Добавить имитаторы МЛЭ и ГБО с 3D-сценой, съёмкой рельефа и пресетами.

Вкладки позволяют готовить рельеф, двигать АНПА, накапливать поверхность по лучам и сохранять скриншоты окон; ГБО использует бортовые секторы 12–75° и чёрные зоны вне обзора.

Co-authored-by: Cursor <cursoragent@cursor.com>

backend/main.py

@@ -18,7 +18,15 @@ from pydantic import BaseModel
 from builtin_presets import BUILTIN_PRESETS, get_builtin_preset
 from demo_generator import DEMO_SURFACE_TYPES, demo_payload
 from pipeline_insights import compute_insights
-from dataset_generator import iter_generate_dataset, load_object_points_from_obj_text, load_scene_preview
+from dataset_generator import (
+    iter_generate_dataset,
+    list_dataset_runs,
+    load_dataset_run,
+    load_object_points_from_obj_text,
+    load_scene_preview,
+    resolve_output_dir,
+)
+from mle_simulator import load_last_settings, prepare_mle_scene, save_last_settings, save_survey_surface
 from scene_generator import (
     catalog_payload as generator_catalog_payload,
     export_npy_float64,
@@ -123,6 +131,54 @@ class DatasetPreviewBody(BaseModel):
     maxPoints: int = 25000
 
 
+class DatasetLoadBody(BaseModel):
+    outputDir: str
+
+
+class MlePrepareBody(BaseModel):
+    seed: int = 42
+    sizeX: float = 40.0
+    sizeY: float = 60.0
+    resX: int = 80
+    resY: int = 120
+    outputDir: str = "mle_runs"
+    settings: dict[str, Any] | None = None
+
+
+class MleSaveSurfaceBody(BaseModel):
+    outputDir: str
+    vertices: list[list[float]]
+    faces: list[list[int]]
+    filename: str = "seafloor.obj"
+
+
+class MleSettingsBody(BaseModel):
+    outputDir: str = "mle_runs"
+    settings: dict[str, Any]
+
+
+class GboPrepareBody(BaseModel):
+    seed: int = 42
+    sizeX: float = 40.0
+    sizeY: float = 60.0
+    resX: int = 80
+    resY: int = 120
+    outputDir: str = "gbo_runs"
+    settings: dict[str, Any] | None = None
+
+
+class GboSaveSurfaceBody(BaseModel):
+    outputDir: str
+    vertices: list[list[float]]
+    faces: list[list[int]]
+    filename: str = "seafloor.obj"
+
+
+class GboSettingsBody(BaseModel):
+    outputDir: str = "gbo_runs"
+    settings: dict[str, Any]
+
+
 def preset_to_pipeline_config(preset: dict[str, Any]) -> dict[str, Any]:
     if "preprocessPlugins" in preset and "reconstructionPlugin" in preset:
         return preset
@@ -481,6 +537,26 @@ def dataset_preview(body: DatasetPreviewBody) -> dict[str, Any]:
         raise HTTPException(status_code=500, detail=f"Failed to load scene: {exc}") from exc
 
 
+@app.get("/api/dataset/runs")
+def dataset_runs(outputDir: str = "sonar_dataset") -> dict[str, Any]:
+    try:
+        base_path = resolve_output_dir(outputDir or "sonar_dataset")
+        runs = list_dataset_runs(outputDir or "sonar_dataset")
+        return {"baseDir": str(base_path), "runs": runs}
+    except OSError as exc:
+        raise HTTPException(status_code=500, detail=f"Failed to list dataset runs: {exc}") from exc
+
+
+@app.post("/api/dataset/load")
+def dataset_load(body: DatasetLoadBody) -> dict[str, Any]:
+    try:
+        return load_dataset_run(body.outputDir)
+    except FileNotFoundError as exc:
+        raise HTTPException(status_code=404, detail=str(exc)) from exc
+    except OSError as exc:
+        raise HTTPException(status_code=500, detail=f"Failed to load dataset run: {exc}") from exc
+
+
 @app.post("/api/generator/export")
 def generator_export(body: GeneratorExportBody) -> Response:
     from urllib.parse import quote
@@ -718,5 +794,123 @@ def dataset_spa() -> FileResponse:
     return index()
 
 
+@app.get("/mle")
+def mle_spa() -> FileResponse:
+    return index()
+
+
+@app.post("/api/mle/prepare")
+def mle_prepare(body: MlePrepareBody) -> dict[str, Any]:
+    try:
+        result = prepare_mle_scene(
+            seed=body.seed,
+            size_x=body.sizeX,
+            size_y=body.sizeY,
+            res_x=body.resX,
+            res_y=body.resY,
+            output_dir=body.outputDir or "mle_runs",
+            settings=body.settings,
+        )
+        if body.settings:
+            try:
+                save_last_settings(body.settings, output_dir=body.outputDir or "mle_runs")
+            except OSError:
+                pass
+        return result
+    except ValueError as exc:
+        raise HTTPException(status_code=400, detail=str(exc)) from exc
+    except OSError as exc:
+        raise HTTPException(status_code=500, detail=f"Failed to prepare MLE scene: {exc}") from exc
+
+
+@app.get("/api/mle/settings")
+def mle_get_settings(outputDir: str = "mle_runs") -> dict[str, Any]:
+    return load_last_settings(output_dir=outputDir or "mle_runs")
+
+
+@app.put("/api/mle/settings")
+def mle_put_settings(body: MleSettingsBody) -> dict[str, Any]:
+    try:
+        return save_last_settings(body.settings or {}, output_dir=body.outputDir or "mle_runs")
+    except OSError as exc:
+        raise HTTPException(status_code=500, detail=f"Failed to save MLE settings: {exc}") from exc
+
+
+@app.post("/api/mle/save-surface")
+def mle_save_surface(body: MleSaveSurfaceBody) -> dict[str, Any]:
+    try:
+        return save_survey_surface(
+            output_dir=body.outputDir,
+            vertices=body.vertices,
+            faces=body.faces,
+            filename=body.filename or "seafloor.obj",
+        )
+    except FileNotFoundError as exc:
+        raise HTTPException(status_code=404, detail=str(exc)) from exc
+    except ValueError as exc:
+        raise HTTPException(status_code=400, detail=str(exc)) from exc
+    except OSError as exc:
+        raise HTTPException(status_code=500, detail=f"Failed to save survey surface: {exc}") from exc
+
+
+@app.get("/gbo")
+def gbo_spa() -> FileResponse:
+    return index()
+
+
+@app.post("/api/gbo/prepare")
+def gbo_prepare(body: GboPrepareBody) -> dict[str, Any]:
+    try:
+        result = prepare_mle_scene(
+            seed=body.seed,
+            size_x=body.sizeX,
+            size_y=body.sizeY,
+            res_x=body.resX,
+            res_y=body.resY,
+            output_dir=body.outputDir or "gbo_runs",
+            settings=body.settings,
+        )
+        if body.settings:
+            try:
+                save_last_settings(body.settings, output_dir=body.outputDir or "gbo_runs")
+            except OSError:
+                pass
+        return result
+    except ValueError as exc:
+        raise HTTPException(status_code=400, detail=str(exc)) from exc
+    except OSError as exc:
+        raise HTTPException(status_code=500, detail=f"Failed to prepare GBO scene: {exc}") from exc
+
+
+@app.get("/api/gbo/settings")
+def gbo_get_settings(outputDir: str = "gbo_runs") -> dict[str, Any]:
+    return load_last_settings(output_dir=outputDir or "gbo_runs")
+
+
+@app.put("/api/gbo/settings")
+def gbo_put_settings(body: GboSettingsBody) -> dict[str, Any]:
+    try:
+        return save_last_settings(body.settings or {}, output_dir=body.outputDir or "gbo_runs")
+    except OSError as exc:
+        raise HTTPException(status_code=500, detail=f"Failed to save GBO settings: {exc}") from exc
+
+
+@app.post("/api/gbo/save-surface")
+def gbo_save_surface(body: GboSaveSurfaceBody) -> dict[str, Any]:
+    try:
+        return save_survey_surface(
+            output_dir=body.outputDir,
+            vertices=body.vertices,
+            faces=body.faces,
+            filename=body.filename or "seafloor.obj",
+        )
+    except FileNotFoundError as exc:
+        raise HTTPException(status_code=404, detail=str(exc)) from exc
+    except ValueError as exc:
+        raise HTTPException(status_code=400, detail=str(exc)) from exc
+    except OSError as exc:
+        raise HTTPException(status_code=500, detail=f"Failed to save GBO survey surface: {exc}") from exc
+
+
 if (WEB_DIST / "assets").is_dir():
     app.mount("/assets", StaticFiles(directory=WEB_DIST / "assets"), name="assets")