feat(viewer): add recorded point colors and trajectory follow

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

@@ -25,6 +25,9 @@ let resolveRecordedBlueprintUrl;
 let fetchRecordedBlueprintRrd;
 let resolveRecordedPerceptionUrl;
 let fetchRecordedPerceptionRrd;
+let resolveRecordedPointColorsUrl;
+let fetchRecordedPointColorsRrd;
+let recordedPointColorKey;
 let isRecordedPlaybackFullyBuffered;
 let recordedObservationSources;
 let selectRecordedMediaEpoch;
@@ -66,6 +69,9 @@ before(async () => {
     fetchRecordedBlueprintRrd,
     resolveRecordedPerceptionUrl,
     fetchRecordedPerceptionRrd,
+    resolveRecordedPointColorsUrl,
+    fetchRecordedPointColorsRrd,
+    recordedPointColorKey,
     isRecordedPlaybackFullyBuffered,
   } = await server.ssrLoadModule(
     "/src/components/RerunViewport.tsx",
@@ -263,6 +269,7 @@ test("recorded blueprint fetch is bounded, strict and sends only display setting
       showPoints: true,
       showTrajectory: false,
       pointSize: 4.5,
+      colorMode: "height",
       palette: "custom",
       customColor: "#35d7c1",
     },
@@ -272,6 +279,7 @@ test("recorded blueprint fetch is bounded, strict and sends only display setting
       blueprintSessionId: "a".repeat(32),
       activeView: "perception3d",
       viewResetGeneration: 1,
+      followTrajectory: true,
       perceptionLayers: {
         enabled: true,
         detections2d: true,
@@ -299,10 +307,12 @@ test("recorded blueprint fetch is bounded, strict and sends only display setting
     show_points: true,
     show_trajectory: false,
     point_size: 4.5,
+    color_mode: "height",
     palette: "custom",
     custom_color: "#35d7c1",
     active_view: "perception3d",
     view_reset_generation: 1,
+    follow_trajectory: true,
     unified_perception: true,
     show_detections_2d: true,
     show_segmentation: false,
@@ -317,6 +327,7 @@ test("recorded blueprint fetch is bounded, strict and sends only display setting
       showPoints: true,
       showTrajectory: true,
       pointSize: 2.5,
+      colorMode: "intensity",
       palette: "turbo",
       customColor: "#ffffff",
     },
@@ -351,6 +362,7 @@ test("recorded blueprint fetch is bounded, strict and sends only display setting
         showPoints: true,
         showTrajectory: false,
         pointSize: 4.5,
+        colorMode: "height",
         palette: "custom",
         customColor: "#35d7c1",
       },
@@ -365,6 +377,73 @@ test("recorded blueprint fetch is bounded, strict and sends only display setting
   );
 });
 
+test("recorded point colors use one strict same-origin component overlay", async () => {
+  const endpoint = resolveRecordedPointColorsUrl(
+    "/api/v1/observation-sessions/session-1/recording.rrd",
+    "http://127.0.0.1:5174",
+  );
+  assert.equal(
+    endpoint,
+    "http://127.0.0.1:5174/api/v1/observation-sessions/session-1/point-colors.rrd",
+  );
+  assert.equal(
+    resolveRecordedPointColorsUrl(
+      "https://outside.invalid/api/v1/observation-sessions/session-1/recording.rrd",
+      "http://127.0.0.1:5174",
+    ),
+    null,
+  );
+  assert.equal(
+    recordedPointColorKey({
+      colorMode: "intensity",
+      palette: "turbo",
+      customColor: "#112233",
+    }),
+    "intensity|turbo|-",
+  );
+  assert.equal(
+    recordedPointColorKey({
+      colorMode: "class",
+      palette: "turbo",
+      customColor: "#112233",
+    }),
+    "class|turbo|#112233",
+  );
+
+  const calls = [];
+  const payload = Uint8Array.from([0x52, 0x52, 0x46, 0x32, 0x01]);
+  const result = await fetchRecordedPointColorsRrd(
+    endpoint,
+    {
+      colorMode: "distance",
+      palette: "viridis",
+      customColor: "#35d7c1",
+    },
+    { applicationId: "nodedc_mission_core_recorded", recordingId: "recording-001" },
+    {
+      origin: "http://127.0.0.1:5174",
+      fetcher: async (input, init) => {
+        calls.push({ input: String(input), init, body: JSON.parse(String(init.body)) });
+        return new Response(payload, {
+          status: 200,
+          headers: {
+            "Content-Type": "application/vnd.rerun.rrd",
+            "Content-Length": String(payload.byteLength),
+          },
+        });
+      },
+    },
+  );
+  assert.deepEqual([...result], [...payload]);
+  assert.deepEqual(calls[0].body, {
+    application_id: "nodedc_mission_core_recorded",
+    recording_id: "recording-001",
+    color_mode: "distance",
+    palette: "viridis",
+    custom_color: "#35d7c1",
+  });
+});
+
 test("recorded perception fetch admits one complete same-origin RRD or no layer", async () => {
   const endpoint = resolveRecordedPerceptionUrl(
     "/api/v1/observation-sessions/session-1/recording.rrd",