResultId)) {
     throw new M47ReferenceGraphContractError("M4.7 graph result: нарушена идентичность.");
@@ -219,5 +259,6 @@ export async function fetchM47ReferenceGraphLab({
     queueHighWatermarks: queueWatermarks(metrics.queue_high_watermarks),
     limitations: stringArray(report.limitations, "M4.7 limitations"),
     visual,
+    semantic,
   };
 }