feat(perception): integrate vegetation policy review

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

@@ -55,7 +55,9 @@ export interface VegetationVideoSemanticClass {
   classId: number;
   label: string;
   colorRgb: readonly [number, number, number];
-  disposition: "prediction" | "undefined";
+  disposition: "labeled" | "ambiguous" | "prediction" | "undefined";
+  materialClass: string | null;
+  evidenceState: string | null;
 }
 
 export interface VegetationRouteVideo {
@@ -67,8 +69,12 @@ export interface VegetationRouteVideo {
   height: 600;
   centerCropXyxy: readonly [100, 0, 700, 600];
   outsideCropState: "undefined";
+  viewKind: "fine-semantic-prediction" | "coarse-material-policy-review";
+  linkedTgsResultId: string | null;
   taxonomy: readonly VegetationVideoSemanticClass[];
   aggregatePredictionPixels: readonly number[];
+  policyPresets: Readonly<Record<string, Readonly<Record<string, string>>>> | null;
+  fusionMode: "synchronised-multilayer-review" | null;
 }
 
 export interface VegetationShadowResult {
@@ -257,6 +263,9 @@ function routeVideoValue(value: unknown): VegetationRouteVideo | null {
     "vegetation.route_video.m47_reference_graph_result_id",
   );
   const baseM4ResultId = textValue(row.base_m4_result_id, "vegetation.route_video.base_m4_result_id");
+  const viewKind = row.view_kind === undefined
+    ? "fine-semantic-prediction"
+    : textValue(row.view_kind, "vegetation.route_video.view_kind");
   if (
     !/^lab-v1-ravnoves-video-ddrnet-[a-f0-9]{64}$/.test(workerResultId)
     || !/^m47-reference-graph-lab-[a-f0-9]{64}$/.test(m47ReferenceGraphResultId)
@@ -264,6 +273,15 @@ function routeVideoValue(value: unknown): VegetationRouteVideo | null {
   ) {
     throw new VegetationShadowContractError("vegetation.route_video: identity invalid.");
   }
+  if (viewKind !== "fine-semantic-prediction" && viewKind !== "coarse-material-policy-review") {
+    throw new VegetationShadowContractError("vegetation.route_video: view kind invalid.");
+  }
+  const linkedTgsResultId = viewKind === "coarse-material-policy-review"
+    ? textValue(row.linked_tgs_result_id, "vegetation.route_video.linked_tgs_result_id")
+    : null;
+  if (linkedTgsResultId && !/^m49-tgs-full-shadow-[a-f0-9]{64}$/.test(linkedTgsResultId)) {
+    throw new VegetationShadowContractError("vegetation.route_video: TGS identity invalid.");
+  }
   exact(row.frame_count, 4489, "vegetation.route_video.frame_count");
   exact(row.width, 800, "vegetation.route_video.width");
   exact(row.height, 600, "vegetation.route_video.height");
@@ -279,11 +297,9 @@ function routeVideoValue(value: unknown): VegetationRouteVideo | null {
     throw new VegetationShadowContractError("vegetation.route_video: crop contract changed.");
   }
   const taxonomy = objectValue(row.taxonomy, "vegetation.route_video.taxonomy");
-  exact(
-    taxonomy.schema_version,
-    "missioncore.lab-v1-vegetation-taxonomy/v1",
-    "vegetation.route_video.taxonomy.schema",
-  );
+  exact(taxonomy.schema_version, viewKind === "coarse-material-policy-review"
+    ? "missioncore.lab-v1-terrain-policy-taxonomy/v1"
+    : "missioncore.lab-v1-vegetation-taxonomy/v1", "vegetation.route_video.taxonomy.schema");
   const classes = arrayValue(taxonomy.classes, "vegetation.route_video.taxonomy.classes")
     .map((value, expectedId): VegetationVideoSemanticClass => {
       const item = objectValue(value, `vegetation.route_video.taxonomy[${expectedId}]`);
@@ -296,36 +312,78 @@ function routeVideoValue(value: unknown): VegetationRouteVideo | null {
       if (color.length !== 3 || color.some((channel) => channel > 255)) {
         throw new VegetationShadowContractError("vegetation.route_video: taxonomy color invalid.");
       }
-      const disposition: VegetationVideoSemanticClass["disposition"] = expectedId === 0
-        ? "undefined"
-        : "prediction";
-      if (item.disposition !== disposition) {
+      const disposition = item.disposition;
+      if (
+        disposition !== "labeled"
+        && disposition !== "ambiguous"
+        && disposition !== "prediction"
+        && disposition !== "undefined"
+      ) {
         throw new VegetationShadowContractError("vegetation.route_video: taxonomy disposition changed.");
       }
+      if (
+        viewKind === "fine-semantic-prediction"
+        && disposition !== (expectedId === 0 ? "undefined" : "prediction")
+      ) {
+        throw new VegetationShadowContractError("vegetation.route_video: fine taxonomy disposition changed.");
+      }
+      const materialClass = item.material_class === null || item.material_class === undefined
+        ? null
+        : textValue(item.material_class, `vegetation.route_video.material[${expectedId}]`);
+      const evidenceState = item.evidence_state === null || item.evidence_state === undefined
+        ? null
+        : textValue(item.evidence_state, `vegetation.route_video.evidence[${expectedId}]`);
       return {
         classId,
         label: textValue(item.label, `vegetation.route_video.label[${expectedId}]`),
         colorRgb: color as unknown as readonly [number, number, number],
         disposition,
+        materialClass,
+        evidenceState,
       };
     });
-  if (classes.length !== 64) {
-    throw new VegetationShadowContractError("vegetation.route_video: taxonomy must contain 64 classes.");
+  const expectedClassCount = viewKind === "coarse-material-policy-review" ? 9 : 64;
+  if (classes.length !== expectedClassCount) {
+    throw new VegetationShadowContractError("vegetation.route_video: taxonomy size changed.");
   }
   const aggregatePredictionPixels = arrayValue(
     row.aggregate_prediction_pixels,
     "vegetation.route_video.aggregate_prediction_pixels",
   ).map((value, index) => integerValue(value, `vegetation.route_video.pixels[${index}]`));
-  if (aggregatePredictionPixels.length !== 64) {
+  if (aggregatePredictionPixels.length !== expectedClassCount) {
     throw new VegetationShadowContractError("vegetation.route_video: class accounting changed.");
   }
   const maskArchive = objectValue(row.mask_archive, "vegetation.route_video.mask_archive");
-  exact(maskArchive.path, "video/ddrnet-semantic-masks.zip", "vegetation.route_video.mask_archive.path");
+  exact(maskArchive.path, viewKind === "coarse-material-policy-review"
+    ? "video/coarse-material-policy-masks.zip"
+    : "video/ddrnet-semantic-masks.zip", "vegetation.route_video.mask_archive.path");
   const archiveSha256 = textValue(maskArchive.sha256, "vegetation.route_video.mask_archive.sha256");
   if (!SHA256.test(archiveSha256)) {
     throw new VegetationShadowContractError("vegetation.route_video: archive digest invalid.");
   }
   integerValue(maskArchive.byte_length, "vegetation.route_video.mask_archive.byte_length");
+  let policyPresets: VegetationRouteVideo["policyPresets"] = null;
+  let fusionMode: VegetationRouteVideo["fusionMode"] = null;
+  if (viewKind === "coarse-material-policy-review") {
+    const policy = objectValue(row.policy, "vegetation.route_video.policy");
+    const presets = objectValue(policy.presets, "vegetation.route_video.policy.presets");
+    policyPresets = Object.fromEntries(Object.entries(presets).map(([presetId, rawRules]) => {
+      const rules = objectValue(rawRules, `vegetation.route_video.policy.${presetId}`);
+      return [presetId, Object.fromEntries(Object.entries(rules).map(([material, action]) => [
+        material,
+        textValue(action, `vegetation.route_video.policy.${presetId}.${material}`),
+      ]))];
+    }));
+    const fusion = objectValue(row.fusion, "vegetation.route_video.fusion");
+    exact(fusion.pixel_raster_fusion, false, "vegetation.route_video.fusion.pixel_raster_fusion");
+    exact(fusion.camera_semantic_temporal_filter, "none", "vegetation.route_video.fusion.camera_filter");
+    exact(
+      fusion.mode,
+      "synchronised-multilayer-review",
+      "vegetation.route_video.fusion.mode",
+    );
+    fusionMode = "synchronised-multilayer-review";
+  }
   return {
     workerResultId,
     m47ReferenceGraphResultId,
@@ -335,8 +393,12 @@ function routeVideoValue(value: unknown): VegetationRouteVideo | null {
     height: 600,
     centerCropXyxy: [100, 0, 700, 600],
     outsideCropState: "undefined",
+    viewKind,
+    linkedTgsResultId,
     taxonomy: classes,
     aggregatePredictionPixels,
+    policyPresets,
+    fusionMode,
   };
 }
 

apps/control-station/src/workspaces/laboratory/M49TgsFullShadowEvidence.tsx

@@ -22,6 +22,7 @@ import {
 import {
   M4ReplayThreatVisual,
   type M4ReplayClassifiedSpatialFrame,
+  type M4ReplayThreatSemanticLayer,
 } from "./M4ReplayThreatVisual";
 
 const CLASSES: readonly RecordedEvidenceSemanticClass[] = [
@@ -42,7 +43,15 @@ function message(error: unknown): string {
     : "Полный TGS spatial frame недоступен.";
 }
 
-export function M49TgsFullShadowEvidence({ result }: { result: M49TgsFullShadowResult }) {
+export function M49TgsFullShadowEvidence({
+  result,
+  semanticOverride,
+  evidenceLabel = "M49 · full TGS shadow",
+}: {
+  result: M49TgsFullShadowResult;
+  semanticOverride?: M4ReplayThreatSemanticLayer;
+  evidenceLabel?: string;
+}) {
   const [activeSequence, setActiveSequence] = useState<number | null>(null);
   const [semantic, setSemantic] = useState<E47SemanticSlamResult | null>(null);
   const [semanticError, setSemanticError] = useState<string | null>(null);
@@ -62,6 +71,7 @@ export function M49TgsFullShadowEvidence({ result }: { result: M49TgsFullShadowR
     const controller = new AbortController();
     setSemantic(null);
     setSemanticError(null);
+    if (semanticOverride) return () => controller.abort();
     void fetchE47SemanticSlamResult({
       resultId: result.source.linkedSemanticResultId,
       signal: controller.signal,
@@ -77,7 +87,7 @@ export function M49TgsFullShadowEvidence({ result }: { result: M49TgsFullShadowR
         if (!controller.signal.aborted) setSemanticError(message(caught));
       });
     return () => controller.abort();
-  }, [result.source.linkedSemanticResultId, result.source.linkedVisualResultId]);
+  }, [result.source.linkedSemanticResultId, result.source.linkedVisualResultId, semanticOverride]);
 
   useEffect(() => {
     const controller = new AbortController();
@@ -196,13 +206,13 @@ export function M49TgsFullShadowEvidence({ result }: { result: M49TgsFullShadowR
     <>
       <M4ReplayThreatVisual
         resultId={result.source.linkedVisualResultId}
-        semantic={semantic ? {
+        semantic={semanticOverride ?? (semantic ? {
           resultId: semantic.resultId,
           taxonomy: semantic.taxonomy,
-        } : undefined}
+        } : undefined)}
         showReviewAnchorBoxes={false}
         reviewLabel="4 489 source-paced TGS frames"
-        evidenceLabel="M49 · full TGS shadow"
+        evidenceLabel={evidenceLabel}
         initialSpatialMode="3d"
         onActiveSequenceChange={handleSequenceChange}
         classifiedSpatialLayer={{
@@ -217,7 +227,7 @@ export function M49TgsFullShadowEvidence({ result }: { result: M49TgsFullShadowR
           replacePointCloud: false,
         }}
       />
-      {semanticError ? (
+      {!semanticOverride && semanticError ? (
         <div className="m4-replay-threat-visual__pane-status" role="alert">
           Semantic overlay недоступен: {semanticError}
         </div>

apps/control-station/src/workspaces/laboratory/M4ReplayThreatVisual.tsx

@@ -378,12 +378,12 @@ export function M4ReplayThreatVisual({
     );
   }, [frame, metadata.timeline, showReferenceMediaLayers, showStaticObstacles]);
   const activeBoxes = useMemo(
-    () => classifiedSpatialLayer || !showReferenceMediaLayers ? [] : [
+    () => !showReferenceMediaLayers ? [] : [
       ...boxes(frame?.cameraProposals ?? []),
       ...staticObstacleBoxes,
       ...reviewAnchorBoxes,
     ],
-    [classifiedSpatialLayer, frame, reviewAnchorBoxes, showReferenceMediaLayers, staticObstacleBoxes],
+    [frame, reviewAnchorBoxes, showReferenceMediaLayers, staticObstacleBoxes],
   );
   const semanticClasses = useMemo<readonly RecordedEvidenceSemanticClass[]>(
     () => semantic?.taxonomy.map((item) => ({

apps/control-station/src/workspaces/laboratory/VegetationShadowResult.tsx

@@ -1,3 +1,5 @@
+import { useEffect, useState } from "react";
+
 import {
   LaboratoryEvidence,
   LaboratoryResultSummary,
@@ -8,11 +10,16 @@ import {
   vegetationVideoMaskUrl,
   type VegetationShadowResult,
 } from "../../core/laboratory/vegetationShadow";
+import {
+  fetchM49TgsFullShadowResult,
+  type M49TgsFullShadowResult,
+} from "../../core/laboratory/m49TgsFullShadow";
 import {
   M48MaskComparisonVisual,
   type M48MaskComparisonCase,
 } from "./M48FailureAtlasVisual";
 import { M4ReplayThreatVisual } from "./M4ReplayThreatVisual";
+import { M49TgsFullShadowEvidence } from "./M49TgsFullShadowEvidence";
 
 function decimal(value: number, digits = 1): string {
   return value.toLocaleString("ru-RU", { maximumFractionDigits: digits });
@@ -49,6 +56,75 @@ function comparisonCases(result: VegetationShadowResult): readonly M48MaskCompar
   });
 }
 
+function VegetationRouteEvidence({ result }: { result: VegetationShadowResult }) {
+  const route = result.routeVideo!;
+  const [tgs, setTgs] = useState<M49TgsFullShadowResult | null>(null);
+  const [tgsError, setTgsError] = useState<string | null>(null);
+
+  useEffect(() => {
+    const controller = new AbortController();
+    setTgs(null);
+    setTgsError(null);
+    if (!route.linkedTgsResultId) return () => controller.abort();
+    void fetchM49TgsFullShadowResult(route.linkedTgsResultId, {
+      signal: controller.signal,
+    }).then((next) => {
+      if (controller.signal.aborted) return;
+      if (next.source.linkedVisualResultId !== route.baseM4ResultId) {
+        throw new Error("TGS и camera timeline имеют разные source identities.");
+      }
+      setTgs(next);
+    }).catch((caught: unknown) => {
+      if (!controller.signal.aborted) {
+        setTgsError(caught instanceof Error ? caught.message : "Sealed TGS недоступен.");
+      }
+    });
+    return () => controller.abort();
+  }, [route.baseM4ResultId, route.linkedTgsResultId]);
+
+  const semantic = {
+    resultId: route.workerResultId,
+    spatialResultId: null,
+    taxonomy: route.taxonomy,
+    maskUrl: (sequence: number) => vegetationVideoMaskUrl(result.resultId, sequence),
+    label: route.viewKind === "coarse-material-policy-review"
+      ? "Coarse material evidence · recorded video"
+      : "DDRNet vegetation prediction · recorded video",
+    maskAriaLabel: route.viewKind === "coarse-material-policy-review"
+      ? "Coarse material policy evidence"
+      : "DDRNet vegetation prediction",
+  } as const;
+
+  if (route.linkedTgsResultId && tgs) {
+    return (
+      <M49TgsFullShadowEvidence
+        result={tgs}
+        semanticOverride={semantic}
+        evidenceLabel="LAB V1 · MATERIAL + YOLOX + TGS"
+      />
+    );
+  }
+  if (route.linkedTgsResultId && !tgsError) {
+    return <div className="m4-replay-threat-visual__pane-status" role="status">Открываем sealed TGS и coarse material timeline…</div>;
+  }
+  return (
+    <>
+      <M4ReplayThreatVisual
+        resultId={route.baseM4ResultId}
+        evidenceLabel="LAB V1 · DDRNet"
+        showReferenceMediaLayers={route.viewKind === "coarse-material-policy-review"}
+        showSpatialOverlaySummary={false}
+        semantic={semantic}
+      />
+      {tgsError ? (
+        <div className="m4-replay-threat-visual__pane-status" role="alert">
+          TGS слой недоступен: {tgsError}
+        </div>
+      ) : null}
+    </>
+  );
+}
+
 export function VegetationShadowResultView({
   rigLabel,
   result,
@@ -68,10 +144,14 @@ export function VegetationShadowResultView({
         <LaboratorySummary
           title="LAB V1 · готовые модели растительности"
           description={result.routeVideo
-            ? "M4.8 сохраняет truth-backed сравнение моделей, а штатный M4.7 viewer показывает фактический DDRNet prediction на всей записи RAVNOVES00. Все 4489 масок запечатаны локально и открываются без Worker 006."
+            ? result.routeVideo.viewKind === "coarse-material-policy-review"
+              ? "M4.8 сохраняет truth-backed сравнение моделей, а штатный M4.7 синхронно показывает coarse material evidence, frozen YOLOX vetoes и causal TGS на всей записи RAVNOVES00. Все слои запечатаны локально и открываются без Worker 006."
+              : "M4.8 сохраняет truth-backed сравнение моделей, а штатный M4.7 viewer показывает фактический DDRNet prediction на всей записи RAVNOVES00. Все 4489 масок запечатаны локально и открываются без Worker 006."
             : "Штатный M4.8-инструмент сравнивает две готовые fine-64 модели на полном GOOSE validation split и на 12 truth-backed hard cases, выбранных только по наличию нужной растительности. Sealed evidence открывается локально без Worker 006."}
           status={result.routeVideo
-            ? "DDRNet full-video prediction ready · route truth отсутствует"
+            ? result.routeVideo.viewKind === "coarse-material-policy-review"
+              ? "MULTILAYER POLICY REVIEW · commands OFF · route truth отсутствует"
+              : "DDRNet full-video prediction ready · route truth отсутствует"
             : "Truth-backed model comparison · route transfer не принят"}
           statusTone="warning"
           facts={[
@@ -80,15 +160,17 @@ export function VegetationShadowResultView({
             { label: "Кейсы", value: "трава · куст · ствол · крона · изгородь · лес · посевы" },
             ...(result.routeVideo ? [{
               label: "Видео",
-              value: "RAVNOVES00 · 4489/4489 DDRNet masks · exact recorded sequence",
+              value: result.routeVideo.viewKind === "coarse-material-policy-review"
+                ? "RAVNOVES00 · 4489/4489 coarse masks + YOLOX + TGS · exact sequence"
+                : "RAVNOVES00 · 4489/4489 DDRNet masks · exact recorded sequence",
             }] : []),
             { label: "Authority", value: `${rigLabel} · MODEL QUALIFICATION ONLY · commands OFF` },
           ]}
           brief={{
             question: "Какие готовые веса лучше различают проезжаемую траву, кусты и стволы на размеченных off-road кадрах?",
             approach: "Обе модели последовательно прогнаны в одном изолированном CUDA-runtime на 962 кадрах. 12 визуальных кейсов выбраны детерминированно по truth-поддержке восьми растительных классов; один M4.8 viewer показывает source, truth, prediction и material-error для выбранной модели.",
-            principalResult: `${selected.loadedModelName} лидирует по vegetation IoU: ${decimal(selected.vegetationMeanIouPercent, 2)}% против ${decimal(alternative.vegetationMeanIouPercent, 2)}%. ${result.routeVideo ? "Его фактическая temporal stability теперь видна на всех 4489 кадрах штатного recorded viewer." : "Ошибки по каждому типу проверяются в одном штатном инструменте."}`,
-            limitation: "GOOSE — внешний размеченный домен; RAVNOVES00 — наш fisheye, но без ручной truth-разметки. Full-video слой показывает prediction, а не доказывает правильность. Папоротник отдельным классом отсутствует.",
+            principalResult: `${selected.loadedModelName} лидирует по vegetation IoU: ${decimal(selected.vegetationMeanIouPercent, 2)}% против ${decimal(alternative.vegetationMeanIouPercent, 2)}%. ${result.routeVideo?.viewKind === "coarse-material-policy-review" ? "Fine-64 prediction сведён к mission-neutral материалам; YOLOX и TGS сохраняют независимое veto." : result.routeVideo ? "Его фактическая temporal stability теперь видна на всех 4489 кадрах штатного recorded viewer." : "Ошибки по каждому типу проверяются в одном штатном инструменте."}`,
+            limitation: "GOOSE — внешний размеченный домен; RAVNOVES00 — наш fisheye, но без ручной truth-разметки. Материалы — prediction, а не доказательство проходимости. TGS не проецируется в пиксели без отдельной принятой калибровки.",
           }}
           method={{
             completeness: "complete",
@@ -120,32 +202,25 @@ export function VegetationShadowResultView({
           {result.routeVideo ? (
             <LaboratoryEvidence
               eyebrow="M4.7 · RAVNOVES00 FULL VIDEO"
-              title="DDRNet PREDICTION · 4489/4489 кадров · TRUTH для этой записи отсутствует"
+              title={result.routeVideo.viewKind === "coarse-material-policy-review"
+                ? "COARSE MATERIAL + YOLOX VETO + CAUSAL TGS · 4489/4489 · TRUTH отсутствует"
+                : "DDRNet PREDICTION · 4489/4489 кадров · TRUTH для этой записи отсутствует"}
               kind="diagnostic-model"
               resizable
             >
-              <M4ReplayThreatVisual
-                resultId={result.routeVideo.baseM4ResultId}
-                evidenceLabel="LAB V1 · DDRNet"
-                showReferenceMediaLayers={false}
-                showSpatialOverlaySummary={false}
-                semantic={{
-                  resultId: result.routeVideo.workerResultId,
-                  spatialResultId: null,
-                  taxonomy: result.routeVideo.taxonomy,
-                  maskUrl: (sequence) => vegetationVideoMaskUrl(result.resultId, sequence),
-                  label: "DDRNet vegetation prediction · recorded video",
-                  maskAriaLabel: "DDRNet vegetation prediction",
-                }}
-              />
+              <VegetationRouteEvidence result={result} />
             </LaboratoryEvidence>
           ) : null}
         </>
       )}
       result={(
         <LaboratoryResultSummary
-          title="DDRNet — стартовые веса; перенос на ровер ещё не доказан"
-          status={`${selected.loadedModelName} выбран только как vegetation candidate`}
+          title={result.routeVideo?.viewKind === "coarse-material-policy-review"
+            ? "Слои собраны для визуального policy review; управление не авторизовано"
+            : "DDRNet — стартовые веса; перенос на ровер ещё не доказан"}
+          status={result.routeVideo?.viewKind === "coarse-material-policy-review"
+            ? "Materials are advisory · YOLOX/TGS veto cannot be cleared"
+            : `${selected.loadedModelName} выбран только как vegetation candidate`}
           statusTone="warning"
           metrics={[
             {
@@ -186,13 +261,17 @@ export function VegetationShadowResultView({
             ...(result.routeVideo ? [{
               label: "Route video",
               value: "4489/4489 masks",
-              hint: "DDRNet prediction · exact sequence · Worker-independent playback",
+              hint: result.routeVideo.viewKind === "coarse-material-policy-review"
+                ? "9 coarse states · YOLOX + causal TGS · Worker-independent playback"
+                : "DDRNet prediction · exact sequence · Worker-independent playback",
             }] : []),
           ]}
           conclusion={{
             proved: "Обе официальные fine-64 модели воспроизводимо запускаются на Worker 006; DDRNet лучше по aggregate vegetation IoU. Truth-backed hard cases прямо показывают траву, кусты и стволы, а не случайные автомобили и здания.",
             notProved: "Не доказаны accuracy на нашем fisheye-домене, папоротник как отдельный материал, collision safety и physical-live поведение ровера. Видео позволяет увидеть temporal stability, но без truth не превращает её в метрику качества.",
-            decision: "Смотреть полный prediction на видео и собирать конкретные temporal/domain failure cases. DDRNet остаётся diagnostic candidate; LiDAR/TGS fail-closed геометрию не ослаблять.",
+            decision: result.routeVideo?.viewKind === "coarse-material-policy-review"
+              ? "На одном M4.7 проверить ложные LOW GRASS/HIGH GRASS кандидаты против YOLOX и TGS. До truth-кейсов и integrated load этот слой не подключать к planner/actuation."
+              : "Смотреть полный prediction на видео и собирать конкретные temporal/domain failure cases. DDRNet остаётся diagnostic candidate; LiDAR/TGS fail-closed геометрию не ослаблять.",
           }}
         />
       )}

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

@@ -108,7 +108,9 @@ test("M4.9T5 viewer prefers autonomous chunks and keeps a sealed legacy fallback
   assert.doesNotMatch(source, /centersXyM\.map\(/);
   assert.match(source, /fetchE47SemanticSlamResult/);
   assert.match(source, /next\.baseM4ResultId !== result\.source\.linkedVisualResultId/);
-  assert.match(source, /semantic=\{semantic \? \{/);
+  assert.match(source, /semantic=\{semanticOverride \?\? \(semantic \? \{/);
+  assert.match(source, /semanticOverride/);
+  assert.doesNotMatch(visual, /classifiedSpatialLayer \|\| !showReferenceMediaLayers \? \[\]/);
   assert.match(
     visual,
     /classifiedSpatialFrame\s*&&\s*classifiedSpatialFrame\.sampleAvailable !== false/,

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

@@ -104,45 +104,89 @@ function routeVideo() {
   };
 }
 
+function coarseRouteVideo() {
+  return {
+    ...routeVideo(),
+    view_kind: "coarse-material-policy-review",
+    linked_tgs_result_id: `m49-tgs-full-shadow-${"2".repeat(64)}`,
+    taxonomy: {
+      schema_version: "missioncore.lab-v1-terrain-policy-taxonomy/v1",
+      classes: Array.from({ length: 9 }, (_, classId) => ({
+        class_id: classId,
+        label: `policy-${classId}`,
+        color_rgb: [classId, classId, classId],
+        disposition: classId === 0 ? "ambiguous" : "prediction",
+        material_class: classId === 0 ? null : "grass",
+        evidence_state: classId === 0 ? "UNOBSERVED" : "SUPPORTED_GROUND",
+      })),
+    },
+    aggregate_prediction_pixels: Array(9).fill(0),
+    mask_archive: {
+      path: "video/coarse-material-policy-masks.zip",
+      sha256: "8".repeat(64),
+      byte_length: 2048,
+    },
+    policy: {
+      presets: {
+        urban: { grass: "NO_GO" },
+        rural: { grass: "HIGH_COST" },
+        offroad: { grass: "HIGH_COST" },
+      },
+    },
+    fusion: {
+      mode: "synchronised-multilayer-review",
+      pixel_raster_fusion: false,
+      camera_semantic_temporal_filter: "none",
+    },
+  };
+}
+
+function labPayload(route = routeVideo()) {
+  return {
+    schema_version: "missioncore.lab-v1-vegetation-shadow/v1",
+    result_id: resultId,
+    created_at_utc: "2026-08-27T20:00:00Z",
+    status: "visual-shadow-ready-policy-not-authorized",
+    ground_truth: false,
+    identity: { selected_candidate: "ddrnet" },
+    metrics: {
+      candidates: {
+        ddrnet: candidate("ddrnet", 0.64),
+        ppliteseg: candidate("ppliteseg", 0.61),
+      },
+    },
+    decision: {
+      selected_candidate: "ddrnet",
+      visual_shadow_ready: true,
+      mission_policy_ready_for_configuration: true,
+      navigation_accepted: false,
+      production_accepted: false,
+    },
+    limitations: ["shadow only"],
+    authority: {
+      commands_enabled: false,
+      navigation_or_safety_accepted: false,
+      actuation_accepted: false,
+      camera_semantics_can_clear_rigid_geometry: false,
+    },
+    catalogs: {
+      goose: Array.from({ length: 12 }, (_, index) => visualCase("goose", index)),
+      ravnoves: [],
+    },
+    route_video: route,
+    access: "read-only",
+  };
+}
+
 test("vegetation LAB keeps autonomous assets and fail-closed authority", async () => {
   let requestedUrl = "";
   const result = await fetchVegetationShadowResult(resultId, {
     fetcher: async (url) => {
       requestedUrl = String(url);
-      return new Response(JSON.stringify({
-        schema_version: "missioncore.lab-v1-vegetation-shadow/v1",
-        result_id: resultId,
-        created_at_utc: "2026-08-27T20:00:00Z",
-        status: "visual-shadow-ready-policy-not-authorized",
-        ground_truth: false,
-        identity: { selected_candidate: "ddrnet" },
-        metrics: {
-          candidates: {
-            ddrnet: candidate("ddrnet", 0.64),
-            ppliteseg: candidate("ppliteseg", 0.61),
-          },
-        },
-        decision: {
-          selected_candidate: "ddrnet",
-          visual_shadow_ready: true,
-          mission_policy_ready_for_configuration: true,
-          navigation_accepted: false,
-          production_accepted: false,
-        },
-        limitations: ["shadow only"],
-        authority: {
-          commands_enabled: false,
-          navigation_or_safety_accepted: false,
-          actuation_accepted: false,
-          camera_semantics_can_clear_rigid_geometry: false,
-        },
-        catalogs: {
-          goose: Array.from({ length: 12 }, (_, index) => visualCase("goose", index)),
-          ravnoves: [],
-        },
-        route_video: routeVideo(),
-        access: "read-only",
-      }), { status: 200, headers: { "Content-Type": "application/json" } });
+      return new Response(JSON.stringify(labPayload()), {
+        status: 200,
+        headers: { "Content-Type": "application/json" },
+      });
     },
   });
   assert.equal(
@@ -154,6 +198,8 @@ test("vegetation LAB keeps autonomous assets and fail-closed authority", async (
   assert.equal(result.routeCases.length, 0);
   assert.equal(result.validationCases.length, 12);
   assert.equal(result.routeVideo.frameCount, 4489);
+  assert.equal(result.routeVideo.viewKind, "fine-semantic-prediction");
+  assert.equal(result.routeVideo.linkedTgsResultId, null);
   assert.equal(result.routeVideo.taxonomy[0].disposition, "undefined");
   assert.equal(result.validationCases[0].focus.className, "high_grass");
   assert.match(result.validationCases[0].assets.ddrnet_error, /\/assets\/visual\/goose\//);
@@ -165,6 +211,21 @@ test("vegetation LAB keeps autonomous assets and fail-closed authority", async (
   });
 });
 
+test("vegetation LAB parses coarse material policy and sealed TGS binding", async () => {
+  const result = await fetchVegetationShadowResult(resultId, {
+    fetcher: async () => new Response(JSON.stringify(labPayload(coarseRouteVideo())), {
+      status: 200,
+      headers: { "Content-Type": "application/json" },
+    }),
+  });
+  assert.equal(result.routeVideo.viewKind, "coarse-material-policy-review");
+  assert.match(result.routeVideo.linkedTgsResultId, /^m49-tgs-full-shadow-/);
+  assert.equal(result.routeVideo.taxonomy.length, 9);
+  assert.equal(result.routeVideo.taxonomy[0].evidenceState, "UNOBSERVED");
+  assert.equal(result.routeVideo.policyPresets.urban.grass, "NO_GO");
+  assert.equal(result.routeVideo.fusionMode, "synchronised-multilayer-review");
+});
+
 test("vegetation LAB reuses the admitted M4.8 and M4.7 instruments", async () => {
   const resultSource = await readFile(
     new URL("../src/workspaces/laboratory/VegetationShadowResult.tsx", import.meta.url),
@@ -172,8 +233,10 @@ test("vegetation LAB reuses the admitted M4.8 and M4.7 instruments", async () =>
   );
   assert.match(resultSource, /M48MaskComparisonVisual/);
   assert.match(resultSource, /M4ReplayThreatVisual/);
+  assert.match(resultSource, /M49TgsFullShadowEvidence/);
+  assert.match(resultSource, /semanticOverride/);
   assert.equal(resultSource.match(/<LaboratoryEvidence\b/g)?.length, 2);
-  assert.match(resultSource, /showReferenceMediaLayers=\{false\}/);
+  assert.match(resultSource, /linkedTgsResultId/);
   assert.doesNotMatch(resultSource, /VegetationRouteVisual|urban\/rural\/off-road presets/);
   await assert.rejects(
     access(new URL("../src/workspaces/laboratory/VegetationShadowVisual.tsx", import.meta.url)),