feat: finalize corrected-route planning and Rerun recording review
This commit is contained in:
DCCONSTRUCTIONS
Generated
+1
@@ -7,6 +7,7 @@
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"": {
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"name": "@nodedc/mission-core-control-station",
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"version": "0.1.0",
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"hasInstallScript": true,
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"dependencies": {
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"@noble/hashes": "^2.2.0",
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"@nodedc/map-cesium-react": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/map-cesium-react",
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@@ -5,6 +5,8 @@
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"type": "module",
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"scripts": {
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"dev": "vite",
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"postinstall": "node scripts/install-rerun-navigation.mjs",
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"prebuild": "node scripts/install-rerun-navigation.mjs",
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"build": "tsc -b && vite build",
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"preview": "vite preview",
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"test:unit": "node --test test/*.test.mjs",
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@@ -0,0 +1,59 @@
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import { createHash } from "node:crypto";
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import { readFileSync, writeFileSync } from "node:fs";
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import { dirname, resolve } from "node:path";
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import { fileURLToPath } from "node:url";
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const root = resolve(dirname(fileURLToPath(import.meta.url)), "..");
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const packageRoot = resolve(root, "node_modules/@rerun-io/web-viewer");
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const vendorRoot = resolve(root, "vendor/rerun-web-viewer-0.36.3");
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const manifest = JSON.parse(readFileSync(resolve(vendorRoot, "navigation-build.json"), "utf8"));
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const installed = JSON.parse(readFileSync(resolve(packageRoot, "package.json"), "utf8"));
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const sha = bytes => createHash("sha256").update(bytes).digest("hex");
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if (installed.version !== "0.36.3" || manifest.upstreamVersion !== installed.version) {
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throw new Error("Rerun navigation requires the audited 0.36.3 package; rebase before upgrading");
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}
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if (sha(readFileSync(resolve(vendorRoot, "NODEDC_NAVIGATION.patch"))) !== manifest.patchSha256) {
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throw new Error("Rerun navigation source patch identity mismatch");
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}
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const eyeType = "{ position: [number, number, number]; lookTarget: [number, number, number]; eyeUp: [number, number, number] } | null";
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const additions = {
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"index.js": {
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marker: " get_active_recording_id() {",
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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`,
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},
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"index.ts": {
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marker: " get_active_recording_id(): string | null {",
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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`,
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},
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"index.d.ts": {
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marker: " get_active_recording_id(): string | null;",
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code: ` get_camera_eye(): ${eyeType};\n`,
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},
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};
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// Validate the complete set before changing any installed file. A package
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// upgrade, corrupt artifact or independently modified wrapper fails closed.
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const writes = [];
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for (const [name, identity] of Object.entries(manifest.files)) {
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const current = readFileSync(resolve(packageRoot, name));
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let output;
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if (additions[name]) {
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const { marker, code } = additions[name];
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const source = current.toString("utf8");
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const original = source.includes(code) ? source.replace(code, "") : source;
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if (sha(original) !== identity.upstreamSha256 || original.split(marker).length !== 2) {
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throw new Error(`Unexpected upstream wrapper: ${name}`);
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}
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output = Buffer.from(original.replace(marker, code + marker));
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} else {
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output = readFileSync(resolve(vendorRoot, identity.artifact));
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if (sha(output) !== identity.sha256) throw new Error(`Corrupt navigation artifact: ${name}`);
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if (![identity.upstreamSha256, identity.sha256].includes(sha(current))) {
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throw new Error(`Unexpected installed runtime: ${name}`);
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}
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}
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writes.push([resolve(packageRoot, name), output]);
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}
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for (const [path, output] of writes) writeFileSync(path, output);
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console.log("Installed NODE.DC Rerun 0.36.3 navigation/v1 (native camera, one renderer).");
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@@ -14,6 +14,7 @@ import {
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Inspector,
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StatusBadge,
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TextField,
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ToastStack,
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UserProfileMenu,
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Window,
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WindowFooterActions,
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@@ -49,6 +50,7 @@ import type {
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} from "./core/observation/sessionArchive";
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import { useRecordedSessionAdmission } from "./core/observation/useRecordedSessionAdmission";
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import { useWorkspaceLayoutProfile } from "./core/observation/useWorkspaceLayoutProfile";
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import { useSessionDisplayProfile } from "./core/observation/useSessionDisplayProfile";
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import { viewerSettingsTargetIdentity } from "./core/observation/viewerSettingsTarget";
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import { resolvePolygonRunRoute } from "./core/polygon/runArchive";
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import {
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@@ -181,6 +183,7 @@ export default function App() {
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const appliedProfileKeyRef = useRef<string | null>(null);
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const sceneSettingsRef = useRef<SceneSettings>(defaultSceneSettings);
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const displayDraftRef = useRef<SceneSettings>(defaultSceneSettings);
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const closeDisplayRef = useRef<() => void>(() => {});
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const confirmedSceneSettingsRef = useRef<SceneSettings>(defaultSceneSettings);
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const viewerSettingsCommitTimerRef = useRef<number | null>(null);
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const runtimeUpdateViewerSettingsRef = useRef(runtime.updateViewerSettings);
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@@ -228,6 +231,13 @@ export default function App() {
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);
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runtimeUpdateViewerSettingsRef.current = runtime.updateViewerSettings;
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replayActiveRef.current = replayPresented;
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const sessionDisplayProfile = useSessionDisplayProfile(replayPresented ? recordedReplay?.sessionId ?? null : null, (settings) => {
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sceneSettingsRef.current = settings;
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displayDraftRef.current = settings;
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confirmedSceneSettingsRef.current = settings;
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setSceneSettings(settings);
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setDisplayDraft(settings);
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});
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useEffect(() => {
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if (!polygonDatasetRoute.active || polygonDatasetRouteOpenedRef.current) return;
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@@ -310,6 +320,7 @@ export default function App() {
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const remote = runtime.state?.viewerSettings;
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if (
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!remote ||
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replayActiveRef.current ||
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workspaceLayoutProfile.profile ||
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sceneSettingsCommitterRef.current?.isBusy()
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) return;
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@@ -332,7 +343,7 @@ export default function App() {
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useEffect(() => {
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const profile = workspaceLayoutProfile.profile;
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if (!profile) return;
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if (!profile || selectedRecordedSessionIdRef.current) return;
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if (viewerSettingsCommitTimerRef.current !== null) {
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window.clearTimeout(viewerSettingsCommitTimerRef.current);
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viewerSettingsCommitTimerRef.current = null;
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@@ -403,7 +414,10 @@ export default function App() {
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const closeSceneWindow = useCallback((windowId: SceneToolWindowId) => {
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if (windowId === "sources") setSourceWindowOpen(false);
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if (windowId === "display") setDisplayWindowOpen(false);
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if (windowId === "display") {
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setDisplayWindowOpen(false);
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closeDisplayRef.current();
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}
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if (windowId === "layers") setLayerInspectorOpen(false);
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setSceneWindowOrder((current) => current.filter((candidate) => candidate !== windowId));
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}, []);
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@@ -464,14 +478,22 @@ export default function App() {
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const next = { ...displayDraftRef.current, ...patch };
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displayDraftRef.current = next;
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setDisplayDraft(next);
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sessionDisplayProfile.edited();
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if (viewerSettingsCommitTimerRef.current !== null) {
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window.clearTimeout(viewerSettingsCommitTimerRef.current);
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}
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// Preview and persistence are separate. An open inspector must not freeze
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// either its controls or the shared accumulation slider below the scene.
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if (replayActiveRef.current && (patch.pointDecimationPercent === 0 || patch.pointDecimationPercent === 100)) {
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viewerSettingsCommitTimerRef.current = null;
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sceneSettingsCommitterRef.current?.enqueue(next);
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return;
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}
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viewerSettingsCommitTimerRef.current = window.setTimeout(() => {
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viewerSettingsCommitTimerRef.current = null;
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sceneSettingsCommitterRef.current?.enqueue(displayDraftRef.current);
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}, viewerSettingsQuietPeriodMs);
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}, []);
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}, [sessionDisplayProfile.edited]);
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const flushDisplaySettings = useCallback(() => {
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if (viewerSettingsCommitTimerRef.current === null) return;
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@@ -481,8 +503,15 @@ export default function App() {
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}, []);
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const commitDisplayPatch = useCallback((patch: Partial<SceneSettings>) => {
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sessionDisplayProfile.edited();
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commitDisplaySettings({ ...displayDraftRef.current, ...patch });
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}, [commitDisplaySettings]);
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}, [commitDisplaySettings, sessionDisplayProfile.edited]);
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closeDisplayRef.current = () => {
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const settings = {...displayDraftRef.current};
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commitDisplaySettings(settings);
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if (replayActiveRef.current) sessionDisplayProfile.save(settings);
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};
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const openDisplay = () => {
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if (!sceneWorkspaceActive) return;
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@@ -1036,8 +1065,11 @@ export default function App() {
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onClose={() => closeSceneWindow("display")}
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>
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<SceneDisplayControls displayDraft={displayDraft} stageDisplayPatch={stageDisplayPatch}
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commitDisplayPatch={commitDisplayPatch} flushDisplaySettings={flushDisplaySettings} replayPresented={replayPresented}/>
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commitDisplayPatch={replayPresented ? stageDisplayPatch : commitDisplayPatch} flushDisplaySettings={flushDisplaySettings} replayPresented={replayPresented}/>
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</Window>
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<ToastStack items={sessionDisplayProfile.error ? [{id: 'session-display-profile', tone: 'error',
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title: 'Настройки записи', description: sessionDisplayProfile.error}] : []}
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onDismiss={sessionDisplayProfile.dismissError} />
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<Window
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open={sceneWorkspaceActive && layerInspectorOpen}
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@@ -124,7 +124,7 @@ export function ObservationSessionSelect({
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const [deleteTarget, setDeleteTarget] = useState<ObservationSessionSummary | null>(null);
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const sessions = useObservationSessions({
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limit,
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scope: "source",
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scope: "standalone",
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replayEnabled: blockedReason === null,
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onReplayBegin,
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onReplayAccepted,
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@@ -8,6 +8,7 @@ import {
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} from "./rerun/recordedRerunCameraJournal";
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import type { SceneSettings } from "../sceneSettings";
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import {useRecordedPointDisplay} from './rerun/useRecordedPointDisplay';
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import {
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advanceLiveReceiverOpenWatchdog,
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advanceLiveReceiverWatchdog,
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@@ -130,6 +131,7 @@ export interface RerunViewportProps {
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onPlaybackControllerChange?: (controller: RerunPlaybackController | null) => void;
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sceneSettings?: Pick<
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SceneSettings,
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| "pointDecimationPercent"
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| "accumulationSeconds"
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| "showGrid"
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| "showPoints"
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@@ -148,14 +150,8 @@ interface RerunBlueprintChannel {
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cameraContract?: string | null;
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appliedFollowTrajectory?: boolean | null;
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pendingFollowCameraEye?: RecordedRerunCameraEye | null;
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configureCameraJournal?: (
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eye: RecordedRerunCameraEye,
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spatialViewportStart: number,
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) => void;
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getCameraEye?: () => RecordedRerunCameraEye;
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setCameraViewportStart?: (spatialViewportStart: number) => void;
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getCameraEye?: () => RecordedRerunCameraEye | null;
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getCurrentTimeNs?: () => number | null;
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setCameraMaxOrbitalRadius?: (maxOrbitalRadius: number) => void;
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channel: {
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readonly ready: boolean;
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send_rrd: (rrdBytes: Uint8Array) => void;
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@@ -421,6 +417,7 @@ export async function fetchRecordedBlueprintRrd(
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currentTimeNs,
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reactivateUpdates = false,
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onCameraMaxOrbitalRadius,
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displayPointBank,
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perceptionLayers = {
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enabled: false,
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detections2d: false,
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@@ -444,12 +441,17 @@ export async function fetchRecordedBlueprintRrd(
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currentTimeNs?: number | null;
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reactivateUpdates?: boolean;
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onCameraMaxOrbitalRadius?: (maxOrbitalRadius: number) => void;
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displayPointBank?: string | null;
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perceptionLayers?: RecordedPerceptionLayers;
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fetcher?: typeof globalThis.fetch;
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},
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): Promise<Uint8Array> {
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const resolvedUnifiedPerception =
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unifiedPerception ?? (perceptionLayers.enabled && activeView !== "spatial");
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// Rerun exposes its interpolated TimeReal cursor as f64 nanoseconds, even
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// when paused after seeking. The API needs an integer pose-query timestamp.
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// Quantize at this boundary; never round the viewer's actual playback cursor.
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const requestTimeNs = currentTimeNs == null ? currentTimeNs : Math.round(currentTimeNs);
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const base = new URL(origin);
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const endpoint = new URL(endpointUrl, base.origin);
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if (
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@@ -481,7 +483,7 @@ export async function fetchRecordedBlueprintRrd(
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...cameraEye.eyeUp,
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].some((value) => !Number.isFinite(value))) ||
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(currentTimeNs !== undefined && currentTimeNs !== null && (
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!Number.isSafeInteger(currentTimeNs) || currentTimeNs < 0
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!Number.isSafeInteger(requestTimeNs) || currentTimeNs < 0
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)) ||
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[
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perceptionLayers.enabled,
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@@ -508,6 +510,7 @@ export async function fetchRecordedBlueprintRrd(
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application_id: identity.applicationId,
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recording_id: identity.recordingId,
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blueprint_session_id: blueprintSessionId,
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...(displayPointBank == null ? {} : {display_point_bank: displayPointBank}),
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accumulation_seconds: settings.accumulationSeconds,
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show_grid: settings.showGrid,
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show_points: settings.showPoints,
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@@ -528,7 +531,7 @@ export async function fetchRecordedBlueprintRrd(
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eye_up: cameraEye?.eyeUp ?? null,
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...(eyeRelativeToTracking ? { eye_relative_to_tracking: true } : {}),
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...(currentTimeNs === undefined || currentTimeNs === null ? {} : {
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current_time_ns: currentTimeNs,
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current_time_ns: requestTimeNs,
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}),
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show_detections_2d: perceptionLayers.detections2d,
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show_camera_image: perceptionLayers.cameraImage ?? true,
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@@ -585,10 +588,8 @@ export function recordedCameraJournalContract(
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followTrajectory: boolean;
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},
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): string {
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// Following is a tracking property of the current native eye. It must never
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// initialize the browser journal again: doing so replaces the operator's
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// current pose with the startup preset immediately before the blueprint is
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// sent. Plan/3D and explicit reset are the only preset transitions.
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// Following uses the native eye snapshot, never the startup preset.
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// Plan/3D and explicit reset are the only preset transitions.
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return [activeView, viewResetGeneration, planView].join(":");
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}
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@@ -841,6 +842,7 @@ function RerunViewportInstance({
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const presentationGateRef = useRef(presentationGate);
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presentationGateRef.current = presentationGate;
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const [blueprintChannelRevision, setBlueprintChannelRevision] = useState(0);
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const [pointDisplayVisibilityGate, setPointDisplayVisibilityGate] = useState('');
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const [perceptionChannelRevision, setPerceptionChannelRevision] = useState(0);
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const recordedBlueprintUrl = sourceUrl
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? resolveRecordedBlueprintUrl(
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@@ -857,6 +859,17 @@ function RerunViewportInstance({
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const recordedPointColorsUrl = recordedBlueprintUrl
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? recordedBlueprintUrl.replace(/\/blueprint\.rrd$/, "/point-colors.rrd")
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: sourceUrl ? resolveRecordedPointColorsUrl(sourceUrl, window.location.origin) : null;
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const pointDisplay = useRecordedPointDisplay({
|
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endpoint: recordedBlueprintUrl, settings: sceneSettings, revision: blueprintChannelRevision,
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sourceGeneration: recordedArtifact?.sha256,
|
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ready: status === 'ready' && pointDisplayVisibilityGate === `${recordedBlueprintUrl}:${blueprintChannelRevision}`,
|
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onLoad: onPointColorLoadChange,
|
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getOwner: () => {
|
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const active = blueprintChannelRef.current;
|
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const identity = recordedIdentityRef.current;
|
||||
return active?.channel.ready && identity ? {identity, send: bytes => active.channel.send_rrd(bytes)} : null;
|
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},
|
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});
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const presentationStatus = rerunPresentationStatus(
|
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status,
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presentationGate,
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@@ -1638,29 +1651,14 @@ function RerunViewportInstance({
|
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cameraContract: null,
|
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appliedFollowTrajectory: null,
|
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pendingFollowCameraEye: null,
|
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configureCameraJournal: (eye, spatialViewportStart) => {
|
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if ("configure_camera_journal" in viewer) {
|
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viewer.configure_camera_journal(eye, spatialViewportStart);
|
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}
|
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},
|
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getCameraEye: () => "get_camera_eye" in viewer
|
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? viewer.get_camera_eye()
|
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: RECORDED_RERUN_ORBITAL_EYE,
|
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setCameraViewportStart: (spatialViewportStart) => {
|
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if ("set_camera_viewport_start" in viewer) {
|
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viewer.set_camera_viewport_start(spatialViewportStart);
|
||||
}
|
||||
},
|
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: null,
|
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getCurrentTimeNs: () => {
|
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const currentIdentity = recordedIdentityRef.current;
|
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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 (
|
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@@ -2089,6 +2088,7 @@ function RerunViewportInstance({
|
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sceneSettings?.colorMode,
|
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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 (
|
||||
|
||||
@@ -2,11 +2,11 @@ import type {ReactNode} from "react";
|
||||
import { Button, LoadingRegion } from "@nodedc/ui-react";
|
||||
import { useSessionOverview } from "../../core/observation/useSessionOverview";
|
||||
import { SessionOverviewScene } from "../observation/SessionOverviewScene";
|
||||
export function MissionZonePreview({ sessionId, toolbar }: { sessionId: string; toolbar?:ReactNode }) {
|
||||
export function MissionZonePreview({ sessionId, generation, toolbar }: { sessionId: string; generation: string; toolbar?:ReactNode }) {
|
||||
const { data, error, retry } = useSessionOverview(sessionId);
|
||||
const pending = !error && (!data || data.state === "queued" || data.state === "preparing");
|
||||
const failure = error || (data?.state === "error" ? data.message : null);
|
||||
if (pending) return <LoadingRegion loading label="Подготовка облака зоны" className="mission-planner__zone-loading" />;
|
||||
if (failure || !data?.scene_url) return <div className="session-overview__empty"><span>{failure || "Облако записи недоступно."}</span><Button onClick={retry}>Повторить</Button></div>;
|
||||
return <SessionOverviewScene sourceUrl={data.scene_url} toolbar={toolbar} hideTitle />;
|
||||
return <SessionOverviewScene sourceUrl={`${data.scene_url}&reference_generation=${encodeURIComponent(generation)}`} toolbar={toolbar} hideTitle />;
|
||||
}
|
||||
|
||||
@@ -1,53 +1,30 @@
|
||||
import { Button, Icon, Inspector, InspectorSelectField, LoadingRegion, RangeControl, SegmentedControl, TextField } from '@nodedc/ui-react';
|
||||
import { endAtDistance, indexAtDistance, routeLength, canSelectSession, canStartPlanningRoute } from '../../core/missions/planner';
|
||||
import { Button, Icon, Inspector, InspectorSelectField, TextField } from '@nodedc/ui-react';
|
||||
import { routeLength, canStartPlanningRoute } from '../../core/missions/planner';
|
||||
import type { useMissionPlanner } from '../../core/missions/useMissionPlanner';
|
||||
import type { useRegistrationTest } from '../../core/missions/useRegistrationTest';
|
||||
|
||||
export function PlanningProjectSettings({p,t,mode,setMode,onStart,starting}:{
|
||||
p:ReturnType<typeof useMissionPlanner>; t:ReturnType<typeof useRegistrationTest>;
|
||||
mode:'scanner'|'recording';setMode:(mode:'scanner'|'recording')=>void;onStart:()=>void;starting:boolean;
|
||||
export function PlanningProjectSettings({p,onStart,starting}:{
|
||||
p:ReturnType<typeof useMissionPlanner>; onStart:()=>void; starting:boolean;
|
||||
}) {
|
||||
const disabled=p.busy||starting;
|
||||
const length=routeLength(p.poses);
|
||||
return <Inspector variant="panel" defaultOpen={['project','zone','route','query']} sections={[
|
||||
const routeReady=canStartPlanningRoute(length,'scanner');
|
||||
return <><Inspector variant="panel" defaultOpen={['project','zone']} sections={[
|
||||
{id:'project',label:'Проект',icon:<Icon name="file"/>,content:<div className="inspector-control-stack">
|
||||
<TextField label="Название проекта" placeholder="Название совмещения" value={p.name} maxLength={120} disabled={disabled} onChange={e=>p.setName(e.target.value)}/>
|
||||
</div>},
|
||||
{id:'zone',label:'Эталон',icon:<Icon name="globe"/>,content:<div className="inspector-control-stack">
|
||||
<InspectorSelectField label="Сохранённая запись" searchable value={p.sessionId} options={p.options} disabled={disabled||p.catalogBusy} onChange={p.chooseSource}/>
|
||||
{p.cursor&&<Button disabled={p.catalogBusy} onClick={()=>void p.loadMore()}>Ещё записи</Button>}
|
||||
{p.source&&<small>{p.source.poses.length.toLocaleString('ru-RU')} положений · {p.source.path_m.toFixed(2)} м</small>}
|
||||
</div>},
|
||||
{id:'route',label:'Участок эталона',icon:<Icon name="plan"/>,content:<div className="inspector-control-stack">
|
||||
{p.source&&!p.sourceChanged?<>
|
||||
<RangeControl label="Начало участка" value={p.source.poses[p.start]?.distance_m??0} min={0} max={p.source.poses[p.source.poses.length-2].distance_m} step="any" disabled={disabled}
|
||||
formatValue={n=>`${n.toFixed(1)} м`} onChange={distance=>{const n=indexAtDistance(p.source!,distance,0,p.source!.poses.length-2);p.setStart(n);if(n>=p.end)p.setEnd(n+1);}}/>
|
||||
<RangeControl label="Конец участка" value={p.source.poses[p.end]?.distance_m??0} min={p.source.poses[p.start+1]?.distance_m??0} max={p.source.path_m} step="any" disabled={disabled}
|
||||
formatValue={n=>`${n.toFixed(1)} м`} onChange={distance=>p.setEnd(indexAtDistance(p.source!,distance,p.start+1,p.source!.poses.length-1,true))}/>
|
||||
<Button disabled={disabled} onClick={()=>p.setEnd(endAtDistance(p.source!,p.start,30))}>30 м от начала участка</Button>
|
||||
<Button disabled={disabled} onClick={()=>{p.setStart(0);p.setEnd(p.source!.poses.length-1);}}>Вся траектория</Button>
|
||||
{p.source&&<>
|
||||
<small>Вся запись · {p.source.path_m.toFixed(2)} м · {p.source.poses.length.toLocaleString('ru-RU')} положений</small>
|
||||
<InspectorSelectField label="Направление" value={p.direction} onChange={p.setDirection} disabled={disabled} options={[{value:'forward',label:'По записи'},{value:'reverse',label:'В обратную сторону'}]}/>
|
||||
<small>{length.toFixed(2)} м · {p.poses.length.toLocaleString('ru-RU')} положений</small>
|
||||
</>:<p>Выберите сохранённую запись эталона.</p>}
|
||||
</div>},
|
||||
{id:'query',label:'Повторный проход',icon:<Icon name="activity"/>,content:<div className="inspector-control-stack">
|
||||
<SegmentedControl label="Источник повторного прохода" value={mode} onChange={setMode} items={[{value:'scanner',label:'Новый проход',disabled},{value:'recording',label:'Из записи',disabled}]}/>
|
||||
{mode==='scanner'?<p>После запуска откроется подключение сканера. Новый проход записывается отдельным проектом.</p>:<>
|
||||
<InspectorSelectField label="Повторная запись" value={t.sessionId} disabled={disabled} searchable onChange={t.setSessionId}
|
||||
options={[{value:'',label:'Выберите повторный проход'},...p.sessions.filter(canSelectSession).map(s=>({value:s.id,label:s.label,description:s.id===p.sessionId?'Та же запись · внутренняя проверка':'Сохранённые облако и траектория'}))]}/>
|
||||
<LoadingRegion loading={t.loading} label="Подготовка повторного прохода">
|
||||
{t.source&&<div className="inspector-control-stack">
|
||||
<RangeControl label="Начало повторного участка" min={0} max={t.source.poses[t.source.poses.length-2].distance_m} step="any" value={t.source.poses[t.start].distance_m} disabled={disabled} formatValue={n=>`${n.toFixed(1)} м`}
|
||||
onChange={n=>{const start=indexAtDistance(t.source!,n,0,t.source!.poses.length-2);t.setStart(start);t.setEnd(endAtDistance(t.source!,start,20));}}/>
|
||||
<RangeControl label="Конец повторного участка" min={t.source.poses[t.start+1].distance_m} max={t.source.path_m} step="any" value={t.source.poses[t.end].distance_m} disabled={disabled} formatValue={n=>`${n.toFixed(1)} м`} onChange={n=>t.setEnd(indexAtDistance(t.source!,n,t.start+1))}/>
|
||||
</div>}
|
||||
</LoadingRegion>
|
||||
</>}
|
||||
<small>{mode==='scanner'
|
||||
?'Длина выбранного участка задаёт предел прохода. Ограничения по времени нет; запись сканера не останавливается автоматически. Неподвижная калибровка просматривает весь выбранный маршрут. После калибровки оставайтесь на месте до статуса «Сопровождение»; при отсутствии или неоднозначности совпадения сцена прямо сообщит причину и не начнёт сопровождение.'
|
||||
:'Участки от 3 до 40 м. Начальная привязка — выбранное место старта и одинаковое направление.'}</small>
|
||||
<Button variant="primary" loading={starting} disabled={disabled||!p.ready||!canStartPlanningRoute(length,mode)||(mode==='recording'&&(!t.source||t.loading||!canStartPlanningRoute(t.length,'recording')))} onClick={onStart}><Icon name="play"/>{mode==='scanner'?'Начать новый проход':'Запустить совмещение'}</Button>
|
||||
{(p.error||t.error)&&<p role="alert">{p.error||t.error}</p>}
|
||||
</div>},
|
||||
]}/>;
|
||||
]}/>
|
||||
<div className="inspector-control-stack">
|
||||
{p.source&&!routeReady&&<small>В записи недостаточно перемещения для привязки. Выберите другой эталон.</small>}
|
||||
<Button variant="primary" loading={starting} disabled={disabled||!p.ready||!routeReady} onClick={onStart}><Icon name="play"/>Начать новый проход</Button>
|
||||
{p.error&&<p role="alert">{p.error}</p>}
|
||||
</div>
|
||||
</>;
|
||||
}
|
||||
|
||||
@@ -2,10 +2,10 @@ import { type ReactNode, useEffect, useRef, useState } from "react";
|
||||
import { Button, LoadingRegion, RangeControl, SegmentedControl } from "@nodedc/ui-react";
|
||||
import { createIsolatedRerunHost } from "../rerun/isolatedRerunHost";
|
||||
import type { RecordedRerunViewer } from "../rerun/recordedRerunFacade";
|
||||
import { fetchOverviewSpatial, updateOverviewSpatial, type OverviewSpatialMetadata, type OverviewViewMode } from "../../core/observation/sessionOverviewSpatial";
|
||||
import { fetchOverviewSpatial, updateOverviewSpatial, type OverviewSpatialMetadata, type OverviewViewMode, type OverviewRepresentation } from "../../core/observation/sessionOverviewSpatial";
|
||||
|
||||
/** A separate, bounded static recording; teardown releases the whole WASM realm. */
|
||||
export function SessionOverviewScene({ sourceUrl, toolbar, hideTitle=false }: { sourceUrl: string; toolbar?:ReactNode; hideTitle?:boolean }) {
|
||||
export function SessionOverviewScene({ sourceUrl, toolbar, hideTitle=false, compareVersions=false }: { sourceUrl: string; toolbar?:ReactNode; hideTitle?:boolean; compareVersions?:boolean }) {
|
||||
const host = useRef<HTMLDivElement>(null);
|
||||
const [state, setState] = useState<"loading" | "ready" | "error">("loading");
|
||||
const [retry, setRetry] = useState(0);
|
||||
@@ -14,6 +14,10 @@ export function SessionOverviewScene({ sourceUrl, toolbar, hideTitle=false }: {
|
||||
const [mode, setMode] = useState<OverviewViewMode>("3d");
|
||||
const [viewError, setViewError] = useState<string | null>(null);
|
||||
const [visiblePoints, setVisiblePoints] = useState<number | null>(null);
|
||||
const [representation, setRepresentation] = useState<OverviewRepresentation>("original");
|
||||
const [appliedRepresentation, setAppliedRepresentation] = useState<OverviewRepresentation>("original");
|
||||
const [updating, setUpdating] = useState(false);
|
||||
const comparison = metadata?.comparison;
|
||||
const appliedMode = useRef<OverviewViewMode | null>(null);
|
||||
const controller = useRef<{ viewer: RecordedRerunViewer; channel: ReturnType<RecordedRerunViewer["open_channel"]> } | null>(null);
|
||||
useEffect(() => {
|
||||
@@ -23,7 +27,11 @@ export function SessionOverviewScene({ sourceUrl, toolbar, hideTitle=false }: {
|
||||
appliedMode.current = null;
|
||||
setState("loading");
|
||||
setMetadata(null); setCeiling(null); setMode("3d"); setVisiblePoints(null); setViewError(null);
|
||||
void fetchOverviewSpatial(sourceUrl, abort.signal).then(setMetadata).catch(() => { if (!disposed) setViewError("Параметры среза недоступны."); });
|
||||
setRepresentation("original"); setAppliedRepresentation("original"); setUpdating(false);
|
||||
void fetchOverviewSpatial(sourceUrl, abort.signal).then(data => {
|
||||
if (disposed) return;
|
||||
setRepresentation(data.default_representation ?? "original"); setMetadata(data);
|
||||
}).catch(() => { if (!disposed) { setState("error"); setViewError("Версия облака недоступна."); } });
|
||||
const runtime = createIsolatedRerunHost(host.current);
|
||||
const timer = window.setTimeout(() => { if (!disposed) { setState("error"); runtime.dispose(); } }, 60_000);
|
||||
void runtime.ready.then(async ({ viewer, mount }) => {
|
||||
@@ -44,29 +52,33 @@ export function SessionOverviewScene({ sourceUrl, toolbar, hideTitle=false }: {
|
||||
useEffect(() => {
|
||||
if (state !== "ready" || !metadata || !controller.current) return;
|
||||
const abort = new AbortController();
|
||||
setUpdating(true);
|
||||
const timer = setTimeout(() => {
|
||||
const aspect = Math.max(.1, Math.min(20, (host.current?.clientWidth ?? 1) / Math.max(1, (host.current?.clientHeight ?? 1) - 28)));
|
||||
void updateOverviewSpatial(sourceUrl, ceiling, appliedMode.current === mode ? null : mode, aspect, abort.signal).then(result => {
|
||||
void updateOverviewSpatial(sourceUrl, ceiling, appliedMode.current === mode ? null : mode, aspect, abort.signal,
|
||||
comparison?.generation ?? null, comparison ? representation : "original").then(result => {
|
||||
if (abort.signal.aborted || !controller.current) return;
|
||||
controller.current.channel.send_rrd(result.bytes);
|
||||
if (result.eye) controller.current.viewer.configure_camera_journal(result.eye, 0);
|
||||
appliedMode.current = mode;
|
||||
setVisiblePoints(result.visiblePoints); setViewError(null);
|
||||
}).catch(() => { if (!abort.signal.aborted) setViewError("Не удалось обновить вид облака."); });
|
||||
setAppliedRepresentation(comparison ? representation : "original"); setUpdating(false);
|
||||
}).catch(() => { if (!abort.signal.aborted) { setUpdating(false); setViewError("Не удалось обновить вид облака. Показан предыдущий вид."); } });
|
||||
}, 180);
|
||||
return () => { abort.abort(); clearTimeout(timer); };
|
||||
}, [state, metadata, sourceUrl, ceiling, mode, retry]);
|
||||
}, [state, metadata, sourceUrl, ceiling, mode, retry, comparison, representation]);
|
||||
|
||||
const low = metadata?.height_min_m;
|
||||
const high = metadata?.height_max_m;
|
||||
const low = comparison?.height_min_m ?? metadata?.height_min_m;
|
||||
const high = comparison?.height_max_m ?? metadata?.height_max_m;
|
||||
return <>
|
||||
<div className={`session-overview__scene-head ${hideTitle?"session-overview__scene-head--end":""}`}>{!hideTitle&&<h2>Облако и траектория</h2>}
|
||||
{compareVersions && comparison && <SegmentedControl label="Версия облака" value={representation} onChange={setRepresentation}
|
||||
items={[{ value: "original", label: "Исходное", disabled: state !== "ready" }, { value: "corrected", label: "Исправленное", disabled: state !== "ready" }]} />}
|
||||
<SegmentedControl label="Вид облака" value={mode} onChange={setMode}
|
||||
items={[{ value: "top", label: "Сверху", disabled: state !== "ready" }, { value: "3d", label: "3D", disabled: state !== "ready" }]} />
|
||||
{toolbar}
|
||||
</div>
|
||||
<LoadingRegion loading={state === "loading"} label="Загрузка облака" className="session-overview__scene">
|
||||
<div ref={host} className={`session-overview__runtime ${hideTitle?"rerun-single-view-content":""}`} style={{ visibility: state === "ready" ? "visible" : "hidden" }} />
|
||||
<LoadingRegion loading={state === "loading" || (state === "ready" && !!metadata && visiblePoints === null && !viewError)} label="Загрузка облака" className="session-overview__scene">
|
||||
<div ref={host} className={`session-overview__runtime ${hideTitle?"rerun-single-view-content":""}`} style={{ visibility: state === "ready" && metadata && visiblePoints !== null ? "visible" : "hidden" }} />
|
||||
{low != null && high != null && high > low && state === "ready" && <div className="session-overview__height">
|
||||
<RangeControl orientation="vertical" limitSide="left" label="Срез" value={ceiling ?? high} min={low} max={high} step="any"
|
||||
formatValue={value => `${value.toFixed(1).replace('.', ',')} м`} formatLimit={value => value.toFixed(1).replace('.', ',')}
|
||||
@@ -74,7 +86,11 @@ export function SessionOverviewScene({ sourceUrl, toolbar, hideTitle=false }: {
|
||||
</div>}
|
||||
{state === "error" && <div className="session-overview__empty"><span>Не удалось открыть облако.</span><Button onClick={() => setRetry(n => n + 1)}>Повторить</Button></div>}
|
||||
</LoadingRegion>
|
||||
{viewError ? <div className="session-overview__note" role="alert">{viewError}<Button onClick={() => setRetry(n => n + 1)}>Повторить</Button></div>
|
||||
: <span className="session-overview__note">{ceiling == null ? "Без среза" : `Высота ≤ ${ceiling.toFixed(1)} м`} · {visiblePoints?.toLocaleString("ru-RU") ?? "—"} точек</span>}
|
||||
<span className="session-overview__note" role="status" aria-busy={updating}>
|
||||
{updating ? "Обновление · " : comparison ? `${appliedRepresentation === "corrected" ? "Исправленное" : "Исходное"} · ` : ""}
|
||||
{ceiling == null ? "Без среза" : `Высота ≤ ${ceiling.toFixed(1)} м`} · {visiblePoints?.toLocaleString("ru-RU") ?? "—"} точек
|
||||
{comparison && <><br />Выборка для просмотра. Исходная запись сохранена отдельно.</>}
|
||||
</span>
|
||||
{viewError && <div className="session-overview__note" role="alert">{viewError}<Button onClick={() => setRetry(n => n + 1)}>Повторить</Button></div>}
|
||||
</>;
|
||||
}
|
||||
|
||||
@@ -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;
|
||||
}
|
||||
},
|
||||
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);
|
||||
},
|
||||
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");
|
||||
}
|
||||
return [item[0], item[1], item[2]];
|
||||
};
|
||||
return { position: vector("position"), lookTarget: vector("lookTarget"), eyeUp: vector("eyeUp") };
|
||||
}
|
||||
|
||||
@@ -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 };
|
||||
}
|
||||
|
||||
@@ -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;
|
||||
|
||||
@@ -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};
|
||||
}
|
||||
@@ -1,8 +1,7 @@
|
||||
import { useCallback, useEffect, useMemo, useRef, useState } from "react";
|
||||
import { canSelectSession, endAtDistance, plannerBase, plannerRequest, selectedPoses, validatePlanningSource, type Direction, type Draft, type PlanningSource, type RouteCheck, type SessionOption } from "./planner";
|
||||
import { useCallback, useEffect, useMemo, useState } from "react";
|
||||
import { canSelectSession, plannerBase, plannerRequest, selectedPoses, validatePlanningSource, type Direction, type Draft, type PlanningSource, type RouteCheck, type SessionOption } from "./planner";
|
||||
|
||||
export function useMissionPlanner() {
|
||||
const initializeRoute = useRef(true);
|
||||
const [sessions, setSessions] = useState<SessionOption[]>([]);
|
||||
const [cursor, setCursor] = useState<string | null>(null);
|
||||
const [drafts, setDrafts] = useState<Draft[]>([]);
|
||||
@@ -10,8 +9,6 @@ export function useMissionPlanner() {
|
||||
const [name, setName] = useState("");
|
||||
const [sessionId, setSessionId] = useState("");
|
||||
const [source, setSource] = useState<PlanningSource | null>(null);
|
||||
const [start, setStart] = useState(0);
|
||||
const [end, setEnd] = useState(1);
|
||||
const [direction, setDirection] = useState<Direction>("forward");
|
||||
const [error, setError] = useState<string | null>(null);
|
||||
const [sourceError, setSourceError] = useState<string | null>(null);
|
||||
@@ -19,12 +16,13 @@ export function useMissionPlanner() {
|
||||
const [catalogBusy, setCatalogBusy] = useState(true);
|
||||
const [loadVersion, setLoadVersion] = useState(0);
|
||||
const [sourceVersion, setSourceVersion] = useState(0);
|
||||
const [pinnedGeneration, setPinnedGeneration] = useState<string | null>(null);
|
||||
const [check, setCheck] = useState<RouteCheck | null>(null);
|
||||
|
||||
useEffect(() => {
|
||||
const abort = new AbortController(); setCatalogBusy(true); setError(null);
|
||||
void Promise.all([
|
||||
plannerRequest<{ items: SessionOption[]; next_cursor: string | null }>("/api/v1/observation-sessions?limit=100&pagination=cursor-v1", { signal: abort.signal }),
|
||||
plannerRequest<{ items: SessionOption[]; next_cursor: string | null }>("/api/v1/observation-sessions?scope=standalone&limit=100&pagination=cursor-v1", { signal: abort.signal }),
|
||||
plannerRequest<{ items: Draft[] }>(`${plannerBase}/drafts`, { signal: abort.signal }),
|
||||
]).then(([catalog, archive]) => { if (!abort.signal.aborted) { setSessions(catalog.items); setCursor(catalog.next_cursor); setDrafts(archive.items); } })
|
||||
.catch(reason => { if (!abort.signal.aborted) setError(reason.message); })
|
||||
@@ -34,26 +32,29 @@ export function useMissionPlanner() {
|
||||
|
||||
useEffect(() => {
|
||||
const abort = new AbortController(); setSource(null); setSourceError(null);
|
||||
if (sessionId) void plannerRequest<PlanningSource>(`${plannerBase}/sources/${encodeURIComponent(sessionId)}`, { signal: abort.signal })
|
||||
.then(data => { if (!abort.signal.aborted) { const next = validatePlanningSource(data, sessionId); setSource(next); if (initializeRoute.current) { setStart(0); setEnd(endAtDistance(next, 0, 30)); initializeRoute.current = false; } } })
|
||||
if (sessionId) void plannerRequest<PlanningSource>(`${plannerBase}/sources/${encodeURIComponent(sessionId)}${pinnedGeneration ? `?generation=${encodeURIComponent(pinnedGeneration)}` : ""}`, { signal: abort.signal })
|
||||
.then(data => { if (!abort.signal.aborted) setSource(validatePlanningSource(data, sessionId)); })
|
||||
.catch(reason => { if (!abort.signal.aborted) setSourceError(reason.message); });
|
||||
return () => abort.abort();
|
||||
}, [sessionId, sourceVersion]);
|
||||
}, [sessionId, sourceVersion, pinnedGeneration]);
|
||||
|
||||
const currentSource = source?.session_id === sessionId ? source : null;
|
||||
// New executions always own the complete reference. No independent interval
|
||||
// state can survive a source change or collapse on same-source reselection.
|
||||
const start = 0, end = currentSource ? currentSource.poses.length - 1 : 0;
|
||||
const sourceChanged = !!(saved && currentSource && saved.zone.session_id === sessionId && saved.zone.generation !== currentSource.generation);
|
||||
const poses = useMemo(() => selectedPoses(currentSource, start, end, direction), [currentSource, start, end, direction]);
|
||||
const dirty = !saved || name.trim() !== saved.name || sessionId !== saved.zone.session_id || sourceChanged
|
||||
|| start !== saved.route.start_index || end !== saved.route.end_index || direction !== saved.route.direction;
|
||||
const ready = !!currentSource && !sourceChanged && poses.length > 1 && !!name.trim();
|
||||
const chooseSource = (id: string) => { initializeRoute.current = true; setSessionId(id); setStart(0); setEnd(1); setCheck(null); };
|
||||
const chooseSource = (id: string) => { setPinnedGeneration(null); setSessionId(id); setSourceVersion(n => n + 1); setCheck(null); };
|
||||
const newDraft = () => { setSaved(null); setName(""); chooseSource(""); setDirection("forward"); setError(null); };
|
||||
const openDraft = async (id: string) => {
|
||||
setBusy(true); setError(null);
|
||||
try {
|
||||
const next = await plannerRequest<Draft>(`${plannerBase}/drafts/${id}`);
|
||||
initializeRoute.current = false; setSaved(next); setName(next.name); setSessionId(next.zone.session_id);
|
||||
setStart(next.route.start_index); setEnd(next.route.end_index); setDirection(next.route.direction); setCheck(null);
|
||||
setSaved(next); setName(next.name); setSessionId(next.zone.session_id); setPinnedGeneration(next.zone.generation);
|
||||
setDirection(next.route.direction); setCheck(null);
|
||||
setSourceVersion(n => n + 1);
|
||||
} catch (reason) { setError((reason as Error).message); } finally { setBusy(false); }
|
||||
};
|
||||
@@ -63,7 +64,7 @@ export function useMissionPlanner() {
|
||||
try {
|
||||
const next = await plannerRequest<Draft>(`${plannerBase}/drafts`, { method: "POST", body: JSON.stringify({
|
||||
id: saved?.id ?? null, revision: saved?.revision ?? 0, name: name.trim(), session_id: sessionId,
|
||||
generation: currentSource.generation, start_index: start, end_index: end, direction,
|
||||
generation: currentSource.generation, whole_recording: true, direction,
|
||||
}) });
|
||||
setSaved(next); setDrafts(items => [next, ...items.filter(item => item.id !== next.id)]);
|
||||
return next;
|
||||
@@ -79,11 +80,11 @@ export function useMissionPlanner() {
|
||||
if (!cursor) return;
|
||||
setCatalogBusy(true);
|
||||
try {
|
||||
const page = await plannerRequest<{ items: SessionOption[]; next_cursor: string | null }>(`/api/v1/observation-sessions?limit=100&pagination=cursor-v1&cursor=${encodeURIComponent(cursor)}`);
|
||||
const page = await plannerRequest<{ items: SessionOption[]; next_cursor: string | null }>(`/api/v1/observation-sessions?scope=standalone&limit=100&pagination=cursor-v1&cursor=${encodeURIComponent(cursor)}`);
|
||||
setSessions(items => [...items, ...page.items.filter(item => !items.some(old => old.id === item.id))]); setCursor(page.next_cursor);
|
||||
} catch (reason) { setError((reason as Error).message); } finally { setCatalogBusy(false); }
|
||||
};
|
||||
return { sessions, drafts, saved, name, setName, sessionId, chooseSource, source: currentSource, start, setStart, end, setEnd,
|
||||
return { sessions, drafts, saved, name, setName, sessionId, chooseSource, source: currentSource,
|
||||
direction, setDirection, error, sourceError, sourceChanged, busy, catalogBusy, cursor, loadMore, dirty, ready, poses, check,
|
||||
save, openDraft, newDraft, runCheck, retrySource: () => setSourceVersion(n => n + 1), refresh: useCallback(() => setLoadVersion(n => n + 1), []),
|
||||
options: [{ value: "", label: "Выберите сохранённую запись" }, ...sessions.map(item => ({ value: item.id, label: item.label,
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
import { useEffect, useState } from "react";
|
||||
import { endAtDistance, plannerBase, plannerRequest, validatePlanningSource, type Draft, type PlanningSource } from "./planner";
|
||||
import { endAtDistance, plannerBase, plannerRequest, validatePlanningSource, type Draft, type PlanningSource, type SessionOption } from "./planner";
|
||||
|
||||
export interface RegistrationReport {
|
||||
id: string; state: "queued" | "running" | "ready" | "error"; message?: string; progress_label?: string;
|
||||
@@ -15,6 +15,25 @@ export function useRegistrationTest(draft: Draft | null) {
|
||||
const [start, setStart] = useState(0), [end, setEnd] = useState(1);
|
||||
const [error, setError] = useState<string | null>(null);
|
||||
const [loading, setLoading] = useState(false), [submitting, setSubmitting] = useState(false);
|
||||
const [sessions,setSessions]=useState<SessionOption[]>([]), [cursor,setCursor]=useState<string|null>(null);
|
||||
const [catalogBusy,setCatalogBusy]=useState(false);
|
||||
// Repeat recordings belong to the planner, including its own captured passes;
|
||||
// they are not restricted to the independent-reference catalog.
|
||||
useEffect(()=>{
|
||||
const abort=new AbortController();setCatalogBusy(true);
|
||||
void plannerRequest<{items:SessionOption[];next_cursor:string|null}>("/api/v1/observation-sessions?scope=source&limit=100&pagination=cursor-v1",{signal:abort.signal})
|
||||
.then(page=>{if(!abort.signal.aborted){setSessions(page.items);setCursor(page.next_cursor);}})
|
||||
.catch(e=>{if(!abort.signal.aborted)setError(e.message);})
|
||||
.finally(()=>{if(!abort.signal.aborted)setCatalogBusy(false);});
|
||||
return()=>abort.abort();
|
||||
},[]);
|
||||
const loadMore=async()=>{
|
||||
if(!cursor||catalogBusy)return;setCatalogBusy(true);
|
||||
try{
|
||||
const page=await plannerRequest<{items:SessionOption[];next_cursor:string|null}>(`/api/v1/observation-sessions?scope=source&limit=100&pagination=cursor-v1&cursor=${encodeURIComponent(cursor)}`);
|
||||
setSessions(items=>[...items,...page.items.filter(item=>!items.some(old=>old.id===item.id))]);setCursor(page.next_cursor);
|
||||
}catch(e){setError((e as Error).message);}finally{setCatalogBusy(false);}
|
||||
};
|
||||
useEffect(() => {
|
||||
const abort = new AbortController(); setSource(null); setError(null); setLoading(!!sessionId);
|
||||
if (sessionId) void plannerRequest<PlanningSource>(`${plannerBase}/sources/${encodeURIComponent(sessionId)}`, { signal: abort.signal })
|
||||
@@ -35,5 +54,5 @@ export function useRegistrationTest(draft: Draft | null) {
|
||||
return data;
|
||||
} catch (e) { setError((e as Error).message); } finally { setSubmitting(false); }
|
||||
};
|
||||
return { sessionId, setSessionId, source, start, setStart, end, setEnd, error, busy, loading, length, run };
|
||||
return { sessionId, setSessionId, source, start, setStart, end, setEnd, error, busy, loading, length, run, sessions, cursor, catalogBusy, loadMore };
|
||||
}
|
||||
|
||||
@@ -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();
|
||||
}
|
||||
}
|
||||
@@ -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,
|
||||
};
|
||||
|
||||
@@ -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);
|
||||
}
|
||||
@@ -1,5 +1,14 @@
|
||||
export type OverviewViewMode = "3d" | "top";
|
||||
export interface OverviewSpatialMetadata { height_min_m: number | null; height_max_m: number | null; sample_points: number; }
|
||||
export type OverviewRepresentation = "original" | "corrected";
|
||||
export interface OverviewComparison {
|
||||
generation: string; map_generation: string; sample_points: number; source_points: number;
|
||||
original_path_m: number; corrected_path_m: number; height_min_m: number; height_max_m: number;
|
||||
}
|
||||
export interface OverviewSpatialMetadata {
|
||||
default_representation?: OverviewRepresentation;
|
||||
height_min_m: number | null; height_max_m: number | null; sample_points: number;
|
||||
comparison?: OverviewComparison;
|
||||
}
|
||||
|
||||
function endpoint(source: string) {
|
||||
const url = new URL(source, window.location.origin);
|
||||
@@ -12,12 +21,15 @@ export async function fetchOverviewSpatial(source: string, signal: AbortSignal):
|
||||
if (!response.ok) throw new Error("Параметры среза недоступны.");
|
||||
return response.json();
|
||||
}
|
||||
export async function updateOverviewSpatial(source: string, ceiling: number | null, mode: OverviewViewMode | null, aspect: number, signal: AbortSignal) {
|
||||
export async function updateOverviewSpatial(source: string, ceiling: number | null, mode: OverviewViewMode | null, aspect: number, signal: AbortSignal,
|
||||
comparisonGeneration: string | null = null, representation: OverviewRepresentation = "original") {
|
||||
if (representation === "corrected" && !comparisonGeneration) throw new Error("Исправленная версия недоступна.");
|
||||
const url = endpoint(source);
|
||||
const generation = url.searchParams.get("generation");
|
||||
url.search = "";
|
||||
const response = await fetch(url, { method: "POST", signal, headers: { "Content-Type": "application/json" },
|
||||
body: JSON.stringify({ generation, ceiling_m: ceiling, mode, aspect }) });
|
||||
body: JSON.stringify({ generation, ceiling_m: ceiling, mode, aspect,
|
||||
comparison_generation: comparisonGeneration, representation }) });
|
||||
if (!response.ok) throw new Error("Не удалось обновить вид облака.");
|
||||
const bytes = new Uint8Array(await response.arrayBuffer());
|
||||
if (bytes.byteLength > 32 * 1024 * 1024) throw new Error("Обзор превышает допустимый размер.");
|
||||
|
||||
@@ -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)};
|
||||
}
|
||||
@@ -3,7 +3,6 @@ import { createPortal } from 'react-dom';
|
||||
import { Button, ConfirmationModal, GlassSurface, Icon, IconButton, LoadingRegion, SegmentedControl, StatusBadge, WorkspaceWindow, type WorkspaceWindowRect } from '@nodedc/ui-react';
|
||||
import { usePlanningTest } from '../../core/missions/PlanningTestContext';
|
||||
import { useMissionPlanner } from '../../core/missions/useMissionPlanner';
|
||||
import { useRegistrationTest } from '../../core/missions/useRegistrationTest';
|
||||
import { usePlanningProjects } from '../../core/missions/usePlanningProjects';
|
||||
import { planningProjectPending, planningProjectStatus } from '../../core/missions/planningProjects';
|
||||
import { MissionZonePreview } from '../../components/missions/MissionZonePreview';
|
||||
@@ -17,9 +16,7 @@ import '../../styles/mission-planner.css';
|
||||
|
||||
export function MissionPlannerWorkspace({openView,headerToolsHost}:{openView:(id:string,profile?:'planning')=>void;headerToolsHost?:HTMLElement|null}) {
|
||||
const live=usePlanningTest(), p=useMissionPlanner(), projects=usePlanningProjects();
|
||||
const t=useRegistrationTest(p.saved);
|
||||
const [creating,setCreating]=useState(false), [settingsOpen,setSettingsOpen]=useState(false);
|
||||
const [mode,setMode]=useState<'scanner'|'recording'>('scanner');
|
||||
const [view,setView]=useState<'cloud'|'route'>('cloud');
|
||||
const [starting,setStarting]=useState(false);
|
||||
const [pending,setPending]=useState<(()=>void)|null>(null);
|
||||
@@ -39,7 +36,7 @@ export function MissionPlannerWorkspace({openView,headerToolsHost}:{openView:(id
|
||||
};
|
||||
const choose=(key:string)=>replace(()=>{setCreating(false);setSettingsOpen(false);projects.select(key);});
|
||||
const newProject=()=>replace(()=>{
|
||||
projects.select('');p.newDraft();t.setSessionId('');setMode('scanner');setView('cloud');
|
||||
projects.select('');p.newDraft();setView('cloud');
|
||||
setCreating(true);setSettingsOpen(true);setMaximized(false);loadedDraft.current='';
|
||||
});
|
||||
const start=async()=>{
|
||||
@@ -47,13 +44,8 @@ export function MissionPlannerWorkspace({openView,headerToolsHost}:{openView:(id
|
||||
try {
|
||||
const draft=p.saved&&!p.dirty?p.saved:await p.save();
|
||||
if(!draft)return;
|
||||
if(mode==='scanner') {
|
||||
const next=await live.begin(draft);
|
||||
if(next){projects.select('live:'+next.id);openView('local-device','planning');}
|
||||
} else {
|
||||
const result=await t.run(draft);
|
||||
if(result){setCreating(false);projects.select('recorded:'+result.id);setSettingsOpen(true);}
|
||||
}
|
||||
const next=await live.begin(draft);
|
||||
if(next){projects.select('live:'+next.id);openView('local-device','planning');}
|
||||
projects.refresh();
|
||||
} finally {setStarting(false);}
|
||||
};
|
||||
@@ -81,13 +73,13 @@ export function MissionPlannerWorkspace({openView,headerToolsHost}:{openView:(id
|
||||
{!p.sessionId?<div className="session-overview__empty">Выберите сохранённую запись эталона в настройках.</div>
|
||||
:p.sourceError||p.sourceChanged?<div className="session-overview__empty" role="alert"><span>{p.sourceError||'Исходная запись изменилась.'}</span><Button onClick={p.retrySource}>Повторить загрузку</Button></div>
|
||||
:!p.source?<LoadingRegion loading label="Подготовка эталона" className="mission-planner__zone-loading"/>
|
||||
:view==='cloud'?<MissionZonePreview sessionId={p.sessionId} toolbar={zoneControls}/>:<MissionRoutePreview source={p.source} poses={p.poses}/>}
|
||||
:view==='cloud'?<MissionZonePreview sessionId={p.sessionId} generation={p.source.generation} toolbar={zoneControls}/>:<MissionRoutePreview source={p.source} poses={p.poses}/>}
|
||||
</>:projects.error?<div className="session-overview__empty" role="alert"><span>{projects.error}</span><Button onClick={projects.refresh}>Повторить</Button></div>
|
||||
:project?<>
|
||||
<header className="planning-project__result-header"><span>{project.name}</span><StatusBadge tone={project.result_status==='rejected'?'warning':'neutral'}>{planningProjectStatus(project)}</StatusBadge></header>
|
||||
{project.scene_url?<RegistrationScene sourceUrl={project.scene_url}/>
|
||||
:planningProjectPending(project)?<LoadingRegion loading label="Подготовка результата совмещения" className="mission-planner__zone-loading"/>
|
||||
:<div className="session-overview__empty"><span>В этом проекте нет сохранённого совмещения.</span><small>Исходная запись остаётся в разделе «Данные».</small></div>}
|
||||
:<div className="session-overview__empty"><span>В этом проекте нет сохранённого совмещения.</span><small>Исходная запись прохода сохранена отдельно от результата.</small></div>}
|
||||
{project.scene_url&&<small className="planning-project__legend">{project.result?.correspondence_colors?'Серый — эталон · цветной — повторный проход · зелёный — точки в пределах 0,5 м':'Серый — эталон · зелёный — повторный проход (ранний формат записи)'}</small>}
|
||||
</>:projects.loading||projects.key?<LoadingRegion loading label="Загрузка проекта" className="mission-planner__zone-loading"/>
|
||||
:<div className="session-overview__empty">Выберите совмещённый маршрут или создайте проект кнопкой «+».</div>}
|
||||
@@ -96,7 +88,7 @@ export function MissionPlannerWorkspace({openView,headerToolsHost}:{openView:(id
|
||||
title="Настройки" minWidth={320} minHeight={260} active zIndex={100} onClose={()=>setSettingsOpen(false)} closeLabel="Закрыть настройки"
|
||||
moveLabel="Переместить настройки" resizeLabel="Изменить размер настроек" maximizeLabel="Развернуть настройки" restoreLabel="Восстановить настройки"
|
||||
className="planning-project__inspector">
|
||||
{editing?<PlanningProjectSettings p={p} t={t} mode={mode} setMode={setMode} onStart={()=>void start()} starting={starting}/>
|
||||
{editing?<PlanningProjectSettings p={p} onStart={()=>void start()} starting={starting}/>
|
||||
:project?<PlanningProjectResult project={project}/>:<p>Выберите проект или создайте новый кнопкой «+».</p>}
|
||||
{project?.kind==='live'&&planningProjectPending(project)&&<Button disabled={live.busy} onClick={async()=>{if(await live.select(project.id))openView(project.state==='preparing'||project.state==='waiting'?'local-device':'spatial-scene','planning');}}>Открыть текущий проход</Button>}
|
||||
{live.error&&editing&&<p role="alert">{live.error}</p>}
|
||||
|
||||
@@ -46,11 +46,11 @@ export function SessionOverviewWorkspace({ sessionId }: { sessionId: string }) {
|
||||
separatorLabel="Высота графика интервалов" className="session-overview__split"
|
||||
primary={<SplitPane primarySize={left} onPrimarySizeChange={setLeft} minPrimarySize={35} minSecondarySize={25} separatorLabel="Ширина облака и сводки" className="session-overview__split"
|
||||
primary={<GlassSurface className="session-overview__panel" radius="panel">
|
||||
{m?.spatial_available && data?.scene_url ? <SessionOverviewScene sourceUrl={data.scene_url} /> : <><h2>Облако и траектория</h2><div className="session-overview__empty">Пространственный обзор для этой записи недоступен.</div></>}
|
||||
{m?.spatial_available && data?.scene_url ? <SessionOverviewScene sourceUrl={data.scene_url} compareVersions /> : <><h2>Облако и траектория</h2><div className="session-overview__empty">Пространственный обзор для этой записи недоступен.</div></>}
|
||||
{!m?.spatial_available && <span className="session-overview__note">Доступны сведения из каталога записи.</span>}
|
||||
</GlassSurface>}
|
||||
secondary={<GlassSurface className="session-overview__panel" radius="panel">
|
||||
<h2>Сведения о записи</h2><div className="session-overview__facts">
|
||||
<h2>Сведения об исходной записи</h2><div className="session-overview__facts">
|
||||
<dl>{facts.map(([name, value]) => <div key={name}><dt>{name}</dt><dd>{value}</dd></div>)}</dl>
|
||||
<p>Наблюдения точек включают повторные измерения. Длина пути и положения получены из записи и не являются независимой проверкой точности.</p>
|
||||
</div>
|
||||
|
||||
@@ -554,7 +554,7 @@ export function SpatialWorkspace({
|
||||
) : null}
|
||||
|
||||
</>}
|
||||
navigationReady={visualProfile ? false : presentedViewerStatus==='ready'} timeline={visualProfile ? null : <> {!pointCloudFocused && !floatingSourceMaximized && recordedPlaybackReady ? (
|
||||
timeline={visualProfile ? null : <> {!pointCloudFocused && !floatingSourceMaximized && recordedPlaybackReady ? (
|
||||
<ObservationTimeline
|
||||
active={presentedViewerStatus === "ready"}
|
||||
sourceCount={Math.max(1, (unifiedPerception ? 2 : 1) + presentedMediaSourceCount)}
|
||||
@@ -572,6 +572,7 @@ export function SpatialWorkspace({
|
||||
onPlayingChange={playbackController?.setPlaying}
|
||||
onJumpToEnd={playbackController?.jumpToEnd}
|
||||
accumulationSeconds={accumulationSeconds}
|
||||
accumulationMaxSeconds={sceneSettings.accumulationMaxSeconds}
|
||||
onAccumulationChange={onAccumulationChange}
|
||||
onAccumulationCommit={onAccumulationCommit}
|
||||
className="scene-timeline"
|
||||
|
||||
@@ -184,6 +184,15 @@ function preparation(overrides = {}) {
|
||||
};
|
||||
}
|
||||
|
||||
test("replay preserves an optional corrected-map identity and rejects malformed versions", () => {
|
||||
const decoded = decodeObservationSessionReplay(replay({ map_generation: "b".repeat(64) }));
|
||||
assert.equal(decoded.mapGeneration, "b".repeat(64));
|
||||
assert.equal(decodeObservationSessionReplay(replay()).mapGeneration, undefined);
|
||||
for (const value of [null, "latest", "../private", 123]) {
|
||||
assert.throws(() => decodeObservationSessionReplay(replay({ map_generation: value })), /версию/);
|
||||
}
|
||||
});
|
||||
|
||||
const preparationEtag = '"prepare-20260717T131400Z"';
|
||||
|
||||
test("session catalog decodes canonical snake_case into a path-free camelCase model", () => {
|
||||
@@ -412,7 +421,7 @@ test("data recordings keep the compact session dropdown and laboratory results s
|
||||
assert.doesNotMatch(laboratorySource, /fetchAdvancedLaboratoryResults/);
|
||||
});
|
||||
|
||||
test("recording preparation statuses share the viewer's left alignment", async () => {
|
||||
test("recording preparation statuses occupy the viewer's upper-right corner", async () => {
|
||||
const spatialStyles = await readFile(
|
||||
new URL("../../../packages/spatial-ui/src/spatial.css", import.meta.url),
|
||||
"utf8",
|
||||
@@ -422,9 +431,10 @@ test("recording preparation statuses share the viewer's left alignment", async (
|
||||
spatialStyles.indexOf(".scene-operation-status {"),
|
||||
);
|
||||
|
||||
assert.match(statusStack, /left:\s*0\.85rem/);
|
||||
assert.match(statusStack, /justify-items:\s*start/);
|
||||
assert.doesNotMatch(statusStack, /right:/);
|
||||
assert.match(statusStack, /right:\s*0\.85rem/);
|
||||
assert.match(statusStack, /top:\s*0\.85rem/);
|
||||
assert.match(statusStack, /justify-items:\s*end/);
|
||||
assert.doesNotMatch(statusStack, /left:|bottom:/);
|
||||
});
|
||||
|
||||
test("source and laboratory catalogs are requested as disjoint backend projections", async () => {
|
||||
|
||||
@@ -150,14 +150,15 @@ test("follow toggles retain the current recorded camera journal", () => {
|
||||
assert.notEqual(afterReset, before);
|
||||
});
|
||||
|
||||
test("observation camera windows tile from the bottom-right above the live timeline", () => {
|
||||
test("observation camera windows tile from the bottom-left above the live timeline", () => {
|
||||
const bounds = { width: 1280, height: 720 };
|
||||
const left = initialObservationWindowRect(0, 2, bounds);
|
||||
const right = initialObservationWindowRect(1, 2, bounds);
|
||||
|
||||
assert.equal(left.y, right.y);
|
||||
assert.ok(left.x + left.width < right.x);
|
||||
assert.equal(right.x + right.width, bounds.width - 18);
|
||||
assert.equal(left.x, 18);
|
||||
assert.ok(right.x + right.width <= bounds.width - 18);
|
||||
assert.ok(right.y + right.height <= bounds.height - 64);
|
||||
});
|
||||
|
||||
@@ -323,10 +324,14 @@ test("recorded observation timeline rejects empty and non-finite ranges", () =>
|
||||
test("accumulation control normalizes UI values and distinguishes a single frame", () => {
|
||||
assert.equal(normalizeAccumulationSeconds(-3), 0);
|
||||
assert.equal(normalizeAccumulationSeconds(12.6), 13);
|
||||
assert.equal(normalizeAccumulationSeconds(999), 120);
|
||||
assert.equal(normalizeAccumulationSeconds(999), 999);
|
||||
assert.equal(normalizeAccumulationSeconds(1800), 1800);
|
||||
assert.equal(normalizeAccumulationSeconds(9999), 9999);
|
||||
assert.equal(normalizeAccumulationSeconds(Number.NaN), 0);
|
||||
assert.equal(formatAccumulationDuration(0), "Кадр");
|
||||
assert.equal(formatAccumulationDuration(12), "12 с");
|
||||
assert.equal(formatAccumulationDuration(1800), "30 мин");
|
||||
assert.equal(formatAccumulationDuration(125), "2 мин 5 с");
|
||||
});
|
||||
|
||||
test("spatial timeline renders synchronized accumulation and playback controls", () => {
|
||||
@@ -606,6 +611,32 @@ test("recorded blueprint fetch is bounded, strict and sends only display setting
|
||||
);
|
||||
});
|
||||
|
||||
test("recorded tracking quantizes the native fractional-nanosecond cursor without accepting invalid times", async () => {
|
||||
const bodies = [];
|
||||
const request = currentTimeNs => fetchRecordedBlueprintRrd(
|
||||
"/api/v1/observation-sessions/session-1/blueprint.rrd",
|
||||
{accumulationSeconds: 10, showGrid: true, showPoints: true,
|
||||
showTrajectory: true, pointSize: 0.5, colorMode: "intensity",
|
||||
palette: "turbo", customColor: "#ffffff"},
|
||||
{applicationId: "nodedc_mission_core_recorded", recordingId: "recording-001"},
|
||||
{origin: "http://127.0.0.1:8000", blueprintSessionId: "a".repeat(32),
|
||||
cameraEye: {position: [3, 4, 5], lookTarget: [1, 2, 0], eyeUp: [0, 0, 1]},
|
||||
eyeRelativeToTracking: true, currentTimeNs,
|
||||
fetcher: async (_input, init) => {
|
||||
bodies.push(JSON.parse(init.body));
|
||||
return new Response(new Uint8Array([0x52, 0x52, 0x46, 0x32]), {
|
||||
headers: {"Content-Type": "application/vnd.rerun.rrd"},
|
||||
});
|
||||
}},
|
||||
);
|
||||
await request(536_460_021_972.65625);
|
||||
assert.equal(bodies[0].current_time_ns, 536_460_021_973);
|
||||
for (const invalid of [-0.1, NaN, Infinity, Number.MAX_SAFE_INTEGER + 1]) {
|
||||
await assert.rejects(request(invalid), /Unsafe recorded blueprint request/);
|
||||
}
|
||||
assert.equal(bodies.length, 1);
|
||||
});
|
||||
|
||||
test("recorded point colors use one strict same-origin component overlay", async () => {
|
||||
const endpoint = resolveRecordedPointColorsUrl(
|
||||
"/api/v1/observation-sessions/session-1/recording.rrd",
|
||||
|
||||
@@ -0,0 +1,76 @@
|
||||
import assert from 'node:assert/strict';
|
||||
import {before,after,test} from 'node:test';
|
||||
import React from 'react';
|
||||
import {renderToStaticMarkup} from 'react-dom/server';
|
||||
import {createServer} from 'vite';
|
||||
import {readFile} from 'node:fs/promises';
|
||||
|
||||
let server,usePlanner,Settings;
|
||||
before(async()=>{
|
||||
server=await createServer({appType:'custom',logLevel:'silent',server:{middlewareMode:true}});
|
||||
({useMissionPlanner:usePlanner}=await server.ssrLoadModule('/src/core/missions/useMissionPlanner.ts'));
|
||||
({PlanningProjectSettings:Settings}=await server.ssrLoadModule('/src/components/missions/PlanningProjectSettings.tsx'));
|
||||
});
|
||||
after(async()=>{await server?.close();});
|
||||
|
||||
// Bounded hook dispatcher: execute the real state/effect transitions, without
|
||||
// mounting another browser or replacing the production hook with a fake.
|
||||
function harness(){
|
||||
const slots=[];let index=0,pending=[];
|
||||
const hooks={
|
||||
useState(initial){const i=index++;if(!slots[i])slots[i]={value:initial};return [slots[i].value,v=>{slots[i].value=typeof v==='function'?v(slots[i].value):v;}];},
|
||||
useEffect(fn,deps){const i=index++,old=slots[i];if(!old||deps.some((d,n)=>!Object.is(d,old.deps[n])))pending.push(()=>{old?.cleanup?.();slots[i]={deps,cleanup:fn()};});},
|
||||
useMemo(fn){return fn();},useCallback(fn){return fn;},
|
||||
};
|
||||
const render=()=>{index=0;const internal=React.__CLIENT_INTERNALS_DO_NOT_USE_OR_WARN_USERS_THEY_CANNOT_UPGRADE,old=internal.H;internal.H=hooks;try{return usePlanner();}finally{internal.H=old;}};
|
||||
return {render,async settle(){let state;for(let n=0;n<5;n++){state=render();const effects=pending;pending=[];effects.forEach(fn=>fn());await new Promise(resolve=>setImmediate(resolve));}return render();},close(){slots.forEach(s=>s.cleanup?.());}};
|
||||
}
|
||||
const source={schema_version:'missioncore.planning-source/v1',session_id:'ring',generation:'a'.repeat(64),label:'Ring',units:'m',path_m:580,
|
||||
poses:Array.from({length:60},(_,index)=>({index,position:[index*10,0,0],distance_m:index*10}))};
|
||||
|
||||
test('same recording reselection cannot collapse the reference or disable a named project',async()=>{
|
||||
const oldFetch=globalThis.fetch,requests=[];const h=harness();
|
||||
globalThis.fetch=async(url,options={})=>{
|
||||
requests.push({url,body:options.body&&JSON.parse(options.body)});
|
||||
if(options.method==='POST')return {ok:true,json:async()=>({id:'draft',revision:1,name:'Seam',zone:{session_id:'ring',generation:source.generation},route:{start_index:0,end_index:59,direction:'forward'}})};
|
||||
return {ok:true,json:async()=>url.includes('/sources/')?source:{items:[],next_cursor:null}};
|
||||
};
|
||||
try{
|
||||
let p=await h.settle();p.chooseSource('ring');p.setName('Seam');p=await h.settle();
|
||||
assert.equal(p.poses.length,60);assert.equal(p.ready,true);
|
||||
for(let i=0;i<4;i++){p.chooseSource('ring');p=await h.settle();assert.equal(p.poses.length,60);assert.equal(p.ready,true);}
|
||||
await p.save();const body=requests.find(r=>r.body)?.body;
|
||||
assert.equal(body.whole_recording,true);assert.equal(body.start_index,undefined);assert.equal(body.end_index,undefined);
|
||||
assert.ok(requests.some(r=>r.url.includes('scope=standalone')));
|
||||
p=h.render();p.newDraft();p=await h.settle();p.chooseSource('ring');p.setName('Next');p=await h.settle();
|
||||
assert.equal(p.poses.length,60);assert.equal(p.ready,true);
|
||||
assert.equal(p.setStart,undefined);assert.equal(p.setEnd,undefined);
|
||||
}finally{h.close();globalThis.fetch=oldFetch;}
|
||||
});
|
||||
|
||||
test('product removes reference crop controls and Data requests independent captures',async()=>{
|
||||
const settings=await readFile(new URL('../src/components/missions/PlanningProjectSettings.tsx',import.meta.url),'utf8');
|
||||
assert.doesNotMatch(settings,/Участок эталона|Начало участка|Конец участка|30 м от начала участка|p\.set(Start|End)/);
|
||||
assert.match(settings,/Вся запись/);
|
||||
const selector=await readFile(new URL('../src/components/ObservationSessionSelect.tsx',import.meta.url),'utf8');
|
||||
assert.match(selector,/scope: "standalone"/);
|
||||
});
|
||||
|
||||
test('planner offers one direct live start without a repeated-pass mode or catalogue',async()=>{
|
||||
const p={name:'Ring',poses:source.poses,source,sessionId:'ring',options:[{value:'ring',label:'Ring'}],direction:'forward',ready:true};
|
||||
const render=(overrides={},starting=false)=>renderToStaticMarkup(React.createElement(Settings,{p:{...p,...overrides},starting,onStart:()=>{}}));
|
||||
const ready=render();
|
||||
assert.doesNotMatch(ready,/Повторный проход|Из записи|Источник повторного прохода|Повторная запись|После запуска/);
|
||||
const startButton=html=>[...html.matchAll(/<button\b[^>]*>[\s\S]*?<\/button>/g)].map(m=>m[0]).find(button=>button.includes('Начать новый проход'));
|
||||
assert.ok(startButton(ready));
|
||||
assert.doesNotMatch(startButton(ready),/disabled=/);
|
||||
for(const state of [{ready:false},{busy:true},{poses:source.poses.slice(0,1)}])assert.match(startButton(render(state)),/disabled=/);
|
||||
assert.match(startButton(render({},true)),/disabled=/);
|
||||
let started=0;
|
||||
const tree=Settings({p,starting:false,onStart:()=>{started++;}});
|
||||
tree.props.children[1].props.children[1].props.onClick();
|
||||
assert.equal(started,1);
|
||||
const workspace=await readFile(new URL('../src/workspaces/missions/MissionPlannerWorkspace.tsx',import.meta.url),'utf8');
|
||||
assert.doesNotMatch(workspace,/useRegistrationTest|setMode|t\.run\(/);
|
||||
assert.match(workspace,/live\.begin\(draft\)/);
|
||||
});
|
||||
@@ -1,101 +1,42 @@
|
||||
import assert from "node:assert/strict";
|
||||
import { readFileSync } from "node:fs";
|
||||
import { after, before, test } from "node:test";
|
||||
import { createServer } from "vite";
|
||||
|
||||
let server, createRecordedRerunCameraJournal, initialEye;
|
||||
let server, readNativeRerunCameraEye;
|
||||
before(async () => {
|
||||
server = await createServer({ appType: "custom", logLevel: "silent",
|
||||
server: { middlewareMode: true } });
|
||||
const module = await server.ssrLoadModule(
|
||||
"/src/components/rerun/recordedRerunCameraJournal.ts");
|
||||
createRecordedRerunCameraJournal = module.createRecordedRerunCameraJournal;
|
||||
initialEye = module.RECORDED_RERUN_ORBITAL_EYE;
|
||||
({ readNativeRerunCameraEye } = await server.ssrLoadModule(
|
||||
"/src/components/rerun/recordedRerunCameraJournal.ts"));
|
||||
});
|
||||
after(async () => { await server?.close(); });
|
||||
|
||||
class FakeEvent {
|
||||
constructor(type, init = {}) { this.type = type; Object.assign(this, init); }
|
||||
}
|
||||
|
||||
class FakeTarget {
|
||||
listeners = new Map();
|
||||
emitted = [];
|
||||
addEventListener(type, listener) {
|
||||
const listeners = this.listeners.get(type) ?? [];
|
||||
listeners.push(listener); this.listeners.set(type, listeners);
|
||||
}
|
||||
removeEventListener(type, listener) {
|
||||
this.listeners.set(type, (this.listeners.get(type) ?? []).filter(item => item !== listener));
|
||||
}
|
||||
dispatchEvent(event) {
|
||||
this.emitted.push(event);
|
||||
for (const listener of this.listeners.get(event.type) ?? []) listener(event);
|
||||
return true;
|
||||
test("camera snapshot copies exact native pose, without approximating input", () => {
|
||||
const native = { position: [287, -74, 8], lookTarget: [286, -72, 0], eyeUp: [0, 0, 1] };
|
||||
const eye = readNativeRerunCameraEye(native);
|
||||
assert.deepEqual(eye, native);
|
||||
native.position[0] = 999;
|
||||
assert.equal(eye.position[0], 287);
|
||||
assert.equal(readNativeRerunCameraEye(null), null);
|
||||
});
|
||||
|
||||
test("invalid native pose fails closed instead of substituting a guessed camera", () => {
|
||||
for (const value of [{}, "pose", { position: [NaN, 0, 1], lookTarget: [0, 0, 0], eyeUp: [0, 0, 1] }]) {
|
||||
assert.throws(() => readNativeRerunCameraEye(value), /Invalid native Rerun camera/);
|
||||
}
|
||||
}
|
||||
|
||||
const radius = (eye) => Math.hypot(
|
||||
eye.position[0] - eye.lookTarget[0],
|
||||
eye.position[1] - eye.lookTarget[1],
|
||||
eye.position[2] - eye.lookTarget[2],
|
||||
);
|
||||
|
||||
test("recorded orbital eye tracks only 3D viewport navigation", () => {
|
||||
const scope = new FakeTarget();
|
||||
const timers = [];
|
||||
Object.assign(scope, {
|
||||
WheelEvent: FakeEvent,
|
||||
requestAnimationFrame(callback) { callback(); return 1; },
|
||||
setTimeout(callback) { timers.push(callback); return timers.length; },
|
||||
});
|
||||
const canvas = new FakeTarget();
|
||||
Object.assign(canvas, {
|
||||
clientHeight: 200,
|
||||
isConnected: true,
|
||||
getBoundingClientRect: () => ({
|
||||
left: 100, right: 500, top: 50, bottom: 250, width: 400, height: 200,
|
||||
}),
|
||||
});
|
||||
const journal = createRecordedRerunCameraJournal(canvas, scope);
|
||||
journal.configure(initialEye, 0.46);
|
||||
const pointer = (type, x, y, buttons) => new FakeEvent(type, {
|
||||
clientX: x, clientY: y, button: 0, buttons, pointerId: 7, pointerType: "mouse",
|
||||
altKey: false, ctrlKey: false, metaKey: false, shiftKey: false,
|
||||
});
|
||||
|
||||
canvas.dispatchEvent(pointer("pointerdown", 200, 100, 1));
|
||||
scope.dispatchEvent(pointer("pointermove", 240, 120, 1));
|
||||
scope.dispatchEvent(pointer("pointerup", 240, 120, 0));
|
||||
assert.deepEqual(journal.current(), initialEye);
|
||||
|
||||
canvas.dispatchEvent(pointer("pointerdown", 380, 100, 1));
|
||||
scope.dispatchEvent(pointer("pointermove", 420, 120, 1));
|
||||
scope.dispatchEvent(pointer("pointerup", 420, 120, 0));
|
||||
const rotated = journal.current();
|
||||
assert.notDeepEqual(rotated.position, initialEye.position);
|
||||
assert.ok(Math.abs(radius(rotated) - radius(initialEye)) < 1e-9);
|
||||
|
||||
journal.setMaxOrbitalRadius(40);
|
||||
scope.dispatchEvent(new FakeEvent("wheel", {
|
||||
clientX: 380, clientY: 130, deltaX: 0, deltaY: 2_000, deltaMode: 0,
|
||||
altKey: false, ctrlKey: false, metaKey: false, shiftKey: false,
|
||||
}));
|
||||
assert.ok(Math.abs(radius(journal.current()) - 40) < 1e-9);
|
||||
|
||||
journal.configure(rotated, 0.46);
|
||||
|
||||
scope.dispatchEvent(new FakeEvent("wheel", {
|
||||
clientX: 0, clientY: 0, deltaX: 0, deltaY: -20, deltaMode: 0,
|
||||
altKey: false, ctrlKey: false, metaKey: false, shiftKey: false,
|
||||
}));
|
||||
const zoomed = journal.current();
|
||||
assert.ok(Math.abs(radius(zoomed) - radius(rotated) * Math.exp(-20 / 200)) < 1e-9);
|
||||
|
||||
const snapshot = journal.current();
|
||||
journal.setSpatialViewportStart(0.8);
|
||||
scope.dispatchEvent(new FakeEvent("wheel", {
|
||||
clientX: 380, clientY: 130, deltaX: 0, deltaY: -20, deltaMode: 0,
|
||||
}));
|
||||
assert.deepEqual(journal.current(), snapshot);
|
||||
journal.dispose();
|
||||
});
|
||||
|
||||
test("iframe owner reads the native camera and installs no shadow input listeners", () => {
|
||||
const owner = readFileSync(new URL("../src/components/rerun/recordedRerunOwner.ts", import.meta.url), "utf8");
|
||||
const camera = readFileSync(new URL("../src/components/rerun/recordedRerunCameraJournal.ts", import.meta.url), "utf8");
|
||||
assert.match(owner, /get_camera_eye\?\.\(\)/);
|
||||
assert.doesNotMatch(owner + camera, /createRecordedRerunCameraJournal|addEventListener|Math\.exp/);
|
||||
});
|
||||
|
||||
test("display blueprint activation carries the current native eye, not the embedded preset", () => {
|
||||
const viewport = readFileSync(new URL("../src/components/RerunViewport.tsx", import.meta.url), "utf8");
|
||||
assert.match(viewport, /!enablingFollow \? active\.getCameraEye\?\.\(\) \?\? undefined : undefined/);
|
||||
assert.match(viewport, /requestBlueprint\(\s*firstEye,\s*firstEyeIsTrackingRelative,/);
|
||||
assert.match(viewport, /currentTimeNs: eyeRelativeToTracking \? currentTimeNs : undefined/);
|
||||
});
|
||||
|
||||
@@ -59,6 +59,17 @@ function bridge(native, mount = {}) {
|
||||
return parent;
|
||||
}
|
||||
|
||||
test("camera snapshot crosses the disposable realm as copied primitive data", () => {
|
||||
const eye = { position: [300, 7, 8], lookTarget: [298, 9, 0], eyeUp: [0, 0, 1] };
|
||||
const { facade, dispose } = bridge({ stop() {}, get_camera_eye: () => eye });
|
||||
const received = facade.get_camera_eye();
|
||||
assert.deepEqual(received, eye);
|
||||
assert.notEqual(received, eye);
|
||||
assert.notEqual(received.position, eye.position);
|
||||
dispose();
|
||||
assert.throws(() => facade.get_camera_eye(), /disposed/);
|
||||
});
|
||||
|
||||
test("recorded realm terminates on close even if upstream stop throws", async (t) => {
|
||||
const f = fixture(t, { stopFails: true });
|
||||
const scope = createIsolatedRerunHost(f.host);
|
||||
|
||||
@@ -251,6 +251,10 @@ test("recorded RRD bytes are never split across LogChannel.send_rrd calls", asyn
|
||||
assert.match(source, /recordedPerceptionLayers\.costmap,/);
|
||||
assert.match(source, /recordedPerceptionLayers\.costmap !== undefined && status !== "ready"/);
|
||||
assert.match(source, /perceptionLayers\.costmap === undefined \? \{\} : \{\s*show_costmap: perceptionLayers\.costmap,\s*reactivate_updates: true/s);
|
||||
// Ordinary archives need activation too, not only the LAB costmap path.
|
||||
assert.match(source, /requestBlueprint\(\s*firstEye,\s*firstEyeIsTrackingRelative,[\s\S]*?\n\s*true,\s*\);/);
|
||||
// Display changes must not trigger a full-file camera-bounds scan.
|
||||
assert.match(source, /currentTimeNs: eyeRelativeToTracking \? currentTimeNs : undefined/);
|
||||
assert.match(source, /viewer\.start\(\s*rerunViewerInitialSource\(resolvedSource\)/s);
|
||||
assert.doesNotMatch(source, /rerunViewerOpenOptions/);
|
||||
assert.match(
|
||||
|
||||
@@ -1,4 +1,5 @@
|
||||
import assert from "node:assert/strict";
|
||||
import { createHash } from "node:crypto";
|
||||
import { readFileSync } from "node:fs";
|
||||
import { resolve } from "node:path";
|
||||
import test from "node:test";
|
||||
@@ -7,13 +8,41 @@ const root = resolve(import.meta.dirname, "..");
|
||||
const packageRoot = resolve(root, "node_modules/@rerun-io/web-viewer");
|
||||
const readJson = (path) => JSON.parse(readFileSync(path, "utf8"));
|
||||
|
||||
test("Mission Core uses the exact upstream Rerun 0.36.3 web package", () => {
|
||||
test("Mission Core pins Rerun 0.36.3 with the bounded native navigation installer", () => {
|
||||
const application = readJson(resolve(root, "package.json"));
|
||||
const installed = readJson(resolve(packageRoot, "package.json"));
|
||||
|
||||
assert.equal(application.dependencies["@rerun-io/web-viewer"], "0.36.3");
|
||||
assert.equal(installed.version, "0.36.3");
|
||||
assert.equal(application.scripts.postinstall, undefined);
|
||||
assert.equal(application.scripts.postinstall, "node scripts/install-rerun-navigation.mjs");
|
||||
assert.equal(application.scripts.prebuild, application.scripts.postinstall);
|
||||
});
|
||||
|
||||
test("native navigation artifacts and source patch match their provenance", () => {
|
||||
const vendorRoot = resolve(root, "vendor/rerun-web-viewer-0.36.3");
|
||||
const manifest = readJson(resolve(vendorRoot, "navigation-build.json"));
|
||||
const sha = bytes => createHash("sha256").update(bytes).digest("hex");
|
||||
assert.equal(manifest.upstreamVersion, "0.36.3");
|
||||
assert.equal(manifest.upstreamCommit, "6ded109d33c549e98185f7c95fa8009d44e4adef");
|
||||
assert.equal(sha(readFileSync(resolve(vendorRoot, "NODEDC_NAVIGATION.patch"))), manifest.patchSha256);
|
||||
for (const [name, identity] of Object.entries(manifest.files)) {
|
||||
if (!identity.artifact) continue;
|
||||
assert.equal(sha(readFileSync(resolve(vendorRoot, identity.artifact))), identity.sha256, name);
|
||||
assert.equal(sha(readFileSync(resolve(packageRoot, name))), identity.sha256, name);
|
||||
}
|
||||
});
|
||||
|
||||
test("generated JS and native WASM share one ABI including the camera snapshot", () => {
|
||||
const glue = readFileSync(resolve(packageRoot, "re_viewer.js"), "utf8");
|
||||
const wasm = new WebAssembly.Module(readFileSync(resolve(packageRoot, "re_viewer_bg.wasm")));
|
||||
const names = new Set(WebAssembly.Module.exports(wasm).map(item => item.name));
|
||||
assert.ok(names.has("webhandle_nodedc_camera_eye"));
|
||||
for (const [, name] of glue.matchAll(/\bwasm\.([a-zA-Z_$][\w$]*)/g)) {
|
||||
assert.ok(names.has(name), `Missing WASM export: ${name}`);
|
||||
}
|
||||
assert.match(readFileSync(resolve(packageRoot, "index.js"), "utf8"), /this\.#handle\.nodedc_camera_eye\(\)/);
|
||||
assert.match(readFileSync(resolve(packageRoot, "index.d.ts"), "utf8"), /get_camera_eye\(\)/);
|
||||
assert.match(readFileSync(resolve(packageRoot, "re_viewer.d.ts"), "utf8"), /nodedc_camera_eye\(\)/);
|
||||
});
|
||||
|
||||
test("the active application never imports or installs the archived vendor fork", () => {
|
||||
|
||||
@@ -0,0 +1,134 @@
|
||||
import assert from 'node:assert/strict';
|
||||
import {before, after, test} from 'node:test';
|
||||
import {createServer} from 'vite';
|
||||
import {createElement} from 'react';
|
||||
import {renderToStaticMarkup} from 'react-dom/server';
|
||||
import {readFile} from 'node:fs/promises';
|
||||
import {runInNewContext} from 'node:vm';
|
||||
import ts from 'typescript';
|
||||
|
||||
let server, profile, points, defaults, Controls, Timeline;
|
||||
before(async () => {
|
||||
server = await createServer({appType: 'custom', logLevel: 'silent', server: {middlewareMode: true}});
|
||||
profile = await server.ssrLoadModule('/src/core/observation/sessionDisplayProfile.ts');
|
||||
points = await server.ssrLoadModule('/src/core/observation/recordedPointDisplay.ts');
|
||||
defaults = (await server.ssrLoadModule('/src/sceneSettings.ts')).defaultSceneSettings;
|
||||
({SceneDisplayControls: Controls} = await server.ssrLoadModule('../../packages/spatial-ui/src/SceneDisplayControls.tsx'));
|
||||
({ObservationTimeline: Timeline} = await server.ssrLoadModule('/src/components/ObservationTimeline.tsx'));
|
||||
});
|
||||
after(async () => {await server?.close();});
|
||||
|
||||
const document = (settings, id='session-a') => ({schema_version: 'missioncore.session-display-profile/v1',
|
||||
session_id: id, scene_settings: profile.encodeSessionDisplay(settings)});
|
||||
|
||||
test('session profile round trips all display settings and fractional decimation', () => {
|
||||
const settings = {...defaults, accumulationMaxSeconds: 600, accumulationSeconds: 590, pointDecimationPercent: 49.5};
|
||||
assert.deepEqual(profile.decodeSessionDisplay(document(settings), 'session-a'), settings);
|
||||
assert.throws(() => profile.decodeSessionDisplay(document(settings), 'session-b'), /другой записи/);
|
||||
for (const percent of [-1, 100.1, NaN, Infinity]) {
|
||||
assert.throws(() => profile.decodeSessionDisplay(document({...settings, pointDecimationPercent: percent}), 'session-a'));
|
||||
}
|
||||
for (const percent of [0, 50, 100]) assert.equal(profile.decodeSessionDisplay(document({...settings,
|
||||
pointDecimationPercent: percent}), 'session-a').pointDecimationPercent, percent);
|
||||
assert.equal(defaults.accumulationMaxSeconds, 180);
|
||||
});
|
||||
|
||||
test('timeline uses per-session range instead of a fixed duration cap', () => {
|
||||
const html = renderToStaticMarkup(createElement(Timeline, {accumulationSeconds: 47,
|
||||
accumulationMaxSeconds: 600, onAccumulationChange: () => {}}));
|
||||
assert.match(html, /max="600"/);
|
||||
});
|
||||
|
||||
test('display exposes precise thinning only for saved playback', () => {
|
||||
const props = {displayDraft: defaults, stageDisplayPatch: () => {}, commitDisplayPatch: () => {}, flushDisplaySettings: () => {}};
|
||||
assert.match(renderToStaticMarkup(createElement(Controls, {...props, replayPresented: true})), /Прореживание облака/);
|
||||
assert.doesNotMatch(renderToStaticMarkup(createElement(Controls, props)), /Прореживание облака/);
|
||||
});
|
||||
|
||||
test('open Display previews 100%, 0% and accumulation; close alone persists the latest draft', async () => {
|
||||
// Execute the actual composition callbacks with deterministic timers. This
|
||||
// catches the former open-inspector early return, not just helper behavior.
|
||||
const source = await readFile(new URL('../src/App.tsx', import.meta.url), 'utf8');
|
||||
const ast = ts.createSourceFile('App.tsx', source, ts.ScriptTarget.Latest, true, ts.ScriptKind.TSX);
|
||||
const callbacks = new Map();
|
||||
const names = ['stageDisplayPatch', 'flushDisplaySettings', 'commitDisplaySettings'];
|
||||
let close;
|
||||
function visit(node) {
|
||||
if (ts.isVariableDeclaration(node) && names.includes(node.name.getText(ast))) {
|
||||
callbacks.set(node.name.getText(ast), node.initializer.getText(ast));
|
||||
}
|
||||
if (ts.isBinaryExpression(node) && node.left.getText(ast) === 'closeDisplayRef.current') close = node.getText(ast);
|
||||
ts.forEachChild(node, visit);
|
||||
}
|
||||
visit(ast);
|
||||
assert.equal(callbacks.size, names.length); assert.ok(close);
|
||||
const applied = [], saved = [], timers = new Map(); let timerId = 0;
|
||||
const context = {
|
||||
useCallback: fn => fn, displayWindowOpenRef: {current: true}, replayActiveRef: {current: true},
|
||||
displayDraftRef: {current: {...defaults, pointDecimationPercent: 86}}, setDisplayDraft() {},
|
||||
viewerSettingsCommitTimerRef: {current: null}, viewerSettingsQuietPeriodMs: 750,
|
||||
sceneSettingsCommitterRef: {current: {enqueue: value => applied.push(value)}}, closeDisplayRef: {current: null},
|
||||
sessionDisplayProfile: {edited() {}, save: value => saved.push(value)},
|
||||
window: {setTimeout: fn => {timers.set(++timerId, fn); return timerId;}, clearTimeout: id => timers.delete(id)},
|
||||
};
|
||||
const code = [...callbacks].map(([name, init]) => `const ${name} = ${init};`).join('\n') +
|
||||
`\n${close}; ({stageDisplayPatch, flushDisplaySettings, close: closeDisplayRef.current});`;
|
||||
const actions = runInNewContext(ts.transpileModule(code, {compilerOptions: {target: ts.ScriptTarget.ES2022}}).outputText, context);
|
||||
actions.stageDisplayPatch({pointDecimationPercent: 100});
|
||||
assert.equal(applied.at(-1).pointDecimationPercent, 100);
|
||||
actions.stageDisplayPatch({pointDecimationPercent: 0});
|
||||
assert.equal(applied.at(-1).pointDecimationPercent, 0);
|
||||
actions.stageDisplayPatch({accumulationSeconds: 180});
|
||||
actions.flushDisplaySettings();
|
||||
assert.equal(applied.at(-1).accumulationSeconds, 180);
|
||||
actions.stageDisplayPatch({accumulationSeconds: 10});
|
||||
actions.flushDisplaySettings();
|
||||
assert.equal(applied.at(-1).accumulationSeconds, 10);
|
||||
actions.stageDisplayPatch({pointDecimationPercent: 49.5});
|
||||
assert.equal(timers.size, 1);
|
||||
const pending = [...timers.values()][0]; timers.clear(); pending();
|
||||
assert.equal(applied.at(-1).pointDecimationPercent, 49.5);
|
||||
assert.equal(applied.at(-1).accumulationSeconds, 10);
|
||||
assert.equal(saved.length, 0);
|
||||
actions.close();
|
||||
assert.equal(saved.length, 1);
|
||||
assert.equal(saved[0].pointDecimationPercent, 49.5);
|
||||
assert.equal(saved[0].accumulationSeconds, 10);
|
||||
});
|
||||
|
||||
test('display stream validates fragmented header and sends bounded chunks', async () => {
|
||||
const previous = globalThis.window; globalThis.window = {location: {origin: 'http://localhost'}};
|
||||
try {
|
||||
const wire = [78,80,68,49,8,0,0,0,82,82,70,50,1,2,3,4,0,0,0,0];
|
||||
const chunks = [new Uint8Array(wire.slice(0,1)), new Uint8Array(wire.slice(1,7)),
|
||||
new Uint8Array(wire.slice(7,10)), new Uint8Array(wire.slice(10))];
|
||||
const sent = []; let request;
|
||||
const fetcher = async (url, options) => {request = {url, ...options}; return new Response(new ReadableStream({
|
||||
start(controller) {chunks.forEach(chunk => controller.enqueue(chunk)); controller.close();},
|
||||
}), {headers: {'Content-Type': 'application/vnd.nodedc.point-display-stream'}});};
|
||||
const total = await points.streamRecordedPointDisplay('/api/v1/observation-sessions/session-a/blueprint.rrd',
|
||||
{...defaults, pointDecimationPercent: 49.5}, {applicationId: 'app', recordingId: 'rec'}, 'a'.repeat(32),
|
||||
new AbortController().signal, chunk => sent.push(...chunk), fetcher, 'a'.repeat(64));
|
||||
assert.equal(total, 20); assert.deepEqual(sent, [82,82,70,50,1,2,3,4]);
|
||||
assert.equal(JSON.parse(request.body).point_decimation_percent, 49.5);
|
||||
assert.equal(JSON.parse(request.body).source_generation, 'a'.repeat(64));
|
||||
assert.match(request.url, /point-display\.rrd$/);
|
||||
} finally {globalThis.window = previous;}
|
||||
});
|
||||
|
||||
test('invalid, cross-origin and canceled streams never become active', async () => {
|
||||
const previous = globalThis.window; globalThis.window = {location: {origin: 'http://localhost'}};
|
||||
try {
|
||||
const call = (url, signal, fetcher) => points.streamRecordedPointDisplay(url, {...defaults, pointDecimationPercent: 50},
|
||||
{applicationId: 'app', recordingId: 'rec'}, 'b'.repeat(32), signal, () => assert.fail('must not publish'), fetcher);
|
||||
const url = '/api/v1/observation-sessions/session-a/blueprint.rrd';
|
||||
await assert.rejects(call('https://elsewhere.test'+url, new AbortController().signal, () => assert.fail('must not fetch')));
|
||||
await assert.rejects(call(url, new AbortController().signal, async () => new Response('bad!', {
|
||||
headers: {'Content-Type': 'application/vnd.nodedc.point-display-stream'}})), /Некорректный поток/);
|
||||
await assert.rejects(call(url, new AbortController().signal, async () => new Response('NPD1', {
|
||||
headers: {'Content-Type': 'application/vnd.nodedc.point-display-stream'}})), /не завершён/);
|
||||
const abort = new AbortController(); abort.abort();
|
||||
await assert.rejects(call(url, abort.signal, async () => new Response('RRF2', {
|
||||
headers: {'Content-Type': 'application/vnd.nodedc.point-display-stream'}})), /Aborted/);
|
||||
} finally {globalThis.window = previous;}
|
||||
});
|
||||
@@ -0,0 +1,55 @@
|
||||
import assert from 'node:assert/strict';
|
||||
import { before, after, test } from 'node:test';
|
||||
import { createServer } from 'vite';
|
||||
import { readFile } from 'node:fs/promises';
|
||||
let server, api;
|
||||
before(async () => {
|
||||
server = await createServer({ appType: 'custom', logLevel: 'silent', server: { middlewareMode: true } });
|
||||
api = await server.ssrLoadModule('/src/core/observation/sessionOverviewSpatial.ts');
|
||||
});
|
||||
after(async () => { await server?.close(); });
|
||||
test('comparison pins identity and changes geometry without requesting a camera reset', async () => {
|
||||
const oldFetch = globalThis.fetch, oldWindow = globalThis.window;
|
||||
const requests = [];
|
||||
globalThis.window = { location: { origin: 'http://localhost:8000' } };
|
||||
globalThis.fetch = async (url, options) => {
|
||||
requests.push({ url: String(url), body: JSON.parse(options.body) });
|
||||
return { ok: true, arrayBuffer: async () => new ArrayBuffer(8), headers: new Headers({ 'X-Overview-Visible-Points': '42' }) };
|
||||
};
|
||||
try {
|
||||
const source = '/api/v1/observation-sessions/example/overview/scene.rrd?generation=' + 'a'.repeat(64);
|
||||
const signal = new AbortController().signal;
|
||||
for (const representation of ['original', 'corrected', 'original']) {
|
||||
const result = await api.updateOverviewSpatial(source, 80, null, 1.5, signal, 'b'.repeat(64), representation);
|
||||
assert.equal(result.eye, null);
|
||||
assert.equal(result.visiblePoints, 42);
|
||||
}
|
||||
assert.deepEqual(requests.map(r => r.body.representation), ['original', 'corrected', 'original']);
|
||||
for (const request of requests) {
|
||||
assert.equal(request.body.mode, null);
|
||||
assert.equal(request.body.comparison_generation, 'b'.repeat(64));
|
||||
assert.equal(request.body.generation, 'a'.repeat(64));
|
||||
assert.ok(request.url.endsWith('/overview/spatial'));
|
||||
}
|
||||
await assert.rejects(api.updateOverviewSpatial(source, null, null, 1, signal, null, 'corrected'), /недоступна/);
|
||||
assert.equal(requests.length, 3);
|
||||
} finally { globalThis.fetch = oldFetch; globalThis.window = oldWindow; }
|
||||
});
|
||||
test('comparison control is opt-in while default geometry and pinned planner versions are shared', async () => {
|
||||
const source = await readFile(new URL('../src/components/observation/SessionOverviewScene.tsx', import.meta.url), 'utf8');
|
||||
assert.match(source, /compareVersions=false/);
|
||||
assert.match(source, /}, \[sourceUrl, retry\]\);/);
|
||||
assert.match(source, /appliedMode.current === mode \? null : mode/);
|
||||
assert.doesNotMatch(source, /key=\{representation\}|setRetry\([^\n]*representation/);
|
||||
assert.match(source, /label="Версия облака"/);
|
||||
assert.match(source, /setAppliedRepresentation\(comparison \? representation/);
|
||||
assert.match(source, /setRepresentation\(data.default_representation/);
|
||||
assert.match(source, /const comparison = metadata\?\.comparison/);
|
||||
assert.match(source, /compareVersions && comparison/);
|
||||
const planner = await readFile(new URL('../src/components/missions/MissionZonePreview.tsx', import.meta.url), 'utf8');
|
||||
assert.doesNotMatch(planner, /compareVersions/);
|
||||
assert.match(planner, /reference_generation=\$\{encodeURIComponent\(generation\)\}/);
|
||||
const logic = await readFile(new URL('../src/core/missions/useMissionPlanner.ts', import.meta.url), 'utf8');
|
||||
assert.match(logic, /setPinnedGeneration\(next.zone.generation\)/);
|
||||
assert.match(logic, /setPinnedGeneration\(null\)/);
|
||||
});
|
||||
@@ -13,7 +13,8 @@ before(async () => {
|
||||
after(async () => { await server?.close(); });
|
||||
|
||||
const render = (focused = false) => renderToStaticMarkup(createElement(SpatialScene, {
|
||||
viewportRef: { current: null }, primaryFocused: focused, toolbar: null, renderer: null,
|
||||
viewportRef: { current: null }, primaryFocused: focused, toolbar: null,
|
||||
renderer: createElement('div', { 'data-testid': 'renderer' }, 'RENDERER'),
|
||||
sourceControls: createElement('div', { className: focused ? 'scene-focus-exit' : 'scene-source-controls' }, 'SOURCE_CONTROLS'),
|
||||
status: { label: 'Накопление данных', tone: 'neutral', message: 'Сканер неподвижен.' },
|
||||
metrics: createElement('div', null, 'METRICS'),
|
||||
@@ -37,6 +38,18 @@ test('focus exit remains viewport-owned outside the hidden information stack', (
|
||||
assert.equal((markup.match(/SOURCE_CONTROLS/g) ?? []).length, 1);
|
||||
});
|
||||
|
||||
test('normal and expanded scenes retain the renderer without mouse-navigation copy', async () => {
|
||||
for (const focused of [false, true]) {
|
||||
const markup = render(focused);
|
||||
assert.match(markup, /data-testid="renderer">RENDERER/);
|
||||
assert.doesNotMatch(markup, /scene-navigation-hint|Навигация по 3D-сцене|ЛКМ|ПКМ|Колесо/);
|
||||
}
|
||||
const source = await readFile(new URL('../../../packages/spatial-ui/src/SpatialScene.tsx', import.meta.url), 'utf8');
|
||||
const css = await readFile(new URL('../../../packages/spatial-ui/src/observation.css', import.meta.url), 'utf8');
|
||||
assert.doesNotMatch(source, /navigationReady|scene-navigation-hint/);
|
||||
assert.doesNotMatch(css, /scene-navigation-hint/);
|
||||
});
|
||||
|
||||
test('scene layout uses flow, retains compact metrics and removes only the calibration perimeter', async () => {
|
||||
const css = await readFile(new URL('../../../packages/spatial-ui/src/spatial.css', import.meta.url), 'utf8');
|
||||
const responsive = await readFile(new URL('../src/styles/responsive.css', import.meta.url), 'utf8');
|
||||
@@ -48,3 +61,13 @@ test('scene layout uses flow, retains compact metrics and removes only the calib
|
||||
assert.doesNotMatch(responsive, /\.scene-metrics\s*\{\s*display: none/);
|
||||
assert.match(calibration, /\.xgrids-k1-spatial-controls \{[^}]*border: 0;/);
|
||||
});
|
||||
|
||||
test('preparation status shares the source controls top axis on the opposite side', async () => {
|
||||
const css = await readFile(new URL('../../../packages/spatial-ui/src/spatial.css', import.meta.url), 'utf8');
|
||||
const stack = css.match(/\.scene-operation-status-stack \{[^}]*\}/)?.[0] ?? '';
|
||||
assert.match(stack, /top: 0\.85rem/);
|
||||
assert.match(stack, /right: 0\.85rem/);
|
||||
assert.match(stack, /min-height: 2\.75rem/);
|
||||
assert.match(stack, /align-content: center/);
|
||||
assert.doesNotMatch(stack, /left:|bottom:/);
|
||||
});
|
||||
|
||||
@@ -0,0 +1,201 @@
|
||||
Apache License
|
||||
Version 2.0, January 2004
|
||||
http://www.apache.org/licenses/
|
||||
|
||||
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
|
||||
|
||||
1. Definitions.
|
||||
|
||||
"License" shall mean the terms and conditions for use, reproduction,
|
||||
and distribution as defined by Sections 1 through 9 of this document.
|
||||
|
||||
"Licensor" shall mean the copyright owner or entity authorized by
|
||||
the copyright owner that is granting the License.
|
||||
|
||||
"Legal Entity" shall mean the union of the acting entity and all
|
||||
other entities that control, are controlled by, or are under common
|
||||
control with that entity. For the purposes of this definition,
|
||||
"control" means (i) the power, direct or indirect, to cause the
|
||||
direction or management of such entity, whether by contract or
|
||||
otherwise, or (ii) ownership of fifty percent (50%) or more of the
|
||||
outstanding shares, or (iii) beneficial ownership of such entity.
|
||||
|
||||
"You" (or "Your") shall mean an individual or Legal Entity
|
||||
exercising permissions granted by this License.
|
||||
|
||||
"Source" form shall mean the preferred form for making modifications,
|
||||
including but not limited to software source code, documentation
|
||||
source, and configuration files.
|
||||
|
||||
"Object" form shall mean any form resulting from mechanical
|
||||
transformation or translation of a Source form, including but
|
||||
not limited to compiled object code, generated documentation,
|
||||
and conversions to other media types.
|
||||
|
||||
"Work" shall mean the work of authorship, whether in Source or
|
||||
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|
||||
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|
||||
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|
||||
|
||||
"Derivative Works" shall mean any work, whether in Source or Object
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
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|
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|
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|
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|
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|
||||
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||||
|
||||
2. Grant of Copyright License. Subject to the terms and conditions of
|
||||
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|
||||
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|
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|
||||
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||||
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|
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|
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||||
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|
||||
negligent acts) or agreed to in writing, shall any Contributor be
|
||||
liable to You for damages, including any direct, indirect, special,
|
||||
incidental, or consequential damages of any character arising as a
|
||||
result of this License or out of the use or inability to use the
|
||||
Work (including but not limited to damages for loss of goodwill,
|
||||
work stoppage, computer failure or malfunction, or any and all
|
||||
other commercial damages or losses), even if such Contributor
|
||||
has been advised of the possibility of such damages.
|
||||
|
||||
9. Accepting Warranty or Additional Liability. While redistributing
|
||||
the Work or Derivative Works thereof, You may choose to offer,
|
||||
and charge a fee for, acceptance of support, warranty, indemnity,
|
||||
or other liability obligations and/or rights consistent with this
|
||||
License. However, in accepting such obligations, You may act only
|
||||
on Your own behalf and on Your sole responsibility, not on behalf
|
||||
of any other Contributor, and only if You agree to indemnify,
|
||||
defend, and hold each Contributor harmless for any liability
|
||||
incurred by, or claims asserted against, such Contributor by reason
|
||||
of your accepting any such warranty or additional liability.
|
||||
|
||||
END OF TERMS AND CONDITIONS
|
||||
|
||||
APPENDIX: How to apply the Apache License to your work.
|
||||
|
||||
To apply the Apache License to your work, attach the following
|
||||
boilerplate notice, with the fields enclosed by brackets "[]"
|
||||
replaced with your own identifying information. (Don't include
|
||||
the brackets!) The text should be enclosed in the appropriate
|
||||
comment syntax for the file format. We also recommend that a
|
||||
file or class name and description of purpose be included on the
|
||||
same "printed page" as the copyright notice for easier
|
||||
identification within third-party archives.
|
||||
|
||||
Copyright [yyyy] [name of copyright owner]
|
||||
|
||||
Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
|
||||
http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
@@ -0,0 +1,25 @@
|
||||
Copyright (c) 2022 Rerun Technologies AB <opensource@rerun.io>
|
||||
|
||||
Permission is hereby granted, free of charge, to any
|
||||
person obtaining a copy of this software and associated
|
||||
documentation files (the "Software"), to deal in the
|
||||
Software without restriction, including without
|
||||
limitation the rights to use, copy, modify, merge,
|
||||
publish, distribute, sublicense, and/or sell copies of
|
||||
the Software, and to permit persons to whom the Software
|
||||
is furnished to do so, subject to the following
|
||||
conditions:
|
||||
|
||||
The above copyright notice and this permission notice
|
||||
shall be included in all copies or substantial portions
|
||||
of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF
|
||||
ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
|
||||
TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
|
||||
PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT
|
||||
SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
|
||||
CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
|
||||
OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR
|
||||
IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
|
||||
DEALINGS IN THE SOFTWARE.
|
||||
@@ -0,0 +1,361 @@
|
||||
--- a/crates/viewer/re_view_spatial/src/eye.rs
|
||||
+++ b/crates/viewer/re_view_spatial/src/eye.rs
|
||||
@@ -2,7 +2,7 @@
|
||||
use glam::{Mat4, Quat, Vec3, vec3};
|
||||
use macaw::IsoTransform;
|
||||
use re_log_types::EntityPath;
|
||||
-use re_sdk_types::blueprint::archetypes::EyeControls3D;
|
||||
+use re_sdk_types::blueprint::archetypes::{EyeControls3D, LineGrid3D};
|
||||
use re_sdk_types::blueprint::components::{AngularSpeed, Eye3DKind};
|
||||
use re_sdk_types::components::{LinearSpeed, Position3D, Vector3D};
|
||||
use re_view::controls::{
|
||||
@@ -214,6 +214,8 @@
|
||||
pub last_look_target: Option<Vec3>,
|
||||
pub last_orbit_radius: Option<f32>,
|
||||
pub last_eye_up: Option<Vec3>,
|
||||
+ /// NODE.DC: time of the last rendered eye, for the read-only WebViewer snapshot.
|
||||
+ pub last_render_time: f64,
|
||||
}
|
||||
|
||||
#[derive(Clone, Debug, PartialEq, re_byte_size::SizeBytes)]
|
||||
@@ -241,6 +243,7 @@
|
||||
fov_y: Option<f32>,
|
||||
|
||||
did_interact: bool,
|
||||
+ grid_plane: macaw::Plane3,
|
||||
}
|
||||
|
||||
impl EyeController {
|
||||
@@ -250,16 +253,8 @@
|
||||
/// Avoids breaking the view by zooming in too far.
|
||||
pub const MIN_ORBIT_DISTANCE: f32 = Eye::PERSPECTIVE_NEAR_PLANE * 2.0;
|
||||
|
||||
- /// Cap on the orbital camera radius, as a multiple of the scene bounding box diagonal.
|
||||
- ///
|
||||
- /// Only applied when scroll-to-zoom wants to grow the radius further. Zoom-in, rotate,
|
||||
- /// pan, WASD, and every other form of motion are left alone — this is intentionally a
|
||||
- /// local restriction on orbital zoom-out only, not a general movement envelope. The 2D
|
||||
- /// view has its own, separate zoom-out cap (see `ui_2d::MAX_ZOOM_OUT_FACTOR`).
|
||||
- ///
|
||||
- /// If the radius already exceeds this (e.g. right after loading) the current radius is
|
||||
- /// used as the cap instead, so the camera isn't pulled back in.
|
||||
- const MAX_ORBITAL_ZOOM_OUT_FACTOR: f32 = 5.0;
|
||||
+ // NODE.DC: finite arithmetic guard only, independent of route/scene bounds.
|
||||
+ const MAX_ORBITAL_RADIUS: f32 = 1.0e17;
|
||||
|
||||
fn get_eye(&self) -> Eye {
|
||||
Eye {
|
||||
@@ -317,6 +312,10 @@
|
||||
.0,
|
||||
);
|
||||
|
||||
+ let grid = ViewProperty::from_archetype::<LineGrid3D>(ctx);
|
||||
+ let grid_plane = grid.component_or_fallback::<re_sdk_types::components::Plane3D>(
|
||||
+ ctx, LineGrid3D::descriptor_plane().component,
|
||||
+ )?;
|
||||
Ok(Self {
|
||||
pos,
|
||||
look_target,
|
||||
@@ -325,6 +324,7 @@
|
||||
eye_up,
|
||||
did_interact: false,
|
||||
fov_y,
|
||||
+ grid_plane: grid_plane.into(),
|
||||
})
|
||||
}
|
||||
|
||||
@@ -482,12 +482,45 @@
|
||||
let up = rot * Vec3::Y;
|
||||
let right = rot * -Vec3::X; // TODO(emilk): why do we need a negation here? O.o
|
||||
|
||||
+ // Mission Core's map grid is XY. Screen-plane pan otherwise lifts the
|
||||
+ // orbit target into the air, leaving scroll-to-target stranded there.
|
||||
+ // First-person navigation intentionally retains upstream 3D movement.
|
||||
+ let (right, up) = if self.kind == Eye3DKind::Orbital {
|
||||
+ let normal = self.grid_plane.normal;
|
||||
+ let project = |v: Vec3| v - normal * normal.dot(v);
|
||||
+ let right = project(right).normalize_or(project(Vec3::X).normalize_or(Vec3::Y));
|
||||
+ let up = project(up).normalize_or(normal.cross(-right));
|
||||
+ (right, up)
|
||||
+ } else {
|
||||
+ (right, up)
|
||||
+ };
|
||||
let translate = delta_in_view.x * right + delta_in_view.y * up;
|
||||
|
||||
self.pos += translate;
|
||||
self.look_target += translate;
|
||||
}
|
||||
|
||||
+ /// Translate the whole rig, not its orientation/radius, onto the grid.
|
||||
+ /// Called only by deliberate navigation while not following an entity.
|
||||
+ fn anchor_orbit_to_grid(&mut self) {
|
||||
+ if self.kind == Eye3DKind::Orbital {
|
||||
+ let correction = self.grid_plane.normal
|
||||
+ * (self.grid_plane.d - self.grid_plane.normal.dot(self.look_target));
|
||||
+ self.pos += correction;
|
||||
+ self.look_target += correction;
|
||||
+ }
|
||||
+ }
|
||||
+
|
||||
+ fn zoom_orbit(&mut self, zoom_factor: f32) {
|
||||
+ if !zoom_factor.is_finite() || zoom_factor <= 0.0 {
|
||||
+ return;
|
||||
+ }
|
||||
+ let new_radius = (self.radius() / zoom_factor)
|
||||
+ .clamp(Self::MIN_ORBIT_DISTANCE, Self::MAX_ORBITAL_RADIUS);
|
||||
+ self.pos = self.look_target - self.fwd() * new_radius;
|
||||
+ self.did_interact = true;
|
||||
+ }
|
||||
+
|
||||
fn handle_drag(&mut self, response: &egui::Response, drag_threshold: f32) {
|
||||
if response.drag_delta().length() > drag_threshold {
|
||||
let roll = response.dragged_by(ROLL_MOUSE)
|
||||
@@ -513,7 +546,7 @@
|
||||
}
|
||||
|
||||
/// Handle zoom/scroll input.
|
||||
- fn handle_zoom(&mut self, egui_ctx: &egui::Context, scene_bounding_box: &macaw::BoundingBox) {
|
||||
+ fn handle_zoom(&mut self, egui_ctx: &egui::Context, _scene_bounding_box: &macaw::BoundingBox) {
|
||||
let zoom_factor = egui_ctx.input(|input| {
|
||||
// egui's default horizontal_scroll_modifier is shift, which is also our speed-up modifier.
|
||||
// This means that a user who wants to speed up scroll-to-zoom will generate a horizontal scroll delta.
|
||||
@@ -528,22 +561,7 @@
|
||||
|
||||
match self.kind {
|
||||
Eye3DKind::Orbital => {
|
||||
- let radius = self.pos.distance(self.look_target);
|
||||
-
|
||||
- // Cap zoom-out against the scene bounding box. If we're already past the cap
|
||||
- // (e.g. right after loading) use the current radius instead — no snap-back.
|
||||
- let max_radius = max_orbital_radius(scene_bounding_box).max(radius);
|
||||
- let new_radius = (radius / zoom_factor).clamp(Self::MIN_ORBIT_DISTANCE, max_radius);
|
||||
-
|
||||
- // The user may be scrolling to move the camera closer, but are not realizing
|
||||
- // the radius is now tiny.
|
||||
- // TODO(emilk): inform the users somehow that scrolling won't help, and that they should use WSAD instead.
|
||||
- // It might be tempting to start moving the camera here on scroll, but that would is bad for other reasons.
|
||||
-
|
||||
- if f32::MIN_POSITIVE < new_radius {
|
||||
- self.pos = self.look_target - self.fwd() * new_radius;
|
||||
- self.did_interact = true;
|
||||
- }
|
||||
+ self.zoom_orbit(zoom_factor);
|
||||
}
|
||||
Eye3DKind::FirstPerson => {
|
||||
// Move along the forward axis when zooming in first person mode.
|
||||
@@ -707,25 +725,6 @@
|
||||
}
|
||||
}
|
||||
|
||||
-/// Cap on the orbital zoom-out radius, derived from the scene bounding box diagonal.
|
||||
-///
|
||||
-/// Returns `1.0e17` (a large fallback that avoids infinities downstream) when no usable scene
|
||||
-/// bounding box is available.
|
||||
-fn max_orbital_radius(scene_bounding_box: &macaw::BoundingBox) -> f32 {
|
||||
- // `1.0e17` fallback is chosen with generous margin of an observed crash due to infinity.
|
||||
- let fallback = 1.0e17;
|
||||
-
|
||||
- if !scene_bounding_box.is_finite() || scene_bounding_box.is_nothing() {
|
||||
- return fallback;
|
||||
- }
|
||||
- let scene_diagonal = scene_bounding_box.size().length();
|
||||
- if !scene_diagonal.is_finite() || scene_diagonal <= 0.0 {
|
||||
- return fallback;
|
||||
- }
|
||||
- (scene_diagonal * EyeController::MAX_ORBITAL_ZOOM_OUT_FACTOR)
|
||||
- .max(EyeController::MIN_ORBIT_DISTANCE)
|
||||
-}
|
||||
-
|
||||
pub fn find_camera(cameras: &[PinholeWrapper], needle: &EntityPath) -> Option<Eye> {
|
||||
let mut found_camera = None;
|
||||
|
||||
@@ -744,6 +743,103 @@
|
||||
|
||||
fn ease_out(t: f32) -> f32 {
|
||||
1. - (1. - t) * (1. - t)
|
||||
+}
|
||||
+
|
||||
+#[cfg(test)]
|
||||
+mod nodedc_navigation_tests {
|
||||
+ use super::*;
|
||||
+
|
||||
+ fn controller() -> EyeController {
|
||||
+ EyeController {
|
||||
+ pos: vec3(305.0, -80.0, 22.0),
|
||||
+ look_target: vec3(290.0, -60.0, 4.0),
|
||||
+ kind: Eye3DKind::Orbital,
|
||||
+ speed: 30.0,
|
||||
+ eye_up: Vec3::Z,
|
||||
+ fov_y: Some(Eye::DEFAULT_FOV_Y),
|
||||
+ did_interact: false,
|
||||
+ grid_plane: macaw::Plane3 { normal: Vec3::Z, d: 0.0 },
|
||||
+ }
|
||||
+ }
|
||||
+
|
||||
+ #[test]
|
||||
+ fn pan_is_on_grid_and_moves_the_whole_rig() {
|
||||
+ let mut c = controller();
|
||||
+ let offset = c.pos - c.look_target;
|
||||
+ c.anchor_orbit_to_grid();
|
||||
+ for _ in 0..100 {
|
||||
+ c.translate(egui::vec2(0.5, 0.7));
|
||||
+ }
|
||||
+ assert_eq!(c.look_target.z, 0.0);
|
||||
+ assert!((c.pos - c.look_target - offset).length() < 0.001);
|
||||
+ }
|
||||
+
|
||||
+ #[test]
|
||||
+ fn rotation_keeps_selected_pivot_and_radius() {
|
||||
+ let mut c = controller();
|
||||
+ c.anchor_orbit_to_grid();
|
||||
+ let target = c.look_target;
|
||||
+ let radius = c.radius();
|
||||
+ for _ in 0..200 {
|
||||
+ c.rotate(egui::vec2(2.0, 0.1));
|
||||
+ }
|
||||
+ assert_eq!(c.look_target, target);
|
||||
+ assert!((c.radius() - radius).abs() < 0.01);
|
||||
+ }
|
||||
+
|
||||
+ #[test]
|
||||
+ fn zoom_passes_map_scale_without_moving_pivot() {
|
||||
+ let mut c = controller();
|
||||
+ c.anchor_orbit_to_grid();
|
||||
+ let target = c.look_target;
|
||||
+ c.zoom_orbit(0.001);
|
||||
+ assert!(c.radius() > 20_000.0);
|
||||
+ for _ in 0..12 {
|
||||
+ c.zoom_orbit(4.0);
|
||||
+ }
|
||||
+ assert!(c.radius() < 0.03);
|
||||
+ assert_eq!(c.look_target, target);
|
||||
+ assert!(c.get_eye().world_from_rub_view.translation().is_finite());
|
||||
+ }
|
||||
+
|
||||
+ #[test]
|
||||
+ fn vertical_view_pan_stays_finite_on_grid() {
|
||||
+ let mut c = controller();
|
||||
+ c.pos = vec3(0.0, 0.0, 30.0);
|
||||
+ c.look_target = Vec3::ZERO;
|
||||
+ c.eye_up = Vec3::Y;
|
||||
+ c.translate(egui::vec2(1.0, 1.0));
|
||||
+ assert_eq!(c.look_target.z, 0.0);
|
||||
+ assert!(c.pos.is_finite());
|
||||
+ assert!(c.look_target.length() > 1.0);
|
||||
+ }
|
||||
+
|
||||
+ #[test]
|
||||
+ fn navigation_respects_the_actual_grid_plane() {
|
||||
+ let mut c = controller();
|
||||
+ c.grid_plane = macaw::Plane3 { normal: Vec3::Y, d: 3.0 };
|
||||
+ c.anchor_orbit_to_grid();
|
||||
+ let target = c.look_target;
|
||||
+ c.translate(egui::vec2(2.0, 4.0));
|
||||
+ c.rotate(egui::vec2(10.0, 3.0));
|
||||
+ assert_eq!(c.look_target.y, 3.0);
|
||||
+ assert_ne!(c.look_target, target);
|
||||
+ }
|
||||
+
|
||||
+ #[test]
|
||||
+ fn invalid_zoom_is_ignored_and_first_person_is_unchanged() {
|
||||
+ let mut c = controller();
|
||||
+ let before = c.pos;
|
||||
+ for factor in [0.0, -1.0, f32::NAN, f32::INFINITY] {
|
||||
+ c.zoom_orbit(factor);
|
||||
+ assert_eq!(c.pos, before);
|
||||
+ }
|
||||
+ c.kind = Eye3DKind::FirstPerson;
|
||||
+ c.anchor_orbit_to_grid();
|
||||
+ assert_eq!(c.look_target.z, 4.0);
|
||||
+ c.translate(egui::vec2(0.0, 1.0));
|
||||
+ assert_ne!(c.look_target.z, 4.0);
|
||||
+ }
|
||||
}
|
||||
|
||||
impl EyeState {
|
||||
@@ -804,9 +900,32 @@
|
||||
}
|
||||
}
|
||||
|
||||
+ // Anchor before the first paint, not on the first orbit drag. This
|
||||
+ // avoids a one-off camera jump when the scene-bounds fallback is high.
|
||||
+ if tracking_entity.is_none() && eye_controller.kind == Eye3DKind::Orbital
|
||||
+ && (eye_controller.grid_plane.normal.dot(eye_controller.look_target)
|
||||
+ - eye_controller.grid_plane.d).abs() > 1.0e-5
|
||||
+ {
|
||||
+ eye_controller.anchor_orbit_to_grid();
|
||||
+ eye_controller.did_interact = true;
|
||||
+ }
|
||||
+
|
||||
// Handle spinning before inputs because some inputs depend on view direction.
|
||||
self.handle_spinning(ctx, eye_property, &mut eye_controller)?;
|
||||
|
||||
+ // NODE.DC: pin manual map navigation to the XY grid. Tracking and
|
||||
+ // explicit camera presets retain their own target until manual input.
|
||||
+ let manual_input = response.drag_delta().length_sq() > 0.0
|
||||
+ || (response.hovered() && response.ctx.input(|i| {
|
||||
+ i.smooth_scroll_delta != egui::Vec2::ZERO || i.zoom_delta() != 1.0
|
||||
+ }));
|
||||
+ if manual_input {
|
||||
+ self.stop_interpolation();
|
||||
+ if tracking_entity.is_none() {
|
||||
+ eye_controller.anchor_orbit_to_grid();
|
||||
+ }
|
||||
+ }
|
||||
+
|
||||
// We do input before tracking entity, because the input can cause the eye
|
||||
// to stop tracking.
|
||||
let gamepad_navigation_status = eye_controller.handle_input(
|
||||
@@ -1241,6 +1360,7 @@
|
||||
};
|
||||
|
||||
self.last_eye = Some(eye);
|
||||
+ self.last_render_time = ctx.egui_ctx().time();
|
||||
|
||||
Ok(eye)
|
||||
}
|
||||
--- a/crates/viewer/re_viewer_context/src/view/view_states.rs
|
||||
+++ b/crates/viewer/re_viewer_context/src/view/view_states.rs
|
||||
@@ -173,6 +173,13 @@
|
||||
}
|
||||
|
||||
impl ViewStates {
|
||||
+ /// NODE.DC: read-only per-recording state access for native camera snapshots.
|
||||
+ pub fn states_for_store<'a>(&'a self, store_id: &'a StoreId) -> impl Iterator<Item = &'a dyn ViewState> {
|
||||
+ self.states.iter().filter_map(move |((id, _), state)| {
|
||||
+ (id == store_id).then_some(state.as_ref())
|
||||
+ })
|
||||
+ }
|
||||
+
|
||||
pub fn get(&self, store_id: &StoreId, view_id: ViewId) -> Option<&dyn ViewState> {
|
||||
self.states
|
||||
.get(&(store_id.clone(), view_id))
|
||||
--- a/crates/viewer/re_viewer/src/web.rs
|
||||
+++ b/crates/viewer/re_viewer/src/web.rs
|
||||
@@ -384,6 +384,26 @@
|
||||
let recording = hub.entity_db(recording_id)?;
|
||||
|
||||
Some(recording.store_id().recording_id().to_string())
|
||||
+ }
|
||||
+
|
||||
+ /// NODE.DC navigation/v1. Last rendered native eye, never a replay of DOM deltas.
|
||||
+ /// Each Mission Core iframe admits one active 3D pane. Timestamp selection
|
||||
+ /// excludes states retained for a previously selected/reset pane.
|
||||
+ #[wasm_bindgen]
|
||||
+ pub fn nodedc_camera_eye(&self) -> Option<String> {
|
||||
+ let app = self.runner.app_mut::<crate::App>()?;
|
||||
+ let store_id = app.active_recording_id()?;
|
||||
+ let eye_state = app.state.view_states.states_for_store(store_id)
|
||||
+ .filter_map(|state| state.as_any().downcast_ref::<re_view_spatial::SpatialViewState>())
|
||||
+ .map(|state| &state.state_3d.eye_state)
|
||||
+ .filter(|state| state.last_eye.is_some() && state.last_look_target.is_some())
|
||||
+ .max_by(|a, b| a.last_render_time.total_cmp(&b.last_render_time))?;
|
||||
+ let eye = eye_state.last_eye?;
|
||||
+ Some(serde_json::json!({
|
||||
+ "position": eye.pos_in_world().to_array(),
|
||||
+ "lookTarget": eye_state.last_look_target?.to_array(),
|
||||
+ "eyeUp": eye_state.last_eye_up?.to_array(),
|
||||
+ }).to_string())
|
||||
}
|
||||
|
||||
//TODO(#10737): we should refer to logical recordings using store id (recording id is ambiguous)
|
||||
@@ -0,0 +1,44 @@
|
||||
# Rerun 0.36.3 · NODE.DC navigation/v1
|
||||
|
||||
This is the bounded native camera amendment in ADR 0052, not the archived
|
||||
0.34.1 renderer fork. `navigation-build.json` binds the exact upstream commit,
|
||||
portable source patch and paired generated runtime. Keep the upstream licenses.
|
||||
|
||||
## Rebuild
|
||||
|
||||
1. Download the source archive for the manifest's `upstreamCommit` from
|
||||
`https://codeload.github.com/rerun-io/rerun/tar.gz/<commit>` and verify its hash.
|
||||
2. Extract into a new temporary directory and run `git apply --check` followed
|
||||
by `git apply` with `NODEDC_NAVIGATION.patch` at the extracted root.
|
||||
3. Pack that root as `patched-source.tar.gz`. On macOS use
|
||||
`COPYFILE_DISABLE=1 tar --no-mac-metadata --exclude='._*'`; AppleDouble files
|
||||
are not shaders and must not enter the build.
|
||||
4. On Worker006, create a temporary container from the pinned Rust image in
|
||||
the manifest, with 4 CPUs, 16 GB memory, no GPU, no ports and no private data.
|
||||
Use the `ndc-` name and NODE.DC ownership labels required by AGENTS.md.
|
||||
Copy the archive to `/work/patched-source.tar.gz` and the repository's
|
||||
`scripts/build-rerun-navigation.sh` to `/work/build-rerun-navigation.sh`.
|
||||
Entrypoint: `bash /work/build-rerun-navigation.sh`.
|
||||
5. Require the native navigation tests to pass. The upstream
|
||||
`rerun_js/web-viewer/build-wasm.mjs --mode release` produces the matching
|
||||
`re_viewer.js`, `re_viewer.d.ts` and `re_viewer_bg.wasm`. Copy all three,
|
||||
never only WASM, to the artifact names in this directory's manifest.
|
||||
6. Recheck source patch, build script and generated file hashes. Update the
|
||||
manifest, run the installer twice (idempotency), vendor ABI checks, frontend
|
||||
contracts/build, then real product-browser QA. Remove the temporary build
|
||||
container after copying artifacts and evidence.
|
||||
|
||||
The source archive and build cache are not runtime dependencies. No compiler,
|
||||
Docker or hardware access is needed on a clean operator install: the existing
|
||||
exact npm package plus `postinstall` installs the audited paired artifacts.
|
||||
An unfamiliar package or artifact is rejected before any file is changed.
|
||||
|
||||
## Upgrade / rollback
|
||||
|
||||
Rebase against the next exact upstream source, not against minified JS. Retest
|
||||
grid-plane pan, fixed-pivot orbit, close/far zoom, explicit reset/top/follow,
|
||||
display updates, normal/expanded views and disposable-iframe cleanup.
|
||||
|
||||
To roll back, disable `postinstall`/`prebuild`, restore the official exact npm
|
||||
package and rebuild. Missing snapshots are represented as null, not simulated
|
||||
camera state. Recordings, corrected maps and scanner sessions are unchanged.
|
||||
@@ -0,0 +1,35 @@
|
||||
{
|
||||
"schema": "nodedc.rerun-navigation/v1",
|
||||
"upstreamVersion": "0.36.3",
|
||||
"upstreamCommit": "6ded109d33c549e98185f7c95fa8009d44e4adef",
|
||||
"upstreamArchiveSha256": "3f92aef3f33f63c79b275b5c66a65d73192e75967cbcd3d1f16c75010996f896",
|
||||
"patchSha256": "a893a4b4e7523cca88284316c88b930c3b91ba973ed3f954c9ca632f71252e64",
|
||||
"cargoLockSha256": "74cdf9c3c8c5dbe5a368f1a9a58b011e2a45720843b30e552bc7b1d8ac21d791",
|
||||
"buildScriptSha256": "e3cbd5da889403eda3ffba7c020b6075bdfb025b823d1bf503b639f59688135a",
|
||||
"buildDate": "2026-09-21",
|
||||
"rustImage": "rust:1.95-bookworm@sha256:6258907abe69656e41cd992e0b705cdcfabcbbe3db374f92ed2d47121282d4a1",
|
||||
"binaryenVersion": "117",
|
||||
"binaryenArchiveSha256": "3dc677006555b355ea2da5e82602065a161d5e83eaefd3f759afa00b96e83212",
|
||||
"wasmBindgenVersion": "0.2.126",
|
||||
"nativeTestsPassed": 6,
|
||||
"files": {
|
||||
"index.js": { "upstreamSha256": "009aa5f66c8674ea268a91926c00e2f82cc7a7b7e5535056d93bd4656d6f6812" },
|
||||
"index.ts": { "upstreamSha256": "087b25170f720a28aa69c411903133286238900050ac775d2cc511b919846696" },
|
||||
"index.d.ts": { "upstreamSha256": "649637dad4e50ef4f2310fc1920b580d16832226a0dda5238355059bf167efba" },
|
||||
"re_viewer.js": {
|
||||
"upstreamSha256": "d2a94836dd0e6de40538c4d657cfb423b1803e354e6ee0cd550735eb5aaab09b",
|
||||
"artifact": "re_viewer.nodedc.js",
|
||||
"sha256": "610d89abffcc5c329797e77794ae2ab5b426c80a5b23fd24064c7d47c6583d3a"
|
||||
},
|
||||
"re_viewer.d.ts": {
|
||||
"upstreamSha256": "9a77a4e1e1aa8311185a3f275bf326a8fff2844e468e561c59d5f0ee7aa6debe",
|
||||
"artifact": "re_viewer.nodedc.d.ts",
|
||||
"sha256": "cfbf010d66560af919aa68d255a6ddc7120829f8ee8f27a41f56d943cd54e598"
|
||||
},
|
||||
"re_viewer_bg.wasm": {
|
||||
"upstreamSha256": "02d6d9c3a569d3faceb01cf89104342d970fc85e7c31a08dedd357b6c7104d2f",
|
||||
"artifact": "re_viewer_bg.nodedc.wasm",
|
||||
"sha256": "2b661de545ac90bb950eda1a28fc5a7c3ce4ca7f5bb24894789acf7589495185"
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,200 @@
|
||||
|
||||
declare namespace wasm_bindgen {
|
||||
/* tslint:disable */
|
||||
/* eslint-disable */
|
||||
/**
|
||||
* The `ReadableStreamType` enum.
|
||||
*
|
||||
* *This API requires the following crate features to be activated: `ReadableStreamType`*
|
||||
*/
|
||||
|
||||
export type ReadableStreamType = "bytes";
|
||||
|
||||
export class IntoUnderlyingByteSource {
|
||||
private constructor();
|
||||
free(): void;
|
||||
[Symbol.dispose](): void;
|
||||
cancel(): void;
|
||||
pull(controller: ReadableByteStreamController): Promise<any>;
|
||||
start(controller: ReadableByteStreamController): void;
|
||||
readonly autoAllocateChunkSize: number;
|
||||
readonly type: ReadableStreamType;
|
||||
}
|
||||
|
||||
export class IntoUnderlyingSink {
|
||||
private constructor();
|
||||
free(): void;
|
||||
[Symbol.dispose](): void;
|
||||
abort(reason: any): Promise<any>;
|
||||
close(): Promise<any>;
|
||||
write(chunk: any): Promise<any>;
|
||||
}
|
||||
|
||||
export class IntoUnderlyingSource {
|
||||
private constructor();
|
||||
free(): void;
|
||||
[Symbol.dispose](): void;
|
||||
cancel(): void;
|
||||
pull(controller: ReadableStreamDefaultController): Promise<any>;
|
||||
}
|
||||
|
||||
export class WebHandle {
|
||||
free(): void;
|
||||
[Symbol.dispose](): void;
|
||||
/**
|
||||
* Add a new receiver streaming data from the given url.
|
||||
*
|
||||
* Websocket streams are always opened in `Following` mode.
|
||||
*
|
||||
* It is an error to open a channel twice with the same id.
|
||||
*/
|
||||
add_receiver(url: string): void;
|
||||
/**
|
||||
* Close an existing channel for streaming data.
|
||||
*
|
||||
* No-op if the channel is already closed.
|
||||
*/
|
||||
close_channel(id: string): void;
|
||||
destroy(): void;
|
||||
get_active_recording_id(): string | undefined;
|
||||
get_active_timeline(recording_id: string): string | undefined;
|
||||
get_playing(recording_id: string): boolean | undefined;
|
||||
get_time_for_timeline(recording_id: string, timeline_name: string): number | undefined;
|
||||
get_timeline_time_range(recording_id: string, timeline_name: string): any;
|
||||
has_panicked(): boolean;
|
||||
constructor(app_options: any);
|
||||
/**
|
||||
* NODE.DC navigation/v1. Last rendered native eye, never a replay of DOM deltas.
|
||||
* Each Mission Core iframe admits one active 3D pane. Timestamp selection
|
||||
* excludes states retained for a previously selected/reset pane.
|
||||
*/
|
||||
nodedc_camera_eye(): string | undefined;
|
||||
/**
|
||||
* Open a new channel for streaming data.
|
||||
*
|
||||
* It is an error to open a channel twice with the same id.
|
||||
*/
|
||||
open_channel(id: string, channel_name: string): void;
|
||||
override_panel_state(panel: string, state?: string | null): void;
|
||||
panic_callstack(): string | undefined;
|
||||
panic_message(): string | undefined;
|
||||
remove_receiver(url: string): void;
|
||||
/**
|
||||
* Add an rrd to the viewer directly from a byte array.
|
||||
*/
|
||||
send_rrd_to_channel(id: string, data: Uint8Array): void;
|
||||
send_table_to_channel(id: string, data: Uint8Array): void;
|
||||
set_active_recording_id(recording_id: string): void;
|
||||
/**
|
||||
* Set the active timeline.
|
||||
*
|
||||
* This does nothing if the timeline can't be found.
|
||||
*/
|
||||
set_active_timeline(recording_id: string, timeline_name: string): void;
|
||||
set_credentials(access_token: string, email: string): void;
|
||||
set_playing(recording_id: string, value: boolean): void;
|
||||
set_time_for_timeline(recording_id: string, timeline_name: string, time: number): void;
|
||||
start(canvas: any): Promise<void>;
|
||||
toggle_panel_overrides(value?: boolean | null): void;
|
||||
}
|
||||
|
||||
}
|
||||
declare type InitInput = RequestInfo | URL | Response | BufferSource | WebAssembly.Module;
|
||||
|
||||
declare interface InitOutput {
|
||||
readonly memory: WebAssembly.Memory;
|
||||
readonly __wbg_webhandle_free: (a: number, b: number) => void;
|
||||
readonly webhandle_add_receiver: (a: number, b: number, c: number) => void;
|
||||
readonly webhandle_close_channel: (a: number, b: number, c: number) => void;
|
||||
readonly webhandle_destroy: (a: number) => void;
|
||||
readonly webhandle_get_active_recording_id: (a: number) => [number, number];
|
||||
readonly webhandle_get_active_timeline: (a: number, b: number, c: number) => [number, number];
|
||||
readonly webhandle_get_playing: (a: number, b: number, c: number) => number;
|
||||
readonly webhandle_get_time_for_timeline: (a: number, b: number, c: number, d: number, e: number) => [number, number];
|
||||
readonly webhandle_get_timeline_time_range: (a: number, b: number, c: number, d: number, e: number) => any;
|
||||
readonly webhandle_has_panicked: (a: number) => number;
|
||||
readonly webhandle_new: (a: any) => [number, number, number];
|
||||
readonly webhandle_nodedc_camera_eye: (a: number) => [number, number];
|
||||
readonly webhandle_open_channel: (a: number, b: number, c: number, d: number, e: number) => void;
|
||||
readonly webhandle_override_panel_state: (a: number, b: number, c: number, d: number, e: number) => [number, number];
|
||||
readonly webhandle_panic_callstack: (a: number) => [number, number];
|
||||
readonly webhandle_panic_message: (a: number) => [number, number];
|
||||
readonly webhandle_remove_receiver: (a: number, b: number, c: number) => void;
|
||||
readonly webhandle_send_rrd_to_channel: (a: number, b: number, c: number, d: number, e: number) => void;
|
||||
readonly webhandle_send_table_to_channel: (a: number, b: number, c: number, d: number, e: number) => void;
|
||||
readonly webhandle_set_active_recording_id: (a: number, b: number, c: number) => void;
|
||||
readonly webhandle_set_active_timeline: (a: number, b: number, c: number, d: number, e: number) => void;
|
||||
readonly webhandle_set_credentials: (a: number, b: number, c: number, d: number, e: number) => void;
|
||||
readonly webhandle_set_playing: (a: number, b: number, c: number, d: number) => void;
|
||||
readonly webhandle_set_time_for_timeline: (a: number, b: number, c: number, d: number, e: number, f: number) => void;
|
||||
readonly webhandle_start: (a: number, b: any) => any;
|
||||
readonly webhandle_toggle_panel_overrides: (a: number, b: number) => void;
|
||||
readonly rust_lz4_wasm_shim_calloc: (a: number, b: number) => number;
|
||||
readonly rust_lz4_wasm_shim_free: (a: number) => void;
|
||||
readonly rust_lz4_wasm_shim_malloc: (a: number) => number;
|
||||
readonly rust_lz4_wasm_shim_memcmp: (a: number, b: number, c: number) => number;
|
||||
readonly rust_lz4_wasm_shim_memcpy: (a: number, b: number, c: number) => number;
|
||||
readonly rust_lz4_wasm_shim_memmove: (a: number, b: number, c: number) => number;
|
||||
readonly rust_lz4_wasm_shim_memset: (a: number, b: number, c: number) => number;
|
||||
readonly rust_zstd_wasm_shim_calloc: (a: number, b: number) => number;
|
||||
readonly rust_zstd_wasm_shim_free: (a: number) => void;
|
||||
readonly rust_zstd_wasm_shim_malloc: (a: number) => number;
|
||||
readonly rust_zstd_wasm_shim_memcmp: (a: number, b: number, c: number) => number;
|
||||
readonly rust_zstd_wasm_shim_memcpy: (a: number, b: number, c: number) => number;
|
||||
readonly rust_zstd_wasm_shim_memmove: (a: number, b: number, c: number) => number;
|
||||
readonly rust_zstd_wasm_shim_memset: (a: number, b: number, c: number) => number;
|
||||
readonly rust_zstd_wasm_shim_qsort: (a: number, b: number, c: number, d: number) => void;
|
||||
readonly __wbg_intounderlyingbytesource_free: (a: number, b: number) => void;
|
||||
readonly __wbg_intounderlyingsink_free: (a: number, b: number) => void;
|
||||
readonly __wbg_intounderlyingsource_free: (a: number, b: number) => void;
|
||||
readonly intounderlyingbytesource_autoAllocateChunkSize: (a: number) => number;
|
||||
readonly intounderlyingbytesource_cancel: (a: number) => void;
|
||||
readonly intounderlyingbytesource_pull: (a: number, b: any) => any;
|
||||
readonly intounderlyingbytesource_start: (a: number, b: any) => void;
|
||||
readonly intounderlyingbytesource_type: (a: number) => number;
|
||||
readonly intounderlyingsink_abort: (a: number, b: any) => any;
|
||||
readonly intounderlyingsink_close: (a: number) => any;
|
||||
readonly intounderlyingsink_write: (a: number, b: any) => any;
|
||||
readonly intounderlyingsource_cancel: (a: number) => void;
|
||||
readonly intounderlyingsource_pull: (a: number, b: any) => any;
|
||||
readonly wasm_bindgen__convert__closures_____invoke__ha28703b0fc0ac5f5: (a: number, b: number, c: any) => [number, number];
|
||||
readonly wasm_bindgen__convert__closures_____invoke__h17feb392561402d4: (a: number, b: number, c: any) => [number, number];
|
||||
readonly wasm_bindgen__convert__closures_____invoke__hd1708d5debff0eb7: (a: number, b: number, c: any) => [number, number];
|
||||
readonly wasm_bindgen__convert__closures_____invoke__h17feb392561402d4_10: (a: number, b: number, c: any) => [number, number];
|
||||
readonly wasm_bindgen__convert__closures_____invoke__h17feb392561402d4_11: (a: number, b: number, c: any) => [number, number];
|
||||
readonly wasm_bindgen__convert__closures_____invoke__h68d110bc138a9729: (a: number, b: number, c: any) => [number, number];
|
||||
readonly wasm_bindgen__convert__closures_____invoke__h4a090e5af75dc439: (a: number, b: number, c: any, d: any) => void;
|
||||
readonly wasm_bindgen__convert__closures_____invoke__h72e0675ea71ceaf9: (a: number, b: number, c: any) => void;
|
||||
readonly wasm_bindgen__convert__closures_____invoke__h76e373640bdbaace: (a: number, b: number, c: any) => void;
|
||||
readonly wasm_bindgen__convert__closures_____invoke__h912ec1a6c04fd19b: (a: number, b: number, c: any) => void;
|
||||
readonly wasm_bindgen__convert__closures_____invoke__h76e373640bdbaace_4: (a: number, b: number, c: any) => void;
|
||||
readonly wasm_bindgen__convert__closures_____invoke__ha366fcce789d0db1: (a: number, b: number, c: any) => void;
|
||||
readonly wasm_bindgen__convert__closures_____invoke__h3d976baa4adbebda: (a: number, b: number, c: any) => void;
|
||||
readonly wasm_bindgen__convert__closures_____invoke__h912ec1a6c04fd19b_9: (a: number, b: number, c: any) => void;
|
||||
readonly wasm_bindgen__convert__closures_____invoke__hbf8a291ae3f8f46d: (a: number, b: number) => [number, number];
|
||||
readonly wasm_bindgen__convert__closures_____invoke__h0e2ab714131e0149: (a: number, b: number) => void;
|
||||
readonly wasm_bindgen__convert__closures_____invoke__h2a38a854c15eed3d: (a: number, b: number) => void;
|
||||
readonly wasm_bindgen__convert__closures_____invoke__h46084f6dced1097a: (a: number, b: number) => void;
|
||||
readonly __wbindgen_malloc: (a: number, b: number) => number;
|
||||
readonly __wbindgen_realloc: (a: number, b: number, c: number, d: number) => number;
|
||||
readonly __externref_table_alloc: () => number;
|
||||
readonly __wbindgen_externrefs: WebAssembly.Table;
|
||||
readonly __wbindgen_exn_store: (a: number) => void;
|
||||
readonly __wbindgen_free: (a: number, b: number, c: number) => void;
|
||||
readonly __wbindgen_destroy_closure: (a: number, b: number) => void;
|
||||
readonly __externref_table_dealloc: (a: number) => void;
|
||||
readonly __wbindgen_start: () => void;
|
||||
}
|
||||
|
||||
/**
|
||||
* If `module_or_path` is {RequestInfo} or {URL}, makes a request and
|
||||
* for everything else, calls `WebAssembly.instantiate` directly.
|
||||
*
|
||||
* @param {{ module_or_path: InitInput | Promise<InitInput> }} module_or_path - Passing `InitInput` directly is deprecated.
|
||||
*
|
||||
* @returns {Promise<InitOutput>}
|
||||
*/
|
||||
declare function wasm_bindgen (module_or_path: { module_or_path: InitInput | Promise<InitInput> } | InitInput | Promise<InitInput>): Promise<InitOutput>;
|
||||
|
||||
export type WebHandle = wasm_bindgen.WebHandle;
|
||||
export default function(): wasm_bindgen;
|
||||
File diff suppressed because it is too large
Load Diff
BIN
Binary file not shown.
Reference in New Issue
Block a user