fix(ui): label connectivity checks as Проверка состояния

.gitattributes

@@ -10,3 +10,5 @@
 *.las binary
 *.lcc binary
 apps/control-station/vendor/rerun-web-viewer-0.34.1/re_viewer_bg.nodedc.wasm filter=lfs diff=lfs merge=lfs -text
+apps/control-station/vendor/rerun-web-viewer-0.36.3/re_viewer_bg.nodedc.wasm filter=lfs diff=lfs merge=lfs -text
+apps/control-station/public/rover-scene/*.glb filter=lfs diff=lfs merge=lfs -text

.gitignore

@@ -49,3 +49,10 @@ mqtt.summary.json
 # Small synthetic/redacted fixtures under tests/fixtures are allowed.
 !tests/fixtures/**/*.pcap
 !tests/fixtures/**/*.pcapng
+
+# Dependency caches may be links into an existing local checkout.
+.venv
+node_modules
+
+# Private experiment evidence and generated build archives.
+/outputs/

AGENTS.md

@@ -62,6 +62,24 @@ and the boundary between Mission Core and vendor-specific integration code.
 - Synthetic or explicitly redacted fixtures may be committed under
   `tests/fixtures/`.
 
+## Onboard environment ownership — owner requirement, 2026-09-24
+
+- Every onboard OS change belongs to the shipped, versioned installer or the
+  application's environment/device preparation workflow from the first test.
+  The operator installs the build and configures it in the application; never
+  require hand-written service files, USB rules, permission fixes or commands.
+- This applies to all Node features, including GUI/service autostart and USB
+  recovery, not just individual camera drivers. Read-only SSH inspection and
+  bounded artifact-owned build staging remain allowed.
+- Detect the distribution, architecture and required capabilities. Maintain
+  explicit supported environment profiles; do not claim arbitrary Linux
+  compatibility from a qualified Ubuntu build. Preserve foreign configuration,
+  report unsupported features, make preparation repeatable, and ship rollback.
+- Do not add USB administration controls or port resets to inventory refresh.
+  Automatic startup recovery may retry terminal enumeration failures only;
+  preserve enumerated devices and active companion ports. Device identity and
+  assignments must survive changes of USB port and tty number.
+
 ## Insta360 and clean-host installation — owner requirement, 2026-09-08
 
 - The current X4 starting point is USB enumeration only. SDK installation,

apps/control-station/.npmrc

@@ -0,0 +1 @@
+@nvidia:registry=https://edge.urm.nvidia.com/artifactory/api/npm/omniverse-client-npm/

apps/control-station/package-lock.json

@@ -7,6 +7,7 @@
     "": {
       "name": "@nodedc/mission-core-control-station",
       "version": "0.1.0",
+      "hasInstallScript": true,
       "dependencies": {
         "@noble/hashes": "^2.2.0",
         "@nodedc/map-cesium-react": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/map-cesium-react",
@@ -14,6 +15,7 @@
         "@nodedc/tokens": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/tokens",
         "@nodedc/ui-core": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/ui-core",
         "@nodedc/ui-react": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/ui-react",
+        "@nvidia/ov-web-rtc": "6.7.0",
         "@rerun-io/web-viewer": "0.36.3",
         "meshoptimizer": "1.1.1",
         "playcanvas": "2.21.4",
@@ -898,6 +900,19 @@
       "resolved": "../../../NODEDC_DESIGN_GUIDELINE/packages/ui-react",
       "link": true
     },
+    "node_modules/@nvidia/ov-web-rtc": {
+      "version": "6.7.0",
+      "resolved": "https://edge.urm.nvidia.com/artifactory/api/npm/omniverse-client-npm/@nvidia/ov-web-rtc/-/@nvidia/ov-web-rtc-6.7.0.tgz",
+      "integrity": "sha512-Knt393yvuI1tFmQgJM7VuMlVKDh5GyuKq8fAIarNLyY7Ucxw+lSY/72ceWR+3HyCnNtL39J0DZ27dn9riqpGWw==",
+      "license": "SEE LICENSE IN LICENSE.txt",
+      "dependencies": {
+        "is-plain-object": "^5.0.0"
+      },
+      "engines": {
+        "node": ">=20.0.0",
+        "npm": ">=10.0.0"
+      }
+    },
     "node_modules/@rerun-io/web-viewer": {
       "version": "0.36.3",
       "resolved": "https://registry.npmjs.org/@rerun-io/web-viewer/-/web-viewer-0.36.3.tgz",
@@ -1614,6 +1629,15 @@
         "node": ">=6.9.0"
       }
     },
+    "node_modules/is-plain-object": {
+      "version": "5.1.0",
+      "resolved": "https://registry.npmjs.org/is-plain-object/-/is-plain-object-5.1.0.tgz",
+      "integrity": "sha512-bUi/yjmtKYcRVUtWRGr0UA6xEFh2I6zWUwMrUXB3s7bmYCaZ8a+0ZsTRkrawh/mzlSD1Y0Ph8bp/U+TvBpWDNw==",
+      "license": "MIT",
+      "engines": {
+        "node": ">=0.10.0"
+      }
+    },
     "node_modules/js-tokens": {
       "version": "4.0.0",
       "resolved": "https://registry.npmjs.org/js-tokens/-/js-tokens-4.0.0.tgz",

apps/control-station/package.json

@@ -5,6 +5,8 @@
   "type": "module",
   "scripts": {
     "dev": "vite",
+    "postinstall": "node scripts/install-rerun-navigation.mjs",
+    "prebuild": "node scripts/install-rerun-navigation.mjs",
     "build": "tsc -b && vite build",
     "preview": "vite preview",
     "test:unit": "node --test test/*.test.mjs",
@@ -17,6 +19,7 @@
     "@nodedc/tokens": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/tokens",
     "@nodedc/ui-core": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/ui-core",
     "@nodedc/ui-react": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/ui-react",
+    "@nvidia/ov-web-rtc": "6.7.0",
     "@rerun-io/web-viewer": "0.36.3",
     "meshoptimizer": "1.1.1",
     "playcanvas": "2.21.4",

apps/control-station/scripts/install-rerun-navigation.mjs

@@ -0,0 +1,59 @@
+import { createHash } from "node:crypto";
+import { readFileSync, writeFileSync } from "node:fs";
+import { dirname, resolve } from "node:path";
+import { fileURLToPath } from "node:url";
+
+const root = resolve(dirname(fileURLToPath(import.meta.url)), "..");
+const packageRoot = resolve(root, "node_modules/@rerun-io/web-viewer");
+const vendorRoot = resolve(root, "vendor/rerun-web-viewer-0.36.3");
+const manifest = JSON.parse(readFileSync(resolve(vendorRoot, "navigation-build.json"), "utf8"));
+const installed = JSON.parse(readFileSync(resolve(packageRoot, "package.json"), "utf8"));
+const sha = bytes => createHash("sha256").update(bytes).digest("hex");
+if (installed.version !== "0.36.3" || manifest.upstreamVersion !== installed.version) {
+  throw new Error("Rerun navigation requires the audited 0.36.3 package; rebase before upgrading");
+}
+if (sha(readFileSync(resolve(vendorRoot, "NODEDC_NAVIGATION.patch"))) !== manifest.patchSha256) {
+  throw new Error("Rerun navigation source patch identity mismatch");
+}
+
+const eyeType = "{ position: [number, number, number]; lookTarget: [number, number, number]; eyeUp: [number, number, number] } | null";
+const additions = {
+  "index.js": {
+    marker: "    get_active_recording_id() {",
+    code: `    get_camera_eye() {\n        if (!this.#handle) throw new Error("Rerun viewer is stopped");\n        return JSON.parse(this.#handle.nodedc_camera_eye() ?? "null");\n    }\n`,
+  },
+  "index.ts": {
+    marker: "  get_active_recording_id(): string | null {",
+    code: `  get_camera_eye(): ${eyeType} {\n    if (!this.#handle) throw new Error("Rerun viewer is stopped");\n    return JSON.parse(this.#handle.nodedc_camera_eye() ?? "null");\n  }\n`,
+  },
+  "index.d.ts": {
+    marker: "    get_active_recording_id(): string | null;",
+    code: `    get_camera_eye(): ${eyeType};\n`,
+  },
+};
+
+// Validate the complete set before changing any installed file. A package
+// upgrade, corrupt artifact or independently modified wrapper fails closed.
+const writes = [];
+for (const [name, identity] of Object.entries(manifest.files)) {
+  const current = readFileSync(resolve(packageRoot, name));
+  let output;
+  if (additions[name]) {
+    const { marker, code } = additions[name];
+    const source = current.toString("utf8");
+    const original = source.includes(code) ? source.replace(code, "") : source;
+    if (sha(original) !== identity.upstreamSha256 || original.split(marker).length !== 2) {
+      throw new Error(`Unexpected upstream wrapper: ${name}`);
+    }
+    output = Buffer.from(original.replace(marker, code + marker));
+  } else {
+    output = readFileSync(resolve(vendorRoot, identity.artifact));
+    if (sha(output) !== identity.sha256) throw new Error(`Corrupt navigation artifact: ${name}`);
+    if (![identity.upstreamSha256, identity.sha256].includes(sha(current))) {
+      throw new Error(`Unexpected installed runtime: ${name}`);
+    }
+  }
+  writes.push([resolve(packageRoot, name), output]);
+}
+for (const [path, output] of writes) writeFileSync(path, output);
+console.log("Installed NODE.DC Rerun 0.36.3 navigation/v1 (native camera, one renderer).");

apps/control-station/src/App.tsx

@@ -14,6 +14,7 @@ import {
   Inspector,
   StatusBadge,
   TextField,
+  ToastStack,
   UserProfileMenu,
   Window,
   WindowFooterActions,
@@ -49,6 +50,7 @@ import type {
 } from "./core/observation/sessionArchive";
 import { useRecordedSessionAdmission } from "./core/observation/useRecordedSessionAdmission";
 import { useWorkspaceLayoutProfile } from "./core/observation/useWorkspaceLayoutProfile";
+import { useSessionDisplayProfile } from "./core/observation/useSessionDisplayProfile";
 import { viewerSettingsTargetIdentity } from "./core/observation/viewerSettingsTarget";
 import { resolvePolygonRunRoute } from "./core/polygon/runArchive";
 import {
@@ -69,6 +71,9 @@ import {
   type SceneSettings,
 } from "./sceneSettings";
 import { DeviceWorkspace } from "./workspaces/DeviceWorkspace";
+import { PlanningConnectionWindow } from "./components/missions/PlanningConnectionWindow";
+import { PlanningCaptureGuard } from "./components/missions/PlanningCaptureGuard";
+import { workspaceLaunchProfile, type WorkspaceLaunchProfile } from "./core/observation/workspaceLaunch";
 import { WorkspaceRenderer } from "./workspaces/Workspaces";
 import { useLaboratoryAnnotationHeader } from "./components/laboratory/useLaboratoryAnnotationHeader";
 import "./styles/scene-windows.css";
@@ -147,12 +152,15 @@ export default function App() {
     contentExpanded: true,
   });
 
+  const [navigationRevision, setNavigationRevision] = useState(0);
   const [activeRoot, setActiveRoot] = useState<RootId | null>(
     polygonDatasetRoute.active ? "data" : null,
   );
   const [environmentSettingsOpen, setEnvironmentSettingsOpen] = useState(false);
+  const [launchProfile, setLaunchProfile] = useState<WorkspaceLaunchProfile>('direct');
   const [sourceUrl, setSourceUrl] = useState("");
   const [workspaceHeaderToolsHost, setWorkspaceHeaderToolsHost] = useState<HTMLDivElement | null>(null);
+  const [workspaceHeaderTitleHost, setWorkspaceHeaderTitleHost] = useState<HTMLSpanElement | null>(null);
   const [recordedReplay, setRecordedReplay] = useState<ObservationSessionReplayLaunch | null>(null);
   const [recordedReplayLabel, setRecordedReplayLabel] = useState<string | null>(null);
   const [replayTransitioning, setReplayTransitioning] = useState(false);
@@ -177,6 +185,7 @@ export default function App() {
   const appliedProfileKeyRef = useRef<string | null>(null);
   const sceneSettingsRef = useRef<SceneSettings>(defaultSceneSettings);
   const displayDraftRef = useRef<SceneSettings>(defaultSceneSettings);
+  const closeDisplayRef = useRef<() => void>(() => {});
   const confirmedSceneSettingsRef = useRef<SceneSettings>(defaultSceneSettings);
   const viewerSettingsCommitTimerRef = useRef<number | null>(null);
   const runtimeUpdateViewerSettingsRef = useRef(runtime.updateViewerSettings);
@@ -224,6 +233,13 @@ export default function App() {
   );
   runtimeUpdateViewerSettingsRef.current = runtime.updateViewerSettings;
   replayActiveRef.current = replayPresented;
+  const sessionDisplayProfile = useSessionDisplayProfile(replayPresented ? recordedReplay?.sessionId ?? null : null, (settings) => {
+    sceneSettingsRef.current = settings;
+    displayDraftRef.current = settings;
+    confirmedSceneSettingsRef.current = settings;
+    setSceneSettings(settings);
+    setDisplayDraft(settings);
+  });
 
   useEffect(() => {
     if (!polygonDatasetRoute.active || polygonDatasetRouteOpenedRef.current) return;
@@ -306,6 +322,7 @@ export default function App() {
     const remote = runtime.state?.viewerSettings;
     if (
       !remote ||
+      replayActiveRef.current ||
       workspaceLayoutProfile.profile ||
       sceneSettingsCommitterRef.current?.isBusy()
     ) return;
@@ -328,7 +345,7 @@ export default function App() {
 
   useEffect(() => {
     const profile = workspaceLayoutProfile.profile;
-    if (!profile) return;
+    if (!profile || selectedRecordedSessionIdRef.current) return;
     if (viewerSettingsCommitTimerRef.current !== null) {
       window.clearTimeout(viewerSettingsCommitTimerRef.current);
       viewerSettingsCommitTimerRef.current = null;
@@ -399,7 +416,10 @@ export default function App() {
 
   const closeSceneWindow = useCallback((windowId: SceneToolWindowId) => {
     if (windowId === "sources") setSourceWindowOpen(false);
-    if (windowId === "display") setDisplayWindowOpen(false);
+    if (windowId === "display") {
+      setDisplayWindowOpen(false);
+      closeDisplayRef.current();
+    }
     if (windowId === "layers") setLayerInspectorOpen(false);
     setSceneWindowOrder((current) => current.filter((candidate) => candidate !== windowId));
   }, []);
@@ -431,13 +451,25 @@ export default function App() {
     }
   };
 
-  const openView = (viewId: string) => {
+  const openView = (viewId: string, profile?: WorkspaceLaunchProfile) => {
     const definition = workspaceById(viewId);
     if (!definition) return;
+    setLaunchProfile(current => workspaceLaunchProfile(current, definition.kind, profile));
     setActiveRoot(definition.root);
     workspace.openView(viewId);
   };
 
+  // Explicit menu navigation always returns to that workspace's entry screen.
+  const openNavigationView = (viewId: string) => {
+    if (!workspaceById(viewId)) return;
+    setNavigationRevision(value => value + 1);
+    sessionOverview.close();
+    setSourceWindowOpen(false);
+    setDisplayWindowOpen(false);
+    setLayerInspectorOpen(false);
+    openView(viewId);
+  };
+
   const openSource = () => {
     if (!sceneWorkspaceActive) return;
     setSourceDraft(sourceUrl);
@@ -459,14 +491,22 @@ export default function App() {
     const next = { ...displayDraftRef.current, ...patch };
     displayDraftRef.current = next;
     setDisplayDraft(next);
+    sessionDisplayProfile.edited();
     if (viewerSettingsCommitTimerRef.current !== null) {
       window.clearTimeout(viewerSettingsCommitTimerRef.current);
     }
+    // Preview and persistence are separate. An open inspector must not freeze
+    // either its controls or the shared accumulation slider below the scene.
+    if (replayActiveRef.current && (patch.pointDecimationPercent === 0 || patch.pointDecimationPercent === 100)) {
+      viewerSettingsCommitTimerRef.current = null;
+      sceneSettingsCommitterRef.current?.enqueue(next);
+      return;
+    }
     viewerSettingsCommitTimerRef.current = window.setTimeout(() => {
       viewerSettingsCommitTimerRef.current = null;
       sceneSettingsCommitterRef.current?.enqueue(displayDraftRef.current);
     }, viewerSettingsQuietPeriodMs);
-  }, []);
+  }, [sessionDisplayProfile.edited]);
 
   const flushDisplaySettings = useCallback(() => {
     if (viewerSettingsCommitTimerRef.current === null) return;
@@ -476,8 +516,15 @@ export default function App() {
   }, []);
 
   const commitDisplayPatch = useCallback((patch: Partial<SceneSettings>) => {
+    sessionDisplayProfile.edited();
     commitDisplaySettings({ ...displayDraftRef.current, ...patch });
-  }, [commitDisplaySettings]);
+  }, [commitDisplaySettings, sessionDisplayProfile.edited]);
+
+  closeDisplayRef.current = () => {
+    const settings = {...displayDraftRef.current};
+    commitDisplaySettings(settings);
+    if (replayActiveRef.current) sessionDisplayProfile.save(settings);
+  };
 
   const openDisplay = () => {
     if (!sceneWorkspaceActive) return;
@@ -611,11 +658,8 @@ export default function App() {
     return () => window.clearTimeout(timer);
   }, [layoutSaveNotice]);
 
-  const [fleetCreateRequest, setFleetCreateRequest] = useState(0);
   const sessionOverview = useSessionOverviewMode(activeDefinition?.kind === "recordings");
-  const onAddVehicle = useCallback(() => setFleetCreateRequest(value => value + 1), []);
   const contentActions = useApplicationPanelActions({
-    onAddVehicle,
     definition: activeDefinition,
     refreshRuntime: runtime.refresh,
     resetConnectionScenario: runtime.resetConnectionScenario,
@@ -695,6 +739,7 @@ export default function App() {
           <SystemNavigationPanel
             title={currentRoot.title}
             onAdd={computeContourSettings.openCreate}
+            onNavigateRoot={() => openNavigationView("modules")}
             onClose={workspace.closeNavigation}
           />
         ) : currentRoot ? (
@@ -721,7 +766,7 @@ export default function App() {
               icon: <Icon name={item.icon} />,
             }))}
             activeId={workspace.activeView ?? undefined}
-            onItemChange={openView}
+            onItemChange={openNavigationView}
             footer={
               <>
                 <span className="nodedc-admin-panel__nav-icon" aria-hidden="true">
@@ -731,7 +776,8 @@ export default function App() {
                   {rootWorkspaces.length}{" "}
                   {rootWorkspaces.length === 1
                     ? "рабочая поверхность"
-                    : "рабочих поверхностей"}
+                    : rootWorkspaces.length >= 2 && rootWorkspaces.length <= 4
+                      ? "рабочие поверхности" : "рабочих поверхностей"}
                 </span>
               </>
             }
@@ -742,7 +788,9 @@ export default function App() {
             key={activeDefinition.id}
             eyebrow={activeDefinition.eyebrow}
             title={
-              activeDefinition.kind === "recordings"
+              activeDefinition.kind === "vehicles"
+                ? <>{activeDefinition.title}<span className="fleet-header-title" ref={setWorkspaceHeaderTitleHost}/></>
+                : activeDefinition.kind === "recordings"
               && replayPresented
               && recordedReplayLabel
                 ? `${activeDefinition.title}: ${recordedReplayLabel}`
@@ -788,16 +836,18 @@ export default function App() {
                 />
               ) : activeDefinition.kind === "missions" ? (
                 <div ref={setWorkspaceHeaderToolsHost} />
-              ) : activeDefinition.kind === "vehicles" ? null : activeDefinition.kind === "datasets" ? (
+              ) : activeDefinition.kind === "vehicles" ? <div className="fleet-header-tools" ref={setWorkspaceHeaderToolsHost} /> : activeDefinition.kind === "simulations" ? null : activeDefinition.kind === "datasets" ? (
                 <StatusBadge tone="neutral">Offline evaluation</StatusBadge>
               ) : activeDefinition.kind === "lab-archive" ? (
                 laboratoryAnnotation.control
               ) : activeDefinition.kind === "observatory" ? (
                 <StatusBadge tone="neutral">Только наблюдение</StatusBadge>
+              ) : activeDefinition.kind === "contour-health" ? (
+                <div ref={setWorkspaceHeaderToolsHost} />
               ) : activeDefinition.root === "system" ? (
                 <SystemWorkspaceSelector
                   value={activeDefinition.id}
-                  onChange={openView}
+                  onChange={openNavigationView}
                 />
               ) : (
                 <StatusBadge tone="warning">Интерфейс готов</StatusBadge>
@@ -805,19 +855,29 @@ export default function App() {
             }
             utilityActions={contentActions}
             onClose={workspace.closeView}
+          >
+            <PlanningCaptureGuard key={`${activeDefinition.id}:${navigationRevision}`}
+              enabled={launchProfile === 'direct' && (activeDefinition.kind === 'device' || activeDefinition.kind === 'spatial')}
+              onResume={() => openView('local-device', 'planning')}
             >
             {activeDefinition.kind === "device" ? (
+              launchProfile === 'planning' ? <PlanningConnectionWindow>
                 <DeviceWorkspace
-                onOpenSpatialScene={() => openView("spatial-scene")}
+                  onOpenSpatialScene={() => openView("spatial-scene", 'planning')}
+                  onActivateAutomaticSpatialSource={activateAutomaticSpatialSource}
+                />
+              </PlanningConnectionWindow> : <DeviceWorkspace
+                onOpenSpatialScene={() => openView("spatial-scene", 'direct')}
                 onActivateAutomaticSpatialSource={activateAutomaticSpatialSource}
               />
             ) : activeDefinition.kind === "recordings" && sessionOverview.open && recordedReplay && replayPresented ? (
               <SessionOverviewWorkspace key={recordedReplay.sessionId} sessionId={recordedReplay.sessionId} />
             ) : (
               <WorkspaceRenderer
+                launchProfile={launchProfile}
                 definition={activeDefinition}
-                fleetCreateRequest={fleetCreateRequest}
                 headerToolsHost={workspaceHeaderToolsHost}
+                headerTitleHost={workspaceHeaderTitleHost}
                 state={activeRuntimeState}
                 backendStatus={runtime.backendStatus}
                 sourceUrl={effectiveSourceUrl}
@@ -858,6 +918,7 @@ export default function App() {
                 }}
               />
             )}
+            </PlanningCaptureGuard>
           </ApplicationPanel>
         ) : null}
       />
@@ -1020,8 +1081,11 @@ export default function App() {
         onClose={() => closeSceneWindow("display")}
       >
         <SceneDisplayControls displayDraft={displayDraft} stageDisplayPatch={stageDisplayPatch}
-          commitDisplayPatch={commitDisplayPatch} flushDisplaySettings={flushDisplaySettings} replayPresented={replayPresented}/>
+          commitDisplayPatch={replayPresented ? stageDisplayPatch : commitDisplayPatch} flushDisplaySettings={flushDisplaySettings} replayPresented={replayPresented}/>
       </Window>
+      <ToastStack items={sessionDisplayProfile.error ? [{id: 'session-display-profile', tone: 'error',
+        title: 'Настройки записи', description: sessionDisplayProfile.error}] : []}
+        onDismiss={sessionDisplayProfile.dismissError} />
 
       <Window
         open={sceneWorkspaceActive && layerInspectorOpen}

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

@@ -124,7 +124,7 @@ export function ObservationSessionSelect({
   const [deleteTarget, setDeleteTarget] = useState<ObservationSessionSummary | null>(null);
   const sessions = useObservationSessions({
     limit,
-    scope: "source",
+    scope: "standalone",
     replayEnabled: blockedReason === null,
     onReplayBegin,
     onReplayAccepted,

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

@@ -8,6 +8,7 @@ import {
 } from "./rerun/recordedRerunCameraJournal";
 
 import type { SceneSettings } from "../sceneSettings";
+import {useRecordedPointDisplay} from './rerun/useRecordedPointDisplay';
 import {
   advanceLiveReceiverOpenWatchdog,
   advanceLiveReceiverWatchdog,
@@ -130,6 +131,7 @@ export interface RerunViewportProps {
   onPlaybackControllerChange?: (controller: RerunPlaybackController | null) => void;
   sceneSettings?: Pick<
     SceneSettings,
+    | "pointDecimationPercent"
     | "accumulationSeconds"
     | "showGrid"
     | "showPoints"
@@ -148,14 +150,8 @@ interface RerunBlueprintChannel {
   cameraContract?: string | null;
   appliedFollowTrajectory?: boolean | null;
   pendingFollowCameraEye?: RecordedRerunCameraEye | null;
-  configureCameraJournal?: (
-    eye: RecordedRerunCameraEye,
-    spatialViewportStart: number,
-  ) => void;
-  getCameraEye?: () => RecordedRerunCameraEye;
-  setCameraViewportStart?: (spatialViewportStart: number) => void;
+  getCameraEye?: () => RecordedRerunCameraEye | null;
   getCurrentTimeNs?: () => number | null;
-  setCameraMaxOrbitalRadius?: (maxOrbitalRadius: number) => void;
   channel: {
     readonly ready: boolean;
     send_rrd: (rrdBytes: Uint8Array) => void;
@@ -421,6 +417,7 @@ export async function fetchRecordedBlueprintRrd(
     currentTimeNs,
     reactivateUpdates = false,
     onCameraMaxOrbitalRadius,
+    displayPointBank,
     perceptionLayers = {
       enabled: false,
       detections2d: false,
@@ -444,12 +441,17 @@ export async function fetchRecordedBlueprintRrd(
     currentTimeNs?: number | null;
     reactivateUpdates?: boolean;
     onCameraMaxOrbitalRadius?: (maxOrbitalRadius: number) => void;
+    displayPointBank?: string | null;
     perceptionLayers?: RecordedPerceptionLayers;
     fetcher?: typeof globalThis.fetch;
   },
 ): Promise<Uint8Array> {
   const resolvedUnifiedPerception =
     unifiedPerception ?? (perceptionLayers.enabled && activeView !== "spatial");
+  // Rerun exposes its interpolated TimeReal cursor as f64 nanoseconds, even
+  // when paused after seeking. The API needs an integer pose-query timestamp.
+  // Quantize at this boundary; never round the viewer's actual playback cursor.
+  const requestTimeNs = currentTimeNs == null ? currentTimeNs : Math.round(currentTimeNs);
   const base = new URL(origin);
   const endpoint = new URL(endpointUrl, base.origin);
   if (
@@ -481,7 +483,7 @@ export async function fetchRecordedBlueprintRrd(
       ...cameraEye.eyeUp,
     ].some((value) => !Number.isFinite(value))) ||
     (currentTimeNs !== undefined && currentTimeNs !== null && (
-      !Number.isSafeInteger(currentTimeNs) || currentTimeNs < 0
+      !Number.isSafeInteger(requestTimeNs) || currentTimeNs < 0
     )) ||
     [
       perceptionLayers.enabled,
@@ -508,6 +510,7 @@ export async function fetchRecordedBlueprintRrd(
       application_id: identity.applicationId,
       recording_id: identity.recordingId,
       blueprint_session_id: blueprintSessionId,
+      ...(displayPointBank == null ? {} : {display_point_bank: displayPointBank}),
       accumulation_seconds: settings.accumulationSeconds,
       show_grid: settings.showGrid,
       show_points: settings.showPoints,
@@ -528,7 +531,7 @@ export async function fetchRecordedBlueprintRrd(
       eye_up: cameraEye?.eyeUp ?? null,
       ...(eyeRelativeToTracking ? { eye_relative_to_tracking: true } : {}),
       ...(currentTimeNs === undefined || currentTimeNs === null ? {} : {
-        current_time_ns: currentTimeNs,
+        current_time_ns: requestTimeNs,
       }),
       show_detections_2d: perceptionLayers.detections2d,
       show_camera_image: perceptionLayers.cameraImage ?? true,
@@ -585,10 +588,8 @@ export function recordedCameraJournalContract(
     followTrajectory: boolean;
   },
 ): string {
-  // Following is a tracking property of the current native eye. It must never
-  // initialize the browser journal again: doing so replaces the operator's
-  // current pose with the startup preset immediately before the blueprint is
-  // sent. Plan/3D and explicit reset are the only preset transitions.
+  // Following uses the native eye snapshot, never the startup preset.
+  // Plan/3D and explicit reset are the only preset transitions.
   return [activeView, viewResetGeneration, planView].join(":");
 }
 
@@ -841,6 +842,7 @@ function RerunViewportInstance({
   const presentationGateRef = useRef(presentationGate);
   presentationGateRef.current = presentationGate;
   const [blueprintChannelRevision, setBlueprintChannelRevision] = useState(0);
+  const [pointDisplayVisibilityGate, setPointDisplayVisibilityGate] = useState('');
   const [perceptionChannelRevision, setPerceptionChannelRevision] = useState(0);
   const recordedBlueprintUrl = sourceUrl
     ? resolveRecordedBlueprintUrl(
@@ -857,6 +859,17 @@ function RerunViewportInstance({
   const recordedPointColorsUrl = recordedBlueprintUrl
     ? recordedBlueprintUrl.replace(/\/blueprint\.rrd$/, "/point-colors.rrd")
     : sourceUrl ? resolveRecordedPointColorsUrl(sourceUrl, window.location.origin) : null;
+  const pointDisplay = useRecordedPointDisplay({
+    endpoint: recordedBlueprintUrl, settings: sceneSettings, revision: blueprintChannelRevision,
+    sourceGeneration: recordedArtifact?.sha256,
+    ready: status === 'ready' && pointDisplayVisibilityGate === `${recordedBlueprintUrl}:${blueprintChannelRevision}`,
+    onLoad: onPointColorLoadChange,
+    getOwner: () => {
+      const active = blueprintChannelRef.current;
+      const identity = recordedIdentityRef.current;
+      return active?.channel.ready && identity ? {identity, send: bytes => active.channel.send_rrd(bytes)} : null;
+    },
+  });
   const presentationStatus = rerunPresentationStatus(
     status,
     presentationGate,
@@ -1638,29 +1651,14 @@ function RerunViewportInstance({
               cameraContract: null,
               appliedFollowTrajectory: null,
               pendingFollowCameraEye: null,
-              configureCameraJournal: (eye, spatialViewportStart) => {
-                if ("configure_camera_journal" in viewer) {
-                  viewer.configure_camera_journal(eye, spatialViewportStart);
-                }
-              },
               getCameraEye: () => "get_camera_eye" in viewer
                 ? viewer.get_camera_eye()
-                : RECORDED_RERUN_ORBITAL_EYE,
-              setCameraViewportStart: (spatialViewportStart) => {
-                if ("set_camera_viewport_start" in viewer) {
-                  viewer.set_camera_viewport_start(spatialViewportStart);
-                }
-              },
+                : null,
               getCurrentTimeNs: () => {
                 const currentIdentity = recordedIdentityRef.current;
                 if (!currentIdentity) return null;
                 return viewer.get_current_time(currentIdentity.recordingId, "session_time");
               },
-              setCameraMaxOrbitalRadius: (maxOrbitalRadius) => {
-                if ("set_camera_max_orbital_radius" in viewer) {
-                  viewer.set_camera_max_orbital_radius(maxOrbitalRadius);
-                }
-              },
               channel,
             };
             blueprintChannelRef.current = blueprintChannel;
@@ -2010,6 +2008,7 @@ function RerunViewportInstance({
 
   useEffect(() => {
     if (!recordedPointColorsUrl || !sceneSettings) return;
+    if ((sceneSettings.pointDecimationPercent ?? 0) > 0) return;
     const active = blueprintChannelRef.current;
     const identity = recordedIdentityRef.current;
     if (
@@ -2089,6 +2088,7 @@ function RerunViewportInstance({
     sceneSettings?.colorMode,
     sceneSettings?.customColor,
     sceneSettings?.palette,
+    sceneSettings?.pointDecimationPercent,
   ]);
 
   useEffect(() => {
@@ -2113,12 +2113,6 @@ function RerunViewportInstance({
       },
     );
     const cameraContractChanged = active.cameraContract !== cameraContract;
-    if (cameraContractChanged) {
-      active.configureCameraJournal?.(
-        recordedPlanView ? RECORDED_RERUN_PLAN_EYE : RECORDED_RERUN_ORBITAL_EYE,
-        recordedUnifiedPerception ? recordedUnifiedCameraShare : 0,
-      );
-    }
     const abort = new AbortController();
     const previousFollow = active.appliedFollowTrajectory ?? false;
     const enablingFollow = recordedFollowTrajectory && !previousFollow;
@@ -2143,7 +2137,9 @@ function RerunViewportInstance({
       if (eyeRelativeToTracking && currentTimeNs == null) {
         throw new Error("Recorded tracking cursor is unavailable");
       }
-      return fetchRecordedBlueprintRrd(recordedBlueprintUrl, sceneSettings, identity, {
+      return fetchRecordedBlueprintRrd(recordedBlueprintUrl,
+        {...sceneSettings, showPoints: sceneSettings.showPoints && !pointDisplay.hidePoints}, identity, {
+        displayPointBank: pointDisplay.bank,
         origin: window.location.origin,
         blueprintSessionId: blueprintSessionIdRef.current,
         signal: abort.signal,
@@ -2157,13 +2153,11 @@ function RerunViewportInstance({
         planView: recordedPlanView,
         cameraEye,
         eyeRelativeToTracking,
-        currentTimeNs,
+        // Only following-eye transitions need a pose at the cursor. Supplying
+        // time for display-only updates makes the API scan the entire archive
+        // for camera bounds, although neither the camera nor its pose changed.
+        currentTimeNs: eyeRelativeToTracking ? currentTimeNs : undefined,
         reactivateUpdates,
-        onCameraMaxOrbitalRadius: (maxOrbitalRadius) => {
-          if (blueprintChannelRef.current === active) {
-            active.setCameraMaxOrbitalRadius?.(maxOrbitalRadius);
-          }
-        },
       });
     };
     const canApply = () => (
@@ -2175,24 +2169,29 @@ function RerunViewportInstance({
     const applyPayload = (payload: Uint8Array) => {
       if (!canApply()) return false;
       active.channel.send_rrd(payload);
-      active.setCameraViewportStart?.(
-        recordedUnifiedPerception ? recordedUnifiedCameraShare : 0,
-      );
+      // Exclude inactive point generations before admitting their data into
+      // cached recordings whose embedded blueprint predates display controls.
+      setPointDisplayVisibilityGate(`${recordedBlueprintUrl}:${blueprintChannelRevision}`);
       return true;
     };
     void (async () => {
       const firstEye = disablingFollow
         ? transitionEye ?? undefined
         : !enablingFollow && (cameraContractChanged || pendingFollowEye)
-          ? pendingFollowEye ?? active.getCameraEye?.()
-          : undefined;
+          ? pendingFollowEye ?? (recordedPlanView ? RECORDED_RERUN_PLAN_EYE : RECORDED_RERUN_ORBITAL_EYE)
+          : !enablingFollow ? active.getCameraEye?.() ?? undefined : undefined;
       const firstEyeIsTrackingRelative = Boolean(firstEye) && (
         disablingFollow || recordedFollowTrajectory
       );
       const firstPayload = await requestBlueprint(
         firstEye,
         firstEyeIsTrackingRelative,
-        enablingFollow || disablingFollow || Boolean(pendingFollowEye),
+        // Upstream copies incoming blueprints into an active store. Every
+        // settings update must activate it; merely appending rows is invisible.
+        // Activation copies the incoming blueprint store, not the operator's
+        // edited store. Preserve its actual native eye on display-only updates;
+        // omitting the eye resurrects the embedded startup camera.
+        true,
       );
       if (!applyPayload(firstPayload)) return;
       active.cameraContract = cameraContract;
@@ -2213,9 +2212,10 @@ function RerunViewportInstance({
       const stabilizedPayload = await requestBlueprint(transitionEye, true, true);
       if (!applyPayload(stabilizedPayload)) return;
       active.pendingFollowCameraEye = null;
-    })().catch(() => {
+    })().catch((error: unknown) => {
       // The recording remains usable with its embedded default blueprint.
       // A later settings change retries through the same small channel.
+      if (!abort.signal.aborted) console.warn("Recorded scene settings were not applied", error);
     });
     return () => abort.abort();
   }, [
@@ -2243,6 +2243,9 @@ function RerunViewportInstance({
     sceneSettings?.showPoints,
     sceneSettings?.showTrajectory,
     sceneSettings?.showGrid,
+    pointDisplay.ready,
+    pointDisplay.bank,
+    pointDisplay.hidePoints,
   ]);
 
   return (

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

@@ -0,0 +1,8 @@
+import {createPortal} from 'react-dom';
+import {Icon,IconButton} from '@nodedc/ui-react';
+
+/** A nested workspace returns through the shared panel header. */
+export function WorkspaceBackButton({label,onClick,host}:{label:string;onClick:()=>void;host?:HTMLElement|null}) {
+ const button=<IconButton label={label} onClick={onClick}><Icon name="chevron-left"/></IconButton>;
+ return host?createPortal(button,host):button;
+}

apps/control-station/src/components/missions/MissionZonePreview.tsx

@@ -2,11 +2,11 @@ import type {ReactNode} from "react";
 import { Button, LoadingRegion } from "@nodedc/ui-react";
 import { useSessionOverview } from "../../core/observation/useSessionOverview";
 import { SessionOverviewScene } from "../observation/SessionOverviewScene";
-export function MissionZonePreview({ sessionId, toolbar }: { sessionId: string; toolbar?:ReactNode }) {
+export function MissionZonePreview({ sessionId, generation, toolbar }: { sessionId: string; generation: string; toolbar?:ReactNode }) {
   const { data, error, retry } = useSessionOverview(sessionId);
   const pending = !error && (!data || data.state === "queued" || data.state === "preparing");
   const failure = error || (data?.state === "error" ? data.message : null);
   if (pending) return <LoadingRegion loading label="Подготовка облака зоны" className="mission-planner__zone-loading" />;
   if (failure || !data?.scene_url) return <div className="session-overview__empty"><span>{failure || "Облако записи недоступно."}</span><Button onClick={retry}>Повторить</Button></div>;
-  return <SessionOverviewScene sourceUrl={data.scene_url} toolbar={toolbar} hideTitle />;
+  return <SessionOverviewScene sourceUrl={`${data.scene_url}&reference_generation=${encodeURIComponent(generation)}`} toolbar={toolbar} hideTitle />;
 }

apps/control-station/src/components/missions/PlanningCaptureGuard.tsx

@@ -0,0 +1,23 @@
+import type {ReactNode} from 'react';
+import {Button, StatusBadge} from '@nodedc/ui-react';
+import {planningAwaitsCapture, usePlanningTest} from '../../core/missions/PlanningTestContext';
+
+/** Composition-level handoff; never sends a device or acquisition command. */
+export function PlanningCaptureGuard({enabled, onResume, children}: {
+  enabled: boolean;
+  onResume: () => void;
+  children: ReactNode;
+}) {
+  const planning = usePlanningTest();
+  if (!enabled || !planningAwaitsCapture(planning.test)) return <>{children}</>;
+  return <div className="mission-planner__check">
+    <StatusBadge tone="warning">Исследование ожидает новую запись</StatusBadge>
+    <p>{planning.test!.draft.name}</p>
+    <p>Для самостоятельной съёмки завершите подготовленное исследование. Запись и подключение сканера не будут остановлены.</p>
+    {planning.error && <p role="alert">{planning.error}</p>}
+    <div className="mission-planner__actions">
+      <Button loading={planning.busy} onClick={() => void planning.finish()}>Завершить исследование</Button>
+      <Button disabled={planning.busy} onClick={onResume}>Вернуться к исследованию</Button>
+    </div>
+  </div>;
+}

apps/control-station/src/components/missions/PlanningConnectionWindow.tsx

@@ -8,11 +8,11 @@ export function PlanningConnectionWindow({children}:{children:ReactNode}){
   const p=usePlanningTest(); const [open,setOpen]=useState(true);
   const {selection,registry,selectModel,selectionTransitionPending}=useDevicePluginHost();
   useEffect(()=>{
-    if(!p.selected||!p.test||selection||selectionTransitionPending)return;
+    if(!p.test||planningTestTerminal(p.test)||selection||selectionTransitionPending)return;
     const models=registry.models.filter(m=>m.plugin.manifest.metadata.id===p.test!.plugin_id);
     if(models.length===1)void selectModel(models[0].model.id);
-  },[p.selected,p.test?.plugin_id,selection,registry,selectModel,selectionTransitionPending]);
-  if(!p.selected||!p.test)return <>{children}</>;
+  },[p.test?.plugin_id,p.test?.state,selection,registry,selectModel,selectionTransitionPending]);
+  if(!p.test)return <>{children}</>;
   const t=p.test, terminal=planningTestTerminal(t);
   const details=<><StatusBadge tone="neutral">Профиль · Планирование</StatusBadge>
     <p>{t.draft.name} · эталон {t.draft.zone.label} · {t.draft.route.length_m.toFixed(1)} м</p>

apps/control-station/src/components/missions/PlanningProjectSettings.tsx

@@ -1,53 +1,30 @@
-import { Button, Icon, Inspector, InspectorSelectField, LoadingRegion, RangeControl, SegmentedControl, TextField } from '@nodedc/ui-react';
-import { endAtDistance, indexAtDistance, routeLength, canSelectSession, canStartPlanningRoute } from '../../core/missions/planner';
+import { Button, Icon, Inspector, InspectorSelectField, TextField } from '@nodedc/ui-react';
+import { routeLength, canStartPlanningRoute } from '../../core/missions/planner';
 import type { useMissionPlanner } from '../../core/missions/useMissionPlanner';
-import type { useRegistrationTest } from '../../core/missions/useRegistrationTest';
 
-export function PlanningProjectSettings({p,t,mode,setMode,onStart,starting}:{
-  p:ReturnType<typeof useMissionPlanner>; t:ReturnType<typeof useRegistrationTest>;
-  mode:'scanner'|'recording';setMode:(mode:'scanner'|'recording')=>void;onStart:()=>void;starting:boolean;
+export function PlanningProjectSettings({p,onStart,starting}:{
+  p:ReturnType<typeof useMissionPlanner>; onStart:()=>void; starting:boolean;
 }) {
   const disabled=p.busy||starting;
   const length=routeLength(p.poses);
-  return <Inspector variant="panel" defaultOpen={['project','zone','route','query']} sections={[
+  const routeReady=canStartPlanningRoute(length,'scanner');
+  return <><Inspector variant="panel" defaultOpen={['project','zone']} sections={[
     {id:'project',label:'Проект',icon:<Icon name="file"/>,content:<div className="inspector-control-stack">
       <TextField label="Название проекта" placeholder="Название совмещения" value={p.name} maxLength={120} disabled={disabled} onChange={e=>p.setName(e.target.value)}/>
     </div>},
     {id:'zone',label:'Эталон',icon:<Icon name="globe"/>,content:<div className="inspector-control-stack">
       <InspectorSelectField label="Сохранённая запись" searchable value={p.sessionId} options={p.options} disabled={disabled||p.catalogBusy} onChange={p.chooseSource}/>
       {p.cursor&&<Button disabled={p.catalogBusy} onClick={()=>void p.loadMore()}>Ещё записи</Button>}
-      {p.source&&<small>{p.source.poses.length.toLocaleString('ru-RU')} положений · {p.source.path_m.toFixed(2)} м</small>}
-    </div>},
-    {id:'route',label:'Участок эталона',icon:<Icon name="plan"/>,content:<div className="inspector-control-stack">
-      {p.source&&!p.sourceChanged?<>
-        <RangeControl label="Начало участка" value={p.source.poses[p.start]?.distance_m??0} min={0} max={p.source.poses[p.source.poses.length-2].distance_m} step="any" disabled={disabled}
-          formatValue={n=>`${n.toFixed(1)} м`} onChange={distance=>{const n=indexAtDistance(p.source!,distance,0,p.source!.poses.length-2);p.setStart(n);if(n>=p.end)p.setEnd(n+1);}}/>
-        <RangeControl label="Конец участка" value={p.source.poses[p.end]?.distance_m??0} min={p.source.poses[p.start+1]?.distance_m??0} max={p.source.path_m} step="any" disabled={disabled}
-          formatValue={n=>`${n.toFixed(1)} м`} onChange={distance=>p.setEnd(indexAtDistance(p.source!,distance,p.start+1,p.source!.poses.length-1,true))}/>
-        <Button disabled={disabled} onClick={()=>p.setEnd(endAtDistance(p.source!,p.start,30))}>30 м от начала участка</Button>
-        <Button disabled={disabled} onClick={()=>{p.setStart(0);p.setEnd(p.source!.poses.length-1);}}>Вся траектория</Button>
+      {p.source&&<>
+        <small>Вся запись · {p.source.path_m.toFixed(2)} м · {p.source.poses.length.toLocaleString('ru-RU')} положений</small>
         <InspectorSelectField label="Направление" value={p.direction} onChange={p.setDirection} disabled={disabled} options={[{value:'forward',label:'По записи'},{value:'reverse',label:'В обратную сторону'}]}/>
-        <small>{length.toFixed(2)} м · {p.poses.length.toLocaleString('ru-RU')} положений</small>
-      </>:<p>Выберите сохранённую запись эталона.</p>}
-    </div>},
-    {id:'query',label:'Повторный проход',icon:<Icon name="activity"/>,content:<div className="inspector-control-stack">
-      <SegmentedControl label="Источник повторного прохода" value={mode} onChange={setMode} items={[{value:'scanner',label:'Новый проход',disabled},{value:'recording',label:'Из записи',disabled}]}/>
-      {mode==='scanner'?<p>После запуска откроется подключение сканера. Новый проход записывается отдельным проектом.</p>:<>
-        <InspectorSelectField label="Повторная запись" value={t.sessionId} disabled={disabled} searchable onChange={t.setSessionId}
-          options={[{value:'',label:'Выберите повторный проход'},...p.sessions.filter(canSelectSession).map(s=>({value:s.id,label:s.label,description:s.id===p.sessionId?'Та же запись · внутренняя проверка':'Сохранённые облако и траектория'}))]}/>
-        <LoadingRegion loading={t.loading} label="Подготовка повторного прохода">
-          {t.source&&<div className="inspector-control-stack">
-            <RangeControl label="Начало повторного участка" min={0} max={t.source.poses[t.source.poses.length-2].distance_m} step="any" value={t.source.poses[t.start].distance_m} disabled={disabled} formatValue={n=>`${n.toFixed(1)} м`}
-              onChange={n=>{const start=indexAtDistance(t.source!,n,0,t.source!.poses.length-2);t.setStart(start);t.setEnd(endAtDistance(t.source!,start,20));}}/>
-            <RangeControl label="Конец повторного участка" min={t.source.poses[t.start+1].distance_m} max={t.source.path_m} step="any" value={t.source.poses[t.end].distance_m} disabled={disabled} formatValue={n=>`${n.toFixed(1)} м`} onChange={n=>t.setEnd(indexAtDistance(t.source!,n,t.start+1))}/>
-          </div>}
-        </LoadingRegion>
       </>}
-      <small>{mode==='scanner'
-        ?'Длина выбранного участка задаёт предел прохода. Ограничения по времени нет; запись сканера не останавливается автоматически. Неподвижная калибровка просматривает весь выбранный маршрут. После калибровки оставайтесь на месте до статуса «Сопровождение»; при отсутствии или неоднозначности совпадения сцена прямо сообщит причину и не начнёт сопровождение.'
-        :'Участки от 3 до 40 м. Начальная привязка — выбранное место старта и одинаковое направление.'}</small>
-      <Button variant="primary" loading={starting} disabled={disabled||!p.ready||!canStartPlanningRoute(length,mode)||(mode==='recording'&&(!t.source||t.loading||!canStartPlanningRoute(t.length,'recording')))} onClick={onStart}><Icon name="play"/>{mode==='scanner'?'Начать новый проход':'Запустить совмещение'}</Button>
-      {(p.error||t.error)&&<p role="alert">{p.error||t.error}</p>}
     </div>},
-  ]}/>;
+  ]}/>
+    <div className="inspector-control-stack">
+      {p.source&&!routeReady&&<small>В записи недостаточно перемещения для привязки. Выберите другой эталон.</small>}
+      <Button variant="primary" loading={starting} disabled={disabled||!p.ready||!routeReady} onClick={onStart}><Icon name="play"/>Начать новый проход</Button>
+      {p.error&&<p role="alert">{p.error}</p>}
+    </div>
+  </>;
 }

apps/control-station/src/components/observation/SessionOverviewScene.tsx

@@ -2,10 +2,10 @@ import { type ReactNode, useEffect, useRef, useState } from "react";
 import { Button, LoadingRegion, RangeControl, SegmentedControl } from "@nodedc/ui-react";
 import { createIsolatedRerunHost } from "../rerun/isolatedRerunHost";
 import type { RecordedRerunViewer } from "../rerun/recordedRerunFacade";
-import { fetchOverviewSpatial, updateOverviewSpatial, type OverviewSpatialMetadata, type OverviewViewMode } from "../../core/observation/sessionOverviewSpatial";
+import { fetchOverviewSpatial, updateOverviewSpatial, type OverviewSpatialMetadata, type OverviewViewMode, type OverviewRepresentation } from "../../core/observation/sessionOverviewSpatial";
 
 /** A separate, bounded static recording; teardown releases the whole WASM realm. */
-export function SessionOverviewScene({ sourceUrl, toolbar, hideTitle=false }: { sourceUrl: string; toolbar?:ReactNode; hideTitle?:boolean }) {
+export function SessionOverviewScene({ sourceUrl, toolbar, hideTitle=false, compareVersions=false }: { sourceUrl: string; toolbar?:ReactNode; hideTitle?:boolean; compareVersions?:boolean }) {
   const host = useRef<HTMLDivElement>(null);
   const [state, setState] = useState<"loading" | "ready" | "error">("loading");
   const [retry, setRetry] = useState(0);
@@ -14,6 +14,10 @@ export function SessionOverviewScene({ sourceUrl, toolbar, hideTitle=false }: {
   const [mode, setMode] = useState<OverviewViewMode>("3d");
   const [viewError, setViewError] = useState<string | null>(null);
   const [visiblePoints, setVisiblePoints] = useState<number | null>(null);
+  const [representation, setRepresentation] = useState<OverviewRepresentation>("original");
+  const [appliedRepresentation, setAppliedRepresentation] = useState<OverviewRepresentation>("original");
+  const [updating, setUpdating] = useState(false);
+  const comparison = metadata?.comparison;
   const appliedMode = useRef<OverviewViewMode | null>(null);
   const controller = useRef<{ viewer: RecordedRerunViewer; channel: ReturnType<RecordedRerunViewer["open_channel"]> } | null>(null);
   useEffect(() => {
@@ -23,7 +27,11 @@ export function SessionOverviewScene({ sourceUrl, toolbar, hideTitle=false }: {
     appliedMode.current = null;
     setState("loading");
     setMetadata(null); setCeiling(null); setMode("3d"); setVisiblePoints(null); setViewError(null);
-    void fetchOverviewSpatial(sourceUrl, abort.signal).then(setMetadata).catch(() => { if (!disposed) setViewError("Параметры среза недоступны."); });
+    setRepresentation("original"); setAppliedRepresentation("original"); setUpdating(false);
+    void fetchOverviewSpatial(sourceUrl, abort.signal).then(data => {
+      if (disposed) return;
+      setRepresentation(data.default_representation ?? "original"); setMetadata(data);
+    }).catch(() => { if (!disposed) { setState("error"); setViewError("Версия облака недоступна."); } });
     const runtime = createIsolatedRerunHost(host.current);
     const timer = window.setTimeout(() => { if (!disposed) { setState("error"); runtime.dispose(); } }, 60_000);
     void runtime.ready.then(async ({ viewer, mount }) => {
@@ -44,29 +52,33 @@ export function SessionOverviewScene({ sourceUrl, toolbar, hideTitle=false }: {
   useEffect(() => {
     if (state !== "ready" || !metadata || !controller.current) return;
     const abort = new AbortController();
+    setUpdating(true);
     const timer = setTimeout(() => {
       const aspect = Math.max(.1, Math.min(20, (host.current?.clientWidth ?? 1) / Math.max(1, (host.current?.clientHeight ?? 1) - 28)));
-      void updateOverviewSpatial(sourceUrl, ceiling, appliedMode.current === mode ? null : mode, aspect, abort.signal).then(result => {
+      void updateOverviewSpatial(sourceUrl, ceiling, appliedMode.current === mode ? null : mode, aspect, abort.signal,
+        comparison?.generation ?? null, comparison ? representation : "original").then(result => {
         if (abort.signal.aborted || !controller.current) return;
         controller.current.channel.send_rrd(result.bytes);
-        if (result.eye) controller.current.viewer.configure_camera_journal(result.eye, 0);
         appliedMode.current = mode;
         setVisiblePoints(result.visiblePoints); setViewError(null);
-      }).catch(() => { if (!abort.signal.aborted) setViewError("Не удалось обновить вид облака."); });
+        setAppliedRepresentation(comparison ? representation : "original"); setUpdating(false);
+      }).catch(() => { if (!abort.signal.aborted) { setUpdating(false); setViewError("Не удалось обновить вид облака. Показан предыдущий вид."); } });
     }, 180);
     return () => { abort.abort(); clearTimeout(timer); };
-  }, [state, metadata, sourceUrl, ceiling, mode, retry]);
+  }, [state, metadata, sourceUrl, ceiling, mode, retry, comparison, representation]);
 
-  const low = metadata?.height_min_m;
-  const high = metadata?.height_max_m;
+  const low = comparison?.height_min_m ?? metadata?.height_min_m;
+  const high = comparison?.height_max_m ?? metadata?.height_max_m;
   return <>
     <div className={`session-overview__scene-head ${hideTitle?"session-overview__scene-head--end":""}`}>{!hideTitle&&<h2>Облако и траектория</h2>}
+      {compareVersions && comparison && <SegmentedControl label="Версия облака" value={representation} onChange={setRepresentation}
+        items={[{ value: "original", label: "Исходное", disabled: state !== "ready" }, { value: "corrected", label: "Исправленное", disabled: state !== "ready" }]} />}
       <SegmentedControl label="Вид облака" value={mode} onChange={setMode}
         items={[{ value: "top", label: "Сверху", disabled: state !== "ready" }, { value: "3d", label: "3D", disabled: state !== "ready" }]} />
       {toolbar}
     </div>
-    <LoadingRegion loading={state === "loading"} label="Загрузка облака" className="session-overview__scene">
-    <div ref={host} className={`session-overview__runtime ${hideTitle?"rerun-single-view-content":""}`} style={{ visibility: state === "ready" ? "visible" : "hidden" }} />
+    <LoadingRegion loading={state === "loading" || (state === "ready" && !!metadata && visiblePoints === null && !viewError)} label="Загрузка облака" className="session-overview__scene">
+    <div ref={host} className={`session-overview__runtime ${hideTitle?"rerun-single-view-content":""}`} style={{ visibility: state === "ready" && metadata && visiblePoints !== null ? "visible" : "hidden" }} />
     {low != null && high != null && high > low && state === "ready" && <div className="session-overview__height">
       <RangeControl orientation="vertical" limitSide="left" label="Срез" value={ceiling ?? high} min={low} max={high} step="any"
         formatValue={value => `${value.toFixed(1).replace('.', ',')} м`} formatLimit={value => value.toFixed(1).replace('.', ',')}
@@ -74,7 +86,11 @@ export function SessionOverviewScene({ sourceUrl, toolbar, hideTitle=false }: {
     </div>}
     {state === "error" && <div className="session-overview__empty"><span>Не удалось открыть облако.</span><Button onClick={() => setRetry(n => n + 1)}>Повторить</Button></div>}
     </LoadingRegion>
-    {viewError ? <div className="session-overview__note" role="alert">{viewError}<Button onClick={() => setRetry(n => n + 1)}>Повторить</Button></div>
-      : <span className="session-overview__note">{ceiling == null ? "Без среза" : `Высота ≤ ${ceiling.toFixed(1)} м`} · {visiblePoints?.toLocaleString("ru-RU") ?? "—"} точек</span>}
+    <span className="session-overview__note" role="status" aria-busy={updating}>
+      {updating ? "Обновление · " : comparison ? `${appliedRepresentation === "corrected" ? "Исправленное" : "Исходное"} · ` : ""}
+      {ceiling == null ? "Без среза" : `Высота ≤ ${ceiling.toFixed(1)} м`} · {visiblePoints?.toLocaleString("ru-RU") ?? "—"} точек
+      {comparison && <><br />Выборка для просмотра. Исходная запись сохранена отдельно.</>}
+    </span>
+    {viewError && <div className="session-overview__note" role="alert">{viewError}<Button onClick={() => setRetry(n => n + 1)}>Повторить</Button></div>}
   </>;
 }

apps/control-station/src/components/rerun/recordedRerunCameraJournal.ts

@@ -1,244 +1,28 @@
+// Presets and the native snapshot boundary. No DOM-input journal: only Rerun
+// knows the actual eye after navigation, auto-fit, interpolation and tracking.
 export type RecordedRerunCameraEye = {
   readonly position: readonly [number, number, number];
   readonly lookTarget: readonly [number, number, number];
   readonly eyeUp: readonly [number, number, number];
 };
-
-type Vector3 = [number, number, number];
-type DragMode = "rotate" | "pan" | "roll";
-
-const ROTATION_RADIANS_PER_POINT = 0.004;
-const RERUN_WEB_LINE_SCROLL_POINTS = 8;
-const RERUN_ORBITAL_SCROLL_DIVISOR = 200;
-const RERUN_WEB_PINCH_SCROLL_DIVISOR = 100;
-const RERUN_MIN_ORBIT_DISTANCE = 0.02;
-const DOM_WHEEL_DELTA_LINE = 1;
-const DOM_WHEEL_DELTA_PAGE = 2;
-
 export const RECORDED_RERUN_ORBITAL_EYE: RecordedRerunCameraEye = {
-  position: [16, -16, 18],
-  lookTarget: [0, 0, 0],
-  eyeUp: [0, 0, 1],
+  position: [16, -16, 18], lookTarget: [0, 0, 0], eyeUp: [0, 0, 1],
 };
-
 export const RECORDED_RERUN_PLAN_EYE: RecordedRerunCameraEye = {
-  position: [0, 0, 30],
-  lookTarget: [0, 0, 0],
-  eyeUp: [0, 1, 0],
+  position: [0, 0, 30], lookTarget: [0, 0, 0], eyeUp: [0, 1, 0],
 };
 
-const vector = (value: readonly [number, number, number]): Vector3 => [...value];
-const add = (a: Vector3, b: Vector3): Vector3 => [a[0] + b[0], a[1] + b[1], a[2] + b[2]];
-const subtract = (a: Vector3, b: Vector3): Vector3 => [a[0] - b[0], a[1] - b[1], a[2] - b[2]];
-const scale = (value: Vector3, factor: number): Vector3 => [value[0] * factor, value[1] * factor, value[2] * factor];
-const dot = (a: Vector3, b: Vector3) => a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
-const cross = (a: Vector3, b: Vector3): Vector3 => [
-  a[1] * b[2] - a[2] * b[1],
-  a[2] * b[0] - a[0] * b[2],
-  a[0] * b[1] - a[1] * b[0],
-];
-const length = (value: Vector3) => Math.hypot(...value);
-const normalize = (value: Vector3, fallback: Vector3): Vector3 => {
-  const magnitude = length(value);
-  return magnitude > Number.EPSILON ? scale(value, 1 / magnitude) : fallback;
-};
-const clamp = (value: number, minimum: number, maximum: number) => Math.max(minimum, Math.min(maximum, value));
-const rotateAroundAxis = (value: Vector3, rawAxis: Vector3, angle: number): Vector3 => {
-  const axis = normalize(rawAxis, [0, 0, 1]);
-  const cosine = Math.cos(angle);
-  const sine = Math.sin(angle);
-  return add(
-    add(scale(value, cosine), scale(cross(axis, value), sine)),
-    scale(axis, dot(axis, value) * (1 - cosine)),
-  );
-};
-
-function cloneEye(value: RecordedRerunCameraEye): {
-  position: Vector3;
-  lookTarget: Vector3;
-  eyeUp: Vector3;
-} {
-  return {
-    position: vector(value.position),
-    lookTarget: vector(value.lookTarget),
-    eyeUp: vector(value.eyeUp),
-  };
-}
-
-/**
- * Mirrors Rerun 0.36.3's orbital eye math while the native viewer remains the
- * renderer. Rerun writes operator navigation into its active blueprint clone;
- * the WebViewer API cannot read that clone. Keeping the same three eye vectors
- * here lets a later layer blueprint activate with the exact operator pose.
- */
-export function createRecordedRerunCameraJournal(
-  canvas: HTMLCanvasElement,
-  scope: Window & typeof globalThis,
-) {
-  let eye = cloneEye(RECORDED_RERUN_ORBITAL_EYE);
-  let spatialViewportStart = 0;
-  let pointerId: number | null = null;
-  let dragMode: DragMode | null = null;
-  let previousPointer: readonly [number, number] | null = null;
-  let latestPointer: readonly [number, number] | null = null;
-  let maxOrbitalRadius = 1.0e17;
-
-  const isSpatialPoint = (event: MouseEvent) => {
-    const rect = canvas.getBoundingClientRect();
-    return rect.width > 0 && (event.clientX - rect.left) / rect.width >= spatialViewportStart;
-  };
-  const forward = () => normalize(subtract(eye.lookTarget, eye.position), [0, 1, 0]);
-  const usableUp = () => {
-    const fwd = forward();
-    const fallbackRight: Vector3 = Math.abs(dot(fwd, [0, 0, 1])) > 0.9999
-      ? [1, 0, 0]
-      : cross(fwd, [0, 0, 1]);
-    const fallback = normalize(cross(fwd, fallbackRight), [0, 0, 1]);
-    const candidate = normalize(eye.eyeUp, fallback);
-    return Math.abs(dot(candidate, fwd)) > 0.9999 ? fallback : candidate;
-  };
-  const orbitRadius = () => length(subtract(eye.position, eye.lookTarget));
-
-  const rotate = (deltaX: number, deltaY: number) => {
-    const radius = orbitRadius();
-    const up = usableUp();
-    let fwd = forward();
-    const oldPitch = Math.asin(clamp(dot(fwd, up), -1, 1));
-    fwd = normalize(
-      rotateAroundAxis(fwd, up, -ROTATION_RADIANS_PER_POINT * deltaX),
-      fwd,
-    );
-    const right = normalize(cross(fwd, up), [1, 0, 0]);
-    const maxPitch = 0.99 * Math.PI / 2;
-    const nextPitch = clamp(
-      oldPitch - ROTATION_RADIANS_PER_POINT * deltaY,
-      -maxPitch,
-      maxPitch,
-    );
-    fwd = normalize(rotateAroundAxis(fwd, right, nextPitch - oldPitch), fwd);
-    eye.position = subtract(eye.lookTarget, scale(fwd, radius));
-  };
-
-  const pan = (deltaX: number, deltaY: number) => {
-    const fwd = forward();
-    const right = normalize(cross(fwd, usableUp()), [1, 0, 0]);
-    const screenUp = normalize(cross(right, fwd), [0, 0, 1]);
-    const speed = 0.001 * orbitRadius();
-    const translation = add(scale(right, -deltaX * speed), scale(screenUp, deltaY * speed));
-    eye.position = add(eye.position, translation);
-    eye.lookTarget = add(eye.lookTarget, translation);
-  };
-
-  const roll = (event: PointerEvent, deltaX: number, deltaY: number) => {
-    const rect = canvas.getBoundingClientRect();
-    const left = rect.left + rect.width * spatialViewportStart;
-    const centerX = left + (rect.right - left) / 2;
-    const centerY = rect.top + rect.height / 2;
-    const relativeX = event.clientX - centerX;
-    const relativeY = event.clientY - centerY;
-    const divisor = relativeX * relativeX + relativeY * relativeY;
-    if (divisor <= Number.EPSILON) return;
-    const angle = (-deltaY * relativeX + deltaX * relativeY) / divisor;
-    eye.eyeUp = normalize(rotateAroundAxis(eye.eyeUp, scale(forward(), -1), angle), eye.eyeUp);
-  };
-
-  const pointerDown = (event: PointerEvent) => {
-    latestPointer = [event.clientX, event.clientY];
-    if (!isSpatialPoint(event)) return;
-    pointerId = event.pointerId;
-    previousPointer = [event.clientX, event.clientY];
-    dragMode = event.button === 2 ? "pan" : event.button === 1 || event.altKey ? "roll" : "rotate";
-  };
-  const pointerMove = (event: PointerEvent) => {
-    latestPointer = [event.clientX, event.clientY];
-    if (event.pointerId !== pointerId || !previousPointer || !dragMode) return;
-    const deltaX = event.clientX - previousPointer[0];
-    const deltaY = event.clientY - previousPointer[1];
-    previousPointer = [event.clientX, event.clientY];
-    if (dragMode === "rotate") rotate(deltaX, deltaY);
-    else if (dragMode === "pan") pan(deltaX, deltaY);
-    else roll(event, deltaX, deltaY);
-  };
-  const pointerEnd = (event: PointerEvent) => {
-    if (event.pointerId !== pointerId) return;
-    pointerMove(event);
-    pointerId = null;
-    previousPointer = null;
-    dragMode = null;
-  };
-  const wheel = (event: WheelEvent) => {
-    const rect = canvas.getBoundingClientRect();
-    const wheelX = event.clientX >= rect.left && event.clientX <= rect.right
-      ? event.clientX
-      : latestPointer?.[0];
-    if (wheelX === undefined || rect.width <= 0) return;
-    if ((wheelX - rect.left) / rect.width < spatialViewportStart) return;
-    const unitMultiplier = event.deltaMode === DOM_WHEEL_DELTA_LINE
-      ? RERUN_WEB_LINE_SCROLL_POINTS
-      : event.deltaMode === DOM_WHEEL_DELTA_PAGE
-        ? rect.height
-        : 1;
-    const scrollPoints = (event.deltaX + event.deltaY) * unitMultiplier;
-    // eframe negates the DOM delta before Rerun applies
-    // radius / exp(smooth_scroll_delta / 200). Over a smoothed gesture the
-    // exponent products collapse to the raw accumulated DOM delta below.
-    const divisor = event.ctrlKey
-      ? RERUN_WEB_PINCH_SCROLL_DIVISOR
-      : RERUN_ORBITAL_SCROLL_DIVISOR;
-    const radiusFactor = Math.exp(scrollPoints / divisor);
-    const offset = subtract(eye.position, eye.lookTarget);
-    const radius = length(offset);
-    // Keep the same orbital bounds as Rerun 0.36.3. An eye already outside
-    // the scene-derived cap is allowed to stay there and is never snapped in.
-    const nextRadius = clamp(
-      radius * radiusFactor,
-      RERUN_MIN_ORBIT_DISTANCE,
-      Math.max(radius, maxOrbitalRadius),
-    );
-    eye.position = add(
-      eye.lookTarget,
-      scale(offset, nextRadius / Math.max(radius, Number.EPSILON)),
-    );
-  };
-
-  canvas.addEventListener("pointerdown", pointerDown, true);
-  scope.addEventListener("pointermove", pointerMove, true);
-  scope.addEventListener("pointerup", pointerEnd, true);
-  scope.addEventListener("pointercancel", pointerEnd, true);
-  scope.addEventListener("wheel", wheel, { capture: true, passive: true });
-
-  return {
-    current(): RecordedRerunCameraEye {
-      return {
-        position: [...eye.position],
-        lookTarget: [...eye.lookTarget],
-        eyeUp: [...eye.eyeUp],
-      };
-    },
-    configure(nextEye: RecordedRerunCameraEye, nextSpatialViewportStart: number) {
-      eye = cloneEye(nextEye);
-      spatialViewportStart = clamp(nextSpatialViewportStart, 0, 0.9);
-      pointerId = null;
-      dragMode = null;
-      previousPointer = null;
-    },
-    setSpatialViewportStart(nextSpatialViewportStart: number) {
-      spatialViewportStart = clamp(nextSpatialViewportStart, 0, 0.9);
-    },
-    setMaxOrbitalRadius(nextMaxOrbitalRadius: number) {
-      if (
-        Number.isFinite(nextMaxOrbitalRadius) &&
-        nextMaxOrbitalRadius >= RERUN_MIN_ORBIT_DISTANCE
-      ) {
-        maxOrbitalRadius = nextMaxOrbitalRadius;
+export function readNativeRerunCameraEye(value: unknown): RecordedRerunCameraEye | null {
+  if (value == null) return null; // No 3D frame rendered yet.
+  if (typeof value !== "object") throw new Error("Invalid native Rerun camera snapshot");
+  const eye = value as Record<string, unknown>;
+  const vector = (key: string): [number, number, number] => {
+    const item = eye[key];
+    if (!Array.isArray(item) || item.length !== 3 ||
+        !item.every(component => typeof component === "number" && Number.isFinite(component))) {
+      throw new Error("Invalid native Rerun camera vector");
     }
-    },
-    dispose() {
-      canvas.removeEventListener("pointerdown", pointerDown, true);
-      scope.removeEventListener("pointermove", pointerMove, true);
-      scope.removeEventListener("pointerup", pointerEnd, true);
-      scope.removeEventListener("pointercancel", pointerEnd, true);
-      scope.removeEventListener("wheel", wheel, true);
-    },
+    return [item[0], item[1], item[2]];
   };
+  return { position: vector("position"), lookTarget: vector("lookTarget"), eyeUp: vector("eyeUp") };
 }

apps/control-station/src/components/rerun/recordedRerunFacade.ts

@@ -11,10 +11,7 @@ export type RecordedRerunViewer = Pick<WebViewer,
   "set_current_time" | "set_playing"
 > & {
   open_channel: (name?: string) => Channel;
-  configure_camera_journal: (eye: RecordedRerunCameraEye, spatialViewportStart: number) => void;
-  get_camera_eye: () => RecordedRerunCameraEye;
-  set_camera_viewport_start: (spatialViewportStart: number) => void;
-  set_camera_max_orbital_radius: (maxOrbitalRadius: number) => void;
+  get_camera_eye: () => RecordedRerunCameraEye | null;
 };
 
 /** Parent-owned values only. No SDK Promise or foreign prototype escapes. */
@@ -90,16 +87,7 @@ export function createRecordedRerunFacade(invoke: RerunInvoke | null) {
     set_active_timeline: (...args) => command("set_active_timeline", args),
     set_current_time: (...args) => command("set_current_time", args),
     set_playing: (...args) => command("set_playing", args),
-    configure_camera_journal: (eye, spatialViewportStart) => command(
-      "configure-camera-journal", [eye, spatialViewportStart],
-    ),
     get_camera_eye: () => command("get-camera-eye"),
-    set_camera_viewport_start: (spatialViewportStart) => command(
-      "set-camera-viewport-start", [spatialViewportStart],
-    ),
-    set_camera_max_orbital_radius: (maxOrbitalRadius) => command(
-      "set-camera-max-orbital-radius", [maxOrbitalRadius],
-    ),
   };
   return { facade, dispose, notify };
 }

apps/control-station/src/components/rerun/recordedRerunOwner.ts

@@ -1,6 +1,6 @@
 import type { WebViewer } from "@rerun-io/web-viewer";
 import type { RerunFrameApi, RerunNotify } from "./recordedRerunProtocol";
-import { createRecordedRerunCameraJournal } from "./recordedRerunCameraJournal";
+import { readNativeRerunCameraEye } from "./recordedRerunCameraJournal";
 
 /** Lives entirely inside the disposable iframe, including pending SDK starts. */
 export function createRecordedRerunOwner(create: () => WebViewer, mount: HTMLElement): RerunFrameApi {
@@ -8,7 +8,6 @@ export function createRecordedRerunOwner(create: () => WebViewer, mount: HTMLEle
   let notify: RerunNotify | null = null;
   const subscriptions = new Map<number, () => void>();
   const channels = new Map<number, ReturnType<WebViewer["open_channel"]>>();
-  let cameraJournal: ReturnType<typeof createRecordedRerunCameraJournal> | null = null;
   const send = (message: object) => notify?.(JSON.stringify(message));
   const stop = () => {
     notify = null;
@@ -20,8 +19,6 @@ export function createRecordedRerunOwner(create: () => WebViewer, mount: HTMLEle
       try { channel.close(); } catch { /* Other channels must still close. */ }
     }
     channels.clear();
-    cameraJournal?.dispose();
-    cameraJournal = null;
     const current = native;
     native = null;
     try { current?.stop(); } catch { /* Realm teardown remains authoritative. */ }
@@ -34,13 +31,6 @@ export function createRecordedRerunOwner(create: () => WebViewer, mount: HTMLEle
     const starting = required();
     try {
       await starting.start(args[0], mount, args[1]);
-      if (native === starting && starting.canvas) {
-        cameraJournal?.dispose();
-        cameraJournal = createRecordedRerunCameraJournal(
-          starting.canvas,
-          window as Window & typeof globalThis,
-        );
-      }
       if (native === starting) send({ type: "started", id });
     } catch (error) {
       if (native === starting) send({ type: "start-failed", id, message: String(error) });
@@ -87,10 +77,9 @@ export function createRecordedRerunOwner(create: () => WebViewer, mount: HTMLEle
               channels.delete(id);
             }
             break;
-          case "configure-camera-journal": cameraJournal?.configure(args[0], args[1]); break;
-          case "get-camera-eye": result = cameraJournal?.current(); break;
-          case "set-camera-viewport-start": cameraJournal?.setSpatialViewportStart(args[0]); break;
-          case "set-camera-max-orbital-radius": cameraJournal?.setMaxOrbitalRadius(args[0]); break;
+          case "get-camera-eye": result = readNativeRerunCameraEye(
+            (required() as WebViewer & { get_camera_eye?(): unknown }).get_camera_eye?.(),
+          ); break;
           case "open": required().open(args[0]); break;
           case "close": required().close(args[0]); break;
           case "override_panel_state": required().override_panel_state(args[0], args[1]); break;

apps/control-station/src/components/rerun/useRecordedPointDisplay.ts

@@ -0,0 +1,66 @@
+import {useEffect, useRef, useState} from 'react';
+import {pointDisplayKey, streamRecordedPointDisplay, type PointDisplaySettings} from '../../core/observation/recordedPointDisplay';
+import type {RecordedPointColorLoadState} from '../RerunViewport';
+
+type Owner = {send: (bytes: Uint8Array) => void; identity: {applicationId: string; recordingId: string}};
+
+export function useRecordedPointDisplay({endpoint, settings, revision, ready, getOwner, onLoad, sourceGeneration}: {
+  endpoint: string | null; settings: PointDisplaySettings | undefined; revision: number; ready: boolean;
+  getOwner: () => Owner | null; onLoad?: (state: RecordedPointColorLoadState) => void;
+  sourceGeneration?: string;
+}) {
+  const [applied, setApplied] = useState<{endpoint: string; revision: number; key: string; bank: string; sourceGeneration?: string} | null>(null);
+  const ownerRef = useRef(getOwner); ownerRef.current = getOwner;
+  const loadRef = useRef(onLoad); loadRef.current = onLoad;
+  const failed = useRef(false);
+  const [retry, setRetry] = useState(0);
+  const key = settings ? pointDisplayKey(settings) : '';
+  const percent = settings?.pointDecimationPercent ?? 0;
+  const sameSource = applied?.endpoint === endpoint && applied?.revision === revision && applied?.sourceGeneration === sourceGeneration;
+  const matched = sameSource && applied?.key === key;
+  useEffect(() => {
+    // A new settings interaction retries a failed request, but accumulation or
+    // size edits must not cancel an already-running preparation of the same key.
+    if (failed.current) { failed.current = false; setRetry(value => value + 1); }
+  }, [settings]);
+  useEffect(() => {
+    if (!endpoint || !settings || !ready) return;
+    if (percent === 0 || percent === 100) {
+      loadRef.current?.({phase: 'ready', receivedBytes: 0, totalBytes: 0,
+        progress: 1, message: percent === 100 ? 'Точки скрыты.' : 'Все точки.'});
+      return;
+    }
+    if (matched) {
+      loadRef.current?.({phase: 'ready', receivedBytes: 0, totalBytes: 0,
+        progress: 1, message: 'Прореженное облако готово.'});
+      return;
+    }
+    const owner = ownerRef.current();
+    if (!owner) return;
+    const abort = new AbortController();
+    failed.current = false;
+    // Never append another generation at the same temporal entity path: an
+    // accumulated range would otherwise draw older samples as well.
+    const bank = crypto.randomUUID().replaceAll('-', '');
+    loadRef.current?.({phase: 'loading', receivedBytes: 0, totalBytes: null, progress: null,
+      message: 'Готовим прореженное облако. Текущий вид сохранён.'});
+    void streamRecordedPointDisplay(endpoint, settings, owner.identity, bank, abort.signal, chunk => {
+      if (!abort.signal.aborted) owner.send(chunk);
+    }, undefined, sourceGeneration).then(bytes => {
+      if (abort.signal.aborted) return;
+      setApplied({endpoint, revision, key, bank, sourceGeneration});
+      loadRef.current?.({phase: 'ready', receivedBytes: bytes, totalBytes: bytes, progress: 1,
+        message: 'Прореженное облако готово.'});
+    }).catch(() => {
+      if (!abort.signal.aborted) {
+        failed.current = true;
+        loadRef.current?.({phase: 'error', receivedBytes: 0, totalBytes: null,
+          progress: null, message: 'Прореживание не применено. Предыдущий вид сохранён. Измените значение или закройте настройки для повтора.'});
+      }
+    });
+    return () => abort.abort();
+  }, [endpoint, key, revision, ready, retry, sourceGeneration]);
+  return {ready: !endpoint || percent === 0 || percent === 100 || matched,
+    bank: percent > 0 && percent < 100 && sameSource ? applied?.bank ?? null : null,
+    hidePoints: percent === 100};
+}

apps/control-station/src/components/rover/RoverTelemetry.tsx

@@ -0,0 +1,25 @@
+import type {RoverState} from '../../core/fleet/useRoverControl';
+import {drivePositions} from '../../../../../plugins/vesc/frontend/src/model';
+const number=(v:number|undefined,digits=1)=>typeof v==='number'&&Number.isFinite(v)?v.toLocaleString('ru-RU',{maximumFractionDigits:digits}):'—';
+export function RoverTelemetry({state}:{state:RoverState}){
+ const devices=state.snapshot.devices??[],profile=state.snapshot.profile;
+ const positions=drivePositions(profile?.layout??null);
+ const assigned=Object.entries(profile?.bindings??{}).map(([slot,binding])=>({
+  id:binding.device_id,uuid:binding.uuid,label:positions[slot]??slot,
+  reading:devices.find(d=>d.id===binding.device_id&&d.uuid===binding.uuid),
+ }));
+ const readings=[...assigned,...devices.filter(d=>!assigned.some(a=>a.id===d.id&&a.uuid===d.uuid)).map(d=>({...d,reading:d}))];
+ return <div className="rover-telemetry">
+  {!state.fresh?<p>Нет свежих показаний VESC.</p>:!readings.length?<p>Получение показаний VESC…</p>:readings.map(d=>{
+   const fresh=!!d.reading&&d.reading.age_ms<1000,v=fresh?d.reading?.values:undefined;
+   return <section key={d.uuid}><strong>{d.label}</strong><span>VESC {d.uuid.slice(0,6).toUpperCase()}{!d.reading?' · Нет связи':!fresh?' · Нет свежих данных':''}</span>
+    <dl><div><dt>Ток мотора</dt><dd>{number(v?.motor_current_a)} А</dd></div>
+     <div><dt>Ток батареи</dt><dd>{number(v?.input_current_a)} А</dd></div>
+     <div><dt>Напряжение</dt><dd>{number(v?.input_voltage_v)} В</dd></div>
+     <div><dt>Обороты, ERPM</dt><dd>{number(v?.erpm,0)}</dd></div>
+     <div><dt>Контроллер</dt><dd>{number(v?.mos_temperature_c)} °C</dd></div>
+     <div><dt>Ошибка VESC</dt><dd>{v?v.fault_code===0?'Нет':String(v.fault_code):'—'}</dd></div></dl>
+   </section>;
+  })}
+ </div>;
+}

apps/control-station/src/components/rover/RoverView.tsx

@@ -0,0 +1,71 @@
+import {lazy,Suspense,useCallback,useEffect,useRef,useState} from 'react';
+import {createPortal} from 'react-dom';
+import {Button,Icon,IconButton,KeyButton,LoadingRegion,Select,StatusBadge,Switch,TextField,ToastStack,Window} from '@nodedc/ui-react';
+import {keysFor,roverSettings,type RoverMode} from '../../core/fleet/roverInput';
+import {bindRoverHoldInput} from '../../core/fleet/roverHoldInput';
+import type {RoverController} from '../../core/fleet/useRoverControl';
+import type {ObservationHeaderTargets} from '../../../../../packages/sensor-ui/src/observation';
+import './rover.css';
+const Scene=lazy(()=>import('./editor/RoverScene'));
+const labels:Record<string,string>={observing:'Наблюдение',preparing:'Подготовка управления',ready:'Управление включено',driving:'Команда движения',receiver:'Управление с пульта',stopping:'Остановка',stopped:'Управление выключено',fault:'Управление остановлено'};
+
+export function RoverView({vehicleID,controller:c,header,active}:{vehicleID:string;controller:RoverController;header:ObservationHeaderTargets;active:boolean}){
+ const storage=`missioncore.rover-view.v1:${vehicleID}`;
+ const [settings,setSettings]=useState(()=>{try{return roverSettings(JSON.parse(localStorage.getItem(storage)??'null'));}catch{return roverSettings(null);}});
+ const [open,setOpen]=useState(false),[confirmed,setConfirmed]=useState(false),[held,setHeld]=useState<Set<string>>(new Set());
+ const [editing,setEditing]=useState(false);
+ const [modelState,setModelState]=useState<'loading'|'ready'|'error'>('loading');
+ const stage=useRef<HTMLDivElement>(null),input=useRef<ReturnType<typeof bindRoverHoldInput>|null>(null);
+ const stop=useCallback(()=>{input.current?.dispose();input.current=null;c.setInputGuard(null);setHeld(new Set());c.stop();setConfirmed(false);},[c.stop,c.setInputGuard]);
+ useEffect(()=>{try{localStorage.setItem(storage,JSON.stringify(settings));}catch{}},[storage,settings]);
+ useEffect(()=>{if(!active)stop();},[active,stop]);
+ useEffect(()=>{
+  if(!c.ready||!active||open||editing||!stage.current)return;
+  const binding=bindRoverHoldInput(stage.current,settings.mode,{held:setHeld,demand:c.setDemand,pause:c.pauseInput,stop});
+  input.current=binding;c.setInputGuard(binding.valid);
+  return()=>{c.setInputGuard(null);binding.dispose();if(input.current===binding)input.current=null;};
+ },[c.ready,active,open,editing,settings.mode,c.setDemand,c.setInputGuard,c.pauseInput,stop]);
+ const showSettings=()=>{setEditing(false);stop();setOpen(true);};
+ const preparing=c.pending||(c.armed&&!c.ready);
+ const availability=c.connecting?'Синхронизация с бортом':!c.state.fresh?'Нет свежих данных с борта':!c.state.snapshot.supported?'Управление на борту недоступно':c.state.controlling&&!c.armed?'Управление уже включено':!c.canArm&&!c.armed?'Завершение предыдущего управления':null;
+ const tone=preparing||availability?'warning':c.ready?'success':c.state.snapshot.state==='fault'?'warning':'neutral';
+ const status=preparing?'Подготовка управления':availability??(labels[c.state.snapshot.state??'']??'Наблюдение');
+ return <>
+  {createPortal(<><IconButton label={editing?"Завершить редактирование сцены":"Редактировать сцену"} aria-pressed={editing} onClick={()=>{c.pauseInput();setHeld(new Set());setEditing(v=>!v);}}><Icon name="edit"/></IconButton><IconButton label="Настройки управления ровером" onClick={showSettings}><Icon name="settings"/></IconButton></>,header.actionsTarget)}
+  {createPortal(<StatusBadge variant="indicator" tone={tone} aria-label={status} title={status}/>,header.statusTarget)}
+  <div className="rover-view" ref={stage} tabIndex={0} aria-label="3D-вид и управление ровером"
+   onBlur={e=>{if(c.armed&&!e.currentTarget.contains(e.relatedTarget as Node|null))c.pauseInput();}}>
+   {settings.model==='dcd006-v020'?<LoadingRegion className="rover-view__scene" loading={modelState==='loading'} label="Загрузка модели ровера">
+    <Suspense fallback={null}><Scene key={vehicleID} vehicleID={vehicleID} editing={editing&&active} onModelState={setModelState}/></Suspense>
+    {modelState==='error'&&<p className="rover-view__empty">Не удалось загрузить модель ровера.</p>}
+   </LoadingRegion>:<div className="rover-view__empty"><p>Выберите модель аппарата.</p><Button onClick={showSettings}>Настройки вида</Button></div>}
+   <div className="rover-view__status"><StatusBadge tone={editing?'neutral':tone}>{editing?'Редактирование сцены':status}</StatusBadge></div>
+   {c.ready&&!editing&&<div className="rover-view__controls">
+    <div className={`rover-keys rover-keys--${settings.mode}`} aria-label={settings.mode==='arcade'?'Аркадное управление':'Танковое управление'}>
+     {keysFor(settings.mode).map(code=><KeyButton key={code} className={`rover-key-${code}`} label={settings.mode==='arcade'?({KeyW:'Вперёд · W',KeyS:'Назад · S',KeyA:'Налево · A',KeyD:'Направо · D'}[code]??code):({KeyQ:'Левая сторона вперёд · Q',KeyA:'Левая сторона назад · A',KeyE:'Правая сторона вперёд · E',KeyD:'Правая сторона назад · D'}[code]??code)}
+      disabled={!c.ready||!active} pressed={held.has(code)}
+      onPointerDown={e=>{if(!c.ready||!e.isTrusted||e.button!==0)return;e.preventDefault();e.currentTarget.setPointerCapture(e.pointerId);stage.current?.focus();input.current?.pointerDown(e.pointerId,code);}}
+      onPointerUp={e=>input.current?.pointerUp(e.pointerId)}
+      onPointerCancel={e=>input.current?.pointerCancel(e.pointerId)}
+      onLostPointerCapture={e=>input.current?.pointerCancel(e.pointerId)}>{code.slice(3)}</KeyButton>)}
+    </div>
+    <span>{settings.mode==='arcade'?'Аркадный':'Танковый'} · пробел — стоп</span>
+   </div>}
+   {!editing&&<div className="rover-view__authority">
+    {c.armed||c.pending?<Button onClick={stop}>Остановить управление</Button>:<Button onClick={showSettings}>Управлять</Button>}
+   </div>}
+  </div>
+  <Window open={open} onClose={()=>setOpen(false)} title="Управление ровером" size="md"><div className="rover-settings">
+   <Select label="Тип управления" value={settings.mode} options={[{value:'arcade',label:'Аркадный · W A S D'},{value:'tank',label:'Танковый · Q A / E D'}]} onChange={mode=>setSettings(v=>({...v,mode:mode as RoverMode}))}/>
+   <Select label="3D-модель" value={settings.model} options={[{value:'',label:'Не выбрана'},{value:'dcd006-v020',label:'DCD-006 · полный ровер v020'}]} onChange={model=>setSettings(v=>({...v,model}))}/>
+   <TextField label="Предел тока каждого мотора, А" type="number" min={.5} max={30} step={.5} value={settings.currentA} onChange={e=>setSettings(v=>({...v,currentA:Number(e.target.value)}))}/>
+   <TextField label="Скорость, ERPM" hint="300–3000" description="Электрические обороты двигателя. Скорость по земле требует параметров трансмиссии." type="number" min={300} max={3000} step={100} value={settings.maxErpm} onChange={e=>setSettings(v=>({...v,maxErpm:Number(e.target.value)}))}/>
+   <Switch label="Моторы остановлены, движение можно начинать" checked={confirmed} onChange={setConfirmed}/>
+   {availability&&<StatusBadge tone="warning">{availability}</StatusBadge>}
+   <p>Движение — только при удержании клавиш или кнопок. При уходе из окна команда снимается. Команда с пульта прекращает удалённое управление.</p>
+   <Button variant="primary" tone="neutral" disabled={!confirmed||!c.canArm||!(settings.currentA>=.5&&settings.currentA<=30&&settings.maxErpm>=300&&settings.maxErpm<=3000)} loading={c.pending}
+    onClick={async()=>{const acquired=await c.arm(settings.currentA,settings.maxErpm);if(acquired){setOpen(false);if(document.hasFocus())stage.current?.focus();}}}>Включить управление</Button>
+  </div></Window>
+  <ToastStack onDismiss={c.clearError} items={c.error?[{id:'rover-control-error',tone:'error',title:'Управление остановлено',description:c.error}]:[]}/>
+ </>;
+}

apps/control-station/src/components/rover/editor/EnvironmentInspector.tsx

@@ -0,0 +1,23 @@
+import {LutField} from './LutField';
+import {useRef} from 'react';
+import {Button,ColorField,ControlRow,Inspector,InspectorSelectField,RangeControl,Switch,TextField} from '@nodedc/ui-react';
+import {environmentFields,fieldValue,fieldDisabled,type SceneDocument,type SceneField} from '../../../core/roverScene/sceneDocument';
+const labels:Record<string,string>={'Камера':'Камера',Lighting:'Освещение',Rendering:'Рендеринг',Grid:'Сетка',SSAO:'Контактное затенение · SSAO',Bloom:'Свечение · Bloom','Chromatic Aberration':'Хроматическая аберрация',TAA:'Временное сглаживание · TAA',Grading:'Цветокоррекция',LUT:'Цветовая таблица · LUT',Vignette:'Виньетка','Environment Atlas':'Карта окружения','Skybox':'Небо','Directional Light':'Направленный свет','Shadow Catcher':'Тень на поверхности'};
+export function EnvironmentInspector({document,onChange,onResetCamera,onError}:{document:SceneDocument;onChange:(key:string,value:unknown)=>void;onResetCamera:()=>void;onError:(error:string)=>void}){
+ const groups=[...new Set(environmentFields.map(f=>f.group))];
+ return <Inspector defaultOpen={['Камера','PostProcess/Lighting']} sections={groups.map(group=>({id:group,label:labels[group.split('/').at(-1)!]??group,content:<div className="rover-scene-fields">{environmentFields.filter(f=>f.group===group).map(f=><EnvironmentField key={f.key} field={f} value={fieldValue(document,f.key)} disabled={fieldDisabled(document,f)} onChange={v=>onChange(f.key,v)} onResetCamera={onResetCamera} onError={onError}/>)}</div>}))}/>;
+}
+function EnvironmentField({field:f,value,disabled,onChange,onResetCamera,onError}:{field:SceneField;value:unknown;disabled:boolean;onChange:(v:unknown)=>void;onResetCamera:()=>void;onError:(error:string)=>void}){
+ if(f.type==='texture')return <LutField value={value as string|null} onChange={onChange} onError={onError}/>;
+ if(f.type==='action')return <Button onClick={onResetCamera}>Сбросить камеру</Button>;
+ if(f.type==='toggle')return <Switch label={f.label} checked={!!value} disabled={disabled} onChange={onChange}/>;
+ if(f.type==='color')return <ControlRow label={f.label}><ColorField label={f.label} value={String(value)} disabled={disabled} onChange={onChange}/></ControlRow>;
+ if(f.type==='select')return <InspectorSelectField label={f.label} value={String(value)} options={f.options??[]} disabled={disabled} onChange={onChange}/>;
+ if(f.type==='doubleSlider'){const range=value as number[];return <>{['Начало тумана, м','Конец тумана, м'].map((label,i)=><RangeControl key={i} label={label} min={f.min??0} max={f.max??100} step={f.step??1} exactValueBounds={{min:f.min,max:f.max}} value={range[i]} disabled={disabled} onChange={v=>onChange(i?[range[0],v]:[v,range[1]])}/>)}</>;}
+ if(f.type==='number')return <TextField type="number" label={f.label} min={f.min} max={f.max} step={f.step??.01} value={Number(value)} disabled={disabled} onChange={e=>onChange(Number(e.target.value))}/>;
+ return <RangeControl label={f.label} value={Number(value)} min={f.min??0} max={f.max??100} step={f.step??.01} exactValueBounds={{min:f.min,max:f.max}} disabled={disabled} onChange={onChange}/>;
+}
+export function SceneFileActions({onImport,onExport,onReset}:{onImport:(file:File)=>void;onExport:()=>void;onReset:()=>void}){
+ const input=useRef<HTMLInputElement>(null);
+ return <div className="rover-scene-actions"><Button size="compact" onClick={onExport}>Экспорт JSON</Button><Button size="compact" onClick={()=>input.current?.click()}>Импорт JSON</Button><Button size="compact" onClick={onReset}>Окружение NodeDC</Button><input ref={input} hidden type="file" accept=".json,application/json" onChange={e=>{const f=e.currentTarget.files?.[0];if(f)onImport(f);e.currentTarget.value='';}}/></div>;
+}

apps/control-station/src/components/rover/editor/LutField.tsx

@@ -0,0 +1,7 @@
+import {useRef,useState} from 'react';
+import {Button,Icon,IconButton} from '@nodedc/ui-react';
+import {textureFromFile} from '../../../core/roverScene/sceneStorage';
+export function LutField({value,onChange,onError}:{value:string|null|undefined;onChange:(value:string|null)=>void;onError:(error:string)=>void}){
+ const input=useRef<HTMLInputElement>(null),[loading,setLoading]=useState(false);
+ return <div className="rover-scene-fields"><p className="rover-scene-note">PNG 256 × 16 · горизонтальная таблица 16³</p><div className="rover-scene-actions"><Button loading={loading} onClick={()=>input.current?.click()}>{value?'Заменить LUT':'Загрузить LUT'}</Button>{value&&<IconButton label="Удалить LUT" onClick={()=>onChange(null)}><Icon name="trash"/></IconButton>}</div><input hidden ref={input} type="file" accept="image/png" onChange={async e=>{const file=e.currentTarget.files?.[0];e.currentTarget.value='';if(!file)return;setLoading(true);try{const bitmap=await createImageBitmap(file);const valid=bitmap.width===256&&bitmap.height===16;bitmap.close();if(!valid||file.type!=='image/png')throw new Error('Нужна PNG-таблица LUT размером 256 × 16.');onChange((await textureFromFile(file)).data);}catch(error){onError(error instanceof Error?error.message:'Не удалось прочитать LUT.');}finally{setLoading(false);}}}/></div>;
+}

apps/control-station/src/components/rover/editor/MaterialInspector.tsx

@@ -0,0 +1,17 @@
+import {useRef,useState} from 'react';
+import {Button,ColorField,ControlRow,Icon,IconButton,Inspector,RangeControl,Switch,TextField} from '@nodedc/ui-react';
+import {textureSlots,type TextureSlot,type MaterialSpec} from '../../../core/roverScene/sceneDocument';
+import {textureFromFile} from '../../../core/roverScene/sceneStorage';
+const slotLabels:Record<TextureSlot,string>={diffuse:'Базовый цвет',normal:'Нормали',roughness:'Шероховатость',metalness:'Металличность',opacity:'Прозрачность',emissive:'Свечение',ao:'Окклюзия · AO'};
+export function MaterialInspector({material,onChange,onReset,onError}:{material:MaterialSpec;onChange:(patch:Partial<MaterialSpec>)=>void;onReset:()=>void;onError:(message:string)=>void}){
+ const range=(key:keyof MaterialSpec,label:string,max=1)=><RangeControl label={label} value={Number(material[key])} min={0} max={max} step={.01} exactValueBounds={{min:0,max}} onChange={v=>onChange({[key]:v})}/>;
+ return <><TextField label="Название материала" value={material.name} maxLength={120} onChange={e=>onChange({name:e.target.value})}/><p className="rover-scene-note">Изменения применяются ко всем деталям с этим материалом.</p><Inspector defaultOpen={['surface']} sections={[
+  {id:'surface',label:'Поверхность',content:<div className="rover-scene-fields"><ControlRow label="Базовый цвет"><ColorField label="Базовый цвет" value={material.color} onChange={color=>onChange({color})}/></ControlRow>{range('metalness','Металличность')}{range('roughness','Шероховатость')}{range('reflectivity','Отражение')}{range('opacity','Непрозрачность')}<Switch label="Двусторонняя поверхность" checked={material.doubleSided} onChange={doubleSided=>onChange({doubleSided})}/></div>},
+  {id:'coat',label:'Лак и свечение',content:<div className="rover-scene-fields">{range('clearCoat','Слой лака')}{range('clearCoatRoughness','Шероховатость лака')}<ControlRow label="Цвет свечения"><ColorField label="Цвет свечения" value={material.emissive} onChange={emissive=>onChange({emissive})}/></ControlRow>{range('emissiveIntensity','Сила свечения',10)}</div>},
+  {id:'textures',label:'Текстуры',description:'PNG / JPEG / WebP · до 4096 px',content:<div className="rover-scene-fields">{textureSlots.map(slot=><TextureField key={slot} slot={slot} value={material.textures[slot]} onChange={texture=>onChange({textures:{...material.textures,[slot]:texture}})} onError={onError}/>)}{range('normalStrength','Сила нормалей',2)}<RangeControl label="Повторение текстуры" min={.01} max={20} step={.01} exactValueBounds={{min:.01,max:20}} value={material.tiling} onChange={tiling=>onChange({tiling})}/></div>},
+ ]}/><Button onClick={onReset}>Исходный материал</Button></>;
+}
+function TextureField({slot,value,onChange,onError}:{slot:TextureSlot;value:MaterialSpec['textures'][TextureSlot];onChange:(value:MaterialSpec['textures'][TextureSlot])=>void;onError:(message:string)=>void}){
+ const input=useRef<HTMLInputElement>(null),[pending,setPending]=useState(false);
+ return <div className="rover-scene-texture"><ControlRow label={slotLabels[slot]} layout="stack"><div className="rover-scene-texture__row">{value&&<img src={value.data} alt=""/>}<Button size="compact" loading={pending} onClick={()=>input.current?.click()}>{value?.name??'Загрузить текстуру'}</Button>{value&&<IconButton label={`Удалить текстуру: ${slotLabels[slot]}`} onClick={()=>onChange(undefined)}><Icon name="trash"/></IconButton>}</div></ControlRow><input hidden ref={input} type="file" accept="image/png,image/jpeg,image/webp" onChange={async e=>{const file=e.currentTarget.files?.[0];e.currentTarget.value='';if(!file)return;setPending(true);try{onChange(await textureFromFile(file));}catch(error){onError(error instanceof Error?error.message:'Не удалось загрузить текстуру.');}finally{setPending(false);}}}/></div>;
+}

apps/control-station/src/components/rover/editor/RoverScene.tsx

@@ -0,0 +1,38 @@
+import {useCallback,useEffect,useState,type CSSProperties} from 'react';
+import {Button,GlassSurface,Icon,IconButton,LoadingRegion,StatusBadge,ToastStack,Window} from '@nodedc/ui-react';
+import {assignMaterial,createMaterial,changeField,defaultScene,textureBytes,type MaterialSpec} from '../../../core/roverScene/sceneDocument';
+import {useSceneDocument} from '../../../core/roverScene/useSceneDocument';
+import PlayCanvasViewer from '../playcanvas/PlayCanvasViewer';
+import {EnvironmentInspector,SceneFileActions} from './EnvironmentInspector';
+import {MaterialInspector} from './MaterialInspector';
+import './sceneEditor.css';
+export default function RoverScene({vehicleID,editing,onModelState}:{vehicleID:string;editing:boolean;onModelState:(state:'loading'|'ready'|'error')=>void}){
+ const scene=useSceneDocument(vehicleID),[palette,setPalette]=useState(false),[environment,setEnvironment]=useState(false),[selected,setSelected]=useState<string|null>(null),[materialOpen,setMaterialOpen]=useState(false),[cameraReset,setCameraReset]=useState(0),[textureState,setTextureState]=useState<'loading'|'ready'|'error'>('ready');
+ const [selectedGroup,setSelectedGroup]=useState<string|null>(null);
+ const pick=useCallback((id:string,group?:string)=>{setSelected(id);if(group)setSelectedGroup(group);setMaterialOpen(true);},[]);
+ const addMaterial=()=>{if(Object.keys(scene.document.materials).length>=128){scene.setError('В сцене может быть не больше 128 материалов.');return;}const id=`custom/${crypto.randomUUID()}`;scene.update(doc=>createMaterial(doc,id));pick(id);};
+ const patchMaterial=(id:string,patch:Partial<MaterialSpec>)=>{const next={...scene.document,materials:{...scene.document.materials,[id]:{...scene.document.materials[id],...patch}}};if(textureBytes(next)>28_000_000){scene.setError('Суммарный объём текстур превышает 20 МБ. Удалите ненужную текстуру.');return;}scene.update(doc=>({...doc,materials:{...doc.materials,[id]:{...doc.materials[id],...patch}}}));};
+ useEffect(()=>{if(textureState==='error')scene.setError('Не удалось применить текстуру к сцене. Проверьте файл и загрузите его заново.');},[textureState,scene.setError]);
+ const saved=scene.saveState==='saved',status=textureState==='loading'?'Загрузка текстур':scene.saveState==='loading'?'Загрузка настроек сцены':scene.saveState==='saving'?'Сохранение сцены':scene.saveState==='error'?'Изменения не сохранены':'Сохранено на этом компьютере';
+ const material=selected?scene.document.materials[selected]:null;
+ return <>
+  <LoadingRegion className="rover-view__scene" style={{bottom:editing&&palette?150:0}} loading={!scene.ready} label="Загрузка настроек сцены">
+   {scene.ready&&<PlayCanvasViewer modelUrl="/rover-scene/dcd006-v020.glb?materials-v2" postFx={scene.document.postFx} cameraAutoRotate={scene.document.cameraAutoRotate} cameraZoomStrength={scene.document.cameraZoomStrength} cameraResetToken={cameraReset} materials={scene.document.materials} assignments={scene.document.assignments} editing={editing} onMaterialPick={pick} onModelState={onModelState} onTextureState={setTextureState}/>}
+  </LoadingRegion>
+  {editing&&<>
+   <div className="rover-scene-tools"><GlassSurface className="rover-scene-tools__surface"><IconButton label="Материалы сцены" aria-pressed={palette} onClick={()=>setPalette(v=>!v)}><Icon name="layers"/></IconButton><IconButton label="Окружение сцены" aria-pressed={environment} onClick={()=>setEnvironment(v=>!v)}><Icon name="globe"/></IconButton></GlassSurface></div>
+   <div className="rover-scene-save"><StatusBadge tone={saved&&textureState!=='loading'?'neutral':'warning'}>{status}</StatusBadge></div>
+   {palette&&<GlassSurface className="rover-material-palette"><div className="rover-material-palette__header"><span>Материалы · выберите в палитре или на модели</span><IconButton label="Скрыть палитру материалов" onClick={()=>setPalette(false)}><Icon name="close"/></IconButton></div><div className="rover-material-palette__items">{Object.entries(scene.document.materials).map(([id,m])=><Button key={id} variant={selected===id?'primary':'secondary'} tone="neutral" aria-pressed={selected===id} title={m.name} onClick={()=>pick(id)}><span className="rover-material-tile"><span aria-hidden="true" className="rover-material-swatch" style={{'--material-color':m.color,'--material-gloss':1-m.roughness} as CSSProperties}/><span>{m.name}</span></span></Button>)}<Button aria-label="Добавить материал" title="Добавить материал" onClick={addMaterial}><span className="rover-material-tile"><Icon name="plus"/><span>Новый материал</span></span></Button></div></GlassSurface>}
+  </>}
+  <Window open={editing&&environment} title="Окружение сцены" placement="end" draggable onClose={()=>setEnvironment(false)} footer={<SceneFileActions onImport={scene.importDocument} onExport={scene.exportDocument} onReset={()=>scene.update(doc=>({...doc,postFx:defaultScene().postFx}))}/>}>
+   <EnvironmentInspector onError={scene.setError} document={scene.document} onChange={(key,value)=>scene.update(doc=>changeField(doc,key,value))} onResetCamera={()=>setCameraReset(v=>v+1)}/>
+  </Window>
+  <Window open={editing&&materialOpen&&!!material} title={material?.name||'Материал'} subtitle="Материал сцены" placement="end" draggable style={{position:'fixed',left:'var(--nodedc-space-4)',top:'6rem',right:'auto'}} onClose={()=>setMaterialOpen(false)}>
+   {material&&selected&&<>
+    {selectedGroup?<div className="rover-scene-fields"><p className="rover-scene-note">Выбранная группа: {defaultScene().materials[selectedGroup]?.name}</p><Button disabled={(scene.document.assignments[selectedGroup]??selectedGroup)===selected} onClick={()=>scene.update(doc=>assignMaterial(doc,selectedGroup,selected))}>Назначить выбранной группе</Button></div>:<p className="rover-scene-note">Нажмите на деталь в сцене, затем выберите материал в палитре, чтобы назначить его группе.</p>}
+    <MaterialInspector key={selected} material={material} onChange={patch=>patchMaterial(selected,patch)} onReset={()=>{const base=defaultScene().materials[selected]??createMaterial(defaultScene(),selected).materials[selected];if(base)patchMaterial(selected,{...base,name:material.name});}} onError={scene.setError}/>
+   </>}
+  </Window>
+  <ToastStack items={scene.error?[{id:'rover-scene-error',tone:'error',title:'Настройки сцены',description:scene.error}]:[]} onDismiss={()=>scene.setError('')}/>
+ </>;
+}

apps/control-station/src/components/rover/editor/sceneEditor.css

@@ -0,0 +1,17 @@
+.rover-scene-tools {position:absolute;right:var(--nodedc-space-3);top:calc(var(--observation-overlay-header-space, 0px) + var(--nodedc-space-3));}
+.rover-scene-tools__surface,.rover-scene-actions {display:flex;align-items:center;gap:var(--nodedc-space-2);flex-wrap:wrap;}
+.rover-scene-tools__surface {padding:var(--nodedc-space-1);}
+.rover-scene-save {position:absolute;left:var(--nodedc-space-3);top:calc(var(--observation-overlay-header-space, 0px) + 3rem);pointer-events:none;}
+.rover-material-palette {position:absolute;bottom:var(--nodedc-space-3);left:var(--nodedc-space-3);right:var(--nodedc-space-3);padding:var(--nodedc-space-2);}
+.rover-material-palette__header {display:flex;align-items:center;justify-content:space-between;gap:var(--nodedc-space-2);font-size:var(--nodedc-font-size-xs);color:var(--nodedc-text-secondary);}
+.rover-material-palette__items {display:flex;gap:var(--nodedc-space-2);overflow:auto;}
+.rover-material-palette__items > * {flex:0 0 auto;}
+.rover-material-tile {display:grid;justify-items:center;gap:var(--nodedc-space-1);width:100px;white-space:normal;font-size:var(--nodedc-font-size-xs);}
+/* Domain material thumbnail: a swatch, not a replacement control. */
+.rover-material-swatch {display:block;width:38px;height:38px;border-radius:50%;background:radial-gradient(ellipse at 35% 25%,#ffffffb0,transparent 45%),radial-gradient(ellipse at 60% 75%,transparent,var(--material-color) 70%),var(--material-color);box-shadow:inset -5px -5px 12px #0008;}
+.rover-scene-fields {display:flex;flex-direction:column;gap:var(--nodedc-space-3);}
+.rover-scene-note {font-size:var(--nodedc-font-size-sm);color:var(--nodedc-text-secondary);}
+.rover-scene-texture__row {display:flex;gap:var(--nodedc-space-2);align-items:center;min-width:0;}
+.rover-scene-texture__row img {width:36px;height:36px;object-fit:cover;}
+.rover-scene-texture__row .nodedc-button {min-width:0;overflow:hidden;}
+@container(max-width:460px){.rover-scene-save{top:calc(var(--observation-overlay-header-space, 0px) + 4.5rem)}.rover-material-tile{width:82px}.rover-material-palette__header>span{max-width:210px}}

apps/control-station/src/components/rover/playcanvas/PROVENANCE.json

@@ -0,0 +1,23 @@
+{
+  "source": "NodeDC ThreeDAssetNode / PlayCanvasViewer",
+  "files": {
+    "PlayCanvasViewer.tsx": "34cd6df2e47a7714288aeb5afb2859b1058eb91dc1819abbf296c6a8937a1533",
+    "playcanvasPostFx.ts": "91cfb7f8ba821fef14681c6c25a61f430ce25aae65b0f181d359f38e37ccd014",
+    "sceneTree.ts": "eead378c2402f69e2c68cd1fc2a5ec9028555dced53858c600c599f613dda516",
+    "environment-map.png": "793f72dce207c1a4d2bdb262610f688bd655a79066298b672b642f228cf7d230"
+  },
+  "adaptations": [
+    "Domain asset URL and error/loading callbacks",
+    "No fallback to a different vehicle",
+    "Removed unused node-editor type helper; rendering settings unchanged",
+    "Observe the host pane on resize; preserve responsive canvas CSS sizing",
+    "Frame the complete rover using the donor 28-degree FOV and current viewport aspect",
+    "Scene editing uses canonical modeless Design Guideline inspectors; all 109 donor camera/post-FX fields retained as a versioned field catalog",
+    "Original NodeDC environment preset restored by owner request; editor reset changes environment only",
+    "Semantic material groups, UV texture editing, GPU surface picking and bounded texture disposal",
+    "Live grid step/diameter and ambient fill added; wireframe application and LUT loading corrected",
+    "Responsive scene framing and palette space without drive authority"
+  ],
+  "inspector_source_sha256": "8f1df16bd8c12fb1b8481480690ff4ed0e6b2645cb3fba527888c0f9acb59192",
+  "model_revision": "dcd006-v020-materials-v2"
+}

apps/control-station/src/components/rover/playcanvas/playcanvasPostFx.ts

@@ -0,0 +1,2 @@
+// Shared serializable contract; donor defaults remain available.
+export * from '../../../core/roverScene/postFx';

apps/control-station/src/components/rover/playcanvas/sceneTree.ts

@@ -0,0 +1,20 @@
+import type * as pc from 'playcanvas'
+
+export type SceneTreeNode = {
+  id: string
+  name: string
+  enabled: boolean
+  children: SceneTreeNode[]
+}
+
+export function buildSceneTree(root: pc.GraphNode, map: Map<string, pc.Entity>): SceneTreeNode {
+  const id = String((root as any).getGuid?.() ?? (root as any)._guid ?? root.name)
+  const children = (root.children || []).map((c) => buildSceneTree(c, map))
+  map.set(id, root as pc.Entity)
+  return {
+    id,
+    name: root.name || 'Entity',
+    enabled: root.enabled !== false,
+    children,
+  }
+}

apps/control-station/src/components/rover/playcanvas/useLutTexture.ts

@@ -0,0 +1,17 @@
+import {useEffect,type RefObject} from 'react';
+import * as pc from 'playcanvas';
+export function useLutTexture(appRef:RefObject<pc.Application|null>,frameRef:RefObject<any>,textureRef:RefObject<pc.Texture|null>,url:string|null|undefined,ready:boolean,onError?:()=>void){
+ useEffect(()=>{
+  const app=appRef.current;let cancelled=false;
+  const clear=()=>{if(frameRef.current?.colorLUT){frameRef.current.colorLUT.texture=null;frameRef.current.update?.();}textureRef.current?.destroy();textureRef.current=null;};
+  clear();if(!app||!ready||!url)return;
+  const img=new Image();img.onload=()=>{
+   if(cancelled)return;
+   if(img.width!==256||img.height!==16){onError?.();return;}
+   const texture=new pc.Texture(app.graphicsDevice,{name:'Rover color LUT',format:pc.PIXELFORMAT_SRGBA8,mipmaps:false,minFilter:pc.FILTER_LINEAR,magFilter:pc.FILTER_LINEAR,addressU:pc.ADDRESS_CLAMP_TO_EDGE,addressV:pc.ADDRESS_CLAMP_TO_EDGE});
+   texture.setSource(img);textureRef.current=texture;
+   if(frameRef.current?.colorLUT){frameRef.current.colorLUT.texture=texture;frameRef.current.update?.();}
+  };img.onerror=()=>{if(!cancelled)onError?.();};img.src=url;
+  return()=>{cancelled=true;clear();};
+ },[appRef,frameRef,textureRef,url,ready,onError]);
+}

apps/control-station/src/components/rover/playcanvas/useSceneMaterials.ts

@@ -0,0 +1,83 @@
+import {useEffect,useRef,type RefObject} from 'react';
+import * as pc from 'playcanvas';
+import type {MaterialSpec,TextureSlot} from '../../../core/roverScene/sceneDocument';
+export type SceneMaterialsProps={materials?:Record<string,MaterialSpec>;assignments?:Record<string,string>;editing?:boolean;onMaterialPick?:(id:string,group:string)=>void;onTextureState?:(state:'loading'|'ready'|'error')=>void};
+const maps:Record<TextureSlot,string>={diffuse:'diffuseMap',normal:'normalMap',metalness:'metalnessMap',roughness:'glossMap',opacity:'opacityMap',emissive:'emissiveMap',ao:'aoMap'};
+export function useSceneMaterials(appRef:RefObject<pc.Application|null>,cameraRef:RefObject<pc.Entity|null>,canvasRef:RefObject<HTMLCanvasElement|null>,modelVersion:number,{materials,assignments,editing,onMaterialPick,onTextureState}:SceneMaterialsProps){
+ const latest=useRef({materials,onMaterialPick,onTextureState});latest.current={materials,onMaterialPick,onTextureState};
+ const textures=useRef(new Map<string,{texture?:pc.Texture;promise:Promise<pc.Texture>}>());
+ const generation=useRef(0);
+ const originalGroups=useRef(new WeakMap<pc.MeshInstance,{id:string;material:pc.StandardMaterial}>());
+ const customMaterials=useRef(new Map<string,pc.StandardMaterial>());
+ useEffect(()=>{
+  const app=appRef.current;if(!app||!modelVersion||!materials)return;
+  const current=++generation.current;let pending=0,failed=false;
+  const map=new Map<string,pc.StandardMaterial>();
+  for(const component of (app.root.findByName('ModelRoot') as pc.Entity|null)?.findComponents('render')??[])for(const mi of (component as pc.RenderComponent).meshInstances){
+   if(!(mi.material instanceof pc.StandardMaterial))continue;
+   if(!originalGroups.current.has(mi))originalGroups.current.set(mi,{id:mi.material.name,material:mi.material});
+   const source=originalGroups.current.get(mi)!;map.set(source.id,source.material);
+  }
+  for(const id of Object.keys(materials))if(id.startsWith('custom/')){
+   if(!customMaterials.current.has(id)){const m=new pc.StandardMaterial();m.name=id;customMaterials.current.set(id,m);}
+   map.set(id,customMaterials.current.get(id)!);
+  }
+  for(const component of (app.root.findByName('ModelRoot') as pc.Entity|null)?.findComponents('render')??[])for(const mi of (component as pc.RenderComponent).meshInstances){
+   const source=originalGroups.current.get(mi);if(source)mi.material=map.get(assignments?.[source.id]??source.id)??source.material;
+  }
+  for(const [id,m] of customMaterials.current)if(!Object.hasOwn(materials,id)){m.destroy();customMaterials.current.delete(id);}
+  const applyTexture=(m:pc.StandardMaterial,slot:TextureSlot,texture:pc.Texture|null,spec:MaterialSpec)=>{
+   (m as any)[maps[slot]]=texture;
+   const prefix=maps[slot];(m as any)[prefix+'Tiling']=new pc.Vec2(spec.tiling,spec.tiling);
+   if(['metalness','roughness','opacity','ao'].includes(slot))(m as any)[prefix+'Channel']='r';
+   m.update();
+  };
+  const used=new Set<string>();
+  for(const [id,spec] of Object.entries(materials)){
+   const m=map.get(id);if(!m)continue;
+   m.diffuse.fromString(spec.color);m.useMetalness=true;m.metalness=spec.metalness;
+   m.glossInvert=true;m.gloss=spec.roughness;m.opacity=spec.opacity;
+   // Specular factor is independent from the donor's global IBL multiplier.
+   m.specularityFactor=spec.reflectivity;m.clearCoat=spec.clearCoat;
+   m.clearCoatGlossInvert=true;m.clearCoatGloss=spec.clearCoatRoughness;
+   m.emissive.fromString(spec.emissive);m.emissiveIntensity=spec.emissiveIntensity;
+   m.bumpiness=spec.normalStrength;m.cull=spec.doubleSided?pc.CULLFACE_NONE:pc.CULLFACE_BACK;
+   m.blendType=spec.opacity<1||spec.textures.opacity?pc.BLEND_NORMAL:pc.BLEND_NONE;
+   m.depthWrite=m.blendType===pc.BLEND_NONE;
+   for(const slot of Object.keys(maps) as TextureSlot[]){
+    const data=spec.textures[slot]?.data;if(!data){applyTexture(m,slot,null,spec);continue;}
+    const srgb=slot==='diffuse'||slot==='emissive';const key=`${srgb}:${data}`;used.add(key);
+    let item=textures.current.get(key);
+    if(!item){
+     const promise=new Promise<pc.Texture>((resolve,reject)=>{const img=new Image();img.onload=()=>{if(generation.current<0){reject(new Error('Scene disposed'));return;}const tex=new pc.Texture(app.graphicsDevice,{name:spec.textures[slot]?.name,format:srgb?pc.PIXELFORMAT_SRGBA8:pc.PIXELFORMAT_RGBA8,mipmaps:true,addressU:pc.ADDRESS_REPEAT,addressV:pc.ADDRESS_REPEAT});tex.setSource(img);resolve(tex);};img.onerror=()=>reject(new Error('Texture decode failed'));img.src=data;});
+     item={promise};textures.current.set(key,item);const cached=item;
+     promise.then(tex=>{cached.texture=tex;if(textures.current.get(key)!==cached){tex.destroy();}}).catch(()=>{if(textures.current.get(key)===cached)textures.current.delete(key);});
+    }
+    if(item.texture)applyTexture(m,slot,item.texture,spec);
+    else{
+     pending++;item.promise.then(tex=>{if(generation.current===current)applyTexture(m,slot,tex,spec);}).catch(()=>{failed=true;}).finally(()=>{pending--;if(generation.current===current&&!pending)latest.current.onTextureState?.(failed?'error':'ready');});
+    }
+   }
+   m.update();
+  }
+  for(const [key,item] of textures.current)if(!used.has(key)){item.texture?.destroy();textures.current.delete(key);}
+  onTextureState?.(pending?'loading':'ready');
+  return()=>{generation.current++;};
+ },[materials,assignments,modelVersion,appRef,onTextureState]);
+ useEffect(()=>()=>{generation.current=-1;for(const item of textures.current.values())item.texture?.destroy();textures.current.clear();for(const m of customMaterials.current.values())m.destroy();customMaterials.current.clear();},[]);
+ useEffect(()=>{
+  const app=appRef.current,canvas=canvasRef.current,camera=cameraRef.current;
+  if(!editing||!app||!canvas||!camera?.camera||!modelVersion)return;
+  const picker=new pc.Picker(app,1,1);let start:{x:number;y:number}|null=null;
+  const down=(e:PointerEvent)=>{start=e.button===0?{x:e.clientX,y:e.clientY}:null;};
+  const up=(e:PointerEvent)=>{
+   const p=start;start=null;if(!p||Math.hypot(p.x-e.clientX,p.y-e.clientY)>4)return;
+   const rect=canvas.getBoundingClientRect();picker.resize(Math.max(1,Math.floor(rect.width)),Math.max(1,Math.floor(rect.height)));
+   picker.prepare(camera.camera!,app.scene);
+   const hit=picker.getSelection(e.clientX-rect.left,e.clientY-rect.top).find(mi=>!!latest.current.materials?.[mi.material.name]);
+   if(hit instanceof pc.MeshInstance){const source=originalGroups.current.get(hit);if(source)latest.current.onMaterialPick?.(hit.material.name,source.id);}
+  };
+  canvas.addEventListener('pointerdown',down);canvas.addEventListener('pointerup',up);
+  return()=>{canvas.removeEventListener('pointerdown',down);canvas.removeEventListener('pointerup',up);picker.destroy();};
+ },[editing,modelVersion,appRef,cameraRef,canvasRef]);
+}

apps/control-station/src/components/rover/rover.css

@@ -0,0 +1,20 @@
+.rover-view { position:relative; height:100%; min-height:200px; overflow:hidden; container-type:inline-size; }
+.rover-view:focus-visible { outline:2px solid var(--nodedc-text-secondary); outline-offset:-2px; }
+.rover-view .rover-view__scene { position:absolute; inset:0; }
+.rover-view__empty { display:grid; place-content:center; height:100%; text-align:center; font-size:var(--nodedc-font-size-sm); color:var(--nodedc-text-muted); }
+.rover-view__status { position:absolute; top:calc(var(--observation-overlay-header-space, 0px) + var(--nodedc-space-3)); left:var(--nodedc-space-3); }
+.rover-view__controls { position:absolute; right:var(--nodedc-space-3); bottom:var(--nodedc-space-3); display:flex; flex-direction:column; gap:var(--nodedc-space-2); align-items:center; }
+.rover-view__controls > span { font-size:var(--nodedc-font-size-xs); color:var(--nodedc-text-secondary); }
+.rover-keys { display:grid; gap:var(--nodedc-space-1); grid-template-columns:repeat(3,46px); }
+.rover-key-KeyW { grid-column:2; }.rover-key-KeyA { grid-column:1; grid-row:2; }.rover-key-KeyS { grid-column:2; grid-row:2; }.rover-key-KeyD { grid-column:3; grid-row:2; }
+.rover-key-KeyQ { grid-column:1; }.rover-key-KeyE { grid-column:3; }
+.rover-view__authority { position:absolute; left:var(--nodedc-space-3); bottom:var(--nodedc-space-3); }
+@container (max-width: 380px) {
+ .rover-view:has(.rover-view__controls) .rover-view__authority { top:calc(var(--observation-overlay-header-space, 0px) + 48px); bottom:auto; }
+}
+.rover-settings { display:flex; flex-direction:column; gap:var(--nodedc-space-3); }
+.rover-settings p { font-size:var(--nodedc-font-size-sm); color:var(--nodedc-text-secondary); }
+.rover-telemetry { height:100%; overflow:auto; padding:var(--nodedc-space-3); display:flex; flex-wrap:wrap; align-content:start; gap:var(--nodedc-space-4); font-size:var(--nodedc-font-size-sm); }
+.rover-telemetry section { flex:1; min-width:170px; }.rover-telemetry section > span { display:block; color:var(--nodedc-text-muted); font-size:var(--nodedc-font-size-xs); margin-top:var(--nodedc-space-1); }
+.rover-telemetry dl { display:grid; gap:var(--nodedc-space-1); margin-bottom:0; }.rover-telemetry dl > div { display:flex; justify-content:space-between; gap:var(--nodedc-space-3); }
+.rover-telemetry dt { color:var(--nodedc-text-secondary); }.rover-telemetry dd { margin:0; font-variant-numeric:tabular-nums; }

apps/control-station/src/components/simulation/AiCompositionFields.tsx

@@ -0,0 +1,26 @@
+import { FieldFrame, Select } from "@nodedc/ui-react";
+import type { AiModules, AiSelection } from "../../core/simulation/aiPolygon";
+
+const labels = { segmentation: "Поверхность", detection: "Объекты", geometry: "Рельеф",
+  range: "Расстояния", motion: "Навигация", policy: "Поведение" };
+
+export function AiCompositionFields({ modules, selection, disabled, onChange }: {
+  modules: AiModules; selection: AiSelection; disabled: boolean; onChange: (value: AiSelection) => void;
+}) {
+  return <section className="ai-polygon__section" aria-label="Композиция AI">
+    <h3>Модули AI</h3>
+    {modules.catalog.groups.filter(({ modules: options }) => options.length > 0).map(({ group, modules: options }) =>
+      <FieldFrame key={group} label={labels[group]}>
+        <Select label={`Модуль: ${labels[group]}`} disabled={disabled}
+          value={selection.selections.find((row) => row.group === group)?.module_id ?? ""}
+          options={options.map((module) => ({ value: module.moduleId, label: module.label }))}
+          onChange={(value) => {
+            const module = options.find((item) => item.moduleId === value);
+            if (!module) return;
+            onChange({ ...selection, selections: [...selection.selections.filter((row) => row.group !== group), {
+              group, module_id: module.moduleId, module_sha256: module.moduleSha256, parameters: module.defaults,
+            }] });
+          }} />
+      </FieldFrame>)}
+  </section>;
+}

apps/control-station/src/components/simulation/AiRunActions.tsx

@@ -0,0 +1,28 @@
+import { useState } from "react";
+import { Button, Icon, ToastStack } from "@nodedc/ui-react";
+import { controlAiRun, type AiRun } from "../../core/simulation/aiPolygon";
+
+export function AiRunActions({ run, onChange }: { run: AiRun; onChange: (run: AiRun) => void }) {
+  const [busy, setBusy] = useState<string | null>(null);
+  const [error, setError] = useState<string | null>(null);
+  const terminal = ["completed", "stopped", "failed"].includes(run.state);
+  const pending = !terminal && (run.control_sequence ?? 0) > (run.telemetry?.control_sequence ?? 0);
+  const command = (value: "pause" | "play" | "stop") => {
+    setBusy(value); setError(null);
+    void controlAiRun(run, value).then(onChange).catch((caught: Error) => setError(caught.message))
+      .finally(() => setBusy(null));
+  };
+  return <>
+      {!terminal ? <>
+        <Button disabled={!!busy || pending || ["starting", "stopping", "disconnected"].includes(run.state)}
+          variant={run.state === "ready" ? "primary" : "secondary"}
+          loading={busy === "pause" || busy === "play"}
+          onClick={() => command(run.state === "running" ? "pause" : "play")}>
+          {run.state === "starting" ? "Подготовка…" : run.state === "ready" ? "Запустить AI" : run.state === "running" ? "Пауза" : "Продолжить"}
+        </Button>
+        <Button disabled={!!busy || run.state === "stopping"} loading={busy === "stop" || run.state === "stopping"}
+          icon={<Icon name="stop" />} onClick={() => command("stop")}>Завершить симуляцию</Button>
+      </> : null}
+    {error ? <ToastStack items={[{ id: "error", tone: "error", title: "Команда не выполнена", description: error }]} onDismiss={() => setError(null)} /> : null}
+  </>;
+}

apps/control-station/src/components/simulation/AiRunView.tsx

@@ -0,0 +1,52 @@
+import type { ReactNode } from "react";
+import { StatusBadge } from "@nodedc/ui-react";
+import { type AiRun } from "../../core/simulation/aiPolygon";
+
+const STATES: Record<AiRun["state"], string> = {
+  starting: "Подготовка симуляции", ready: "Сцена открыта · AI выключен",
+  running: "AI управляет ровером", paused: "Пауза · движение остановлено",
+  stopping: "Завершаем симуляцию и inference…", completed: "Симуляция завершена",
+  stopped: "Симуляция и inference остановлены", failed: "Симуляция прервана",
+  disconnected: "Нет связи с Worker · состояние уточняется",
+};
+const REASONS: Record<string, string> = {
+  road: "Движение по тропе", obstacle: "Остановка перед препятствием", "no-road": "Путь не найден",
+  uncertain: "Недостаточно уверенности", "inference-error": "Inference недоступен",
+  replanning: "Ищем другой проезд", stuck: "Ровер застрял · прогон остановлен",
+  "goal-reached": "Цель достигнута", unstable: "Остановка: опасный наклон",
+  waiting: "Ожидаем возможность движения",
+};
+export function AiRunView({ run, connection }: { run: AiRun; connection: ReactNode }) {
+  const terminal = ["completed", "stopped", "failed"].includes(run.state);
+  const telemetry = run.telemetry;
+  const pending = !terminal && (run.control_sequence ?? 0) > (telemetry?.control_sequence ?? 0);
+  const preparingModels = run.state === "running" && run.phase === "models";
+  const reason = telemetry?.stop_reason === "unstable" ? "Остановка: опасный наклон"
+    : telemetry?.stop_reason === "stale-camera" || telemetry?.stop_reason === "stale-command"
+    ? "Остановка: решение AI устарело" : telemetry?.stop_reason === "inference-error"
+      ? "Остановка: inference недоступен" : telemetry?.decision?.reason === "road" && Math.abs(telemetry.speed_mps) < 0.01
+        ? "Ровер не движется" : REASONS[telemetry?.decision?.reason ?? ""];
+  return <section className="ai-polygon__run" aria-label="Управление симуляцией">
+    <div className="ai-polygon__telemetry-row">
+    <div className="ai-polygon__facts">
+      {run.state !== "ready" && run.state !== "running" || preparingModels || pending ? <StatusBadge tone={run.state === "failed" || run.state === "disconnected" ? "warning" : "neutral"}>
+        {preparingModels ? "Загружаем AI-модели" : pending && run.state !== "stopping" ? "Worker выполняет команду…" : STATES[run.state]}
+      </StatusBadge> : null}
+    {telemetry && !terminal && run.state !== "stopping" && run.state !== "disconnected" ? <div className="ai-polygon__facts">
+      {run.state === "running" && !preparingModels && reason ? <strong>{reason}</strong> : null}
+      <span>Скорость: {Math.abs(telemetry.speed_mps).toFixed(2)} м/с</span>
+      <span>Время мира: {(telemetry.simulation_time_ns / 1e9).toFixed(1)} с</span>
+      {run.state === "running" ? <>
+        <span>Симуляция: {telemetry.rtf.toFixed(2)}×</span>
+        <span>Камера: {telemetry.sensor_fps.toFixed(1)} FPS</span>
+        <span>AI: {telemetry.ai_hz.toFixed(1)} решений/с</span>
+        {telemetry.inference_ms !== null ? <span>Inference: {telemetry.inference_ms.toFixed(0)} мс</span> : null}
+        {telemetry.frame_age_ms !== null ? <span>Возраст кадра: {telemetry.frame_age_ms.toFixed(0)} мс</span> : null}
+      </> : null}
+    </div> : null}
+    </div>
+    {connection}
+    </div>
+    {run.state === "failed" && run.message ? <p>{run.message}</p> : null}
+  </section>;
+}

apps/control-station/src/components/simulation/AiWorldImport.tsx

@@ -0,0 +1,47 @@
+import { useEffect, useRef, useState } from "react";
+import { Button, Icon, ProgressBar, TextField, ToastStack, Window } from "@nodedc/ui-react";
+import { importAiWorld, type AiSource, type AiWorld } from "../../core/simulation/aiPolygon";
+
+export function AiWorldImport({ source, resume, onClose, onImported }: {
+  source: AiSource | null; resume?: AiWorld; onClose: () => void; onImported: (world: AiWorld) => void;
+}) {
+  const [draft, setDraft] = useState<AiSource>(source ?? {
+    name: "", author: "", license: "", source_url: "",
+  });
+  const [file, setFile] = useState<File | null>(null);
+  const [pending, setPending] = useState<AiWorld | undefined>(resume);
+  const [progress, setProgress] = useState(0);
+  const [busy, setBusy] = useState(false);
+  const [error, setError] = useState<string | null>(null);
+  const picker = useRef<HTMLInputElement>(null);
+  const controller = useRef<AbortController | null>(null);
+  useEffect(() => () => controller.current?.abort(), []);
+  const submit = async () => {
+    if (!file || busy) return;
+    setBusy(true); setError(null);
+    const abort = new AbortController(); controller.current = abort;
+    try { onImported(await importAiWorld(file, draft, setProgress, abort.signal, pending, setPending)); }
+    catch (caught) { if (!abort.signal.aborted) setError(caught instanceof Error ? caught.message : "Импорт не завершён."); }
+    finally { if (!abort.signal.aborted) setBusy(false); }
+  };
+  return <Window open onClose={onClose} title={resume ? "Продолжить импорт" : "Импорт локации"}
+    footer={<Button variant="primary" loading={busy} disabled={!file || !draft.name.trim() || !draft.author.trim() || !draft.license.trim()}
+      onClick={() => void submit()}>Импортировать</Button>}>
+    <div className="ai-polygon__form">
+      <TextField label="Название" value={draft.name} disabled={busy || !!resume}
+        onChange={(e) => setDraft({ ...draft, name: e.target.value })} />
+      <TextField label="Автор" value={draft.author} disabled={busy || !!resume}
+        onChange={(e) => setDraft({ ...draft, author: e.target.value })} />
+      <TextField label="Лицензия" value={draft.license} disabled={busy || !!resume}
+        onChange={(e) => setDraft({ ...draft, license: e.target.value })} />
+      <TextField label="Страница источника" value={draft.source_url ?? ""} disabled={busy || !!resume}
+        onChange={(e) => setDraft({ ...draft, source_url: e.target.value })} />
+      <input ref={picker} type="file" accept=".ply" hidden onChange={(e) => setFile(e.target.files?.[0] ?? null)} />
+      <Button disabled={busy} icon={<Icon name="upload" />} onClick={() => picker.current?.click()}>
+        {file?.name ?? "Выбрать Gaussian PLY"}
+      </Button>
+      {busy ? <ProgressBar value={progress} label={`Передано ${Math.round(progress * 100)}%`} /> : null}
+      {error ? <ToastStack items={[{ id: "error", tone: "error", title: "Импорт не завершён", description: error }]} onDismiss={() => setError(null)} /> : null}
+    </div>
+  </Window>;
+}

apps/control-station/src/components/simulation/AiWorldSetup.tsx

@@ -0,0 +1,43 @@
+import { useState } from "react";
+import { Button, TextField, TextAreaField, ToastStack } from "@nodedc/ui-react";
+import { configureAiWorld, type AiWorld, type AiWorldSettings } from "../../core/simulation/aiPolygon";
+
+export function AiWorldSetup({ world, disabled, onSaved }: {
+  world: AiWorld; disabled: boolean; onSaved: (world: AiWorld) => void;
+}) {
+  const [draft, setDraft] = useState<AiWorldSettings>(world.settings);
+  const [route, setRoute] = useState((world.settings.route_xy ?? []).map((p) => p.join(" ")).join("\n"));
+  const [busy, setBusy] = useState(false);
+  const [error, setError] = useState<string | null>(null);
+  const field = (label: string, value: number, change: (value: number) => void) =>
+    <TextField label={label} type="number" step="any" value={Number.isFinite(value) ? value : ""}
+      disabled={disabled || busy} onChange={(e) => change(e.target.value === "" ? NaN : Number(e.target.value))} />;
+  return <div className="ai-polygon__setup">
+    {field("Метров на единицу сцены", draft.meters_per_unit, (v) => setDraft({ ...draft, meters_per_unit: v }))}
+    {([0, 1, 2] as const).map((axis) => <div key={axis}>
+      {field(`Поворот ${["X", "Y", "Z"][axis]}, °`, draft.rotation_degrees[axis], (v) => {
+        const rotation = [...draft.rotation_degrees] as [number, number, number]; rotation[axis] = v;
+        setDraft({ ...draft, rotation_degrees: rotation });
+      })}
+    </div>)}
+    {field("Уровень грунта Z, м", draft.ground_z, (v) => setDraft({ ...draft, ground_z: v }))}
+    {field("Старт X, м", draft.spawn_xy[0], (v) => setDraft({ ...draft, spawn_xy: [v, draft.spawn_xy[1]] }))}
+    {field("Старт Y, м", draft.spawn_xy[1], (v) => setDraft({ ...draft, spawn_xy: [draft.spawn_xy[0], v] }))}
+    {field("Направление, °", draft.heading_degrees, (v) => setDraft({ ...draft, heading_degrees: v }))}
+    {field("Высота камеры, м", draft.camera_height_m, (v) => setDraft({ ...draft, camera_height_m: v }))}
+    {field("Скорость до, м/с", draft.max_speed_mps, (v) => setDraft({ ...draft, max_speed_mps: v }))}
+    <TextAreaField label="Точки маршрута, X Y в метрах" rows={3} value={route}
+      hint="Каждая точка — с новой строки. Пустое поле: движение по видимой тропе."
+      disabled={disabled || busy} onChange={(e) => setRoute(e.target.value)} />
+    <Button disabled={disabled} loading={busy} onClick={() => {
+      const points = route.trim() ? route.trim().split(/\n+/).map((line) => line.trim().split(/\s+/).map(Number)) : [];
+      if (points.length > 32 || points.some((p) => p.length !== 2 || p.some((v) => !Number.isFinite(v)))) {
+        setError("Укажите не более 32 точек: два числа X Y в каждой строке."); return;
+      }
+      setBusy(true); setError(null);
+      void configureAiWorld(world, { ...draft, route_xy: points as [number, number][], prepared: true }).then(onSaved)
+        .catch((caught: Error) => setError(caught.message)).finally(() => setBusy(false));
+    }}>Сохранить старт и масштаб</Button>
+    {error ? <ToastStack items={[{ id: "error", tone: "error", title: "Настройки не сохранены", description: error }]} onDismiss={() => setError(null)} /> : null}
+  </div>;
+}

apps/control-station/src/components/simulation/AiWorldStream.tsx

@@ -0,0 +1,133 @@
+import { useEffect, useId, useRef, useState, type ReactNode } from "react";
+import { createPortal } from "react-dom";
+import { Button, Icon, IconButton, LoadingRegion, SegmentedControl, StatusBadge } from "@nodedc/ui-react";
+import { setAiCamera, type AiCamera, type AiRun, type AiWorld } from "../../core/simulation/aiPolygon";
+import { useSimulationFullscreen } from "./useSimulationFullscreen";
+
+// NVIDIA has process-global browser listeners. Serialize replacement/cleanup,
+// including React StrictMode, without letting an old viewer terminate a new one.
+let streamLifecycle: Promise<unknown> = Promise.resolve();
+
+/** Decode the actual Worker stream. This component never loads a world or creates a 3D engine. */
+export function AiWorldStream({ world, run, onBack, onChange, controls, headerActions, actionsHost }: {
+  world: AiWorld; run?: AiRun | null; onBack: () => void; onChange: (run: AiRun) => void; controls?: ReactNode;
+  headerActions?: ReactNode; actionsHost?: HTMLElement | null;
+}) {
+  const frame = useRef<HTMLDivElement>(null);
+  const video = useRef<HTMLVideoElement>(null);
+  const id = useId().replaceAll(":", "");
+  const { expanded, toggle } = useSimulationFullscreen(frame);
+  const [state, setState] = useState<"connecting" | "live" | "failed" | "stalled">("connecting");
+  const [fps, setFps] = useState<number | null>(null);
+  const [revision, setRevision] = useState(0);
+  const [cameraError, setCameraError] = useState(false);
+  const endpoint = run?.worker?.stream;
+  const terminal = !run || ["completed", "stopped", "failed"].includes(run.state);
+  const connectable = !terminal && !!run?.telemetry?.stream_ready && !!endpoint;
+  const endpointKey = JSON.stringify(endpoint);
+  useEffect(() => {
+    if (!connectable || !endpoint || !video.current) return;
+    let disposed = false;
+    let stream: import("@nvidia/ov-web-rtc").AppStreamer | undefined;
+    let settle!: () => void;
+    const settled = new Promise<void>((resolve) => { settle = resolve; });
+    let callback = 0;
+    let lastFrame = performance.now();
+    let frames = 0;
+    let measuredAt = performance.now();
+    let connected = false;
+    setState("connecting"); setFps(null);
+    const element = video.current;
+    const received = () => {
+      if (disposed) return;
+      lastFrame = performance.now(); frames += 1; connected = true; setState("live");
+      callback = element.requestVideoFrameCallback(received);
+    };
+    callback = element.requestVideoFrameCallback(received);
+    const timer = setInterval(() => {
+      const now = performance.now();
+      setFps(frames * 1000 / (now - measuredAt));
+      frames = 0; measuredAt = now;
+      if (connected && now - lastFrame > 3000) setState("stalled");
+    }, 1000);
+    const setup = streamLifecycle.catch(() => undefined).then(async () => {
+      const sdk = await import("@nvidia/ov-web-rtc");
+      if (disposed) { settle(); return; }
+      stream = new sdk.AppStreamer();
+      await stream.connect({ streamSource: sdk.StreamType.DIRECT, logLevel: sdk.LogLevel.WARN,
+        streamConfig: { signalingServer: endpoint.server, signalingPort: endpoint.signaling_port,
+          signalingPath: "/", mediaServer: endpoint.server, mediaPort: endpoint.media_port,
+          width: endpoint.width, height: endpoint.height, fps: endpoint.fps,
+          videoElementId: `polygon-video-${id}`, audioElementId: `polygon-audio-${id}`,
+          autoLaunch: true, mic: false, enableAV1Support: false, fitStreamResolution: false,
+          maxReconnects: 1, reconnectDelay: 2000, connectivityTimeout: 5000,
+          onStart: (event) => {
+            if (event.status === sdk.EventStatus.SUCCESS || event.status === sdk.EventStatus.ERROR
+              || event.status === sdk.EventStatus.CANCELED) settle();
+            if (!disposed && event.status === sdk.EventStatus.ERROR) setState("failed");
+          },
+          onStop: () => { settle(); if (!disposed) setState("stalled"); },
+        } });
+      if (stream.streamStatus !== sdk.StreamStatus.STARTING) settle();
+    }).catch(() => { settle(); if (!disposed) setState("failed"); });
+    streamLifecycle = setup;
+    return () => {
+      disposed = true; clearInterval(timer); element.cancelVideoFrameCallback(callback);
+      // connect() resolves with IN_PROGRESS; terminate() during STARTING does
+      // not dispose the SDK. Await its final callback before admitting a new owner.
+      streamLifecycle = setup.then(async () => {
+        await settled;
+        await stream?.terminate(false);
+      }).catch(() => undefined);
+    };
+  // A telemetry refresh must never reconnect or reload the stream.
+  }, [connectable, endpointKey, run?.run_id, id, revision]);
+  const mode = run?.camera ?? "follow";
+  const changeCamera = (camera: AiCamera) => {
+    if (!run) return;
+    setCameraError(false);
+    void setAiCamera(run, camera).then(onChange).catch(() => setCameraError(true));
+  };
+  return <div ref={frame} className="ai-polygon__stage">
+    {!expanded && actionsHost ? createPortal(headerActions, actionsHost) : null}
+    {expanded ? <div className="ai-polygon__head">
+      <div className="ai-polygon__title">
+      <IconButton label="Назад к локациям" onClick={onBack}><Icon name="chevron-left" /></IconButton>
+      <h2>{world.name}</h2>
+      </div>
+      <div className="ai-polygon__actions">{headerActions}</div>
+    </div> : null}
+    {controls ? <div className="ai-polygon__viewer-controls">{controls}</div> : null}
+    <div className="ai-polygon__viewer">
+      <div className="ai-polygon__viewer-toolbar">
+        <SegmentedControl<AiCamera> label="Вид симуляции" size="dense" value={mode} onChange={changeCamera}
+          items={[{ value: "follow", label: "За ровером", disabled: terminal },
+            { value: "overview", label: "Обзор", disabled: terminal }, { value: "camera", label: "Камера AI", disabled: terminal }]} />
+        <div className="ai-polygon__actions">
+          {connectable ? <StatusBadge tone={state === "live" ? "success" : "warning"}>
+            {state === "live" ? `Видео · ${fps?.toFixed(0) ?? "—"} FPS` : "Ожидаем видео"}
+          </StatusBadge> : null}
+          <IconButton label={expanded ? "Свернуть симуляцию" : "Развернуть симуляцию"} onClick={toggle}>
+            <Icon name={expanded ? "minimize" : "expand"} />
+          </IconButton>
+        </div>
+      </div>
+      {cameraError ? <p role="alert">Не удалось переключить камеру.</p> : null}
+      <div className="ai-polygon__viewport">
+        <LoadingRegion loading={!terminal && (!connectable || state === "connecting")}
+          label={run?.state === "disconnected" ? "Восстанавливаем связь с Worker" : !connectable ? "Подготавливаем сцену на Worker" : "Подключаем видео"}>
+          <div className="ai-polygon__video" inert>
+            <video ref={video} id={`polygon-video-${id}`} autoPlay muted playsInline tabIndex={-1}
+              aria-label={`Видео симуляции ${world.name} с Worker`} />
+            <audio id={`polygon-audio-${id}`} muted />
+          </div>
+        </LoadingRegion>
+        {terminal ? <div className="ai-polygon__preview-error"><p>{run?.state === "failed" ? run.message ?? "Симуляция прервана." : "Симуляция завершена."}</p></div>
+          : connectable && (state === "failed" || state === "stalled") ? <div className="ai-polygon__preview-error" role="status">
+            <p>Видеопоток прерван. Состояние симуляции показано выше.</p>
+            <Button onClick={() => setRevision((value) => value + 1)}>Подключить видео</Button>
+          </div> : null}
+      </div>
+    </div>
+  </div>;
+}

apps/control-station/src/components/simulation/useSimulationFullscreen.ts

@@ -0,0 +1,26 @@
+import { useEffect, useState, type RefObject } from "react";
+
+export function useSimulationFullscreen(view: RefObject<HTMLDivElement | null>) {
+  const [expanded, setExpanded] = useState(false);
+  useEffect(() => {
+    const sync = () => setExpanded(!!view.current && document.fullscreenElement === view.current);
+    const escape = (event: KeyboardEvent) => {
+      if (event.key !== "Escape" || !view.current || document.fullscreenElement !== view.current) return;
+      event.preventDefault();
+      event.stopPropagation();
+      void document.exitFullscreen().catch(() => undefined);
+    };
+    document.addEventListener("fullscreenchange", sync);
+    document.addEventListener("keydown", escape, true);
+    return () => {
+      document.removeEventListener("fullscreenchange", sync);
+      document.removeEventListener("keydown", escape, true);
+    };
+  }, [view]);
+  const toggle = () => {
+    if (!view.current) return;
+    void (document.fullscreenElement === view.current
+      ? document.exitFullscreen() : view.current?.requestFullscreen())?.catch(() => undefined);
+  };
+  return { expanded, toggle };
+}

apps/control-station/src/components/system/SystemNavigationPanel.tsx

@@ -9,12 +9,14 @@ import { useComputeContours } from "../../core/system/ComputeContourContext";
 interface SystemNavigationPanelProps {
   title: string;
   onAdd: () => void;
+  onNavigateRoot: () => void;
   onClose: () => void;
 }
 
 export function SystemNavigationPanel({
   title,
   onAdd,
+  onNavigateRoot,
   onClose,
 }: SystemNavigationPanelProps) {
   const { contours, selectedContour, selectContour } = useComputeContours();
@@ -40,7 +42,7 @@ export function SystemNavigationPanel({
         description: contour.expected_node_id,
         icon: <Icon name="apps" />,
         active: selectedContour?.contour_id === contour.contour_id,
-        onSelect: () => selectContour(contour.contour_id),
+        onSelect: () => { selectContour(contour.contour_id); onNavigateRoot(); },
       }))}
       items={[]}
       onItemChange={() => undefined}

apps/control-station/src/components/useApplicationPanelActions.ts

@@ -5,7 +5,6 @@ import type { WorkspaceDefinition } from "../productModel";
 
 interface ApplicationPanelActionsOptions {
   definition: WorkspaceDefinition | null;
-  onAddVehicle?: () => void;
   refreshRuntime: () => void;
   resetConnectionScenario?: () => Promise<boolean>;
   connectionScenarioResetting: boolean;
@@ -45,7 +44,6 @@ export function deviceRuntimeUtilityAction({
 
 export function useApplicationPanelActions({
   definition,
-  onAddVehicle,
   refreshRuntime,
   resetConnectionScenario,
   connectionScenarioResetting,
@@ -56,7 +54,6 @@ export function useApplicationPanelActions({
 }: ApplicationPanelActionsOptions): ApplicationPanelUtilityAction[] {
   return useMemo(() => {
     const actions: ApplicationPanelUtilityAction[] = [];
-    if (definition?.kind === "vehicles" && onAddVehicle) actions.push({ label: "Добавить аппарат", icon: "plus", onClick: onAddVehicle });
     if (definition?.kind === "device") {
       actions.push(deviceRuntimeUtilityAction({
         refreshRuntime,
@@ -81,7 +78,6 @@ export function useApplicationPanelActions({
     return actions;
   }, [
     definition,
-    onAddVehicle,
     refreshRuntime,
     resetConnectionScenario,
     connectionScenarioResetting,

apps/control-station/src/composition/devicePlugins.ts

@@ -1,3 +1,4 @@
+import {vescSensorUi} from '../../../../plugins/vesc/frontend/src/plugin';
 import type { DeviceUiPlugin } from "../core/device-plugins/contracts";
 import { xgridsK1Plugin } from "@xgrids-k1/frontend/plugin";
 import {insta360X4SensorUi} from '../../../../plugins/insta360-x4/frontend/src/plugin';
@@ -10,4 +11,4 @@ export const installedDevicePlugins: readonly DeviceUiPlugin[] = Object.freeze([
 
 // Node-executed camera controls use the existing sensor contribution contract;
 // they do not register a desktop capture/AI runtime or a new product workspace.
-export const installedNodeSensorContributions = Object.freeze([insta360X4SensorUi]);
+export const installedNodeSensorContributions = Object.freeze([insta360X4SensorUi,vescSensorUi]);

apps/control-station/src/core/environment/environmentSettings.ts

@@ -43,7 +43,7 @@ const defaultQuickActions: Record<
   missions: ["routes", null],
   data: ["recordings", "datasets"],
   system: ["modules", "integrations"],
-  polygon: ["lab-archive", "local-device"],
+  polygon: ["observatory", "local-device"],
 };
 
 export function defaultEnvironmentSettings(): EnvironmentSettings {
@@ -140,6 +140,10 @@ function decodeBackground(value: unknown, path: string): EnvironmentBackground {
   };
 }
 
+function currentQuickAction(value: string | null): string | null {
+  return value === "lab-archive" ? "observatory" : value;
+}
+
 function decodePage(value: unknown, path: string): EnvironmentPage {
   const record = requireRecord(value, path);
   return {
@@ -147,16 +151,16 @@ function decodePage(value: unknown, path: string): EnvironmentPage {
     eyebrow: requireString(record.eyebrow, `${path}.eyebrow`)!,
     title: requireString(record.title, `${path}.title`)!,
     description: requireString(record.description, `${path}.description`)!,
-    primaryWorkspaceId: requireString(
+    primaryWorkspaceId: currentQuickAction(requireString(
       record.primary_workspace_id,
       `${path}.primary_workspace_id`,
       true,
-    ),
-    secondaryWorkspaceId: requireString(
+    )),
+    secondaryWorkspaceId: currentQuickAction(requireString(
       record.secondary_workspace_id,
       `${path}.secondary_workspace_id`,
       true,
-    ),
+    )),
     background: decodeBackground(record.background, `${path}.background`),
   };
 }

apps/control-station/src/core/fleet/boardLayout.ts

@@ -0,0 +1,13 @@
+import {createBoardLayoutStore,type BoardLayoutStore} from '../../../../../packages/sensor-ui/src/boardLayout';
+import {fleetRequest} from './useFleet';
+
+const layouts=new Map<string,BoardLayoutStore>();
+export function boardLayout(vehicleID:string):BoardLayoutStore {
+ let layout=layouts.get(vehicleID);
+ if(!layout){
+  const path=`/${encodeURIComponent(vehicleID)}/board-layout`;
+  layout=createBoardLayoutStore({read:()=>fleetRequest(path),patch:(section,open)=>fleetRequest(path,'PATCH',{section,open})});
+  layouts.set(vehicleID,layout);
+ }
+ return layout;
+}

apps/control-station/src/core/fleet/observationLayout.ts

@@ -1,12 +1,13 @@
 export interface ObservationLayout {
  version:1; order:string[]; hidden:string[]; layers:Record<string,string>;
- splits:Record<string,number>; arrangement:'auto'|'columns'|'rows';
+ catalogVisible?:string[]; splits:Record<string,number>; arrangement:'auto'|'columns'|'rows';
 }
 export const emptyObservationLayout=():ObservationLayout=>({version:1,order:[],hidden:[],layers:{},splits:{},arrangement:'auto'});
 const record=(value:unknown):Record<string,unknown>=>value!==null&&typeof value==='object'&&!Array.isArray(value)?value as Record<string,unknown>:{};
 export function decodeObservationLayout(value:unknown):ObservationLayout {
  const source=record(value),result=emptyObservationLayout();if(source.version!==1)return result;
  const ids=(value:unknown)=>Array.isArray(value)?[...new Set(value.filter((v):v is string=>typeof v==='string'&&v.length<512))].slice(0,128):[];
+ if(source.catalogVisible!==undefined)result.catalogVisible=ids(source.catalogVisible);
  result.order=ids(source.order);result.hidden=ids(source.hidden);
  result.layers=Object.fromEntries(Object.entries(record(source.layers)).filter(([k,v])=>k.length<512&&typeof v==='string'&&v.length<128).slice(0,128)) as Record<string,string>;
  result.splits=Object.fromEntries(Object.entries(record(source.splits)).filter(([k,v])=>k.length<4096&&typeof v==='number'&&Number.isFinite(v)).slice(0,256).map(([k,v])=>[k,Math.min(80,Math.max(20,v as number))]));

apps/control-station/src/core/fleet/roverHoldInput.ts

@@ -0,0 +1,66 @@
+import {keyDemand,keysFor,type Demand,type RoverMode} from './roverInput';
+
+// The network heartbeat is not evidence that a physical key is still held.
+// Allow the initial OS repeat delay, then require continuing keyboard evidence.
+export const firstKeyLeaseMs=1000,repeatKeyLeaseMs=300;
+export function bindRoverHoldInput(scope:HTMLElement,mode:RoverMode,callbacks:{
+ held:(keys:Set<string>)=>void;demand:(value:Demand)=>void;pause:()=>void;stop:()=>void;
+},now:()=>number=()=>performance.now()){
+ const doc=scope.ownerDocument,win=doc.defaultView!;
+ const keyboard=new Set<string>(),pointers=new Map<number,string>();
+ let deadline=0,closed=false,suspended=false;
+ const clear=()=>{keyboard.clear();pointers.clear();deadline=0;callbacks.held(new Set());};
+ const pause=()=>{if(closed||suspended)return;suspended=true;clear();callbacks.pause();};
+ const stop=()=>{if(closed)return;closed=true;clear();callbacks.stop();};
+ const focused=()=>!doc.hidden&&doc.hasFocus()&&scope.contains(doc.activeElement);
+ const valid=()=>{
+  if(closed)return false;
+  if(!focused()||(keyboard.size>0&&now()>=deadline)){pause();return false;}
+  return true;
+ };
+ const publish=()=>{const held=new Set([...keyboard,...pointers.values()]);callbacks.held(held);callbacks.demand(keyDemand(mode,held));};
+ const down=(e:KeyboardEvent)=>{
+  if(!e.isTrusted||closed)return;
+  if(e.code==='Space'||e.code==='Escape'){e.preventDefault();stop();return;}
+  if(e.altKey||e.ctrlKey||e.metaKey){pause();return;}
+  if(!keysFor(mode).includes(e.code)||!valid())return;
+  if((e.target as HTMLElement)?.closest('input,textarea,select,[role=dialog],[role=listbox]')){pause();return;}
+  // A repeat delivered after focus returns cannot become a fresh press.
+  if(e.repeat&&!keyboard.has(e.code))return;
+  e.preventDefault();suspended=false;keyboard.add(e.code);
+  deadline=now()+(e.repeat?repeatKeyLeaseMs:firstKeyLeaseMs);publish();
+ };
+ const up=(e:KeyboardEvent)=>{
+  if(!e.isTrusted||closed||!keyboard.delete(e.code))return;
+  e.preventDefault();if(!keyboard.size)deadline=0;publish();
+ };
+ const blur=(e:Event)=>{if(e.target===win)pause();};
+ const focusOut=(e:FocusEvent)=>{if(scope.contains(e.target as Node)&&!scope.contains(e.relatedTarget as Node|null))pause();};
+ const focusIn=()=>{if(!focused())pause();};
+ const hidden=()=>{if(doc.hidden)pause();};
+ const outside=(e:Event)=>{if(!scope.contains(e.target as Node))pause();};
+ const pointerUp=(e:PointerEvent)=>{if(!closed&&pointers.delete(e.pointerId))publish();};
+ const pointerCancel=(e:PointerEvent)=>{if(pointers.has(e.pointerId))pause();};
+ win.addEventListener('keydown',down,true);win.addEventListener('keyup',up,true);
+ win.addEventListener('blur',blur,true);win.addEventListener('pagehide',stop);
+ doc.addEventListener('focusout',focusOut,true);doc.addEventListener('focusin',focusIn,true);
+ doc.addEventListener('visibilitychange',hidden);doc.addEventListener('pointerdown',outside,true);
+ doc.addEventListener('pointerup',pointerUp,true);doc.addEventListener('pointercancel',pointerCancel,true);
+ doc.addEventListener('contextmenu',pause,true);
+ const timer=win.setInterval(valid,50);
+ return {
+  valid,
+  pointerDown(id:number,code:string){if(valid()){suspended=false;pointers.set(id,code);publish();}},
+  pointerUp(id:number){if(!closed&&pointers.delete(id))publish();},
+  pointerCancel(id:number){if(pointers.has(id))pause();},
+  dispose(){
+   closed=true;clear();callbacks.demand({left:0,right:0});win.clearInterval(timer);
+   win.removeEventListener('keydown',down,true);win.removeEventListener('keyup',up,true);
+   win.removeEventListener('blur',blur,true);win.removeEventListener('pagehide',stop);
+   doc.removeEventListener('focusout',focusOut,true);doc.removeEventListener('focusin',focusIn,true);
+   doc.removeEventListener('visibilitychange',hidden);doc.removeEventListener('pointerdown',outside,true);
+   doc.removeEventListener('pointerup',pointerUp,true);doc.removeEventListener('pointercancel',pointerCancel,true);
+   doc.removeEventListener('contextmenu',pause,true);
+  },
+ };
+}

apps/control-station/src/core/fleet/roverInput.ts

@@ -0,0 +1,20 @@
+export type RoverMode='arcade'|'tank';
+export type Demand={left:number;right:number};
+export const keysFor=(mode:RoverMode)=>mode==='arcade'?['KeyW','KeyA','KeyS','KeyD']:['KeyQ','KeyE','KeyA','KeyD'];
+export function keyDemand(mode:RoverMode,held:ReadonlySet<string>):Demand {
+ const axis=(positive:string,negative:string)=>Number(held.has(positive))-Number(held.has(negative));
+ if(mode==='tank')return {left:axis('KeyQ','KeyA'),right:axis('KeyE','KeyD')};
+ const forward=axis('KeyW','KeyS'),turn=axis('KeyD','KeyA');
+ const scale=Math.max(1,Math.abs(forward)+Math.abs(turn));
+ return {left:(forward+turn)/scale,right:(forward-turn)/scale};
+}
+export const defaultRoverSettings={version:1,mode:'arcade' as RoverMode,currentA:30,maxErpm:2000,model:''};
+export function roverSettings(value:unknown):typeof defaultRoverSettings {
+ const v=value as Partial<typeof defaultRoverSettings>|null;
+ return {...defaultRoverSettings,...(v?.version===1?{
+  mode:v.mode==='tank'?'tank':'arcade',
+  currentA:typeof v.currentA==='number'&&Number.isFinite(v.currentA)?Math.max(.5,Math.min(30,v.currentA)):30,
+  maxErpm:typeof v.maxErpm==='number'&&Number.isFinite(v.maxErpm)?Math.max(300,Math.min(3000,v.maxErpm)):2000,
+  model:v.model==='dcd006-v020'?v.model:'',
+ }:{} )};
+}

apps/control-station/src/core/fleet/sensorTransport.ts

@@ -9,6 +9,7 @@ export function createFleetSensorTransport(vehicleID:string):SensorTransport {
   return {...value.sensor_state,fresh:value.connectivity==='online'&&value.enrollment==='paired'};
  };
  return {
+  configurationArchive:{list:(device,before)=>fleetRequest(`${path}/${encodeURIComponent(device)}/configurations${before?'?before='+encodeURIComponent(before):''}`),read:(device,version)=>fleetRequest(`${path}/${encodeURIComponent(device)}/configurations/${encodeURIComponent(version)}`)},
   enrollment:{state:()=>fleetRequest(`${path}/enrollment`),submit:value=>fleetRequest(`${path}/enrollment/operations`,'POST',value),operation:id=>fleetRequest(`${path}/enrollment/operations/${encodeURIComponent(id)}`)},
   inventory:async()=>inventory(await fleetRequest()),
   subscribe:(receive,unavailable)=>{const events=new EventSource('/api/v1/fleet/events');events.onmessage=e=>{try{receive(inventory(JSON.parse(e.data)));}catch{unavailable();}};events.onerror=unavailable;return()=>events.close();},

apps/control-station/src/core/fleet/useFleet.ts

@@ -57,5 +57,8 @@ export function useFleet() {
     events.onerror = unavailable;
     return () => { active = false; events.close(); if (fallback) clearInterval(fallback); };
   }, []);
-  return { items, error, refresh };
+  const acceptVehicle = useCallback((vehicle: Vehicle) => {
+    setItems(current => current?.map(item => item.id === vehicle.id ? vehicle : item) ?? null);
+  }, []);
+  return { items, error, refresh, acceptVehicle };
 }

apps/control-station/src/core/fleet/useRoverControl.ts

@@ -0,0 +1,79 @@
+import {useCallback,useEffect,useRef,useState} from 'react';
+import type {Demand} from './roverInput';
+
+export interface RoverReading {
+ id:string;uuid:string;slot:string|null;label:string;age_ms:number;
+ values:{motor_current_a:number;input_current_a:number;input_voltage_v:number;erpm:number;duty:number;mos_temperature_c:number;fault_code:number};
+}
+export interface RoverState {
+ fresh:boolean;controlling:boolean;
+ snapshot:{supported?:boolean;instance?:string;state?:string;session_id?:string|null;message?:string|null;devices?:RoverReading[];
+  profile?:{layout:null|'1x1'|'2x2';bindings:Record<string,{device_id:string;uuid:string}>}};
+}
+const empty:RoverState={fresh:false,controlling:false,snapshot:{}};
+async function request<T>(url:string,body?:unknown,keepalive=false):Promise<T>{
+ const response=await fetch(url,{method:body?'POST':'GET',headers:body?{'Content-Type':'application/json'}:undefined,
+  body:body?JSON.stringify(body):undefined,cache:'no-store',signal:AbortSignal.timeout(body?350:1000),keepalive});
+ const result=await response.json();
+ if(!response.ok)throw new Error(typeof result.detail==='string'?result.detail:'Канал управления недоступен.');
+ return result;
+}
+export function useRoverControl(vehicleID:string,visible:boolean){
+ const url=`/api/v1/fleet/${encodeURIComponent(vehicleID)}/rover`;
+ const [state,setState]=useState<RoverState>(empty),[armed,setArmed]=useState(false),[pending,setPending]=useState(false),[error,setError]=useState<string|null>(null);
+ const [connecting,setConnecting]=useState(true),armPending=useRef(false);
+ const session=useRef<string|null>(null),seq=useRef(0),demand=useRef<Demand>({left:0,right:0}),sending=useRef(false),generation=useRef(0);
+ const inputGuard=useRef<(()=>boolean)|null>(null);
+ const setInputGuard=useCallback((guard:(()=>boolean)|null)=>{inputGuard.current=guard;},[]);
+ const stop=useCallback(()=>{
+  generation.current++;armPending.current=false;const id=session.current;session.current=null;demand.current={left:0,right:0};setArmed(false);setPending(false);
+  if(id)void request(url+'/command',{session_id:id,sequence:++seq.current,left:0,right:0,stop:true},true).catch(()=>{});
+ },[url]);
+ const send=useCallback(async()=>{
+  const id=session.current;if(!id)return;
+  // Check on every heartbeat, even when a previous request is still pending.
+  const inputValid=(demand.current.left===0&&demand.current.right===0)||inputGuard.current?.();
+  if(document.hidden||!document.hasFocus()||!inputValid)demand.current={left:0,right:0};
+  if(sending.current)return;
+  sending.current=true;
+  try{await request(url+'/command',{session_id:id,sequence:++seq.current,...demand.current,stop:false});}
+  catch(e){if(session.current===id){stop();setError(e instanceof Error?e.message:'Команда не подтверждена.');}}
+  finally{sending.current=false;}
+ },[url,stop]);
+ const setDemand=useCallback((next:Demand)=>{demand.current=next;void send();},[send]);
+ const pauseInput=useCallback(()=>{demand.current={left:0,right:0};void send();},[send]);
+ const arm=useCallback(async(currentA:number,maxErpm:number)=>{
+  if(session.current||armPending.current)return false;const g=++generation.current;armPending.current=true;setError(null);setPending(true);
+  try{
+   const result=await request<{session_id:string}>(url+'/arm',{standstill_confirmed:true,current_a:currentA,max_erpm:maxErpm});
+   if(g!==generation.current){void request(url+'/command',{session_id:result.session_id,sequence:1,left:0,right:0,stop:true},true).catch(()=>{});return false;}
+   // Retire every read started before this acknowledgement, including reads
+   // begun while POST /arm was pending. They describe the previous authority.
+   generation.current++;armPending.current=false;setPending(false);
+   seq.current=0;demand.current={left:0,right:0};session.current=result.session_id;setArmed(true);void send();
+   return true;
+  }catch(e){if(g===generation.current)setError(e instanceof Error?e.message:'Не удалось включить управление.');return false;}
+  finally{if(g===generation.current){armPending.current=false;setPending(false);}}
+ },[url,send]);
+ useEffect(()=>{
+  if(!visible){stop();setState(empty);setConnecting(false);return;}
+  let alive=true,busy=false,lastFault='';const started=performance.now();setConnecting(true);
+  const poll=async()=>{
+   if(busy)return;busy=true;const before=generation.current;
+   try{const value=await request<RoverState>(url);if(alive&&before===generation.current){setState(value);
+    setConnecting(!value.fresh&&performance.now()-started<2000);
+    if(session.current&&(!value.fresh||!value.controlling)){stop();}
+    const fault=value.snapshot.state==='fault'?value.snapshot.message??'':'';
+    if(fault&&lastFault!==fault){lastFault=fault;setError(fault);}
+   }}catch{if(alive&&before===generation.current){setState(empty);setConnecting(false);if(session.current)stop();}}finally{busy=false;}
+  };
+  void poll();const timer=setInterval(()=>void poll(),200),heartbeat=setInterval(()=>void send(),100);
+  const blur=()=>pauseInput(),hidden=()=>{if(document.hidden)pauseInput();};
+  window.addEventListener('blur',blur);window.addEventListener('pagehide',stop);document.addEventListener('visibilitychange',hidden);
+  return()=>{alive=false;clearInterval(timer);clearInterval(heartbeat);window.removeEventListener('blur',blur);window.removeEventListener('pagehide',stop);document.removeEventListener('visibilitychange',hidden);stop();};
+ },[url,visible,stop,send,pauseInput]);
+ const ready=armed&&state.fresh&&state.snapshot.session_id===session.current&&['ready','driving'].includes(state.snapshot.state??'');
+ const canArm=state.fresh&&state.snapshot.supported===true&&!state.controlling&&!['preparing','ready','driving','stopping'].includes(state.snapshot.state??'');
+ return {state,armed,pending,error,connecting,canArm,arm,stop,pauseInput,setDemand,setInputGuard,ready,clearError:()=>setError(null)};
+}
+export type RoverController=ReturnType<typeof useRoverControl>;

apps/control-station/src/core/missions/PlanningTestContext.tsx

@@ -18,14 +18,13 @@ export interface PlanningRunSummary {id:string;name:string;state:string;query_se
 const endpoint = plannerBase+'/live-tests';
 const terminal = new Set(['completed','cancelled','error','interrupted']);
 const Context = createContext<{
-  test: PlanningLiveTest|null; history:PlanningRunSummary[]; select:(id:string)=>Promise<void>; selected: boolean; busy:boolean; error:string|null;
-  begin:(draft:Draft)=>Promise<PlanningLiveTest|null>; finish:()=>Promise<void>; retryInitialization:()=>Promise<void>; resume:()=>void;
+  test: PlanningLiveTest|null; history:PlanningRunSummary[]; select:(id:string)=>Promise<boolean>; busy:boolean; error:string|null;
+  begin:(draft:Draft)=>Promise<PlanningLiveTest|null>; finish:()=>Promise<void>; retryInitialization:()=>Promise<void>;
 }|null>(null);
 
-/** Server owns the run; navigation and reload retain its frozen reference. */
+/** Server owns the run and its frozen reference, never the workspace launch profile. */
 export function PlanningTestProvider({children}:{children:ReactNode}) {
   const [test,setTest]=useState<PlanningLiveTest|null>(null);
-  const [dismissed,setDismissed]=useState<string|null>(null);
   const [busy,setBusy]=useState(false),[error,setError]=useState<string|null>(null);
   const [pollError,setPollError]=useState<string|null>(null);
   const [history,setHistory]=useState<PlanningRunSummary[]>([]);
@@ -33,8 +32,8 @@ export function PlanningTestProvider({children}:{children:ReactNode}) {
   useEffect(()=>{let disposed=false;void plannerRequest<{items:PlanningRunSummary[]}>(endpoint).then(r=>{if(!disposed)setHistory(r.items);}).catch(()=>{});return()=>{disposed=true;};},[test?.id,test?.state]);
   const select=useCallback(async(id:string)=>{
     generation.current+=1;setBusy(true);setError(null);
-    try{setTest(await plannerRequest<PlanningLiveTest>(endpoint+'/'+id+'/select',{method:'POST'}));setDismissed(null);}
-    catch(e){setError(e instanceof Error?e.message:'Не удалось открыть исследование.');}
+    try{setTest(await plannerRequest<PlanningLiveTest>(endpoint+'/'+id+'/select',{method:'POST'}));return true;}
+    catch(e){setError(e instanceof Error?e.message:'Не удалось открыть исследование.');return false;}
     finally{generation.current+=1;setBusy(false);}
   },[]);
   useEffect(()=>{
@@ -48,7 +47,7 @@ export function PlanningTestProvider({children}:{children:ReactNode}) {
   },[]);
   const begin=useCallback(async(draft:Draft)=>{
     generation.current+=1;setBusy(true);setError(null);
-    try {const next=await plannerRequest<PlanningLiveTest>(endpoint,{method:'POST',body:JSON.stringify({draft_id:draft.id,revision:draft.revision})});setTest(next);setDismissed(null);sessionStorage.removeItem('planning-dismissed');return next;}
+    try {const next=await plannerRequest<PlanningLiveTest>(endpoint,{method:'POST',body:JSON.stringify({draft_id:draft.id,revision:draft.revision})});setTest(next);return next;}
     catch(e){setError(e instanceof Error?e.message:'Не удалось подготовить тест.');return null;}
     finally{generation.current+=1;setBusy(false);}
   },[]);
@@ -64,8 +63,12 @@ export function PlanningTestProvider({children}:{children:ReactNode}) {
     catch(e){setError(e instanceof Error?e.message:'Не удалось переинициализировать привязку.');}
     finally{generation.current+=1;setBusy(false);}
   },[test]);
-  const resume=useCallback(()=>{setDismissed(null);sessionStorage.removeItem('planning-dismissed');},[]);
-  return <Context.Provider value={{test,history,select,selected:!!test&&dismissed!==test.id,busy,error:error??pollError,begin,finish,retryInitialization,resume}}>{children}</Context.Provider>;
+  return <Context.Provider value={{test,history,select,busy,error:error??pollError,begin,finish,retryInitialization}}>{children}</Context.Provider>;
 }
 export function usePlanningTest(){const value=useContext(Context);if(!value)throw new Error('PlanningTestProvider missing');return value;}
 export function planningTestTerminal(test:PlanningLiveTest){return terminal.has(test.state);}
+
+/** A prepared consumer owns the next capture until explicitly finished or used. */
+export function planningAwaitsCapture(test:PlanningLiveTest|null){
+  return !!test&&!planningTestTerminal(test)&&!test.query_session_id;
+}

apps/control-station/src/core/missions/useMissionPlanner.ts

@@ -1,8 +1,7 @@
-import { useCallback, useEffect, useMemo, useRef, useState } from "react";
-import { canSelectSession, endAtDistance, plannerBase, plannerRequest, selectedPoses, validatePlanningSource, type Direction, type Draft, type PlanningSource, type RouteCheck, type SessionOption } from "./planner";
+import { useCallback, useEffect, useMemo, useState } from "react";
+import { canSelectSession, plannerBase, plannerRequest, selectedPoses, validatePlanningSource, type Direction, type Draft, type PlanningSource, type RouteCheck, type SessionOption } from "./planner";
 
 export function useMissionPlanner() {
-  const initializeRoute = useRef(true);
   const [sessions, setSessions] = useState<SessionOption[]>([]);
   const [cursor, setCursor] = useState<string | null>(null);
   const [drafts, setDrafts] = useState<Draft[]>([]);
@@ -10,8 +9,6 @@ export function useMissionPlanner() {
   const [name, setName] = useState("");
   const [sessionId, setSessionId] = useState("");
   const [source, setSource] = useState<PlanningSource | null>(null);
-  const [start, setStart] = useState(0);
-  const [end, setEnd] = useState(1);
   const [direction, setDirection] = useState<Direction>("forward");
   const [error, setError] = useState<string | null>(null);
   const [sourceError, setSourceError] = useState<string | null>(null);
@@ -19,12 +16,13 @@ export function useMissionPlanner() {
   const [catalogBusy, setCatalogBusy] = useState(true);
   const [loadVersion, setLoadVersion] = useState(0);
   const [sourceVersion, setSourceVersion] = useState(0);
+  const [pinnedGeneration, setPinnedGeneration] = useState<string | null>(null);
   const [check, setCheck] = useState<RouteCheck | null>(null);
 
   useEffect(() => {
     const abort = new AbortController(); setCatalogBusy(true); setError(null);
     void Promise.all([
-      plannerRequest<{ items: SessionOption[]; next_cursor: string | null }>("/api/v1/observation-sessions?limit=100&pagination=cursor-v1", { signal: abort.signal }),
+      plannerRequest<{ items: SessionOption[]; next_cursor: string | null }>("/api/v1/observation-sessions?scope=standalone&limit=100&pagination=cursor-v1", { signal: abort.signal }),
       plannerRequest<{ items: Draft[] }>(`${plannerBase}/drafts`, { signal: abort.signal }),
     ]).then(([catalog, archive]) => { if (!abort.signal.aborted) { setSessions(catalog.items); setCursor(catalog.next_cursor); setDrafts(archive.items); } })
       .catch(reason => { if (!abort.signal.aborted) setError(reason.message); })
@@ -34,26 +32,29 @@ export function useMissionPlanner() {
 
   useEffect(() => {
     const abort = new AbortController(); setSource(null); setSourceError(null);
-    if (sessionId) void plannerRequest<PlanningSource>(`${plannerBase}/sources/${encodeURIComponent(sessionId)}`, { signal: abort.signal })
-      .then(data => { if (!abort.signal.aborted) { const next = validatePlanningSource(data, sessionId); setSource(next); if (initializeRoute.current) { setStart(0); setEnd(endAtDistance(next, 0, 30)); initializeRoute.current = false; } } })
+    if (sessionId) void plannerRequest<PlanningSource>(`${plannerBase}/sources/${encodeURIComponent(sessionId)}${pinnedGeneration ? `?generation=${encodeURIComponent(pinnedGeneration)}` : ""}`, { signal: abort.signal })
+      .then(data => { if (!abort.signal.aborted) setSource(validatePlanningSource(data, sessionId)); })
       .catch(reason => { if (!abort.signal.aborted) setSourceError(reason.message); });
     return () => abort.abort();
-  }, [sessionId, sourceVersion]);
+  }, [sessionId, sourceVersion, pinnedGeneration]);
 
   const currentSource = source?.session_id === sessionId ? source : null;
+  // New executions always own the complete reference. No independent interval
+  // state can survive a source change or collapse on same-source reselection.
+  const start = 0, end = currentSource ? currentSource.poses.length - 1 : 0;
   const sourceChanged = !!(saved && currentSource && saved.zone.session_id === sessionId && saved.zone.generation !== currentSource.generation);
   const poses = useMemo(() => selectedPoses(currentSource, start, end, direction), [currentSource, start, end, direction]);
   const dirty = !saved || name.trim() !== saved.name || sessionId !== saved.zone.session_id || sourceChanged
     || start !== saved.route.start_index || end !== saved.route.end_index || direction !== saved.route.direction;
   const ready = !!currentSource && !sourceChanged && poses.length > 1 && !!name.trim();
-  const chooseSource = (id: string) => { initializeRoute.current = true; setSessionId(id); setStart(0); setEnd(1); setCheck(null); };
+  const chooseSource = (id: string) => { setPinnedGeneration(null); setSessionId(id); setSourceVersion(n => n + 1); setCheck(null); };
   const newDraft = () => { setSaved(null); setName(""); chooseSource(""); setDirection("forward"); setError(null); };
   const openDraft = async (id: string) => {
     setBusy(true); setError(null);
     try {
       const next = await plannerRequest<Draft>(`${plannerBase}/drafts/${id}`);
-      initializeRoute.current = false; setSaved(next); setName(next.name); setSessionId(next.zone.session_id);
-      setStart(next.route.start_index); setEnd(next.route.end_index); setDirection(next.route.direction); setCheck(null);
+      setSaved(next); setName(next.name); setSessionId(next.zone.session_id); setPinnedGeneration(next.zone.generation);
+      setDirection(next.route.direction); setCheck(null);
       setSourceVersion(n => n + 1);
     } catch (reason) { setError((reason as Error).message); } finally { setBusy(false); }
   };
@@ -63,7 +64,7 @@ export function useMissionPlanner() {
     try {
       const next = await plannerRequest<Draft>(`${plannerBase}/drafts`, { method: "POST", body: JSON.stringify({
         id: saved?.id ?? null, revision: saved?.revision ?? 0, name: name.trim(), session_id: sessionId,
-        generation: currentSource.generation, start_index: start, end_index: end, direction,
+        generation: currentSource.generation, whole_recording: true, direction,
       }) });
       setSaved(next); setDrafts(items => [next, ...items.filter(item => item.id !== next.id)]);
       return next;
@@ -79,11 +80,11 @@ export function useMissionPlanner() {
     if (!cursor) return;
     setCatalogBusy(true);
     try {
-      const page = await plannerRequest<{ items: SessionOption[]; next_cursor: string | null }>(`/api/v1/observation-sessions?limit=100&pagination=cursor-v1&cursor=${encodeURIComponent(cursor)}`);
+      const page = await plannerRequest<{ items: SessionOption[]; next_cursor: string | null }>(`/api/v1/observation-sessions?scope=standalone&limit=100&pagination=cursor-v1&cursor=${encodeURIComponent(cursor)}`);
       setSessions(items => [...items, ...page.items.filter(item => !items.some(old => old.id === item.id))]); setCursor(page.next_cursor);
     } catch (reason) { setError((reason as Error).message); } finally { setCatalogBusy(false); }
   };
-  return { sessions, drafts, saved, name, setName, sessionId, chooseSource, source: currentSource, start, setStart, end, setEnd,
+  return { sessions, drafts, saved, name, setName, sessionId, chooseSource, source: currentSource,
     direction, setDirection, error, sourceError, sourceChanged, busy, catalogBusy, cursor, loadMore, dirty, ready, poses, check,
     save, openDraft, newDraft, runCheck, retrySource: () => setSourceVersion(n => n + 1), refresh: useCallback(() => setLoadVersion(n => n + 1), []),
     options: [{ value: "", label: "Выберите сохранённую запись" }, ...sessions.map(item => ({ value: item.id, label: item.label,

apps/control-station/src/core/missions/useRegistrationTest.ts

@@ -1,5 +1,5 @@
 import { useEffect, useState } from "react";
-import { endAtDistance, plannerBase, plannerRequest, validatePlanningSource, type Draft, type PlanningSource } from "./planner";
+import { endAtDistance, plannerBase, plannerRequest, validatePlanningSource, type Draft, type PlanningSource, type SessionOption } from "./planner";
 
 export interface RegistrationReport {
   id: string; state: "queued" | "running" | "ready" | "error"; message?: string; progress_label?: string;
@@ -15,6 +15,25 @@ export function useRegistrationTest(draft: Draft | null) {
   const [start, setStart] = useState(0), [end, setEnd] = useState(1);
   const [error, setError] = useState<string | null>(null);
   const [loading, setLoading] = useState(false), [submitting, setSubmitting] = useState(false);
+  const [sessions,setSessions]=useState<SessionOption[]>([]), [cursor,setCursor]=useState<string|null>(null);
+  const [catalogBusy,setCatalogBusy]=useState(false);
+  // Repeat recordings belong to the planner, including its own captured passes;
+  // they are not restricted to the independent-reference catalog.
+  useEffect(()=>{
+    const abort=new AbortController();setCatalogBusy(true);
+    void plannerRequest<{items:SessionOption[];next_cursor:string|null}>("/api/v1/observation-sessions?scope=source&limit=100&pagination=cursor-v1",{signal:abort.signal})
+      .then(page=>{if(!abort.signal.aborted){setSessions(page.items);setCursor(page.next_cursor);}})
+      .catch(e=>{if(!abort.signal.aborted)setError(e.message);})
+      .finally(()=>{if(!abort.signal.aborted)setCatalogBusy(false);});
+    return()=>abort.abort();
+  },[]);
+  const loadMore=async()=>{
+    if(!cursor||catalogBusy)return;setCatalogBusy(true);
+    try{
+      const page=await plannerRequest<{items:SessionOption[];next_cursor:string|null}>(`/api/v1/observation-sessions?scope=source&limit=100&pagination=cursor-v1&cursor=${encodeURIComponent(cursor)}`);
+      setSessions(items=>[...items,...page.items.filter(item=>!items.some(old=>old.id===item.id))]);setCursor(page.next_cursor);
+    }catch(e){setError((e as Error).message);}finally{setCatalogBusy(false);}
+  };
   useEffect(() => {
     const abort = new AbortController(); setSource(null); setError(null); setLoading(!!sessionId);
     if (sessionId) void plannerRequest<PlanningSource>(`${plannerBase}/sources/${encodeURIComponent(sessionId)}`, { signal: abort.signal })
@@ -35,5 +54,5 @@ export function useRegistrationTest(draft: Draft | null) {
       return data;
     } catch (e) { setError((e as Error).message); } finally { setSubmitting(false); }
   };
-  return { sessionId, setSessionId, source, start, setStart, end, setEnd, error, busy, loading, length, run };
+  return { sessionId, setSessionId, source, start, setStart, end, setEnd, error, busy, loading, length, run, sessions, cursor, catalogBusy, loadMore };
 }

apps/control-station/src/core/observation/recordedPointDisplay.ts

@@ -0,0 +1,68 @@
+import type {SceneSettings} from '../../sceneSettings';
+
+export type PointDisplaySettings = Pick<SceneSettings, 'pointDecimationPercent' | 'colorMode' | 'palette' | 'customColor'>;
+export function pointDisplayKey(settings: PointDisplaySettings): string {
+  return JSON.stringify([settings.pointDecimationPercent ?? 0, settings.colorMode, settings.palette,
+    settings.palette === 'custom' || settings.colorMode === 'class' ? settings.customColor.toLowerCase() : '']);
+}
+
+/** Feed bounded HTTP chunks to the existing native receiver; no whole-cloud JS Blob. */
+export async function streamRecordedPointDisplay(
+  blueprintUrl: string, settings: PointDisplaySettings,
+  identity: {applicationId: string; recordingId: string}, displayBank: string,
+  signal: AbortSignal, send: (chunk: Uint8Array) => void,
+  fetcher: typeof fetch = fetch,
+  sourceGeneration?: string,
+): Promise<number> {
+  const endpoint = new URL(blueprintUrl, window.location.origin);
+  const percent = settings.pointDecimationPercent ?? 0;
+  if (endpoint.origin !== window.location.origin || endpoint.search || endpoint.hash
+    || !/^\/api\/v1\/observation-sessions\/[A-Za-z0-9][A-Za-z0-9._:-]{0,127}\/blueprint\.rrd$/.test(endpoint.pathname)
+    || !Number.isFinite(percent) || percent <= 0 || percent >= 100
+    || !/^[a-f0-9]{32}$/.test(displayBank)) throw new Error('Некорректный запрос прореживания');
+  endpoint.pathname = endpoint.pathname.replace('/blueprint.rrd', '/point-display.rrd');
+  const response = await fetcher(endpoint.href, {method: 'POST', signal, credentials: 'same-origin',
+    headers: {'Content-Type': 'application/json', Accept: 'application/vnd.nodedc.point-display-stream'},
+    body: JSON.stringify({application_id: identity.applicationId, recording_id: identity.recordingId,
+      color_mode: settings.colorMode, palette: settings.palette, custom_color: settings.customColor,
+      point_decimation_percent: percent, display_bank: displayBank,
+      ...(sourceGeneration ? {source_generation: sourceGeneration} : {})})});
+  if (!response.ok || !response.headers.get('Content-Type')?.startsWith('application/vnd.nodedc.point-display-stream') || !response.body) {
+    throw new Error('Не удалось подготовить прореженное облако');
+  }
+  const reader = response.body.getReader();
+  let bytes = 0;
+  let pending = new Uint8Array(0);
+  let admitted = false;
+  let complete = false;
+  try {
+    while (true) {
+      const {done, value} = await reader.read();
+      if (signal.aborted) throw new DOMException('Aborted', 'AbortError');
+      if (done) break;
+      bytes += value.byteLength;
+      const combined = new Uint8Array(pending.length + value.length);
+      combined.set(pending); combined.set(value, pending.length); pending = combined;
+      if (!admitted) {
+        if (pending.length < 4) continue;
+        if (String.fromCharCode(...pending.subarray(0, 4)) !== 'NPD1') throw new Error('Некорректный поток облака');
+        pending = pending.slice(4); admitted = true;
+      }
+      while (pending.length >= 4 && !complete) {
+        const length = new DataView(pending.buffer, pending.byteOffset, 4).getUint32(0, true);
+        if (length === 0) { pending = pending.slice(4); complete = true; break; }
+        if (length < 4 || length > 64 * 1024 * 1024) throw new Error('Некорректный размер пакета облака');
+        if (pending.length < length + 4) break;
+        const payload = pending.slice(4, length + 4);
+        if (String.fromCharCode(...payload.subarray(0, 4)) !== 'RRF2') throw new Error('Некорректный пакет облака');
+        send(payload); pending = pending.slice(length + 4);
+      }
+      if (complete && pending.length) throw new Error('Лишние данные после завершения облака');
+    }
+    if (!complete || pending.length) throw new Error('Поток облака не завершён');
+    return bytes;
+  } finally {
+    await reader.cancel().catch(() => {});
+    reader.releaseLock();
+  }
+}

apps/control-station/src/core/observation/sessionArchive.ts

@@ -23,7 +23,7 @@ export type ObservationSessionStatus =
   | "interrupted"
   | "failed";
 
-export type ObservationSessionScope = "all" | "source" | "laboratory";
+export type ObservationSessionScope = "all" | "source" | "standalone" | "laboratory";
 
 export interface ObservationLabInstance {
   labId: string;
@@ -79,6 +79,7 @@ export interface ObservationSessionReplayLaunch {
   seekable: true;
   byteLength: number;
   sha256: string;
+  mapGeneration?: string;
   playback: {
     speed: number;
     loop: boolean;
@@ -237,6 +238,7 @@ const REPLAY_LAUNCH_KEYS = new Set([
   "seekable",
   "byte_length",
   "sha256",
+  "map_generation",
   "playback",
   "media_sources",
 ]);
@@ -787,6 +789,9 @@ export function decodeObservationSessionReplay(
   if (typeof launch.sha256 !== "string" || !SHA256.test(launch.sha256)) {
     throw new ObservationSessionContractError("Descriptor записи не содержит SHA-256.");
   }
+  if (launch.map_generation !== undefined && (typeof launch.map_generation !== "string" || !SHA256.test(launch.map_generation))) {
+    throw new ObservationSessionContractError("Descriptor содержит некорректную версию исправления.");
+  }
   const viewerSourceUrl = requireString(
     launch.viewer_source_url,
     "launch.viewer_source_url",
@@ -845,6 +850,7 @@ export function decodeObservationSessionReplay(
       integer: true,
     }),
     sha256: launch.sha256,
+    ...(launch.map_generation === undefined ? {} : { mapGeneration: launch.map_generation as string }),
     playback: { speed, loop: launch.playback.loop },
     mediaSources,
   };

apps/control-station/src/core/observation/sessionDisplayProfile.ts

@@ -0,0 +1,54 @@
+import {defaultSceneSettings, MAX_ACCUMULATION_SECONDS, type SceneSettings} from '../../sceneSettings';
+
+const schema = 'missioncore.session-display-profile/v1';
+const fields = {
+  projection: 'projection', pointSize: 'point_size', pointDecimationPercent: 'point_decimation_percent',
+  accumulationMaxSeconds: 'accumulation_max_seconds', accumulationSeconds: 'accumulation_seconds',
+  colorMode: 'color_mode', palette: 'palette', customColor: 'custom_color',
+  showPoints: 'show_points', showTrajectory: 'show_trajectory', showGrid: 'show_grid',
+  showLabels: 'show_labels', showCameraFrustums: 'show_camera_frustums',
+} as const;
+
+function endpoint(sessionId: string) {
+  if (!/^[A-Za-z0-9][A-Za-z0-9._:-]{0,127}$/.test(sessionId)) throw new Error('Некорректная запись');
+  return `/api/v1/observation-sessions/${encodeURIComponent(sessionId)}/display-profile`;
+}
+
+export function encodeSessionDisplay(settings: SceneSettings) {
+  return Object.fromEntries(Object.entries(fields).map(([key, wire]) =>
+    [wire, settings[key as keyof SceneSettings] ?? defaultSceneSettings[key as keyof SceneSettings]]));
+}
+
+export function decodeSessionDisplay(value: unknown, sessionId: string): SceneSettings {
+  const document = value as {schema_version?: string; session_id?: string; scene_settings?: Record<string, unknown>};
+  if (!document || document.schema_version !== schema || document.session_id !== sessionId || !document.scene_settings) {
+    throw new Error('Настройки принадлежат другой записи или имеют неизвестный формат');
+  }
+  const s = Object.fromEntries(Object.entries(fields).map(([key, wire]) => [key, document.scene_settings![wire]])) as unknown as SceneSettings;
+  for (const key of ['pointSize', 'accumulationSeconds', 'accumulationMaxSeconds', 'pointDecimationPercent'] as const) {
+    if (typeof s[key] !== 'number' || !Number.isFinite(s[key])) throw new Error('Некорректное значение настройки');
+  }
+  if (s.pointSize < 0.1 || s.pointSize > 32 || s.accumulationSeconds < 0
+    || s.accumulationMaxSeconds! < 1 || s.pointDecimationPercent! < 0 || s.pointDecimationPercent! > 100
+    || !['3d','2d','map'].includes(s.projection) || !['intensity','height','distance','rgb','class'].includes(s.colorMode)
+    || !['turbo','viridis','plasma','grayscale','custom'].includes(s.palette) || !/^#[a-f0-9]{6}$/i.test(s.customColor)
+    || ['showPoints','showTrajectory','showGrid','showLabels','showCameraFrustums'].some(key => typeof s[key as keyof SceneSettings] !== 'boolean')) {
+    throw new Error('Некорректные настройки отображения');
+  }
+  return {...s, accumulationMaxSeconds: Math.max(s.accumulationSeconds, s.accumulationMaxSeconds!)};
+}
+
+export async function loadSessionDisplay(sessionId: string, signal?: AbortSignal): Promise<SceneSettings> {
+  const response = await fetch(endpoint(sessionId), {signal, cache: 'no-store'});
+  if (!response.ok) throw new Error('Не удалось прочитать настройки записи');
+  const document = await response.json();
+  return document === null ? {...defaultSceneSettings, accumulationMaxSeconds: MAX_ACCUMULATION_SECONDS}
+    : decodeSessionDisplay(document, sessionId);
+}
+
+export async function saveSessionDisplay(sessionId: string, settings: SceneSettings): Promise<void> {
+  const response = await fetch(endpoint(sessionId), {method: 'PUT', headers: {'Content-Type': 'application/json'},
+    body: JSON.stringify({scene_settings: encodeSessionDisplay(settings)})});
+  if (!response.ok) throw new Error('Настройки записи не сохранены. Текущий вид оставлен без изменений.');
+  decodeSessionDisplay(await response.json(), sessionId);
+}

apps/control-station/src/core/observation/sessionOverviewSpatial.ts

@@ -1,5 +1,14 @@
 export type OverviewViewMode = "3d" | "top";
-export interface OverviewSpatialMetadata { height_min_m: number | null; height_max_m: number | null; sample_points: number; }
+export type OverviewRepresentation = "original" | "corrected";
+export interface OverviewComparison {
+  generation: string; map_generation: string; sample_points: number; source_points: number;
+  original_path_m: number; corrected_path_m: number; height_min_m: number; height_max_m: number;
+}
+export interface OverviewSpatialMetadata {
+  default_representation?: OverviewRepresentation;
+  height_min_m: number | null; height_max_m: number | null; sample_points: number;
+  comparison?: OverviewComparison;
+}
 
 function endpoint(source: string) {
   const url = new URL(source, window.location.origin);
@@ -12,12 +21,15 @@ export async function fetchOverviewSpatial(source: string, signal: AbortSignal):
   if (!response.ok) throw new Error("Параметры среза недоступны.");
   return response.json();
 }
-export async function updateOverviewSpatial(source: string, ceiling: number | null, mode: OverviewViewMode | null, aspect: number, signal: AbortSignal) {
+export async function updateOverviewSpatial(source: string, ceiling: number | null, mode: OverviewViewMode | null, aspect: number, signal: AbortSignal,
+  comparisonGeneration: string | null = null, representation: OverviewRepresentation = "original") {
+  if (representation === "corrected" && !comparisonGeneration) throw new Error("Исправленная версия недоступна.");
   const url = endpoint(source);
   const generation = url.searchParams.get("generation");
   url.search = "";
   const response = await fetch(url, { method: "POST", signal, headers: { "Content-Type": "application/json" },
-    body: JSON.stringify({ generation, ceiling_m: ceiling, mode, aspect }) });
+    body: JSON.stringify({ generation, ceiling_m: ceiling, mode, aspect,
+      comparison_generation: comparisonGeneration, representation }) });
   if (!response.ok) throw new Error("Не удалось обновить вид облака.");
   const bytes = new Uint8Array(await response.arrayBuffer());
   if (bytes.byteLength > 32 * 1024 * 1024) throw new Error("Обзор превышает допустимый размер.");

apps/control-station/src/core/observation/useSessionDisplayProfile.ts

@@ -0,0 +1,38 @@
+import {useCallback, useEffect, useRef, useState} from 'react';
+import {defaultSceneSettings, type SceneSettings} from '../../sceneSettings';
+import {loadSessionDisplay, saveSessionDisplay} from './sessionDisplayProfile';
+
+/** Session-bound read/write fencing. No viewer, playback or device ownership. */
+export function useSessionDisplayProfile(sessionId: string | null, apply: (settings: SceneSettings) => void) {
+  const [error, setError] = useState<string | null>(null);
+  const applyRef = useRef(apply); applyRef.current = apply;
+  const current = useRef(sessionId); current.current = sessionId;
+  const writeTail = useRef(Promise.resolve());
+  const revision = useRef(0);
+  useEffect(() => {
+    setError(null);
+    if (!sessionId) return;
+    const abort = new AbortController();
+    const readRevision = revision.current;
+    applyRef.current({...defaultSceneSettings});
+    void writeTail.current.then(() => loadSessionDisplay(sessionId, abort.signal)).then(settings => {
+      if (abort.signal.aborted || current.current !== sessionId) return;
+      if (revision.current === readRevision) applyRef.current(settings);
+    }).catch(reason => {
+      if (!abort.signal.aborted && current.current === sessionId) setError(String(reason.message ?? reason));
+    });
+    return () => abort.abort();
+  }, [sessionId]);
+  const edited = useCallback(() => { revision.current += 1; }, []);
+  const save = useCallback((settings: SceneSettings) => {
+    const id = current.current;
+    if (!id) return;
+    const snapshot = {...settings};
+    writeTail.current = writeTail.current.then(() => saveSessionDisplay(id, snapshot)).then(() => {
+      if (current.current === id) setError(null);
+    }).catch(reason => {
+      if (current.current === id) setError(String(reason.message ?? reason));
+    });
+  }, []);
+  return {save, edited, error, dismissError: () => setError(null)};
+}

apps/control-station/src/core/observation/useSessionOverview.ts

@@ -37,5 +37,5 @@ export function useSessionOverviewMode(enabled: boolean) {
     window.addEventListener("keydown", close, true);
     return () => window.removeEventListener("keydown", close, true);
   }, [open]);
-  return { open: enabled && open, toggle: useCallback(() => setOpen(v => !v), []) };
+  return { open: enabled && open, close: useCallback(() => setOpen(false), []), toggle: useCallback(() => setOpen(v => !v), []) };
 }

apps/control-station/src/core/observation/workspaceLaunch.ts

@@ -0,0 +1,10 @@
+/** Entry intent belongs to application navigation, not a retained server job. */
+export type WorkspaceLaunchProfile = 'direct' | 'planning';
+
+export function workspaceLaunchProfile(
+  current: WorkspaceLaunchProfile,
+  kind: string,
+  requested: WorkspaceLaunchProfile = 'direct',
+): WorkspaceLaunchProfile {
+  return kind === 'device' || kind === 'spatial' ? requested : current;
+}

apps/control-station/src/core/observatory/aiComposition.ts

@@ -87,6 +87,10 @@ export async function fetchAIModuleCatalog(signal?: AbortSignal): Promise<AIModu
   });
   const body = await bodyOf(response);
   if (!response.ok) throw apiError(body, response.status);
+  return decodeAIModuleCatalog(body);
+}
+
+export function decodeAIModuleCatalog(body: unknown): AIModuleCatalog {
   const root = record(body, "каталог AI-модулей");
   exactKeys(root, ["authority", "groups", "schema_version"]);
   if (root.schema_version !== CATALOG_SCHEMA) throw new Error("Версия каталога AI-модулей изменилась.");

apps/control-station/src/core/roverScene/postFx.ts

@@ -0,0 +1,399 @@
+
+export type PostFxSettings = {
+  lighting: {
+    ambientIntensity: number
+    exposure: number
+    skyBoxIntensity: number
+  }
+  envAtlas: {
+    enabled: boolean
+    background: boolean
+    reflection: boolean
+    intensity: number
+    reflectionIntensity: number
+    brightness: number
+    contrast: number
+    saturation: number
+    toneMapping: number
+    mip: number
+    rotation: number
+  }
+  skybox: {
+    enabled: boolean
+    background: boolean
+    reflection: boolean
+    intensity: number
+    reflectionIntensity: number
+    mip: number
+    rotation: number
+    colorA: string
+    colorB: string
+  }
+  rendering: {
+    backgroundColor: string
+    wireframe: boolean
+    renderFormat: number
+    renderFormatFallback0: number
+    renderFormatFallback1: number
+    stencil: boolean
+    renderTargetScale: number
+    samples: number
+    sharpness: number
+    toneMapping: number
+    sceneColorMap: boolean
+    sceneDepthMap: boolean
+    fog: 'none' | 'linear' | 'exp' | 'exp2'
+    fogColor: string
+    fogRange: [number, number]
+    fogDensity: number
+    fogStart: number
+    fogEnd: number
+  }
+  grid: {
+    step: number
+    diameter: number
+    enabled: boolean
+    colorX: string
+    colorZ: string
+    colorMain: string
+    alphaX: number
+    alphaZ: number
+    alphaMain: number
+    dotsEnabled: boolean
+    dotsColor: string
+    dotsAlpha: number
+    dotsDiameter: number
+    crossEnabled: boolean
+    crossColor: string
+    crossAlpha: number
+    crossLength: number
+    crossWidth: number
+    fadeStart: number
+    fadeEnd: number
+  }
+  ssao: {
+    type: 'none' | 'lighting' | 'combine'
+    blurEnabled: boolean
+    intensity: number
+    radius: number
+    samples: number
+    power: number
+    minAngle: number
+    scale: number
+  }
+  bloom: {
+    enabled: boolean
+    intensity: number
+    lastMipLevel: number
+  }
+  chromaticAberration: {
+    enabled: boolean
+    intensity: number
+  }
+  taa: {
+    enabled: boolean
+    jitter: number
+  }
+  grading: {
+    enabled: boolean
+    brightness: number
+    contrast: number
+    saturation: number
+    tint: string
+  }
+  lut: {
+    intensity: number
+    textureUrl?: string | null
+  }
+  vignette: {
+    enabled: boolean
+    intensity: number
+    inner: number
+    outer: number
+    curvature: number
+    color: string
+  }
+  directionalLight: {
+    enabled: boolean
+    color: string
+    intensity: number
+    azimuth: number
+    elevation: number
+    castShadows: boolean
+    shadowIntensity: number
+    shadowDistance: number
+    shadowResolution: number
+    shadowBias: number
+    normalOffsetBias: number
+    shadowType: 'vsm16' | 'vsm32' | 'pcf1' | 'pcf3'
+    vsmBlurSize: number
+  }
+  shadowCatcher: {
+    enabled: boolean
+    size: number
+    yOffset: number
+    lightIntensity: number
+    lightColor: string
+    lightAzimuth: number
+    lightElevation: number
+    shadowIntensity: number
+    shadowDistance: number
+    shadowResolution: number
+    shadowBias: number
+    normalOffsetBias: number
+    shadowType: 'vsm16' | 'vsm32' | 'pcf1' | 'pcf3'
+    vsmBlurSize: number
+  }
+}
+
+export const DEFAULT_POSTFX: PostFxSettings = {
+  lighting: {
+    ambientIntensity: 0,
+    exposure: 1.21,
+    skyBoxIntensity: 0.86,
+  },
+  envAtlas: {
+    enabled: true,
+    background: false,
+    reflection: true,
+    intensity: 0.76,
+    reflectionIntensity: 0.6,
+    brightness: 1.65,
+    contrast: 1,
+    saturation: 1,
+    toneMapping: 0,
+    mip: 1,
+    rotation: 247,
+  },
+  skybox: {
+    enabled: false,
+    background: false,
+    reflection: true,
+    intensity: 0.62,
+    reflectionIntensity: 1,
+    mip: 0,
+    rotation: 0,
+    colorA: '#c5bfbf',
+    colorB: '#c7bcbc',
+  },
+  rendering: {
+    backgroundColor: '#111113',
+    wireframe: false,
+    renderFormat: 18,
+    renderFormatFallback0: 12,
+    renderFormatFallback1: 14,
+    stencil: false,
+    renderTargetScale: 1,
+    samples: 4,
+    sharpness: 0,
+    toneMapping: 4,
+    sceneColorMap: false,
+    sceneDepthMap: false,
+    fog: 'exp',
+    fogColor: '#dcc2ff',
+    fogRange: [0, 100],
+    fogDensity: 0.008,
+    fogStart: 0,
+    fogEnd: 100,
+  },
+  grid: {
+    step: 1,
+    diameter: 1000,
+    enabled: true,
+    colorX: '#ffffff',
+    colorZ: '#ffffff',
+    colorMain: '#7a3cff',
+    alphaX: 0.18,
+    alphaZ: 0.18,
+    alphaMain: 0.6,
+    dotsEnabled: false,
+    dotsColor: '#ffffff',
+    dotsAlpha: 0.5,
+    dotsDiameter: 0.06,
+    crossEnabled: false,
+    crossColor: '#ffffff',
+    crossAlpha: 0.5,
+    crossLength: 0.5,
+    crossWidth: 0.06,
+    fadeStart: 0,
+    fadeEnd: 0,
+  },
+  ssao: {
+    type: 'none',
+    blurEnabled: true,
+    intensity: 0.5,
+    radius: 30,
+    samples: 12,
+    power: 6,
+    minAngle: 10,
+    scale: 1,
+  },
+  bloom: {
+    enabled: true,
+    intensity: 0.03,
+    lastMipLevel: 4,
+  },
+  chromaticAberration: {
+    enabled: true,
+    intensity: 30,
+  },
+  taa: {
+    enabled: false,
+    jitter: 1,
+  },
+  grading: {
+    enabled: true,
+    brightness: 0.837,
+    contrast: 1.1,
+    saturation: 1.126,
+    tint: '#ffffff',
+  },
+  lut: {
+    intensity: 1,
+    textureUrl: null,
+  },
+  vignette: {
+    enabled: true,
+    intensity: 1,
+    inner: 0.25,
+    outer: 1.52,
+    curvature: 0.78,
+    color: '#000000',
+  },
+  directionalLight: {
+    enabled: true,
+    color: '#ffffff',
+    intensity: 0.4,
+    azimuth: 0,
+    elevation: 0,
+    castShadows: false,
+    shadowIntensity: 0.5,
+    shadowDistance: 16,
+    shadowResolution: 1024,
+    shadowBias: 0,
+    normalOffsetBias: 0,
+    shadowType: 'vsm16',
+    vsmBlurSize: 8,
+  },
+  shadowCatcher: {
+    enabled: true,
+    size: 9,
+    yOffset: 0.001,
+    lightIntensity: 0.3,
+    lightColor: '#ffffff',
+    lightAzimuth: 20,
+    lightElevation: 60,
+    shadowIntensity: 0.29,
+    shadowDistance: 16,
+    shadowResolution: 2048,
+    shadowBias: 0,
+    normalOffsetBias: 0,
+    shadowType: 'vsm16',
+    vsmBlurSize: 8,
+  },
+}
+
+function isObject(value: any): value is Record<string, any> {
+  return !!value && typeof value === 'object' && !Array.isArray(value)
+}
+
+export function mergePostFxDefaults(raw?: Partial<PostFxSettings> | null): PostFxSettings {
+  if (!raw) return JSON.parse(JSON.stringify(DEFAULT_POSTFX)) as PostFxSettings
+
+  const out: any = JSON.parse(JSON.stringify(DEFAULT_POSTFX))
+  const merge = (target: any, source: any) => {
+    if (!isObject(source)) return
+    for (const [key, value] of Object.entries(source)) {
+      if (isObject(value)) {
+        if (!isObject(target[key])) target[key] = {}
+        merge(target[key], value)
+      } else {
+        target[key] = value
+      }
+    }
+  }
+  merge(out, raw)
+
+  const legacy: any = raw as any
+  if (legacy?.hdrLight) {
+    const src = legacy.hdrLight
+    const env = legacy?.envAtlas ?? {}
+    if (env?.enabled === undefined && typeof src.enabled === 'boolean') out.envAtlas.enabled = src.enabled
+    if (env?.background === undefined && typeof src.showSkybox === 'boolean') out.envAtlas.background = src.showSkybox
+    if (env?.intensity === undefined && typeof src.intensity === 'number') out.envAtlas.intensity = src.intensity
+    if (env?.mip === undefined && typeof src.mip === 'number') out.envAtlas.mip = src.mip
+    if (env?.rotation === undefined && typeof src.rotation === 'number') out.envAtlas.rotation = src.rotation
+  }
+  if (legacy?.hdrReflection && (legacy?.envAtlas?.reflection === undefined)) {
+    if (typeof legacy.hdrReflection.enabled === 'boolean') {
+      out.envAtlas.reflection = legacy.hdrReflection.enabled
+    }
+  }
+  if (out.envAtlas && typeof out.envAtlas.reflectionIntensity !== 'number') {
+    out.envAtlas.reflectionIntensity = out.envAtlas.intensity
+  }
+  if (out.envAtlas && typeof out.envAtlas.brightness !== 'number') {
+    out.envAtlas.brightness = 1
+  }
+  if (out.envAtlas && typeof out.envAtlas.contrast !== 'number') {
+    out.envAtlas.contrast = 1
+  }
+  if (out.envAtlas && typeof out.envAtlas.saturation !== 'number') {
+    out.envAtlas.saturation = 1
+  }
+  if (out.envAtlas && typeof out.envAtlas.toneMapping !== 'number') {
+    out.envAtlas.toneMapping = 0
+  }
+  if (out.skybox && typeof out.skybox.reflectionIntensity !== 'number') {
+    out.skybox.reflectionIntensity = out.skybox.intensity
+  }
+  if (out.grid && typeof out.grid.enabled !== 'boolean') {
+    out.grid.enabled = DEFAULT_POSTFX.grid.enabled
+  }
+  if (out.grid && typeof out.grid.colorX !== 'string') {
+    out.grid.colorX = DEFAULT_POSTFX.grid.colorX
+  }
+  if (out.grid && typeof out.grid.colorZ !== 'string') {
+    out.grid.colorZ = DEFAULT_POSTFX.grid.colorZ
+  }
+  if (out.grid && typeof out.grid.colorMain !== 'string') {
+    out.grid.colorMain = DEFAULT_POSTFX.grid.colorMain
+  }
+  if (out.grid && typeof out.grid.alphaX !== 'number') {
+    out.grid.alphaX = DEFAULT_POSTFX.grid.alphaX
+  }
+  if (out.grid && typeof out.grid.alphaZ !== 'number') {
+    out.grid.alphaZ = DEFAULT_POSTFX.grid.alphaZ
+  }
+  if (out.grid && typeof out.grid.alphaMain !== 'number') {
+    out.grid.alphaMain = DEFAULT_POSTFX.grid.alphaMain
+  }
+  if (out.grid && typeof out.grid.dotsEnabled !== 'boolean') {
+    out.grid.dotsEnabled = DEFAULT_POSTFX.grid.dotsEnabled
+  }
+  if (out.grid && typeof out.grid.dotsColor !== 'string') {
+    out.grid.dotsColor = DEFAULT_POSTFX.grid.dotsColor
+  }
+  if (out.grid && typeof out.grid.dotsAlpha !== 'number') {
+    out.grid.dotsAlpha = DEFAULT_POSTFX.grid.dotsAlpha
+  }
+  if (out.grid && typeof out.grid.dotsDiameter !== 'number') {
+    out.grid.dotsDiameter = DEFAULT_POSTFX.grid.dotsDiameter
+  }
+  if (out.grid && typeof out.grid.crossEnabled !== 'boolean') {
+    out.grid.crossEnabled = DEFAULT_POSTFX.grid.crossEnabled
+  }
+  if (out.grid && typeof out.grid.crossColor !== 'string') {
+    out.grid.crossColor = DEFAULT_POSTFX.grid.crossColor
+  }
+  if (out.grid && typeof out.grid.crossAlpha !== 'number') {
+    out.grid.crossAlpha = DEFAULT_POSTFX.grid.crossAlpha
+  }
+  if (out.grid && typeof out.grid.crossLength !== 'number') {
+    out.grid.crossLength = DEFAULT_POSTFX.grid.crossLength
+  }
+  if (out.grid && typeof out.grid.crossWidth !== 'number') {
+    out.grid.crossWidth = DEFAULT_POSTFX.grid.crossWidth
+  }
+  return out as PostFxSettings
+}

apps/control-station/src/core/roverScene/sceneDocument.ts

@@ -0,0 +1,85 @@
+import {mergePostFxDefaults,type PostFxSettings} from './postFx';
+import donorFields from './environmentFields.json';
+export type SceneField={key:string;type:string;label:string;group:string;default?:unknown;min?:number;max?:number;step?:number;options?:{label:string;value:string}[];disabledIf?:string};
+export const environmentFields:SceneField[]=[...donorFields,
+ {key:'postFx.lut.textureUrl',type:'texture',label:'Таблица LUT',group:'PostProcess/LUT'},
+ {key:'postFx.lighting.ambientIntensity',type:'sliderNumber',label:'Заполняющий свет',group:'PostProcess/Lighting',min:0,max:1,step:.01},
+ {key:'postFx.grid.step',type:'sliderNumber',label:'Шаг основной сетки, м',group:'PostProcess/Grid',min:.01,max:10,step:.01},
+ {key:'postFx.grid.diameter',type:'sliderNumber',label:'Диаметр сетки, м',group:'PostProcess/Grid',min:1,max:1000,step:1},
+];
+export const textureSlots=['diffuse','normal','metalness','roughness','opacity','emissive','ao'] as const;
+export type TextureSlot=typeof textureSlots[number];
+export type MaterialSpec={name:string;color:string;metalness:number;roughness:number;opacity:number;reflectivity:number;clearCoat:number;clearCoatRoughness:number;emissive:string;emissiveIntensity:number;normalStrength:number;doubleSided:boolean;tiling:number;textures:Partial<Record<TextureSlot,{name:string;data:string}>>};
+export type SceneDocument={schema:'missioncore.rover-scene/v1';model:'dcd006-v020-materials-v2';environmentVersion:2;postFx:PostFxSettings;cameraZoomStrength:number;cameraAutoRotate:boolean;materials:Record<string,MaterialSpec>;assignments:Record<string,string>};
+const material=(name:string,color:string,metalness:number,roughness:number):MaterialSpec=>({name,color,metalness,roughness,opacity:1,reflectivity:1,clearCoat:0,clearCoatRoughness:.3,emissive:'#000000',emissiveIntensity:0,normalStrength:1,doubleSided:false,tiling:1,textures:{}});
+export function defaultScene():SceneDocument{
+ const postFx=mergePostFxDefaults();
+ return {schema:'missioncore.rover-scene/v1',model:'dcd006-v020-materials-v2',environmentVersion:2,postFx,cameraZoomStrength:.04,cameraAutoRotate:false,assignments:{},materials:{
+  'rover/body':material('Корпус и подвеска','#2c2f31',.12,.53),
+  'rover/rubber':material('Резина гусениц и катков','#202328',0,.72),
+  'rover/track-steel':material('Нержавеющие проставки','#c4c8cd',1,.17),
+  'rover/box':material('Бортовой ящик','#34373a',.08,.4),
+  'rover/molle':material('MOLLE панель','#52575b',.3,.44),
+  'rover/motor':material('Алюминий моторов','#95999c',.68,.38),
+  'rover/hardware':material('Чёрный крепёж','#24272b',.45,.38),
+  'rover/polymer':material('Пластик и кожухи','#24292d',0,.44),
+  'rover/drive':material('Ведущие звёзды','#81652f',0,.46),
+ }};
+}
+export function createMaterial(doc:SceneDocument,id:string):SceneDocument{
+ if(!/^custom\/[a-zA-Z0-9-]{1,80}$/.test(id)||Object.hasOwn(doc.materials,id)||Object.keys(doc.materials).length>=128)return doc;
+ const used=new Set(Object.values(doc.materials).map(m=>m.name));let n=1;while(used.has(`Материал ${n}`))n++;
+ return {...doc,materials:{...doc.materials,[id]:material(`Материал ${n}`,'#808080',0,.5)}};
+}
+export function assignMaterial(doc:SceneDocument,group:string,id:string):SceneDocument{
+ if(!Object.hasOwn(defaultScene().materials,group)||!Object.hasOwn(doc.materials,id))return doc;
+ return {...doc,assignments:{...doc.assignments,[group]:id}};
+}
+export function fieldValue(doc:SceneDocument,key:string):unknown{return key.split('.').reduce<unknown>((v,k)=>v&&typeof v==='object'?(v as Record<string,unknown>)[k]:undefined,doc);}
+export function fieldDisabled(doc:SceneDocument,f:SceneField):boolean{
+ const rule=f.disabledIf;if(!rule)return false;
+ if(rule.startsWith('!'))return !fieldValue(doc,rule.slice(1));
+ const atlas=doc.postFx.envAtlas.enabled,sky=doc.postFx.skybox.enabled;
+ return ({ssaoDisabled:doc.postFx.ssao.type==='none',fogDisabled:doc.postFx.rendering.fog==='none',envAtlasBlocked:sky,skyboxBlocked:atlas,envAtlasFieldsDisabled:sky||!atlas,skyboxFieldsDisabled:atlas||!sky,gridDotsDisabled:!doc.postFx.grid.dotsEnabled,gridCrossDisabled:!doc.postFx.grid.crossEnabled} as Record<string,boolean>)[rule]??false;
+}
+export function changeField(doc:SceneDocument,key:string,value:unknown):SceneDocument{
+ const f=environmentFields.find(x=>x.key===key);if(!f||f.type==='action')return doc;
+ if(f.type==='texture'&&value!==null&&(typeof value!=='string'||value.length>1_000_000||!/^data:image\/png;base64,[A-Za-z0-9+/=]+$/.test(value)))return doc;
+ const old=fieldValue(doc,key);
+ if(typeof old==='number'){
+  value=Number(value);if(!Number.isFinite(value))return doc;
+  if(f.min!==undefined)value=Math.max(f.min,value as number);if(f.max!==undefined)value=Math.min(f.max,value as number);
+ }else if(typeof old==='boolean'){if(typeof value!=='boolean')return doc;}
+ else if(f.type==='color'){if(typeof value!=='string'||!/^#[0-9a-f]{6}$/i.test(value))return doc;}
+ if(f.options&&!f.options.some(o=>o.value===String(value)))return doc;
+ if(f.type==='doubleSlider'){
+  if(!Array.isArray(value)||value.length!==2||!value.every(Number.isFinite))return doc;
+  value=[Math.max(0,Math.min(100,value[0])),Math.max(0,Math.min(100,value[1]))].sort((a,b)=>a-b);
+ }
+ const result={...doc,postFx:structuredClone(doc.postFx)};const parts=key.split('.');const tail=parts.pop()!;
+ const target=parts.reduce((v,k)=>v[k],result as any);target[tail]=value;
+ if(key==='postFx.rendering.fogRange'){[result.postFx.rendering.fogStart,result.postFx.rendering.fogEnd]=value as [number,number];}
+ if(key==='postFx.envAtlas.enabled'&&value)result.postFx.skybox.enabled=false;
+ if(key==='postFx.skybox.enabled'&&value)result.postFx.envAtlas.enabled=false;
+ return result;
+}
+export const materialRanges:Record<string,[number,number]>={metalness:[0,1],roughness:[0,1],opacity:[0,1],reflectivity:[0,1],clearCoat:[0,1],clearCoatRoughness:[0,1],emissiveIntensity:[0,10],normalStrength:[0,2],tiling:[.01,20]};
+export function textureBytes(doc:SceneDocument):number{return Object.values(doc.materials).reduce((sum,m)=>sum+Object.values(m.textures).reduce((n,t)=>n+(t?.data.length??0),0),0);}
+export function parseScene(raw:unknown):SceneDocument{
+ const r=raw as SceneDocument;if(!r||r.schema!=='missioncore.rover-scene/v1'||r.model!=='dcd006-v020-materials-v2')throw new Error('Файл сцены не подходит к этой модели.');
+ let doc=defaultScene();
+ for(const f of environmentFields){const v=fieldValue(r,f.key);if(v!==undefined)doc=changeField(doc,f.key,v);}
+ if(Object.keys(r.materials??{}).length>128)throw new Error('В сцене может быть не больше 128 материалов.');
+ for(const id of Object.keys(r.materials??{}))if(id.startsWith('custom/'))doc=createMaterial(doc,id);
+ for(const [id,base] of Object.entries(doc.materials)){
+  const m=r.materials?.[id];if(!m)continue;
+  if(typeof m.name==='string')base.name=m.name.trim().slice(0,120)||base.name;
+  for(const key of ['color','emissive'] as const)if(/^#[0-9a-f]{6}$/i.test(m[key]))base[key]=m[key];
+  for(const [key,[lo,hi]] of Object.entries(materialRanges)){const v=m[key as keyof MaterialSpec];if(typeof v==='number'&&Number.isFinite(v))(base as any)[key]=Math.max(lo,Math.min(hi,v));}
+  if(typeof m.doubleSided==='boolean')base.doubleSided=m.doubleSided;
+  for(const slot of textureSlots){const t=m.textures?.[slot];if(!t)continue;if(typeof t.name!=='string'||typeof t.data!=='string'||t.data.length>12_000_000||!/^data:image\/(png|jpeg|webp);base64,[A-Za-z0-9+/=]+$/.test(t.data))throw new Error('Некорректная текстура в файле сцены.');base.textures[slot]={name:t.name.slice(0,200),data:t.data};}
+ }
+ for(const [group,id] of Object.entries(r.assignments??{}))if(typeof id==='string')doc=assignMaterial(doc,group,id);
+ if(textureBytes(doc)>28_000_000)throw new Error('Суммарный объём текстур превышает 20 МБ.');
+ return doc;
+}

apps/control-station/src/core/roverScene/sceneMigration.ts

@@ -0,0 +1,21 @@
+import {defaultScene,parseScene,type SceneDocument} from './sceneDocument';
+
+// Fingerprint of the first editor's withdrawn neutral preset. Match the entire
+// environment: independently edited environments must never be reset on load.
+function withdrawnEnvironment(){
+ const fx=defaultScene().postFx;
+ Object.assign(fx.lighting,{exposure:1.1,skyBoxIntensity:1,ambientIntensity:.22});
+ Object.assign(fx.envAtlas,{reflectionIntensity:1,brightness:1.2});
+ Object.assign(fx.rendering,{backgroundColor:'#202227',fog:'none',toneMapping:4});
+ Object.assign(fx.grid,{colorMain:'#747982',colorX:'#93969c',colorZ:'#93969c',alphaMain:.25,alphaX:.35,alphaZ:.35,fadeStart:2,fadeEnd:5,step:.5,diameter:12});
+ fx.chromaticAberration.enabled=false;fx.vignette.enabled=false;fx.grading.enabled=false;fx.bloom.enabled=false;
+ Object.assign(fx.directionalLight,{intensity:1.8,azimuth:135,elevation:45});
+ Object.assign(fx.shadowCatcher,{size:4,lightIntensity:.5,shadowIntensity:.25});
+ return fx;
+}
+export function loadStoredScene(raw:unknown):{document:SceneDocument;updated:boolean;restoredEnvironment:boolean}{
+ const doc=parseScene(raw);
+ const updated=(raw as Partial<SceneDocument>).environmentVersion!==2;
+ const restoredEnvironment=updated&&JSON.stringify(doc.postFx)===JSON.stringify(withdrawnEnvironment());
+ return {document:restoredEnvironment?{...doc,postFx:defaultScene().postFx}:doc,updated,restoredEnvironment};
+}

apps/control-station/src/core/roverScene/sceneStorage.ts

@@ -0,0 +1,23 @@
+import type {SceneDocument} from './sceneDocument';
+import {loadStoredScene} from './sceneMigration';
+const key=(vehicle:string)=>`${vehicle}:dcd006-v020-materials-v2`;
+function database():Promise<IDBDatabase>{return new Promise((resolve,reject)=>{const r=indexedDB.open('missioncore-rover-scenes',1);r.onupgradeneeded=()=>r.result.createObjectStore('scenes');r.onerror=()=>reject(r.error);r.onblocked=()=>reject(new Error('Хранилище сцены занято другим окном.'));r.onsuccess=()=>resolve(r.result);});}
+export async function readScene(vehicle:string):Promise<SceneDocument|null>{
+ const db=await database();try{
+  const raw=await new Promise<unknown>((resolve,reject)=>{const r=db.transaction('scenes').objectStore('scenes').get(key(vehicle));r.onerror=()=>reject(r.error);r.onsuccess=()=>resolve(r.result);});
+  if(!raw)return null;
+  const result=loadStoredScene(raw);
+  if(result.updated)await new Promise<void>((resolve,reject)=>{
+   const tx=db.transaction('scenes','readwrite'),store=tx.objectStore('scenes');
+   if(result.restoredEnvironment)store.put(raw,`${key(vehicle)}:before-environment-v2`);
+   store.put(result.document,key(vehicle));tx.oncomplete=()=>resolve();tx.onabort=()=>reject(tx.error);tx.onerror=()=>reject(tx.error);
+  });
+  return result.document;
+ }finally{db.close();}
+}
+export async function saveScene(vehicle:string,document:SceneDocument):Promise<void>{const db=await database();try{await new Promise<void>((resolve,reject)=>{const tx=db.transaction('scenes','readwrite');tx.objectStore('scenes').put(document,key(vehicle));tx.oncomplete=()=>resolve();tx.onabort=()=>reject(tx.error);tx.onerror=()=>reject(tx.error);});}finally{db.close();}}
+export async function textureFromFile(file:File):Promise<{name:string;data:string}>{
+ if(!['image/png','image/jpeg','image/webp'].includes(file.type)||file.size>8_000_000)throw new Error('Выберите PNG, JPEG или WebP до 8 МБ.');
+ const bitmap=await createImageBitmap(file);try{if(bitmap.width>4096||bitmap.height>4096)throw new Error('Максимальный размер текстуры — 4096 × 4096.');}finally{bitmap.close();}
+ return new Promise((resolve,reject)=>{const r=new FileReader();r.onerror=()=>reject(r.error);r.onload=()=>resolve({name:file.name,data:String(r.result)});r.readAsDataURL(file);});
+}

apps/control-station/src/core/roverScene/useSceneDocument.ts

@@ -0,0 +1,22 @@
+import {useCallback,useEffect,useRef,useState} from 'react';
+import {defaultScene,parseScene,type SceneDocument} from './sceneDocument';
+import {readScene,saveScene} from './sceneStorage';
+let writes=Promise.resolve();
+const enqueue=(vehicle:string,doc:SceneDocument)=>{const next=writes.catch(()=>{}).then(()=>saveScene(vehicle,doc));writes=next;return next;};
+export function useSceneDocument(vehicle:string){
+ const [document,setDocument]=useState(defaultScene),[ready,setReady]=useState(false),[revision,setRevision]=useState(0);
+ const [saveState,setSaveState]=useState<'loading'|'saved'|'saving'|'error'>('loading'),[error,setError]=useState('');
+ const latest=useRef({document,revision,vehicle});latest.current={document,revision,vehicle};
+ const savedRevision=useRef(0);
+ useEffect(()=>{let cancelled=false;readScene(vehicle).then(value=>{if(!cancelled){setDocument(value??defaultScene());setSaveState('saved');}}).catch(()=>{if(!cancelled){setError('Не удалось прочитать сохранённую сцену. Изменения можно экспортировать в JSON.');setSaveState('error');}}).finally(()=>{if(!cancelled)setReady(true);});return()=>{cancelled=true;};},[vehicle]);
+ const update=useCallback((fn:(doc:SceneDocument)=>SceneDocument)=>{setDocument(d=>fn(d));setRevision(v=>v+1);setSaveState('saving');},[]);
+ useEffect(()=>{
+  if(!ready||revision===0)return;
+  let cancelled=false;const timer=setTimeout(()=>{enqueue(vehicle,document).then(()=>{savedRevision.current=revision;if(!cancelled)setSaveState('saved');}).catch(()=>{if(!cancelled){setSaveState('error');setError('Не удалось сохранить сцену на этом компьютере. Экспортируйте JSON, чтобы сохранить изменения.');}});},400);
+  return()=>{cancelled=true;clearTimeout(timer);};
+ },[ready,revision,vehicle,document]);
+ useEffect(()=>()=>{const v=latest.current;if(v.revision>savedRevision.current)void enqueue(v.vehicle,v.document).catch(()=>{});},[]);
+ const importDocument=async(file:File)=>{try{if(file.size>32_000_000)throw new Error('Файл сцены больше 32 МБ.');const next=parseScene(JSON.parse(await file.text()));update(()=>next);}catch(e){setError(e instanceof Error?e.message:'Не удалось загрузить сцену.');}};
+ const exportDocument=()=>{const blob=new Blob([JSON.stringify(document,null,2)],{type:'application/json'});const url=URL.createObjectURL(blob);const a=globalThis.document.createElement('a');a.href=url;a.download='rover-scene.json';a.click();setTimeout(()=>URL.revokeObjectURL(url),1000);};
+ return {document,ready,saveState,error,setError,update,importDocument,exportDocument};
+}

apps/control-station/src/core/simulation/aiPolygon.ts

@@ -0,0 +1,141 @@
+import { decodeAIModuleCatalog, type AIModuleCatalog, type AIGroupId } from "../observatory/aiComposition";
+
+const API = "/api/v1/ai-polygon";
+
+export interface AiSelection {
+  schema_version: "missioncore.observatory-ai-composition/v1";
+  selections: { group: AIGroupId; module_id: string; module_sha256: string; parameters: Readonly<Record<string, unknown>> }[];
+}
+export interface AiModules { catalog: AIModuleCatalog; selection: AiSelection }
+export async function fetchAiModules(): Promise<AiModules> {
+  const value = await polygonRequest<{ catalog: unknown; selection: AiSelection }>("/ai-modules");
+  return { catalog: decodeAIModuleCatalog(value.catalog), selection: value.selection };
+}
+
+export interface AiWorldSettings {
+  meters_per_unit: number;
+  rotation_degrees: [number, number, number];
+  ground_z: number;
+  spawn_xy: [number, number];
+  heading_degrees: number;
+  camera_height_m: number;
+  max_speed_mps: number;
+  prepared: boolean;
+  route_xy?: [number, number][];
+}
+export interface AiSource {
+  name: string; author: string; license: string; source_url: string | null;
+  description?: string;
+}
+export interface AiWorld extends AiSource {
+  world_id: string; filename: string; byte_length: number; uploaded_bytes: number;
+  status: "uploading" | "available"; sha256: string | null; splat_count: number | null;
+  settings: AiWorldSettings;
+}
+export interface AiRun {
+  run_id: string;
+  world: AiWorld;
+  request?: { composition?: AiSelection };
+  state: "starting" | "ready" | "running" | "paused" | "stopping" | "completed" | "stopped" | "failed" | "disconnected";
+  clock?: "lockstep" | "realtime";
+  control?: "play" | "pause" | "stop";
+  control_sequence?: number;
+  camera?: AiCamera;
+  worker?: { stream?: AiStreamEndpoint | null };
+  telemetry?: AiTelemetry | null;
+  samples: number;
+  phase?: string;
+  applied_steps?: number;
+  last_applied?: null | {
+    sequence: number; simulation_time_ns: number; pose_xy: [number, number];
+    pose_yaw?: number | null; cycle_ms?: number | null;
+  };
+  message: string | null;
+  last_sample: null | {
+    sequence: number; simulation_time_ns: number; inference_ms: number; pose_xy: [number, number];
+    decision: { speed_mps: number; yaw_rate_rps: number; reason: string;
+      road_fraction: number; obstacle_count: number };
+  };
+}
+export type AiCamera = "follow" | "overview" | "camera";
+export interface AiStreamEndpoint {
+  server: string; signaling_port: number; media_port: number; width: number; height: number; fps: number;
+}
+export interface AiTelemetry {
+  sequence: number; control_sequence: number; simulation_time_ns: number;
+  rtf: number; render_fps: number; sensor_fps: number; ai_hz: number;
+  inference_ms: number | null; frame_age_ms: number | null; command_age_ms: number | null;
+  speed_mps: number; applied_speed_mps: number; stop_reason: string;
+  ai_ready: boolean; stream_ready: boolean; camera: AiCamera;
+  decision: NonNullable<AiRun["last_sample"]>["decision"] | null;
+}
+export interface AiCatalog {
+  sources: AiSource[]; worlds: AiWorld[]; runs: AiRun[];
+  runtime: { available: boolean; active_run: AiRun | null };
+}
+
+export async function polygonRequest<T>(path: string, init: RequestInit = {}): Promise<T> {
+  const response = await fetch(`${API}${path}`, { ...init, headers: {
+    ...(typeof init.body === "string" ? { "Content-Type": "application/json" } : {}),
+    ...init.headers,
+  } });
+  if (!response.ok) {
+    const body = await response.json().catch(() => null);
+    throw new Error(typeof body?.detail === "string" ? body.detail : "Не удалось выполнить запрос полигона.");
+  }
+  return response.json() as Promise<T>;
+}
+export const runJournalUrl = (run: AiRun) => `${API}/runs/${run.run_id}/decisions`;
+export const fetchAiCatalog = () => polygonRequest<AiCatalog>("/catalog");
+export const configureAiWorld = (world: AiWorld, settings: AiWorldSettings) =>
+  polygonRequest<AiWorld>(`/worlds/${world.world_id}/settings`, {
+    method: "PUT", body: JSON.stringify(settings),
+  });
+export const startAiRun = (world: AiWorld, composition?: AiSelection) => polygonRequest<AiRun>("/runs", {
+  method: "POST", headers: { "Idempotency-Key": crypto.randomUUID() },
+  body: JSON.stringify({ world_id: world.world_id, clock: "realtime", start_paused: true, duration_seconds: 1800, composition }),
+});
+export const setAiCamera = (run: AiRun, camera: AiCamera) =>
+  polygonRequest<AiRun>(`/runs/${run.run_id}/view`, { method: "PUT", body: JSON.stringify({ camera }) });
+export const controlAiRun = (run: AiRun, command: "play" | "pause" | "step" | "stop") =>
+  polygonRequest<AiRun>(`/runs/${run.run_id}/${command}`, { method: "POST" });
+
+export async function importAiWorld(file: File, source: AiSource, progress: (value: number) => void,
+  signal: AbortSignal, resume?: AiWorld, onCreated?: (world: AiWorld) => void): Promise<AiWorld> {
+  if (!file.name.toLowerCase().endsWith(".ply")) throw new Error("Выберите Gaussian PLY из экспорта сцены.");
+  if (resume && (file.name !== resume.filename || file.size !== resume.byte_length)) {
+    throw new Error("Для продолжения выберите тот же файл.");
+  }
+  let world = resume ? await polygonRequest<AiWorld>(`/worlds/${resume.world_id}`, { signal })
+    : await polygonRequest<AiWorld>("/worlds", { method: "POST", signal,
+      body: JSON.stringify({ ...source, description: undefined, filename: file.name,
+        byte_length: file.size, source_url: source.source_url || null }) });
+  onCreated?.(world);
+  if (world.uploaded_bytes > 0) {
+    const prefix = await polygonRequest<{ uploaded_bytes: number; chunks: { byte_length: number; sha256: string }[] }>(
+      `/worlds/${world.world_id}/upload-prefix`, { signal });
+    let offset = 0;
+    for (const chunk of prefix.chunks) {
+      signal.throwIfAborted();
+      const bytes = await file.slice(offset, offset + chunk.byte_length).arrayBuffer();
+      const digest = Array.from(new Uint8Array(await crypto.subtle.digest("SHA-256", bytes)))
+        .map((value) => value.toString(16).padStart(2, "0")).join("");
+      if (digest !== chunk.sha256) throw new Error("Этот файл отличается от начатой загрузки. Выберите исходный файл.");
+      offset += chunk.byte_length;
+    }
+    if (offset !== prefix.uploaded_bytes || offset !== world.uploaded_bytes) {
+      throw new Error("Загрузка изменилась в другом окне. Повторите продолжение импорта.");
+    }
+  }
+  const chunkSize = 4 * 1024 ** 2;
+  progress(world.uploaded_bytes / file.size);
+  while (world.uploaded_bytes < file.size) {
+    const offset = world.uploaded_bytes;
+    world = await polygonRequest<AiWorld>(`/worlds/${world.world_id}/source`, {
+      method: "PATCH", signal, headers: { "Upload-Offset": String(offset) },
+      body: file.slice(offset, Math.min(file.size, offset + chunkSize)),
+    });
+    progress(world.uploaded_bytes / file.size);
+  }
+  return polygonRequest<AiWorld>(`/worlds/${world.world_id}/complete`, { method: "POST", signal });
+}

apps/control-station/src/core/system/contourHealth.ts

@@ -0,0 +1,70 @@
+import {fetchComputeContours,type ComputeContour} from './computeContours';
+import {fetchWorkerTelemetry,type WorkerTelemetry} from './workerTelemetry';
+import type {Vehicle} from '../fleet/useFleet';
+import {workerConnectionStatus} from './workerConnectionStatus';
+
+export interface CoreHealth {
+ ok:boolean; service:string; version:string;
+ plugin_runtimes:{ready:number;total:number};
+ components?:{recording_cache?:{status?:string}};
+}
+export interface ContourSnapshot {
+ core:CoreHealth|null; latency:number|null;
+ workers:{contour:ComputeContour;telemetry:WorkerTelemetry|null}[]|null;
+ vehicles:Vehicle[]|null; errors:string[]; observedAt:number;
+}
+async function json(url:string,signal:AbortSignal):Promise<unknown>{
+ const response=await fetch(url,{signal,cache:'no-store',headers:{Accept:'application/json'}});
+ if(!response.ok)throw new Error(`HTTP ${response.status}`);
+ return response.json();
+}
+export async function readContourSnapshot(signal:AbortSignal):Promise<ContourSnapshot>{
+ const bounded=AbortSignal.any([signal,AbortSignal.timeout(8000)]);
+ const errors:string[]=[];
+ const [coreResult,workersResult,fleetResult]=await Promise.allSettled([
+  (async()=>{
+   const start=performance.now();
+   const data=await json('/api/health',bounded) as CoreHealth;
+   if(!data||typeof data.ok!=='boolean'||data.service!=='mission-core-control-plane'||typeof data.version!=='string'||!Number.isFinite(data.plugin_runtimes?.ready)||!Number.isFinite(data.plugin_runtimes?.total))throw new Error('Invalid health');
+   return {data,latency:performance.now()-start};
+  })(),
+  (async()=>{
+   const contours=await fetchComputeContours(bounded);
+   return Promise.all(contours.map(async contour=>{
+    try{return {contour,telemetry:await fetchWorkerTelemetry(contour.contour_id,bounded)};}
+    catch{errors.push(`Не удалось проверить вычислитель «${contour.display_name}».`);return {contour,telemetry:null};}
+   }));
+  })(),
+  (async()=>{
+   const data=await json('/api/v1/fleet',bounded) as {items:Vehicle[]};
+   if(!data||!Array.isArray(data.items)||data.items.some(item=>!item||typeof item.id!=='string'||typeof item.name!=='string'||!['online','offline'].includes(item.connectivity)))throw new Error('Invalid fleet');
+   return data.items;
+  })(),
+ ]);
+ if(coreResult.status==='rejected')errors.push('Не удалось проверить Mission Core.');
+ if(workersResult.status==='rejected')errors.push('Не удалось получить список вычислителей.');
+ if(fleetResult.status==='rejected')errors.push('Не удалось получить бортовые компьютеры.');
+ return {
+  core:coreResult.status==='fulfilled'?coreResult.value.data:null,
+  latency:coreResult.status==='fulfilled'?coreResult.value.latency:null,
+  workers:workersResult.status==='fulfilled'?workersResult.value:null,
+  vehicles:fleetResult.status==='fulfilled'?fleetResult.value:null,
+  errors,observedAt:Date.now(),
+ };
+}
+export function workerAvailable(telemetry:WorkerTelemetry|null):boolean{
+ return Boolean(telemetry?.connection.reachable&&telemetry.connection.identity_matches&&telemetry.node);
+}
+export function boardAvailable(vehicle:Vehicle):boolean{
+ return vehicle.enrollment==='paired'&&vehicle.connectivity==='online';
+}
+export function contourSummary(snapshot:ContourSnapshot|null){
+ if(!snapshot)return {tone:'warning' as const,label:'Проверка состояния',online:null,total:null};
+ const total=snapshot.workers!==null&&snapshot.vehicles!==null?1+snapshot.workers.length+snapshot.vehicles.length:null;
+ const online=Number(snapshot.core!==null)+(snapshot.workers??[]).filter(item=>workerAvailable(item.telemetry)).length+(snapshot.vehicles??[]).filter(boardAvailable).length;
+ if(snapshot.errors.length)return {tone:'warning' as const,label:'Проверка неполная',online,total};
+ if(!snapshot.core)return {tone:'danger' as const,label:'Mission Core не в сети',online,total};
+ if(!snapshot.core.ok)return {tone:'warning' as const,label:'Mission Core работает с ограничениями',online,total};
+ if(snapshot.workers?.some(item=>workerConnectionStatus(item.telemetry).state==='unknown'))return {tone:'warning' as const,label:'Состояние части узлов не подтверждено',online,total};
+ return {tone:online===total?'success' as const:'warning' as const,label:online===total?'Все узлы в сети':'Часть узлов не в сети',online,total};
+}

apps/control-station/src/core/system/workerConnectionStatus.ts

@@ -0,0 +1,13 @@
+import type {WorkerTelemetry} from './workerTelemetry';
+
+// Receiver failure is not evidence that the remote host has shut down.
+export function workerConnectionStatus(telemetry: WorkerTelemetry | null) {
+  const connection = telemetry?.connection;
+  if (!connection) return {state:'unknown', tone:'warning', label:'Не в сети', detail:'Состояние вычислителя пока не подтверждено.'} as const;
+  if (connection.reachable && !connection.identity_matches) return {state:'unknown', tone:'warning', label:'Не в сети', detail:'Ответивший узел не совпадает с выбранным вычислителем.'} as const;
+  if (connection.reachable && connection.identity_matches && telemetry.node) return {state:'online', tone:'success', label:'В сети', detail:null} as const;
+  if (['telemetry-receiver-unavailable','telemetry-agent-unavailable','invalid-telemetry-response'].includes(connection.error_code ?? '')) {
+    return {state:'unknown', tone:'warning', label:'Не в сети', detail:'Mission Core не получает данные через службу телеметрии. Состояние самого вычислителя не подтверждено.'} as const;
+  }
+  return {state:'unknown', tone:'warning', label:'Не в сети', detail:'Последние данные не подтверждают текущее состояние вычислителя.'} as const;
+}

apps/control-station/src/productModel.ts

@@ -155,6 +155,7 @@ export const workspaces: WorkspaceDefinition[] = [
     description: "Профили конфигураций, лабораторные работы и их воспроизводимые результаты.",
     icon: "clipboard",
     kind: "lab-archive",
+    internalOnly: true,
     groups: [],
   },
   {
@@ -185,7 +186,7 @@ export const workspaces: WorkspaceDefinition[] = [
     label: "Состояние контура",
     title: "Состояние контура",
     eyebrow: "ПАРК / СОСТОЯНИЕ",
-    description: "Узлы, процессы, сеть и подключённые устройства по данным живого контура.",
+    description: "Связь с Mission Core, вычислителями и бортовыми компьютерами аппаратов.",
     icon: "shield",
     kind: "contour-health",
     groups: [],
@@ -212,50 +213,6 @@ export const workspaces: WorkspaceDefinition[] = [
     kind: "device",
     groups: [],
   },
-  {
-    id: "payload",
-    root: "fleet",
-    label: "Сенсоры и каналы",
-    title: "Сенсоры и каналы",
-    eyebrow: "ПАРК / ПОЛЕЗНАЯ НАГРУЗКА",
-    description: "Полезная нагрузка аппарата и каналы данных, которые она публикует.",
-    icon: "grid",
-    kind: "catalog",
-    groups: [
-      {
-        title: "Пространственные сенсоры",
-        description: "Единый контракт для разных источников.",
-        capabilities: [
-          active("Облако точек", "Доказанный декодированный поток точек текущего устройства."),
-          active("Поза и траектория", "Доказанный поток позы и накопление пути."),
-          contract("Камеры", "Изображение, видео, глубина, внутренние и внешние параметры."),
-          contract("Навигация", "IMU, GNSS/RTK, одометрия и система координат."),
-        ],
-      },
-    ],
-  },
-  {
-    id: "configurations",
-    root: "fleet",
-    label: "Компоновки",
-    title: "Компоновки борта",
-    eyebrow: "ПАРК / КОМПОНОВКИ",
-    description: "Версионируемые сочетания сенсоров, вычислителей, транспорта и питания.",
-    icon: "settings",
-    kind: "catalog",
-    groups: [
-      {
-        title: "Шаблон компоновки",
-        description: "Повторяемая конфигурация для одинаковых аппаратов.",
-        capabilities: [
-          contract("Состав модулей", "Сенсоры, адаптеры, обработчики и зависимости."),
-          contract("Калибровки", "Системы координат, преобразования, внутренние и внешние параметры."),
-          contract("Профиль сети", "Локальная сеть, ячеистая сеть, LTE и серверный маршрут."),
-          later("Развёртывание на борт", "Пакет конфигурации и контролируемое обновление."),
-        ],
-      },
-    ],
-  },
   {
     id: "spatial-scene",
     root: "polygon",

apps/control-station/src/styles.css

@@ -11,6 +11,7 @@
 @import "./styles/l34-annotation.css";
 @import "./styles/laboratory-reporting.css";
 @import "./styles/simulation.css";
+@import "./styles/ai-polygon.css";
 @import "./styles/laboratory-evidence-report.css";
 @import "./styles/e34-temporal-layer.css";
 @import "./styles/m4-replay-threat.css";

apps/control-station/src/styles/ai-polygon.css

@@ -0,0 +1,29 @@
+.simulation-profiles { display: grid; grid-template-rows: auto minmax(0, 1fr); gap: 1rem; height: 100%; min-height: 0; }
+.simulation-profiles > .nodedc-select-anchor { justify-self: start; }
+.ai-polygon { display: grid; grid-template-rows: auto minmax(0, 1fr); gap: 1rem; min-width: 0; min-height: 0; overflow: hidden; }
+.ai-polygon__content { min-height: 0; overflow: auto; overscroll-behavior: contain; padding-bottom: 1rem; }
+.ai-polygon__head, .ai-polygon__row { display: flex; justify-content: space-between; align-items: center; gap: 1rem; flex-wrap: wrap; }
+.ai-polygon__actions, .ai-polygon__facts { display: flex; align-items: center; gap: .75rem; flex-wrap: wrap; }
+.ai-polygon__telemetry-row { display: flex; align-items: center; justify-content: space-between; gap: 1rem; }
+.ai-polygon__telemetry-row > .ai-polygon__facts { flex: 1; min-width: 0; }
+.ai-polygon__telemetry-row > :last-child { flex-shrink: 0; }
+.ai-polygon__section, .ai-polygon__run, .ai-polygon__form { display: grid; gap: .75rem; }
+.ai-polygon h2, .ai-polygon h3, .ai-polygon p { margin: 0; }
+.ai-polygon h2 { font-size: var(--nodedc-font-size-title); }
+.ai-polygon h3, .ai-polygon strong { font-size: var(--nodedc-font-size-md); }
+.ai-polygon p, .ai-polygon span, .ai-polygon a { font-size: var(--nodedc-font-size-sm); }
+.ai-polygon p { color: var(--nodedc-text-muted); line-height: 1.5; }
+.ai-polygon__setup { display: grid; grid-template-columns: repeat(auto-fit, minmax(10rem, 1fr)); gap: .75rem; }
+
+.ai-polygon__title { display: flex; align-items: center; gap: 1rem; }
+.ai-polygon__stage { display: flex; flex-direction: column; gap: .75rem; min-width: 0; }
+.ai-polygon__viewer { display: flex; flex-direction: column; min-height: 24rem; height: min(65vh, 48rem); overflow: hidden; border-radius: var(--nodedc-radius-panel); background: var(--nodedc-canvas); }
+.ai-polygon__viewer-toolbar { display: flex; justify-content: space-between; align-items: flex-start; padding: .5rem; gap: .5rem; }
+.ai-polygon__viewport { flex: 1; position: relative; min-height: 0; overflow: hidden; }
+.ai-polygon__viewport[hidden] { display: none; }
+.ai-polygon__viewport .nodedc-loading-region { height: 100%; }
+.ai-polygon__video { width: 100%; height: 100%; pointer-events: none; }
+.ai-polygon__video video { display: block; width: 100%; height: 100%; object-fit: contain; }
+.ai-polygon__preview-error { position: absolute; inset: 0; display: grid; place-content: center; gap: .75rem; background: var(--nodedc-canvas); }
+.ai-polygon__stage:fullscreen { height: 100%; box-sizing: border-box; padding: .75rem; overflow: auto; background: var(--nodedc-canvas); }
+.ai-polygon__stage:fullscreen .ai-polygon__viewer { flex: 1; height: auto; min-height: 12rem; }

apps/control-station/src/styles/workspaces.css

@@ -2173,6 +2173,7 @@
 
 .contour-health-summary {
   justify-content: space-between;
+  flex-wrap: wrap;
   gap: 1rem;
 }
 
@@ -2203,7 +2204,7 @@
 
 .contour-health-kpis {
   display: grid;
-  grid-template-columns: repeat(4, minmax(0, 1fr));
+  grid-template-columns: repeat(auto-fit, minmax(min(100%, 10rem), 1fr));
   gap: 0.45rem;
 }
 
@@ -2235,7 +2236,7 @@
 
 .contour-node-grid {
   display: grid;
-  grid-template-columns: repeat(2, minmax(0, 1fr));
+  grid-template-columns: repeat(auto-fit, minmax(min(100%, 22rem), 1fr));
   gap: 0.65rem;
 }
 
@@ -2251,6 +2252,7 @@
 
 .contour-node header {
   justify-content: space-between;
+  flex-wrap: wrap;
   gap: 1rem;
 }
 
@@ -2262,7 +2264,7 @@
 
 .contour-node dl {
   display: grid;
-  grid-template-columns: repeat(4, minmax(0, 1fr));
+  grid-template-columns: repeat(2, minmax(0, 1fr));
   margin: 0;
   border-radius: 0.75rem;
   background: rgb(255 255 255 / 0.022);
@@ -2277,11 +2279,10 @@
 
 .contour-node dd {
   margin: 0;
-  overflow: hidden;
+  overflow-wrap: anywhere;
   color: var(--nodedc-text-secondary);
-  font-size: 0.62rem;
-  text-overflow: ellipsis;
-  white-space: nowrap;
+  font-size: var(--nodedc-font-size-sm);
+  white-space: normal;
 }
 
 .contour-process-list {

apps/control-station/src/workspaces/ContourHealthWorkspace.tsx

@@ -1,41 +1,10 @@
-import { useCallback, useEffect, useMemo, useState } from "react";
-import { Button, Icon, StatusBadge } from "@nodedc/ui-react";
-
-import type { MissionRuntimeState } from "../core/runtime/contracts";
-import {
-  fetchPolygonWorkerStatus,
-  type PolygonWorkerStatus,
-} from "../core/polygon/liveWorker";
-
-interface ControlPlaneHealth {
-  ok: boolean;
-  status: string;
-  service: string;
-  version: string;
-  plugin_runtimes: {
-    ready: number;
-    total: number;
-  };
-}
-
-interface PluginRuntimeHealth {
-  runtime_instance_id: string;
-  plugin_id: string;
-  plugin_version: string;
-  status: string;
-  observed_at: string;
-  detail_code: string | null;
-}
-
-interface ContourSnapshot {
-  controlPlane: ControlPlaneHealth | null;
-  pluginRuntimes: PluginRuntimeHealth[];
-  simulationWorker: PolygonWorkerStatus | null;
-  controlPlaneLatencyMs: number | null;
-  simulationGatewayLatencyMs: number | null;
-  observedAt: Date;
-  error: string | null;
-}
+import {useEffect,useState} from 'react';
+import {createPortal} from 'react-dom';
+import {workerConnectionStatus} from '../core/system/workerConnectionStatus';
+import {IconButton,Icon,StatusBadge} from '@nodedc/ui-react';
+import type {MissionRuntimeState} from '../core/runtime/contracts';
+import {boardAvailable,contourSummary,readContourSnapshot,type ContourSnapshot} from '../core/system/contourHealth';
+import {startSequentialPolling} from '../core/system/sequentialPolling';
 
 export function contourRuntimeAuthorityPresentation(
   state: MissionRuntimeState | null,
@@ -56,310 +25,64 @@ export function contourRuntimeAuthorityPresentation(
   };
 }
 
-function validControlPlaneHealth(value: unknown): value is ControlPlaneHealth {
-  if (!value || typeof value !== "object") return false;
-  const item = value as Partial<ControlPlaneHealth>;
-  return typeof item.ok === "boolean"
-    && typeof item.status === "string"
-    && typeof item.service === "string"
-    && typeof item.version === "string"
-    && Boolean(item.plugin_runtimes)
-    && typeof item.plugin_runtimes?.ready === "number"
-    && typeof item.plugin_runtimes?.total === "number";
+function observed(value:number|string|null|undefined){
+ if(value===null||value===undefined)return '—';
+ const date=new Date(value);
+ return Number.isFinite(date.getTime())?date.toLocaleString('ru-RU'):'—';
 }
-
-function validPluginRuntime(value: unknown): value is PluginRuntimeHealth {
-  if (!value || typeof value !== "object") return false;
-  const item = value as Partial<PluginRuntimeHealth>;
-  return typeof item.runtime_instance_id === "string"
-    && typeof item.plugin_id === "string"
-    && typeof item.plugin_version === "string"
-    && typeof item.status === "string"
-    && typeof item.observed_at === "string";
-}
-
-async function timedJson(
-  url: string,
-  signal: AbortSignal,
-): Promise<{ payload: unknown; latencyMs: number }> {
-  const started = performance.now();
-  const response = await fetch(url, {
-    method: "GET",
-    headers: { Accept: "application/json" },
-    signal,
-  });
-  const latencyMs = performance.now() - started;
-  if (!response.ok) throw new Error(`HTTP ${response.status}`);
-  return { payload: await response.json(), latencyMs };
-}
-
-function formatLatency(value: number | null): string {
-  if (value === null) return "—";
-  return `${Math.max(1, Math.round(value))} мс`;
-}
-
-function formatObservedAt(value: Date | string | null): string {
-  if (!value) return "—";
-  const date = value instanceof Date ? value : new Date(value);
-  if (!Number.isFinite(date.getTime())) return "—";
-  return new Intl.DateTimeFormat("ru-RU", {
-    hour: "2-digit",
-    minute: "2-digit",
-    second: "2-digit",
-  }).format(date);
-}
-
-export function ContourHealthWorkspace({
-  state,
-}: {
-  state: MissionRuntimeState | null;
-}) {
-  const [snapshot, setSnapshot] = useState<ContourSnapshot | null>(null);
-  const [loading, setLoading] = useState(false);
-  const [generation, setGeneration] = useState(0);
-
-  const refresh = useCallback(() => setGeneration((value) => value + 1), []);
-
-  useEffect(() => {
-    const controller = new AbortController();
+export function ContourHealthWorkspace({state,headerToolsHost}:{state:MissionRuntimeState|null;headerToolsHost?:HTMLElement|null}){
+ const [snapshot,setSnapshot]=useState<ContourSnapshot|null>(null);
+ const [loading,setLoading]=useState(true),[generation,setGeneration]=useState(0);
+ useEffect(()=>{
+  const controller=new AbortController();
+  const stop=startSequentialPolling(async()=>{
    setLoading(true);
-    void Promise.allSettled([
-      timedJson("/api/health", controller.signal),
-      timedJson("/api/v1/device-plugin-runtimes", controller.signal),
-      (async () => {
-        const started = performance.now();
-        const worker = await fetchPolygonWorkerStatus({ signal: controller.signal });
-        return { worker, latencyMs: performance.now() - started };
-      })(),
-    ]).then(([healthResult, runtimesResult, workerResult]) => {
-      if (controller.signal.aborted) return;
-      const healthPayload = healthResult.status === "fulfilled"
-        ? healthResult.value.payload
-        : null;
-      const runtimesPayload = runtimesResult.status === "fulfilled"
-        ? runtimesResult.value.payload
-        : null;
-      const runtimeItems = runtimesPayload
-        && typeof runtimesPayload === "object"
-        && Array.isArray((runtimesPayload as { items?: unknown }).items)
-        ? (runtimesPayload as { items: unknown[] }).items.filter(validPluginRuntime)
-        : [];
-      const failures = [healthResult, runtimesResult, workerResult]
-        .filter((result) => result.status === "rejected").length;
-      setSnapshot({
-        controlPlane: validControlPlaneHealth(healthPayload) ? healthPayload : null,
-        pluginRuntimes: runtimeItems,
-        simulationWorker: workerResult.status === "fulfilled"
-          ? workerResult.value.worker
-          : null,
-        controlPlaneLatencyMs: healthResult.status === "fulfilled"
-          ? healthResult.value.latencyMs
-          : null,
-        simulationGatewayLatencyMs: workerResult.status === "fulfilled"
-          ? workerResult.value.latencyMs
-          : null,
-        observedAt: new Date(),
-        error: failures === 0
-          ? null
-          : `Не ответили ${failures} из 3 диагностических контрактов.`,
-      });
-    }).finally(() => {
-      if (!controller.signal.aborted) setLoading(false);
-    });
-    return () => controller.abort();
-  }, [generation]);
-
-  useEffect(() => {
-    const timer = window.setInterval(refresh, 5_000);
-    return () => window.clearInterval(timer);
-  }, [refresh]);
-
-  const {
-    aiActive,
-    deviceControlConnectivity,
-    controlledDevice,
-  } = contourRuntimeAuthorityPresentation(state);
-  const simulationWorker = snapshot?.simulationWorker ?? null;
-  const controlPlaneReady = Boolean(snapshot?.controlPlane?.ok);
-  const runtimeReady = snapshot?.pluginRuntimes.filter(
-    (runtime) => runtime.status === "ready",
-  ).length ?? 0;
-  const processCount = (snapshot?.pluginRuntimes.length ?? 0) + 2;
-  const readyProcessCount = runtimeReady
-    + (controlPlaneReady ? 1 : 0)
-    + (simulationWorker?.available ? 1 : 0);
-  const nodeStatus = useMemo(() => {
-    if (!snapshot) return "Проверяем";
-    if (controlPlaneReady && snapshot.error === null) return "Контур отвечает";
-    if (controlPlaneReady) return "Частично доступен";
-    return "Нет связи";
-  }, [controlPlaneReady, snapshot]);
-
-  return (
-    <div className="contour-health-dashboard">
+   try{const next=await readContourSnapshot(controller.signal);if(!controller.signal.aborted)setSnapshot(next);}
+   finally{if(!controller.signal.aborted)setLoading(false);}
+  },5000);
+  return ()=>{stop();controller.abort();};
+ },[generation]);
+ const summary=contourSummary(snapshot);
+ const core=snapshot?.core;
+ const {controlledDevice,deviceControlConnectivity}=contourRuntimeAuthorityPresentation(state);
+ const refresh=<IconButton label={loading?"Проверка состояния":"Обновить состояние контура"} disabled={loading} onClick={()=>setGeneration(value=>value+1)}><Icon name="refresh" size={16}/></IconButton>;
+ return <div className="contour-health-dashboard">
+  {headerToolsHost?createPortal(refresh,headerToolsHost):refresh}
   <section className="contour-health-summary">
-        <div>
-          <span className="section-eyebrow">ЖИВОЙ ДИАГНОСТИЧЕСКИЙ СРЕЗ</span>
-          <h2>Локальный вычислительный контур</h2>
-          <p>
-            Статусы читаются из Control Plane, plugin runtime и шлюза Simulation Worker.
-            Пустые значения не подменяются демонстрационными числами.
-          </p>
-        </div>
-        <div className="contour-health-summary__status">
-          <StatusBadge tone={controlPlaneReady ? "success" : "danger"}>
-            {nodeStatus}
-          </StatusBadge>
-          <Button
-            size="compact"
-            variant="secondary"
-            disabled={loading}
-            onClick={refresh}
-          >
-            <Icon name="refresh" size={14} />
-            {loading ? "Проверяем" : "Обновить"}
-          </Button>
-        </div>
+   <div><h2>Узлы и связь</h2><p>Mission Core, зарегистрированные вычислители и бортовые компьютеры аппаратов.</p></div>
+   <div className="contour-health-summary__status"><StatusBadge tone={loading?'warning':summary.tone}>{loading?'Проверка состояния':summary.label}</StatusBadge></div>
   </section>
-
   <section className="contour-health-kpis" aria-label="Сводка состояния контура">
-        <div>
-          <span>Узлы</span>
-          <strong>{snapshot ? 2 : "—"}</strong>
-          <small>локальный + внешний worker</small>
-        </div>
-        <div>
-          <span>Процессы готовы</span>
-          <strong>{snapshot ? `${readyProcessCount} / ${processCount}` : "—"}</strong>
-          <small>по живым health-контрактам</small>
-        </div>
-        <div>
-          <span>Локальный API</span>
-          <strong>{formatLatency(snapshot?.controlPlaneLatencyMs ?? null)}</strong>
-          <small>браузер → Control Plane</small>
-        </div>
-        <div>
-          <span>Последняя проверка</span>
-          <strong>{formatObservedAt(snapshot?.observedAt ?? null)}</strong>
-          <small>автообновление каждые 5 секунд</small>
-        </div>
+   <div><span>Узлы в сети</span><strong>{summary.online??'—'} / {summary.total??'—'}</strong><small>Core, вычислители и бортовые ПК</small></div>
+   <div><span>Вычислители</span><strong>{snapshot?.workers?.length??'—'}</strong><small>из настроек системы</small></div>
+   <div><span>Бортовые компьютеры</span><strong>{snapshot?.vehicles?.length??'—'}</strong><small>из реестра аппаратов</small></div>
+   <div><span>Последняя проверка</span><strong>{observed(snapshot?.observedAt)}</strong><small>обновление каждые 5 секунд</small></div>
   </section>
-
-      <section className="contour-node-grid" aria-label="Вычислительные узлы">
-        <article className="contour-node" data-state={controlPlaneReady ? "online" : "offline"}>
-          <header>
-            <div>
-              <span className="section-eyebrow">УЗЕЛ 01 · ЛОКАЛЬНЫЙ</span>
-              <h3>Mission Core Control Plane</h3>
-            </div>
-            <StatusBadge tone={controlPlaneReady ? "success" : "danger"}>
-              {controlPlaneReady ? "Доступен" : "Недоступен"}
-            </StatusBadge>
-          </header>
-          <dl>
-            <div><dt>Версия</dt><dd>{snapshot?.controlPlane?.version ?? "—"}</dd></div>
-            <div><dt>API latency</dt><dd>{formatLatency(snapshot?.controlPlaneLatencyMs ?? null)}</dd></div>
-            <div><dt>Plugin runtimes</dt><dd>{snapshot ? `${runtimeReady} / ${snapshot.pluginRuntimes.length}` : "—"}</dd></div>
-            <div><dt>Активный режим</dt><dd>{state?.sourceMode ?? "idle"}</dd></div>
-          </dl>
-          <div className="contour-process-list">
-            {snapshot?.pluginRuntimes.map((runtime) => (
-              <div key={runtime.runtime_instance_id}>
-                <i data-state={runtime.status === "ready" ? "online" : "offline"} />
-                <span>
-                  <strong>Device runtime · {runtime.plugin_id}</strong>
-                  <small>v{runtime.plugin_version} · {formatObservedAt(runtime.observed_at)}</small>
-                </span>
-                <em>{runtime.status}</em>
-              </div>
-            ))}
-            <div>
-              <i data-state={aiActive ? "online" : "idle"} />
-              <span>
-                <strong>AI perception</strong>
-                <small>
-                  {aiActive
-                    ? `${Math.round(state?.metrics?.aiFrameRateHz ?? 0)} кадр/с`
-                    : "Нет активного задания"}
-                </small>
-              </span>
-              <em>{aiActive ? "active" : "idle"}</em>
-            </div>
-          </div>
-        </article>
-
-        <article
-          className="contour-node"
-          data-state={simulationWorker?.available ? "online" : "offline"}
-        >
-          <header>
-            <div>
-              <span className="section-eyebrow">УЗЕЛ 02 · ВНЕШНИЙ</span>
-              <h3>{simulationWorker?.workerId ?? "Simulation Worker"}</h3>
-            </div>
-            <StatusBadge tone={simulationWorker?.available ? "success" : "neutral"}>
-              {simulationWorker?.available ? "Доступен" : "Offline"}
-            </StatusBadge>
-          </header>
-          <dl>
-            <div><dt>Gateway latency</dt><dd>{formatLatency(snapshot?.simulationGatewayLatencyMs ?? null)}</dd></div>
-            <div><dt>Сеть worker</dt><dd>{simulationWorker?.isolation.network ?? "unavailable"}</dd></div>
-            <div><dt>Политика данных</dt><dd>{simulationWorker?.isolation.artifactPolicy ?? "d-only"}</dd></div>
-            <div><dt>Активный прогон</dt><dd>{simulationWorker?.activeRunId ?? "нет"}</dd></div>
-          </dl>
-          <div className="contour-process-list">
-            <div>
-              <i data-state={simulationWorker?.available ? "online" : "offline"} />
-              <span>
-                <strong>Simulation orchestration</strong>
-                <small>
-                  {simulationWorker?.runState
-                    ? `Прогон: ${simulationWorker.runState}`
-                    : "Нет активного прогона"}
-                </small>
-              </span>
-              <em>{simulationWorker?.available ? "ready" : "offline"}</em>
-            </div>
-          </div>
+  <section className="contour-node-grid" aria-label="Узлы контура">
+   <article className="contour-node" data-state={core?(core.ok?'online':'degraded'):'unknown'}>
+    <header><div><span className="section-eyebrow">КОМПЬЮТЕР ОПЕРАТОРА</span><h3>Mission Core</h3></div><StatusBadge tone={core?.ok?'success':'warning'}>{core?'В сети':snapshot?'Не в сети':'Проверка состояния'}</StatusBadge></header>
+    <dl><div><dt>Версия</dt><dd>{core?.version??'—'}</dd></div><div><dt>Время ответа</dt><dd>{snapshot?.latency==null?'—':`${Math.max(1,Math.round(snapshot.latency))} мс`}</dd></div><div><dt>Обработчики устройств готовы</dt><dd>{core?`${core.plugin_runtimes.ready} / ${core.plugin_runtimes.total}`:'—'}</dd></div></dl>
+    {!core?.ok&&core?.components?.recording_cache?.status==='capacity-pressure'&&<small>Недостаточно свободного места для новых записей.</small>}
    </article>
+   {snapshot?.workers?.map(({contour,telemetry})=>{
+    const status=workerConnectionStatus(telemetry);
+    return <article key={contour.contour_id} className="contour-node" data-state={status.state}>
+     <header><div><span className="section-eyebrow">ВЫЧИСЛИТЕЛЬ</span><h3>{contour.display_name}</h3></div><StatusBadge tone={status.tone}>{status.label}</StatusBadge></header>
+     <dl><div><dt>Узел</dt><dd>{contour.expected_node_id}</dd></div><div><dt>Телеметрия</dt><dd>{contour.telemetry_mode==='agent-mqtt'?'Агент':'Диагностика SSH'}</dd></div><div><dt>Проверено</dt><dd>{observed(telemetry?.connection.observed_at_utc)}</dd></div><div><dt>Последнее измерение</dt><dd>{observed(telemetry?.node?.observed_at_utc)}</dd></div><div><dt>Операционная система</dt><dd>{telemetry?.node?.os.caption??'—'}</dd></div></dl>
+     {status.detail&&<small>{status.detail}</small>}
+    </article>;
+   })}
+   {snapshot?.vehicles?.map(vehicle=>{
+    const online=boardAvailable(vehicle);
+    const status=vehicle.enrollment==='revoked'?'Привязка отозвана':vehicle.enrollment==='pending'?'Подключение':vehicle.enrollment==='failed'?'Не подключён':online?'В сети':'Не в сети';
+    return <article key={vehicle.id} className="contour-node" data-state={online?'online':'offline'}>
+     <header><div><span className="section-eyebrow">БОРТОВОЙ КОМПЬЮТЕР</span><h3>{vehicle.name}</h3></div><StatusBadge tone={online?'success':'neutral'}>{status}</StatusBadge></header>
+     <dl><div><dt>Имя БК</dt><dd>{vehicle.host?.hostname??'—'}</dd></div><div><dt>Операционная система</dt><dd>{vehicle.host?.os??'—'}</dd></div><div><dt>Последняя связь</dt><dd>{observed(vehicle.last_seen===null?null:vehicle.last_seen*1000)}</dd></div></dl>
+     {!online&&vehicle.host&&<small>Сведения о БК сохранены с последнего подключения.</small>}
+    </article>;
+   })}
   </section>
-
-      <section className="contour-network-strip" aria-label="Состояние сети">
-        <div>
-          <span className="section-eyebrow">СЕТЬ</span>
-          <strong>Браузер</strong>
-          <small>127.0.0.1:8000</small>
-        </div>
-        <Icon name="chevron-right" />
-        <div>
-          <i data-state={controlPlaneReady ? "online" : "offline"} />
-          <strong>Control Plane</strong>
-          <small>{formatLatency(snapshot?.controlPlaneLatencyMs ?? null)}</small>
-        </div>
-        <Icon name="chevron-right" />
-        <div>
-          <i data-state={simulationWorker?.available ? "online" : "offline"} />
-          <strong>Worker gateway</strong>
-          <small>{formatLatency(snapshot?.simulationGatewayLatencyMs ?? null)}</small>
-        </div>
-      </section>
-
-      {controlledDevice ? (
-        <section className="contour-connected-device">
-          <span className="section-eyebrow">ПОДТВЕРЖДЁННАЯ УПРАВЛЯЮЩАЯ СЕССИЯ</span>
-          <strong>{controlledDevice.displayName}</strong>
-          <small>
-            {controlledDevice.endpointLabel ?? controlledDevice.modelId}
-            {deviceControlConnectivity === "degraded"
-              ? " · управление подтверждено, поток данных нарушен"
-              : " · управление подтверждено"}
-          </small>
-        </section>
-      ) : null}
-
-      {snapshot?.error ? (
-        <p className="contour-health-error" role="status">{snapshot.error}</p>
-      ) : null}
-    </div>
-  );
+  {controlledDevice&&<section className="contour-connected-device"><span className="section-eyebrow">ПОДКЛЮЧЁННОЕ УСТРОЙСТВО ОПЕРАТОРА</span><strong>{controlledDevice.displayName}</strong><small>{deviceControlConnectivity==='degraded'?'Поток данных нарушен':'Управляющая связь подтверждена'}</small></section>}
+  {snapshot?.errors.map(error=><p key={error} className="contour-health-error" role="status">{error}</p>)}
+ </div>;
 }

apps/control-station/src/workspaces/DeviceWorkspace.tsx

@@ -1,4 +1,3 @@
-import { PlanningConnectionWindow } from "../components/missions/PlanningConnectionWindow";
 import { Button, GlassSurface, Icon, StatusBadge } from "@nodedc/ui-react";
 
 import { useDevicePluginHost } from "../core/device-plugins/DevicePluginHost";
@@ -41,7 +40,7 @@ function ModelCard({
   );
 }
 
-function DeviceConnectionBody({
+export function DeviceWorkspace({
   onOpenSpatialScene,
   onActivateAutomaticSpatialSource,
 }: {
@@ -129,7 +128,3 @@ function DeviceConnectionBody({
     </div>
   );
 }
-
-export function DeviceWorkspace(props: {onOpenSpatialScene:()=>void;onActivateAutomaticSpatialSource:()=>void}) {
-  return <PlanningConnectionWindow><DeviceConnectionBody {...props}/></PlanningConnectionWindow>;
-}

apps/control-station/src/workspaces/Workspaces.tsx

@@ -1,5 +1,4 @@
 import {SpatialWorkspace} from "./spatial/SpatialWorkspace";
-import { usePlanningTest } from "../core/missions/PlanningTestContext";
 import { PlanningSpatialWorkspace } from "./missions/PlanningSpatialWorkspace";
 import { MissionPlannerWorkspace } from "./missions/MissionPlannerWorkspace";
 import { VehiclesWorkspace } from "./fleet/VehiclesWorkspace";
@@ -416,10 +415,9 @@ function RecordingsWorkspace(props: WorkspaceRendererProps) {
 }
 
 export function WorkspaceRenderer(props: WorkspaceRendererProps) {
-  const planning = usePlanningTest();
   switch (props.definition.kind) {
     case "spatial":
-      return planning.selected ? <PlanningSpatialWorkspace {...props}/> : <SpatialWorkspace {...props} />;
+      return props.launchProfile === 'planning' ? <PlanningSpatialWorkspace {...props}/> : <SpatialWorkspace {...props} />;
     case "recordings":
       return <RecordingsWorkspace {...props} />;
     case "cameras":
@@ -433,12 +431,13 @@ export function WorkspaceRenderer(props: WorkspaceRendererProps) {
     case "missions":
       return <MissionPlannerWorkspace openView={props.navigation.openView} headerToolsHost={props.headerToolsHost} />;
     case "vehicles":
-      return <VehiclesWorkspace createRequest={props.fleetCreateRequest} />;
+      return <VehiclesWorkspace headerToolsHost={props.headerToolsHost} headerTitleHost={props.headerTitleHost} />;
     case "catalog":
       return <CatalogWorkspace {...props} />;
     case "contour-health":
       return (
         <ContourHealthWorkspace
+          headerToolsHost={props.headerToolsHost}
           state={props.state}
         />
       );

apps/control-station/src/workspaces/contracts.ts

@@ -14,9 +14,10 @@ import type {
 } from "../core/runtime/contracts";
 import type { WorkspaceDefinition } from "../productModel";
 import type { SceneSettings } from "../sceneSettings";
+import type { WorkspaceLaunchProfile } from "../core/observation/workspaceLaunch";
 
 export interface WorkspaceNavigation {
-  openView: (viewId: string) => void;
+  openView: (viewId: string, profile?: WorkspaceLaunchProfile) => void;
   openSource: () => void;
   openDisplay: () => void;
   openLayers: () => void;
@@ -35,8 +36,9 @@ export interface LaboratoryViewAction {
 }
 
 export interface WorkspaceRendererProps {
-  fleetCreateRequest?: number;
+  launchProfile?: WorkspaceLaunchProfile;
   headerToolsHost?: HTMLElement | null;
+  headerTitleHost?: HTMLElement | null;
   definition: WorkspaceDefinition;
   state: MissionRuntimeState | null;
   backendStatus: BackendStatus;

apps/control-station/src/workspaces/fleet/BoardComputer.tsx

@@ -0,0 +1,21 @@
+import {Button,Icon,IconButton,ResourceRow,StatusBadge,Window} from '@nodedc/ui-react';
+import type {Vehicle} from '../../core/fleet/useFleet';
+
+export const boardStatus=(item:Vehicle,available=true)=>item.enrollment==='pending'?'Подтверждаем привязку':item.enrollment==='revoked'?'Не привязан':item.enrollment==='failed'?'Привязка не завершена':item.connectivity==='online'?(available?'В сети':'Не в сети'):'Не в сети';
+export function BoardComputerRow({vehicle,enabled,showingSavedDevices,onSettings,onMonitor,onAdd,open,onToggle}:{vehicle:Vehicle;enabled:boolean;showingSavedDevices:boolean;onSettings:()=>void;onMonitor:()=>void;onAdd?:()=>void;open:boolean;onToggle:()=>void}){
+ const label=boardStatus(vehicle,enabled);
+ return <ResourceRow icon={<Icon name="apps"/>} title="Бортовой компьютер" description={vehicle.host?.hostname||'Mission Core Node'} metadata={`${label}${showingSavedDevices?' (показаны последние сохранённые устройства)':''}`} statusPlacement="leading"
+  status={<StatusBadge variant="indicator" tone={enabled?'success':vehicle.enrollment==='pending'?'warning':'neutral'} aria-label={label} title={label}/>}
+  actions={<>{onAdd&&<IconButton label="Добавить устройство к БК" onClick={onAdd}><Icon name="plus"/></IconButton>}<IconButton label="Настройки бортового компьютера" onClick={onSettings}><Icon name="settings"/></IconButton><IconButton label="Мониторинг системы БК" onClick={onMonitor}><Icon name="activity"/></IconButton><IconButton label={open?'Свернуть устройства БК':'Показать устройства БК'} aria-expanded={open} onClick={onToggle}><Icon name={open?'chevron-down':'chevron-right'}/></IconButton></>}/>;
+}
+export function BoardComputerSettings({vehicle,enabled,onClose,onRevoke}:{vehicle:Vehicle;enabled:boolean;onClose:()=>void;onRevoke:()=>void}){
+ return <Window open title="Бортовой компьютер" subtitle={vehicle.host?.hostname||'Mission Core Node'} onClose={onClose}>
+  <div className="fleet-form"><StatusBadge tone={enabled?'success':vehicle.enrollment==='pending'?'warning':'neutral'}>{boardStatus(vehicle,enabled)}</StatusBadge>
+   {vehicle.notice&&<p role="status">{vehicle.notice}</p>}
+   <dl className="fleet-facts"><div><dt>Идентификатор БК</dt><dd>{vehicle.node_id}</dd></div><div><dt>Последняя связь</dt><dd>{vehicle.last_seen?new Date(vehicle.last_seen*1000).toLocaleString('ru-RU'):'Соединение ещё не получено'}</dd></div>
+    {vehicle.host&&<><div><dt>Имя БК в системе</dt><dd>{vehicle.host.hostname}</dd></div><div><dt>Операционная система</dt><dd>{vehicle.host.os}</dd></div><div><dt>Архитектура</dt><dd>{vehicle.host.architecture}</dd></div><div><dt>Процессоры</dt><dd>{vehicle.host.cpus}</dd></div><div><dt>Память</dt><dd>{vehicle.host.memory_kib?`${(vehicle.host.memory_kib/1048576).toFixed(1)} ГиБ`:'Нет сведений'}</dd></div></>}
+   </dl>
+   {vehicle.enrollment!=='revoked'&&<Button onClick={onRevoke}>Отозвать привязку БК</Button>}
+  </div>
+ </Window>;
+}

apps/control-station/src/workspaces/fleet/BoardMonitorView.tsx

@@ -1,5 +1,6 @@
+import {WorkspaceBackButton} from '../../components/WorkspaceBackButton';
 import {useState} from 'react';
-import {ActivityIndicator,Button,Icon,ResourceList,ResourceRow,Select,SettingsCard,StatusBadge,TextField,ToastStack} from '@nodedc/ui-react';
+import {ActivityIndicator,Button,ResourceList,ResourceRow,Select,SettingsCard,StatusBadge,TextField,ToastStack} from '@nodedc/ui-react';
 import {useBoardMonitor,monitorSeries,monitorValue} from '../../core/fleet/boardMonitor';
 import {TelemetrySeries} from '../../components/system/TelemetrySeries';
 import '../../styles/system-telemetry.css';
@@ -7,7 +8,7 @@ import './board-monitor.css';
 
 const eventLabels:Record<string,string>={'ui-error':'Ошибка интерфейса','ui-rejection':'Ошибка асинхронной операции','ui-render-error':'Ошибка представления','system-oom':'Нехватка памяти','gpu-reset':'Сброс GPU','disk-error':'Ошибка диска','usb-disconnected':'Отключение USB','usb-error':'Ошибка USB','service-failed':'Сбой службы','ui-process-exit':'Завершение процесса окна','ui-load-failed':'Ошибка загрузки окна'};
 const time=(value:number)=>new Date(value*1000).toLocaleString('ru-RU');
-export function BoardMonitorView({vehicle,name,back}:{vehicle:string;name:string;back:()=>void}) {
+export function BoardMonitorView({vehicle,name,back,headerToolsHost}:{vehicle:string;name:string;back:()=>void;headerToolsHost?:HTMLElement|null}) {
  const [metric,setMetric]=useState('cpu.usage'),[group,setGroup]=useState('CPU'),[window,setWindow]=useState(900),[end,setEnd]=useState<number|null>(null),[mode,setMode]=useState<'min'|'max'|'mean'>('max');
  const {value,error,dismissError}=useBoardMonitor(vehicle,metric,window,end);
  const definitions=value?.definitions??{},definition=definitions[metric];
@@ -15,7 +16,7 @@ export function BoardMonitorView({vehicle,name,back}:{vehicle:string;name:string
  const metrics=Object.entries(definitions).filter(([,item])=>item.group===group);
  const latest=value?.latest;
  return <div className="board-monitor">
-  <div><Button onClick={back}><Icon name="chevron-left"/>К аппарату</Button></div>
+  <WorkspaceBackButton label="К аппарату" onClick={back} host={headerToolsHost}/>
   <SettingsCard title="Мониторинг системы БК" description={name} actions={<StatusBadge tone={value?.fresh&&!error?'success':'neutral'}>{value?.fresh&&!error?'Данные поступают':'Нет свежих данных'}</StatusBadge>}>
    {latest&&<p>Измерено на БК: {time(latest.at)}. {value?.storage==='ready'?'Локальная история записывается.':'Запись локальной истории недоступна.'} {value?.backlog?'История догружается в Mission Core.':''}</p>}
    {value?.database_bytes!=null&&<p>Архив на БК: {monitorValue(value.database_bytes,'bytes')} из {monitorValue(value.database_budget_bytes,'bytes')}. {value.archive_since?`Копия в Mission Core с ${time(value.archive_since)}.`:''}</p>}

apps/control-station/src/workspaces/fleet/NodeInvitationForm.tsx

@@ -0,0 +1,40 @@
+import {useId,useState,type FormEvent} from 'react';
+import {Button,Select,SettingsCard,TextAreaField,TextField,StatusBadge} from '@nodedc/ui-react';
+import {fleetRequest,type FleetPreview,type Vehicle} from '../../core/fleet/useFleet';
+import type {SensorEnrollmentProps} from '../../../../../packages/sensor-ui/src/extensions';
+
+export const platforms=[{value:'ugv',label:'Наземный (UGV)'},{value:'uav',label:'Воздушный (UAV)'},{value:'stationary',label:'Стационарный'},{value:'other',label:'Другой'}];
+export const platformLabel=(value:string)=>platforms.find(item=>item.value===value)?.label??value;
+
+/** The invitation admits a computer; an existing apparatus keeps its identity. */
+export function NodeInvitationForm({vehicle,onClose,onComplete,renderWindow}:{vehicle?:Vehicle;onClose:()=>void;onComplete:(vehicle:Vehicle)=>void;renderWindow:SensorEnrollmentProps['renderWindow']}){
+ const form=useId();
+ const [revision]=useState(vehicle?.revision);
+ const [code,setCode]=useState(''),[name,setName]=useState(''),[platform,setPlatform]=useState('ugv');
+ const [preview,setPreview]=useState<FleetPreview|null>(null),[pending,setPending]=useState(false),[error,setError]=useState('');
+ async function inspect(event:FormEvent){
+  event.preventDefault();if(pending)return;setPending(true);setError('');
+  try{const value=await fleetRequest<FleetPreview>('/preview','POST',{code:code.trim()});setPreview(value);setName(current=>current||value.name);setCode('');}
+  catch(e){setError(e instanceof Error?e.message:'Не удалось проверить приглашение.');}
+  finally{setPending(false);}
+ }
+ async function attach(){
+  if(!preview||pending)return;setPending(true);setError('');
+  try{
+   const result=vehicle
+    ?await fleetRequest<Vehicle>(`/${encodeURIComponent(vehicle.id)}/computer`,'POST',{preview_id:preview.preview_id,expected_revision:revision})
+    :await fleetRequest<Vehicle>('','POST',{preview_id:preview.preview_id,name:name.trim(),platform});
+   onComplete(result);
+  }catch(e){setError(e instanceof Error?e.message:'Не удалось подключить БК.');}
+  finally{setPending(false);}
+ }
+ const replacing=!!vehicle&&vehicle.enrollment!=='revoked';
+ return renderWindow({busy:pending,actions:<><Button disabled={pending} onClick={onClose}>Отмена</Button>{preview?<Button loading={pending} disabled={pending||(!vehicle&&!name.trim())} onClick={()=>void attach()}>{vehicle?(replacing?'Заменить БК':'Подключить БК'):'Добавить аппарат'}</Button>:<Button loading={pending} type="submit" form={form} disabled={pending||!code.trim()}>Проверить БК</Button>}</>,content:
+  <form id={form} className="fleet-form" onSubmit={inspect} aria-busy={pending}>
+   {!vehicle&&<><Select label="Класс аппарата" value={platform} options={platforms} onChange={setPlatform} disabled={pending}/><TextField label="Название аппарата" value={name} maxLength={80} onChange={e=>setName(e.target.value)} disabled={pending} autoComplete="off"/></>}
+   {vehicle&&<SettingsCard title={vehicle.name} description={replacing?'Новый БК заменит текущий. Аппарат, его название и раскладки сохранятся; прежняя привязка будет отозвана.':'Подключите БК к этому аппарату по приглашению Mission Core Node.'}/>}
+   {preview?<SettingsCard title={preview.name} description="Идентичность БК проверена по приглашению"><dl className="fleet-facts"><div><dt>Идентификатор БК</dt><dd>{preview.node_id}</dd></div><div><dt>Система</dt><dd>{preview.host.os} · {preview.host.architecture}</dd></div><div><dt>Адрес БК</dt><dd>{preview.endpoint}</dd></div></dl><Button disabled={pending} onClick={()=>setPreview(null)}>Другое приглашение</Button></SettingsCard>:<TextAreaField label="Код приглашения из Node" value={code} rows={5} maxLength={4096} spellCheck={false} autoComplete="off" disabled={pending} onChange={e=>setCode(e.target.value)}/>}
+   {pending&&<StatusBadge tone="warning">{preview?'Подключение БК':'Проверка приглашения БК'}</StatusBadge>}
+   {error&&<p role="alert">{error}</p>}
+  </form>});
+}

apps/control-station/src/workspaces/fleet/VehicleEquipment.tsx

@@ -0,0 +1,30 @@
+import {useEffect,useSyncExternalStore} from 'react';
+import {Button,Icon,IconButton,Inspector,LoadingRegion} from '@nodedc/ui-react';
+import type {BoardLayoutStore} from '../../../../../packages/sensor-ui/src/boardLayout';
+import type {SensorBoardContent} from '../../../../../packages/sensor-ui/src/SensorWorkspace';
+import type {Vehicle} from '../../core/fleet/useFleet';
+import {VehicleIdentitySettings} from './VehicleIdentitySettings';
+import {BoardComputerRow} from './BoardComputer';
+
+export function VehicleEquipment({vehicle,enabled,layout,content,onAddComputer,onSettings,onMonitor,onUpdated}:{vehicle:Vehicle;enabled:boolean;layout:BoardLayoutStore;content:SensorBoardContent;onAddComputer:()=>void;onSettings:()=>void;onMonitor:()=>void;onUpdated:(vehicle:Vehicle)=>void}){
+ const state=useSyncExternalStore(layout.subscribe,layout.getSnapshot);
+ useEffect(()=>{void layout.load();},[layout]);
+ const computerOpen=state.value.open_sections.includes('computer');
+ // The former computer-section preference now controls its nested device branch.
+ const changeSections=(ids:string[])=>layout.change([...ids,...(computerOpen?['computer']:[])]);
+ const toggleComputer=()=>layout.change(computerOpen?state.value.open_sections.filter(id=>id!=='computer'):[...state.value.open_sections,'computer']);
+ return <div className="sensor-content">
+  {state.error&&<div role="alert"><p>{state.error}</p><Button onClick={()=>void layout.load()}>Повторить</Button></div>}
+  <LoadingRegion loading={!state.ready&&!state.error} label="Загрузка раскладки аппарата">
+   <Inspector variant="panel" openSections={state.value.open_sections.filter(id=>id!=='computer')} onOpenSectionsChange={changeSections} sections={[
+    {id:'settings',label:'Настройки аппарата',icon:<Icon name="sliders"/>,disabled:!state.ready,content:<div className="sensor-content"><VehicleIdentitySettings key={vehicle.id} vehicle={vehicle} onUpdated={onUpdated}/>{content.settings}</div>},
+    {id:'devices',label:'Оборудование',icon:<Icon name="apps"/>,disabled:!state.ready,content:<div className="sensor-content">
+     <div className="sensor-actions sensor-inventory-toolbar"><span className="sensor-note">Бортовой компьютер и подключённые к нему устройства</span><div className="sensor-actions"><IconButton label="Подключить бортовой компьютер" onClick={onAddComputer}><Icon name="plus"/></IconButton><IconButton label="Обновить оборудование" onClick={()=>void content.refresh()}><Icon name="refresh"/></IconButton></div></div>
+     <div><BoardComputerRow vehicle={vehicle} enabled={enabled} showingSavedDevices={content.showingSavedDevices} open={computerOpen} onToggle={toggleComputer} onSettings={onSettings} onMonitor={onMonitor} onAdd={content.canAddDevice?content.addDevice:undefined}/>
+      {computerOpen&&<div className="fleet-computer-devices">{content.devices}</div>}
+     </div>
+    </div>},
+   ]}/>
+  </LoadingRegion>
+ </div>;
+}

apps/control-station/src/workspaces/fleet/VehicleIdentitySettings.tsx

@@ -0,0 +1,27 @@
+import {useEffect,useState} from 'react';
+import {Button,SettingsCard,TextField} from '@nodedc/ui-react';
+import {fleetRequest,type Vehicle} from '../../core/fleet/useFleet';
+
+export function VehicleIdentitySettings({vehicle,onUpdated}:{vehicle:Vehicle;onUpdated:(vehicle:Vehicle)=>void}){
+ const [base,setBase]=useState(vehicle),[name,setName]=useState(vehicle.name);
+ const [saving,setSaving]=useState(false),[message,setMessage]=useState(''),[error,setError]=useState('');
+ const dirty=name!==base.name;
+ useEffect(()=>{if(!dirty&&!saving){setBase(vehicle);setName(vehicle.name);}},[vehicle,dirty,saving]);
+ const reset=()=>{setBase(vehicle);setName(vehicle.name);setError('');setMessage('');};
+ const save=async()=>{
+  if(saving||!name.trim()||!dirty)return;
+  setSaving(true);setError('');setMessage('');
+  try{
+   const updated=await fleetRequest<Vehicle>(`/${encodeURIComponent(vehicle.id)}`,'PATCH',{name:name.trim(),expected_revision:base.revision});
+   onUpdated(updated);setBase(updated);setName(updated.name);setMessage('Название сохранено');
+  }catch(reason){setError(reason instanceof Error?reason.message:'Не удалось сохранить название.');}
+  finally{setSaving(false);}
+ };
+ return <SettingsCard title="Основные параметры">
+  <form className="fleet-form" onSubmit={event=>{event.preventDefault();void save();}}>
+   <TextField label="Название аппарата" value={name} maxLength={80} autoComplete="off" disabled={saving} onChange={event=>{setName(event.target.value);setMessage('');}}/>
+   <div className="sensor-actions"><Button type="submit" disabled={!dirty||!name.trim()||saving}>{saving?'Сохранение…':'Сохранить'}</Button>{dirty&&<Button type="button" variant="secondary" disabled={saving} onClick={reset}>Отмена</Button>}</div>
+   {error&&<p role="alert">{error}</p>}{message&&<p role="status">{message}</p>}
+  </form>
+ </SettingsCard>;
+}

apps/control-station/src/workspaces/fleet/VehicleSensors.tsx

@@ -1,11 +1,16 @@
 import {useMemo} from 'react';
+import {boardLayout} from '../../core/fleet/boardLayout';
 import {useDevicePluginHost} from '../../core/device-plugins/DevicePluginHost';
 import {createIsolatedRerunHost} from '../../components/rerun/isolatedRerunHost';
 import {SensorWorkspace} from '../../../../../packages/sensor-ui/src/SensorWorkspace';
 import {createFleetSensorTransport} from '../../core/fleet/sensorTransport';
-export function VehicleSensors({vehicleID,enabled,onDetailChange}:{vehicleID:string;enabled:boolean;onDetailChange:(open:boolean)=>void}){
+import type {Vehicle} from '../../core/fleet/useFleet';
+import {VehicleEquipment} from './VehicleEquipment';
+export function VehicleSensors({vehicle,enabled,onAddComputer,onSettings,onMonitor,onUpdated}:{vehicle:Vehicle;enabled:boolean;onAddComputer:()=>void;onSettings:()=>void;onMonitor:()=>void;onUpdated:(vehicle:Vehicle)=>void}){
+ const vehicleID=vehicle.id;
  const {registry}=useDevicePluginHost();
  const sensorContributions=registry.sensorContributions;
+ const layout=useMemo(()=>boardLayout(vehicleID),[vehicleID]);
  const transport=useMemo(()=>createFleetSensorTransport(vehicleID),[vehicleID]);
- return <SensorWorkspace contributions={sensorContributions} createRerunHost={createIsolatedRerunHost} key={vehicleID} transport={transport} enabled={enabled} onDetailChange={onDetailChange}/>;
+ return <SensorWorkspace contributions={sensorContributions} createRerunHost={createIsolatedRerunHost} key={`${vehicleID}:${vehicle.node_id}`} transport={transport} enabled={enabled} readOfflineInventory renderBoard={content=><VehicleEquipment vehicle={vehicle} enabled={enabled} layout={layout} content={content} onAddComputer={onAddComputer} onSettings={onSettings} onMonitor={onMonitor} onUpdated={onUpdated}/>}/>;
 }

apps/control-station/src/workspaces/fleet/VehiclesWorkspace.tsx

@@ -1,77 +1,41 @@
+import {useState} from 'react';
+import {createPortal} from 'react-dom';
+import {LoadingRegion,ConfirmationModal,Icon,IconButton,ResourceList,ResourceRow,SettingsCard,StatusBadge,ToastStack,Window,WindowFooterActions} from '@nodedc/ui-react';
+import {WorkspaceBackButton} from '../../components/WorkspaceBackButton';
+import {fleetRequest,useFleet,type Vehicle} from '../../core/fleet/useFleet';
 import {BoardObservationCenter} from './observation/BoardObservationCenter';
 import {BoardMonitorView} from './BoardMonitorView';
-import { useEffect, useRef, useState } from "react";
-import { LoadingRegion, Button, ConfirmationModal, Icon, IconButton, ResourceList, ResourceRow, Select, SettingsCard, StatusBadge, TextAreaField, TextField, Window, WindowFooterActions } from "@nodedc/ui-react";
-import { fleetRequest, useFleet, type FleetPreview, type Vehicle } from "../../core/fleet/useFleet";
-import "./fleet.css";
-import { VehicleSensors } from "./VehicleSensors";
+import {VehicleSensors} from './VehicleSensors';
+import {BoardComputerSettings,boardStatus} from './BoardComputer';
+import {NodeInvitationForm,platformLabel} from './NodeInvitationForm';
+import './fleet.css';
 
-const platforms = [{ value: "ugv", label: "Наземный (UGV)" }, { value: "uav", label: "Воздушный (UAV)" }, { value: "stationary", label: "Стационарный" }, { value: "other", label: "Другой" }];
-const platformLabel = (value: string) => platforms.find(item => item.value === value)?.label ?? value;
-function statusLabel(item: Vehicle) { return item.enrollment === "pending" ? "Подтверждаем привязку" : item.enrollment === "revoked" ? "Доверие отозвано" : item.enrollment === "failed" ? "Привязка не завершена" : item.connectivity === "online" ? "В сети" : "Нет связи"; }
-
-export function VehiclesWorkspace({ createRequest = 0 }: { createRequest?: number }) {
-  const fleet = useFleet();
-  const [adding, setAdding] = useState(false);
-  const [code, setCode] = useState("");
-  const [name, setName] = useState("");
-  const [platform, setPlatform] = useState("ugv");
-  const [preview, setPreview] = useState<FleetPreview | null>(null);
-  const [pending, setPending] = useState(false);
-  const [error, setError] = useState("");
-  const [selected, setSelected] = useState<string | null>(null);
-  const [sensorOpen, setSensorOpen] = useState(false);
-  const [monitorOpen,setMonitorOpen]=useState(false);
-  const [observationOpen,setObservationOpen]=useState(false);
-  const [revoking, setRevoking] = useState<Vehicle | null>(null);
-  const lastCreateRequest = useRef(createRequest);
-  useEffect(() => { if (createRequest !== lastCreateRequest.current) { lastCreateRequest.current = createRequest; setAdding(true); setError(""); } }, [createRequest]);
-  function close() { if (pending) return; setAdding(false); setPreview(null); setCode(""); setName(""); setError(""); }
-  async function inspect(event: React.FormEvent) {
-    event.preventDefault(); if (pending) return;
-    setPending(true); setError("");
-    try { const value = await fleetRequest<FleetPreview>("/preview", "POST", { code: code.trim() }); setPreview(value); setName(current => current || value.name); setCode(""); }
-    catch (error) { setError(error instanceof Error ? error.message : "Не удалось проверить приглашение."); }
-    finally { setPending(false); }
-  }
-  async function add() {
-    if (!preview || pending) return;
-    setPending(true); setError("");
-    try {
-      const item = await fleetRequest<Vehicle>("", "POST", { preview_id: preview.preview_id, name: name.trim(), platform });
-      await fleet.refresh(); setSelected(item.id); setAdding(false); setPreview(null); setCode(""); setName("");
-    } catch (error) { setError(error instanceof Error ? error.message : "Не удалось добавить аппарат."); void fleet.refresh().catch(() => undefined); }
-    finally { setPending(false); }
-  }
-  const detail = fleet.items?.find(item => item.id === selected);
-  if(detail&&observationOpen)return <BoardObservationCenter key={detail.id} vehicleID={detail.id} name={detail.name} enabled={!fleet.error&&detail.enrollment==="paired"&&detail.connectivity==="online"} back={()=>{setObservationOpen(false);setSensorOpen(false);}}/>;
-  if(detail&&monitorOpen)return <BoardMonitorView vehicle={detail.id} name={detail.name} back={()=>setMonitorOpen(false)}/>;
-  return <div className="fleet-workspace">
-    {fleet.error && <p role="alert">{fleet.error}</p>}
-    {!adding && error && <p role="alert">{error}</p>}
-    {detail ? <>
-      <div><Button onClick={() => {setSelected(null);setSensorOpen(false);}}>К списку аппаратов</Button></div>
-      {!sensorOpen && <SettingsCard title={detail.name} description={`${platformLabel(detail.platform)} · с бортовым компьютером`} actions={<StatusBadge tone={!fleet.error && detail.enrollment === "paired" && detail.connectivity === "online" ? "success" : "neutral"}>{fleet.error ? "Нет свежих данных" : statusLabel(detail)}</StatusBadge>}>
-        {detail.notice && <p role="status">{detail.notice}</p>}
-        <dl className="fleet-facts"><div><dt>Бортовой компьютер</dt><dd>{detail.node_id}</dd></div>
-          <div><dt>Последняя связь</dt><dd>{detail.last_seen ? new Date(detail.last_seen * 1000).toLocaleString("ru-RU") : "Соединение ещё не получено"}</dd></div>
-          {detail.host && <><div><dt>Имя БК в системе</dt><dd>{detail.host.hostname}</dd></div><div><dt>Операционная система</dt><dd>{detail.host.os}</dd></div><div><dt>Архитектура</dt><dd>{detail.host.architecture}</dd></div><div><dt>Процессоры</dt><dd>{detail.host.cpus}</dd></div><div><dt>Память</dt><dd>{detail.host.memory_kib ? `${(detail.host.memory_kib / 1024 / 1024).toFixed(1)} ГиБ` : "Нет сведений"}</dd></div></>}
-        </dl>
-        <div className="fleet-board-actions"><Button onClick={()=>setMonitorOpen(true)}><Icon name="activity"/>Мониторинг системы БК</Button>
-        <Button onClick={()=>setObservationOpen(true)}><Icon name="eye"/>Центр наблюдения</Button>
-        {detail.enrollment !== "revoked" && <Button onClick={() => setRevoking(detail)}>Отозвать привязку БК</Button>}</div>
-      </SettingsCard>}
-      <SettingsCard title="Устройства аппарата"><VehicleSensors onDetailChange={setSensorOpen} vehicleID={detail.id} enabled={!fleet.error && detail.enrollment === "paired" && detail.connectivity === "online"} /></SettingsCard>
-    </> : !fleet.items ? <LoadingRegion loading label="Получение аппаратов" /> : fleet.items.length === 0 ? <SettingsCard title="Аппаратов пока нет" description="Добавьте аппарат по приглашению из Mission Core Node на его бортовом компьютере."><Button onClick={() => setAdding(true)}>Добавить аппарат</Button></SettingsCard> : <ResourceList aria-label="Аппараты">{fleet.items.map(item => <li key={item.id}><ResourceRow icon={<Icon name="apps" />} title={item.name} description={`${platformLabel(item.platform)} · бортовой компьютер`} status={<StatusBadge tone={!fleet.error && item.enrollment === "paired" && item.connectivity === "online" ? "success" : "neutral"}>{fleet.error ? "Нет свежих данных" : statusLabel(item)}</StatusBadge>} actions={<><IconButton label={`Конфигурация: ${item.name}`} onClick={() => setSelected(item.id)}><Icon name="sliders" /></IconButton><IconButton label={`Центр наблюдения: ${item.name}`} onClick={() => {setSelected(item.id);setObservationOpen(true);}}><Icon name="eye" /></IconButton></>} /></li>)}</ResourceList>}
-    <Window open={adding} title="Добавить аппарат" subtitle="Подключить бортовой компьютер по приглашению Node" size="md" closeOnBackdrop={false} closeOnEscape={!pending} onClose={close} footer={<WindowFooterActions><Button disabled={pending} onClick={close}>Отмена</Button>{preview ? <Button disabled={pending || !name.trim()} onClick={() => void add()}>{pending ? "Добавление…" : "Добавить аппарат"}</Button> : <Button type="submit" form="fleet-invitation" disabled={pending || !code.trim()}>{pending ? "Проверка БК…" : "Проверить БК"}</Button>}</WindowFooterActions>}>
-      <form id="fleet-invitation" className="fleet-form" onSubmit={inspect} aria-busy={pending}>
-        <Select label="Способ подключения" value="node" options={[{ value: "node", label: "С бортовым компьютером" }]} onChange={() => undefined} disabled={pending} />
-        <Select label="Класс аппарата" value={platform} options={platforms} onChange={setPlatform} disabled={pending} />
-        <TextField label="Название аппарата" value={name} maxLength={80} onChange={event => setName(event.target.value)} disabled={pending} autoComplete="off" />
-        {preview ? <SettingsCard title={preview.name} description="Идентичность БК проверена по приглашению"><dl className="fleet-facts"><div><dt>Идентификатор БК</dt><dd>{preview.node_id}</dd></div><div><dt>Система</dt><dd>{preview.host.os} · {preview.host.architecture}</dd></div><div><dt>Адрес БК</dt><dd>{preview.endpoint}</dd></div></dl><Button disabled={pending} onClick={() => setPreview(null)}>Другое приглашение</Button></SettingsCard> : <TextAreaField label="Код приглашения из Node" value={code} rows={5} maxLength={4096} spellCheck={false} autoComplete="off" disabled={pending} onChange={event => setCode(event.target.value)} />}
-        {error && <p role="alert">{error}</p>}
-      </form>
-    </Window>
-    <ConfirmationModal open={revoking !== null} title="Отозвать привязку БК?" description={`Аппарат «${revoking?.name ?? ""}» останется в реестре, а его БК потеряет доступ к Core. БК получит отзыв при следующем соединении.`} confirmLabel="Отозвать" cancelLabel="Отмена" danger onClose={() => setRevoking(null)} onConfirm={async () => { if (!revoking) return; try { await fleetRequest(`/${encodeURIComponent(revoking.id)}`, "DELETE"); await fleet.refresh(); setRevoking(null); } catch (error) { setError(error instanceof Error ? error.message : "Не удалось отозвать привязку."); throw error; } }} />
+export function VehiclesWorkspace({headerToolsHost,headerTitleHost}:{headerToolsHost?:HTMLElement|null;headerTitleHost?:HTMLElement|null}){
+ const fleet=useFleet();
+ const [selected,setSelected]=useState<string|null>(null);
+ const [adding,setAdding]=useState(false),[monitorOpen,setMonitorOpen]=useState(false),[observationOpen,setObservationOpen]=useState(false),[settingsOpen,setSettingsOpen]=useState(false);
+ const [revoking,setRevoking]=useState<Vehicle|null>(null),[error,setError]=useState('');
+ const detail=fleet.items?.find(item=>item.id===selected);
+ const enabled=!!detail&&!fleet.error&&detail.enrollment==='paired'&&detail.connectivity==='online';
+ const refresh=()=>{void fleet.refresh().catch(()=>setError('Не удалось обновить аппарат. Повторите получение сведений.'));};
+ const complete=(item:Vehicle)=>{setSelected(item.id);setAdding(false);refresh();};
+ const addButton=<IconButton label="Добавить аппарат" onClick={()=>setAdding(true)}><Icon name="plus"/></IconButton>;
+ const headerAdd=!detail&&(headerToolsHost?createPortal(addButton,headerToolsHost):addButton);
+ const titleSuffix=detail?` — ${detail.name} / ${platformLabel(detail.platform)}`:'';
+ const observationButton=<IconButton label="Центр наблюдения и управления" onClick={()=>setObservationOpen(true)}><Icon name="eye"/></IconButton>;
+ const headerObservation=detail&&!observationOpen&&!monitorOpen&&(headerToolsHost?createPortal(observationButton,headerToolsHost):observationButton);
+ const content=detail&&observationOpen?<BoardObservationCenter key={detail.id} vehicleID={detail.id} name={detail.name} enabled={enabled} back={()=>{setObservationOpen(false);setSelected(null);}} configure={()=>setObservationOpen(false)} headerToolsHost={headerToolsHost}/>
+  :detail&&monitorOpen?<BoardMonitorView vehicle={detail.id} name={detail.name} back={()=>setMonitorOpen(false)} headerToolsHost={headerToolsHost}/>
+  :<div className="fleet-workspace">
+   {detail?<>
+    <WorkspaceBackButton label="К списку аппаратов" onClick={()=>setSelected(null)} host={headerToolsHost}/>
+    <VehicleSensors onUpdated={fleet.acceptVehicle} vehicle={detail} enabled={enabled} onAddComputer={()=>setAdding(true)} onSettings={()=>setSettingsOpen(true)} onMonitor={()=>setMonitorOpen(true)}/>
+   </>:!fleet.items?<LoadingRegion loading={!fleet.error} label="Получение аппаратов"/>:fleet.items.length===0?<SettingsCard title="Аппаратов пока нет" description="Создайте аппарат и подключите его бортовой компьютер по приглашению Mission Core Node."/>:<ResourceList aria-label="Аппараты">{fleet.items.map(item=><li key={item.id}><ResourceRow icon={<Icon name="apps"/>} title={item.name} description={platformLabel(item.platform)} status={<StatusBadge tone={!fleet.error&&item.enrollment==='paired'&&item.connectivity==='online'?'success':'neutral'}>{fleet.error?'Нет свежих данных':`БК: ${boardStatus(item)}`}</StatusBadge>} actions={<><IconButton label={`Конфигурация: ${item.name}`} onClick={()=>setSelected(item.id)}><Icon name="sliders"/></IconButton><IconButton label={`Центр наблюдения и управления: ${item.name}`} onClick={()=>{setSelected(item.id);setObservationOpen(true);}}><Icon name="eye"/></IconButton></>}/></li>)}</ResourceList>}
   </div>;
+ return <>{headerTitleHost&&createPortal(titleSuffix,headerTitleHost)}{headerAdd}{headerObservation}{content}
+  {adding&&<NodeInvitationForm key={detail?.id??'new'} vehicle={detail} onClose={()=>setAdding(false)} onComplete={complete} renderWindow={({content,actions,busy})=><Window open title={detail?'Подключить бортовой компьютер':'Добавить аппарат'} subtitle={detail?detail.name:'Создать аппарат и подключить БК по приглашению Node'} size="md" closeOnBackdrop={false} closeOnEscape={!busy} onClose={()=>{if(!busy)setAdding(false);}} footer={<WindowFooterActions>{actions}</WindowFooterActions>}>{content}</Window>}/>}
+  {settingsOpen&&detail&&<BoardComputerSettings vehicle={detail} enabled={enabled} onClose={()=>setSettingsOpen(false)} onRevoke={()=>{setSettingsOpen(false);setRevoking(detail);}}/>}
+  <ConfirmationModal open={revoking!==null} title="Отозвать привязку БК?" description={`Аппарат «${revoking?.name??''}» останется в реестре. БК потеряет доступ к Core и получит отзыв при следующем соединении.`} confirmLabel="Отозвать" cancelLabel="Отмена" danger onClose={()=>setRevoking(null)} onConfirm={async()=>{if(!revoking)return;try{await fleetRequest(`/${encodeURIComponent(revoking.id)}`,'DELETE');await fleet.refresh();setRevoking(null);}catch(e){setError(e instanceof Error?e.message:'Не удалось отозвать привязку.');throw e;}}}/>
+  <ToastStack items={error||fleet.error?[{id:'fleet-error',title:error||fleet.error,tone:'error',durationMs:null}]:[]} onDismiss={()=>setError('')}/>
+ </>;
 }

apps/control-station/src/workspaces/fleet/fleet.css

@@ -1,5 +1,7 @@
 .fleet-workspace, .fleet-form { display: flex; flex-direction: column; gap: var(--nodedc-space-4); }
 .fleet-workspace { padding: var(--nodedc-space-4); }
+.fleet-header-tools { display:flex; align-items:center; gap:var(--nodedc-space-2); }
+.nodedc-application-panel__titles h1 > .fleet-header-title { font:inherit; color:inherit; letter-spacing:inherit; text-transform:none; }
 .fleet-facts { display: grid; gap: var(--nodedc-space-3); }
 .fleet-facts > div { display: grid; grid-template-columns: minmax(120px, 1fr) minmax(0, 2fr); gap: var(--nodedc-space-3); }
 .fleet-facts dd { margin: 0; overflow-wrap: anywhere; }
@@ -10,4 +12,6 @@
 
 .fleet-board-actions { display:flex; gap:var(--nodedc-space-3); }
 .fleet-board-actions > * { flex:1; }
+.fleet-computer-devices { padding-block-start:var(--nodedc-space-4); padding-inline-start:var(--nodedc-space-4); display:grid; gap:var(--nodedc-space-4); }
+.fleet-form p { font-size:var(--nodedc-font-size-sm); line-height:1.5; color:var(--nodedc-text-secondary); }
 @media(max-width:600px) { .fleet-board-actions { flex-wrap:wrap; } }

apps/control-station/src/workspaces/fleet/observation/BoardObservationCenter.tsx

@@ -7,66 +7,82 @@ import {decodeObservationLayout,emptyObservationLayout,moveObservation,orderedOb
 import {createIsolatedRerunHost} from '../../../components/rerun/isolatedRerunHost';
 import {CameraObservation} from '../../../../../../packages/sensor-ui/src/CameraObservation';
 import {cameraObservationViews,observationKey,type SensorObservationView,type ObservationHeaderTargets} from '../../../../../../packages/sensor-ui/src/observation';
+import {unboundObservationViews} from '../../../../../../packages/sensor-ui/src/observationCatalog';
+import {sensorContribution} from '../../../../../../packages/sensor-ui/src/extensions';
+import {ObservationDeviceSettings} from './ObservationDeviceSettings';
+import {ObservationPanelHeader} from './ObservationPanelHeader';
 import {ObservationDeck,ObservationMount} from './ObservationDeck';
 import {ObservationMap} from './ObservationMap';
 import {useObservationInventory} from './useObservationInventory';
 import './observation.css';
+import {RoverView} from '../../../components/rover/RoverView';
+import {RoverTelemetry} from '../../../components/rover/RoverTelemetry';
+import {useRoverControl} from '../../../core/fleet/useRoverControl';
 
-export function BoardObservationCenter({vehicleID,name,enabled,back}:{vehicleID:string;name:string;enabled:boolean;back:()=>void}){
+export function BoardObservationCenter({vehicleID,name,enabled,back,configure,headerToolsHost}:{vehicleID:string;name:string;enabled:boolean;back:()=>void;configure:()=>void;headerToolsHost?:HTMLElement|null}){
  const {registry}=useDevicePluginHost(),transport=useMemo(()=>createFleetSensorTransport(vehicleID),[vehicleID]);
  const inventory=useObservationInventory(transport),storageKey=`missioncore.observation.v1:${vehicleID}`;
  const [layout,setLayout]=useState(()=>{try{return decodeObservationLayout(JSON.parse(localStorage.getItem(storageKey)??'null'));}catch{return emptyObservationLayout();}});
- const [layersOpen,setLayersOpen]=useState(false),[focused,setFocused]=useState<string|null>(null);
+ const [settingsDevice,setSettingsDevice]=useState<string|null>(null);
+ const [layersOpen,setLayersOpen]=useState(false);
  const [full,setFull]=useState<string|null>(null),[expanded,setExpanded]=useState(false);
  const frame=useRef<HTMLDivElement>(null),[portal]=useState(()=>document.createElement('div'));
  useLayoutEffect(()=>{(expanded?document.body:frame.current!).append(portal);return()=>portal.remove();},[expanded,portal]);
  const mounts=useRef(new Map<string,HTMLElement>()),media=useRef(new Map<string,HTMLElement>()),headers=useRef(new Map<string,ObservationHeaderTargets>());
  const groups=(inventory?.items??[]).flatMap(device=>{
-  const contribution=registry.sensorContributions.find(item=>item.kind===device.kind)?.observation;
+  const contribution=sensorContribution(registry.sensorContributions,device)?.observation;
   const views=contribution?.views(device)??cameraObservationViews(device);
   return views.length?[{device,views,Session:contribution?.Session??CameraObservation}]:[];
  });
- const sources:{key:string;deviceID?:string;view:SensorObservationView}[]=groups.flatMap(group=>group.views.map(view=>({key:observationKey(group.device.id,view.id),deviceID:group.device.id,view})));
- sources.push({key:'map',view:{id:'map',label:'Карта'}});
+ const sources:{key:string;deviceID?:string;catalog?:string;view:SensorObservationView}[]=groups.flatMap(group=>group.views.map(view=>({key:observationKey(group.device.id,view.id),deviceID:group.device.id,view})));
+ sources.push(...unboundObservationViews(inventory?.items??[],registry.sensorContributions));
+ sources.push({key:'map',view:{id:'map',label:'Карта'}},{key:'rover',view:{id:'rover',label:'3D View аппарата'}},{key:'telemetry',view:{id:'telemetry',label:'Телеметрия'}});
  for(const source of sources){if(!mounts.current.has(source.key)){mounts.current.set(source.key,document.createElement('div'));media.current.set(source.key,document.createElement('div'));headers.current.set(source.key,{statusTarget:document.createElement('div'),actionsTarget:document.createElement('div')});mounts.current.get(source.key)!.className='observation-panel-mount';media.current.get(source.key)!.className='observation-media-mount';}}
- const ids=orderedObservationIDs(layout,sources.map(source=>source.key)),visible=ids.filter(id=>!layout.hidden.includes(id));
+ const ids=orderedObservationIDs(layout,sources.map(source=>source.key)),visible=ids.filter(id=>!layout.hidden.includes(id)&&(!sources.find(source=>source.key===id)?.catalog||layout.catalogVisible?.includes(id)));
  const effectiveFull=full&&visible.includes(full)?full:null;
- const active=sources.find(source=>source.key===focused);
+ const rover=useRoverControl(vehicleID,enabled&&(visible.includes('rover')||visible.includes('telemetry')));
+ const drivingVisible=visible.includes('rover')&&(!effectiveFull||effectiveFull==='rover')&&!layersOpen&&!settingsDevice;
+ useEffect(()=>{if(!drivingVisible)rover.stop();},[drivingVisible,rover.stop]);
+ const configuredDevice=inventory?.items.find(device=>device.id===settingsDevice);
  useEffect(()=>{try{localStorage.setItem(storageKey,JSON.stringify(layout));}catch{/* The workspace remains usable without browser storage. */}},[storageKey,layout]);
  useEffect(()=>{const escape=(event:KeyboardEvent)=>{if(event.key!=='Escape'||layersOpen||document.querySelector('[role=dialog], [role=listbox]'))return;if(effectiveFull){setFull(null);event.stopImmediatePropagation();}else if(expanded){setExpanded(false);event.stopImmediatePropagation();}};window.addEventListener('keydown',escape,true);return()=>window.removeEventListener('keydown',escape,true);},[effectiveFull,expanded,layersOpen]);
- const setVisible=(id:string,show:boolean)=>setLayout(value=>({...value,hidden:show?value.hidden.filter(key=>key!==id):[...new Set([...value.hidden,id])]}));
+ const setVisible=(id:string,show:boolean)=>setLayout(value=>({...value,catalogVisible:show?[...new Set([...(value.catalogVisible??[]),...(sources.find(source=>source.key===id)?.catalog?[id]:[])])]:(value.catalogVisible??[]).filter(key=>key!==id),hidden:show?value.hidden.filter(key=>key!==id):[...new Set([...value.hidden,id])]}));
  const layerFor=(key:string,view:SensorObservationView)=>view.layers?.find(layer=>layer.value===layout.layers[key])?.value??view.layers?.[0]?.value??view.id;
- return <><div ref={frame}/>{createPortal(<section className={`observation-center${expanded?' observation-center--expanded':''}`} aria-label={`Центр наблюдения · ${name}`}>
-  <header className="observation-toolbar"><div><h2>Центр наблюдения</h2><span>{name}</span></div><div className="observation-actions"><Button onClick={back}><Icon name="sliders"/>Конфигуратор</Button><Button onClick={()=>{setFocused(null);setLayersOpen(true);}}><Icon name="grid"/>Доступные слои</Button><IconButton label={expanded?'Восстановить размер центра':'Развернуть центр наблюдения'} onClick={()=>setExpanded(value=>!value)}><Icon name={expanded?'minimize':'expand'}/></IconButton></div></header>
+ const navigationActions=<><IconButton label="Конфигуратор" onClick={configure}><Icon name="sliders"/></IconButton><IconButton label="К аппаратам" onClick={back}><Icon name="chevron-left"/></IconButton></>;
+ return <>{headerToolsHost&&!expanded&&createPortal(navigationActions,headerToolsHost)}<div ref={frame}/>{createPortal(<section className={`observation-center${expanded?' observation-center--expanded':''}`} aria-label={`Центр наблюдения и управления · ${name}`}>
+  <header className="observation-toolbar"><div><h2>Центр наблюдения и управления</h2><span>{name}</span></div><div className="observation-actions">{(!headerToolsHost||expanded)&&navigationActions}<Button onClick={()=>{setLayersOpen(true);}}><Icon name="grid"/>Доступные слои</Button><IconButton label={expanded?'Восстановить размер центра':'Развернуть центр наблюдения и управления'} onClick={()=>setExpanded(value=>!value)}><Icon name={expanded?'minimize':'expand'}/></IconButton></div></header>
   <div className="observation-summary"><StatusBadge tone={enabled&&inventory&&inventory.fresh!==false?'success':'neutral'}>{!inventory?'Получение источников':!enabled||inventory.fresh===false?'Нет свежих данных с БК':`Устройства: ${groups.length} · Окна: ${visible.length}`}</StatusBadge>{effectiveFull&&<Button onClick={()=>setFull(null)}>Все окна</Button>}</div>
   <DragDropRoot onDragEnd={({activeId,overId})=>{if(overId)setLayout(value=>moveObservation(value,ids,activeId,overId));}}>
-   <div className="observation-deck">{!inventory?<LoadingRegion loading label="Получение визуальных источников"/>:visible.length?<ObservationDeck ids={effectiveFull?[effectiveFull]:visible} mounts={mounts.current} layout={layout} onSplit={(key,value)=>setLayout(current=>({...current,splits:{...current.splits,[key]:value}}))}/>:<div className="observation-empty"><p>Все окна скрыты.</p><Button onClick={()=>{setFocused(null);setLayersOpen(true);}}>Доступные слои</Button></div>}</div>
+   <div className="observation-deck">{!inventory?<LoadingRegion loading label="Получение визуальных источников"/>:visible.length?<ObservationDeck ids={effectiveFull?[effectiveFull]:visible} mounts={mounts.current} layout={layout} onSplit={(key,value)=>setLayout(current=>({...current,splits:{...current.splits,[key]:value}}))}/>:<div className="observation-empty"><p>Все окна скрыты.</p><Button onClick={()=>{setLayersOpen(true);}}>Доступные слои</Button></div>}</div>
    {sources.filter(source=>visible.includes(source.key)).map(source=>createPortal(
     <DropZone id={source.key} className="observation-panel">
      <DraggableItem id={source.key} className="observation-panel-drag">{({handle})=>
-      <GlassSurface tone="soft" radius="panel" padding="none" materialRim={false} className="observation-panel__surface">
-       <header className="observation-panel__header">
+      <GlassSurface tone="soft" radius="panel" padding="none" materialRim={false} className="observation-panel__surface observation-panel__surface--overlay">
+       <ObservationPanelHeader>
        {handle}
        <div className="observation-panel__title"><h3 title={source.view.label}>{source.view.label}</h3><ObservationMount className="observation-header-slot" element={headers.current.get(source.key)!.statusTarget}/></div>
        <div className="observation-actions">
         {source.view.layers&&<Select className="observation-layer-select" label={`Слой · ${source.view.label}`} value={layerFor(source.key,source.view)} options={source.view.layers} onChange={value=>setLayout(current=>({...current,layers:{...current.layers,[source.key]:value}}))} variant="inline"/>}
         <ObservationMount className="observation-header-slot" element={headers.current.get(source.key)!.actionsTarget}/>
-        {source.key!=='map'&&<IconButton label={`Настройки · ${source.view.label}`} onClick={()=>{setFocused(source.key);setLayersOpen(true);}}><Icon name="settings"/></IconButton>}
+        {source.deviceID&&<IconButton label={`Настройки · ${source.view.label}`} onClick={()=>setSettingsDevice(source.deviceID!)}><Icon name="settings"/></IconButton>}
         <IconButton label={`${effectiveFull===source.key?'Восстановить':'Развернуть'} · ${source.view.label}`} onClick={()=>setFull(value=>value===source.key?null:source.key)}><Icon name={effectiveFull===source.key?'minimize':'expand'}/></IconButton>
         <IconButton label={`Скрыть · ${source.view.label}`} onClick={()=>setVisible(source.key,false)}><Icon name="close"/></IconButton>
        </div>
-       </header>
+       </ObservationPanelHeader>
        <ObservationMount element={media.current.get(source.key)!}/>
       </GlassSurface>
      }</DraggableItem>
     </DropZone>,mounts.current.get(source.key)!,source.key))}
   </DragDropRoot>
   {groups.map(({device,views,Session})=>visible.some(key=>views.some(view=>key===observationKey(device.id,view.id)))&&<Session key={device.id} device={device} transport={transport} enabled={enabled&&inventory?.fresh!==false&&device.online} createRerunHost={createIsolatedRerunHost} views={views.map(view=>({id:view.id,layer:layerFor(observationKey(device.id,view.id),view),target:media.current.get(observationKey(device.id,view.id))!,...headers.current.get(observationKey(device.id,view.id))!}))}/>)}
+  {sources.filter(source=>source.catalog&&visible.includes(source.key)).map(source=>createPortal(<div className="observation-source"><div className="observation-source__notice"><p>{source.catalog} не подключён к аппарату.</p><Button onClick={configure}>Подключить в конфигураторе</Button></div></div>,media.current.get(source.key)!,source.key))}
+  {configuredDevice&&<ObservationDeviceSettings key={configuredDevice.id} device={configuredDevice} transport={transport} contributions={registry.sensorContributions} enabled={enabled&&inventory?.fresh!==false&&configuredDevice.online} close={()=>setSettingsDevice(null)} configure={configure}/>}
   {visible.includes('map')&&createPortal(<ObservationMap vehicleID={vehicleID} header={headers.current.get('map')!}/>,media.current.get('map')!,'map-session')}
-  <Window open={layersOpen} onClose={()=>setLayersOpen(false)} title={active?active.view.label:'Доступные слои'} size="md"><div className="observation-settings">
-   {!active&&<Select label="Расположение окон" value={layout.arrangement} options={[{value:'auto',label:'Автоматически'},{value:'columns',label:'В ряд'},{value:'rows',label:'Друг под другом'}]} onChange={value=>setLayout(current=>({...current,arrangement:value as typeof layout.arrangement}))}/>}
-   {ids.filter(id=>!active||id===active.key).map(id=>{const source=sources.find(item=>item.key===id)!;return <div className="observation-layer" key={id}><Switch label={source.view.label} checked={visible.includes(id)} onChange={value=>setVisible(id,value)}/><Select label={`Позиция · ${source.view.label}`} value={String(ids.indexOf(id))} options={ids.map((_,i)=>({value:String(i),label:`Окно ${i+1}`}))} onChange={value=>setLayout(current=>moveObservation(current,ids,id,ids[Number(value)]))}/></div>;})}
-   {active?.view.layers&&<Select label="Слой источника" value={layerFor(active.key,active.view)} options={active.view.layers} onChange={value=>setLayout(current=>({...current,layers:{...current.layers,[active.key]:value}}))}/>}
+  {visible.includes('rover')&&createPortal(<RoverView vehicleID={vehicleID} controller={rover} header={headers.current.get('rover')!} active={drivingVisible}/>,media.current.get('rover')!,'rover-session')}
+  {visible.includes('telemetry')&&createPortal(<RoverTelemetry state={rover.state}/>,media.current.get('telemetry')!,'telemetry-session')}
+  <Window open={layersOpen} onClose={()=>setLayersOpen(false)} title="Доступные слои" size="md"><div className="observation-settings">
+   <Select label="Расположение окон" value={layout.arrangement} options={[{value:'auto',label:'Автоматически'},{value:'columns',label:'В ряд'},{value:'rows',label:'Друг под другом'}]} onChange={value=>setLayout(current=>({...current,arrangement:value as typeof layout.arrangement}))}/>
+   {ids.map(id=>{const source=sources.find(item=>item.key===id)!;return <div className="observation-layer" key={id}><Switch label={source.catalog?`${source.view.label} · Источник не подключён`:source.view.label} checked={visible.includes(id)} onChange={value=>setVisible(id,value)}/><Select label={`Позиция · ${source.view.label}`} value={String(ids.indexOf(id))} options={ids.map((_,i)=>({value:String(i),label:`Окно ${i+1}`}))} onChange={value=>setLayout(current=>moveObservation(current,ids,id,ids[Number(value)]))}/></div>;})}
    <Button onClick={()=>{setLayout(emptyObservationLayout());setFull(null);}}>Восстановить расположение</Button>
   </div></Window>
  </section>,portal)}</>;

apps/control-station/src/workspaces/fleet/observation/ObservationDeck.tsx

@@ -11,6 +11,8 @@ export function ObservationMount({element,className='observation-mount'}:{elemen
 export function ObservationDeck({ids,mounts,layout,onSplit,depth=0}:{ids:string[];mounts:Map<string,HTMLElement>;layout:ObservationLayout;onSplit:(key:string,value:number)=>void;depth?:number}){
  if(!ids.length)return null;
  if(ids.length===1)return <ObservationMount element={mounts.get(ids[0])!}/>;
- const mid=Math.ceil(ids.length/2),key=JSON.stringify(ids),orientation=layout.arrangement==='rows'?'horizontal':layout.arrangement==='columns'?'vertical':depth%2?'horizontal':'vertical';
- return <SplitPane className="observation-split" orientation={orientation} primarySize={layout.splits[key]??50} onPrimarySizeChange={value=>onSplit(key,value)} separatorLabel="Изменить размеры окон" primary={<ObservationDeck ids={ids.slice(0,mid)} mounts={mounts} layout={layout} onSplit={onSplit} depth={depth+1}/>} secondary={<ObservationDeck ids={ids.slice(mid)} mounts={mounts} layout={layout} onSplit={onSplit} depth={depth+1}/>}/>;
+ const defaultColumns=depth===0&&layout.arrangement==='auto'&&!layout.order.some(id=>id==='rover'||id==='telemetry')&&ids.some(id=>!['map','rover','telemetry'].includes(id));
+ const cameraCount=ids.filter(id=>!['map','rover','telemetry'].includes(id)).length;
+ const mid=defaultColumns&&cameraCount<ids.length?cameraCount:layout.arrangement==='auto'&&ids[0]==='map'&&ids.includes('rover')?1:Math.ceil(ids.length/2),key=JSON.stringify(ids),orientation=layout.arrangement==='rows'?'horizontal':layout.arrangement==='columns'?'vertical':depth%2?'horizontal':'vertical';
+ return <SplitPane separatorAppearance="invisible" className="observation-split" orientation={orientation} primarySize={layout.splits[key]??50} onPrimarySizeChange={value=>onSplit(key,value)} separatorLabel="Изменить размеры окон" primary={<ObservationDeck ids={ids.slice(0,mid)} mounts={mounts} layout={layout} onSplit={onSplit} depth={depth+1}/>} secondary={<ObservationDeck ids={ids.slice(mid)} mounts={mounts} layout={layout} onSplit={onSplit} depth={depth+1}/>}/>;
 }

apps/control-station/src/workspaces/fleet/observation/ObservationDeviceSettings.tsx

@@ -0,0 +1,17 @@
+import {useState} from 'react';
+import {Button,Window} from '@nodedc/ui-react';
+import {SensorDetail} from '../../../../../../packages/sensor-ui/src/SensorDetail';
+import {sensorContribution,type SensorUiContribution} from '../../../../../../packages/sensor-ui/src/extensions';
+import type {Sensor,SensorTransport} from '../../../../../../packages/sensor-ui/src/contracts';
+import {createIsolatedRerunHost} from '../../../components/rerun/isolatedRerunHost';
+
+export function ObservationDeviceSettings({device,transport,contributions,enabled,close,configure}:{device:Sensor;transport:SensorTransport;contributions:readonly SensorUiContribution[];enabled:boolean;close:()=>void;configure:()=>void}) {
+ const [error,setError]=useState('');
+ const Detail=sensorContribution(contributions,device)?.Detail??SensorDetail;
+ return <Window open title={`Настройки · ${device.name}`} size="lg" placement="end" draggable closeOnBackdrop={false} lockBodyScroll={false} trapFocus={false} onClose={close}>
+  {!enabled&&<p>Нет связи с устройством. Настройки оборудования будут доступны после подключения.</p>}
+  {!device.prepared&&<Button onClick={configure}>Подготовить устройство в конфигураторе</Button>}
+  {error&&<p role="alert">{error}</p>}
+  <Detail device={device} transport={transport} enabled={enabled} back={close} refresh={async()=>{await transport.inventory();}} failure={reason=>setError(reason instanceof Error?reason.message:reason?String(reason):'')} createRerunHost={createIsolatedRerunHost}/>
+ </Window>;
+}

apps/control-station/src/workspaces/fleet/observation/ObservationPanelHeader.tsx

@@ -0,0 +1,13 @@
+import {useLayoutEffect,useRef,type ReactNode} from 'react';
+
+/** Reserve the actual overlay height for text/status content, including wrapped controls. */
+export function ObservationPanelHeader({children}:{children:ReactNode}) {
+ const ref=useRef<HTMLElement>(null);
+ useLayoutEffect(()=>{
+  const header=ref.current!;
+  const measure=()=>header.parentElement?.style.setProperty('--observation-overlay-header-space',`${header.getBoundingClientRect().height}px`);
+  measure();const observer=new ResizeObserver(measure);observer.observe(header);
+  return()=>observer.disconnect();
+ },[]);
+ return <header ref={ref} className="observation-panel__header">{children}</header>;
+}

apps/control-station/src/workspaces/fleet/observation/observation.css

@@ -9,6 +9,9 @@
 .observation-mount, .observation-panel-mount, .observation-media-mount, .observation-panel, .observation-split { height:100%; min-height:0; min-width:0; }
 .observation-panel__surface { display:flex; flex-direction:column; height:100%; overflow:hidden; container-type:inline-size; }
 .observation-panel__surface > .observation-mount { flex:1; }
+.observation-panel__surface--overlay { position:relative; --observation-overlay-header-space:62px; }
+.observation-panel__surface--overlay > .observation-panel__header { position:absolute; inset:0 0 auto; z-index:1; background:transparent; pointer-events:none; }
+.observation-panel__surface--overlay > .observation-panel__header > * { pointer-events:auto; }
 .observation-panel__header { display:flex; align-items:center; gap:var(--nodedc-space-2); padding:var(--nodedc-space-2); flex-shrink:0; }
 .observation-panel__header h3 { min-width:0; font-size:var(--nodedc-font-size-sm); overflow:hidden; text-overflow:ellipsis; white-space:nowrap; }
 .observation-source { position:relative; display:flex; flex-direction:column; height:100%; min-height:0; }
@@ -21,7 +24,7 @@
 .observation-source__media { position:relative; flex:1; min-height:0; overflow:hidden; display:flex; align-items:center; justify-content:center; }
 .observation-source__media video, .observation-source__media canvas { width:100%; height:100%; object-fit:contain; }
 .observation-source__media[data-live="false"] > *, .observation-source__media [data-live="false"] { visibility:hidden; }
-.observation-source__notice { position:absolute; inset:30% var(--nodedc-space-4) auto; text-align:center; color:var(--nodedc-text-secondary); font-size:calc(var(--nodedc-font-size-lg) * .7); }
+.observation-source__notice { position:absolute; inset:max(30%, calc(var(--observation-overlay-header-space, 0px) + var(--nodedc-space-3))) var(--nodedc-space-4) auto; text-align:center; color:var(--nodedc-text-secondary); font-size:calc(var(--nodedc-font-size-lg) * .7); }
 .observation-rerun, .observation-rerun > div, .observation-map > div { width:100%; height:100%; }
 .observation-settings { display:flex; flex-direction:column; gap:var(--nodedc-space-4); }
 .observation-layer { display:grid; grid-template-columns:minmax(0, 1fr) 50%; align-items:center; gap:var(--nodedc-space-3); }
@@ -43,3 +46,5 @@
  .observation-panel__title { min-width:80px; }
  .observation-panel__header > .observation-actions { max-width:100%; flex-wrap:wrap; justify-content:flex-end; margin-left:auto; }
 }
+
+.observation-panel__surface--overlay .rover-telemetry { padding-top:calc(var(--observation-overlay-header-space) + var(--nodedc-space-3)); }

apps/control-station/src/workspaces/missions/MissionPlannerWorkspace.tsx

@@ -3,7 +3,6 @@ import { createPortal } from 'react-dom';
 import { Button, ConfirmationModal, GlassSurface, Icon, IconButton, LoadingRegion, SegmentedControl, StatusBadge, WorkspaceWindow, type WorkspaceWindowRect } from '@nodedc/ui-react';
 import { usePlanningTest } from '../../core/missions/PlanningTestContext';
 import { useMissionPlanner } from '../../core/missions/useMissionPlanner';
-import { useRegistrationTest } from '../../core/missions/useRegistrationTest';
 import { usePlanningProjects } from '../../core/missions/usePlanningProjects';
 import { planningProjectPending, planningProjectStatus } from '../../core/missions/planningProjects';
 import { MissionZonePreview } from '../../components/missions/MissionZonePreview';
@@ -15,11 +14,9 @@ import { PlanningProjectSelect } from '../../components/missions/PlanningProject
 import '../../styles/session-overview.css';
 import '../../styles/mission-planner.css';
 
-export function MissionPlannerWorkspace({openView,headerToolsHost}:{openView:(id:string)=>void;headerToolsHost?:HTMLElement|null}) {
+export function MissionPlannerWorkspace({openView,headerToolsHost}:{openView:(id:string,profile?:'planning')=>void;headerToolsHost?:HTMLElement|null}) {
   const live=usePlanningTest(), p=useMissionPlanner(), projects=usePlanningProjects();
-  const t=useRegistrationTest(p.saved);
   const [creating,setCreating]=useState(false), [settingsOpen,setSettingsOpen]=useState(false);
-  const [mode,setMode]=useState<'scanner'|'recording'>('scanner');
   const [view,setView]=useState<'cloud'|'route'>('cloud');
   const [starting,setStarting]=useState(false);
   const [pending,setPending]=useState<(()=>void)|null>(null);
@@ -39,7 +36,7 @@ export function MissionPlannerWorkspace({openView,headerToolsHost}:{openView:(id
   };
   const choose=(key:string)=>replace(()=>{setCreating(false);setSettingsOpen(false);projects.select(key);});
   const newProject=()=>replace(()=>{
-    projects.select('');p.newDraft();t.setSessionId('');setMode('scanner');setView('cloud');
+    projects.select('');p.newDraft();setView('cloud');
     setCreating(true);setSettingsOpen(true);setMaximized(false);loadedDraft.current='';
   });
   const start=async()=>{
@@ -47,13 +44,8 @@ export function MissionPlannerWorkspace({openView,headerToolsHost}:{openView:(id
     try {
       const draft=p.saved&&!p.dirty?p.saved:await p.save();
       if(!draft)return;
-      if(mode==='scanner') {
       const next=await live.begin(draft);
-        if(next){projects.select('live:'+next.id);openView('local-device');}
-      } else {
-        const result=await t.run(draft);
-        if(result){setCreating(false);projects.select('recorded:'+result.id);setSettingsOpen(true);}
-      }
+      if(next){projects.select('live:'+next.id);openView('local-device','planning');}
       projects.refresh();
     } finally {setStarting(false);}
   };
@@ -81,13 +73,13 @@ export function MissionPlannerWorkspace({openView,headerToolsHost}:{openView:(id
           {!p.sessionId?<div className="session-overview__empty">Выберите сохранённую запись эталона в настройках.</div>
             :p.sourceError||p.sourceChanged?<div className="session-overview__empty" role="alert"><span>{p.sourceError||'Исходная запись изменилась.'}</span><Button onClick={p.retrySource}>Повторить загрузку</Button></div>
             :!p.source?<LoadingRegion loading label="Подготовка эталона" className="mission-planner__zone-loading"/>
-            :view==='cloud'?<MissionZonePreview sessionId={p.sessionId} toolbar={zoneControls}/>:<MissionRoutePreview source={p.source} poses={p.poses}/>}
+            :view==='cloud'?<MissionZonePreview sessionId={p.sessionId} generation={p.source.generation} toolbar={zoneControls}/>:<MissionRoutePreview source={p.source} poses={p.poses}/>}
         </>:projects.error?<div className="session-overview__empty" role="alert"><span>{projects.error}</span><Button onClick={projects.refresh}>Повторить</Button></div>
           :project?<>
             <header className="planning-project__result-header"><span>{project.name}</span><StatusBadge tone={project.result_status==='rejected'?'warning':'neutral'}>{planningProjectStatus(project)}</StatusBadge></header>
             {project.scene_url?<RegistrationScene sourceUrl={project.scene_url}/>
               :planningProjectPending(project)?<LoadingRegion loading label="Подготовка результата совмещения" className="mission-planner__zone-loading"/>
-              :<div className="session-overview__empty"><span>В этом проекте нет сохранённого совмещения.</span><small>Исходная запись остаётся в разделе «Данные».</small></div>}
+              :<div className="session-overview__empty"><span>В этом проекте нет сохранённого совмещения.</span><small>Исходная запись прохода сохранена отдельно от результата.</small></div>}
             {project.scene_url&&<small className="planning-project__legend">{project.result?.correspondence_colors?'Серый — эталон · цветной — повторный проход · зелёный — точки в пределах 0,5 м':'Серый — эталон · зелёный — повторный проход (ранний формат записи)'}</small>}
           </>:projects.loading||projects.key?<LoadingRegion loading label="Загрузка проекта" className="mission-planner__zone-loading"/>
           :<div className="session-overview__empty">Выберите совмещённый маршрут или создайте проект кнопкой «+».</div>}
@@ -96,9 +88,9 @@ export function MissionPlannerWorkspace({openView,headerToolsHost}:{openView:(id
         title="Настройки" minWidth={320} minHeight={260} active zIndex={100} onClose={()=>setSettingsOpen(false)} closeLabel="Закрыть настройки"
         moveLabel="Переместить настройки" resizeLabel="Изменить размер настроек" maximizeLabel="Развернуть настройки" restoreLabel="Восстановить настройки"
         className="planning-project__inspector">
-        {editing?<PlanningProjectSettings p={p} t={t} mode={mode} setMode={setMode} onStart={()=>void start()} starting={starting}/>
+        {editing?<PlanningProjectSettings p={p} onStart={()=>void start()} starting={starting}/>
           :project?<PlanningProjectResult project={project}/>:<p>Выберите проект или создайте новый кнопкой «+».</p>}
-        {project?.kind==='live'&&planningProjectPending(project)&&<Button disabled={live.busy} onClick={async()=>{await live.select(project.id);live.resume();openView(project.state==='preparing'||project.state==='waiting'?'local-device':'spatial-scene');}}>Открыть текущий проход</Button>}
+        {project?.kind==='live'&&planningProjectPending(project)&&<Button disabled={live.busy} onClick={async()=>{if(await live.select(project.id))openView(project.state==='preparing'||project.state==='waiting'?'local-device':'spatial-scene','planning');}}>Открыть текущий проход</Button>}
         {live.error&&editing&&<p role="alert">{live.error}</p>}
       </WorkspaceWindow>}
     </div>

apps/control-station/src/workspaces/recordings/SessionOverviewWorkspace.tsx

@@ -46,11 +46,11 @@ export function SessionOverviewWorkspace({ sessionId }: { sessionId: string }) {
         separatorLabel="Высота графика интервалов" className="session-overview__split"
         primary={<SplitPane primarySize={left} onPrimarySizeChange={setLeft} minPrimarySize={35} minSecondarySize={25} separatorLabel="Ширина облака и сводки" className="session-overview__split"
           primary={<GlassSurface className="session-overview__panel" radius="panel">
-            {m?.spatial_available && data?.scene_url ? <SessionOverviewScene sourceUrl={data.scene_url} /> : <><h2>Облако и траектория</h2><div className="session-overview__empty">Пространственный обзор для этой записи недоступен.</div></>}
+            {m?.spatial_available && data?.scene_url ? <SessionOverviewScene sourceUrl={data.scene_url} compareVersions /> : <><h2>Облако и траектория</h2><div className="session-overview__empty">Пространственный обзор для этой записи недоступен.</div></>}
             {!m?.spatial_available && <span className="session-overview__note">Доступны сведения из каталога записи.</span>}
           </GlassSurface>}
           secondary={<GlassSurface className="session-overview__panel" radius="panel">
-            <h2>Сведения о записи</h2><div className="session-overview__facts">
+            <h2>Сведения об исходной записи</h2><div className="session-overview__facts">
               <dl>{facts.map(([name, value]) => <div key={name}><dt>{name}</dt><dd>{value}</dd></div>)}</dl>
               <p>Наблюдения точек включают повторные измерения. Длина пути и положения получены из записи и не являются независимой проверкой точности.</p>
             </div>

apps/control-station/src/workspaces/simulation/AiPolygonWorkspace.tsx

@@ -0,0 +1,118 @@
+import { useCallback, useEffect, useRef, useState } from "react";
+import { Button, GlassSurface, Icon, IconButton, LoadingRegion, StatusBadge, ToastStack } from "@nodedc/ui-react";
+import { AiWorldImport } from "../../components/simulation/AiWorldImport";
+import { AiWorldStream } from "../../components/simulation/AiWorldStream";
+import { AiWorldSetup } from "../../components/simulation/AiWorldSetup";
+import { AiRunView } from "../../components/simulation/AiRunView";
+import { AiRunActions } from "../../components/simulation/AiRunActions";
+import { AiCompositionFields } from "../../components/simulation/AiCompositionFields";
+import { fetchAiCatalog, fetchAiModules, startAiRun, type AiCatalog, type AiSource, type AiWorld, type AiRun, type AiModules, type AiSelection } from "../../core/simulation/aiPolygon";
+
+export function AiPolygonWorkspace() {
+  const [catalog, setCatalog] = useState<AiCatalog | null>(null);
+  const [selectedId, setSelectedId] = useState<string | null>(null);
+  const [runId, setRunId] = useState<string | null>(null);
+  const [importing, setImporting] = useState<{ source: AiSource | null; resume?: AiWorld } | null>(null);
+  const [error, setError] = useState<string | null>(null);
+  const [starting, setStarting] = useState(false);
+  const [settingsOpen, setSettingsOpen] = useState(false);
+  const [actionsHost, setActionsHost] = useState<HTMLDivElement | null>(null);
+  const [modules, setModules] = useState<AiModules | null>(null);
+  const [selection, setSelection] = useState<AiSelection | undefined>();
+  const fast = useRef(false);
+  const load = useCallback(async () => { const result = await fetchAiCatalog(); setCatalog(result); }, []);
+  useEffect(() => {
+    let active = true;
+    void fetchAiModules().then((value) => { if (active) { setModules(value); setSelection(value.selection); } })
+      .catch((caught: Error) => { if (active) setError(caught.message); });
+    return () => { active = false; };
+  }, []);
+  useEffect(() => {
+    let active = true; let timer: ReturnType<typeof setTimeout>;
+    const poll = async () => {
+      try { const result = await fetchAiCatalog(); if (active) {
+        setCatalog(result); fast.current = !!result.runtime.active_run;
+      } }
+      catch (caught) { if (active) setError(caught instanceof Error ? caught.message : "Локации недоступны."); }
+      if (active) timer = setTimeout(() => void poll(), fast.current ? 500 : 1500);
+    };
+    void poll(); return () => { active = false; clearTimeout(timer); };
+  }, []);
+  const selected = catalog?.worlds.find((world) => world.world_id === selectedId);
+  const activeRun = catalog?.runtime.active_run;
+  useEffect(() => {
+    if (activeRun?.world.world_id === selectedId) setRunId(activeRun.run_id);
+  }, [activeRun?.run_id, activeRun?.world.world_id, selectedId]);
+  const run = selected ? catalog?.runtime.active_run?.world.world_id === selected.world_id
+    ? catalog.runtime.active_run : catalog?.runs.find((item) => item.run_id === runId && item.world.world_id === selected.world_id)
+    : undefined;
+  const acceptRun = (value: AiRun) => {
+    setSettingsOpen(false);
+    setRunId(value.run_id); fast.current = !["completed", "stopped", "failed"].includes(value.state);
+    setCatalog((prior) => prior ? { ...prior, runs: [value, ...prior.runs.filter((r) => r.run_id !== value.run_id)],
+      runtime: { ...prior.runtime, active_run: fast.current ? value : null } } : prior);
+    void load().catch(() => undefined);
+  };
+  const acceptWorld = (value: AiWorld) => {
+    setSelectedId(value.world_id); setImporting(null); setSettingsOpen(false); void load().catch(() => undefined);
+  };
+  const openWorld = (world: AiWorld) => {
+    if (world.status === "uploading") setImporting({ source: world, resume: world });
+    else {
+      setSelectedId(world.world_id); setRunId(null); setSettingsOpen(!world.settings.prepared);
+    }
+  };
+  const returnToLocations = () => { setSelectedId(null); setRunId(null); };
+  const connection = <StatusBadge tone={catalog?.runtime.available ? "success" : "neutral"}>
+    {catalog?.runtime.available ? "Симулятор подключён" : "Симулятор не подключён"}
+  </StatusBadge>;
+  const sceneActions = selected && catalog ? <>
+    <Button onClick={() => setSettingsOpen(!settingsOpen)}>Старт и масштаб</Button>
+    {!run || ["completed", "stopped", "failed"].includes(run.state) ? <Button variant="primary"
+      icon={<Icon name="play" />} loading={starting}
+      disabled={!catalog.runtime.available || !selected.settings.prepared || !!catalog.runtime.active_run}
+      onClick={() => { setStarting(true); void startAiRun(selected, selection).then(acceptRun)
+        .catch((caught: Error) => setError(caught.message)).finally(() => setStarting(false)); }}>Открыть симуляцию</Button> : null}
+    {run ? <AiRunActions run={run} onChange={acceptRun} /> : null}
+  </> : null;
+  return <div className="ai-polygon">
+    <header className="ai-polygon__head">
+      <div className="ai-polygon__title">
+        {selected ? <IconButton label="Назад к локациям" onClick={returnToLocations}>
+          <Icon name="chevron-left" />
+        </IconButton> : null}
+        <h2>{selected?.name ?? "Доступные локации"}</h2>
+      </div>
+      <div className="ai-polygon__actions" ref={setActionsHost}>
+        {selected ? !run ? sceneActions : null : <>{connection}
+          <Button icon={<Icon name="upload" />} onClick={() => setImporting({ source: null })}>Импорт локации</Button></>}
+      </div>
+    </header>
+    <LoadingRegion className="ai-polygon__content" loading={!catalog && !error} label="Загрузка локаций">
+      {error ? <ToastStack items={[{ id: "error", tone: "error", title: "Не удалось выполнить действие", description: error }]} onDismiss={() => setError(null)} /> : null}
+      {catalog ? !selected ? <section aria-label="Доступные локации" className="ai-polygon__section">
+        {catalog.worlds.map((world) => <GlassSurface key={world.world_id} padding="md" className="ai-polygon__row">
+          <div><strong>{world.name}</strong><p>{world.author} · {world.license}</p></div>
+          {catalog.runtime.active_run?.world.world_id === world.world_id ? <StatusBadge tone="neutral">
+            {catalog.runtime.active_run.state === "running" && catalog.runtime.active_run.telemetry?.ai_ready
+              ? "AI запущен" : catalog.runtime.active_run.state === "paused" ? "На паузе" : "Сцена открыта"}
+          </StatusBadge> : null}
+          <Button onClick={() => openWorld(world)}>{world.status === "uploading" ? "Продолжить импорт" : "Открыть"}</Button>
+        </GlassSurface>)}
+      </section> : <section className="ai-polygon__section" aria-label={`Симуляция ${selected.name}`}>
+        <LoadingRegion loading={starting} label="Открываем симуляцию на Worker">
+          {run ? <AiWorldStream world={selected} run={run} onBack={returnToLocations} onChange={acceptRun}
+            actionsHost={actionsHost} headerActions={sceneActions}
+            controls={<AiRunView run={run} connection={connection} />} /> : <div className="ai-polygon__telemetry-row">{connection}</div>}
+        </LoadingRegion>
+        {settingsOpen ? <AiWorldSetup key={selected.world_id} world={selected}
+          disabled={!!catalog.runtime.active_run} onSaved={acceptWorld} /> : null}
+        {settingsOpen && modules && selection ? <AiCompositionFields modules={modules}
+          selection={activeRun?.world.world_id === selectedId ? activeRun.request?.composition ?? selection : selection}
+          disabled={!!catalog.runtime.active_run} onChange={setSelection} /> : null}
+      </section> : null}
+    </LoadingRegion>
+    {importing ? <AiWorldImport source={importing.source} resume={importing.resume}
+      onClose={() => setImporting(null)} onImported={acceptWorld} /> : null}
+  </div>;
+}

apps/control-station/src/workspaces/simulation/SimulationWorkspace.tsx

@@ -13,9 +13,11 @@ import {
   GlassSurface,
   Icon,
   StatusBadge,
+  Select,
 } from "@nodedc/ui-react";
 
 import { SimulationCatalog } from "../../components/simulation/SimulationCatalog";
+import { AiPolygonWorkspace } from "./AiPolygonWorkspace";
 import { SimulationProjectWindow } from "../../components/simulation/SimulationProjectWindow";
 import { SimulationViewport } from "../../components/simulation/SimulationViewport";
 import {
@@ -42,6 +44,21 @@ interface BrowserUpload {
 }
 
 export function SimulationWorkspace() {
+  const [profile, setProfile] = useState<"lcc" | "ai">(() => {
+    try { return localStorage.getItem("missioncore.simulation-profile") === "ai" ? "ai" : "lcc"; }
+    catch { return "lcc"; }
+  });
+  return <div className="simulation-profiles" data-simulation-profile={profile}>
+    <Select label="Профиль симуляции" value={profile} options={[
+      { value: "lcc", label: "LCC Gaussian Mirror" }, { value: "ai", label: "AI-полигон" },
+    ]} onChange={(value) => { setProfile(value);
+      try { localStorage.setItem("missioncore.simulation-profile", value); } catch { /* Private browsing. */ }
+    }} />
+    {profile === "lcc" ? <LccGaussianWorkspace /> : <AiPolygonWorkspace />}
+  </div>;
+}
+
+function LccGaussianWorkspace() {
   const [projects, setProjects] = useState<SimulationProject[]>([]);
   const [selectedId, setSelectedId] = useState<string | null>(null);
   const [loading, setLoading] = useState(true);