fix(lab): enforce canonical replay runtime
This commit is contained in:
DCCONSTRUCTIONS
@@ -781,6 +781,8 @@ export function RecordedFmp4Player({
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onAdmissionChange,
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onPlaybackChange,
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onPlayingRejected,
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playbackAuthority = "media",
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playbackTransport = "segmented",
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}: {
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source: ObservationSourceDescriptor;
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playback?: RecordedObservationPlayback | null;
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@@ -793,6 +795,8 @@ export function RecordedFmp4Player({
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onAdmissionChange?: (state: RecordedCameraAdmissionState) => void;
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onPlaybackChange?: (playback: RecordedObservationPlayback) => void;
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onPlayingRejected?: () => void;
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playbackAuthority?: "media" | "host";
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playbackTransport?: "segmented" | "epoch-stream";
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}) {
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const videoRef = useRef<HTMLVideoElement>(null);
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const onAdmissionChangeRef = useRef(onAdmissionChange);
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@@ -888,7 +892,8 @@ export function RecordedFmp4Player({
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&& effectiveSegmentSequence !== requestedSegmentSequence,
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);
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const segmented = Boolean(
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requestedSegmentSequence !== null
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playbackTransport === "segmented"
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&& requestedSegmentSequence !== null
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&& Number.isInteger(requestedSegmentSequence)
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&& requestedSegmentSequence >= 1
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&&
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@@ -1201,6 +1206,11 @@ export function RecordedFmp4Player({
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|| segmentedRuntimeRef.current !== runtime
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|| runtime.target?.revision !== revision
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) return;
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// Canonical recorded LABs run one host-owned clock for camera and
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// spatial evidence. A transient MSE play() rejection (commonly a
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// pause/reset race while the next fragment is admitted) must stay a
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// decoder concern: the rolling target will retry and catch up.
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if (playbackAuthority === "host") return;
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onPlayingRejectedRef.current?.();
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setReadyGeneration(null);
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setErrorMessage("Запуск записанной камеры отклонён браузером.");
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@@ -1311,7 +1321,13 @@ export function RecordedFmp4Player({
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if (targetReadyAbortRef.current === targetReadyAbort) targetReadyAbortRef.current = null;
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if (runtime.onTargetBuffered === markBuffered) runtime.onTargetBuffered = null;
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};
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}, [archive?.byteLength, effectiveSegmentSequence, segmented, segmentedRuntimeGeneration]);
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}, [
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archive?.byteLength,
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effectiveSegmentSequence,
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playbackAuthority,
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segmented,
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segmentedRuntimeGeneration,
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]);
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useEffect(() => {
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const video = videoRef.current;
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@@ -1407,6 +1423,7 @@ export function RecordedFmp4Player({
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if (playback?.playing && !holdingForSegmentRecovery) {
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void video.play().catch(() => {
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if (playAttemptRevisionRef.current !== playAttemptRevision) return;
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if (playbackAuthority === "host") return;
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onPlayingRejectedRef.current?.();
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setReadyGeneration(null);
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setErrorMessage("Запуск записанной камеры отклонён браузером.");
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@@ -1427,6 +1444,7 @@ export function RecordedFmp4Player({
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epoch,
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holdingForSegmentRecovery,
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playback?.playing,
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playbackAuthority,
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playbackRate,
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segmented,
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visualState,
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@@ -1454,6 +1472,7 @@ export function RecordedFmp4Player({
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video.playbackRate = playbackRateRef.current;
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void video.play().catch(() => {
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if (cancelled || playAttemptRevisionRef.current !== playAttemptRevision) return;
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if (playbackAuthority === "host") return;
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onPlayingRejectedRef.current?.();
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});
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};
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@@ -1465,7 +1484,7 @@ export function RecordedFmp4Player({
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cancelled = true;
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for (const event of events) video.removeEventListener(event, queueResume);
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};
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}, [bufferRevision, playback?.playing, segmented, visualState]);
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}, [bufferRevision, playback?.playing, playbackAuthority, segmented, visualState]);
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useEffect(() => {
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const video = videoRef.current;
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@@ -0,0 +1,245 @@
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import { useCallback, useEffect, useState, type ReactNode } from "react";
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import { SegmentedControl, SplitPane, type SplitPaneOrientation } from "@nodedc/ui-react";
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import { LaboratoryEvidenceViewer } from "./LaboratoryEvidenceViewer";
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export const CANONICAL_RECORDED_LAB_REPLAY_CONTRACT =
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"missioncore.canonical-recorded-lab-replay/v1";
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export interface CanonicalRecordedLabMode<T extends string> {
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value: T;
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label: string;
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}
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/**
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* The interaction contract from the accepted recorded-LAB instrument.
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*
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* Keeping pane selection, collapse semantics, responsive split orientation,
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* expansion and splitter state here prevents individual experiments from
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* quietly growing their own replay behaviour. Experiments provide evidence
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* layers; they do not reimplement the laboratory shell.
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*/
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export function useCanonicalRecordedLabReplayState<
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TMedia extends string,
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TSpatial extends string,
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>({
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initialMediaMode,
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initialSpatialMode,
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}: {
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initialMediaMode: TMedia;
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initialSpatialMode: TSpatial | null;
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}) {
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const [mediaMode, setMediaMode] = useState<TMedia | null>(initialMediaMode);
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const [spatialMode, setSpatialMode] = useState<TSpatial | null>(initialSpatialMode);
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const [splitPrimarySize, setSplitPrimarySize] = useState(50);
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const [splitOrientation, setSplitOrientation] = useState<SplitPaneOrientation>(() => (
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typeof window !== "undefined" && window.matchMedia("(max-width: 900px)").matches
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? "horizontal"
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: "vertical"
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));
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const [expanded, setExpanded] = useState(false);
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useEffect(() => {
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const query = window.matchMedia("(max-width: 900px)");
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const update = () => setSplitOrientation(query.matches ? "horizontal" : "vertical");
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update();
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query.addEventListener("change", update);
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return () => query.removeEventListener("change", update);
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}, []);
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const onMediaModeChange = useCallback((next: TMedia | "none") => {
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if (next === "none") return;
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setMediaMode((current) => current === next ? null : next);
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}, []);
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const onSpatialModeChange = useCallback((next: TSpatial | "none") => {
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if (next === "none") return;
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setSpatialMode((current) => current === next ? null : next);
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}, []);
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return {
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mediaMode,
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spatialMode,
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splitView: mediaMode !== null && spatialMode !== null,
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splitPrimarySize,
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splitOrientation,
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expanded,
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onMediaModeChange,
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onSpatialModeChange,
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onSplitPrimarySizeChange: setSplitPrimarySize,
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onExpandedChange: setExpanded,
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};
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}
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export function CanonicalRecordedLabReplay<
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TMedia extends string,
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TSpatial extends string,
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>({
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label,
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mediaMode,
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mediaModes,
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spatialMode,
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spatialModes,
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expanded,
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splitPrimarySize,
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splitOrientation,
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mediaAriaLabel,
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spatialAriaLabel,
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mediaLayerControls,
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spatialLayerControls,
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spatialLeadingControl,
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mediaMultiLayer = false,
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mediaContent,
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spatialContent,
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emptyMessage,
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deckOverlays,
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actions,
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overlay,
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transport,
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trailingActions,
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onMediaModeChange,
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onSpatialModeChange,
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onExpandedChange,
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onSplitPrimarySizeChange,
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}: {
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label: string;
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mediaMode: TMedia;
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mediaModes: readonly CanonicalRecordedLabMode<TMedia>[];
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spatialMode: TSpatial;
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spatialModes: readonly CanonicalRecordedLabMode<TSpatial>[];
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expanded: boolean;
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splitPrimarySize: number;
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splitOrientation: SplitPaneOrientation;
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mediaAriaLabel: string;
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spatialAriaLabel: string;
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mediaLayerControls?: ReactNode;
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spatialLayerControls?: ReactNode;
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spatialLeadingControl?: ReactNode;
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mediaMultiLayer?: boolean;
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mediaContent: ReactNode;
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spatialContent: ReactNode;
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emptyMessage: string;
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deckOverlays?: ReactNode;
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actions?: ReactNode;
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overlay?: ReactNode;
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transport?: ReactNode;
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trailingActions?: ReactNode;
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onMediaModeChange: (mode: TMedia) => void;
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onSpatialModeChange: (mode: TSpatial) => void;
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onExpandedChange: (expanded: boolean) => void;
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onSplitPrimarySizeChange: (size: number) => void;
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}) {
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const splitView = mediaMode !== "none" && spatialMode !== "none";
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const mediaModeControls = (
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<div className="m4-replay-threat-visual__pane-mode-controls" data-pane-mode="media">
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<SegmentedControl
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value={mediaMode}
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items={[...mediaModes]}
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label="Видео и камера"
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onChange={onMediaModeChange}
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/>
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</div>
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);
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const spatialModeControls = (
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<div className="m4-replay-threat-visual__pane-mode-controls" data-pane-mode="spatial">
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<SegmentedControl
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value={spatialMode}
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items={[...spatialModes]}
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label="3D и план"
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onChange={onSpatialModeChange}
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/>
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</div>
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);
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const mediaPane = (
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<section
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className="m4-replay-threat-visual__pane"
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data-pane="media"
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aria-label={mediaAriaLabel}
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hidden={mediaMode === "none"}
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>
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{splitView ? (
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<div
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className="m4-replay-threat-visual__pane-toolbar"
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data-pane-toolbar="media"
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data-multi-semantic={mediaMultiLayer ? "true" : undefined}
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>
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{mediaLayerControls}
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{mediaModeControls}
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</div>
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) : null}
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{mediaContent}
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</section>
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);
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const spatialPane = spatialMode !== "none" ? (
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<section
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className="m4-replay-threat-visual__pane"
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data-pane="spatial"
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aria-label={spatialAriaLabel}
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>
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{splitView ? (
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<div
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className="m4-replay-threat-visual__pane-toolbar"
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data-pane-toolbar="spatial"
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>
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{spatialLeadingControl}
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<div className="m4-replay-threat-visual__spatial-toolbar-end">
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{spatialLayerControls}
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{spatialModeControls}
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</div>
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</div>
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) : null}
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{spatialContent}
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</section>
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) : null;
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return (
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<div
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className="l3-visual-audit m4-replay-threat-visual"
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data-contract={CANONICAL_RECORDED_LAB_REPLAY_CONTRACT}
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>
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<LaboratoryEvidenceViewer
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label={label}
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className="m4-replay-threat-evidence-viewer"
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mode={mediaMode}
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modes={[...mediaModes]}
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secondaryMode={{
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value: spatialMode,
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modes: [...spatialModes],
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label: "3D и план",
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onChange: onSpatialModeChange,
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}}
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expanded={expanded}
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onModeChange={onMediaModeChange}
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onExpandedChange={onExpandedChange}
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modeControlsVisible={!splitView}
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actions={actions}
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overlay={overlay}
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transport={transport}
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trailingActions={trailingActions}
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>
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<div
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className="m4-replay-threat-visual__deck"
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data-split={splitView ? "true" : undefined}
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data-empty={mediaMode === "none" && spatialMode === "none" ? "true" : undefined}
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>
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<SplitPane
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primary={mediaPane}
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secondary={spatialPane ?? <div />}
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primarySize={splitView ? splitPrimarySize : mediaMode !== "none" ? 100 : 0}
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onPrimarySizeChange={onSplitPrimarySizeChange}
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orientation={splitOrientation}
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minPrimarySize={splitView ? 24 : 0}
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minSecondarySize={splitView ? 24 : 0}
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resizable={splitView}
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separatorLabel="Изменить размер VIDEO/CAMERA и 3D/PLAN"
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/>
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{mediaMode === "none" && spatialMode === "none" ? (
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<div className="l3-visual-audit__state" role="status">
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{emptyMessage}
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</div>
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) : null}
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{deckOverlays}
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</div>
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</LaboratoryEvidenceViewer>
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</div>
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);
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}
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@@ -81,9 +81,7 @@ export function LaboratoryRecordedClipPlayer({
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sourceCount,
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cameraRef,
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cameraOverlay,
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cameraControls,
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alternativeScene,
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spatialControls,
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onSequenceChange,
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onPlayingChange,
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onPlaybackRateChange,
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@@ -99,9 +97,7 @@ export function LaboratoryRecordedClipPlayer({
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sourceCount: number;
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cameraRef?: RefObject<HTMLDivElement | null>;
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cameraOverlay?: ReactNode;
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cameraControls?: ReactNode;
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alternativeScene?: ReactNode;
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spatialControls?: ReactNode;
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onSequenceChange: (sequence: number) => void;
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onPlayingChange: (playing: boolean) => void;
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onPlaybackRateChange: (rate: number) => void;
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@@ -177,14 +173,6 @@ export function LaboratoryRecordedClipPlayer({
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aria-hidden={cameraPresentation === "primary"}
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>
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{alternativeScene}
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{spatialControls ? (
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<div
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className="laboratory-recorded-clip-player__pane-controls"
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data-pane="spatial"
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>
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{spatialControls}
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</div>
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) : null}
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</div>
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);
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const cameraPane = (
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@@ -207,14 +195,6 @@ export function LaboratoryRecordedClipPlayer({
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/>
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) : null}
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{cameraPresentation !== "hidden" ? cameraOverlay : null}
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{cameraPresentation !== "hidden" && cameraControls ? (
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<div
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className="laboratory-recorded-clip-player__pane-controls"
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data-pane="camera"
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>
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{cameraControls}
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</div>
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) : null}
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</div>
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);
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return (
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@@ -33,6 +33,8 @@ export function RecordedEvidenceVideoScene({
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segmentCount,
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onPlaybackChange,
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onPlayingRejected,
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playbackAuthority = "media",
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playbackTransport = "segmented",
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}: {
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source: ObservationSourceDescriptor;
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playback: RecordedObservationPlayback;
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@@ -47,6 +49,8 @@ export function RecordedEvidenceVideoScene({
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segmentCount?: number;
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onPlaybackChange?: (playback: RecordedObservationPlayback) => void;
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onPlayingRejected?: () => void;
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playbackAuthority?: "media" | "host";
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playbackTransport?: "segmented" | "epoch-stream";
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}) {
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return (
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<div className="recorded-evidence-video-scene">
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@@ -59,6 +63,8 @@ export function RecordedEvidenceVideoScene({
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segmentCount={segmentCount}
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onPlaybackChange={onPlaybackChange}
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onPlayingRejected={onPlayingRejected}
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playbackAuthority={playbackAuthority}
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playbackTransport={playbackTransport}
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/>
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{semanticOverlay ? (
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<RecordedEvidenceSemanticMaskOverlay
|
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@@ -130,8 +130,12 @@ export function useRecordedEvidencePlayback(
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const synchronize = useCallback((next: RecordedObservationPlayback) => {
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if (!validRange(range) || !Number.isFinite(next.currentSeconds)) return;
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// The canonical LAB host clock is authoritative. Native media callbacks
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// are observational only in this mode: a stalled decoder must never stop
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// the common timeline or let an independently playing spatial view drift.
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if (clock === "animation") return;
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setPlayback((current) => synchronizeRecordedEvidencePlayback(current, next, range));
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}, [range]);
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}, [clock, range]);
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return useMemo(() => ({
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playback,
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@@ -106,6 +106,36 @@ export interface VegetationMixedRouteReview {
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cases: readonly VegetationMixedRouteCase[];
|
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}
|
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|
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export interface VegetationRouteTgsAnchor {
|
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sourceSequence: number;
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slot: number;
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currentPointsXyzM: readonly (readonly [number, number, number])[];
|
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costmap: {
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cellSizeM: 0.45;
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centersXyM: readonly (readonly [number, number])[];
|
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stateCodes: readonly number[];
|
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zBoundsM: readonly (readonly [number | null, number | null])[];
|
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};
|
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}
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export interface CanonicalRecordedLabSpatialFrame {
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targetTimeNs: number;
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sourceTimeNs: number;
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poseTimeNs: number;
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trajectoryTimeNs: number;
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sourcePointCount: number;
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bodyFrame: {
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originMapXyzM: readonly [number, number, number];
|
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basisMapFromBody: readonly [
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readonly [number, number, number],
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readonly [number, number, number],
|
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readonly [number, number, number],
|
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];
|
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};
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sourcePointsBodyXyzM: readonly (readonly [number, number, number])[];
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localSlamBodyXyzM: readonly (readonly [number, number, number])[];
|
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}
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export interface VegetationFullRouteLayer {
|
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name: string;
|
||||
resultId: string;
|
||||
@@ -942,6 +972,172 @@ export function vegetationFullRouteMaskUrl(
|
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return `/api/v1/laboratory/vegetation-shadow/${encodeURIComponent(resultId)}/route-masks/${layer}/${sequence}`;
|
||||
}
|
||||
|
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export async function fetchVegetationRouteTgsAnchor(
|
||||
resultId: string,
|
||||
sourceSequence: number,
|
||||
{
|
||||
fetcher = fetch,
|
||||
signal,
|
||||
}: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
|
||||
): Promise<VegetationRouteTgsAnchor> {
|
||||
if (!RESULT_ID.test(resultId) || !Number.isInteger(sourceSequence) || sourceSequence < 1) {
|
||||
throw new VegetationShadowContractError("Vegetation TGS anchor identity недопустима.");
|
||||
}
|
||||
const response = await fetcher(
|
||||
`/api/v1/laboratory/vegetation-shadow/${encodeURIComponent(resultId)}`
|
||||
+ `/route-tgs-anchor/${sourceSequence}`,
|
||||
{ method: "GET", headers: { Accept: "application/json" }, signal },
|
||||
);
|
||||
if (!response.ok) {
|
||||
throw new VegetationShadowContractError(`Vegetation TGS anchor недоступен: HTTP ${response.status}.`);
|
||||
}
|
||||
const payload = objectValue(await response.json(), "vegetation.route_tgs_anchor");
|
||||
exact(
|
||||
payload.schema_version,
|
||||
"missioncore.lab-v1-route-tgs-anchor/v1",
|
||||
"vegetation.route_tgs_anchor.schema_version",
|
||||
);
|
||||
exact(payload.source_sequence, sourceSequence, "vegetation.route_tgs_anchor.source_sequence");
|
||||
const pointValue = (value: unknown, label: string): readonly number[] => {
|
||||
const point = arrayValue(value, label).map((item, index) => numberValue(item, `${label}[${index}]`));
|
||||
if (point.length !== 2 && point.length !== 3) {
|
||||
throw new VegetationShadowContractError(`${label}: размер изменён.`);
|
||||
}
|
||||
return point;
|
||||
};
|
||||
const points = arrayValue(payload.current_points_xyz_m, "vegetation.route_tgs_anchor.points")
|
||||
.map((value, index) => pointValue(value, `vegetation.route_tgs_anchor.points[${index}]`));
|
||||
const costmap = objectValue(payload.costmap, "vegetation.route_tgs_anchor.costmap");
|
||||
exact(costmap.cell_size_m, 0.45, "vegetation.route_tgs_anchor.costmap.cell_size_m");
|
||||
const centers = arrayValue(costmap.centers_xy_m, "vegetation.route_tgs_anchor.costmap.centers")
|
||||
.map((value, index) => pointValue(value, `vegetation.route_tgs_anchor.costmap.centers[${index}]`));
|
||||
const stateCodes = arrayValue(costmap.state_codes, "vegetation.route_tgs_anchor.costmap.states")
|
||||
.map((value, index) => integerValue(value, `vegetation.route_tgs_anchor.costmap.states[${index}]`));
|
||||
const zBounds = arrayValue(costmap.z_bounds_m, "vegetation.route_tgs_anchor.costmap.z_bounds")
|
||||
.map((value, index) => {
|
||||
const row = arrayValue(value, `vegetation.route_tgs_anchor.costmap.z_bounds[${index}]`);
|
||||
if (row.length !== 2 || row.some((item) => item !== null && (typeof item !== "number" || !Number.isFinite(item)))) {
|
||||
throw new VegetationShadowContractError("vegetation.route_tgs_anchor.costmap.z_bounds: контракт изменён.");
|
||||
}
|
||||
return row as readonly [number | null, number | null];
|
||||
});
|
||||
if (
|
||||
centers.length !== 2244
|
||||
|| stateCodes.length !== 2244
|
||||
|| zBounds.length !== 2244
|
||||
|| stateCodes.some((value) => value > 3)
|
||||
|| points.some((point) => point.length !== 3)
|
||||
|| centers.some((point) => point.length !== 2)
|
||||
) {
|
||||
throw new VegetationShadowContractError("Vegetation TGS anchor shape изменён.");
|
||||
}
|
||||
return {
|
||||
sourceSequence,
|
||||
slot: integerValue(payload.slot, "vegetation.route_tgs_anchor.slot"),
|
||||
currentPointsXyzM: points.map((point) => [point[0]!, point[1]!, point[2]!] as const),
|
||||
costmap: {
|
||||
cellSizeM: 0.45,
|
||||
centersXyM: centers.map((point) => [point[0]!, point[1]!] as const),
|
||||
stateCodes,
|
||||
zBoundsM: zBounds,
|
||||
},
|
||||
};
|
||||
}
|
||||
|
||||
export async function fetchCanonicalRecordedLabSpatialFrame(
|
||||
sessionId: string,
|
||||
generationSha256: string,
|
||||
targetTimeNs: number,
|
||||
{
|
||||
fetcher = fetch,
|
||||
signal,
|
||||
}: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
|
||||
): Promise<CanonicalRecordedLabSpatialFrame> {
|
||||
if (
|
||||
!/^[A-Za-z0-9][A-Za-z0-9._:-]{0,127}$/.test(sessionId)
|
||||
|| !SHA256.test(generationSha256)
|
||||
|| !Number.isSafeInteger(targetTimeNs)
|
||||
|| targetTimeNs < 0
|
||||
) {
|
||||
throw new VegetationShadowContractError("Canonical LAB spatial identity недопустима.");
|
||||
}
|
||||
const query = new URLSearchParams({
|
||||
generation: generationSha256,
|
||||
time_ns: String(targetTimeNs),
|
||||
});
|
||||
const response = await fetcher(
|
||||
`/api/v1/observation-sessions/${encodeURIComponent(sessionId)}`
|
||||
+ `/canonical-lab/spatial-frame?${query.toString()}`,
|
||||
{ method: "GET", headers: { Accept: "application/json" }, signal },
|
||||
);
|
||||
if (!response.ok) {
|
||||
throw new VegetationShadowContractError(
|
||||
`Canonical LAB spatial frame недоступен: HTTP ${response.status}.`,
|
||||
);
|
||||
}
|
||||
const payload = objectValue(await response.json(), "canonical_lab.spatial_frame");
|
||||
exact(
|
||||
payload.schema_version,
|
||||
"missioncore.canonical-recorded-lab-spatial-frame/v1",
|
||||
"canonical_lab.spatial_frame.schema_version",
|
||||
);
|
||||
exact(payload.target_time_ns, targetTimeNs, "canonical_lab.spatial_frame.target_time_ns");
|
||||
const pointList = (value: unknown, label: string) => arrayValue(value, label).map(
|
||||
(entry, index) => {
|
||||
const point = arrayValue(entry, `${label}[${index}]`).map(
|
||||
(channel, channelIndex) => numberValue(channel, `${label}[${index}][${channelIndex}]`),
|
||||
);
|
||||
if (point.length !== 3) {
|
||||
throw new VegetationShadowContractError(`${label}[${index}]: размер изменён.`);
|
||||
}
|
||||
return [point[0]!, point[1]!, point[2]!] as const;
|
||||
},
|
||||
);
|
||||
const sourcePoints = pointList(
|
||||
payload.source_points_body_xyz_m,
|
||||
"canonical_lab.spatial_frame.source_points",
|
||||
);
|
||||
const localSlam = pointList(
|
||||
payload.local_slam_body_xyz_m,
|
||||
"canonical_lab.spatial_frame.local_slam",
|
||||
);
|
||||
const sourcePointCount = integerValue(
|
||||
payload.source_point_count,
|
||||
"canonical_lab.spatial_frame.source_point_count",
|
||||
);
|
||||
if (sourcePointCount !== sourcePoints.length || sourcePointCount > 100_000 || localSlam.length > 10_000) {
|
||||
throw new VegetationShadowContractError("Canonical LAB spatial accounting изменён.");
|
||||
}
|
||||
const bodyFrame = objectValue(payload.body_frame, "canonical_lab.spatial_frame.body_frame");
|
||||
const origin = pointList(
|
||||
[bodyFrame.origin_map_xyz_m],
|
||||
"canonical_lab.spatial_frame.body_frame.origin",
|
||||
)[0]!;
|
||||
const basisRows = pointList(
|
||||
bodyFrame.basis_map_from_body,
|
||||
"canonical_lab.spatial_frame.body_frame.basis",
|
||||
);
|
||||
if (basisRows.length !== 3) {
|
||||
throw new VegetationShadowContractError("Canonical LAB spatial basis изменён.");
|
||||
}
|
||||
return {
|
||||
targetTimeNs,
|
||||
sourceTimeNs: integerValue(payload.source_time_ns, "canonical_lab.spatial_frame.source_time_ns"),
|
||||
poseTimeNs: integerValue(payload.pose_time_ns, "canonical_lab.spatial_frame.pose_time_ns"),
|
||||
trajectoryTimeNs: integerValue(
|
||||
payload.trajectory_time_ns,
|
||||
"canonical_lab.spatial_frame.trajectory_time_ns",
|
||||
),
|
||||
sourcePointCount,
|
||||
bodyFrame: {
|
||||
originMapXyzM: origin,
|
||||
basisMapFromBody: [basisRows[0]!, basisRows[1]!, basisRows[2]!],
|
||||
},
|
||||
sourcePointsBodyXyzM: sourcePoints,
|
||||
localSlamBodyXyzM: localSlam,
|
||||
};
|
||||
}
|
||||
|
||||
export async function fetchVegetationShadowResult(
|
||||
resultId: string,
|
||||
{
|
||||
|
||||
@@ -33,29 +33,6 @@
|
||||
pointer-events: auto;
|
||||
}
|
||||
|
||||
.laboratory-recorded-clip-player__pane-controls {
|
||||
position: absolute;
|
||||
z-index: 6;
|
||||
top: 0.6rem;
|
||||
display: flex;
|
||||
max-width: calc(100% - 1.2rem);
|
||||
flex-wrap: wrap;
|
||||
align-items: center;
|
||||
gap: 0.38rem;
|
||||
border-radius: var(--nodedc-radius-control-pill);
|
||||
background: var(--nodedc-floating-surface);
|
||||
padding: 0.28rem;
|
||||
backdrop-filter: blur(var(--nodedc-blur-control));
|
||||
}
|
||||
|
||||
.laboratory-recorded-clip-player__pane-controls[data-pane="spatial"] {
|
||||
right: 0.6rem;
|
||||
}
|
||||
|
||||
.laboratory-recorded-clip-player__pane-controls[data-pane="camera"] {
|
||||
left: 0.6rem;
|
||||
}
|
||||
|
||||
.laboratory-recorded-clip-player__split
|
||||
> .nodedc-split-pane__separator::before {
|
||||
background: transparent;
|
||||
|
||||
@@ -1,15 +1,25 @@
|
||||
import { useCallback, useEffect, useMemo, useRef, useState, type CSSProperties } from "react";
|
||||
import {
|
||||
useCallback,
|
||||
useEffect,
|
||||
useMemo,
|
||||
useRef,
|
||||
useState,
|
||||
type CSSProperties,
|
||||
type ReactNode,
|
||||
} from "react";
|
||||
import {
|
||||
Button,
|
||||
Icon,
|
||||
IconButton,
|
||||
Select,
|
||||
SegmentedControl,
|
||||
SplitPane,
|
||||
type SplitPaneOrientation,
|
||||
} from "@nodedc/ui-react";
|
||||
|
||||
import { ObservationTimeline } from "../../components/ObservationTimeline";
|
||||
import {
|
||||
CanonicalRecordedLabReplay,
|
||||
useCanonicalRecordedLabReplayState,
|
||||
} from "../../components/laboratory/CanonicalRecordedLabReplay";
|
||||
import {
|
||||
LaboratoryMetricEvidenceScene,
|
||||
type LaboratoryMetricCellEvidence,
|
||||
@@ -53,8 +63,6 @@ import { useE47SemanticTimelineFrame } from "./useE47SemanticTimeline";
|
||||
import { buildM4StaticObstacleBoxes } from "./m4StaticObstacleBoxes";
|
||||
|
||||
type M4ThreatMediaMode = "video" | "camera";
|
||||
type M4ThreatMediaSelection = M4ThreatMediaMode | "none";
|
||||
type M4ThreatSpatialSelection = LaboratoryMetricSceneMode | "none";
|
||||
|
||||
function toneForProposal(proposal: M4ThreatCameraProposal): RecordedEvidenceBox["tone"] {
|
||||
if (proposal.threatDecision === "threat") return "danger";
|
||||
@@ -188,10 +196,21 @@ export function M4ReplayThreatVisual({
|
||||
showSpatialOverlaySummary?: boolean;
|
||||
onActiveSequenceChange?: (sequence: number | null) => void;
|
||||
}) {
|
||||
const [mediaMode, setMediaMode] = useState<M4ThreatMediaMode | null>("video");
|
||||
const [spatialMode, setSpatialMode] = useState<LaboratoryMetricSceneMode | null>(
|
||||
const {
|
||||
mediaMode,
|
||||
spatialMode,
|
||||
splitView,
|
||||
splitPrimarySize,
|
||||
splitOrientation,
|
||||
expanded,
|
||||
onMediaModeChange: handleMediaModeChange,
|
||||
onSpatialModeChange: handleSpatialModeChange,
|
||||
onSplitPrimarySizeChange: setSplitPrimarySize,
|
||||
onExpandedChange: setExpanded,
|
||||
} = useCanonicalRecordedLabReplayState<M4ThreatMediaMode, LaboratoryMetricSceneMode>({
|
||||
initialMediaMode: "video",
|
||||
initialSpatialMode,
|
||||
);
|
||||
});
|
||||
const [showCurrentIncrement, setShowCurrentIncrement] = useState(true);
|
||||
const [showLocalSurface, setShowLocalSurface] = useState(true);
|
||||
const [showRollingMap, setShowRollingMap] = useState(true);
|
||||
@@ -200,13 +219,6 @@ export function M4ReplayThreatVisual({
|
||||
const [showSpatialSemantic, setShowSpatialSemantic] = useState(true);
|
||||
const [showMediaPoints, setShowMediaPoints] = useState(false);
|
||||
const [showStaticObstacles, setShowStaticObstacles] = useState(true);
|
||||
const [splitPrimarySize, setSplitPrimarySize] = useState(50);
|
||||
const [splitOrientation, setSplitOrientation] = useState<SplitPaneOrientation>(() => (
|
||||
typeof window !== "undefined" && window.matchMedia("(max-width: 900px)").matches
|
||||
? "horizontal"
|
||||
: "vertical"
|
||||
));
|
||||
const [expanded, setExpanded] = useState(false);
|
||||
const [selectedReviewAnchorIndex, setSelectedReviewAnchorIndex] = useState(0);
|
||||
const availableSemanticLayers = useMemo<readonly M4ReplayThreatSemanticLayer[]>(
|
||||
() => semanticLayers?.length ? semanticLayers : semantic ? [semantic] : [],
|
||||
@@ -266,7 +278,7 @@ export function M4ReplayThreatVisual({
|
||||
endSeconds: metadata.timeline.timelineEndSeconds,
|
||||
}) : null, [metadata.timeline]);
|
||||
const playbackController = useRecordedEvidencePlayback(playbackRange, {
|
||||
clock: mediaMode === "video" ? "external" : "animation",
|
||||
clock: "animation",
|
||||
});
|
||||
const seekPlayback = playbackController.seek;
|
||||
const setPlaybackPlaying = playbackController.setPlaying;
|
||||
@@ -286,14 +298,6 @@ export function M4ReplayThreatVisual({
|
||||
setVideoError(null);
|
||||
}, [resultId]);
|
||||
|
||||
useEffect(() => {
|
||||
const query = window.matchMedia("(max-width: 900px)");
|
||||
const update = () => setSplitOrientation(query.matches ? "horizontal" : "vertical");
|
||||
update();
|
||||
query.addEventListener("change", update);
|
||||
return () => query.removeEventListener("change", update);
|
||||
}, []);
|
||||
|
||||
useEffect(() => {
|
||||
const timeline = metadata.timeline;
|
||||
if (!evidenceDemand.recordedVideo) {
|
||||
@@ -739,15 +743,6 @@ export function M4ReplayThreatVisual({
|
||||
}
|
||||
: undefined;
|
||||
|
||||
const handleMediaModeChange = (next: M4ThreatMediaSelection) => {
|
||||
if (next === "none") return;
|
||||
setMediaMode((current) => current === next ? null : next);
|
||||
};
|
||||
const handleSpatialModeChange = (next: M4ThreatSpatialSelection) => {
|
||||
if (next === "none") return;
|
||||
setSpatialMode((current) => current === next ? null : next);
|
||||
};
|
||||
|
||||
useEffect(() => {
|
||||
if (
|
||||
playbackController.playback.playing
|
||||
@@ -758,36 +753,6 @@ export function M4ReplayThreatVisual({
|
||||
image.src = frame.cameraUrl;
|
||||
}, [evidenceDemand.exactCameraFrame, frame?.cameraUrl, playbackController.playback.playing]);
|
||||
|
||||
const splitView = mediaMode !== null && spatialMode !== null;
|
||||
|
||||
const mediaModeControls = (
|
||||
<div className="m4-replay-threat-visual__pane-mode-controls" data-pane-mode="media">
|
||||
<SegmentedControl
|
||||
value={mediaMode ?? "none"}
|
||||
items={[
|
||||
{ value: "video", label: "VIDEO" },
|
||||
{ value: "camera", label: "CAMERA" },
|
||||
]}
|
||||
label="Видео и камера"
|
||||
onChange={handleMediaModeChange}
|
||||
/>
|
||||
</div>
|
||||
);
|
||||
|
||||
const spatialModeControls = (
|
||||
<div className="m4-replay-threat-visual__pane-mode-controls" data-pane-mode="spatial">
|
||||
<SegmentedControl
|
||||
value={spatialMode ?? "none"}
|
||||
items={[
|
||||
{ value: "3d", label: "3D" },
|
||||
{ value: "plan", label: "PLAN" },
|
||||
]}
|
||||
label="3D и план"
|
||||
onChange={handleSpatialModeChange}
|
||||
/>
|
||||
</div>
|
||||
);
|
||||
|
||||
const mediaLayerControls = activeSemantic
|
||||
|| (showReferenceMediaLayers && metadata.timeline?.cameraPointDelivery)
|
||||
|| (showReferenceMediaLayers && metadata.timeline?.cameraObstacleProjectionDelivery) ? (
|
||||
@@ -1110,7 +1075,12 @@ export function M4ReplayThreatVisual({
|
||||
) : undefined;
|
||||
|
||||
const timeline = metadata.timeline;
|
||||
let content;
|
||||
let content: ReactNode = null;
|
||||
let canonicalContent: {
|
||||
mediaContent: ReactNode;
|
||||
spatialContent: ReactNode;
|
||||
deckOverlays: ReactNode;
|
||||
} | null = null;
|
||||
if (metadata.error) {
|
||||
content = <SpatialState message={metadata.error} />;
|
||||
} else if (!timeline) {
|
||||
@@ -1121,23 +1091,8 @@ export function M4ReplayThreatVisual({
|
||||
</div>
|
||||
);
|
||||
} else {
|
||||
const mediaPane = (
|
||||
<section
|
||||
className="m4-replay-threat-visual__pane"
|
||||
data-pane="media"
|
||||
aria-label={mediaMode === "camera" ? "Камера" : "Видео"}
|
||||
hidden={!mediaMode}
|
||||
>
|
||||
{splitView ? (
|
||||
<div
|
||||
className="m4-replay-threat-visual__pane-toolbar"
|
||||
data-pane-toolbar="media"
|
||||
data-multi-semantic={availableSemanticLayers.length > 1 ? "true" : undefined}
|
||||
>
|
||||
{mediaLayerControls}
|
||||
{mediaModeControls}
|
||||
</div>
|
||||
) : null}
|
||||
const mediaContent = (
|
||||
<>
|
||||
<div
|
||||
className="m4-replay-threat-visual__media-layer"
|
||||
data-media="video"
|
||||
@@ -1161,7 +1116,8 @@ export function M4ReplayThreatVisual({
|
||||
}
|
||||
segmentCount={timeline.frameCount}
|
||||
onPlaybackChange={playbackController.synchronize}
|
||||
onPlayingRejected={() => playbackController.setPlaying(false)}
|
||||
playbackAuthority="host"
|
||||
playbackTransport="epoch-stream"
|
||||
/>
|
||||
) : videoError ? (
|
||||
<SpatialState message={videoError} />
|
||||
@@ -1183,27 +1139,11 @@ export function M4ReplayThreatVisual({
|
||||
ariaLabel={`${evidenceLabel} exact camera frame ${frame.sequence}: ${activeBoxes.length} proposals`}
|
||||
/>
|
||||
) : null}
|
||||
</section>
|
||||
</>
|
||||
);
|
||||
|
||||
const spatialPane = spatialMode ? (
|
||||
<section
|
||||
className="m4-replay-threat-visual__pane"
|
||||
data-pane="spatial"
|
||||
aria-label={spatialMode === "3d" ? "Трёхмерная сцена" : "Вид сверху"}
|
||||
>
|
||||
{splitView ? (
|
||||
<div
|
||||
className="m4-replay-threat-visual__pane-toolbar"
|
||||
data-pane-toolbar="spatial"
|
||||
>
|
||||
{resetSpatialView}
|
||||
<div className="m4-replay-threat-visual__spatial-toolbar-end">
|
||||
{spatialLayerControls}
|
||||
{spatialModeControls}
|
||||
</div>
|
||||
</div>
|
||||
) : null}
|
||||
const spatialContent = spatialMode ? (
|
||||
<>
|
||||
<LaboratoryMetricEvidenceScene
|
||||
ref={metricSceneRef}
|
||||
pointCloudBodyXyzM={displayedClassifiedSpatialFrame && replaceClassifiedPointCloud
|
||||
@@ -1265,31 +1205,11 @@ export function M4ReplayThreatVisual({
|
||||
: `На кадре ${frame.sequence + 1} нет body frame; ждём первый квалифицированный spatial evidence.`}
|
||||
</div>
|
||||
) : null}
|
||||
</section>
|
||||
</>
|
||||
) : null;
|
||||
|
||||
content = (
|
||||
<div
|
||||
className="m4-replay-threat-visual__deck"
|
||||
data-split={splitView ? "true" : undefined}
|
||||
data-empty={!mediaMode && !spatialMode ? "true" : undefined}
|
||||
>
|
||||
<SplitPane
|
||||
primary={mediaPane}
|
||||
secondary={spatialPane ?? <div />}
|
||||
primarySize={splitView ? splitPrimarySize : mediaMode ? 100 : 0}
|
||||
onPrimarySizeChange={setSplitPrimarySize}
|
||||
orientation={splitOrientation}
|
||||
minPrimarySize={splitView ? 24 : 0}
|
||||
minSecondarySize={splitView ? 24 : 0}
|
||||
resizable={splitView}
|
||||
separatorLabel="Изменить размер VIDEO/CAMERA и 3D/PLAN"
|
||||
/>
|
||||
{!mediaMode && !spatialMode ? (
|
||||
<div className="l3-visual-audit__state" role="status">
|
||||
Выберите VIDEO/CAMERA или 3D/PLAN. Общий таймлайн останется на месте.
|
||||
</div>
|
||||
) : null}
|
||||
const deckOverlays = (
|
||||
<>
|
||||
{timelineFrame.loading || displayingBufferedFrame ? (
|
||||
<div className="m4-replay-threat-visual__buffering" role="status">
|
||||
<span className="busy-indicator" aria-hidden="true" />
|
||||
@@ -1320,8 +1240,9 @@ export function M4ReplayThreatVisual({
|
||||
<span>{semanticIntegrityError}</span>
|
||||
</div>
|
||||
) : null}
|
||||
</div>
|
||||
</>
|
||||
);
|
||||
canonicalContent = { mediaContent, spatialContent, deckOverlays };
|
||||
}
|
||||
|
||||
const transport = timeline ? (
|
||||
@@ -1346,38 +1267,59 @@ export function M4ReplayThreatVisual({
|
||||
/>
|
||||
) : undefined;
|
||||
|
||||
if (!timeline || !canonicalContent) {
|
||||
return (
|
||||
<div className="l3-visual-audit m4-replay-threat-visual">
|
||||
<LaboratoryEvidenceViewer
|
||||
label={`${evidenceLabel} recorded-realtime replay`}
|
||||
className="m4-replay-threat-evidence-viewer"
|
||||
mode="video"
|
||||
modes={[{ value: "video", label: "VIDEO" }]}
|
||||
expanded={expanded}
|
||||
onModeChange={() => undefined}
|
||||
onExpandedChange={setExpanded}
|
||||
>
|
||||
{content}
|
||||
</LaboratoryEvidenceViewer>
|
||||
</div>
|
||||
);
|
||||
}
|
||||
return (
|
||||
<div className="l3-visual-audit m4-replay-threat-visual">
|
||||
<LaboratoryEvidenceViewer
|
||||
label={activeSemantic
|
||||
? activeSemantic.label ?? "Semantic diagnostic replay"
|
||||
: `${evidenceLabel} recorded-realtime replay`}
|
||||
className="m4-replay-threat-evidence-viewer"
|
||||
mode={mediaMode ?? "none"}
|
||||
modes={[
|
||||
{ value: "video", label: "VIDEO" },
|
||||
{ value: "camera", label: "CAMERA" },
|
||||
]}
|
||||
secondaryMode={{
|
||||
value: spatialMode ?? "none",
|
||||
modes: [
|
||||
{ value: "3d", label: "3D" },
|
||||
{ value: "plan", label: "PLAN" },
|
||||
],
|
||||
label: "3D и план",
|
||||
onChange: handleSpatialModeChange,
|
||||
}}
|
||||
expanded={expanded}
|
||||
onModeChange={handleMediaModeChange}
|
||||
onExpandedChange={setExpanded}
|
||||
modeControlsVisible={!splitView}
|
||||
actions={actions}
|
||||
overlay={overlay}
|
||||
transport={transport}
|
||||
trailingActions={trailingActions}
|
||||
>
|
||||
{content}
|
||||
</LaboratoryEvidenceViewer>
|
||||
</div>
|
||||
<CanonicalRecordedLabReplay
|
||||
label={activeSemantic
|
||||
? activeSemantic.label ?? "Semantic diagnostic replay"
|
||||
: `${evidenceLabel} recorded-realtime replay`}
|
||||
mediaMode={mediaMode ?? "none"}
|
||||
mediaModes={[
|
||||
{ value: "video", label: "VIDEO" },
|
||||
{ value: "camera", label: "CAMERA" },
|
||||
]}
|
||||
spatialMode={spatialMode ?? "none"}
|
||||
spatialModes={[
|
||||
{ value: "3d", label: "3D" },
|
||||
{ value: "plan", label: "PLAN" },
|
||||
]}
|
||||
expanded={expanded}
|
||||
splitPrimarySize={splitPrimarySize}
|
||||
splitOrientation={splitOrientation}
|
||||
mediaAriaLabel={mediaMode === "camera" ? "Камера" : "Видео"}
|
||||
spatialAriaLabel={spatialMode === "3d" ? "Трёхмерная сцена" : "Вид сверху"}
|
||||
mediaLayerControls={mediaLayerControls}
|
||||
spatialLayerControls={spatialLayerControls}
|
||||
spatialLeadingControl={resetSpatialView}
|
||||
mediaMultiLayer={availableSemanticLayers.length > 1}
|
||||
mediaContent={canonicalContent.mediaContent}
|
||||
spatialContent={canonicalContent.spatialContent}
|
||||
emptyMessage="Выберите VIDEO/CAMERA или 3D/PLAN. Общий таймлайн останется на месте."
|
||||
deckOverlays={canonicalContent.deckOverlays}
|
||||
actions={actions}
|
||||
overlay={overlay}
|
||||
transport={transport}
|
||||
trailingActions={trailingActions}
|
||||
onMediaModeChange={handleMediaModeChange}
|
||||
onSpatialModeChange={handleSpatialModeChange}
|
||||
onExpandedChange={setExpanded}
|
||||
onSplitPrimarySizeChange={setSplitPrimarySize}
|
||||
/>
|
||||
);
|
||||
}
|
||||
|
||||
@@ -1,9 +1,29 @@
|
||||
import { useCallback, useEffect, useMemo, useRef, useState } from "react";
|
||||
import { Button, SegmentedControl } from "@nodedc/ui-react";
|
||||
import {
|
||||
useEffect,
|
||||
useMemo,
|
||||
useRef,
|
||||
useState,
|
||||
type CSSProperties,
|
||||
} from "react";
|
||||
import {
|
||||
Button,
|
||||
Icon,
|
||||
IconButton,
|
||||
SegmentedControl,
|
||||
} from "@nodedc/ui-react";
|
||||
|
||||
import { LaboratoryEvidenceViewer } from "../../components/laboratory/LaboratoryEvidenceViewer";
|
||||
import { LaboratoryRecordedClipPlayer } from "../../components/laboratory/LaboratoryRecordedClipPlayer";
|
||||
import { RerunViewport } from "../../components/RerunViewport";
|
||||
import { ObservationTimeline } from "../../components/ObservationTimeline";
|
||||
import {
|
||||
CanonicalRecordedLabReplay,
|
||||
useCanonicalRecordedLabReplayState,
|
||||
} from "../../components/laboratory/CanonicalRecordedLabReplay";
|
||||
import {
|
||||
LaboratoryMetricEvidenceScene,
|
||||
type LaboratoryMetricEvidenceSceneHandle,
|
||||
type LaboratoryMetricPackedCellEvidence,
|
||||
} from "../../components/laboratory/LaboratoryMetricEvidenceScene";
|
||||
import { RecordedEvidenceVideoScene } from "../../components/laboratory/RecordedEvidenceVideoScene";
|
||||
import { useRecordedEvidencePlayback } from "../../components/laboratory/useRecordedEvidencePlayback";
|
||||
import {
|
||||
LaboratoryEvidence,
|
||||
LaboratoryResultSummary,
|
||||
@@ -11,18 +31,21 @@ import {
|
||||
LaboratoryWorkTemplate,
|
||||
} from "../../components/laboratory/LaboratoryPresentation";
|
||||
import {
|
||||
RecordedEvidenceSemanticMaskOverlay,
|
||||
type RecordedEvidenceSemanticClass,
|
||||
type RecordedEvidenceSemanticPaletteEntry,
|
||||
} from "../../components/laboratory/RecordedEvidenceSemanticMaskOverlay";
|
||||
import {
|
||||
fetchCanonicalRecordedLabSpatialFrame,
|
||||
fetchVegetationShadowResult,
|
||||
fetchVegetationRouteTgsAnchor,
|
||||
vegetationFullRouteMaskUrl,
|
||||
vegetationVideoMaskUrl,
|
||||
type CanonicalRecordedLabSpatialFrame,
|
||||
type VegetationFullRouteLayer,
|
||||
type VegetationFullRouteReview,
|
||||
type VegetationMixedRouteCase,
|
||||
type VegetationMixedRouteReview,
|
||||
type VegetationRouteTgsAnchor,
|
||||
type VegetationShadowResult,
|
||||
} from "../../core/laboratory/vegetationShadow";
|
||||
import {
|
||||
@@ -33,16 +56,7 @@ import { M49TgsFullShadowEvidence } from "./M49TgsFullShadowEvidence";
|
||||
import { recordedObservationSources } from "../../core/observation/recordedObservationSources";
|
||||
import type { ObservationSessionReplayLaunch } from "../../core/observation/sessionArchive";
|
||||
import { resolveObservationSessionReplay } from "../../core/observation/useObservationSessions";
|
||||
import {
|
||||
recordedSessionRerunProfile,
|
||||
type RerunPlaybackController,
|
||||
} from "../../core/observation/viewerProfile";
|
||||
import type { ObservationSourceDescriptor } from "../../core/runtime/contracts";
|
||||
import { defaultSceneSettings, type SceneSettings } from "../../sceneSettings";
|
||||
import {
|
||||
M48EvidenceModeRail,
|
||||
type M48BlindEvidenceMode,
|
||||
} from "./annotation/M48EvidenceModeControls";
|
||||
|
||||
function decimal(value: number, digits = 1): string {
|
||||
return value.toLocaleString("ru-RU", { maximumFractionDigits: digits });
|
||||
@@ -53,6 +67,19 @@ const FULL_ROUTE_SEMANTIC_MODES = [
|
||||
{ value: "vegetation", label: "ПРИРОДА · DDRNet" },
|
||||
] as const;
|
||||
|
||||
type FullRouteMediaMode = "video" | "camera";
|
||||
type FullRouteSpatialMode = "3d" | "plan";
|
||||
|
||||
const FULL_ROUTE_MEDIA_MODES = [
|
||||
{ value: "video", label: "VIDEO" },
|
||||
{ value: "camera", label: "CAMERA" },
|
||||
] as const;
|
||||
|
||||
const FULL_ROUTE_SPATIAL_MODES = [
|
||||
{ value: "3d", label: "3D" },
|
||||
{ value: "plan", label: "PLAN" },
|
||||
] as const;
|
||||
|
||||
function semanticPresentation(layer: VegetationFullRouteLayer): {
|
||||
classes: readonly RecordedEvidenceSemanticClass[];
|
||||
palette: readonly RecordedEvidenceSemanticPaletteEntry[];
|
||||
@@ -68,17 +95,125 @@ function semanticPresentation(layer: VegetationFullRouteLayer): {
|
||||
};
|
||||
}
|
||||
|
||||
function nearestTgsCase(
|
||||
function causalTgsCase(
|
||||
cases: readonly VegetationMixedRouteCase[],
|
||||
sequence: number,
|
||||
): VegetationMixedRouteCase | null {
|
||||
return cases.reduce<VegetationMixedRouteCase | null>((nearest, candidate) => (
|
||||
!nearest
|
||||
|| Math.abs(candidate.sourceSequence - sequence)
|
||||
< Math.abs(nearest.sourceSequence - sequence)
|
||||
if (!cases.length) return null;
|
||||
return cases.reduce<VegetationMixedRouteCase | null>((latest, candidate) => (
|
||||
candidate.sourceSequence <= sequence
|
||||
&& (!latest || candidate.sourceSequence > latest.sourceSequence)
|
||||
? candidate
|
||||
: nearest
|
||||
), null);
|
||||
: latest
|
||||
), null) ?? cases.reduce((first, candidate) => (
|
||||
candidate.sourceSequence < first.sourceSequence ? candidate : first
|
||||
));
|
||||
}
|
||||
|
||||
function nearestFullRouteFrameIndex(
|
||||
frameSourceTimesNs: readonly number[],
|
||||
sourceTimeNs: number,
|
||||
): number {
|
||||
if (!frameSourceTimesNs.length) return 0;
|
||||
let low = 0;
|
||||
let high = frameSourceTimesNs.length - 1;
|
||||
while (low < high) {
|
||||
const middle = Math.floor((low + high) / 2);
|
||||
if ((frameSourceTimesNs[middle] ?? 0) < sourceTimeNs) low = middle + 1;
|
||||
else high = middle;
|
||||
}
|
||||
if (low === 0) return 0;
|
||||
const previous = frameSourceTimesNs[low - 1] ?? frameSourceTimesNs[0] ?? 0;
|
||||
const current = frameSourceTimesNs[low] ?? previous;
|
||||
return Math.abs(sourceTimeNs - previous) <= Math.abs(current - sourceTimeNs)
|
||||
? low - 1
|
||||
: low;
|
||||
}
|
||||
|
||||
function useCanonicalRavSpatialFrame(
|
||||
review: VegetationFullRouteReview,
|
||||
replayLaunch: ObservationSessionReplayLaunch | null,
|
||||
targetTimeNs: number,
|
||||
) {
|
||||
const [frame, setFrame] = useState<CanonicalRecordedLabSpatialFrame | null>(null);
|
||||
const [error, setError] = useState<string | null>(null);
|
||||
const desiredRef = useRef<number | null>(null);
|
||||
const runningRef = useRef(false);
|
||||
const mountedRef = useRef(true);
|
||||
const cacheRef = useRef(new Map<number, CanonicalRecordedLabSpatialFrame>());
|
||||
const pumpRef = useRef<() => void>(() => undefined);
|
||||
|
||||
pumpRef.current = () => {
|
||||
if (runningRef.current || desiredRef.current === null || !replayLaunch) return;
|
||||
runningRef.current = true;
|
||||
let settledTimeNs: number | null = null;
|
||||
void (async () => {
|
||||
while (mountedRef.current && desiredRef.current !== null) {
|
||||
const requestedTimeNs = desiredRef.current;
|
||||
const cached = cacheRef.current.get(requestedTimeNs);
|
||||
try {
|
||||
const next = cached ?? await fetchCanonicalRecordedLabSpatialFrame(
|
||||
review.sessionId,
|
||||
replayLaunch.sha256,
|
||||
requestedTimeNs,
|
||||
);
|
||||
if (!cached) {
|
||||
cacheRef.current.set(requestedTimeNs, next);
|
||||
while (cacheRef.current.size > 12) {
|
||||
const oldest = cacheRef.current.keys().next().value as number | undefined;
|
||||
if (oldest === undefined) break;
|
||||
cacheRef.current.delete(oldest);
|
||||
}
|
||||
}
|
||||
if (!mountedRef.current) break;
|
||||
setFrame(next);
|
||||
setError(null);
|
||||
} catch (caught: unknown) {
|
||||
if (!mountedRef.current) break;
|
||||
setError(caught instanceof Error ? caught.message : "Spatial-слои RAV004 недоступны.");
|
||||
}
|
||||
settledTimeNs = requestedTimeNs;
|
||||
if (desiredRef.current === requestedTimeNs) break;
|
||||
}
|
||||
})().finally(() => {
|
||||
runningRef.current = false;
|
||||
if (
|
||||
mountedRef.current
|
||||
&& desiredRef.current !== null
|
||||
&& desiredRef.current !== settledTimeNs
|
||||
) {
|
||||
pumpRef.current();
|
||||
}
|
||||
});
|
||||
};
|
||||
|
||||
useEffect(() => {
|
||||
mountedRef.current = true;
|
||||
return () => {
|
||||
mountedRef.current = false;
|
||||
desiredRef.current = null;
|
||||
};
|
||||
}, []);
|
||||
|
||||
useEffect(() => {
|
||||
cacheRef.current.clear();
|
||||
setFrame(null);
|
||||
setError(null);
|
||||
}, [replayLaunch?.sha256, review.sessionId]);
|
||||
|
||||
useEffect(() => {
|
||||
if (!replayLaunch) return;
|
||||
desiredRef.current = targetTimeNs;
|
||||
const cached = cacheRef.current.get(targetTimeNs);
|
||||
if (cached) {
|
||||
setFrame(cached);
|
||||
setError(null);
|
||||
return;
|
||||
}
|
||||
pumpRef.current();
|
||||
}, [replayLaunch, targetTimeNs]);
|
||||
|
||||
return { frame, error, loading: Boolean(replayLaunch) && !frame && !error };
|
||||
}
|
||||
|
||||
function FullRouteReviewEvidence({
|
||||
@@ -88,41 +223,57 @@ function FullRouteReviewEvidence({
|
||||
resultId: string;
|
||||
review: VegetationFullRouteReview;
|
||||
}) {
|
||||
const [sequence, setSequence] = useState(1);
|
||||
const [playing, setPlaying] = useState(false);
|
||||
const [playbackRate, setPlaybackRate] = useState(1);
|
||||
const {
|
||||
mediaMode,
|
||||
spatialMode,
|
||||
splitView,
|
||||
splitPrimarySize,
|
||||
splitOrientation,
|
||||
expanded,
|
||||
onMediaModeChange: handleMediaModeChange,
|
||||
onSpatialModeChange: handleSpatialModeChange,
|
||||
onSplitPrimarySizeChange: setSplitPrimarySize,
|
||||
onExpandedChange: setExpanded,
|
||||
} = useCanonicalRecordedLabReplayState<FullRouteMediaMode, FullRouteSpatialMode>({
|
||||
initialMediaMode: "video",
|
||||
initialSpatialMode: "3d",
|
||||
});
|
||||
const [semanticLayer, setSemanticLayer] = useState<"city" | "vegetation">("vegetation");
|
||||
const [showCameraSemantic, setShowCameraSemantic] = useState(true);
|
||||
const [expanded, setExpanded] = useState(false);
|
||||
const [evidenceMode, setEvidenceMode] = useState<M48BlindEvidenceMode>("3d");
|
||||
const [cameraVisible, setCameraVisible] = useState(true);
|
||||
const [sceneSettings, setSceneSettings] = useState<SceneSettings>(() => ({
|
||||
...defaultSceneSettings,
|
||||
accumulationSeconds: 12,
|
||||
showPoints: true,
|
||||
showTrajectory: true,
|
||||
}));
|
||||
const [showSourcePoints, setShowSourcePoints] = useState(true);
|
||||
const [showLocalSlam, setShowLocalSlam] = useState(true);
|
||||
const [showTgs, setShowTgs] = useState(true);
|
||||
const [videoSource, setVideoSource] = useState<ObservationSourceDescriptor | null>(null);
|
||||
const [replayLaunch, setReplayLaunch] = useState<ObservationSessionReplayLaunch | null>(null);
|
||||
const [videoError, setVideoError] = useState<string | null>(null);
|
||||
const [linkedReview, setLinkedReview] = useState<VegetationMixedRouteReview | null>(null);
|
||||
const [linkedReviewError, setLinkedReviewError] = useState<string | null>(null);
|
||||
const spatialControllerRef = useRef<RerunPlaybackController | null>(null);
|
||||
const frames = useMemo(
|
||||
() => review.frameSourceTimesNs.map((sourceTimeNs, index) => ({
|
||||
sequence: index + 1,
|
||||
sourceTimeNs,
|
||||
})),
|
||||
[review.frameSourceTimesNs],
|
||||
const [tgsAnchor, setTgsAnchor] = useState<VegetationRouteTgsAnchor | null>(null);
|
||||
const [tgsAnchorLoading, setTgsAnchorLoading] = useState(false);
|
||||
const [tgsAnchorError, setTgsAnchorError] = useState<string | null>(null);
|
||||
const metricSceneRef = useRef<LaboratoryMetricEvidenceSceneHandle | null>(null);
|
||||
const playbackRange = useMemo(() => ({
|
||||
startSeconds: review.timelineStartSeconds,
|
||||
endSeconds: review.timelineEndSeconds,
|
||||
}), [review.timelineEndSeconds, review.timelineStartSeconds]);
|
||||
const playbackController = useRecordedEvidencePlayback(playbackRange, { clock: "animation" });
|
||||
const sequenceIndex = nearestFullRouteFrameIndex(
|
||||
review.frameSourceTimesNs,
|
||||
Math.round(playbackController.playback.currentSeconds * 1_000_000_000),
|
||||
);
|
||||
const sequence = sequenceIndex + 1;
|
||||
const spatialRequestIndex = Math.floor(sequenceIndex / 5) * 5;
|
||||
const spatialRequestTimeNs = review.frameSourceTimesNs[spatialRequestIndex]
|
||||
?? review.frameSourceTimesNs[sequenceIndex]
|
||||
?? Math.round(playbackController.playback.currentSeconds * 1_000_000_000);
|
||||
const spatialEvidence = useCanonicalRavSpatialFrame(review, replayLaunch, spatialRequestTimeNs);
|
||||
const layer = review[semanticLayer];
|
||||
const semantic = useMemo(() => semanticPresentation(layer), [layer]);
|
||||
const maskSequence = sequence - 1;
|
||||
const prefetchSrcs = useMemo(() => showCameraSemantic
|
||||
? Array.from({ length: 8 }, (_, offset) => maskSequence + offset + 1)
|
||||
? Array.from({ length: 8 }, (_, offset) => sequenceIndex + offset + 1)
|
||||
.filter((candidate) => candidate < review.frameCount)
|
||||
.map((candidate) => vegetationFullRouteMaskUrl(resultId, semanticLayer, candidate))
|
||||
: [], [maskSequence, resultId, review.frameCount, semanticLayer, showCameraSemantic]);
|
||||
: [], [resultId, review.frameCount, semanticLayer, sequenceIndex, showCameraSemantic]);
|
||||
|
||||
useEffect(() => {
|
||||
const controller = new AbortController();
|
||||
@@ -185,246 +336,326 @@ function FullRouteReviewEvidence({
|
||||
return () => controller.abort();
|
||||
}, [review.linkedRouteReviewResultId, review.sessionId, review.sourceId]);
|
||||
|
||||
const spatialProfile = useMemo(() => replayLaunch ? recordedSessionRerunProfile({
|
||||
sourceUrl: replayLaunch.viewerSourceUrl,
|
||||
artifact: {
|
||||
sourceUrl: replayLaunch.sourceUrl,
|
||||
viewerSourceUrl: replayLaunch.viewerSourceUrl,
|
||||
byteLength: replayLaunch.byteLength,
|
||||
sha256: replayLaunch.sha256,
|
||||
},
|
||||
autoplayWhenReady: false,
|
||||
presentationGate: "ready",
|
||||
expectedTimelineStartSeconds: replayLaunch.timelineStartSeconds,
|
||||
expectedTimelineEndSeconds: replayLaunch.timelineEndSeconds,
|
||||
initialPlaybackStartSeconds: review.timelineStartSeconds,
|
||||
view: "spatial",
|
||||
viewResetGeneration: 0,
|
||||
followTrajectory: false,
|
||||
perceptionLayers: {
|
||||
enabled: false,
|
||||
detections2d: false,
|
||||
segmentation: false,
|
||||
cuboids3d: false,
|
||||
},
|
||||
perceptionRetryGeneration: 0,
|
||||
lockPerceptionCameraInteraction: false,
|
||||
}) : null, [replayLaunch, review.timelineStartSeconds]);
|
||||
const activeFrame = frames.find((candidate) => candidate.sequence === sequence)
|
||||
?? frames[0]
|
||||
?? null;
|
||||
const activeSourceTimeNsRef = useRef(activeFrame?.sourceTimeNs ?? null);
|
||||
activeSourceTimeNsRef.current = activeFrame?.sourceTimeNs ?? null;
|
||||
const handleSpatialControllerChange = useCallback((controller: RerunPlaybackController | null) => {
|
||||
spatialControllerRef.current = controller;
|
||||
const sourceTimeNs = activeSourceTimeNsRef.current;
|
||||
if (!controller || sourceTimeNs === null) return;
|
||||
controller.setPlaying(false);
|
||||
controller.seek(sourceTimeNs);
|
||||
}, []);
|
||||
const selectedTgsCase = linkedReview
|
||||
? causalTgsCase(linkedReview.cases, sequence)
|
||||
: null;
|
||||
const selectedTgsTimeNs = selectedTgsCase
|
||||
? review.frameSourceTimesNs[selectedTgsCase.sourceSequence - 1]
|
||||
?? Math.round(selectedTgsCase.sessionSeconds * 1_000_000_000)
|
||||
: spatialRequestTimeNs;
|
||||
const tgsReferenceEvidence = useCanonicalRavSpatialFrame(
|
||||
review,
|
||||
replayLaunch,
|
||||
selectedTgsTimeNs,
|
||||
);
|
||||
|
||||
useEffect(() => {
|
||||
const controller = spatialControllerRef.current;
|
||||
if (!controller || !activeFrame) return;
|
||||
controller.setPlaying(false);
|
||||
controller.seek(activeFrame.sourceTimeNs);
|
||||
}, [activeFrame]);
|
||||
|
||||
const selectedTgsCase = linkedReview
|
||||
? nearestTgsCase(linkedReview.cases, sequence)
|
||||
: null;
|
||||
const selectTgsPlan = useCallback(() => {
|
||||
if (!linkedReview) return;
|
||||
const item = nearestTgsCase(linkedReview.cases, sequence);
|
||||
if (!item) return;
|
||||
setPlaying(false);
|
||||
setSequence(item.sourceSequence);
|
||||
setEvidenceMode("plan");
|
||||
}, [linkedReview, sequence]);
|
||||
const handleEvidenceModeChange = useCallback((nextMode: M48BlindEvidenceMode) => {
|
||||
if (nextMode === "plan") {
|
||||
selectTgsPlan();
|
||||
if (!showTgs || !selectedTgsCase) {
|
||||
setTgsAnchor(null);
|
||||
setTgsAnchorLoading(false);
|
||||
setTgsAnchorError(null);
|
||||
return;
|
||||
}
|
||||
setEvidenceMode(nextMode);
|
||||
}, [selectTgsPlan]);
|
||||
const cameraPresentation = evidenceMode === "camera"
|
||||
? "primary"
|
||||
: cameraVisible ? "companion" : "hidden";
|
||||
const spatialScene = evidenceMode === "plan" ? (
|
||||
selectedTgsCase ? (
|
||||
<div className="recorded-evidence-image-scene">
|
||||
<img
|
||||
src={selectedTgsCase.assets.tgs}
|
||||
alt={`TGS costmap · sequence ${selectedTgsCase.sourceSequence}`}
|
||||
draggable={false}
|
||||
const controller = new AbortController();
|
||||
setTgsAnchorLoading(true);
|
||||
setTgsAnchorError(null);
|
||||
void fetchVegetationRouteTgsAnchor(
|
||||
review.linkedRouteReviewResultId,
|
||||
selectedTgsCase.sourceSequence,
|
||||
{ signal: controller.signal },
|
||||
).then((anchor) => {
|
||||
if (!controller.signal.aborted) setTgsAnchor(anchor);
|
||||
}).catch((caught: unknown) => {
|
||||
if (!controller.signal.aborted) {
|
||||
setTgsAnchorError(caught instanceof Error ? caught.message : "TGS anchor недоступен.");
|
||||
}
|
||||
}).finally(() => {
|
||||
if (!controller.signal.aborted) setTgsAnchorLoading(false);
|
||||
});
|
||||
return () => controller.abort();
|
||||
}, [review.linkedRouteReviewResultId, selectedTgsCase?.sourceSequence, showTgs]);
|
||||
|
||||
const packedTgsCells = useMemo<LaboratoryMetricPackedCellEvidence | undefined>(() => {
|
||||
if (!tgsAnchor) return undefined;
|
||||
const currentBody = spatialEvidence.frame?.bodyFrame;
|
||||
const anchorBody = tgsReferenceEvidence.frame?.bodyFrame;
|
||||
const transformPoint = (point: readonly [number, number, number]) => {
|
||||
if (!currentBody || !anchorBody) return point;
|
||||
const map = [0, 1, 2].map((row) => (
|
||||
anchorBody.originMapXyzM[row]!
|
||||
+ anchorBody.basisMapFromBody[row]!.reduce(
|
||||
(sum, coefficient, column) => sum + coefficient * point[column]!,
|
||||
0,
|
||||
)
|
||||
));
|
||||
const delta = map.map((value, index) => value - currentBody.originMapXyzM[index]!);
|
||||
return [0, 1, 2].map((column) => (
|
||||
currentBody.basisMapFromBody.reduce(
|
||||
(sum, row, rowIndex) => sum + row[column]! * delta[rowIndex]!,
|
||||
0,
|
||||
)
|
||||
)) as [number, number, number];
|
||||
};
|
||||
const centers: number[] = [];
|
||||
const zBounds: number[] = [];
|
||||
tgsAnchor.costmap.centersXyM.forEach(([x, y], index) => {
|
||||
const bounds = tgsAnchor.costmap.zBoundsM[index] ?? [null, null];
|
||||
const center = transformPoint([x, y, 0]);
|
||||
centers.push(center[0], center[1]);
|
||||
if (bounds[0] === null || bounds[1] === null) {
|
||||
zBounds.push(Number.NaN, Number.NaN);
|
||||
} else {
|
||||
const bottom = transformPoint([x, y, bounds[0]]);
|
||||
const top = transformPoint([x, y, bounds[1]]);
|
||||
zBounds.push(Math.min(bottom[2], top[2]), Math.max(bottom[2], top[2]));
|
||||
}
|
||||
});
|
||||
return {
|
||||
centersBodyXyM: Float32Array.from(centers),
|
||||
zBoundsM: Float32Array.from(zBounds),
|
||||
stateCodes: Uint8Array.from(tgsAnchor.costmap.stateCodes),
|
||||
};
|
||||
}, [spatialEvidence.frame?.bodyFrame, tgsAnchor, tgsReferenceEvidence.frame?.bodyFrame]);
|
||||
|
||||
const semanticOverlay = showCameraSemantic ? {
|
||||
src: vegetationFullRouteMaskUrl(resultId, semanticLayer, sequenceIndex),
|
||||
prefetchSrcs,
|
||||
classes: semantic.classes,
|
||||
palette: semantic.palette,
|
||||
opacity: 0.76,
|
||||
ariaLabel: `${layer.name} semantic prediction frame ${sequence}`,
|
||||
} : undefined;
|
||||
|
||||
const mediaContent = (
|
||||
<div className="m4-replay-threat-visual__media-layer" data-media={mediaMode ?? "none"}>
|
||||
{videoSource ? (
|
||||
<RecordedEvidenceVideoScene
|
||||
source={videoSource}
|
||||
playback={playbackController.playback}
|
||||
imageWidth={review.width}
|
||||
imageHeight={review.height}
|
||||
boxes={[]}
|
||||
semanticOverlay={semanticOverlay}
|
||||
ariaLabel={`RAVNOVES004TREE recorded frame ${sequence}`}
|
||||
interactive={false}
|
||||
segmentSequence={sequence}
|
||||
segmentCount={review.frameCount}
|
||||
onPlaybackChange={playbackController.synchronize}
|
||||
playbackAuthority="host"
|
||||
playbackTransport="epoch-stream"
|
||||
/>
|
||||
<div className="m48-clip-player__pane-label" data-pane="spatial">
|
||||
TGS COSTMAP · ЯКОРЬ {selectedTgsCase.sourceSequence} · {selectedTgsCase.tgs.occupiedCells} OCCUPIED
|
||||
) : (
|
||||
<div className="l3-visual-audit__state" role={videoError ? "alert" : "status"}>
|
||||
{videoError ?? "Открываем автономный RAVNOVES004TREE source…"}
|
||||
</div>
|
||||
</div>
|
||||
) : (
|
||||
<div className="m4-replay-threat-visual__pane-status" role="status">
|
||||
{linkedReviewError ?? "Открываем sealed TGS anchors…"}
|
||||
</div>
|
||||
)
|
||||
) : spatialProfile ? (
|
||||
<RerunViewport
|
||||
profile={spatialProfile}
|
||||
sceneSettings={sceneSettings}
|
||||
onPlaybackControllerChange={handleSpatialControllerChange}
|
||||
/>
|
||||
) : (
|
||||
<div className="m4-replay-threat-visual__pane-status" role="status">
|
||||
Открываем sealed RRD, source points и SLAM trajectory…
|
||||
)}
|
||||
</div>
|
||||
);
|
||||
|
||||
return (
|
||||
<LaboratoryEvidenceViewer
|
||||
label="RAVNOVES004TREE full recorded review"
|
||||
className="m48-atlas-visual"
|
||||
mode={semanticLayer}
|
||||
modes={FULL_ROUTE_SEMANTIC_MODES}
|
||||
expanded={expanded}
|
||||
onModeChange={setSemanticLayer}
|
||||
onExpandedChange={setExpanded}
|
||||
modeControlsVisible={false}
|
||||
chromeLayout="stacked"
|
||||
const spatialContent = spatialMode ? (
|
||||
<>
|
||||
{spatialEvidence.frame ? (
|
||||
<LaboratoryMetricEvidenceScene
|
||||
ref={metricSceneRef}
|
||||
pointCloudBodyXyzM={showSourcePoints
|
||||
? spatialEvidence.frame.sourcePointsBodyXyzM
|
||||
: []}
|
||||
localSurfaceBodyXyzM={showLocalSlam
|
||||
? spatialEvidence.frame.localSlamBodyXyzM
|
||||
: []}
|
||||
obstacles={[]}
|
||||
rig={{ lengthM: 1, widthM: 0.8, nominalSensorHeightM: 0.4 }}
|
||||
corridor={{ forwardLengthM: 12, rearMarginM: 1, halfWidthM: 0.4 }}
|
||||
occupiedVoxelSizeM={tgsAnchor?.costmap.cellSizeM ?? 0.45}
|
||||
mode={spatialMode}
|
||||
label="RAV004 canonical source points, local SLAM and TGS costmap"
|
||||
showCurrentIncrement={showSourcePoints}
|
||||
showLocalSurface={showLocalSlam}
|
||||
showRollingMap={showTgs}
|
||||
showLowStep={false}
|
||||
classifiedPackedCells={packedTgsCells}
|
||||
classifiedCellSizeM={tgsAnchor?.costmap.cellSizeM}
|
||||
showClassifiedCells={showTgs && Boolean(packedTgsCells)}
|
||||
/>
|
||||
) : (
|
||||
<div className="l3-visual-audit__state" role={spatialEvidence.error ? "alert" : "status"}>
|
||||
{spatialEvidence.loading ? <span className="busy-indicator" aria-hidden="true" /> : null}
|
||||
<span>{spatialEvidence.error ?? "Открываем source points и Local SLAM из sealed RRD…"}</span>
|
||||
</div>
|
||||
)}
|
||||
{showTgs && selectedTgsCase ? (
|
||||
<div className="m4-replay-threat-visual__pane-status" role="status">
|
||||
{tgsAnchorError ?? linkedReviewError ?? (tgsAnchorLoading
|
||||
? `Открываем sealed TGS anchor ${selectedTgsCase.sourceSequence}; source/SLAM и общий clock продолжаются.`
|
||||
: `TGS anchor ${selectedTgsCase.sourceSequence} из 10; source/SLAM и общий clock продолжаются.`)}
|
||||
</div>
|
||||
) : null}
|
||||
</>
|
||||
) : null;
|
||||
|
||||
const mediaLayerControls = (
|
||||
<div
|
||||
className="m4-replay-threat-visual__pane-layer-controls"
|
||||
role="group"
|
||||
aria-label="Слои камеры и видео"
|
||||
>
|
||||
<div className="m48-evidence-stage">
|
||||
{videoSource ? (
|
||||
<LaboratoryRecordedClipPlayer
|
||||
source={videoSource}
|
||||
segmentCount={review.frameCount}
|
||||
frames={frames}
|
||||
sequence={sequence}
|
||||
playing={playing}
|
||||
playbackRate={playbackRate}
|
||||
cameraPresentation={cameraPresentation}
|
||||
continuousPlayback
|
||||
sourceCount={4}
|
||||
onSequenceChange={setSequence}
|
||||
onPlayingChange={setPlaying}
|
||||
onPlaybackRateChange={setPlaybackRate}
|
||||
alternativeScene={spatialScene}
|
||||
cameraControls={(
|
||||
<>
|
||||
<Button
|
||||
size="compact"
|
||||
shape="pill"
|
||||
variant={showCameraSemantic ? "primary" : "secondary"}
|
||||
aria-pressed={showCameraSemantic}
|
||||
onClick={() => setShowCameraSemantic((visible) => !visible)}
|
||||
>
|
||||
SEMANTICS
|
||||
</Button>
|
||||
<SegmentedControl
|
||||
value={semanticLayer}
|
||||
items={[...FULL_ROUTE_SEMANTIC_MODES]}
|
||||
label="Источник семантики"
|
||||
onChange={(value) => {
|
||||
setSemanticLayer(value);
|
||||
setShowCameraSemantic(true);
|
||||
}}
|
||||
/>
|
||||
</>
|
||||
)}
|
||||
spatialControls={(
|
||||
<>
|
||||
<Button
|
||||
size="compact"
|
||||
shape="pill"
|
||||
variant={sceneSettings.showPoints ? "primary" : "secondary"}
|
||||
aria-pressed={sceneSettings.showPoints}
|
||||
onClick={() => {
|
||||
setEvidenceMode("3d");
|
||||
setSceneSettings((settings) => ({
|
||||
...settings,
|
||||
showPoints: !settings.showPoints,
|
||||
}));
|
||||
}}
|
||||
>
|
||||
SOURCE POINTS
|
||||
</Button>
|
||||
<Button
|
||||
size="compact"
|
||||
shape="pill"
|
||||
variant={sceneSettings.showTrajectory ? "primary" : "secondary"}
|
||||
aria-pressed={sceneSettings.showTrajectory}
|
||||
onClick={() => {
|
||||
setEvidenceMode("3d");
|
||||
setSceneSettings((settings) => ({
|
||||
...settings,
|
||||
showTrajectory: !settings.showTrajectory,
|
||||
}));
|
||||
}}
|
||||
>
|
||||
LOCAL SLAM
|
||||
</Button>
|
||||
<Button
|
||||
size="compact"
|
||||
shape="pill"
|
||||
variant={evidenceMode === "plan" ? "primary" : "secondary"}
|
||||
aria-pressed={evidenceMode === "plan"}
|
||||
disabled={!linkedReview}
|
||||
title={linkedReviewError ?? "10 sealed causal TGS anchors; continuous TGS отсутствует"}
|
||||
onClick={selectTgsPlan}
|
||||
>
|
||||
TGS COSTMAP
|
||||
</Button>
|
||||
<Button
|
||||
size="compact"
|
||||
shape="pill"
|
||||
variant="secondary"
|
||||
disabled
|
||||
title="Для RAV004 не опубликован point-aligned 3D semantic archive"
|
||||
>
|
||||
SEMANTICS
|
||||
</Button>
|
||||
</>
|
||||
)}
|
||||
cameraOverlay={(
|
||||
<>
|
||||
<div className="m48-clip-player__pane-label" data-pane="camera">
|
||||
{showCameraSemantic
|
||||
? `${semanticLayer === "city" ? "EoMT CITY" : "DDRNet NATURE"} · КАДР ${sequence}/${review.frameCount}`
|
||||
: `SOURCE · КАДР ${sequence}/${review.frameCount}`}
|
||||
</div>
|
||||
{showCameraSemantic ? (
|
||||
<div className="m48-clip-player__overlay">
|
||||
<RecordedEvidenceSemanticMaskOverlay
|
||||
src={vegetationFullRouteMaskUrl(resultId, semanticLayer, maskSequence)}
|
||||
prefetchSrcs={prefetchSrcs}
|
||||
imageWidth={review.width}
|
||||
imageHeight={review.height}
|
||||
classes={semantic.classes}
|
||||
palette={semantic.palette}
|
||||
opacity={0.76}
|
||||
ariaLabel={`${layer.name} semantic prediction`}
|
||||
/>
|
||||
</div>
|
||||
) : null}
|
||||
</>
|
||||
)}
|
||||
/>
|
||||
) : (
|
||||
<div className="m4-replay-threat-visual__pane-status" role={videoError ? "alert" : "status"}>
|
||||
{videoError ?? "Открываем автономный RAVNOVES004TREE source…"}
|
||||
</div>
|
||||
)}
|
||||
{videoSource ? (
|
||||
<M48EvidenceModeRail
|
||||
mode={evidenceMode}
|
||||
cameraVisible={cameraVisible}
|
||||
spatialAvailable={Boolean(spatialProfile)}
|
||||
planAvailable={Boolean(linkedReview)}
|
||||
onModeChange={handleEvidenceModeChange}
|
||||
onCameraVisibleChange={setCameraVisible}
|
||||
/>
|
||||
) : null}
|
||||
<Button
|
||||
size="compact"
|
||||
shape="pill"
|
||||
variant={showCameraSemantic ? "primary" : "secondary"}
|
||||
aria-pressed={showCameraSemantic}
|
||||
onClick={() => setShowCameraSemantic((visible) => !visible)}
|
||||
>
|
||||
SEMANTICS
|
||||
</Button>
|
||||
<SegmentedControl
|
||||
value={semanticLayer}
|
||||
items={[...FULL_ROUTE_SEMANTIC_MODES]}
|
||||
label="Источник семантики"
|
||||
onChange={(value) => {
|
||||
setSemanticLayer(value);
|
||||
setShowCameraSemantic(true);
|
||||
}}
|
||||
/>
|
||||
</div>
|
||||
);
|
||||
|
||||
const spatialLayerControls = (
|
||||
<div
|
||||
className="m4-replay-threat-visual__pane-layer-controls"
|
||||
role="group"
|
||||
aria-label="Слои 3D и плана"
|
||||
>
|
||||
<Button
|
||||
size="compact"
|
||||
shape="pill"
|
||||
variant={showSourcePoints ? "primary" : "secondary"}
|
||||
aria-pressed={showSourcePoints}
|
||||
onClick={() => setShowSourcePoints((visible) => !visible)}
|
||||
>
|
||||
SOURCE POINTS
|
||||
</Button>
|
||||
<Button
|
||||
size="compact"
|
||||
shape="pill"
|
||||
variant={showLocalSlam ? "primary" : "secondary"}
|
||||
aria-pressed={showLocalSlam}
|
||||
onClick={() => setShowLocalSlam((visible) => !visible)}
|
||||
>
|
||||
LOCAL SLAM
|
||||
</Button>
|
||||
<Button
|
||||
size="compact"
|
||||
shape="pill"
|
||||
variant={showTgs ? "primary" : "secondary"}
|
||||
aria-pressed={showTgs}
|
||||
disabled={!linkedReview}
|
||||
title={linkedReviewError ?? "10 sealed causal TGS anchors; continuous TGS отсутствует"}
|
||||
onClick={() => setShowTgs((visible) => !visible)}
|
||||
>
|
||||
TGS COSTMAP
|
||||
</Button>
|
||||
<Button
|
||||
size="compact"
|
||||
shape="pill"
|
||||
variant={showCameraSemantic ? "primary" : "secondary"}
|
||||
aria-pressed={showCameraSemantic}
|
||||
title="Recorded semantic layer; camera-aligned prediction, без выдуманной 3D-проекции"
|
||||
onClick={() => setShowCameraSemantic((visible) => !visible)}
|
||||
>
|
||||
SEMANTICS
|
||||
</Button>
|
||||
</div>
|
||||
);
|
||||
|
||||
const resetSpatialView = (
|
||||
<IconButton
|
||||
label="Сбросить ракурс"
|
||||
onClick={() => metricSceneRef.current?.resetView()}
|
||||
>
|
||||
<Icon name="refresh" size={16} />
|
||||
</IconButton>
|
||||
);
|
||||
|
||||
const overlayPanePercent = splitView && splitOrientation === "vertical"
|
||||
? splitPrimarySize
|
||||
: 100;
|
||||
const overlay = (
|
||||
<div
|
||||
className="l3-visual-audit__overlay m4-replay-threat-visual__overlay"
|
||||
style={{
|
||||
"--m4-replay-threat-overlay-pane-width": `${overlayPanePercent}%`,
|
||||
} as CSSProperties}
|
||||
>
|
||||
<div>
|
||||
<span>RAVNOVES004TREE · recorded realtime</span>
|
||||
<strong>frame {sequence}/{review.frameCount}</strong>
|
||||
<small>
|
||||
+{(playbackController.playback.currentSeconds - review.timelineStartSeconds).toFixed(3)} с
|
||||
· {playbackController.playback.playing ? "воспроизведение" : "пауза / seek"}
|
||||
</small>
|
||||
</div>
|
||||
</LaboratoryEvidenceViewer>
|
||||
<div>
|
||||
<span>Spatial evidence</span>
|
||||
<strong>{showTgs && selectedTgsCase
|
||||
? `TGS anchor ${selectedTgsCase.sourceSequence} · ${selectedTgsCase.tgs.occupiedCells} occupied`
|
||||
: "source RRD · points + SLAM"}</strong>
|
||||
<small>{showTgs
|
||||
? "latest causal of 10 sealed anchors · continuous playback retained"
|
||||
: "causal 1 s view · grayscale intensity · recorded source identity"}</small>
|
||||
</div>
|
||||
</div>
|
||||
);
|
||||
|
||||
const transport = (
|
||||
<ObservationTimeline
|
||||
className="m4-replay-threat-visual__timeline"
|
||||
active
|
||||
sourceCount={4}
|
||||
mode="recorded"
|
||||
seekable
|
||||
synchronization="host-arrival-best-effort"
|
||||
rangeNs={{
|
||||
min: Math.round(review.timelineStartSeconds * 1_000_000_000),
|
||||
max: Math.round(review.timelineEndSeconds * 1_000_000_000),
|
||||
}}
|
||||
currentNs={Math.round(playbackController.playback.currentSeconds * 1_000_000_000)}
|
||||
playing={playbackController.playback.playing}
|
||||
playbackRate={playbackController.playback.rate ?? 1}
|
||||
onSeek={(timeNs) => playbackController.seek(timeNs / 1_000_000_000)}
|
||||
onPlayingChange={playbackController.setPlaying}
|
||||
onPlaybackRateChange={playbackController.setRate}
|
||||
showJumpToEnd={false}
|
||||
/>
|
||||
);
|
||||
|
||||
return (
|
||||
<CanonicalRecordedLabReplay
|
||||
label="RAVNOVES004TREE full recorded review"
|
||||
mediaMode={mediaMode ?? "none"}
|
||||
mediaModes={FULL_ROUTE_MEDIA_MODES}
|
||||
spatialMode={spatialMode ?? "none"}
|
||||
spatialModes={FULL_ROUTE_SPATIAL_MODES}
|
||||
expanded={expanded}
|
||||
splitPrimarySize={splitPrimarySize}
|
||||
splitOrientation={splitOrientation}
|
||||
mediaAriaLabel={mediaMode === "camera" ? "Камера" : "Видео"}
|
||||
spatialAriaLabel={spatialMode === "3d" ? "Трёхмерная сцена" : "Вид сверху"}
|
||||
mediaLayerControls={mediaLayerControls}
|
||||
spatialLayerControls={spatialLayerControls}
|
||||
spatialLeadingControl={resetSpatialView}
|
||||
mediaMultiLayer
|
||||
mediaContent={mediaContent}
|
||||
spatialContent={spatialContent}
|
||||
emptyMessage="Выберите VIDEO/CAMERA или 3D/PLAN. Общий таймлайн останется на месте."
|
||||
overlay={overlay}
|
||||
transport={transport}
|
||||
trailingActions={!splitView && spatialMode ? resetSpatialView : null}
|
||||
onMediaModeChange={handleMediaModeChange}
|
||||
onSpatialModeChange={handleSpatialModeChange}
|
||||
onExpandedChange={setExpanded}
|
||||
onSplitPrimarySizeChange={setSplitPrimarySize}
|
||||
/>
|
||||
);
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user