fix(viewer): make recorded layers deterministic

apps/control-station/src/components/RerunViewport.tsx

@@ -49,6 +49,7 @@ export interface RerunViewportProps {
   presentationGate?: RecordedAdmissionPhase;
   expectedTimelineStartSeconds?: number;
   expectedTimelineEndSeconds?: number;
+  initialPlaybackStartSeconds?: number;
   onStatusChange?: (status: RerunViewportStatus, message?: string) => void;
   onSelectionChange?: (selection: RerunSelection | null) => void;
   onPlaybackChange?: (state: RerunPlaybackState | null) => void;
@@ -295,12 +296,21 @@ export function createRecordedAutoplayGate(): {
     rangeNs: { min: number; max: number } | null,
     seekToStart: (startNs: number) => void,
     startPlaying: () => void,
+    preferredStartNs?: number,
   ) => boolean;
   attempted: () => boolean;
 } {
   let consumed = false;
   return {
-    attempt(viewerStarted, fullyBuffered, presentationReady, rangeNs, seekToStart, startPlaying) {
+    attempt(
+      viewerStarted,
+      fullyBuffered,
+      presentationReady,
+      rangeNs,
+      seekToStart,
+      startPlaying,
+      preferredStartNs,
+    ) {
       if (
         consumed ||
         !viewerStarted ||
@@ -309,8 +319,11 @@ export function createRecordedAutoplayGate(): {
         !isUsableRecordedPlaybackRange(rangeNs)
       ) return false;
       consumed = true;
+      const startNs = Number.isFinite(preferredStartNs)
+        ? Math.min(Math.max(preferredStartNs as number, rangeNs.min), rangeNs.max)
+        : rangeNs.min;
       return attemptRecordedAutoplay(
-        () => seekToStart(rangeNs.min),
+        () => seekToStart(startNs),
         startPlaying,
       );
     },
@@ -515,7 +528,8 @@ export async function fetchRecordedBlueprintRrd(
       custom_color: settings.customColor,
       active_view: activeView,
       view_reset_generation: viewResetGeneration,
-      unified_perception: perceptionLayers.enabled,
+      unified_perception:
+        perceptionLayers.detections2d || perceptionLayers.segmentation,
       show_detections_2d: perceptionLayers.detections2d,
       show_segmentation: perceptionLayers.segmentation,
       show_cuboids_3d: perceptionLayers.cuboids3d,
@@ -616,6 +630,7 @@ export function RerunViewport({
   presentationGate = "ready",
   expectedTimelineStartSeconds,
   expectedTimelineEndSeconds,
+  initialPlaybackStartSeconds,
   onStatusChange,
   onSelectionChange,
   onPlaybackChange,
@@ -982,6 +997,9 @@ export function RerunViewport({
                   () => {
                     viewer.set_playing(event.recording_id, true);
                   },
+                  initialPlaybackStartSeconds === undefined
+                    ? undefined
+                    : initialPlaybackStartSeconds * 1_000_000_000,
                 );
                 if (autoplayStarted) {
                   playing = true;
@@ -1153,6 +1171,7 @@ export function RerunViewport({
     expectedTimelineEndSeconds,
     expectedTimelineStartSeconds,
     followLive,
+    initialPlaybackStartSeconds,
     onPlaybackChange,
     onPlaybackControllerChange,
     onSelectionChange,