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refactor(lab): перевести RAV004 на канонический Rerun pipeline

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DCCONSTRUCTIONS
2026-08-30 12:59:16 +03:00
parent e9ffb829c9
commit f5ee42751d
30 changed files with 1425 additions and 288 deletions
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apps/control-station/src/components/RerunViewport.tsx
+38 -25
View File
@@ -151,6 +151,7 @@ interface RecordedRerunIdentity {
const RECORDED_RRD_PATH = /^\/api\/v1\/observation-sessions\/[A-Za-z0-9][A-Za-z0-9._:-]{0,127}\/recording\.rrd$/;
const RECORDED_BLUEPRINT_PATH = /^\/api\/v1\/observation-sessions\/[A-Za-z0-9][A-Za-z0-9._:-]{0,127}\/blueprint\.rrd$/;
const RECORDED_PERCEPTION_PATH = /^\/api\/v1\/observation-sessions\/[A-Za-z0-9][A-Za-z0-9._:-]{0,127}\/perception\.rrd$/;
const LAB_RECORDED_PERCEPTION_PATH = /^\/api\/v1\/laboratory\/vegetation-shadow\/lab-v1-vegetation-shadow-[a-f0-9]{64}\/canonical-overlay\.rrd$/;
const RECORDED_POINT_COLORS_PATH = /^\/api\/v1\/observation-sessions\/[A-Za-z0-9][A-Za-z0-9._:-]{0,127}\/point-colors\.rrd$/;
const MAX_BLUEPRINT_BYTES = 1_048_576;
const MAX_PERCEPTION_BYTES = 512 * 1024 * 1024;
@@ -203,12 +204,7 @@ export function resolveRerunSourceUrl(sourceUrl: string, origin: string): string
return new URL(normalized, `${base.origin}/`).href;
}
/**
* The native Rerun HTTP receiver is the only browser API in 0.34.1 with a
* persistent incremental RRD decoder. Bind it to the exact immutable
* generation selected by the launch contract; arbitrary `send_rrd` byte
* slices are independently decoded files and are therefore invalid.
*/
/** Bind the upstream Rerun HTTP receiver to one immutable source generation. */
export function resolveRecordedViewerSourceUrl(
descriptor: RecordedRrdArtifactDescriptor,
origin: string,
@@ -238,12 +234,6 @@ export function rerunViewerInitialSource(
return resolvedSourceUrl;
}
export function rerunViewerOpenOptions(
followLive: boolean,
): { follow_if_http: true } | null {
return followLive ? { follow_if_http: true } : null;
}
export function resolveRecordedBlueprintUrl(sourceUrl: string, origin: string): string | null {
const normalized = sourceUrl.trim();
if (!RECORDED_RRD_PATH.test(normalized)) return null;
@@ -365,6 +355,9 @@ export async function fetchRecordedBlueprintRrd(
activeView = "spatial",
viewResetGeneration = 0,
followTrajectory = false,
semanticLayer,
unifiedPerception,
planView = false,
perceptionLayers = {
enabled: false,
detections2d: false,
@@ -379,10 +372,15 @@ export async function fetchRecordedBlueprintRrd(
activeView?: RecordedRerunView;
viewResetGeneration?: 0 | 1;
followTrajectory?: boolean;
semanticLayer?: "city" | "vegetation";
unifiedPerception?: boolean;
planView?: boolean;
perceptionLayers?: RecordedPerceptionLayers;
fetcher?: typeof globalThis.fetch;
},
): Promise<Uint8Array> {
const resolvedUnifiedPerception =
unifiedPerception ?? (perceptionLayers.enabled && activeView !== "spatial");
const base = new URL(origin);
const endpoint = new URL(endpointUrl, base.origin);
if (
@@ -401,6 +399,9 @@ export async function fetchRecordedBlueprintRrd(
!/^#[0-9A-Fa-f]{6}$/.test(settings.customColor) ||
!["spatial", "perception", "perception3d", "metrics"].includes(activeView) ||
![0, 1].includes(viewResetGeneration) ||
(semanticLayer !== undefined && !["city", "vegetation"].includes(semanticLayer)) ||
typeof resolvedUnifiedPerception !== "boolean" ||
typeof planView !== "boolean" ||
[
perceptionLayers.enabled,
perceptionLayers.detections2d,
@@ -435,8 +436,9 @@ export async function fetchRecordedBlueprintRrd(
active_view: activeView,
view_reset_generation: viewResetGeneration,
follow_trajectory: followTrajectory,
unified_perception:
perceptionLayers.detections2d || perceptionLayers.segmentation,
unified_perception: resolvedUnifiedPerception,
semantic_layer: semanticLayer ?? null,
plan_view: planView,
show_detections_2d: perceptionLayers.detections2d,
show_segmentation: perceptionLayers.segmentation,
show_cuboids_3d: perceptionLayers.cuboids3d,
@@ -487,7 +489,8 @@ export async function fetchRecordedPerceptionRrd(
endpoint.origin !== base.origin ||
endpoint.search ||
endpoint.hash ||
!RECORDED_PERCEPTION_PATH.test(endpoint.pathname) ||
!(RECORDED_PERCEPTION_PATH.test(endpoint.pathname) ||
LAB_RECORDED_PERCEPTION_PATH.test(endpoint.pathname)) ||
identity.applicationId !== "nodedc_mission_core_recorded" ||
!/^[A-Za-z0-9][A-Za-z0-9._:-]{0,127}$/.test(identity.recordingId)
) {
@@ -588,6 +591,10 @@ export function RerunViewport({
segmentation: false,
cuboids3d: false,
};
const recordedPerceptionSourceUrl = recordedProfile?.perceptionSourceUrl;
const recordedSemanticLayer = recordedProfile?.semanticLayer;
const recordedUnifiedPerception = recordedProfile?.unifiedPerception ?? false;
const recordedPlanView = recordedProfile?.planView ?? false;
const recordedPerceptionRetryGeneration =
recordedProfile?.perceptionRetryGeneration ?? 0;
const lockPerceptionCameraInteraction =
@@ -621,9 +628,11 @@ export function RerunViewport({
const recordedBlueprintUrl = sourceUrl
? resolveRecordedBlueprintUrl(sourceUrl, window.location.origin)
: null;
const recordedPerceptionUrl = sourceUrl
? resolveRecordedPerceptionUrl(sourceUrl, window.location.origin)
: null;
const recordedPerceptionUrl = recordedPerceptionSourceUrl
? resolveRerunSourceUrl(recordedPerceptionSourceUrl, window.location.origin)
: sourceUrl
? resolveRecordedPerceptionUrl(sourceUrl, window.location.origin)
: null;
const recordedPointColorsUrl = sourceUrl
? resolveRecordedPointColorsUrl(sourceUrl, window.location.origin)
: null;
@@ -1264,7 +1273,7 @@ export function RerunViewport({
try {
const recordingId = viewer.get_active_recording_id();
if (!recordingId) return;
// Rerun 0.34.1 may ingest an SDK gRPC store without forwarding its
// A live SDK receiver may ingest a store without forwarding its
// recording_open event to the JavaScript wrapper. The active store
// is the authoritative fallback and avoids hiding a ready canvas.
admitRecording({
@@ -1311,11 +1320,8 @@ export function RerunViewport({
);
try {
// `panel_state_overrides` is part of Rerun's runtime AppOptions but
// omitted from the public WebViewerOptions declaration in 0.34.1.
// Its generated TypeScript declaration says `hidden`, while the
// WASM constructor actually deserializes the Rust enum `Hidden`.
// Keep the post-start overrides below as a compatibility fallback.
// Keep all application chrome in the Mission Core shell. Rerun owns
// the synchronized canvas, data store and clock, not another window.
const viewerOptions = {
width: "100%",
height: "100%",
@@ -1336,7 +1342,6 @@ export function RerunViewport({
rerunViewerInitialSource(resolvedSource),
host,
viewerOptions,
rerunViewerOpenOptions(followLive),
);
if (disposed) {
disposeViewer();
@@ -1429,6 +1434,7 @@ export function RerunViewport({
recordedArtifact?.sha256,
recordedArtifact?.sourceUrl,
recordedArtifact?.viewerSourceUrl,
recordedPerceptionUrl,
retryNonce,
]);
@@ -1484,6 +1490,7 @@ export function RerunViewport({
message: "Сервер готовит AI-слои.",
});
const pollPreparationStatus = () => {
if (!RECORDED_PERCEPTION_PATH.test(new URL(recordedPerceptionUrl).pathname)) return;
void fetchPerceptionPreparationStatus(
recordedPerceptionUrl,
identity.recordingId,
@@ -1704,6 +1711,9 @@ export function RerunViewport({
viewResetGeneration: recordedViewResetGeneration,
followTrajectory: recordedFollowTrajectory,
perceptionLayers: recordedPerceptionLayers,
semanticLayer: recordedSemanticLayer,
unifiedPerception: recordedUnifiedPerception,
planView: recordedPlanView,
}).then((payload) => {
if (
abort.signal.aborted ||
@@ -1725,6 +1735,9 @@ export function RerunViewport({
recordedView,
recordedViewResetGeneration,
recordedFollowTrajectory,
recordedSemanticLayer,
recordedUnifiedPerception,
recordedPlanView,
recordedPerceptionLayers.enabled,
recordedPerceptionLayers.detections2d,
recordedPerceptionLayers.segmentation,
apps/control-station/src/components/laboratory/CanonicalRecordedLabReplay.tsx
+12 -2
View File
@@ -9,6 +9,7 @@ export const CANONICAL_RECORDED_LAB_REPLAY_CONTRACT =
export interface CanonicalRecordedLabMode<T extends string> {
value: T;
label: string;
disabled?: boolean;
}
/**
@@ -90,6 +91,7 @@ export function CanonicalRecordedLabReplay<
mediaMultiLayer = false,
mediaContent,
spatialContent,
unifiedContent,
emptyMessage,
deckOverlays,
actions,
@@ -115,8 +117,10 @@ export function CanonicalRecordedLabReplay<
spatialLayerControls?: ReactNode;
spatialLeadingControl?: ReactNode;
mediaMultiLayer?: boolean;
mediaContent: ReactNode;
spatialContent: ReactNode;
mediaContent?: ReactNode;
spatialContent?: ReactNode;
/** One upstream Rerun viewer owns both panes and the shared playback clock. */
unifiedContent?: ReactNode;
emptyMessage: string;
deckOverlays?: ReactNode;
actions?: ReactNode;
@@ -220,7 +224,13 @@ export function CanonicalRecordedLabReplay<
className="m4-replay-threat-visual__deck"
data-split={splitView ? "true" : undefined}
data-empty={mediaMode === "none" && spatialMode === "none" ? "true" : undefined}
data-native-rerun={unifiedContent ? "true" : undefined}
>
{unifiedContent ? (
<div className="m4-replay-threat-visual__unified-content">
{unifiedContent}
</div>
) : null}
<SplitPane
primary={mediaPane}
secondary={spatialPane ?? <div />}