refactor(lab): restore canonical RAV004 replay

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

@@ -1,5 +1,5 @@
 export const CANONICAL_RECORDED_LAB_TGS_HISTORY_SECONDS = 1;
-export const CANONICAL_RECORDED_LAB_SPATIAL_PROFILE = "source-paced-ground-v2";
+export const CANONICAL_RECORDED_LAB_SPATIAL_PROFILE = "source-paced-ground-v3";
 
 export interface CanonicalRecordedLabPackedCellEvidence {
   centersBodyXyM: Float32Array;

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

@@ -15,7 +15,7 @@ export interface CanonicalRecordedLabSpatialFrame {
   coordinateFrame: "body-ground";
   sensorHeight: {
     meters: number;
-    source: "initial-source-cloud-lower-quantile-median";
+    source: "local-source-cloud-ground-quantile-median" | "session-source-cloud-fallback";
     sampleCount: number;
     madM: number;
     authority: "visual-derived";
@@ -129,7 +129,7 @@ export async function fetchCanonicalRecordedLabSpatialFrame(
   const payload = objectValue(await response.json(), "canonical_lab.spatial_frame");
   exact(
     payload.schema_version,
-    "missioncore.canonical-recorded-lab-spatial-frame/v2",
+    "missioncore.canonical-recorded-lab-spatial-frame/v3",
     "canonical_lab.spatial_frame.schema_version",
   );
   exact(payload.coordinate_frame, "body-ground", "canonical_lab.spatial_frame.coordinate_frame");
@@ -179,11 +179,14 @@ export async function fetchCanonicalRecordedLabSpatialFrame(
     );
   }
   const sensorHeight = objectValue(payload.sensor_height, "canonical_lab.spatial_frame.sensor_height");
-  exact(
-    sensorHeight.source,
-    "initial-source-cloud-lower-quantile-median",
-    "canonical_lab.spatial_frame.sensor_height.source",
-  );
+  if (
+    sensorHeight.source !== "local-source-cloud-ground-quantile-median"
+    && sensorHeight.source !== "session-source-cloud-fallback"
+  ) {
+    throw new CanonicalRecordedLabSpatialContractError(
+      "canonical_lab.spatial_frame.sensor_height.source: контракт изменён.",
+    );
+  }
   exact(
     sensorHeight.authority,
     "visual-derived",
@@ -210,7 +213,7 @@ export async function fetchCanonicalRecordedLabSpatialFrame(
     coordinateFrame: "body-ground",
     sensorHeight: {
       meters: numberValue(sensorHeight.meters, "canonical_lab.spatial_frame.sensor_height.meters"),
-      source: "initial-source-cloud-lower-quantile-median",
+      source: sensorHeight.source,
       sampleCount: integerValue(
         sensorHeight.sample_count,
         "canonical_lab.spatial_frame.sensor_height.sample_count",

apps/control-station/src/core/laboratory/m4ReplayThreat.ts

@@ -154,6 +154,9 @@ export interface M4ThreatTimelineFrame {
   pointCloudSourceCount: number;
   pointCloudSampleCount: number;
   pointCloudLayer: "current-increment";
+  localSlamBodyXyzM?: readonly M4Point3[];
+  localSlamSourceFrameCount?: number;
+  localSlamSourcePointCount?: number;
   cameraProjectedPointsXyd: readonly (readonly [number, number, number])[];
   cameraProjectedSourceCount: number;
   cameraProjectedPointCount: number;
@@ -168,10 +171,11 @@ export interface M4ThreatTimelineFrame {
 
 export interface M4ThreatTimeline {
   resultId: string;
-  recordedSourceSessionId: "20260720T065719Z_viewer_live";
+  recordedSourceSessionId: string;
+  recordedSourceId: string;
   imageWidth: 800;
   imageHeight: 600;
-  frameCount: 4489;
+  frameCount: number;
   frameTimesNs: readonly number[];
   timelineStartSeconds: number;
   timelineEndSeconds: number;
@@ -704,12 +708,8 @@ export async function fetchM4ThreatTimeline(
   exact(payload.result_id, result, "M4.6 timeline result");
   exact(payload.authority, "replay-simulated", "M4.6 timeline authority");
   const recorded = object(payload.recorded_source, "M4.6 recorded source");
-  exact(
-    recorded.session_id,
-    "20260720T065719Z_viewer_live",
-    "M4.6 recorded session",
-  );
-  exact(recorded.source_id, "RAVNOVES00", "M4.6 recorded source id");
+  const recordedSessionId = text(recorded.session_id, "M4.6 recorded session");
+  const recordedSourceId = text(recorded.source_id, "M4.6 recorded source id");
   exact(
     recorded.representation_id,
     "registered-map-increment-v1",
@@ -720,7 +720,10 @@ export async function fetchM4ThreatTimeline(
     "host-arrival-best-effort",
     "M4.6 recorded synchronization",
   );
-  const frameCount = exact(payload.frame_count, 4489, "M4.6 timeline frame count");
+  const frameCount = integer(payload.frame_count, "M4.6 timeline frame count");
+  if (frameCount < 1) {
+    throw new M4ThreatContractError("M4.6 timeline frame count: пустой timeline.");
+  }
   const frameTimesNs = array(payload.frame_times_ns, "M4.6 timeline index").map(
     (value) => integer(value, "M4.6 timeline time"),
   );
@@ -738,7 +741,8 @@ export async function fetchM4ThreatTimeline(
   );
   return {
     resultId: result,
-    recordedSourceSessionId: "20260720T065719Z_viewer_live",
+    recordedSourceSessionId: recordedSessionId,
+    recordedSourceId,
     imageWidth: exact(payload.image_width, 800, "M4.6 image width"),
     imageHeight: exact(payload.image_height, 600, "M4.6 image height"),
     frameCount,
@@ -1334,6 +1338,17 @@ function parseTimelineFrame(
       "current-increment",
       "M4.6 timeline point layer",
     ),
+    localSlamBodyXyzM: item.local_slam_body_xyz_m === undefined
+      ? []
+      : array(item.local_slam_body_xyz_m, "M4.6 local SLAM points").map(
+          (point) => vector(point, 3, "M4.6 local SLAM point") as [number, number, number],
+        ),
+    localSlamSourceFrameCount: item.local_slam_source_frame_count === undefined
+      ? undefined
+      : integer(item.local_slam_source_frame_count, "M4.6 local SLAM source frames"),
+    localSlamSourcePointCount: item.local_slam_source_point_count === undefined
+      ? undefined
+      : integer(item.local_slam_source_point_count, "M4.6 local SLAM source points"),
     cameraProjectedPointsXyd: item.camera_projected_points_xyd === undefined
       ? []
       : array(item.camera_projected_points_xyd, "M4.6 camera points").map(