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

src/k1link/web/session_api.py

@@ -33,6 +33,7 @@ from k1link.sessions import (
     SessionStore,
     validate_recorded_media_timeline,
 )
+from k1link.sessions.plugin_contract import RecordedPointColorRenderer
 from k1link.viewer.recorded import (
     APPLICATION_ID as RECORDED_APPLICATION_ID,
 )
@@ -108,6 +109,7 @@ class RecordedBlueprintRequest(StrictApiModel):
     show_trajectory: StrictBool
     show_grid: StrictBool
     point_size: float = Field(default=2.5, strict=True, ge=0.1, le=32.0)
+    color_mode: Literal["intensity", "height", "distance", "rgb", "class"] = "intensity"
     palette: Literal["turbo", "viridis", "plasma", "grayscale", "custom"] = "turbo"
     custom_color: str = Field(default="#f7f8f4", pattern=r"^#[0-9A-Fa-f]{6}$")
     active_view: Literal["spatial", "perception", "perception3d", "metrics"] = "spatial"
@@ -116,6 +118,7 @@ class RecordedBlueprintRequest(StrictApiModel):
     show_detections_2d: StrictBool = False
     show_segmentation: StrictBool = False
     show_cuboids_3d: StrictBool = False
+    follow_trajectory: StrictBool = False
 
 
 class RecordedPerceptionRequest(StrictApiModel):
@@ -127,6 +130,18 @@ class RecordedPerceptionRequest(StrictApiModel):
     )
 
 
+class RecordedPointColorsRequest(StrictApiModel):
+    application_id: Literal["nodedc_mission_core_recorded"]
+    recording_id: str = Field(
+        min_length=1,
+        max_length=128,
+        pattern=r"^[A-Za-z0-9][A-Za-z0-9._:-]{0,127}$",
+    )
+    color_mode: Literal["intensity", "height", "distance", "rgb", "class"]
+    palette: Literal["turbo", "viridis", "plasma", "grayscale", "custom"]
+    custom_color: str = Field(pattern=r"^#[0-9A-Fa-f]{6}$")
+
+
 class SceneSettingsDocument(StrictApiModel):
     projection: Literal["3d", "2d", "map"]
     point_size: float = Field(ge=0.1, le=32.0)
@@ -284,6 +299,7 @@ def build_session_router(
     media_inspector: RecordedMediaInspector | None = None,
     perception_overlay_provider: RecordedPerceptionOverlayProvider | None = None,
     perception_media_provider: RecordedPerceptionMediaProvider | None = None,
+    point_color_renderers: Mapping[str, RecordedPointColorRenderer] | None = None,
     allow_synchronous_recording_fallback: bool = False,
     replay_action_id: str = DEFAULT_REPLAY_ACTION_ID,
 ) -> APIRouter:
@@ -796,6 +812,7 @@ def build_session_router(
                 recorded_blueprint_rrd,
                 RerunSceneSettings(
                     point_size=request.point_size,
+                    color_mode=request.color_mode,
                     palette=request.palette,
                     custom_color=request.custom_color,
                     accumulation_seconds=request.accumulation_seconds,
@@ -812,6 +829,7 @@ def build_session_router(
                 show_detections_2d=request.show_detections_2d,
                 show_segmentation=request.show_segmentation,
                 show_cuboids_3d=request.show_cuboids_3d,
+                follow_trajectory=request.follow_trajectory,
             )
         except SessionNotFoundError as exc:
             raise HTTPException(status_code=404, detail=str(exc)) from exc
@@ -887,6 +905,61 @@ def build_session_router(
             },
         )
 
+    @router.post("/api/v1/observation-sessions/{session_id}/point-colors.rrd")
+    async def get_observation_session_point_colors(
+        session_id: str,
+        request: RecordedPointColorsRequest,
+    ) -> Response:
+        try:
+            command = await run_in_threadpool(
+                _prepare_replay,
+                store,
+                catalog_refresher,
+                session_id,
+                1.0,
+                False,
+                False,
+            )
+            point_color_renderer = (point_color_renderers or {}).get(command.plugin_id)
+            if point_color_renderer is None:
+                raise HTTPException(
+                    status_code=409,
+                    detail="Сервис архивной окраски точек не настроен.",
+                )
+            payload = await run_in_threadpool(
+                point_color_renderer,
+                command,
+                application_id=request.application_id,
+                recording_id=request.recording_id,
+                color_mode=request.color_mode,
+                palette=request.palette,
+                custom_color=request.custom_color,
+            )
+        except SessionNotFoundError as exc:
+            raise HTTPException(status_code=404, detail=str(exc)) from exc
+        except (SessionNotReplayableError, SessionIntegrityError) as exc:
+            raise HTTPException(status_code=409, detail=str(exc)) from exc
+        except ValueError as exc:
+            raise HTTPException(
+                status_code=422,
+                detail="Некорректные параметры окраски точек.",
+            ) from exc
+        except RuntimeError as exc:
+            raise HTTPException(
+                status_code=500,
+                detail="Не удалось подготовить окраску облака точек.",
+            ) from exc
+        return Response(
+            content=payload,
+            media_type="application/vnd.rerun.rrd",
+            headers={
+                "Cache-Control": "private, no-cache, no-transform",
+                "Content-Length": str(len(payload)),
+                "X-Content-Type-Options": "nosniff",
+                "Content-Disposition": 'inline; filename="point-colors.rrd"',
+            },
+        )
+
     @router.get(
         "/api/v1/observation-sessions/{session_id}/perception-media/"
         "{result_id}/manifest"