feat(simulation): add Polygon live worker gateway

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

@@ -0,0 +1,225 @@
+import { useEffect, useMemo, useState } from "react";
+import {
+  Button,
+  GlassSurface,
+  StatusBadge,
+} from "@nodedc/ui-react";
+
+import {
+  fetchPolygonVehicleState,
+  fetchPolygonWorkerStatus,
+  startPolygonWorker,
+  stopPolygonWorker,
+  type PolygonVehicleState,
+  type PolygonWorkerStatus,
+} from "../core/polygon/liveWorker";
+
+function message(error: unknown): string {
+  if (error instanceof Error && error.message.trim()) return error.message;
+  return "Simulation Worker не подтвердил операцию.";
+}
+
+function yawDegrees(state: PolygonVehicleState): number {
+  const { x, y, z, w } = state.orientation;
+  return Math.atan2(2 * (w * z + x * y), 1 - 2 * (y * y + z * z)) * 180 / Math.PI;
+}
+
+function trajectoryPoints(states: PolygonVehicleState[]): {
+  points: string;
+  roverX: number;
+  roverY: number;
+} {
+  if (!states.length) return { points: "", roverX: 50, roverY: 50 };
+  const xs = states.map(({ position }) => position.x);
+  const ys = states.map(({ position }) => position.y);
+  const minimumX = Math.min(...xs);
+  const maximumX = Math.max(...xs);
+  const minimumY = Math.min(...ys);
+  const maximumY = Math.max(...ys);
+  const span = Math.max(maximumX - minimumX, maximumY - minimumY, 4);
+  const centerX = (minimumX + maximumX) / 2;
+  const centerY = (minimumY + maximumY) / 2;
+  const project = (state: PolygonVehicleState) => ({
+    x: 50 + ((state.position.x - centerX) / span) * 80,
+    y: 50 - ((state.position.y - centerY) / span) * 80,
+  });
+  const projected = states.map(project);
+  const rover = projected[projected.length - 1];
+  return {
+    points: projected.map(({ x, y }) => `${x.toFixed(2)},${y.toFixed(2)}`).join(" "),
+    roverX: rover.x,
+    roverY: rover.y,
+  };
+}
+
+export function PolygonLivePanel() {
+  const [worker, setWorker] = useState<PolygonWorkerStatus | null>(null);
+  const [live, setLive] = useState<PolygonVehicleState | null>(null);
+  const [trajectory, setTrajectory] = useState<PolygonVehicleState[]>([]);
+  const [error, setError] = useState<string | null>(null);
+  const [actionBusy, setActionBusy] = useState(false);
+  const [generation, setGeneration] = useState(0);
+
+  useEffect(() => {
+    if (actionBusy) return;
+    const controller = new AbortController();
+    let timer: number | null = null;
+    const poll = async () => {
+      try {
+        const status = await fetchPolygonWorkerStatus({ signal: controller.signal });
+        if (controller.signal.aborted) return;
+        setWorker(status);
+        setError(null);
+        if (status.available && status.activeRunId && status.runState === "running") {
+          const state = await fetchPolygonVehicleState({ signal: controller.signal });
+          if (controller.signal.aborted) return;
+          setLive(state);
+          setTrajectory((current) => {
+            const sameRun = current[0]?.runId === state.runId;
+            const next = sameRun ? [...current, state] : [state];
+            return next.slice(-120);
+          });
+        } else {
+          setLive(null);
+          if (!status.activeRunId) setTrajectory([]);
+        }
+      } catch (pollError) {
+        if (controller.signal.aborted) return;
+        setError(message(pollError));
+      } finally {
+        if (!controller.signal.aborted) {
+          timer = window.setTimeout(() => void poll(), 1_000);
+        }
+      }
+    };
+    void poll();
+    return () => {
+      controller.abort();
+      if (timer !== null) window.clearTimeout(timer);
+    };
+  }, [actionBusy, generation]);
+
+  const projected = useMemo(() => trajectoryPoints(trajectory), [trajectory]);
+  const runActive = Boolean(worker?.activeRunId);
+
+  const runAction = async () => {
+    if (!worker?.controlAvailable || actionBusy) return;
+    setActionBusy(true);
+    setError(null);
+    try {
+      const idempotencyKey = crypto.randomUUID();
+      const next = worker.activeRunId
+        ? await stopPolygonWorker(worker.activeRunId, { idempotencyKey })
+        : await startPolygonWorker({ idempotencyKey });
+      setWorker(next);
+      if (!next.activeRunId) {
+        setLive(null);
+        setTrajectory([]);
+      }
+      setGeneration((value) => value + 1);
+    } catch (actionError) {
+      setError(message(actionError));
+    } finally {
+      setActionBusy(false);
+    }
+  };
+
+  return (
+    <GlassSurface className="polygon-live-panel" padding="lg">
+      <header className="polygon-live-heading">
+        <div>
+          <span className="section-eyebrow">ПОЛИГОН / LIVE</span>
+          <h2>Stock Ackermann Rover</h2>
+          <p>PX4/Gazebo исполняются на отдельном worker; браузер показывает канонический срез.</p>
+        </div>
+        <div>
+          <StatusBadge
+            tone={worker?.available ? (runActive ? "accent" : "success") : "neutral"}
+          >
+            {worker?.available ? (runActive ? "Симуляция идёт" : "Worker готов") : "Worker offline"}
+          </StatusBadge>
+          <Button
+            size="compact"
+            variant={runActive ? "secondary" : "primary"}
+            disabled={!worker?.controlAvailable || actionBusy}
+            onClick={() => void runAction()}
+          >
+            {actionBusy ? "Ожидаем PX4/Gazebo…" : runActive ? "Остановить" : "Запустить"}
+          </Button>
+        </div>
+      </header>
+
+      <div className="polygon-live-layout">
+        <div className="polygon-live-map" aria-label="Live-траектория ровера в ENU">
+          <svg viewBox="0 0 100 100" role="img">
+            <defs>
+              <pattern id="polygon-grid" width="10" height="10" patternUnits="userSpaceOnUse">
+                <path d="M 10 0 L 0 0 0 10" />
+              </pattern>
+              <radialGradient id="polygon-rover-glow">
+                <stop offset="0" stopColor="rgb(var(--nodedc-accent-rgb))" stopOpacity="0.9" />
+                <stop offset="1" stopColor="rgb(var(--nodedc-accent-rgb))" stopOpacity="0" />
+              </radialGradient>
+            </defs>
+            <rect width="100" height="100" fill="url(#polygon-grid)" />
+            <line x1="8" y1="92" x2="25" y2="92" className="polygon-live-axis-x" />
+            <line x1="8" y1="92" x2="8" y2="75" className="polygon-live-axis-y" />
+            <text x="27" y="94">E</text>
+            <text x="5" y="72">N</text>
+            {projected.points && (
+              <polyline points={projected.points} className="polygon-live-trajectory" />
+            )}
+            {live && (
+              <g
+                transform={
+                  `translate(${projected.roverX} ${projected.roverY}) rotate(${-yawDegrees(live)})`
+                }
+              >
+                <circle r="7" fill="url(#polygon-rover-glow)" />
+                <path d="M -3 -2.5 L 4 0 L -3 2.5 Z" className="polygon-live-rover" />
+              </g>
+            )}
+          </svg>
+          {!live && (
+            <div>
+              <strong>{worker?.available ? "Ровер не запущен" : "Нет связи с worker"}</strong>
+              <span>После старта здесь появится ground-truth траектория из Gazebo.</span>
+            </div>
+          )}
+          <small>map_enu · base_link_flu · diagnostic ground truth</small>
+        </div>
+
+        <div className="polygon-live-telemetry">
+          <div>
+            <span>Прогон</span>
+            <strong>{worker?.activeRunId ?? "—"}</strong>
+          </div>
+          <div>
+            <span>Sim time</span>
+            <strong>{live ? `${(live.simTimeNs / 1e9).toFixed(2)} s` : "—"}</strong>
+          </div>
+          <div>
+            <span>Позиция ENU</span>
+            <strong>
+              {live
+                ? `${live.position.x.toFixed(2)} · ${live.position.y.toFixed(2)} · ${live.position.z.toFixed(2)} m`
+                : "—"}
+            </strong>
+          </div>
+          <div>
+            <span>Провайдеры</span>
+            <strong>{worker?.providerIds.join(" · ") || "—"}</strong>
+          </div>
+          <div className="polygon-live-boundary">
+            <StatusBadge tone="success">Virtual only</StatusBadge>
+            <p>
+              Нет actuator authority. Live-поза диагностическая и пока не доказывает
+              приёмку PX4/ROS 2 telemetry, navigation или safety.
+            </p>
+          </div>
+          {error && <p className="polygon-live-error">{error}</p>}
+        </div>
+      </div>
+    </GlassSurface>
+  );
+}

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

@@ -13,6 +13,7 @@ import {
   type PolygonRunRoute,
   type PolygonRunState,
 } from "../core/polygon/runArchive";
+import { PolygonLivePanel } from "./PolygonLivePanel";
 
 interface PolygonRunWorkspaceProps {
   route: PolygonRunRoute;
@@ -113,6 +114,7 @@ export function PolygonRunWorkspace({ route }: PolygonRunWorkspaceProps) {
   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>
@@ -125,6 +127,7 @@ export function PolygonRunWorkspace({ route }: PolygonRunWorkspaceProps) {
   if (error) {
     return (
       <div className="standard-workspace polygon-run-workspace">
+        <PolygonLivePanel />
         <GlassSurface className="polygon-run-message" padding="lg">
           <StatusBadge tone="danger">Данные недоступны</StatusBadge>
           <h2>UI-0 не может открыть прогон</h2>
@@ -144,6 +147,7 @@ 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>
@@ -156,13 +160,14 @@ export function PolygonRunWorkspace({ route }: PolygonRunWorkspaceProps) {
   const { run } = detail;
   return (
     <div className="standard-workspace polygon-run-workspace">
+      <PolygonLivePanel />
       <section className="workspace-lead workspace-lead--compact">
         <div>
           <span className="section-eyebrow">ПОЛИГОН / КВАЛИФИКАЦИОННЫЙ ПРОГОН</span>
           <h2>{run.runId}</h2>
           <p>
-            Канонический журнал Mission Core. Экран не содержит lifecycle-операций,
-            команд управления или доступа к физическим актуаторам.
+            Канонический архив Mission Core. Lifecycle live-контура отделён от истории;
+            команд физическим актуаторам и реального управления здесь нет.
           </p>
         </div>
         <div className="polygon-run-lead-status">