docs: record rover integration closeout and verification

History-only merge: retain the original Node worktree snapshot 1c7dd29 without reverting its canonicalized implementation (63ea2be and subsequent main fixes). RAV004 commits 45019f8/cd16ea2/88e47fc and Gaussian commits 2ccf172/2e44e27 are patch-equivalent to commits already in main (verified with git cherry). The current source tree is intentionally unchanged; old snapshots remain reachable for audit.

.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/public/rover-scene/dcd006-v020.json

@@ -0,0 +1,39 @@
+{
+  "source": "DCD-006_rover_v020.blend",
+  "source_sha256": "c49a0470974bbe65b4e65b4b5c06cb887730715a1ddfa231b86426fed6de8f79",
+  "model": "DCD-006 v020 complete rover",
+  "source_object_count": 1426,
+  "render_mesh_count": 1,
+  "original_bounds": [
+    [
+      -0.527999997138977,
+      -0.45249998569488525,
+      0.0
+    ],
+    [
+      0.6350000500679016,
+      0.45249998569488525,
+      0.734000027179718
+    ]
+  ],
+  "dimensions_m": [
+    1.1630001068115234,
+    0.9049999713897705,
+    0.734000027179718
+  ],
+  "translation_m": [
+    -0.05350002646446228,
+    -0.0,
+    -0.0
+  ],
+  "glb_bytes": 54960576,
+  "glb_sha256": "15f17f5b5b014e0f65273aa1565b7fb8e46381ca389a3c3d3ca89a32806bfb79",
+  "material_source_sha256": "ac50e29fe9fe7ab4012628c52fce30e262e9e0bba4a4d49abe59a90c84391b2e",
+  "material_rules": {
+    "metal": 1,
+    "rubber": 2,
+    "steel": 6,
+    "paint": 3
+  },
+  "source_saved": false
+}

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,
@@ -27,6 +28,8 @@ import { SystemNavigationPanel } from "./components/system/SystemNavigationPanel
 import { SystemWorkspaceSelector } from "./components/system/SystemWorkspaceSelector";
 import { useComputeContourSettings } from "./components/system/useComputeContourSettings";
 import { useApplicationPanelActions } from "./components/useApplicationPanelActions";
+import { useSessionOverviewMode } from "./core/observation/useSessionOverview";
+import { SessionOverviewWorkspace } from "./workspaces/recordings/SessionOverviewWorkspace";
 import { useEnvironmentSettings } from "./core/environment/useEnvironmentSettings";
 import { useDevicePluginHost } from "./core/device-plugins/DevicePluginHost";
 import { useMissionRuntime } from "./core/runtime/MissionRuntimeContext";
@@ -47,6 +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 {
@@ -67,6 +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";
@@ -149,7 +156,9 @@ export default function App() {
     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 [recordedReplay, setRecordedReplay] = useState<ObservationSessionReplayLaunch | null>(null);
   const [recordedReplayLabel, setRecordedReplayLabel] = useState<string | null>(null);
   const [replayTransitioning, setReplayTransitioning] = useState(false);
@@ -174,6 +183,7 @@ 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);
@@ -221,6 +231,13 @@ 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;
@@ -303,6 +320,7 @@ export default function App() {
     const remote = runtime.state?.viewerSettings;
     if (
       !remote ||
+      replayActiveRef.current ||
       workspaceLayoutProfile.profile ||
       sceneSettingsCommitterRef.current?.isBusy()
     ) return;
@@ -325,7 +343,7 @@ 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;
@@ -396,7 +414,10 @@ 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));
   }, []);
@@ -428,9 +449,10 @@ 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);
   };
@@ -456,14 +478,22 @@ 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;
@@ -473,8 +503,15 @@ 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;
@@ -609,6 +646,7 @@ export default function App() {
   }, [layoutSaveNotice]);
 
   const [fleetCreateRequest, setFleetCreateRequest] = useState(0);
+  const sessionOverview = useSessionOverviewMode(activeDefinition?.kind === "recordings");
   const onAddVehicle = useCallback(() => setFleetCreateRequest(value => value + 1), []);
   const contentActions = useApplicationPanelActions({
     onAddVehicle,
@@ -619,6 +657,7 @@ export default function App() {
     saveWorkspaceLayout,
     workspaceLayoutSaving: workspaceLayoutProfile.state === "saving",
     systemUtilityActions: computeContourSettings.utilityActions,
+    sessionOverview: { ...sessionOverview, available: Boolean(recordedReplay && replayPresented && !sourceSwitchBlocked) },
   });
 
   const header = (
@@ -781,7 +820,9 @@ export default function App() {
                     settleRecordedReplaySwitch(outcome)}
                   onDeleteBegin={releaseRecordedReplayForDelete}
                 />
-              ) : activeDefinition.kind === "vehicles" ? null : activeDefinition.kind === "datasets" ? (
+              ) : activeDefinition.kind === "missions" ? (
+                <div ref={setWorkspaceHeaderToolsHost} />
+              ) : activeDefinition.kind === "vehicles" ? <div ref={setWorkspaceHeaderToolsHost} /> : activeDefinition.kind === "simulations" ? null : activeDefinition.kind === "datasets" ? (
                 <StatusBadge tone="neutral">Offline evaluation</StatusBadge>
               ) : activeDefinition.kind === "lab-archive" ? (
                 laboratoryAnnotation.control
@@ -798,16 +839,29 @@ export default function App() {
             }
             utilityActions={contentActions}
             onClose={workspace.closeView}
+          >
+            <PlanningCaptureGuard
+              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}
                 state={activeRuntimeState}
                 backendStatus={runtime.backendStatus}
                 sourceUrl={effectiveSourceUrl}
@@ -848,6 +902,7 @@ export default function App() {
                 }}
               />
             )}
+            </PlanningCaptureGuard>
           </ApplicationPanel>
         ) : null}
       />
@@ -1010,8 +1065,11 @@ 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/MseFmp4WebSocketPlayer.tsx

@@ -28,6 +28,7 @@ export interface CameraLeaseRetryBudget {
 const CAMERA_LEASE_RETRY_DELAYS = [400, 1_000, 2_000, 5_000] as const;
 export const CAMERA_FIRST_MEDIA_TIMEOUT_MS = 8_000;
 export const CAMERA_FIRST_PLAYABLE_FRAME_TIMEOUT_MS = 8_000;
+export const CAMERA_BUFFERING_NOTICE_DELAY_MS = 1_000;
 // The gateway may release an 8 MiB / 64-fragment slow-reader backlog after a
 // main-thread stall. Keep one bounded append margin above that complete batch;
 // crossing either limit replaces the MSE epoch instead of dropping fragments.
@@ -284,6 +285,7 @@ export function MseFmp4WebSocketPlayer({
     let onBufferError: (() => void) | null = null;
     let objectUrl = "";
     let retryTimer: number | undefined;
+    let bufferingNoticeTimer: number | undefined;
     let receivedMedia = false;
     let failed = false;
     let playingReported = false;
@@ -295,10 +297,15 @@ export function MseFmp4WebSocketPlayer({
     );
     const queue: ArrayBuffer[] = [];
     let queuedBytes = 0;
+    const clearBufferingNotice = () => {
+      if (bufferingNoticeTimer !== undefined) window.clearTimeout(bufferingNoticeTimer);
+      bufferingNoticeTimer = undefined;
+    };
 
     const fail = (copy: string) => {
       if (!transportIsCurrent() || failed) return;
       startupWatchdog?.clear();
+      clearBufferingNotice();
       failed = true;
       transportHealthyRef.current = false;
       recoveryPendingAuthorityRef.current = null;
@@ -335,6 +342,7 @@ export function MseFmp4WebSocketPlayer({
         return;
       }
       startupWatchdog?.clear();
+      clearBufferingNotice();
       failed = true;
       transportHealthyRef.current = false;
       const retry = consumeCameraLeaseRetry(leaseRetryRef.current, delivery.id);
@@ -392,6 +400,7 @@ export function MseFmp4WebSocketPlayer({
 
     const onPlaying = () => {
       if (!transportIsCurrent() || failed) return;
+      clearBufferingNotice();
       startupWatchdog?.markPlaying();
       transportHealthyRef.current = true;
       leaseRetryRef.current = resetCameraLeaseRetryBudget(delivery.id);
@@ -410,7 +419,21 @@ export function MseFmp4WebSocketPlayer({
       }
     };
 
+    const onWaiting = () => {
+      if (!transportIsCurrent() || failed || !playingReported) return;
+      // A short receipt gap must not flicker or restart the acquisition-owned
+      // stream. A sustained decoder wait must not retain a playing presentation.
+      if (bufferingNoticeTimer !== undefined) return;
+      bufferingNoticeTimer = window.setTimeout(() => {
+        bufferingNoticeTimer = undefined;
+        if (!transportIsCurrent() || failed || video.readyState >= 3) return;
+        setStatus("buffering");
+        setMessage("Ожидание новых кадров.");
+      }, CAMERA_BUFFERING_NOTICE_DELAY_MS);
+    };
     video.addEventListener("playing", onPlaying);
+    video.addEventListener("waiting", onWaiting);
+    video.addEventListener("stalled", onWaiting);
 
     const appendNext = () => {
       if (
@@ -594,10 +617,13 @@ export function MseFmp4WebSocketPlayer({
       disposed = true;
       transportHealthyRef.current = false;
       startupWatchdog?.clear();
+      clearBufferingNotice();
       if (retryTimer !== undefined) window.clearTimeout(retryTimer);
       queue.length = 0;
       socket?.close(1000, "Browser preview transport replaced or hidden");
       video.removeEventListener("playing", onPlaying);
+      video.removeEventListener("waiting", onWaiting);
+      video.removeEventListener("stalled", onWaiting);
       mediaSource.removeEventListener("sourceopen", onSourceOpen);
       if (sourceBuffer && onBufferUpdateEnd) {
         sourceBuffer.removeEventListener("updateend", onBufferUpdateEnd);
@@ -708,7 +734,7 @@ export function MseFmp4WebSocketPlayer({
       {status !== "playing" ? (
         <div className="mse-fmp4-player__status" role="status" aria-live="polite">
           <Icon name={status === "error" ? "alert" : "video"} size={20} />
-          <strong>{status === "error" ? "Канал прерван" : "Подготовка камеры"}</strong>
+          <strong>{status === "error" ? "Канал прерван" : status === "buffering" ? "Ожидание изображения" : "Подготовка камеры"}</strong>
           <span>{message}</span>
           {status === "error" ? (
             <button

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/missions/MissionCheckWindow.tsx

@@ -0,0 +1,21 @@
+import { Button, LoadingRegion, Window } from "@nodedc/ui-react";
+import type { RouteCheck } from "../../core/missions/planner";
+export function MissionCheckWindow({ open, onClose, busy, error, report, run }: {
+  open: boolean; onClose: () => void; busy: boolean; error: string | null; report: RouteCheck | null; run: () => void;
+}) {
+  return <Window open={open} title="Проверка маршрута" size="md" onClose={onClose}><div className="mission-planner__check">
+    <p>Проверка сохранённой записи и выбранного участка. Новый проход со сканером для этой проверки не требуется.</p>
+    <LoadingRegion loading={busy} label="Проверка исходных данных">
+      {error && <p role="alert">{error}</p>}
+      {report && <><dl>
+        <div><dt>Исходная запись</dt><dd>{report.source_verified ? "Контрольные суммы совпадают" : "Недоступна"}</dd></div>
+        <div><dt>Версия черновика</dt><dd>{report.revision}</dd></div>
+        <div><dt>Длина маршрута</dt><dd>{report.length_m.toFixed(2)} м</dd></div>
+        <div><dt>Положения сканера</dt><dd>{report.pose_count.toLocaleString("ru-RU")}</dd></div>
+        <div><dt>Максимальный шаг</dt><dd>{report.max_step_m.toFixed(2)} м</dd></div></dl>
+        {report.warnings.map(w => <p key={w}>{w}</p>)}
+        <p>Совмещение с повторным проходом не выполнялось. Записанная траектория описывает движение сканера; проходимость для аппарата по ней не проверена.</p></>}
+      <Button disabled={busy} onClick={run}>{report ? "Повторить проверку" : "Начать проверку"}</Button>
+    </LoadingRegion>
+  </div></Window>;
+}

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

@@ -0,0 +1,29 @@
+import { useEffect, useMemo, useState } from "react";
+import { RangeControl } from "@nodedc/ui-react";
+import { routeLength, type PlanningPose, type PlanningSource } from "../../core/missions/planner";
+/** Equal-axis plan projection; the moving marker is an archive pose, not localization. */
+export function MissionRoutePreview({ source, poses }: { source: PlanningSource; poses: PlanningPose[] }) {
+  const [cursor, setCursor] = useState(0);
+  useEffect(() => setCursor(0), [poses]);
+  const projection = useMemo(() => {
+    let xmin = Infinity, xmax = -Infinity, ymin = Infinity, ymax = -Infinity;
+    for (const p of (poses.length ? poses : source.poses)) { xmin = Math.min(xmin, p.position[0]); xmax = Math.max(xmax, p.position[0]); ymin = Math.min(ymin, p.position[1]); ymax = Math.max(ymax, p.position[1]); }
+    const scale = Math.min(720 / Math.max(1, xmax - xmin), 400 / Math.max(1, ymax - ymin));
+    const project = (p: PlanningPose) => [400 + (p.position[0] - (xmin + xmax) / 2) * scale, 240 - (p.position[1] - (ymin + ymax) / 2) * scale];
+    const line = (items: PlanningPose[]) => items.filter((_, i) => i % Math.max(1, Math.ceil(items.length / 5000)) === 0 || i === items.length - 1).map(p => project(p).join(",")).join(" ");
+    return { project, reference: line(source.poses), selected: line(poses), scale };
+  }, [source, poses]);
+  const point = poses[Math.min(cursor, poses.length - 1)];
+  if (!point) return <div className="session-overview__empty">Выберите участок траектории.</div>;
+  const [x, y] = projection.project(point);
+  return <div className="mission-route-preview"><h2>Выбранный маршрут · вид сверху</h2>
+    <svg viewBox="0 0 800 480" role="img" aria-label="Траектория записи и выбранный маршрут">
+      <polyline points={projection.reference} className="mission-route-preview__reference" fill="none" />
+      <polyline points={projection.selected} className="mission-route-preview__selected" fill="none" />
+      <circle cx={x} cy={y} r="6" className="mission-route-preview__cursor" />
+      <path d="M40 450h100" className="mission-route-preview__selected" /><text x="40" y="438">{(100 / projection.scale).toFixed(1)} м</text>
+    </svg><p>Путь: {routeLength(poses).toFixed(2)} м · {poses.length.toLocaleString("ru-RU")} положений · X/Y, масштаб осей одинаковый</p>
+    <RangeControl label="Положение на маршруте" value={Math.min(cursor, poses.length - 1) + 1} min={1} max={poses.length} step={1} formatValue={n => `${n} / ${poses.length}`} onChange={n => setCursor(n - 1)} />
+    <p>Кадр {point.index + 1} · X {point.position[0].toFixed(2)} · Y {point.position[1].toFixed(2)} · Z {point.position[2].toFixed(2)} м</p>
+  </div>;
+}

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

@@ -0,0 +1,12 @@
+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, 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={`${data.scene_url}&reference_generation=${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

@@ -0,0 +1,32 @@
+import {useEffect,useState,type ReactNode} from 'react';
+import {Button,LoadingRegion,StatusBadge,Window} from '@nodedc/ui-react';
+import {useDevicePluginHost} from '../../core/device-plugins/DevicePluginHost';
+import {planningTestTerminal,usePlanningTest} from '../../core/missions/PlanningTestContext';
+
+/** Wrap the existing plugin connection flow, retaining its acquisition authority. */
+export function PlanningConnectionWindow({children}:{children:ReactNode}){
+  const p=usePlanningTest(); const [open,setOpen]=useState(true);
+  const {selection,registry,selectModel,selectionTransitionPending}=useDevicePluginHost();
+  useEffect(()=>{
+    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.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>
+    <p>Укажите новое имя проекта сканера. Неподвижная калибровка просматривает весь выбранный маршрут; после калибровки сканера оставайтесь на месте до статуса «Сопровождение». Если совпадение не найдено или неоднозначно, сцена сообщит причину и не начнёт сопровождение.</p></>;
+  return <div className="mission-planner__check">
+    {details}<p>{t.message}</p>{p.error&&<p role="alert">{p.error}</p>}
+    <div className="mission-planner__actions"><Button onClick={()=>setOpen(true)}>Подключение сканера</Button>
+      {t.state==='running'&&t.planning_phase==='lost'&&!t.tracking_established&&<Button loading={p.busy} onClick={()=>void p.retryInitialization()}>Переинициализировать</Button>}
+      {!terminal&&<Button loading={p.busy} onClick={()=>void p.finish()}>Завершить исследование</Button>}</div>
+    <Window open={open} title="Подключение сканера · Планирование" size="lg" className="planning-connection" onClose={()=>setOpen(false)}>
+      <div className="mission-planner__check">{details}
+      {t.state==='preparing'?<LoadingRegion loading label="Подготовка эталонного участка" />
+       : terminal?<p>{t.message}</p>:children}
+      </div>
+    </Window>
+  </div>;
+}

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

@@ -0,0 +1,105 @@
+import {useEffect,useRef,useState} from 'react';
+import {Button,LoadingRegion,RangeControl} from '@nodedc/ui-react';
+import {createIsolatedRerunHost} from '../rerun/isolatedRerunHost';
+import {plannerBase} from '../../core/missions/planner';
+import {startPlanningSceneStream} from '../../core/missions/planningSceneStream';
+import {createPlanningPresentationReporter} from '../../core/missions/planningPresentationTelemetry';
+
+function nextAnimationFrame(limitMs=500):Promise<number|null>{
+ return new Promise(resolve=>{
+  let frame:number|undefined,settled=false;
+  const finish=(value:number|null)=>{
+   if(settled)return;
+   settled=true;
+   if(frame!==undefined&&value===null)cancelAnimationFrame(frame);
+   clearTimeout(timeout);resolve(value);
+  };
+  const timeout=setTimeout(()=>finish(null),limitMs);
+  frame=requestAnimationFrame(()=>finish(performance.now()));
+ });
+}
+
+/** One persistent viewer/channel. Updates replace entities without resetting the camera. */
+type HeightBounds={min:number;max:number};
+const CLIP_CEILING_M=80;
+export function PlanningLiveScene({runId,options={},active=false,revision=0,heightBounds=null}:{runId:string;options?:Record<string,string|number|boolean>;active?:boolean;revision?:number;heightBounds?:HeightBounds|null}){
+ const optionsRef=useRef(options);optionsRef.current=options;
+ const stateRef=useRef({active,revision});stateRef.current={active,revision};
+ const ceilingRef=useRef<number|null>(null);
+ const boundsRef=useRef<{min:number;max:number}|null>(null);
+ const host=useRef<HTMLDivElement>(null);
+ const [state,setState]=useState('loading'),[retry,setRetry]=useState(0);
+ const [bounds,setBounds]=useState<{min:number;max:number}|null>(null);
+ const [ceiling,setCeiling]=useState<number|null>(null);
+ useEffect(()=>{
+  ceilingRef.current=null;
+  const next=heightBounds&&Number.isFinite(heightBounds.min)&&Number.isFinite(heightBounds.max)&&heightBounds.max>heightBounds.min?heightBounds:null;
+  boundsRef.current=next;
+  setBounds(next);setCeiling(null);
+ },[runId,heightBounds?.min,heightBounds?.max]);
+ useEffect(()=>{
+  if(!host.current)return;
+  let disposed=false,sceneAvailable=false,stopStream:(()=>void)|undefined;
+  const reporter=createPlanningPresentationReporter({
+   url:`${plannerBase}/live-tests/${runId}/presentation-observations`,
+  });
+  const runtime=createIsolatedRerunHost(host.current);setState('loading');
+  const timeout=setTimeout(()=>{if(!disposed){setState('error');stopStream?.();runtime.dispose();}},60000);
+  void runtime.ready.then(async({viewer,mount})=>{
+   if(disposed)return;
+   await viewer.start(null,mount,{width:'100%',height:'100%',hide_welcome_screen:true,enable_history:false,allow_fullscreen:false});
+   if(disposed)return;
+   const channel=viewer.open_channel('planning-'+runId);
+   viewer.on('recording_open',()=>{if(!disposed&&sceneAvailable){clearTimeout(timeout);setState('ready');}});
+   stopStream=startPlanningSceneStream({
+    url:`${plannerBase}/live-tests/${runId}/scene-delta.rrd`,
+    snapshot:()=>({...stateRef.current,options:{...optionsRef.current,
+     ...(ceilingRef.current===null?{}:{ceiling_m:ceilingRef.current})}}),
+    apply:async(bytes,delivery)=>{
+     if(disposed)return;
+     if(delivery.heightMinM!==null&&delivery.heightMaxM!==null&&delivery.heightMaxM>delivery.heightMinM){
+      const next={min:delivery.heightMinM,max:delivery.heightMaxM};
+      const previous=boundsRef.current;
+      if(!previous||previous.min!==next.min||previous.max!==next.max){
+       boundsRef.current=next;setBounds(next);
+       if(ceilingRef.current!==null&&(ceilingRef.current<next.min||ceilingRef.current>next.max)){
+        ceilingRef.current=null;setCeiling(null);
+       }
+      }
+     }
+     sceneAvailable=true;
+     const admissionStarted=performance.now();
+     channel.send_rrd(bytes);
+     const admissionEnded=performance.now();
+     for(const panel of ['top','blueprint','selection','time'] as const)viewer.override_panel_state(panel,'hidden');
+     if(viewer.get_active_recording_id()){clearTimeout(timeout);setState('ready');}
+     // Rerun exposes no canvas-paint receipt. Two bounded browser frame
+     // opportunities are retained as an explicit proxy, never as a GPU claim.
+     const first=await nextAnimationFrame();
+     const second=first===null?null:await nextAnimationFrame();
+     if(!disposed)reporter.record(delivery,{
+      rerunAdmissionMs:admissionEnded-admissionStarted,
+      firstAnimationFrameMs:first===null?null:first-admissionEnded,
+      secondAnimationFrameMs:second===null?null:second-admissionEnded,
+     });
+    },
+    error:()=>{sceneAvailable=false;if(!disposed)setState('error');},
+   });
+  }).catch(()=>{if(!disposed){clearTimeout(timeout);setState('error');}});
+  return()=>{disposed=true;stopStream?.();reporter.dispose();clearTimeout(timeout);runtime.dispose();};
+ },[runId,retry]);
+ const sourceBounds=bounds??heightBounds;
+ const rangeBounds=sourceBounds?{min:Math.min(sourceBounds.min,0),max:CLIP_CEILING_M}:null;
+ return <LoadingRegion loading={state==='loading'} label="Загрузка эталона и нового прохода" className="planning-live__scene">
+  <div ref={host} className="session-overview__runtime rerun-single-view-content" style={{visibility:state==='ready'?'visible':'hidden'}} />
+  {rangeBounds&&state==='ready'&&<div className="session-overview__height">
+   <RangeControl orientation="vertical" limitSide="left" label="Срез" value={ceiling??rangeBounds.max} min={rangeBounds.min} max={rangeBounds.max} step="any"
+    formatValue={value=>`${value.toFixed(1).replace('.',',')} м`} formatLimit={value=>value.toFixed(1).replace('.',',')}
+    onChange={value=>{
+     const next=value>=rangeBounds.max-Math.max(1,rangeBounds.max-rangeBounds.min)*1e-9?null:value;
+     ceilingRef.current=next;setCeiling(next);
+    }}/>
+  </div>}
+  {state==='error'&&<div className="session-overview__empty"><span>Обновление сцены недоступно.</span><Button onClick={()=>setRetry(v=>v+1)}>Повторить подключение сцены</Button></div>}
+ </LoadingRegion>;
+}

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

@@ -0,0 +1,25 @@
+import { Inspector, Icon, StatusBadge } from '@nodedc/ui-react';
+import { planningProjectStatus, type PlanningProjectDetail } from '../../core/missions/planningProjects';
+
+export function PlanningProjectResult({project:p}:{project:PlanningProjectDetail}) {
+  const r=p.result;
+  return <Inspector variant="panel" defaultOpen={['sources','result']} sections={[
+    {id:'sources',label:'Проект',icon:<Icon name="file"/>,content:<div className="inspector-control-stack">
+      <p>{p.name}</p><small>{new Date(p.created_at_utc).toLocaleString('ru-RU')}</small>
+      <dl><div><dt>Эталон</dt><dd>{p.reference_label}</dd></div><div><dt>Повторный проход</dt><dd>{p.query_label??'—'}</dd></div>
+      <div><dt>Участок эталона</dt><dd>{p.draft.route.length_m.toFixed(2)} м</dd></div></dl>
+    </div>},
+    {id:'result',label:'Результат',icon:<Icon name="activity"/>,content:<div className="inspector-control-stack">
+      <StatusBadge tone={r?.status==='rejected'?'warning':'neutral'}>{planningProjectStatus(p)}</StatusBadge>
+      {r?<><dl><div><dt>Точки в пределах 0,5 м</dt><dd>{(r.overlap*100).toFixed(1)}%</dd></div>
+        <div><dt>Расхождение поверхностей</dt><dd>{r.inlier_rmse_m==null?'—':`${r.inlier_rmse_m.toFixed(3)} м`}</dd></div>
+        {r.correction_m!=null&&<div><dt>Уточнение привязки</dt><dd>{r.correction_m.toFixed(2)} м · {r.correction_deg.toFixed(1)}°</dd></div>}
+        {r.registration_seconds!=null&&<div><dt>Расчёт</dt><dd>{r.registration_seconds.toFixed(2)} с</dd></div>}
+      </dl><small>Совпадение поверхностей не является измеренной точностью положения.</small></>:<p>{p.message?`Сохранённое сообщение: ${p.message}`:'Расчёт совмещения ещё не выполнен.'}</p>}
+      {p.evidence_relation==='same_recording'&&<small>Оба участка из одной записи: внутренняя проверка общей карты.</small>}
+      {p.scene_note&&p.scene_url&&<small>{p.scene_note}</small>}
+      {r?.reasons.map(reason=><small key={reason}>{reason}</small>)}
+      {!p.scene_url&&r&&<small>Сохранённое совмещённое облако недоступно.</small>}
+    </div>},
+  ]}/>;
+}

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

@@ -0,0 +1,47 @@
+import { useState } from 'react';
+import { ConfirmationModal, Icon, Select, ToastStack } from '@nodedc/ui-react';
+import { planningProjectDeletable, planningProjectStatus, type PlanningProject } from '../../core/missions/planningProjects';
+
+export function PlanningProjectSelect({items, value, disabled, onChange, onRemove}: {
+  items: PlanningProject[];
+  value: string;
+  disabled?: boolean;
+  onChange: (key: string) => void;
+  onRemove: (project: PlanningProject) => Promise<void>;
+}) {
+  const [target, setTarget] = useState<PlanningProject | null>(null);
+  const [error, setError] = useState<string | null>(null);
+  const [busy, setBusy] = useState(false);
+  return <>
+    <Select label="Совмещённые маршруты" value={value} disabled={disabled || busy} searchable
+      options={[{value: '', label: 'Совмещённые маршруты'}, ...items.map(item => ({
+        value: item.key, label: item.name,
+        description: `${new Date(item.created_at_utc).toLocaleString('ru-RU')} · ${planningProjectStatus(item)}${item.query_label ? ` · ${item.query_label}` : ''}`,
+        action: {
+          label: `Удалить совмещённый маршрут ${item.name} · ${new Date(item.created_at_utc).toLocaleString('ru-RU')}`,
+          icon: <Icon name="trash" />,
+          tone: 'danger' as const,
+          disabled: !planningProjectDeletable(item),
+          onAction: () => { setError(null); setTarget(item); },
+        },
+      }))]}
+      onChange={key => { if (key) onChange(key); }} />
+    <ConfirmationModal open={target !== null} title="Удалить совмещённый маршрут?"
+      description={target ? <>
+        <strong>{target.name}</strong>
+        <p>{new Date(target.created_at_utc).toLocaleString('ru-RU')} · {planningProjectStatus(target)}</p>
+        <p>Проект будет удалён из списка совмещённых маршрутов. Эталон, запись прохода и сохранённые отчёты останутся на диске. Другие проекты не изменятся.</p>
+      </> : null}
+      confirmLabel="Удалить маршрут" pendingLabel="Удаление…" danger
+      onClose={() => { if (!busy) setTarget(null); }}
+      onConfirm={async () => {
+        if (!target || busy) return;
+        setBusy(true); setError(null);
+        try { await onRemove(target); setTarget(null); }
+        catch (e) { setError(e instanceof Error ? e.message : 'Не удалось удалить проект. Повторите попытку.'); }
+        finally { setBusy(false); }
+      }} />
+    <ToastStack items={error ? [{id: 'planning-project-delete-error', tone: 'error', title: 'Маршрут не удалён', description: error}] : []}
+      onDismiss={() => setError(null)} />
+  </>;
+}

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

@@ -0,0 +1,30 @@
+import { Button, Icon, Inspector, InspectorSelectField, TextField } from '@nodedc/ui-react';
+import { routeLength, canStartPlanningRoute } from '../../core/missions/planner';
+import type { useMissionPlanner } from '../../core/missions/useMissionPlanner';
+
+export function PlanningProjectSettings({p,onStart,starting}:{
+  p:ReturnType<typeof useMissionPlanner>; onStart:()=>void; starting:boolean;
+}) {
+  const disabled=p.busy||starting;
+  const length=routeLength(p.poses);
+  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>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'}]}/>
+      </>}
+    </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/missions/PlanningSceneToolWindow.tsx

@@ -0,0 +1,19 @@
+import {useState,type ReactNode,type RefObject} from 'react';
+import {WorkspaceWindow,type WorkspaceWindowRect} from '@nodedc/ui-react';
+
+/** A scene-bounded tool: never a portal, backdrop or renderer owner. */
+export function PlanningSceneToolWindow({boundsRef,title,children,onClose}:{
+ boundsRef:RefObject<HTMLDivElement|null>;title:string;children:ReactNode;onClose:()=>void;
+}){
+ const [rect,setRect]=useState<WorkspaceWindowRect>({x:16,y:120,width:390,height:260});
+ const [maximized,setMaximized]=useState(false);
+ return <WorkspaceWindow boundsRef={boundsRef} rect={rect} onRectChange={setRect}
+  title={title} maximized={maximized} onMaximizedChange={setMaximized}
+  minWidth={280} minHeight={200} active zIndex={100} onClose={onClose}
+  closeLabel="Закрыть инструмент" moveLabel="Переместить инструмент"
+  resizeLabel="Изменить размер инструмента" maximizeLabel="Развернуть инструмент" restoreLabel="Восстановить инструмент" onKeyDown={event=>{
+   if(event.key==='Escape'&&!event.defaultPrevented){event.preventDefault();event.stopPropagation();onClose();}
+  }}>
+  <div className="mission-planner__check">{children}</div>
+ </WorkspaceWindow>;
+}

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

@@ -0,0 +1,30 @@
+import { useEffect, useRef, useState } from "react";
+import { Button, LoadingRegion } from "@nodedc/ui-react";
+import { createIsolatedRerunHost } from "../rerun/isolatedRerunHost";
+
+/** One isolated, read-only Rerun realm; disposal releases its WASM memory. */
+export function RegistrationScene({ sourceUrl }: { sourceUrl: string }) {
+  const host = useRef<HTMLDivElement>(null);
+  const [state, setState] = useState("loading"), [retry, setRetry] = useState(0);
+  useEffect(() => {
+    if (!host.current) return;
+    let disposed = false; setState("loading");
+    const runtime = createIsolatedRerunHost(host.current);
+    const timer = window.setTimeout(() => { if (!disposed) { setState("error"); runtime.dispose(); } }, 60_000);
+    void runtime.ready.then(async ({ viewer, mount }) => {
+      if (disposed) return;
+      viewer.on("recording_open", () => { if (!disposed) { clearTimeout(timer); setState("ready"); } });
+      await viewer.start(new URL(sourceUrl, window.location.origin).href, mount, {
+        width: "100%", height: "100%", hide_welcome_screen: true, enable_history: false, allow_fullscreen: false,
+      });
+      if (disposed) return;
+      if (viewer.get_active_recording_id()) { clearTimeout(timer); setState("ready"); }
+      for (const panel of ["top", "blueprint", "selection", "time"] as const) viewer.override_panel_state(panel, "hidden");
+    }).catch(() => { if (!disposed) { clearTimeout(timer); setState("error"); runtime.dispose(); } });
+    return () => { disposed = true; clearTimeout(timer); runtime.dispose(); };
+  }, [sourceUrl, retry]);
+  return <LoadingRegion loading={state === "loading"} label="Загрузка совмещённых облаков" className="mission-registration__scene">
+    <div ref={host} className="session-overview__runtime rerun-single-view-content" style={{ visibility: state === "ready" ? "visible" : "hidden" }} />
+    {state === "error" && <div className="session-overview__empty"><span>Облако недоступно.</span><Button onClick={() => setRetry(n => n+1)}>Повторить</Button></div>}
+  </LoadingRegion>;
+}

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

@@ -0,0 +1,34 @@
+import { useEffect, useRef, useState } from "react";
+import { overviewChartPoints } from "../../core/observation/sessionOverview";
+
+export function SessionIntervalChart({ chart, bucketSeconds }: { chart: [number, number][]; bucketSeconds: number }) {
+  const svg = useRef<SVGSVGElement>(null);
+  const [size, setSize] = useState({ width: 900, height: 160 });
+  useEffect(() => {
+    if (!svg.current) return;
+    const observer = new ResizeObserver(([entry]) => {
+      if (entry.contentRect.width > 0 && entry.contentRect.height > 0) {
+        setSize({ width: entry.contentRect.width, height: entry.contentRect.height });
+      }
+    });
+    observer.observe(svg.current);
+    return () => observer.disconnect();
+  }, [chart.length > 0]);
+  const width = Math.max(1, size.width - 106);
+  const height = Math.max(1, size.height - 38);
+  const { points, xmax, ymax } = overviewChartPoints(chart, width, height);
+  if (!chart.length) return <div className="session-overview__empty">Временные метки кадров отсутствуют.</div>;
+  return <div className="session-overview__chart">
+    <svg ref={svg} viewBox={`0 0 ${size.width} ${size.height}`} role="img" aria-label="Интервалы поступления кадров облака">
+      <g transform="translate(64,10)">
+        {(height >= 70 ? [0, .5, 1] : height >= 32 ? [0, 1] : [1]).map(f => <g key={f}>
+          <line x1="0" x2={width} y1={height * (1 - f)} y2={height * (1 - f)} className="session-overview__grid" />
+          <text x="-12" y={height * (1 - f) + 4} textAnchor="end">{(f * ymax).toFixed(2)} с</text>
+        </g>)}
+        <polyline points={points} fill="none" className="session-overview__series" vectorEffect="non-scaling-stroke" />
+        {[0, .25, .5, .75, 1].map(f => <text key={f} x={f * width} y={height + 24} textAnchor="middle">{(f * xmax / 60).toFixed(1)} мин</text>)}
+      </g>
+    </svg>
+    <span className="session-overview__note">Максимальный интервал за каждые {bucketSeconds} с · время от первого кадра</span>
+  </div>;
+}

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

@@ -0,0 +1,96 @@
+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, type OverviewRepresentation } from "../../core/observation/sessionOverviewSpatial";
+
+/** A separate, bounded static recording; teardown releases the whole WASM realm. */
+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);
+  const [metadata, setMetadata] = useState<OverviewSpatialMetadata | null>(null);
+  const [ceiling, setCeiling] = useState<number | null>(null);
+  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(() => {
+    if (!host.current) return;
+    let disposed = false;
+    const abort = new AbortController();
+    appliedMode.current = null;
+    setState("loading");
+    setMetadata(null); setCeiling(null); setMode("3d"); setVisiblePoints(null); setViewError(null);
+    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 }) => {
+      if (disposed) return;
+      viewer.on("recording_open", () => { if (!disposed) { clearTimeout(timer); setState("ready"); } });
+      await viewer.start(new URL(sourceUrl, window.location.origin).href, mount, {
+        width: "100%", height: "100%", hide_welcome_screen: true,
+        enable_history: false, allow_fullscreen: false,
+      });
+      if (disposed) return;
+      controller.current = { viewer, channel: viewer.open_channel("session-overview-controls") };
+      if (viewer.get_active_recording_id()) { clearTimeout(timer); setState("ready"); }
+      for (const panel of ["top", "blueprint", "selection", "time"] as const) viewer.override_panel_state(panel, "hidden");
+    }).catch(() => { if (!disposed) { clearTimeout(timer); setState("error"); runtime.dispose(); } });
+    return () => { disposed = true; abort.abort(); controller.current = null; clearTimeout(timer); runtime.dispose(); };
+  }, [sourceUrl, retry]);
+
+  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,
+        comparison?.generation ?? null, comparison ? representation : "original").then(result => {
+        if (abort.signal.aborted || !controller.current) return;
+        controller.current.channel.send_rrd(result.bytes);
+        appliedMode.current = mode;
+        setVisiblePoints(result.visiblePoints); setViewError(null);
+        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, comparison, representation]);
+
+  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" || (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('.', ',')}
+        onChange={value => setCeiling(value >= high - Math.max(1, high - low) * 1e-9 ? null : value)} />
+    </div>}
+    {state === "error" && <div className="session-overview__empty"><span>Не удалось открыть облако.</span><Button onClick={() => setRetry(n => n + 1)}>Повторить</Button></div>}
+    </LoadingRegion>
+    <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 +1,70 @@
+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('./playcanvas/PlayCanvasViewer'));
+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 [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||!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,settings.mode,c.setDemand,c.setInputGuard,c.pauseInput,stop]);
+ const showSettings=()=>{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="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 modelUrl="/rover-scene/dcd006-v020.glb" cameraAutoRotate={false} 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={tone}>{status}</StatusBadge></div>
+   {c.ready&&<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>}
+   <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/playcanvas/PROVENANCE.json

@@ -0,0 +1,16 @@
+{
+  "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"
+  ]
+}

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

@@ -0,0 +1,393 @@
+
+export type PostFxSettings = {
+  lighting: {
+    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: {
+    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: {
+    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: {
+    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/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/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: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__authority { top: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/useApplicationPanelActions.ts

@@ -12,6 +12,7 @@ interface ApplicationPanelActionsOptions {
   saveWorkspaceLayout: () => Promise<void>;
   workspaceLayoutSaving: boolean;
   systemUtilityActions: readonly ApplicationPanelUtilityAction[];
+  sessionOverview?: { open: boolean; toggle: () => void; available: boolean };
 }
 
 export function deviceRuntimeUtilityAction({
@@ -51,6 +52,7 @@ export function useApplicationPanelActions({
   saveWorkspaceLayout,
   workspaceLayoutSaving,
   systemUtilityActions,
+  sessionOverview,
 }: ApplicationPanelActionsOptions): ApplicationPanelUtilityAction[] {
   return useMemo(() => {
     const actions: ApplicationPanelUtilityAction[] = [];
@@ -71,6 +73,11 @@ export function useApplicationPanelActions({
       });
     }
     if (definition?.root === "system") actions.push(...systemUtilityActions);
+    if (definition?.kind === "recordings" && sessionOverview) actions.push({
+      label: sessionOverview.open ? "Закрыть информацию о записи" : "Информация о записи",
+      icon: "info", pressed: sessionOverview.open, disabled: !sessionOverview.available,
+      onClick: sessionOverview.toggle,
+    });
     return actions;
   }, [
     definition,
@@ -81,5 +88,6 @@ export function useApplicationPanelActions({
     saveWorkspaceLayout,
     systemUtilityActions,
     workspaceLayoutSaving,
+    sessionOverview,
   ]);
 }

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/device-plugins/contracts.ts

@@ -97,9 +97,18 @@ export interface DevicePluginHostActions {
   activateAutomaticSpatialSource: () => void;
 }
 
+/** Session-bound, presentation-only extension of an active spatial workflow. */
+export interface SpatialActivityPresentation {
+  sessionId: string;
+  label: string;
+  detail: string;
+  busy: boolean;
+}
+
 export interface DevicePluginConnectionProps {
   model: DeviceModelDefinition;
   host: DevicePluginHostActions;
+  spatialActivity?: SpatialActivityPresentation;
 }
 
 export interface DeviceUiPlugin {

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

@@ -40,10 +40,10 @@ const defaultQuickActions: Record<
   home: ["spatial-scene", "vehicles"],
   fleet: ["vehicles", "contour-health"],
   observation: ["cameras", "world-map"],
-  missions: ["mission-planner", null],
+  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/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/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

@@ -0,0 +1,74 @@
+import { createContext, useCallback, useContext, useEffect, useRef, useState, type ReactNode } from 'react';
+import { plannerBase, plannerRequest, type Draft } from './planner';
+
+export interface PlanningLiveTest {
+  schema_version: 'missioncore.planning-live-test/v1'; id: string; profile: 'planning'; plugin_id:string; draft: Draft;
+  state: 'preparing'|'waiting'|'running'|'completed'|'cancelled'|'error'|'interrupted';
+  planning_phase?: 'preparing'|'waiting-cloud'|'collecting'|'searching'|'refreshing'|'validating'|'tracking'|'lost'|'ended';
+  tracking_state?: 'acquiring'|'tracking'|'lost';
+  tracking_established?: boolean;
+  presentation_state?: 'live'|'historical'|'unlocalized'; scene_revision?:number;
+  scene_height_min_m?:number|null; scene_height_max_m?:number|null;
+  message: string; query_session_id: string|null; distance_m: number; query_points?: number;
+  scene_available: boolean; stale: boolean; frame_age_s: number|null; result_age_s: number|null;
+  result: {status:'candidate'|'rejected'; overlap:number; inlier_rmse_m:number|null; reasons:string[]}|null;
+  route_relocalization_policy?: {version?:string;query_radius_m?:number};
+}
+export interface PlanningRunSummary {id:string;name:string;state:string;query_session_id:string|null;created_at_utc:string}
+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<boolean>; busy:boolean; error:string|null;
+  begin:(draft:Draft)=>Promise<PlanningLiveTest|null>; finish:()=>Promise<void>; retryInitialization:()=>Promise<void>;
+}|null>(null);
+
+/** 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 [busy,setBusy]=useState(false),[error,setError]=useState<string|null>(null);
+  const [pollError,setPollError]=useState<string|null>(null);
+  const [history,setHistory]=useState<PlanningRunSummary[]>([]);
+  const generation=useRef(0);
+  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'}));return true;}
+    catch(e){setError(e instanceof Error?e.message:'Не удалось открыть исследование.');return false;}
+    finally{generation.current+=1;setBusy(false);}
+  },[]);
+  useEffect(()=>{
+    let disposed=false, timer:ReturnType<typeof setTimeout>;
+    const poll=async()=>{
+      const expected=generation.current;
+      try { const next=await plannerRequest<PlanningLiveTest|null>(endpoint+'/active'); if(!disposed && expected===generation.current) {setTest(next);setPollError(null);} }
+      catch(e) {if(!disposed && expected===generation.current)setPollError(e instanceof Error?e.message:'Исследование недоступно.');}
+      if(!disposed)timer=setTimeout(()=>void poll(),1500);
+    };void poll();return()=>{disposed=true;clearTimeout(timer);};
+  },[]);
+  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);return next;}
+    catch(e){setError(e instanceof Error?e.message:'Не удалось подготовить тест.');return null;}
+    finally{generation.current+=1;setBusy(false);}
+  },[]);
+  const finish=useCallback(async()=>{
+    if(!test)return;generation.current+=1;setBusy(true);
+    try{setTest(await plannerRequest<PlanningLiveTest>(endpoint+'/'+test.id+'/stop',{method:'POST'}));}
+    catch(e){setError(e instanceof Error?e.message:'Не удалось завершить тест.');}
+    finally{generation.current+=1;setBusy(false);}
+  },[test]);
+  const retryInitialization=useCallback(async()=>{
+    if(!test)return;generation.current+=1;setBusy(true);setError(null);
+    try{setTest(await plannerRequest<PlanningLiveTest>(endpoint+'/'+test.id+'/reinitialize',{method:'POST'}));}
+    catch(e){setError(e instanceof Error?e.message:'Не удалось переинициализировать привязку.');}
+    finally{generation.current+=1;setBusy(false);}
+  },[test]);
+  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/planner.ts

@@ -0,0 +1,44 @@
+export interface PlanningPose { index: number; message_index: number; position: [number, number, number]; elapsed_s: number | null; distance_m: number }
+export interface PlanningSource { schema_version: "missioncore.planning-source/v1"; session_id: string; generation: string; label: string; frame_id: string; units: "m"; poses: PlanningPose[]; path_m: number; decode_errors: number }
+export interface SessionOption { id: string; label: string; modalities: string[]; replayable: boolean; lab?: unknown; }
+export type Direction = "forward" | "reverse";
+export interface Draft {
+  id: string; revision: number; name: string; updated_at_utc: string; vehicle_id: null;
+  zone: { session_id: string; generation: string; label: string };
+  route: { start_index: number; end_index: number; direction: Direction; length_m: number; points: { source_index: number; position: [number, number, number] }[] };
+}
+export interface RouteCheck { id: string; revision: number; length_m: number; pose_count: number; max_step_m: number; source_verified: boolean; warnings: string[]; localization: "not_run"; vehicle_control: false; }
+export const plannerBase = "/api/v1/mission-planner";
+export function canStartPlanningRoute(length: number, mode: 'scanner' | 'recording') {
+  return Number.isFinite(length) && length >= 3 && (mode === 'scanner' || length <= 40);
+}
+export async function plannerRequest<T>(path: string, init: RequestInit = {}): Promise<T> {
+  const response = await fetch(path, { ...init, cache: "no-store", headers: { "Content-Type": "application/json", ...init.headers } });
+  if (!response.ok) { const doc = await response.json().catch(() => null); throw new Error(typeof doc?.detail === "string" ? doc.detail : "Данные планировщика недоступны."); }
+  return response.json() as Promise<T>;
+}
+export function canSelectSession(item: SessionOption) { return item.replayable && !item.lab && item.modalities.includes("point-cloud") && item.modalities.includes("trajectory"); }
+export function selectedPoses(source: PlanningSource | null, start: number, end: number, direction: Direction) {
+  if (!source || start < 0 || end >= source.poses.length || start >= end) return [];
+  const poses = source.poses.slice(start, end + 1);
+  return direction === "reverse" ? poses.reverse() : poses;
+}
+export function routeLength(poses: PlanningPose[]) { return poses.slice(1).reduce((sum, p, index) => sum + Math.hypot(...p.position.map((v, axis) => v - poses[index].position[axis])), 0); }
+export function endAtDistance(source: PlanningSource, start: number, length: number) {
+  const target = source.poses[start].distance_m + length;
+  const index = source.poses.findIndex((pose, index) => index > start && pose.distance_m >= target);
+  return index < 0 ? source.poses.length - 1 : index;
+}
+export function validatePlanningSource(data: PlanningSource, sessionId: string): PlanningSource {
+  if (data.schema_version !== "missioncore.planning-source/v1" || data.session_id !== sessionId || data.units !== "m"
+    || !/^[a-f0-9]{64}$/.test(data.generation) || !Array.isArray(data.poses) || data.poses.length < 2 || data.poses.length > 100_000
+    || !data.poses.every((p, i) => p.index === i && p.position.length === 3 && p.position.every(Number.isFinite) && Number.isFinite(p.distance_m))) throw new Error("Траектория записи некорректна.");
+  return data;
+}
+
+/** Distance along the recorded path, so overlapping outbound/return branches remain distinct. */
+export function indexAtDistance(source: PlanningSource, distance: number, min = 0, max = source.poses.length - 1, before = false) {
+  let low = min, high = max;
+  while (low < high) { const mid = Math.floor((low + high) / 2); if (source.poses[mid].distance_m < distance) low = mid + 1; else high = mid; }
+  return before && low > min && source.poses[low].distance_m > distance ? low - 1 : low;
+}

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

@@ -0,0 +1,51 @@
+import type {SpatialActivityPresentation} from '../device-plugins/contracts';
+
+export interface PlanningMatchState {
+ state:string;stale:boolean;frame_age_s:number|null;result_age_s:number|null;
+ result:{status:string}|null;
+ tracking_state?:string;planning_phase?:string;tracking_established?:boolean;
+ presentation_state?:'live'|'historical'|'unlocalized';
+}
+/** Current geometry is insufficient: the temporal gate must also be tracking. */
+export function planningMatchCurrent(t:PlanningMatchState,transportError=false){
+ return !transportError&&t.state==='running'&&t.tracking_state==='tracking'&&!t.stale
+   &&(t.presentation_state===undefined||t.presentation_state==='live')
+   &&t.frame_age_s!==null&&t.frame_age_s>=0&&t.frame_age_s<2
+   &&t.result_age_s!==null&&t.result_age_s>=0&&t.result_age_s<8
+   &&t.result?.status==='candidate';
+}
+
+type Status={label:string;tone:'neutral'|'success'|'warning'|'danger';message?:string;pulse?:boolean};
+type PlanningPresentation=PlanningMatchState & {message:string};
+const phaseLabels:Record<string,string>={
+ collecting:'Накопление данных',searching:'Поиск положения на маршруте',
+ refreshing:'Подтверждение привязки',validating:'Подтверждение привязки',
+};
+
+/** Terminal failures and data freshness take precedence over successful old fits. */
+export function planningStatus(t:PlanningPresentation,error:string|null=null):Status{
+ if(error)return {label:'Исследование недоступно',tone:'danger',message:error};
+ if(t.state==='error'||t.state==='interrupted')return {label:'Совмещение остановлено',tone:'danger',message:t.message,pulse:true};
+ if(t.state==='completed'||t.state==='cancelled')return {label:'Исследование завершено',tone:'neutral',message:t.message+(t.presentation_state==='historical'?' Показана последняя принятая привязка; это не текущее положение.':'')};
+ if(planningMatchCurrent(t))return {label:'Сопровождение',tone:'success',message:t.message};
+ if(t.planning_phase==='recovering')return {label:'Восстановление привязки',tone:'danger',pulse:true,message:'Остановитесь. Ищем положение по новым данным; запись продолжается.'};
+ if(t.planning_phase==='lost'&&!t.tracking_established)
+   return {label:'Маршрут не синхронизирован',tone:'warning',message:t.message};
+ if(t.planning_phase==='lost'||t.planning_phase==='tracking')
+   return {label:'Привязка потеряна',tone:'danger',pulse:true,message:'Нет актуального подтверждения привязки. Остановитесь; ожидается восстановление по новым данным.'+(t.presentation_state==='historical'?' Сцена сохранена в последней принятой привязке.':'')};
+ if(t.planning_phase&&phaseLabels[t.planning_phase])
+   return {label:phaseLabels[t.planning_phase],tone:'neutral'};
+ if(t.result?.status==='rejected')return {label:'Совпадение не подтверждено',tone:'warning',message:t.message};
+ return {label:t.state==='preparing'?'Подготовка эталона':t.stale?'Ожидание данных':'Приём нового прохода',tone:'neutral',message:t.message};
+}
+
+/** A plugin may show this only for its matching, authoritative acquiring session. */
+export function planningActivity(
+ t:PlanningPresentation & {query_session_id:string|null},error:string|null=null,
+):SpatialActivityPresentation|undefined{
+ if(!t.query_session_id||!['running','error'].includes(t.state)
+    ||!t.planning_phase||['preparing','waiting-cloud','ended'].includes(t.planning_phase))return undefined;
+ const status=planningStatus(t,error);
+ return {sessionId:t.query_session_id,label:status.label,detail:status.message??'',
+   busy:!error&&t.state==='running'&&Object.hasOwn(phaseLabels,t.planning_phase)};
+}

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

@@ -0,0 +1,93 @@
+import type { PlanningSceneDelivery } from './planningSceneStream';
+
+export const PLANNING_BROWSER_PRESENTATION_SCHEMA =
+ 'missioncore.planning-browser-presentation/v1';
+
+type BrowserPresentationSample = {
+ cloud_revision:number;
+ cloud_sequence:number;
+ display_epoch:string;
+ request_ms:number;
+ rerun_admission_ms:number;
+ first_animation_frame_ms:number|null;
+ second_animation_frame_ms:number|null;
+ frame_timeout:boolean;
+ source_to_second_animation_frame_upper_bound_ms:number|null;
+};
+
+type ReporterDependencies = {
+ url:string;
+ fetcher?:typeof fetch;
+ schedule?:(callback:()=>void,ms:number)=>ReturnType<typeof setTimeout>;
+ cancel?:(timer:ReturnType<typeof setTimeout>)=>void;
+};
+
+const batchSize=8;
+const flushDelayMs=250;
+
+/**
+ * Bounded, best-effort browser observation. These samples never drive scene
+ * admission, registration, navigation, or device control.
+ */
+export function createPlanningPresentationReporter(deps:ReporterDependencies){
+ const fetcher=deps.fetcher??fetch;
+ const schedule=deps.schedule??setTimeout;
+ const cancel=deps.cancel??clearTimeout;
+ let pending:BrowserPresentationSample[]=[];
+ let timer:ReturnType<typeof setTimeout>|undefined;
+ let sending=false,stopped=false;
+
+ const flush=async()=>{
+  if(sending||stopped||!pending.length)return;
+  if(timer!==undefined){cancel(timer);timer=undefined;}
+  sending=true;
+  const samples=pending.splice(0,batchSize);
+  try{
+   // Deliberately best-effort: the presentation observer must not make the
+   // live Rerun channel wait for an unrelated report request.
+   const response=await fetcher(deps.url,{method:'POST',cache:'no-store',keepalive:true,
+    headers:{'Content-Type':'application/json'},
+    body:JSON.stringify({schema_version:PLANNING_BROWSER_PRESENTATION_SCHEMA,samples}),
+   });
+   if(!response.ok)throw new Error(`Planning presentation telemetry was not accepted (${response.status})`);
+  }catch{
+   // A lost browser report is observable as fewer samples, never retried into
+   // an unbounded queue and never promoted into a capture/fit failure.
+  }finally{
+   sending=false;
+   if(!stopped&&pending.length)void flush();
+  }
+ };
+
+ const record=(delivery:PlanningSceneDelivery,timing:{
+  rerunAdmissionMs:number;firstAnimationFrameMs:number|null;
+  secondAnimationFrameMs:number|null;
+ })=>{
+  if(stopped||delivery.presentation!=='live'||delivery.cloudRevision===null||
+    delivery.cloudSequence===null||delivery.displayEpoch===null)return;
+  const second=timing.secondAnimationFrameMs;
+  pending.push({
+   cloud_revision:delivery.cloudRevision,
+   cloud_sequence:delivery.cloudSequence,
+   display_epoch:delivery.displayEpoch,
+   request_ms:delivery.requestMs,
+   rerun_admission_ms:timing.rerunAdmissionMs,
+   first_animation_frame_ms:timing.firstAnimationFrameMs,
+   second_animation_frame_ms:second,
+   frame_timeout:second===null,
+   source_to_second_animation_frame_upper_bound_ms:second===null?null:
+    delivery.cloudAgeMs+delivery.requestMs+timing.rerunAdmissionMs+second,
+  });
+  if(pending.length>=batchSize)void flush();
+  else if(timer===undefined)timer=schedule(()=>{timer=undefined;void flush();},flushDelayMs);
+ };
+
+ return {
+  record,
+  dispose:()=>{
+   stopped=true;
+   if(timer!==undefined)cancel(timer);
+   pending=[];
+  },
+ };
+}

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

@@ -0,0 +1,37 @@
+import type { Draft } from './planner';
+import type { RegistrationReport } from './useRegistrationTest';
+import { plannerBase, plannerRequest } from './planner';
+
+export interface PlanningProject {
+  key: string; kind: 'recorded'|'live'|'draft'; id: string; name: string;
+  state: string; created_at_utc: string; result_status: string|null;
+  reference_label: string; query_label: string|null; draft_id: string; revision: number;
+}
+export interface PlanningProjectDetail extends PlanningProject {
+  draft: Draft; result: RegistrationReport['result'] | null; message?: string;
+  scene_url: string|null; evidence_relation?: string; elapsed_seconds?: number;
+  scene_note?:string|null;
+}
+export const planningProjectPending = (p: PlanningProject) => ['queued','running','preparing','waiting'].includes(p.state);
+export const planningProjectDeletable = (p: PlanningProject) => p.kind === 'draft'
+  || (p.kind === 'recorded' ? ['ready', 'error'] : ['completed', 'cancelled', 'error', 'interrupted']).includes(p.state);
+export async function deletePlanningProject(project: PlanningProject) {
+  if (!planningProjectDeletable(project)) throw new Error('Сначала завершите исследование.');
+  const receipt = await plannerRequest<{key: string; deleted: boolean}>(
+    `${plannerBase}/projects/${project.kind}/${encodeURIComponent(project.id)}`,
+    {method: 'DELETE', body: JSON.stringify({revision: project.revision})},
+  );
+  if (receipt.key !== project.key || receipt.deleted !== true) throw new Error('Удаление проекта не подтверждено. Обновите список.');
+}
+export function planningProjectStatus(p: PlanningProject) {
+  if (p.kind === 'draft') return 'Подготовка';
+  if (planningProjectPending(p)) return 'Выполняется';
+  if (p.result_status === 'candidate') return 'Кандидат совмещения';
+  if (p.result_status === 'rejected') return 'Совмещение отклонено';
+  return 'Без результата совмещения';
+}
+export function defaultPlanningProject(items: PlanningProject[], last: string|null) {
+  return items.find(p => p.key === last)?.key
+    ?? items.find(p => p.kind === 'recorded' && p.state === 'ready')?.key
+    ?? items[0]?.key ?? '';
+}

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

@@ -0,0 +1,87 @@
+/** One in-flight request, latest-only deltas, no browser backlog or authority. */
+type Snapshot = {options:Record<string,string|number|boolean>;active:boolean;revision:number};
+export type PlanningSceneDelivery = {
+ presentation:'live'|'historical'; cloudAgeMs:number; fitAgeMs:number;
+ requestMs:number; cloudRevision:number|null; cloudSequence:number|null;
+ displayEpoch:string|null; heightMinM:number|null; heightMaxM:number|null;
+};
+type Dependencies = {
+ url:string; snapshot:()=>Snapshot;
+ apply:(bytes:Uint8Array,delivery:PlanningSceneDelivery)=>void|Promise<void>; error:()=>void;
+ fetcher?:typeof fetch; now?:()=>number;
+ schedule?:(callback:()=>void,ms:number)=>ReturnType<typeof setTimeout>;
+ cancel?:(timer:ReturnType<typeof setTimeout>)=>void;
+};
+
+export function startPlanningSceneStream(deps:Dependencies){
+ const fetcher=deps.fetcher??fetch, now=deps.now??(()=>performance.now());
+ const schedule=deps.schedule??setTimeout, cancel=deps.cancel??clearTimeout;
+ let stopped=false,cursor='',key='',revision=-1,needsBase=true;
+ let timer:ReturnType<typeof setTimeout>|undefined;
+ let request:AbortController|undefined;
+ const poll=async()=>{
+  if(stopped)return;
+  const started=now(), snapshot=deps.snapshot(), nextKey=JSON.stringify(snapshot.options);
+  if(!needsBase&&cursor&&!snapshot.active&&key===nextKey&&revision===snapshot.revision){
+   timer=schedule(()=>void poll(),500);return;
+  }
+  request=new AbortController();
+  const deadline=schedule(()=>request?.abort(),2500);
+  let failed=false;
+  try{
+   const params=new URLSearchParams(Object.entries(snapshot.options).map(([name,value])=>[name,String(value)]));
+   params.set('base',String(needsBase||!cursor||key!==nextKey));
+   if(cursor)params.set('cursor',cursor);
+   const response=await fetcher(`${deps.url}?${params}`,{cache:'no-store',signal:request.signal});
+   if(!response.ok)throw new Error('scene unavailable');
+   const bytes=response.status===204?null:new Uint8Array(await response.arrayBuffer());
+   if(stopped)return;
+   const presentation=response.headers.get('X-Planning-Presentation')==='live'?'live':'historical';
+   const cloud=Number(response.headers.get('X-Planning-Cloud-Age')??NaN);
+   const fit=Number(response.headers.get('X-Planning-Fit-Age')??NaN);
+   const elapsed=now()-started;
+   if(presentation==='live'){
+    // Include the entire request duration: a conservative upper bound, without
+    // comparing clocks on different hosts. Late bytes must not revive green.
+    if(!Number.isFinite(cloud)||!Number.isFinite(fit)||cloud<0||fit<0||cloud+elapsed/1000>=2||fit+elapsed/1000>=8)
+     throw new Error('scene expired during delivery');
+   }
+   const latest=deps.snapshot();
+   // Never apply a response from the previous display mode or live/ended state.
+   if(JSON.stringify(latest.options)!==nextKey||latest.active!==snapshot.active){needsBase=true;return;}
+   const nextCursor=response.headers.get('X-Planning-Scene-Cursor');
+   if(!nextCursor)throw new Error('scene cursor missing');
+   if(bytes)await deps.apply(bytes,{
+    presentation,cloudAgeMs:presentation==='live'?cloud*1000:0,
+    fitAgeMs:presentation==='live'?fit*1000:0,requestMs:elapsed,
+    cloudRevision:parseNonnegativeInteger(response.headers.get('X-Planning-Cloud-Revision')),
+    cloudSequence:parseNonnegativeInteger(response.headers.get('X-Planning-Cloud-Sequence')),
+    displayEpoch:response.headers.get('X-Planning-Display-Epoch'),
+    heightMinM:parseFiniteNumber(response.headers.get('X-Planning-Height-Min')),
+    heightMaxM:parseFiniteNumber(response.headers.get('X-Planning-Height-Max')),
+   }); // Native admission only; the caller may record a separate presentation proxy.
+   cursor=nextCursor;key=nextKey;revision=snapshot.revision;needsBase=false;
+  }catch{
+   // Keep the last admitted cursor (including camera intent). A full geometry
+   // repair after a missed/expired response is not permission to reset the eye.
+   if(!stopped){failed=true;needsBase=true;deps.error();}
+  }finally{
+   cancel(deadline);request=undefined;
+   if(!stopped)timer=schedule(()=>void poll(),failed?500:Math.max(10,(snapshot.active?100:500)-(now()-started)));
+  }
+ };
+ void poll();
+ return ()=>{stopped=true;request?.abort();if(timer!==undefined)cancel(timer);};
+}
+
+function parseNonnegativeInteger(value:string|null){
+ if(value===null||!/^\d+$/.test(value))return null;
+ const parsed=Number(value);
+ return Number.isSafeInteger(parsed)&&parsed>0?parsed:null;
+}
+
+function parseFiniteNumber(value:string|null){
+ if(value===null||value.trim()==='')return null;
+ const parsed=Number(value);
+ return Number.isFinite(parsed)?parsed:null;
+}

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

@@ -0,0 +1,92 @@
+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 [sessions, setSessions] = useState<SessionOption[]>([]);
+  const [cursor, setCursor] = useState<string | null>(null);
+  const [drafts, setDrafts] = useState<Draft[]>([]);
+  const [saved, setSaved] = useState<Draft | null>(null);
+  const [name, setName] = useState("");
+  const [sessionId, setSessionId] = useState("");
+  const [source, setSource] = useState<PlanningSource | null>(null);
+  const [direction, setDirection] = useState<Direction>("forward");
+  const [error, setError] = useState<string | null>(null);
+  const [sourceError, setSourceError] = useState<string | null>(null);
+  const [busy, setBusy] = useState(false);
+  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?scope=standalone&limit=100&pagination=cursor-v1", { signal: abort.signal }),
+      plannerRequest<{ items: Draft[] }>(`${plannerBase}/drafts`, { signal: abort.signal }),
+    ]).then(([catalog, archive]) => { if (!abort.signal.aborted) { setSessions(catalog.items); setCursor(catalog.next_cursor); setDrafts(archive.items); } })
+      .catch(reason => { if (!abort.signal.aborted) setError(reason.message); })
+      .finally(() => { if (!abort.signal.aborted) setCatalogBusy(false); });
+    return () => abort.abort();
+  }, [loadVersion]);
+
+  useEffect(() => {
+    const abort = new AbortController(); setSource(null); setSourceError(null);
+    if (sessionId) void plannerRequest<PlanningSource>(`${plannerBase}/sources/${encodeURIComponent(sessionId)}${pinnedGeneration ? `?generation=${encodeURIComponent(pinnedGeneration)}` : ""}`, { signal: abort.signal })
+      .then(data => { if (!abort.signal.aborted) setSource(validatePlanningSource(data, sessionId)); })
+      .catch(reason => { if (!abort.signal.aborted) setSourceError(reason.message); });
+    return () => abort.abort();
+  }, [sessionId, sourceVersion, pinnedGeneration]);
+
+  const currentSource = source?.session_id === sessionId ? source : null;
+  // New executions always own the complete reference. No independent interval
+  // state can survive a source change or collapse on same-source reselection.
+  const start = 0, end = currentSource ? currentSource.poses.length - 1 : 0;
+  const sourceChanged = !!(saved && currentSource && saved.zone.session_id === sessionId && saved.zone.generation !== currentSource.generation);
+  const poses = useMemo(() => selectedPoses(currentSource, start, end, direction), [currentSource, start, end, direction]);
+  const dirty = !saved || name.trim() !== saved.name || sessionId !== saved.zone.session_id || sourceChanged
+    || start !== saved.route.start_index || end !== saved.route.end_index || direction !== saved.route.direction;
+  const ready = !!currentSource && !sourceChanged && poses.length > 1 && !!name.trim();
+  const chooseSource = (id: string) => { setPinnedGeneration(null); setSessionId(id); setSourceVersion(n => n + 1); setCheck(null); };
+  const newDraft = () => { setSaved(null); setName(""); chooseSource(""); setDirection("forward"); setError(null); };
+  const openDraft = async (id: string) => {
+    setBusy(true); setError(null);
+    try {
+      const next = await plannerRequest<Draft>(`${plannerBase}/drafts/${id}`);
+      setSaved(next); setName(next.name); setSessionId(next.zone.session_id); setPinnedGeneration(next.zone.generation);
+      setDirection(next.route.direction); setCheck(null);
+      setSourceVersion(n => n + 1);
+    } catch (reason) { setError((reason as Error).message); } finally { setBusy(false); }
+  };
+  const save = async () => {
+    if (!ready || !currentSource) return;
+    setBusy(true); setError(null); setCheck(null);
+    try {
+      const next = await plannerRequest<Draft>(`${plannerBase}/drafts`, { method: "POST", body: JSON.stringify({
+        id: saved?.id ?? null, revision: saved?.revision ?? 0, name: name.trim(), session_id: sessionId,
+        generation: currentSource.generation, whole_recording: true, direction,
+      }) });
+      setSaved(next); setDrafts(items => [next, ...items.filter(item => item.id !== next.id)]);
+      return next;
+    } catch (reason) { setError((reason as Error).message); } finally { setBusy(false); }
+  };
+  const runCheck = async () => {
+    if (!saved || dirty || !ready) return;
+    setBusy(true); setError(null); setCheck(null);
+    try { setCheck(await plannerRequest<RouteCheck>(`${plannerBase}/drafts/${saved.id}/checks`, { method: "POST", body: JSON.stringify({ revision: saved.revision }) })); }
+    catch (reason) { setError((reason as Error).message); } finally { setBusy(false); }
+  };
+  const loadMore = async () => {
+    if (!cursor) return;
+    setCatalogBusy(true);
+    try {
+      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,
+    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,
+      description: canSelectSession(item) ? "Облако и траектория" : "Зона недоступна: нет исходного облака и траектории", disabled: !canSelectSession(item) }))] };
+}

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

@@ -0,0 +1,62 @@
+import { useCallback, useEffect, useRef, useState } from 'react';
+import { plannerBase, plannerRequest } from './planner';
+import { defaultPlanningProject, deletePlanningProject, planningProjectPending, type PlanningProject, type PlanningProjectDetail } from './planningProjects';
+
+const storageKey = 'missioncore.planning-project.selected.v1';
+export function usePlanningProjects() {
+  const [items, setItems] = useState<PlanningProject[]>([]);
+  const [key, setKey] = useState('');
+  const [detail, setDetail] = useState<PlanningProjectDetail|null>(null);
+  const [loading, setLoading] = useState(true), [error, setError] = useState<string|null>(null);
+  const [version, setVersion] = useState(0);
+  const initialized = useRef(false);
+  const selectedKey = useRef('');
+  const removedKeys = useRef(new Set<string>());
+  const removing = useRef(false);
+  const select = useCallback((value: string) => {
+    initialized.current = true; selectedKey.current = value; setDetail(null); setKey(value);
+    try { if (value) sessionStorage.setItem(storageKey,value); else sessionStorage.removeItem(storageKey); } catch { /* selection is optional UI state */ }
+  }, []);
+  const refresh = useCallback(() => setVersion(n=>n+1), []);
+  const remove = useCallback(async (project: PlanningProject) => {
+    if (removing.current) throw new Error('Удаление уже выполняется.');
+    removing.current = true;
+    try {
+      await deletePlanningProject(project);
+      removedKeys.current.add(project.key);
+      setItems(items => items.filter(item => item.key !== project.key));
+      if (selectedKey.current === project.key) select('');
+    } finally { removing.current = false; }
+  }, [select]);
+  useEffect(()=>{
+    const abort = new AbortController(); setLoading(true); setError(null);
+    void plannerRequest<{items:PlanningProject[]}>(plannerBase+'/projects',{signal:abort.signal}).then(data=>{
+      if (abort.signal.aborted) return;
+      const visible = data.items.filter(item => !removedKeys.current.has(item.key));
+      setItems(visible);
+      if (!initialized.current) {
+        let last=null; try {last=sessionStorage.getItem(storageKey);} catch { /* optional */ }
+        select(defaultPlanningProject(visible,last));
+      }
+    }).catch(e=>{if(!abort.signal.aborted)setError(e.message);}).finally(()=>{if(!abort.signal.aborted)setLoading(false);});
+    return ()=>abort.abort();
+  },[version,select]);
+  useEffect(()=>{
+    if (!key) return;
+    const abort=new AbortController(); let timer:ReturnType<typeof setTimeout>;
+    setDetail(null); setError(null);
+    const [kind,id]=key.split(':');
+    const poll=async()=>{
+      try {
+        const next=await plannerRequest<PlanningProjectDetail>(`${plannerBase}/projects/${kind}/${id}`,{signal:abort.signal});
+        if(abort.signal.aborted || removedKeys.current.has(key))return;
+        if(next.key!==key)throw new Error('Получен результат другого исследования.');
+        setDetail(next);setError(null);
+        setItems(items=>items.some(p=>p.key===key)?items.map(p=>p.key===key?next:p):[next,...items]);
+        if(planningProjectPending(next))timer=setTimeout(()=>void poll(),2000);
+      } catch(e) {if(!abort.signal.aborted)setError((e as Error).message);}
+    };
+    void poll(); return()=>{abort.abort();clearTimeout(timer);};
+  },[key,version]);
+  return {items,key,detail,loading,error,select,refresh,remove};
+}

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

@@ -0,0 +1,58 @@
+import { useEffect, useState } from "react";
+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;
+  revision: number; created_at_utc: string; evidence_relation: "same_recording" | "different_recordings";
+  scene_url?: string; elapsed_seconds?: number; reference?: { label: string }; query?: { label: string };
+  result?: { correspondence_colors?: "accepted-distance-v1"; status: "candidate" | "rejected"; reasons: string[]; overlap: number; inlier_rmse_m: number | null;
+    correction_m: number; correction_deg: number; registration_seconds: number; reference_points: number; query_points: number };
+}
+
+export function useRegistrationTest(draft: Draft | null) {
+  const [sessionId, setSessionId] = useState("");
+  const [source, setSource] = useState<PlanningSource | null>(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/${encodeURIComponent(sessionId)}`, { signal: abort.signal })
+      .then(value => { if (!abort.signal.aborted) { const data = validatePlanningSource(value, sessionId); setSource(data); setStart(0); setEnd(endAtDistance(data, 0, 20)); } })
+      .catch(e => { if (!abort.signal.aborted) setError(e.message); })
+      .finally(() => { if (!abort.signal.aborted) setLoading(false); });
+    return () => abort.abort();
+  }, [sessionId]);
+  const busy = submitting;
+  const length = source ? (source.poses[end]?.distance_m ?? 0) - (source.poses[start]?.distance_m ?? 0) : 0;
+  const run = async (savedDraft = draft) => {
+    if (!source || busy || !savedDraft) return;
+    setSubmitting(true); setError(null);
+    try {
+      const data = await plannerRequest<RegistrationReport>(`${plannerBase}/drafts/${savedDraft.id}/registration-runs`, {
+        method: "POST", body: JSON.stringify({ revision: savedDraft.revision, session_id: sessionId, generation: source.generation, start_index: start, end_index: end }),
+      });
+      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, 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/sessionOverview.ts

@@ -0,0 +1,41 @@
+export interface SessionOverviewMetrics {
+  point_frames: number; pose_frames: number; point_count: number; sample_points: number;
+  decode_errors: number; sequence_gaps: number; sequence_nonincreasing: number;
+  path_m: number | null; start_end_m: number | null; stream_seconds: number | null;
+  mean_hz: number | null; interval_p95_s: number | null; interval_max_s: number | null;
+  interval_statistics_complete: boolean; gaps_over_second: number | null;
+  arrival_backwards: number; chart: [number, number][]; chart_bucket_seconds: number;
+  spatial_available: boolean;
+}
+export interface SessionOverview {
+  schema_version: "missioncore.session-overview/v1";
+  state: "queued" | "preparing" | "ready" | "error";
+  session: { session_id: string; display_name: string; duration_seconds: number | null;
+    started_at_utc: string | null; total_bytes: number; modalities: string[]; status: string; };
+  metrics?: SessionOverviewMetrics | null;
+  scene_url?: string | null;
+  message?: string;
+  messages_processed?: number;
+}
+
+export async function fetchSessionOverview(sessionId: string, signal: AbortSignal, retry = false): Promise<SessionOverview> {
+  const response = await fetch(`/api/v1/observation-sessions/${encodeURIComponent(sessionId)}/overview${retry ? "/retry" : ""}`, {
+    signal, method: retry ? "POST" : "GET", cache: "no-store",
+  });
+  if (!response.ok) throw new Error("Обзор записи недоступен.");
+  const data = await response.json() as SessionOverview;
+  if (data.schema_version !== "missioncore.session-overview/v1" || data.session?.session_id !== sessionId
+    || !["queued", "preparing", "ready", "error"].includes(data.state)) throw new Error("Получены некорректные сведения о записи.");
+  if (data.scene_url) {
+    const url = new URL(data.scene_url, window.location.origin);
+    if (url.origin !== window.location.origin || url.pathname !== `/api/v1/observation-sessions/${sessionId}/overview/scene.rrd`) throw new Error("Облако записи недоступно.");
+  }
+  return data;
+}
+
+export function overviewChartPoints(chart: readonly [number, number][], width: number, height: number) {
+  const valid = chart.filter(([x, y]) => Number.isFinite(x) && Number.isFinite(y) && x >= 0 && y >= 0);
+  const xmax = Math.max(1, ...valid.map(p => p[0]));
+  const ymax = Math.max(.1, ...valid.map(p => p[1])) * 1.1;
+  return { xmax, ymax, points: valid.map(([x, y]) => `${x / xmax * width},${height - y / ymax * height}`).join(" ") };
+}

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

@@ -0,0 +1,38 @@
+export type OverviewViewMode = "3d" | "top";
+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);
+  if (url.origin !== window.location.origin || !url.pathname.endsWith("/overview/scene.rrd")) throw new Error("Облако недоступно.");
+  url.pathname = url.pathname.replace(/scene\.rrd$/, "spatial");
+  return url;
+}
+export async function fetchOverviewSpatial(source: string, signal: AbortSignal): Promise<OverviewSpatialMetadata> {
+  const response = await fetch(endpoint(source), { signal, cache: "no-store" });
+  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,
+  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,
+      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.");
+  return { bytes, visiblePoints: Number(response.headers.get("X-Overview-Visible-Points")),
+    eye: response.headers.get("X-Overview-Eye") ? JSON.parse(response.headers.get("X-Overview-Eye")!) : null };
+}

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

@@ -0,0 +1,41 @@
+import { useCallback, useEffect, useState } from "react";
+import { fetchSessionOverview, type SessionOverview } from "./sessionOverview";
+
+export function useSessionOverview(sessionId: string) {
+  const [data, setData] = useState<SessionOverview | null>(null);
+  const [error, setError] = useState<string | null>(null);
+  const [retryGeneration, setRetryGeneration] = useState(0);
+  useEffect(() => {
+    const abort = new AbortController();
+    let timer: ReturnType<typeof setTimeout> | undefined;
+    setData(null); setError(null);
+    const load = async (retry = false) => {
+      try {
+        const next = await fetchSessionOverview(sessionId, abort.signal, retry);
+        if (abort.signal.aborted) return;
+        setData(next);
+        if (next.state === "queued" || next.state === "preparing") timer = setTimeout(() => void load(), 1200);
+      } catch (reason) {
+        if (!abort.signal.aborted) setError(reason instanceof Error ? reason.message : "Обзор недоступен.");
+      }
+    };
+    void load(retryGeneration > 0);
+    return () => { abort.abort(); clearTimeout(timer); };
+  }, [sessionId, retryGeneration]);
+  return { data: data?.session.session_id === sessionId ? data : null, error,
+    retry: useCallback(() => setRetryGeneration(n => n + 1), []) };
+}
+
+export function useSessionOverviewMode(enabled: boolean) {
+  const [open, setOpen] = useState(false);
+  useEffect(() => { if (!enabled) setOpen(false); }, [enabled]);
+  useEffect(() => {
+    if (!open) return;
+    const close = (event: KeyboardEvent) => {
+      if (event.key === "Escape" && !event.defaultPrevented) { event.preventDefault(); event.stopPropagation(); setOpen(false); }
+    };
+    window.addEventListener("keydown", close, true);
+    return () => window.removeEventListener("keydown", close, true);
+  }, [open]);
+  return { open: enabled && open, 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/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/main.tsx

@@ -7,6 +7,7 @@ import "@nodedc/ui-core/styles.css";
 
 import App from "./App";
 import { installedDevicePlugins, installedNodeSensorContributions } from "./composition/devicePlugins";
+import { PlanningTestProvider } from "./core/missions/PlanningTestContext";
 import { DevicePluginHostProvider } from "./core/device-plugins/DevicePluginHost";
 import { ComputeContourProvider } from "./core/system/ComputeContourContext";
 import "./styles.css";
@@ -25,7 +26,7 @@ createRoot(rootElement).render(
   <StrictMode>
     <DevicePluginHostProvider plugins={installedDevicePlugins} nodeSensorContributions={installedNodeSensorContributions}>
       <ComputeContourProvider>
-        <App />
+        <PlanningTestProvider><App /></PlanningTestProvider>
       </ComputeContourProvider>
     </DevicePluginHostProvider>
   </StrictMode>,

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: [],
   },
   {
@@ -402,11 +403,11 @@ export const workspaces: WorkspaceDefinition[] = [
   },
   {
     id: "mission-planner",
-    root: "missions",
+    root: "polygon",
     label: "Планировщик",
-    title: "Планировщик миссии",
-    eyebrow: "МИССИИ / ЧЕРНОВИК",
-    description: "Черновик миссии, аппараты, зона, маршрут, действия и ограничения.",
+    title: "Исследование планирования",
+    eyebrow: "LAB / ПЛАНИРОВАНИЕ",
+    description: "Эталонный участок и сопоставление нового прохода сканера.",
     icon: "edit",
     kind: "missions",
     groups: [
@@ -414,8 +415,7 @@ export const workspaces: WorkspaceDefinition[] = [
         title: "Состав миссии",
         description: "Продуктовый контракт без отправки команд на борт.",
         capabilities: [
-          contract("Назначение аппарата", "Один аппарат сейчас, несколько — в будущем."),
-          contract("Зона и маршрут", "Точки, коридор, высота/скорость и геозоны."),
+          active("Зона и маршрут", "Выбор сохранённой записи, участка траектории и направления."),
           contract("Полезная нагрузка", "Запуск сенсоров и требуемые выходные данные."),
           later("Проверка выполнимости", "Расчёт энергии, связи, столкновений и резервов."),
         ],

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/mission-planner.css

@@ -0,0 +1,73 @@
+.mission-planner { height: 100%; box-sizing: border-box; min-height: 360px; display: flex; flex-direction: column; gap: 16px; min-width: 0; flex: 1; padding: 8px 16px 20px; }
+.mission-planner__toolbar { display: flex; align-items: end; gap: 8px; flex-wrap: wrap; }
+.mission-planner__toolbar > .nodedc-field { flex: 1; min-width: 180px; }
+.mission-planner__toolbar > .nodedc-select-anchor { width: 260px; max-width: 100%; }
+.mission-planner__layout { display: grid; grid-template-columns: minmax(270px, 320px) minmax(0, 1fr); gap: 16px; flex: 1; min-height: 0; }
+.mission-planner__editor { min-height: 0; overflow: auto; display: flex; flex-direction: column; gap: 12px; min-width: 0; }
+.mission-planner__section { display: flex; flex-direction: column; gap: 10px; }
+.mission-planner h2 { font-size: var(--nodedc-font-size-md); margin: 0; font-weight: 600; }
+.mission-planner p, .mission-planner__check p { font-size: var(--nodedc-font-size-sm); margin: 0; line-height: 1.5; }
+.mission-planner small { font-size: var(--nodedc-font-size-xs); color: var(--nodedc-text-muted); line-height: 1.5; }
+.mission-planner__actions { display: flex; flex-wrap: wrap; gap: 8px; }
+.mission-planner__viewer { min-height: 0; }
+.mission-planner__viewer-head { display: flex; align-items: center; justify-content: space-between; gap: 8px; padding: 12px; }
+.mission-planner__zone-loading { flex: 1; min-height: 320px; }
+.mission-planner__notice { font-size: var(--nodedc-font-size-sm); padding: 8px 0; }
+.mission-planner__expanded { width: min(1300px, 94vw); }
+.mission-planner__expanded .mission-planner__viewer { height: min(65vh, 620px); min-height: 360px; }
+.mission-planner__expanded .mission-route-preview svg { min-height: 140px; }
+.mission-route-preview { flex: 1; min-height: 0; display: flex; flex-direction: column; gap: 12px; padding: 16px; }
+.mission-route-preview svg { width: 100%; flex: 1; min-height: 250px; }
+.mission-route-preview p { margin: 0; line-height: 1.5; color: var(--nodedc-text-muted); font-size: var(--nodedc-font-size-xs); }
+.mission-route-preview__reference { stroke: var(--nodedc-text-muted); opacity: .35; stroke-width: 2; }
+.mission-route-preview__selected { stroke: var(--nodedc-text-primary); stroke-width: 2; }
+.mission-route-preview__cursor { fill: var(--nodedc-text-primary); }
+.mission-route-preview text { fill: var(--nodedc-text-muted); font-size: 12px; }
+.mission-planner__check { display: flex; flex-direction: column; gap: 16px; }
+.mission-planner__check dl { font-size: var(--nodedc-font-size-sm); }
+.mission-planner__check dl > div { display: flex; justify-content: space-between; gap: 16px; padding: 8px 0; }
+.mission-planner__check dd { margin: 0; text-align: right; }
+.mission-planner__check dt { color: var(--nodedc-text-muted); }
+@media (max-width: 900px) { .mission-planner { height: auto; } .mission-planner__layout { grid-template-columns: minmax(0, 1fr); } .mission-planner__editor { max-height: 55vh; } .mission-planner__viewer { height: 65vh; } }
+
+.mission-registration { width: min(1100px, 94vw); }
+.mission-registration__scene { position: relative; height: 380px; min-height: 300px; overflow: hidden; }
+.mission-registration--expanded .mission-registration__scene { height: 65vh; }
+.mission-registration .mission-planner__viewer-head { font-size: var(--nodedc-font-size-xs); }
+
+.planning-connection { width: min(1080px, 94vw); }
+.planning-live__viewport { overflow: hidden; min-height: 520px; }
+.planning-live__scene { position: relative; height: 60vh; min-height: 420px; overflow: hidden; }
+.planning-live--expanded { width: min(1400px, 96vw); }
+.planning-live--expanded .planning-live__scene { height: 70vh; }
+.planning-live .mission-planner__toolbar, .planning-live .mission-planner__actions { font-size: var(--nodedc-font-size-sm); }
+
+.planning-live__scene > .session-overview__empty { position: absolute; inset: 0; }
+
+.spatial-viewport-shell > .planning-live__scene { position: absolute; inset: 0; width: 100%; height: 100%; min-height: 0; }
+.planning-live__summary { display: flex; flex-wrap: wrap; gap: 8px 20px; padding: 8px 4px; color: var(--nodedc-text-muted); font-size: var(--nodedc-font-size-xs); }
+.planning-live__camera-note { position: absolute; right: 20px; bottom: 24px; display: flex; align-items: center; gap: 8px; font-size: var(--nodedc-font-size-xs); color: var(--nodedc-text-muted); }
+.mission-planner__editor .mission-planner__actions { display: grid; grid-template-columns: minmax(0, 1fr); }
+.mission-planner__editor .inspector-control-stack > .nodedc-button, .mission-planner__editor .mission-planner__actions > .nodedc-button { width: 100%; }
+.mission-planner__viewer-head--end, .session-overview__scene-head--end { justify-content: flex-end; padding: 12px; }
+/* The pinned embedded Rerun canvas reserves 28 px above its 26 px view strip.
+   Allocate this non-content chrome outside the clipped host; pointer coordinates
+   remain native and the scene retains the full host height. */
+.session-overview__runtime.rerun-single-view-content { top: -54px; }
+
+/* Scene-first planning: settings float within the stage and never allocate a column. */
+.planning-project { padding: 8px 16px 16px; }
+.planning-project__header-tools { display: flex; align-items: center; gap: 8px; min-width: 0; }
+.planning-project__header-tools > .nodedc-select-anchor { width: clamp(200px, 20vw, 300px); min-width: 0; }
+.planning-project__stage { position: relative; overflow: hidden; flex: 1; min-height: 360px; }
+.planning-project__viewport { position: absolute; inset: 0; overflow: hidden; }
+.planning-project__viewport > .mission-registration__scene { flex: 1; height: auto; min-height: 0; }
+.planning-project__result-header { display: flex; align-items: center; gap: 16px; flex-wrap: wrap; padding: 12px 16px; font-size: var(--nodedc-font-size-sm); }
+.planning-project__legend { padding: 8px 16px; }
+.planning-project__inspector .inspector-control-stack > .nodedc-button { width: 100%; }
+.planning-project__inspector p { margin: 0; font-size: var(--nodedc-font-size-sm); line-height: 1.5; }
+.planning-project__inspector dl { margin: 0; font-size: var(--nodedc-font-size-sm); }
+.planning-project__inspector dl > div { display: flex; align-items: start; justify-content: space-between; gap: 12px; padding: 6px 0; }
+.planning-project__inspector dt { color: var(--nodedc-text-muted); }
+.planning-project__inspector dd { margin: 0; text-align: right; overflow-wrap: anywhere; }
+@media (max-width: 900px) { .mission-planner.planning-project { height: 100%; } .planning-project__header-tools { flex-wrap: wrap; } }

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

@@ -187,9 +187,6 @@
     text-align: left;
   }
 
-  .scene-metrics {
-    display: none;
-  }
 }
 
 /* The shared shell switches to its compact overlay at 760 px, but Mission
@@ -544,11 +541,6 @@
     justify-content: center;
   }
 
-  .scene-status--top-left {
-    top: 0.6rem;
-    left: 0.6rem;
-  }
-
   .scene-device-controls {
     top: 0.6rem;
     max-width: calc(100% - 8rem);

apps/control-station/src/styles/session-overview.css

@@ -0,0 +1,25 @@
+.session-overview { height: 100%; min-height: 360px; flex: 1; min-width: 0; }
+.session-overview__loading, .session-overview__split { height: 100%; min-height: 0; }
+.session-overview__panel { height: 100%; min-height: 0; min-width: 0; display: flex; flex-direction: column; overflow: hidden; container-type: inline-size; }
+.session-overview__panel h2 { margin: 0; padding: 16px 18px; font: inherit; font-size: var(--nodedc-font-size-md); font-weight: 600; flex: none; }
+.session-overview__scene { position: relative; flex: 1; min-height: 0; overflow: hidden; }
+.session-overview__runtime { position: absolute; inset: 0; }
+.session-overview__runtime iframe { display: block; width: 100%; height: 100%; border: 0; }
+.session-overview__scene-head { display: flex; align-items: center; justify-content: space-between; flex-wrap: wrap; gap: 8px; padding-right: 12px; flex: none; }
+.session-overview__height { position: absolute; z-index: 2; top: 44px; right: 12px; bottom: 12px; width: 58px; display: flex; flex-direction: column; align-items: center; gap: 6px; color: var(--nodedc-text-muted); font-size: var(--nodedc-font-size-xs); }
+.session-overview__height > .nodedc-range-scale { flex: 1; min-height: 0; }
+.session-overview__empty { display: flex; flex: 1; min-height: 160px; align-items: center; justify-content: center; flex-direction: column; gap: 14px; font-size: var(--nodedc-font-size-sm); color: var(--nodedc-text-muted); }
+.session-overview__scene .session-overview__empty { position: absolute; inset: 0; }
+.session-overview__note { padding: 8px 16px 12px; color: var(--nodedc-text-muted); font-size: var(--nodedc-font-size-xs); flex: none; }
+.session-overview__facts { overflow: auto; min-height: 0; padding: 0 18px 12px; font-size: var(--nodedc-font-size-sm); }
+.session-overview__facts dl { margin: 0; }
+.session-overview__facts dl > div { display: grid; grid-template-columns: minmax(0, 1fr) auto; gap: 14px; padding: 8px 0; }
+.session-overview__facts dt { color: var(--nodedc-text-muted); }
+.session-overview__facts dd { margin: 0; text-align: right; font-variant-numeric: tabular-nums; }
+.session-overview__facts p { color: var(--nodedc-text-muted); font-size: var(--nodedc-font-size-xs); line-height: 1.5; }
+.session-overview__chart { flex: 1; min-height: 0; display: flex; flex-direction: column; }
+.session-overview__chart svg { width: 100%; flex: 1; min-height: 0; overflow: visible; }
+.session-overview__chart text { fill: var(--nodedc-text-muted); font-size: 12px; }
+.session-overview__grid { stroke: var(--nodedc-text-muted); opacity: .2; stroke-width: 1; }
+.session-overview__series { stroke: var(--nodedc-text-primary); stroke-width: 1.5; }
+@container (max-width: 270px) { .session-overview__facts dl > div { grid-template-columns: minmax(0, 1fr); gap: 3px; } .session-overview__facts dd { text-align: left; overflow-wrap: anywhere; } }

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

@@ -1,39 +1,25 @@
-import {SpatialScene, EmptySpatialStage} from '../../../../packages/spatial-ui/src';
-import {SpatialToolbarActions} from "../../../../packages/spatial-ui/src/SpatialToolbarActions";
+import {SpatialWorkspace} from "./spatial/SpatialWorkspace";
+import { PlanningSpatialWorkspace } from "./missions/PlanningSpatialWorkspace";
+import { MissionPlannerWorkspace } from "./missions/MissionPlannerWorkspace";
 import { VehiclesWorkspace } from "./fleet/VehiclesWorkspace";
-import { useCallback, useEffect, useMemo, useRef, useState } from "react";
+import { useCallback, useMemo } from "react";
 import { Button, GlassSurface, Icon, StatusBadge } from "@nodedc/ui-react";
 import {
   ObservationMedia,
-  ObservationSourcePicker,
   observationSourceStatusLabel,
 } from "../components/ObservationSources";
 import { ObservationTimeline } from "../components/ObservationTimeline";
-import { FloatingObservationWindow } from "../components/FloatingObservationWindow";
 import type {
   RecordedAdmissionPhase,
   RecordedCameraAdmissionState,
 } from "../core/observation/recordedSessionAdmission";
-import { liveRerunRecoveryAuthorityIdentity } from "../core/observation/liveReceiverWatchdog";
-import { liveAcquisitionRerunProfile, recordedSessionRerunProfile } from "../core/observation/viewerProfile";
 import type { ObservationSourceDescriptor } from "../core/runtime/contracts";
-import {
-  RerunViewport,
-  isRecordedPlaybackPresentationReady,
-  rerunPresentationStatus,
-  type RerunPlaybackController,
-  type RerunPlaybackState,
-  type RerunSelection,
-  type RerunViewportStatus,
-  type RecordedPerceptionLoadState,
-  type RecordedPointColorLoadState,
-} from "../components/RerunViewport";
 import {
   capabilityStatusLabel,
   type CapabilityStatus,
   type WorkspaceDefinition,
 } from "../productModel";
-import { finiteMetric, formatNumber, pipelineLatency, sourceModeLabel } from "../presentation";
+import { sourceModeLabel } from "../presentation";
 import type { WorkspaceRendererProps } from "./contracts";
 import { DatasetGatewayWorkspace } from "./DatasetGatewayWorkspace";
 import { ArtifactHealthWorkspace } from "./data/ArtifactHealthWorkspace";
@@ -91,608 +77,6 @@ function WorkspaceLead({ definition, note }: { definition: WorkspaceDefinition;
     </section>
   );
 }
-function SpatialWorkspace({
-  state,
-  sourceUrl,
-  requestedPlaybackSeconds,
-  recordedReplay,
-  recordedSessionAdmission,
-  sceneSettings,
-  accumulationSeconds,
-  onAccumulationChange,
-  onAccumulationCommit,
-  livePerceptionLayers,
-  onLivePerceptionLayersChange,
-  observationLayout,
-  navigation,
-  spatialControls,
-}: WorkspaceRendererProps) {
-  const [viewerStatus, setViewerStatus] = useState<RerunViewportStatus>(sourceUrl ? "loading" : "idle");
-  const [viewerMessage, setViewerMessage] = useState("");
-  const [selection, setSelection] = useState<RerunSelection | null>(null);
-  const [playbackState, setPlaybackState] = useState<RerunPlaybackState | null>(null);
-  const [playbackController, setPlaybackController] = useState<RerunPlaybackController | null>(null);
-  const lastRequestedPlaybackSeconds = useRef<number | null>(null);
-  const [recordedViewResetGeneration, setRecordedViewResetGeneration] = useState<0 | 1>(0);
-  const [followRecordedTrajectory, setFollowRecordedTrajectory] = useState(false);
-  const [perceptionLoad, setPerceptionLoad] = useState<RecordedPerceptionLoadState>({
-    phase: "idle",
-    receivedBytes: 0,
-    totalBytes: null,
-    progress: null,
-    message: "",
-  });
-  const [perceptionRetryGeneration, setPerceptionRetryGeneration] = useState(0);
-  const [pointColorLoad, setPointColorLoad] = useState<RecordedPointColorLoadState>({
-    phase: "idle",
-    receivedBytes: 0,
-    totalBytes: null,
-    progress: null,
-    message: "",
-  });
-  const [showDetections2d, setShowDetections2d] = useState(false);
-  const [showSegmentation, setShowSegmentation] = useState(false);
-  const [showCuboids3d, setShowCuboids3d] = useState(false);
-  const recordedSource = Boolean(recordedReplay) || /\.rrd(?:$|[?#])/i.test(sourceUrl);
-  const liveRerunSource = !recordedSource && /^rerun\+https?:\/\//i.test(sourceUrl.trim());
-  const recordedSessionGate: RecordedAdmissionPhase = recordedSource
-    ? recordedSessionAdmission?.phase ?? "loading"
-    : "ready";
-  const recordedPlaybackReady = !recordedSource ||
-    (recordedSessionGate === "ready" &&
-      isRecordedPlaybackPresentationReady(viewerStatus, playbackState));
-  const streamActive = state?.sourceMode === "live" || state?.sourceMode === "replay";
-  const metrics = streamActive ? state?.metrics : undefined;
-  // An explicit manual gRPC source has no Mission Core metrics producer. Its
-  // native Rerun range is therefore the only available activity proof.
-  const livePresentationActivitySequence = metrics?.publishedFrameCount ??
-    (liveRerunSource && !streamActive ? 1 : null);
-  const latency = pipelineLatency(metrics);
-  const frameRate = finiteMetric(metrics?.frameRateHz);
-  const points = finiteMetric(metrics?.pointCount);
-  const aiLatency = finiteMetric(metrics?.aiLatencyMs);
-  const aiFrameRate = finiteMetric(metrics?.aiFrameRateHz);
-  const observationSources = state?.observationSources ?? [];
-  const pointCloudSource = observationSources.find((source) => source.modality === "point-cloud");
-  const pointCloudVisible = pointCloudSource
-    ? observationLayout.visibleSourceIds.has(pointCloudSource.id)
-    : Boolean(sourceUrl.trim());
-  const mediaSources = observationSources.filter(
-    (source) => source.capabilities.overlay && source.modality !== "point-cloud",
-  );
-  const recordedPerceptionSupported =
-    recordedSource && perceptionLoad.phase !== "unavailable";
-  const recordedPerceptionLoading = recordedSource && perceptionLoad.phase === "loading";
-  const recordedPerceptionEnabled =
-    showDetections2d || showSegmentation || showCuboids3d;
-  // The native recorded camera remains the authoritative original. Only 2D
-  // image-space overlays need Rerun's paired camera/world composition; 3D
-  // cuboids are added directly to the stable spatial view.
-  const unifiedPerception = recordedPerceptionSupported &&
-    (showDetections2d || showSegmentation);
-  const livePerceptionAvailable = !recordedSource && streamActive;
-  const detections2dActive = recordedSource
-    ? showDetections2d
-    : livePerceptionLayers.detections2d;
-  const segmentationActive = recordedSource
-    ? showSegmentation
-    : livePerceptionLayers.segmentation;
-  const cuboids3dActive = recordedSource
-    ? showCuboids3d
-    : livePerceptionLayers.cuboids3d;
-  const visibleMediaSources = mediaSources.filter((source) =>
-    observationLayout.visibleSourceIds.has(source.id) &&
-    !source.id.startsWith("recorded.perception."),
-  );
-  const initialRecordedPlaybackStartSeconds = recordedSource
-    ? mediaSources.reduce<number | undefined>((earliest, source) => {
-        if (
-          source.id.startsWith("recorded.perception.") ||
-          source.delivery?.kind !== "recorded-fmp4-manifest"
-        ) return earliest;
-        const start = source.delivery.timelineStartSeconds;
-        return earliest === undefined ? start : Math.min(earliest, start);
-      }, undefined)
-    : undefined;
-  const presentedMediaSourceCount = unifiedPerception ? 0 : visibleMediaSources.length;
-  const pointCloudFocused = Boolean(
-    pointCloudSource && observationLayout.focusedSourceId === pointCloudSource.id,
-  );
-  useEffect(() => {
-    if (!pointCloudFocused) return;
-    const onKeyDown = (event: KeyboardEvent) => {
-      if (event.key !== "Escape") return;
-      event.preventDefault();
-      observationLayout.setFocusedSourceId(null);
-    };
-    window.addEventListener("keydown", onKeyDown);
-    return () => window.removeEventListener("keydown", onKeyDown);
-  }, [observationLayout.setFocusedSourceId, pointCloudFocused]);
-  const floatingSourceMaximized = !unifiedPerception &&
-    Boolean(observationLayout.maximizedFloatingSourceId);
-  const timeline = state?.observationTimeline;
-  const viewportRef = useRef<HTMLDivElement>(null);
-  const intentionalSourceEnd = !recordedSource && state?.sourceMode === "idle" && ["awaiting_external_stop", "stopping", "finalizing", "completed",].includes(state?.acquisition?.state ?? "");
-  const presentedViewerStatus = intentionalSourceEnd
-    ? "idle"
-    : rerunPresentationStatus(
-        viewerStatus,
-        recordedSessionGate,
-        recordedSource,
-      );
-
-  const onStatusChange = useCallback((status: RerunViewportStatus, message?: string) => {
-    setViewerStatus(status);
-    setViewerMessage(message ?? "");
-    if (recordedSessionAdmission) {
-      recordedSessionAdmission.reportSpatial(
-        recordedSessionAdmission.key,
-        status === "ready" ? "ready" : status === "error" ? "error" : "loading",
-      );
-    }
-  }, [recordedSessionAdmission?.key, recordedSessionAdmission?.reportSpatial]);
-  const onRecordedAdmissionChange = useCallback((
-    sourceId: string,
-    next: RecordedCameraAdmissionState,
-  ) => {
-    if (!recordedSessionAdmission) return;
-    if (next.admissionKey !== recordedSessionAdmission.key) return;
-    recordedSessionAdmission.reportCamera(recordedSessionAdmission.key, sourceId, next);
-  }, [recordedSessionAdmission?.key, recordedSessionAdmission?.reportCamera]);
-  const shouldPrepareRecordedSource = useCallback((sourceId: string) => {
-    if (!recordedSessionAdmission) return false;
-    return recordedSessionAdmission.activeCameraSourceIds.has(sourceId) ||
-      ["ready", "error"].includes(recordedSessionAdmission.cameras[sourceId]?.phase ?? "loading");
-  }, [recordedSessionAdmission]);
-  const onSelectionChange = useCallback((next: RerunSelection | null) => setSelection(next), []);
-  const onPlaybackChange = useCallback(
-    (next: RerunPlaybackState | null) => setPlaybackState(next),
-    [],
-  );
-  const onPlaybackControllerChange = useCallback(
-    (next: RerunPlaybackController | null) => setPlaybackController(next),
-    [],
-  );
-  const onPerceptionLoadChange = useCallback((next: RecordedPerceptionLoadState) => {
-    setPerceptionLoad(next);
-    if (next.phase === "unavailable" || next.phase === "error") {
-      setShowDetections2d(false);
-      setShowSegmentation(false);
-      setShowCuboids3d(false);
-    }
-  }, []);
-  const onPointColorLoadChange = useCallback((next: RecordedPointColorLoadState) => {
-    setPointColorLoad(next);
-  }, []);
-
-  useEffect(() => {
-    setPerceptionLoad({
-      phase: recordedSource ? "loading" : "idle",
-      receivedBytes: 0,
-      totalBytes: null,
-      progress: null,
-      message: recordedSource ? "Ожидаем канал AI-слоёв." : "",
-    });
-    setPerceptionRetryGeneration(0);
-    setShowDetections2d(false);
-    setShowSegmentation(false);
-    setShowCuboids3d(false);
-    setRecordedViewResetGeneration(0);
-    setFollowRecordedTrajectory(false);
-    setPointColorLoad({
-      phase: "idle",
-      receivedBytes: 0,
-      totalBytes: null,
-      progress: null,
-      message: "",
-    });
-  }, [recordedSource, sourceUrl]);
-
-  useEffect(() => {
-    if (pointCloudVisible && sourceUrl.trim()) return;
-    setViewerStatus("idle");
-    setViewerMessage("");
-    setSelection(null);
-    setPlaybackState(null);
-    setPlaybackController(null);
-    setPerceptionLoad({
-      phase: "idle",
-      receivedBytes: 0,
-      totalBytes: null,
-      progress: null,
-      message: "",
-    });
-    setShowDetections2d(false);
-    setShowSegmentation(false);
-    setShowCuboids3d(false);
-    setFollowRecordedTrajectory(false);
-    setPointColorLoad({
-      phase: "idle",
-      receivedBytes: 0,
-      totalBytes: null,
-      progress: null,
-      message: "",
-    });
-  }, [pointCloudVisible, sourceUrl]);
-
-  useEffect(() => {
-    lastRequestedPlaybackSeconds.current = null;
-  }, [sourceUrl]);
-
-  useEffect(() => {
-    if (
-      !recordedSource
-      || !playbackController
-      || requestedPlaybackSeconds === null
-      || requestedPlaybackSeconds === undefined
-      || !Number.isFinite(requestedPlaybackSeconds)
-      || lastRequestedPlaybackSeconds.current === requestedPlaybackSeconds
-    ) return;
-    lastRequestedPlaybackSeconds.current = requestedPlaybackSeconds;
-    playbackController.setPlaying(false);
-    playbackController.seek(Math.round(requestedPlaybackSeconds * 1_000_000_000));
-  }, [playbackController, recordedSource, requestedPlaybackSeconds]);
-
-  useEffect(() => {
-    const viewport = viewportRef.current;
-    if (!viewport) return;
-    const publishViewportSize = () => {
-      const bounds = viewport.getBoundingClientRect();
-      if (bounds.width < 1 || bounds.height < 1) return;
-      observationLayout.setViewportSize({
-        width: bounds.width,
-        height: bounds.height,
-      });
-    };
-    publishViewportSize();
-    const observer = new ResizeObserver(publishViewportSize);
-    observer.observe(viewport);
-    return () => observer.disconnect();
-  }, [observationLayout.setViewportSize]);
-
-  const viewerStatusLabel = {
-    idle: intentionalSourceEnd ? "Источник отключён" : "Источник не назначен",
-    loading: "Подключение",
-    ready: "Визуализатор готов",
-    error: "Ошибка источника",
-  }[presentedViewerStatus];
-
-  const viewerStatusTone = presentedViewerStatus === "ready"
-    ? "success"
-    : presentedViewerStatus === "error"
-      ? "danger"
-      : "neutral";
-  const rerunViewerProfile = recordedSource
-    ? recordedSessionRerunProfile({
-        sourceUrl,
-        artifact: recordedReplay,
-        autoplayWhenReady: true,
-        presentationGate: recordedSessionGate,
-        expectedTimelineStartSeconds: state?.observationTimeline?.range?.startSeconds,
-        expectedTimelineEndSeconds: state?.observationTimeline?.range?.endSeconds,
-        initialPlaybackStartSeconds: initialRecordedPlaybackStartSeconds,
-        view: "spatial",
-        viewResetGeneration: recordedViewResetGeneration,
-        followTrajectory: followRecordedTrajectory,
-        perceptionLayers: {
-          enabled: recordedPerceptionSupported && recordedPerceptionEnabled,
-          detections2d: showDetections2d,
-          segmentation: showSegmentation,
-          cuboids3d: showCuboids3d,
-        },
-        perceptionRetryGeneration,
-        lockPerceptionCameraInteraction: unifiedPerception,
-      })
-    : liveAcquisitionRerunProfile({
-        sourceUrl,
-        liveActivitySequence: livePresentationActivitySequence,
-        liveStreamId: state?.spatialSource?.id ?? null,
-        liveRecoveryAuthorityIdentity: streamActive
-          ? liveRerunRecoveryAuthorityIdentity(pointCloudSource, state?.spatialSource)
-          : null,
-      });
-
-  return <SpatialScene viewportRef={viewportRef} focused={pointCloudFocused||floatingSourceMaximized}
-    primaryFocused={pointCloudFocused} mediaMaximized={floatingSourceMaximized}
-    toolbar={<>          {recordedPerceptionSupported || livePerceptionAvailable ? (
-            <div className="spatial-toolbar__view-switch" role="group" aria-label="Слои распознавания сцены">
-              <Button
-                size="compact"
-                variant="primary"
-                icon={<Icon name="video" />}
-                aria-pressed="true"
-                disabled
-              >
-                Оригинал
-              </Button>
-              <Button
-                size="compact"
-                variant={detections2dActive ? "primary" : "secondary"}
-                icon={<Icon name="target" />}
-                aria-pressed={detections2dActive}
-                disabled={recordedPerceptionLoading}
-                onClick={() => recordedSource
-                  ? setShowDetections2d((current) => !current)
-                  : onLivePerceptionLayersChange({
-                      ...livePerceptionLayers,
-                      detections2d: !livePerceptionLayers.detections2d,
-                    })}
-              >
-                Объекты 2D
-              </Button>
-              <Button
-                size="compact"
-                variant={segmentationActive ? "primary" : "secondary"}
-                icon={<Icon name="image" />}
-                aria-pressed={segmentationActive}
-                disabled={recordedPerceptionLoading}
-                onClick={() => recordedSource
-                  ? setShowSegmentation((current) => !current)
-                  : onLivePerceptionLayersChange({
-                      ...livePerceptionLayers,
-                      segmentation: !livePerceptionLayers.segmentation,
-                    })}
-              >
-                Сегментация
-              </Button>
-              <Button
-                size="compact"
-                variant={cuboids3dActive ? "primary" : "secondary"}
-                icon={<Icon name="apps" />}
-                aria-pressed={cuboids3dActive}
-                disabled={recordedPerceptionLoading}
-                onClick={() => recordedSource
-                  ? setShowCuboids3d((current) => !current)
-                  : onLivePerceptionLayersChange({
-                      ...livePerceptionLayers,
-                      cuboids3d: !livePerceptionLayers.cuboids3d,
-                    })}
-              >
-                Кубы 3D
-              </Button>
-            </div>
-          ) : null}
-          {recordedSource && presentedViewerStatus === "ready" ? (
-            <Button
-              size="compact"
-              variant={followRecordedTrajectory ? "primary" : "secondary"}
-              icon={<Icon name="target" />}
-              aria-pressed={followRecordedTrajectory}
-              title="Удерживать orbital-пивот на риге до повторного нажатия"
-              onClick={() => setFollowRecordedTrajectory((current) => !current)}
-            >
-              Следовать
-            </Button>
-          ) : null}
-          {recordedSource && presentedViewerStatus === "ready" ? (
-            <Button
-              size="compact"
-              variant="secondary"
-              icon={<Icon name="refresh" />}
-              onClick={() => setRecordedViewResetGeneration((current) => current === 0 ? 1 : 0)}
-            >
-              Сброс вида
-            </Button>
-          ) : null}
-          <SpatialToolbarActions openSource={navigation.openSource} openLayers={navigation.openLayers} openDisplay={navigation.openDisplay}/></>} renderer={<>          {sourceUrl.trim() && pointCloudVisible && !intentionalSourceEnd ? (
-            <RerunViewport
-              profile={rerunViewerProfile}
-              sceneSettings={sceneSettings}
-              onPerceptionLoadChange={onPerceptionLoadChange}
-              onPointColorLoadChange={onPointColorLoadChange}
-              onStatusChange={onStatusChange}
-              onSelectionChange={onSelectionChange}
-              onPlaybackChange={onPlaybackChange}
-              onPlaybackControllerChange={onPlaybackControllerChange}
-            />
-          ) : (
-            <EmptySpatialStage settings={sceneSettings} />
-          )}
-</>}
-    deviceControls={spatialControls&&!recordedSource?(              <spatialControls.View
-                model={spatialControls.model}
-                host={{
-                  openSpatialScene: () => navigation.openView("spatial-scene"),
-                  activateAutomaticSpatialSource: navigation.activateAutomaticSpatialSource,
-                }}
-              />):null}
-    sourceControls={<>          {pointCloudFocused ? (
-            <button
-              type="button"
-              className="scene-focus-exit"
-              aria-label="Выйти из полноэкранного режима облака точек"
-              onClick={() => observationLayout.setFocusedSourceId(null)}
-            >
-              <Icon name="minimize" size={16} />
-            </button>
-          ) : !floatingSourceMaximized ? (
-            <div className="scene-source-controls">
-              <ObservationSourcePicker
-                sources={unifiedPerception
-                  ? observationSources.filter((source) => source.modality === "point-cloud")
-                  : observationSources}
-                visibleSourceIds={observationLayout.visibleSourceIds}
-                pendingSourceIds={observationLayout.pendingSourceIds}
-                onToggle={observationLayout.toggleSource}
-              />
-              {pointCloudSource?.capabilities.fullscreen && pointCloudVisible && sourceUrl.trim() ? (
-                <button
-                  type="button"
-                  className="scene-source-control"
-                  aria-label="Развернуть облако точек"
-                  onClick={() => observationLayout.setFocusedSourceId(pointCloudSource.id)}
-                >
-                  <Icon name="expand" size={16} />
-                </button>
-              ) : null}
-            </div>
-          ) : null}
-</>}
-    status={{label:viewerStatusLabel,tone:viewerStatusTone,message:!intentionalSourceEnd?viewerMessage:undefined}}
-    metrics={<>            <div>
-              <span>КАДР/С</span>
-              <strong>{formatNumber(frameRate)}</strong>
-            </div>
-            <div>
-              <span>Точек</span>
-              <strong>{points === null ? "—" : points.toLocaleString("ru-RU", { maximumFractionDigits: 0 })}</strong>
-            </div>
-            <div>
-              <span>До публикации</span>
-              <strong>{formatNumber(latency)}<small> мс</small></strong>
-            </div>
-            {streamActive ? (
-              <div>
-                <span>AI</span>
-                <strong>
-                  {aiLatency === null ? "—" : formatNumber(aiLatency)}
-                  <small>{aiLatency === null ? "" : " мс"}</small>
-                  {aiFrameRate === null ? null : <small> · {formatNumber(aiFrameRate)} Гц</small>}
-                </strong>
-              </div>
-            ) : null}</>} overlays={<>          {!pointCloudFocused && !floatingSourceMaximized && state?.sourceMode && state.sourceMode !== "idle" && !sourceUrl.trim() ? (
-            <div className="scene-adapter-note">
-              <Icon name="alert" />
-              <span>
-                Локальный поток <strong>{sourceModeLabel(state.sourceMode).toLocaleLowerCase("ru-RU")}</strong> активен,
-                Rerun-мост запускается и опубликует адрес автоматически.
-              </span>
-            </div>
-          ) : null}
-
-          {!pointCloudFocused && !floatingSourceMaximized && selection ? (
-            <div className="scene-selection">
-              <span>Выбрано</span>
-              <strong>{selection.entityPath}</strong>
-              {selection.viewName ? <small>{selection.viewName}</small> : null}
-            </div>
-          ) : null}
-
-          {!floatingSourceMaximized && recordedSource && (
-            perceptionLoad.phase === "loading" ||
-            perceptionLoad.phase === "error" ||
-            pointColorLoad.phase === "loading" ||
-            pointColorLoad.phase === "error"
-          ) ? (
-            <div className="scene-operation-status-stack">
-              {perceptionLoad.phase === "loading" ? (
-                <div className="scene-operation-status" role="status">
-                  <span className="busy-indicator" aria-hidden="true" />
-                  <span>{perceptionLoad.message || "Готовим AI-слои."}</span>
-                </div>
-              ) : null}
-              {perceptionLoad.phase === "error" ? (
-                <button
-                  type="button"
-                  className="scene-operation-status scene-operation-status--action"
-                  onClick={() => setPerceptionRetryGeneration((generation) => generation + 1)}
-                >
-                  <Icon name="refresh" size={12} />
-                  <span>Повторить AI</span>
-                </button>
-              ) : null}
-              {pointColorLoad.phase === "loading" ? (
-                <div className="scene-operation-status" role="status">
-                  <span className="busy-indicator" aria-hidden="true" />
-                  <span>{pointColorLoad.message}</span>
-                </div>
-              ) : null}
-              {pointColorLoad.phase === "error" ? (
-                <div className="scene-operation-status scene-operation-status--error" role="status">
-                  <span>{pointColorLoad.message}</span>
-                </div>
-              ) : null}
-            </div>
-          ) : null}
-
-</>}
-    navigationReady={presentedViewerStatus==='ready'} timeline={<>          {!pointCloudFocused && !floatingSourceMaximized && recordedPlaybackReady ? (
-            <ObservationTimeline
-              active={presentedViewerStatus === "ready"}
-              sourceCount={Math.max(1, (unifiedPerception ? 2 : 1) + presentedMediaSourceCount)}
-              mode={recordedSource && playbackState?.rangeNs
-                ? "recorded"
-                : timeline?.mode}
-              seekable={recordedSource && playbackState?.rangeNs
-                ? true
-                : timeline?.seekable}
-              synchronization={timeline?.synchronization}
-              rangeNs={playbackState?.rangeNs}
-              currentNs={playbackState?.currentNs}
-              playing={playbackState?.playing}
-              onSeek={playbackController?.seek}
-              onPlayingChange={playbackController?.setPlaying}
-              onJumpToEnd={playbackController?.jumpToEnd}
-              accumulationSeconds={accumulationSeconds}
-              onAccumulationChange={onAccumulationChange}
-              onAccumulationCommit={onAccumulationCommit}
-              className="scene-timeline"
-            />
-          ) : null}
-</>}
-    media={<>          {visibleMediaSources.map((source, index) => (
-            <FloatingObservationWindow
-              key={source.id}
-              source={source}
-              index={index}
-              count={visibleMediaSources.length}
-              boundsRef={viewportRef}
-              rect={observationLayout.windowRects[source.id]}
-              maximized={observationLayout.maximizedFloatingSourceId === source.id}
-              active={observationLayout.activeFloatingSourceId === source.id}
-              hidden={pointCloudFocused || unifiedPerception}
-              onRectChange={(rect) => observationLayout.setWindowRect(source.id, rect)}
-              onMaximizedChange={(maximized) =>
-                observationLayout.setFloatingMaximized(source.id, maximized)}
-              onActivate={() => observationLayout.activateFloatingSource(source.id)}
-              playback={recordedSource && playbackState ? {
-                currentSeconds: playbackState.currentNs / 1_000_000_000,
-                playing: playbackState.playing,
-              } : null}
-              prepareRecorded={!recordedSource || shouldPrepareRecordedSource(source.id)}
-              recordedSessionGate={recordedSessionGate}
-              recordedAdmissionKey={recordedSessionAdmission?.key ?? null}
-              onRecordedAdmissionChange={onRecordedAdmissionChange}
-              onClose={() => {
-                if (observationLayout.pendingSourceIds.has(source.id)) return;
-                observationLayout.setFloatingMaximized(source.id, false);
-                void observationLayout.hideSource(source.id);
-              }}
-            />
-          ))}
-          {recordedSource ? (
-            <div className="recorded-session-preloaders" aria-hidden="true">
-              {mediaSources.filter((source) => (
-                source.delivery?.kind === "recorded-fmp4-manifest" &&
-                !observationLayout.visibleSourceIds.has(source.id) &&
-                shouldPrepareRecordedSource(source.id)
-              )).map((source) => (
-                <ObservationMedia
-                  key={source.id}
-                  source={source}
-                  playback={playbackState ? {
-                    currentSeconds: playbackState.currentNs / 1_000_000_000,
-                    playing: false,
-                  } : null}
-                  prepareRecorded
-                  recordedSessionGate="loading"
-                  recordedAdmissionKey={recordedSessionAdmission?.key ?? null}
-                  onRecordedAdmissionChange={onRecordedAdmissionChange}
-                />
-              ))}
-            </div>
-          ) : null}</>} footer={      <div className="spatial-contract-strip">
-        <span><i data-state="ready" />Облако точек</span>
-        <span><i data-state="ready" />Траектория</span>
-        <span><i data-state="ready" />Преобразования</span>
-        <span><i data-state="contract" />Камеры в 3D</span>
-        <span><i data-state={detections2dActive ? "ready" : "contract"} />Объекты 2D</span>
-        <span><i data-state={segmentationActive ? "ready" : "contract"} />Сегментация</span>
-        <span><i data-state={cuboids3dActive ? "ready" : "contract"} />Кубы 3D</span>
-        <span><i data-state="contract" />Компоновка</span>
-      </div>}/>;
-}
-
 function CameraSourceCard({
   source,
   focused,
@@ -997,54 +381,6 @@ function TimelineWorkspace({ definition, state }: WorkspaceRendererProps) {
   );
 }
 
-function MissionWorkspace({ definition }: WorkspaceRendererProps) {
-  const steps = [
-    { id: "01", label: "Аппарат", value: "Не назначен" },
-    { id: "02", label: "Зона", value: "Не задана" },
-    { id: "03", label: "Маршрут", value: "Черновик · 0 точек" },
-    { id: "04", label: "Наблюдение", value: "Облако точек" },
-    { id: "05", label: "Завершение", value: "Безопасная остановка" },
-  ];
-  return (
-    <div className="standard-workspace mission-workspace">
-      <WorkspaceLead definition={definition} note="Команды на физический аппарат отключены" />
-      <div className="mission-layout">
-        <GlassSurface className="mission-sequence" padding="lg">
-          <header className="panel-heading">
-            <div>
-              <span className="section-eyebrow">МИССИЯ / ЧЕРНОВИК</span>
-              <h2>Новая миссия</h2>
-            </div>
-            <StatusBadge tone="warning">Интерфейс готов</StatusBadge>
-          </header>
-          <div className="mission-steps">
-            {steps.map((step) => (
-              <button key={step.id} type="button" disabled>
-                <span>{step.id}</span>
-                <div><strong>{step.label}</strong><small>{step.value}</small></div>
-                <Icon name="chevron-right" />
-              </button>
-            ))}
-          </div>
-        </GlassSurface>
-        <GlassSurface className="mission-summary" padding="lg">
-          <span className="section-eyebrow">ГОТОВНОСТЬ</span>
-          <div className="mission-readiness"><strong>0</strong><span>/ 5 блоков</span></div>
-          <p>Сохранение и отправка станут доступны после подключения исполнителя миссий и проверки безопасности.</p>
-          <div className="mission-summary__checks">
-            <span><i />Аппарат</span>
-            <span><i />Геометрия</span>
-            <span><i />Связь</span>
-            <span><i />Безопасность</span>
-          </div>
-          <Button variant="primary" width="full" disabled>Сохранить миссию</Button>
-        </GlassSurface>
-      </div>
-      <FeatureInventory definition={definition} />
-    </div>
-  );
-}
-
 function CatalogWorkspace({ definition }: WorkspaceRendererProps) {
   const total = definition.groups.reduce((count, group) => count + group.capabilities.length, 0);
   const active = definition.groups.reduce(
@@ -1081,7 +417,7 @@ function RecordingsWorkspace(props: WorkspaceRendererProps) {
 export function WorkspaceRenderer(props: WorkspaceRendererProps) {
   switch (props.definition.kind) {
     case "spatial":
-      return <SpatialWorkspace {...props} />;
+      return props.launchProfile === 'planning' ? <PlanningSpatialWorkspace {...props}/> : <SpatialWorkspace {...props} />;
     case "recordings":
       return <RecordingsWorkspace {...props} />;
     case "cameras":
@@ -1093,9 +429,9 @@ export function WorkspaceRenderer(props: WorkspaceRendererProps) {
     case "timeline":
       return <TimelineWorkspace {...props} />;
     case "missions":
-      return <MissionWorkspace {...props} />;
+      return <MissionPlannerWorkspace openView={props.navigation.openView} headerToolsHost={props.headerToolsHost} />;
     case "vehicles":
-      return <VehiclesWorkspace createRequest={props.fleetCreateRequest} />;
+      return <VehiclesWorkspace createRequest={props.fleetCreateRequest} headerToolsHost={props.headerToolsHost} />;
     case "catalog":
       return <CatalogWorkspace {...props} />;
     case "contour-health":

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;
@@ -35,7 +36,9 @@ export interface LaboratoryViewAction {
 }
 
 export interface WorkspaceRendererProps {
+  launchProfile?: WorkspaceLaunchProfile;
   fleetCreateRequest?: number;
+  headerToolsHost?: HTMLElement | null;
   definition: WorkspaceDefinition;
   state: MissionRuntimeState | null;
   backendStatus: BackendStatus;

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

@@ -1,11 +1,13 @@
-import {useMemo} from 'react';
+import {useMemo,type ReactNode} 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}){
+export function VehicleSensors({vehicleID,enabled,computer,description}:{vehicleID:string;enabled:boolean;computer:ReactNode;description:string}){
  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} transport={transport} enabled={enabled} board={{layout,computer,description}}/>;
 }

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

@@ -10,7 +10,7 @@ const platforms = [{ value: "ugv", label: "Наземный (UGV)" }, { value: "
 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 }) {
+export function VehiclesWorkspace({ createRequest = 0, headerToolsHost }: { createRequest?: number; headerToolsHost?: HTMLElement|null }) {
   const fleet = useFleet();
   const [adding, setAdding] = useState(false);
   const [code, setCode] = useState("");
@@ -20,7 +20,6 @@ export function VehiclesWorkspace({ createRequest = 0 }: { createRequest?: numbe
   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);
@@ -44,25 +43,24 @@ export function VehiclesWorkspace({ createRequest = 0 }: { createRequest?: numbe
     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&&observationOpen)return <BoardObservationCenter key={detail.id} vehicleID={detail.id} name={detail.name} enabled={!fleet.error&&detail.enrollment==="paired"&&detail.connectivity==="online"} back={()=>{setObservationOpen(false);setSelected(null);}} configure={()=>setObservationOpen(false)} headerToolsHost={headerToolsHost}/>;
   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={`${platformLabel(detail.platform)} · с бортовым компьютером`} actions={<StatusBadge tone={!fleet.error && detail.enrollment === "paired" && detail.connectivity === "online" ? "success" : "neutral"}>{fleet.error ? "Нет свежих данных" : statusLabel(detail)}</StatusBadge>}>
+      <div><Button onClick={() => {setSelected(null);}}>К списку аппаратов</Button></div>
+      <VehicleSensors vehicleID={detail.id} enabled={!fleet.error && detail.enrollment === "paired" && detail.connectivity === "online"} description={detail.name} computer={<SettingsCard title={detail.name} description={`${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 ? `${(detail.host.memory_kib / 1024 / 1024).toFixed(1)} ГиБ` : "Нет сведений"}</dd></div></>}
         </dl>
         <div className="fleet-board-actions"><Button onClick={()=>setMonitorOpen(true)}><Icon name="activity"/>Мониторинг системы БК</Button>
-        <Button onClick={()=>setObservationOpen(true)}><Icon name="eye"/>Центр наблюдения</Button>
+        <Button onClick={()=>setObservationOpen(true)}><Icon name="eye"/>Центр наблюдения и управления</Button>
         {detail.enrollment !== "revoked" && <Button onClick={() => setRevoking(detail)}>Отозвать привязку БК</Button>}</div>
-      </SettingsCard>}
-      <SettingsCard title="Устройства аппарата"><VehicleSensors onDetailChange={setSensorOpen} vehicleID={detail.id} enabled={!fleet.error && detail.enrollment === "paired" && detail.connectivity === "online"} /></SettingsCard>
-    </> : !fleet.items ? <LoadingRegion loading label="Получение аппаратов" /> : fleet.items.length === 0 ? <SettingsCard title="Аппаратов пока нет" description="Добавьте аппарат по приглашению из Mission Core Node на его бортовом компьютере."><Button onClick={() => setAdding(true)}>Добавить аппарат</Button></SettingsCard> : <ResourceList aria-label="Аппараты">{fleet.items.map(item => <li key={item.id}><ResourceRow icon={<Icon name="apps" />} title={item.name} description={`${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: ${item.name}`} onClick={() => {setSelected(item.id);setObservationOpen(true);}}><Icon name="eye" /></IconButton></>} /></li>)}</ResourceList>}
+      </SettingsCard>}/>
+    </> : !fleet.items ? <LoadingRegion loading label="Получение аппаратов" /> : fleet.items.length === 0 ? <SettingsCard title="Аппаратов пока нет" description="Добавьте аппарат по приглашению из Mission Core Node на его бортовом компьютере."><Button onClick={() => setAdding(true)}>Добавить аппарат</Button></SettingsCard> : <ResourceList aria-label="Аппараты">{fleet.items.map(item => <li key={item.id}><ResourceRow icon={<Icon name="apps" />} title={item.name} description={`${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 и управления: ${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} />

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

@@ -11,8 +11,11 @@ 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();}});
@@ -27,17 +30,20 @@ export function BoardObservationCenter({vehicleID,name,enabled,back}:{vehicleID:
   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'}});
+ 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 effectiveFull=full&&visible.includes(full)?full:null;
+ const rover=useRoverControl(vehicleID,enabled&&(visible.includes('rover')||visible.includes('telemetry')));
+ const drivingVisible=visible.includes('rover')&&(!effectiveFull||effectiveFull==='rover')&&!layersOpen;
+ useEffect(()=>{if(!drivingVisible)rover.stop();},[drivingVisible,rover.stop]);
  const active=sources.find(source=>source.key===focused);
  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 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 · ${name}`}>
-  <header className="observation-toolbar"><div><h2>Центр наблюдения</h2><span>{name}</span></div><div className="observation-actions"><Button onClick={back}><Icon name="sliders"/>Конфигуратор</Button><Button onClick={()=>{setFocused(null);setLayersOpen(true);}}><Icon name="grid"/>Доступные слои</Button><IconButton label={expanded?'Восстановить размер центра':'Развернуть центр наблюдения'} onClick={()=>setExpanded(value=>!value)}><Icon name={expanded?'minimize':'expand'}/></IconButton></div></header>
+ return <>{headerToolsHost&&createPortal(<IconButton label="К аппаратам" onClick={back}><Icon name="chevron-left"/></IconButton>,headerToolsHost)}<div ref={frame}/>{createPortal(<section className={`observation-center${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)&&<IconButton label="К аппаратам" onClick={back}><Icon name="chevron-left"/></IconButton>}<Button onClick={configure}><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 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>
@@ -51,7 +57,7 @@ export function BoardObservationCenter({vehicleID,name,enabled,back}:{vehicleID:
        <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 · ${source.view.label}`} onClick={()=>{setFocused(source.key);setLayersOpen(true);}}><Icon name="settings"/></IconButton>}
         <IconButton label={`${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>
@@ -63,6 +69,8 @@ export function BoardObservationCenter({vehicleID,name,enabled,back}:{vehicleID:
   </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))!}))}/>)}
   {visible.includes('map')&&createPortal(<ObservationMap vehicleID={vehicleID} header={headers.current.get('map')!}/>,media.current.get('map')!,'map-session')}
+  {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={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>;})}

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';
+ 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 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/missions/MissionPlannerWorkspace.tsx

@@ -0,0 +1,99 @@
+import { useEffect, useRef, useState } from 'react';
+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 { usePlanningProjects } from '../../core/missions/usePlanningProjects';
+import { planningProjectPending, planningProjectStatus } from '../../core/missions/planningProjects';
+import { MissionZonePreview } from '../../components/missions/MissionZonePreview';
+import { MissionRoutePreview } from '../../components/missions/MissionRoutePreview';
+import { RegistrationScene } from '../../components/missions/RegistrationScene';
+import { PlanningProjectSettings } from '../../components/missions/PlanningProjectSettings';
+import { PlanningProjectResult } from '../../components/missions/PlanningProjectResult';
+import { PlanningProjectSelect } from '../../components/missions/PlanningProjectSelect';
+import '../../styles/session-overview.css';
+import '../../styles/mission-planner.css';
+
+export function MissionPlannerWorkspace({openView,headerToolsHost}:{openView:(id:string,profile?:'planning')=>void;headerToolsHost?:HTMLElement|null}) {
+  const live=usePlanningTest(), p=useMissionPlanner(), projects=usePlanningProjects();
+  const [creating,setCreating]=useState(false), [settingsOpen,setSettingsOpen]=useState(false);
+  const [view,setView]=useState<'cloud'|'route'>('cloud');
+  const [starting,setStarting]=useState(false);
+  const [pending,setPending]=useState<(()=>void)|null>(null);
+  const bounds=useRef<HTMLDivElement>(null);
+  const [rect,setRect]=useState<WorkspaceWindowRect>({x:16,y:16,width:390,height:600});
+  const [maximized,setMaximized]=useState(false);
+  const project=projects.detail;
+  const editing=creating||project?.kind==='draft';
+  const loadedDraft=useRef('');
+  useEffect(()=>{
+    if(project?.kind==='draft'&&loadedDraft.current!==project.key) {
+      loadedDraft.current=project.key; void p.openDraft(project.id); setSettingsOpen(true);
+    }
+  },[project?.key]);
+  const replace=(action:()=>void)=>{
+    if(editing&&p.dirty&&(p.sessionId||p.name))setPending(()=>action);else action();
+  };
+  const choose=(key:string)=>replace(()=>{setCreating(false);setSettingsOpen(false);projects.select(key);});
+  const newProject=()=>replace(()=>{
+    projects.select('');p.newDraft();setView('cloud');
+    setCreating(true);setSettingsOpen(true);setMaximized(false);loadedDraft.current='';
+  });
+  const start=async()=>{
+    if(starting)return;setStarting(true);
+    try {
+      const draft=p.saved&&!p.dirty?p.saved:await p.save();
+      if(!draft)return;
+      const next=await live.begin(draft);
+      if(next){projects.select('live:'+next.id);openView('local-device','planning');}
+      projects.refresh();
+    } finally {setStarting(false);}
+  };
+  const tools=<div className="planning-project__header-tools">
+    <PlanningProjectSelect value={projects.key} items={projects.items} disabled={starting} onChange={choose}
+      onRemove={async target => {
+        await projects.remove(target);
+        if (target.key === projects.key) {
+          setCreating(false); setSettingsOpen(false); loadedDraft.current = ''; p.newDraft();
+        }
+      }} />
+    <IconButton label="Создать проект" disabled={starting} onClick={newProject}><Icon name="plus"/></IconButton>
+    <IconButton label="Обновить проекты" loading={projects.loading} disabled={starting} onClick={()=>{projects.refresh();p.refresh();}}><Icon name="refresh"/></IconButton>
+    <IconButton label="Настройки" aria-pressed={settingsOpen} onClick={()=>setSettingsOpen(v=>!v)}><Icon name="settings"/></IconButton>
+  </div>;
+  const zoneControls=<SegmentedControl label="Представление зоны" value={view} onChange={setView} items={[{value:'cloud',label:'Облако'},{value:'route',label:'Маршрут'}]}/>;
+  return <div className="mission-planner planning-project">
+    {headerToolsHost?createPortal(tools,headerToolsHost):tools}
+    <div ref={bounds} className="planning-project__stage" onKeyDown={event=>{
+      if(event.key==='Escape'&&!event.defaultPrevented&&settingsOpen){event.preventDefault();event.stopPropagation();setSettingsOpen(false);}
+    }}>
+      <GlassSurface className="planning-project__viewport session-overview__panel" radius="panel">
+        {editing?<>
+          {(view!=='cloud'||!p.source)&&<header className="mission-planner__viewer-head mission-planner__viewer-head--end">{zoneControls}</header>}
+          {!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} 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 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>}
+      </GlassSurface>
+      {settingsOpen&&<WorkspaceWindow boundsRef={bounds} rect={rect} onRectChange={setRect} maximized={maximized} onMaximizedChange={setMaximized}
+        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} 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()=>{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>
+    <ConfirmationModal open={!!pending} title="Закрыть настройки проекта?" description="Несохранённые изменения будут потеряны." confirmLabel="Продолжить" onClose={()=>setPending(null)} onConfirm={()=>{pending?.();setPending(null);}}/>
+  </div>;
+}

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

@@ -0,0 +1,51 @@
+import {useState} from 'react';
+import {Button,Checker,Icon,LoadingRegion,RangeControl,SegmentedControl} from '@nodedc/ui-react';
+import {SpatialToolbarActions} from '../../../../../packages/spatial-ui/src/SpatialToolbarActions';
+import {planningActivity,planningMatchCurrent,planningStatus} from '../../core/missions/planningPresentation';
+import {planningTestTerminal,usePlanningTest} from '../../core/missions/PlanningTestContext';
+import {PlanningLiveScene} from '../../components/missions/PlanningLiveScene';
+import {PlanningSceneToolWindow} from '../../components/missions/PlanningSceneToolWindow';
+import {SpatialWorkspace} from '../spatial/SpatialWorkspace';
+import type {WorkspaceRendererProps} from '../contracts';
+import '../../styles/mission-planner.css';
+
+/** Planning supplies geometry and evidence to the ordinary scene, never replaces its camera/recording owners. */
+export function PlanningSpatialWorkspace(props:WorkspaceRendererProps){
+ const p=usePlanningTest();
+ const [tool,setTool]=useState<'layers'|'display'|null>(null);
+ const [view,setView]=useState('3d'),[reset,setReset]=useState(0);
+ const [layers,setLayers]=useState({reference:true,query:true,trajectory:true,grid:true});
+ const [pointSize,setPointSize]=useState(1.8);
+ const t=p.test;if(!t)return null;
+ const terminal=planningTestTerminal(t),readyMatch=planningMatchCurrent(t,!!p.error);
+ const status=planningStatus(t,p.error);
+ const options={...layers,mode:view,point_size:pointSize,reset};
+ const heightMin=t.scene_height_min_m,heightMax=t.scene_height_max_m;
+ const heightBounds=typeof heightMin==='number'&&typeof heightMax==='number'&&Number.isFinite(heightMin)&&Number.isFinite(heightMax)&&heightMax>heightMin?{min:heightMin,max:heightMax}:null;
+ const renderer=t.scene_available?<PlanningLiveScene runId={t.id} options={options} active={t.state==='running'} revision={t.scene_revision} heightBounds={heightBounds}/>:<LoadingRegion loading={t.state==='preparing'} label="Подготовка эталона" className="planning-live__scene"><p>{t.message}</p></LoadingRegion>;
+ const toolbar=<>
+  <SegmentedControl label="Вид сцены планирования" value={view} onChange={setView} items={[{value:'top',label:'Сверху'},{value:'3d',label:'3D'}]}/>
+ <Button size="compact" icon={<Icon name="refresh"/>} onClick={()=>setReset(v=>v+1)}>Сброс вида</Button>
+  <SpatialToolbarActions activeTool={tool} openLayers={()=>setTool(v=>v==='layers'?null:'layers')} openDisplay={()=>setTool(v=>v==='display'?null:'display')}/>
+  {t.state==='running'&&t.planning_phase==='lost'&&!t.tracking_established&&<Button size="compact" icon={<Icon name="refresh"/>} loading={p.busy} onClick={()=>void p.retryInitialization()}>Переинициализировать</Button>}
+  {!terminal&&<Button size="compact" loading={p.busy} onClick={()=>void p.finish()}>Завершить исследование</Button>}
+ </>;
+ const footer=<div className="planning-live__summary">
+   <span>{t.draft.name} · эталон {t.draft.zone.label} · {t.draft.route.length_m.toFixed(1)} м</span>
+   <span>Серый — эталон · цветной — новый проход · зелёный — совпавшие точки</span>
+   {t.query_session_id&&<span>Запись прохода сохранена отдельно от расчёта исследования.</span>}
+   {terminal&&t.result&&<span>Последний расчёт: {t.result.status==='candidate'?'кандидат совмещения':'совпадение не подтверждено'} · {(t.result.overlap*100).toFixed(1)}%.</span>}
+ </div>;
+ return <>
+  <SpatialWorkspace {...props} recordedReplay={null} recordedSessionAdmission={null} visualProfile={{renderer,toolbar,status,footer,activity:planningActivity(t,p.error),
+    metrics:<><div><span>Пройдено в исследовании</span><strong>{t.distance_m.toFixed(1)} м</strong></div>
+    <div><span>Точек</span><strong>{(t.query_points??0).toLocaleString('ru-RU')}</strong></div>
+    <div><span>Совпадение</span><strong>{readyMatch&&t.result?`${(t.result.overlap*100).toFixed(1)}%`:'—'}</strong></div></>,
+    mediaFallback:<div className="planning-live__camera-note"><Icon name="camera"/><span>Нет активного изображения камеры</span></div>,
+    tools:boundsRef=>tool&&<PlanningSceneToolWindow boundsRef={boundsRef} title={tool==='layers'?'Слои':'Отображение'} onClose={()=>setTool(null)}>
+      {tool==='layers'?(['reference','query','trajectory'] as const).map((key,i)=><Checker key={key} checked={layers[key]} label={['Эталон','Новый проход','Траектории'][i]} onChange={value=>setLayers(v=>({...v,[key]:value}))}/>)
+        :<><RangeControl label="Размер точки" value={pointSize} min={.5} max={12} step={.5} exactValueBounds={{min:.5,max:12}} onChange={setPointSize}/><Checker label="Сетка" checked={layers.grid} onChange={grid=>setLayers(v=>({...v,grid}))}/></>}
+    </PlanningSceneToolWindow>,
+  }}/>
+ </>;
+}

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

@@ -0,0 +1,63 @@
+import { useState } from "react";
+import { Button, GlassSurface, LoadingRegion, SplitPane } from "@nodedc/ui-react";
+import { useSessionOverview } from "../../core/observation/useSessionOverview";
+import { SessionOverviewScene } from "../../components/observation/SessionOverviewScene";
+import { SessionIntervalChart } from "../../components/observation/SessionIntervalChart";
+import "../../styles/session-overview.css";
+
+const fmt = (n: number | null | undefined, digits = 0, suffix = "") => n == null || !Number.isFinite(n)
+  ? "—" : `${n.toLocaleString("ru-RU", { maximumFractionDigits: digits })}${suffix}`;
+const duration = (n: number | null | undefined) => n == null ? "—" : `${Math.floor(n / 60)} мин ${Math.round(n % 60)} с`;
+function initialSize(key: string, fallback: number) {
+  try { const n = Number(localStorage.getItem(key)); return n >= 25 && n <= 80 ? n : fallback; } catch { return fallback; }
+}
+function usePaneSize(name: string, fallback: number) {
+  const key = `missioncore.session-overview.layout.v1.${name}`;
+  const [size, setSize] = useState(() => initialSize(key, fallback));
+  return [size, (n: number) => { setSize(n); try { localStorage.setItem(key, String(n)); } catch { /* layout remains usable */ } }] as const;
+}
+
+export function SessionOverviewWorkspace({ sessionId }: { sessionId: string }) {
+  const { data, error, retry } = useSessionOverview(sessionId);
+  const [top, setTop] = usePaneSize("top", 70);
+  const [left, setLeft] = usePaneSize("left", 68);
+  const pending = !error && (!data || data.state === "queued" || data.state === "preparing");
+  const failure = error || (data?.state === "error" ? data.message : null);
+  const m = data?.metrics;
+  const facts: [string, string][] = [
+    ["Начало записи", data?.session.started_at_utc ? new Date(data.session.started_at_utc).toLocaleString("ru-RU") : "—"],
+    ["Длительность сессии", duration(data?.session.duration_seconds)],
+    ["Поток облака", duration(m?.stream_seconds)],
+    ["Кадры облака", fmt(m?.point_frames)],
+    ["Наблюдения точек", fmt(m?.point_count)],
+    ["Положения сканера", fmt(m?.pose_frames)],
+    ["Путь по траектории", fmt(m?.path_m, 2, " м")],
+    ["От старта до финиша", fmt(m?.start_end_m, 2, " м")],
+    ["Средняя частота", fmt(m?.mean_hz, 2, " Гц")],
+    ["Максимальный интервал", fmt(m?.interval_max_s, 3, " с")],
+    ["Интервалы больше секунды", fmt(m?.gaps_over_second)],
+    ["Пропуски номеров", fmt(m?.sequence_gaps)],
+    ["Ошибки чтения кадров", fmt(m?.decode_errors)],
+    ["Объём исходных данных", fmt(data ? data.session.total_bytes / 1_000_000 : null, 1, " МБ")],
+  ];
+  return <div className="session-overview" aria-label="Информация о записи">
+    <LoadingRegion loading={pending} label={data?.state === "queued" ? "Ожидание подготовки обзора" : "Подготовка обзора записи"} className="session-overview__loading">
+      {failure ? <div className="session-overview__empty" role="alert"><span>{failure}</span><Button onClick={retry}>Повторить</Button></div> : pending ? null : <SplitPane orientation="horizontal" primarySize={top} onPrimarySizeChange={setTop} minPrimarySize={35} minSecondarySize={20}
+        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} 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 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>
+          </GlassSurface>} />}
+        secondary={<GlassSurface className="session-overview__panel" radius="panel"><h2>Интервалы поступления кадров</h2>
+          <SessionIntervalChart chart={m?.chart ?? []} bucketSeconds={m?.chart_bucket_seconds ?? 1} />
+        </GlassSurface>} />}
+    </LoadingRegion>
+  </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);

apps/control-station/src/workspaces/spatial/SpatialWorkspace.tsx

@@ -0,0 +1,644 @@
+import {SpatialScene, EmptySpatialStage} from '../../../../../packages/spatial-ui/src';
+import {SpatialToolbarActions} from "../../../../../packages/spatial-ui/src/SpatialToolbarActions";
+import { type ReactNode, type RefObject, useCallback, useEffect, useRef, useState } from "react";
+import { Button, Icon, IconButton } from "@nodedc/ui-react";
+import {
+  ObservationMedia,
+  ObservationSourcePicker,
+} from "../../components/ObservationSources";
+import { ObservationTimeline } from "../../components/ObservationTimeline";
+import { FloatingObservationWindow } from "../../components/FloatingObservationWindow";
+import type {
+  RecordedAdmissionPhase,
+  RecordedCameraAdmissionState,
+} from "../../core/observation/recordedSessionAdmission";
+import { liveRerunRecoveryAuthorityIdentity } from "../../core/observation/liveReceiverWatchdog";
+import { liveAcquisitionRerunProfile, recordedSessionRerunProfile } from "../../core/observation/viewerProfile";
+import {
+  RerunViewport,
+  isRecordedPlaybackPresentationReady,
+  rerunPresentationStatus,
+  type RerunPlaybackController,
+  type RerunPlaybackState,
+  type RerunSelection,
+  type RerunViewportStatus,
+  type RecordedPerceptionLoadState,
+  type RecordedPointColorLoadState,
+} from "../../components/RerunViewport";
+import { finiteMetric, formatNumber, pipelineLatency, sourceModeLabel } from "../../presentation";
+import type { WorkspaceRendererProps } from "../contracts";
+export interface SpatialWorkspaceProfile {
+  renderer: ReactNode;
+  toolbar: ReactNode;
+  status: {label: string; tone: 'neutral'|'success'|'warning'|'danger'; message?: string; pulse?: boolean};
+  metrics: ReactNode;
+  footer: ReactNode;
+  sourceControls?: ReactNode;
+  mediaFallback?: ReactNode;
+  tools?: (boundsRef: RefObject<HTMLDivElement|null>) => ReactNode;
+  activity?: import("../../core/device-plugins/contracts").SpatialActivityPresentation;
+}
+export function SpatialWorkspace({
+  launchProfile = 'direct',
+  state,
+  sourceUrl,
+  requestedPlaybackSeconds,
+  recordedReplay,
+  recordedSessionAdmission,
+  sceneSettings,
+  accumulationSeconds,
+  onAccumulationChange,
+  onAccumulationCommit,
+  livePerceptionLayers,
+  onLivePerceptionLayersChange,
+  observationLayout,
+  navigation,
+  spatialControls,
+  visualProfile,
+}: WorkspaceRendererProps & { visualProfile?: SpatialWorkspaceProfile }) {
+  const [viewerStatus, setViewerStatus] = useState<RerunViewportStatus>(sourceUrl ? "loading" : "idle");
+  const [viewerMessage, setViewerMessage] = useState("");
+  const [selection, setSelection] = useState<RerunSelection | null>(null);
+  const [playbackState, setPlaybackState] = useState<RerunPlaybackState | null>(null);
+  const [playbackController, setPlaybackController] = useState<RerunPlaybackController | null>(null);
+  const lastRequestedPlaybackSeconds = useRef<number | null>(null);
+  const [recordedViewResetGeneration, setRecordedViewResetGeneration] = useState<0 | 1>(0);
+  const [followRecordedTrajectory, setFollowRecordedTrajectory] = useState(false);
+  const [perceptionLoad, setPerceptionLoad] = useState<RecordedPerceptionLoadState>({
+    phase: "idle",
+    receivedBytes: 0,
+    totalBytes: null,
+    progress: null,
+    message: "",
+  });
+  const [perceptionRetryGeneration, setPerceptionRetryGeneration] = useState(0);
+  const [pointColorLoad, setPointColorLoad] = useState<RecordedPointColorLoadState>({
+    phase: "idle",
+    receivedBytes: 0,
+    totalBytes: null,
+    progress: null,
+    message: "",
+  });
+  const [showDetections2d, setShowDetections2d] = useState(false);
+  const [showSegmentation, setShowSegmentation] = useState(false);
+  const [showCuboids3d, setShowCuboids3d] = useState(false);
+  const recordedSource = !visualProfile && (Boolean(recordedReplay) || /\.rrd(?:$|[?#])/i.test(sourceUrl));
+  const liveRerunSource = !recordedSource && /^rerun\+https?:\/\//i.test(sourceUrl.trim());
+  const recordedSessionGate: RecordedAdmissionPhase = recordedSource
+    ? recordedSessionAdmission?.phase ?? "loading"
+    : "ready";
+  const recordedPlaybackReady = !recordedSource ||
+    (recordedSessionGate === "ready" &&
+      isRecordedPlaybackPresentationReady(viewerStatus, playbackState));
+  const streamActive = state?.sourceMode === "live" || state?.sourceMode === "replay";
+  const metrics = streamActive ? state?.metrics : undefined;
+  // An explicit manual gRPC source has no Mission Core metrics producer. Its
+  // native Rerun range is therefore the only available activity proof.
+  const livePresentationActivitySequence = metrics?.publishedFrameCount ??
+    (liveRerunSource && !streamActive ? 1 : null);
+  const latency = pipelineLatency(metrics);
+  const frameRate = finiteMetric(metrics?.frameRateHz);
+  const points = finiteMetric(metrics?.pointCount);
+  const aiLatency = finiteMetric(metrics?.aiLatencyMs);
+  const aiFrameRate = finiteMetric(metrics?.aiFrameRateHz);
+  const observationSources = (state?.observationSources ?? []).filter(source => !visualProfile || source.transport !== "recording");
+  const pointCloudSource = observationSources.find((source) => source.modality === "point-cloud");
+  const pointCloudVisible = pointCloudSource
+    ? observationLayout.visibleSourceIds.has(pointCloudSource.id)
+    : Boolean(sourceUrl.trim());
+  const mediaSources = observationSources.filter(
+    (source) => source.capabilities.overlay && source.modality !== "point-cloud",
+  );
+  const recordedPerceptionSupported =
+    recordedSource && perceptionLoad.phase !== "unavailable";
+  const recordedPerceptionLoading = recordedSource && perceptionLoad.phase === "loading";
+  const recordedPerceptionEnabled =
+    showDetections2d || showSegmentation || showCuboids3d;
+  // The native recorded camera remains the authoritative original. Only 2D
+  // image-space overlays need Rerun's paired camera/world composition; 3D
+  // cuboids are added directly to the stable spatial view.
+  const unifiedPerception = recordedPerceptionSupported &&
+    (showDetections2d || showSegmentation);
+  const livePerceptionAvailable = !recordedSource && streamActive;
+  const detections2dActive = recordedSource
+    ? showDetections2d
+    : livePerceptionLayers.detections2d;
+  const segmentationActive = recordedSource
+    ? showSegmentation
+    : livePerceptionLayers.segmentation;
+  const cuboids3dActive = recordedSource
+    ? showCuboids3d
+    : livePerceptionLayers.cuboids3d;
+  const visibleMediaSources = mediaSources.filter((source) =>
+    observationLayout.visibleSourceIds.has(source.id) &&
+    !source.id.startsWith("recorded.perception."),
+  );
+  const initialRecordedPlaybackStartSeconds = recordedSource
+    ? mediaSources.reduce<number | undefined>((earliest, source) => {
+        if (
+          source.id.startsWith("recorded.perception.") ||
+          source.delivery?.kind !== "recorded-fmp4-manifest"
+        ) return earliest;
+        const start = source.delivery.timelineStartSeconds;
+        return earliest === undefined ? start : Math.min(earliest, start);
+      }, undefined)
+    : undefined;
+  const presentedMediaSourceCount = unifiedPerception ? 0 : visibleMediaSources.length;
+  const pointCloudFocused = Boolean(
+    pointCloudSource && observationLayout.focusedSourceId === pointCloudSource.id,
+  );
+  useEffect(() => {
+    if (!pointCloudFocused) return;
+    const onKeyDown = (event: KeyboardEvent) => {
+      if (event.key !== "Escape") return;
+      event.preventDefault();
+      observationLayout.setFocusedSourceId(null);
+    };
+    window.addEventListener("keydown", onKeyDown);
+    return () => window.removeEventListener("keydown", onKeyDown);
+  }, [observationLayout.setFocusedSourceId, pointCloudFocused]);
+  const floatingSourceMaximized = !unifiedPerception &&
+    Boolean(observationLayout.maximizedFloatingSourceId);
+  const timeline = state?.observationTimeline;
+  const viewportRef = useRef<HTMLDivElement>(null);
+  const intentionalSourceEnd = !recordedSource && state?.sourceMode === "idle" && ["awaiting_external_stop", "stopping", "finalizing", "completed",].includes(state?.acquisition?.state ?? "");
+  const presentedViewerStatus = intentionalSourceEnd
+    ? "idle"
+    : rerunPresentationStatus(
+        viewerStatus,
+        recordedSessionGate,
+        recordedSource,
+      );
+
+  const onStatusChange = useCallback((status: RerunViewportStatus, message?: string) => {
+    setViewerStatus(status);
+    setViewerMessage(message ?? "");
+    if (recordedSessionAdmission) {
+      recordedSessionAdmission.reportSpatial(
+        recordedSessionAdmission.key,
+        status === "ready" ? "ready" : status === "error" ? "error" : "loading",
+      );
+    }
+  }, [recordedSessionAdmission?.key, recordedSessionAdmission?.reportSpatial]);
+  const onRecordedAdmissionChange = useCallback((
+    sourceId: string,
+    next: RecordedCameraAdmissionState,
+  ) => {
+    if (!recordedSessionAdmission) return;
+    if (next.admissionKey !== recordedSessionAdmission.key) return;
+    recordedSessionAdmission.reportCamera(recordedSessionAdmission.key, sourceId, next);
+  }, [recordedSessionAdmission?.key, recordedSessionAdmission?.reportCamera]);
+  const shouldPrepareRecordedSource = useCallback((sourceId: string) => {
+    if (!recordedSessionAdmission) return false;
+    return recordedSessionAdmission.activeCameraSourceIds.has(sourceId) ||
+      ["ready", "error"].includes(recordedSessionAdmission.cameras[sourceId]?.phase ?? "loading");
+  }, [recordedSessionAdmission]);
+  const onSelectionChange = useCallback((next: RerunSelection | null) => setSelection(next), []);
+  const onPlaybackChange = useCallback(
+    (next: RerunPlaybackState | null) => setPlaybackState(next),
+    [],
+  );
+  const onPlaybackControllerChange = useCallback(
+    (next: RerunPlaybackController | null) => setPlaybackController(next),
+    [],
+  );
+  const onPerceptionLoadChange = useCallback((next: RecordedPerceptionLoadState) => {
+    setPerceptionLoad(next);
+    if (next.phase === "unavailable" || next.phase === "error") {
+      setShowDetections2d(false);
+      setShowSegmentation(false);
+      setShowCuboids3d(false);
+    }
+  }, []);
+  const onPointColorLoadChange = useCallback((next: RecordedPointColorLoadState) => {
+    setPointColorLoad(next);
+  }, []);
+
+  useEffect(() => {
+    setPerceptionLoad({
+      phase: recordedSource ? "loading" : "idle",
+      receivedBytes: 0,
+      totalBytes: null,
+      progress: null,
+      message: recordedSource ? "Ожидаем канал AI-слоёв." : "",
+    });
+    setPerceptionRetryGeneration(0);
+    setShowDetections2d(false);
+    setShowSegmentation(false);
+    setShowCuboids3d(false);
+    setRecordedViewResetGeneration(0);
+    setFollowRecordedTrajectory(false);
+    setPointColorLoad({
+      phase: "idle",
+      receivedBytes: 0,
+      totalBytes: null,
+      progress: null,
+      message: "",
+    });
+  }, [recordedSource, sourceUrl]);
+
+  useEffect(() => {
+    if (pointCloudVisible && sourceUrl.trim()) return;
+    setViewerStatus("idle");
+    setViewerMessage("");
+    setSelection(null);
+    setPlaybackState(null);
+    setPlaybackController(null);
+    setPerceptionLoad({
+      phase: "idle",
+      receivedBytes: 0,
+      totalBytes: null,
+      progress: null,
+      message: "",
+    });
+    setShowDetections2d(false);
+    setShowSegmentation(false);
+    setShowCuboids3d(false);
+    setFollowRecordedTrajectory(false);
+    setPointColorLoad({
+      phase: "idle",
+      receivedBytes: 0,
+      totalBytes: null,
+      progress: null,
+      message: "",
+    });
+  }, [pointCloudVisible, sourceUrl]);
+
+  useEffect(() => {
+    lastRequestedPlaybackSeconds.current = null;
+  }, [sourceUrl]);
+
+  useEffect(() => {
+    if (
+      !recordedSource
+      || !playbackController
+      || requestedPlaybackSeconds === null
+      || requestedPlaybackSeconds === undefined
+      || !Number.isFinite(requestedPlaybackSeconds)
+      || lastRequestedPlaybackSeconds.current === requestedPlaybackSeconds
+    ) return;
+    lastRequestedPlaybackSeconds.current = requestedPlaybackSeconds;
+    playbackController.setPlaying(false);
+    playbackController.seek(Math.round(requestedPlaybackSeconds * 1_000_000_000));
+  }, [playbackController, recordedSource, requestedPlaybackSeconds]);
+
+  useEffect(() => {
+    const viewport = viewportRef.current;
+    if (!viewport) return;
+    const publishViewportSize = () => {
+      const bounds = viewport.getBoundingClientRect();
+      if (bounds.width < 1 || bounds.height < 1) return;
+      observationLayout.setViewportSize({
+        width: bounds.width,
+        height: bounds.height,
+      });
+    };
+    publishViewportSize();
+    const observer = new ResizeObserver(publishViewportSize);
+    observer.observe(viewport);
+    return () => observer.disconnect();
+  }, [observationLayout.setViewportSize]);
+
+  const viewerStatusLabel = {
+    idle: intentionalSourceEnd ? "Источник отключён" : "Источник не назначен",
+    loading: "Подключение",
+    ready: "Визуализатор готов",
+    error: "Ошибка источника",
+  }[presentedViewerStatus];
+
+  const viewerStatusTone = presentedViewerStatus === "ready"
+    ? "success"
+    : presentedViewerStatus === "error"
+      ? "danger"
+      : "neutral";
+  const rerunViewerProfile = recordedSource
+    ? recordedSessionRerunProfile({
+        sourceUrl,
+        artifact: recordedReplay,
+        autoplayWhenReady: true,
+        presentationGate: recordedSessionGate,
+        expectedTimelineStartSeconds: state?.observationTimeline?.range?.startSeconds,
+        expectedTimelineEndSeconds: state?.observationTimeline?.range?.endSeconds,
+        initialPlaybackStartSeconds: initialRecordedPlaybackStartSeconds,
+        view: "spatial",
+        viewResetGeneration: recordedViewResetGeneration,
+        followTrajectory: followRecordedTrajectory,
+        perceptionLayers: {
+          enabled: recordedPerceptionSupported && recordedPerceptionEnabled,
+          detections2d: showDetections2d,
+          segmentation: showSegmentation,
+          cuboids3d: showCuboids3d,
+        },
+        perceptionRetryGeneration,
+        lockPerceptionCameraInteraction: unifiedPerception,
+      })
+    : liveAcquisitionRerunProfile({
+        sourceUrl,
+        liveActivitySequence: livePresentationActivitySequence,
+        liveStreamId: state?.spatialSource?.id ?? null,
+        liveRecoveryAuthorityIdentity: streamActive
+          ? liveRerunRecoveryAuthorityIdentity(pointCloudSource, state?.spatialSource)
+          : null,
+      });
+
+  return <SpatialScene viewportRef={viewportRef} focused={pointCloudFocused||floatingSourceMaximized}
+    primaryFocused={pointCloudFocused} mediaMaximized={floatingSourceMaximized}
+    toolbar={visualProfile?.toolbar ?? <>          {recordedPerceptionSupported || livePerceptionAvailable ? (
+            <div className="spatial-toolbar__view-switch" role="group" aria-label="Слои распознавания сцены">
+              <Button
+                size="compact"
+                variant="primary"
+                icon={<Icon name="video" />}
+                aria-pressed="true"
+                disabled
+              >
+                Оригинал
+              </Button>
+              <Button
+                size="compact"
+                variant={detections2dActive ? "primary" : "secondary"}
+                icon={<Icon name="target" />}
+                aria-pressed={detections2dActive}
+                disabled={recordedPerceptionLoading}
+                onClick={() => recordedSource
+                  ? setShowDetections2d((current) => !current)
+                  : onLivePerceptionLayersChange({
+                      ...livePerceptionLayers,
+                      detections2d: !livePerceptionLayers.detections2d,
+                    })}
+              >
+                Объекты 2D
+              </Button>
+              <Button
+                size="compact"
+                variant={segmentationActive ? "primary" : "secondary"}
+                icon={<Icon name="image" />}
+                aria-pressed={segmentationActive}
+                disabled={recordedPerceptionLoading}
+                onClick={() => recordedSource
+                  ? setShowSegmentation((current) => !current)
+                  : onLivePerceptionLayersChange({
+                      ...livePerceptionLayers,
+                      segmentation: !livePerceptionLayers.segmentation,
+                    })}
+              >
+                Сегментация
+              </Button>
+              <Button
+                size="compact"
+                variant={cuboids3dActive ? "primary" : "secondary"}
+                icon={<Icon name="apps" />}
+                aria-pressed={cuboids3dActive}
+                disabled={recordedPerceptionLoading}
+                onClick={() => recordedSource
+                  ? setShowCuboids3d((current) => !current)
+                  : onLivePerceptionLayersChange({
+                      ...livePerceptionLayers,
+                      cuboids3d: !livePerceptionLayers.cuboids3d,
+                    })}
+              >
+                Кубы 3D
+              </Button>
+            </div>
+          ) : null}
+          {recordedSource && presentedViewerStatus === "ready" ? (
+            <Button
+              size="compact"
+              variant={followRecordedTrajectory ? "primary" : "secondary"}
+              icon={<Icon name="target" />}
+              aria-pressed={followRecordedTrajectory}
+              title="Удерживать orbital-пивот на риге до повторного нажатия"
+              onClick={() => setFollowRecordedTrajectory((current) => !current)}
+            >
+              Следовать
+            </Button>
+          ) : null}
+          {recordedSource && presentedViewerStatus === "ready" ? (
+            <Button
+              size="compact"
+              variant="secondary"
+              icon={<Icon name="refresh" />}
+              onClick={() => setRecordedViewResetGeneration((current) => current === 0 ? 1 : 0)}
+            >
+              Сброс вида
+            </Button>
+          ) : null}
+          <SpatialToolbarActions openLayers={navigation.openLayers} openDisplay={navigation.openDisplay}/></>} renderer={visualProfile?.renderer ?? <>          {sourceUrl.trim() && pointCloudVisible && !intentionalSourceEnd ? (
+            <RerunViewport
+              profile={rerunViewerProfile}
+              sceneSettings={sceneSettings}
+              onPerceptionLoadChange={onPerceptionLoadChange}
+              onPointColorLoadChange={onPointColorLoadChange}
+              onStatusChange={onStatusChange}
+              onSelectionChange={onSelectionChange}
+              onPlaybackChange={onPlaybackChange}
+              onPlaybackControllerChange={onPlaybackControllerChange}
+            />
+          ) : (
+            <EmptySpatialStage settings={sceneSettings} />
+          )}
+</>}
+    deviceControls={spatialControls&&!recordedSource?(              <spatialControls.View
+                model={spatialControls.model}
+                spatialActivity={visualProfile?.activity}
+                host={{
+                  openSpatialScene: () => navigation.openView("spatial-scene", launchProfile),
+                  activateAutomaticSpatialSource: navigation.activateAutomaticSpatialSource,
+                }}
+              />):null}
+    sourceControls={visualProfile?.sourceControls ?? <>          {pointCloudFocused ? (
+            <IconButton
+              className="scene-focus-exit"
+              label="Выйти из полноэкранного режима облака точек"
+              onClick={() => observationLayout.setFocusedSourceId(null)}
+            >
+              <Icon name="minimize" size={16} />
+            </IconButton>
+          ) : !floatingSourceMaximized ? (
+            <div className="scene-source-controls">
+              <ObservationSourcePicker
+                sources={unifiedPerception
+                  ? observationSources.filter((source) => source.modality === "point-cloud")
+                  : observationSources}
+                visibleSourceIds={observationLayout.visibleSourceIds}
+                pendingSourceIds={observationLayout.pendingSourceIds}
+                onToggle={observationLayout.toggleSource}
+              />
+              {pointCloudSource?.capabilities.fullscreen && pointCloudVisible && (visualProfile || sourceUrl.trim()) ? (
+                <IconButton
+                  className="scene-source-control"
+                  label="Развернуть облако точек"
+                  onClick={() => observationLayout.setFocusedSourceId(pointCloudSource.id)}
+                >
+                  <Icon name="expand" size={16} />
+                </IconButton>
+              ) : null}
+            </div>
+          ) : null}
+</>}
+    status={visualProfile?.status ?? {label:viewerStatusLabel,tone:viewerStatusTone,message:!intentionalSourceEnd?viewerMessage:undefined}}
+    metrics={visualProfile?.metrics ?? <>            <div>
+              <span>КАДР/С</span>
+              <strong>{formatNumber(frameRate)}</strong>
+            </div>
+            <div>
+              <span>Точек</span>
+              <strong>{points === null ? "—" : points.toLocaleString("ru-RU", { maximumFractionDigits: 0 })}</strong>
+            </div>
+            <div>
+              <span>До публикации</span>
+              <strong>{formatNumber(latency)}<small> мс</small></strong>
+            </div>
+            {streamActive ? (
+              <div>
+                <span>AI</span>
+                <strong>
+                  {aiLatency === null ? "—" : formatNumber(aiLatency)}
+                  <small>{aiLatency === null ? "" : " мс"}</small>
+                  {aiFrameRate === null ? null : <small> · {formatNumber(aiFrameRate)} Гц</small>}
+                </strong>
+              </div>
+            ) : null}</>} overlays={<>          {!visualProfile && !pointCloudFocused && !floatingSourceMaximized && state?.sourceMode && state.sourceMode !== "idle" && !sourceUrl.trim() ? (
+            <div className="scene-adapter-note">
+              <Icon name="alert" />
+              <span>
+                Локальный поток <strong>{sourceModeLabel(state.sourceMode).toLocaleLowerCase("ru-RU")}</strong> активен,
+                Rerun-мост запускается и опубликует адрес автоматически.
+              </span>
+            </div>
+          ) : null}
+
+          {!pointCloudFocused && !floatingSourceMaximized && selection ? (
+            <div className="scene-selection">
+              <span>Выбрано</span>
+              <strong>{selection.entityPath}</strong>
+              {selection.viewName ? <small>{selection.viewName}</small> : null}
+            </div>
+          ) : null}
+
+          {!floatingSourceMaximized && recordedSource && (
+            perceptionLoad.phase === "loading" ||
+            perceptionLoad.phase === "error" ||
+            pointColorLoad.phase === "loading" ||
+            pointColorLoad.phase === "error"
+          ) ? (
+            <div className="scene-operation-status-stack">
+              {perceptionLoad.phase === "loading" ? (
+                <div className="scene-operation-status" role="status">
+                  <span className="busy-indicator" aria-hidden="true" />
+                  <span>{perceptionLoad.message || "Готовим AI-слои."}</span>
+                </div>
+              ) : null}
+              {perceptionLoad.phase === "error" ? (
+                <button
+                  type="button"
+                  className="scene-operation-status scene-operation-status--action"
+                  onClick={() => setPerceptionRetryGeneration((generation) => generation + 1)}
+                >
+                  <Icon name="refresh" size={12} />
+                  <span>Повторить AI</span>
+                </button>
+              ) : null}
+              {pointColorLoad.phase === "loading" ? (
+                <div className="scene-operation-status" role="status">
+                  <span className="busy-indicator" aria-hidden="true" />
+                  <span>{pointColorLoad.message}</span>
+                </div>
+              ) : null}
+              {pointColorLoad.phase === "error" ? (
+                <div className="scene-operation-status scene-operation-status--error" role="status">
+                  <span>{pointColorLoad.message}</span>
+                </div>
+              ) : null}
+            </div>
+          ) : null}
+
+</>}
+    timeline={visualProfile ? null : <>          {!pointCloudFocused && !floatingSourceMaximized && recordedPlaybackReady ? (
+            <ObservationTimeline
+              active={presentedViewerStatus === "ready"}
+              sourceCount={Math.max(1, (unifiedPerception ? 2 : 1) + presentedMediaSourceCount)}
+              mode={recordedSource && playbackState?.rangeNs
+                ? "recorded"
+                : timeline?.mode}
+              seekable={recordedSource && playbackState?.rangeNs
+                ? true
+                : timeline?.seekable}
+              synchronization={timeline?.synchronization}
+              rangeNs={playbackState?.rangeNs}
+              currentNs={playbackState?.currentNs}
+              playing={playbackState?.playing}
+              onSeek={playbackController?.seek}
+              onPlayingChange={playbackController?.setPlaying}
+              onJumpToEnd={playbackController?.jumpToEnd}
+              accumulationSeconds={accumulationSeconds}
+              accumulationMaxSeconds={sceneSettings.accumulationMaxSeconds}
+              onAccumulationChange={onAccumulationChange}
+              onAccumulationCommit={onAccumulationCommit}
+              className="scene-timeline"
+            />
+          ) : null}
+</>}
+    media={<>{visibleMediaSources.length === 0 ? visualProfile?.mediaFallback : null}          {visibleMediaSources.map((source, index) => (
+            <FloatingObservationWindow
+              key={source.id}
+              source={source}
+              index={index}
+              count={visibleMediaSources.length}
+              boundsRef={viewportRef}
+              rect={observationLayout.windowRects[source.id]}
+              maximized={observationLayout.maximizedFloatingSourceId === source.id}
+              active={observationLayout.activeFloatingSourceId === source.id}
+              hidden={pointCloudFocused || unifiedPerception}
+              onRectChange={(rect) => observationLayout.setWindowRect(source.id, rect)}
+              onMaximizedChange={(maximized) =>
+                observationLayout.setFloatingMaximized(source.id, maximized)}
+              onActivate={() => observationLayout.activateFloatingSource(source.id)}
+              playback={recordedSource && playbackState ? {
+                currentSeconds: playbackState.currentNs / 1_000_000_000,
+                playing: playbackState.playing,
+              } : null}
+              prepareRecorded={!recordedSource || shouldPrepareRecordedSource(source.id)}
+              recordedSessionGate={recordedSessionGate}
+              recordedAdmissionKey={recordedSessionAdmission?.key ?? null}
+              onRecordedAdmissionChange={onRecordedAdmissionChange}
+              onClose={() => {
+                if (observationLayout.pendingSourceIds.has(source.id)) return;
+                observationLayout.setFloatingMaximized(source.id, false);
+                void observationLayout.hideSource(source.id);
+              }}
+            />
+          ))}
+          {visualProfile?.tools?.(viewportRef)}
+          {recordedSource ? (
+            <div className="recorded-session-preloaders" aria-hidden="true">
+              {mediaSources.filter((source) => (
+                source.delivery?.kind === "recorded-fmp4-manifest" &&
+                !observationLayout.visibleSourceIds.has(source.id) &&
+                shouldPrepareRecordedSource(source.id)
+              )).map((source) => (
+                <ObservationMedia
+                  key={source.id}
+                  source={source}
+                  playback={playbackState ? {
+                    currentSeconds: playbackState.currentNs / 1_000_000_000,
+                    playing: false,
+                  } : null}
+                  prepareRecorded
+                  recordedSessionGate="loading"
+                  recordedAdmissionKey={recordedSessionAdmission?.key ?? null}
+                  onRecordedAdmissionChange={onRecordedAdmissionChange}
+                />
+              ))}
+            </div>
+          ) : null}</>} footer={visualProfile?.footer ?? <div className="spatial-contract-strip">
+        <span><i data-state="ready" />Облако точек</span>
+        <span><i data-state="ready" />Траектория</span>
+        <span><i data-state="ready" />Преобразования</span>
+        <span><i data-state="contract" />Камеры в 3D</span>
+        <span><i data-state={detections2dActive ? "ready" : "contract"} />Объекты 2D</span>
+        <span><i data-state={segmentationActive ? "ready" : "contract"} />Сегментация</span>
+        <span><i data-state={cuboids3dActive ? "ready" : "contract"} />Кубы 3D</span>
+        <span><i data-state="contract" />Компоновка</span>
+      </div>}/>;
+}

apps/control-station/test/boardLayout.test.mjs

@@ -0,0 +1,57 @@
+import test from 'node:test';
+import assert from 'node:assert/strict';
+import {readFileSync} from 'node:fs';
+import ts from 'typescript';
+const code=ts.transpileModule(readFileSync(new URL('../../../packages/sensor-ui/src/boardLayout.ts',import.meta.url),'utf8'),{compilerOptions:{module:ts.ModuleKind.ESNext,target:ts.ScriptTarget.ES2022}}).outputText;
+const {createBoardLayoutStore,defaultBoardLayout}=await import('data:text/javascript;base64,'+Buffer.from(code).toString('base64'));
+const tick=()=>new Promise(resolve=>setImmediate(resolve));
+function server(){
+ let value=structuredClone(defaultBoardLayout);const calls=[];
+ return {calls,read:async()=>structuredClone(value),patch:async(section,open)=>{
+  calls.push({section,open});await tick();
+  value={...value,revision:value.revision+1,open_sections:defaultBoardLayout.open_sections.filter(id=>id===section?open:value.open_sections.includes(id))};
+  return structuredClone(value);
+ }};
+}
+test('rapid toggles persist after navigation and preserve all-closed state',async()=>{
+ const api=server();const store=createBoardLayoutStore(api);await store.load();
+ const unsubscribe=store.subscribe(()=>{});
+ store.change(['settings','devices']);store.change(['devices']);store.change([]);
+ unsubscribe();
+ while(store.getSnapshot().saving)await tick();
+ const reopened=createBoardLayoutStore(api);await reopened.load();
+ assert.deepEqual(reopened.getSnapshot().value.open_sections,[]);
+ assert.equal(api.calls.length,3);
+});
+test('a later toggle wins while an older patch is still in flight',async()=>{
+ const api=server();const store=createBoardLayoutStore(api);await store.load();
+ store.change(['settings','devices']);store.change(['computer','settings','devices']);
+ while(store.getSnapshot().saving)await tick();
+ assert.deepEqual((await api.read()).open_sections,defaultBoardLayout.open_sections);
+});
+test('different vehicles and simultaneous section changes do not clobber one another',async()=>{
+ const api=server(),other=server();const a=createBoardLayoutStore(api),b=createBoardLayoutStore(api),c=createBoardLayoutStore(other);
+ await Promise.all([a.load(),b.load(),c.load()]);
+ a.change(['settings','devices']);b.change(['computer','devices']);
+ while(a.getSnapshot().saving||b.getSnapshot().saving)await tick();
+ assert.deepEqual((await api.read()).open_sections,['devices']);
+ assert.deepEqual(c.getSnapshot().value.open_sections,defaultBoardLayout.open_sections);
+});
+test('failed save reports failure, rolls back, and explicit reload recovers',async()=>{
+ const api=server();let fail=true;
+ const store=createBoardLayoutStore({...api,patch:(...args)=>fail?Promise.reject(new Error('offline')):api.patch(...args)});
+ await store.load();store.change([]);
+ while(store.getSnapshot().saving)await tick();
+ assert.ok(store.getSnapshot().error);
+ assert.deepEqual(store.getSnapshot().value.open_sections,defaultBoardLayout.open_sections);
+ fail=false;await store.load();store.change(['devices']);
+ while(store.getSnapshot().saving)await tick();
+ assert.equal(store.getSnapshot().error,null);
+ assert.deepEqual((await api.read()).open_sections,['devices']);
+});
+test('invalid layout cannot overwrite stored preferences',async()=>{
+ let writes=0;
+ const store=createBoardLayoutStore({read:async()=>({...defaultBoardLayout,open_sections:['motor-start']}),patch:async()=>{writes++;return defaultBoardLayout;}});
+ await store.load();store.change([]);
+ assert.equal(store.getSnapshot().ready,false);assert.ok(store.getSnapshot().error);assert.equal(writes,0);
+});

apps/control-station/test/environmentSettings.test.mjs

@@ -130,6 +130,15 @@ test("decoder fails closed on an unknown environment schema", () => {
   );
 });
 
+test("retired laboratory quick actions resolve to AI Inference", () => {
+  const payload = serverDocument();
+  payload.pages.polygon.primary_workspace_id = "lab-archive";
+  const decoded = environment.decodeEnvironmentSettings(payload);
+  assert.equal(decoded.pages.polygon.primaryWorkspaceId, "observatory");
+  assert.equal(decoded.revision, payload.revision);
+  assert.deepEqual(decoded.pages.polygon.background.items, []);
+});
+
 test("editing a cloned page cannot mutate accepted settings", () => {
   const accepted = environment.decodeEnvironmentSettings(serverDocument());
   const draft = environment.cloneEnvironmentSettings(accepted);

apps/control-station/test/k1SupervisorPresentation.test.mjs

@@ -7673,6 +7673,26 @@ test("spatial controls explain the bounded K1 calibration wait before point data
   }
 });
 
+test("planning status extends only its current authoritative acquiring session", () => {
+  const state = runtimeState();
+  const spatialActivity = {sessionId: "data-session-001", label: "Привязка к эталону", detail: "Ожидание на месте.", busy: true};
+  const render = (current, activity = spatialActivity, controllerPatch = {}) => renderToStaticMarkup(createElement(K1SpatialControlsView, {
+    controller: {...acquisitionController(current), ...controllerPatch}, spatialActivity: activity,
+  }));
+  assert.match(render(state), /Привязка к эталону/);
+  assert.match(render(state), /Ожидание на месте/);
+  assert.doesNotMatch(render(state, {...spatialActivity, sessionId: "other-capture"}), /Привязка к эталону/);
+  for (const acquisitionState of ["awaiting_external_start", "starting", "awaiting_external_stop", "stopping", "finalizing"]) {
+    const current = structuredClone(state); current.acquisition.state = acquisitionState;
+    assert.doesNotMatch(render(current), /Привязка к эталону/);
+  }
+  const lost = structuredClone(state); lost.connection_supervisor = supervisor({control: true, data: false, dataPlaneState: "stalled"});
+  assert.doesNotMatch(render(lost), /Привязка к эталону/);
+  assert.doesNotMatch(render(state, spatialActivity, {physicalStopInFlight: true}), /Привязка к эталону/);
+  const cleanup = structuredClone(state); cleanup.acquisition.cleanup_pending = true;
+  assert.doesNotMatch(render(cleanup), /Привязка к эталону/);
+});
+
 test("contour health never promotes selection or replay metrics to live authority", () => {
   const selectedOnly = {
     phase: "starting",

apps/control-station/test/laboratoryProductUi.test.mjs

@@ -804,7 +804,7 @@ test("E40 reports historical visible evaluation with bounded camera-LiDAR case r
 });
 
 test("the primary point-cloud viewer restores from fullscreen on Escape", async () => {
-  const workspacesSource = await readFile(workspacesUrl, "utf8");
+  const workspacesSource = await readFile(new URL("../src/workspaces/spatial/SpatialWorkspace.tsx", import.meta.url), "utf8");
 
   assert.match(workspacesSource, /if \(!pointCloudFocused\) return;/);
   assert.match(workspacesSource, /event\.key !== "Escape"/);

apps/control-station/test/missionPlanner.test.mjs

@@ -0,0 +1,108 @@
+import assert from 'node:assert/strict';
+import { before, after, test } from 'node:test';
+import { createServer } from 'vite';
+let server, api;
+before(async () => { server = await createServer({ appType: 'custom', logLevel: 'silent', server: { middlewareMode: true } }); api = await server.ssrLoadModule('/src/core/missions/planner.ts'); });
+after(async () => { await server?.close(); });
+const source = { schema_version:'missioncore.planning-source/v1', session_id:'A', generation:'a'.repeat(64), units:'m', poses:Array.from({length:5}, (_, i) => ({index:i, position:[i*3,i*4,0], distance_m:i*5})) };
+test('route reverses source order without changing geometry or source', () => {
+ const result = api.selectedPoses(source, 1, 3, 'reverse');
+ assert.deepEqual(result.map(p => p.index), [3,2,1]); assert.equal(api.routeLength(result), 10); assert.equal(source.poses[0].index,0);
+});
+test('bounded section uses travelled distance, including out-and-back', () => {
+ assert.equal(api.endAtDistance(source, 1, 7),3); assert.equal(api.endAtDistance(source, 1, 30),4); assert.deepEqual(api.selectedPoses(source,4,2,'forward'),[]);
+});
+test('catalog excludes derived LAB parent and nonspatial sessions from zone binding', () => {
+ const item={replayable:true,modalities:['point-cloud','trajectory']}; assert.equal(api.canSelectSession(item),true);
+ assert.equal(api.canSelectSession({...item,lab:{}}),false); assert.equal(api.canSelectSession({...item,modalities:['video']}),false);
+});
+test('source contract rejects a different session and nonfinite coordinates', () => {
+ assert.equal(api.validatePlanningSource(source,'A'),source); assert.throws(() => api.validatePlanningSource(source,'B'));
+ assert.throws(() => api.validatePlanningSource({...source,poses:[{index:0,position:[0,0,NaN],distance_m:0},source.poses[1]]},'A'));
+});
+
+test('meter input selects the correct ordered pose and respects the selected branch', () => {
+ assert.equal(api.indexAtDistance(source, 10), 2);
+ assert.equal(api.indexAtDistance(source, 10, 3), 3);
+ assert.equal(api.indexAtDistance(source, 100), 4);
+});
+
+test('live distance has no upper cap and endpoint selection does not overshoot typed metres', () => {
+ for (const n of [3, 30, 50, 100, 200, 300, 10000]) assert.equal(api.canStartPlanningRoute(n, 'scanner'), true);
+ for (const n of [2.9, NaN, Infinity]) assert.equal(api.canStartPlanningRoute(n, 'scanner'), false);
+ assert.equal(api.canStartPlanningRoute(50, 'recording'), false);
+ assert.equal(api.indexAtDistance(source, 9.9, 1, 4, true), 1);
+ assert.equal(api.indexAtDistance(source, 10, 1, 4, true), 2);
+ assert.equal(api.indexAtDistance(source, 1, 1, 4, true), 1);
+});
+
+ test('planning match never promotes stopped or stale evidence', async()=>{
+ const {planningMatchCurrent}=await server.ssrLoadModule('/src/core/missions/planningPresentation.ts');
+ const t={state:'running',tracking_state:'tracking',stale:false,frame_age_s:0,result_age_s:2,result:{status:'candidate'}};
+ assert.equal(planningMatchCurrent(t),true);
+ for(const patch of [{state:'completed'},{state:'waiting'},{tracking_state:'acquiring'},{tracking_state:'lost'},{tracking_state:undefined},{stale:true},{frame_age_s:8},{result_age_s:8},{result_age_s:null},{result:{status:'rejected'}}])assert.equal(planningMatchCurrent({...t,...patch}),false);
+ assert.equal(planningMatchCurrent(t,true),false);
+ });
+
+test('planning failure is visible even when its last sample is stale', async()=>{
+ const {planningStatus}=await server.ssrLoadModule('/src/core/missions/planningPresentation.ts');
+ const t={state:'error',message:'Разрыв координат',stale:true,frame_age_s:null,result_age_s:null,result:null};
+ assert.deepEqual(planningStatus(t),{label:'Совмещение остановлено',tone:'danger',message:'Разрыв координат',pulse:true});
+ assert.equal(planningStatus({...t,state:'waiting'}).label,'Ожидание данных');
+});
+
+test('planning activity continues scanner preparation without presenting a prior as tracking', async()=>{
+ const {planningStatus,planningActivity}=await server.ssrLoadModule('/src/core/missions/planningPresentation.ts');
+ const t={state:'running',query_session_id:'B',tracking_state:'acquiring',stale:false,frame_age_s:0,result_age_s:null,result:null,message:'Ожидание на месте.'};
+ assert.equal(planningActivity({...t,planning_phase:'waiting-cloud'}),undefined);
+ for(const [planning_phase,label] of [['collecting','Накопление данных'],['searching','Поиск положения на маршруте'],['refreshing','Подтверждение привязки'],['validating','Подтверждение привязки']]){
+   assert.deepEqual(planningActivity({...t,planning_phase}),{sessionId:'B',label,detail:'',busy:true});
+   assert.equal(planningStatus({...t,planning_phase}).tone,'neutral');
+ }
+ const live={...t,planning_phase:'tracking',tracking_state:'tracking',result_age_s:0,result:{status:'candidate'},message:'Можно начинать проверочный проход.'};
+ assert.equal(planningActivity(live).busy,false);
+ assert.equal(planningStatus(live).tone,'success');
+ const stale=planningStatus({...live,frame_age_s:9});
+ assert.equal(stale.label,'Привязка потеряна');assert.doesNotMatch(stale.message,/Можно начинать/);
+ assert.equal(planningActivity({...t,planning_phase:'searching'},'Нет связи').busy,false);
+ assert.equal(planningActivity({...live,query_session_id:null}),undefined);
+ assert.equal(planningActivity({...live,state:'completed'}),undefined);
+ const recovery=planningStatus({...t,planning_phase:'recovering',tracking_established:true});
+ assert.equal(recovery.pulse,true);
+ assert.equal(recovery.tone,'danger');
+ assert.match(recovery.message,/запись продолжается/);
+});
+
+test('project archive restores exact run identity and never promotes a failed live probe', async()=>{
+ const {defaultPlanningProject,planningProjectStatus}=await server.ssrLoadModule('/src/core/missions/planningProjects.ts');
+ const items=[{key:'live:failed',kind:'live',state:'error',result_status:null},{key:'recorded:second',kind:'recorded',state:'ready',result_status:'candidate'},{key:'recorded:first',kind:'recorded',state:'ready',result_status:'candidate'}];
+ assert.equal(defaultPlanningProject(items,null),'recorded:second');
+ assert.equal(defaultPlanningProject(items,'recorded:first'),'recorded:first');
+ assert.equal(defaultPlanningProject(items,'missing'),'recorded:second');
+ assert.equal(planningProjectStatus(items[0]),'Без результата совмещения');
+ assert.equal(defaultPlanningProject([],null),'');
+});
+
+
+test('failed initial binding never claims previously established tracking was lost', async()=>{
+ const {planningStatus,planningActivity}=await server.ssrLoadModule('/src/core/missions/planningPresentation.ts');
+ const t={state:'running',query_session_id:'B',planning_phase:'lost',tracking_state:'lost',tracking_established:false,
+   stale:true,frame_age_s:null,result_age_s:null,result:null,message:'Начальный поиск не завершён.'};
+ const failed=planningStatus(t);
+ assert.equal(failed.label,'Маршрут не синхронизирован');
+ assert.equal(failed.message,'Начальный поиск не завершён.');
+ assert.deepEqual(planningActivity(t),{sessionId:'B',label:failed.label,detail:failed.message,busy:false});
+ assert.equal(planningStatus({...t,tracking_established:true}).label,'Привязка потеряна');
+ assert.equal(planningStatus({...t,state:'completed'}).label,'Исследование завершено');
+});
+
+test('freshness of displayed alignment fences green independently of the fit age',async()=>{
+ const {planningMatchCurrent,planningStatus}=await server.ssrLoadModule('/src/core/missions/planningPresentation.ts');
+ const t={state:'running',tracking_state:'tracking',planning_phase:'tracking',tracking_established:true,
+  stale:false,frame_age_s:.2,result_age_s:4,result:{status:'candidate'},message:'Привязка подтверждена.',presentation_state:'live'};
+ assert.equal(planningMatchCurrent(t),true);
+ assert.equal(planningMatchCurrent({...t,presentation_state:'historical'}),false);
+ assert.equal(planningMatchCurrent({...t,frame_age_s:2.1}),false);
+ assert.match(planningStatus({...t,presentation_state:'historical'}).message,/последней принятой/);
+ assert.match(planningStatus({...t,state:'completed',presentation_state:'historical'}).message,/не текущее положение/);
+});

apps/control-station/test/observationSessions.test.mjs

@@ -184,6 +184,15 @@ function preparation(overrides = {}) {
   };
 }
 
+test("replay preserves an optional corrected-map identity and rejects malformed versions", () => {
+  const decoded = decodeObservationSessionReplay(replay({ map_generation: "b".repeat(64) }));
+  assert.equal(decoded.mapGeneration, "b".repeat(64));
+  assert.equal(decodeObservationSessionReplay(replay()).mapGeneration, undefined);
+  for (const value of [null, "latest", "../private", 123]) {
+    assert.throws(() => decodeObservationSessionReplay(replay({ map_generation: value })), /версию/);
+  }
+});
+
 const preparationEtag = '"prepare-20260717T131400Z"';
 
 test("session catalog decodes canonical snake_case into a path-free camelCase model", () => {
@@ -412,7 +421,7 @@ test("data recordings keep the compact session dropdown and laboratory results s
   assert.doesNotMatch(laboratorySource, /fetchAdvancedLaboratoryResults/);
 });
 
-test("recording preparation statuses share the viewer's left alignment", async () => {
+test("recording preparation statuses occupy the viewer's upper-right corner", async () => {
   const spatialStyles = await readFile(
     new URL("../../../packages/spatial-ui/src/spatial.css", import.meta.url),
     "utf8",
@@ -422,9 +431,10 @@ test("recording preparation statuses share the viewer's left alignment", async (
     spatialStyles.indexOf(".scene-operation-status {"),
   );
 
-  assert.match(statusStack, /left:\s*0\.85rem/);
-  assert.match(statusStack, /justify-items:\s*start/);
-  assert.doesNotMatch(statusStack, /right:/);
+  assert.match(statusStack, /right:\s*0\.85rem/);
+  assert.match(statusStack, /top:\s*0\.85rem/);
+  assert.match(statusStack, /justify-items:\s*end/);
+  assert.doesNotMatch(statusStack, /left:|bottom:/);
 });
 
 test("source and laboratory catalogs are requested as disjoint backend projections", async () => {
@@ -1066,7 +1076,7 @@ test("recording preparation never presents phase heartbeats as fake percentages"
 
 test("unified recorded AI view keeps the raw camera mounted but does not cover overlays", async () => {
   const workspaceSource = await readFile(
-    new URL("../src/workspaces/Workspaces.tsx", import.meta.url),
+    new URL("../src/workspaces/spatial/SpatialWorkspace.tsx", import.meta.url),
     "utf8",
   );
 

apps/control-station/test/observationSources.test.mjs

@@ -150,14 +150,15 @@ test("follow toggles retain the current recorded camera journal", () => {
   assert.notEqual(afterReset, before);
 });
 
-test("observation camera windows tile from the bottom-right above the live timeline", () => {
+test("observation camera windows tile from the bottom-left above the live timeline", () => {
   const bounds = { width: 1280, height: 720 };
   const left = initialObservationWindowRect(0, 2, bounds);
   const right = initialObservationWindowRect(1, 2, bounds);
 
   assert.equal(left.y, right.y);
   assert.ok(left.x + left.width < right.x);
-  assert.equal(right.x + right.width, bounds.width - 18);
+  assert.equal(left.x, 18);
+  assert.ok(right.x + right.width <= bounds.width - 18);
   assert.ok(right.y + right.height <= bounds.height - 64);
 });
 
@@ -323,10 +324,14 @@ test("recorded observation timeline rejects empty and non-finite ranges", () =>
 test("accumulation control normalizes UI values and distinguishes a single frame", () => {
   assert.equal(normalizeAccumulationSeconds(-3), 0);
   assert.equal(normalizeAccumulationSeconds(12.6), 13);
-  assert.equal(normalizeAccumulationSeconds(999), 120);
+  assert.equal(normalizeAccumulationSeconds(999), 999);
+  assert.equal(normalizeAccumulationSeconds(1800), 1800);
+  assert.equal(normalizeAccumulationSeconds(9999), 9999);
   assert.equal(normalizeAccumulationSeconds(Number.NaN), 0);
   assert.equal(formatAccumulationDuration(0), "Кадр");
   assert.equal(formatAccumulationDuration(12), "12 с");
+  assert.equal(formatAccumulationDuration(1800), "30 мин");
+  assert.equal(formatAccumulationDuration(125), "2 мин 5 с");
 });
 
 test("spatial timeline renders synchronized accumulation and playback controls", () => {
@@ -606,6 +611,32 @@ test("recorded blueprint fetch is bounded, strict and sends only display setting
   );
 });
 
+test("recorded tracking quantizes the native fractional-nanosecond cursor without accepting invalid times", async () => {
+  const bodies = [];
+  const request = currentTimeNs => fetchRecordedBlueprintRrd(
+    "/api/v1/observation-sessions/session-1/blueprint.rrd",
+    {accumulationSeconds: 10, showGrid: true, showPoints: true,
+      showTrajectory: true, pointSize: 0.5, colorMode: "intensity",
+      palette: "turbo", customColor: "#ffffff"},
+    {applicationId: "nodedc_mission_core_recorded", recordingId: "recording-001"},
+    {origin: "http://127.0.0.1:8000", blueprintSessionId: "a".repeat(32),
+      cameraEye: {position: [3, 4, 5], lookTarget: [1, 2, 0], eyeUp: [0, 0, 1]},
+      eyeRelativeToTracking: true, currentTimeNs,
+      fetcher: async (_input, init) => {
+        bodies.push(JSON.parse(init.body));
+        return new Response(new Uint8Array([0x52, 0x52, 0x46, 0x32]), {
+          headers: {"Content-Type": "application/vnd.rerun.rrd"},
+        });
+      }},
+  );
+  await request(536_460_021_972.65625);
+  assert.equal(bodies[0].current_time_ns, 536_460_021_973);
+  for (const invalid of [-0.1, NaN, Infinity, Number.MAX_SAFE_INTEGER + 1]) {
+    await assert.rejects(request(invalid), /Unsafe recorded blueprint request/);
+  }
+  assert.equal(bodies.length, 1);
+});
+
 test("recorded point colors use one strict same-origin component overlay", async () => {
   const endpoint = resolveRecordedPointColorsUrl(
     "/api/v1/observation-sessions/session-1/recording.rrd",

apps/control-station/test/observatoryWorkspace.test.mjs

@@ -27,7 +27,7 @@ async function read(relativePath) {
 test("Observatory is the third independent Polygon workspace", () => {
   assert.deepEqual(
     productModel.workspacesForRoot("polygon").map(({ id }) => id),
-    ["lab-archive", "simulations", "observatory", "local-device", "spatial-scene"],
+    ["simulations", "observatory", "local-device", "spatial-scene", "mission-planner"],
   );
   assert.deepEqual(
     productModel.workspaceById("observatory"),