feat(perception): add lossless lidar replay v2
This commit is contained in:
DCCONSTRUCTIONS
@@ -0,0 +1,269 @@
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import { useEffect, useState } from "react";
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import {
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Button,
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GlassSurface,
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StatusBadge,
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} from "@nodedc/ui-react";
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import {
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fetchLidarReplayCatalog,
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fetchLidarReplayDetail,
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type LidarReplayCatalog,
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type LidarReplayDetail,
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type LidarStageReadiness,
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} from "../core/lidar/replayQuality";
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import { MetricCard } from "../components/MetricCard";
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import type { WorkspaceDefinition } from "../productModel";
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function formatNumber(value: number | null, digits = 1): string {
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if (value === null) return "—";
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return value.toLocaleString("ru-RU", { maximumFractionDigits: digits });
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}
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function formatFraction(value: number | null): string {
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return value === null ? "—" : `${(value * 100).toLocaleString("ru-RU", {
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maximumFractionDigits: 1,
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})}%`;
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}
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function readinessTone(
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readiness: LidarStageReadiness["readiness"],
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): "success" | "warning" | "danger" {
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if (readiness === "ready") return "success";
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if (readiness === "degraded") return "warning";
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return "danger";
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}
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function readinessLabel(readiness: LidarStageReadiness["readiness"]): string {
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if (readiness === "ready") return "Готов";
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if (readiness === "degraded") return "С ограничениями";
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return "Заблокирован";
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}
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function errorMessage(error: unknown): string {
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return error instanceof Error && error.message.trim()
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? error.message
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: "Не удалось прочитать LiDAR evidence.";
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}
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export function LidarQualityWorkspace({
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definition,
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}: {
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definition: WorkspaceDefinition;
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}) {
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const [catalog, setCatalog] = useState<LidarReplayCatalog | null>(null);
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const [detail, setDetail] = useState<LidarReplayDetail | null>(null);
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const [selectedPackId, setSelectedPackId] = useState<string | null>(null);
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const [loading, setLoading] = useState(true);
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const [error, setError] = useState<string | null>(null);
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const [reloadGeneration, setReloadGeneration] = useState(0);
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useEffect(() => {
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const controller = new AbortController();
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setLoading(true);
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setError(null);
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void (async () => {
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try {
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const nextCatalog = await fetchLidarReplayCatalog({
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signal: controller.signal,
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});
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if (controller.signal.aborted) return;
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setCatalog(nextCatalog);
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const target = selectedPackId ?? nextCatalog.items[0]?.packId ?? null;
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if (!target) {
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setDetail(null);
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return;
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}
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const nextDetail = await fetchLidarReplayDetail(target, {
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signal: controller.signal,
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});
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if (controller.signal.aborted) return;
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setSelectedPackId(target);
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setDetail(nextDetail);
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} catch (loadError) {
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if (controller.signal.aborted) return;
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setDetail(null);
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setError(errorMessage(loadError));
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} finally {
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if (!controller.signal.aborted) setLoading(false);
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}
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})();
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return () => controller.abort();
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}, [reloadGeneration, selectedPackId]);
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return (
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<div className="standard-workspace lidar-quality-workspace">
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<section className="workspace-lead workspace-lead--compact">
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<div>
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<span className="section-eyebrow">{definition.eyebrow}</span>
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<h2>{definition.title}</h2>
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<p>{definition.description}</p>
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</div>
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<span className="workspace-lead__note">Только проверенные replay-артефакты</span>
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</section>
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{loading && !detail ? (
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<GlassSurface className="lidar-quality-message" padding="lg">
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<StatusBadge tone="accent">Проверка evidence</StatusBadge>
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<h2>Читаем LiDAR replay и quality report</h2>
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<p>Интерфейс покажет pack только после проверки manifest, hashes и equivalence gate.</p>
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</GlassSurface>
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) : error ? (
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<GlassSurface className="lidar-quality-message" padding="lg">
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<StatusBadge tone="danger">Данные недоступны</StatusBadge>
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<h2>LiDAR quality report не открыт</h2>
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<p>{error}</p>
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<Button
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size="compact"
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variant="secondary"
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onClick={() => setReloadGeneration((value) => value + 1)}
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>
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Повторить
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</Button>
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</GlassSurface>
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) : !detail ? (
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<GlassSurface className="lidar-quality-message" padding="lg">
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<StatusBadge tone={catalog?.configured ? "neutral" : "warning"}>
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{catalog?.configured ? "Каталог пуст" : "Storage не настроен"}
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</StatusBadge>
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<h2>Lossless LiDAR replay пока не опубликован</h2>
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<p>
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После подготовки первого v2 pack здесь появятся field retention, cadence,
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intensity, pose coverage и readiness следующих стадий.
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</p>
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</GlassSurface>
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) : (
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<>
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<section className="metrics-grid" aria-label="Качество LiDAR replay">
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<MetricCard
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featured
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eyebrow="ТОЧЕЧНЫХ КАДРОВ"
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value={detail.pack.pointFrames.toLocaleString("ru-RU")}
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detail={`${detail.pack.points.toLocaleString("ru-RU")} точек сохранено`}
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/>
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<MetricCard
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eyebrow="СРЕДНЕЕ ТОЧЕК"
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value={formatNumber(detail.pack.meanPointsPerFrame, 0)}
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detail="На один lio_pcl кадр"
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/>
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<MetricCard
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eyebrow="P95 ИНТЕРВАЛА"
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value={formatNumber(detail.pack.p95FrameIntervalMs)}
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unit="мс"
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detail="По exact host monotonic time"
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/>
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<MetricCard
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eyebrow="POSE COVERAGE"
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value={formatFraction(detail.pack.poseCoverageFraction)}
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detail={`Порог ${formatNumber(detail.quality.poseBinding.thresholdMs)} мс`}
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/>
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</section>
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<div className="lidar-quality-grid">
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<GlassSurface className="lidar-quality-panel" padding="lg">
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<header className="panel-heading">
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<div>
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<span className="section-eyebrow">ЦЕЛОСТНОСТЬ</span>
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<h2>Lossless replay v2</h2>
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</div>
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<StatusBadge tone="success">Equivalence passed</StatusBadge>
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</header>
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<div className="lidar-quality-facts">
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<div>
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<span>Сессия</span>
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<strong>{detail.pack.sessionId}</strong>
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</div>
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<div>
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<span>Сверено массивов</span>
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<strong>{detail.equivalence.arraysCompared}</strong>
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</div>
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<div>
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<span>Несовпадений</span>
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<strong>{detail.equivalence.arrayMismatches}</strong>
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</div>
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<div>
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<span>Intensity p50 / p95</span>
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<strong>
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{formatNumber(detail.quality.intensity.p50)} /{" "}
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{formatNumber(detail.quality.intensity.p95)}
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</strong>
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</div>
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</div>
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<div className="lidar-retention-list">
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{Object.entries(detail.quality.fieldRetention).map(([field, retained]) => (
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<span key={field} data-retained={retained ? "true" : "false"}>
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<i aria-hidden="true" />
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{field.replaceAll("_", " ")}
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</span>
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))}
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</div>
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</GlassSurface>
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<GlassSurface className="lidar-quality-panel" padding="lg">
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<header className="panel-heading">
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<div>
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<span className="section-eyebrow">ДОПУСК СТАДИЙ</span>
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<h2>Что можно запускать</h2>
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</div>
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</header>
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<div className="lidar-readiness-list">
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{detail.stages.map((stage) => (
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<div key={stage.stage}>
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<div>
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<strong>{stage.stage}</strong>
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<small>
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{stage.reasons.length
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? stage.reasons.join(" · ")
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: "Входной контракт выполнен"}
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</small>
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</div>
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<StatusBadge tone={readinessTone(stage.readiness)}>
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{readinessLabel(stage.readiness)}
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</StatusBadge>
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</div>
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))}
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</div>
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</GlassSurface>
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</div>
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<GlassSurface className="lidar-pack-catalog" padding="lg">
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<header className="panel-heading">
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<div>
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<span className="section-eyebrow">REPLAY PACKS</span>
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<h2>Проверенные записи</h2>
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</div>
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<small>
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{catalog?.validTotal ?? 0} valid · {catalog?.duplicateTotal ?? 0} superseded ·{" "}
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{catalog?.invalidTotal ?? 0} rejected
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</small>
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</header>
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<div className="lidar-pack-list">
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{catalog?.items.map((pack) => (
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<button
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type="button"
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key={pack.packId}
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data-selected={pack.packId === detail.pack.packId ? "true" : undefined}
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onClick={() => setSelectedPackId(pack.packId)}
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>
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<div>
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<strong>{pack.sessionId}</strong>
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<small>
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{pack.pointFrames.toLocaleString("ru-RU")} кадров ·{" "}
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{pack.points.toLocaleString("ru-RU")} точек
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</small>
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</div>
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<StatusBadge tone="success">Passed</StatusBadge>
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</button>
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))}
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</div>
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<footer>
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{detail.quality.limitations.map((limitation) => (
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<span key={limitation}>{limitation}</span>
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))}
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</footer>
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</GlassSurface>
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</>
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)}
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</div>
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);
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}
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@@ -57,6 +57,7 @@ import {
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import { finiteMetric, formatNumber, pipelineLatency, sourceModeLabel } from "../presentation";
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import type { SceneSettings } from "../sceneSettings";
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import { PolygonRunWorkspace } from "./PolygonRunWorkspace";
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import { LidarQualityWorkspace } from "./LidarQualityWorkspace";
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function statusTone(status: CapabilityStatus): "success" | "accent" | "warning" | "neutral" {
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if (status === "active") return "success";
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@@ -1306,6 +1307,8 @@ export function WorkspaceRenderer(props: WorkspaceRendererProps) {
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return <MissionWorkspace {...props} />;
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case "catalog":
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return <CatalogWorkspace {...props} />;
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case "lidar-quality":
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return <LidarQualityWorkspace definition={props.definition} />;
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case "polygon-run":
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return <PolygonRunWorkspace route={props.polygonRunRoute} />;
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case "device":
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