fix(ui): label connectivity checks as Проверка состояния

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/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";
@@ -145,11 +152,15 @@ export default function App() {
     contentExpanded: true,
   });
 
+  const [navigationRevision, setNavigationRevision] = useState(0);
   const [activeRoot, setActiveRoot] = useState<RootId | null>(
     polygonDatasetRoute.active ? "data" : null,
   );
   const [environmentSettingsOpen, setEnvironmentSettingsOpen] = useState(false);
+  const [launchProfile, setLaunchProfile] = useState<WorkspaceLaunchProfile>('direct');
   const [sourceUrl, setSourceUrl] = useState("");
+  const [workspaceHeaderToolsHost, setWorkspaceHeaderToolsHost] = useState<HTMLDivElement | null>(null);
+  const [workspaceHeaderTitleHost, setWorkspaceHeaderTitleHost] = useState<HTMLSpanElement | null>(null);
   const [recordedReplay, setRecordedReplay] = useState<ObservationSessionReplayLaunch | null>(null);
   const [recordedReplayLabel, setRecordedReplayLabel] = useState<string | null>(null);
   const [replayTransitioning, setReplayTransitioning] = useState(false);
@@ -174,6 +185,7 @@ export default function App() {
   const appliedProfileKeyRef = useRef<string | null>(null);
   const sceneSettingsRef = useRef<SceneSettings>(defaultSceneSettings);
   const displayDraftRef = useRef<SceneSettings>(defaultSceneSettings);
+  const closeDisplayRef = useRef<() => void>(() => {});
   const confirmedSceneSettingsRef = useRef<SceneSettings>(defaultSceneSettings);
   const viewerSettingsCommitTimerRef = useRef<number | null>(null);
   const runtimeUpdateViewerSettingsRef = useRef(runtime.updateViewerSettings);
@@ -221,6 +233,13 @@ export default function App() {
   );
   runtimeUpdateViewerSettingsRef.current = runtime.updateViewerSettings;
   replayActiveRef.current = replayPresented;
+  const sessionDisplayProfile = useSessionDisplayProfile(replayPresented ? recordedReplay?.sessionId ?? null : null, (settings) => {
+    sceneSettingsRef.current = settings;
+    displayDraftRef.current = settings;
+    confirmedSceneSettingsRef.current = settings;
+    setSceneSettings(settings);
+    setDisplayDraft(settings);
+  });
 
   useEffect(() => {
     if (!polygonDatasetRoute.active || polygonDatasetRouteOpenedRef.current) return;
@@ -303,6 +322,7 @@ export default function App() {
     const remote = runtime.state?.viewerSettings;
     if (
       !remote ||
+      replayActiveRef.current ||
       workspaceLayoutProfile.profile ||
       sceneSettingsCommitterRef.current?.isBusy()
     ) return;
@@ -325,7 +345,7 @@ export default function App() {
 
   useEffect(() => {
     const profile = workspaceLayoutProfile.profile;
-    if (!profile) return;
+    if (!profile || selectedRecordedSessionIdRef.current) return;
     if (viewerSettingsCommitTimerRef.current !== null) {
       window.clearTimeout(viewerSettingsCommitTimerRef.current);
       viewerSettingsCommitTimerRef.current = null;
@@ -396,7 +416,10 @@ export default function App() {
 
   const closeSceneWindow = useCallback((windowId: SceneToolWindowId) => {
     if (windowId === "sources") setSourceWindowOpen(false);
-    if (windowId === "display") setDisplayWindowOpen(false);
+    if (windowId === "display") {
+      setDisplayWindowOpen(false);
+      closeDisplayRef.current();
+    }
     if (windowId === "layers") setLayerInspectorOpen(false);
     setSceneWindowOrder((current) => current.filter((candidate) => candidate !== windowId));
   }, []);
@@ -428,13 +451,25 @@ export default function App() {
     }
   };
 
-  const openView = (viewId: string) => {
+  const openView = (viewId: string, profile?: WorkspaceLaunchProfile) => {
     const definition = workspaceById(viewId);
     if (!definition) return;
+    setLaunchProfile(current => workspaceLaunchProfile(current, definition.kind, profile));
     setActiveRoot(definition.root);
     workspace.openView(viewId);
   };
 
+  // Explicit menu navigation always returns to that workspace's entry screen.
+  const openNavigationView = (viewId: string) => {
+    if (!workspaceById(viewId)) return;
+    setNavigationRevision(value => value + 1);
+    sessionOverview.close();
+    setSourceWindowOpen(false);
+    setDisplayWindowOpen(false);
+    setLayerInspectorOpen(false);
+    openView(viewId);
+  };
+
   const openSource = () => {
     if (!sceneWorkspaceActive) return;
     setSourceDraft(sourceUrl);
@@ -456,14 +491,22 @@ export default function App() {
     const next = { ...displayDraftRef.current, ...patch };
     displayDraftRef.current = next;
     setDisplayDraft(next);
+    sessionDisplayProfile.edited();
     if (viewerSettingsCommitTimerRef.current !== null) {
       window.clearTimeout(viewerSettingsCommitTimerRef.current);
     }
+    // Preview and persistence are separate. An open inspector must not freeze
+    // either its controls or the shared accumulation slider below the scene.
+    if (replayActiveRef.current && (patch.pointDecimationPercent === 0 || patch.pointDecimationPercent === 100)) {
+      viewerSettingsCommitTimerRef.current = null;
+      sceneSettingsCommitterRef.current?.enqueue(next);
+      return;
+    }
     viewerSettingsCommitTimerRef.current = window.setTimeout(() => {
       viewerSettingsCommitTimerRef.current = null;
       sceneSettingsCommitterRef.current?.enqueue(displayDraftRef.current);
     }, viewerSettingsQuietPeriodMs);
-  }, []);
+  }, [sessionDisplayProfile.edited]);
 
   const flushDisplaySettings = useCallback(() => {
     if (viewerSettingsCommitTimerRef.current === null) return;
@@ -473,8 +516,15 @@ export default function App() {
   }, []);
 
   const commitDisplayPatch = useCallback((patch: Partial<SceneSettings>) => {
+    sessionDisplayProfile.edited();
     commitDisplaySettings({ ...displayDraftRef.current, ...patch });
-  }, [commitDisplaySettings]);
+  }, [commitDisplaySettings, sessionDisplayProfile.edited]);
+
+  closeDisplayRef.current = () => {
+    const settings = {...displayDraftRef.current};
+    commitDisplaySettings(settings);
+    if (replayActiveRef.current) sessionDisplayProfile.save(settings);
+  };
 
   const openDisplay = () => {
     if (!sceneWorkspaceActive) return;
@@ -608,10 +658,8 @@ export default function App() {
     return () => window.clearTimeout(timer);
   }, [layoutSaveNotice]);
 
-  const [fleetCreateRequest, setFleetCreateRequest] = useState(0);
-  const onAddVehicle = useCallback(() => setFleetCreateRequest(value => value + 1), []);
+  const sessionOverview = useSessionOverviewMode(activeDefinition?.kind === "recordings");
   const contentActions = useApplicationPanelActions({
-    onAddVehicle,
     definition: activeDefinition,
     refreshRuntime: runtime.refresh,
     resetConnectionScenario: runtime.resetConnectionScenario,
@@ -619,6 +667,7 @@ export default function App() {
     saveWorkspaceLayout,
     workspaceLayoutSaving: workspaceLayoutProfile.state === "saving",
     systemUtilityActions: computeContourSettings.utilityActions,
+    sessionOverview: { ...sessionOverview, available: Boolean(recordedReplay && replayPresented && !sourceSwitchBlocked) },
   });
 
   const header = (
@@ -690,6 +739,7 @@ export default function App() {
           <SystemNavigationPanel
             title={currentRoot.title}
             onAdd={computeContourSettings.openCreate}
+            onNavigateRoot={() => openNavigationView("modules")}
             onClose={workspace.closeNavigation}
           />
         ) : currentRoot ? (
@@ -716,7 +766,7 @@ export default function App() {
               icon: <Icon name={item.icon} />,
             }))}
             activeId={workspace.activeView ?? undefined}
-            onItemChange={openView}
+            onItemChange={openNavigationView}
             footer={
               <>
                 <span className="nodedc-admin-panel__nav-icon" aria-hidden="true">
@@ -726,7 +776,8 @@ export default function App() {
                   {rootWorkspaces.length}{" "}
                   {rootWorkspaces.length === 1
                     ? "рабочая поверхность"
-                    : "рабочих поверхностей"}
+                    : rootWorkspaces.length >= 2 && rootWorkspaces.length <= 4
+                      ? "рабочие поверхности" : "рабочих поверхностей"}
                 </span>
               </>
             }
@@ -737,7 +788,9 @@ export default function App() {
             key={activeDefinition.id}
             eyebrow={activeDefinition.eyebrow}
             title={
-              activeDefinition.kind === "recordings"
+              activeDefinition.kind === "vehicles"
+                ? <>{activeDefinition.title}<span className="fleet-header-title" ref={setWorkspaceHeaderTitleHost}/></>
+                : activeDefinition.kind === "recordings"
               && replayPresented
               && recordedReplayLabel
                 ? `${activeDefinition.title}: ${recordedReplayLabel}`
@@ -781,16 +834,20 @@ export default function App() {
                     settleRecordedReplaySwitch(outcome)}
                   onDeleteBegin={releaseRecordedReplayForDelete}
                 />
-              ) : activeDefinition.kind === "vehicles" ? null : activeDefinition.kind === "datasets" ? (
+              ) : activeDefinition.kind === "missions" ? (
+                <div ref={setWorkspaceHeaderToolsHost} />
+              ) : activeDefinition.kind === "vehicles" ? <div className="fleet-header-tools" ref={setWorkspaceHeaderToolsHost} /> : activeDefinition.kind === "simulations" ? null : activeDefinition.kind === "datasets" ? (
                 <StatusBadge tone="neutral">Offline evaluation</StatusBadge>
               ) : activeDefinition.kind === "lab-archive" ? (
                 laboratoryAnnotation.control
               ) : activeDefinition.kind === "observatory" ? (
                 <StatusBadge tone="neutral">Только наблюдение</StatusBadge>
+              ) : activeDefinition.kind === "contour-health" ? (
+                <div ref={setWorkspaceHeaderToolsHost} />
               ) : activeDefinition.root === "system" ? (
                 <SystemWorkspaceSelector
                   value={activeDefinition.id}
-                  onChange={openView}
+                  onChange={openNavigationView}
                 />
               ) : (
                 <StatusBadge tone="warning">Интерфейс готов</StatusBadge>
@@ -798,16 +855,29 @@ export default function App() {
             }
             utilityActions={contentActions}
             onClose={workspace.closeView}
+          >
+            <PlanningCaptureGuard key={`${activeDefinition.id}:${navigationRevision}`}
+              enabled={launchProfile === 'direct' && (activeDefinition.kind === 'device' || activeDefinition.kind === 'spatial')}
+              onResume={() => openView('local-device', 'planning')}
             >
             {activeDefinition.kind === "device" ? (
+              launchProfile === 'planning' ? <PlanningConnectionWindow>
                 <DeviceWorkspace
-                onOpenSpatialScene={() => openView("spatial-scene")}
+                  onOpenSpatialScene={() => openView("spatial-scene", 'planning')}
                   onActivateAutomaticSpatialSource={activateAutomaticSpatialSource}
                 />
+              </PlanningConnectionWindow> : <DeviceWorkspace
+                onOpenSpatialScene={() => openView("spatial-scene", 'direct')}
+                onActivateAutomaticSpatialSource={activateAutomaticSpatialSource}
+              />
+            ) : activeDefinition.kind === "recordings" && sessionOverview.open && recordedReplay && replayPresented ? (
+              <SessionOverviewWorkspace key={recordedReplay.sessionId} sessionId={recordedReplay.sessionId} />
             ) : (
               <WorkspaceRenderer
+                launchProfile={launchProfile}
                 definition={activeDefinition}
-                fleetCreateRequest={fleetCreateRequest}
+                headerToolsHost={workspaceHeaderToolsHost}
+                headerTitleHost={workspaceHeaderTitleHost}
                 state={activeRuntimeState}
                 backendStatus={runtime.backendStatus}
                 sourceUrl={effectiveSourceUrl}
@@ -848,6 +918,7 @@ export default function App() {
                 }}
               />
             )}
+            </PlanningCaptureGuard>
           </ApplicationPanel>
         ) : null}
       />
@@ -1010,8 +1081,11 @@ export default function App() {
         onClose={() => closeSceneWindow("display")}
       >
         <SceneDisplayControls displayDraft={displayDraft} stageDisplayPatch={stageDisplayPatch}
-          commitDisplayPatch={commitDisplayPatch} flushDisplaySettings={flushDisplaySettings} replayPresented={replayPresented}/>
+          commitDisplayPatch={replayPresented ? stageDisplayPatch : commitDisplayPatch} flushDisplaySettings={flushDisplaySettings} replayPresented={replayPresented}/>
       </Window>
+      <ToastStack items={sessionDisplayProfile.error ? [{id: 'session-display-profile', tone: 'error',
+        title: 'Настройки записи', description: sessionDisplayProfile.error}] : []}
+        onDismiss={sessionDisplayProfile.dismissError} />
 
       <Window
         open={sceneWorkspaceActive && layerInspectorOpen}

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

@@ -5,13 +5,13 @@ import type { WorkspaceDefinition } from "../productModel";
 
 interface ApplicationPanelActionsOptions {
   definition: WorkspaceDefinition | null;
-  onAddVehicle?: () => void;
   refreshRuntime: () => void;
   resetConnectionScenario?: () => Promise<boolean>;
   connectionScenarioResetting: boolean;
   saveWorkspaceLayout: () => Promise<void>;
   workspaceLayoutSaving: boolean;
   systemUtilityActions: readonly ApplicationPanelUtilityAction[];
+  sessionOverview?: { open: boolean; toggle: () => void; available: boolean };
 }
 
 export function deviceRuntimeUtilityAction({
@@ -44,17 +44,16 @@ export function deviceRuntimeUtilityAction({
 
 export function useApplicationPanelActions({
   definition,
-  onAddVehicle,
   refreshRuntime,
   resetConnectionScenario,
   connectionScenarioResetting,
   saveWorkspaceLayout,
   workspaceLayoutSaving,
   systemUtilityActions,
+  sessionOverview,
 }: ApplicationPanelActionsOptions): ApplicationPanelUtilityAction[] {
   return useMemo(() => {
     const actions: ApplicationPanelUtilityAction[] = [];
-    if (definition?.kind === "vehicles" && onAddVehicle) actions.push({ label: "Добавить аппарат", icon: "plus", onClick: onAddVehicle });
     if (definition?.kind === "device") {
       actions.push(deviceRuntimeUtilityAction({
         refreshRuntime,
@@ -71,15 +70,20 @@ 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,
-    onAddVehicle,
     refreshRuntime,
     resetConnectionScenario,
     connectionScenarioResetting,
     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/observationLayout.ts

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

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

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

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

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

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

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

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

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

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

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

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

@@ -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, close: useCallback(() => setOpen(false), []), toggle: useCallback(() => setOpen(v => !v), []) };
+}

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

apps/control-station/src/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: [],
   },
   {
@@ -185,7 +186,7 @@ export const workspaces: WorkspaceDefinition[] = [
     label: "Состояние контура",
     title: "Состояние контура",
     eyebrow: "ПАРК / СОСТОЯНИЕ",
-    description: "Узлы, процессы, сеть и подключённые устройства по данным живого контура.",
+    description: "Связь с Mission Core, вычислителями и бортовыми компьютерами аппаратов.",
     icon: "shield",
     kind: "contour-health",
     groups: [],
@@ -212,50 +213,6 @@ export const workspaces: WorkspaceDefinition[] = [
     kind: "device",
     groups: [],
   },
-  {
-    id: "payload",
-    root: "fleet",
-    label: "Сенсоры и каналы",
-    title: "Сенсоры и каналы",
-    eyebrow: "ПАРК / ПОЛЕЗНАЯ НАГРУЗКА",
-    description: "Полезная нагрузка аппарата и каналы данных, которые она публикует.",
-    icon: "grid",
-    kind: "catalog",
-    groups: [
-      {
-        title: "Пространственные сенсоры",
-        description: "Единый контракт для разных источников.",
-        capabilities: [
-          active("Облако точек", "Доказанный декодированный поток точек текущего устройства."),
-          active("Поза и траектория", "Доказанный поток позы и накопление пути."),
-          contract("Камеры", "Изображение, видео, глубина, внутренние и внешние параметры."),
-          contract("Навигация", "IMU, GNSS/RTK, одометрия и система координат."),
-        ],
-      },
-    ],
-  },
-  {
-    id: "configurations",
-    root: "fleet",
-    label: "Компоновки",
-    title: "Компоновки борта",
-    eyebrow: "ПАРК / КОМПОНОВКИ",
-    description: "Версионируемые сочетания сенсоров, вычислителей, транспорта и питания.",
-    icon: "settings",
-    kind: "catalog",
-    groups: [
-      {
-        title: "Шаблон компоновки",
-        description: "Повторяемая конфигурация для одинаковых аппаратов.",
-        capabilities: [
-          contract("Состав модулей", "Сенсоры, адаптеры, обработчики и зависимости."),
-          contract("Калибровки", "Системы координат, преобразования, внутренние и внешние параметры."),
-          contract("Профиль сети", "Локальная сеть, ячеистая сеть, LTE и серверный маршрут."),
-          later("Развёртывание на борт", "Пакет конфигурации и контролируемое обновление."),
-        ],
-      },
-    ],
-  },
   {
     id: "spatial-scene",
     root: "polygon",
@@ -402,11 +359,11 @@ 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 +371,7 @@ 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/styles/workspaces.css

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