refactor(lab): перевести RAV004 на канонический Rerun pipeline
This commit is contained in:
DCCONSTRUCTIONS
Generated
+4
-5
@@ -7,7 +7,6 @@
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"": {
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"name": "@nodedc/mission-core-control-station",
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"version": "0.1.0",
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"hasInstallScript": true,
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"dependencies": {
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"@noble/hashes": "^2.2.0",
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"@nodedc/map-cesium-react": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/map-cesium-react",
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@@ -15,7 +14,7 @@
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"@nodedc/tokens": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/tokens",
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"@nodedc/ui-core": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/ui-core",
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"@nodedc/ui-react": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/ui-react",
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"@rerun-io/web-viewer": "0.34.1",
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"@rerun-io/web-viewer": "0.36.3",
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"meshoptimizer": "1.1.1",
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"playcanvas": "2.21.4",
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"react": "^19.1.0",
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@@ -900,9 +899,9 @@
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"link": true
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},
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"node_modules/@rerun-io/web-viewer": {
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"version": "0.34.1",
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"resolved": "https://registry.npmjs.org/@rerun-io/web-viewer/-/web-viewer-0.34.1.tgz",
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"integrity": "sha512-2Oq9Mw3qOs765XArGq4e/0pAIksPFKlAqkgo+PDsRkPd77/KdnQhb835suRmYQ6tuqlbPeVCFhlNIXT0+TjmTg==",
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"version": "0.36.3",
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"resolved": "https://registry.npmjs.org/@rerun-io/web-viewer/-/web-viewer-0.36.3.tgz",
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"integrity": "sha512-LMGnsxRmY5UwiGras2dZrMnEYkow5Xr4v+1hAUSspXWPPiilMqoz9G77jo8Ps/deAaX81TnOq123DFO8iX/Ulw==",
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"license": "MIT"
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},
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"node_modules/@rolldown/pluginutils": {
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@@ -4,7 +4,6 @@
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"private": true,
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"type": "module",
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"scripts": {
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"postinstall": "node scripts/patch-rerun-web-viewer.mjs",
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"dev": "vite",
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"build": "tsc -b && vite build",
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"preview": "vite preview",
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@@ -18,7 +17,7 @@
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"@nodedc/tokens": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/tokens",
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"@nodedc/ui-core": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/ui-core",
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"@nodedc/ui-react": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/ui-react",
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"@rerun-io/web-viewer": "0.34.1",
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"@rerun-io/web-viewer": "0.36.3",
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"meshoptimizer": "1.1.1",
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"playcanvas": "2.21.4",
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"react": "^19.1.0",
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@@ -151,6 +151,7 @@ interface RecordedRerunIdentity {
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const RECORDED_RRD_PATH = /^\/api\/v1\/observation-sessions\/[A-Za-z0-9][A-Za-z0-9._:-]{0,127}\/recording\.rrd$/;
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const RECORDED_BLUEPRINT_PATH = /^\/api\/v1\/observation-sessions\/[A-Za-z0-9][A-Za-z0-9._:-]{0,127}\/blueprint\.rrd$/;
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const RECORDED_PERCEPTION_PATH = /^\/api\/v1\/observation-sessions\/[A-Za-z0-9][A-Za-z0-9._:-]{0,127}\/perception\.rrd$/;
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const LAB_RECORDED_PERCEPTION_PATH = /^\/api\/v1\/laboratory\/vegetation-shadow\/lab-v1-vegetation-shadow-[a-f0-9]{64}\/canonical-overlay\.rrd$/;
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const RECORDED_POINT_COLORS_PATH = /^\/api\/v1\/observation-sessions\/[A-Za-z0-9][A-Za-z0-9._:-]{0,127}\/point-colors\.rrd$/;
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const MAX_BLUEPRINT_BYTES = 1_048_576;
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const MAX_PERCEPTION_BYTES = 512 * 1024 * 1024;
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@@ -203,12 +204,7 @@ export function resolveRerunSourceUrl(sourceUrl: string, origin: string): string
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return new URL(normalized, `${base.origin}/`).href;
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}
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/**
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* The native Rerun HTTP receiver is the only browser API in 0.34.1 with a
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* persistent incremental RRD decoder. Bind it to the exact immutable
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* generation selected by the launch contract; arbitrary `send_rrd` byte
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* slices are independently decoded files and are therefore invalid.
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*/
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/** Bind the upstream Rerun HTTP receiver to one immutable source generation. */
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export function resolveRecordedViewerSourceUrl(
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descriptor: RecordedRrdArtifactDescriptor,
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origin: string,
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@@ -238,12 +234,6 @@ export function rerunViewerInitialSource(
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return resolvedSourceUrl;
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}
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export function rerunViewerOpenOptions(
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followLive: boolean,
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): { follow_if_http: true } | null {
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return followLive ? { follow_if_http: true } : null;
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}
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export function resolveRecordedBlueprintUrl(sourceUrl: string, origin: string): string | null {
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const normalized = sourceUrl.trim();
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if (!RECORDED_RRD_PATH.test(normalized)) return null;
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@@ -365,6 +355,9 @@ export async function fetchRecordedBlueprintRrd(
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activeView = "spatial",
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viewResetGeneration = 0,
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followTrajectory = false,
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semanticLayer,
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unifiedPerception,
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planView = false,
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perceptionLayers = {
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enabled: false,
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detections2d: false,
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@@ -379,10 +372,15 @@ export async function fetchRecordedBlueprintRrd(
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activeView?: RecordedRerunView;
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viewResetGeneration?: 0 | 1;
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followTrajectory?: boolean;
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semanticLayer?: "city" | "vegetation";
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unifiedPerception?: boolean;
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planView?: boolean;
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perceptionLayers?: RecordedPerceptionLayers;
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fetcher?: typeof globalThis.fetch;
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},
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): Promise<Uint8Array> {
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const resolvedUnifiedPerception =
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unifiedPerception ?? (perceptionLayers.enabled && activeView !== "spatial");
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const base = new URL(origin);
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const endpoint = new URL(endpointUrl, base.origin);
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if (
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@@ -401,6 +399,9 @@ export async function fetchRecordedBlueprintRrd(
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!/^#[0-9A-Fa-f]{6}$/.test(settings.customColor) ||
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!["spatial", "perception", "perception3d", "metrics"].includes(activeView) ||
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![0, 1].includes(viewResetGeneration) ||
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(semanticLayer !== undefined && !["city", "vegetation"].includes(semanticLayer)) ||
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typeof resolvedUnifiedPerception !== "boolean" ||
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typeof planView !== "boolean" ||
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[
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perceptionLayers.enabled,
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perceptionLayers.detections2d,
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@@ -435,8 +436,9 @@ export async function fetchRecordedBlueprintRrd(
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active_view: activeView,
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view_reset_generation: viewResetGeneration,
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follow_trajectory: followTrajectory,
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unified_perception:
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perceptionLayers.detections2d || perceptionLayers.segmentation,
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unified_perception: resolvedUnifiedPerception,
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semantic_layer: semanticLayer ?? null,
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plan_view: planView,
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show_detections_2d: perceptionLayers.detections2d,
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show_segmentation: perceptionLayers.segmentation,
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show_cuboids_3d: perceptionLayers.cuboids3d,
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@@ -487,7 +489,8 @@ export async function fetchRecordedPerceptionRrd(
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endpoint.origin !== base.origin ||
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endpoint.search ||
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endpoint.hash ||
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!RECORDED_PERCEPTION_PATH.test(endpoint.pathname) ||
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!(RECORDED_PERCEPTION_PATH.test(endpoint.pathname) ||
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LAB_RECORDED_PERCEPTION_PATH.test(endpoint.pathname)) ||
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identity.applicationId !== "nodedc_mission_core_recorded" ||
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!/^[A-Za-z0-9][A-Za-z0-9._:-]{0,127}$/.test(identity.recordingId)
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) {
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@@ -588,6 +591,10 @@ export function RerunViewport({
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segmentation: false,
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cuboids3d: false,
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};
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const recordedPerceptionSourceUrl = recordedProfile?.perceptionSourceUrl;
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const recordedSemanticLayer = recordedProfile?.semanticLayer;
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const recordedUnifiedPerception = recordedProfile?.unifiedPerception ?? false;
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const recordedPlanView = recordedProfile?.planView ?? false;
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const recordedPerceptionRetryGeneration =
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recordedProfile?.perceptionRetryGeneration ?? 0;
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const lockPerceptionCameraInteraction =
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@@ -621,9 +628,11 @@ export function RerunViewport({
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const recordedBlueprintUrl = sourceUrl
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? resolveRecordedBlueprintUrl(sourceUrl, window.location.origin)
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: null;
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const recordedPerceptionUrl = sourceUrl
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? resolveRecordedPerceptionUrl(sourceUrl, window.location.origin)
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: null;
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const recordedPerceptionUrl = recordedPerceptionSourceUrl
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? resolveRerunSourceUrl(recordedPerceptionSourceUrl, window.location.origin)
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: sourceUrl
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? resolveRecordedPerceptionUrl(sourceUrl, window.location.origin)
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: null;
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const recordedPointColorsUrl = sourceUrl
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? resolveRecordedPointColorsUrl(sourceUrl, window.location.origin)
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: null;
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@@ -1264,7 +1273,7 @@ export function RerunViewport({
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try {
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const recordingId = viewer.get_active_recording_id();
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if (!recordingId) return;
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// Rerun 0.34.1 may ingest an SDK gRPC store without forwarding its
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// A live SDK receiver may ingest a store without forwarding its
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// recording_open event to the JavaScript wrapper. The active store
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// is the authoritative fallback and avoids hiding a ready canvas.
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admitRecording({
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@@ -1311,11 +1320,8 @@ export function RerunViewport({
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);
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try {
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// `panel_state_overrides` is part of Rerun's runtime AppOptions but
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// omitted from the public WebViewerOptions declaration in 0.34.1.
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// Its generated TypeScript declaration says `hidden`, while the
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// WASM constructor actually deserializes the Rust enum `Hidden`.
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// Keep the post-start overrides below as a compatibility fallback.
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// Keep all application chrome in the Mission Core shell. Rerun owns
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// the synchronized canvas, data store and clock, not another window.
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const viewerOptions = {
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width: "100%",
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height: "100%",
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@@ -1336,7 +1342,6 @@ export function RerunViewport({
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rerunViewerInitialSource(resolvedSource),
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host,
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viewerOptions,
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rerunViewerOpenOptions(followLive),
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);
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if (disposed) {
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disposeViewer();
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@@ -1429,6 +1434,7 @@ export function RerunViewport({
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recordedArtifact?.sha256,
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recordedArtifact?.sourceUrl,
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recordedArtifact?.viewerSourceUrl,
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recordedPerceptionUrl,
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retryNonce,
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]);
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@@ -1484,6 +1490,7 @@ export function RerunViewport({
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message: "Сервер готовит AI-слои.",
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});
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const pollPreparationStatus = () => {
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if (!RECORDED_PERCEPTION_PATH.test(new URL(recordedPerceptionUrl).pathname)) return;
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void fetchPerceptionPreparationStatus(
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recordedPerceptionUrl,
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identity.recordingId,
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@@ -1704,6 +1711,9 @@ export function RerunViewport({
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viewResetGeneration: recordedViewResetGeneration,
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followTrajectory: recordedFollowTrajectory,
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perceptionLayers: recordedPerceptionLayers,
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semanticLayer: recordedSemanticLayer,
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unifiedPerception: recordedUnifiedPerception,
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planView: recordedPlanView,
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}).then((payload) => {
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if (
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abort.signal.aborted ||
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@@ -1725,6 +1735,9 @@ export function RerunViewport({
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recordedView,
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recordedViewResetGeneration,
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recordedFollowTrajectory,
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recordedSemanticLayer,
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recordedUnifiedPerception,
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recordedPlanView,
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recordedPerceptionLayers.enabled,
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recordedPerceptionLayers.detections2d,
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recordedPerceptionLayers.segmentation,
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@@ -9,6 +9,7 @@ export const CANONICAL_RECORDED_LAB_REPLAY_CONTRACT =
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export interface CanonicalRecordedLabMode<T extends string> {
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value: T;
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label: string;
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disabled?: boolean;
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}
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/**
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@@ -90,6 +91,7 @@ export function CanonicalRecordedLabReplay<
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mediaMultiLayer = false,
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mediaContent,
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spatialContent,
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unifiedContent,
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emptyMessage,
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deckOverlays,
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actions,
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@@ -115,8 +117,10 @@ export function CanonicalRecordedLabReplay<
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spatialLayerControls?: ReactNode;
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spatialLeadingControl?: ReactNode;
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mediaMultiLayer?: boolean;
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mediaContent: ReactNode;
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spatialContent: ReactNode;
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mediaContent?: ReactNode;
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spatialContent?: ReactNode;
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/** One upstream Rerun viewer owns both panes and the shared playback clock. */
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unifiedContent?: ReactNode;
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emptyMessage: string;
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deckOverlays?: ReactNode;
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actions?: ReactNode;
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@@ -220,7 +224,13 @@ export function CanonicalRecordedLabReplay<
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className="m4-replay-threat-visual__deck"
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data-split={splitView ? "true" : undefined}
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data-empty={mediaMode === "none" && spatialMode === "none" ? "true" : undefined}
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data-native-rerun={unifiedContent ? "true" : undefined}
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>
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{unifiedContent ? (
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<div className="m4-replay-threat-visual__unified-content">
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{unifiedContent}
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</div>
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) : null}
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<SplitPane
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primary={mediaPane}
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secondary={spatialPane ?? <div />}
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@@ -37,7 +37,7 @@ export function laboratoryRecordedEvidenceDemand(
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profile: LaboratoryRecordedEvidenceViewerProfile =
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LABORATORY_RECORDED_EVIDENCE_VIEWER_PROFILE,
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): LaboratoryRecordedEvidenceDemand {
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if (profile.loadPolicy !== "visible-evidence-only") {
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if (profile.loadPolicy !== "explicit-legacy-comparison-only") {
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throw new Error("Unsupported LAB recorded evidence load policy");
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}
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const mediaVisible = visibility.mediaMode !== null;
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@@ -67,20 +67,29 @@ export interface RecordedSessionRerunProfile {
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viewResetGeneration: 0 | 1;
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followTrajectory: boolean;
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perceptionLayers: RecordedPerceptionLayers;
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/** Optional immutable RRD sidecar for LAB/model evidence on the same recording clock. */
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perceptionSourceUrl?: string;
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/** Selects one semantic entity without changing the sealed sidecar. */
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semanticLayer?: "city" | "vegetation";
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/** Keeps one native Rerun store/viewer while presenting the accepted two-pane LAB layout. */
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unifiedPerception?: boolean;
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/** Requests the canonical top-down eye without changing the world coordinate frame. */
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planView?: boolean;
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perceptionRetryGeneration: number;
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lockPerceptionCameraInteraction: boolean;
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}
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/**
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* LAB recorded evidence is not a native Rerun mode. It owns a source-sequence
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* clock and composes the existing sealed fMP4 and retained spatial primitives.
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* Deprecated comparison-only contract for LAB artifacts that have not yet
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* been republished as a native Rerun sidecar. It must never be selected by a
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* canonical LAB route or start work in the background.
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*/
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export interface LaboratoryRecordedEvidenceViewerProfile {
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kind: "lab-recorded-evidence";
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clock: "source-sequence";
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cameraTransport: "generation-bound-fmp4";
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spatialTransport: "bounded-sealed-artifacts";
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loadPolicy: "visible-evidence-only";
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loadPolicy: "explicit-legacy-comparison-only";
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workerRequired: false;
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}
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@@ -97,7 +106,7 @@ export const LABORATORY_RECORDED_EVIDENCE_VIEWER_PROFILE = Object.freeze({
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clock: "source-sequence",
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cameraTransport: "generation-bound-fmp4",
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spatialTransport: "bounded-sealed-artifacts",
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loadPolicy: "visible-evidence-only",
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loadPolicy: "explicit-legacy-comparison-only",
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workerRequired: false,
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} satisfies LaboratoryRecordedEvidenceViewerProfile);
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@@ -27,6 +27,41 @@
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display: block;
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}
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.m4-replay-threat-visual__unified-content {
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position: absolute;
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z-index: 1;
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inset: 0;
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min-width: 0;
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min-height: 0;
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}
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.m4-replay-threat-visual__unified-content > *,
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.m4-replay-threat-visual__unified-content .rerun-viewport {
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width: 100%;
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height: 100%;
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}
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.m4-replay-threat-visual__deck[data-native-rerun="true"] > .nodedc-split-pane {
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position: relative;
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z-index: 2;
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pointer-events: none;
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}
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.m4-replay-threat-visual__deck[data-native-rerun="true"]
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.m4-replay-threat-visual__pane {
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background: transparent;
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pointer-events: none;
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}
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.m4-replay-threat-visual__deck[data-native-rerun="true"]
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.nodedc-split-pane__separator,
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.m4-replay-threat-visual__deck[data-native-rerun="true"]
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.m4-replay-threat-visual__pane-toolbar,
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.m4-replay-threat-visual__deck[data-native-rerun="true"]
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.m4-replay-threat-visual__pane-toolbar * {
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pointer-events: auto;
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}
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.m4-replay-threat-visual__deck[data-empty="true"] > .l3-visual-audit__state {
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position: absolute;
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z-index: 1;
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@@ -78,7 +78,7 @@
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overflow: hidden;
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}
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/* Rerun WebViewer 0.34.1 keeps three fixed 24px canvas rows even after its
|
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/* The upstream Rerun canvas keeps three fixed 24px rows even after its
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panels are overridden: the native top row, recording tab and view tab.
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They are drawn inside WASM and cannot be styled independently, so crop the
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fixed native chrome while keeping the actual 3D viewport full-height. */
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@@ -0,0 +1,260 @@
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import { useEffect, useMemo, useState } from "react";
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import { Button, Icon, SegmentedControl } from "@nodedc/ui-react";
|
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import { ObservationTimeline } from "../../components/ObservationTimeline";
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import {
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RerunViewport,
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type RecordedPerceptionLoadState,
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type RerunPlaybackController,
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type RerunPlaybackState,
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} from "../../components/RerunViewport";
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import {
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CanonicalRecordedLabReplay,
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useCanonicalRecordedLabReplayState,
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} from "../../components/laboratory/CanonicalRecordedLabReplay";
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import type { VegetationFullRouteReview } from "../../core/laboratory/vegetationShadow";
|
||||
import { recordedSessionRerunProfile } from "../../core/observation/viewerProfile";
|
||||
import { resolveObservationSessionReplay } from "../../core/observation/useObservationSessions";
|
||||
import { defaultSceneSettings } from "../../sceneSettings";
|
||||
|
||||
type MediaMode = "video" | "camera";
|
||||
type SpatialMode = "3d" | "plan";
|
||||
type SpatialLayer = "source" | "local" | "tgs" | "semantic";
|
||||
type SemanticLayer = "city" | "vegetation";
|
||||
|
||||
const EMPTY_PERCEPTION_LOAD: RecordedPerceptionLoadState = {
|
||||
phase: "idle",
|
||||
receivedBytes: 0,
|
||||
totalBytes: null,
|
||||
progress: null,
|
||||
message: "",
|
||||
};
|
||||
|
||||
export function CanonicalVegetationRerunReplay({
|
||||
resultId,
|
||||
review,
|
||||
}: {
|
||||
resultId: string;
|
||||
review: VegetationFullRouteReview;
|
||||
}) {
|
||||
const {
|
||||
mediaMode,
|
||||
spatialMode,
|
||||
splitPrimarySize,
|
||||
splitOrientation,
|
||||
expanded,
|
||||
onMediaModeChange,
|
||||
onSpatialModeChange,
|
||||
onSplitPrimarySizeChange,
|
||||
onExpandedChange,
|
||||
} = useCanonicalRecordedLabReplayState<MediaMode, SpatialMode>({
|
||||
initialMediaMode: "video",
|
||||
initialSpatialMode: "3d",
|
||||
});
|
||||
const [semanticLayer, setSemanticLayer] = useState<SemanticLayer>("vegetation");
|
||||
const [showSemantics, setShowSemantics] = useState(true);
|
||||
const [spatialLayer, setSpatialLayer] = useState<SpatialLayer>("source");
|
||||
const [viewResetGeneration, setViewResetGeneration] = useState<0 | 1>(0);
|
||||
const [playback, setPlayback] = useState<RerunPlaybackState | null>(null);
|
||||
const [playbackController, setPlaybackController] =
|
||||
useState<RerunPlaybackController | null>(null);
|
||||
const [perceptionLoad, setPerceptionLoad] =
|
||||
useState<RecordedPerceptionLoadState>(EMPTY_PERCEPTION_LOAD);
|
||||
const [launch, setLaunch] = useState<Awaited<ReturnType<typeof resolveObservationSessionReplay>> | null>(null);
|
||||
const [launchError, setLaunchError] = useState<string | null>(null);
|
||||
|
||||
useEffect(() => {
|
||||
const controller = new AbortController();
|
||||
setLaunch(null);
|
||||
setLaunchError(null);
|
||||
void resolveObservationSessionReplay(review.sessionId, {
|
||||
signal: controller.signal,
|
||||
maximumWaitMs: 30 * 60 * 1000,
|
||||
onUpdate: () => undefined,
|
||||
}).then((value) => {
|
||||
if (!controller.signal.aborted) setLaunch(value);
|
||||
}).catch((caught: unknown) => {
|
||||
if (!controller.signal.aborted) {
|
||||
setLaunchError(
|
||||
caught instanceof Error ? caught.message : "Каноническая запись RAV004 недоступна.",
|
||||
);
|
||||
}
|
||||
});
|
||||
return () => controller.abort();
|
||||
}, [review.sessionId]);
|
||||
|
||||
const splitView = mediaMode !== null && spatialMode !== null;
|
||||
const sceneSettings = useMemo(() => ({
|
||||
...defaultSceneSettings,
|
||||
accumulationSeconds: spatialLayer === "local" ? 5 : 0,
|
||||
showPoints: spatialMode !== null,
|
||||
showTrajectory: spatialMode !== null,
|
||||
showGrid: spatialMode !== null,
|
||||
pointSize: 2.2,
|
||||
}), [spatialLayer, spatialMode]);
|
||||
const profile = launch ? recordedSessionRerunProfile({
|
||||
sourceUrl: launch.sourceUrl,
|
||||
artifact: {
|
||||
sourceUrl: launch.sourceUrl,
|
||||
viewerSourceUrl: launch.viewerSourceUrl,
|
||||
byteLength: launch.byteLength,
|
||||
sha256: launch.sha256,
|
||||
},
|
||||
autoplayWhenReady: false,
|
||||
presentationGate: "ready",
|
||||
expectedTimelineStartSeconds: launch.timelineStartSeconds,
|
||||
expectedTimelineEndSeconds: launch.timelineEndSeconds,
|
||||
initialPlaybackStartSeconds: review.timelineStartSeconds,
|
||||
view: mediaMode !== null ? "perception" : "spatial",
|
||||
viewResetGeneration,
|
||||
followTrajectory: false,
|
||||
perceptionSourceUrl:
|
||||
`/api/v1/laboratory/vegetation-shadow/${encodeURIComponent(resultId)}` +
|
||||
"/canonical-overlay.rrd",
|
||||
semanticLayer,
|
||||
unifiedPerception: splitView,
|
||||
planView: spatialMode === "plan",
|
||||
perceptionLayers: {
|
||||
enabled: mediaMode !== null,
|
||||
detections2d: mediaMode === "video",
|
||||
segmentation: mediaMode === "video" && showSemantics,
|
||||
cuboids3d: false,
|
||||
},
|
||||
perceptionRetryGeneration: 0,
|
||||
lockPerceptionCameraInteraction: false,
|
||||
}) : null;
|
||||
|
||||
const mediaLayerControls = (
|
||||
<div
|
||||
className="m4-replay-threat-visual__pane-layer-controls"
|
||||
role="group"
|
||||
aria-label="Слои камеры и видео"
|
||||
>
|
||||
<Button
|
||||
size="compact"
|
||||
shape="pill"
|
||||
variant={showSemantics ? "primary" : "secondary"}
|
||||
aria-pressed={showSemantics}
|
||||
onClick={() => setShowSemantics((visible) => !visible)}
|
||||
>
|
||||
SEMANTICS
|
||||
</Button>
|
||||
<SegmentedControl
|
||||
value={semanticLayer}
|
||||
items={[
|
||||
{ value: "city", label: "ГОРОД · EoMT" },
|
||||
{ value: "vegetation", label: "ПРИРОДА · DDRNet" },
|
||||
]}
|
||||
label="Источник семантики"
|
||||
onChange={(value) => {
|
||||
setSemanticLayer(value);
|
||||
setShowSemantics(true);
|
||||
}}
|
||||
/>
|
||||
</div>
|
||||
);
|
||||
const spatialLayerControls = (
|
||||
<div
|
||||
className="m4-replay-threat-visual__pane-layer-controls"
|
||||
role="group"
|
||||
aria-label="Пространственные слои RAV004"
|
||||
>
|
||||
<SegmentedControl
|
||||
value={spatialLayer}
|
||||
items={[
|
||||
{ value: "source", label: "SOURCE POINTS" },
|
||||
{ value: "local", label: "LOCAL SLAM" },
|
||||
{ value: "tgs", label: "TGS COSTMAP", disabled: true },
|
||||
{ value: "semantic", label: "SEMANTICS", disabled: true },
|
||||
]}
|
||||
label="Пространственные слои"
|
||||
onChange={setSpatialLayer}
|
||||
/>
|
||||
</div>
|
||||
);
|
||||
const resetSpatialView = (
|
||||
<Button
|
||||
size="compact"
|
||||
variant="ghost"
|
||||
icon={<Icon name="refresh" size={14} />}
|
||||
aria-label="Сбросить положение 3D камеры"
|
||||
title="Сбросить положение 3D камеры"
|
||||
onClick={() => setViewResetGeneration((value) => value === 0 ? 1 : 0)}
|
||||
>
|
||||
</Button>
|
||||
);
|
||||
|
||||
const transport = playback && playbackController ? (
|
||||
<ObservationTimeline
|
||||
className="m4-replay-threat-visual__timeline"
|
||||
active
|
||||
sourceCount={3}
|
||||
mode="recorded"
|
||||
seekable
|
||||
synchronization="shared-clock"
|
||||
rangeNs={playback.rangeNs}
|
||||
currentNs={playback.currentNs}
|
||||
playing={playback.playing}
|
||||
onSeek={playbackController.seek}
|
||||
onPlayingChange={playbackController.setPlaying}
|
||||
showJumpToEnd={false}
|
||||
/>
|
||||
) : undefined;
|
||||
const overlayMessage = launchError
|
||||
?? (perceptionLoad.phase === "loading" ? perceptionLoad.message : null)
|
||||
?? (perceptionLoad.phase === "error" ? perceptionLoad.message : null);
|
||||
|
||||
return (
|
||||
<CanonicalRecordedLabReplay
|
||||
label="RAVNOVES004TREE · upstream Rerun recorded replay"
|
||||
mediaMode={mediaMode ?? "none"}
|
||||
mediaModes={[
|
||||
{ value: "video", label: "VIDEO" },
|
||||
{ value: "camera", label: "CAMERA" },
|
||||
]}
|
||||
spatialMode={spatialMode ?? "none"}
|
||||
spatialModes={[
|
||||
{ value: "3d", label: "3D" },
|
||||
{ value: "plan", label: "PLAN" },
|
||||
]}
|
||||
expanded={expanded}
|
||||
splitPrimarySize={splitPrimarySize}
|
||||
splitOrientation={splitOrientation}
|
||||
mediaAriaLabel={mediaMode === "camera" ? "Камера" : "Видео и семантика"}
|
||||
spatialAriaLabel={spatialMode === "plan" ? "Вид сверху" : "Трёхмерная сцена"}
|
||||
mediaLayerControls={mediaLayerControls}
|
||||
spatialLayerControls={spatialLayerControls}
|
||||
spatialLeadingControl={resetSpatialView}
|
||||
mediaMultiLayer
|
||||
unifiedContent={profile ? (
|
||||
<RerunViewport
|
||||
profile={profile}
|
||||
sceneSettings={sceneSettings}
|
||||
onPlaybackChange={setPlayback}
|
||||
onPlaybackControllerChange={setPlaybackController}
|
||||
onPerceptionLoadChange={setPerceptionLoad}
|
||||
/>
|
||||
) : (
|
||||
<div className="l3-visual-audit__state" role={launchError ? "alert" : "status"}>
|
||||
{launchError ?? "Открываем каноническую запись RAV004…"}
|
||||
</div>
|
||||
)}
|
||||
emptyMessage="Выберите VIDEO/CAMERA или 3D/PLAN. Общий Rerun-clock останется на месте."
|
||||
deckOverlays={overlayMessage ? (
|
||||
<div className="m4-replay-threat-visual__buffering" role="status">
|
||||
{perceptionLoad.phase === "loading" ? (
|
||||
<span className="busy-indicator" aria-hidden="true" />
|
||||
) : (
|
||||
<Icon name="alert" size={14} />
|
||||
)}
|
||||
<span>{overlayMessage}</span>
|
||||
</div>
|
||||
) : undefined}
|
||||
transport={transport}
|
||||
onMediaModeChange={onMediaModeChange}
|
||||
onSpatialModeChange={onSpatialModeChange}
|
||||
onExpandedChange={onExpandedChange}
|
||||
onSplitPrimarySizeChange={onSplitPrimarySizeChange}
|
||||
/>
|
||||
);
|
||||
}
|
||||
@@ -1,4 +1,4 @@
|
||||
import { useEffect, useMemo, useState } from "react";
|
||||
import { useEffect, useState } from "react";
|
||||
|
||||
import {
|
||||
LaboratoryEvidence,
|
||||
@@ -7,7 +7,6 @@ import {
|
||||
LaboratoryWorkTemplate,
|
||||
} from "../../components/laboratory/LaboratoryPresentation";
|
||||
import {
|
||||
vegetationFullRouteMaskUrl,
|
||||
vegetationVideoMaskUrl,
|
||||
type VegetationFullRouteReview,
|
||||
type VegetationShadowResult,
|
||||
@@ -17,13 +16,7 @@ import {
|
||||
type M49TgsFullShadowResult,
|
||||
} from "../../core/laboratory/m49TgsFullShadow";
|
||||
import { M49TgsFullShadowEvidence } from "./M49TgsFullShadowEvidence";
|
||||
import {
|
||||
M4ReplayThreatVisual,
|
||||
type M4ReplayClassifiedSpatialLayer,
|
||||
type M4ReplayThreatSemanticLayer,
|
||||
} from "./M4ReplayThreatVisual";
|
||||
|
||||
const VEGETATION_TIMELINE_ENDPOINT = "/api/v1/laboratory/vegetation-shadow";
|
||||
import { CanonicalVegetationRerunReplay } from "./CanonicalVegetationRerunReplay";
|
||||
|
||||
function decimal(value: number, digits = 1): string {
|
||||
return value.toLocaleString("ru-RU", { maximumFractionDigits: digits });
|
||||
@@ -36,56 +29,7 @@ function FullRouteReviewEvidence({
|
||||
resultId: string;
|
||||
review: VegetationFullRouteReview;
|
||||
}) {
|
||||
const semanticLayers = useMemo<readonly M4ReplayThreatSemanticLayer[]>(() => ([
|
||||
{
|
||||
id: "city",
|
||||
controlLabel: "ГОРОД · EoMT",
|
||||
resultId,
|
||||
spatialResultId: null,
|
||||
taxonomy: review.city.taxonomy,
|
||||
maskUrl: (sequence) => vegetationFullRouteMaskUrl(resultId, "city", sequence),
|
||||
label: review.city.name,
|
||||
maskAriaLabel: "EoMT city semantic prediction",
|
||||
},
|
||||
{
|
||||
id: "vegetation",
|
||||
controlLabel: "ПРИРОДА · DDRNet",
|
||||
resultId,
|
||||
spatialResultId: null,
|
||||
taxonomy: review.vegetation.taxonomy,
|
||||
maskUrl: (sequence) => vegetationFullRouteMaskUrl(resultId, "vegetation", sequence),
|
||||
label: review.vegetation.name,
|
||||
maskAriaLabel: "DDRNet nature semantic prediction",
|
||||
},
|
||||
]), [resultId, review.city, review.vegetation]);
|
||||
const sealedSpatialGap = useMemo<M4ReplayClassifiedSpatialLayer>(() => ({
|
||||
label: "RAVNOVES004TREE",
|
||||
pointLayerLabel: "SOURCE POINTS",
|
||||
cellLayerLabel: "TGS COSTMAP",
|
||||
cellLayerAvailable: false,
|
||||
expectedAtSequence: false,
|
||||
frame: null,
|
||||
loading: false,
|
||||
error: null,
|
||||
replacePointCloud: false,
|
||||
}), []);
|
||||
|
||||
return (
|
||||
<M4ReplayThreatVisual
|
||||
resultId={resultId}
|
||||
timelineEndpointRoot={VEGETATION_TIMELINE_ENDPOINT}
|
||||
semanticLayers={semanticLayers}
|
||||
initialSemanticLayerId="vegetation"
|
||||
initialSpatialMode="3d"
|
||||
classifiedSpatialLayer={sealedSpatialGap}
|
||||
evidenceLabel="RAVNOVES004TREE"
|
||||
playbackTransport="segmented"
|
||||
spatialPlaybackTransport="sealed-binary"
|
||||
recoverTimestampStalls
|
||||
showReferenceMediaLayers
|
||||
showSpatialOverlaySummary
|
||||
/>
|
||||
);
|
||||
return <CanonicalVegetationRerunReplay resultId={resultId} review={review} />;
|
||||
}
|
||||
|
||||
function FullRouteReviewResult({
|
||||
|
||||
@@ -485,6 +485,8 @@ test("recorded blueprint fetch is bounded, strict and sends only display setting
|
||||
view_reset_generation: 1,
|
||||
follow_trajectory: true,
|
||||
unified_perception: true,
|
||||
semantic_layer: null,
|
||||
plan_view: false,
|
||||
show_detections_2d: true,
|
||||
show_segmentation: false,
|
||||
show_cuboids_3d: true,
|
||||
|
||||
@@ -13,7 +13,6 @@ let liveTimelineNeedsSynchronization;
|
||||
let liveRerunReceiverBindingIdentity;
|
||||
let recordedOpenWatchdogTimeoutMs;
|
||||
let rerunViewerInitialSource;
|
||||
let rerunViewerOpenOptions;
|
||||
let resolveRecordedViewerSourceUrl;
|
||||
|
||||
before(async () => {
|
||||
@@ -31,7 +30,6 @@ before(async () => {
|
||||
liveRerunReceiverBindingIdentity,
|
||||
recordedOpenWatchdogTimeoutMs,
|
||||
rerunViewerInitialSource,
|
||||
rerunViewerOpenOptions,
|
||||
resolveRecordedViewerSourceUrl,
|
||||
} = await server.ssrLoadModule("/src/components/RerunViewport.tsx"));
|
||||
});
|
||||
@@ -71,11 +69,6 @@ test("only the canonical digest-bound generation URL reaches the native Rerun re
|
||||
}
|
||||
});
|
||||
|
||||
test("only the live receiver opens on the native following edge", () => {
|
||||
assert.deepEqual(rerunViewerOpenOptions(true), { follow_if_http: true });
|
||||
assert.equal(rerunViewerOpenOptions(false), null);
|
||||
});
|
||||
|
||||
test("live presentation waits for the exact receiver to expose a usable range", () => {
|
||||
assert.equal(isLiveRerunPresentationReady(false, { min: 1, max: 2 }, 1), false);
|
||||
assert.equal(isLiveRerunPresentationReady(true, null, 1), false);
|
||||
@@ -216,7 +209,7 @@ test("recorded RRD bytes are never split across LogChannel.send_rrd calls", asyn
|
||||
assert.doesNotMatch(source, /missioncore\/recorded-recording/);
|
||||
assert.doesNotMatch(source, /recordedChannel/);
|
||||
assert.match(source, /viewer\.start\(\s*rerunViewerInitialSource\(resolvedSource\)/s);
|
||||
assert.match(source, /rerunViewerOpenOptions\(followLive\)/);
|
||||
assert.doesNotMatch(source, /rerunViewerOpenOptions/);
|
||||
assert.match(
|
||||
source,
|
||||
/recordingOpened = true;[\s\S]*diagnosticLifecycle\.markAdmitted\(\);/,
|
||||
|
||||
@@ -1,81 +1,36 @@
|
||||
import assert from "node:assert/strict";
|
||||
import { createHash } from "node:crypto";
|
||||
import { readFileSync } from "node:fs";
|
||||
import { resolve } from "node:path";
|
||||
import test from "node:test";
|
||||
|
||||
import makeRerunRuntime from "../vendor/rerun-web-viewer-0.34.1/re_viewer.nodedc.js";
|
||||
|
||||
const root = resolve(import.meta.dirname, "..");
|
||||
const packageRoot = resolve(root, "node_modules/@rerun-io/web-viewer");
|
||||
const vendorRoot = resolve(root, "vendor/rerun-web-viewer-0.34.1");
|
||||
const readJson = (path) => JSON.parse(readFileSync(path, "utf8"));
|
||||
|
||||
const sha256 = (path) =>
|
||||
createHash("sha256").update(readFileSync(path)).digest("hex");
|
||||
test("Mission Core uses the exact upstream Rerun 0.36.3 web package", () => {
|
||||
const application = readJson(resolve(root, "package.json"));
|
||||
const installed = readJson(resolve(packageRoot, "package.json"));
|
||||
|
||||
test("NODE.DC Rerun runtime is the audited 0.34.1 spatial camera build", () => {
|
||||
const manifest = JSON.parse(readFileSync(resolve(packageRoot, "package.json"), "utf8"));
|
||||
assert.equal(manifest.version, "0.34.1");
|
||||
|
||||
const expectedWasm = "ffe7543d28bb3394f289f6299de43d038767eef83d781c2b7f8f5683308a0469";
|
||||
const expectedGlue = "0f7b76c9f24cbd8437021b5d37499894aeadc586183e422ebc82ef556d7b8339";
|
||||
|
||||
assert.equal(sha256(resolve(vendorRoot, "re_viewer_bg.nodedc.wasm")), expectedWasm);
|
||||
assert.equal(sha256(resolve(vendorRoot, "re_viewer.nodedc.js")), expectedGlue);
|
||||
assert.equal(sha256(resolve(packageRoot, "re_viewer_bg.wasm")), expectedWasm);
|
||||
assert.equal(sha256(resolve(packageRoot, "re_viewer.js")), expectedGlue);
|
||||
assert.equal(application.dependencies["@rerun-io/web-viewer"], "0.36.3");
|
||||
assert.equal(installed.version, "0.36.3");
|
||||
assert.equal(application.scripts.postinstall, undefined);
|
||||
});
|
||||
|
||||
test("custom JavaScript glue references only exports present in its paired WASM", () => {
|
||||
const wasmPath = resolve(vendorRoot, "re_viewer_bg.nodedc.wasm");
|
||||
const gluePath = resolve(vendorRoot, "re_viewer.nodedc.js");
|
||||
const module = new WebAssembly.Module(readFileSync(wasmPath));
|
||||
const exports = new Set(WebAssembly.Module.exports(module).map(({ name }) => name));
|
||||
const imports = WebAssembly.Module.imports(module);
|
||||
const glue = readFileSync(gluePath, "utf8");
|
||||
const referencedExports = new Set(
|
||||
[...glue.matchAll(/\bwasm\.([A-Za-z_$][\w$]*)/g)].map((match) => match[1]),
|
||||
);
|
||||
const missingExports = [...referencedExports].filter((name) => !exports.has(name));
|
||||
test("the active application never imports or installs the archived vendor fork", () => {
|
||||
const application = readFileSync(resolve(root, "package.json"), "utf8");
|
||||
const viewport = readFileSync(resolve(root, "src/components/RerunViewport.tsx"), "utf8");
|
||||
|
||||
assert.equal(imports.length, 927);
|
||||
assert.equal(exports.size, 79);
|
||||
assert.deepEqual(missingExports, []);
|
||||
assert.match(glue, /export default function\(\)/);
|
||||
assert.match(glue, /if \(!wasm\) return;/);
|
||||
assert.doesNotMatch(application, /patch-rerun-web-viewer/);
|
||||
assert.doesNotMatch(application, /vendor\/rerun-web-viewer/);
|
||||
assert.doesNotMatch(viewport, /vendor\/rerun-web-viewer/);
|
||||
assert.doesNotMatch(viewport, /0\.34\.1/);
|
||||
});
|
||||
|
||||
test("custom Rerun WASM initializes and grows its externref table", () => {
|
||||
const runtime = makeRerunRuntime();
|
||||
runtime.initSync({
|
||||
module: readFileSync(resolve(vendorRoot, "re_viewer_bg.nodedc.wasm")),
|
||||
});
|
||||
test("upstream WebViewer exposes one three-argument start contract", () => {
|
||||
const declaration = readFileSync(resolve(packageRoot, "index.d.ts"), "utf8");
|
||||
|
||||
assert.equal(typeof runtime.WebHandle, "function");
|
||||
runtime.deinit();
|
||||
});
|
||||
|
||||
test("source patch carries pointer navigation, persistent follow, and camera continuity tests", () => {
|
||||
const patch = readFileSync(resolve(vendorRoot, "NODEDC_ZOOM_TO_CURSOR.patch"), "utf8");
|
||||
|
||||
assert.match(patch, /fn pointer_ray_direction/);
|
||||
assert.match(patch, /fn zoom_orbit_towards_pointer/);
|
||||
assert.match(patch, /near_limit_hands_excess_zoom_to_cursor_directed_dolly/);
|
||||
assert.match(patch, /crossing_near_limit_preserves_unconsumed_scene_scaled_zoom/);
|
||||
assert.match(patch, /remaining_zoom_factor\.ln\(\) \* self\.speed/);
|
||||
assert.match(patch, /off_center_pointer_stays_on_the_same_view_ray/);
|
||||
assert.match(patch, /fn rotate_radians_around_anchor/);
|
||||
assert.match(patch, /orbit_drag_anchor/);
|
||||
assert.match(patch, /minimum_orbital_navigation_speed/);
|
||||
assert.match(patch, /orbital_rotation_keeps_selected_anchor_on_the_same_view_ray/);
|
||||
assert.match(patch, /orbital_navigation_speed_floor_tracks_scene_scale/);
|
||||
assert.match(patch, /NODEDC_PERSISTENT_ORBIT_TRACKING_ENTITY/);
|
||||
assert.match(patch, /nodedc_rig_orbit_tracking_is_persistent/);
|
||||
assert.match(patch, /restore_persistent_orbit_eye_after_blueprint_update/);
|
||||
assert.match(
|
||||
patch,
|
||||
/persistent_rig_follow_restores_the_last_rendered_eye_after_blueprint_update/,
|
||||
declaration,
|
||||
/start\(rrd: string \| string\[\] \| null, parent: HTMLElement \| null, options: WebViewerOptions \| null\): Promise<void>/,
|
||||
);
|
||||
assert.match(patch, /explicit_blueprint_pose_is_not_replaced_by_the_previous_eye/);
|
||||
assert.match(patch, /previous_picking_result/);
|
||||
});
|
||||
|
||||
@@ -451,8 +451,8 @@ test("canonical recorded LAB spatial frame keeps source, SLAM and body identity
|
||||
assert.deepEqual(frame.bodyFrame.originMapXyzM, [33, 4, 1]);
|
||||
});
|
||||
|
||||
test("vegetation realtime LAB and archival benchmark use separate admitted instruments", async () => {
|
||||
const [resultSource, benchmarkSource, m49Source, canonicalSource] = await Promise.all([
|
||||
test("vegetation realtime LAB uses one upstream Rerun clock and keeps archival review separate", async () => {
|
||||
const [resultSource, benchmarkSource, m49Source, canonicalSource, rerunSource] = await Promise.all([
|
||||
readFile(
|
||||
new URL("../src/workspaces/laboratory/VegetationShadowResult.tsx", import.meta.url),
|
||||
"utf8",
|
||||
@@ -469,6 +469,10 @@ test("vegetation realtime LAB and archival benchmark use separate admitted instr
|
||||
new URL("../src/components/laboratory/CanonicalRecordedLabReplay.tsx", import.meta.url),
|
||||
"utf8",
|
||||
),
|
||||
readFile(
|
||||
new URL("../src/workspaces/laboratory/CanonicalVegetationRerunReplay.tsx", import.meta.url),
|
||||
"utf8",
|
||||
),
|
||||
]);
|
||||
assert.doesNotMatch(resultSource, /M48MaskComparisonVisual/);
|
||||
assert.match(resultSource, /M49TgsFullShadowEvidence/);
|
||||
@@ -478,18 +482,20 @@ test("vegetation realtime LAB and archival benchmark use separate admitted instr
|
||||
assert.equal(resultSource.match(/<LaboratoryEvidence\b/g)?.length, 2);
|
||||
assert.doesNotMatch(resultSource, /RAVNOVES004TREE mixed route review/);
|
||||
assert.match(resultSource, /CANONICAL RECORDED LAB · RAVNOVES004TREE/);
|
||||
assert.match(resultSource, /<M4ReplayThreatVisual/);
|
||||
assert.match(resultSource, /timelineEndpointRoot=\{VEGETATION_TIMELINE_ENDPOINT\}/);
|
||||
assert.match(resultSource, /playbackTransport="segmented"/);
|
||||
assert.match(resultSource, /recoverTimestampStalls/);
|
||||
assert.match(resultSource, /<CanonicalVegetationRerunReplay/);
|
||||
assert.doesNotMatch(resultSource, /RerunViewport/);
|
||||
assert.doesNotMatch(resultSource, /cacheRef|pumpRef|desiredRef/);
|
||||
assert.doesNotMatch(resultSource, /LaboratoryRecordedClipPlayer|M48EvidenceModeRail/);
|
||||
assert.doesNotMatch(resultSource, /assets\.tgs|<img/);
|
||||
assert.match(resultSource, /SOURCE POINTS/);
|
||||
assert.match(resultSource, /TGS COSTMAP/);
|
||||
assert.match(rerunSource, /<RerunViewport/);
|
||||
assert.match(rerunSource, /SOURCE POINTS/);
|
||||
assert.match(rerunSource, /LOCAL SLAM/);
|
||||
assert.match(rerunSource, /TGS COSTMAP/);
|
||||
assert.match(rerunSource, /canonical-overlay\.rrd/);
|
||||
assert.match(rerunSource, /unifiedPerception: splitView/);
|
||||
assert.doesNotMatch(rerunSource, /LaboratoryRecordedClipPlayer|LaboratoryMetricEvidenceScene/);
|
||||
assert.match(resultSource, /point-aligned 3D semantics пока не запечатаны/);
|
||||
assert.match(resultSource, /cellLayerAvailable: false/);
|
||||
assert.match(rerunSource, /value: "tgs", label: "TGS COSTMAP", disabled: true/);
|
||||
assert.match(canonicalSource, /primary=\{mediaPane\}/);
|
||||
assert.match(canonicalSource, /secondary=\{spatialPane/);
|
||||
assert.match(canonicalSource, /missioncore\.canonical-recorded-lab-replay\/v1/);
|
||||
|
||||
@@ -75,13 +75,13 @@ test("recorded session profile owns progressive admission and on-demand layers",
|
||||
assert.equal(profile.perceptionLayers.enabled, false);
|
||||
});
|
||||
|
||||
test("LAB recorded evidence remains outside native Rerun lifecycle", () => {
|
||||
test("the old LAB transport is fenced as explicit legacy comparison only", () => {
|
||||
assert.deepEqual(LABORATORY_RECORDED_EVIDENCE_VIEWER_PROFILE, {
|
||||
kind: "lab-recorded-evidence",
|
||||
clock: "source-sequence",
|
||||
cameraTransport: "generation-bound-fmp4",
|
||||
spatialTransport: "bounded-sealed-artifacts",
|
||||
loadPolicy: "visible-evidence-only",
|
||||
loadPolicy: "explicit-legacy-comparison-only",
|
||||
workerRequired: false,
|
||||
});
|
||||
assert.equal(Object.isFrozen(LABORATORY_RECORDED_EVIDENCE_VIEWER_PROFILE), true);
|
||||
|
||||
+10
@@ -0,0 +1,10 @@
|
||||
# Archived viewer comparison source
|
||||
|
||||
`rerun-web-viewer-0.34.1/` is retained only as rollback-era comparison evidence
|
||||
for ADR 0045. The active application neither imports it nor runs the historical
|
||||
patch scripts during install or build. Canonical Control Station routes use the
|
||||
unmodified `@rerun-io/web-viewer` dependency declared in `package.json`.
|
||||
|
||||
Do not update or reactivate this tree. Remove it with the remaining custom
|
||||
fMP4/Three.js replay implementation after the canonical Rerun migration passes
|
||||
operator visual acceptance.
|
||||
Reference in New Issue
Block a user