perf(lab): stream sealed spatial playback tracks

apps/control-station/src/core/laboratory/m49TgsFullShadow.ts

@@ -84,6 +84,48 @@ export interface M49TgsFullShadowSpatialChunk {
   frames: readonly M49TgsFullShadowSpatial[];
 }
 
+export type M49TgsFullShadowPlaybackTrackId =
+  | "frames"
+  | "centers"
+  | "states"
+  | "z-bounds";
+
+export interface M49TgsFullShadowPlaybackProgress {
+  phase: "manifest" | "download" | "verify" | "ready";
+  trackId: M49TgsFullShadowPlaybackTrackId | null;
+  loadedBytes: number;
+  totalBytes: number;
+}
+
+interface M49TgsFullShadowPlaybackTrack {
+  id: M49TgsFullShadowPlaybackTrackId;
+  url: string;
+  mediaType: string;
+  dtype: "ndjson" | "<f4" | "|u1";
+  shape: readonly number[];
+  byteLength: number;
+  sha256: string;
+}
+
+export interface M49TgsFullShadowPlaybackFrame {
+  sourceSequence: number;
+  sourceFrameIndex: number;
+  sessionSeconds: number;
+  sampleAvailable: boolean;
+  metrics: M49TgsFullShadowSpatial["metrics"];
+}
+
+export interface M49TgsFullShadowPlaybackPack {
+  resultId: string;
+  frameCount: 4489;
+  cellCount: 2244;
+  totalByteLength: number;
+  centersXyM: readonly (readonly [number, number])[];
+  states: Uint8Array;
+  zBoundsM: Float32Array;
+  frames: readonly M49TgsFullShadowPlaybackFrame[];
+}
+
 export class M49TgsFullShadowContractError extends Error {}
 
 function objectValue(value: unknown, label: string): Record<string, unknown> {
@@ -335,3 +377,285 @@ export async function fetchM49TgsFullShadowSpatialChunk(
     )),
   };
 }
+
+function playbackTrackId(value: unknown, label: string): M49TgsFullShadowPlaybackTrackId {
+  const parsed = text(value, label);
+  if (parsed !== "frames" && parsed !== "centers" && parsed !== "states" && parsed !== "z-bounds") {
+    throw new M49TgsFullShadowContractError(`${label}: неизвестная playback-дорожка.`);
+  }
+  return parsed;
+}
+
+function playbackDtype(value: unknown, label: string): M49TgsFullShadowPlaybackTrack["dtype"] {
+  const parsed = text(value, label);
+  if (parsed !== "ndjson" && parsed !== "<f4" && parsed !== "|u1") {
+    throw new M49TgsFullShadowContractError(`${label}: неизвестный dtype.`);
+  }
+  return parsed;
+}
+
+function playbackShape(value: unknown, label: string): readonly number[] {
+  if (!Array.isArray(value) || !value.length) {
+    throw new M49TgsFullShadowContractError(`${label}: ожидалась размерность.`);
+  }
+  return value.map((item, index) => integer(item, `${label}.${index}`));
+}
+
+async function fetchPlaybackManifest(
+  id: string,
+  fetcher: LaboratoryFetch,
+  signal: AbortSignal | undefined,
+): Promise<{
+  frameCount: 4489;
+  cellCount: 2244;
+  totalByteLength: number;
+  tracks: ReadonlyMap<M49TgsFullShadowPlaybackTrackId, M49TgsFullShadowPlaybackTrack>;
+}> {
+  const response = await fetcher(
+    `/api/v1/laboratory/m49/tgs-full-shadow/${encodeURIComponent(id)}/playback/manifest`,
+    { method: "GET", headers: { Accept: "application/json" }, signal },
+  );
+  if (!response.ok) {
+    throw new M49TgsFullShadowContractError(`M49 playback manifest недоступен: HTTP ${response.status}.`);
+  }
+  const payload = objectValue(await response.json(), "M49 playback manifest");
+  exact(payload.schema_version, "missioncore.m49-tgs-full-shadow-playback/v1", "M49 playback schema");
+  exact(payload.result_id, id, "M49 playback result");
+  exact(payload.coordinate_frame, "map-gravity-local", "M49 playback frame");
+  exact(payload.access, "read-only", "M49 playback access");
+  const frameCount = exact(integer(payload.frame_count, "M49 playback frames"), 4489, "M49 playback frames");
+  const cellCount = exact(integer(payload.cell_count, "M49 playback cells"), 2244, "M49 playback cells");
+  const totalByteLength = integer(payload.total_byte_length, "M49 playback bytes");
+  if (!Array.isArray(payload.tracks) || payload.tracks.length !== 4) {
+    throw new M49TgsFullShadowContractError("M49 playback tracks: неверная размерность.");
+  }
+  const tracks = new Map<M49TgsFullShadowPlaybackTrackId, M49TgsFullShadowPlaybackTrack>();
+  for (const [index, value] of payload.tracks.entries()) {
+    const row = objectValue(value, `M49 playback track ${index}`);
+    const trackId = playbackTrackId(row.id, `M49 playback track ${index}.id`);
+    const sha256 = text(row.sha256, `M49 playback track ${trackId}.sha256`);
+    if (!/^[a-f0-9]{64}$/.test(sha256) || tracks.has(trackId)) {
+      throw new M49TgsFullShadowContractError(`M49 playback track ${trackId}: нарушена идентичность.`);
+    }
+    tracks.set(trackId, {
+      id: trackId,
+      url: text(row.url, `M49 playback track ${trackId}.url`),
+      mediaType: text(row.media_type, `M49 playback track ${trackId}.media_type`),
+      dtype: playbackDtype(row.dtype, `M49 playback track ${trackId}.dtype`),
+      shape: playbackShape(row.shape, `M49 playback track ${trackId}.shape`),
+      byteLength: integer(row.byte_length, `M49 playback track ${trackId}.byte_length`),
+      sha256,
+    });
+  }
+  if ([...tracks.values()].reduce((sum, track) => sum + track.byteLength, 0) !== totalByteLength) {
+    throw new M49TgsFullShadowContractError("M49 playback bytes: нарушен accounting.");
+  }
+  return { frameCount, cellCount, totalByteLength, tracks };
+}
+
+function sha256Hex(buffer: ArrayBuffer): Promise<string> {
+  if (!globalThis.crypto?.subtle) {
+    throw new M49TgsFullShadowContractError("Браузер не поддерживает проверку playback SHA-256.");
+  }
+  return globalThis.crypto.subtle.digest("SHA-256", buffer).then((digest) => (
+    [...new Uint8Array(digest)].map((value) => value.toString(16).padStart(2, "0")).join("")
+  ));
+}
+
+async function fetchPlaybackTrack(
+  track: M49TgsFullShadowPlaybackTrack,
+  fetcher: LaboratoryFetch,
+  signal: AbortSignal | undefined,
+  completedBytes: number,
+  totalBytes: number,
+  onProgress: ((progress: M49TgsFullShadowPlaybackProgress) => void) | undefined,
+): Promise<ArrayBuffer> {
+  const response = await fetcher(track.url, {
+    method: "GET",
+    headers: { Accept: track.mediaType },
+    signal,
+  });
+  if (!response.ok) {
+    throw new M49TgsFullShadowContractError(`M49 playback ${track.id} недоступен: HTTP ${response.status}.`);
+  }
+  const bytes = new Uint8Array(track.byteLength);
+  if (response.body) {
+    const reader = response.body.getReader();
+    let offset = 0;
+    while (true) {
+      const { done, value } = await reader.read();
+      if (done) break;
+      if (offset + value.byteLength > bytes.byteLength) {
+        throw new M49TgsFullShadowContractError(`M49 playback ${track.id}: превышен объявленный размер.`);
+      }
+      bytes.set(value, offset);
+      offset += value.byteLength;
+      onProgress?.({
+        phase: "download",
+        trackId: track.id,
+        loadedBytes: completedBytes + offset,
+        totalBytes,
+      });
+    }
+    if (offset !== bytes.byteLength) {
+      throw new M49TgsFullShadowContractError(`M49 playback ${track.id}: получен неполный файл.`);
+    }
+  } else {
+    const fallback = new Uint8Array(await response.arrayBuffer());
+    if (fallback.byteLength !== bytes.byteLength) {
+      throw new M49TgsFullShadowContractError(`M49 playback ${track.id}: получен неверный размер.`);
+    }
+    bytes.set(fallback);
+  }
+  onProgress?.({
+    phase: "verify",
+    trackId: track.id,
+    loadedBytes: completedBytes + bytes.byteLength,
+    totalBytes,
+  });
+  if (await sha256Hex(bytes.buffer) !== track.sha256) {
+    throw new M49TgsFullShadowContractError(`M49 playback ${track.id}: SHA-256 не совпал.`);
+  }
+  return bytes.buffer;
+}
+
+function equalShape(actual: readonly number[], expected: readonly number[]): boolean {
+  return actual.length === expected.length && actual.every((value, index) => value === expected[index]);
+}
+
+export function parseM49TgsNpyTrack(
+  buffer: ArrayBuffer,
+  expectedDtype: "<f4" | "|u1",
+  expectedShape: readonly number[],
+): Float32Array | Uint8Array {
+  const bytes = new Uint8Array(buffer);
+  if (bytes.byteLength < 12
+      || bytes[0] !== 0x93
+      || String.fromCharCode(...bytes.subarray(1, 6)) !== "NUMPY") {
+    throw new M49TgsFullShadowContractError("M49 playback NPY: неверная сигнатура.");
+  }
+  const major = bytes[6];
+  const headerLength = major === 1
+    ? new DataView(buffer).getUint16(8, true)
+    : major === 2 || major === 3
+      ? new DataView(buffer).getUint32(8, true)
+      : -1;
+  const headerOffset = major === 1 ? 10 : 12;
+  if (headerLength < 0 || headerOffset + headerLength > bytes.byteLength) {
+    throw new M49TgsFullShadowContractError("M49 playback NPY: неверный заголовок.");
+  }
+  const header = new TextDecoder("latin1").decode(bytes.subarray(headerOffset, headerOffset + headerLength));
+  const dtype = header.match(/["']descr["']\s*:\s*["']([^"']+)["']/)?.[1];
+  const fortran = header.match(/["']fortran_order["']\s*:\s*(True|False)/)?.[1];
+  const rawShape = header.match(/["']shape["']\s*:\s*\(([^)]*)\)/)?.[1];
+  const shape = rawShape?.split(",").map((value) => value.trim()).filter(Boolean).map(Number) ?? [];
+  if (dtype !== expectedDtype || fortran !== "False" || !equalShape(shape, expectedShape)) {
+    throw new M49TgsFullShadowContractError("M49 playback NPY: dtype или shape изменились.");
+  }
+  const count = expectedShape.reduce((product, value) => product * value, 1);
+  const dataOffset = headerOffset + headerLength;
+  const bytesPerValue = expectedDtype === "<f4" ? 4 : 1;
+  if (dataOffset + count * bytesPerValue !== buffer.byteLength) {
+    throw new M49TgsFullShadowContractError("M49 playback NPY: длина payload изменилась.");
+  }
+  return expectedDtype === "<f4"
+    ? new Float32Array(buffer, dataOffset, count)
+    : new Uint8Array(buffer, dataOffset, count);
+}
+
+function parsePlaybackFrames(buffer: ArrayBuffer): readonly M49TgsFullShadowPlaybackFrame[] {
+  const lines = new TextDecoder().decode(buffer).trim().split("\n");
+  if (lines.length !== 4489) {
+    throw new M49TgsFullShadowContractError("M49 playback frames: неверная размерность.");
+  }
+  return lines.map((line, sourceSequence) => {
+    const row = objectValue(JSON.parse(line), `M49 playback frame ${sourceSequence}`);
+    return {
+      sourceSequence,
+      sourceFrameIndex: integer(row.source_frame_index, `M49 playback frame ${sourceSequence}.source`),
+      sessionSeconds: numberValue(row.session_seconds, `M49 playback frame ${sourceSequence}.time`),
+      sampleAvailable: booleanValue(row.sample_available, `M49 playback frame ${sourceSequence}.available`),
+      metrics: {
+        eligiblePointCount: integer(row.eligible_point_count, `M49 playback frame ${sourceSequence}.eligible`),
+        groundPointCount: integer(row.ground_point_count, `M49 playback frame ${sourceSequence}.ground`),
+        nongroundPointCount: integer(row.nonground_point_count, `M49 playback frame ${sourceSequence}.nonground`),
+        rejectedPointCount: integer(row.rejected_point_count, `M49 playback frame ${sourceSequence}.rejected`),
+        occupiedCellCount: integer(row.occupied_cell_count, `M49 playback frame ${sourceSequence}.occupied`),
+      },
+    };
+  });
+}
+
+export async function fetchM49TgsFullShadowPlaybackPack(
+  id: string,
+  {
+    fetcher = fetch,
+    signal,
+    onProgress,
+  }: {
+    fetcher?: LaboratoryFetch;
+    signal?: AbortSignal;
+    onProgress?: (progress: M49TgsFullShadowPlaybackProgress) => void;
+  } = {},
+): Promise<M49TgsFullShadowPlaybackPack> {
+  if (!RESULT_ID.test(id)) {
+    throw new M49TgsFullShadowContractError("M49 playback identity недопустима.");
+  }
+  onProgress?.({ phase: "manifest", trackId: null, loadedBytes: 0, totalBytes: 0 });
+  const manifest = await fetchPlaybackManifest(id, fetcher, signal);
+  const buffers = new Map<M49TgsFullShadowPlaybackTrackId, ArrayBuffer>();
+  let completedBytes = 0;
+  const order: readonly M49TgsFullShadowPlaybackTrackId[] = ["frames", "centers", "states", "z-bounds"];
+  for (const trackId of order) {
+    const track = manifest.tracks.get(trackId);
+    if (!track) throw new M49TgsFullShadowContractError(`M49 playback ${trackId}: дорожка отсутствует.`);
+    const buffer = await fetchPlaybackTrack(
+      track,
+      fetcher,
+      signal,
+      completedBytes,
+      manifest.totalByteLength,
+      onProgress,
+    );
+    buffers.set(trackId, buffer);
+    completedBytes += track.byteLength;
+  }
+  const centersTrack = manifest.tracks.get("centers")!;
+  const statesTrack = manifest.tracks.get("states")!;
+  const zBoundsTrack = manifest.tracks.get("z-bounds")!;
+  const centersRaw = parseM49TgsNpyTrack(
+    buffers.get("centers")!,
+    "<f4",
+    centersTrack.shape,
+  ) as Float32Array;
+  const centersXyM = Array.from({ length: manifest.cellCount }, (_, index) => (
+    [centersRaw[index * 2]!, centersRaw[index * 2 + 1]!] as const
+  ));
+  const states = parseM49TgsNpyTrack(
+    buffers.get("states")!,
+    "|u1",
+    statesTrack.shape,
+  ) as Uint8Array;
+  const zBoundsM = parseM49TgsNpyTrack(
+    buffers.get("z-bounds")!,
+    "<f4",
+    zBoundsTrack.shape,
+  ) as Float32Array;
+  const frames = parsePlaybackFrames(buffers.get("frames")!);
+  onProgress?.({
+    phase: "ready",
+    trackId: null,
+    loadedBytes: manifest.totalByteLength,
+    totalBytes: manifest.totalByteLength,
+  });
+  return {
+    resultId: id,
+    frameCount: manifest.frameCount,
+    cellCount: manifest.cellCount,
+    totalByteLength: manifest.totalByteLength,
+    centersXyM,
+    states,
+    zBoundsM,
+    frames,
+  };
+}

apps/control-station/src/core/laboratory/m4ReplayThreat.ts

@@ -226,6 +226,20 @@ export interface M4ThreatTimelineChunk {
   frames: readonly M4ThreatTimelineFrame[];
 }
 
+export interface M4ThreatPlaybackProgress {
+  phase: "manifest" | "download" | "verify" | "ready";
+  loadedBytes: number;
+  totalBytes: number;
+}
+
+export interface M4ThreatPlaybackPointPack {
+  resultId: string;
+  frameCount: 4489;
+  pointCount: number;
+  pointOffsets: Uint32Array;
+  pointsMapXyzM: Float32Array;
+}
+
 type LaboratoryFetch = (input: RequestInfo | URL, init?: RequestInit) => Promise<Response>;
 export const M4_THREAT_TIMELINE_ENDPOINT_ROOT = "/api/v1/laboratory/m4-threat/results";
 class M4ThreatContractError extends Error {}
@@ -803,11 +817,13 @@ export async function fetchM4ThreatTimelineChunk(
     signal,
     endpointRoot = M4_THREAT_TIMELINE_ENDPOINT_ROOT,
     cameraObstacleProjectionDelivery = null,
+    playbackPointPack,
   }: {
     fetcher?: LaboratoryFetch;
     signal?: AbortSignal;
     endpointRoot?: string;
     cameraObstacleProjectionDelivery?: M4ThreatTimeline["cameraObstacleProjectionDelivery"];
+    playbackPointPack?: M4ThreatPlaybackPointPack;
   } = {},
 ): Promise<M4ThreatTimelineChunk> {
   const params = new URLSearchParams({
@@ -817,6 +833,7 @@ export async function fetchM4ThreatTimelineChunk(
   if (cameraObstacleProjectionDelivery !== null) {
     params.set("obstacle_projection", cameraObstacleProjectionDelivery);
   }
+  if (playbackPointPack) params.set("include_points", "false");
   const response = await fetcher(
     `${endpointRoot}/${result}/timeline/chunk?${params}`,
     { headers: { Accept: "application/json" }, signal },
@@ -834,8 +851,12 @@ export async function fetchM4ThreatTimelineChunk(
   if (parsedStart !== startSequence) {
     throw new M4ThreatContractError("M4.6 timeline chunk start: нарушен контракт.");
   }
-  const frames = array(payload.frames, "M4.6 timeline frames").map((raw, offset) =>
+  const frames = array(payload.frames, "M4.6 timeline frames").map((raw, offset) => {
-    parseTimelineFrame(raw, result, parsedStart + offset, endpointRoot));
+    const parsed = parseTimelineFrame(raw, result, parsedStart + offset, endpointRoot);
+    return playbackPointPack
+      ? hydrateM4ThreatTimelineFrame(parsed, playbackPointPack)
+      : parsed;
+  });
   const parsedCount = integer(payload.frame_count, "M4.6 timeline chunk count");
   if (parsedCount !== frames.length || parsedCount > frameCount) {
     throw new M4ThreatContractError("M4.6 timeline chunk count: нарушен контракт.");
@@ -851,6 +872,159 @@ export async function fetchM4ThreatTimelineChunk(
   };
 }
 
+function playbackSha256Hex(buffer: ArrayBuffer): Promise<string> {
+  if (!globalThis.crypto?.subtle) {
+    throw new M4ThreatContractError("Браузер не поддерживает проверку playback SHA-256.");
+  }
+  return globalThis.crypto.subtle.digest("SHA-256", buffer).then((digest) => (
+    [...new Uint8Array(digest)].map((value) => value.toString(16).padStart(2, "0")).join("")
+  ));
+}
+
+function roundedBodyCoordinate(value: number): number {
+  return Math.round(value * 1_000_000) / 1_000_000;
+}
+
+export function hydrateM4ThreatTimelineFrame(
+  frame: M4ThreatTimelineFrame,
+  pack: M4ThreatPlaybackPointPack,
+): M4ThreatTimelineFrame {
+  if (frame.sequence >= pack.frameCount || pack.resultId === "") {
+    throw new M4ThreatContractError("M4.6 binary playback frame: нарушена идентичность.");
+  }
+  if (!frame.sourceAvailable || !frame.spatialAvailable || !frame.bodyFrame) {
+    if (frame.pointCloudSourceCount !== 0) {
+      throw new M4ThreatContractError("M4.6 binary playback unavailable frame содержит точки.");
+    }
+    return { ...frame, pointCloudBodyXyzM: [], pointCloudSampleCount: 0 };
+  }
+  const start = pack.pointOffsets[frame.sequence];
+  const stop = pack.pointOffsets[frame.sequence + 1];
+  if (start === undefined || stop === undefined || stop < start || stop > pack.pointCount) {
+    throw new M4ThreatContractError("M4.6 binary playback offsets: нарушена размерность.");
+  }
+  const count = stop - start;
+  if (frame.pointCloudSourceCount !== count || frame.pointCloudSampleCount !== count) {
+    throw new M4ThreatContractError("M4.6 binary playback point accounting: нарушен контракт.");
+  }
+  const origin = frame.bodyFrame.originMapXyzM;
+  const basis = frame.bodyFrame.basisMapFromBody;
+  const points = new Array<M4Point3>(count);
+  for (let index = 0; index < count; index += 1) {
+    const sourceOffset = (start + index) * 3;
+    const dx = pack.pointsMapXyzM[sourceOffset]! - origin[0];
+    const dy = pack.pointsMapXyzM[sourceOffset + 1]! - origin[1];
+    const dz = pack.pointsMapXyzM[sourceOffset + 2]! - origin[2];
+    points[index] = [
+      roundedBodyCoordinate(dx * basis[0][0] + dy * basis[1][0] + dz * basis[2][0]),
+      roundedBodyCoordinate(dx * basis[0][1] + dy * basis[1][1] + dz * basis[2][1]),
+      roundedBodyCoordinate(dx * basis[0][2] + dy * basis[1][2] + dz * basis[2][2]),
+    ];
+  }
+  return { ...frame, pointCloudBodyXyzM: points, pointCloudSampleCount: count };
+}
+
+export async function fetchM4ThreatPlaybackPointPack(
+  result: string,
+  {
+    fetcher = fetch,
+    signal,
+    endpointRoot = M4_THREAT_TIMELINE_ENDPOINT_ROOT,
+    onProgress,
+  }: {
+    fetcher?: LaboratoryFetch;
+    signal?: AbortSignal;
+    endpointRoot?: string;
+    onProgress?: (progress: M4ThreatPlaybackProgress) => void;
+  } = {},
+): Promise<M4ThreatPlaybackPointPack> {
+  resultId(result);
+  onProgress?.({ phase: "manifest", loadedBytes: 0, totalBytes: 0 });
+  const manifestResponse = await fetcher(`${endpointRoot}/${result}/timeline/playback`, {
+    headers: { Accept: "application/json" },
+    signal,
+  });
+  if (!manifestResponse.ok) {
+    throw new M4ThreatContractError(`M4.6 playback manifest: HTTP ${manifestResponse.status}.`);
+  }
+  const manifest = object(await manifestResponse.json(), "M4.6 playback manifest");
+  exact(manifest.schema_version, "missioncore.recorded-spatial-playback/v1", "M4.6 playback schema");
+  exact(manifest.result_id, result, "M4.6 playback result");
+  exact(manifest.coordinate_frame, "map", "M4.6 playback coordinate frame");
+  exact(manifest.access, "read-only-sealed-binary-playback", "M4.6 playback access");
+  const frameCount = exact(integer(manifest.frame_count, "M4.6 playback frames"), 4489, "M4.6 playback frames");
+  const pointCount = integer(manifest.point_count, "M4.6 playback points");
+  const offsetsRaw = array(manifest.point_offsets, "M4.6 playback offsets");
+  if (offsetsRaw.length !== frameCount + 1) {
+    throw new M4ThreatContractError("M4.6 playback offsets: неверная размерность.");
+  }
+  const pointOffsets = Uint32Array.from(offsetsRaw, (value) => integer(value, "M4.6 playback offset"));
+  if (pointOffsets[0] !== 0 || pointOffsets[pointOffsets.length - 1] !== pointCount) {
+    throw new M4ThreatContractError("M4.6 playback offsets: нарушено замыкание.");
+  }
+  for (let index = 1; index < pointOffsets.length; index += 1) {
+    if (pointOffsets[index]! < pointOffsets[index - 1]!) {
+      throw new M4ThreatContractError("M4.6 playback offsets: нарушена монотонность.");
+    }
+  }
+  const track = object(manifest.track, "M4.6 playback track");
+  exact(track.id, "points-map-f32", "M4.6 playback track id");
+  exact(track.dtype, "<f4", "M4.6 playback dtype");
+  const shape = array(track.shape, "M4.6 playback shape").map((value) => integer(value, "M4.6 playback shape"));
+  if (shape.length !== 2 || shape[0] !== pointCount || shape[1] !== 3) {
+    throw new M4ThreatContractError("M4.6 playback shape: нарушена размерность.");
+  }
+  const byteLength = integer(track.bytes, "M4.6 playback bytes");
+  if (byteLength !== pointCount * 3 * Float32Array.BYTES_PER_ELEMENT) {
+    throw new M4ThreatContractError("M4.6 playback bytes: нарушен accounting.");
+  }
+  const sha256 = text(track.sha256, "M4.6 playback SHA-256");
+  if (!/^[a-f0-9]{64}$/.test(sha256)) {
+    throw new M4ThreatContractError("M4.6 playback SHA-256: нарушен контракт.");
+  }
+  const response = await fetcher(text(track.url, "M4.6 playback URL"), {
+    headers: { Accept: "application/octet-stream" },
+    signal,
+  });
+  if (!response.ok) throw new M4ThreatContractError(`M4.6 playback points: HTTP ${response.status}.`);
+  const bytes = new Uint8Array(byteLength);
+  if (response.body) {
+    const reader = response.body.getReader();
+    let offset = 0;
+    while (true) {
+      const { done, value } = await reader.read();
+      if (done) break;
+      if (offset + value.byteLength > bytes.byteLength) {
+        throw new M4ThreatContractError("M4.6 playback points превысил объявленный размер.");
+      }
+      bytes.set(value, offset);
+      offset += value.byteLength;
+      onProgress?.({ phase: "download", loadedBytes: offset, totalBytes: byteLength });
+    }
+    if (offset !== byteLength) {
+      throw new M4ThreatContractError("M4.6 playback points получен не полностью.");
+    }
+  } else {
+    const fallback = new Uint8Array(await response.arrayBuffer());
+    if (fallback.byteLength !== byteLength) {
+      throw new M4ThreatContractError("M4.6 playback points: неверный размер.");
+    }
+    bytes.set(fallback);
+  }
+  onProgress?.({ phase: "verify", loadedBytes: byteLength, totalBytes: byteLength });
+  if (await playbackSha256Hex(bytes.buffer) !== sha256) {
+    throw new M4ThreatContractError("M4.6 playback points: SHA-256 не совпал.");
+  }
+  onProgress?.({ phase: "ready", loadedBytes: byteLength, totalBytes: byteLength });
+  return {
+    resultId: result,
+    frameCount,
+    pointCount,
+    pointOffsets,
+    pointsMapXyzM: new Float32Array(bytes.buffer),
+  };
+}
+
 export async function fetchM4ThreatCameraPointOverlay(
   result: string,
   sequence: number,

apps/control-station/test/m49TgsFullShadow.test.mjs

@@ -6,6 +6,7 @@ import { createServer } from "vite";
 
 let server;
 let fetchM49TgsFullShadowSpatialChunk;
+let parseM49TgsNpyTrack;
 
 const resultId = `m49-tgs-full-shadow-${"a".repeat(64)}`;
 
@@ -15,7 +16,7 @@ before(async () => {
     logLevel: "silent",
     server: { middlewareMode: true },
   });
-  ({ fetchM49TgsFullShadowSpatialChunk } = await server.ssrLoadModule(
+  ({ fetchM49TgsFullShadowSpatialChunk, parseM49TgsNpyTrack } = await server.ssrLoadModule(
     "/src/core/laboratory/m49TgsFullShadow.ts",
   ));
 });
@@ -73,7 +74,7 @@ test("M4.9T5 chunk keeps every missing-LiDAR cell explicitly UNOBSERVED", async
   assert.deepEqual(new Set(chunk.frames[0].costmap.states), new Set([0]));
 });
 
-test("M4.9T5 viewer prefetches 24-frame immutable chunks", async () => {
+test("M4.9T5 viewer preloads one immutable binary playback pack", async () => {
   const [source, contract] = await Promise.all([
     readFile(
       new URL("../src/workspaces/laboratory/M49TgsFullShadowEvidence.tsx", import.meta.url),
@@ -84,12 +85,37 @@ test("M4.9T5 viewer prefetches 24-frame immutable chunks", async () => {
       "utf8",
     ),
   ]);
-  assert.match(source, /const CHUNK_FRAMES = 24/);
+  assert.match(source, /fetchM49TgsFullShadowPlaybackPack/);
-  assert.match(source, /activeChunkStart \+ CHUNK_FRAMES/);
+  assert.match(source, /playbackProgress/);
-  assert.match(source, /fetchM49TgsFullShadowSpatialChunk/);
+  assert.doesNotMatch(source, /fetchM49TgsFullShadowSpatialChunk/);
   assert.match(source, /sampleAvailable: spatial\.sampleAvailable/);
   assert.match(source, /fetchE47SemanticSlamResult/);
   assert.match(source, /next\.baseM4ResultId !== result\.source\.linkedVisualResultId/);
   assert.match(source, /semantic=\{semantic \? \{/);
   assert.match(contract, /linked_semantic_result_id/);
+  assert.match(contract, /missioncore\.m49-tgs-full-shadow-playback\/v1/);
+});
+
+function npyFloat32(values, shape) {
+  const shapeText = shape.length === 1 ? `${shape[0]},` : shape.join(", ");
+  const prefixLength = 10;
+  let header = `{'descr': '<f4', 'fortran_order': False, 'shape': (${shapeText}), }`;
+  const padding = (16 - ((prefixLength + header.length + 1) % 16)) % 16;
+  header += " ".repeat(padding) + "\n";
+  const buffer = new ArrayBuffer(prefixLength + header.length + values.length * 4);
+  const bytes = new Uint8Array(buffer);
+  bytes.set([0x93, 0x4e, 0x55, 0x4d, 0x50, 0x59, 1, 0]);
+  new DataView(buffer).setUint16(8, header.length, true);
+  bytes.set(new TextEncoder().encode(header), prefixLength);
+  new Float32Array(buffer, prefixLength + header.length, values.length).set(values);
+  return buffer;
+}
+
+test("M4.9T5 parses sealed NPY tracks without JSON point arrays", () => {
+  const parsed = parseM49TgsNpyTrack(
+    npyFloat32([1.25, -2.5, 3.75, 4.5], [2, 2]),
+    "<f4",
+    [2, 2],
+  );
+  assert.deepEqual([...parsed], [1.25, -2.5, 3.75, 4.5]);
 });

apps/control-station/test/m4ReplayThreat.test.mjs

@@ -10,6 +10,7 @@ let fetchM4ThreatVisual;
 let fetchM4ThreatTimeline;
 let fetchM4ThreatTimelineChunk;
 let fetchM4ThreatCameraPointOverlay;
+let hydrateM4ThreatTimelineFrame;
 let selectM4ThreatTimelineFrame;
 let selectM4ThreatTimelineSequence;
 let advanceRecordedEvidencePlayback;
@@ -33,6 +34,7 @@ before(async () => {
     fetchM4ThreatTimeline,
     fetchM4ThreatTimelineChunk,
     fetchM4ThreatCameraPointOverlay,
+    hydrateM4ThreatTimelineFrame,
     selectM4ThreatTimelineFrame,
     selectM4ThreatTimelineSequence,
   } = await server.ssrLoadModule("/src/core/laboratory/m4ReplayThreat.ts"));
@@ -332,6 +334,45 @@ test("M4.6 timeline keeps only a compact index and decodes bounded spatial chunk
   assert.equal(selectM4ThreatTimelineFrame(chunk.frames, 35.50).sequence, 1);
 });
 
+test("M4.6 hydrates a lightweight timeline frame from one retained binary point track", async () => {
+  const raw = timelineFrame(0, 35.421857292, {
+    body_frame: {
+      origin_map_xyz_m: [10, 20, 30],
+      basis_map_from_body: [[1, 0, 0], [0, 1, 0], [0, 0, 1]],
+    },
+    point_cloud_body_xyz_m: [],
+    point_cloud_source_count: 2,
+    point_cloud_sample_count: 2,
+  });
+  const parsed = await fetchM4ThreatTimelineChunk(resultId, 0, 1, {
+    playbackPointPack: {
+      resultId,
+      frameCount: 4489,
+      pointCount: 2,
+      pointOffsets: new Uint32Array([0, 2, ...Array(4488).fill(2)]),
+      pointsMapXyzM: new Float32Array([11, 20, 30.25, 12, 19.5, 30]),
+    },
+    fetcher: async (input) => {
+      assert.match(String(input), /include_points=false/);
+      return new Response(JSON.stringify({
+        schema_version: "missioncore.recorded-spatial-evidence-chunk/v1",
+        result_id: resultId,
+        start_sequence: 0,
+        frame_count: 1,
+        next_sequence: 1,
+        frames: [raw],
+        authority: "replay-simulated",
+      }), { status: 200 });
+    },
+  });
+  assert.deepEqual(parsed.frames[0].pointCloudBodyXyzM, [
+    [1, 0, 0.25],
+    [2, -0.5, 0],
+  ]);
+  assert.equal(parsed.frames[0].pointCloudSampleCount, 2);
+  assert.equal(typeof hydrateM4ThreatTimelineFrame, "function");
+});
+
 test("M4.8S timeline binds factory-KB4 camera points through its exact endpoint", async () => {
   const replayResultId = `m48s-fixed-class-detector-lab-${"b".repeat(64)}`;
   const endpointRoot = "/api/v1/laboratory/m48s/fixed-class-detector";

src/k1link/perception/geometry.py

@@ -344,6 +344,27 @@ class RecordedGeometryStore:
         points.setflags(write=False)
         return points
 
+    def playback_points_map(self) -> FloatArray:
+        """Expose the sealed contiguous map-point track for binary LAB playback.
+
+        The returned array is the exact source-pack point index space.  It is
+        read-only and deliberately excludes any UI projection or resampling so
+        the browser can retain it once and derive the current increment by the
+        verified offsets below.
+        """
+
+        points = np.asarray(self._source["cloud_points_map"], dtype=np.dtype("<f4"))
+        if not points.flags.c_contiguous:
+            raise GeometryProviderError("source playback point track is not contiguous")
+        points.setflags(write=False)
+        return points
+
+    def playback_point_offsets(self) -> tuple[int, ...]:
+        """Return immutable offsets into :meth:`playback_points_map`."""
+
+        offsets = np.asarray(self._source["cloud_offsets"], dtype=np.int64)
+        return tuple(int(value) for value in offsets)
+
     def point_step_candidates_for_frame(self, frame_index: int) -> UInt8Array | None:
         """Expose the sealed low-step diagnostic in the source point index space.
 

src/k1link/perception/threat_timeline.py

@@ -150,14 +150,23 @@ class RecordedThreatTimeline:
             "access": "read-only-bounded-recorded-replay",
         }
 
-    def chunk(self, *, start_sequence: int, frame_count: int) -> dict[str, object]:
+    def chunk(
+        self,
+        *,
+        start_sequence: int,
+        frame_count: int,
+        include_points: bool = True,
+    ) -> dict[str, object]:
         if not 0 <= start_sequence < len(self.index.offsets):
             raise RecordedThreatTimelineError("recorded timeline chunk start is invalid")
         if not 1 <= frame_count <= RECORDED_SPATIAL_MAX_CHUNK_FRAMES:
             raise RecordedThreatTimelineError("recorded timeline chunk size is invalid")
         stop = min(len(self.index.offsets), start_sequence + frame_count)
         with self._lock:
-            frames = [self._project_frame(sequence) for sequence in range(start_sequence, stop)]
+            frames = [
+                self._project_frame(sequence, include_points=include_points)
+                for sequence in range(start_sequence, stop)
+            ]
         return {
             "schema_version": RECORDED_SPATIAL_CHUNK_SCHEMA,
             "result_id": self.result.result_id,
@@ -170,7 +179,12 @@ class RecordedThreatTimeline:
             "access": "read-only-bounded-recorded-replay",
         }
 
-    def _project_frame(self, sequence: int) -> dict[str, object]:
+    def _project_frame(
+        self,
+        sequence: int,
+        *,
+        include_points: bool,
+    ) -> dict[str, object]:
         row = _read_frame_at(self.frames_path, self.index, sequence)
         frame_id = row.get("frame_id")
         if not isinstance(frame_id, str) or not frame_id:
@@ -193,6 +207,8 @@ class RecordedThreatTimeline:
                 raise RecordedThreatTimelineError(
                     "recorded timeline current increment binding changed"
                 )
+            point_source_count = int(points.shape[0])
+            if include_points:
                 point_cloud, point_source_count = sample_points_in_body_frame(
                     points,
                     body_frame,
@@ -219,13 +235,13 @@ class RecordedThreatTimeline:
             if body_frame is None
             else {
                 "origin_map_xyz_m": list(body_frame.origin_map_xyz_m),
-                "basis_map_from_body": [
+                "basis_map_from_body": [list(row) for row in body_frame.basis_map_from_body],
-                    list(row) for row in body_frame.basis_map_from_body
-                ],
             },
             "point_cloud_body_xyz_m": point_cloud,
             "point_cloud_source_count": point_source_count,
-            "point_cloud_sample_count": len(point_cloud),
+            "point_cloud_sample_count": point_source_count
+            if not include_points
+            else len(point_cloud),
             "point_cloud_layer": "current-increment",
             "rolling_map_component_count": sum(
                 item.get("state") == "retained" for item in metric_visuals

src/k1link/web/m49_tgs_full_shadow_api.py

@@ -13,17 +13,44 @@ from typing import Final
 
 import numpy as np
 from fastapi import APIRouter, HTTPException, Query, Response
+from fastapi.responses import FileResponse
 
 from k1link.laboratory.m49_tgs_full_shadow import (
+    PREFIX,
     M49TgsFullShadowError,
     M49TgsFullShadowResult,
-    PREFIX,
     read_m49_tgs_full_shadow,
 )
 
 RootProvider = Callable[[], Path | None]
 RESULT_ID: Final = re.compile(rf"^{re.escape(PREFIX)}[a-f0-9]{{64}}$")
 ENDPOINT_ROOT: Final = "/api/v1/laboratory/m49/tgs-full-shadow"
+PLAYBACK_TRACKS: Final = {
+    "centers": (
+        "costmap-cell-centers-xy-m.npy",
+        "application/x-npy",
+        "<f4",
+        [2244, 2],
+    ),
+    "states": (
+        "costmap-states.npy",
+        "application/x-npy",
+        "|u1",
+        [4489, 2244],
+    ),
+    "z-bounds": (
+        "costmap-z-bounds-m.npy",
+        "application/x-npy",
+        "<f4",
+        [4489, 2244, 2],
+    ),
+    "frames": (
+        "frames.ndjson",
+        "application/x-ndjson",
+        "ndjson",
+        [4489],
+    ),
+}
 
 
 def build_m49_tgs_full_shadow_router(*, root_provider: RootProvider = lambda: None) -> APIRouter:
@@ -55,16 +82,46 @@ def build_m49_tgs_full_shadow_router(*, root_provider: RootProvider = lambda: No
             if not candidate.is_dir() or RESULT_ID.fullmatch(candidate.name) is None:
                 continue
             try:
-                results.append(_project(_read_cached(str(candidate.resolve()), _signature(candidate))))
+                results.append(
+                    _project(_read_cached(str(candidate.resolve()), _signature(candidate)))
+                )
             except (M49TgsFullShadowError, OSError, ValueError):
                 invalid += 1
-        results.sort(key=lambda row: (str(row["created_at_utc"]), str(row["result_id"])), reverse=True)
+        results.sort(
+            key=lambda row: (str(row["created_at_utc"]), str(row["result_id"])), reverse=True
+        )
         return _catalog(results[:limit], configured=True, invalid_total=invalid)
 
     @router.get("/{result_id}")
     def get_result(result_id: str) -> dict[str, object]:
         return _project(sealed(result_id))
 
+    @router.get("/{result_id}/playback/manifest")
+    def get_playback_manifest(result_id: str) -> dict[str, object]:
+        return _playback_manifest(sealed(result_id))
+
+    @router.get("/{result_id}/playback/tracks/{track_id}")
+    def get_playback_track(result_id: str, track_id: str) -> FileResponse:
+        result = sealed(result_id)
+        descriptor = PLAYBACK_TRACKS.get(track_id)
+        if descriptor is None:
+            raise HTTPException(status_code=404, detail="M49 playback track not found")
+        name, media_type, _dtype, _shape = descriptor
+        artifact = _artifact_descriptor(result, name)
+        return FileResponse(
+            result.root / name,
+            media_type=media_type,
+            headers={
+                "Cache-Control": "private, max-age=31536000, immutable",
+                # These playback artifacts are consumed on the local control
+                # station.  Avoid spending multiple seconds recompressing
+                # already compact numeric tracks on every cold open.
+                "Content-Encoding": "identity",
+                "ETag": f'"{artifact["sha256"]}"',
+                "X-Content-Type-Options": "nosniff",
+            },
+        )
+
     @router.get("/{result_id}/frames/{source_sequence}/spatial")
     def get_spatial(result_id: str, source_sequence: int) -> Response:
         if source_sequence < 0 or source_sequence >= 4489:
@@ -75,11 +132,16 @@ def build_m49_tgs_full_shadow_router(*, root_provider: RootProvider = lambda: No
                 str(result.root), result_id, source_sequence, _evidence_signature(result.root)
             )
         except (OSError, ValueError, KeyError, json.JSONDecodeError):
-            raise HTTPException(status_code=503, detail="M49 TGS full-shadow spatial evidence failed verification") from None
+            raise HTTPException(
+                status_code=503, detail="M49 TGS full-shadow spatial evidence failed verification"
+            ) from None
         return Response(
             content=content,
             media_type="application/json",
-            headers={"Cache-Control": "private, max-age=31536000, immutable", "X-Content-Type-Options": "nosniff"},
+            headers={
+                "Cache-Control": "private, max-age=31536000, immutable",
+                "X-Content-Type-Options": "nosniff",
+            },
         )
 
     @router.get("/{result_id}/spatial/chunk")
@@ -134,7 +196,9 @@ def _frame_json_cached(
     root_path = Path(root)
     frame_signature = (signature[-2], signature[-1])
     frame = _frames(root, frame_signature)[source_sequence]
-    centers = np.load(root_path / "costmap-cell-centers-xy-m.npy", mmap_mode="r", allow_pickle=False)
+    centers = np.load(
+        root_path / "costmap-cell-centers-xy-m.npy", mmap_mode="r", allow_pickle=False
+    )
     states_all = np.load(root_path / "costmap-states.npy", mmap_mode="r", allow_pickle=False)
     z_all = np.load(root_path / "costmap-z-bounds-m.npy", mmap_mode="r", allow_pickle=False)
     states = states_all[source_sequence]
@@ -169,13 +233,20 @@ def _frame_json_cached(
             ],
         },
         "metrics": copy.deepcopy(frame),
-        "state_codes": {"UNOBSERVED": 0, "GROUND_SUPPORT": 1, "NONGROUND_OCCUPIED": 2, "UNKNOWN_REJECTED": 3},
+        "state_codes": {
+            "UNOBSERVED": 0,
+            "GROUND_SUPPORT": 1,
+            "NONGROUND_OCCUPIED": 2,
+            "UNKNOWN_REJECTED": 3,
+        },
         "aos_used": False,
         "gpu_used": False,
         "authority": {"navigation_or_safety_accepted": False, "visual_quality_accepted": False},
         "access": "read-only",
     }
-    return json.dumps(payload, ensure_ascii=False, sort_keys=True, separators=(",", ":"), allow_nan=False).encode("utf-8")
+    return json.dumps(
+        payload, ensure_ascii=False, sort_keys=True, separators=(",", ":"), allow_nan=False
+    ).encode("utf-8")
 
 
 @lru_cache(maxsize=16)
@@ -189,7 +260,9 @@ def _chunk_json_cached(
     root_path = Path(root)
     frame_signature = (signature[-2], signature[-1])
     frames = _frames(root, frame_signature)
-    centers = np.load(root_path / "costmap-cell-centers-xy-m.npy", mmap_mode="r", allow_pickle=False)
+    centers = np.load(
+        root_path / "costmap-cell-centers-xy-m.npy", mmap_mode="r", allow_pickle=False
+    )
     states_all = np.load(root_path / "costmap-states.npy", mmap_mode="r", allow_pickle=False)
     z_all = np.load(root_path / "costmap-z-bounds-m.npy", mmap_mode="r", allow_pickle=False)
     if (
@@ -258,6 +331,46 @@ def _chunk_json_cached(
     ).encode("utf-8")
 
 
+def _artifact_descriptor(
+    result: M49TgsFullShadowResult,
+    name: str,
+) -> dict[str, object]:
+    for artifact in result.manifest["artifacts"]:
+        if artifact.get("path") == name:
+            return artifact
+    raise ValueError(f"full-shadow artifact is not declared: {name}")
+
+
+def _playback_manifest(result: M49TgsFullShadowResult) -> dict[str, object]:
+    tracks: list[dict[str, object]] = []
+    total_bytes = 0
+    for track_id, (name, media_type, dtype, shape) in PLAYBACK_TRACKS.items():
+        artifact = _artifact_descriptor(result, name)
+        byte_length = int(artifact["byte_length"])
+        total_bytes += byte_length
+        tracks.append(
+            {
+                "id": track_id,
+                "url": (f"{ENDPOINT_ROOT}/{result.result_id}/playback/tracks/{track_id}"),
+                "media_type": media_type,
+                "dtype": dtype,
+                "shape": shape,
+                "byte_length": byte_length,
+                "sha256": artifact["sha256"],
+            }
+        )
+    return {
+        "schema_version": "missioncore.m49-tgs-full-shadow-playback/v1",
+        "result_id": result.result_id,
+        "coordinate_frame": "map-gravity-local",
+        "frame_count": 4489,
+        "cell_count": 2244,
+        "total_byte_length": total_bytes,
+        "tracks": tracks,
+        "access": "read-only",
+    }
+
+
 def _project(result: M49TgsFullShadowResult) -> dict[str, object]:
     return {
         **copy.deepcopy(result.report),
@@ -269,7 +382,9 @@ def _project(result: M49TgsFullShadowResult) -> dict[str, object]:
     }
 
 
-def _catalog(items: list[dict[str, object]], *, configured: bool, invalid_total: int) -> dict[str, object]:
+def _catalog(
+    items: list[dict[str, object]], *, configured: bool, invalid_total: int
+) -> dict[str, object]:
     return {
         "schema_version": "missioncore.m49-tgs-full-shadow-catalog/v1",
         "configured": configured,

src/k1link/web/m4_threat_replay_api.py

@@ -3,6 +3,7 @@
 from __future__ import annotations
 
 import copy
+import hashlib
 import json
 import re
 from collections.abc import Callable, Iterator
@@ -11,6 +12,7 @@ from pathlib import Path
 from typing import Final
 
 from fastapi import APIRouter, HTTPException, Query, Response
+from fastapi.responses import StreamingResponse
 
 from k1link.perception.threat_replay import (
     THREAT_REPLAY_FRAME_SCHEMA,
@@ -166,7 +168,7 @@ def build_m4_threat_replay_router(
     def get_timeline(result_id: str) -> dict[str, object]:
         return copy.deepcopy(timeline(result_id).metadata())
 
-    @router.get("/results/{result_id}/timeline/chunk")
+    @router.get("/results/{result_id}/timeline/chunk", response_model=None)
     def get_timeline_chunk(
         result_id: str,
         start: int = Query(default=0, ge=0),
@@ -175,14 +177,87 @@ def build_m4_threat_replay_router(
             ge=1,
             le=RECORDED_SPATIAL_MAX_CHUNK_FRAMES,
         ),
-    ) -> dict[str, object]:
+        include_points: bool = Query(default=True),
+    ) -> dict[str, object] | Response:
         try:
-            return timeline(result_id).chunk(start_sequence=start, frame_count=count)
+            payload = timeline(result_id).chunk(
+                start_sequence=start,
+                frame_count=count,
+                include_points=include_points,
+            )
         except RecordedThreatTimelineError:
             raise HTTPException(
                 status_code=404,
                 detail="M4.6 timeline chunk не найден",
             ) from None
+        if include_points:
+            return payload
+        return Response(
+            content=json.dumps(
+                payload,
+                ensure_ascii=False,
+                separators=(",", ":"),
+                allow_nan=False,
+            ),
+            media_type="application/json",
+            headers={
+                "Cache-Control": "private, max-age=31536000, immutable",
+                "Content-Encoding": "identity",
+                "X-Content-Type-Options": "nosniff",
+            },
+        )
+
+    @router.get("/results/{result_id}/timeline/playback")
+    def get_timeline_playback(result_id: str) -> dict[str, object]:
+        projected = timeline(result_id)
+        points = projected.store.playback_points_map()
+        offsets = projected.store.playback_point_offsets()
+        content_sha256 = hashlib.sha256(memoryview(points).cast("B")).hexdigest()
+        return {
+            "schema_version": "missioncore.recorded-spatial-playback/v1",
+            "result_id": result_id,
+            "frame_count": len(offsets) - 1,
+            "point_count": int(points.shape[0]),
+            "point_offsets": list(offsets),
+            "track": {
+                "id": "points-map-f32",
+                "url": (
+                    f"/api/v1/laboratory/m4-threat/results/{result_id}"
+                    "/timeline/playback/tracks/points-map-f32"
+                ),
+                "media_type": "application/octet-stream",
+                "dtype": "<f4",
+                "shape": [int(points.shape[0]), 3],
+                "bytes": int(points.nbytes),
+                "sha256": content_sha256,
+            },
+            "source_pack_sha256": projected.profile.source_pack_sha256,
+            "coordinate_frame": "map",
+            "ground_truth": False,
+            "authority": "replay-simulated",
+            "access": "read-only-sealed-binary-playback",
+        }
+
+    @router.get(
+        "/results/{result_id}/timeline/playback/tracks/points-map-f32",
+        response_class=StreamingResponse,
+    )
+    def get_timeline_playback_points(result_id: str) -> StreamingResponse:
+        projected = timeline(result_id)
+        points = projected.store.playback_points_map()
+        source_digest = projected.profile.source_pack_sha256
+        return StreamingResponse(
+            _binary_chunks(memoryview(points).cast("B")),
+            media_type="application/octet-stream",
+            headers={
+                "Cache-Control": "private, max-age=31536000, immutable",
+                "Content-Encoding": "identity",
+                "Content-Length": str(points.nbytes),
+                "ETag": f'"{source_digest}-points-map-f32"',
+                "X-Content-Type-Options": "nosniff",
+                "X-Uncompressed-Content-Length": str(points.nbytes),
+            },
+        )
 
     @router.get("/results/{result_id}/timeline/frames/{sequence}/camera")
     def get_timeline_camera(result_id: str, sequence: int) -> Response:
@@ -196,6 +271,11 @@ def build_m4_threat_replay_router(
     return router
 
 
+def _binary_chunks(view: memoryview, chunk_size: int = 1024 * 1024) -> Iterator[bytes]:
+    for start in range(0, view.nbytes, chunk_size):
+        yield bytes(view[start : start + chunk_size])
+
+
 @lru_cache(maxsize=4)
 def _read_threat_result_cached(
     root_value: str,

tests/test_m49_tgs_full_shadow.py

@@ -8,7 +8,10 @@ from pathlib import Path
 
 import numpy as np
 
-from k1link.laboratory.m49_tgs_full_shadow import seal_m49_tgs_full_shadow
+from k1link.laboratory.m49_tgs_full_shadow import (
+    M49TgsFullShadowResult,
+    seal_m49_tgs_full_shadow,
+)
 from k1link.web import m49_tgs_full_shadow_api as full_shadow_api
 
 REPOSITORY_ROOT = Path(__file__).resolve().parents[1]
@@ -96,7 +99,9 @@ def test_full_shadow_seal_binds_visual_and_semantic_timelines(tmp_path: Path) ->
         "files": files,
     }
     (source / "result.json").write_text(json.dumps(worker), encoding="utf-8")
-    (source / "worker-summary.json").write_text(json.dumps({
+    (source / "worker-summary.json").write_text(
+        json.dumps(
+            {
                 "schema_version": "missioncore.m49-tgs-full-shadow-worker-summary/v1",
                 "gpu_requested": False,
                 "aos_used": False,
@@ -105,15 +110,23 @@ def test_full_shadow_seal_binds_visual_and_semantic_timelines(tmp_path: Path) ->
                 "canonical_triton_health": "healthy",
                 "canonical_triton_id": "triton",
                 "wall_seconds": 1.0,
-    }), encoding="utf-8")
+            }
+        ),
+        encoding="utf-8",
+    )
     profile = tmp_path / "profile.json"
-    profile.write_text(json.dumps({
+    profile.write_text(
+        json.dumps(
+            {
                 "schema_version": "missioncore.m49-tgs-full-shadow-profile/v1",
                 "profile_id": "test",
                 "profile": {"history_seconds": 1.0},
                 "costmap": {"state_priority": ["NONGROUND_OCCUPIED"]},
                 "state_codes": {"UNOBSERVED": 0},
-    }), encoding="utf-8")
+            }
+        ),
+        encoding="utf-8",
+    )
     visual = "m4-threat-replay-" + "d" * 64
     semantic = "e47-semantic-slam-" + "e" * 64
 
@@ -176,3 +189,35 @@ def test_full_shadow_chunk_contract_keeps_missing_lidar_unobserved(
     assert len(payload["costmap"]["centers_xy_m"]) == 2244
     assert payload["frames"][1]["sample_available"] is False
     assert set(payload["frames"][1]["states"]) == {0}
+
+
+def test_full_shadow_playback_manifest_exposes_sealed_binary_tracks(tmp_path: Path) -> None:
+    names = {descriptor[0] for descriptor in full_shadow_api.PLAYBACK_TRACKS.values()}
+    artifacts = [
+        {
+            "path": name,
+            "byte_length": index + 10,
+            "sha256": f"{index + 1:064x}",
+        }
+        for index, name in enumerate(sorted(names))
+    ]
+    result = M49TgsFullShadowResult(
+        "m49-tgs-full-shadow-" + "a" * 64,
+        tmp_path,
+        {"artifacts": artifacts},
+        {},
+    )
+
+    payload = full_shadow_api._playback_manifest(result)
+
+    assert payload["schema_version"] == "missioncore.m49-tgs-full-shadow-playback/v1"
+    assert payload["frame_count"] == 4489
+    assert payload["cell_count"] == 2244
+    assert payload["total_byte_length"] == sum(item["byte_length"] for item in artifacts)
+    assert {item["id"] for item in payload["tracks"]} == {
+        "frames",
+        "centers",
+        "states",
+        "z-bounds",
+    }
+    assert all("/playback/tracks/" in item["url"] for item in payload["tracks"])

tests/test_m4_threat_replay_result.py

@@ -1,5 +1,6 @@
 from __future__ import annotations
 
+import json
 from pathlib import Path
 
 from fastapi.routing import APIRoute
@@ -126,6 +127,7 @@ def test_m4_6_lab_api_projects_report_and_exact_visual_frame() -> None:
 def test_m4_6_timeline_is_indexed_and_spatial_evidence_is_chunked() -> None:
     get_timeline = _endpoint("/api/v1/laboratory/m4-threat/results/{result_id}/timeline")
     get_chunk = _endpoint("/api/v1/laboratory/m4-threat/results/{result_id}/timeline/chunk")
+    get_playback = _endpoint("/api/v1/laboratory/m4-threat/results/{result_id}/timeline/playback")
 
     timeline = get_timeline(RESULT_ID)
     assert timeline["schema_version"] == "missioncore.recorded-spatial-evidence-timeline/v1"
@@ -160,6 +162,23 @@ def test_m4_6_timeline_is_indexed_and_spatial_evidence_is_chunked() -> None:
     assert 0 < first["point_cloud_sample_count"] <= 4096
     assert first["camera_url"].endswith(f"/{RESULT_ID}/timeline/frames/1880/camera")
 
+    lightweight_response = get_chunk(RESULT_ID, start=1880, count=1, include_points=False)
+    lightweight = json.loads(lightweight_response.body)
+    assert lightweight["frames"][0]["point_cloud_body_xyz_m"] == []
+    assert lightweight["frames"][0]["point_cloud_source_count"] == first["point_cloud_source_count"]
+    assert lightweight["frames"][0]["point_cloud_sample_count"] == first["point_cloud_sample_count"]
+
+    playback = get_playback(RESULT_ID)
+    assert playback["schema_version"] == "missioncore.recorded-spatial-playback/v1"
+    assert playback["frame_count"] == 4489
+    assert playback["point_count"] == 9_207_270
+    assert len(playback["point_offsets"]) == 4490
+    assert playback["point_offsets"][-1] == playback["point_count"]
+    assert playback["track"]["dtype"] == "<f4"
+    assert playback["track"]["shape"] == [9_207_270, 3]
+    assert playback["track"]["bytes"] == 110_487_240
+    assert len(playback["track"]["sha256"]) == 64
+
 
 def test_m4_6_exact_camera_endpoint_is_bound_to_selected_visual_sequence() -> None:
     calls: list[tuple[str, int]] = []