feat: finalize corrected-route planning and Rerun recording review
This commit is contained in:
DCCONSTRUCTIONS
@@ -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;
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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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}
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},
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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;
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return viewer.get_current_time(currentIdentity.recordingId, "session_time");
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},
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setCameraMaxOrbitalRadius: (maxOrbitalRadius) => {
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if ("set_camera_max_orbital_radius" in viewer) {
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viewer.set_camera_max_orbital_radius(maxOrbitalRadius);
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}
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},
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channel,
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};
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blueprintChannelRef.current = blueprintChannel;
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@@ -2010,6 +2008,7 @@ function RerunViewportInstance({
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useEffect(() => {
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if (!recordedPointColorsUrl || !sceneSettings) return;
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if ((sceneSettings.pointDecimationPercent ?? 0) > 0) return;
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const active = blueprintChannelRef.current;
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const identity = recordedIdentityRef.current;
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if (
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@@ -2089,6 +2088,7 @@ function RerunViewportInstance({
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sceneSettings?.colorMode,
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sceneSettings?.customColor,
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sceneSettings?.palette,
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sceneSettings?.pointDecimationPercent,
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]);
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useEffect(() => {
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@@ -2113,12 +2113,6 @@ function RerunViewportInstance({
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},
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);
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const cameraContractChanged = active.cameraContract !== cameraContract;
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if (cameraContractChanged) {
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active.configureCameraJournal?.(
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recordedPlanView ? RECORDED_RERUN_PLAN_EYE : RECORDED_RERUN_ORBITAL_EYE,
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recordedUnifiedPerception ? recordedUnifiedCameraShare : 0,
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);
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}
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const abort = new AbortController();
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const previousFollow = active.appliedFollowTrajectory ?? false;
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const enablingFollow = recordedFollowTrajectory && !previousFollow;
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@@ -2143,7 +2137,9 @@ function RerunViewportInstance({
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if (eyeRelativeToTracking && currentTimeNs == null) {
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throw new Error("Recorded tracking cursor is unavailable");
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}
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return fetchRecordedBlueprintRrd(recordedBlueprintUrl, sceneSettings, identity, {
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return fetchRecordedBlueprintRrd(recordedBlueprintUrl,
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{...sceneSettings, showPoints: sceneSettings.showPoints && !pointDisplay.hidePoints}, identity, {
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displayPointBank: pointDisplay.bank,
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origin: window.location.origin,
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blueprintSessionId: blueprintSessionIdRef.current,
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signal: abort.signal,
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@@ -2157,13 +2153,11 @@ function RerunViewportInstance({
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planView: recordedPlanView,
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cameraEye,
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eyeRelativeToTracking,
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currentTimeNs,
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// Only following-eye transitions need a pose at the cursor. Supplying
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// time for display-only updates makes the API scan the entire archive
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// for camera bounds, although neither the camera nor its pose changed.
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currentTimeNs: eyeRelativeToTracking ? currentTimeNs : undefined,
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reactivateUpdates,
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onCameraMaxOrbitalRadius: (maxOrbitalRadius) => {
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if (blueprintChannelRef.current === active) {
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active.setCameraMaxOrbitalRadius?.(maxOrbitalRadius);
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}
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},
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});
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};
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const canApply = () => (
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@@ -2175,24 +2169,29 @@ function RerunViewportInstance({
|
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const applyPayload = (payload: Uint8Array) => {
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if (!canApply()) return false;
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active.channel.send_rrd(payload);
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active.setCameraViewportStart?.(
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recordedUnifiedPerception ? recordedUnifiedCameraShare : 0,
|
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);
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// Exclude inactive point generations before admitting their data into
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// cached recordings whose embedded blueprint predates display controls.
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setPointDisplayVisibilityGate(`${recordedBlueprintUrl}:${blueprintChannelRevision}`);
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return true;
|
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};
|
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void (async () => {
|
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const firstEye = disablingFollow
|
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? transitionEye ?? undefined
|
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: !enablingFollow && (cameraContractChanged || pendingFollowEye)
|
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? pendingFollowEye ?? active.getCameraEye?.()
|
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: undefined;
|
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? pendingFollowEye ?? (recordedPlanView ? RECORDED_RERUN_PLAN_EYE : RECORDED_RERUN_ORBITAL_EYE)
|
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: !enablingFollow ? active.getCameraEye?.() ?? undefined : undefined;
|
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const firstEyeIsTrackingRelative = Boolean(firstEye) && (
|
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disablingFollow || recordedFollowTrajectory
|
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);
|
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const firstPayload = await requestBlueprint(
|
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firstEye,
|
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firstEyeIsTrackingRelative,
|
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enablingFollow || disablingFollow || Boolean(pendingFollowEye),
|
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// Upstream copies incoming blueprints into an active store. Every
|
||||
// settings update must activate it; merely appending rows is invisible.
|
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// Activation copies the incoming blueprint store, not the operator's
|
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// edited store. Preserve its actual native eye on display-only updates;
|
||||
// omitting the eye resurrects the embedded startup camera.
|
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true,
|
||||
);
|
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if (!applyPayload(firstPayload)) return;
|
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active.cameraContract = cameraContract;
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@@ -2213,9 +2212,10 @@ function RerunViewportInstance({
|
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const stabilizedPayload = await requestBlueprint(transitionEye, true, true);
|
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if (!applyPayload(stabilizedPayload)) return;
|
||||
active.pendingFollowCameraEye = null;
|
||||
})().catch(() => {
|
||||
})().catch((error: unknown) => {
|
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// The recording remains usable with its embedded default blueprint.
|
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// A later settings change retries through the same small channel.
|
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if (!abort.signal.aborted) console.warn("Recorded scene settings were not applied", error);
|
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});
|
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return () => abort.abort();
|
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}, [
|
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@@ -2243,6 +2243,9 @@ function RerunViewportInstance({
|
||||
sceneSettings?.showPoints,
|
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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"
|
||||
|
||||
Reference in New Issue
Block a user