feat(simulation): add worker-gated 3d polygon workspace
This commit is contained in:
DCCONSTRUCTIONS
parent
1995dfdf68
commit
6cc40282e0
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@ -15,12 +15,14 @@
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"@nodedc/ui-react": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/ui-react",
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"@rerun-io/web-viewer": "0.34.1",
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"react": "^19.1.0",
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"react-dom": "^19.1.0"
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"react-dom": "^19.1.0",
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"three": "0.185.1"
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},
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"devDependencies": {
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"@types/node": "^24.0.0",
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"@types/react": "^19.1.0",
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"@types/react-dom": "^19.1.0",
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"@types/three": "0.185.1",
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"@vitejs/plugin-react": "^4.6.0",
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"typescript": "^5.8.3",
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"vite": "^7.0.0",
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@ -344,6 +346,13 @@
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"node": ">=6.9.0"
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}
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},
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"node_modules/@dimforge/rapier3d-compat": {
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"version": "0.12.0",
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"resolved": "https://registry.npmjs.org/@dimforge/rapier3d-compat/-/rapier3d-compat-0.12.0.tgz",
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"integrity": "sha512-uekIGetywIgopfD97oDL5PfeezkFpNhwlzlaEYNOA0N6ghdsOvh/HYjSMek5Q2O1PYvRSDFcqFVJl4r4ZBwOow==",
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"dev": true,
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"license": "Apache-2.0"
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},
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"node_modules/@esbuild/aix-ppc64": {
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"version": "0.28.1",
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"resolved": "https://registry.npmjs.org/@esbuild/aix-ppc64/-/aix-ppc64-0.28.1.tgz",
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@ -1223,6 +1232,13 @@
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"win32"
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]
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},
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"node_modules/@tweenjs/tween.js": {
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"version": "23.1.3",
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"resolved": "https://registry.npmjs.org/@tweenjs/tween.js/-/tween.js-23.1.3.tgz",
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"integrity": "sha512-vJmvvwFxYuGnF2axRtPYocag6Clbb5YS7kLL+SO/TeVFzHqDIWrNKYtcsPMibjDx9O+bu+psAy9NKfWklassUA==",
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"dev": true,
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"license": "MIT"
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},
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"node_modules/@types/babel__core": {
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"version": "7.20.5",
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"resolved": "https://registry.npmjs.org/@types/babel__core/-/babel__core-7.20.5.tgz",
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@ -1305,6 +1321,35 @@
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"@types/react": "^19.2.0"
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}
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},
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"node_modules/@types/stats.js": {
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"version": "0.17.4",
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"resolved": "https://registry.npmjs.org/@types/stats.js/-/stats.js-0.17.4.tgz",
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"integrity": "sha512-jIBvWWShCvlBqBNIZt0KAshWpvSjhkwkEu4ZUcASoAvhmrgAUI2t1dXrjSL4xXVLB4FznPrIsX3nKXFl/Dt4vA==",
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"dev": true,
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"license": "MIT"
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},
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"node_modules/@types/three": {
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"version": "0.185.1",
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"resolved": "https://registry.npmjs.org/@types/three/-/three-0.185.1.tgz",
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"integrity": "sha512-db1xTb+EgYF2didW+eudSvVPtn75zo+fGsY8ShQrJY/B5ZBmC2Fiaykv3aImHAlCNEGuMPkPGXBJGLwzu5mC7A==",
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"dev": true,
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"license": "MIT",
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"dependencies": {
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"@dimforge/rapier3d-compat": "~0.12.0",
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"@tweenjs/tween.js": "~23.1.3",
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"@types/stats.js": "*",
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"@types/webxr": ">=0.5.17",
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"fflate": "~0.8.2",
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"meshoptimizer": "~1.1.1"
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}
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},
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"node_modules/@types/webxr": {
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"version": "0.5.24",
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"resolved": "https://registry.npmjs.org/@types/webxr/-/webxr-0.5.24.tgz",
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"integrity": "sha512-h8fgEd/DpoS9CBrjEQXR+dIDraopAEfu4wYVNY2tEPwk60stPWhvZMf4Foo5FakuQ7HFZoa8WceaWFervK2Ovg==",
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"dev": true,
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"license": "MIT"
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},
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"node_modules/@vitejs/plugin-react": {
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"version": "4.7.0",
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"resolved": "https://registry.npmjs.org/@vitejs/plugin-react/-/plugin-react-4.7.0.tgz",
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@ -1503,6 +1548,13 @@
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}
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}
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},
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"node_modules/fflate": {
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"version": "0.8.3",
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"resolved": "https://registry.npmjs.org/fflate/-/fflate-0.8.3.tgz",
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"integrity": "sha512-tbZNuJrLwGUp3zshBtdy4W+ORxZuIh8a5ilyIEQDC5rY1f3U20JMry0Ll3WBzU58EZKsEuJFXhb5gwv8CsPvgA==",
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"dev": true,
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"license": "MIT"
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},
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"node_modules/fsevents": {
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"version": "2.3.3",
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"resolved": "https://registry.npmjs.org/fsevents/-/fsevents-2.3.3.tgz",
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@ -1571,6 +1623,13 @@
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"yallist": "^3.0.2"
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}
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},
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"node_modules/meshoptimizer": {
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"version": "1.1.1",
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"resolved": "https://registry.npmjs.org/meshoptimizer/-/meshoptimizer-1.1.1.tgz",
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"integrity": "sha512-oRFNWJRDA/WTrVj7NWvqa5HqE1t9MYDj2VaWirQCzCCrAd2GHrqR/sQezCxiWATPNlKTcRaPRHPJwIRoPBAp5g==",
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"dev": true,
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"license": "MIT"
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},
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"node_modules/ms": {
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"version": "2.1.3",
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"resolved": "https://registry.npmjs.org/ms/-/ms-2.1.3.tgz",
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@ -1758,6 +1817,12 @@
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"node": ">=0.10.0"
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}
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},
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"node_modules/three": {
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"version": "0.185.1",
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"resolved": "https://registry.npmjs.org/three/-/three-0.185.1.tgz",
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"integrity": "sha512-5aojFCXKwnjBRZvUnt3WFfEcvUJgkN5LlijRFN95hMy8WVkG4I0QNcJE+OuWvuJ0bOdStrbfXn0pkd6/QyiAlg==",
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"license": "MIT"
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},
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"node_modules/tinyglobby": {
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"version": "0.2.17",
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"resolved": "https://registry.npmjs.org/tinyglobby/-/tinyglobby-0.2.17.tgz",
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@ -18,12 +18,14 @@
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"@nodedc/ui-react": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/ui-react",
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"@rerun-io/web-viewer": "0.34.1",
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"react": "^19.1.0",
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"react-dom": "^19.1.0"
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"react-dom": "^19.1.0",
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"three": "0.185.1"
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},
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"devDependencies": {
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"@types/node": "^24.0.0",
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"@types/react": "^19.1.0",
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"@types/react-dom": "^19.1.0",
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"@types/three": "0.185.1",
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"@vitejs/plugin-react": "^4.6.0",
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"typescript": "^5.8.3",
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"vite": "^7.0.0",
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@ -47,6 +47,7 @@ import type {
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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 { resolvePolygonRunRoute } from "./core/polygon/runArchive";
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import { usePolygonWorkerCapability } from "./core/polygon/usePolygonWorkerCapability";
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import {
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OBSERVATION_WORKSPACE_ID,
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OBSERVATION_WORKSPACE_LAYOUT_VERSION,
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@ -54,7 +55,7 @@ import {
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} from "./core/observation/workspaceLayout";
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import {
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rootById,
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roots,
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rootsForCapabilities,
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workspaceById,
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workspacesForRoot,
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type RootId,
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@ -150,6 +151,7 @@ function mergeViewerSettings(
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export default function App() {
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const runtime = useMissionRuntime();
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const { selection } = useDevicePluginHost();
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const polygonWorker = usePolygonWorkerCapability();
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const polygonRunRoute = useMemo(
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() => resolvePolygonRunRoute(typeof window === "undefined" ? "" : window.location.search),
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[],
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@ -160,7 +162,7 @@ export default function App() {
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});
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const [activeRoot, setActiveRoot] = useState<RootId | null>(
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polygonRunRoute.active ? "system" : null,
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polygonRunRoute.active ? "polygon" : null,
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);
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const [sourceUrl, setSourceUrl] = useState("");
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const [recordedReplay, setRecordedReplay] = useState<ObservationSessionReplayLaunch | null>(null);
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@ -197,6 +199,10 @@ export default function App() {
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const polygonRunRouteOpenedRef = useRef(false);
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const currentRoot = rootById(activeRoot);
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const visibleRoots = useMemo(
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() => rootsForCapabilities({ polygonWorkerAvailable: polygonWorker.available }),
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[polygonWorker.available],
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);
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const activeDefinition = workspaceById(workspace.activeView);
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const spatialWorkspaceActive = Boolean(
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workspace.contentOpen && activeDefinition?.kind === "spatial",
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@ -215,7 +221,7 @@ export default function App() {
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useEffect(() => {
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if (!polygonRunRoute.active || polygonRunRouteOpenedRef.current) return;
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polygonRunRouteOpenedRef.current = true;
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workspace.openView("polygon-run-internal");
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workspace.openView("polygon-run");
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}, [polygonRunRoute.active, workspace]);
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if (!sceneSettingsCommitterRef.current) {
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@ -413,6 +419,11 @@ export default function App() {
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const selectRoot = (rootId: RootId) => {
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setActiveRoot(rootId);
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if (rootId === "polygon") {
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workspace.closeNavigation();
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workspace.openView("polygon-run");
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return;
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}
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workspace.closeView();
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workspace.openNavigation();
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};
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@ -618,7 +629,7 @@ export default function App() {
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<HeaderNavigation
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label="Архитектурные блоки пункта управления"
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value={activeRoot ?? undefined}
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items={roots.map((root) => ({ value: root.id, label: root.label }))}
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items={visibleRoots.map((root) => ({ value: root.id, label: root.label }))}
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onChange={selectRoot}
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/>
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</>
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@ -733,7 +744,7 @@ export default function App() {
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) : null}
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</div>
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) : activeDefinition.kind === "polygon-run" ? (
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<StatusBadge tone="accent">Только чтение</StatusBadge>
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<StatusBadge tone="accent">Virtual only</StatusBadge>
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) : (
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<StatusBadge tone="warning">Интерфейс готов</StatusBadge>
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)
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@ -0,0 +1,58 @@
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import { useEffect, useState } from "react";
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import {
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fetchPolygonWorkerStatus,
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type PolygonWorkerStatus,
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} from "./liveWorker";
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export interface PolygonWorkerCapability {
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checked: boolean;
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available: boolean;
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status: PolygonWorkerStatus | null;
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}
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const initialCapability: PolygonWorkerCapability = {
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checked: false,
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available: false,
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status: null,
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};
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export function usePolygonWorkerCapability(): PolygonWorkerCapability {
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const [capability, setCapability] = useState(initialCapability);
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useEffect(() => {
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const controller = new AbortController();
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let timer: number | null = null;
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const poll = async () => {
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try {
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const status = await fetchPolygonWorkerStatus({ signal: controller.signal });
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if (controller.signal.aborted) return;
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setCapability({
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checked: true,
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available: status.available,
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status,
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});
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} catch {
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if (controller.signal.aborted) return;
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setCapability({
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checked: true,
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available: false,
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status: null,
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});
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} finally {
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if (!controller.signal.aborted) {
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timer = window.setTimeout(() => void poll(), 3_000);
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}
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}
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};
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void poll();
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return () => {
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controller.abort();
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if (timer !== null) window.clearTimeout(timer);
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};
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}, []);
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return capability;
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}
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import type { IconName } from "@nodedc/ui-react";
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export type RootId = "center" | "fleet" | "observation" | "missions" | "data" | "system";
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export type RootId =
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| "center"
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| "fleet"
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| "observation"
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| "missions"
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| "data"
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| "polygon"
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| "system";
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export type WorkspaceKind =
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| "overview"
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@ -120,6 +127,15 @@ export const roots: RootDefinition[] = [
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statement: "Хранить живой контур и воспроизводимый эксперимент как одну модель данных.",
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accent: "ПОТОКИ И ДОКАЗАТЕЛЬСТВА",
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},
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{
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id: "polygon",
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label: "Полигон",
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title: "Полигон",
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eyebrow: "СИМУЛЯЦИЯ И КВАЛИФИКАЦИЯ",
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description: "Живые PX4/Gazebo прогоны, сценарии, траектории и доказательства.",
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statement: "Проверять поведение машины в воспроизводимой виртуальной среде.",
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accent: "СИМУЛЯЦИЯ И ДОКАЗАТЕЛЬСТВА",
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},
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{
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id: "system",
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label: "Система",
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@ -133,15 +149,14 @@ export const roots: RootDefinition[] = [
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export const workspaces: WorkspaceDefinition[] = [
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{
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id: "polygon-run-internal",
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root: "system",
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id: "polygon-run",
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root: "polygon",
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label: "Полигон",
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title: "Полигон",
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eyebrow: "ПОЛИГОН / UI-1",
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eyebrow: "ПОЛИГОН / LIVE",
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description: "Live Simulation Worker и доказательства прогонов PX4/Gazebo.",
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icon: "activity",
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kind: "polygon-run",
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internalOnly: true,
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groups: [],
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},
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{
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@ -756,6 +771,14 @@ export function rootById(id: RootId | null): RootDefinition | null {
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return id ? roots.find((root) => root.id === id) ?? null : null;
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}
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export function rootsForCapabilities({
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polygonWorkerAvailable,
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}: {
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polygonWorkerAvailable: boolean;
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}): RootDefinition[] {
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return roots.filter((root) => root.id !== "polygon" || polygonWorkerAvailable);
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}
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export function workspaceById(id: string | null): WorkspaceDefinition | null {
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return id ? workspaces.find((workspace) => workspace.id === id) ?? null : null;
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}
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@ -166,8 +166,13 @@
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flex-direction: column;
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}
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.polygon-live-map {
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min-height: 15rem;
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.polygon-rover-scene {
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min-height: 19rem;
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}
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.polygon-rover-scene__frames small,
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.polygon-rover-scene__help {
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display: none;
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}
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.polygon-run-event-list article {
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@ -138,84 +138,160 @@
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gap: 0.75rem;
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}
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.polygon-live-map {
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.polygon-rover-scene {
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position: relative;
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overflow: hidden;
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min-height: 19rem;
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min-height: 25rem;
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border: 1px solid var(--station-hairline);
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border-radius: 1rem;
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background:
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radial-gradient(circle at 48% 46%, rgb(var(--nodedc-accent-rgb) / 0.055), transparent 45%),
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rgb(255 255 255 / 0.018);
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radial-gradient(circle at 62% 28%, rgb(var(--nodedc-accent-rgb) / 0.13), transparent 42%),
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linear-gradient(155deg, #0d1722, #070c12 70%);
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}
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.polygon-live-map svg {
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.polygon-rover-scene--loading {
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display: grid;
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place-items: center;
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color: var(--nodedc-text-muted);
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font-size: 0.62rem;
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}
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.polygon-rover-scene__viewport,
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.polygon-rover-scene__viewport canvas {
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position: absolute;
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inset: 0;
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width: 100%;
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height: 100%;
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}
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.polygon-live-map pattern path {
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fill: none;
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stroke: rgb(255 255 255 / 0.045);
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stroke-width: 0.25;
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.polygon-rover-scene__viewport canvas {
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cursor: grab;
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touch-action: none;
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}
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.polygon-live-map text {
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fill: var(--nodedc-text-muted);
|
||||
font-family: "SFMono-Regular", Consolas, "Liberation Mono", monospace;
|
||||
font-size: 3px;
|
||||
.polygon-rover-scene__viewport canvas:active {
|
||||
cursor: grabbing;
|
||||
}
|
||||
|
||||
.polygon-live-axis-x,
|
||||
.polygon-live-axis-y {
|
||||
stroke: rgb(255 255 255 / 0.28);
|
||||
stroke-width: 0.45;
|
||||
}
|
||||
|
||||
.polygon-live-trajectory {
|
||||
fill: none;
|
||||
stroke: rgb(var(--nodedc-accent-rgb) / 0.58);
|
||||
stroke-linecap: round;
|
||||
stroke-linejoin: round;
|
||||
stroke-width: 0.65;
|
||||
}
|
||||
|
||||
.polygon-live-rover {
|
||||
fill: rgb(var(--nodedc-accent-rgb));
|
||||
stroke: rgb(var(--nodedc-on-accent-rgb));
|
||||
stroke-width: 0.35;
|
||||
}
|
||||
|
||||
.polygon-live-map > div {
|
||||
.polygon-rover-scene__toolbar,
|
||||
.polygon-rover-scene__help,
|
||||
.polygon-rover-scene__frames,
|
||||
.polygon-rover-scene__idle {
|
||||
position: absolute;
|
||||
top: 50%;
|
||||
left: 50%;
|
||||
display: grid;
|
||||
width: min(22rem, 76%);
|
||||
gap: 0.35rem;
|
||||
text-align: center;
|
||||
transform: translate(-50%, -50%);
|
||||
z-index: 2;
|
||||
}
|
||||
|
||||
.polygon-live-map > div strong {
|
||||
.polygon-rover-scene__toolbar {
|
||||
top: 0.75rem;
|
||||
left: 0.75rem;
|
||||
display: flex;
|
||||
gap: 0.4rem;
|
||||
}
|
||||
|
||||
.polygon-rover-scene__toolbar button {
|
||||
border: 1px solid rgb(255 255 255 / 0.14);
|
||||
border-radius: 999px;
|
||||
background: rgb(7 12 18 / 0.76);
|
||||
color: var(--nodedc-text-secondary);
|
||||
padding: 0.38rem 0.62rem;
|
||||
font: inherit;
|
||||
font-size: 0.54rem;
|
||||
line-height: 1;
|
||||
backdrop-filter: blur(16px);
|
||||
cursor: pointer;
|
||||
}
|
||||
|
||||
.polygon-rover-scene__toolbar button:hover {
|
||||
border-color: rgb(var(--nodedc-accent-rgb) / 0.5);
|
||||
color: var(--nodedc-text-primary);
|
||||
font-size: 0.78rem;
|
||||
}
|
||||
|
||||
.polygon-live-map > div span,
|
||||
.polygon-live-map > small {
|
||||
.polygon-rover-scene__help {
|
||||
bottom: 0.75rem;
|
||||
left: 0.75rem;
|
||||
display: flex;
|
||||
flex-wrap: wrap;
|
||||
gap: 0.6rem;
|
||||
}
|
||||
|
||||
.polygon-rover-scene__help span,
|
||||
.polygon-rover-scene__frames,
|
||||
.polygon-rover-scene__frames small {
|
||||
color: var(--nodedc-text-muted);
|
||||
font-family: "SFMono-Regular", Consolas, "Liberation Mono", monospace;
|
||||
font-size: 0.58rem;
|
||||
line-height: 1.45;
|
||||
}
|
||||
|
||||
.polygon-live-map > small {
|
||||
position: absolute;
|
||||
right: 0.8rem;
|
||||
.polygon-rover-scene__frames {
|
||||
right: 0.75rem;
|
||||
bottom: 0.7rem;
|
||||
font-family: "SFMono-Regular", Consolas, "Liberation Mono", monospace;
|
||||
display: flex;
|
||||
align-items: center;
|
||||
gap: 0.45rem;
|
||||
}
|
||||
|
||||
.polygon-rover-scene__frames span {
|
||||
display: inline-flex;
|
||||
align-items: center;
|
||||
gap: 0.2rem;
|
||||
}
|
||||
|
||||
.polygon-rover-scene__frames i {
|
||||
width: 0.36rem;
|
||||
height: 0.36rem;
|
||||
border-radius: 50%;
|
||||
background: #fff;
|
||||
}
|
||||
|
||||
.polygon-rover-scene__frames i[data-axis="east"] {
|
||||
background: #ff5f6d;
|
||||
}
|
||||
|
||||
.polygon-rover-scene__frames i[data-axis="north"] {
|
||||
background: #4ee19b;
|
||||
}
|
||||
|
||||
.polygon-rover-scene__frames i[data-axis="up"] {
|
||||
background: #5d9cff;
|
||||
}
|
||||
|
||||
.polygon-rover-scene__frames small {
|
||||
margin-left: 0.2rem;
|
||||
}
|
||||
|
||||
.polygon-rover-scene__idle {
|
||||
top: 4.1rem;
|
||||
right: 0.8rem;
|
||||
display: grid;
|
||||
max-width: min(18rem, 52%);
|
||||
gap: 0.2rem;
|
||||
border: 1px solid rgb(255 255 255 / 0.09);
|
||||
border-radius: 0.72rem;
|
||||
background: rgb(7 12 18 / 0.58);
|
||||
padding: 0.55rem 0.7rem;
|
||||
text-align: right;
|
||||
backdrop-filter: blur(14px);
|
||||
pointer-events: none;
|
||||
}
|
||||
|
||||
.polygon-rover-scene__idle strong {
|
||||
color: var(--nodedc-text-primary);
|
||||
font-size: 0.68rem;
|
||||
}
|
||||
|
||||
.polygon-rover-scene__idle span,
|
||||
.polygon-rover-scene__error {
|
||||
color: var(--nodedc-text-muted);
|
||||
font-size: 0.56rem;
|
||||
line-height: 1.45;
|
||||
}
|
||||
|
||||
.polygon-rover-scene__error {
|
||||
position: absolute;
|
||||
inset: 50% auto auto 50%;
|
||||
margin: 0;
|
||||
transform: translate(-50%, -50%);
|
||||
}
|
||||
|
||||
.polygon-live-telemetry {
|
||||
|
|
|
|||
|
|
@ -1,4 +1,4 @@
|
|||
import { useEffect, useMemo, useState } from "react";
|
||||
import { lazy, Suspense, useEffect, useState } from "react";
|
||||
import {
|
||||
Button,
|
||||
GlassSurface,
|
||||
|
|
@ -14,44 +14,16 @@ import {
|
|||
type PolygonWorkerStatus,
|
||||
} from "../core/polygon/liveWorker";
|
||||
|
||||
const PolygonRoverScene = lazy(async () => {
|
||||
const module = await import("./PolygonRoverScene");
|
||||
return { default: module.PolygonRoverScene };
|
||||
});
|
||||
|
||||
function message(error: unknown): string {
|
||||
if (error instanceof Error && error.message.trim()) return error.message;
|
||||
return "Simulation Worker не подтвердил операцию.";
|
||||
}
|
||||
|
||||
function yawDegrees(state: PolygonVehicleState): number {
|
||||
const { x, y, z, w } = state.orientation;
|
||||
return Math.atan2(2 * (w * z + x * y), 1 - 2 * (y * y + z * z)) * 180 / Math.PI;
|
||||
}
|
||||
|
||||
function trajectoryPoints(states: PolygonVehicleState[]): {
|
||||
points: string;
|
||||
roverX: number;
|
||||
roverY: number;
|
||||
} {
|
||||
if (!states.length) return { points: "", roverX: 50, roverY: 50 };
|
||||
const xs = states.map(({ position }) => position.x);
|
||||
const ys = states.map(({ position }) => position.y);
|
||||
const minimumX = Math.min(...xs);
|
||||
const maximumX = Math.max(...xs);
|
||||
const minimumY = Math.min(...ys);
|
||||
const maximumY = Math.max(...ys);
|
||||
const span = Math.max(maximumX - minimumX, maximumY - minimumY, 4);
|
||||
const centerX = (minimumX + maximumX) / 2;
|
||||
const centerY = (minimumY + maximumY) / 2;
|
||||
const project = (state: PolygonVehicleState) => ({
|
||||
x: 50 + ((state.position.x - centerX) / span) * 80,
|
||||
y: 50 - ((state.position.y - centerY) / span) * 80,
|
||||
});
|
||||
const projected = states.map(project);
|
||||
const rover = projected[projected.length - 1];
|
||||
return {
|
||||
points: projected.map(({ x, y }) => `${x.toFixed(2)},${y.toFixed(2)}`).join(" "),
|
||||
roverX: rover.x,
|
||||
roverY: rover.y,
|
||||
};
|
||||
}
|
||||
|
||||
export function PolygonLivePanel() {
|
||||
const [worker, setWorker] = useState<PolygonWorkerStatus | null>(null);
|
||||
const [live, setLive] = useState<PolygonVehicleState | null>(null);
|
||||
|
|
@ -99,7 +71,6 @@ export function PolygonLivePanel() {
|
|||
};
|
||||
}, [actionBusy, generation]);
|
||||
|
||||
const projected = useMemo(() => trajectoryPoints(trajectory), [trajectory]);
|
||||
const runActive = Boolean(worker?.activeRunId);
|
||||
|
||||
const runAction = async () => {
|
||||
|
|
@ -150,44 +121,19 @@ export function PolygonLivePanel() {
|
|||
</header>
|
||||
|
||||
<div className="polygon-live-layout">
|
||||
<div className="polygon-live-map" aria-label="Live-траектория ровера в ENU">
|
||||
<svg viewBox="0 0 100 100" role="img">
|
||||
<defs>
|
||||
<pattern id="polygon-grid" width="10" height="10" patternUnits="userSpaceOnUse">
|
||||
<path d="M 10 0 L 0 0 0 10" />
|
||||
</pattern>
|
||||
<radialGradient id="polygon-rover-glow">
|
||||
<stop offset="0" stopColor="rgb(var(--nodedc-accent-rgb))" stopOpacity="0.9" />
|
||||
<stop offset="1" stopColor="rgb(var(--nodedc-accent-rgb))" stopOpacity="0" />
|
||||
</radialGradient>
|
||||
</defs>
|
||||
<rect width="100" height="100" fill="url(#polygon-grid)" />
|
||||
<line x1="8" y1="92" x2="25" y2="92" className="polygon-live-axis-x" />
|
||||
<line x1="8" y1="92" x2="8" y2="75" className="polygon-live-axis-y" />
|
||||
<text x="27" y="94">E</text>
|
||||
<text x="5" y="72">N</text>
|
||||
{projected.points && (
|
||||
<polyline points={projected.points} className="polygon-live-trajectory" />
|
||||
)}
|
||||
{live && (
|
||||
<g
|
||||
transform={
|
||||
`translate(${projected.roverX} ${projected.roverY}) rotate(${-yawDegrees(live)})`
|
||||
}
|
||||
>
|
||||
<circle r="7" fill="url(#polygon-rover-glow)" />
|
||||
<path d="M -3 -2.5 L 4 0 L -3 2.5 Z" className="polygon-live-rover" />
|
||||
</g>
|
||||
)}
|
||||
</svg>
|
||||
{!live && (
|
||||
<div>
|
||||
<strong>{worker?.available ? "Ровер не запущен" : "Нет связи с worker"}</strong>
|
||||
<span>После старта здесь появится ground-truth траектория из Gazebo.</span>
|
||||
<Suspense
|
||||
fallback={
|
||||
<div className="polygon-rover-scene polygon-rover-scene--loading">
|
||||
Загружаем 3D-сцену…
|
||||
</div>
|
||||
)}
|
||||
<small>map_enu · base_link_flu · diagnostic ground truth</small>
|
||||
</div>
|
||||
}
|
||||
>
|
||||
<PolygonRoverScene
|
||||
live={live}
|
||||
trajectory={trajectory}
|
||||
workerAvailable={Boolean(worker?.available)}
|
||||
/>
|
||||
</Suspense>
|
||||
|
||||
<div className="polygon-live-telemetry">
|
||||
<div>
|
||||
|
|
|
|||
|
|
@ -0,0 +1,387 @@
|
|||
import { useEffect, useRef, useState } from "react";
|
||||
import * as THREE from "three";
|
||||
import { OrbitControls } from "three/addons/controls/OrbitControls.js";
|
||||
|
||||
import type { PolygonVehicleState } from "../core/polygon/liveWorker";
|
||||
|
||||
interface PolygonRoverSceneProps {
|
||||
live: PolygonVehicleState | null;
|
||||
trajectory: PolygonVehicleState[];
|
||||
workerAvailable: boolean;
|
||||
}
|
||||
|
||||
const CAMERA_POSITION = new THREE.Vector3(7.2, 5.6, 7.2);
|
||||
const CAMERA_TARGET = new THREE.Vector3(0, 0.55, 0);
|
||||
|
||||
function threePosition(state: PolygonVehicleState): THREE.Vector3 {
|
||||
return new THREE.Vector3(
|
||||
state.position.x,
|
||||
Math.max(0, state.position.z),
|
||||
-state.position.y,
|
||||
);
|
||||
}
|
||||
|
||||
function yawRadians(state: PolygonVehicleState): number {
|
||||
const { x, y, z, w } = state.orientation;
|
||||
return Math.atan2(2 * (w * z + x * y), 1 - 2 * (y * y + z * z));
|
||||
}
|
||||
|
||||
function createRover(): THREE.Group {
|
||||
const rover = new THREE.Group();
|
||||
rover.name = "ackermann-rover";
|
||||
|
||||
const bodyMaterial = new THREE.MeshStandardMaterial({
|
||||
color: 0x2879ff,
|
||||
metalness: 0.42,
|
||||
roughness: 0.3,
|
||||
});
|
||||
const darkMaterial = new THREE.MeshStandardMaterial({
|
||||
color: 0x111820,
|
||||
metalness: 0.25,
|
||||
roughness: 0.58,
|
||||
});
|
||||
const trimMaterial = new THREE.MeshStandardMaterial({
|
||||
color: 0xb8c9dc,
|
||||
metalness: 0.72,
|
||||
roughness: 0.22,
|
||||
});
|
||||
const glassMaterial = new THREE.MeshPhysicalMaterial({
|
||||
color: 0x72b7d8,
|
||||
metalness: 0.05,
|
||||
roughness: 0.08,
|
||||
transmission: 0.3,
|
||||
transparent: true,
|
||||
opacity: 0.72,
|
||||
});
|
||||
const tireMaterial = new THREE.MeshStandardMaterial({
|
||||
color: 0x080a0d,
|
||||
metalness: 0.05,
|
||||
roughness: 0.9,
|
||||
});
|
||||
const headlightMaterial = new THREE.MeshStandardMaterial({
|
||||
color: 0xf2fbff,
|
||||
emissive: 0x8ecbff,
|
||||
emissiveIntensity: 2.4,
|
||||
});
|
||||
const tailMaterial = new THREE.MeshStandardMaterial({
|
||||
color: 0xff3355,
|
||||
emissive: 0xff1838,
|
||||
emissiveIntensity: 1.7,
|
||||
});
|
||||
|
||||
const addBox = (
|
||||
name: string,
|
||||
size: [number, number, number],
|
||||
position: [number, number, number],
|
||||
material: THREE.Material,
|
||||
) => {
|
||||
const mesh = new THREE.Mesh(new THREE.BoxGeometry(...size), material);
|
||||
mesh.name = name;
|
||||
mesh.position.set(...position);
|
||||
mesh.castShadow = true;
|
||||
mesh.receiveShadow = true;
|
||||
rover.add(mesh);
|
||||
return mesh;
|
||||
};
|
||||
|
||||
addBox("lower-chassis", [2.55, 0.34, 1.32], [0, 0.58, 0], darkMaterial);
|
||||
addBox("body-shell", [2.34, 0.42, 1.18], [0.02, 0.86, 0], bodyMaterial);
|
||||
addBox("front-hood", [0.92, 0.24, 1.06], [0.69, 1.16, 0], bodyMaterial);
|
||||
addBox("equipment-cabin", [0.82, 0.58, 1.0], [-0.35, 1.22, 0], darkMaterial);
|
||||
addBox("windshield", [0.04, 0.42, 0.88], [0.08, 1.31, 0], glassMaterial)
|
||||
.rotation.z = -0.18;
|
||||
addBox("front-bumper", [0.16, 0.22, 1.48], [1.34, 0.56, 0], trimMaterial);
|
||||
addBox("rear-bumper", [0.15, 0.2, 1.42], [-1.33, 0.55, 0], trimMaterial);
|
||||
|
||||
for (const x of [-0.82, 0.82]) {
|
||||
for (const z of [-0.76, 0.76]) {
|
||||
const wheel = new THREE.Mesh(
|
||||
new THREE.CylinderGeometry(0.42, 0.42, 0.28, 24),
|
||||
tireMaterial,
|
||||
);
|
||||
wheel.name = x > 0 ? "front-wheel" : "rear-wheel";
|
||||
wheel.position.set(x, 0.43, z);
|
||||
wheel.rotation.x = Math.PI / 2;
|
||||
wheel.castShadow = true;
|
||||
rover.add(wheel);
|
||||
|
||||
const hub = new THREE.Mesh(
|
||||
new THREE.CylinderGeometry(0.16, 0.16, 0.3, 20),
|
||||
trimMaterial,
|
||||
);
|
||||
hub.position.copy(wheel.position);
|
||||
hub.rotation.x = Math.PI / 2;
|
||||
hub.castShadow = true;
|
||||
rover.add(hub);
|
||||
}
|
||||
}
|
||||
|
||||
for (const z of [-0.4, 0.4]) {
|
||||
addBox("headlight", [0.08, 0.16, 0.22], [1.22, 0.9, z], headlightMaterial);
|
||||
addBox("tail-light", [0.06, 0.15, 0.2], [-1.19, 0.88, z], tailMaterial);
|
||||
}
|
||||
|
||||
const mast = new THREE.Mesh(
|
||||
new THREE.CylinderGeometry(0.045, 0.055, 0.7, 16),
|
||||
trimMaterial,
|
||||
);
|
||||
mast.position.set(-0.45, 1.85, 0);
|
||||
mast.castShadow = true;
|
||||
rover.add(mast);
|
||||
|
||||
const lidar = new THREE.Mesh(
|
||||
new THREE.CylinderGeometry(0.22, 0.22, 0.14, 32),
|
||||
darkMaterial,
|
||||
);
|
||||
lidar.name = "lidar";
|
||||
lidar.position.set(-0.45, 2.22, 0);
|
||||
lidar.castShadow = true;
|
||||
rover.add(lidar);
|
||||
|
||||
const lidarBand = new THREE.Mesh(
|
||||
new THREE.CylinderGeometry(0.225, 0.225, 0.045, 32),
|
||||
glassMaterial,
|
||||
);
|
||||
lidarBand.position.set(-0.45, 2.22, 0);
|
||||
rover.add(lidarBand);
|
||||
|
||||
return rover;
|
||||
}
|
||||
|
||||
function disposeScene(scene: THREE.Scene) {
|
||||
scene.traverse((object) => {
|
||||
if (!(object instanceof THREE.Mesh || object instanceof THREE.Line)) return;
|
||||
object.geometry.dispose();
|
||||
const materials = Array.isArray(object.material) ? object.material : [object.material];
|
||||
materials.forEach((material) => material.dispose());
|
||||
});
|
||||
}
|
||||
|
||||
export function PolygonRoverScene({
|
||||
live,
|
||||
trajectory,
|
||||
workerAvailable,
|
||||
}: PolygonRoverSceneProps) {
|
||||
const hostRef = useRef<HTMLDivElement | null>(null);
|
||||
const cameraRef = useRef<THREE.PerspectiveCamera | null>(null);
|
||||
const controlsRef = useRef<OrbitControls | null>(null);
|
||||
const roverRef = useRef<THREE.Group | null>(null);
|
||||
const trajectoryRef = useRef<THREE.Line<THREE.BufferGeometry, THREE.LineBasicMaterial> | null>(
|
||||
null,
|
||||
);
|
||||
const desiredPositionRef = useRef(new THREE.Vector3());
|
||||
const desiredYawRef = useRef(0);
|
||||
const followRef = useRef(true);
|
||||
const [followRover, setFollowRover] = useState(true);
|
||||
const [renderError, setRenderError] = useState<string | null>(null);
|
||||
|
||||
useEffect(() => {
|
||||
desiredPositionRef.current.copy(live ? threePosition(live) : new THREE.Vector3());
|
||||
desiredYawRef.current = live ? -yawRadians(live) : 0;
|
||||
}, [live]);
|
||||
|
||||
useEffect(() => {
|
||||
followRef.current = followRover;
|
||||
}, [followRover]);
|
||||
|
||||
useEffect(() => {
|
||||
const line = trajectoryRef.current;
|
||||
if (!line) return;
|
||||
const points = trajectory.map((state) => {
|
||||
const point = threePosition(state);
|
||||
point.y += 0.06;
|
||||
return point;
|
||||
});
|
||||
line.geometry.setFromPoints(points);
|
||||
line.geometry.computeBoundingSphere();
|
||||
}, [trajectory]);
|
||||
|
||||
useEffect(() => {
|
||||
const host = hostRef.current;
|
||||
if (!host) return;
|
||||
|
||||
let renderer: THREE.WebGLRenderer;
|
||||
try {
|
||||
renderer = new THREE.WebGLRenderer({
|
||||
antialias: true,
|
||||
alpha: true,
|
||||
powerPreference: "high-performance",
|
||||
});
|
||||
} catch {
|
||||
setRenderError("Браузер не смог создать WebGL-сцену.");
|
||||
return;
|
||||
}
|
||||
|
||||
renderer.setPixelRatio(Math.min(window.devicePixelRatio, 2));
|
||||
renderer.outputColorSpace = THREE.SRGBColorSpace;
|
||||
renderer.toneMapping = THREE.ACESFilmicToneMapping;
|
||||
renderer.toneMappingExposure = 1.06;
|
||||
renderer.shadowMap.enabled = true;
|
||||
renderer.shadowMap.type = THREE.PCFSoftShadowMap;
|
||||
renderer.domElement.setAttribute("aria-label", "Интерактивная 3D-сцена Ackermann Rover");
|
||||
host.prepend(renderer.domElement);
|
||||
|
||||
const scene = new THREE.Scene();
|
||||
scene.fog = new THREE.FogExp2(0x081019, 0.025);
|
||||
|
||||
const camera = new THREE.PerspectiveCamera(46, 1, 0.08, 220);
|
||||
camera.position.copy(CAMERA_POSITION);
|
||||
cameraRef.current = camera;
|
||||
|
||||
const controls = new OrbitControls(camera, renderer.domElement);
|
||||
controls.enableDamping = true;
|
||||
controls.dampingFactor = 0.07;
|
||||
controls.enablePan = true;
|
||||
controls.enableZoom = true;
|
||||
controls.minDistance = 2.2;
|
||||
controls.maxDistance = 70;
|
||||
controls.minPolarAngle = 0.04;
|
||||
controls.maxPolarAngle = Math.PI - 0.04;
|
||||
controls.target.copy(CAMERA_TARGET);
|
||||
controls.update();
|
||||
controlsRef.current = controls;
|
||||
|
||||
const hemisphere = new THREE.HemisphereLight(0xaed7ff, 0x10151b, 2.2);
|
||||
scene.add(hemisphere);
|
||||
const key = new THREE.DirectionalLight(0xffffff, 3.7);
|
||||
key.position.set(5, 9, 4);
|
||||
key.castShadow = true;
|
||||
key.shadow.mapSize.set(1024, 1024);
|
||||
key.shadow.camera.near = 1;
|
||||
key.shadow.camera.far = 32;
|
||||
key.shadow.camera.left = -10;
|
||||
key.shadow.camera.right = 10;
|
||||
key.shadow.camera.top = 10;
|
||||
key.shadow.camera.bottom = -10;
|
||||
scene.add(key);
|
||||
const rim = new THREE.DirectionalLight(0x397dff, 2.1);
|
||||
rim.position.set(-5, 3, -5);
|
||||
scene.add(rim);
|
||||
|
||||
const ground = new THREE.Mesh(
|
||||
new THREE.PlaneGeometry(160, 160),
|
||||
new THREE.MeshStandardMaterial({
|
||||
color: 0x0b1118,
|
||||
metalness: 0.12,
|
||||
roughness: 0.9,
|
||||
side: THREE.DoubleSide,
|
||||
}),
|
||||
);
|
||||
ground.name = "ground";
|
||||
ground.rotation.x = -Math.PI / 2;
|
||||
ground.receiveShadow = true;
|
||||
scene.add(ground);
|
||||
|
||||
const grid = new THREE.GridHelper(160, 160, 0x2c7cff, 0x263746);
|
||||
grid.position.y = 0.012;
|
||||
const gridMaterials = Array.isArray(grid.material) ? grid.material : [grid.material];
|
||||
gridMaterials.forEach((material) => {
|
||||
material.transparent = true;
|
||||
material.opacity = 0.34;
|
||||
});
|
||||
scene.add(grid);
|
||||
|
||||
const rover = createRover();
|
||||
roverRef.current = rover;
|
||||
scene.add(rover);
|
||||
|
||||
const line = new THREE.Line(
|
||||
new THREE.BufferGeometry(),
|
||||
new THREE.LineBasicMaterial({
|
||||
color: 0x44a6ff,
|
||||
transparent: true,
|
||||
opacity: 0.92,
|
||||
}),
|
||||
);
|
||||
line.name = "ground-truth-trajectory";
|
||||
trajectoryRef.current = line;
|
||||
scene.add(line);
|
||||
|
||||
const resize = () => {
|
||||
const width = Math.max(host.clientWidth, 1);
|
||||
const height = Math.max(host.clientHeight, 1);
|
||||
camera.aspect = width / height;
|
||||
camera.updateProjectionMatrix();
|
||||
renderer.setSize(width, height, false);
|
||||
};
|
||||
const observer = new ResizeObserver(resize);
|
||||
observer.observe(host);
|
||||
resize();
|
||||
|
||||
const clock = new THREE.Clock();
|
||||
let animationFrame = 0;
|
||||
const render = () => {
|
||||
animationFrame = window.requestAnimationFrame(render);
|
||||
const delta = Math.min(clock.getDelta(), 0.1);
|
||||
const smoothing = 1 - Math.exp(-8 * delta);
|
||||
rover.position.lerp(desiredPositionRef.current, smoothing);
|
||||
rover.rotation.y = THREE.MathUtils.lerp(rover.rotation.y, desiredYawRef.current, smoothing);
|
||||
if (followRef.current) {
|
||||
const nextTarget = rover.position.clone();
|
||||
nextTarget.y += 0.72;
|
||||
controls.target.lerp(nextTarget, smoothing);
|
||||
}
|
||||
controls.update();
|
||||
renderer.render(scene, camera);
|
||||
};
|
||||
render();
|
||||
|
||||
return () => {
|
||||
window.cancelAnimationFrame(animationFrame);
|
||||
observer.disconnect();
|
||||
controls.dispose();
|
||||
renderer.dispose();
|
||||
renderer.domElement.remove();
|
||||
disposeScene(scene);
|
||||
cameraRef.current = null;
|
||||
controlsRef.current = null;
|
||||
roverRef.current = null;
|
||||
trajectoryRef.current = null;
|
||||
};
|
||||
}, []);
|
||||
|
||||
const resetCamera = () => {
|
||||
const camera = cameraRef.current;
|
||||
const controls = controlsRef.current;
|
||||
if (!camera || !controls) return;
|
||||
camera.position.copy(CAMERA_POSITION);
|
||||
const rover = roverRef.current;
|
||||
controls.target.copy(rover ? rover.position.clone().add(new THREE.Vector3(0, 0.55, 0)) : CAMERA_TARGET);
|
||||
controls.update();
|
||||
};
|
||||
|
||||
return (
|
||||
<div className="polygon-rover-scene" aria-label="Live 3D-полигон">
|
||||
<div ref={hostRef} className="polygon-rover-scene__viewport">
|
||||
{renderError ? <p className="polygon-rover-scene__error">{renderError}</p> : null}
|
||||
</div>
|
||||
<div className="polygon-rover-scene__toolbar">
|
||||
<button type="button" onClick={() => setFollowRover((value) => !value)}>
|
||||
{followRover ? "Следовать за ровером" : "Свободная камера"}
|
||||
</button>
|
||||
<button type="button" onClick={resetCamera}>Сбросить ракурс</button>
|
||||
</div>
|
||||
<div className="polygon-rover-scene__help">
|
||||
<span>ЛКМ · вращение</span>
|
||||
<span>Колесо · масштаб</span>
|
||||
<span>ПКМ · панорама</span>
|
||||
</div>
|
||||
<div className="polygon-rover-scene__frames">
|
||||
<span><i data-axis="east" />E</span>
|
||||
<span><i data-axis="north" />N</span>
|
||||
<span><i data-axis="up" />U</span>
|
||||
<small>map_enu · base_link_flu · ground truth</small>
|
||||
</div>
|
||||
{!live ? (
|
||||
<div className="polygon-rover-scene__idle">
|
||||
<strong>{workerAvailable ? "Ackermann Rover готов" : "Нет связи с worker"}</strong>
|
||||
<span>
|
||||
{workerAvailable
|
||||
? "Запустите PX4/Gazebo — модель останется доступна для осмотра."
|
||||
: "Полигон появится в шапке после подтверждения Simulation Worker."}
|
||||
</span>
|
||||
</div>
|
||||
) : null}
|
||||
</div>
|
||||
);
|
||||
}
|
||||
|
|
@ -19,6 +19,7 @@ let stopPolygonWorker;
|
|||
let PolygonWorkerContractError;
|
||||
let workspaceById;
|
||||
let workspacesForRoot;
|
||||
let rootsForCapabilities;
|
||||
|
||||
before(async () => {
|
||||
server = await createServer({
|
||||
|
|
@ -43,7 +44,11 @@ before(async () => {
|
|||
stopPolygonWorker,
|
||||
PolygonWorkerContractError,
|
||||
} = await server.ssrLoadModule("/src/core/polygon/liveWorker.ts"));
|
||||
({ workspaceById, workspacesForRoot } = await server.ssrLoadModule("/src/productModel.ts"));
|
||||
({
|
||||
workspaceById,
|
||||
workspacesForRoot,
|
||||
rootsForCapabilities,
|
||||
} = await server.ssrLoadModule("/src/productModel.ts"));
|
||||
});
|
||||
|
||||
after(async () => {
|
||||
|
|
@ -218,7 +223,7 @@ function vehicleState(overrides = {}) {
|
|||
};
|
||||
}
|
||||
|
||||
test("UI-0 route is direct-only and does not add Polygon to system navigation", () => {
|
||||
test("Polygon is a worker-gated product root and keeps a compatible direct route", () => {
|
||||
assert.deepEqual(resolvePolygonRunRoute("?workspace=polygon-run"), {
|
||||
active: true,
|
||||
runId: null,
|
||||
|
|
@ -237,11 +242,25 @@ test("UI-0 route is direct-only and does not add Polygon to system navigation",
|
|||
resolvePolygonRunRoute("?workspace=polygon-run&run=../../etc").error,
|
||||
/некорректный/,
|
||||
);
|
||||
assert.equal(workspaceById("polygon-run-internal").internalOnly, true);
|
||||
assert.equal(workspaceById("polygon-run").root, "polygon");
|
||||
assert.equal(
|
||||
workspacesForRoot("system").some(({ id }) => id === "polygon-run-internal"),
|
||||
workspacesForRoot("polygon").some(({ id }) => id === "polygon-run"),
|
||||
true,
|
||||
);
|
||||
assert.equal(
|
||||
workspacesForRoot("system").some(({ id }) => id === "polygon-run"),
|
||||
false,
|
||||
);
|
||||
assert.equal(
|
||||
rootsForCapabilities({ polygonWorkerAvailable: false })
|
||||
.some(({ id }) => id === "polygon"),
|
||||
false,
|
||||
);
|
||||
assert.equal(
|
||||
rootsForCapabilities({ polygonWorkerAvailable: true })
|
||||
.some(({ id }) => id === "polygon"),
|
||||
true,
|
||||
);
|
||||
});
|
||||
|
||||
test("Polygon contracts decode path-free evidence and preserve the safety boundary", () => {
|
||||
|
|
|
|||
Loading…
Reference in New Issue