feat(polygon): add full-frame operator review
This commit is contained in:
DCCONSTRUCTIONS
@@ -63,6 +63,36 @@ export interface GroundFailurePreview {
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patchworkDisagreement: number[];
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}
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export interface GroundReviewFrameMetrics {
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groundIou: number;
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naturalGroundRecall: number;
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obstacleNonGroundRecall: number;
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latencyMs: number;
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}
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export interface GroundReviewFrameSummary {
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sequence: number;
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frameId: string;
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sourcePointCount: number;
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pointCount: number;
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current: GroundReviewFrameMetrics;
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patchwork: GroundReviewFrameMetrics;
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groundIouDelta: number;
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}
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export interface GroundReview {
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runId: string;
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identitySha256: string;
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sourceId: string;
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frameCount: number;
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previewPoints: number;
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frames: GroundReviewFrameSummary[];
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}
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export interface GroundReviewFrame extends GroundFailurePreview {
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intensity0To255: number[];
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}
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export class GroundQualificationContractError extends Error {}
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export class GroundQualificationApiError extends Error {
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@@ -130,6 +160,14 @@ function boolean(value: unknown, field: string): boolean {
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return value;
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}
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function integer(value: unknown, field: string, minimum = 0): number {
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const result = number(value, field, minimum);
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if (!Number.isInteger(result)) {
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throw new GroundQualificationContractError(`${field} должен быть целым числом.`);
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}
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return result;
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}
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function aggregate(value: unknown, field: string): QualificationMetricAggregate {
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const source = record(value, field);
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const micro = record(source.micro, `${field}.micro`);
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@@ -316,6 +354,113 @@ export function decodeGroundFailurePreview(payload: unknown): GroundFailurePrevi
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};
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}
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function reviewFrameMetrics(value: unknown, field: string): GroundReviewFrameMetrics {
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const source = record(value, field);
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return {
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groundIou: fraction(source.ground_iou, `${field}.ground_iou`),
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naturalGroundRecall: fraction(
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source.natural_ground_recall,
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`${field}.natural_ground_recall`,
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),
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obstacleNonGroundRecall: fraction(
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source.obstacle_non_ground_recall,
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`${field}.obstacle_non_ground_recall`,
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),
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latencyMs: number(source.latency_ms, `${field}.latency_ms`),
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};
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}
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export function decodeGroundReview(payload: unknown): GroundReview {
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const source = record(payload, "ground review");
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if (
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source.schema_version !== "missioncore.polygon-ground-review/v1"
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|| source.access !== "read-only"
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) {
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throw new GroundQualificationContractError("Неизвестная схема покадрового просмотра.");
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}
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const frameCount = integer(source.frame_count, "frame_count", 1);
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const frames = array(source.frames, "frames", 2_000).map(
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(value, index): GroundReviewFrameSummary => {
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const frame = record(value, `frames[${index}]`);
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const sequence = integer(frame.sequence, `frames[${index}].sequence`);
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if (sequence !== index) {
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throw new GroundQualificationContractError("Кадры просмотра идут не по порядку.");
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}
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return {
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sequence,
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frameId: id(frame.frame_id, `frames[${index}].frame_id`),
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sourcePointCount: integer(
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frame.source_point_count,
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`frames[${index}].source_point_count`,
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1,
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),
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pointCount: integer(frame.point_count, `frames[${index}].point_count`, 1),
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current: reviewFrameMetrics(frame.current, `frames[${index}].current`),
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patchwork: reviewFrameMetrics(
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frame.patchworkpp,
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`frames[${index}].patchworkpp`,
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),
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groundIouDelta: number(
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frame.ground_iou_delta,
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`frames[${index}].ground_iou_delta`,
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-1,
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),
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};
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},
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);
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if (frames.length !== frameCount) {
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throw new GroundQualificationContractError("Индекс просмотра неполный.");
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}
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frames.forEach((frame, index) => {
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if (frame.pointCount > frame.sourcePointCount) {
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throw new GroundQualificationContractError(
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`frames[${index}] содержит больше preview-точек, чем source-точек.`,
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);
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}
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});
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const identitySha256 = text(source.identity_sha256, "identity_sha256", 64);
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if (!SHA256.test(identitySha256)) {
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throw new GroundQualificationContractError("Review identity должен содержать SHA-256.");
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}
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return {
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runId: id(source.run_id, "run_id"),
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identitySha256,
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sourceId: text(source.source_id, "source_id"),
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frameCount,
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previewPoints: integer(source.preview_points, "preview_points", 1),
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frames,
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};
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}
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export function decodeGroundReviewFrame(payload: unknown): GroundReviewFrame {
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const source = record(payload, "ground review frame");
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if (
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source.schema_version !== "missioncore.polygon-ground-review-frame/v1"
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|| source.access !== "read-only"
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) {
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throw new GroundQualificationContractError("Неизвестная схема кадра просмотра.");
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}
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const compatible = {
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...source,
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schema_version: "missioncore.polygon-ground-failure-preview/v1",
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};
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const decoded = decodeGroundFailurePreview(compatible);
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const intensity0To255 = array(
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source.intensity_0_255,
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"intensity_0_255",
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50_000,
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).map((value, index) => integer(value, `intensity_0_255[${index}]`));
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if (
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intensity0To255.length !== decoded.pointCount
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|| intensity0To255.some((value) => value > 255)
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) {
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throw new GroundQualificationContractError(
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"intensity_0_255 не совпадает с point_count.",
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);
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}
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return { ...decoded, intensity0To255 };
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}
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async function requestJson(
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url: string,
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signal: AbortSignal | undefined,
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@@ -391,3 +536,48 @@ export async function fetchGroundFailurePreview(
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),
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);
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}
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export async function fetchGroundReview(
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runId: string,
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{
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signal,
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fetcher = globalThis.fetch,
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}: { signal?: AbortSignal; fetcher?: QualificationFetch } = {},
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): Promise<GroundReview | null> {
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if (!SAFE_ID.test(runId)) {
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throw new GroundQualificationContractError("Недопустимый run_id.");
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}
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try {
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return decodeGroundReview(
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await requestJson(
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`/api/v1/polygon/runs/${encodeURIComponent(runId)}/qualification/review`,
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signal,
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fetcher,
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),
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);
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} catch (error) {
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if (error instanceof GroundQualificationApiError && error.status === 404) return null;
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throw error;
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}
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}
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export async function fetchGroundReviewFrame(
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runId: string,
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frameId: string,
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{
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signal,
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fetcher = globalThis.fetch,
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}: { signal?: AbortSignal; fetcher?: QualificationFetch } = {},
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): Promise<GroundReviewFrame> {
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if (!SAFE_ID.test(runId) || !SAFE_ID.test(frameId)) {
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throw new GroundQualificationContractError("Недопустимый идентификатор кадра.");
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}
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return decodeGroundReviewFrame(
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await requestJson(
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`/api/v1/polygon/runs/${encodeURIComponent(runId)}/qualification/review/frames/`
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+ encodeURIComponent(frameId),
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signal,
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fetcher,
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),
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);
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}
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@@ -156,7 +156,7 @@ export const workspaces: WorkspaceDefinition[] = [
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label: "Прогоны",
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title: "Прогоны",
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eyebrow: "ПОЛИГОН / ПРОГОНЫ",
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description: "Live Simulation Worker, история и доказательства квалификационных прогонов.",
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description: "Покадровый replay, сравнение алгоритмов и история квалификационных прогонов.",
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icon: "activity",
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kind: "polygon-run",
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groups: [],
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@@ -97,6 +97,16 @@
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}
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@media (max-width: 1040px) {
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.polygon-review-summary > div:last-child,
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.polygon-review-analysis__content,
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.polygon-run-technical__content {
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grid-template-columns: 1fr;
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}
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.polygon-review-frame-metrics {
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grid-template-columns: repeat(2, minmax(0, 1fr));
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}
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.polygon-qualification__grid,
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.polygon-qualification__failures {
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grid-template-columns: 1fr;
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@@ -183,6 +193,42 @@
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}
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@media (max-width: 760px) {
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.polygon-review-lead,
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.polygon-review-player__header,
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.polygon-review-order,
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.polygon-review-summary > header {
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align-items: stretch;
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flex-direction: column;
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}
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.polygon-review-lead > div:last-child {
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justify-content: space-between;
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}
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.polygon-review-mode {
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justify-content: flex-start;
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}
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.polygon-review-frame-metrics {
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grid-template-columns: 1fr;
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}
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.polygon-review-controls {
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grid-template-columns: auto auto auto minmax(0, 1fr);
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}
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.polygon-review-controls > span {
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display: none;
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}
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.polygon-review-summary article {
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grid-template-columns: minmax(0, 1fr) auto auto;
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}
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.polygon-review-summary article small {
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grid-column: 1 / -1;
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}
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.polygon-qualification__heading,
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.polygon-qualification__viewer > header {
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display: grid;
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@@ -1015,6 +1015,504 @@
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font-size: 0.62rem;
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}
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.polygon-review-lead {
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display: flex;
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align-items: flex-start;
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justify-content: space-between;
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gap: 1.5rem;
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padding: 0.15rem 0.1rem 0.25rem;
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}
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.polygon-review-lead h2,
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.polygon-review-lead p {
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margin: 0;
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}
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.polygon-review-lead h2 {
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margin-top: 0.32rem;
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color: var(--nodedc-text-primary);
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font-size: 1.35rem;
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letter-spacing: -0.04em;
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}
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.polygon-review-lead p {
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margin-top: 0.32rem;
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color: var(--nodedc-text-muted);
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font-size: 0.66rem;
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}
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.polygon-review-lead > div:last-child {
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display: flex;
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align-items: center;
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gap: 0.55rem;
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}
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.polygon-review-lead select {
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max-width: 18rem;
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border: 0;
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border-radius: 999px;
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outline: 0;
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background: rgb(255 255 255 / 0.06);
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color: var(--nodedc-text-secondary);
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padding: 0.42rem 0.75rem;
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font-size: 0.58rem;
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}
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.polygon-review-player {
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overflow: hidden;
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border-radius: 1.15rem;
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background: var(--station-panel);
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}
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.polygon-review-player__header {
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display: flex;
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min-width: 0;
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align-items: center;
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justify-content: space-between;
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gap: 1rem;
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padding: 0.85rem 1rem;
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}
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.polygon-review-player__header > div:first-child {
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display: grid;
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min-width: 0;
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gap: 0.25rem;
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}
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.polygon-review-player__header strong {
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overflow: hidden;
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max-width: 36rem;
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color: var(--nodedc-text-primary);
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font-size: 0.67rem;
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text-overflow: ellipsis;
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white-space: nowrap;
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}
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.polygon-review-mode,
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.polygon-review-order > div {
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display: flex;
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flex-wrap: wrap;
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align-items: center;
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gap: 0.28rem;
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}
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.polygon-review-mode button,
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.polygon-review-order button,
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.polygon-review-controls button {
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border: 0;
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border-radius: 999px;
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outline: 0;
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background: transparent;
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color: var(--nodedc-text-muted);
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padding: 0.42rem 0.68rem;
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font: inherit;
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font-size: 0.57rem;
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cursor: pointer;
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}
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.polygon-review-mode button:hover,
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.polygon-review-mode button[data-active="true"],
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.polygon-review-order button:hover,
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.polygon-review-order button[data-active="true"],
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.polygon-review-controls button:hover:not(:disabled) {
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outline: 0;
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background: rgb(255 255 255 / 0.1);
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color: var(--nodedc-text-primary);
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}
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.polygon-review-stage {
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position: relative;
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background: #06070a;
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}
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.polygon-review-stage .lidar-ground-scene {
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min-height: min(56rem, 62vh);
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border-radius: 0;
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}
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|
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.polygon-review-stage__loading {
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display: grid;
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min-height: min(56rem, 62vh);
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place-items: center;
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color: var(--nodedc-text-muted);
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font-size: 0.66rem;
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}
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|
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.polygon-review-stage__legend {
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position: absolute;
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z-index: 3;
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top: 0.8rem;
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left: 0.8rem;
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display: grid;
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max-width: 25rem;
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gap: 0.18rem;
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border-radius: 0.75rem;
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background: rgb(7 8 10 / 0.76);
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padding: 0.55rem 0.68rem;
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backdrop-filter: blur(14px);
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}
|
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|
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.polygon-review-stage__legend strong {
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||||
color: var(--nodedc-text-primary);
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font-size: 0.62rem;
|
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}
|
||||
|
||||
.polygon-review-stage__legend span {
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color: var(--nodedc-text-muted);
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font-size: 0.54rem;
|
||||
}
|
||||
|
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.polygon-review-frame-metrics {
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display: grid;
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||||
grid-template-columns: repeat(4, minmax(0, 1fr));
|
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gap: 0.28rem;
|
||||
padding: 0.38rem;
|
||||
}
|
||||
|
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.polygon-review-frame-metrics article {
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||||
display: grid;
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||||
min-width: 0;
|
||||
gap: 0.24rem;
|
||||
border-radius: 0.82rem;
|
||||
background: rgb(255 255 255 / 0.035);
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||||
padding: 0.72rem 0.78rem;
|
||||
}
|
||||
|
||||
.polygon-review-frame-metrics span,
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||||
.polygon-review-frame-metrics small {
|
||||
overflow: hidden;
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||||
color: var(--nodedc-text-muted);
|
||||
font-size: 0.54rem;
|
||||
text-overflow: ellipsis;
|
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white-space: nowrap;
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||||
}
|
||||
|
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.polygon-review-frame-metrics strong {
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||||
color: var(--nodedc-text-primary);
|
||||
font-size: 1.02rem;
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font-weight: 680;
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||||
}
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|
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.polygon-review-frame-metrics article[data-positive="false"] strong {
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||||
color: rgb(var(--nodedc-danger-rgb));
|
||||
}
|
||||
|
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.polygon-review-controls {
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||||
display: grid;
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||||
grid-template-columns: auto auto auto minmax(8rem, 1fr) auto;
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||||
align-items: center;
|
||||
gap: 0.38rem;
|
||||
padding: 0.3rem 0.55rem 0.15rem;
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||||
}
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||||
|
||||
.polygon-review-controls button {
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||||
background: rgb(255 255 255 / 0.055);
|
||||
color: var(--nodedc-text-secondary);
|
||||
}
|
||||
|
||||
.polygon-review-controls button:disabled {
|
||||
opacity: 0.3;
|
||||
cursor: default;
|
||||
}
|
||||
|
||||
.polygon-review-controls input {
|
||||
width: 100%;
|
||||
accent-color: #f0f0ec;
|
||||
}
|
||||
|
||||
.polygon-review-controls > span {
|
||||
min-width: 4.5rem;
|
||||
color: var(--nodedc-text-muted);
|
||||
font-family: "SFMono-Regular", Consolas, "Liberation Mono", monospace;
|
||||
font-size: 0.55rem;
|
||||
text-align: right;
|
||||
}
|
||||
|
||||
.polygon-review-order {
|
||||
display: flex;
|
||||
align-items: center;
|
||||
justify-content: space-between;
|
||||
gap: 1rem;
|
||||
padding: 0.2rem 0.55rem 0.45rem;
|
||||
}
|
||||
|
||||
.polygon-review-order > div:last-child button {
|
||||
color: var(--nodedc-text-secondary);
|
||||
}
|
||||
|
||||
.polygon-review-timeline {
|
||||
display: flex;
|
||||
height: 2.4rem;
|
||||
align-items: stretch;
|
||||
gap: 1px;
|
||||
overflow: hidden;
|
||||
margin: 0 0.65rem;
|
||||
border-radius: 0.42rem;
|
||||
background: rgb(255 255 255 / 0.025);
|
||||
padding: 0.32rem 0;
|
||||
}
|
||||
|
||||
.polygon-review-timeline button {
|
||||
min-width: 1px;
|
||||
flex: 1 1 1px;
|
||||
border: 0;
|
||||
border-radius: 0;
|
||||
outline: 0;
|
||||
background: var(--frame-color);
|
||||
padding: 0;
|
||||
cursor: pointer;
|
||||
opacity: 0.62;
|
||||
}
|
||||
|
||||
.polygon-review-timeline button:hover,
|
||||
.polygon-review-timeline button[data-active="true"] {
|
||||
min-width: 3px;
|
||||
opacity: 1;
|
||||
box-shadow: 0 0 0 1px rgb(255 255 255 / 0.86);
|
||||
}
|
||||
|
||||
.polygon-review-timeline-note {
|
||||
margin: 0;
|
||||
padding: 0.25rem 0.75rem 0.78rem;
|
||||
color: var(--nodedc-text-muted);
|
||||
font-size: 0.54rem;
|
||||
line-height: 1.45;
|
||||
}
|
||||
|
||||
.polygon-review-summary,
|
||||
.polygon-review-unavailable,
|
||||
.polygon-review-analysis,
|
||||
.polygon-run-technical {
|
||||
border-radius: 1rem;
|
||||
background: var(--station-panel);
|
||||
}
|
||||
|
||||
.polygon-review-summary {
|
||||
display: grid;
|
||||
gap: 0.7rem;
|
||||
padding: 0.9rem 1rem;
|
||||
}
|
||||
|
||||
.polygon-review-summary > header {
|
||||
display: flex;
|
||||
align-items: flex-start;
|
||||
justify-content: space-between;
|
||||
gap: 1rem;
|
||||
}
|
||||
|
||||
.polygon-review-summary h3,
|
||||
.polygon-review-summary p {
|
||||
margin: 0;
|
||||
}
|
||||
|
||||
.polygon-review-summary h3 {
|
||||
margin-top: 0.28rem;
|
||||
color: var(--nodedc-text-primary);
|
||||
font-size: 0.94rem;
|
||||
}
|
||||
|
||||
.polygon-review-summary > p {
|
||||
max-width: 52rem;
|
||||
color: var(--nodedc-text-muted);
|
||||
font-size: 0.62rem;
|
||||
line-height: 1.55;
|
||||
}
|
||||
|
||||
.polygon-review-summary > div:last-child {
|
||||
display: grid;
|
||||
grid-template-columns: repeat(3, minmax(0, 1fr));
|
||||
gap: 0.38rem;
|
||||
}
|
||||
|
||||
.polygon-review-summary article {
|
||||
display: grid;
|
||||
grid-template-columns: minmax(0, 1fr) auto auto auto;
|
||||
align-items: center;
|
||||
gap: 0.58rem;
|
||||
border-radius: 0.75rem;
|
||||
background: rgb(255 255 255 / 0.03);
|
||||
padding: 0.65rem 0.72rem;
|
||||
}
|
||||
|
||||
.polygon-review-summary article span,
|
||||
.polygon-review-summary article small {
|
||||
color: var(--nodedc-text-muted);
|
||||
font-size: 0.54rem;
|
||||
}
|
||||
|
||||
.polygon-review-summary article strong {
|
||||
color: var(--nodedc-text-primary);
|
||||
font-size: 0.72rem;
|
||||
}
|
||||
|
||||
.polygon-review-summary article i {
|
||||
color: var(--nodedc-text-muted);
|
||||
font-style: normal;
|
||||
}
|
||||
|
||||
.polygon-review-analysis,
|
||||
.polygon-run-technical {
|
||||
overflow: hidden;
|
||||
}
|
||||
|
||||
.polygon-review-analysis > summary,
|
||||
.polygon-run-technical > summary {
|
||||
padding: 0.8rem 0.95rem;
|
||||
color: var(--nodedc-text-secondary);
|
||||
font-size: 0.62rem;
|
||||
cursor: pointer;
|
||||
list-style: none;
|
||||
}
|
||||
|
||||
.polygon-review-analysis > summary::-webkit-details-marker,
|
||||
.polygon-run-technical > summary::-webkit-details-marker {
|
||||
display: none;
|
||||
}
|
||||
|
||||
.polygon-review-analysis > summary::after,
|
||||
.polygon-run-technical > summary::after {
|
||||
float: right;
|
||||
content: "＋";
|
||||
color: var(--nodedc-text-muted);
|
||||
}
|
||||
|
||||
.polygon-review-analysis[open] > summary::after,
|
||||
.polygon-run-technical[open] > summary::after {
|
||||
content: "−";
|
||||
}
|
||||
|
||||
.polygon-review-analysis__content {
|
||||
display: grid;
|
||||
grid-template-columns: minmax(0, 1fr) minmax(0, 1fr);
|
||||
gap: 0.7rem;
|
||||
padding: 0 0.65rem 0.65rem;
|
||||
}
|
||||
|
||||
.polygon-review-analysis__content section {
|
||||
display: grid;
|
||||
align-content: start;
|
||||
gap: 0.25rem;
|
||||
border-radius: 0.8rem;
|
||||
background: rgb(255 255 255 / 0.025);
|
||||
padding: 0.75rem;
|
||||
}
|
||||
|
||||
.polygon-review-analysis__content p {
|
||||
display: grid;
|
||||
grid-template-columns: auto minmax(0, 1fr) repeat(3, auto);
|
||||
align-items: center;
|
||||
gap: 0.45rem;
|
||||
margin: 0;
|
||||
color: var(--nodedc-text-muted);
|
||||
font-size: 0.54rem;
|
||||
}
|
||||
|
||||
.polygon-review-analysis__content p i {
|
||||
width: 0.38rem;
|
||||
height: 0.38rem;
|
||||
border-radius: 50%;
|
||||
background: rgb(var(--nodedc-danger-rgb));
|
||||
}
|
||||
|
||||
.polygon-review-analysis__content p[data-passed="true"] i {
|
||||
background: rgb(var(--nodedc-success-rgb));
|
||||
}
|
||||
|
||||
.polygon-review-analysis__content code {
|
||||
color: var(--nodedc-text-muted);
|
||||
font-size: 0.52rem;
|
||||
}
|
||||
|
||||
.polygon-review-unavailable {
|
||||
display: grid;
|
||||
min-height: 18rem;
|
||||
align-content: center;
|
||||
gap: 0.45rem;
|
||||
padding: 1rem;
|
||||
}
|
||||
|
||||
.polygon-review-unavailable h3,
|
||||
.polygon-review-unavailable p,
|
||||
.polygon-review-unavailable small {
|
||||
margin: 0;
|
||||
}
|
||||
|
||||
.polygon-review-unavailable h3 {
|
||||
color: var(--nodedc-text-primary);
|
||||
font-size: 1rem;
|
||||
}
|
||||
|
||||
.polygon-review-unavailable p,
|
||||
.polygon-review-unavailable small {
|
||||
max-width: 44rem;
|
||||
color: var(--nodedc-text-muted);
|
||||
font-size: 0.62rem;
|
||||
line-height: 1.5;
|
||||
}
|
||||
|
||||
.polygon-run-technical__content {
|
||||
display: grid;
|
||||
grid-template-columns: 1.2fr 1fr 1fr;
|
||||
gap: 0.6rem;
|
||||
padding: 0 0.65rem 0.65rem;
|
||||
}
|
||||
|
||||
.polygon-run-technical__content > * {
|
||||
min-width: 0;
|
||||
border-radius: 0.75rem;
|
||||
background: rgb(255 255 255 / 0.025);
|
||||
padding: 0.7rem;
|
||||
}
|
||||
|
||||
.polygon-run-technical__content dl {
|
||||
display: grid;
|
||||
gap: 0.3rem;
|
||||
margin: 0;
|
||||
}
|
||||
|
||||
.polygon-run-technical__content dl > div,
|
||||
.polygon-run-technical__content section p {
|
||||
display: flex;
|
||||
min-width: 0;
|
||||
justify-content: space-between;
|
||||
gap: 0.65rem;
|
||||
margin: 0;
|
||||
color: var(--nodedc-text-muted);
|
||||
font-size: 0.54rem;
|
||||
}
|
||||
|
||||
.polygon-run-technical__content dd {
|
||||
overflow: hidden;
|
||||
margin: 0;
|
||||
color: var(--nodedc-text-secondary);
|
||||
text-overflow: ellipsis;
|
||||
white-space: nowrap;
|
||||
}
|
||||
|
||||
.polygon-run-technical__content h4 {
|
||||
margin: 0 0 0.55rem;
|
||||
color: var(--nodedc-text-primary);
|
||||
font-size: 0.62rem;
|
||||
}
|
||||
|
||||
.polygon-run-technical__content section {
|
||||
display: grid;
|
||||
align-content: start;
|
||||
gap: 0.4rem;
|
||||
}
|
||||
|
||||
.polygon-run-technical__content section p strong,
|
||||
.polygon-run-technical__content section p span {
|
||||
overflow: hidden;
|
||||
text-overflow: ellipsis;
|
||||
white-space: nowrap;
|
||||
}
|
||||
|
||||
.polygon-run-technical__content section p strong {
|
||||
color: var(--nodedc-text-secondary);
|
||||
font-weight: 600;
|
||||
}
|
||||
|
||||
.capability-summary {
|
||||
display: grid;
|
||||
grid-template-columns: repeat(4, minmax(0, 1fr));
|
||||
|
||||
@@ -1,15 +1,20 @@
|
||||
import { useEffect, useMemo, useState } from "react";
|
||||
import {
|
||||
Button,
|
||||
GlassSurface,
|
||||
StatusBadge,
|
||||
} from "@nodedc/ui-react";
|
||||
useEffect,
|
||||
useMemo,
|
||||
useRef,
|
||||
useState,
|
||||
type CSSProperties,
|
||||
} from "react";
|
||||
import { Button, StatusBadge } from "@nodedc/ui-react";
|
||||
|
||||
import {
|
||||
fetchGroundFailurePreview,
|
||||
fetchGroundQualification,
|
||||
type GroundFailurePreview,
|
||||
fetchGroundReview,
|
||||
fetchGroundReviewFrame,
|
||||
type GroundQualification,
|
||||
type GroundReview,
|
||||
type GroundReviewFrame,
|
||||
type GroundReviewFrameSummary,
|
||||
} from "../core/polygon/groundQualification";
|
||||
import {
|
||||
fetchPolygonRunCatalog,
|
||||
@@ -23,12 +28,13 @@ import {
|
||||
LidarGroundPointCloud,
|
||||
type LidarGroundViewMode,
|
||||
} from "./LidarGroundPointCloud";
|
||||
import { PolygonLivePanel } from "./PolygonLivePanel";
|
||||
|
||||
interface PolygonRunWorkspaceProps {
|
||||
route: PolygonRunRoute;
|
||||
}
|
||||
|
||||
type ReviewOrder = "sequence" | "best" | "worst";
|
||||
|
||||
const stateLabels: Record<PolygonRunState, string> = {
|
||||
admitted: "Допущен",
|
||||
starting: "Запускается",
|
||||
@@ -40,6 +46,21 @@ const stateLabels: Record<PolygonRunState, string> = {
|
||||
aborted: "Прерван",
|
||||
};
|
||||
|
||||
const viewModes: ReadonlyArray<[LidarGroundViewMode, string]> = [
|
||||
["intensity", "Облако"],
|
||||
["ground-truth", "Эталон"],
|
||||
["current", "Current"],
|
||||
["candidate", "Patchwork++"],
|
||||
["disagreement", "Ошибки Current"],
|
||||
["candidate-disagreement", "Ошибки Patchwork++"],
|
||||
];
|
||||
|
||||
const orderLabels: ReadonlyArray<[ReviewOrder, string]> = [
|
||||
["sequence", "По записи"],
|
||||
["best", "Лучшие"],
|
||||
["worst", "Худшие"],
|
||||
];
|
||||
|
||||
function stateTone(
|
||||
state: PolygonRunState,
|
||||
): "success" | "accent" | "warning" | "danger" | "neutral" {
|
||||
@@ -69,7 +90,7 @@ function formatBytes(value: number): string {
|
||||
|
||||
function errorMessage(error: unknown): string {
|
||||
if (error instanceof Error && error.message.trim()) return error.message;
|
||||
return "Не удалось прочитать доказательства прогона.";
|
||||
return "Не удалось прочитать прогон.";
|
||||
}
|
||||
|
||||
function formatPercent(value: number): string {
|
||||
@@ -79,10 +100,65 @@ function formatPercent(value: number): string {
|
||||
}).format(value);
|
||||
}
|
||||
|
||||
function formatDelta(value: number): string {
|
||||
const points = value * 100;
|
||||
return `${points >= 0 ? "+" : ""}${points.toLocaleString("ru-RU", {
|
||||
maximumFractionDigits: 1,
|
||||
})} п.п.`;
|
||||
}
|
||||
|
||||
function formatMilliseconds(value: number): string {
|
||||
return `${value.toLocaleString("ru-RU", { maximumFractionDigits: 1 })} мс`;
|
||||
}
|
||||
|
||||
function frameScene(frame: GroundReviewFrame | null) {
|
||||
if (!frame) return null;
|
||||
return {
|
||||
pointCount: frame.pointCount,
|
||||
pointsXyzM: frame.pointsXyzM,
|
||||
intensity0To255: frame.intensity0To255,
|
||||
masks: {
|
||||
currentGround: frame.currentGround,
|
||||
currentAssigned: frame.evaluated,
|
||||
candidateGround: frame.patchworkGround,
|
||||
candidateAssigned: frame.evaluated,
|
||||
disagreement: frame.currentDisagreement,
|
||||
candidateDisagreement: frame.patchworkDisagreement,
|
||||
groundTruthGround: frame.groundTruthGround,
|
||||
},
|
||||
};
|
||||
}
|
||||
|
||||
function modeExplanation(mode: LidarGroundViewMode): string {
|
||||
if (mode === "intensity") return "Нейтральная геометрия нативного LiDAR-кадра.";
|
||||
if (mode === "ground-truth") return "Публичная GOOSE-разметка: земля и всё остальное.";
|
||||
if (mode === "current") return "Что текущий алгоритм Mission Core считает землёй.";
|
||||
if (mode === "candidate") return "Что Patchwork++ считает землёй.";
|
||||
if (mode === "disagreement") return "Красным — точки, где Current расходится с эталоном.";
|
||||
return "Красным — точки, где Patchwork++ расходится с эталоном.";
|
||||
}
|
||||
|
||||
function frameColor(delta: number): string {
|
||||
if (delta < 0) {
|
||||
const opacity = Math.min(0.92, 0.42 + Math.abs(delta) * 3);
|
||||
return `rgb(255 104 104 / ${opacity})`;
|
||||
}
|
||||
const opacity = Math.min(0.9, 0.25 + delta * 2.8);
|
||||
return `rgb(210 242 188 / ${opacity})`;
|
||||
}
|
||||
|
||||
function orderFrames(
|
||||
review: GroundReview,
|
||||
order: ReviewOrder,
|
||||
): GroundReviewFrameSummary[] {
|
||||
if (order === "sequence") return review.frames;
|
||||
return [...review.frames].sort((left, right) => (
|
||||
order === "best"
|
||||
? right.groundIouDelta - left.groundIouDelta
|
||||
: left.groundIouDelta - right.groundIouDelta
|
||||
));
|
||||
}
|
||||
|
||||
export function PolygonRunWorkspace({ route }: PolygonRunWorkspaceProps) {
|
||||
const [catalog, setCatalog] = useState<PolygonRunCatalog | null>(null);
|
||||
const [detail, setDetail] = useState<PolygonRunDetail | null>(null);
|
||||
@@ -91,11 +167,14 @@ export function PolygonRunWorkspace({ route }: PolygonRunWorkspaceProps) {
|
||||
const [error, setError] = useState<string | null>(route.error);
|
||||
const [reloadGeneration, setReloadGeneration] = useState(0);
|
||||
const [qualification, setQualification] = useState<GroundQualification | null>(null);
|
||||
const [qualificationError, setQualificationError] = useState<string | null>(null);
|
||||
const [failurePreview, setFailurePreview] = useState<GroundFailurePreview | null>(null);
|
||||
const [selectedFailureFrameId, setSelectedFailureFrameId] = useState<string | null>(null);
|
||||
const [failureMode, setFailureMode] =
|
||||
useState<LidarGroundViewMode>("candidate-disagreement");
|
||||
const [review, setReview] = useState<GroundReview | null>(null);
|
||||
const [reviewError, setReviewError] = useState<string | null>(null);
|
||||
const [selectedFrameId, setSelectedFrameId] = useState<string | null>(null);
|
||||
const [reviewFrame, setReviewFrame] = useState<GroundReviewFrame | null>(null);
|
||||
const [reviewMode, setReviewMode] = useState<LidarGroundViewMode>("ground-truth");
|
||||
const [reviewOrder, setReviewOrder] = useState<ReviewOrder>("sequence");
|
||||
const [playing, setPlaying] = useState(false);
|
||||
const frameCache = useRef(new Map<string, GroundReviewFrame>());
|
||||
|
||||
useEffect(() => {
|
||||
if (route.error) {
|
||||
@@ -135,79 +214,134 @@ export function PolygonRunWorkspace({ route }: PolygonRunWorkspaceProps) {
|
||||
|
||||
useEffect(() => {
|
||||
const runId = detail?.run.runId;
|
||||
if (!runId) {
|
||||
setQualification(null);
|
||||
setQualificationError(null);
|
||||
return;
|
||||
}
|
||||
const controller = new AbortController();
|
||||
setQualification(null);
|
||||
setQualificationError(null);
|
||||
setFailurePreview(null);
|
||||
setSelectedFailureFrameId(null);
|
||||
void fetchGroundQualification(runId, { signal: controller.signal })
|
||||
.then((result) => {
|
||||
setReview(null);
|
||||
setReviewFrame(null);
|
||||
setSelectedFrameId(null);
|
||||
setReviewError(null);
|
||||
setPlaying(false);
|
||||
frameCache.current.clear();
|
||||
if (!runId) return;
|
||||
const controller = new AbortController();
|
||||
void (async () => {
|
||||
try {
|
||||
const nextQualification = await fetchGroundQualification(runId, {
|
||||
signal: controller.signal,
|
||||
});
|
||||
if (controller.signal.aborted) return;
|
||||
setQualification(result);
|
||||
setSelectedFailureFrameId(result?.worstFrames[0]?.frameId ?? null);
|
||||
})
|
||||
.catch((loadError: unknown) => {
|
||||
if (!controller.signal.aborted) setQualificationError(errorMessage(loadError));
|
||||
});
|
||||
setQualification(nextQualification);
|
||||
if (!nextQualification) return;
|
||||
const nextReview = await fetchGroundReview(runId, {
|
||||
signal: controller.signal,
|
||||
});
|
||||
if (controller.signal.aborted) return;
|
||||
setReview(nextReview);
|
||||
setSelectedFrameId(nextReview?.frames[0]?.frameId ?? null);
|
||||
} catch (loadError) {
|
||||
if (!controller.signal.aborted) setReviewError(errorMessage(loadError));
|
||||
}
|
||||
})();
|
||||
return () => controller.abort();
|
||||
}, [detail?.run.runId]);
|
||||
|
||||
useEffect(() => {
|
||||
const runId = qualification?.runId;
|
||||
if (!runId || !selectedFailureFrameId) {
|
||||
setFailurePreview(null);
|
||||
const runId = review?.runId;
|
||||
if (!runId || !selectedFrameId) {
|
||||
setReviewFrame(null);
|
||||
return;
|
||||
}
|
||||
const cached = frameCache.current.get(selectedFrameId);
|
||||
if (cached) {
|
||||
setReviewFrame(cached);
|
||||
return;
|
||||
}
|
||||
const controller = new AbortController();
|
||||
setFailurePreview(null);
|
||||
void fetchGroundFailurePreview(runId, selectedFailureFrameId, {
|
||||
setReviewFrame(null);
|
||||
void fetchGroundReviewFrame(runId, selectedFrameId, {
|
||||
signal: controller.signal,
|
||||
})
|
||||
.then((result) => {
|
||||
if (!controller.signal.aborted) setFailurePreview(result);
|
||||
.then((frame) => {
|
||||
if (controller.signal.aborted) return;
|
||||
frameCache.current.set(frame.frameId, frame);
|
||||
while (frameCache.current.size > 24) {
|
||||
const oldest = frameCache.current.keys().next().value as string | undefined;
|
||||
if (oldest) frameCache.current.delete(oldest);
|
||||
else break;
|
||||
}
|
||||
setReviewFrame(frame);
|
||||
})
|
||||
.catch((loadError: unknown) => {
|
||||
if (!controller.signal.aborted) setQualificationError(errorMessage(loadError));
|
||||
if (!controller.signal.aborted) setReviewError(errorMessage(loadError));
|
||||
});
|
||||
return () => controller.abort();
|
||||
}, [qualification?.runId, selectedFailureFrameId]);
|
||||
}, [review?.runId, selectedFrameId]);
|
||||
|
||||
const visibleEvents = useMemo(
|
||||
() => detail ? [...detail.events].reverse() : [],
|
||||
[detail],
|
||||
const orderedFrames = useMemo(
|
||||
() => review ? orderFrames(review, reviewOrder) : [],
|
||||
[review, reviewOrder],
|
||||
);
|
||||
const failureFrame = useMemo(() => {
|
||||
if (!failurePreview) return null;
|
||||
return {
|
||||
pointCount: failurePreview.pointCount,
|
||||
pointsXyzM: failurePreview.pointsXyzM,
|
||||
intensity0To255: null,
|
||||
masks: {
|
||||
currentGround: failurePreview.currentGround,
|
||||
currentAssigned: failurePreview.evaluated,
|
||||
candidateGround: failurePreview.patchworkGround,
|
||||
candidateAssigned: failurePreview.evaluated,
|
||||
disagreement: failurePreview.currentDisagreement,
|
||||
candidateDisagreement: failurePreview.patchworkDisagreement,
|
||||
groundTruthGround: failurePreview.groundTruthGround,
|
||||
},
|
||||
};
|
||||
}, [failurePreview]);
|
||||
const selectedPosition = Math.max(
|
||||
0,
|
||||
orderedFrames.findIndex((frame) => frame.frameId === selectedFrameId),
|
||||
);
|
||||
const selectedSummary = orderedFrames[selectedPosition] ?? null;
|
||||
const bestFrame = useMemo(
|
||||
() => review
|
||||
? [...review.frames].sort(
|
||||
(left, right) => right.groundIouDelta - left.groundIouDelta,
|
||||
)[0]
|
||||
: null,
|
||||
[review],
|
||||
);
|
||||
const worstFrame = useMemo(
|
||||
() => review
|
||||
? [...review.frames].sort(
|
||||
(left, right) => left.groundIouDelta - right.groundIouDelta,
|
||||
)[0]
|
||||
: null,
|
||||
[review],
|
||||
);
|
||||
|
||||
useEffect(() => {
|
||||
if (!playing || !reviewFrame || !selectedFrameId || !orderedFrames.length) return;
|
||||
if (reviewFrame.frameId !== selectedFrameId) return;
|
||||
const timer = window.setTimeout(() => {
|
||||
const nextPosition = selectedPosition + 1;
|
||||
if (nextPosition >= orderedFrames.length) {
|
||||
setPlaying(false);
|
||||
return;
|
||||
}
|
||||
setSelectedFrameId(orderedFrames[nextPosition].frameId);
|
||||
}, 520);
|
||||
return () => window.clearTimeout(timer);
|
||||
}, [
|
||||
orderedFrames,
|
||||
playing,
|
||||
reviewFrame,
|
||||
selectedFrameId,
|
||||
selectedPosition,
|
||||
]);
|
||||
|
||||
const scene = useMemo(() => frameScene(reviewFrame), [reviewFrame]);
|
||||
|
||||
const selectPosition = (position: number) => {
|
||||
const frame = orderedFrames[Math.max(0, Math.min(position, orderedFrames.length - 1))];
|
||||
if (frame) setSelectedFrameId(frame.frameId);
|
||||
};
|
||||
|
||||
const changeOrder = (order: ReviewOrder) => {
|
||||
setPlaying(false);
|
||||
setReviewOrder(order);
|
||||
};
|
||||
|
||||
if (loading && !detail) {
|
||||
return (
|
||||
<div className="standard-workspace polygon-run-workspace">
|
||||
<PolygonLivePanel />
|
||||
<GlassSurface className="polygon-run-message" padding="lg">
|
||||
<StatusBadge tone="accent">Только чтение</StatusBadge>
|
||||
<h2>Проверяем журнал прогона</h2>
|
||||
<p>Mission Core читает манифест, события и индекс артефактов без запуска провайдеров.</p>
|
||||
</GlassSurface>
|
||||
<section className="polygon-run-message">
|
||||
<span className="section-eyebrow">ПОЛИГОН / ПРОГОНЫ</span>
|
||||
<h2>Открываем запись</h2>
|
||||
<p>Читаем индекс кадров и готовим покадровый просмотр.</p>
|
||||
</section>
|
||||
</div>
|
||||
);
|
||||
}
|
||||
@@ -215,19 +349,18 @@ export function PolygonRunWorkspace({ route }: PolygonRunWorkspaceProps) {
|
||||
if (error) {
|
||||
return (
|
||||
<div className="standard-workspace polygon-run-workspace">
|
||||
<PolygonLivePanel />
|
||||
<GlassSurface className="polygon-run-message" padding="lg">
|
||||
<section className="polygon-run-message">
|
||||
<StatusBadge tone="danger">Данные недоступны</StatusBadge>
|
||||
<h2>UI-0 не может открыть прогон</h2>
|
||||
<h2>Не удалось открыть прогон</h2>
|
||||
<p>{error}</p>
|
||||
<Button
|
||||
size="compact"
|
||||
variant="secondary"
|
||||
onClick={() => setReloadGeneration((value) => value + 1)}
|
||||
>
|
||||
Повторить чтение
|
||||
Повторить
|
||||
</Button>
|
||||
</GlassSurface>
|
||||
</section>
|
||||
</div>
|
||||
);
|
||||
}
|
||||
@@ -235,12 +368,11 @@ export function PolygonRunWorkspace({ route }: PolygonRunWorkspaceProps) {
|
||||
if (!detail) {
|
||||
return (
|
||||
<div className="standard-workspace polygon-run-workspace">
|
||||
<PolygonLivePanel />
|
||||
<GlassSurface className="polygon-run-message" padding="lg">
|
||||
<StatusBadge tone="neutral">Журнал пуст</StatusBadge>
|
||||
<h2>Квалификационных прогонов пока нет</h2>
|
||||
<p>Экран появится автоматически после публикации первого журнала в read-only источник.</p>
|
||||
</GlassSurface>
|
||||
<section className="polygon-run-message">
|
||||
<span className="section-eyebrow">ПОЛИГОН / ПРОГОНЫ</span>
|
||||
<h2>Записей пока нет</h2>
|
||||
<p>Здесь появятся replay- и simulation-прогоны после публикации результатов.</p>
|
||||
</section>
|
||||
</div>
|
||||
);
|
||||
}
|
||||
@@ -248,82 +380,236 @@ export function PolygonRunWorkspace({ route }: PolygonRunWorkspaceProps) {
|
||||
const { run } = detail;
|
||||
return (
|
||||
<div className="standard-workspace polygon-run-workspace">
|
||||
<PolygonLivePanel />
|
||||
<section className="workspace-lead workspace-lead--compact">
|
||||
<section className="polygon-review-lead">
|
||||
<div>
|
||||
<span className="section-eyebrow">ПОЛИГОН / КВАЛИФИКАЦИОННЫЙ ПРОГОН</span>
|
||||
<h2>{run.runId}</h2>
|
||||
<span className="section-eyebrow">ПОЛИГОН / ЗАПИСЬ ДАТАСЕТА</span>
|
||||
<h2>{qualification ? "GOOSE · Ground segmentation" : run.scenarioGeneration}</h2>
|
||||
<p>
|
||||
Канонический архив Mission Core. Lifecycle live-контура отделён от истории;
|
||||
команд физическим актуаторам и реального управления здесь нет.
|
||||
{qualification
|
||||
? `${qualification.frameCount} кадров · Current и Patchwork++ против публичной разметки`
|
||||
: "Архивный прогон без покадрового perception review."}
|
||||
</p>
|
||||
</div>
|
||||
<div className="polygon-run-lead-status">
|
||||
<div>
|
||||
<StatusBadge tone={stateTone(run.state)}>{stateLabels[run.state]}</StatusBadge>
|
||||
<span>read-only · {run.reproducibilityTier}</span>
|
||||
{catalog && catalog.items.length > 1 ? (
|
||||
<select
|
||||
aria-label="Выбрать прогон"
|
||||
value={run.runId}
|
||||
onChange={(event) => setSelectedRunId(event.target.value)}
|
||||
>
|
||||
{catalog.items.map((item) => (
|
||||
<option key={item.runId} value={item.runId}>{item.runId}</option>
|
||||
))}
|
||||
</select>
|
||||
) : null}
|
||||
</div>
|
||||
</section>
|
||||
|
||||
<section className="polygon-run-metrics" aria-label="Сводка прогона">
|
||||
<div>
|
||||
<span>Состояние</span>
|
||||
<strong>{stateLabels[run.state]}</strong>
|
||||
<small>{run.terminalReason ?? "терминальная причина отсутствует"}</small>
|
||||
</div>
|
||||
<div>
|
||||
<span>Провайдеры</span>
|
||||
<strong>{run.providers.length}</strong>
|
||||
<small>{run.providerIds.join(" · ")}</small>
|
||||
</div>
|
||||
<div>
|
||||
<span>События</span>
|
||||
<strong>{detail.eventsTotal}</strong>
|
||||
<small>{detail.eventsTruncated ? "показан последний фрагмент" : "журнал целиком"}</small>
|
||||
</div>
|
||||
<div>
|
||||
<span>Команды</span>
|
||||
<strong>{detail.commandCount}</strong>
|
||||
<small>содержимое не публикуется UI-0</small>
|
||||
</div>
|
||||
</section>
|
||||
|
||||
{qualification ? (
|
||||
<section className="polygon-qualification" aria-label="Квалификация ground provider">
|
||||
<header className="polygon-qualification__heading">
|
||||
<div>
|
||||
<span className="section-eyebrow">GOOSE VALIDATION · {qualification.frameCount} КАДРОВ</span>
|
||||
<h3>Current против Patchwork++</h3>
|
||||
<p>
|
||||
Публичная разметка проверяет переносимость ground pipeline. Результат остаётся
|
||||
shadow-only и не даёт права на навигацию или safety.
|
||||
</p>
|
||||
</div>
|
||||
<StatusBadge tone={qualification.decision.passed ? "success" : "danger"}>
|
||||
{qualification.decision.passed ? "Shadow candidate" : "Gate не пройден"}
|
||||
</StatusBadge>
|
||||
</header>
|
||||
|
||||
<div className="polygon-qualification__providers">
|
||||
{([
|
||||
["Current", qualification.current],
|
||||
["Patchwork++", qualification.patchwork],
|
||||
] as const).map(([label, aggregate]) => (
|
||||
<article key={label}>
|
||||
<strong>{label}</strong>
|
||||
<dl>
|
||||
<div><dt>Ground IoU</dt><dd>{formatPercent(aggregate.micro.groundIou)}</dd></div>
|
||||
<div><dt>Natural ground</dt><dd>{formatPercent(aggregate.micro.naturalGroundRecall)}</dd></div>
|
||||
<div><dt>Obstacle recall</dt><dd>{formatPercent(aggregate.micro.obstacleNonGroundRecall)}</dd></div>
|
||||
<div><dt>Latency p95</dt><dd>{formatMilliseconds(aggregate.latencyMs.p95)}</dd></div>
|
||||
</dl>
|
||||
</article>
|
||||
))}
|
||||
</div>
|
||||
|
||||
<div className="polygon-qualification__grid">
|
||||
<article className="polygon-qualification__checks">
|
||||
<span className="section-eyebrow">ЗАРАНЕЕ ЗАФИКСИРОВАННЫЕ GATES</span>
|
||||
{qualification && review ? (
|
||||
<>
|
||||
<section className="polygon-review-player" aria-label="Покадровый просмотр GOOSE">
|
||||
<header className="polygon-review-player__header">
|
||||
<div>
|
||||
<span className="section-eyebrow">КАДР {selectedSummary
|
||||
? selectedSummary.sequence + 1
|
||||
: "—"} / {review.frameCount}</span>
|
||||
<strong>{selectedSummary?.frameId ?? "Загружаем запись"}</strong>
|
||||
</div>
|
||||
<div className="polygon-review-mode" aria-label="Режим визуализации">
|
||||
{viewModes.map(([mode, label]) => (
|
||||
<button
|
||||
type="button"
|
||||
key={mode}
|
||||
data-active={reviewMode === mode ? "true" : undefined}
|
||||
onClick={() => setReviewMode(mode)}
|
||||
>
|
||||
{label}
|
||||
</button>
|
||||
))}
|
||||
</div>
|
||||
</header>
|
||||
|
||||
<div className="polygon-review-stage">
|
||||
{scene ? (
|
||||
<LidarGroundPointCloud frame={scene} mode={reviewMode} />
|
||||
) : (
|
||||
<div className="polygon-review-stage__loading">Загружаем кадр…</div>
|
||||
)}
|
||||
<div className="polygon-review-stage__legend">
|
||||
<strong>{viewModes.find(([mode]) => mode === reviewMode)?.[1]}</strong>
|
||||
<span>{modeExplanation(reviewMode)}</span>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
{selectedSummary ? (
|
||||
<div className="polygon-review-frame-metrics">
|
||||
<article>
|
||||
<span>Current · Ground IoU</span>
|
||||
<strong>{formatPercent(selectedSummary.current.groundIou)}</strong>
|
||||
<small>прогноз против эталона</small>
|
||||
</article>
|
||||
<article>
|
||||
<span>Patchwork++ · Ground IoU</span>
|
||||
<strong>{formatPercent(selectedSummary.patchwork.groundIou)}</strong>
|
||||
<small>прогноз против эталона</small>
|
||||
</article>
|
||||
<article data-positive={selectedSummary.groundIouDelta >= 0 ? "true" : "false"}>
|
||||
<span>Разница на этом кадре</span>
|
||||
<strong>{formatDelta(selectedSummary.groundIouDelta)}</strong>
|
||||
<small>Patchwork++ минус Current</small>
|
||||
</article>
|
||||
<article>
|
||||
<span>Natural ground · PW++</span>
|
||||
<strong>{formatPercent(
|
||||
selectedSummary.patchwork.naturalGroundRecall,
|
||||
)}</strong>
|
||||
<small>recall на естественном грунте</small>
|
||||
</article>
|
||||
</div>
|
||||
) : null}
|
||||
|
||||
<div className="polygon-review-controls">
|
||||
<button
|
||||
type="button"
|
||||
aria-label={playing ? "Пауза" : "Воспроизвести"}
|
||||
onClick={() => setPlaying((value) => !value)}
|
||||
>
|
||||
{playing ? "Пауза" : "Play"}
|
||||
</button>
|
||||
<button
|
||||
type="button"
|
||||
aria-label="Предыдущий кадр"
|
||||
disabled={selectedPosition <= 0}
|
||||
onClick={() => selectPosition(selectedPosition - 1)}
|
||||
>
|
||||
←
|
||||
</button>
|
||||
<button
|
||||
type="button"
|
||||
aria-label="Следующий кадр"
|
||||
disabled={selectedPosition >= orderedFrames.length - 1}
|
||||
onClick={() => selectPosition(selectedPosition + 1)}
|
||||
>
|
||||
→
|
||||
</button>
|
||||
<input
|
||||
type="range"
|
||||
min={0}
|
||||
max={Math.max(0, orderedFrames.length - 1)}
|
||||
value={selectedPosition}
|
||||
aria-label="Позиция в записи"
|
||||
onChange={(event) => selectPosition(Number(event.target.value))}
|
||||
/>
|
||||
<span>{selectedPosition + 1} / {orderedFrames.length}</span>
|
||||
</div>
|
||||
|
||||
<div className="polygon-review-order">
|
||||
<div>
|
||||
{orderLabels.map(([order, label]) => (
|
||||
<button
|
||||
type="button"
|
||||
key={order}
|
||||
data-active={reviewOrder === order ? "true" : undefined}
|
||||
onClick={() => changeOrder(order)}
|
||||
>
|
||||
{label}
|
||||
</button>
|
||||
))}
|
||||
</div>
|
||||
<div>
|
||||
<button
|
||||
type="button"
|
||||
onClick={() => bestFrame && setSelectedFrameId(bestFrame.frameId)}
|
||||
>
|
||||
Лучший прирост
|
||||
</button>
|
||||
<button
|
||||
type="button"
|
||||
onClick={() => worstFrame && setSelectedFrameId(worstFrame.frameId)}
|
||||
>
|
||||
Худшее ухудшение
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div
|
||||
className="polygon-review-timeline"
|
||||
aria-label={`Все ${orderedFrames.length} кадров`}
|
||||
>
|
||||
{orderedFrames.map((frame, index) => (
|
||||
<button
|
||||
type="button"
|
||||
key={frame.frameId}
|
||||
aria-label={`Кадр ${frame.sequence + 1}: ${formatDelta(frame.groundIouDelta)}`}
|
||||
title={`${frame.frameId} · ${formatDelta(frame.groundIouDelta)}`}
|
||||
data-active={frame.frameId === selectedFrameId ? "true" : undefined}
|
||||
style={{ "--frame-color": frameColor(frame.groundIouDelta) } as CSSProperties}
|
||||
onClick={() => selectPosition(index)}
|
||||
/>
|
||||
))}
|
||||
</div>
|
||||
<p className="polygon-review-timeline-note">
|
||||
Каждая риска — доступный кадр. Светлая означает улучшение IoU, красная —
|
||||
ухудшение. Можно нажать на любую и проверить результат вручную.
|
||||
</p>
|
||||
</section>
|
||||
|
||||
<section className="polygon-review-summary">
|
||||
<header>
|
||||
<div>
|
||||
<span className="section-eyebrow">ВЕСЬ VALIDATION SPLIT</span>
|
||||
<h3>Что именно сравнивалось</h3>
|
||||
</div>
|
||||
<StatusBadge tone={qualification.decision.passed ? "success" : "danger"}>
|
||||
{qualification.decision.passed ? "27 / 27 проверок" : "Есть проваленные проверки"}
|
||||
</StatusBadge>
|
||||
</header>
|
||||
<p>
|
||||
На каждом из {qualification.frameCount} нативных LiDAR-кадров оба алгоритма
|
||||
независимо решали одну задачу: какие точки являются землёй. Их ответы
|
||||
сравнивались с публичной point-aligned разметкой GOOSE.
|
||||
</p>
|
||||
<div>
|
||||
<article>
|
||||
<span>Ground IoU</span>
|
||||
<strong>{formatPercent(qualification.current.micro.groundIou)}</strong>
|
||||
<i>→</i>
|
||||
<strong>{formatPercent(qualification.patchwork.micro.groundIou)}</strong>
|
||||
<small>{formatDelta(
|
||||
qualification.patchwork.micro.groundIou
|
||||
- qualification.current.micro.groundIou,
|
||||
)}</small>
|
||||
</article>
|
||||
<article>
|
||||
<span>Natural ground recall</span>
|
||||
<strong>{formatPercent(
|
||||
qualification.current.micro.naturalGroundRecall,
|
||||
)}</strong>
|
||||
<i>→</i>
|
||||
<strong>{formatPercent(
|
||||
qualification.patchwork.micro.naturalGroundRecall,
|
||||
)}</strong>
|
||||
<small>{formatDelta(
|
||||
qualification.patchwork.micro.naturalGroundRecall
|
||||
- qualification.current.micro.naturalGroundRecall,
|
||||
)}</small>
|
||||
</article>
|
||||
<article>
|
||||
<span>Latency p95</span>
|
||||
<strong>{formatMilliseconds(qualification.current.latencyMs.p95)}</strong>
|
||||
<i>→</i>
|
||||
<strong>{formatMilliseconds(qualification.patchwork.latencyMs.p95)}</strong>
|
||||
<small>на кадр</small>
|
||||
</article>
|
||||
</div>
|
||||
</section>
|
||||
|
||||
<details className="polygon-review-analysis">
|
||||
<summary>Полные метрики и деградации</summary>
|
||||
<div className="polygon-review-analysis__content">
|
||||
<section>
|
||||
<span className="section-eyebrow">ACCEPTANCE GATES</span>
|
||||
{qualification.checks.map((check) => (
|
||||
<p key={check.checkId} data-passed={check.passed ? "true" : "false"}>
|
||||
<i aria-hidden="true" />
|
||||
@@ -335,12 +621,9 @@ export function PolygonRunWorkspace({ route }: PolygonRunWorkspaceProps) {
|
||||
</code>
|
||||
</p>
|
||||
))}
|
||||
</div>
|
||||
</article>
|
||||
|
||||
<article className="polygon-qualification__degradations">
|
||||
<span className="section-eyebrow">ДЕТЕРМИНИРОВАННЫЕ ДЕГРАДАЦИИ</span>
|
||||
<div>
|
||||
</section>
|
||||
<section>
|
||||
<span className="section-eyebrow">ДЕГРАДАЦИИ</span>
|
||||
{Object.entries(qualification.degradations).map(([profileId, aggregate]) => (
|
||||
<p key={profileId}>
|
||||
<strong>{profileId}</strong>
|
||||
@@ -349,194 +632,59 @@ export function PolygonRunWorkspace({ route }: PolygonRunWorkspaceProps) {
|
||||
<span>p95 {formatMilliseconds(aggregate.latencyMs.p95)}</span>
|
||||
</p>
|
||||
))}
|
||||
</div>
|
||||
</article>
|
||||
</div>
|
||||
|
||||
<div className="polygon-qualification__failures">
|
||||
<article>
|
||||
<span className="section-eyebrow">ХУДШИЕ КАДРЫ</span>
|
||||
<div>
|
||||
{qualification.worstFrames.slice(0, 5).map((frame) => (
|
||||
<button
|
||||
type="button"
|
||||
key={frame.frameId}
|
||||
data-active={frame.frameId === selectedFailureFrameId ? "true" : undefined}
|
||||
onClick={() => setSelectedFailureFrameId(frame.frameId)}
|
||||
>
|
||||
<span>{frame.frameId}</span>
|
||||
<code>
|
||||
PW {formatPercent(frame.patchworkGroundIou)} ·
|
||||
Δ {formatPercent(frame.groundIouDelta)}
|
||||
</code>
|
||||
</button>
|
||||
))}
|
||||
</div>
|
||||
</article>
|
||||
<article className="polygon-qualification__viewer">
|
||||
<header>
|
||||
<div>
|
||||
<span className="section-eyebrow">РАЗБОР ОШИБКИ</span>
|
||||
<strong>{failurePreview?.frameId ?? "Загружаем кадр"}</strong>
|
||||
</div>
|
||||
<div className="lidar-ground-modes" aria-label="Режим отображения ошибки">
|
||||
{([
|
||||
["ground-truth", "Ground truth"],
|
||||
["current", "Current"],
|
||||
["candidate", "Patchwork++"],
|
||||
["disagreement", "Ошибка Current"],
|
||||
["candidate-disagreement", "Ошибка PW++"],
|
||||
] as const).map(([mode, label]) => (
|
||||
<button
|
||||
type="button"
|
||||
key={mode}
|
||||
data-active={failureMode === mode ? "true" : undefined}
|
||||
onClick={() => setFailureMode(mode)}
|
||||
>
|
||||
{label}
|
||||
</button>
|
||||
))}
|
||||
</div>
|
||||
</header>
|
||||
{failureFrame ? (
|
||||
<LidarGroundPointCloud frame={failureFrame} mode={failureMode} />
|
||||
) : (
|
||||
<div className="polygon-qualification__viewer-empty">
|
||||
Читаем bounded preview из sealed-артефакта прогона…
|
||||
</div>
|
||||
)}
|
||||
</article>
|
||||
</div>
|
||||
</section>
|
||||
) : qualificationError ? (
|
||||
<div className="polygon-qualification__error">
|
||||
Квалификационный отчёт недоступен: {qualificationError}
|
||||
</div>
|
||||
) : null}
|
||||
|
||||
<div className="polygon-run-layout">
|
||||
<GlassSurface className="polygon-run-catalog" padding="lg">
|
||||
<header className="polygon-run-panel-heading">
|
||||
<div>
|
||||
<span className="section-eyebrow">ПОСЛЕДНИЕ ПРОГОНЫ</span>
|
||||
<h3>{catalog?.total ?? 0} в источнике</h3>
|
||||
</section>
|
||||
</div>
|
||||
<Button
|
||||
size="compact"
|
||||
variant="secondary"
|
||||
onClick={() => setReloadGeneration((value) => value + 1)}
|
||||
>
|
||||
Обновить
|
||||
</Button>
|
||||
</header>
|
||||
<div className="polygon-run-list">
|
||||
{catalog?.items.map((item) => (
|
||||
<button
|
||||
type="button"
|
||||
key={item.runId}
|
||||
data-active={item.runId === run.runId ? "true" : undefined}
|
||||
onClick={() => setSelectedRunId(item.runId)}
|
||||
>
|
||||
<i data-state={item.state} aria-hidden="true" />
|
||||
<span>
|
||||
<strong>{item.runId}</strong>
|
||||
<small>{formatTimestamp(item.createdAtUtc)}</small>
|
||||
</span>
|
||||
<em>{stateLabels[item.state]}</em>
|
||||
</button>
|
||||
))}
|
||||
</div>
|
||||
</GlassSurface>
|
||||
</details>
|
||||
</>
|
||||
) : qualification ? (
|
||||
<section className="polygon-review-unavailable">
|
||||
<span className="section-eyebrow">ПОКАДРОВЫЙ ПРОСМОТР</span>
|
||||
<h3>Review-pack ещё не опубликован</h3>
|
||||
<p>
|
||||
Числовой отчёт есть, но мы не показываем его как достаточный результат:
|
||||
оператор должен иметь возможность проверить все {qualification.frameCount} кадров.
|
||||
</p>
|
||||
{reviewError ? <small>{reviewError}</small> : null}
|
||||
</section>
|
||||
) : (
|
||||
<section className="polygon-review-unavailable">
|
||||
<span className="section-eyebrow">АРХИВНЫЙ ПРОГОН</span>
|
||||
<h3>В этой записи нет perception review</h3>
|
||||
<p>Технические доказательства доступны в раскрытии ниже.</p>
|
||||
</section>
|
||||
)}
|
||||
|
||||
<GlassSurface className="polygon-run-identity" padding="lg">
|
||||
<span className="section-eyebrow">ИДЕНТИЧНОСТЬ И ГРАНИЦА</span>
|
||||
<details className="polygon-run-technical">
|
||||
<summary>Технические детали прогона</summary>
|
||||
<div className="polygon-run-technical__content">
|
||||
<dl>
|
||||
<div><dt>Run ID</dt><dd>{run.runId}</dd></div>
|
||||
<div><dt>Сценарий</dt><dd>{run.scenarioGeneration}</dd></div>
|
||||
<div><dt>Профиль</dt><dd>{run.profileGeneration}</dd></div>
|
||||
<div><dt>Host profile</dt><dd>{run.hostProfileId}</dd></div>
|
||||
<div><dt>Mission Core</dt><dd><code>{run.missionCoreCommit.slice(0, 12)}</code></dd></div>
|
||||
<div><dt>Clock</dt><dd><code>{run.clockDomain}</code></dd></div>
|
||||
<div><dt>Seed</dt><dd>{run.seed}</dd></div>
|
||||
<div><dt>Mission Core</dt><dd>{run.missionCoreCommit.slice(0, 12)}</dd></div>
|
||||
<div><dt>Начало</dt><dd>{formatTimestamp(run.startedAtUtc)}</dd></div>
|
||||
<div><dt>Завершение</dt><dd>{formatTimestamp(run.endedAtUtc)}</dd></div>
|
||||
</dl>
|
||||
<div className="polygon-run-safety-boundary">
|
||||
<StatusBadge tone="success">Virtual only</StatusBadge>
|
||||
<p>
|
||||
Actuator authority: {run.authority.actuatorAuthority ? "да" : "нет"} ·
|
||||
direct setpoints: {run.authority.directActuatorSetpointsAllowed ? "да" : "нет"} ·
|
||||
navigation/safety accepted: {run.authority.navigationOrSafetyAccepted ? "да" : "нет"}
|
||||
</p>
|
||||
</div>
|
||||
</GlassSurface>
|
||||
</div>
|
||||
|
||||
<section className="polygon-run-providers" aria-label="Провайдеры прогона">
|
||||
{run.providers.map((provider) => (
|
||||
<div key={provider.identifier}>
|
||||
<i aria-hidden="true" />
|
||||
<span>
|
||||
<strong>{provider.identifier}</strong>
|
||||
<small>{provider.version}</small>
|
||||
</span>
|
||||
<code>{provider.revision.slice(0, 16)}</code>
|
||||
</div>
|
||||
))}
|
||||
</section>
|
||||
|
||||
<GlassSurface className="polygon-run-events" padding="lg">
|
||||
<header className="polygon-run-panel-heading">
|
||||
<div>
|
||||
<span className="section-eyebrow">ЖУРНАЛ СОБЫТИЙ</span>
|
||||
<h3>Последние переходы и факты</h3>
|
||||
</div>
|
||||
<span>revision {run.revision}</span>
|
||||
</header>
|
||||
<div className="polygon-run-event-list">
|
||||
{visibleEvents.map((event) => (
|
||||
<article key={event.sequence}>
|
||||
<span className="polygon-run-event-sequence">
|
||||
{String(event.sequence).padStart(3, "0")}
|
||||
</span>
|
||||
<div>
|
||||
<strong>{event.eventType}</strong>
|
||||
<small>{formatTimestamp(event.observedAtUtc)}</small>
|
||||
<code>{JSON.stringify(event.payload)}</code>
|
||||
</div>
|
||||
<span>{event.simTimeNs === null ? "host" : `${event.simTimeNs} ns`}</span>
|
||||
</article>
|
||||
))}
|
||||
<section>
|
||||
<h4>Провайдеры</h4>
|
||||
{run.providers.map((provider) => (
|
||||
<p key={provider.identifier}>
|
||||
<strong>{provider.identifier}</strong>
|
||||
<span>{provider.version} · {provider.revision.slice(0, 16)}</span>
|
||||
</p>
|
||||
))}
|
||||
</section>
|
||||
<section>
|
||||
<h4>Артефакты</h4>
|
||||
{detail.artifacts.map((artifact) => (
|
||||
<p key={artifact.artifactId}>
|
||||
<strong>{artifact.kind}</strong>
|
||||
<span>{formatBytes(artifact.byteLength)} · {artifact.sha256.slice(0, 12)}</span>
|
||||
</p>
|
||||
))}
|
||||
</section>
|
||||
</div>
|
||||
</GlassSurface>
|
||||
|
||||
<div className="polygon-run-evidence-grid">
|
||||
<GlassSurface className="polygon-run-artifacts" padding="lg">
|
||||
<span className="section-eyebrow">АРТЕФАКТЫ</span>
|
||||
<h3>{detail.artifacts.length || run.artifactCount} ссылок в индексе</h3>
|
||||
{detail.artifacts.length ? (
|
||||
<div>
|
||||
{detail.artifacts.map((artifact) => (
|
||||
<article key={artifact.artifactId}>
|
||||
<span>
|
||||
<strong>{artifact.kind}</strong>
|
||||
<small>{artifact.relativePath}</small>
|
||||
</span>
|
||||
<code>{artifact.sha256.slice(0, 12)} · {formatBytes(artifact.byteLength)}</code>
|
||||
</article>
|
||||
))}
|
||||
</div>
|
||||
) : (
|
||||
<p>В журнале прогона нет зарегистрированных artifact-index записей.</p>
|
||||
)}
|
||||
</GlassSurface>
|
||||
<GlassSurface className="polygon-run-limitations" padding="lg">
|
||||
<span className="section-eyebrow">ЧЕСТНАЯ ГРАНИЦА UI-0</span>
|
||||
<h3>Что этот результат ещё не доказывает</h3>
|
||||
<ul>
|
||||
{detail.limitations.map((limitation) => <li key={limitation}>{limitation}</li>)}
|
||||
</ul>
|
||||
</GlassSurface>
|
||||
</div>
|
||||
</details>
|
||||
</div>
|
||||
);
|
||||
}
|
||||
|
||||
@@ -6,6 +6,8 @@ import { createServer } from "vite";
|
||||
let server;
|
||||
let decodeGroundQualification;
|
||||
let decodeGroundFailurePreview;
|
||||
let decodeGroundReview;
|
||||
let decodeGroundReviewFrame;
|
||||
let fetchGroundQualification;
|
||||
let GroundQualificationContractError;
|
||||
|
||||
@@ -70,6 +72,8 @@ before(async () => {
|
||||
({
|
||||
decodeGroundQualification,
|
||||
decodeGroundFailurePreview,
|
||||
decodeGroundReview,
|
||||
decodeGroundReviewFrame,
|
||||
fetchGroundQualification,
|
||||
GroundQualificationContractError,
|
||||
} = await server.ssrLoadModule("/src/core/polygon/groundQualification.ts"));
|
||||
@@ -132,3 +136,61 @@ test("treats missing qualification as a generic run", async () => {
|
||||
});
|
||||
assert.equal(result, null);
|
||||
});
|
||||
|
||||
test("decodes a complete ordered frame review", () => {
|
||||
const decoded = decodeGroundReview({
|
||||
schema_version: "missioncore.polygon-ground-review/v1",
|
||||
access: "read-only",
|
||||
run_id: "goose-ground-abc",
|
||||
identity_sha256: "b".repeat(64),
|
||||
source_id: "goose-3d/v2025-08-22",
|
||||
frame_count: 2,
|
||||
preview_points: 12_000,
|
||||
frames: [0, 1].map((sequence) => ({
|
||||
sequence,
|
||||
frame_id: `2022-07-22_flight__0071_000${sequence}`,
|
||||
source_point_count: 100_000,
|
||||
point_count: 12_000,
|
||||
current: {
|
||||
ground_iou: 0.5,
|
||||
natural_ground_recall: 0.55,
|
||||
obstacle_non_ground_recall: 0.91,
|
||||
latency_ms: 3_000,
|
||||
},
|
||||
patchworkpp: {
|
||||
ground_iou: 0.7,
|
||||
natural_ground_recall: 0.75,
|
||||
obstacle_non_ground_recall: 0.94,
|
||||
latency_ms: 20,
|
||||
},
|
||||
ground_iou_delta: 0.2,
|
||||
})),
|
||||
});
|
||||
assert.equal(decoded.frames.length, 2);
|
||||
assert.equal(decoded.frames[1].sequence, 1);
|
||||
assert.equal(decoded.frames[0].patchwork.groundIou, 0.7);
|
||||
});
|
||||
|
||||
test("decodes a point-aligned review frame with intensity", () => {
|
||||
const decoded = decodeGroundReviewFrame({
|
||||
schema_version: "missioncore.polygon-ground-review-frame/v1",
|
||||
access: "read-only",
|
||||
run_id: "goose-ground-abc",
|
||||
source_id: "goose-3d/v2025-08-22",
|
||||
frame_id: "2022-07-22_flight__0071_0001",
|
||||
source_point_count: 2,
|
||||
point_count: 2,
|
||||
sampling: "deterministic-even-index",
|
||||
points_xyz_m: [[0, 0, 0], [1, 1, 1]],
|
||||
intensity_0_255: [12, 255],
|
||||
ground_truth_ground: [1, 0],
|
||||
evaluated: [1, 1],
|
||||
current_ground: [0, 0],
|
||||
patchwork_ground: [1, 0],
|
||||
current_disagreement: [1, 0],
|
||||
patchwork_disagreement: [0, 0],
|
||||
safety: { navigation_or_safety_accepted: false },
|
||||
});
|
||||
assert.deepEqual(decoded.intensity0To255, [12, 255]);
|
||||
assert.equal(decoded.frameId, "2022-07-22_flight__0071_0001");
|
||||
});
|
||||
|
||||
Reference in New Issue
Block a user