From 2ccf17231965477c527771fb921bec11e6f6763a Mon Sep 17 00:00:00 2001 From: DCCONSTRUCTIONS Date: Fri, 28 Aug 2026 11:44:21 +0300 Subject: [PATCH 1/6] feat(simulation): add Gaussian UGV runtime pipeline --- apps/control-station/package-lock.json | 2 +- apps/control-station/package.json | 1 + .../playcanvas/ammo/2026-08-25/BUILD_INFO.md | 9 + .../playcanvas/ammo/2026-08-25/ammo.wasm.js | 921 ++++++++++++++++ .../playcanvas/ammo/2026-08-25/ammo.wasm.wasm | Bin 0 -> 747690 bytes .../simulation/PlayCanvasRuntime.ts | 277 +++-- .../simulation/SimulationCatalog.tsx | 333 ++++++ .../simulation/SimulationProjectWindow.tsx | 97 +- .../simulation/SimulationUgvController.ts | 999 ++++++++++++++++++ .../simulation/SimulationUgvSettingsPanel.tsx | 191 ++++ .../simulation/SimulationViewport.tsx | 435 +++++--- .../src/core/simulation/projects.ts | 304 +++++- .../src/core/simulation/sourceFiles.ts | 146 +++ apps/control-station/src/productModel.ts | 2 +- .../control-station/src/styles/simulation.css | 265 ++++- .../simulation/SimulationWorkspace.tsx | 310 ++++-- .../test/simulationWorkspace.test.mjs | 141 ++- docs/20_SIMULATION_WORLD_SURFACE_BRIEF.md | 34 +- src/k1link/simulation/projects.py | 467 ++++++-- src/k1link/web/simulation_projects_api.py | 69 +- tests/test_simulation_projects.py | 310 +++++- 21 files changed, 4685 insertions(+), 628 deletions(-) create mode 100644 apps/control-station/public/vendor/playcanvas/ammo/2026-08-25/BUILD_INFO.md create mode 100644 apps/control-station/public/vendor/playcanvas/ammo/2026-08-25/ammo.wasm.js create mode 100644 apps/control-station/public/vendor/playcanvas/ammo/2026-08-25/ammo.wasm.wasm create mode 100644 apps/control-station/src/components/simulation/SimulationCatalog.tsx create mode 100644 apps/control-station/src/components/simulation/SimulationUgvController.ts create mode 100644 apps/control-station/src/components/simulation/SimulationUgvSettingsPanel.tsx create mode 100644 apps/control-station/src/core/simulation/sourceFiles.ts diff --git a/apps/control-station/package-lock.json b/apps/control-station/package-lock.json index 4cf9e16..02ab863 100644 --- a/apps/control-station/package-lock.json +++ b/apps/control-station/package-lock.json @@ -16,6 +16,7 @@ "@nodedc/ui-core": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/ui-core", "@nodedc/ui-react": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/ui-react", "@rerun-io/web-viewer": "0.34.1", + "meshoptimizer": "1.1.1", "playcanvas": "2.21.4", "react": "^19.1.0", "react-dom": "^19.1.0", @@ -1661,7 +1662,6 @@ "version": "1.1.1", "resolved": "https://registry.npmjs.org/meshoptimizer/-/meshoptimizer-1.1.1.tgz", "integrity": "sha512-oRFNWJRDA/WTrVj7NWvqa5HqE1t9MYDj2VaWirQCzCCrAd2GHrqR/sQezCxiWATPNlKTcRaPRHPJwIRoPBAp5g==", - "dev": true, "license": "MIT" }, "node_modules/ms": { diff --git a/apps/control-station/package.json b/apps/control-station/package.json index b09d50c..edadf39 100644 --- a/apps/control-station/package.json +++ b/apps/control-station/package.json @@ -19,6 +19,7 @@ "@nodedc/ui-core": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/ui-core", "@nodedc/ui-react": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/ui-react", "@rerun-io/web-viewer": "0.34.1", + "meshoptimizer": "1.1.1", "playcanvas": "2.21.4", "react": "^19.1.0", "react-dom": "^19.1.0", diff --git a/apps/control-station/public/vendor/playcanvas/ammo/2026-08-25/BUILD_INFO.md b/apps/control-station/public/vendor/playcanvas/ammo/2026-08-25/BUILD_INFO.md new file mode 100644 index 0000000..3544e32 --- /dev/null +++ b/apps/control-station/public/vendor/playcanvas/ammo/2026-08-25/BUILD_INFO.md @@ -0,0 +1,9 @@ +# PlayCanvas Ammo runtime + +- Source: `https://developer.playcanvas.com/assets/modules/ammo/ammo.wasm.js` +- Source: `https://developer.playcanvas.com/assets/modules/ammo/ammo.wasm.wasm` +- Retrieved: 2026-08-27 +- `ammo.wasm.js`: 442459 bytes, SHA-256 `9b765569bce6993e781cd95d548c3711b119f355b512b25722e86a27d6ea8857` +- `ammo.wasm.wasm`: 747690 bytes, SHA-256 `a73b547ed4289aa174bf3424b14b3cb8addc7fe708cd2636d306b72880d6ad13` + +The control station loads these pinned same-origin assets before constructing the PlayCanvas application so the rigid-body systems bind to the expected Ammo instance. diff --git a/apps/control-station/public/vendor/playcanvas/ammo/2026-08-25/ammo.wasm.js b/apps/control-station/public/vendor/playcanvas/ammo/2026-08-25/ammo.wasm.js new file mode 100644 index 0000000..46ab297 --- /dev/null +++ b/apps/control-station/public/vendor/playcanvas/ammo/2026-08-25/ammo.wasm.js @@ -0,0 +1,921 @@ +// This is ammo.js, a port of Bullet Physics to JavaScript. zlib licensed. + +var Ammo = (() => { + var _scriptDir = typeof document !== 'undefined' && document.currentScript ? document.currentScript.src : undefined; + if (typeof __filename !== 'undefined') _scriptDir = _scriptDir || __filename; + return ( +function(Ammo = {}) { + +var b;b||(b=typeof Ammo !== 'undefined' ? 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+cu=b._emscripten_bind_btFixedConstraint___destroy___0=function(){return(cu=b._emscripten_bind_btFixedConstraint___destroy___0=b.asm.Qr).apply(null,arguments)},du=b._emscripten_bind_btConstraintSolver___destroy___0=function(){return(du=b._emscripten_bind_btConstraintSolver___destroy___0=b.asm.Rr).apply(null,arguments)},eu=b._emscripten_bind_btDispatcherInfo_get_m_timeStep_0=function(){return(eu=b._emscripten_bind_btDispatcherInfo_get_m_timeStep_0=b.asm.Sr).apply(null,arguments)},fu=b._emscripten_bind_btDispatcherInfo_set_m_timeStep_1= 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+ZD.prototype.__destroy__=function(){ac(this.kB)};function $D(){throw"cannot construct a btCollisionAlgorithm, no constructor in IDL";}$D.prototype=Object.create(f.prototype);$D.prototype.constructor=$D;$D.prototype.lB=$D;$D.mB={};b.btCollisionAlgorithm=$D;$D.prototype.__destroy__=function(){bc(this.kB)};function aE(){throw"cannot construct a btTypedConstraint, no constructor in IDL";}aE.prototype=Object.create(f.prototype);aE.prototype.constructor=aE;aE.prototype.lB=aE;aE.mB={}; +b.btTypedConstraint=aE;aE.prototype.enableFeedback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);cc(c,a)};aE.prototype.getBreakingImpulseThreshold=function(){return ec(this.kB)};aE.prototype.setBreakingImpulseThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fc(c,a)};aE.prototype.getParam=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return gc(d,a,c)}; +aE.prototype.setParam=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);hc(e,a,c,d)};aE.prototype.__destroy__=function(){ic(this.kB)};function bE(){throw"cannot construct a btDynamicsWorld, no constructor in IDL";}bE.prototype=Object.create(SD.prototype);bE.prototype.constructor=bE;bE.prototype.lB=bE;bE.mB={};b.btDynamicsWorld=bE;bE.prototype.addAction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jc(c,a)}; 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+v.prototype.set_m_collisionFilterMask=v.prototype.qB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jd(c,a)};Object.defineProperty(v.prototype,"m_collisionFilterMask",{get:v.prototype.oB,set:v.prototype.qB});v.prototype.get_m_closestHitFraction=v.prototype.rB=function(){return Kd(this.kB)};v.prototype.set_m_closestHitFraction=v.prototype.sB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ld(c,a)};Object.defineProperty(v.prototype,"m_closestHitFraction",{get:v.prototype.rB,set:v.prototype.sB}); +v.prototype.__destroy__=function(){Md(this.kB)};function fE(){throw"cannot construct a btConvexShape, no constructor in IDL";}fE.prototype=Object.create(l.prototype);fE.prototype.constructor=fE;fE.prototype.lB=fE;fE.mB={};b.btConvexShape=fE;fE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nd(c,a)};fE.prototype.getLocalScaling=function(){return k(Od(this.kB),m)}; +fE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Pd(d,a,c)};fE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qd(c,a)};fE.prototype.getMargin=function(){return Rd(this.kB)};fE.prototype.__destroy__=function(){Sd(this.kB)};function gE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=Td(a,c);h(gE)[this.kB]=this}gE.prototype=Object.create(l.prototype); +gE.prototype.constructor=gE;gE.prototype.lB=gE;gE.mB={};b.btCapsuleShape=gE;gE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ud(c,a)};gE.prototype.getMargin=function(){return Vd(this.kB)};gE.prototype.getUpAxis=function(){return Wd(this.kB)};gE.prototype.getRadius=function(){return Xd(this.kB)};gE.prototype.getHalfHeight=function(){return Yd(this.kB)};gE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zd(c,a)}; +gE.prototype.getLocalScaling=function(){return k($d(this.kB),m)};gE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);ae(d,a,c)};gE.prototype.__destroy__=function(){be(this.kB)};function hE(a){a&&"object"===typeof a&&(a=a.kB);this.kB=ce(a);h(hE)[this.kB]=this}hE.prototype=Object.create(l.prototype);hE.prototype.constructor=hE;hE.prototype.lB=hE;hE.mB={};b.btCylinderShape=hE; +hE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);de(c,a)};hE.prototype.getMargin=function(){return ee(this.kB)};hE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fe(c,a)};hE.prototype.getLocalScaling=function(){return k(ge(this.kB),m)};hE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);he(d,a,c)};hE.prototype.__destroy__=function(){ie(this.kB)}; +function iE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=je(a,c);h(iE)[this.kB]=this}iE.prototype=Object.create(l.prototype);iE.prototype.constructor=iE;iE.prototype.lB=iE;iE.mB={};b.btConeShape=iE;iE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ke(c,a)};iE.prototype.getLocalScaling=function(){return k(le(this.kB),m)}; +iE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);me(d,a,c)};iE.prototype.__destroy__=function(){ne(this.kB)};function jE(){throw"cannot construct a btStridingMeshInterface, no constructor in IDL";}jE.prototype=Object.create(f.prototype);jE.prototype.constructor=jE;jE.prototype.lB=jE;jE.mB={};b.btStridingMeshInterface=jE;jE.prototype.setScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);oe(c,a)}; +jE.prototype.__destroy__=function(){pe(this.kB)};function kE(){throw"cannot construct a btTriangleMeshShape, no constructor in IDL";}kE.prototype=Object.create(ZD.prototype);kE.prototype.constructor=kE;kE.prototype.lB=kE;kE.mB={};b.btTriangleMeshShape=kE;kE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);qe(c,a)};kE.prototype.getLocalScaling=function(){return k(re(this.kB),m)}; 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+B.prototype.dot=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return rh(c,a)};B.prototype.normalized=function(){return k(sh(this.kB),B)};B.prototype.getAxis=function(){return k(th(this.kB),m)};B.prototype.inverse=B.prototype.inverse=function(){return k(uh(this.kB),B)};B.prototype.getAngle=function(){return vh(this.kB)};B.prototype.getAngleShortestPath=function(){return wh(this.kB)}; +B.prototype.angle=B.prototype.angle=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return xh(c,a)};B.prototype.angleShortestPath=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return yh(c,a)};B.prototype.op_add=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(zh(c,a),B)};B.prototype.op_sub=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Ah(c,a),B)}; +B.prototype.op_mul=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Bh(c,a),B)};B.prototype.op_mulq=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Ch(c,a),B)};B.prototype.op_div=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Dh(c,a),B)};B.prototype.x=B.prototype.x=function(){return Eh(this.kB)};B.prototype.y=B.prototype.y=function(){return Fh(this.kB)};B.prototype.z=B.prototype.z=function(){return Gh(this.kB)}; 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+wE.prototype.getWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ji(c,a)};wE.prototype.setWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ki(c,a)};wE.prototype.get_m_graphicsWorldTrans=wE.prototype.lD=function(){return k(li(this.kB),r)};wE.prototype.set_m_graphicsWorldTrans=wE.prototype.cG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);mi(c,a)};Object.defineProperty(wE.prototype,"m_graphicsWorldTrans",{get:wE.prototype.lD,set:wE.prototype.cG}); +wE.prototype.__destroy__=function(){ni(this.kB)};function xE(){throw"cannot construct a btCollisionObjectWrapper, no constructor in IDL";}xE.prototype=Object.create(f.prototype);xE.prototype.constructor=xE;xE.prototype.lB=xE;xE.mB={};b.btCollisionObjectWrapper=xE;xE.prototype.getWorldTransform=function(){return k(oi(this.kB),r)};xE.prototype.getCollisionObject=function(){return k(pi(this.kB),q)};xE.prototype.getCollisionShape=function(){return k(qi(this.kB),l)}; +function C(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=ri(a,c);h(C)[this.kB]=this}C.prototype=Object.create(u.prototype);C.prototype.constructor=C;C.prototype.lB=C;C.mB={};b.ClosestRayResultCallback=C;C.prototype.hasHit=function(){return!!si(this.kB)};C.prototype.get_m_rayFromWorld=C.prototype.NB=function(){return k(ti(this.kB),m)};C.prototype.set_m_rayFromWorld=C.prototype.XB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ui(c,a)}; +Object.defineProperty(C.prototype,"m_rayFromWorld",{get:C.prototype.NB,set:C.prototype.XB});C.prototype.get_m_rayToWorld=C.prototype.OB=function(){return k(vi(this.kB),m)};C.prototype.set_m_rayToWorld=C.prototype.YB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);wi(c,a)};Object.defineProperty(C.prototype,"m_rayToWorld",{get:C.prototype.OB,set:C.prototype.YB});C.prototype.get_m_hitNormalWorld=C.prototype.xB=function(){return k(xi(this.kB),m)}; +C.prototype.set_m_hitNormalWorld=C.prototype.EB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yi(c,a)};Object.defineProperty(C.prototype,"m_hitNormalWorld",{get:C.prototype.xB,set:C.prototype.EB});C.prototype.get_m_hitPointWorld=C.prototype.yB=function(){return k(zi(this.kB),m)};C.prototype.set_m_hitPointWorld=C.prototype.FB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ai(c,a)};Object.defineProperty(C.prototype,"m_hitPointWorld",{get:C.prototype.yB,set:C.prototype.FB}); +C.prototype.get_m_collisionFilterGroup=C.prototype.nB=function(){return Bi(this.kB)};C.prototype.set_m_collisionFilterGroup=C.prototype.pB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ci(c,a)};Object.defineProperty(C.prototype,"m_collisionFilterGroup",{get:C.prototype.nB,set:C.prototype.pB});C.prototype.get_m_collisionFilterMask=C.prototype.oB=function(){return Di(this.kB)}; +C.prototype.set_m_collisionFilterMask=C.prototype.qB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ei(c,a)};Object.defineProperty(C.prototype,"m_collisionFilterMask",{get:C.prototype.oB,set:C.prototype.qB});C.prototype.get_m_closestHitFraction=C.prototype.rB=function(){return Fi(this.kB)};C.prototype.set_m_closestHitFraction=C.prototype.sB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Gi(c,a)};Object.defineProperty(C.prototype,"m_closestHitFraction",{get:C.prototype.rB,set:C.prototype.sB}); +C.prototype.get_m_collisionObject=C.prototype.vB=function(){return k(Hi(this.kB),q)};C.prototype.set_m_collisionObject=C.prototype.CB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ii(c,a)};Object.defineProperty(C.prototype,"m_collisionObject",{get:C.prototype.vB,set:C.prototype.CB});C.prototype.get_m_flags=C.prototype.tB=function(){return Ji(this.kB)};C.prototype.set_m_flags=C.prototype.uB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ki(c,a)}; +Object.defineProperty(C.prototype,"m_flags",{get:C.prototype.tB,set:C.prototype.uB});C.prototype.__destroy__=function(){Li(this.kB)};function yE(){throw"cannot construct a btConstCollisionObjectArray, no constructor in IDL";}yE.prototype=Object.create(f.prototype);yE.prototype.constructor=yE;yE.prototype.lB=yE;yE.mB={};b.btConstCollisionObjectArray=yE;yE.prototype.size=yE.prototype.size=function(){return Mi(this.kB)}; +yE.prototype.at=yE.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Ni(c,a),q)};yE.prototype.__destroy__=function(){Oi(this.kB)};function zE(){throw"cannot construct a btScalarArray, no constructor in IDL";}zE.prototype=Object.create(f.prototype);zE.prototype.constructor=zE;zE.prototype.lB=zE;zE.mB={};b.btScalarArray=zE;zE.prototype.size=zE.prototype.size=function(){return Pi(this.kB)}; +zE.prototype.at=zE.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return Qi(c,a)};zE.prototype.__destroy__=function(){Ri(this.kB)};function D(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=Si(a,c);h(D)[this.kB]=this}D.prototype=Object.create(u.prototype);D.prototype.constructor=D;D.prototype.lB=D;D.mB={};b.AllHitsRayResultCallback=D;D.prototype.hasHit=function(){return!!Ti(this.kB)}; +D.prototype.get_m_collisionObjects=D.prototype.UC=function(){return k(Ui(this.kB),yE)};D.prototype.set_m_collisionObjects=D.prototype.LF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vi(c,a)};Object.defineProperty(D.prototype,"m_collisionObjects",{get:D.prototype.UC,set:D.prototype.LF});D.prototype.get_m_rayFromWorld=D.prototype.NB=function(){return k(Wi(this.kB),m)};D.prototype.set_m_rayFromWorld=D.prototype.XB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Xi(c,a)}; +Object.defineProperty(D.prototype,"m_rayFromWorld",{get:D.prototype.NB,set:D.prototype.XB});D.prototype.get_m_rayToWorld=D.prototype.OB=function(){return k(Yi(this.kB),m)};D.prototype.set_m_rayToWorld=D.prototype.YB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zi(c,a)};Object.defineProperty(D.prototype,"m_rayToWorld",{get:D.prototype.OB,set:D.prototype.YB});D.prototype.get_m_hitNormalWorld=D.prototype.xB=function(){return k($i(this.kB),AE)}; +D.prototype.set_m_hitNormalWorld=D.prototype.EB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);aj(c,a)};Object.defineProperty(D.prototype,"m_hitNormalWorld",{get:D.prototype.xB,set:D.prototype.EB});D.prototype.get_m_hitPointWorld=D.prototype.yB=function(){return k(bj(this.kB),AE)};D.prototype.set_m_hitPointWorld=D.prototype.FB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);cj(c,a)};Object.defineProperty(D.prototype,"m_hitPointWorld",{get:D.prototype.yB,set:D.prototype.FB}); +D.prototype.get_m_hitFractions=D.prototype.qD=function(){return k(dj(this.kB),zE)};D.prototype.set_m_hitFractions=D.prototype.hG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ej(c,a)};Object.defineProperty(D.prototype,"m_hitFractions",{get:D.prototype.qD,set:D.prototype.hG});D.prototype.get_m_collisionFilterGroup=D.prototype.nB=function(){return fj(this.kB)};D.prototype.set_m_collisionFilterGroup=D.prototype.pB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);gj(c,a)}; +Object.defineProperty(D.prototype,"m_collisionFilterGroup",{get:D.prototype.nB,set:D.prototype.pB});D.prototype.get_m_collisionFilterMask=D.prototype.oB=function(){return hj(this.kB)};D.prototype.set_m_collisionFilterMask=D.prototype.qB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ij(c,a)};Object.defineProperty(D.prototype,"m_collisionFilterMask",{get:D.prototype.oB,set:D.prototype.qB});D.prototype.get_m_closestHitFraction=D.prototype.rB=function(){return jj(this.kB)}; +D.prototype.set_m_closestHitFraction=D.prototype.sB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);kj(c,a)};Object.defineProperty(D.prototype,"m_closestHitFraction",{get:D.prototype.rB,set:D.prototype.sB});D.prototype.get_m_collisionObject=D.prototype.vB=function(){return k(lj(this.kB),q)};D.prototype.set_m_collisionObject=D.prototype.CB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);mj(c,a)};Object.defineProperty(D.prototype,"m_collisionObject",{get:D.prototype.vB,set:D.prototype.CB}); +D.prototype.get_m_flags=D.prototype.tB=function(){return nj(this.kB)};D.prototype.set_m_flags=D.prototype.uB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);oj(c,a)};Object.defineProperty(D.prototype,"m_flags",{get:D.prototype.tB,set:D.prototype.uB});D.prototype.__destroy__=function(){pj(this.kB)};function E(){throw"cannot construct a btManifoldPoint, no constructor in IDL";}E.prototype=Object.create(f.prototype);E.prototype.constructor=E;E.prototype.lB=E;E.mB={};b.btManifoldPoint=E; +E.prototype.getPositionWorldOnA=function(){return k(qj(this.kB),m)};E.prototype.getPositionWorldOnB=function(){return k(rj(this.kB),m)};E.prototype.getAppliedImpulse=function(){return sj(this.kB)};E.prototype.getDistance=function(){return tj(this.kB)};E.prototype.get_m_localPointA=E.prototype.GD=function(){return k(uj(this.kB),m)};E.prototype.set_m_localPointA=E.prototype.xG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vj(c,a)}; +Object.defineProperty(E.prototype,"m_localPointA",{get:E.prototype.GD,set:E.prototype.xG});E.prototype.get_m_localPointB=E.prototype.HD=function(){return k(wj(this.kB),m)};E.prototype.set_m_localPointB=E.prototype.yG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xj(c,a)};Object.defineProperty(E.prototype,"m_localPointB",{get:E.prototype.HD,set:E.prototype.yG});E.prototype.get_m_positionWorldOnB=E.prototype.YD=function(){return k(yj(this.kB),m)}; +E.prototype.set_m_positionWorldOnB=E.prototype.PG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zj(c,a)};Object.defineProperty(E.prototype,"m_positionWorldOnB",{get:E.prototype.YD,set:E.prototype.PG});E.prototype.get_m_positionWorldOnA=E.prototype.XD=function(){return k(Aj(this.kB),m)};E.prototype.set_m_positionWorldOnA=E.prototype.OG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Bj(c,a)};Object.defineProperty(E.prototype,"m_positionWorldOnA",{get:E.prototype.XD,set:E.prototype.OG}); +E.prototype.get_m_normalWorldOnB=E.prototype.SD=function(){return k(Cj(this.kB),m)};E.prototype.set_m_normalWorldOnB=E.prototype.JG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dj(c,a)};Object.defineProperty(E.prototype,"m_normalWorldOnB",{get:E.prototype.SD,set:E.prototype.JG});E.prototype.get_m_userPersistentData=E.prototype.zE=function(){return Ej(this.kB)};E.prototype.set_m_userPersistentData=E.prototype.rH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Fj(c,a)}; +Object.defineProperty(E.prototype,"m_userPersistentData",{get:E.prototype.zE,set:E.prototype.rH});E.prototype.__destroy__=function(){Gj(this.kB)};function BE(){this.kB=Hj();h(BE)[this.kB]=this}BE.prototype=Object.create(eE.prototype);BE.prototype.constructor=BE;BE.prototype.lB=BE;BE.mB={};b.ConcreteContactResultCallback=BE; +BE.prototype.addSingleResult=function(a,c,d,e,g,n,z){var T=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);n&&"object"===typeof n&&(n=n.kB);z&&"object"===typeof z&&(z=z.kB);return Ij(T,a,c,d,e,g,n,z)};BE.prototype.__destroy__=function(){Jj(this.kB)};function CE(){throw"cannot construct a LocalShapeInfo, no constructor in IDL";}CE.prototype=Object.create(f.prototype); +CE.prototype.constructor=CE;CE.prototype.lB=CE;CE.mB={};b.LocalShapeInfo=CE;CE.prototype.get_m_shapePart=CE.prototype.gE=function(){return Kj(this.kB)};CE.prototype.set_m_shapePart=CE.prototype.ZG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lj(c,a)};Object.defineProperty(CE.prototype,"m_shapePart",{get:CE.prototype.gE,set:CE.prototype.ZG});CE.prototype.get_m_triangleIndex=CE.prototype.vE=function(){return Mj(this.kB)}; +CE.prototype.set_m_triangleIndex=CE.prototype.nH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nj(c,a)};Object.defineProperty(CE.prototype,"m_triangleIndex",{get:CE.prototype.vE,set:CE.prototype.nH});CE.prototype.__destroy__=function(){Oj(this.kB)};function F(a,c,d,e,g){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);this.kB=Pj(a,c,d,e,g);h(F)[this.kB]=this} +F.prototype=Object.create(f.prototype);F.prototype.constructor=F;F.prototype.lB=F;F.mB={};b.LocalConvexResult=F;F.prototype.get_m_hitCollisionObject=F.prototype.LB=function(){return k(Qj(this.kB),q)};F.prototype.set_m_hitCollisionObject=F.prototype.VB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Rj(c,a)};Object.defineProperty(F.prototype,"m_hitCollisionObject",{get:F.prototype.LB,set:F.prototype.VB});F.prototype.get_m_localShapeInfo=F.prototype.ID=function(){return k(Sj(this.kB),CE)}; +F.prototype.set_m_localShapeInfo=F.prototype.zG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Tj(c,a)};Object.defineProperty(F.prototype,"m_localShapeInfo",{get:F.prototype.ID,set:F.prototype.zG});F.prototype.get_m_hitNormalLocal=F.prototype.sD=function(){return k(Uj(this.kB),m)};F.prototype.set_m_hitNormalLocal=F.prototype.jG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vj(c,a)};Object.defineProperty(F.prototype,"m_hitNormalLocal",{get:F.prototype.sD,set:F.prototype.jG}); +F.prototype.get_m_hitPointLocal=F.prototype.uD=function(){return k(Wj(this.kB),m)};F.prototype.set_m_hitPointLocal=F.prototype.lG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Xj(c,a)};Object.defineProperty(F.prototype,"m_hitPointLocal",{get:F.prototype.uD,set:F.prototype.lG});F.prototype.get_m_hitFraction=F.prototype.pD=function(){return Yj(this.kB)};F.prototype.set_m_hitFraction=F.prototype.gG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zj(c,a)}; +Object.defineProperty(F.prototype,"m_hitFraction",{get:F.prototype.pD,set:F.prototype.gG});F.prototype.__destroy__=function(){ak(this.kB)};function G(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=bk(a,c);h(G)[this.kB]=this}G.prototype=Object.create(v.prototype);G.prototype.constructor=G;G.prototype.lB=G;G.mB={};b.ClosestConvexResultCallback=G;G.prototype.hasHit=function(){return!!ck(this.kB)}; +G.prototype.get_m_hitCollisionObject=G.prototype.LB=function(){return k(dk(this.kB),q)};G.prototype.set_m_hitCollisionObject=G.prototype.VB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ek(c,a)};Object.defineProperty(G.prototype,"m_hitCollisionObject",{get:G.prototype.LB,set:G.prototype.VB});G.prototype.get_m_convexFromWorld=G.prototype.ZC=function(){return k(fk(this.kB),m)}; +G.prototype.set_m_convexFromWorld=G.prototype.QF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);gk(c,a)};Object.defineProperty(G.prototype,"m_convexFromWorld",{get:G.prototype.ZC,set:G.prototype.QF});G.prototype.get_m_convexToWorld=G.prototype.$C=function(){return k(hk(this.kB),m)};G.prototype.set_m_convexToWorld=G.prototype.RF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ik(c,a)};Object.defineProperty(G.prototype,"m_convexToWorld",{get:G.prototype.$C,set:G.prototype.RF}); +G.prototype.get_m_hitNormalWorld=G.prototype.xB=function(){return k(jk(this.kB),m)};G.prototype.set_m_hitNormalWorld=G.prototype.EB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);kk(c,a)};Object.defineProperty(G.prototype,"m_hitNormalWorld",{get:G.prototype.xB,set:G.prototype.EB});G.prototype.get_m_hitPointWorld=G.prototype.yB=function(){return k(lk(this.kB),m)};G.prototype.set_m_hitPointWorld=G.prototype.FB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);mk(c,a)}; +Object.defineProperty(G.prototype,"m_hitPointWorld",{get:G.prototype.yB,set:G.prototype.FB});G.prototype.get_m_collisionFilterGroup=G.prototype.nB=function(){return nk(this.kB)};G.prototype.set_m_collisionFilterGroup=G.prototype.pB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ok(c,a)};Object.defineProperty(G.prototype,"m_collisionFilterGroup",{get:G.prototype.nB,set:G.prototype.pB});G.prototype.get_m_collisionFilterMask=G.prototype.oB=function(){return pk(this.kB)}; 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+$E.prototype.__destroy__=function(){An(this.kB)};function aF(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=Bn(a,c,d,e);h(aF)[this.kB]=this}aF.prototype=Object.create(f.prototype);aF.prototype.constructor=aF;aF.prototype.lB=aF;aF.mB={};b.btAABB=aF;aF.prototype.invalidate=function(){Cn(this.kB)};aF.prototype.increment_margin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dn(c,a)}; +aF.prototype.copy_with_margin=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);En(d,a,c)};aF.prototype.__destroy__=function(){Fn(this.kB)};function bF(){this.kB=Gn();h(bF)[this.kB]=this}bF.prototype=Object.create(f.prototype);bF.prototype.constructor=bF;bF.prototype.lB=bF;bF.mB={};b.btPrimitiveTriangle=bF;bF.prototype.__destroy__=function(){Hn(this.kB)}; +function cF(a,c,d){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);this.kB=In(a,c,d);h(cF)[this.kB]=this}cF.prototype=Object.create(f.prototype);cF.prototype.constructor=cF;cF.prototype.lB=cF;cF.mB={};b.btTriangleShapeEx=cF;cF.prototype.getAabb=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Jn(e,a,c,d)}; +cF.prototype.applyTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Kn(c,a)};cF.prototype.buildTriPlane=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ln(c,a)};cF.prototype.__destroy__=function(){Mn(this.kB)};function dF(){this.kB=Nn();h(dF)[this.kB]=this}dF.prototype=Object.create(f.prototype);dF.prototype.constructor=dF;dF.prototype.lB=dF;dF.mB={};b.btTetrahedronShapeEx=dF; +dF.prototype.setVertices=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);On(g,a,c,d,e)};dF.prototype.__destroy__=function(){Pn(this.kB)};function eF(){throw"cannot construct a CompoundPrimitiveManager, no constructor in IDL";}eF.prototype=Object.create(lE.prototype);eF.prototype.constructor=eF;eF.prototype.lB=eF;eF.mB={};b.CompoundPrimitiveManager=eF; +eF.prototype.get_primitive_count=function(){return Qn(this.kB)};eF.prototype.get_primitive_box=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Rn(d,a,c)};eF.prototype.get_primitive_triangle=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Sn(d,a,c)};eF.prototype.is_trimesh=function(){return!!Tn(this.kB)};eF.prototype.get_m_compoundShape=eF.prototype.VC=function(){return k(Un(this.kB),H)}; +eF.prototype.set_m_compoundShape=eF.prototype.MF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vn(c,a)};Object.defineProperty(eF.prototype,"m_compoundShape",{get:eF.prototype.VC,set:eF.prototype.MF});eF.prototype.__destroy__=function(){Wn(this.kB)};function H(a){a&&"object"===typeof a&&(a=a.kB);this.kB=void 0===a?Xn():Yn(a);h(H)[this.kB]=this}H.prototype=Object.create(w.prototype);H.prototype.constructor=H;H.prototype.lB=H;H.mB={};b.btGImpactCompoundShape=H; +H.prototype.childrenHasTransform=function(){return!!Zn(this.kB)};H.prototype.getPrimitiveManager=function(){return k($n(this.kB),lE)};H.prototype.getCompoundPrimitiveManager=function(){return k(ao(this.kB),eF)};H.prototype.getNumChildShapes=function(){return bo(this.kB)};H.prototype.addChildShape=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);co(d,a,c)}; +H.prototype.getChildShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(eo(c,a),l)};H.prototype.getChildAabb=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);fo(g,a,c,d,e)};H.prototype.getChildTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(go(c,a),r)}; +H.prototype.setChildTransform=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);ho(d,a,c)};H.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);io(d,a,c)};H.prototype.getName=function(){return sa(jo(this.kB))};H.prototype.getGImpactShapeType=function(){return ko(this.kB)};H.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);lo(c,a)}; +H.prototype.getLocalScaling=function(){return k(mo(this.kB),m)};H.prototype.updateBound=function(){no(this.kB)};H.prototype.postUpdate=function(){oo(this.kB)};H.prototype.getShapeType=function(){return po(this.kB)};H.prototype.needsRetrieveTriangles=function(){return!!qo(this.kB)};H.prototype.needsRetrieveTetrahedrons=function(){return!!ro(this.kB)};H.prototype.getBulletTriangle=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);so(d,a,c)}; +H.prototype.getBulletTetrahedron=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);to(d,a,c)};H.prototype.__destroy__=function(){uo(this.kB)};function I(a){a&&"object"===typeof a&&(a=a.kB);this.kB=void 0===a?vo():wo(a);h(I)[this.kB]=this}I.prototype=Object.create(lE.prototype);I.prototype.constructor=I;I.prototype.lB=I;I.mB={};b.TrimeshPrimitiveManager=I;I.prototype.lock=I.prototype.lock=function(){xo(this.kB)};I.prototype.unlock=I.prototype.unlock=function(){yo(this.kB)}; +I.prototype.is_trimesh=function(){return!!zo(this.kB)};I.prototype.get_vertex_count=function(){return Ao(this.kB)};I.prototype.get_indices=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);Bo(g,a,c,d,e)};I.prototype.get_vertex=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Co(d,a,c)}; +I.prototype.get_bullet_triangle=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Do(d,a,c)};I.prototype.get_m_margin=I.prototype.LD=function(){return Eo(this.kB)};I.prototype.set_m_margin=I.prototype.CG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Fo(c,a)};Object.defineProperty(I.prototype,"m_margin",{get:I.prototype.LD,set:I.prototype.CG});I.prototype.get_m_meshInterface=I.prototype.OD=function(){return k(Go(this.kB),jE)}; +I.prototype.set_m_meshInterface=I.prototype.FG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ho(c,a)};Object.defineProperty(I.prototype,"m_meshInterface",{get:I.prototype.OD,set:I.prototype.FG});I.prototype.get_m_part=I.prototype.VD=function(){return Io(this.kB)};I.prototype.set_m_part=I.prototype.MG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jo(c,a)};Object.defineProperty(I.prototype,"m_part",{get:I.prototype.VD,set:I.prototype.MG}); +I.prototype.get_m_lock_count=I.prototype.JD=function(){return Ko(this.kB)};I.prototype.set_m_lock_count=I.prototype.AG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lo(c,a)};Object.defineProperty(I.prototype,"m_lock_count",{get:I.prototype.JD,set:I.prototype.AG});I.prototype.get_numverts=I.prototype.LE=function(){return Mo(this.kB)};I.prototype.set_numverts=I.prototype.DH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);No(c,a)}; +Object.defineProperty(I.prototype,"numverts",{get:I.prototype.LE,set:I.prototype.DH});I.prototype.get_type=I.prototype.PE=function(){return Oo(this.kB)};I.prototype.set_type=I.prototype.HH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Po(c,a)};Object.defineProperty(I.prototype,"type",{get:I.prototype.PE,set:I.prototype.HH});I.prototype.get_stride=I.prototype.NE=function(){return Qo(this.kB)}; +I.prototype.set_stride=I.prototype.FH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ro(c,a)};Object.defineProperty(I.prototype,"stride",{get:I.prototype.NE,set:I.prototype.FH});I.prototype.get_indexstride=I.prototype.gC=function(){return So(this.kB)};I.prototype.set_indexstride=I.prototype.YE=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);To(c,a)};Object.defineProperty(I.prototype,"indexstride",{get:I.prototype.gC,set:I.prototype.YE}); +I.prototype.get_numfaces=I.prototype.KE=function(){return Uo(this.kB)};I.prototype.set_numfaces=I.prototype.CH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vo(c,a)};Object.defineProperty(I.prototype,"numfaces",{get:I.prototype.KE,set:I.prototype.CH});I.prototype.get_indicestype=I.prototype.hC=function(){return Wo(this.kB)};I.prototype.set_indicestype=I.prototype.ZE=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Xo(c,a)}; +Object.defineProperty(I.prototype,"indicestype",{get:I.prototype.hC,set:I.prototype.ZE});I.prototype.__destroy__=function(){Yo(this.kB)};function fF(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=Zo(a,c);h(fF)[this.kB]=this}fF.prototype=Object.create(w.prototype);fF.prototype.constructor=fF;fF.prototype.lB=fF;fF.mB={};b.btGImpactMeshShapePart=fF;fF.prototype.getTrimeshPrimitiveManager=function(){return k($o(this.kB),I)};fF.prototype.getVertexCount=function(){return ap(this.kB)}; +fF.prototype.getVertex=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);bp(d,a,c)};fF.prototype.getPart=function(){return cp(this.kB)};fF.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);dp(c,a)};fF.prototype.getLocalScaling=function(){return k(ep(this.kB),m)};fF.prototype.updateBound=function(){fp(this.kB)};fF.prototype.postUpdate=function(){gp(this.kB)};fF.prototype.getShapeType=function(){return hp(this.kB)}; +fF.prototype.needsRetrieveTriangles=function(){return!!ip(this.kB)};fF.prototype.needsRetrieveTetrahedrons=function(){return!!jp(this.kB)};fF.prototype.getBulletTriangle=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);kp(d,a,c)};fF.prototype.getBulletTetrahedron=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);lp(d,a,c)};fF.prototype.__destroy__=function(){mp(this.kB)}; +function gF(a){a&&"object"===typeof a&&(a=a.kB);this.kB=np(a);h(gF)[this.kB]=this}gF.prototype=Object.create(w.prototype);gF.prototype.constructor=gF;gF.prototype.lB=gF;gF.mB={};b.btGImpactMeshShape=gF;gF.prototype.getMeshInterface=function(){return k(op(this.kB),jE)};gF.prototype.getMeshPartCount=function(){return pp(this.kB)};gF.prototype.getMeshPart=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(qp(c,a),fF)};gF.prototype.calculateSerializeBufferSize=function(){return rp(this.kB)}; +gF.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);sp(c,a)};gF.prototype.getLocalScaling=function(){return k(tp(this.kB),m)};gF.prototype.updateBound=function(){up(this.kB)};gF.prototype.postUpdate=function(){vp(this.kB)};gF.prototype.getShapeType=function(){return wp(this.kB)};gF.prototype.needsRetrieveTriangles=function(){return!!xp(this.kB)};gF.prototype.needsRetrieveTetrahedrons=function(){return!!yp(this.kB)}; +gF.prototype.getBulletTriangle=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);zp(d,a,c)};gF.prototype.getBulletTetrahedron=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Ap(d,a,c)};gF.prototype.__destroy__=function(){Bp(this.kB)}; +function hF(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=void 0===a?Cp():void 0===c?_emscripten_bind_btCollisionAlgorithmConstructionInfo_btCollisionAlgorithmConstructionInfo_1(a):Dp(a,c);h(hF)[this.kB]=this}hF.prototype=Object.create(f.prototype);hF.prototype.constructor=hF;hF.prototype.lB=hF;hF.mB={};b.btCollisionAlgorithmConstructionInfo=hF;hF.prototype.get_m_dispatcher1=hF.prototype.eD=function(){return k(Ep(this.kB),TD)}; +hF.prototype.set_m_dispatcher1=hF.prototype.WF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Fp(c,a)};Object.defineProperty(hF.prototype,"m_dispatcher1",{get:hF.prototype.eD,set:hF.prototype.WF});hF.prototype.get_m_manifold=hF.prototype.KD=function(){return k(Gp(this.kB),oE)};hF.prototype.set_m_manifold=hF.prototype.BG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Hp(c,a)};Object.defineProperty(hF.prototype,"m_manifold",{get:hF.prototype.KD,set:hF.prototype.BG}); 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+function VD(){throw"cannot construct a btBroadphaseInterface, no constructor in IDL";}VD.prototype=Object.create(f.prototype);VD.prototype.constructor=VD;VD.prototype.lB=VD;VD.mB={};b.btBroadphaseInterface=VD;VD.prototype.getOverlappingPairCache=function(){return k(gq(this.kB),UD)};VD.prototype.__destroy__=function(){hq(this.kB)};function nF(){throw"cannot construct a btCollisionConfiguration, no constructor in IDL";}nF.prototype=Object.create(f.prototype);nF.prototype.constructor=nF; +nF.prototype.lB=nF;nF.mB={};b.btCollisionConfiguration=nF;nF.prototype.__destroy__=function(){iq(this.kB)};function oF(){this.kB=jq();h(oF)[this.kB]=this}oF.prototype=Object.create(f.prototype);oF.prototype.constructor=oF;oF.prototype.lB=oF;oF.mB={};b.btDbvtBroadphase=oF;oF.prototype.__destroy__=function(){kq(this.kB)};function YD(){throw"cannot construct a btBroadphaseProxy, no constructor in IDL";}YD.prototype=Object.create(f.prototype);YD.prototype.constructor=YD;YD.prototype.lB=YD;YD.mB={}; +b.btBroadphaseProxy=YD;YD.prototype.get_m_collisionFilterGroup=YD.prototype.nB=function(){return lq(this.kB)};YD.prototype.set_m_collisionFilterGroup=YD.prototype.pB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);mq(c,a)};Object.defineProperty(YD.prototype,"m_collisionFilterGroup",{get:YD.prototype.nB,set:YD.prototype.pB});YD.prototype.get_m_collisionFilterMask=YD.prototype.oB=function(){return nq(this.kB)}; +YD.prototype.set_m_collisionFilterMask=YD.prototype.qB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);oq(c,a)};Object.defineProperty(YD.prototype,"m_collisionFilterMask",{get:YD.prototype.oB,set:YD.prototype.qB});YD.prototype.__destroy__=function(){pq(this.kB)};function J(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=void 0===e?qq(a,c,d):rq(a,c,d,e);h(J)[this.kB]=this}J.prototype=Object.create(f.prototype); +J.prototype.constructor=J;J.prototype.lB=J;J.mB={};b.btRigidBodyConstructionInfo=J;J.prototype.get_m_linearDamping=J.prototype.DD=function(){return sq(this.kB)};J.prototype.set_m_linearDamping=J.prototype.uG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);tq(c,a)};Object.defineProperty(J.prototype,"m_linearDamping",{get:J.prototype.DD,set:J.prototype.uG});J.prototype.get_m_angularDamping=J.prototype.HC=function(){return uq(this.kB)}; +J.prototype.set_m_angularDamping=J.prototype.yF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vq(c,a)};Object.defineProperty(J.prototype,"m_angularDamping",{get:J.prototype.HC,set:J.prototype.yF});J.prototype.get_m_friction=J.prototype.kD=function(){return wq(this.kB)};J.prototype.set_m_friction=J.prototype.bG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xq(c,a)};Object.defineProperty(J.prototype,"m_friction",{get:J.prototype.kD,set:J.prototype.bG}); +J.prototype.get_m_rollingFriction=J.prototype.dE=function(){return yq(this.kB)};J.prototype.set_m_rollingFriction=J.prototype.WG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zq(c,a)};Object.defineProperty(J.prototype,"m_rollingFriction",{get:J.prototype.dE,set:J.prototype.WG});J.prototype.get_m_restitution=J.prototype.bE=function(){return Aq(this.kB)};J.prototype.set_m_restitution=J.prototype.UG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Bq(c,a)}; +Object.defineProperty(J.prototype,"m_restitution",{get:J.prototype.bE,set:J.prototype.UG});J.prototype.get_m_linearSleepingThreshold=J.prototype.ED=function(){return Cq(this.kB)};J.prototype.set_m_linearSleepingThreshold=J.prototype.vG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dq(c,a)};Object.defineProperty(J.prototype,"m_linearSleepingThreshold",{get:J.prototype.ED,set:J.prototype.vG});J.prototype.get_m_angularSleepingThreshold=J.prototype.IC=function(){return Eq(this.kB)}; +J.prototype.set_m_angularSleepingThreshold=J.prototype.zF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Fq(c,a)};Object.defineProperty(J.prototype,"m_angularSleepingThreshold",{get:J.prototype.IC,set:J.prototype.zF});J.prototype.get_m_additionalDamping=J.prototype.CC=function(){return!!Gq(this.kB)};J.prototype.set_m_additionalDamping=J.prototype.tF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Hq(c,a)}; +Object.defineProperty(J.prototype,"m_additionalDamping",{get:J.prototype.CC,set:J.prototype.tF});J.prototype.get_m_additionalDampingFactor=J.prototype.DC=function(){return Iq(this.kB)};J.prototype.set_m_additionalDampingFactor=J.prototype.uF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jq(c,a)};Object.defineProperty(J.prototype,"m_additionalDampingFactor",{get:J.prototype.DC,set:J.prototype.uF});J.prototype.get_m_additionalLinearDampingThresholdSqr=J.prototype.EC=function(){return Kq(this.kB)}; +J.prototype.set_m_additionalLinearDampingThresholdSqr=J.prototype.vF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lq(c,a)};Object.defineProperty(J.prototype,"m_additionalLinearDampingThresholdSqr",{get:J.prototype.EC,set:J.prototype.vF});J.prototype.get_m_additionalAngularDampingThresholdSqr=J.prototype.BC=function(){return Mq(this.kB)};J.prototype.set_m_additionalAngularDampingThresholdSqr=J.prototype.sF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nq(c,a)}; +Object.defineProperty(J.prototype,"m_additionalAngularDampingThresholdSqr",{get:J.prototype.BC,set:J.prototype.sF});J.prototype.get_m_additionalAngularDampingFactor=J.prototype.AC=function(){return Oq(this.kB)};J.prototype.set_m_additionalAngularDampingFactor=J.prototype.rF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Pq(c,a)};Object.defineProperty(J.prototype,"m_additionalAngularDampingFactor",{get:J.prototype.AC,set:J.prototype.rF});J.prototype.__destroy__=function(){Qq(this.kB)}; +function K(a){a&&"object"===typeof a&&(a=a.kB);this.kB=Rq(a);h(K)[this.kB]=this}K.prototype=Object.create(q.prototype);K.prototype.constructor=K;K.prototype.lB=K;K.mB={};b.btRigidBody=K;K.prototype.getCenterOfMassTransform=function(){return k(Sq(this.kB),r)};K.prototype.setCenterOfMassTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Tq(c,a)};K.prototype.setSleepingThresholds=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Uq(d,a,c)}; +K.prototype.getLinearDamping=function(){return Vq(this.kB)};K.prototype.getAngularDamping=function(){return Wq(this.kB)};K.prototype.setDamping=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Xq(d,a,c)};K.prototype.setMassProps=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Yq(d,a,c)};K.prototype.getLinearFactor=function(){return k(Zq(this.kB),m)}; +K.prototype.setLinearFactor=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$q(c,a)};K.prototype.applyTorque=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ar(c,a)};K.prototype.applyLocalTorque=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);br(c,a)};K.prototype.applyForce=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);cr(d,a,c)}; +K.prototype.applyCentralForce=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);dr(c,a)};K.prototype.applyCentralLocalForce=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);er(c,a)};K.prototype.applyTorqueImpulse=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fr(c,a)};K.prototype.applyImpulse=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);gr(d,a,c)}; +K.prototype.applyCentralImpulse=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hr(c,a)};K.prototype.updateInertiaTensor=function(){ir(this.kB)};K.prototype.getLinearVelocity=function(){return k(jr(this.kB),m)};K.prototype.getAngularVelocity=function(){return k(kr(this.kB),m)};K.prototype.setLinearVelocity=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);lr(c,a)};K.prototype.setAngularVelocity=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);mr(c,a)}; +K.prototype.getMotionState=function(){return k(nr(this.kB),dE)};K.prototype.setMotionState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);or(c,a)};K.prototype.getAngularFactor=function(){return k(pr(this.kB),m)};K.prototype.setAngularFactor=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);qr(c,a)};K.prototype.upcast=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(rr(c,a),K)}; +K.prototype.getAabb=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);sr(d,a,c)};K.prototype.applyGravity=function(){tr(this.kB)};K.prototype.getGravity=function(){return k(ur(this.kB),m)};K.prototype.setGravity=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vr(c,a)};K.prototype.getBroadphaseProxy=function(){return k(wr(this.kB),YD)};K.prototype.clearForces=function(){xr(this.kB)}; +K.prototype.setFlags=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yr(c,a)};K.prototype.getFlags=function(){return zr(this.kB)};K.prototype.setAnisotropicFriction=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Ar(d,a,c)};K.prototype.getCollisionShape=function(){return k(Br(this.kB),l)};K.prototype.setContactProcessingThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Cr(c,a)}; +K.prototype.setActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dr(c,a)};K.prototype.forceActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Er(c,a)};K.prototype.activate=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);void 0===a?Fr(c):Gr(c,a)};K.prototype.isActive=function(){return!!Hr(this.kB)};K.prototype.isKinematicObject=function(){return!!Ir(this.kB)};K.prototype.isStaticObject=function(){return!!Jr(this.kB)}; +K.prototype.isStaticOrKinematicObject=function(){return!!Kr(this.kB)};K.prototype.getRestitution=function(){return Lr(this.kB)};K.prototype.getFriction=function(){return Mr(this.kB)};K.prototype.getRollingFriction=function(){return Nr(this.kB)};K.prototype.setRestitution=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Or(c,a)};K.prototype.setFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Pr(c,a)}; +K.prototype.setRollingFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qr(c,a)};K.prototype.getWorldTransform=function(){return k(Rr(this.kB),r)};K.prototype.getCollisionFlags=function(){return Sr(this.kB)};K.prototype.setCollisionFlags=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Tr(c,a)};K.prototype.setWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ur(c,a)}; +K.prototype.setCollisionShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vr(c,a)};K.prototype.setCcdMotionThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Wr(c,a)};K.prototype.setCcdSweptSphereRadius=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Xr(c,a)};K.prototype.getUserIndex=function(){return Yr(this.kB)};K.prototype.setUserIndex=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zr(c,a)}; +K.prototype.getUserPointer=function(){return k($r(this.kB),XD)};K.prototype.setUserPointer=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);as(c,a)};K.prototype.getBroadphaseHandle=function(){return k(bs(this.kB),YD)};K.prototype.__destroy__=function(){cs(this.kB)};function L(){this.kB=ds();h(L)[this.kB]=this}L.prototype=Object.create(f.prototype);L.prototype.constructor=L;L.prototype.lB=L;L.mB={};b.btConstraintSetting=L;L.prototype.get_m_tau=L.prototype.sE=function(){return es(this.kB)}; +L.prototype.set_m_tau=L.prototype.kH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);gs(c,a)};Object.defineProperty(L.prototype,"m_tau",{get:L.prototype.sE,set:L.prototype.kH});L.prototype.get_m_damping=L.prototype.aD=function(){return hs(this.kB)};L.prototype.set_m_damping=L.prototype.SF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);is(c,a)};Object.defineProperty(L.prototype,"m_damping",{get:L.prototype.aD,set:L.prototype.SF}); +L.prototype.get_m_impulseClamp=L.prototype.wD=function(){return js(this.kB)};L.prototype.set_m_impulseClamp=L.prototype.nG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ks(c,a)};Object.defineProperty(L.prototype,"m_impulseClamp",{get:L.prototype.wD,set:L.prototype.nG});L.prototype.__destroy__=function(){ls(this.kB)}; +function pF(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=void 0===d?ms(a,c):void 0===e?_emscripten_bind_btPoint2PointConstraint_btPoint2PointConstraint_3(a,c,d):ns(a,c,d,e);h(pF)[this.kB]=this}pF.prototype=Object.create(aE.prototype);pF.prototype.constructor=pF;pF.prototype.lB=pF;pF.mB={};b.btPoint2PointConstraint=pF; +pF.prototype.setPivotA=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ps(c,a)};pF.prototype.setPivotB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);qs(c,a)};pF.prototype.getPivotInA=function(){return k(rs(this.kB),m)};pF.prototype.getPivotInB=function(){return k(ss(this.kB),m)};pF.prototype.enableFeedback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ts(c,a)};pF.prototype.getBreakingImpulseThreshold=function(){return us(this.kB)}; +pF.prototype.setBreakingImpulseThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vs(c,a)};pF.prototype.getParam=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return xs(d,a,c)};pF.prototype.setParam=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);ys(e,a,c,d)};pF.prototype.get_m_setting=pF.prototype.fE=function(){return k(zs(this.kB),L)}; +pF.prototype.set_m_setting=pF.prototype.YG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);As(c,a)};Object.defineProperty(pF.prototype,"m_setting",{get:pF.prototype.fE,set:pF.prototype.YG});pF.prototype.__destroy__=function(){Bs(this.kB)}; 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+tF.prototype.enableAngularMotor=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);vt(e,a,c,d)};tF.prototype.setAngularOnly=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);wt(c,a)};tF.prototype.enableMotor=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xt(c,a)};tF.prototype.setMaxMotorImpulse=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yt(c,a)}; +tF.prototype.setMotorTarget=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);zt(d,a,c)};tF.prototype.enableFeedback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);At(c,a)};tF.prototype.getBreakingImpulseThreshold=function(){return Bt(this.kB)};tF.prototype.setBreakingImpulseThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ct(c,a)}; +tF.prototype.getParam=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return Dt(d,a,c)};tF.prototype.setParam=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Et(e,a,c,d)};tF.prototype.__destroy__=function(){Ft(this.kB)}; +function uF(a,c,d,e,g){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);this.kB=void 0===e?Gt(a,c,d):void 0===g?_emscripten_bind_btSliderConstraint_btSliderConstraint_4(a,c,d,e):Ht(a,c,d,e,g);h(uF)[this.kB]=this}uF.prototype=Object.create(aE.prototype);uF.prototype.constructor=uF;uF.prototype.lB=uF;uF.mB={};b.btSliderConstraint=uF;uF.prototype.getLinearPos=function(){return It(this.kB)}; +uF.prototype.getAngularPos=function(){return Jt(this.kB)};uF.prototype.setLowerLinLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Kt(c,a)};uF.prototype.setUpperLinLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lt(c,a)};uF.prototype.setLowerAngLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Mt(c,a)};uF.prototype.setUpperAngLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nt(c,a)}; +uF.prototype.setPoweredLinMotor=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ot(c,a)};uF.prototype.setMaxLinMotorForce=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Pt(c,a)};uF.prototype.setTargetLinMotorVelocity=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qt(c,a)};uF.prototype.enableFeedback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Rt(c,a)};uF.prototype.getBreakingImpulseThreshold=function(){return St(this.kB)}; 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+function wF(){throw"cannot construct a btConstraintSolver, no constructor in IDL";}wF.prototype=Object.create(f.prototype);wF.prototype.constructor=wF;wF.prototype.lB=wF;wF.mB={};b.btConstraintSolver=wF;wF.prototype.__destroy__=function(){du(this.kB)};function p(){throw"cannot construct a btDispatcherInfo, no constructor in IDL";}p.prototype=Object.create(f.prototype);p.prototype.constructor=p;p.prototype.lB=p;p.mB={};b.btDispatcherInfo=p;p.prototype.get_m_timeStep=p.prototype.uE=function(){return eu(this.kB)}; +p.prototype.set_m_timeStep=p.prototype.mH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fu(c,a)};Object.defineProperty(p.prototype,"m_timeStep",{get:p.prototype.uE,set:p.prototype.mH});p.prototype.get_m_stepCount=p.prototype.lE=function(){return gu(this.kB)};p.prototype.set_m_stepCount=p.prototype.dH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hu(c,a)};Object.defineProperty(p.prototype,"m_stepCount",{get:p.prototype.lE,set:p.prototype.dH}); +p.prototype.get_m_dispatchFunc=p.prototype.cD=function(){return iu(this.kB)};p.prototype.set_m_dispatchFunc=p.prototype.UF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ju(c,a)};Object.defineProperty(p.prototype,"m_dispatchFunc",{get:p.prototype.cD,set:p.prototype.UF});p.prototype.get_m_timeOfImpact=p.prototype.tE=function(){return ku(this.kB)};p.prototype.set_m_timeOfImpact=p.prototype.lH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);lu(c,a)}; +Object.defineProperty(p.prototype,"m_timeOfImpact",{get:p.prototype.tE,set:p.prototype.lH});p.prototype.get_m_useContinuous=p.prototype.wE=function(){return!!mu(this.kB)};p.prototype.set_m_useContinuous=p.prototype.oH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);nu(c,a)};Object.defineProperty(p.prototype,"m_useContinuous",{get:p.prototype.wE,set:p.prototype.oH});p.prototype.get_m_enableSatConvex=p.prototype.hD=function(){return!!ou(this.kB)}; +p.prototype.set_m_enableSatConvex=p.prototype.ZF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pu(c,a)};Object.defineProperty(p.prototype,"m_enableSatConvex",{get:p.prototype.hD,set:p.prototype.ZF});p.prototype.get_m_enableSPU=p.prototype.gD=function(){return!!qu(this.kB)};p.prototype.set_m_enableSPU=p.prototype.YF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ru(c,a)};Object.defineProperty(p.prototype,"m_enableSPU",{get:p.prototype.gD,set:p.prototype.YF}); +p.prototype.get_m_useEpa=p.prototype.yE=function(){return!!su(this.kB)};p.prototype.set_m_useEpa=p.prototype.qH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);tu(c,a)};Object.defineProperty(p.prototype,"m_useEpa",{get:p.prototype.yE,set:p.prototype.qH});p.prototype.get_m_allowedCcdPenetration=p.prototype.FC=function(){return uu(this.kB)};p.prototype.set_m_allowedCcdPenetration=p.prototype.wF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vu(c,a)}; +Object.defineProperty(p.prototype,"m_allowedCcdPenetration",{get:p.prototype.FC,set:p.prototype.wF});p.prototype.get_m_useConvexConservativeDistanceUtil=p.prototype.xE=function(){return!!wu(this.kB)};p.prototype.set_m_useConvexConservativeDistanceUtil=p.prototype.pH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xu(c,a)};Object.defineProperty(p.prototype,"m_useConvexConservativeDistanceUtil",{get:p.prototype.xE,set:p.prototype.pH}); +p.prototype.get_m_convexConservativeDistanceThreshold=p.prototype.YC=function(){return yu(this.kB)};p.prototype.set_m_convexConservativeDistanceThreshold=p.prototype.PF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zu(c,a)};Object.defineProperty(p.prototype,"m_convexConservativeDistanceThreshold",{get:p.prototype.YC,set:p.prototype.PF});p.prototype.__destroy__=function(){Au(this.kB)};function t(){throw"cannot construct a btContactSolverInfo, no constructor in IDL";}t.prototype=Object.create(f.prototype); +t.prototype.constructor=t;t.prototype.lB=t;t.mB={};b.btContactSolverInfo=t;t.prototype.get_m_splitImpulse=t.prototype.iE=function(){return!!Bu(this.kB)};t.prototype.set_m_splitImpulse=t.prototype.aH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Cu(c,a)};Object.defineProperty(t.prototype,"m_splitImpulse",{get:t.prototype.iE,set:t.prototype.aH});t.prototype.get_m_splitImpulsePenetrationThreshold=t.prototype.jE=function(){return Du(this.kB)}; +t.prototype.set_m_splitImpulsePenetrationThreshold=t.prototype.bH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Eu(c,a)};Object.defineProperty(t.prototype,"m_splitImpulsePenetrationThreshold",{get:t.prototype.jE,set:t.prototype.bH});t.prototype.get_m_numIterations=t.prototype.TD=function(){return Fu(this.kB)};t.prototype.set_m_numIterations=t.prototype.KG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Gu(c,a)}; +Object.defineProperty(t.prototype,"m_numIterations",{get:t.prototype.TD,set:t.prototype.KG});t.prototype.__destroy__=function(){Hu(this.kB)};function M(){this.kB=Iu();h(M)[this.kB]=this}M.prototype=Object.create(f.prototype);M.prototype.constructor=M;M.prototype.lB=M;M.mB={};b.btVehicleTuning=M;M.prototype.get_m_suspensionStiffness=M.prototype.BB=function(){return Ju(this.kB)};M.prototype.set_m_suspensionStiffness=M.prototype.IB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ku(c,a)}; +Object.defineProperty(M.prototype,"m_suspensionStiffness",{get:M.prototype.BB,set:M.prototype.IB});M.prototype.get_m_suspensionCompression=M.prototype.mE=function(){return Lu(this.kB)};M.prototype.set_m_suspensionCompression=M.prototype.eH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Mu(c,a)};Object.defineProperty(M.prototype,"m_suspensionCompression",{get:M.prototype.mE,set:M.prototype.eH});M.prototype.get_m_suspensionDamping=M.prototype.nE=function(){return Nu(this.kB)}; +M.prototype.set_m_suspensionDamping=M.prototype.fH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ou(c,a)};Object.defineProperty(M.prototype,"m_suspensionDamping",{get:M.prototype.nE,set:M.prototype.fH});M.prototype.get_m_maxSuspensionTravelCm=M.prototype.AB=function(){return Pu(this.kB)};M.prototype.set_m_maxSuspensionTravelCm=M.prototype.HB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qu(c,a)}; +Object.defineProperty(M.prototype,"m_maxSuspensionTravelCm",{get:M.prototype.AB,set:M.prototype.HB});M.prototype.get_m_frictionSlip=M.prototype.wB=function(){return Ru(this.kB)};M.prototype.set_m_frictionSlip=M.prototype.DB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Su(c,a)};Object.defineProperty(M.prototype,"m_frictionSlip",{get:M.prototype.wB,set:M.prototype.DB});M.prototype.get_m_maxSuspensionForce=M.prototype.zB=function(){return Tu(this.kB)}; +M.prototype.set_m_maxSuspensionForce=M.prototype.GB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Uu(c,a)};Object.defineProperty(M.prototype,"m_maxSuspensionForce",{get:M.prototype.zB,set:M.prototype.GB});function xF(){throw"cannot construct a btVehicleRaycasterResult, no constructor in IDL";}xF.prototype=Object.create(f.prototype);xF.prototype.constructor=xF;xF.prototype.lB=xF;xF.mB={};b.btVehicleRaycasterResult=xF; +xF.prototype.get_m_hitPointInWorld=xF.prototype.tD=function(){return k(Vu(this.kB),m)};xF.prototype.set_m_hitPointInWorld=xF.prototype.kG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Wu(c,a)};Object.defineProperty(xF.prototype,"m_hitPointInWorld",{get:xF.prototype.tD,set:xF.prototype.kG});xF.prototype.get_m_hitNormalInWorld=xF.prototype.rD=function(){return k(Xu(this.kB),m)}; +xF.prototype.set_m_hitNormalInWorld=xF.prototype.iG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Yu(c,a)};Object.defineProperty(xF.prototype,"m_hitNormalInWorld",{get:xF.prototype.rD,set:xF.prototype.iG});xF.prototype.get_m_distFraction=xF.prototype.fD=function(){return Zu(this.kB)};xF.prototype.set_m_distFraction=xF.prototype.XF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$u(c,a)};Object.defineProperty(xF.prototype,"m_distFraction",{get:xF.prototype.fD,set:xF.prototype.XF}); +xF.prototype.__destroy__=function(){av(this.kB)};function yF(a){a&&"object"===typeof a&&(a=a.kB);this.kB=bv(a);h(yF)[this.kB]=this}yF.prototype=Object.create(qE.prototype);yF.prototype.constructor=yF;yF.prototype.lB=yF;yF.mB={};b.btDefaultVehicleRaycaster=yF;yF.prototype.castRay=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);cv(e,a,c,d)};yF.prototype.__destroy__=function(){dv(this.kB)}; +function N(){throw"cannot construct a RaycastInfo, no constructor in IDL";}N.prototype=Object.create(f.prototype);N.prototype.constructor=N;N.prototype.lB=N;N.mB={};b.RaycastInfo=N;N.prototype.get_m_contactNormalWS=N.prototype.WC=function(){return k(ev(this.kB),m)};N.prototype.set_m_contactNormalWS=N.prototype.NF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fv(c,a)};Object.defineProperty(N.prototype,"m_contactNormalWS",{get:N.prototype.WC,set:N.prototype.NF}); +N.prototype.get_m_contactPointWS=N.prototype.XC=function(){return k(gv(this.kB),m)};N.prototype.set_m_contactPointWS=N.prototype.OF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hv(c,a)};Object.defineProperty(N.prototype,"m_contactPointWS",{get:N.prototype.XC,set:N.prototype.OF});N.prototype.get_m_suspensionLength=N.prototype.oE=function(){return iv(this.kB)};N.prototype.set_m_suspensionLength=N.prototype.gH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jv(c,a)}; +Object.defineProperty(N.prototype,"m_suspensionLength",{get:N.prototype.oE,set:N.prototype.gH});N.prototype.get_m_hardPointWS=N.prototype.oD=function(){return k(kv(this.kB),m)};N.prototype.set_m_hardPointWS=N.prototype.fG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);lv(c,a)};Object.defineProperty(N.prototype,"m_hardPointWS",{get:N.prototype.oD,set:N.prototype.fG});N.prototype.get_m_wheelDirectionWS=N.prototype.DE=function(){return k(mv(this.kB),m)}; +N.prototype.set_m_wheelDirectionWS=N.prototype.vH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);nv(c,a)};Object.defineProperty(N.prototype,"m_wheelDirectionWS",{get:N.prototype.DE,set:N.prototype.vH});N.prototype.get_m_wheelAxleWS=N.prototype.CE=function(){return k(ov(this.kB),m)};N.prototype.set_m_wheelAxleWS=N.prototype.uH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pv(c,a)};Object.defineProperty(N.prototype,"m_wheelAxleWS",{get:N.prototype.CE,set:N.prototype.uH}); +N.prototype.get_m_isInContact=N.prototype.zD=function(){return!!qv(this.kB)};N.prototype.set_m_isInContact=N.prototype.qG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);rv(c,a)};Object.defineProperty(N.prototype,"m_isInContact",{get:N.prototype.zD,set:N.prototype.qG});N.prototype.get_m_groundObject=N.prototype.nD=function(){return sv(this.kB)};N.prototype.set_m_groundObject=N.prototype.eG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);tv(c,a)}; +Object.defineProperty(N.prototype,"m_groundObject",{get:N.prototype.nD,set:N.prototype.eG});N.prototype.__destroy__=function(){uv(this.kB)};function O(){throw"cannot construct a btWheelInfoConstructionInfo, no constructor in IDL";}O.prototype=Object.create(f.prototype);O.prototype.constructor=O;O.prototype.lB=O;O.mB={};b.btWheelInfoConstructionInfo=O;O.prototype.get_m_chassisConnectionCS=O.prototype.RC=function(){return k(vv(this.kB),m)}; +O.prototype.set_m_chassisConnectionCS=O.prototype.IF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);wv(c,a)};Object.defineProperty(O.prototype,"m_chassisConnectionCS",{get:O.prototype.RC,set:O.prototype.IF});O.prototype.get_m_wheelDirectionCS=O.prototype.QB=function(){return k(xv(this.kB),m)};O.prototype.set_m_wheelDirectionCS=O.prototype.$B=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yv(c,a)};Object.defineProperty(O.prototype,"m_wheelDirectionCS",{get:O.prototype.QB,set:O.prototype.$B}); +O.prototype.get_m_wheelAxleCS=O.prototype.PB=function(){return k(zv(this.kB),m)};O.prototype.set_m_wheelAxleCS=O.prototype.ZB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Av(c,a)};Object.defineProperty(O.prototype,"m_wheelAxleCS",{get:O.prototype.PB,set:O.prototype.ZB});O.prototype.get_m_suspensionRestLength=O.prototype.qE=function(){return Bv(this.kB)};O.prototype.set_m_suspensionRestLength=O.prototype.iH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Cv(c,a)}; +Object.defineProperty(O.prototype,"m_suspensionRestLength",{get:O.prototype.qE,set:O.prototype.iH});O.prototype.get_m_maxSuspensionTravelCm=O.prototype.AB=function(){return Dv(this.kB)};O.prototype.set_m_maxSuspensionTravelCm=O.prototype.HB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ev(c,a)};Object.defineProperty(O.prototype,"m_maxSuspensionTravelCm",{get:O.prototype.AB,set:O.prototype.HB});O.prototype.get_m_wheelRadius=O.prototype.EE=function(){return Fv(this.kB)}; +O.prototype.set_m_wheelRadius=O.prototype.wH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Gv(c,a)};Object.defineProperty(O.prototype,"m_wheelRadius",{get:O.prototype.EE,set:O.prototype.wH});O.prototype.get_m_suspensionStiffness=O.prototype.BB=function(){return Hv(this.kB)};O.prototype.set_m_suspensionStiffness=O.prototype.IB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Iv(c,a)};Object.defineProperty(O.prototype,"m_suspensionStiffness",{get:O.prototype.BB,set:O.prototype.IB}); +O.prototype.get_m_wheelsDampingCompression=O.prototype.RB=function(){return Jv(this.kB)};O.prototype.set_m_wheelsDampingCompression=O.prototype.aC=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Kv(c,a)};Object.defineProperty(O.prototype,"m_wheelsDampingCompression",{get:O.prototype.RB,set:O.prototype.aC});O.prototype.get_m_wheelsDampingRelaxation=O.prototype.SB=function(){return Lv(this.kB)}; +O.prototype.set_m_wheelsDampingRelaxation=O.prototype.bC=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Mv(c,a)};Object.defineProperty(O.prototype,"m_wheelsDampingRelaxation",{get:O.prototype.SB,set:O.prototype.bC});O.prototype.get_m_frictionSlip=O.prototype.wB=function(){return Nv(this.kB)};O.prototype.set_m_frictionSlip=O.prototype.DB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ov(c,a)};Object.defineProperty(O.prototype,"m_frictionSlip",{get:O.prototype.wB,set:O.prototype.DB}); +O.prototype.get_m_maxSuspensionForce=O.prototype.zB=function(){return Pv(this.kB)};O.prototype.set_m_maxSuspensionForce=O.prototype.GB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qv(c,a)};Object.defineProperty(O.prototype,"m_maxSuspensionForce",{get:O.prototype.zB,set:O.prototype.GB});O.prototype.get_m_bIsFrontWheel=O.prototype.JB=function(){return!!Rv(this.kB)};O.prototype.set_m_bIsFrontWheel=O.prototype.TB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Sv(c,a)}; +Object.defineProperty(O.prototype,"m_bIsFrontWheel",{get:O.prototype.JB,set:O.prototype.TB});O.prototype.__destroy__=function(){Tv(this.kB)};function P(a){a&&"object"===typeof a&&(a=a.kB);this.kB=Uv(a);h(P)[this.kB]=this}P.prototype=Object.create(f.prototype);P.prototype.constructor=P;P.prototype.lB=P;P.mB={};b.btWheelInfo=P;P.prototype.getSuspensionRestLength=function(){return Vv(this.kB)}; +P.prototype.updateWheel=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Wv(d,a,c)};P.prototype.get_m_suspensionStiffness=P.prototype.BB=function(){return Xv(this.kB)};P.prototype.set_m_suspensionStiffness=P.prototype.IB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Yv(c,a)};Object.defineProperty(P.prototype,"m_suspensionStiffness",{get:P.prototype.BB,set:P.prototype.IB});P.prototype.get_m_frictionSlip=P.prototype.wB=function(){return Zv(this.kB)}; +P.prototype.set_m_frictionSlip=P.prototype.DB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$v(c,a)};Object.defineProperty(P.prototype,"m_frictionSlip",{get:P.prototype.wB,set:P.prototype.DB});P.prototype.get_m_engineForce=P.prototype.iD=function(){return aw(this.kB)};P.prototype.set_m_engineForce=P.prototype.$F=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);bw(c,a)};Object.defineProperty(P.prototype,"m_engineForce",{get:P.prototype.iD,set:P.prototype.$F}); +P.prototype.get_m_rollInfluence=P.prototype.cE=function(){return cw(this.kB)};P.prototype.set_m_rollInfluence=P.prototype.VG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);dw(c,a)};Object.defineProperty(P.prototype,"m_rollInfluence",{get:P.prototype.cE,set:P.prototype.VG});P.prototype.get_m_suspensionRestLength1=P.prototype.rE=function(){return ew(this.kB)};P.prototype.set_m_suspensionRestLength1=P.prototype.jH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fw(c,a)}; +Object.defineProperty(P.prototype,"m_suspensionRestLength1",{get:P.prototype.rE,set:P.prototype.jH});P.prototype.get_m_wheelsRadius=P.prototype.FE=function(){return gw(this.kB)};P.prototype.set_m_wheelsRadius=P.prototype.xH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hw(c,a)};Object.defineProperty(P.prototype,"m_wheelsRadius",{get:P.prototype.FE,set:P.prototype.xH});P.prototype.get_m_wheelsDampingCompression=P.prototype.RB=function(){return iw(this.kB)}; +P.prototype.set_m_wheelsDampingCompression=P.prototype.aC=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jw(c,a)};Object.defineProperty(P.prototype,"m_wheelsDampingCompression",{get:P.prototype.RB,set:P.prototype.aC});P.prototype.get_m_wheelsDampingRelaxation=P.prototype.SB=function(){return kw(this.kB)};P.prototype.set_m_wheelsDampingRelaxation=P.prototype.bC=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);lw(c,a)}; +Object.defineProperty(P.prototype,"m_wheelsDampingRelaxation",{get:P.prototype.SB,set:P.prototype.bC});P.prototype.get_m_steering=P.prototype.kE=function(){return mw(this.kB)};P.prototype.set_m_steering=P.prototype.cH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);nw(c,a)};Object.defineProperty(P.prototype,"m_steering",{get:P.prototype.kE,set:P.prototype.cH});P.prototype.get_m_maxSuspensionForce=P.prototype.zB=function(){return ow(this.kB)}; +P.prototype.set_m_maxSuspensionForce=P.prototype.GB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pw(c,a)};Object.defineProperty(P.prototype,"m_maxSuspensionForce",{get:P.prototype.zB,set:P.prototype.GB});P.prototype.get_m_maxSuspensionTravelCm=P.prototype.AB=function(){return qw(this.kB)};P.prototype.set_m_maxSuspensionTravelCm=P.prototype.HB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);rw(c,a)}; +Object.defineProperty(P.prototype,"m_maxSuspensionTravelCm",{get:P.prototype.AB,set:P.prototype.HB});P.prototype.get_m_wheelsSuspensionForce=P.prototype.GE=function(){return sw(this.kB)};P.prototype.set_m_wheelsSuspensionForce=P.prototype.yH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);tw(c,a)};Object.defineProperty(P.prototype,"m_wheelsSuspensionForce",{get:P.prototype.GE,set:P.prototype.yH});P.prototype.get_m_bIsFrontWheel=P.prototype.JB=function(){return!!uw(this.kB)}; +P.prototype.set_m_bIsFrontWheel=P.prototype.TB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vw(c,a)};Object.defineProperty(P.prototype,"m_bIsFrontWheel",{get:P.prototype.JB,set:P.prototype.TB});P.prototype.get_m_raycastInfo=P.prototype.aE=function(){return k(ww(this.kB),N)};P.prototype.set_m_raycastInfo=P.prototype.TG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xw(c,a)};Object.defineProperty(P.prototype,"m_raycastInfo",{get:P.prototype.aE,set:P.prototype.TG}); +P.prototype.get_m_chassisConnectionPointCS=P.prototype.SC=function(){return k(yw(this.kB),m)};P.prototype.set_m_chassisConnectionPointCS=P.prototype.JF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zw(c,a)};Object.defineProperty(P.prototype,"m_chassisConnectionPointCS",{get:P.prototype.SC,set:P.prototype.JF});P.prototype.get_m_worldTransform=P.prototype.HE=function(){return k(Aw(this.kB),r)}; +P.prototype.set_m_worldTransform=P.prototype.zH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Bw(c,a)};Object.defineProperty(P.prototype,"m_worldTransform",{get:P.prototype.HE,set:P.prototype.zH});P.prototype.get_m_wheelDirectionCS=P.prototype.QB=function(){return k(Cw(this.kB),m)};P.prototype.set_m_wheelDirectionCS=P.prototype.$B=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dw(c,a)};Object.defineProperty(P.prototype,"m_wheelDirectionCS",{get:P.prototype.QB,set:P.prototype.$B}); +P.prototype.get_m_wheelAxleCS=P.prototype.PB=function(){return k(Ew(this.kB),m)};P.prototype.set_m_wheelAxleCS=P.prototype.ZB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Fw(c,a)};Object.defineProperty(P.prototype,"m_wheelAxleCS",{get:P.prototype.PB,set:P.prototype.ZB});P.prototype.get_m_rotation=P.prototype.eE=function(){return Gw(this.kB)};P.prototype.set_m_rotation=P.prototype.XG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Hw(c,a)}; +Object.defineProperty(P.prototype,"m_rotation",{get:P.prototype.eE,set:P.prototype.XG});P.prototype.get_m_deltaRotation=P.prototype.bD=function(){return Iw(this.kB)};P.prototype.set_m_deltaRotation=P.prototype.TF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jw(c,a)};Object.defineProperty(P.prototype,"m_deltaRotation",{get:P.prototype.bD,set:P.prototype.TF});P.prototype.get_m_brake=P.prototype.LC=function(){return Kw(this.kB)}; +P.prototype.set_m_brake=P.prototype.CF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lw(c,a)};Object.defineProperty(P.prototype,"m_brake",{get:P.prototype.LC,set:P.prototype.CF});P.prototype.get_m_clippedInvContactDotSuspension=P.prototype.TC=function(){return Mw(this.kB)};P.prototype.set_m_clippedInvContactDotSuspension=P.prototype.KF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nw(c,a)}; +Object.defineProperty(P.prototype,"m_clippedInvContactDotSuspension",{get:P.prototype.TC,set:P.prototype.KF});P.prototype.get_m_suspensionRelativeVelocity=P.prototype.pE=function(){return Ow(this.kB)};P.prototype.set_m_suspensionRelativeVelocity=P.prototype.hH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Pw(c,a)};Object.defineProperty(P.prototype,"m_suspensionRelativeVelocity",{get:P.prototype.pE,set:P.prototype.hH});P.prototype.get_m_skidInfo=P.prototype.hE=function(){return Qw(this.kB)}; +P.prototype.set_m_skidInfo=P.prototype.$G=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Rw(c,a)};Object.defineProperty(P.prototype,"m_skidInfo",{get:P.prototype.hE,set:P.prototype.$G});P.prototype.__destroy__=function(){Sw(this.kB)};function zF(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=void 0===e?Tw(a,c,d):Uw(a,c,d,e);h(zF)[this.kB]=this}zF.prototype=Object.create(rE.prototype); 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+zF.prototype.getGhostObject=function(){return k(jx(this.kB),Q)};zF.prototype.setUseGhostSweepTest=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);kx(c,a)};zF.prototype.onGround=function(){return!!lx(this.kB)};zF.prototype.setUpInterpolate=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);mx(c,a)};zF.prototype.updateAction=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);nx(d,a,c)};zF.prototype.__destroy__=function(){ox(this.kB)}; +function R(a,c,d){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);this.kB=px(a,c,d);h(R)[this.kB]=this}R.prototype=Object.create(rE.prototype);R.prototype.constructor=R;R.prototype.lB=R;R.mB={};b.btRaycastVehicle=R;R.prototype.applyEngineForce=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);qx(d,a,c)}; +R.prototype.setSteeringValue=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);rx(d,a,c)};R.prototype.getWheelTransformWS=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(sx(c,a),r)};R.prototype.updateWheelTransform=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);tx(d,a,c)}; 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zWL~v;I_RmqV~Sp8PM6wIz-YytTJ|vg4WqO?yMC%@G4sJ}V~CQ8G);S^S+ap)joFrh>!6GMohgbKmB*v@#Wblg3j8XXTKh7&*KuR~>D z=ka$%5SBTBL0pv{SK4EbSt{{|7;MX&$> literal 0 HcmV?d00001 diff --git a/apps/control-station/src/components/simulation/PlayCanvasRuntime.ts b/apps/control-station/src/components/simulation/PlayCanvasRuntime.ts index e18c7ac..327fe72 100644 --- a/apps/control-station/src/components/simulation/PlayCanvasRuntime.ts +++ b/apps/control-station/src/components/simulation/PlayCanvasRuntime.ts @@ -1,25 +1,34 @@ import { Application, Asset, + BLEND_NONE, BLEND_NORMAL, Color, CULLFACE_NONE, Entity, FILLMODE_NONE, Mat4, + Quat, RESOLUTION_AUTO, StandardMaterial, Vec2, Vec3, WasmModule, type ContainerResource, - type RenderComponent, + type ModelComponent, type ScriptType, } from "playcanvas"; import { CameraControls } from "playcanvas/scripts/esm/camera-controls.mjs"; +import { + prepareSimulationPhysics, + SimulationUgvController, + type AmmoApi, +} from "./SimulationUgvController"; + import type { - SimulationTransformAxis, + SimulationEulerRotation, + SimulationUgvPreset, SimulationViewerQuality, SimulationWorldManifest, } from "../../core/simulation/projects"; @@ -28,46 +37,18 @@ export type SimulationViewMode = "visual" | "collision" | "combined"; export type SimulationQuality = SimulationViewerQuality; export type SimulationLayer = "visual" | "collision"; export type SimulationCameraAxis = "horizontal" | "vertical"; +export type SimulationControlMode = "free" | "ugv"; -export const PLAYCANVAS_IDENTITY_TRANSFORM = [ - 1, 0, 0, 0, - 0, 1, 0, 0, - 0, 0, 1, 0, - 0, 0, 0, 1, -]; - -export const PLAYCANVAS_X_180_TRANSFORM = [ - 1, 0, 0, 0, - 0, -1, 0, 0, - 0, 0, -1, 0, - 0, 0, 0, 1, -]; - -export const PLAYCANVAS_Y_180_TRANSFORM = [ - -1, 0, 0, 0, - 0, 1, 0, 0, - 0, 0, -1, 0, - 0, 0, 0, 1, -]; - -export const PLAYCANVAS_Z_180_TRANSFORM = [ - -1, 0, 0, 0, - 0, -1, 0, 0, - 0, 0, 1, 0, - 0, 0, 0, 1, -]; - -export function playCanvasAxisTransform(axis: SimulationTransformAxis, inverted: boolean): number[] { - if (!inverted) return PLAYCANVAS_IDENTITY_TRANSFORM; - if (axis === "x") return PLAYCANVAS_X_180_TRANSFORM; - if (axis === "y") return PLAYCANVAS_Y_180_TRANSFORM; - return PLAYCANVAS_Z_180_TRANSFORM; +export function playCanvasEulerTransform(rotation: SimulationEulerRotation): number[] { + return Array.from(new Mat4().setFromEulerAngles(rotation.x, rotation.y, rotation.z).data); } export interface SimulationRuntime { mount(canvas: HTMLCanvasElement): Promise; loadWorld(manifest: SimulationWorldManifest): Promise; setViewMode(mode: SimulationViewMode): Promise; + setControlMode(mode: SimulationControlMode): Promise; + setUgvPreset(preset: SimulationUgvPreset): void; setQuality(quality: SimulationQuality): void; setLayerWorldTransform(layer: SimulationLayer, transform: number[]): void; setCameraInversion(axis: SimulationCameraAxis, inverted: boolean): void; @@ -78,10 +59,6 @@ export interface SimulationRuntime { type DesktopCameraInput = { read(): { mouse: number[] } & Record; - _pointerId?: number; - _button?: number[]; - _keyNow?: number[]; - _keyPrev?: number[]; }; type CameraController = ScriptType & Pick & { @@ -123,6 +100,7 @@ export class PlayCanvasRuntime implements SimulationRuntime { private visualEntity: Entity | null = null; private visualAsset: Asset | null = null; private collisionEntity: Entity | null = null; + private collisionVisuals: ModelComponent[] = []; private collisionAsset: Asset | null = null; private collisionMaterial: StandardMaterial | null = null; private collisionSource: { meshUrl: string; projectId: string; worldTransform: number[] } | null = null; @@ -131,23 +109,41 @@ export class PlayCanvasRuntime implements SimulationRuntime { private viewMode: SimulationViewMode = "visual"; private quality: SimulationQuality = "high"; private cameraInversion = { horizontal: true, vertical: false }; + private controlMode: SimulationControlMode = "free"; + private controlRequestVersion = 0; + private ugvController: SimulationUgvController | null = null; + private readonly lastCameraPosition = new Vec3(); + private readonly lastCameraRotation = new Quat(); + private cameraSnapshotReady = false; private renderIntervalMs = 1000 / 60; private renderAccumulatorMs = 0; private disposed = false; - private scheduleFrame = (deltaMs: number): void => { - if (!this.app || this.disposed) return; - this.renderAccumulatorMs += deltaMs; + private updateFrame = (deltaSeconds: number): void => { + if (!this.app || !this.camera || this.disposed) return; + this.ugvController?.update(deltaSeconds); + const position = this.camera.getPosition(); + const rotation = this.camera.getRotation(); + const cameraChanged = !this.cameraSnapshotReady + || !position.equals(this.lastCameraPosition) + || !rotation.equals(this.lastCameraRotation); + if (!cameraChanged && this.controlMode === "free") return; + this.lastCameraPosition.copy(position); + this.lastCameraRotation.copy(rotation); + this.cameraSnapshotReady = true; + this.renderAccumulatorMs += deltaSeconds * 1000; if (this.renderAccumulatorMs < this.renderIntervalMs) return; this.renderAccumulatorMs %= this.renderIntervalMs; this.app.renderNextFrame = true; }; async mount(canvas: HTMLCanvasElement): Promise { - if (this.app) throw new Error("PlayCanvas runtime уже смонтирован."); + if (this.app) throw new Error("Runtime сцены уже запущен."); this.disposed = false; this.renderAccumulatorMs = 0; this.canvas = canvas; configureDracoDecoder(); + const ammo: AmmoApi = await prepareSimulationPhysics(); + if (this.disposed) return; canvas.tabIndex = 0; canvas.addEventListener("contextmenu", preventContextMenu); canvas.addEventListener("pointerdown", focusCanvas, true); @@ -161,7 +157,7 @@ export class PlayCanvasRuntime implements SimulationRuntime { }); this.app = app; app.autoRender = false; - app.on("frameupdate", this.scheduleFrame); + app.on("update", this.updateFrame); app.setCanvasFillMode(FILLMODE_NONE, 1, 1); app.setCanvasResolution(RESOLUTION_AUTO); app.scene.ambientLight = new Color(0.35, 0.37, 0.42); @@ -188,6 +184,7 @@ export class PlayCanvasRuntime implements SimulationRuntime { app.root.addChild(camera); this.camera = camera; this.cameraController = controller; + this.ugvController = new SimulationUgvController(app, canvas, camera, ammo); const light = new Entity("SimulationSun"); light.addComponent("light", { @@ -210,7 +207,7 @@ export class PlayCanvasRuntime implements SimulationRuntime { const app = this.requiredApp(); this.unloadWorld(); const sourceUrl = manifest.visual.streamedSogUrl ?? manifest.visual.previewSogUrl; - if (!sourceUrl) throw new Error("World manifest не содержит визуальный SOG."); + if (!sourceUrl) throw new Error("Манифест локации не содержит визуальный слой."); const asset = new Asset(`SimulationWorld:${manifest.projectId}`, "gsplat", { url: sourceUrl }); app.assets.add(asset); this.visualAsset = asset; @@ -233,10 +230,11 @@ export class PlayCanvasRuntime implements SimulationRuntime { this.visualEntity = visual; this.applyQuality(); this.applyViewMode(); + this.requestRender(); resolve(); }; - const failed = (error: unknown) => { - reject(new Error(error instanceof Error ? error.message : "PlayCanvas не загрузил SOG.")); + const failed = (_error: unknown) => { + reject(new Error("Визуальный слой не загрузился.")); }; asset.ready(ready); asset.once("error", failed); @@ -254,7 +252,6 @@ export class PlayCanvasRuntime implements SimulationRuntime { } async setViewMode(mode: SimulationViewMode): Promise { - this.resetCameraInteraction(); this.viewMode = mode; this.applyViewMode(); try { @@ -263,13 +260,58 @@ export class PlayCanvasRuntime implements SimulationRuntime { this.applyViewMode(); } } finally { + this.requestRender(); this.canvas?.focus({ preventScroll: true }); } } + async setControlMode(mode: SimulationControlMode): Promise { + const requestVersion = ++this.controlRequestVersion; + const controller = this.ugvController; + if (!controller) throw new Error("Управление UGV ещё не готово."); + + if (mode === "free") { + controller.disable(); + this.controlMode = "free"; + if (this.cameraController) this.cameraController.enabled = true; + this.home(); + return; + } + if (this.controlMode === "ugv" && controller.enabled) return; + + try { + await this.ensureCollision(); + if (requestVersion !== this.controlRequestVersion || this.disposed) return; + const collisionWorld = this.collisionEntity; + if (!collisionWorld) throw new Error("Физический слой UGV отсутствует."); + if (this.cameraController) this.cameraController.enabled = false; + await controller.enable(collisionWorld); + if (requestVersion !== this.controlRequestVersion || this.disposed) { + controller.disable(); + if (this.cameraController) this.cameraController.enabled = true; + return; + } + this.controlMode = "ugv"; + this.cameraSnapshotReady = false; + this.requestRender(); + } catch (error) { + controller.disable(); + this.controlMode = "free"; + if (this.cameraController) this.cameraController.enabled = true; + throw error; + } + } + setQuality(quality: SimulationQuality): void { this.quality = quality; this.applyQuality(); + this.requestRender(); + } + + setUgvPreset(preset: SimulationUgvPreset): void { + this.ugvController?.configure(preset); + this.cameraSnapshotReady = false; + this.requestRender(); } setLayerWorldTransform(layer: SimulationLayer, transform: number[]): void { @@ -278,10 +320,13 @@ export class PlayCanvasRuntime implements SimulationRuntime { } if (layer === "visual") { if (this.visualEntity) applyWorldTransform(this.visualEntity, transform); + this.requestRender(); return; } if (this.collisionSource) this.collisionSource.worldTransform = [...transform]; if (this.collisionEntity) applyWorldTransform(this.collisionEntity, transform); + this.ugvController?.syncCollisionBodies(); + this.requestRender(); } setCameraInversion(axis: SimulationCameraAxis, inverted: boolean): void { @@ -289,6 +334,12 @@ export class PlayCanvasRuntime implements SimulationRuntime { } home(): void { + if (this.controlMode === "ugv" && this.ugvController?.enabled) { + this.ugvController.reset(); + this.cameraSnapshotReady = false; + this.requestRender(); + return; + } this.resetCameraInteraction(); if (this.cameraController) { this.cameraController.reset(HOME_FOCUS, HOME_POSITION); @@ -296,6 +347,7 @@ export class PlayCanvasRuntime implements SimulationRuntime { this.camera.setPosition(HOME_POSITION); this.camera.lookAt(HOME_FOCUS); } + this.requestRender(); this.canvas?.focus({ preventScroll: true }); } @@ -312,6 +364,7 @@ export class PlayCanvasRuntime implements SimulationRuntime { this.camera.setPosition(position); this.camera.lookAt(focus); } + this.requestRender(); } dispose(): void { @@ -321,10 +374,12 @@ export class PlayCanvasRuntime implements SimulationRuntime { this.resizeObserver = null; const webgl = this.canvas?.getContext("webgl2") ?? this.canvas?.getContext("webgl"); this.unloadWorld(); + this.ugvController?.dispose(); + this.ugvController = null; if (this.app) { this.app.autoRender = false; this.app.renderNextFrame = false; - this.app.off("frameupdate", this.scheduleFrame); + this.app.off("update", this.updateFrame); this.app.destroy(); } webgl?.getExtension("WEBGL_lose_context")?.loseContext(); @@ -340,19 +395,26 @@ export class PlayCanvasRuntime implements SimulationRuntime { this.canvas = null; this.camera = null; this.cameraController = null; + this.controlMode = "free"; + this.cameraSnapshotReady = false; } private requiredApp(): Application { - if (!this.app) throw new Error("PlayCanvas runtime не смонтирован."); + if (!this.app) throw new Error("Runtime сцены не запущен."); return this.app; } + private requestRender(): void { + if (this.app && !this.disposed) this.app.renderNextFrame = true; + } + private resize(): void { if (!this.app || !this.canvas) return; const bounds = this.canvas.parentElement?.getBoundingClientRect(); const width = Math.max(1, Math.round(bounds?.width ?? this.canvas.clientWidth)); const height = Math.max(1, Math.round(bounds?.height ?? this.canvas.clientHeight)); this.app.resizeCanvas(width, height); + this.requestRender(); } private applyViewMode(): void { @@ -360,36 +422,27 @@ export class PlayCanvasRuntime implements SimulationRuntime { this.visualEntity.enabled = this.viewMode !== "collision" || !this.collisionEntity; } if (this.collisionEntity) { - this.collisionEntity.enabled = this.viewMode !== "visual"; + // Physics bodies must stay active while their green debug geometry is hidden. + this.collisionEntity.enabled = true; + const visible = this.viewMode !== "visual"; + for (const model of this.collisionVisuals) model.enabled = visible; } if (this.collisionMaterial) { const combined = this.viewMode === "combined"; - this.collisionMaterial.opacity = combined ? 0.34 : 0.82; + this.collisionMaterial.opacity = combined ? 0.34 : 1; + this.collisionMaterial.blendType = combined ? BLEND_NORMAL : BLEND_NONE; this.collisionMaterial.depthWrite = !combined; this.collisionMaterial.update(); } + this.requestRender(); } private resetCameraInteraction(): void { const controller = this.cameraController; - const canvas = this.canvas; - if (!controller || !canvas) return; - const input = controller._desktopInput; - const pointerId = input?._pointerId ?? -1; - if (pointerId >= 0 && canvas.hasPointerCapture(pointerId)) { - try { - canvas.releasePointerCapture(pointerId); - } catch { - // The browser may already have released capture after a trackpad gesture. - } - } - if (input) { - input._pointerId = -1; - input._button?.fill(0); - input._keyNow?.fill(0); - input._keyPrev?.fill(0); - input.read(); - } + if (!controller) return; + // CameraControls owns pointer capture and its input-source lifecycle. Mutating + // those private fields here left the source unable to claim the next drag + // after a layer switch. The documented state event drains pending deltas. controller.fire("state"); const state = controller._state; if (state) { @@ -430,45 +483,52 @@ export class PlayCanvasRuntime implements SimulationRuntime { this.collisionAsset = asset; await new Promise((resolve, reject) => { asset.ready((loaded) => { - if (this.disposed || !this.app) { - loaded.unload(); - resolve(); - return; - } - const resource = loaded.resource as ContainerResource | null; - if (!resource) { - reject(new Error("PlayCanvas не открыл collision GLB.")); - return; - } - const entity = resource.instantiateRenderEntity({ - castShadows: false, - receiveShadows: false, - }); - entity.name = "CollisionWorld"; - entity.enabled = false; - applyWorldTransform(entity, worldTransform); - app.root.addChild(entity); - - const material = new StandardMaterial(); - material.name = "SimulationCollisionMaterial"; - material.diffuse = new Color(0.2, 0.95, 0.42); - material.emissive = new Color(0.08, 0.36, 0.14); - material.opacity = 0.34; - material.blendType = BLEND_NORMAL; - material.depthWrite = false; - material.cull = CULLFACE_NONE; - material.update(); - for (const render of entity.findComponents("render") as RenderComponent[]) { - for (const meshInstance of render.meshInstances) { - meshInstance.material = material; + try { + if (this.disposed || !this.app) { + loaded.unload(); + resolve(); + return; } + const resource = loaded.resource as ContainerResource | null; + if (!resource) throw new Error("Контейнер GLB не содержит ресурса."); + const entity = resource.instantiateModelEntity({ + castShadows: false, + receiveShadows: false, + }); + entity.name = "CollisionWorld"; + entity.enabled = false; + applyWorldTransform(entity, worldTransform); + app.root.addChild(entity); + + const material = new StandardMaterial(); + material.name = "SimulationCollisionMaterial"; + material.diffuse = new Color(0.2, 0.95, 0.42); + material.emissive = new Color(0.08, 0.36, 0.14); + material.opacity = 0.34; + material.blendType = BLEND_NORMAL; + material.depthWrite = false; + material.cull = CULLFACE_NONE; + material.update(); + const models = entity.findComponents("model") as ModelComponent[]; + for (const model of models) { + for (const meshInstance of model.meshInstances ?? []) { + meshInstance.material = material; + } + } + this.collisionEntity = entity; + this.collisionVisuals = models; + this.collisionMaterial = material; + this.applyViewMode(); + this.requestRender(); + resolve(); + } catch (error) { + reject(new Error( + `Слой коллизий не открылся: ${error instanceof Error ? error.message : String(error)}`, + )); } - this.collisionEntity = entity; - this.collisionMaterial = material; - resolve(); }); asset.once("error", (error: unknown) => { - reject(new Error(error instanceof Error ? error.message : "PlayCanvas не загрузил collision GLB.")); + reject(new Error(`Слой коллизий не загрузился: ${String(error)}`)); }); app.assets.load(asset); }); @@ -477,7 +537,7 @@ export class PlayCanvasRuntime implements SimulationRuntime { private async ensureCollision(): Promise { if (this.collisionEntity) return; if (!this.collisionSource) { - throw new Error("Collision GLB отсутствует в world manifest."); + throw new Error("Слой коллизий отсутствует в манифесте локации."); } if (!this.collisionLoadPromise) { this.collisionLoadPromise = this.loadCollision( @@ -492,6 +552,10 @@ export class PlayCanvasRuntime implements SimulationRuntime { } private unloadWorld(): void { + this.controlRequestVersion += 1; + this.ugvController?.disable(); + this.controlMode = "free"; + if (this.cameraController) this.cameraController.enabled = true; if (this.visualEntity) { this.visualEntity.destroy(); this.visualEntity = null; @@ -505,6 +569,7 @@ export class PlayCanvasRuntime implements SimulationRuntime { this.collisionEntity.destroy(); this.collisionEntity = null; } + this.collisionVisuals = []; if (this.collisionAsset && this.app) { this.app.assets.remove(this.collisionAsset); this.collisionAsset.unload(); diff --git a/apps/control-station/src/components/simulation/SimulationCatalog.tsx b/apps/control-station/src/components/simulation/SimulationCatalog.tsx new file mode 100644 index 0000000..2c792f0 --- /dev/null +++ b/apps/control-station/src/components/simulation/SimulationCatalog.tsx @@ -0,0 +1,333 @@ +import { + ActivityIndicator, + Button, + Icon, + IconButton, + StatusBadge, +} from "@nodedc/ui-react"; + +import type { + SimulationProject, + SimulationProjectStatus, + SimulationUploadProgress, +} from "../../core/simulation/projects"; +import { estimateSimulationProcessing } from "../../core/simulation/projects"; + +const ACTIVE_STATUSES = new Set([ + "uploading", + "queued", + "processing", + "importing", +]); + +export function SimulationCatalog({ + projects, + uploadProgress, + loading, + loadError, + queueError, + dropping, + onCreate, + onRetryLoad, + onSelect, + onEdit, + onDelete, +}: { + projects: SimulationProject[]; + uploadProgress: ReadonlyMap; + loading: boolean; + loadError: string | null; + queueError: string | null; + dropping: boolean; + onCreate: () => void; + onRetryLoad: () => void; + onSelect: (project: SimulationProject) => void; + onEdit: (project: SimulationProject) => void; + onDelete: (project: SimulationProject) => void; +}) { + const sourceBytes = projects.reduce( + (sum, project) => sum + project.source.totalByteLength, + 0, + ); + + return ( +

+
+
Проектов{projects.length.toLocaleString("ru-RU")}
+
Визуал готов{countStatus(projects, "ready")}
+
В работе{projects.filter((project) => ACTIVE_STATUSES.has(project.status)).length}
+
Исходники{formatBytes(sourceBytes)}
+
+ + {queueError ? ( +
+ + {queueError} +
+ ) : null} + + {loading && projects.length === 0 ? ( +
+ + Читаем каталог сцен +
+ ) : loadError && projects.length === 0 ? ( +
+ +
Каталог недоступен{loadError}
+ +
+ ) : projects.length === 0 ? ( +
+ + Перетащите архивы в это окно +

Каждый ZIP, RAR или 7z сразу станет отдельным проектом и встанет в очередь.

+ +
+ ) : ( +
+ + + + + + + + + + + + + {projects.map((project) => ( + onSelect(project)} + onEdit={() => onEdit(project)} + onDelete={() => onDelete(project)} + /> + ))} + +
ПроектИсточникРазмерСплатыСтатусОбновлён +
+
+ )} + + {dropping ? ( +
+ + Отпустите архивы + ZIP · RAR · 7z · до 16 ГБ на проект + Внутри — сцена LCC или LCC2 и связанные файлы +
+ ) : null} +
+ ); +} + +function SimulationCatalogRow({ + project, + uploadProgress, + onSelect, + onEdit, + onDelete, +}: { + project: SimulationProject; + uploadProgress?: SimulationUploadProgress; + onSelect: () => void; + onEdit: () => void; + onDelete: () => void; +}) { + const status = statusPresentation(project.status); + const active = ACTIVE_STATUSES.has(project.status); + return ( + + + + + {active ? ( + + + + ) : ( + <> + + {project.source.kind === "archive" ? "Архив" : "Папка"} + {project.source.files.length} файл(ов) + + {formatBytes(project.source.totalByteLength)} + — + + )} + {status.label} + {formatDate(project.updatedAtUtc)} + +
+ + + + + + +
+ + + ); +} + +function ProjectProgress({ + project, + localProgress, +}: { + project: SimulationProject; + localProgress?: SimulationUploadProgress; +}) { + const progress = progressPresentation(project, localProgress); + return ( +
+ {progress.meta ? {progress.meta} : null} + + + + {progress.label} +
+ ); +} + +function progressPresentation( + project: SimulationProject, + local?: SimulationUploadProgress, +): { percent: number; label: string; meta: string | null; indeterminate: boolean } { + if (project.status === "uploading") { + const uploaded = local?.uploadedBytes ?? project.source.uploadedByteLength; + const total = local?.totalBytes ?? project.source.totalByteLength; + const percent = total ? Math.min(100, uploaded / total * 100) : 0; + return { + percent, + label: `${formatBytes(uploaded)} / ${formatBytes(total)}`, + meta: progressMeta(percent, local?.estimatedSecondsRemaining), + indeterminate: false, + }; + } + if (project.status === "queued") { + return { percent: 0, label: "Ожидает обработки", meta: null, indeterminate: true }; + } + const estimate = estimateSimulationProcessing(project); + if (estimate) { + return { + percent: estimate.percent, + label: processingLabel(project), + meta: progressMeta(estimate.percent, estimate.estimatedSecondsRemaining), + indeterminate: false, + }; + } + const completed = project.provider.progress?.completed_steps; + const total = project.provider.progress?.total_steps; + if (typeof completed === "number" && typeof total === "number" && total > 0) { + const percent = Math.min(100, completed / total * 100); + return { + percent, + label: processingLabel(project), + meta: progressMeta(percent, null), + indeterminate: false, + }; + } + return { + percent: project.status === "importing" ? 96 : 0, + label: processingLabel(project), + meta: project.status === "importing" ? progressMeta(96, null) : null, + indeterminate: project.status !== "importing", + }; +} + +function progressMeta(percent: number, seconds: number | null | undefined): string { + const roundedPercent = Math.min(100, Math.max(0, Math.floor(percent))); + return `Прогресс ${roundedPercent}% | ${remainingTimeLabel(seconds)}`; +} + +function remainingTimeLabel(seconds: number | null | undefined): string { + if (seconds === null || seconds === undefined) return "Время уточняется"; + if (seconds <= 60) return "Осталось меньше минуты"; + const minutes = Math.ceil(seconds / 60); + if (minutes < 60) return `Осталось примерно ${minutes} мин`; + const hours = Math.floor(minutes / 60); + const remainder = minutes % 60; + return `Осталось примерно ${hours} ч${remainder ? ` ${remainder} мин` : ""}`; +} + +function processingLabel(project: SimulationProject): string { + if (project.status === "importing") return "Подготавливаем сцену"; + const stage = project.provider.state; + if (stage === "verifying_source") return "Проверяем исходник"; + if (stage === "inspecting") return "Анализируем локацию"; + if (stage === "building_preview") return "Подготавливаем локацию"; + if (stage === "building_streamed_sog") return "Собираем уровни детализации"; + if (stage === "building_collision") return "Собираем коллизии"; + return "Обрабатываем локацию"; +} + +function statusPresentation(status: SimulationProjectStatus): { + label: string; + tone: "success" | "accent" | "warning" | "neutral"; +} { + if (status === "ready") return { label: "Визуал готов", tone: "success" }; + if (status === "failed") return { label: "Ошибка", tone: "warning" }; + if (status === "uploading") return { label: "Загрузка", tone: "neutral" }; + if (status === "queued") return { label: "В очереди", tone: "neutral" }; + if (status === "importing") return { label: "Подготовка", tone: "accent" }; + return { label: "Обработка", tone: "accent" }; +} + +function sourceFileLabel(project: SimulationProject): string { + const first = project.source.files[0]?.logicalPath; + if (project.source.kind === "archive" && first) return first; + return `${sceneTypeLabel(project.sceneType)} · ${project.source.files.length} файл(ов)`; +} + +function sceneTypeLabel(value: SimulationProject["sceneType"]): string { + if (value === "interior") return "Интерьер"; + if (value === "object") return "Объект"; + return "Улица"; +} + +function countStatus(projects: SimulationProject[], status: SimulationProjectStatus): number { + return projects.filter((project) => project.status === status).length; +} + +function formatDate(value: string): string { + const date = new Date(value); + return Number.isNaN(date.valueOf()) ? "—" : date.toLocaleString("ru-RU", { + day: "2-digit", + month: "short", + hour: "2-digit", + minute: "2-digit", + }); +} + +function formatBytes(value: number): string { + if (value < 1024) return `${value} Б`; + if (value < 1024 ** 2) return `${(value / 1024).toLocaleString("ru-RU", { maximumFractionDigits: 1 })} КБ`; + if (value < 1024 ** 3) return `${(value / 1024 ** 2).toLocaleString("ru-RU", { maximumFractionDigits: 1 })} МБ`; + return `${(value / 1024 ** 3).toLocaleString("ru-RU", { maximumFractionDigits: 2 })} ГБ`; +} diff --git a/apps/control-station/src/components/simulation/SimulationProjectWindow.tsx b/apps/control-station/src/components/simulation/SimulationProjectWindow.tsx index 9dc0881..fcf532b 100644 --- a/apps/control-station/src/components/simulation/SimulationProjectWindow.tsx +++ b/apps/control-station/src/components/simulation/SimulationProjectWindow.tsx @@ -18,6 +18,10 @@ import { type SimulationUploadCandidate, type SimulationUploadProgress, } from "../../core/simulation/projects"; +import { + candidatesFromDrop, + validateSimulationCandidates, +} from "../../core/simulation/sourceFiles"; export function SimulationProjectWindow({ open, @@ -55,7 +59,7 @@ export function SimulationProjectWindow({ const acceptCandidates = (next: SimulationUploadCandidate[]) => { try { - validateCandidates(next); + validateSimulationCandidates(next); setCandidates(next); setError(null); if (!name.trim() && next.length) { @@ -213,7 +217,10 @@ export function SimulationProjectWindow({
- {formatBytes(progress.uploadedBytes)} / {formatBytes(progress.totalBytes)} + + {formatBytes(progress.uploadedBytes)} / {formatBytes(progress.totalBytes)} + {" · "}{formatUploadEta(progress.estimatedSecondsRemaining)} + {progress.currentPath}
@@ -224,83 +231,15 @@ export function SimulationProjectWindow({ ); } -interface LegacyFileEntry { - isFile: boolean; - isDirectory: boolean; - name: string; - fullPath: string; - file?: (callback: (file: File) => void, error?: (error: DOMException) => void) => void; - createReader?: () => { - readEntries: ( - callback: (entries: LegacyFileEntry[]) => void, - error?: (error: DOMException) => void, - ) => void; - }; -} - -async function candidatesFromDrop(transfer: DataTransfer): Promise { - const candidates: SimulationUploadCandidate[] = []; - for (const item of Array.from(transfer.items)) { - const entry = (item as DataTransferItem & { - webkitGetAsEntry?: () => LegacyFileEntry | null; - }).webkitGetAsEntry?.(); - if (entry) { - await collectEntry(entry, candidates); - continue; - } - const file = item.getAsFile(); - if (file) candidates.push({ file, logicalPath: file.name }); - } - if (!candidates.length) { - for (const file of Array.from(transfer.files)) { - candidates.push({ file, logicalPath: file.name }); - } - } - return candidates; -} - -async function collectEntry(entry: LegacyFileEntry, target: SimulationUploadCandidate[]): Promise { - if (entry.isFile && entry.file) { - const file = await new Promise((resolve, reject) => entry.file?.(resolve, reject)); - target.push({ file, logicalPath: entry.fullPath.replace(/^\//, "") || file.name }); - return; - } - if (!entry.isDirectory || !entry.createReader) return; - const reader = entry.createReader(); - while (true) { - const batch = await new Promise((resolve, reject) => reader.readEntries(resolve, reject)); - if (!batch.length) break; - for (const child of batch) await collectEntry(child, target); - } -} - -function validateCandidates(candidates: SimulationUploadCandidate[]): void { - if (!candidates.length) throw new Error("Выберите архив или папку с результатом LCC/LCC2."); - const archives = candidates.filter((candidate) => /\.(zip|rar|7z)$/i.test(candidate.logicalPath)); - if (archives.length) { - if (candidates.length !== 1) throw new Error("Архив нужно загружать одним файлом."); - return; - } - const descriptors = candidates.filter((candidate) => /\.lcc2?$/i.test(candidate.logicalPath)); - if (descriptors.length !== 1) { - throw new Error("В папке должна быть ровно одна сцена .lcc или .lcc2."); - } - const paths = new Set(); - for (const candidate of candidates) { - const parts = candidate.logicalPath.split("/"); - if ( - !candidate.logicalPath || - candidate.logicalPath.startsWith("/") || - candidate.logicalPath.includes("\\") || - candidate.logicalPath.includes("\0") || - parts.some((part) => part === "" || part === "." || part === "..") - ) { - throw new Error("Папка содержит небезопасный путь."); - } - if (candidate.file.size <= 0) throw new Error(`Пустой файл: ${candidate.logicalPath}`); - if (paths.has(candidate.logicalPath)) throw new Error(`Повторяющийся путь: ${candidate.logicalPath}`); - paths.add(candidate.logicalPath); - } +function formatUploadEta(seconds: number | null): string { + if (seconds === 0) return "загружено"; + if (seconds === null) return "считаем время"; + if (seconds < 60) return `осталось ≈ ${Math.max(1, seconds)} сек`; + const minutes = Math.ceil(seconds / 60); + if (minutes < 60) return `осталось ≈ ${minutes} мин`; + const hours = Math.floor(minutes / 60); + const remainder = minutes % 60; + return `осталось ≈ ${hours} ч${remainder ? ` ${remainder} мин` : ""}`; } function summarizeCandidates(candidates: SimulationUploadCandidate[]): { title: string; detail: string } { diff --git a/apps/control-station/src/components/simulation/SimulationUgvController.ts b/apps/control-station/src/components/simulation/SimulationUgvController.ts new file mode 100644 index 0000000..d7b08e6 --- /dev/null +++ b/apps/control-station/src/components/simulation/SimulationUgvController.ts @@ -0,0 +1,999 @@ +import { + Application, + Color, + Entity, + Mat4, + Mesh, + PRIMITIVE_TRIANGLES, + Quat, + StandardMaterial, + Vec3, + WasmModule, + type ModelComponent, +} from "playcanvas"; +import { MeshoptSimplifier } from "meshoptimizer/simplifier"; +import type { SimulationUgvPreset } from "../../core/simulation/projects"; + +const AMMO_MODULE_ROOT = "/vendor/playcanvas/ammo/2026-08-25"; +const UGV_SPAWN_POSITION = new Vec3(0, 1.15, 0); +const UGV_SPAWN_ROTATION = new Vec3(0, 0, 0); +const ZERO = new Vec3(0, 0, 0); +const DISABLE_DEACTIVATION = 4; +const PHYSICS_PROXY_RATIO = 0.04; +const PHYSICS_PROXY_ERROR = 0.0003; +const PHYSICS_PROXY_MAX_TRIANGLES = 240_000; +const SERVICE_BRAKE_DECELERATION_MPS2 = 1.8; +const COAST_DECELERATION_MPS2 = 0.18; +const BRAKE_ATTITUDE_DAMPING = 6; +const DEFAULT_ORBIT_PITCH = 0.48; +const CAMERA_RETURN_DELAY_SECONDS = 1.2; +const CAMERA_RETURN_DURATION_SECONDS = 2; +const UGV_SPAWN_OFFSETS: ReadonlyArray = [ + [0, 0], + [1.5, 0], + [-1.5, 0], + [0, 1.5], + [0, -1.5], + [1.5, 1.5], + [-1.5, 1.5], + [1.5, -1.5], + [-1.5, -1.5], + [3, 0], + [-3, 0], + [0, 3], + [0, -3], +]; + +export const DEFAULT_SIMULATION_UGV_PRESET: SimulationUgvPreset = { + presetName: "UGV 100 кг", + massKg: 100, + dimensionsMeters: { + length: 1, + width: 0.8, + height: 0.4, + groundClearance: 0.15, + }, + maxSpeedMetersPerSecond: 1.2, + maxTurnRateDegrees: 45, + invertSteering: false, +}; + +type NativeObject = object; + +interface NativeVector3 extends NativeObject { + x(): number; + y(): number; + z(): number; + setValue(x: number, y: number, z: number): void; +} + +interface NativeQuaternion extends NativeObject { + x(): number; + y(): number; + z(): number; + w(): number; +} + +interface NativeTransform extends NativeObject { + getOrigin(): NativeVector3; + getRotation(): NativeQuaternion; +} + +interface NativeWheelInfo extends NativeObject { + set_m_suspensionStiffness(value: number): void; + set_m_wheelsDampingRelaxation(value: number): void; + set_m_wheelsDampingCompression(value: number): void; + set_m_frictionSlip(value: number): void; + set_m_rollInfluence(value: number): void; +} + +interface NativeRaycastVehicle extends NativeObject { + setCoordinateSystem(right: number, up: number, forward: number): void; + addWheel( + connectionPoint: NativeVector3, + direction: NativeVector3, + axle: NativeVector3, + suspensionRestLength: number, + radius: number, + tuning: NativeObject, + isFront: boolean, + ): NativeWheelInfo; + applyEngineForce(force: number, wheel: number): void; + setBrake(force: number, wheel: number): void; + setSteeringValue(value: number, wheel: number): void; + getNumWheels(): number; + updateWheelTransform(wheel: number, interpolated: boolean): void; + getWheelTransformWS(wheel: number): NativeTransform; + getForwardVector(): NativeVector3; + getCurrentSpeedKmHour(): number; + resetSuspension(): void; +} + +export interface AmmoApi { + btVehicleTuning: new () => NativeObject; + btDefaultVehicleRaycaster: new (world: NativeObject) => NativeObject; + btRaycastVehicle: new ( + tuning: NativeObject, + body: NativeObject, + raycaster: NativeObject, + ) => NativeRaycastVehicle; + btVector3: new (x: number, y: number, z: number) => NativeVector3; + destroy(object: NativeObject): void; +} + +interface NativeDynamicsWorld extends NativeObject { + addAction(action: NativeObject): void; + removeAction(action: NativeObject): void; +} + +interface PhysicsSystemAccess { + systems: { + rigidbody: { + dynamicsWorld: NativeDynamicsWorld | null; + raycastFirst(start: Vec3, end: Vec3): { point: Vec3; normal: Vec3 } | null; + }; + }; +} + +interface NativeRigidBodyAccess { + rigidbody?: { + body: NativeObject | null; + linearVelocity: Vec3; + angularVelocity: Vec3; + teleport(position: Vec3, rotation?: Vec3 | Quat): void; + }; +} + +interface WheelDefinition { + connection: Vec3; + left: boolean; + front: boolean; + anchor: Entity; +} + +let ammoInstancePromise: Promise | null = null; + +export function prepareSimulationPhysics(): Promise { + if (ammoInstancePromise) return ammoInstancePromise; + + ammoInstancePromise = new Promise((resolve, reject) => { + if (!WasmModule.getConfig("Ammo")) { + WasmModule.setConfig("Ammo", { + glueUrl: `${AMMO_MODULE_ROOT}/ammo.wasm.js`, + wasmUrl: `${AMMO_MODULE_ROOT}/ammo.wasm.wasm`, + errorHandler: (error) => { + ammoInstancePromise = null; + reject(new Error(`Физический модуль UGV не загрузился: ${String(error)}`)); + }, + }); + } + WasmModule.getInstance("Ammo", (instance) => { + if (!instance) { + ammoInstancePromise = null; + reject(new Error("Физический модуль UGV вернул пустой экземпляр.")); + return; + } + resolve(instance as AmmoApi); + }); + }); + + return ammoInstancePromise; +} + +export class SimulationUgvController { + private readonly pressed = new Set(); + private readonly collisionBodies: Entity[] = []; + private readonly collisionMeshes: Mesh[] = []; + private readonly wheelDefinitions: WheelDefinition[] = []; + private readonly cameraTarget = new Vec3(); + private readonly cameraDesired = new Vec3(); + private readonly cameraLookAt = new Vec3(); + private readonly forward = new Vec3(0, 0, 1); + private readonly smoothedCamera = new Vec3(); + private readonly limitedLinearVelocity = new Vec3(); + private readonly limitedAngularVelocity = new Vec3(); + private readonly spawnPosition = UGV_SPAWN_POSITION.clone(); + private orbitPointerId: number | null = null; + private orbitPointerX = 0; + private orbitPointerY = 0; + private orbitYaw = 0; + private orbitPitch = DEFAULT_ORBIT_PITCH; + private orbitDistance = 3.8; + private orbitIdleSeconds = 0; + private cameraOrbitInitialized = false; + private active = false; + private vehicleEntity: Entity | null = null; + private vehicle: NativeRaycastVehicle | null = null; + private vehicleTuning: NativeObject | null = null; + private vehicleRaycaster: NativeObject | null = null; + private dynamicsWorld: NativeDynamicsWorld | null = null; + private chassisMaterial: StandardMaterial | null = null; + private wheelMaterial: StandardMaterial | null = null; + private cameraInitialized = false; + private settings: SimulationUgvPreset; + + constructor( + private readonly app: Application, + private readonly canvas: HTMLCanvasElement, + private readonly camera: Entity, + private readonly ammo: AmmoApi, + initialSettings: SimulationUgvPreset = DEFAULT_SIMULATION_UGV_PRESET, + ) { + this.settings = cloneUgvPreset(initialSettings); + } + + get enabled(): boolean { + return this.active; + } + + configure(settings: SimulationUgvPreset): void { + const next = cloneUgvPreset(settings); + const rebuildRequired = this.active && vehicleGeometryChanged(this.settings, next); + this.settings = next; + if (!rebuildRequired) return; + this.destroyVehicle(); + this.spawnPosition.copy(this.findSafeSpawnPosition()); + this.createVehicle(); + this.reset(false, false); + } + + async enable(collisionWorld: Entity): Promise { + if (this.active) return; + await nextAnimationFrame(); + try { + await this.createStaticCollisionBodies(collisionWorld); + await nextAnimationFrame(); + this.spawnPosition.copy(this.findSafeSpawnPosition()); + this.createVehicle(); + this.attachInput(); + this.active = true; + this.reset(); + } catch (error) { + this.disable(); + throw error; + } + } + + disable(): void { + this.active = false; + this.detachInput(); + this.pressed.clear(); + + this.destroyVehicle(); + + for (const entity of this.collisionBodies.splice(0)) { + runCleanup("destroy static physics proxy", () => entity.destroy()); + } + for (const mesh of this.collisionMeshes.splice(0)) { + runCleanup("destroy static physics mesh", () => mesh.destroy()); + } + this.cameraInitialized = false; + this.cameraOrbitInitialized = false; + this.orbitIdleSeconds = 0; + } + + dispose(): void { + this.disable(); + } + + reset(focusCanvas = true, resetCameraOrbit = true): void { + const vehicleEntity = this.vehicleEntity as (Entity & NativeRigidBodyAccess) | null; + const rigidbody = vehicleEntity?.rigidbody; + if (!vehicleEntity || !rigidbody) return; + rigidbody.teleport(this.spawnPosition, UGV_SPAWN_ROTATION); + rigidbody.linearVelocity = ZERO; + rigidbody.angularVelocity = ZERO; + this.vehicle?.resetSuspension(); + this.cameraInitialized = false; + if (resetCameraOrbit) { + this.cameraOrbitInitialized = false; + this.orbitIdleSeconds = 0; + } + this.updateCamera(1); + if (focusCanvas) this.canvas.focus({ preventScroll: true }); + } + + syncCollisionBodies(): void { + for (const entity of this.collisionBodies) { + const rigidbody = (entity as Entity & NativeRigidBodyAccess).rigidbody; + rigidbody?.teleport(entity.getPosition(), entity.getRotation()); + } + } + + update(deltaSeconds: number): void { + if (!this.active || !this.vehicle || !this.vehicleEntity) return; + const forwardInput = Number(this.isPressed("KeyW", "ArrowUp")) - Number(this.isPressed("KeyS", "ArrowDown")); + const requestedTurn = Number(this.isPressed("KeyA", "ArrowLeft")) - Number(this.isPressed("KeyD", "ArrowRight")); + const turnInput = this.settings.invertSteering ? -requestedTurn : requestedTurn; + const braking = this.pressed.has("Space"); + const rigidbody = (this.vehicleEntity as Entity & NativeRigidBodyAccess).rigidbody; + const speedMetersPerSecond = this.vehicle.getCurrentSpeedKmHour() / 3.6; + const maxSpeed = this.settings.maxSpeedMetersPerSecond; + const maxTurnRate = this.settings.maxTurnRateDegrees * Math.PI / 180; + const pureTurn = !braking && forwardInput === 0 && turnInput !== 0; + const desiredSpeed = forwardInput * maxSpeed; + const speedError = desiredSpeed - speedMetersPerSecond; + const speedResponseRange = Math.max(0.35, maxSpeed * 0.2); + const throttle = forwardInput === 0 + ? 0 + : clamp(Math.abs(speedError) / speedResponseRange, 0, 1); + const maximumAcceleration = clamp(1.4 + maxSpeed * 0.35, 1.8, 4.2); + const driveForcePerWheel = this.settings.massKg * maximumAcceleration * throttle / 4; + const pivotForcePerWheel = this.settings.massKg * 0.65; + const forwardCommand = braking ? 0 : forwardInput; + const turnCommand = braking ? 0 : turnInput; + const leftCommand = clamp(forwardCommand - turnCommand, -1, 1); + const rightCommand = clamp(forwardCommand + turnCommand, -1, 1); + const engineForce = pureTurn ? pivotForcePerWheel : driveForcePerWheel; + + for (let index = 0; index < this.wheelDefinitions.length; index += 1) { + const definition = this.wheelDefinitions[index]; + const command = definition.left ? leftCommand : rightCommand; + this.vehicle.setSteeringValue(0, index); + this.vehicle.applyEngineForce(command * engineForce, index); + this.vehicle.setBrake(0, index); + this.vehicle.updateWheelTransform(index, true); + const transform = this.vehicle.getWheelTransformWS(index); + const position = transform.getOrigin(); + const rotation = transform.getRotation(); + definition.anchor.setPosition(position.x(), position.y(), position.z()); + definition.anchor.setRotation(rotation.x(), rotation.y(), rotation.z(), rotation.w()); + } + + if (rigidbody) { + const linearVelocity = rigidbody.linearVelocity; + let nextLinearX = linearVelocity.x; + let nextLinearZ = linearVelocity.z; + let horizontalSpeed = Math.hypot(nextLinearX, nextLinearZ); + const coasting = !braking && forwardInput === 0 && turnInput === 0; + if ((braking || coasting) && horizontalSpeed > 0.001) { + const deceleration = braking + ? SERVICE_BRAKE_DECELERATION_MPS2 + : COAST_DECELERATION_MPS2; + const nextSpeed = Math.max(0, horizontalSpeed - deceleration * Math.max(0, deltaSeconds)); + const scale = nextSpeed / horizontalSpeed; + nextLinearX *= scale; + nextLinearZ *= scale; + horizontalSpeed = nextSpeed; + } + if (pureTurn && horizontalSpeed > 0.001) { + const pivotDamping = Math.exp(-Math.max(0, deltaSeconds) * 8); + nextLinearX *= pivotDamping; + nextLinearZ *= pivotDamping; + horizontalSpeed *= pivotDamping; + } + if (horizontalSpeed > maxSpeed * 1.05) { + const scale = maxSpeed / horizontalSpeed; + nextLinearX *= scale; + nextLinearZ *= scale; + } + if (nextLinearX !== linearVelocity.x || nextLinearZ !== linearVelocity.z) { + this.limitedLinearVelocity.set(nextLinearX, linearVelocity.y, nextLinearZ); + rigidbody.linearVelocity = this.limitedLinearVelocity; + } + const angularVelocity = rigidbody.angularVelocity; + const attitudeDamping = braking + ? Math.exp(-Math.max(0, deltaSeconds) * BRAKE_ATTITUDE_DAMPING) + : 1; + let nextAngularY = angularVelocity.y; + if (pureTurn) { + const desiredYawRate = -turnInput * maxTurnRate; + const turnAcceleration = Math.max(2, maxTurnRate * 4); + nextAngularY = approach( + angularVelocity.y, + desiredYawRate, + turnAcceleration * Math.max(0, deltaSeconds), + ); + } else if (Math.abs(angularVelocity.y) > maxTurnRate) { + nextAngularY = Math.sign(angularVelocity.y) * maxTurnRate; + } + if (attitudeDamping !== 1 || nextAngularY !== angularVelocity.y) { + this.limitedAngularVelocity.set( + angularVelocity.x * attitudeDamping, + nextAngularY, + angularVelocity.z * attitudeDamping, + ); + rigidbody.angularVelocity = this.limitedAngularVelocity; + } + } + + const body = (this.vehicleEntity as Entity & NativeRigidBodyAccess).rigidbody?.body as { + setActivationState?: (state: number) => void; + } | null; + body?.setActivationState?.(DISABLE_DEACTIVATION); + if (this.vehicleEntity.getPosition().y < -8) this.reset(); + this.updateCamera(deltaSeconds); + } + + private async createStaticCollisionBodies(collisionWorld: Entity): Promise { + const models = collisionWorld.findComponents("model") as ModelComponent[]; + if (models.length === 0) throw new Error("В слое коллизий нет геометрии для физики UGV."); + + const meshInstances = models.flatMap((model) => Array.from(model.meshInstances ?? [])); + const totalTriangles = meshInstances.reduce( + (total, meshInstance) => total + Math.floor((meshInstance.mesh.primitive[0]?.count ?? 0) / 3), + 0, + ); + if (totalTriangles === 0) throw new Error("В слое коллизий нет треугольников для физики UGV."); + const targetRatio = totalTriangles <= PHYSICS_PROXY_MAX_TRIANGLES + ? 1 + : Math.min(PHYSICS_PROXY_RATIO, PHYSICS_PROXY_MAX_TRIANGLES / totalTriangles); + await MeshoptSimplifier.ready; + await nextAnimationFrame(); + + const rootInverse = collisionWorld.getWorldTransform().clone().invert(); + for (let index = 0; index < meshInstances.length; index += 1) { + const meshInstance = meshInstances[index]; + const physicsMesh = createPhysicsProxyMesh( + this.app, + meshInstance.mesh, + new Mat4().mul2(rootInverse, meshInstance.node.getWorldTransform()), + targetRatio, + ); + if (!physicsMesh) continue; + const entity = new Entity(`UGV physics proxy ${index + 1}`); + collisionWorld.addChild(entity); + entity.addComponent("collision", { + type: "mesh", + render: { meshes: [physicsMesh] }, + checkVertexDuplicates: false, + }); + entity.addComponent("rigidbody", { + type: "static", + friction: 0.95, + restitution: 0, + }); + this.collisionBodies.push(entity); + this.collisionMeshes.push(physicsMesh); + if ((index + 1) % 4 === 0) await nextAnimationFrame(); + } + + if (this.collisionBodies.length === 0) { + throw new Error("Не удалось создать статический физический слой UGV."); + } + } + + private createVehicle(): void { + const access = this.app as unknown as PhysicsSystemAccess; + const dynamicsWorld = access.systems.rigidbody.dynamicsWorld; + if (!dynamicsWorld) throw new Error("Физический мир PlayCanvas не готов."); + + const vehicle = new Entity("SimulationUGV"); + vehicle.addComponent("collision", { type: "compound" }); + vehicle.addComponent("rigidbody", { + type: "dynamic", + mass: this.settings.massKg, + friction: 0.85, + linearDamping: 0.08, + angularDamping: 0.45, + }); + + this.chassisMaterial = createMaterial(readThemeAccent(), new Color(0.03, 0.04, 0.05)); + this.wheelMaterial = createMaterial(new Color(0.055, 0.06, 0.07), new Color(0.008, 0.009, 0.01)); + + const dimensions = vehicleDimensions(this.settings); + const chassis = createBox( + "UGV chassis", + new Vec3(dimensions.bodyWidth, dimensions.mainHeight, dimensions.length), + this.chassisMaterial, + ); + chassis.setLocalPosition(0, dimensions.mainCenterY, 0); + chassis.addComponent("collision", { + type: "box", + halfExtents: new Vec3( + dimensions.bodyWidth / 2, + dimensions.mainHeight / 2, + dimensions.length / 2, + ), + }); + vehicle.addChild(chassis); + + const equipment = createBox( + "UGV equipment", + new Vec3(dimensions.bodyWidth * 0.68, dimensions.equipmentHeight, dimensions.length * 0.56), + this.chassisMaterial, + ); + equipment.setLocalPosition(0, dimensions.equipmentCenterY, -dimensions.length * 0.04); + equipment.addComponent("collision", { + type: "box", + halfExtents: new Vec3( + dimensions.bodyWidth * 0.34, + dimensions.equipmentHeight / 2, + dimensions.length * 0.28, + ), + }); + vehicle.addChild(equipment); + + const wheelConnections = [ + { connection: new Vec3(dimensions.wheelX, dimensions.wheelConnectionY, dimensions.wheelZ), left: false, front: true }, + { connection: new Vec3(-dimensions.wheelX, dimensions.wheelConnectionY, dimensions.wheelZ), left: true, front: true }, + { connection: new Vec3(dimensions.wheelX, dimensions.wheelConnectionY, -dimensions.wheelZ), left: false, front: false }, + { connection: new Vec3(-dimensions.wheelX, dimensions.wheelConnectionY, -dimensions.wheelZ), left: true, front: false }, + ]; + + for (const definition of wheelConnections) { + const anchor = new Entity(definition.left ? "UGV wheel left" : "UGV wheel right"); + anchor.setLocalPosition(definition.connection); + const wheelMesh = new Entity("UGV wheel mesh"); + wheelMesh.addComponent("render", { type: "cylinder", castShadows: false, receiveShadows: false }); + wheelMesh.setLocalEulerAngles(0, 0, 90); + wheelMesh.setLocalScale( + dimensions.wheelRadius * 2, + dimensions.wheelThickness, + dimensions.wheelRadius * 2, + ); + applyMaterial(wheelMesh, this.wheelMaterial); + anchor.addChild(wheelMesh); + vehicle.addChild(anchor); + this.wheelDefinitions.push({ ...definition, anchor }); + } + + vehicle.setLocalPosition(this.spawnPosition); + this.app.root.addChild(vehicle); + + const body = (vehicle as Entity & NativeRigidBodyAccess).rigidbody?.body; + if (!body) { + vehicle.destroy(); + throw new Error("Динамическое тело UGV не создалось."); + } + + const tuning = new this.ammo.btVehicleTuning(); + const raycaster = new this.ammo.btDefaultVehicleRaycaster(dynamicsWorld); + const nativeVehicle = new this.ammo.btRaycastVehicle(tuning, body, raycaster); + nativeVehicle.setCoordinateSystem(0, 1, 2); + + const axle = new this.ammo.btVector3(-1, 0, 0); + const direction = new this.ammo.btVector3(0, -1, 0); + const connection = new this.ammo.btVector3(0, 0, 0); + for (const definition of this.wheelDefinitions) { + connection.setValue(definition.connection.x, definition.connection.y, definition.connection.z); + const wheel = nativeVehicle.addWheel( + connection, + direction, + axle, + dimensions.suspensionRestLength, + dimensions.wheelRadius, + tuning, + definition.front, + ); + wheel.set_m_suspensionStiffness(24); + wheel.set_m_wheelsDampingRelaxation(3.2); + wheel.set_m_wheelsDampingCompression(4.8); + wheel.set_m_frictionSlip(5.5); + wheel.set_m_rollInfluence(0.08); + } + this.ammo.destroy(axle); + this.ammo.destroy(direction); + this.ammo.destroy(connection); + + dynamicsWorld.addAction(nativeVehicle); + this.vehicleEntity = vehicle; + this.vehicleTuning = tuning; + this.vehicleRaycaster = raycaster; + this.vehicle = nativeVehicle; + this.dynamicsWorld = dynamicsWorld; + } + + private updateCamera(deltaSeconds: number): void { + if (!this.vehicleEntity || !this.vehicle) return; + this.cameraTarget.copy(this.vehicleEntity.getPosition()); + this.cameraLookAt.copy(this.cameraTarget); + this.cameraLookAt.y += Math.max(0.15, this.settings.dimensionsMeters.height * 0.35); + + const nativeForward = this.vehicle.getForwardVector(); + this.forward.set(nativeForward.x(), 0, nativeForward.z()); + if (this.forward.lengthSq() < 0.001) this.forward.set(0, 0, 1); + this.forward.normalize(); + const rearOrbitYaw = Math.atan2(-this.forward.x, -this.forward.z); + if (!this.cameraOrbitInitialized) { + this.orbitYaw = rearOrbitYaw; + this.orbitPitch = DEFAULT_ORBIT_PITCH; + this.orbitDistance = Math.max(3.2, this.settings.dimensionsMeters.length * 3.8); + this.cameraOrbitInitialized = true; + this.orbitIdleSeconds = 0; + } else if (this.orbitPointerId === null) { + this.orbitIdleSeconds += Math.max(0, deltaSeconds); + if (this.orbitIdleSeconds >= CAMERA_RETURN_DELAY_SECONDS) { + const returnDelta = Math.max(0, deltaSeconds) / CAMERA_RETURN_DURATION_SECONDS; + this.orbitYaw = approachAngle(this.orbitYaw, rearOrbitYaw, Math.PI * returnDelta); + this.orbitPitch = approach( + this.orbitPitch, + DEFAULT_ORBIT_PITCH, + Math.PI * 0.5 * returnDelta, + ); + } + } + + const horizontalDistance = Math.cos(this.orbitPitch) * this.orbitDistance; + this.cameraDesired.set( + this.cameraLookAt.x + Math.sin(this.orbitYaw) * horizontalDistance, + this.cameraLookAt.y + Math.sin(this.orbitPitch) * this.orbitDistance, + this.cameraLookAt.z + Math.cos(this.orbitYaw) * horizontalDistance, + ); + + if (!this.cameraInitialized) { + this.smoothedCamera.copy(this.cameraDesired); + this.cameraInitialized = true; + } else { + const blend = 1 - Math.exp( + -Math.max(0, deltaSeconds) * (this.orbitPointerId === null ? 8 : 18), + ); + this.smoothedCamera.lerp(this.smoothedCamera, this.cameraDesired, blend); + } + this.camera.setPosition(this.smoothedCamera); + this.camera.lookAt(this.cameraLookAt); + } + + private findSafeSpawnPosition(): Vec3 { + const dimensions = vehicleDimensions(this.settings); + const footprint: ReadonlyArray = [ + [0, 0], + [dimensions.width * 0.42, dimensions.length * 0.42], + [-dimensions.width * 0.42, dimensions.length * 0.42], + [dimensions.width * 0.42, -dimensions.length * 0.42], + [-dimensions.width * 0.42, -dimensions.length * 0.42], + ]; + const clearanceDirections: ReadonlyArray = [ + [dimensions.width * 0.62, 0], + [-dimensions.width * 0.62, 0], + [0, dimensions.length * 0.62], + [0, -dimensions.length * 0.62], + ]; + const from = new Vec3(); + const to = new Vec3(); + const physics = (this.app as unknown as PhysicsSystemAccess).systems.rigidbody; + + for (const [offsetX, offsetZ] of UGV_SPAWN_OFFSETS) { + const heights: number[] = []; + let suitable = true; + for (const [sampleX, sampleZ] of footprint) { + const x = UGV_SPAWN_POSITION.x + offsetX + sampleX; + const z = UGV_SPAWN_POSITION.z + offsetZ + sampleZ; + from.set(x, 8, z); + to.set(x, -8, z); + const hit = physics.raycastFirst(from, to); + if (!hit || hit.normal.y < 0.72 || Math.abs(hit.point.y) > 2.5) { + suitable = false; + break; + } + heights.push(hit.point.y); + } + if (!suitable || heights.length !== footprint.length) continue; + const minimum = Math.min(...heights); + const maximum = Math.max(...heights); + if (maximum - minimum > 0.32) continue; + + const x = UGV_SPAWN_POSITION.x + offsetX; + const z = UGV_SPAWN_POSITION.z + offsetZ; + const ground = heights.reduce((sum, height) => sum + height, 0) / heights.length; + const clearanceHeight = ground + dimensions.originHeight; + const origin = new Vec3(x, clearanceHeight, z); + const blocked = clearanceDirections.some(([directionX, directionZ]) => { + to.set(x + directionX, clearanceHeight, z + directionZ); + return physics.raycastFirst(origin, to) !== null; + }); + if (!blocked) return new Vec3(x, ground + dimensions.originHeight, z); + } + + return UGV_SPAWN_POSITION.clone(); + } + + private destroyVehicle(): void { + if (this.vehicle && this.dynamicsWorld) { + runCleanup("remove vehicle action", () => this.dynamicsWorld?.removeAction(this.vehicle as NativeObject)); + } + if (this.vehicle) runCleanup("destroy vehicle", () => this.ammo.destroy(this.vehicle as NativeObject)); + if (this.vehicleRaycaster) runCleanup("destroy vehicle raycaster", () => this.ammo.destroy(this.vehicleRaycaster as NativeObject)); + if (this.vehicleTuning) runCleanup("destroy vehicle tuning", () => this.ammo.destroy(this.vehicleTuning as NativeObject)); + this.vehicle = null; + this.vehicleRaycaster = null; + this.vehicleTuning = null; + this.dynamicsWorld = null; + + if (this.vehicleEntity) runCleanup("destroy vehicle entity", () => this.vehicleEntity?.destroy()); + this.vehicleEntity = null; + this.wheelDefinitions.length = 0; + if (this.chassisMaterial) runCleanup("destroy chassis material", () => this.chassisMaterial?.destroy()); + if (this.wheelMaterial) runCleanup("destroy wheel material", () => this.wheelMaterial?.destroy()); + this.chassisMaterial = null; + this.wheelMaterial = null; + this.cameraInitialized = false; + } + + private isPressed(primary: string, alternative: string): boolean { + return this.pressed.has(primary) || this.pressed.has(alternative); + } + + private attachInput(): void { + window.addEventListener("keydown", this.onKeyDown, true); + window.addEventListener("keyup", this.onKeyUp, true); + window.addEventListener("blur", this.onWindowBlur); + this.canvas.addEventListener("pointerdown", this.onOrbitPointerDown); + this.canvas.addEventListener("pointermove", this.onOrbitPointerMove); + this.canvas.addEventListener("pointerup", this.onOrbitPointerUp); + this.canvas.addEventListener("pointercancel", this.onOrbitPointerUp); + this.canvas.addEventListener("wheel", this.onOrbitWheel, { passive: false }); + } + + private detachInput(): void { + window.removeEventListener("keydown", this.onKeyDown, true); + window.removeEventListener("keyup", this.onKeyUp, true); + window.removeEventListener("blur", this.onWindowBlur); + this.canvas.removeEventListener("pointerdown", this.onOrbitPointerDown); + this.canvas.removeEventListener("pointermove", this.onOrbitPointerMove); + this.canvas.removeEventListener("pointerup", this.onOrbitPointerUp); + this.canvas.removeEventListener("pointercancel", this.onOrbitPointerUp); + this.canvas.removeEventListener("wheel", this.onOrbitWheel); + this.releaseOrbitPointer(); + } + + private onOrbitPointerDown = (event: PointerEvent): void => { + if (!this.active || event.button !== 0 || this.orbitPointerId !== null) return; + event.preventDefault(); + this.orbitPointerId = event.pointerId; + this.orbitPointerX = event.clientX; + this.orbitPointerY = event.clientY; + this.orbitIdleSeconds = 0; + this.canvas.classList.add("is-orbiting"); + try { + this.canvas.setPointerCapture(event.pointerId); + } catch { + // A browser may already have released the pointer during a window transition. + } + }; + + private onOrbitPointerMove = (event: PointerEvent): void => { + if (!this.active || event.pointerId !== this.orbitPointerId) return; + event.preventDefault(); + const deltaX = event.clientX - this.orbitPointerX; + const deltaY = event.clientY - this.orbitPointerY; + this.orbitPointerX = event.clientX; + this.orbitPointerY = event.clientY; + this.orbitIdleSeconds = 0; + this.orbitYaw = (this.orbitYaw - deltaX * 0.006) % (Math.PI * 2); + this.orbitPitch = clamp(this.orbitPitch + deltaY * 0.0045, -0.12, 1.32); + }; + + private onOrbitPointerUp = (event: PointerEvent): void => { + if (event.pointerId !== this.orbitPointerId) return; + this.releaseOrbitPointer(); + }; + + private onOrbitWheel = (event: WheelEvent): void => { + if (!this.active) return; + event.preventDefault(); + this.orbitIdleSeconds = 0; + this.orbitDistance = clamp( + this.orbitDistance * Math.exp(event.deltaY * 0.0012), + 1.6, + 14, + ); + }; + + private releaseOrbitPointer(): void { + const pointerId = this.orbitPointerId; + this.orbitPointerId = null; + this.canvas.classList.remove("is-orbiting"); + if (pointerId === null || !this.canvas.hasPointerCapture(pointerId)) return; + try { + this.canvas.releasePointerCapture(pointerId); + } catch { + // Pointer capture is already gone; the local orbit state is still released. + } + } + + private onKeyDown = (event: KeyboardEvent): void => { + if (!this.active || isTextEntry(event.target)) return; + if (!UGV_KEYS.has(event.code)) return; + event.preventDefault(); + event.stopPropagation(); + if (event.code === "KeyR") { + this.reset(); + return; + } + this.pressed.add(event.code); + }; + + private onKeyUp = (event: KeyboardEvent): void => { + if (!this.active || !UGV_KEYS.has(event.code)) return; + event.preventDefault(); + event.stopPropagation(); + this.pressed.delete(event.code); + }; + + private onWindowBlur = (): void => { + this.pressed.clear(); + this.releaseOrbitPointer(); + }; +} + +const UGV_KEYS = new Set([ + "KeyW", + "KeyA", + "KeyS", + "KeyD", + "ArrowUp", + "ArrowDown", + "ArrowLeft", + "ArrowRight", + "Space", + "KeyR", +]); + +function createPhysicsProxyMesh( + app: Application, + source: Mesh, + localTransform: Mat4, + targetRatio: number, +): Mesh | null { + const primitive = source.primitive[0]; + const sourceVertexCount = source.vertexBuffer?.numVertices ?? 0; + if (!primitive || sourceVertexCount === 0 || primitive.count < 3) return null; + + const positions = new Float32Array(sourceVertexCount * 3); + const populatedVertices = source.getPositions(positions); + if (populatedVertices === 0) return null; + const transformed = new Float32Array(populatedVertices * 3); + const point = new Vec3(); + for (let vertex = 0; vertex < populatedVertices; vertex += 1) { + const offset = vertex * 3; + point.set(positions[offset], positions[offset + 1], positions[offset + 2]); + localTransform.transformPoint(point, point); + transformed[offset] = point.x; + transformed[offset + 1] = point.y; + transformed[offset + 2] = point.z; + } + + const requestedIndexCount = Math.max(3, primitive.count); + let indices = new Uint32Array(requestedIndexCount); + const populatedIndices = source.getIndices(indices); + if (populatedIndices === 0) { + const fallbackCount = Math.min(populatedVertices, requestedIndexCount); + indices = new Uint32Array(fallbackCount); + for (let index = 0; index < fallbackCount; index += 1) indices[index] = index; + } else if (populatedIndices !== indices.length) { + indices = indices.slice(0, populatedIndices); + } + const triangleIndexCount = Math.floor(indices.length / 3) * 3; + if (triangleIndexCount < 3) return null; + if (triangleIndexCount !== indices.length) indices = indices.slice(0, triangleIndexCount); + + if (targetRatio < 1) { + const targetIndexCount = Math.max(3, Math.floor(indices.length * targetRatio / 3) * 3); + const [simplifiedIndices] = MeshoptSimplifier.simplify( + indices, + transformed, + 3, + targetIndexCount, + PHYSICS_PROXY_ERROR, + ); + indices = new Uint32Array(simplifiedIndices); + } + + const compactedIndices = new Uint32Array(indices); + const [remap, compactedVertexCount] = MeshoptSimplifier.compactMesh(compactedIndices); + const compactedPositions = new Float32Array(compactedVertexCount * 3); + const missing = 0xffff_ffff; + for (let sourceVertex = 0; sourceVertex < remap.length; sourceVertex += 1) { + const compactedVertex = remap[sourceVertex]; + if (compactedVertex === missing) continue; + const sourceOffset = sourceVertex * 3; + const compactedOffset = compactedVertex * 3; + compactedPositions[compactedOffset] = transformed[sourceOffset]; + compactedPositions[compactedOffset + 1] = transformed[sourceOffset + 1]; + compactedPositions[compactedOffset + 2] = transformed[sourceOffset + 2]; + } + + const physicsMesh = new Mesh(app.graphicsDevice); + physicsMesh.setPositions(compactedPositions); + physicsMesh.setIndices(compactedIndices); + physicsMesh.update(PRIMITIVE_TRIANGLES, true); + return physicsMesh; +} + +function cloneUgvPreset(preset: SimulationUgvPreset): SimulationUgvPreset { + return { + ...preset, + dimensionsMeters: { ...preset.dimensionsMeters }, + }; +} + +function vehicleGeometryChanged( + current: SimulationUgvPreset, + next: SimulationUgvPreset, +): boolean { + return current.massKg !== next.massKg + || current.dimensionsMeters.length !== next.dimensionsMeters.length + || current.dimensionsMeters.width !== next.dimensionsMeters.width + || current.dimensionsMeters.height !== next.dimensionsMeters.height + || current.dimensionsMeters.groundClearance !== next.dimensionsMeters.groundClearance; +} + +function vehicleDimensions(settings: SimulationUgvPreset) { + const { length, width, height, groundClearance } = settings.dimensionsMeters; + const bodyHeight = height - groundClearance; + const wheelRadius = clamp( + groundClearance * 0.8, + 0.07, + Math.min(height * 0.4, length * 0.22), + ); + const wheelThickness = clamp(width * 0.13, 0.08, 0.16); + const bodyWidth = Math.max(0.12, width - wheelThickness * 2); + const mainHeight = bodyHeight * 0.68; + const equipmentHeight = bodyHeight - mainHeight; + const suspensionRestLength = clamp(groundClearance * 0.4, 0.04, 0.16); + const originHeight = groundClearance + bodyHeight / 2; + return { + length, + width, + bodyWidth, + mainHeight, + equipmentHeight, + mainCenterY: -bodyHeight / 2 + mainHeight / 2, + equipmentCenterY: bodyHeight / 2 - equipmentHeight / 2, + wheelRadius, + wheelThickness, + wheelX: width / 2 - wheelThickness / 2, + wheelZ: Math.max(0, length / 2 - wheelRadius), + wheelConnectionY: suspensionRestLength + wheelRadius - originHeight, + suspensionRestLength, + originHeight, + }; +} + +function createBox(name: string, scale: Vec3, material: StandardMaterial): Entity { + const entity = new Entity(name); + entity.addComponent("render", { type: "box", castShadows: false, receiveShadows: false }); + entity.setLocalScale(scale); + applyMaterial(entity, material); + return entity; +} + +function applyMaterial(entity: Entity, material: StandardMaterial): void { + for (const meshInstance of entity.render?.meshInstances ?? []) meshInstance.material = material; +} + +function createMaterial(diffuse: Color, emissive: Color): StandardMaterial { + const material = new StandardMaterial(); + material.diffuse = diffuse; + material.emissive = emissive; + material.metalness = 0.15; + material.gloss = 0.32; + material.update(); + return material; +} + +function readThemeAccent(): Color { + const raw = getComputedStyle(document.documentElement).getPropertyValue("--nodedc-accent-rgb"); + const channels = raw.trim().split(/[\s,]+/).map(Number); + if (channels.length < 3 || channels.some((value) => !Number.isFinite(value))) { + return new Color(0.22, 0.72, 0.38); + } + return new Color(channels[0] / 255, channels[1] / 255, channels[2] / 255); +} + +function isTextEntry(target: EventTarget | null): boolean { + return target instanceof HTMLInputElement || target instanceof HTMLTextAreaElement + || target instanceof HTMLSelectElement || target instanceof HTMLButtonElement + || (target instanceof HTMLElement && target.isContentEditable); +} + +function clamp(value: number, min: number, max: number): number { return Math.max(min, Math.min(max, value)); } +function approach(current: number, target: number, maximumDelta: number): number { + if (current < target) return Math.min(target, current + maximumDelta); + if (current > target) return Math.max(target, current - maximumDelta); + return target; +} +function approachAngle(current: number, target: number, maximumDelta: number): number { + const delta = ((target - current + Math.PI) % (Math.PI * 2) + Math.PI * 2) % (Math.PI * 2) - Math.PI; + return current + clamp(delta, -maximumDelta, maximumDelta); +} +function runCleanup(label: string, cleanup: () => void): void { + try { + cleanup(); + } catch (error) { + console.warn(`[Simulation UGV] Cleanup failed: ${label}`, error); + } +} + +function nextAnimationFrame(): Promise { return new Promise((resolve) => requestAnimationFrame(() => resolve())); } diff --git a/apps/control-station/src/components/simulation/SimulationUgvSettingsPanel.tsx b/apps/control-station/src/components/simulation/SimulationUgvSettingsPanel.tsx new file mode 100644 index 0000000..49a0a07 --- /dev/null +++ b/apps/control-station/src/components/simulation/SimulationUgvSettingsPanel.tsx @@ -0,0 +1,191 @@ +import { + Button, + Icon, + RangeControl, + Switch, + TextField, +} from "@nodedc/ui-react"; + +import { + SIMULATION_UGV_EXACT_VALUE_LIMITS, + type SimulationUgvPreset, +} from "../../core/simulation/projects"; + +export type SimulationUgvPresetSaveState = "idle" | "saving" | "saved" | "failed"; + +export function SimulationUgvSettingsPanel({ + value, + disabled, + saveState, + onChange, + onSave, +}: { + value: SimulationUgvPreset; + disabled: boolean; + saveState: SimulationUgvPresetSaveState; + onChange: (preset: SimulationUgvPreset) => void; + onSave: () => void; +}) { + const dimensions = value.dimensionsMeters; + const updateDimensions = ( + patch: Partial, + ) => { + const next = { ...dimensions, ...patch }; + next.groundClearance = Math.max( + SIMULATION_UGV_EXACT_VALUE_LIMITS.groundClearance.min, + Math.min(next.groundClearance, roundToHundredth(next.height - 0.05)), + ); + onChange({ ...value, dimensionsMeters: next }); + }; + + return ( +
+
+ Физика UGV + Дифференциальный привод +
+

+ A/D без W/S разворачивают UGV вокруг собственного центра. Скорость и + динамика применяются сразу. Мышь вращает камеру вокруг машины, колесо + меняет дистанцию; после паузы камера плавно возвращается назад. Ползунок + работает в штатном диапазоне, точное значение можно ввести вручную. +

+ onChange({ ...value, presetName: event.currentTarget.value })} + /> + `${Math.round(mass)} кг`} + onChange={(massKg) => onChange({ ...value, massKg })} + /> +
+ Габариты + В метрах +
+ updateDimensions({ length })} + /> + updateDimensions({ width })} + /> + updateDimensions({ height })} + /> + updateDimensions({ groundClearance })} + /> +
+ Динамика + Ограничители движения +
+ `${formatDecimal(speed, 1)} м/с`} + onChange={(maxSpeedMetersPerSecond) => onChange({ + ...value, + maxSpeedMetersPerSecond, + })} + /> + `${Math.round(rate)}°/с`} + onChange={(maxTurnRateDegrees) => onChange({ ...value, maxTurnRateDegrees })} + /> + onChange({ ...value, invertSteering })} + /> + +
+ ); +} + +function formatMeters(value: number): string { + return `${formatDecimal(value, 2)} м`; +} + +function formatDecimal(value: number, digits: number): string { + return value.toFixed(digits).replace(".", ","); +} + +function roundToHundredth(value: number): number { + return Math.round(value * 100) / 100; +} diff --git a/apps/control-station/src/components/simulation/SimulationViewport.tsx b/apps/control-station/src/components/simulation/SimulationViewport.tsx index 7ba3d2b..13a945d 100644 --- a/apps/control-station/src/components/simulation/SimulationViewport.tsx +++ b/apps/control-station/src/components/simulation/SimulationViewport.tsx @@ -2,18 +2,21 @@ import { useEffect, useId, useRef, useState } from "react"; import { ActivityIndicator, Button, + GlassMaterialSurface, Icon, IconButton, SegmentedControl, Select, StatusBadge, Switch, + TextField, } from "@nodedc/ui-react"; import { saveSimulationViewerSettings, + type SimulationEulerRotation, type SimulationProject, - type SimulationTransformAxis, + type SimulationUgvPreset, type SimulationViewerSettings, } from "../../core/simulation/projects"; import { @@ -22,16 +25,17 @@ import { } from "../../core/runtime/latestAsyncCommitter"; import { PlayCanvasRuntime, - playCanvasAxisTransform, + playCanvasEulerTransform, + type SimulationControlMode, type SimulationQuality, type SimulationViewMode, } from "./PlayCanvasRuntime"; +import { + SimulationUgvSettingsPanel, + type SimulationUgvPresetSaveState, +} from "./SimulationUgvSettingsPanel"; -const AXIS_OPTIONS: Array<{ value: SimulationTransformAxis; label: string }> = [ - { value: "x", label: "X" }, - { value: "y", label: "Y" }, - { value: "z", label: "Z" }, -]; +const ROTATION_AXES = ["x", "y", "z"] as const; export function SimulationViewport({ project, @@ -44,23 +48,34 @@ export function SimulationViewport({ const runtimeRef = useRef(null); const viewerSettingsRef = useRef(project.viewerSettings); const settingsCommitterRef = useRef | null>(null); + const settingsCommitSucceededRef = useRef(true); + const ugvSaveRequestRef = useRef(0); + const controlRequestRef = useRef(0); const settingsId = useId(); const [state, setState] = useState<"mounting" | "loading" | "ready" | "failed">("mounting"); const [error, setError] = useState(null); const [viewMode, setViewMode] = useState("visual"); + const [controlMode, setControlMode] = useState("free"); + const [controlState, setControlState] = useState<"idle" | "loading" | "ready" | "failed">("idle"); const [quality, setQuality] = useState(project.viewerSettings.quality); const [collisionState, setCollisionState] = useState<"idle" | "loading" | "ready" | "failed">("idle"); const [settingsOpen, setSettingsOpen] = useState(false); - const [visualInverted, setVisualInverted] = useState(project.viewerSettings.visual.inverted); - const [visualAxis, setVisualAxis] = useState(project.viewerSettings.visual.axis); - const [collisionInverted, setCollisionInverted] = useState(project.viewerSettings.collision.inverted); - const [collisionAxis, setCollisionAxis] = useState(project.viewerSettings.collision.axis); + const [visualRotation, setVisualRotation] = useState({ + ...project.viewerSettings.visual.rotationDegrees, + }); + const [collisionRotation, setCollisionRotation] = useState({ + ...project.viewerSettings.collision.rotationDegrees, + }); const [horizontalInverted, setHorizontalInverted] = useState( project.viewerSettings.camera.invertHorizontal, ); const [verticalInverted, setVerticalInverted] = useState( project.viewerSettings.camera.invertVertical, ); + const [ugvDraft, setUgvDraft] = useState(() => + cloneUgvPreset(project.viewerSettings.ugv), + ); + const [ugvSaveState, setUgvSaveState] = useState("idle"); const [settingsError, setSettingsError] = useState(null); const worldManifestRevision = JSON.stringify(project.worldManifest); @@ -68,14 +83,18 @@ export function SimulationViewport({ const settings = project.viewerSettings; viewerSettingsRef.current = settings; setQuality(settings.quality); - setVisualInverted(settings.visual.inverted); - setVisualAxis(settings.visual.axis); - setCollisionInverted(settings.collision.inverted); - setCollisionAxis(settings.collision.axis); + setVisualRotation({ ...settings.visual.rotationDegrees }); + setCollisionRotation({ ...settings.collision.rotationDegrees }); setHorizontalInverted(settings.camera.invertHorizontal); setVerticalInverted(settings.camera.invertVertical); + setUgvDraft(cloneUgvPreset(settings.ugv)); + setUgvSaveState("idle"); + ugvSaveRequestRef.current += 1; setSettingsError(null); setSettingsOpen(false); + controlRequestRef.current += 1; + setControlMode("free"); + setControlState("idle"); }, [project.projectId]); useEffect(() => { @@ -84,9 +103,11 @@ export function SimulationViewport({ async commit(settings) { try { const saved = await saveSimulationViewerSettings(project.projectId, settings); + settingsCommitSucceededRef.current = true; if (active) onProjectChange?.(saved); return true; } catch (caught) { + settingsCommitSucceededRef.current = false; if (active) { setSettingsError( caught instanceof Error ? caught.message : "Не удалось сохранить настройки сцены.", @@ -122,15 +143,16 @@ export function SimulationViewport({ runtime.setQuality(settings.quality); runtime.setCameraInversion("horizontal", settings.camera.invertHorizontal); runtime.setCameraInversion("vertical", settings.camera.invertVertical); + runtime.setUgvPreset(settings.ugv); setState("loading"); await runtime.loadWorld(manifest); runtime.setLayerWorldTransform( "visual", - playCanvasAxisTransform(settings.visual.axis, settings.visual.inverted), + playCanvasEulerTransform(settings.visual.rotationDegrees), ); runtime.setLayerWorldTransform( "collision", - playCanvasAxisTransform(settings.collision.axis, settings.collision.inverted), + playCanvasEulerTransform(settings.collision.rotationDegrees), ); if (!cancelled) setState("ready"); }).catch((caught: unknown) => { @@ -140,6 +162,7 @@ export function SimulationViewport({ }); return () => { cancelled = true; + controlRequestRef.current += 1; runtime.dispose(); runtimeRef.current = null; }; @@ -151,25 +174,89 @@ export function SimulationViewport({ const collisionAvailable = project.worldManifest?.collision.available ?? false; const commitViewerSettings = (settings: SimulationViewerSettings) => { viewerSettingsRef.current = settings; + settingsCommitSucceededRef.current = false; settingsCommitterRef.current?.enqueue(settings); }; + const changeUgvDraft = (next: SimulationUgvPreset) => { + setUgvDraft(cloneUgvPreset(next)); + setUgvSaveState("idle"); + ugvSaveRequestRef.current += 1; + runtimeRef.current?.setUgvPreset(next); + }; + + const saveUgvPreset = () => { + const committer = settingsCommitterRef.current; + if (!committer) { + setUgvSaveState("failed"); + return; + } + const request = ++ugvSaveRequestRef.current; + const normalized = cloneUgvPreset({ + ...ugvDraft, + presetName: ugvDraft.presetName.trim(), + }); + setUgvDraft(normalized); + setUgvSaveState("saving"); + setSettingsError(null); + settingsCommitSucceededRef.current = false; + const settings = { ...viewerSettingsRef.current, ugv: normalized }; + viewerSettingsRef.current = settings; + committer.enqueue(settings); + void committer.waitForIdle().then(() => { + if (request !== ugvSaveRequestRef.current) return; + setUgvSaveState(settingsCommitSucceededRef.current ? "saved" : "failed"); + }); + }; + + const changeControlMode = (next: SimulationControlMode) => { + const runtime = runtimeRef.current; + if (!runtime) return; + const request = ++controlRequestRef.current; + setControlMode(next); + setControlState(next === "ugv" ? "loading" : "idle"); + if (next === "ugv" && collisionState !== "ready") setCollisionState("loading"); + void runtime.setControlMode(next).then(() => { + if (request !== controlRequestRef.current) return; + if (next === "ugv") { + setControlState("ready"); + setCollisionState("ready"); + } + }).catch((caught: unknown) => { + if (request !== controlRequestRef.current) return; + setControlMode("free"); + setControlState("failed"); + setCollisionState("failed"); + setError(caught instanceof Error ? caught.message : "Не удалось запустить UGV."); + }); + }; + return ( -
+
- {collisionState === "loading" - ? "Загрузка collision" + {controlState === "loading" + ? "Подготовка UGV" + : controlState === "ready" + ? "UGV готов" + : controlState === "failed" + ? "Ошибка UGV" + : collisionState === "loading" + ? "Загрузка коллизий" : collisionState === "failed" - ? "Ошибка collision" + ? "Ошибка коллизий" : state === "ready" ? "Runtime готов" : state === "failed" ? "Ошибка runtime" - : "Загрузка сцены"} + : "Загрузка локации"} - PlayCanvas Engine 2.21.4 + Engine 2.21.4
{ setCollisionState("failed"); - setError(caught instanceof Error ? caught.message : "Не удалось открыть collision GLB."); + setError(caught instanceof Error ? caught.message : "Не удалось открыть слой коллизий."); }); }} items={[ @@ -227,7 +335,7 @@ export function SimulationViewport({ {settingsOpen ? ( - -
+
+
Система координат - Мир PlayCanvas · Y вверх + Мир сцены · Y вверх

Коррекция слоёв не меняет координаты камеры, навигации и будущей физики.

-
-
- { - setVisualInverted(checked); - runtimeRef.current?.setLayerWorldTransform( - "visual", - playCanvasAxisTransform(visualAxis, checked), - ); - commitViewerSettings({ - ...viewerSettingsRef.current, - visual: { ...viewerSettingsRef.current.visual, inverted: checked }, - }); - }} - /> - { - setCollisionAxis(axis); - runtimeRef.current?.setLayerWorldTransform( - "collision", - playCanvasAxisTransform(axis, collisionInverted), - ); - commitViewerSettings({ - ...viewerSettingsRef.current, - collision: { ...viewerSettingsRef.current.collision, axis }, - }); - }} - /> -
+
+ { + setVisualRotation(next); + runtimeRef.current?.setLayerWorldTransform( + "visual", + playCanvasEulerTransform(next), + ); + commitViewerSettings({ + ...viewerSettingsRef.current, + visual: { rotationDegrees: next }, + }); + }} + /> + { + setCollisionRotation(next); + runtimeRef.current?.setLayerWorldTransform( + "collision", + playCanvasEulerTransform(next), + ); + commitViewerSettings({ + ...viewerSettingsRef.current, + collision: { rotationDegrees: next }, + }); + }} + />
-
-
+
+
Управление камерой Мышь и тачпад @@ -362,39 +427,165 @@ export function SimulationViewport({ }} />
-
- {settingsError ? ( -

- Настройки не сохранены: {settingsError} -

- ) : null} -
+
+ + {settingsError ? ( +

+ Настройки не сохранены: {settingsError} +

+ ) : null} +
+ ) : null}
- + {state !== "ready" ? (
- {state === "failed" ? null : } - {state === "failed" ? "Сцена не открылась" : "PlayCanvas загружает мир"} -

{error ?? "Streamed SOG догружается по мере готовности runtime."}

+ {state === "failed" ? null : } + {state === "failed" ? "Локация не открылась" : "Загружаем локацию"} +

{error ?? "LOD-уровни загружаются по мере готовности runtime."}

) : null}
{!collisionAvailable ? (
- Collision недоступен - Для этой сборки collision GLB не был запрошен; визуальный слой настоящий и не подменяется. + Коллизии недоступны + Для этой сборки слой коллизий не создавался; визуальный слой остаётся доступен.
) : collisionState === "failed" ? (
- Collision не открылся - {error ?? "PlayCanvas не смог загрузить collision GLB."} + Коллизии не открылись + {error ?? "Слой коллизий не загрузился."}
) : null}
); } + +function cloneUgvPreset(preset: SimulationUgvPreset): SimulationUgvPreset { + return { + ...preset, + dimensionsMeters: { ...preset.dimensionsMeters }, + }; +} + +function LayerRotationFields({ + label, + value, + disabled, + onChange, +}: { + label: string; + value: SimulationEulerRotation; + disabled: boolean; + onChange: (rotation: SimulationEulerRotation) => void; +}) { + return ( +
+ {label} +
+ {ROTATION_AXES.map((axis) => ( + onChange({ ...value, [axis]: angle })} + /> + ))} +
+
+ ); +} + +function RotationField({ + label, + ariaLabel, + value, + disabled, + onChange, +}: { + label: string; + ariaLabel: string; + value: number; + disabled: boolean; + onChange: (angle: number) => void; +}) { + const [draft, setDraft] = useState(() => String(value)); + const editingRef = useRef(false); + const cancelNextBlurRef = useRef(false); + + useEffect(() => { + if (!editingRef.current) setDraft(String(value)); + }, [value]); + + const parsedDraft = () => Number(draft.trim().replace(",", ".")); + const finishEditing = (commit: boolean) => { + const parsed = parsedDraft(); + if (commit && draft.trim() !== "" && Number.isFinite(parsed)) { + const normalized = Math.max(-360, Math.min(360, parsed)); + onChange(normalized); + setDraft(String(normalized)); + } else { + setDraft(String(value)); + } + editingRef.current = false; + }; + + return ( + { + editingRef.current = true; + }} + onChange={(event) => { + // Treat the first input event as the start of editing as well. Programmatic + // focus (and some browser/trackpad paths) may not deliver React's focus + // event before the controlled value changes. + editingRef.current = true; + const nextDraft = event.currentTarget.value; + setDraft(nextDraft); + const parsed = Number(nextDraft.trim().replace(",", ".")); + if (nextDraft.trim() !== "" && Number.isFinite(parsed) && parsed >= -360 && parsed <= 360) { + onChange(parsed); + } + }} + onKeyDown={(event) => { + event.stopPropagation(); + if (event.key === "Enter") event.currentTarget.blur(); + if (event.key === "Escape") { + event.preventDefault(); + cancelNextBlurRef.current = true; + finishEditing(false); + event.currentTarget.blur(); + } + }} + onBlur={() => { + if (cancelNextBlurRef.current) { + cancelNextBlurRef.current = false; + return; + } + finishEditing(true); + }} + /> + ); +} diff --git a/apps/control-station/src/core/simulation/projects.ts b/apps/control-station/src/core/simulation/projects.ts index 99982d3..48d538d 100644 --- a/apps/control-station/src/core/simulation/projects.ts +++ b/apps/control-station/src/core/simulation/projects.ts @@ -1,6 +1,10 @@ export type SimulationSceneType = "interior" | "outdoor" | "object"; -export type SimulationTransformAxis = "x" | "y" | "z"; export type SimulationViewerQuality = "low" | "medium" | "high" | "ultra" | "maximum"; +export interface SimulationEulerRotation { + x: number; + y: number; + z: number; +} export type SimulationProjectStatus = | "uploading" | "queued" @@ -35,13 +39,38 @@ export interface SimulationWorldManifest { } export interface SimulationViewerSettings { - schemaVersion: "missioncore.simulation-viewer-settings/v1"; + schemaVersion: "missioncore.simulation-viewer-settings/v3"; quality: SimulationViewerQuality; - visual: { inverted: boolean; axis: SimulationTransformAxis }; - collision: { inverted: boolean; axis: SimulationTransformAxis }; + visual: { rotationDegrees: SimulationEulerRotation }; + collision: { rotationDegrees: SimulationEulerRotation }; camera: { invertHorizontal: boolean; invertVertical: boolean }; + ugv: SimulationUgvPreset; } +export interface SimulationUgvPreset { + presetName: string; + massKg: number; + dimensionsMeters: { + length: number; + width: number; + height: number; + groundClearance: number; + }; + maxSpeedMetersPerSecond: number; + maxTurnRateDegrees: number; + invertSteering: boolean; +} + +export const SIMULATION_UGV_EXACT_VALUE_LIMITS = { + massKg: { min: 0.01, max: 1_000_000_000 }, + length: { min: 0.01, max: 1_000_000_000 }, + width: { min: 0.01, max: 1_000_000_000 }, + height: { min: 0.07, max: 1_000_000_000 }, + groundClearance: { min: 0.01, max: 1_000_000_000 }, + maxSpeedMetersPerSecond: { min: 0, max: 1_000_000_000 }, + maxTurnRateDegrees: { min: 0, max: 1_000_000_000 }, +} as const; + export interface SimulationProject { schemaVersion: "missioncore.simulation-project/v1"; projectId: string; @@ -58,7 +87,9 @@ export interface SimulationProject { provider: { providerId: "gaussian-pipeline"; jobId: string | null; + jobCreatedAtUtc: string | null; state: string | null; + stateStartedAtUtc: string | null; progress: { completed_steps?: number; total_steps?: number; stage?: string } | null; runtime: { source_revision?: string; image_digest?: string } | null; }; @@ -85,11 +116,60 @@ export interface SimulationUploadProgress { uploadedBytes: number; totalBytes: number; currentPath: string; + bytesPerSecond: number | null; + estimatedSecondsRemaining: number | null; } const API_ROOT = "/api/v1/simulation-worlds/projects"; const CHUNK_BYTES = 8 * 1024 * 1024; const MAX_UPLOAD_ATTEMPTS = 3; +const REFERENCE_SOURCE_BYTES = 4_100_808_854; +const REFERENCE_PREPARATION_SECONDS = 187; +const REFERENCE_STREAM_SECONDS = 2_317; + +export interface SimulationProcessingEstimate { + percent: number; + estimatedSecondsRemaining: number | null; +} + +export function estimateSimulationProcessing( + project: SimulationProject, + nowMilliseconds = Date.now(), +): SimulationProcessingEstimate | null { + if (project.status !== "processing") return null; + const jobStarted = Date.parse(project.provider.jobCreatedAtUtc ?? ""); + if (!Number.isFinite(jobStarted)) return null; + const elapsedSeconds = Math.max(0, (nowMilliseconds - jobStarted) / 1_000); + const sourceScale = clamp( + project.source.totalByteLength / REFERENCE_SOURCE_BYTES, + 0.1, + 4, + ); + let expectedSeconds = ( + REFERENCE_PREPARATION_SECONDS + REFERENCE_STREAM_SECONDS + ) * sourceScale; + if (project.provider.state === "building_streamed_sog") { + const streamedStarted = Date.parse(project.provider.stateStartedAtUtc ?? ""); + if (Number.isFinite(streamedStarted) && streamedStarted >= jobStarted) { + const preparationSeconds = Math.max(1, (streamedStarted - jobStarted) / 1_000); + const observedLoad = clamp( + preparationSeconds / (REFERENCE_PREPARATION_SECONDS * sourceScale), + 0.5, + 2, + ); + expectedSeconds = preparationSeconds + + REFERENCE_STREAM_SECONDS * sourceScale * observedLoad; + } + } + const rawPercent = expectedSeconds > 0 ? elapsedSeconds / expectedSeconds * 100 : 0; + if (rawPercent >= 100) { + return { percent: 99, estimatedSecondsRemaining: null }; + } + return { + percent: Math.max(1, Math.floor(rawPercent)), + estimatedSecondsRemaining: Math.max(0, Math.ceil(expectedSeconds - elapsedSeconds)), + }; +} export async function fetchSimulationProjects(signal?: AbortSignal): Promise { const response = await fetch(API_ROOT, { signal, cache: "no-store" }); @@ -107,6 +187,15 @@ export async function createAndUploadSimulationProject( sceneType: SimulationSceneType, candidates: SimulationUploadCandidate[], onProgress: (progress: SimulationUploadProgress) => void, +): Promise { + const project = await createSimulationProject(name, sceneType, candidates); + return uploadSimulationProjectSource(project, candidates, onProgress); +} + +export async function createSimulationProject( + name: string, + sceneType: SimulationSceneType, + candidates: SimulationUploadCandidate[], ): Promise { const sourceKind = sourceKindFor(candidates); const createdResponse = await fetch(API_ROOT, { @@ -123,36 +212,85 @@ export async function createAndUploadSimulationProject( })), }), }); - let project = parseProject(await jsonResponse(createdResponse)); + return parseProject(await jsonResponse(createdResponse)); +} + +export async function uploadSimulationProjectSource( + project: SimulationProject, + candidates: SimulationUploadCandidate[], + onProgress: (progress: SimulationUploadProgress) => void, + signal?: AbortSignal, +): Promise { const byPath = new Map(candidates.map((candidate) => [candidate.logicalPath, candidate.file])); const totalBytes = candidates.reduce((total, candidate) => total + candidate.file.size, 0); let confirmedBytes = 0; + let sampleBytes = 0; + let sampleAt = performance.now(); + let smoothedBytesPerSecond: number | null = null; + const reportProgress = (currentPath: string) => { + const remainingBytes = Math.max(0, totalBytes - confirmedBytes); + onProgress({ + uploadedBytes: confirmedBytes, + totalBytes, + currentPath, + bytesPerSecond: smoothedBytesPerSecond, + estimatedSecondsRemaining: smoothedBytesPerSecond && remainingBytes > 0 + ? Math.ceil(remainingBytes / smoothedBytesPerSecond) + : remainingBytes === 0 ? 0 : null, + }); + }; for (const sourceFile of project.source.files) { + signal?.throwIfAborted(); const file = byPath.get(sourceFile.logicalPath); if (!file) throw new Error(`Сервер изменил состав источника: ${sourceFile.logicalPath}`); const uploadUrl = `${API_ROOT}/${encodeURIComponent(project.projectId)}/source/${encodeURIComponent(sourceFile.fileId)}`; - let offset = await readUploadOffset(uploadUrl, file.size); + let offset = await readUploadOffset(uploadUrl, file.size, signal); confirmedBytes += offset; - onProgress({ uploadedBytes: confirmedBytes, totalBytes, currentPath: sourceFile.logicalPath }); + sampleBytes = confirmedBytes; + sampleAt = performance.now(); + reportProgress(sourceFile.logicalPath); while (offset < file.size) { + signal?.throwIfAborted(); const nextOffset = Math.min(file.size, offset + CHUNK_BYTES); - const confirmedOffset = await uploadChunk(uploadUrl, file, offset, nextOffset); + const confirmedOffset = await uploadChunk(uploadUrl, file, offset, nextOffset, signal); confirmedBytes += confirmedOffset - offset; offset = confirmedOffset; - onProgress({ uploadedBytes: confirmedBytes, totalBytes, currentPath: sourceFile.logicalPath }); + const now = performance.now(); + const elapsedSeconds = (now - sampleAt) / 1_000; + const transferredBytes = confirmedBytes - sampleBytes; + if (elapsedSeconds > 0 && transferredBytes > 0) { + const currentBytesPerSecond = transferredBytes / elapsedSeconds; + smoothedBytesPerSecond = smoothedBytesPerSecond === null + ? currentBytesPerSecond + : smoothedBytesPerSecond * 0.7 + currentBytesPerSecond * 0.3; + } + sampleBytes = confirmedBytes; + sampleAt = now; + reportProgress(sourceFile.logicalPath); } } - const buildResponse = await fetch(`${API_ROOT}/${encodeURIComponent(project.projectId)}/build`, { + return startSimulationProjectBuild(project.projectId, signal); +} + +export async function startSimulationProjectBuild( + projectId: string, + signal?: AbortSignal, +): Promise { + const buildResponse = await fetch(`${API_ROOT}/${encodeURIComponent(projectId)}/build`, { method: "POST", headers: { "Content-Type": "application/json" }, body: "{}", + signal, }); - project = parseProject(await jsonResponse(buildResponse)); - return project; + return parseProject(await jsonResponse(buildResponse)); } -async function readUploadOffset(uploadUrl: string, fileSize: number): Promise { - const head = await fetch(uploadUrl, { method: "HEAD", cache: "no-store" }); +async function readUploadOffset( + uploadUrl: string, + fileSize: number, + signal?: AbortSignal, +): Promise { + const head = await fetch(uploadUrl, { method: "HEAD", cache: "no-store", signal }); if (!head.ok) await jsonResponse(head); const value = head.headers.get("Upload-Offset"); if (!value || !/^\d+$/.test(value)) { @@ -170,11 +308,13 @@ async function uploadChunk( file: File, offset: number, nextOffset: number, + signal?: AbortSignal, ): Promise { let lastFailure: unknown = null; for (let attempt = 1; attempt <= MAX_UPLOAD_ATTEMPTS; attempt += 1) { let response: Response | null = null; try { + signal?.throwIfAborted(); response = await fetch(uploadUrl, { method: "PATCH", headers: { @@ -182,8 +322,10 @@ async function uploadChunk( "Upload-Offset": String(offset), }, body: file.slice(offset, nextOffset), + signal, }); } catch (caught) { + if (signal?.aborted) throw caught; lastFailure = caught; } if (response?.ok) { @@ -203,7 +345,7 @@ async function uploadChunk( lastFailure = new Error(`Mission Core временно вернул HTTP ${response.status}.`); } try { - const confirmed = await readUploadOffset(uploadUrl, file.size); + const confirmed = await readUploadOffset(uploadUrl, file.size, signal); if (confirmed === nextOffset) return confirmed; if (confirmed !== offset) { throw new Error("Сервер подтвердил неожиданное смещение загрузки."); @@ -246,26 +388,32 @@ export async function saveSimulationViewerSettings( body: JSON.stringify({ schema_version: settings.schemaVersion, quality: settings.quality, - visual: settings.visual, - collision: settings.collision, + visual: { rotation_degrees: settings.visual.rotationDegrees }, + collision: { rotation_degrees: settings.collision.rotationDegrees }, camera: { invert_horizontal: settings.camera.invertHorizontal, invert_vertical: settings.camera.invertVertical, }, + ugv: { + preset_name: settings.ugv.presetName, + mass_kg: settings.ugv.massKg, + dimensions_m: { + length: settings.ugv.dimensionsMeters.length, + width: settings.ugv.dimensionsMeters.width, + height: settings.ugv.dimensionsMeters.height, + ground_clearance: settings.ugv.dimensionsMeters.groundClearance, + }, + max_speed_mps: settings.ugv.maxSpeedMetersPerSecond, + max_turn_rate_degrees: settings.ugv.maxTurnRateDegrees, + invert_steering: settings.ugv.invertSteering, + }, }), }, ); return parseProject(await jsonResponse(response)); } -export async function retrySimulationProject(projectId: string): Promise { - const response = await fetch(`${API_ROOT}/${encodeURIComponent(projectId)}/build`, { - method: "POST", - headers: { "Content-Type": "application/json" }, - body: "{}", - }); - return parseProject(await jsonResponse(response)); -} +export const retrySimulationProject = startSimulationProjectBuild; export async function deleteSimulationProject(projectId: string): Promise { const response = await fetch(`${API_ROOT}/${encodeURIComponent(projectId)}`, { method: "DELETE" }); @@ -321,7 +469,9 @@ function parseProject(value: unknown): SimulationProject { provider: { providerId: provider.provider_id === "gaussian-pipeline" ? "gaussian-pipeline" : invalid("provider id"), jobId: nullableString(provider.job_id, "provider job id"), + jobCreatedAtUtc: nullableString(provider.job_created_at_utc ?? null, "provider job creation"), state: nullableString(provider.state, "provider state"), + stateStartedAtUtc: nullableString(provider.state_started_at_utc ?? null, "provider state start"), progress: provider.progress === null ? null : objectValue(provider.progress, "provider progress"), runtime: provider.runtime === null ? null : objectValue(provider.runtime, "provider runtime"), }, @@ -345,16 +495,17 @@ function parseProject(value: unknown): SimulationProject { function parseViewerSettings(value: unknown): SimulationViewerSettings { const record = objectValue(value, "viewer settings"); - exactKeys(record, ["schema_version", "quality", "visual", "collision", "camera"], "viewer settings"); - if (record.schema_version !== "missioncore.simulation-viewer-settings/v1") { + exactKeys(record, ["schema_version", "quality", "visual", "collision", "camera", "ugv"], "viewer settings"); + if (record.schema_version !== "missioncore.simulation-viewer-settings/v3") { throw new Error("Настройки сцены вернули неподдерживаемую версию."); } const visual = parseLayerViewerSettings(record.visual, "visual settings"); const collision = parseLayerViewerSettings(record.collision, "collision settings"); const camera = objectValue(record.camera, "camera settings"); exactKeys(camera, ["invert_horizontal", "invert_vertical"], "camera settings"); + const ugv = parseUgvPreset(record.ugv); return { - schemaVersion: "missioncore.simulation-viewer-settings/v1", + schemaVersion: "missioncore.simulation-viewer-settings/v3", quality: qualityValue(record.quality), visual, collision, @@ -362,18 +513,88 @@ function parseViewerSettings(value: unknown): SimulationViewerSettings { invertHorizontal: booleanValue(camera.invert_horizontal, "horizontal camera inversion"), invertVertical: booleanValue(camera.invert_vertical, "vertical camera inversion"), }, + ugv, + }; +} + +function parseUgvPreset(value: unknown): SimulationUgvPreset { + const record = objectValue(value, "UGV settings"); + exactKeys( + record, + ["preset_name", "mass_kg", "dimensions_m", "max_speed_mps", "max_turn_rate_degrees", "invert_steering"], + "UGV settings", + ); + const dimensions = objectValue(record.dimensions_m, "UGV dimensions"); + exactKeys(dimensions, ["length", "width", "height", "ground_clearance"], "UGV dimensions"); + const presetName = stringValue(record.preset_name, "UGV preset name"); + if (presetName.length > 80) return invalid("UGV preset name"); + const height = finiteNumberValue( + dimensions.height, + SIMULATION_UGV_EXACT_VALUE_LIMITS.height.min, + SIMULATION_UGV_EXACT_VALUE_LIMITS.height.max, + "UGV height", + ); + const groundClearance = finiteNumberValue( + dimensions.ground_clearance, + SIMULATION_UGV_EXACT_VALUE_LIMITS.groundClearance.min, + SIMULATION_UGV_EXACT_VALUE_LIMITS.groundClearance.max, + "UGV ground clearance", + ); + if (groundClearance >= height - 0.05) return invalid("UGV ground clearance"); + return { + presetName, + massKg: finiteNumberValue( + record.mass_kg, + SIMULATION_UGV_EXACT_VALUE_LIMITS.massKg.min, + SIMULATION_UGV_EXACT_VALUE_LIMITS.massKg.max, + "UGV mass", + ), + dimensionsMeters: { + length: finiteNumberValue( + dimensions.length, + SIMULATION_UGV_EXACT_VALUE_LIMITS.length.min, + SIMULATION_UGV_EXACT_VALUE_LIMITS.length.max, + "UGV length", + ), + width: finiteNumberValue( + dimensions.width, + SIMULATION_UGV_EXACT_VALUE_LIMITS.width.min, + SIMULATION_UGV_EXACT_VALUE_LIMITS.width.max, + "UGV width", + ), + height, + groundClearance, + }, + maxSpeedMetersPerSecond: finiteNumberValue( + record.max_speed_mps, + SIMULATION_UGV_EXACT_VALUE_LIMITS.maxSpeedMetersPerSecond.min, + SIMULATION_UGV_EXACT_VALUE_LIMITS.maxSpeedMetersPerSecond.max, + "UGV maximum speed", + ), + maxTurnRateDegrees: finiteNumberValue( + record.max_turn_rate_degrees, + SIMULATION_UGV_EXACT_VALUE_LIMITS.maxTurnRateDegrees.min, + SIMULATION_UGV_EXACT_VALUE_LIMITS.maxTurnRateDegrees.max, + "UGV maximum turn rate", + ), + invertSteering: booleanValue(record.invert_steering, "UGV steering inversion"), }; } function parseLayerViewerSettings( value: unknown, label: string, -): { inverted: boolean; axis: SimulationTransformAxis } { +): { rotationDegrees: SimulationEulerRotation } { const record = objectValue(value, label); - exactKeys(record, ["inverted", "axis"], label); + exactKeys(record, ["rotation_degrees"], label); + const rotation = objectValue(record.rotation_degrees, `${label} rotation`); + exactKeys(rotation, ["x", "y", "z"], `${label} rotation`); return { - inverted: booleanValue(record.inverted, `${label} inversion`), - axis: axisValue(record.axis), + rotationDegrees: { + x: rotationValue(rotation.x, `${label} X rotation`), + y: rotationValue(rotation.y, `${label} Y rotation`), + z: rotationValue(rotation.z, `${label} Z rotation`), + }, }; } @@ -466,9 +687,18 @@ function sceneTypeValue(value: unknown): SimulationSceneType { return invalid("scene type"); } -function axisValue(value: unknown): SimulationTransformAxis { - if (value === "x" || value === "y" || value === "z") return value; - return invalid("transform axis"); +function rotationValue(value: unknown, label: string): number { + if (typeof value === "number" && Number.isFinite(value) && value >= -360 && value <= 360) { + return value; + } + return invalid(label); +} + +function finiteNumberValue(value: unknown, minimum: number, maximum: number, label: string): number { + if (typeof value === "number" && Number.isFinite(value) && value >= minimum && value <= maximum) { + return value; + } + return invalid(label); } function qualityValue(value: unknown): SimulationViewerQuality { @@ -488,3 +718,7 @@ function statusValue(value: unknown): SimulationProjectStatus { function invalid(label: string): never { throw new Error(`Некорректный ${label}.`); } + +function clamp(value: number, minimum: number, maximum: number): number { + return Math.min(maximum, Math.max(minimum, value)); +} diff --git a/apps/control-station/src/core/simulation/sourceFiles.ts b/apps/control-station/src/core/simulation/sourceFiles.ts new file mode 100644 index 0000000..9a23b85 --- /dev/null +++ b/apps/control-station/src/core/simulation/sourceFiles.ts @@ -0,0 +1,146 @@ +import type { SimulationUploadCandidate } from "./projects"; + +const ARCHIVE_PATTERN = /\.(zip|rar|7z)$/i; +export const MAX_SIMULATION_SOURCE_BYTES = 16 * 1024 ** 3; + +interface LegacyFileEntry { + isFile: boolean; + isDirectory: boolean; + name: string; + fullPath: string; + file?: (callback: (file: File) => void, error?: (error: DOMException) => void) => void; + createReader?: () => LegacyDirectoryReader; +} + +interface LegacyDirectoryReader { + readEntries: ( + callback: (entries: LegacyFileEntry[]) => void, + error?: (error: DOMException) => void, + ) => void; +} + +export async function candidatesFromDrop( + transfer: DataTransfer, +): Promise { + const candidates: SimulationUploadCandidate[] = []; + for (const item of Array.from(transfer.items)) { + const entry = (item as DataTransferItem & { + webkitGetAsEntry?: () => LegacyFileEntry | null; + }).webkitGetAsEntry?.(); + if (entry?.isDirectory) { + await collectEntry(entry, candidates); + continue; + } + const file = item.getAsFile(); + if (file) { + candidates.push({ file, logicalPath: file.name }); + continue; + } + if (entry) await collectEntry(entry, candidates); + } + if (!candidates.length) { + for (const file of Array.from(transfer.files)) { + candidates.push({ file, logicalPath: file.name }); + } + } + return candidates; +} + +export async function archivesFromDrop(transfer: DataTransfer): Promise { + const candidates = await candidatesFromDrop(transfer); + const invalid = candidates.filter((candidate) => !ARCHIVE_PATTERN.test(candidate.logicalPath)); + if (invalid.length) { + throw new Error("В каталог можно перетащить только отдельные архивы ZIP, RAR или 7z."); + } + if (!candidates.length) { + throw new Error("В перетаскивании не найдено архивов ZIP, RAR или 7z."); + } + for (const candidate of candidates) { + if (candidate.logicalPath.includes("/")) { + throw new Error("Перетащите сами архивы, а не содержащую их папку."); + } + if (candidate.file.size <= 0) { + throw new Error(`Пустой архив: ${candidate.file.name}`); + } + if (candidate.file.size > MAX_SIMULATION_SOURCE_BYTES) { + throw new Error(`Архив ${candidate.file.name} превышает лимит 16 ГБ.`); + } + } + return candidates.map((candidate) => candidate.file); +} + +export function validateSimulationCandidates(candidates: SimulationUploadCandidate[]): void { + if (!candidates.length) throw new Error("Выберите архив или папку с результатом LCC/LCC2."); + const archives = candidates.filter((candidate) => ARCHIVE_PATTERN.test(candidate.logicalPath)); + if (archives.length) { + if (candidates.length !== 1) throw new Error("Архив нужно загружать одним файлом."); + if (archives[0]!.file.size <= 0) throw new Error(`Пустой файл: ${archives[0]!.logicalPath}`); + if (archives[0]!.file.size > MAX_SIMULATION_SOURCE_BYTES) { + throw new Error(`Архив ${archives[0]!.logicalPath} превышает лимит 16 ГБ.`); + } + return; + } + const descriptors = candidates.filter((candidate) => /\.lcc2?$/i.test(candidate.logicalPath)); + if (descriptors.length !== 1) { + throw new Error("В папке должна быть ровно одна сцена .lcc или .lcc2."); + } + const paths = new Set(); + let totalBytes = 0; + for (const candidate of candidates) { + const parts = candidate.logicalPath.split("/"); + if ( + !candidate.logicalPath + || candidate.logicalPath.startsWith("/") + || candidate.logicalPath.includes("\\") + || candidate.logicalPath.includes("\0") + || parts.some((part) => part === "" || part === "." || part === "..") + ) { + throw new Error("Папка содержит небезопасный путь."); + } + if (candidate.file.size <= 0) throw new Error(`Пустой файл: ${candidate.logicalPath}`); + totalBytes += candidate.file.size; + if (paths.has(candidate.logicalPath)) throw new Error(`Повторяющийся путь: ${candidate.logicalPath}`); + paths.add(candidate.logicalPath); + } + if (totalBytes > MAX_SIMULATION_SOURCE_BYTES) { + throw new Error("Папка с исходниками превышает лимит 16 ГБ."); + } +} + +export function hasDroppedFiles(transfer: DataTransfer): boolean { + return transfer.files.length > 0 + || Array.from(transfer.items).some((item) => item.kind === "file") + || Array.from(transfer.types).some((type) => type.toLowerCase() === "files"); +} + +export function archiveProjectName(fileName: string): string { + const name = fileName.replace(ARCHIVE_PATTERN, "").trim(); + return name || "Новая сцена"; +} + +function collectEntry( + entry: LegacyFileEntry, + target: SimulationUploadCandidate[], +): Promise { + if (entry.isFile && entry.file) { + return new Promise((resolve, reject) => entry.file?.(resolve, reject)) + .then((file) => { + target.push({ file, logicalPath: entry.fullPath.replace(/^\//, "") || file.name }); + }); + } + if (!entry.isDirectory || !entry.createReader) return Promise.resolve(); + return collectDirectory(entry.createReader(), target); +} + +async function collectDirectory( + reader: LegacyDirectoryReader, + target: SimulationUploadCandidate[], +): Promise { + while (true) { + const batch = await new Promise((resolve, reject) => { + reader.readEntries(resolve, reject); + }); + if (!batch.length) return; + for (const child of batch) await collectEntry(child, target); + } +} diff --git a/apps/control-station/src/productModel.ts b/apps/control-station/src/productModel.ts index ddf2af2..fe83942 100644 --- a/apps/control-station/src/productModel.ts +++ b/apps/control-station/src/productModel.ts @@ -161,7 +161,7 @@ export const workspaces: WorkspaceDefinition[] = [ label: "Симуляции", title: "Симуляции", eyebrow: "ТЕСТОВЫЙ КОНТУР / СИМУЛЯЦИИ", - description: "Каталог Gaussian-миров, переносимые сборки и интерактивные PlayCanvas-сцены.", + description: "Каталог Gaussian-миров, переносимые сборки и интерактивные сцены.", icon: "globe", kind: "simulations", groups: [], diff --git a/apps/control-station/src/styles/simulation.css b/apps/control-station/src/styles/simulation.css index e32b1ab..9e476ac 100644 --- a/apps/control-station/src/styles/simulation.css +++ b/apps/control-station/src/styles/simulation.css @@ -1,6 +1,8 @@ .simulation-workspace { display: grid; + height: 100%; min-width: 0; + grid-template-rows: auto minmax(0, 1fr); gap: 0.9rem; padding-bottom: 1rem; } @@ -17,6 +19,7 @@ .simulation-viewport__notice, .simulation-catalog__summary, .simulation-catalog__state, +.simulation-catalog__notice, .simulation-catalog__actions, .simulation-project-window__footer-state, .simulation-source-drop > div, @@ -60,7 +63,10 @@ } .simulation-catalog { + position: relative; display: grid; + min-height: 0; + align-content: start; gap: 0.55rem; min-width: 0; } @@ -100,23 +106,28 @@ .simulation-catalog__table-wrap { overflow: auto; border-radius: 1rem; - background: rgb(255 255 255 / 0.025); + background: transparent; } .simulation-catalog__table { width: 100%; - min-width: 62rem; - border-collapse: collapse; + min-width: 52rem; + border-collapse: separate; + border-spacing: 0 0.34rem; } .simulation-catalog__table th, .simulation-catalog__table td { - border-bottom: 1px solid var(--station-hairline); padding: 0.72rem 0.8rem; text-align: left; vertical-align: middle; } +.simulation-catalog__table th { + padding-top: 0.2rem; + padding-bottom: 0.18rem; +} + .simulation-catalog__table th:first-child, .simulation-catalog__table td:first-child { padding-left: 1rem; @@ -124,6 +135,8 @@ .simulation-catalog__table th:last-child, .simulation-catalog__table td:last-child { + width: 6.4rem; + min-width: 6.4rem; padding-right: 1rem; } @@ -131,12 +144,21 @@ transition: background var(--nodedc-duration-fast) var(--nodedc-ease-standard); } -.simulation-catalog__table tbody tr:hover { +.simulation-catalog__table tbody td { background: rgb(255 255 255 / 0.025); + transition: background var(--nodedc-duration-fast) var(--nodedc-ease-standard); } -.simulation-catalog__table tbody tr:last-child td { - border-bottom: 0; +.simulation-catalog__table tbody tr:hover td { + background: rgb(255 255 255 / 0.045); +} + +.simulation-catalog__table tbody td:first-child { + border-radius: 0.85rem 0 0 0.85rem; +} + +.simulation-catalog__table tbody td:last-child { + border-radius: 0 0.85rem 0.85rem 0; } .simulation-catalog__table td { @@ -156,7 +178,7 @@ display: flex; align-items: center; gap: 0.65rem; - min-width: 14rem; + min-width: 11rem; border: 0; background: transparent; color: inherit; @@ -165,16 +187,26 @@ cursor: pointer; } +.simulation-catalog__table td:first-child > button > span:last-child { + min-width: 0; +} + .simulation-catalog__table td:first-child > button strong { display: block; max-width: 20rem; - overflow: hidden; + overflow: clip; color: var(--nodedc-text-primary); font-size: 0.7rem; text-overflow: ellipsis; white-space: nowrap; } +.simulation-catalog__table td:first-child > button small { + overflow: hidden; + text-overflow: ellipsis; + white-space: nowrap; +} + .simulation-catalog__project-icon, .simulation-catalog__empty > span { display: grid; @@ -188,10 +220,53 @@ } .simulation-catalog__actions { + display: flex; justify-content: flex-end; gap: 0.28rem; } +.simulation-catalog__progress { + display: grid; + min-width: 0; + gap: 0.26rem; +} + +.simulation-catalog__progress-meta, +.simulation-catalog__progress-stage { + overflow: hidden; + color: var(--nodedc-text-muted); + font-size: 0.54rem; + text-overflow: ellipsis; + white-space: nowrap; +} + +.simulation-catalog__progress-track { + position: relative; + overflow: hidden; + width: 100%; + height: 0.3rem; + border-radius: 999px; + background: rgb(255 255 255 / 0.08); +} + +.simulation-catalog__progress-track i { + position: absolute; + inset: 0 auto 0 0; + min-width: 0; + border-radius: inherit; + background: rgb(var(--nodedc-accent-rgb)); + transition: width var(--nodedc-duration-fast) var(--nodedc-ease-standard); +} + +.simulation-catalog__progress[data-indeterminate="true"] .simulation-catalog__progress-track i { + width: 28% !important; + animation: simulation-progress-pulse 1.6s ease-in-out infinite; +} + +.simulation-catalog__progress-stage { + font-size: 0.52rem; +} + .simulation-catalog__state, .simulation-catalog__empty { min-height: 20rem; @@ -203,6 +278,67 @@ font-size: 0.65rem; } +.simulation-catalog__notice { + justify-content: flex-start; + gap: 0.55rem; + border-radius: 0.85rem; + background: rgb(var(--nodedc-danger-rgb) / 0.08); + color: var(--nodedc-danger); + padding: 0.7rem 0.85rem; + font-size: 0.62rem; +} + +.simulation-catalog__drop-overlay { + position: absolute; + z-index: 4; + inset: 0; + display: grid; + place-content: center; + justify-items: center; + gap: 0.55rem; + border-radius: 1rem; + background: var(--nodedc-canvas); + color: var(--nodedc-text-muted); + text-align: center; +} + +.simulation-catalog__drop-mark { + display: grid; + width: 4rem; + height: 4rem; + margin-bottom: 0.25rem; + place-items: center; + border-radius: 50%; + background: var(--nodedc-glass-control-active); + color: var(--nodedc-glass-control-active-text); +} + +.simulation-catalog__drop-overlay strong { + color: var(--nodedc-text-primary); + font-size: 0.86rem; +} + +.simulation-catalog__drop-overlay span { + font-size: 0.64rem; +} + +.simulation-catalog__drop-overlay small { + color: var(--nodedc-text-muted); + font-size: 0.56rem; +} + +@keyframes simulation-progress-pulse { + from { transform: translateX(-105%); } + to { transform: translateX(360%); } +} + +@media (prefers-reduced-motion: reduce) { + .simulation-catalog__progress[data-indeterminate="true"] .simulation-catalog__progress-track i { + animation: none; + transform: translateX(0); + } +} + .simulation-catalog__state > div { display: grid; gap: 0.2rem; @@ -342,6 +478,9 @@ } .simulation-viewport__toolbar { + position: sticky; + z-index: 10; + top: 0; display: grid; grid-template-columns: minmax(12rem, 1fr) auto minmax(12rem, 1fr); align-items: center; @@ -379,19 +518,34 @@ top: calc(100% + 0.65rem); right: 0; display: grid; + grid-template-rows: auto minmax(0, 1fr); width: min(21rem, calc(100cqw - 1.3rem)); - gap: 0.75rem; - border-radius: 0.9rem; - background: rgb(25 27 31 / 0.98); - box-shadow: 0 1rem 3rem rgb(0 0 0 / 0.42); - padding: 0.8rem; + max-height: min(44rem, calc(100vh - 7rem)); + overflow: clip; + gap: 0; + padding: 0; } .simulation-viewport__settings-head { + position: relative; + z-index: 2; display: flex; align-items: center; justify-content: space-between; gap: 0.75rem; + background: var(--nodedc-glass-panel-bg-strong); + padding: 0.8rem; + box-shadow: 0 0.55rem 1rem rgb(0 0 0 / 0.18); + backdrop-filter: blur(18px); +} + +.simulation-viewport__settings-scroll { + display: grid; + min-height: 0; + overflow-y: auto; + overscroll-behavior: contain; + gap: 0.75rem; + padding: 0.75rem 0.8rem 0.8rem; } .simulation-viewport__settings-head > div, @@ -440,16 +594,49 @@ gap: 0.55rem; } -.simulation-viewport__settings-layer-row { +.simulation-viewport__settings-rotations { display: grid; - grid-template-columns: minmax(0, 1fr) 4.5rem; - align-items: center; - gap: 0.55rem; + gap: 0.7rem; } -.simulation-viewport__axis-select { - width: 4.5rem; - min-width: 0; +.simulation-viewport__rotation-row { + display: grid; + gap: 0.4rem; +} + +.simulation-viewport__rotation-row > strong { + color: var(--nodedc-text-secondary); + font-size: 0.6rem; +} + +.simulation-viewport__rotation-fields { + display: grid; + grid-template-columns: repeat(3, minmax(0, 1fr)); + gap: 0.45rem; +} + +.simulation-viewport__rotation-field { + gap: 0.22rem; +} + +.simulation-viewport__rotation-field .nodedc-field__label-row { + padding-inline: 0.15rem; +} + +.simulation-viewport__rotation-field .nodedc-field__label { + font-size: 0.54rem; +} + +.simulation-viewport__rotation-input { + min-height: 1.75rem; + padding: 0.2rem 0.55rem; + font-size: 0.64rem; + text-align: right; +} + +.simulation-viewport__rotation-input:disabled { + cursor: not-allowed; + opacity: 0.45; } .simulation-viewport__settings-error { @@ -459,6 +646,30 @@ padding: 0.55rem 0.65rem; } +.simulation-ugv-settings { + gap: 0.7rem; +} + +.simulation-ugv-settings__subhead { + display: flex; + align-items: baseline; + justify-content: space-between; + gap: 0.65rem; + margin-top: 0.1rem; + padding-top: 0.55rem; + border-top: 1px solid rgb(255 255 255 / 0.055); +} + +.simulation-ugv-settings__subhead strong { + color: var(--nodedc-text-secondary); + font-size: 0.58rem; +} + +.simulation-ugv-settings__save { + width: 100%; + margin-top: 0.15rem; +} + .simulation-viewport__toolbar-balance { min-width: 0; } @@ -472,7 +683,7 @@ .simulation-viewport__stage { position: relative; min-width: 0; - min-height: 30rem; + min-height: 18rem; overflow: hidden; } @@ -491,6 +702,16 @@ cursor: grabbing; } +.simulation-viewport[data-control-mode="ugv"] .simulation-viewport__stage canvas, +.simulation-viewport[data-control-mode="ugv"] .simulation-viewport__stage canvas:active { + cursor: grab; +} + +.simulation-viewport[data-control-mode="ugv"] .simulation-viewport__stage canvas.is-orbiting, +.simulation-viewport[data-control-mode="ugv"] .simulation-viewport__stage canvas.is-orbiting:active { + cursor: grabbing; +} + .simulation-viewport__stage canvas:focus-visible { box-shadow: inset 0 0 0 2px rgb(var(--nodedc-accent-rgb) / 0.7); } diff --git a/apps/control-station/src/workspaces/simulation/SimulationWorkspace.tsx b/apps/control-station/src/workspaces/simulation/SimulationWorkspace.tsx index c5eccd1..50deeb5 100644 --- a/apps/control-station/src/workspaces/simulation/SimulationWorkspace.tsx +++ b/apps/control-station/src/workspaces/simulation/SimulationWorkspace.tsx @@ -1,25 +1,45 @@ -import { useCallback, useEffect, useMemo, useState } from "react"; +import { + useCallback, + useEffect, + useMemo, + useRef, + useState, + type DragEvent, +} from "react"; import { ActivityIndicator, Button, ConfirmationModal, GlassSurface, Icon, - IconButton, StatusBadge, } from "@nodedc/ui-react"; +import { SimulationCatalog } from "../../components/simulation/SimulationCatalog"; import { SimulationProjectWindow } from "../../components/simulation/SimulationProjectWindow"; import { SimulationViewport } from "../../components/simulation/SimulationViewport"; import { + createSimulationProject, deleteSimulationProject, fetchSimulationProjects, retrySimulationProject, + uploadSimulationProjectSource, type SimulationProject, type SimulationProjectStatus, + type SimulationUploadProgress, } from "../../core/simulation/projects"; +import { + archiveProjectName, + archivesFromDrop, + hasDroppedFiles, +} from "../../core/simulation/sourceFiles"; -const ACTIVE_STATUSES = new Set(["queued", "processing", "importing"]); +const BUILD_STATUSES = new Set(["queued", "processing", "importing"]); + +interface BrowserUpload { + project: SimulationProject; + file: File; +} export function SimulationWorkspace() { const [projects, setProjects] = useState([]); @@ -30,6 +50,15 @@ export function SimulationWorkspace() { const [editing, setEditing] = useState(null); const [deleting, setDeleting] = useState(null); const [retryingId, setRetryingId] = useState(null); + const [pendingUploads, setPendingUploads] = useState([]); + const [uploadProgress, setUploadProgress] = useState>( + () => new Map(), + ); + const [queueError, setQueueError] = useState(null); + const [dropping, setDropping] = useState(false); + const activeUploadRef = useRef<{ projectId: string; controller: AbortController } | null>(null); + const intakeChainRef = useRef>(Promise.resolve()); + const dragDepthRef = useRef(0); const load = useCallback(async (signal?: AbortSignal) => { try { @@ -51,11 +80,60 @@ export function SimulationWorkspace() { }, [load]); useEffect(() => { - if (!projects.some((project) => ACTIVE_STATUSES.has(project.status))) return; + if (!projects.some((project) => BUILD_STATUSES.has(project.status))) return; const timer = window.setInterval(() => void load(), 2_000); return () => window.clearInterval(timer); }, [load, projects]); + useEffect(() => { + const next = pendingUploads[0]; + if (!next || activeUploadRef.current) return; + const controller = new AbortController(); + activeUploadRef.current = { projectId: next.project.projectId, controller }; + void uploadSimulationProjectSource( + next.project, + [{ file: next.file, logicalPath: next.file.name }], + (progress) => { + setUploadProgress((current) => { + const updated = new Map(current); + updated.set(next.project.projectId, progress); + return updated; + }); + setProjects((current) => current.map((project) => ( + project.projectId === next.project.projectId + ? { + ...project, + source: { ...project.source, uploadedByteLength: progress.uploadedBytes }, + } + : project + ))); + }, + controller.signal, + ).then((queued) => { + setProjects((current) => current.map((project) => ( + project.projectId === queued.projectId ? queued : project + ))); + setQueueError(null); + }).catch((caught) => { + if (controller.signal.aborted) return; + setQueueError(caught instanceof Error + ? `${next.file.name}: ${caught.message}` + : `${next.file.name}: загрузка остановлена.`); + }).finally(() => { + setPendingUploads((current) => current.filter( + (item) => item.project.projectId !== next.project.projectId, + )); + setUploadProgress((current) => { + const updated = new Map(current); + updated.delete(next.project.projectId); + return updated; + }); + activeUploadRef.current = null; + }); + }, [pendingUploads]); + + useEffect(() => () => activeUploadRef.current?.controller.abort(), []); + const selected = useMemo( () => projects.find((project) => project.projectId === selectedId) ?? null, [projects, selectedId], @@ -72,8 +150,9 @@ export function SimulationWorkspace() { }; const acceptSaved = (project: SimulationProject) => { + const wasEditing = editing !== null; setProjects((current) => [project, ...current.filter((item) => item.projectId !== project.projectId)]); - setSelectedId(project.projectId); + if (!wasEditing) setSelectedId(project.projectId); setWindowOpen(false); setEditing(null); }; @@ -86,10 +165,77 @@ export function SimulationWorkspace() { const confirmDelete = async () => { if (!deleting) return; - await deleteSimulationProject(deleting.projectId); - setProjects((current) => current.filter((project) => project.projectId !== deleting.projectId)); - if (selectedId === deleting.projectId) setSelectedId(null); - setDeleting(null); + const pending = pendingUploads.find((item) => item.project.projectId === deleting.projectId); + if (activeUploadRef.current?.projectId === deleting.projectId) { + activeUploadRef.current.controller.abort(); + } + setPendingUploads((current) => current.filter( + (item) => item.project.projectId !== deleting.projectId, + )); + try { + await deleteSimulationProject(deleting.projectId); + setProjects((current) => current.filter((project) => project.projectId !== deleting.projectId)); + setUploadProgress((current) => { + const updated = new Map(current); + updated.delete(deleting.projectId); + return updated; + }); + if (selectedId === deleting.projectId) setSelectedId(null); + setDeleting(null); + } catch (caught) { + if (pending) setPendingUploads((current) => [pending, ...current]); + const message = caught instanceof Error ? caught.message : "Не удалось удалить проект."; + setQueueError(message); + throw caught; + } + }; + + const enqueueDroppedArchives = useCallback((files: File[]) => { + intakeChainRef.current = intakeChainRef.current.then(async () => { + for (const file of files) { + try { + const project = await createSimulationProject( + archiveProjectName(file.name), + "outdoor", + [{ file, logicalPath: file.name }], + ); + setProjects((current) => [ + project, + ...current.filter((item) => item.projectId !== project.projectId), + ]); + setPendingUploads((current) => [...current, { project, file }]); + } catch (caught) { + setQueueError(caught instanceof Error + ? `${file.name}: ${caught.message}` + : `${file.name}: не удалось создать проект.`); + } + } + }); + }, []); + + const handleDrop = async (transfer: DataTransfer) => { + dragDepthRef.current = 0; + setDropping(false); + setQueueError(null); + try { + enqueueDroppedArchives(await archivesFromDrop(transfer)); + } catch (caught) { + setQueueError(caught instanceof Error ? caught.message : "Архивы не приняты."); + } + }; + + const handleDragEnter = (event: DragEvent) => { + if (!hasDroppedFiles(event.dataTransfer)) return; + event.preventDefault(); + dragDepthRef.current += 1; + setDropping(true); + }; + + const handleDragLeave = (event: DragEvent) => { + if (!hasDroppedFiles(event.dataTransfer)) return; + event.preventDefault(); + dragDepthRef.current = Math.max(0, dragDepthRef.current - 1); + if (dragDepthRef.current === 0) setDropping(false); }; const retry = async (project: SimulationProject) => { @@ -141,7 +287,7 @@ export function SimulationWorkspace() {
- {selected.provider.state ?? selected.status} + {providerStateLabel(selected.provider.state, selected.status)} {selected.status === "failed" ? ( -
-
-
Проектов{projects.length.toLocaleString("ru-RU")}
-
Готово{projects.filter((project) => project.status === "ready").length}
-
В работе{projects.filter((project) => ACTIVE_STATUSES.has(project.status)).length}
-
Исходники{formatBytes(projects.reduce((sum, project) => sum + project.source.totalByteLength, 0))}
-
- {loading ? ( -
- - Читаем каталог сцен -
- ) : error ? ( -
- -
Каталог недоступен{error}
- -
- ) : projects.length === 0 ? ( -
- - Проектов пока нет -

Создайте первый мир из папки LCC/LCC2 или архива ZIP, RAR, 7z.

- -
- ) : ( -
- - - - - - - - - - - - - {projects.map((project) => { - const status = statusPresentation(project.status); - return ( - - - - - - - - - - ); - })} - -
ПроектИсточникРазмерСплатыСтатусОбновлён -
- - {project.source.kind === "archive" ? "Архив" : "Папка"}{project.source.files.length} файл(ов){formatBytes(project.source.totalByteLength)}—{status.label}{formatDate(project.updatedAtUtc)} -
- setDeleting(project)}> - - - openEdit(project)}> - - -
-
-
- )} -
+ void load()} + onSelect={(project) => setSelectedId(project.projectId)} + onEdit={openEdit} + onDelete={setDeleting} + /> { - const [productModel, workspaceHub, workspace, styles] = await Promise.all([ + const [productModel, workspaceHub, workspace, catalog, styles] = await Promise.all([ read("productModel.ts"), read("workspaces/Workspaces.tsx"), read("workspaces/simulation/SimulationWorkspace.tsx"), + read("components/simulation/SimulationCatalog.tsx"), read("styles.css"), ]); assert.match(productModel, /id: "simulations"[\s\S]*root: "polygon"[\s\S]*kind: "simulations"/); assert.match(workspaceHub, /case "simulations":[\s\S]*/); - assert.match(workspace, /simulation-catalog__table/); + assert.match(catalog, /simulation-catalog__table/); + assert.match(workspace, /archivesFromDrop/); + assert.match(workspace, /uploadSimulationProjectSource/); + assert.match(catalog, /colSpan=\{3\}/); + assert.match(catalog, /Ожидает обработки/); + assert.match(catalog, /Прогресс \$\{roundedPercent\}% \|/); + assert.match(catalog, /Осталось примерно \$\{minutes\} мин/); + assert.match(catalog, /simulation-catalog__progress-track/); + assert.doesNotMatch(catalog, /disabled=\{ACTIVE_STATUSES\.has/); assert.match(workspace, / { - const [core, window] = await Promise.all([ + const [core, window, sourceFiles] = await Promise.all([ read("core/simulation/projects.ts"), read("components/simulation/SimulationProjectWindow.tsx"), + read("core/simulation/sourceFiles.ts"), ]); assert.match(core, /const API_ROOT = "\/api\/v1\/simulation-worlds\/projects"/); assert.match(core, /method: "HEAD"/); assert.match(core, /method: "PATCH"/); assert.match(core, /"Upload-Offset"/); + assert.match(core, /estimatedSecondsRemaining/); + assert.match(core, /smoothedBytesPerSecond \* 0\.7 \+ currentBytesPerSecond \* 0\.3/); + assert.match(core, /estimateSimulationProcessing/); + assert.match(core, /jobCreatedAtUtc/); + assert.match(core, /stateStartedAtUtc/); + assert.match(core, /REFERENCE_STREAM_SECONDS = 2_317/); assert.doesNotMatch(core, /Authorization|Bearer|18090|Worker 006/); assert.match(window, /accept="\.zip,\.rar,\.7z"/); assert.match(window, /webkitdirectory/); - assert.match(window, /webkitGetAsEntry/); - assert.match(window, /ровно одна сцена \.lcc или \.lcc2/); + assert.match(sourceFiles, /webkitGetAsEntry/); + assert.match(sourceFiles, /entry\?\.isDirectory/); + assert.match(sourceFiles, /const file = item\.getAsFile\(\)/); + assert.match(sourceFiles, /MAX_SIMULATION_SOURCE_BYTES = 16 \* 1024 \*\* 3/); + assert.match(sourceFiles, /item\.kind === "file"/); + assert.match(sourceFiles, /ровно одна сцена \.lcc или \.lcc2/); + assert.match(sourceFiles, /отдельные архивы ZIP, RAR или 7z/); assert.doesNotMatch(window, /Загружаем источник/); + assert.match(window, /считаем время/); }); test("failed simulation can restart from its retained Mission Core source", async () => { @@ -54,9 +78,13 @@ test("failed simulation can restart from its retained Mission Core source", asyn }); test("PlayCanvas owns the realtime scene graph without an iframe or React entity tree", async () => { - const [runtime, viewport, packageDocument] = await Promise.all([ + const [runtime, ugv, viewport, ugvSettings, projects, styles, packageDocument] = await Promise.all([ read("components/simulation/PlayCanvasRuntime.ts"), + read("components/simulation/SimulationUgvController.ts"), read("components/simulation/SimulationViewport.tsx"), + read("components/simulation/SimulationUgvSettingsPanel.tsx"), + read("core/simulation/projects.ts"), + read("styles/simulation.css"), readFile(new URL("../package.json", import.meta.url), "utf8"), ]); @@ -72,41 +100,118 @@ test("PlayCanvas owns the realtime scene graph without an iframe or React entity assert.match(runtime, /maximum: \{[^}]*lodRangeMin: 0, lodRangeMax: 5, pixelRatio: 2, splatBudget: 4_000_000, targetFps: 60/); assert.match(runtime, /app\.scene\.gsplat\.splatBudget = profile\.splatBudget/); assert.match(runtime, /app\.autoRender = false/); + assert.match(runtime, /app\.on\("update", this\.updateFrame\)/); + assert.match(runtime, /if \(!cameraChanged && this\.controlMode === "free"\) return/); + assert.doesNotMatch(runtime, /app\.on\("frameupdate"/); assert.match(runtime, /WEBGL_lose_context/); assert.match(runtime, /selected\.horizontal[^\n]+frame\.mouse\[0\] \*= -1/); assert.match(runtime, /selected\.vertical[^\n]+frame\.mouse\[1\] \*= -1/); assert.match(runtime, /setCameraInversion/); - assert.match(runtime, /async setViewMode\([\s\S]*this\.resetCameraInteraction\(\);[\s\S]*this\.viewMode = mode/); - assert.match(runtime, /input\._pointerId = -1/); + assert.match(runtime, /async setViewMode\([\s\S]*this\.viewMode = mode/); + assert.doesNotMatch(runtime.match(/async setViewMode\([\s\S]*?\n }/)?.[0] ?? "", /resetCameraInteraction/); + assert.match(runtime, /controller\.fire\("state"\)/); assert.match(runtime, /state\.mouse\.fill\(0\)/); assert.match(runtime, /new Asset\([\s\S]*"container"/); - assert.match(runtime, /instantiateRenderEntity/); + assert.match(runtime, /instantiateModelEntity/); assert.match(runtime, /applyWorldTransform/); assert.match(runtime, /setLayerWorldTransform/); - assert.match(runtime, /PLAYCANVAS_X_180_TRANSFORM/); - assert.match(runtime, /PLAYCANVAS_Y_180_TRANSFORM/); - assert.match(runtime, /PLAYCANVAS_Z_180_TRANSFORM/); + assert.match(runtime, /playCanvasEulerTransform/); + assert.match(runtime, /setFromEulerAngles/); assert.match(runtime, /DracoDecoderModule/); assert.match(runtime, /draco_decoder_gltf\.wasm/); assert.match(runtime, /ensureCollision/); + assert.match(runtime, /setControlMode/); + assert.match(runtime, /setUgvPreset/); + assert.match(runtime, /SimulationUgvController/); + assert.match(runtime, /for \(const model of this\.collisionVisuals\) model\.enabled = visible/); + assert.match(runtime, /instantiateModelEntity/); + assert.match(runtime, /this\.ugvController\?\.disable\(\)/); + assert.match(runtime, /this\.collisionMaterial\.blendType = combined \? BLEND_NORMAL : BLEND_NONE/); + assert.match(runtime, /private requestRender\(\): void/); assert.match(runtime, /app\.root\.addChild/); assert.match(runtime, /dispose\(\)/); assert.doesNotMatch(`${runtime}\n${viewport}`, /iframe|\(project\.viewerSettings\.quality\)/); assert.match(viewport, /runtimeRef\.current\?\.home\(\)/); assert.match(viewport, /Настройки сцены/); - assert.match(viewport, /Инверсия визуального слоя/); - assert.match(viewport, /Инверсия collision-слоя/); + assert.match(viewport, /Гауссовый слой/); + assert.match(viewport, /Слой коллизий/); assert.match(viewport, /Инверсия управления по горизонтали/); assert.match(viewport, /Инверсия управления по вертикали/); - assert.match(viewport, /Ось инверсии визуального слоя/); - assert.match(viewport, /Ось инверсии collision-слоя/); + assert.match(viewport, /ROTATION_AXES/); + assert.match(viewport, /PlayCanvas|PlayCanvas загружает|Streamed SOG/); + assert.match(ugv, /AMMO_MODULE_ROOT = "\/vendor\/playcanvas\/ammo\/2026-08-25"/); + assert.match(ugv, /new this\.ammo\.btRaycastVehicle/); + assert.match(ugv, /type: "mesh"/); + assert.match(ugv, /MeshoptSimplifier\.simplify/); + assert.match(ugv, /PHYSICS_PROXY_MAX_TRIANGLES = 240_000/); + assert.match(ugv, /createPhysicsProxyMesh/); + assert.match(ugv, /findSafeSpawnPosition/); + assert.match(ugv, /physics\.raycastFirst/); + assert.match(ugv, /runCleanup\("destroy static physics mesh", \(\) => mesh\.destroy\(\)\)/); + assert.match(ugv, /type: "static"/); + assert.match(ugv, /mass: this\.settings\.massKg/); + assert.match(ugv, /suspensionRestLength/); + assert.match(ugv, /requestedTurn = Number\(this\.isPressed\("KeyA", "ArrowLeft"\)\) - Number\(this\.isPressed\("KeyD", "ArrowRight"\)\)/); + assert.match(ugv, /leftCommand = clamp\(forwardCommand - turnCommand/); + assert.match(ugv, /rightCommand = clamp\(forwardCommand \+ turnCommand/); + assert.match(ugv, /this\.settings\.invertSteering/); + assert.match(ugv, /this\.settings\.maxSpeedMetersPerSecond/); + assert.match(ugv, /this\.settings\.maxTurnRateDegrees/); + assert.match(ugv, /desiredSpeed = forwardInput \* maxSpeed/); + assert.match(ugv, /maximumAcceleration = clamp\(1\.4 \+ maxSpeed \* 0\.35, 1\.8, 4\.2\)/); + assert.match(ugv, /SERVICE_BRAKE_DECELERATION_MPS2 = 1\.8/); + assert.match(ugv, /horizontalSpeed - deceleration \* Math\.max\(0, deltaSeconds\)/); + assert.match(ugv, /this\.vehicle\.setBrake\(0, index\)/); + assert.doesNotMatch(ugv, /massKg \* 3/); + assert.match(ugv, /pureTurn = !braking && forwardInput === 0 && turnInput !== 0/); + assert.match(ugv, /desiredYawRate = -turnInput \* maxTurnRate/); + assert.match(ugv, /this\.orbitYaw = \(this\.orbitYaw - deltaX \* 0\.006\)/); + assert.match(ugv, /CAMERA_RETURN_DELAY_SECONDS = 1\.2/); + assert.match(ugv, /CAMERA_RETURN_DURATION_SECONDS = 2/); + assert.match(ugv, /approachAngle\(this\.orbitYaw, rearOrbitYaw/); + assert.match(ugv, /this\.canvas\.addEventListener\("pointerdown", this\.onOrbitPointerDown\)/); + assert.match(ugv, /this\.canvas\.addEventListener\("wheel", this\.onOrbitWheel/); + assert.match(ugv, /vehicleGeometryChanged/); + assert.match(ugv, /removeAction\(this\.vehicle as NativeObject\)/); + assert.match(ugv, /runCleanup\("destroy static physics proxy", \(\) => entity\.destroy\(\)\)/); + assert.match(ugv, /runCleanup\("destroy vehicle entity"/); + assert.match(ugvSettings, /Физика UGV/); + assert.match(ugvSettings, /Дифференциальный привод/); + assert.match(ugvSettings, /Масса конструкции/); + assert.match(ugvSettings, /Общая высота/); + assert.match(ugvSettings, /Клиренс/); + assert.match(ugvSettings, /Скорость движения/); + assert.match(ugvSettings, /Скорость разворота/); + assert.match(ugvSettings, /exactValueBounds=\{SIMULATION_UGV_EXACT_VALUE_LIMITS\.maxSpeedMetersPerSecond\}/); + assert.match(projects, /maxSpeedMetersPerSecond: \{ min: 0, max: 1_000_000_000 \}/); + assert.match(ugvSettings, /Инверсия управления A\/D/); + assert.match(ugvSettings, /Сохранить пресет/); + assert.match(ugvSettings, / None: self.root = data_dir.expanduser().resolve() / "simulation-worlds" @@ -105,13 +114,15 @@ class SimulationProjectStore: raise SimulationProjectError("simulation source paths must be unique") logical_paths.add(logical_path) total_bytes += byte_length - normalized.append({ - "file_id": f"src-{index:05d}-{uuid4().hex[:8]}", - "logical_path": logical_path, - "byte_length": byte_length, - "uploaded_bytes": 0, - "sha256": None, - }) + normalized.append( + { + "file_id": f"src-{index:05d}-{uuid4().hex[:8]}", + "logical_path": logical_path, + "byte_length": byte_length, + "uploaded_bytes": 0, + "sha256": None, + } + ) if total_bytes > MAX_SOURCE_BYTES: raise SimulationProjectError("simulation source exceeds byte admission") if source_kind == "archive": @@ -141,7 +152,9 @@ class SimulationProjectStore: "provider": { "provider_id": "gaussian-pipeline", "job_id": None, + "job_created_at_utc": None, "state": None, + "state_started_at_utc": None, "progress": None, "runtime": None, }, @@ -269,7 +282,9 @@ class SimulationProjectStore: document["provider"] = { "provider_id": "gaussian-pipeline", "job_id": None, + "job_created_at_utc": None, "state": None, + "state_started_at_utc": None, "progress": None, "runtime": None, } @@ -286,7 +301,9 @@ class SimulationProjectStore: *, status: str, provider_job_id: str | None = None, + provider_job_created_at_utc: str | None = None, provider_state: str | None = None, + provider_state_started_at_utc: str | None = None, progress: object = None, bundle_sha256: str | None = None, ) -> dict[str, Any]: @@ -299,8 +316,26 @@ class SimulationProjectStore: if PROVIDER_JOB_ID_PATTERN.fullmatch(provider_job_id) is None: raise SimulationProjectError("simulation provider job id is invalid") document["provider"]["job_id"] = provider_job_id + if provider_job_created_at_utc is not None: + document["provider"]["job_created_at_utc"] = _provider_timestamp( + provider_job_created_at_utc, + "job creation", + ) if provider_state is not None: + previous_state = document["provider"].get("state") document["provider"]["state"] = provider_state + if ( + previous_state != provider_state + or document["provider"].get("state_started_at_utc") is None + ): + document["provider"]["state_started_at_utc"] = ( + _provider_timestamp( + provider_state_started_at_utc, + "state start", + ) + if provider_state_started_at_utc is not None + else utc_now_iso() + ) if progress is not None: document["provider"]["progress"] = progress if bundle_sha256 is not None: @@ -362,13 +397,15 @@ class SimulationProjectStore: raise SimulationProjectNotFoundError("simulation artifact is unavailable") return target, descriptor - def delete(self, project_id: str) -> None: + def delete(self, project_id: str, *, allow_active: bool = False) -> None: with self._lock: document = self._read(project_id) - if document["status"] not in TERMINAL_STATES and document["status"] != "uploading": - raise SimulationProjectConflictError( - "active simulation project cannot be deleted" - ) + if ( + not allow_active + and document["status"] not in TERMINAL_STATES + and document["status"] != "uploading" + ): + raise SimulationProjectConflictError("active simulation project cannot be deleted") shutil.rmtree(self._project_root(project_id)) def source_root(self, project_id: str) -> Path: @@ -391,7 +428,11 @@ class SimulationProjectStore: or document.get("project_id") != project_id ): raise SimulationProjectError("persisted simulation project identity is invalid") - document.setdefault("viewer_settings", _default_viewer_settings()) + document["viewer_settings"] = _migrate_viewer_settings(document.get("viewer_settings")) + provider = document.get("provider") + if isinstance(provider, dict): + provider.setdefault("job_created_at_utc", None) + provider.setdefault("state_started_at_utc", None) return document def _write(self, document: dict[str, Any]) -> None: @@ -425,21 +466,67 @@ class SimulationProjectService: ) -> None: self.store = store self.provider_factory = provider_factory + self._condition = threading.Condition() + self._queue: deque[str] = deque() + self._queued_ids: set[str] = set() + self._active_project_id: str | None = None + self._worker: threading.Thread | None = None + self._cancel_events: dict[str, threading.Event] = {} + self._inflight_jobs: dict[str, str] = {} def recover_pending(self) -> int: - pending = [ - project for project in self.store.list() - if project.get("status") in ACTIVE_STATES - ] + pending = sorted( + [project for project in self.store.list() if project.get("status") in ACTIVE_STATES], + key=lambda project: ( + str(project.get("created_at_utc")), + str(project.get("project_id")), + ), + ) for project in pending: - threading.Thread( - target=self.process, - args=(str(project["project_id"]),), - name=f"simulation-recovery-{str(project['project_id'])[-8:]}", - daemon=True, - ).start() + self.enqueue(str(project["project_id"])) return len(pending) + def enqueue(self, project_id: str) -> None: + project = self.store.get(project_id) + if project.get("status") not in ACTIVE_STATES: + raise SimulationProjectConflictError( + "simulation project is not ready for queued processing" + ) + with self._condition: + if project_id in self._queued_ids or project_id == self._active_project_id: + return + event = self._cancel_events.setdefault(project_id, threading.Event()) + event.clear() + self._queue.append(project_id) + self._queued_ids.add(project_id) + if self._worker is None or not self._worker.is_alive(): + self._worker = threading.Thread( + target=self._run_queue, + name="simulation-build-queue", + daemon=True, + ) + self._worker.start() + self._condition.notify_all() + + def _run_queue(self) -> None: + while True: + with self._condition: + if not self._queue: + self._worker = None + self._condition.notify_all() + return + project_id = self._queue.popleft() + self._queued_ids.discard(project_id) + self._active_project_id = project_id + try: + self.process(project_id) + finally: + with self._condition: + self._active_project_id = None + self._inflight_jobs.pop(project_id, None) + self._cancel_events.pop(project_id, None) + self._condition.notify_all() + def begin_build(self, project_id: str) -> dict[str, Any]: project = self.store.get(project_id) if project.get("status") == "failed": @@ -460,15 +547,20 @@ class SimulationProjectService: finally: provider.close() current_state = job.get("state") - if ( - isinstance(current_state, str) - and current_state in PROVIDER_JOB_STATES - {"failed"} - ): + if isinstance(current_state, str) and current_state in PROVIDER_JOB_STATES - { + "failed" + }: return self.store.update_processing( project_id, status="processing", provider_job_id=job_id, + provider_job_created_at_utc=_optional_provider_timestamp( + job.get("created_at_utc") + ), provider_state=current_state, + provider_state_started_at_utc=_optional_provider_timestamp( + job.get("updated_at_utc") + ), progress=job.get("progress"), ) if project.get("status") in {"failed", "ready"}: @@ -488,14 +580,17 @@ class SimulationProjectService: def process(self, project_id: str) -> None: provider: GaussianPipelineGateway | None = None try: + self._raise_if_cancelled(project_id) project = self.store.get(project_id) provider = self.provider_factory() if provider is None: raise SimulationProjectError("Gaussian Pipeline не настроен.") _retry_provider_unavailable(provider.capabilities) + self._raise_if_cancelled(project_id) existing_job_id = project["provider"].get("job_id") if isinstance(existing_job_id, str): job_id = existing_job_id + self._register_inflight_job(project_id, job_id, provider) else: if project["status"] != "queued": raise SimulationProjectError( @@ -522,25 +617,33 @@ class SimulationProjectService: "outputs": { "preview_sog": True, "streamed_sog": True, - "collision": True, + "collision": False, }, "preview_lod": "coarsest", - "collision_profile": _collision_profile(str(project["scene_type"])), + "collision_profile": None, } submitted = provider.submit_build(request) job_id = submitted.get("job_id") if not isinstance(job_id, str): raise SimulationProjectError("Gaussian Pipeline не вернул job id.") + self._register_inflight_job(project_id, job_id, provider) self.store.update_processing( project_id, status="processing", provider_job_id=job_id, + provider_job_created_at_utc=_optional_provider_timestamp( + submitted.get("created_at_utc") + ), provider_state=str(submitted.get("state") or "queued"), + provider_state_started_at_utc=_optional_provider_timestamp( + submitted.get("updated_at_utc") + ), progress=submitted.get("progress"), bundle_sha256=source.bundle_sha256, ) deadline = time.monotonic() + PROVIDER_POLL_TIMEOUT_SECONDS while True: + self._raise_if_cancelled(project_id) if time.monotonic() >= deadline: raise SimulationProjectError( "Gaussian Pipeline превысил лимит ожидания сборки." @@ -554,7 +657,13 @@ class SimulationProjectService: self.store.update_processing( project_id, status="processing", + provider_job_created_at_utc=_optional_provider_timestamp( + job.get("created_at_utc") + ), provider_state=str(state or "unknown"), + provider_state_started_at_utc=_optional_provider_timestamp( + job.get("updated_at_utc") + ), progress=job.get("progress"), ) if state == "failed": @@ -572,9 +681,11 @@ class SimulationProjectService: provider_state="ready", ) result = _retry_provider_unavailable(lambda: provider.get_result(job_id)) + self._raise_if_cancelled(project_id) artifacts = _artifact_descriptors(result.get("artifacts")) artifacts_root = self.store.artifacts_root(project_id) for descriptor in artifacts: + self._raise_if_cancelled(project_id) _retry_provider_unavailable( lambda descriptor=descriptor: provider.download_artifact( job_id, @@ -592,27 +703,78 @@ class SimulationProjectService: artifacts=artifacts, world_manifest=world_manifest, ) + except _SimulationProcessingCancelled: + pass except (GaussianPipelineGatewayError, SimulationProjectError, OSError) as exc: with suppress(SimulationProjectError): self.store.fail(project_id, str(exc)) finally: + with self._condition: + self._inflight_jobs.pop(project_id, None) if provider is not None: provider.close() def delete(self, project_id: str) -> None: project = self.store.get(project_id) - job_id = project["provider"].get("job_id") + with self._condition: + cancel = self._cancel_events.setdefault(project_id, threading.Event()) + cancel.set() + if project_id in self._queued_ids: + self._queue = deque(item for item in self._queue if item != project_id) + self._queued_ids.discard(project_id) + job_id = self._inflight_jobs.pop( + project_id, + project["provider"].get("job_id"), + ) + self._condition.notify_all() if isinstance(job_id, str): provider = self.provider_factory() if provider is None: + with suppress(SimulationProjectError): + self.store.fail( + project_id, + "Gaussian Pipeline недоступен для удаления серверных артефактов.", + ) raise SimulationProjectConflictError( "Gaussian Pipeline недоступен для удаления серверных артефактов." ) try: provider.delete_job(job_id) + except GaussianPipelineGatewayError: + with suppress(SimulationProjectError): + self.store.fail( + project_id, + "Не удалось удалить активную сборку на Worker 006.", + ) + raise finally: provider.close() - self.store.delete(project_id) + self.store.delete(project_id, allow_active=True) + with self._condition: + self._cancel_events.pop(project_id, None) + self._condition.notify_all() + + def _raise_if_cancelled(self, project_id: str) -> None: + with self._condition: + event = self._cancel_events.get(project_id) + if event is not None and event.is_set(): + raise _SimulationProcessingCancelled(project_id) + + def _register_inflight_job( + self, + project_id: str, + job_id: str, + provider: GaussianPipelineGateway, + ) -> None: + with self._condition: + event = self._cancel_events.get(project_id) + cancelled = event is not None and event.is_set() + if not cancelled: + self._inflight_jobs[project_id] = job_id + if cancelled: + with suppress(GaussianPipelineGatewayError): + provider.delete_job(job_id) + raise _SimulationProcessingCancelled(project_id) def _retry_provider_unavailable(operation: Callable[[], _T]) -> _T: @@ -650,13 +812,15 @@ def _artifact_descriptors(value: object) -> list[dict[str, Any]]: or not isinstance(role, str) ): raise SimulationProjectError("Gaussian artifact fields are invalid") - descriptors.append({ - "role": role, - "logical_path": logical_path, - "media_type": media_type, - "sha256": sha256, - "byte_length": byte_length, - }) + descriptors.append( + { + "role": role, + "logical_path": logical_path, + "media_type": media_type, + "sha256": sha256, + "byte_length": byte_length, + } + ) return descriptors @@ -666,16 +830,12 @@ def _world_manifest(project_id: str, artifacts: list[dict[str, Any]]) -> dict[st if descriptor is None: return None encoded = "/".join( - quote(part, safe="") - for part in str(descriptor["logical_path"]).split("/") + quote(part, safe="") for part in str(descriptor["logical_path"]).split("/") ) return f"/api/v1/simulation-worlds/projects/{project_id}/artifacts/{encoded}" - collision_mesh_url = ( - url_for("rover-collision-mesh") - or url_for("rover-terrain-mesh") - or url_for("collision-mesh") - ) + rover_collision_mesh_url = url_for("rover-collision-mesh") or url_for("rover-terrain-mesh") + collision_mesh_url = rover_collision_mesh_url or url_for("collision-mesh") return { "schema_version": WORLD_MANIFEST_SCHEMA, "project_id": project_id, @@ -689,39 +849,53 @@ def _world_manifest(project_id: str, artifacts: list[dict[str, Any]]) -> dict[st }, "transforms": { "world_from_visual": [1, 0, 0, 0, 0, -1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 1], - "world_from_collision": [-1, 0, 0, 0, 0, 1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 1], + "world_from_collision": ( + [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1] + if rover_collision_mesh_url is not None + else [-1, 0, 0, 0, 0, 1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 1] + ), }, } -def _collision_profile(scene_type: str) -> dict[str, Any]: - """Build the portable walkable-volume contract around the scanner origin.""" - return { - "scene_type": scene_type, - "seed_position": [0, 1, 0], - "capsule_height": 1.6, - "capsule_radius": 0.2, - "voxel_size": 0.2 if scene_type == "outdoor" else 0.1, - "mesh_shape": "smooth", - } - - def _default_viewer_settings() -> dict[str, Any]: return { "schema_version": VIEWER_SETTINGS_SCHEMA, "quality": "high", - "visual": {"inverted": True, "axis": "x"}, - "collision": {"inverted": True, "axis": "y"}, + "visual": {"rotation_degrees": {"x": 180.0, "y": 0.0, "z": 0.0}}, + "collision": {"rotation_degrees": {"x": 0.0, "y": 0.0, "z": 0.0}}, "camera": { "invert_horizontal": True, "invert_vertical": False, }, + "ugv": _default_ugv_settings(), + } + + +def _default_ugv_settings() -> dict[str, Any]: + return { + "preset_name": "UGV 100 кг", + "mass_kg": 100.0, + "dimensions_m": { + "length": 1.0, + "width": 0.8, + "height": 0.4, + "ground_clearance": 0.15, + }, + "max_speed_mps": 1.2, + "max_turn_rate_degrees": 45.0, + "invert_steering": False, } def _viewer_settings(value: object) -> dict[str, Any]: if not isinstance(value, dict) or set(value) != { - "schema_version", "quality", "visual", "collision", "camera" + "schema_version", + "quality", + "visual", + "collision", + "camera", + "ugv", }: raise SimulationProjectError("simulation viewer settings contract is invalid") if value.get("schema_version") != VIEWER_SETTINGS_SCHEMA: @@ -732,23 +906,104 @@ def _viewer_settings(value: object) -> dict[str, Any]: def layer(name: str) -> dict[str, Any]: raw = value.get(name) - if not isinstance(raw, dict) or set(raw) != {"inverted", "axis"}: + if not isinstance(raw, dict) or set(raw) != {"rotation_degrees"}: raise SimulationProjectError(f"simulation {name} transform is invalid") - inverted = raw.get("inverted") - axis = raw.get("axis") - if not isinstance(inverted, bool) or axis not in {"x", "y", "z"}: + raw_rotation = raw.get("rotation_degrees") + if not isinstance(raw_rotation, dict) or set(raw_rotation) != {"x", "y", "z"}: raise SimulationProjectError(f"simulation {name} transform is invalid") - return {"inverted": inverted, "axis": axis} + rotation: dict[str, float] = {} + for axis in ("x", "y", "z"): + angle = raw_rotation.get(axis) + if ( + not isinstance(angle, (int, float)) + or isinstance(angle, bool) + or not math.isfinite(angle) + or angle < -360.0 + or angle > 360.0 + ): + raise SimulationProjectError(f"simulation {name} transform is invalid") + rotation[axis] = float(angle) + return {"rotation_degrees": rotation} camera = value.get("camera") - if not isinstance(camera, dict) or set(camera) != { - "invert_horizontal", "invert_vertical" - }: + if not isinstance(camera, dict) or set(camera) != {"invert_horizontal", "invert_vertical"}: raise SimulationProjectError("simulation camera settings are invalid") horizontal = camera.get("invert_horizontal") vertical = camera.get("invert_vertical") if not isinstance(horizontal, bool) or not isinstance(vertical, bool): raise SimulationProjectError("simulation camera settings are invalid") + + ugv = value.get("ugv") + if not isinstance(ugv, dict) or set(ugv) != { + "preset_name", + "mass_kg", + "dimensions_m", + "max_speed_mps", + "max_turn_rate_degrees", + "invert_steering", + }: + raise SimulationProjectError("simulation UGV settings are invalid") + preset_name = " ".join(str(ugv.get("preset_name", "")).split()) + if not 1 <= len(preset_name) <= 80: + raise SimulationProjectError("simulation UGV preset name is invalid") + dimensions = ugv.get("dimensions_m") + if not isinstance(dimensions, dict) or set(dimensions) != { + "length", + "width", + "height", + "ground_clearance", + }: + raise SimulationProjectError("simulation UGV dimensions are invalid") + + def bounded_number( + raw: object, + *, + minimum: float, + maximum: float, + label: str, + ) -> float: + if ( + not isinstance(raw, (int, float)) + or isinstance(raw, bool) + or not math.isfinite(raw) + or raw < minimum + or raw > maximum + ): + raise SimulationProjectError(f"simulation UGV {label} is invalid") + return float(raw) + + mass_kg = bounded_number( + ugv.get("mass_kg"), minimum=0.01, maximum=1_000_000_000, label="mass" + ) + length = bounded_number( + dimensions.get("length"), minimum=0.01, maximum=1_000_000_000, label="length" + ) + width = bounded_number( + dimensions.get("width"), minimum=0.01, maximum=1_000_000_000, label="width" + ) + height = bounded_number( + dimensions.get("height"), minimum=0.07, maximum=1_000_000_000, label="height" + ) + ground_clearance = bounded_number( + dimensions.get("ground_clearance"), + minimum=0.01, + maximum=1_000_000_000, + label="ground clearance", + ) + if ground_clearance >= height - 0.05: + raise SimulationProjectError("simulation UGV ground clearance exceeds its height") + max_speed_mps = bounded_number( + ugv.get("max_speed_mps"), minimum=0, maximum=1_000_000_000, label="maximum speed" + ) + max_turn_rate_degrees = bounded_number( + ugv.get("max_turn_rate_degrees"), + minimum=0, + maximum=1_000_000_000, + label="maximum turn rate", + ) + invert_steering = ugv.get("invert_steering") + if not isinstance(invert_steering, bool): + raise SimulationProjectError("simulation UGV steering inversion is invalid") return { "schema_version": VIEWER_SETTINGS_SCHEMA, "quality": quality, @@ -758,9 +1013,69 @@ def _viewer_settings(value: object) -> dict[str, Any]: "invert_horizontal": horizontal, "invert_vertical": vertical, }, + "ugv": { + "preset_name": preset_name, + "mass_kg": mass_kg, + "dimensions_m": { + "length": length, + "width": width, + "height": height, + "ground_clearance": ground_clearance, + }, + "max_speed_mps": max_speed_mps, + "max_turn_rate_degrees": max_turn_rate_degrees, + "invert_steering": invert_steering, + }, } +def _migrate_viewer_settings(value: object) -> dict[str, Any]: + if not isinstance(value, dict): + return _default_viewer_settings() + if value.get("schema_version") == VIEWER_SETTINGS_SCHEMA: + return _viewer_settings(value) + if value.get("schema_version") == "missioncore.simulation-viewer-settings/v2": + migrated_v2 = { + **value, + "schema_version": VIEWER_SETTINGS_SCHEMA, + "ugv": _default_ugv_settings(), + } + try: + return _viewer_settings(migrated_v2) + except SimulationProjectError: + return _default_viewer_settings() + if value.get("schema_version") != "missioncore.simulation-viewer-settings/v1": + return _default_viewer_settings() + + def legacy_layer(name: str) -> dict[str, Any]: + raw = value.get(name) + rotation = {"x": 0.0, "y": 0.0, "z": 0.0} + if isinstance(raw, dict) and raw.get("inverted") is True: + axis = raw.get("axis") + if axis in rotation: + rotation[axis] = 180.0 + return {"rotation_degrees": rotation} + + camera = value.get("camera") + if not isinstance(camera, dict): + camera = {} + migrated = { + "schema_version": VIEWER_SETTINGS_SCHEMA, + "quality": value.get("quality", "high"), + "visual": legacy_layer("visual"), + "collision": legacy_layer("collision"), + "camera": { + "invert_horizontal": camera.get("invert_horizontal", True), + "invert_vertical": camera.get("invert_vertical", False), + }, + "ugv": _default_ugv_settings(), + } + try: + return _viewer_settings(migrated) + except SimulationProjectError: + return _default_viewer_settings() + + def _project_name(value: str) -> str: normalized = " ".join(value.split()) if not 1 <= len(normalized) <= 120: @@ -768,6 +1083,18 @@ def _project_name(value: str) -> str: return normalized +def _provider_timestamp(value: str, label: str) -> str: + if PROVIDER_TIMESTAMP_PATTERN.fullmatch(value) is None: + raise SimulationProjectError(f"simulation provider {label} timestamp is invalid") + return value + + +def _optional_provider_timestamp(value: object) -> str | None: + if isinstance(value, str) and PROVIDER_TIMESTAMP_PATTERN.fullmatch(value) is not None: + return value + return None + + def _logical_path(value: object) -> str: if not isinstance(value, str) or not value or len(value) > 1024: raise SimulationProjectError("simulation logical path is invalid") diff --git a/src/k1link/web/simulation_projects_api.py b/src/k1link/web/simulation_projects_api.py index 97a8581..ecfe239 100644 --- a/src/k1link/web/simulation_projects_api.py +++ b/src/k1link/web/simulation_projects_api.py @@ -4,7 +4,7 @@ from __future__ import annotations from typing import Any, Literal -from fastapi import APIRouter, BackgroundTasks, Header, HTTPException, Request, Response +from fastapi import APIRouter, Header, HTTPException, Request, Response from fastapi.responses import FileResponse from pydantic import BaseModel, ConfigDict, Field @@ -46,11 +46,18 @@ class SimulationProjectUpdate(BaseModel): scene_type: Literal["interior", "outdoor", "object"] +class SimulationEulerRotation(BaseModel): + model_config = ConfigDict(extra="forbid", frozen=True) + + x: float = Field(ge=-360, le=360) + y: float = Field(ge=-360, le=360) + z: float = Field(ge=-360, le=360) + + class SimulationLayerViewerSettings(BaseModel): model_config = ConfigDict(extra="forbid", frozen=True) - inverted: bool - axis: Literal["x", "y", "z"] + rotation_degrees: SimulationEulerRotation class SimulationCameraViewerSettings(BaseModel): @@ -60,14 +67,35 @@ class SimulationCameraViewerSettings(BaseModel): invert_vertical: bool +class SimulationUgvDimensions(BaseModel): + model_config = ConfigDict(extra="forbid", frozen=True) + + length: float = Field(ge=0.01, le=1_000_000_000) + width: float = Field(ge=0.01, le=1_000_000_000) + height: float = Field(ge=0.07, le=1_000_000_000) + ground_clearance: float = Field(ge=0.01, le=1_000_000_000) + + +class SimulationUgvViewerSettings(BaseModel): + model_config = ConfigDict(extra="forbid", frozen=True) + + preset_name: str = Field(min_length=1, max_length=80) + mass_kg: float = Field(ge=0.01, le=1_000_000_000) + dimensions_m: SimulationUgvDimensions + max_speed_mps: float = Field(ge=0, le=1_000_000_000) + max_turn_rate_degrees: float = Field(ge=0, le=1_000_000_000) + invert_steering: bool + + class SimulationViewerSettings(BaseModel): model_config = ConfigDict(extra="forbid", frozen=True) - schema_version: Literal["missioncore.simulation-viewer-settings/v1"] = VIEWER_SETTINGS_SCHEMA + schema_version: Literal["missioncore.simulation-viewer-settings/v3"] = VIEWER_SETTINGS_SCHEMA quality: Literal["low", "medium", "high", "ultra", "maximum"] visual: SimulationLayerViewerSettings collision: SimulationLayerViewerSettings camera: SimulationCameraViewerSettings + ugv: SimulationUgvViewerSettings class SimulationProjectDocument(BaseModel): @@ -162,11 +190,14 @@ def build_simulation_projects_router( def source_upload_state(project_id: str, file_id: str) -> Response: try: offset, byte_length = store.upload_state(project_id, file_id) - return Response(status_code=204, headers={ - "Upload-Offset": str(offset), - "Upload-Length": str(byte_length), - "Cache-Control": "no-store", - }) + return Response( + status_code=204, + headers={ + "Upload-Offset": str(offset), + "Upload-Length": str(byte_length), + "Cache-Control": "no-store", + }, + ) except SimulationProjectNotFoundError as exc: raise HTTPException(status_code=404, detail="Исходный файл не найден.") from exc @@ -199,11 +230,14 @@ def build_simulation_projects_router( source_file = next( item for item in project["source"]["files"] if item["file_id"] == file_id ) - return Response(status_code=204, headers={ - "Upload-Offset": str(source_file["uploaded_bytes"]), - "Upload-Length": str(source_file["byte_length"]), - "Cache-Control": "no-store", - }) + return Response( + status_code=204, + headers={ + "Upload-Offset": str(source_file["uploaded_bytes"]), + "Upload-Length": str(source_file["byte_length"]), + "Cache-Control": "no-store", + }, + ) except SimulationProjectNotFoundError as exc: raise HTTPException(status_code=404, detail="Исходный файл не найден.") from exc except SimulationProjectConflictError as exc: @@ -212,13 +246,10 @@ def build_simulation_projects_router( raise HTTPException(status_code=400, detail=str(exc)) from exc @router.post("/projects/{project_id}/build", response_model=SimulationProjectDocument) - def build_project( - project_id: str, - background_tasks: BackgroundTasks, - ) -> dict[str, Any]: + def build_project(project_id: str) -> dict[str, Any]: try: project = service.begin_build(project_id) - background_tasks.add_task(service.process, project_id) + service.enqueue(project_id) return project except SimulationProjectNotFoundError as exc: raise HTTPException(status_code=404, detail="Проект симуляции не найден.") from exc diff --git a/tests/test_simulation_projects.py b/tests/test_simulation_projects.py index 9c358a8..2069c21 100644 --- a/tests/test_simulation_projects.py +++ b/tests/test_simulation_projects.py @@ -1,6 +1,8 @@ from __future__ import annotations +import json from pathlib import Path +from threading import Event from typing import Any import pytest @@ -14,6 +16,7 @@ from k1link.simulation.gaussian_pipeline_gateway import ( ) from k1link.simulation.projects import ( SimulationProjectConflictError, + SimulationProjectNotFoundError, SimulationProjectService, SimulationProjectStore, _world_manifest, @@ -29,6 +32,22 @@ def _folder_files() -> list[dict[str, object]]: ] +def _default_ugv_settings() -> dict[str, object]: + return { + "preset_name": "UGV 100 кг", + "mass_kg": 100.0, + "dimensions_m": { + "length": 1.0, + "width": 0.8, + "height": 0.4, + "ground_clearance": 0.15, + }, + "max_speed_mps": 1.2, + "max_turn_rate_degrees": 45.0, + "invert_steering": False, + } + + def _upload_all(store: SimulationProjectStore, project: dict[str, Any]) -> None: payloads = { "export/scene.lcc": b'{"fileType":"Portable"}', @@ -44,6 +63,19 @@ def _upload_all(store: SimulationProjectStore, project: dict[str, Any]) -> None: ) +def test_store_accepts_four_gib_archive_without_allocating_payload(tmp_path: Path) -> None: + store = SimulationProjectStore(tmp_path) + project = store.create( + name="Four GiB archive", + scene_type="outdoor", + source_kind="archive", + files=[{"logical_path": "four-gib.7z", "byte_length": 4 * 1024**3}], + ) + + assert project["status"] == "uploading" + assert project["source"]["total_byte_length"] == 4 * 1024**3 + + def test_store_persists_resumable_folder_upload_and_state_transitions(tmp_path: Path) -> None: store = SimulationProjectStore(tmp_path) project = store.create( @@ -86,10 +118,43 @@ def test_store_persists_resumable_folder_upload_and_state_transitions(tmp_path: ) queued = store.begin_build(project["project_id"]) assert queued["status"] == "queued" + assert queued["provider"]["job_created_at_utc"] is None + assert queued["provider"]["state_started_at_utc"] is None with pytest.raises(SimulationProjectConflictError, match="active"): store.delete(project["project_id"]) +def test_store_preserves_provider_job_and_stage_timing(tmp_path: Path) -> None: + store = SimulationProjectStore(tmp_path) + project = store.create( + name="Timed scene", + scene_type="outdoor", + source_kind="folder", + files=_folder_files(), + ) + _upload_all(store, project) + store.begin_build(project["project_id"]) + + first = store.update_processing( + project["project_id"], + status="processing", + provider_job_id="gsp-20260826000000-deadbeef", + provider_job_created_at_utc="2026-08-26T09:45:14.000Z", + provider_state="building_streamed_sog", + provider_state_started_at_utc="2026-08-26T09:48:20.000Z", + ) + repeated = store.update_processing( + project["project_id"], + status="processing", + provider_state="building_streamed_sog", + provider_state_started_at_utc="2026-08-26T09:55:00.000Z", + ) + + assert first["provider"]["job_created_at_utc"] == "2026-08-26T09:45:14.000Z" + assert first["provider"]["state_started_at_utc"] == "2026-08-26T09:48:20.000Z" + assert repeated["provider"]["state_started_at_utc"] == "2026-08-26T09:48:20.000Z" + + class _ReadyProvider: def __init__(self) -> None: self.deleted: list[str] = [] @@ -128,6 +193,8 @@ class _ReadyProvider: "schema_version": "gaussian-pipeline.job/v1", "job_id": "gsp-20260826000000-deadbeef", "state": "queued", + "created_at_utc": "2026-08-26T09:45:14.000Z", + "updated_at_utc": "2026-08-26T09:45:14.000Z", } def get_job(self, _job_id: str) -> dict[str, object]: @@ -135,6 +202,8 @@ class _ReadyProvider: "schema_version": "gaussian-pipeline.job/v1", "job_id": "gsp-20260826000000-deadbeef", "state": "ready", + "created_at_utc": "2026-08-26T09:45:14.000Z", + "updated_at_utc": "2026-08-26T10:26:57.000Z", "progress": {"completed_steps": 4, "total_steps": 4}, } @@ -181,7 +250,7 @@ class _ReadyProvider: return None -def test_service_materializes_world_manifest_and_deletes_both_copies(tmp_path: Path) -> None: +def test_service_builds_visual_world_without_automatic_collision(tmp_path: Path) -> None: store = SimulationProjectStore(tmp_path) project = store.create( name="MOJJOKER", @@ -197,13 +266,44 @@ def test_service_materializes_world_manifest_and_deletes_both_copies(tmp_path: P ready = store.get(project["project_id"]) assert ready["status"] == "ready" + assert ready["provider"]["job_created_at_utc"] == "2026-08-26T09:45:14.000Z" assert ready["world_manifest"]["visual"]["preview_sog_url"].endswith("/preview.sog") assert ready["world_manifest"]["collision"]["available"] is False assert ready["world_manifest"]["transforms"]["world_from_visual"] == [ - 1, 0, 0, 0, 0, -1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 1, + 1, + 0, + 0, + 0, + 0, + -1, + 0, + 0, + 0, + 0, + -1, + 0, + 0, + 0, + 0, + 1, ] assert ready["world_manifest"]["transforms"]["world_from_collision"] == [ - -1, 0, 0, 0, 0, 1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 1, + -1, + 0, + 0, + 0, + 0, + 1, + 0, + 0, + 0, + 0, + -1, + 0, + 0, + 0, + 0, + 1, ] assert provider.upload_calls == 1 assert provider.submit_calls == 1 @@ -211,20 +311,70 @@ def test_service_materializes_world_manifest_and_deletes_both_copies(tmp_path: P assert provider.submitted_document["outputs"] == { "preview_sog": True, "streamed_sog": True, - "collision": True, - } - assert provider.submitted_document["collision_profile"] == { - "scene_type": "interior", - "seed_position": [0, 1, 0], - "capsule_height": 1.6, - "capsule_radius": 0.2, - "voxel_size": 0.1, - "mesh_shape": "smooth", + "collision": False, } + assert provider.submitted_document["collision_profile"] is None service.delete(project["project_id"]) assert provider.deleted == ["gsp-20260826000000-deadbeef"] +def test_service_queue_processes_projects_strictly_one_at_a_time(tmp_path: Path) -> None: + store = SimulationProjectStore(tmp_path) + projects: list[dict[str, Any]] = [] + for name in ("First scene", "Second scene"): + project = store.create( + name=name, + scene_type="outdoor", + source_kind="folder", + files=_folder_files(), + ) + _upload_all(store, project) + projects.append(store.begin_build(project["project_id"])) + + service = SimulationProjectService(store, provider_factory=lambda: None) + first_started = Event() + release_first = Event() + second_started = Event() + completed = Event() + order: list[str] = [] + + def process(project_id: str) -> None: + order.append(project_id) + if project_id == projects[0]["project_id"]: + first_started.set() + assert release_first.wait(1.0) + else: + second_started.set() + completed.set() + + service.process = process # type: ignore[method-assign] + service.enqueue(projects[0]["project_id"]) + assert first_started.wait(1.0) + service.enqueue(projects[1]["project_id"]) + assert not second_started.wait(0.05) + release_first.set() + assert completed.wait(1.0) + assert order == [projects[0]["project_id"], projects[1]["project_id"]] + + +def test_service_deletes_a_queued_project_before_worker_submission(tmp_path: Path) -> None: + store = SimulationProjectStore(tmp_path) + project = store.create( + name="Queued scene", + scene_type="outdoor", + source_kind="folder", + files=_folder_files(), + ) + _upload_all(store, project) + store.begin_build(project["project_id"]) + service = SimulationProjectService(store, provider_factory=lambda: None) + + service.delete(project["project_id"]) + + with pytest.raises(SimulationProjectNotFoundError, match="unavailable"): + store.get(project["project_id"]) + + def test_world_manifest_prefers_combined_rover_collision_world() -> None: manifest = _world_manifest( "sim-" + "a" * 32, @@ -245,9 +395,25 @@ def test_world_manifest_prefers_combined_rover_collision_world() -> None: ) assert manifest["collision"]["available"] is True - assert manifest["collision"]["mesh_url"].endswith( - "/artifacts/rover/scene.collision.glb" - ) + assert manifest["collision"]["mesh_url"].endswith("/artifacts/rover/scene.collision.glb") + assert manifest["transforms"]["world_from_collision"] == [ + 1, + 0, + 0, + 0, + 0, + 1, + 0, + 0, + 0, + 0, + 1, + 0, + 0, + 0, + 0, + 1, + ] def test_service_resumes_a_persisted_provider_job_without_reupload(tmp_path: Path) -> None: @@ -412,11 +578,12 @@ def test_ready_project_rebuilds_from_retained_source_and_preserves_viewer_settin ) # type: ignore[arg-type] service.process(project["project_id"]) settings = { - "schema_version": "missioncore.simulation-viewer-settings/v1", + "schema_version": "missioncore.simulation-viewer-settings/v3", "quality": "medium", - "visual": {"inverted": True, "axis": "z"}, - "collision": {"inverted": True, "axis": "y"}, + "visual": {"rotation_degrees": {"x": 0, "y": 0, "z": 90}}, + "collision": {"rotation_degrees": {"x": 0, "y": -90, "z": 0}}, "camera": {"invert_horizontal": False, "invert_vertical": True}, + "ugv": _default_ugv_settings(), } store.update_viewer_settings(project["project_id"], settings) @@ -434,21 +601,25 @@ def test_api_exposes_same_origin_resumable_upload_contract(tmp_path: Path) -> No app = FastAPI() app.include_router(build_simulation_projects_router(store=store, service=service)) client = TestClient(app) - created = client.post("/api/v1/simulation-worlds/projects", json={ - "schema_version": "missioncore.simulation-project-create/v1", - "name": "Archive scene", - "scene_type": "outdoor", - "source_kind": "archive", - "files": [{"logical_path": "scan.rar", "byte_length": 6}], - }) + created = client.post( + "/api/v1/simulation-worlds/projects", + json={ + "schema_version": "missioncore.simulation-project-create/v1", + "name": "Archive scene", + "scene_type": "outdoor", + "source_kind": "archive", + "files": [{"logical_path": "scan.rar", "byte_length": 6}], + }, + ) assert created.status_code == 201 project = created.json() assert project["viewer_settings"] == { - "schema_version": "missioncore.simulation-viewer-settings/v1", + "schema_version": "missioncore.simulation-viewer-settings/v3", "quality": "high", - "visual": {"inverted": True, "axis": "x"}, - "collision": {"inverted": True, "axis": "y"}, + "visual": {"rotation_degrees": {"x": 180.0, "y": 0.0, "z": 0.0}}, + "collision": {"rotation_degrees": {"x": 0.0, "y": 0.0, "z": 0.0}}, "camera": {"invert_horizontal": True, "invert_vertical": False}, + "ugv": _default_ugv_settings(), } source_file = project["source"]["files"][0] upload_url = ( @@ -467,11 +638,18 @@ def test_api_exposes_same_origin_resumable_upload_contract(tmp_path: Path) -> No assert catalog["projects"][0]["project_id"] == project["project_id"] settings = { - "schema_version": "missioncore.simulation-viewer-settings/v1", + "schema_version": "missioncore.simulation-viewer-settings/v3", "quality": "medium", - "visual": {"inverted": True, "axis": "z"}, - "collision": {"inverted": False, "axis": "x"}, + "visual": {"rotation_degrees": {"x": 0, "y": 0, "z": 90}}, + "collision": {"rotation_degrees": {"x": -90, "y": 0, "z": 0}}, "camera": {"invert_horizontal": False, "invert_vertical": True}, + "ugv": { + **_default_ugv_settings(), + "mass_kg": 1_000_000_000, + "max_speed_mps": 250.0, + "max_turn_rate_degrees": 720.0, + "invert_steering": True, + }, } saved = client.put( f"/api/v1/simulation-worlds/projects/{project['project_id']}/viewer-settings", @@ -479,7 +657,71 @@ def test_api_exposes_same_origin_resumable_upload_contract(tmp_path: Path) -> No ) assert saved.status_code == 200 assert saved.json()["viewer_settings"] == settings - persisted = client.get( - f"/api/v1/simulation-worlds/projects/{project['project_id']}" - ).json() + persisted = client.get(f"/api/v1/simulation-worlds/projects/{project['project_id']}").json() assert persisted["viewer_settings"] == settings + + +def test_catalog_migrates_legacy_layer_inversions_to_euler_rotations(tmp_path: Path) -> None: + store = SimulationProjectStore(tmp_path) + project = store.create( + name="Legacy scene", + scene_type="outdoor", + source_kind="folder", + files=_folder_files(), + ) + project_path = ( + tmp_path / "simulation-worlds" / "projects" / project["project_id"] / "project.json" + ) + document = json.loads(project_path.read_text(encoding="utf-8")) + document["viewer_settings"] = { + "schema_version": "missioncore.simulation-viewer-settings/v1", + "quality": "ultra", + "visual": {"inverted": True, "axis": "z"}, + "collision": {"inverted": False, "axis": "y"}, + "camera": {"invert_horizontal": False, "invert_vertical": True}, + } + project_path.write_text(json.dumps(document), encoding="utf-8") + + migrated = store.get(project["project_id"])["viewer_settings"] + + assert migrated == { + "schema_version": "missioncore.simulation-viewer-settings/v3", + "quality": "ultra", + "visual": {"rotation_degrees": {"x": 0.0, "y": 0.0, "z": 180.0}}, + "collision": {"rotation_degrees": {"x": 0.0, "y": 0.0, "z": 0.0}}, + "camera": {"invert_horizontal": False, "invert_vertical": True}, + "ugv": _default_ugv_settings(), + } + + +def test_catalog_adds_default_ugv_preset_to_v2_viewer_settings(tmp_path: Path) -> None: + store = SimulationProjectStore(tmp_path) + project = store.create( + name="Current scene", + scene_type="outdoor", + source_kind="folder", + files=_folder_files(), + ) + project_path = ( + tmp_path / "simulation-worlds" / "projects" / project["project_id"] / "project.json" + ) + document = json.loads(project_path.read_text(encoding="utf-8")) + document["viewer_settings"] = { + "schema_version": "missioncore.simulation-viewer-settings/v2", + "quality": "medium", + "visual": {"rotation_degrees": {"x": -180.0, "y": 0.0, "z": 0.0}}, + "collision": {"rotation_degrees": {"x": -90.0, "y": 0.0, "z": 0.0}}, + "camera": {"invert_horizontal": False, "invert_vertical": True}, + } + project_path.write_text(json.dumps(document), encoding="utf-8") + + migrated = store.get(project["project_id"])["viewer_settings"] + + assert migrated == { + "schema_version": "missioncore.simulation-viewer-settings/v3", + "quality": "medium", + "visual": {"rotation_degrees": {"x": -180.0, "y": 0.0, "z": 0.0}}, + "collision": {"rotation_degrees": {"x": -90.0, "y": 0.0, "z": 0.0}}, + "camera": {"invert_horizontal": False, "invert_vertical": True}, + "ugv": _default_ugv_settings(), + } From 2e44e27967df988e82a3f3b06108443a6738945b Mon Sep 17 00:00:00 2001 From: DCCONSTRUCTIONS Date: Fri, 28 Aug 2026 13:46:55 +0300 Subject: [PATCH 2/6] feat(simulation): auto-build source mesh collision --- docs/20_SIMULATION_WORLD_SURFACE_BRIEF.md | 39 +++--- .../simulation/gaussian_pipeline_gateway.py | 23 +++ src/k1link/simulation/projects.py | 21 ++- tests/test_gaussian_pipeline_gateway.py | 22 +++ tests/test_simulation_projects.py | 131 +++++++++++++++--- 5 files changed, 192 insertions(+), 44 deletions(-) diff --git a/docs/20_SIMULATION_WORLD_SURFACE_BRIEF.md b/docs/20_SIMULATION_WORLD_SURFACE_BRIEF.md index a7da688..51be5c8 100644 --- a/docs/20_SIMULATION_WORLD_SURFACE_BRIEF.md +++ b/docs/20_SIMULATION_WORLD_SURFACE_BRIEF.md @@ -58,12 +58,10 @@ Mission Core backend DC Gaussian Pipeline ├─ TUS bundle or archive admission ├─ secure ZIP/RAR/7z normalization - └─ native Vulkan SplatTransform visual build on Worker 006 - -Optional physical-mesh pipeline (separate job; experimental) - ├─ source-mesh discovery or explicit mesh generation - ├─ physics-oriented cleanup and geometry budget - └─ compressed, digest-bound publication + ├─ native Vulkan SplatTransform visual build on Worker 006 + └─ optional Mesh_Files/*.ply source-collision path + ├─ conservative small-hole repair and topology audit + └─ mandatory Draco, digest-bound publication ``` The browser never receives the Worker token. Mission Core does not embed archive-format behavior @@ -81,18 +79,18 @@ SplatTransform GPU command through a confined filesystem spool to the pinned nat on the RTX 4090. It does not install into or share the Python, CUDA, Triton or computer-vision environments on the host. -Project processing is split at a durable product boundary. The mandatory first job builds only the -preview and streamed Gaussian assets required for visual inspection. It never generates collision -geometry, so a location can reach `ready` without paying the time, GPU-memory and storage cost of a -physical mesh. +Project processing never generates collision geometry from Gaussian data by default. When the +normalized source contains exactly one PLY below `Mesh_Files`, the same queued build automatically +selects the provider's `source` collision profile. The original indexed mesh is retained; only +strictly admitted small internal boundary loops on approximately planar Z-up surfaces receive new +triangles. Vertices and existing faces are never moved, welded, smoothed, simplified or remeshed. +The derived GLB then passes the mandatory Draco publication gate and carries a separate repair +report. A source with no admitted PLY remains visual-only and still reaches `ready` normally. -Physical geometry is an optional second job started only after the visual world is ready. Its first -candidate source is a mesh already present in the uploaded export (for example a PLY in -`Mesh_Files`); generation from the Gaussian cloud is a fallback experiment, not the default path. -The second-stage contract, cleanup method and acceptance gates are intentionally separate from the -visual build. When that stage publishes a GLB, simplification still controls decoded physics cost -and Draco controls transfer/storage bytes; compression is not treated as a replacement for a -physics mesh budget. +The conservative repair rejects outer borders, branched boundaries, large or non-planar loops, +vertical openings, mixed orientation and failed/self-intersecting triangulations. Ambiguous holes +remain open and are counted in the report instead of being silently capped. Explicit mesh +generation from Gaussian data remains a later experiment, not a fallback in this ingestion path. Visual and collision layers retain independent X/Y/Z correction settings, while PlayCanvas world, camera, navigation and future physics stay in the canonical Y-up coordinate system. Quality, both @@ -115,9 +113,10 @@ Primary implementation references: - encrypted, linked, traversing, duplicate and over-limit archive entries fail closed; - project status is durable and reflects provider state without fabricated percentages; - ready artifacts are imported digest-bound and served from Mission Core same-origin URLs; -- the mandatory build requests preview and streamed Gaussian outputs with collision disabled; -- a visual project reaches ready state without a collision artifact; -- physical mesh preparation is a separate explicit job and never blocks visual inspection; +- the build always requests preview and streamed Gaussian outputs; +- exactly one `Mesh_Files/*.ply` automatically selects repaired source-mesh collision plus Draco; +- archives without that mesh remain visual-only and reach ready without a collision artifact; +- generated Gaussian/voxel collision is never used as an implicit fallback; - edit changes project metadata; delete removes both the Mission Core project and terminal provider job; - a ready project mounts direct PlayCanvas Engine and loads Streamed SOG with preview fallback; diff --git a/src/k1link/simulation/gaussian_pipeline_gateway.py b/src/k1link/simulation/gaussian_pipeline_gateway.py index 848e9b9..fe2b78c 100644 --- a/src/k1link/simulation/gaussian_pipeline_gateway.py +++ b/src/k1link/simulation/gaussian_pipeline_gateway.py @@ -767,6 +767,24 @@ def _discover_bundle_members(root: Path, entrypoint: str, source_format: str) -> return _logical_path(logical, "descriptor member") members = {entrypoint} + source_meshes: list[str] = [] + for candidate in root.rglob("*"): + if candidate.is_symlink(): + raise GaussianPipelineIntegrityError( + "Gaussian source bundle contains a symlink" + ) + if not candidate.is_file(): + continue + logical_path = candidate.relative_to(root).as_posix() + if is_xgrids_source_mesh_path(logical_path): + source_meshes.append(logical_path) + source_meshes.sort(key=lambda value: value.encode("utf-8")) + if len(source_meshes) > 1: + raise GaussianPipelineIntegrityError( + "Gaussian source bundle must contain at most one PLY mesh inside Mesh_Files" + ) + if source_meshes: + members.add(source_meshes[0]) if source_format == "lcc": members.update({related("index.bin"), related("data.bin")}) file_type = document.get("fileType") @@ -810,6 +828,11 @@ def _discover_bundle_members(root: Path, entrypoint: str, source_format: str) -> return members +def is_xgrids_source_mesh_path(logical_path: str) -> bool: + parts = logical_path.lower().replace("\\", "/").split("/") + return "mesh_files" in parts and parts[-1].endswith(".ply") + + def _logical_path(value: str, label: str) -> str: if ( not value diff --git a/src/k1link/simulation/projects.py b/src/k1link/simulation/projects.py index 41a4ca3..4db6700 100644 --- a/src/k1link/simulation/projects.py +++ b/src/k1link/simulation/projects.py @@ -26,6 +26,7 @@ from k1link.simulation.gaussian_pipeline_gateway import ( GaussianPipelineUnavailableError, configured_gaussian_pipeline_gateway, discover_gaussian_source_bundle, + is_xgrids_source_mesh_path, ) PROJECT_SCHEMA: Final = "missioncore.simulation-project/v1" @@ -610,6 +611,22 @@ class SimulationProjectService: entrypoint=entrypoint, source_format=source_format, ) + source_mesh_available = any( + is_xgrids_source_mesh_path(member.logical_path) + for member in source.members + ) + collision_profile = ( + { + "scene_type": project["scene_type"], + "seed_position": [0.0, 0.0, 0.0], + "capsule_height": 0.4, + "capsule_radius": 0.4, + "voxel_size": 0.05, + "mesh_shape": "source", + } + if source_mesh_available + else None + ) request = { "schema_version": BUILD_REQUEST_SCHEMA, "idempotency_key": f"missioncore-{project_id}", @@ -617,10 +634,10 @@ class SimulationProjectService: "outputs": { "preview_sog": True, "streamed_sog": True, - "collision": False, + "collision": source_mesh_available, }, "preview_lod": "coarsest", - "collision_profile": None, + "collision_profile": collision_profile, } submitted = provider.submit_build(request) job_id = submitted.get("job_id") diff --git a/tests/test_gaussian_pipeline_gateway.py b/tests/test_gaussian_pipeline_gateway.py index 272bbcb..1537e95 100644 --- a/tests/test_gaussian_pipeline_gateway.py +++ b/tests/test_gaussian_pipeline_gateway.py @@ -117,6 +117,28 @@ def test_gateway_uploads_lcc_bundle_with_tus_and_reads_provider_contract(tmp_pat assert descriptor.total_byte_length == sum(member.byte_length for member in descriptor.members) +def test_folder_discovery_retains_one_nested_xgrids_source_mesh(tmp_path: Path) -> None: + root = tmp_path / "export" + scene = root / "LCC_Results" + mesh = root / "Mesh_Files" + scene.mkdir(parents=True) + mesh.mkdir() + (scene / "scan.lcc").write_text( + json.dumps({"fileType": "Portable"}), + encoding="utf-8", + ) + (scene / "index.bin").write_bytes(b"index") + (scene / "data.bin").write_bytes(b"data") + (mesh / "scan.ply").write_bytes(b"ply") + + members = _discover_bundle_members(root, "LCC_Results/scan.lcc", "lcc") + + assert "Mesh_Files/scan.ply" in members + (mesh / "duplicate.ply").write_bytes(b"ply") + with pytest.raises(GaussianPipelineIntegrityError, match="at most one"): + _discover_bundle_members(root, "LCC_Results/scan.lcc", "lcc") + + def test_gateway_uploads_and_normalizes_archive_with_tus(tmp_path: Path) -> None: archive_bytes = b"portable-archive" archive_sha = hashlib.sha256(archive_bytes).hexdigest() diff --git a/tests/test_simulation_projects.py b/tests/test_simulation_projects.py index 2069c21..cb33426 100644 --- a/tests/test_simulation_projects.py +++ b/tests/test_simulation_projects.py @@ -156,11 +156,12 @@ def test_store_preserves_provider_job_and_stage_timing(tmp_path: Path) -> None: class _ReadyProvider: - def __init__(self) -> None: + def __init__(self, *, source_mesh: bool = False) -> None: self.deleted: list[str] = [] self.upload_calls = 0 self.submit_calls = 0 self.submitted_document: dict[str, object] | None = None + self.source_mesh = source_mesh def capabilities(self) -> dict[str, object]: return {"outputs": ["preview.sog", "streamed-sog"]} @@ -173,17 +174,26 @@ class _ReadyProvider: source_format: str, ) -> GaussianSourceBundleUpload: self.upload_calls += 1 - members = ( + members = [ GaussianSourceMemberUpload("upload-1", entrypoint, "a" * 64, 23), GaussianSourceMemberUpload("upload-2", "export/data.bin", "b" * 64, 4), GaussianSourceMemberUpload("upload-3", "export/index.bin", "c" * 64, 5), - ) + ] + if self.source_mesh: + members.append( + GaussianSourceMemberUpload( + "upload-4", + "export/Mesh_Files/scene.ply", + "e" * 64, + 3, + ) + ) return GaussianSourceBundleUpload( format=source_format, entrypoint=entrypoint, bundle_sha256="d" * 64, - total_byte_length=32, - members=members, + total_byte_length=sum(member.byte_length for member in members), + members=tuple(members), ) def submit_build(self, document: dict[str, object]) -> dict[str, object]: @@ -208,6 +218,39 @@ class _ReadyProvider: } def get_result(self, _job_id: str) -> dict[str, object]: + artifacts = [ + { + "role": "preview", + "logical_path": "preview.sog", + "media_type": "application/octet-stream", + "sha256": "1" * 64, + "byte_length": 7, + }, + { + "role": "stream-manifest", + "logical_path": "streamed/lod-meta.json", + "media_type": "application/json", + "sha256": "2" * 64, + "byte_length": 2, + }, + ] + if self.source_mesh: + artifacts.extend([ + { + "role": "collision-mesh", + "logical_path": "collision/scene.collision.glb", + "media_type": "model/gltf-binary", + "sha256": "3" * 64, + "byte_length": 3, + }, + { + "role": "collision-repair-report", + "logical_path": "collision/scene.repair.json", + "media_type": "application/json", + "sha256": "4" * 64, + "byte_length": 2, + }, + ]) return { "schema_version": "gaussian-pipeline.build-result/v1", "job_id": "gsp-20260826000000-deadbeef", @@ -215,22 +258,7 @@ class _ReadyProvider: "source_revision": "e" * 40, "image_digest": f"sha256:{'f' * 64}", }, - "artifacts": [ - { - "role": "preview", - "logical_path": "preview.sog", - "media_type": "application/octet-stream", - "sha256": "1" * 64, - "byte_length": 7, - }, - { - "role": "stream-manifest", - "logical_path": "streamed/lod-meta.json", - "media_type": "application/json", - "sha256": "2" * 64, - "byte_length": 2, - }, - ], + "artifacts": artifacts, } def download_artifact( @@ -240,7 +268,13 @@ class _ReadyProvider: destination: Path, ) -> Path: destination.parent.mkdir(parents=True, exist_ok=True) - destination.write_bytes(b"preview" if descriptor["role"] == "preview" else b"{}") + payload = { + "preview": b"preview", + "stream-manifest": b"{}", + "collision-mesh": b"glb", + "collision-repair-report": b"{}", + }[str(descriptor["role"])] + destination.write_bytes(payload) return destination def delete_job(self, job_id: str) -> None: @@ -318,6 +352,59 @@ def test_service_builds_visual_world_without_automatic_collision(tmp_path: Path) assert provider.deleted == ["gsp-20260826000000-deadbeef"] +def test_service_automatically_builds_repaired_source_mesh_collision(tmp_path: Path) -> None: + store = SimulationProjectStore(tmp_path) + files = [ + *_folder_files(), + {"logical_path": "export/Mesh_Files/scene.ply", "byte_length": 3}, + ] + project = store.create( + name="Source mesh scene", + scene_type="outdoor", + source_kind="folder", + files=files, + ) + payloads = { + "export/scene.lcc": b'{"fileType":"Portable"}', + "export/index.bin": b"index", + "export/data.bin": b"data", + "export/Mesh_Files/scene.ply": b"ply", + } + for source_file in project["source"]["files"]: + store.append_upload( + project["project_id"], + source_file["file_id"], + offset=0, + payload=payloads[source_file["logical_path"]], + ) + store.begin_build(project["project_id"]) + provider = _ReadyProvider(source_mesh=True) + service = SimulationProjectService(store, provider_factory=lambda: provider) # type: ignore[arg-type] + + service.process(project["project_id"]) + + ready = store.get(project["project_id"]) + assert ready["status"] == "ready" + assert ready["world_manifest"]["collision"]["available"] is True + assert ready["world_manifest"]["collision"]["mesh_url"].endswith( + "/collision/scene.collision.glb" + ) + assert provider.submitted_document is not None + assert provider.submitted_document["outputs"] == { + "preview_sog": True, + "streamed_sog": True, + "collision": True, + } + assert provider.submitted_document["collision_profile"] == { + "scene_type": "outdoor", + "seed_position": [0.0, 0.0, 0.0], + "capsule_height": 0.4, + "capsule_radius": 0.4, + "voxel_size": 0.05, + "mesh_shape": "source", + } + + def test_service_queue_processes_projects_strictly_one_at_a_time(tmp_path: Path) -> None: store = SimulationProjectStore(tmp_path) projects: list[dict[str, Any]] = [] From 45019f895290396b66f2aa3258c4735bc713b344 Mon Sep 17 00:00:00 2001 From: DCCONSTRUCTIONS Date: Sat, 29 Aug 2026 13:36:37 +0300 Subject: [PATCH 3/6] feat(lab): seal full RAVNOVES004TREE semantic review --- .../src/core/laboratory/vegetationShadow.ts | 295 ++++++++++- .../laboratory/VegetationShadowResult.tsx | 234 ++++++++- .../test/vegetationShadow.test.mjs | 91 +++- ...-ravnoves004tree-full-video-source-v1.json | 19 + .../Invoke-E4FullSessionSegmentation.ps1 | 74 ++- .../Invoke-LabV1VegetationGooseBenchmark.ps1 | 136 ++++- scripts/seal_mixed_route_full_video_review.py | 38 ++ .../mixed_route_vegetation_review.py | 467 +++++++++++++++++- src/k1link/web/vegetation_shadow_lab_api.py | 68 +++ tests/test_e4_full_session_segmentation.py | 17 + .../test_lab_v1_goose_vegetation_benchmark.py | 24 + tests/test_vegetation_shadow_lab.py | 61 +++ 12 files changed, 1494 insertions(+), 30 deletions(-) create mode 100644 config/perception/lab-v1-ravnoves004tree-full-video-source-v1.json create mode 100644 scripts/seal_mixed_route_full_video_review.py diff --git a/apps/control-station/src/core/laboratory/vegetationShadow.ts b/apps/control-station/src/core/laboratory/vegetationShadow.ts index 08d8669..0b7cf5d 100644 --- a/apps/control-station/src/core/laboratory/vegetationShadow.ts +++ b/apps/control-station/src/core/laboratory/vegetationShadow.ts @@ -106,6 +106,39 @@ export interface VegetationMixedRouteReview { cases: readonly VegetationMixedRouteCase[]; } +export interface VegetationFullRouteLayer { + name: string; + resultId: string; + frameCount: 6830; + taxonomy: readonly VegetationVideoSemanticClass[]; + inferenceFps: number; + latencyP95Ms: number; + peakReservedVramBytes: number; +} + +export interface VegetationFullRouteReview { + sourceId: "RAVNOVES004TREE"; + sessionId: "20260828T130511Z_viewer_live"; + sourceJobId: "recorded-camera-eb2783c5480d56bda07c8af0"; + sourceJobInputSha256: string; + sourceStreamSha256: string; + recordedMediaSourceId: "recorded.camera.6a3945242828a038"; + recordedMediaGenerationSha256: string; + frameCount: 6830; + width: 800; + height: 600; + timelineStartSeconds: number; + timelineEndSeconds: number; + frameSourceTimesNs: readonly number[]; + decodeRepair: { + repairedFrameCount: 1; + sequence: 6092; + method: "duplicate-previous-decoded-frame"; + }; + city: VegetationFullRouteLayer; + vegetation: VegetationFullRouteLayer; +} + export interface VegetationShadowResult { resultId: string; createdAtUtc: string; @@ -116,6 +149,7 @@ export interface VegetationShadowResult { validationCases: readonly VegetationVisualCase[]; routeVideo: VegetationRouteVideo | null; routeReview: VegetationMixedRouteReview | null; + routeFullReview: VegetationFullRouteReview | null; limitations: readonly string[]; visualShadowReady: true; missionPolicyReadyForConfiguration: true; @@ -545,6 +579,246 @@ function mixedRouteReviewValue( }; } +function fullRouteTaxonomyValue( + value: unknown, + label: string, + schema: string, + classCount: number, +): readonly VegetationVideoSemanticClass[] { + const taxonomy = objectValue(value, `${label}.taxonomy`); + exact(taxonomy.schema_version, schema, `${label}.taxonomy.schema`); + const classes = arrayValue(taxonomy.classes, `${label}.taxonomy.classes`).map( + (raw, expectedId): VegetationVideoSemanticClass => { + const item = objectValue(raw, `${label}.taxonomy[${expectedId}]`); + const classId = integerValue(item.class_id, `${label}.class_id[${expectedId}]`); + if (classId !== expectedId) { + throw new VegetationShadowContractError(`${label}: taxonomy order changed.`); + } + const color = arrayValue(item.color_rgb, `${label}.color[${expectedId}]`) + .map((channel, index) => integerValue(channel, `${label}.color[${expectedId}][${index}]`)); + if (color.length !== 3 || color.some((channel) => channel > 255)) { + throw new VegetationShadowContractError(`${label}: taxonomy color invalid.`); + } + const disposition = item.disposition; + if ( + disposition !== "labeled" + && disposition !== "ambiguous" + && disposition !== "prediction" + && disposition !== "undefined" + ) { + throw new VegetationShadowContractError(`${label}: taxonomy disposition changed.`); + } + return { + classId, + label: textValue(item.label, `${label}.label[${expectedId}]`), + colorRgb: color as unknown as readonly [number, number, number], + disposition, + materialClass: item.material_class === null || item.material_class === undefined + ? null + : textValue(item.material_class, `${label}.material[${expectedId}]`), + evidenceState: item.evidence_state === null || item.evidence_state === undefined + ? null + : textValue(item.evidence_state, `${label}.evidence[${expectedId}]`), + }; + }, + ); + if (classes.length !== classCount) { + throw new VegetationShadowContractError(`${label}: taxonomy size changed.`); + } + return classes; +} + +function fullRouteLayerValue( + value: unknown, + layer: "city" | "vegetation", +): VegetationFullRouteLayer { + const label = `vegetation.route_full_review.layers.${layer}`; + const row = objectValue(value, label); + const resultId = textValue(row.result_id, `${label}.result_id`); + const identity = layer === "city" + ? /^result-[a-f0-9]{64}$/ + : /^lab-v1-ravnoves-video-ddrnet-[a-f0-9]{64}$/; + if (!identity.test(resultId)) { + throw new VegetationShadowContractError(`${label}: identity invalid.`); + } + exact(row.frame_count, 6830, `${label}.frame_count`); + const archive = objectValue(row.mask_archive, `${label}.mask_archive`); + exact( + archive.path, + layer === "city" ? "video/eomt-semantic-masks.zip" : "video/ddrnet-semantic-masks.zip", + `${label}.mask_archive.path`, + ); + const digest = textValue(archive.sha256, `${label}.mask_archive.sha256`); + if (!SHA256.test(digest)) { + throw new VegetationShadowContractError(`${label}: archive digest invalid.`); + } + integerValue(archive.byte_length, `${label}.mask_archive.byte_length`); + return { + name: textValue(row.name, `${label}.name`), + resultId, + frameCount: 6830, + taxonomy: fullRouteTaxonomyValue( + row.taxonomy, + label, + layer === "city" + ? "missioncore.recorded-eomt-taxonomy/v1" + : "missioncore.lab-v1-vegetation-taxonomy/v1", + layer === "city" ? 16 : 64, + ), + inferenceFps: numberValue(row.inference_fps, `${label}.inference_fps`), + latencyP95Ms: numberValue(row.latency_p95_ms, `${label}.latency_p95_ms`), + peakReservedVramBytes: integerValue( + row.peak_reserved_vram_bytes, + `${label}.peak_reserved_vram_bytes`, + ), + }; +} + +function fullRouteReviewValue(value: unknown): VegetationFullRouteReview | null { + if (value === null || value === undefined) return null; + const row = objectValue(value, "vegetation.route_full_review"); + exact(row.source_id, "RAVNOVES004TREE", "vegetation.route_full_review.source_id"); + exact( + row.session_id, + "20260828T130511Z_viewer_live", + "vegetation.route_full_review.session_id", + ); + exact( + row.source_job_id, + "recorded-camera-eb2783c5480d56bda07c8af0", + "vegetation.route_full_review.source_job_id", + ); + exact(row.frame_count, 6830, "vegetation.route_full_review.frame_count"); + exact(row.width, 800, "vegetation.route_full_review.width"); + exact(row.height, 600, "vegetation.route_full_review.height"); + exact(row.ground_truth, false, "vegetation.route_full_review.ground_truth"); + const sourceJobInputSha256 = textValue( + row.source_job_input_sha256, + "vegetation.route_full_review.source_job_input_sha256", + ); + const sourceStreamSha256 = textValue( + row.source_stream_sha256, + "vegetation.route_full_review.source_stream_sha256", + ); + exact( + sourceJobInputSha256, + "eb2783c5480d56bda07c8af008dff5344d19dc550ef70fe2075d6f098f7cc715", + "vegetation.route_full_review.source_job_input_sha256", + ); + exact( + sourceStreamSha256, + "e5eb017e2cc0f546736eda5235ca157b501913093cb64af5e548e335417e1bac", + "vegetation.route_full_review.source_stream_sha256", + ); + exact( + row.recorded_media_source_id, + "recorded.camera.6a3945242828a038", + "vegetation.route_full_review.recorded_media_source_id", + ); + const recordedMediaGenerationSha256 = textValue( + row.recorded_media_generation_sha256, + "vegetation.route_full_review.recorded_media_generation_sha256", + ); + exact( + recordedMediaGenerationSha256, + "b073ea1e7babf1c77a664e1a5b95e3702d0e05b0e34c1e85a7c67a6f8b392ded", + "vegetation.route_full_review.recorded_media_generation_sha256", + ); + if ( + !SHA256.test(sourceJobInputSha256) + || !SHA256.test(sourceStreamSha256) + || !SHA256.test(recordedMediaGenerationSha256) + ) { + throw new VegetationShadowContractError("vegetation.route_full_review: source digest invalid."); + } + const timelineStartSeconds = numberValue( + row.timeline_start_seconds, + "vegetation.route_full_review.timeline_start_seconds", + ); + const timelineEndSeconds = numberValue( + row.timeline_end_seconds, + "vegetation.route_full_review.timeline_end_seconds", + ); + if (timelineEndSeconds <= timelineStartSeconds) { + throw new VegetationShadowContractError("vegetation.route_full_review: timeline invalid."); + } + const frameSourceTimesNs = arrayValue( + row.frame_source_times_ns, + "vegetation.route_full_review.frame_source_times_ns", + ).map((raw, index) => { + const time = integerValue(raw, `vegetation.route_full_review.frame_source_times_ns[${index}]`); + if (!Number.isSafeInteger(time)) { + throw new VegetationShadowContractError("vegetation.route_full_review: unsafe frame time."); + } + return time; + }); + if ( + frameSourceTimesNs.length !== 6830 + || frameSourceTimesNs.some((time, index) => index > 0 && time <= frameSourceTimesNs[index - 1]!) + ) { + throw new VegetationShadowContractError("vegetation.route_full_review: frame timeline changed."); + } + const decodeRepair = objectValue( + row.decode_repair, + "vegetation.route_full_review.decode_repair", + ); + exact(decodeRepair.repaired_frame_count, 1, "vegetation.route_full_review.decode_repair.count"); + exact(decodeRepair.sequence, 6092, "vegetation.route_full_review.decode_repair.sequence"); + exact( + decodeRepair.method, + "duplicate-previous-decoded-frame", + "vegetation.route_full_review.decode_repair.method", + ); + const repairProofs = objectValue( + decodeRepair.proofs, + "vegetation.route_full_review.decode_repair.proofs", + ); + for (const [key, expectedPath] of Object.entries({ + eomt: "proofs/decode_repair.json", + ddrnet: "proofs/ddrnet_decode_repair.json", + })) { + const proof = objectValue( + repairProofs[key], + `vegetation.route_full_review.decode_repair.proofs.${key}`, + ); + exact( + proof.path, + expectedPath, + `vegetation.route_full_review.decode_repair.proofs.${key}.path`, + ); + const digest = textValue( + proof.sha256, + `vegetation.route_full_review.decode_repair.proofs.${key}.sha256`, + ); + if (!SHA256.test(digest)) { + throw new VegetationShadowContractError("vegetation.route_full_review: repair proof invalid."); + } + } + const layers = objectValue(row.layers, "vegetation.route_full_review.layers"); + return { + sourceId: "RAVNOVES004TREE", + sessionId: "20260828T130511Z_viewer_live", + sourceJobId: "recorded-camera-eb2783c5480d56bda07c8af0", + sourceJobInputSha256, + sourceStreamSha256, + recordedMediaSourceId: "recorded.camera.6a3945242828a038", + recordedMediaGenerationSha256, + frameCount: 6830, + width: 800, + height: 600, + timelineStartSeconds, + timelineEndSeconds, + frameSourceTimesNs, + decodeRepair: { + repairedFrameCount: 1, + sequence: 6092, + method: "duplicate-previous-decoded-frame", + }, + city: fullRouteLayerValue(layers.city, "city"), + vegetation: fullRouteLayerValue(layers.vegetation, "vegetation"), + }; +} + function parseResult( value: unknown, resultId: string, @@ -589,9 +863,10 @@ function parseResult( const validationCases = arrayValue(catalogs.goose, "vegetation.catalogs.goose") .map((item) => visualCaseValue(item, resultId, "goose", endpointRoot)); const routeReview = mixedRouteReviewValue(payload.route_review, resultId, endpointRoot); + const routeFullReview = fullRouteReviewValue(payload.route_full_review); if ( routeCases.length !== 0 - || (routeReview ? validationCases.length !== 0 : validationCases.length !== 12) + || (routeReview || routeFullReview ? validationCases.length !== 0 : validationCases.length !== 12) ) { throw new VegetationShadowContractError("vegetation.catalogs: ожидалось 12 truth-backed GOOSE случаев без route viewer."); } @@ -605,6 +880,7 @@ function parseResult( validationCases, routeVideo: routeVideoValue(payload.route_video), routeReview, + routeFullReview, limitations: arrayValue(payload.limitations, "vegetation.limitations") .map((item, index) => textValue(item, `vegetation.limitations[${index}]`)), visualShadowReady: true, @@ -625,6 +901,23 @@ export function vegetationVideoMaskUrl(resultId: string, sequence: number): stri return `/api/v1/laboratory/vegetation-shadow/${encodeURIComponent(resultId)}/masks/${sequence}`; } +export function vegetationFullRouteMaskUrl( + resultId: string, + layer: "city" | "vegetation", + sequence: number, +): string { + if ( + !RESULT_ID.test(resultId) + || (layer !== "city" && layer !== "vegetation") + || !Number.isInteger(sequence) + || sequence < 0 + || sequence >= 6830 + ) { + throw new VegetationShadowContractError("Vegetation full-route mask identity недопустима."); + } + return `/api/v1/laboratory/vegetation-shadow/${encodeURIComponent(resultId)}/route-masks/${layer}/${sequence}`; +} + export async function fetchVegetationShadowResult( resultId: string, { diff --git a/apps/control-station/src/workspaces/laboratory/VegetationShadowResult.tsx b/apps/control-station/src/workspaces/laboratory/VegetationShadowResult.tsx index 3243ccb..642e3e2 100644 --- a/apps/control-station/src/workspaces/laboratory/VegetationShadowResult.tsx +++ b/apps/control-station/src/workspaces/laboratory/VegetationShadowResult.tsx @@ -1,7 +1,8 @@ -import { useEffect, useState } from "react"; +import { useEffect, useMemo, useState } from "react"; import { Icon, IconButton, StatusBadge } from "@nodedc/ui-react"; import { LaboratoryEvidenceViewer } from "../../components/laboratory/LaboratoryEvidenceViewer"; +import { LaboratoryRecordedClipPlayer } from "../../components/laboratory/LaboratoryRecordedClipPlayer"; import { LaboratoryEvidence, LaboratoryResultSummary, @@ -9,10 +10,21 @@ import { LaboratoryWorkTemplate, } from "../../components/laboratory/LaboratoryPresentation"; import { + RecordedEvidenceSemanticMaskOverlay, + type RecordedEvidenceSemanticClass, + type RecordedEvidenceSemanticPaletteEntry, +} from "../../components/laboratory/RecordedEvidenceSemanticMaskOverlay"; +import { + vegetationFullRouteMaskUrl, vegetationVideoMaskUrl, + type VegetationFullRouteLayer, + type VegetationFullRouteReview, type VegetationMixedRouteReview, type VegetationShadowResult, } from "../../core/laboratory/vegetationShadow"; +import { recordedObservationSources } from "../../core/observation/recordedObservationSources"; +import { resolveObservationSessionReplay } from "../../core/observation/useObservationSessions"; +import type { ObservationSourceDescriptor } from "../../core/runtime/contracts"; import { fetchM49TgsFullShadowResult, type M49TgsFullShadowResult, @@ -31,6 +43,217 @@ const MIXED_ROUTE_MODES = [ { value: "tgs", label: "TGS" }, ] as const; +const FULL_ROUTE_MODES = [ + { value: "source", label: "SOURCE" }, + { value: "city", label: "ГОРОД · EoMT" }, + { value: "vegetation", label: "ПРИРОДА · DDRNet" }, +] as const; + +function semanticPresentation(layer: VegetationFullRouteLayer): { + classes: readonly RecordedEvidenceSemanticClass[]; + palette: readonly RecordedEvidenceSemanticPaletteEntry[]; +} { + return { + classes: layer.taxonomy.map((item) => ({ id: item.classId, label: item.label })), + palette: layer.taxonomy.map((item) => ({ + classId: item.classId, + color: item.classId === 0 + ? { kind: "transparent" as const } + : { kind: "diagnostic" as const, rgb: item.colorRgb }, + })), + }; +} + +function FullRouteReviewEvidence({ + resultId, + review, +}: { + resultId: string; + review: VegetationFullRouteReview; +}) { + const [sequence, setSequence] = useState(1); + const [playing, setPlaying] = useState(false); + const [playbackRate, setPlaybackRate] = useState(1); + const [mode, setMode] = useState("vegetation"); + const [expanded, setExpanded] = useState(false); + const [videoSource, setVideoSource] = useState(null); + const [videoError, setVideoError] = useState(null); + const frames = useMemo( + () => review.frameSourceTimesNs.map((sourceTimeNs, index) => ({ + sequence: index + 1, + sourceTimeNs, + })), + [review.frameSourceTimesNs], + ); + const layer = mode === "source" ? null : review[mode]; + const semantic = useMemo(() => layer ? semanticPresentation(layer) : null, [layer]); + const maskSequence = sequence - 1; + const prefetchSrcs = useMemo(() => layer + ? Array.from({ length: 8 }, (_, offset) => maskSequence + offset + 1) + .filter((candidate) => candidate < review.frameCount) + .map((candidate) => vegetationFullRouteMaskUrl(resultId, mode as "city" | "vegetation", candidate)) + : [], [layer, maskSequence, mode, resultId, review.frameCount]); + + useEffect(() => { + const controller = new AbortController(); + setVideoSource(null); + setVideoError(null); + void resolveObservationSessionReplay(review.sessionId, { signal: controller.signal }) + .then((launch) => { + const source = recordedObservationSources(launch).find((candidate) => ( + candidate.id === review.recordedMediaSourceId + && candidate.modality === "video" + && candidate.semanticChannelId === "camera.video.recorded" + && candidate.delivery?.kind === "recorded-fmp4-manifest" + && candidate.delivery.manifestGenerationSha256 === review.recordedMediaGenerationSha256 + && candidate.delivery.timelineStartSeconds === review.timelineStartSeconds + && candidate.delivery.timelineEndSeconds >= review.timelineEndSeconds + )); + if (!source) { + throw new Error("RIGHT-видео не совпало с sealed RAVNOVES004TREE timeline."); + } + if (!controller.signal.aborted) setVideoSource(source); + }) + .catch((caught: unknown) => { + if (!controller.signal.aborted) { + setVideoError(caught instanceof Error ? caught.message : "Записанное видео недоступно."); + } + }); + return () => controller.abort(); + }, [ + review.recordedMediaGenerationSha256, + review.recordedMediaSourceId, + review.sessionId, + review.timelineEndSeconds, + review.timelineStartSeconds, + ]); + + return ( + + {videoSource ? ( + +
+ {mode === "source" ? "SOURCE" : `${mode === "city" ? "EoMT CITY" : "DDRNet NATURE"} · КАДР ${sequence}/${review.frameCount}`} +
+ {layer && semantic ? ( + + ) : null} + + )} + /> + ) : ( +
+ {videoError ?? "Открываем автономный recorded source…"} +
+ )} + + ); +} + +function FullRouteReviewResult({ + rigLabel, + resultId, + review, +}: { + rigLabel: string; + resultId: string; + review: VegetationFullRouteReview; +}) { + return ( + + )} + evidence={( + + + + )} + result={( + + )} + /> + ); +} + function MixedRouteReviewEvidence({ review }: { review: VegetationMixedRouteReview }) { const [index, setIndex] = useState(0); const [mode, setMode] = useState("vegetation"); @@ -224,6 +447,15 @@ export function VegetationShadowResultView({ rigLabel: string; result: VegetationShadowResult; }) { + if (result.routeFullReview) { + return ( + + ); + } if (result.routeReview) { return ; } diff --git a/apps/control-station/test/vegetationShadow.test.mjs b/apps/control-station/test/vegetationShadow.test.mjs index cb12e72..5c61cb7 100644 --- a/apps/control-station/test/vegetationShadow.test.mjs +++ b/apps/control-station/test/vegetationShadow.test.mjs @@ -7,6 +7,7 @@ import { createServer } from "vite"; let server; let fetchVegetationBenchmarkResult; let fetchVegetationShadowResult; +let vegetationFullRouteMaskUrl; before(async () => { server = await createServer({ @@ -14,7 +15,11 @@ before(async () => { logLevel: "silent", server: { middlewareMode: true }, }); - ({ fetchVegetationBenchmarkResult, fetchVegetationShadowResult } = await server.ssrLoadModule( + ({ + fetchVegetationBenchmarkResult, + fetchVegetationShadowResult, + vegetationFullRouteMaskUrl, + } = await server.ssrLoadModule( "/src/core/laboratory/vegetationShadow.ts", )); }); @@ -148,6 +153,63 @@ function coarseRouteVideo() { }; } +function fullRouteReview() { + const layer = (kind) => ({ + name: kind === "city" ? "EoMT Cityscapes" : "ddrnet_39", + result_id: kind === "city" + ? `result-${"2".repeat(64)}` + : `lab-v1-ravnoves-video-ddrnet-${"3".repeat(64)}`, + frame_count: 6830, + taxonomy: { + schema_version: kind === "city" + ? "missioncore.recorded-eomt-taxonomy/v1" + : "missioncore.lab-v1-vegetation-taxonomy/v1", + classes: Array.from({ length: kind === "city" ? 16 : 64 }, (_, classId) => ({ + class_id: classId, + label: classId === 0 ? "undefined" : `${kind}-${classId}`, + color_rgb: [classId, classId, classId], + disposition: classId === 0 ? "undefined" : "prediction", + })), + }, + mask_archive: { + path: kind === "city" + ? "video/eomt-semantic-masks.zip" + : "video/ddrnet-semantic-masks.zip", + sha256: "4".repeat(64), + byte_length: 4096, + }, + inference_fps: 9.5, + latency_p95_ms: 101.2, + peak_reserved_vram_bytes: 3_000_000_000, + }); + return { + source_id: "RAVNOVES004TREE", + session_id: "20260828T130511Z_viewer_live", + source_job_id: "recorded-camera-eb2783c5480d56bda07c8af0", + source_job_input_sha256: "eb2783c5480d56bda07c8af008dff5344d19dc550ef70fe2075d6f098f7cc715", + source_stream_sha256: "e5eb017e2cc0f546736eda5235ca157b501913093cb64af5e548e335417e1bac", + recorded_media_source_id: "recorded.camera.6a3945242828a038", + recorded_media_generation_sha256: "b073ea1e7babf1c77a664e1a5b95e3702d0e05b0e34c1e85a7c67a6f8b392ded", + frame_count: 6830, + width: 800, + height: 600, + timeline_start_seconds: 39.215263458, + timeline_end_seconds: 757.260263458, + frame_source_times_ns: Array.from({ length: 6830 }, (_, index) => 39_215_263_458 + index * 100_000_000), + ground_truth: false, + decode_repair: { + repaired_frame_count: 1, + sequence: 6092, + method: "duplicate-previous-decoded-frame", + proofs: { + eomt: { path: "proofs/decode_repair.json", sha256: "7".repeat(64) }, + ddrnet: { path: "proofs/ddrnet_decode_repair.json", sha256: "8".repeat(64) }, + }, + }, + layers: { city: layer("city"), vegetation: layer("vegetation") }, + }; +} + function labPayload(route = routeVideo()) { return { schema_version: "missioncore.lab-v1-vegetation-shadow/v1", @@ -233,6 +295,29 @@ test("vegetation LAB parses coarse material policy and sealed TGS binding", asyn assert.equal(result.routeVideo.fusionMode, "synchronised-multilayer-review"); }); +test("vegetation LAB parses the full 004 pass inside the existing result contract", async () => { + const payload = { + ...labPayload(null), + catalogs: { goose: [], ravnoves: [] }, + route_full_review: fullRouteReview(), + }; + const result = await fetchVegetationShadowResult(resultId, { + fetcher: async () => new Response(JSON.stringify(payload), { + status: 200, + headers: { "Content-Type": "application/json" }, + }), + }); + assert.equal(result.routeVideo, null); + assert.equal(result.routeFullReview.frameCount, 6830); + assert.equal(result.routeFullReview.city.taxonomy.length, 16); + assert.equal(result.routeFullReview.vegetation.taxonomy.length, 64); + assert.equal(result.routeFullReview.decodeRepair.sequence, 6092); + assert.equal( + vegetationFullRouteMaskUrl(resultId, "vegetation", 6829), + `/api/v1/laboratory/vegetation-shadow/${resultId}/route-masks/vegetation/6829`, + ); +}); + test("vegetation GOOSE benchmark opens through its separate archival endpoint", async () => { let requestedUrl = ""; const result = await fetchVegetationBenchmarkResult(benchmarkResultId, { @@ -271,8 +356,10 @@ test("vegetation realtime LAB and archival benchmark use separate admitted instr assert.match(resultSource, /M49TgsFullShadowEvidence/); assert.match(resultSource, /semanticOverride/); assert.match(resultSource, /EoMT CITY \/ DDRNet VEGETATION/); - assert.equal(resultSource.match(/&1 | ForEach-Object { Write-Output $_ } + $dockerExitCode = $LASTEXITCODE + } + finally { + $ErrorActionPreference = $previousErrorActionPreference + } + if ($dockerExitCode -ne 0) { + throw "LAB V1 container failed with exit code $dockerExitCode" } } function Export-RavnovesFrames { param([string]$Destination) - Assert-FileIdentity -Path $RavnovesVideo -ExpectedBytes (Get-Item -LiteralPath $RavnovesVideo).Length -ExpectedSha256 $ravnovesSha256 + Assert-FileIdentity -Path $RavnovesVideo -ExpectedBytes (Get-Item -LiteralPath $RavnovesVideo).Length -ExpectedSha256 $RavnovesSha256 New-Item -ItemType Directory -Path $Destination | Out-Null $expression = ($frameIndices | ForEach-Object { "eq(n\,$_ )" }) -join "+" $temporaryPattern = Join-Path $Destination "selected-%03d.png" @@ -175,14 +234,68 @@ function Export-RavnovesFrames { function Export-RavnovesVideoFrames { param([string]$Destination) - Assert-FileIdentity -Path $RavnovesVideo -ExpectedBytes (Get-Item -LiteralPath $RavnovesVideo).Length -ExpectedSha256 $ravnovesSha256 + Assert-FileIdentity -Path $RavnovesVideo -ExpectedBytes (Get-Item -LiteralPath $RavnovesVideo).Length -ExpectedSha256 $RavnovesSha256 New-Item -ItemType Directory -Path $Destination | Out-Null - & ffmpeg -hide_banner -loglevel error -i $RavnovesVideo -map 0:v:0 -fps_mode passthrough (Join-Path $Destination "frame-%06d.png") + $decodedRoot = "{0}-decoded-by-pts" -f $Destination + $packetsPath = "{0}-packets.csv" -f $Destination + New-Item -ItemType Directory -Path $decodedRoot | Out-Null + & ffprobe -v error -select_streams v:0 -show_packets -show_entries packet=pts,flags -of csv=p=0 -o $packetsPath $RavnovesVideo + if ($LASTEXITCODE -ne 0) { + throw "RAVNOVES full-video packet probe failed" + } + $packetRows = @(Get-Content -LiteralPath $packetsPath | Select-Object -First $RavnovesExpectedFrameCount) + if ($packetRows.Count -ne $RavnovesExpectedFrameCount) { + throw "RAVNOVES full-video packet sequence changed" + } + & ffmpeg -hide_banner -loglevel error ` + -hwaccel cuda -hwaccel_output_format cuda -c:v h264_cuvid ` + -err_detect ignore_err -flags +output_corrupt -copyts ` + -i $RavnovesVideo -map 0:v:0 -vf "hwdownload,format=nv12" ` + -fps_mode passthrough -enc_time_base demux -frames:v $RavnovesExpectedFrameCount ` + -frame_pts 1 (Join-Path $decodedRoot "frame-%d.png") if ($LASTEXITCODE -ne 0) { throw "RAVNOVES full-video frame extraction failed" } + $decodedCount = @(Get-ChildItem -LiteralPath $decodedRoot -File -Filter "frame-*.png").Count + $repairs = @() + for ($index = 0; $index -lt $RavnovesExpectedFrameCount; $index++) { + $columns = ([string]$packetRows[$index]).Split(",") + if ($columns.Count -lt 2) { + throw "RAVNOVES full-video packet row is malformed" + } + $pts = [int64]::Parse($columns[0].Trim(), [Globalization.CultureInfo]::InvariantCulture) + $decodedPath = Join-Path $decodedRoot ("frame-{0}.png" -f $pts) + $canonicalPath = Join-Path $Destination ("frame-{0:D6}.png" -f ($index + 1)) + if (Test-Path -LiteralPath $decodedPath -PathType Leaf) { + Move-Item -LiteralPath $decodedPath -Destination $canonicalPath + continue + } + if ($index -eq 0 -or $repairs.Count -ge 1) { + throw "RAVNOVES source contains more than one recoverable decoder gap" + } + $previousPath = Join-Path $Destination ("frame-{0:D6}.png" -f $index) + Copy-Item -LiteralPath $previousPath -Destination $canonicalPath + $repairs += [ordered]@{ + sequence = $index + 1 + packet_pts = $pts + method = "duplicate-previous-decoded-frame" + } + } + Remove-Item -LiteralPath $decodedRoot -Recurse -Force + Remove-Item -LiteralPath $packetsPath -Force + [ordered]@{ + schema_version = "missioncore.recorded-video-decode-repair/v1" + decoder = "ffmpeg-h264_cuvid-output-corrupt" + packets_requested = $RavnovesExpectedFrameCount + frames_decoded = $decodedCount + repaired_frame_count = $repairs.Count + repairs = $repairs + } | ConvertTo-Json -Depth 8 | Set-Content -LiteralPath ( + Join-Path (Split-Path $Destination -Parent) "decode-repair.json" + ) -Encoding utf8 $frames = @(Get-ChildItem -LiteralPath $Destination -File -Filter "frame-*.png" | Sort-Object Name) - if ($frames.Count -ne 4489 -or $frames[0].Name -ne "frame-000001.png" -or $frames[-1].Name -ne "frame-004489.png") { + $lastFrameName = "frame-{0:D6}.png" -f $RavnovesExpectedFrameCount + if ($frames.Count -ne $RavnovesExpectedFrameCount -or $frames[0].Name -ne "frame-000001.png" -or $frames[-1].Name -ne $lastFrameName) { throw "RAVNOVES full-video frame sequence changed" } } @@ -244,6 +357,9 @@ try { $framesRoot = Join-Path $runRoot "input-frames" Export-RavnovesVideoFrames -Destination $framesRoot Invoke-IsolatedRun -RunMode "ravnoves-video" -RunRoot $runRoot -Limit 0 -FramesRoot $framesRoot + Copy-Item -LiteralPath (Join-Path $runRoot "decode-repair.json") -Destination ( + Join-Path $runRoot "result\decode-repair.json" + ) Remove-Item -LiteralPath $framesRoot -Recurse -Force } } diff --git a/scripts/seal_mixed_route_full_video_review.py b/scripts/seal_mixed_route_full_video_review.py new file mode 100644 index 0000000..1f67a71 --- /dev/null +++ b/scripts/seal_mixed_route_full_video_review.py @@ -0,0 +1,38 @@ +#!/usr/bin/env python3 +"""Seal the complete RAVNOVES004TREE semantic pass into existing LAB V1.""" + +from __future__ import annotations + +import argparse +from pathlib import Path + +from k1link.laboratory.mixed_route_vegetation_review import ( + seal_mixed_route_full_video_review, +) + + +def main() -> None: + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument("--base-lab-root", type=Path, required=True) + parser.add_argument("--job-root", type=Path, required=True) + parser.add_argument("--recorded-media-preparation", type=Path, required=True) + parser.add_argument("--eomt-root", type=Path, required=True) + parser.add_argument("--eomt-profile", type=Path, required=True) + parser.add_argument("--ddrnet-root", type=Path, required=True) + parser.add_argument("--output-root", type=Path, required=True) + args = parser.parse_args() + print( + seal_mixed_route_full_video_review( + base_lab_root=args.base_lab_root, + job_root=args.job_root, + recorded_media_preparation_path=args.recorded_media_preparation, + eomt_root=args.eomt_root, + eomt_profile_path=args.eomt_profile, + ddrnet_root=args.ddrnet_root, + output_root=args.output_root, + ) + ) + + +if __name__ == "__main__": + main() diff --git a/src/k1link/laboratory/mixed_route_vegetation_review.py b/src/k1link/laboratory/mixed_route_vegetation_review.py index ec30939..fc67c36 100644 --- a/src/k1link/laboratory/mixed_route_vegetation_review.py +++ b/src/k1link/laboratory/mixed_route_vegetation_review.py @@ -7,7 +7,9 @@ import hashlib import json import os import shutil +import tarfile import tempfile +import zipfile from datetime import UTC, datetime from pathlib import Path from typing import Any @@ -15,6 +17,8 @@ from typing import Any import numpy as np from PIL import Image, ImageDraw +from k1link.compute.jobs import validate_camera_compute_job + from k1link.laboratory.vegetation_shadow_lab import ( LAB_SCHEMA, RESULT_PREFIX, @@ -45,11 +49,20 @@ TGS_COLORS = { 2: (235, 112, 122), 3: (150, 154, 163), } +FULL_ROUTE_SOURCE_ID = "RAVNOVES004TREE" +FULL_ROUTE_FRAME_COUNT = 6830 +FULL_ROUTE_JOB_ID = "recorded-camera-eb2783c5480d56bda07c8af0" +FULL_ROUTE_INPUT_SHA256 = ( + "eb2783c5480d56bda07c8af008dff5344d19dc550ef70fe2075d6f098f7cc715" +) +FULL_ROUTE_STREAM_SHA256 = ( + "e5eb017e2cc0f546736eda5235ca157b501913093cb64af5e548e335417e1bac" +) def _read_json(path: Path, label: str) -> dict[str, Any]: try: - value = json.loads(path.read_text(encoding="utf-8")) + value = json.loads(path.read_text(encoding="utf-8-sig")) except (OSError, json.JSONDecodeError) as exc: raise VegetationShadowLabError(f"{label} is invalid") from exc if not isinstance(value, dict): @@ -86,6 +99,126 @@ def _image_proof(descriptor: dict[str, object]) -> dict[str, object]: return {"path": descriptor["path"], "sha256": descriptor["sha256"]} +def _mask_archive_descriptor( + path: Path, + relative: str, + artifacts: list[dict[str, object]], + *, + role: str, +) -> dict[str, object]: + descriptor = { + "role": role, + "path": relative, + "byte_length": path.stat().st_size, + "sha256": sha256_path(path), + "media_type": "application/zip", + } + artifacts.append(descriptor) + return descriptor + + +def _repack_eomt_masks(source: Path, destination: Path, frame_count: int) -> None: + destination.parent.mkdir(mode=0o700, parents=True, exist_ok=True) + expected = [f"semantic-masks/frame-{sequence + 1:06d}.png" for sequence in range(frame_count)] + try: + with ( + tarfile.open(source, mode="r:gz") as archive, + zipfile.ZipFile( + destination, + mode="x", + compression=zipfile.ZIP_STORED, + allowZip64=True, + ) as output, + ): + members = [member for member in archive.getmembers() if member.isfile()] + if [member.name.removeprefix("./") for member in members] != expected: + raise VegetationShadowLabError("full-route EoMT mask sequence changed") + for member, expected_name in zip(members, expected, strict=True): + if member.size < 8 or member.size > 1024 * 1024: + raise VegetationShadowLabError("full-route EoMT mask size changed") + stream = archive.extractfile(member) + if stream is None: + raise VegetationShadowLabError("full-route EoMT mask is unavailable") + output.writestr( + f"masks/{Path(expected_name).name}", + stream.read(), + ) + except (OSError, tarfile.TarError, zipfile.BadZipFile) as exc: + destination.unlink(missing_ok=True) + raise VegetationShadowLabError("full-route EoMT archive is invalid") from exc + + +def _validate_zip_masks(path: Path, frame_count: int) -> None: + expected = [f"masks/frame-{sequence + 1:06d}.png" for sequence in range(frame_count)] + try: + with zipfile.ZipFile(path) as archive: + members = archive.infolist() + if ( + [member.filename for member in members] != expected + or any( + member.is_dir() or member.file_size < 8 or member.file_size > 1024 * 1024 + for member in members + ) + ): + raise VegetationShadowLabError("full-route semantic mask sequence changed") + except (OSError, zipfile.BadZipFile) as exc: + raise VegetationShadowLabError("full-route semantic archive is invalid") from exc + + +def _full_route_frame_times(media: dict[str, Any], frame_count: int) -> list[int]: + epochs = media.get("epochs") + start = media.get("timeline_start_seconds") + end = media.get("timeline_end_seconds") + if ( + not isinstance(epochs, list) + or len(epochs) != 1 + or not isinstance(start, (int, float)) + or not isinstance(end, (int, float)) + ): + raise VegetationShadowLabError("recorded media timeline changed") + epoch = epochs[0] + segments = epoch.get("segments") if isinstance(epoch, dict) else None + if not isinstance(segments, list) or len(segments) != frame_count: + raise VegetationShadowLabError("recorded media segment count changed") + starts = [float(start)] + previous_end = 0.0 + for sequence, raw in enumerate(segments, start=1): + if ( + not isinstance(raw, dict) + or raw.get("sequence") != sequence + or not isinstance(raw.get("end_time_seconds"), (int, float)) + or float(raw["end_time_seconds"]) <= previous_end + ): + raise VegetationShadowLabError("recorded media segment timeline changed") + if sequence < frame_count: + starts.append(float(start) + float(raw["end_time_seconds"])) + previous_end = float(raw["end_time_seconds"]) + if abs((float(start) + previous_end) - float(end)) > 0.001: + raise VegetationShadowLabError("recorded media duration changed") + return [round(value * 1_000_000_000) for value in starts] + + +def _eomt_taxonomy(profile: dict[str, Any]) -> dict[str, object]: + taxonomy = profile.get("target_taxonomy") + if not isinstance(taxonomy, dict) or set(taxonomy) != {str(index) for index in range(16)}: + raise VegetationShadowLabError("EoMT target taxonomy changed") + classes = [] + for class_id in range(16): + digest = hashlib.sha256(f"mission-core-segment-{class_id}".encode()).digest() + classes.append( + { + "class_id": class_id, + "label": taxonomy[str(class_id)], + "color_rgb": [64 + digest[index] % 176 for index in range(3)], + "disposition": "undefined" if class_id == 0 else "prediction", + } + ) + return { + "schema_version": "missioncore.recorded-eomt-taxonomy/v1", + "classes": classes, + } + + def _render_tgs_costmaps(tgs_root: Path, destination: Path) -> list[Path]: result = _read_json(tgs_root / "result.json", "mixed-route TGS result") evidence = result.get("evidence") @@ -392,6 +525,338 @@ def seal_mixed_route_vegetation_review( raise +def seal_mixed_route_full_video_review( + *, + base_lab_root: Path, + job_root: Path, + recorded_media_preparation_path: Path, + eomt_root: Path, + eomt_profile_path: Path, + ddrnet_root: Path, + output_root: Path, +) -> Path: + """Publish the complete 004 city/nature pass in the existing M4.7 LAB.""" + + base_root = base_lab_root.resolve(strict=True) + base = _read_json(base_root / "result.json", "base vegetation LAB") + base_identity = base.get("identity") + if ( + base.get("schema_version") != LAB_SCHEMA + or not isinstance(base_identity, dict) + or hashlib.sha256(canonical_json(base_identity)).hexdigest() + != base.get("identity_sha256") + or base.get("result_id") != base_root.name + or not base_root.name.startswith(RESULT_PREFIX) + or base.get("authority", {}).get("commands_enabled") is not False + ): + raise VegetationShadowLabError("base vegetation LAB proof changed") + + job = validate_camera_compute_job(job_root) + if ( + job.job_id != FULL_ROUTE_JOB_ID + or job.input_sha256 != FULL_ROUTE_INPUT_SHA256 + or job.session_id != "20260828T130511Z_viewer_live" + or job.source_id != "sensor.camera.right" + or job.segment_count != FULL_ROUTE_FRAME_COUNT + ): + raise VegetationShadowLabError("full-route camera job changed") + + eomt = _read_json(eomt_root / "result.json", "full-route EoMT result") + eomt_report = _read_json(eomt_root / "run-report.json", "full-route EoMT report") + decode_repair = _read_json( + eomt_root / "decode-repair.json", + "full-route video decode repair", + ) + eomt_input = eomt_report.get("input") + eomt_metrics = eomt_report.get("metrics") + if ( + eomt.get("schema_version") != "missioncore.recorded-perception-result/v2" + or eomt.get("ground_truth") is not False + or eomt.get("frames_processed") != FULL_ROUTE_FRAME_COUNT + or not isinstance(eomt_input, dict) + or eomt_input.get("job_id") != job.job_id + or eomt_input.get("input_sha256") != job.input_sha256 + or eomt_input.get("frames_admitted") != FULL_ROUTE_FRAME_COUNT + or not isinstance(eomt_metrics, dict) + or eomt_metrics.get("frames_processed") != FULL_ROUTE_FRAME_COUNT + ): + raise VegetationShadowLabError("full-route EoMT contract changed") + if ( + decode_repair.get("schema_version") + != "missioncore.recorded-video-decode-repair/v1" + or decode_repair.get("decoder") != "ffmpeg-h264_cuvid-output-corrupt" + or decode_repair.get("packets_requested") != FULL_ROUTE_FRAME_COUNT + or decode_repair.get("frames_decoded") != FULL_ROUTE_FRAME_COUNT - 1 + or decode_repair.get("repaired_frame_count") != 1 + or decode_repair.get("repairs") + != [ + { + "sequence": 6092, + "packet_pts": 55656450, + "method": "duplicate-previous-decoded-frame", + } + ] + ): + raise VegetationShadowLabError("full-route video decode repair changed") + eomt_artifacts = { + item.get("kind"): item + for item in eomt.get("artifacts", []) + if isinstance(item, dict) + } + eomt_archive_proof = eomt_artifacts.get("panoptic-mask-archive") + if not isinstance(eomt_archive_proof, dict): + raise VegetationShadowLabError("full-route EoMT mask proof is missing") + eomt_archive = eomt_root / str(eomt_archive_proof.get("path")) + if ( + not eomt_archive.is_file() + or eomt_archive.stat().st_size != eomt_archive_proof.get("byte_length") + or sha256_path(eomt_archive) != eomt_archive_proof.get("sha256") + ): + raise VegetationShadowLabError("full-route EoMT mask proof changed") + + ddrnet = _read_json(ddrnet_root / "result.json", "full-route DDRNet result") + ddrnet_decode_repair = _read_json( + ddrnet_root / "decode-repair.json", + "full-route DDRNet video decode repair", + ) + ddrnet_source = ddrnet.get("source") + ddrnet_video = ddrnet.get("video_semantics") + if ( + ddrnet.get("schema_version") != "missioncore.lab-v1-goose-vegetation-run/v1" + or ddrnet.get("mode") != "ravnoves-video" + or ddrnet.get("candidate", {}).get("candidate_key") != "ddrnet" + or not isinstance(ddrnet_source, dict) + or ddrnet_source.get("source_id") + != f"{FULL_ROUTE_SOURCE_ID}/right-{FULL_ROUTE_STREAM_SHA256}" + or ddrnet_source.get("input_count") != FULL_ROUTE_FRAME_COUNT + or ddrnet_source.get("ground_truth_available") is not False + or not isinstance(ddrnet_video, dict) + or ddrnet_video.get("base_m4_result_id") is not None + or ddrnet.get("authority", {}).get("navigation_accepted") is not False + or ddrnet.get("authority", {}).get("actuation_accepted") is not False + ): + raise VegetationShadowLabError("full-route DDRNet contract changed") + if ddrnet_decode_repair != decode_repair: + raise VegetationShadowLabError("full-route model decoders disagree") + ddrnet_archive_proof = ddrnet_video.get("mask_archive") + ddrnet_taxonomy = ddrnet_video.get("taxonomy") + if ( + not isinstance(ddrnet_archive_proof, dict) + or ddrnet_archive_proof.get("frame_count") != FULL_ROUTE_FRAME_COUNT + or not isinstance(ddrnet_taxonomy, dict) + ): + raise VegetationShadowLabError("full-route DDRNet mask proof changed") + ddrnet_archive = ddrnet_root / str(ddrnet_archive_proof.get("path")) + if ( + not ddrnet_archive.is_file() + or ddrnet_archive.stat().st_size != ddrnet_archive_proof.get("byte_length") + or sha256_path(ddrnet_archive) != ddrnet_archive_proof.get("sha256") + ): + raise VegetationShadowLabError("full-route DDRNet archive changed") + _validate_zip_masks(ddrnet_archive, FULL_ROUTE_FRAME_COUNT) + + media_document = _read_json( + recorded_media_preparation_path.resolve(strict=True), + "recorded media preparation", + ) + media = media_document.get("manifest") + if ( + media_document.get("schema_version") != "missioncore.recorded-media-preparation/v3" + or media_document.get("session_id") != job.session_id + or media_document.get("artifact_id") != "recorded-video-6a3945242828a038" + or media_document.get("checksum_sha256") + != "557e61f2839140dc9f97b5aea855c576b0616573080dff5d2852ab1df0558665" + or not isinstance(media, dict) + or media.get("source_id") != "recorded.camera.6a3945242828a038" + or media.get("generation_sha256") + != "b073ea1e7babf1c77a664e1a5b95e3702d0e05b0e34c1e85a7c67a6f8b392ded" + or media.get("byte_length") != 551674491 + or media.get("timeline_start_seconds") != job.timeline_start_seconds + or media.get("timeline_end_seconds") != job.timeline_end_seconds + or media.get("synchronization") != "host-arrival-best-effort" + ): + raise VegetationShadowLabError("recorded media preparation changed") + frame_times_ns = _full_route_frame_times(media, FULL_ROUTE_FRAME_COUNT) + eomt_profile = _read_json(eomt_profile_path.resolve(strict=True), "EoMT profile") + eomt_taxonomy = _eomt_taxonomy(eomt_profile) + + output_root.mkdir(mode=0o700, parents=True, exist_ok=True) + temporary = Path(tempfile.mkdtemp(prefix=".mixed-route-full-video-", dir=output_root)) + artifacts: list[dict[str, object]] = [] + try: + eomt_destination = temporary / "video" / "eomt-semantic-masks.zip" + _repack_eomt_masks(eomt_archive, eomt_destination, FULL_ROUTE_FRAME_COUNT) + _validate_zip_masks(eomt_destination, FULL_ROUTE_FRAME_COUNT) + eomt_descriptor = _mask_archive_descriptor( + eomt_destination, + "video/eomt-semantic-masks.zip", + artifacts, + role="full-route-eomt-semantic-mask-archive", + ) + ddrnet_descriptor = _artifact( + ddrnet_archive, + temporary, + "video/ddrnet-semantic-masks.zip", + artifacts, + role="full-route-ddrnet-semantic-mask-archive", + media_type="application/zip", + ) + _validate_zip_masks( + temporary / "video" / "ddrnet-semantic-masks.zip", + FULL_ROUTE_FRAME_COUNT, + ) + proof_descriptors: dict[str, dict[str, object]] = {} + for key, path in ( + ("base", base_root / "result.json"), + ("job", job.manifest_path), + ("media", recorded_media_preparation_path.resolve(strict=True)), + ("eomt", eomt_root / "result.json"), + ("eomt_report", eomt_root / "run-report.json"), + ("decode_repair", eomt_root / "decode-repair.json"), + ("ddrnet", ddrnet_root / "result.json"), + ("ddrnet_decode_repair", ddrnet_root / "decode-repair.json"), + ): + descriptor = _artifact( + path, + temporary, + f"proofs/{key}.json", + artifacts, + role="full-route-proof", + media_type="application/json", + ) + proof_descriptors[key] = _image_proof(descriptor) + + full_route = { + "source_id": FULL_ROUTE_SOURCE_ID, + "session_id": job.session_id, + "source_job_id": job.job_id, + "source_job_input_sha256": job.input_sha256, + "source_stream_sha256": FULL_ROUTE_STREAM_SHA256, + "recorded_media_source_id": media["source_id"], + "recorded_media_generation_sha256": media["generation_sha256"], + "frame_count": FULL_ROUTE_FRAME_COUNT, + "width": 800, + "height": 600, + "timeline_start_seconds": job.timeline_start_seconds, + "timeline_end_seconds": job.timeline_end_seconds, + "frame_source_times_ns": frame_times_ns, + "ground_truth": False, + "decode_repair": { + "repaired_frame_count": 1, + "sequence": 6092, + "method": "duplicate-previous-decoded-frame", + "proofs": { + "eomt": proof_descriptors["decode_repair"], + "ddrnet": proof_descriptors["ddrnet_decode_repair"], + }, + }, + "layers": { + "city": { + "name": "EoMT Cityscapes", + "result_id": eomt["result_id"], + "frame_count": FULL_ROUTE_FRAME_COUNT, + "taxonomy": eomt_taxonomy, + "mask_archive": { + "path": eomt_descriptor["path"], + "sha256": eomt_descriptor["sha256"], + "byte_length": eomt_descriptor["byte_length"], + }, + "inference_fps": eomt_metrics["inference_frames_per_second"], + "latency_p95_ms": eomt_metrics["latency_ms"]["end_to_end_ms"]["p95"], + "peak_reserved_vram_bytes": int( + float(eomt_metrics["cuda_peak_memory_reserved_mib"]) * 1024 * 1024 + ), + }, + "vegetation": { + "name": ddrnet["candidate"]["loaded_model_name"], + "result_id": ddrnet["result_id"], + "frame_count": FULL_ROUTE_FRAME_COUNT, + "taxonomy": ddrnet_taxonomy, + "mask_archive": { + "path": ddrnet_descriptor["path"], + "sha256": ddrnet_descriptor["sha256"], + "byte_length": ddrnet_descriptor["byte_length"], + }, + "inference_fps": ddrnet["timing"]["throughput_fps_from_mean_inference"], + "latency_p95_ms": ddrnet["timing"]["latency_ms_p95"], + "peak_reserved_vram_bytes": ddrnet["resource"]["peak_reserved_vram_bytes"], + }, + }, + "proofs": proof_descriptors, + "limitations": [ + "RAVNOVES004TREE has no manual route truth.", + "One corrupt H.264 packet at sequence 6092 was represented by the previous decoded frame; the repair is sealed as evidence.", + "EoMT and DDRNet were executed sequentially, not as a concurrent realtime stack.", + "DDRNet vegetation subtypes remain prediction-only and are not planner authority.", + "This full-video pass does not add full-route TGS, ditch or negative-obstacle proof.", + "People and vehicles still require an independent fail-safe detector and STOP path.", + ], + } + authority = { + "commands_enabled": False, + "navigation_or_safety_accepted": False, + "actuation_accepted": False, + "camera_semantics_can_clear_rigid_geometry": False, + } + identity = { + "lab_id": "lab-v1-vegetation-mission-policy", + "base_result_id": base["result_id"], + "selected_candidate": base_identity["selected_candidate"], + "candidate_metrics": base_identity["candidate_metrics"], + "source": { + "shadow_session": FULL_ROUTE_SOURCE_ID, + "shadow_camera": job.source_id, + "shadow_frame_count": FULL_ROUTE_FRAME_COUNT, + "video_shadow_frame_count": FULL_ROUTE_FRAME_COUNT, + }, + "route_full_review": full_route, + "authority": authority, + } + identity_sha256 = hashlib.sha256(canonical_json(identity)).hexdigest() + result_id = f"{RESULT_PREFIX}{identity_sha256}" + manifest = { + "schema_version": LAB_SCHEMA, + "result_id": result_id, + "identity_sha256": identity_sha256, + "created_at_utc": datetime.now(UTC).isoformat(), + "ground_truth": False, + "status": "visual-shadow-ready-policy-not-authorized", + "identity": identity, + "source": identity["source"], + "route_video": None, + "route_review": None, + "route_full_review": full_route, + "method": { + "completeness": "complete", + "execution_class": "ai-inference", + "pipeline_id": "ravnoves004tree-full-eomt-ddrnet-recorded-review/v1", + }, + "metrics": {"candidates": base["metrics"]["candidates"]}, + "decision": { + "selected_candidate": base_identity["selected_candidate"], + "visual_shadow_ready": True, + "full_video_shadow_ready": True, + "mission_policy_ready_for_configuration": True, + "multilayer_policy_review_ready": True, + "navigation_accepted": False, + "production_accepted": False, + }, + "limitations": full_route["limitations"], + "authority": authority, + "catalogs": {"goose": [], "ravnoves": []}, + "artifacts": artifacts, + } + (temporary / "result.json").write_bytes(canonical_json(manifest) + b"\n") + destination = output_root / result_id + if destination.exists(): + raise VegetationShadowLabError("immutable full-route LAB result already exists") + os.replace(temporary, destination) + return destination + except Exception: + shutil.rmtree(temporary, ignore_errors=True) + raise + + def main() -> None: parser = argparse.ArgumentParser(description=__doc__) parser.add_argument("--base-lab-root", type=Path, required=True) diff --git a/src/k1link/web/vegetation_shadow_lab_api.py b/src/k1link/web/vegetation_shadow_lab_api.py index b459968..dbb3be7 100644 --- a/src/k1link/web/vegetation_shadow_lab_api.py +++ b/src/k1link/web/vegetation_shadow_lab_api.py @@ -179,9 +179,77 @@ def _build_vegetation_lab_router( }, ) + @router.get("/{result_id}/route-masks/{layer}/{sequence}") + def get_full_route_mask(result_id: str, layer: str, sequence: int) -> Response: + candidate = _resolve_candidate(root_provider, definition, result_id) + manifest = _read_verified(candidate, definition) + route = manifest.get("route_full_review") + layers = route.get("layers") if isinstance(route, dict) else None + frame_count = route.get("frame_count") if isinstance(route, dict) else None + selected = layers.get(layer) if isinstance(layers, dict) else None + archive = selected.get("mask_archive") if isinstance(selected, dict) else None + archive_relative = archive.get("path") if isinstance(archive, dict) else None + if ( + layer not in {"city", "vegetation"} + or not isinstance(frame_count, int) + or not 0 <= sequence < frame_count + or not isinstance(archive_relative, str) + ): + raise HTTPException(status_code=404, detail="Full-route semantic mask not found") + relative = PurePosixPath(archive_relative) + artifacts = manifest.get("artifacts") + if ( + relative.is_absolute() + or str(relative) != archive_relative + or any(part in {"", ".", ".."} for part in relative.parts) + or relative.suffix != ".zip" + or not isinstance(artifacts, list) + or not any( + isinstance(item, dict) + and item.get("path") == archive_relative + and item.get("media_type") == "application/zip" + for item in artifacts + ) + ): + raise HTTPException(status_code=404, detail="Full-route semantic mask not found") + return _zip_mask_response(candidate.joinpath(*relative.parts), sequence) + return router +def _zip_mask_response(archive_path: Path, sequence: int) -> Response: + member = f"masks/frame-{sequence + 1:06d}.png" + try: + before = archive_path.stat() + with zipfile.ZipFile(archive_path) as frozen: + info = frozen.getinfo(member) + if info.is_dir() or info.file_size < 8 or info.file_size > 1024 * 1024: + raise ValueError("Semantic mask member is invalid") + payload = frozen.read(info) + after = archive_path.stat() + if ( + before.st_size != after.st_size + or before.st_mtime_ns != after.st_mtime_ns + or len(payload) != info.file_size + ): + raise ValueError("Semantic mask archive changed during read") + except (KeyError, OSError, ValueError, zipfile.BadZipFile): + raise HTTPException( + status_code=503, + detail="Semantic mask failed verification", + ) from None + digest = hashlib.sha256(payload).hexdigest() + return Response( + content=payload, + media_type="image/png", + headers={ + "Cache-Control": "private, max-age=31536000, immutable", + "ETag": f'"{digest}"', + "X-Content-Type-Options": "nosniff", + }, + ) + + def _configured_root(provider: RootProvider) -> Path | None: candidate = provider() if candidate is None: diff --git a/tests/test_e4_full_session_segmentation.py b/tests/test_e4_full_session_segmentation.py index 7b2d911..ab9a605 100644 --- a/tests/test_e4_full_session_segmentation.py +++ b/tests/test_e4_full_session_segmentation.py @@ -104,3 +104,20 @@ def test_e4_class_fractions_use_only_valid_fov_pixels() -> None: assert {item["id"]: item["pixels"] for item in classes} == {1: 1, 4: 2, 7: 1} assert sum(float(item["fraction_of_valid_fov"]) for item in classes) == 1.0 + + +def test_e4_orchestrator_seals_a_single_decoder_gap_without_frame_shift() -> None: + path = ( + Path(__file__).parents[1] + / "experiments" + / "perception" + / "worker" + / "Invoke-E4FullSessionSegmentation.ps1" + ) + source = path.read_text(encoding="utf-8") + assert "-c:v h264_cuvid" in source + assert "-frame_pts 1" in source + assert '$decodedPath = Join-Path $decodedFramesRoot ("frame-{0}.png" -f $pts)' in source + assert "$repairs.Count -ge 1" in source + assert 'method = "duplicate-previous-decoded-frame"' in source + assert 'schema_version = "missioncore.recorded-video-decode-repair/v1"' in source diff --git a/tests/test_lab_v1_goose_vegetation_benchmark.py b/tests/test_lab_v1_goose_vegetation_benchmark.py index 00bc275..fe59cde 100644 --- a/tests/test_lab_v1_goose_vegetation_benchmark.py +++ b/tests/test_lab_v1_goose_vegetation_benchmark.py @@ -25,6 +25,12 @@ POWERSHELL_PATH = ( / "worker" / "Invoke-LabV1VegetationGooseBenchmark.ps1" ) +RAV004_SOURCE_PATH = ( + REPOSITORY_ROOT + / "config" + / "perception" + / "lab-v1-ravnoves004tree-full-video-source-v1.json" +) def test_benchmark_contract_is_bounded_and_fail_closed() -> None: @@ -93,3 +99,21 @@ def test_worker_wrapper_is_isolated_from_canonical_triton() -> None: assert '"--cap-drop", "ALL"' in source assert '"--security-opt", "no-new-privileges"' in source assert "if ($canonicalAfter -ne $canonicalBefore)" in source + + +def test_rav004_full_video_profile_and_decoder_gap_are_explicit() -> None: + profile = json.loads(RAV004_SOURCE_PATH.read_text(encoding="utf-8")) + source_profile = profile["source"] + assert profile["schema_version"] == "missioncore.lab-v1-ravnoves-source/v1" + assert source_profile["source_job_id"] == ( + "recorded-camera-eb2783c5480d56bda07c8af0" + ) + assert source_profile["expected_frame_count"] == 6830 + assert source_profile["base_m4_result_id"] is None + source = POWERSHELL_PATH.read_text(encoding="utf-8") + assert "-c:v h264_cuvid" in source + assert 'schema_version = "missioncore.recorded-video-decode-repair/v1"' in source + assert 'method = "duplicate-previous-decoded-frame"' in source + assert "$repairs.Count -ge 1" in source + assert '& docker @arguments 2>&1 | ForEach-Object { Write-Output $_ }' in source + assert 'if ($dockerExitCode -ne 0)' in source diff --git a/tests/test_vegetation_shadow_lab.py b/tests/test_vegetation_shadow_lab.py index 7d465bc..f986067 100644 --- a/tests/test_vegetation_shadow_lab.py +++ b/tests/test_vegetation_shadow_lab.py @@ -270,6 +270,67 @@ def test_vegetation_shadow_lab_seals_autonomous_visual_evidence( assert mask.content == b"\x89PNG\r\n\x1a\n" assert mask.headers["cache-control"].endswith("immutable") + full_archive_payloads = (b"\x89PNG\r\n\x1a\ncity", b"\x89PNG\r\n\x1a\nvegetation") + full_identity = dict(manifest["identity"]) + full_route = { + "frame_count": 2, + "layers": { + layer: {"mask_archive": {"path": "video/full-route-masks.zip"}} + for layer in ("city", "vegetation") + }, + } + full_identity["route_full_review"] = full_route + full_identity_sha = hashlib.sha256( + json.dumps( + full_identity, + ensure_ascii=False, + sort_keys=True, + separators=(",", ":"), + ).encode("utf-8") + ).hexdigest() + full_result_id = f"lab-v1-vegetation-shadow-{full_identity_sha}" + full_root = result_root.parent / full_result_id + shutil.copytree(result_root, full_root) + full_archive = full_root / "video" / "full-route-masks.zip" + full_archive.parent.mkdir(exist_ok=True) + with zipfile.ZipFile(full_archive, "x", compression=zipfile.ZIP_STORED) as frozen: + for sequence, payload in enumerate(full_archive_payloads, start=1): + frozen.writestr(f"masks/frame-{sequence:06d}.png", payload) + full_manifest = dict(manifest) + full_manifest["result_id"] = full_result_id + full_manifest["identity"] = full_identity + full_manifest["identity_sha256"] = full_identity_sha + full_manifest["route_full_review"] = full_route + full_manifest["artifacts"] = [ + *manifest["artifacts"], + { + "role": "full-route-mask-fixture", + "path": "video/full-route-masks.zip", + "byte_length": full_archive.stat().st_size, + "sha256": _sha256(full_archive), + "media_type": "application/zip", + }, + ] + (full_root / "result.json").write_text( + json.dumps(full_manifest, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + + "\n", + encoding="utf-8", + ) + for layer, sequence, expected in ( + ("city", 0, full_archive_payloads[0]), + ("vegetation", 1, full_archive_payloads[1]), + ): + response = client.get( + f"/api/v1/laboratory/vegetation-shadow/{full_result_id}" + f"/route-masks/{layer}/{sequence}" + ) + assert response.status_code == 200 + assert response.content == expected + assert response.headers["cache-control"].endswith("immutable") + assert client.get( + f"/api/v1/laboratory/vegetation-shadow/{full_result_id}/route-masks/city/2" + ).status_code == 404 + (result_root / asset_path).write_bytes(b"tampered") assert ( client.get(f"/api/v1/laboratory/vegetation-shadow/{result_root.name}").status_code From cd16ea28a658c55c2f69321c89a668dc7a2c7a99 Mon Sep 17 00:00:00 2001 From: DCCONSTRUCTIONS Date: Sat, 29 Aug 2026 13:54:10 +0300 Subject: [PATCH 4/6] fix(lab): keep full route result indexable --- .../src/core/laboratory/vegetationShadow.ts | 85 +++++++++++++++---- .../test/vegetationShadow.test.mjs | 34 ++++++-- .../mixed_route_vegetation_review.py | 21 ++++- src/k1link/web/vegetation_shadow_lab_api.py | 48 +++++++++++ tests/test_vegetation_shadow_lab.py | 24 ++++++ 5 files changed, 189 insertions(+), 23 deletions(-) diff --git a/apps/control-station/src/core/laboratory/vegetationShadow.ts b/apps/control-station/src/core/laboratory/vegetationShadow.ts index 0b7cf5d..380ad58 100644 --- a/apps/control-station/src/core/laboratory/vegetationShadow.ts +++ b/apps/control-station/src/core/laboratory/vegetationShadow.ts @@ -129,6 +129,10 @@ export interface VegetationFullRouteReview { height: 600; timelineStartSeconds: number; timelineEndSeconds: number; + timelineArtifact: { + sha256: string; + byteLength: number; + }; frameSourceTimesNs: readonly number[]; decodeRepair: { repairedFrameCount: 1; @@ -742,22 +746,30 @@ function fullRouteReviewValue(value: unknown): VegetationFullRouteReview | null if (timelineEndSeconds <= timelineStartSeconds) { throw new VegetationShadowContractError("vegetation.route_full_review: timeline invalid."); } - const frameSourceTimesNs = arrayValue( - row.frame_source_times_ns, - "vegetation.route_full_review.frame_source_times_ns", - ).map((raw, index) => { - const time = integerValue(raw, `vegetation.route_full_review.frame_source_times_ns[${index}]`); - if (!Number.isSafeInteger(time)) { - throw new VegetationShadowContractError("vegetation.route_full_review: unsafe frame time."); - } - return time; - }); - if ( - frameSourceTimesNs.length !== 6830 - || frameSourceTimesNs.some((time, index) => index > 0 && time <= frameSourceTimesNs[index - 1]!) - ) { - throw new VegetationShadowContractError("vegetation.route_full_review: frame timeline changed."); + const timeline = objectValue(row.timeline, "vegetation.route_full_review.timeline"); + exact( + timeline.path, + "video/frame-source-times-ns.bin", + "vegetation.route_full_review.timeline.path", + ); + exact( + timeline.encoding, + "uint64-le-nanoseconds", + "vegetation.route_full_review.timeline.encoding", + ); + exact(timeline.frame_count, 6830, "vegetation.route_full_review.timeline.frame_count"); + const timelineSha256 = textValue( + timeline.sha256, + "vegetation.route_full_review.timeline.sha256", + ); + if (!SHA256.test(timelineSha256)) { + throw new VegetationShadowContractError("vegetation.route_full_review: timeline digest invalid."); } + const timelineByteLength = integerValue( + timeline.byte_length, + "vegetation.route_full_review.timeline.byte_length", + ); + exact(timelineByteLength, 6830 * 8, "vegetation.route_full_review.timeline.byte_length"); const decodeRepair = objectValue( row.decode_repair, "vegetation.route_full_review.decode_repair", @@ -808,7 +820,8 @@ function fullRouteReviewValue(value: unknown): VegetationFullRouteReview | null height: 600, timelineStartSeconds, timelineEndSeconds, - frameSourceTimesNs, + timelineArtifact: { sha256: timelineSha256, byteLength: timelineByteLength }, + frameSourceTimesNs: [], decodeRepair: { repairedFrameCount: 1, sequence: 6092, @@ -935,11 +948,49 @@ export async function fetchVegetationShadowResult( if (!response.ok) { throw new VegetationShadowContractError(`Vegetation LAB недоступна: HTTP ${response.status}.`); } - return parseResult( + const result = parseResult( await response.json(), resultId, "/api/v1/laboratory/vegetation-shadow", ); + if (!result.routeFullReview) return result; + const timelineResponse = await fetcher( + `/api/v1/laboratory/vegetation-shadow/${encodeURIComponent(resultId)}/route-timeline`, + { method: "GET", headers: { Accept: "application/octet-stream" }, signal }, + ); + if (!timelineResponse.ok) { + throw new VegetationShadowContractError( + `Vegetation LAB timeline недоступна: HTTP ${timelineResponse.status}.`, + ); + } + if ( + timelineResponse.headers.get("etag") + !== `"${result.routeFullReview.timelineArtifact.sha256}"` + ) { + throw new VegetationShadowContractError("Vegetation LAB timeline digest изменён."); + } + const timelinePayload = await timelineResponse.arrayBuffer(); + if (timelinePayload.byteLength !== result.routeFullReview.timelineArtifact.byteLength) { + throw new VegetationShadowContractError("Vegetation LAB timeline size изменён."); + } + const timelineView = new DataView(timelinePayload); + const frameSourceTimesNs = Array.from({ length: result.routeFullReview.frameCount }, (_, index) => { + const value = Number(timelineView.getBigUint64(index * 8, true)); + if (!Number.isSafeInteger(value)) { + throw new VegetationShadowContractError("Vegetation LAB timeline содержит unsafe time."); + } + return value; + }); + if ( + frameSourceTimesNs[0] !== Math.round(result.routeFullReview.timelineStartSeconds * 1_000_000_000) + || frameSourceTimesNs.some((time, index) => index > 0 && time <= frameSourceTimesNs[index - 1]!) + ) { + throw new VegetationShadowContractError("Vegetation LAB timeline нарушена."); + } + return { + ...result, + routeFullReview: { ...result.routeFullReview, frameSourceTimesNs }, + }; } export async function fetchVegetationBenchmarkResult( diff --git a/apps/control-station/test/vegetationShadow.test.mjs b/apps/control-station/test/vegetationShadow.test.mjs index 5c61cb7..d4c96ba 100644 --- a/apps/control-station/test/vegetationShadow.test.mjs +++ b/apps/control-station/test/vegetationShadow.test.mjs @@ -195,7 +195,13 @@ function fullRouteReview() { height: 600, timeline_start_seconds: 39.215263458, timeline_end_seconds: 757.260263458, - frame_source_times_ns: Array.from({ length: 6830 }, (_, index) => 39_215_263_458 + index * 100_000_000), + timeline: { + path: "video/frame-source-times-ns.bin", + sha256: "5".repeat(64), + byte_length: 6830 * 8, + encoding: "uint64-le-nanoseconds", + frame_count: 6830, + }, ground_truth: false, decode_repair: { repaired_frame_count: 1, @@ -301,17 +307,35 @@ test("vegetation LAB parses the full 004 pass inside the existing result contrac catalogs: { goose: [], ravnoves: [] }, route_full_review: fullRouteReview(), }; + const timeline = new ArrayBuffer(6830 * 8); + const timelineView = new DataView(timeline); + for (let index = 0; index < 6830; index += 1) { + timelineView.setBigUint64( + index * 8, + BigInt(39_215_263_458 + index * 100_000_000), + true, + ); + } const result = await fetchVegetationShadowResult(resultId, { - fetcher: async () => new Response(JSON.stringify(payload), { - status: 200, - headers: { "Content-Type": "application/json" }, - }), + fetcher: async (url) => String(url).endsWith("/route-timeline") + ? new Response(timeline, { + status: 200, + headers: { + "Content-Type": "application/octet-stream", + ETag: `"${"5".repeat(64)}"`, + }, + }) + : new Response(JSON.stringify(payload), { + status: 200, + headers: { "Content-Type": "application/json" }, + }), }); assert.equal(result.routeVideo, null); assert.equal(result.routeFullReview.frameCount, 6830); assert.equal(result.routeFullReview.city.taxonomy.length, 16); assert.equal(result.routeFullReview.vegetation.taxonomy.length, 64); assert.equal(result.routeFullReview.decodeRepair.sequence, 6092); + assert.equal(result.routeFullReview.frameSourceTimesNs.length, 6830); assert.equal( vegetationFullRouteMaskUrl(resultId, "vegetation", 6829), `/api/v1/laboratory/vegetation-shadow/${resultId}/route-masks/vegetation/6829`, diff --git a/src/k1link/laboratory/mixed_route_vegetation_review.py b/src/k1link/laboratory/mixed_route_vegetation_review.py index fc67c36..48675f8 100644 --- a/src/k1link/laboratory/mixed_route_vegetation_review.py +++ b/src/k1link/laboratory/mixed_route_vegetation_review.py @@ -7,6 +7,7 @@ import hashlib import json import os import shutil +import struct import tarfile import tempfile import zipfile @@ -705,6 +706,18 @@ def seal_mixed_route_full_video_review( temporary / "video" / "ddrnet-semantic-masks.zip", FULL_ROUTE_FRAME_COUNT, ) + timeline_destination = temporary / "video" / "frame-source-times-ns.bin" + timeline_destination.write_bytes( + struct.pack(f"<{FULL_ROUTE_FRAME_COUNT}Q", *frame_times_ns) + ) + timeline_descriptor = { + "role": "full-route-frame-timeline", + "path": "video/frame-source-times-ns.bin", + "byte_length": timeline_destination.stat().st_size, + "sha256": sha256_path(timeline_destination), + "media_type": "application/octet-stream", + } + artifacts.append(timeline_descriptor) proof_descriptors: dict[str, dict[str, object]] = {} for key, path in ( ("base", base_root / "result.json"), @@ -739,7 +752,13 @@ def seal_mixed_route_full_video_review( "height": 600, "timeline_start_seconds": job.timeline_start_seconds, "timeline_end_seconds": job.timeline_end_seconds, - "frame_source_times_ns": frame_times_ns, + "timeline": { + "path": timeline_descriptor["path"], + "sha256": timeline_descriptor["sha256"], + "byte_length": timeline_descriptor["byte_length"], + "encoding": "uint64-le-nanoseconds", + "frame_count": FULL_ROUTE_FRAME_COUNT, + }, "ground_truth": False, "decode_repair": { "repaired_frame_count": 1, diff --git a/src/k1link/web/vegetation_shadow_lab_api.py b/src/k1link/web/vegetation_shadow_lab_api.py index dbb3be7..1ae9bde 100644 --- a/src/k1link/web/vegetation_shadow_lab_api.py +++ b/src/k1link/web/vegetation_shadow_lab_api.py @@ -214,6 +214,54 @@ def _build_vegetation_lab_router( raise HTTPException(status_code=404, detail="Full-route semantic mask not found") return _zip_mask_response(candidate.joinpath(*relative.parts), sequence) + @router.get("/{result_id}/route-timeline") + def get_full_route_timeline(result_id: str) -> FileResponse: + candidate = _resolve_candidate(root_provider, definition, result_id) + manifest = _read_verified(candidate, definition) + route = manifest.get("route_full_review") + timeline = route.get("timeline") if isinstance(route, dict) else None + relative_text = timeline.get("path") if isinstance(timeline, dict) else None + frame_count = timeline.get("frame_count") if isinstance(timeline, dict) else None + byte_length = timeline.get("byte_length") if isinstance(timeline, dict) else None + sha256 = timeline.get("sha256") if isinstance(timeline, dict) else None + if ( + not isinstance(relative_text, str) + or frame_count != route.get("frame_count") + or byte_length != frame_count * 8 + or not isinstance(sha256, str) + or len(sha256) != 64 + ): + raise HTTPException(status_code=404, detail="Full-route timeline not found") + relative = PurePosixPath(relative_text) + artifacts = manifest.get("artifacts") + if ( + relative.is_absolute() + or str(relative) != relative_text + or any(part in {"", ".", ".."} for part in relative.parts) + or not isinstance(artifacts, list) + or not any( + isinstance(item, dict) + and item.get("path") == relative_text + and item.get("byte_length") == byte_length + and item.get("sha256") == sha256 + and item.get("media_type") == "application/octet-stream" + for item in artifacts + ) + ): + raise HTTPException(status_code=404, detail="Full-route timeline not found") + path = candidate.joinpath(*relative.parts) + if not path.is_file() or path.is_symlink() or path.stat().st_size != byte_length: + raise HTTPException(status_code=404, detail="Full-route timeline not found") + return FileResponse( + path, + media_type="application/octet-stream", + headers={ + "Cache-Control": "private, max-age=31536000, immutable", + "ETag": f'"{sha256}"', + "X-Content-Type-Options": "nosniff", + }, + ) + return router diff --git a/tests/test_vegetation_shadow_lab.py b/tests/test_vegetation_shadow_lab.py index f986067..703064f 100644 --- a/tests/test_vegetation_shadow_lab.py +++ b/tests/test_vegetation_shadow_lab.py @@ -4,6 +4,7 @@ import hashlib import io import json import shutil +import struct import zipfile from pathlib import Path from types import SimpleNamespace @@ -271,9 +272,17 @@ def test_vegetation_shadow_lab_seals_autonomous_visual_evidence( assert mask.headers["cache-control"].endswith("immutable") full_archive_payloads = (b"\x89PNG\r\n\x1a\ncity", b"\x89PNG\r\n\x1a\nvegetation") + full_timeline_payload = struct.pack("<2Q", 1_000_000_000, 1_100_000_000) full_identity = dict(manifest["identity"]) full_route = { "frame_count": 2, + "timeline": { + "path": "video/frame-source-times-ns.bin", + "sha256": hashlib.sha256(full_timeline_payload).hexdigest(), + "byte_length": len(full_timeline_payload), + "encoding": "uint64-le-nanoseconds", + "frame_count": 2, + }, "layers": { layer: {"mask_archive": {"path": "video/full-route-masks.zip"}} for layer in ("city", "vegetation") @@ -296,6 +305,8 @@ def test_vegetation_shadow_lab_seals_autonomous_visual_evidence( with zipfile.ZipFile(full_archive, "x", compression=zipfile.ZIP_STORED) as frozen: for sequence, payload in enumerate(full_archive_payloads, start=1): frozen.writestr(f"masks/frame-{sequence:06d}.png", payload) + full_timeline = full_root / "video" / "frame-source-times-ns.bin" + full_timeline.write_bytes(full_timeline_payload) full_manifest = dict(manifest) full_manifest["result_id"] = full_result_id full_manifest["identity"] = full_identity @@ -310,6 +321,13 @@ def test_vegetation_shadow_lab_seals_autonomous_visual_evidence( "sha256": _sha256(full_archive), "media_type": "application/zip", }, + { + "role": "full-route-frame-timeline", + "path": "video/frame-source-times-ns.bin", + "byte_length": full_timeline.stat().st_size, + "sha256": _sha256(full_timeline), + "media_type": "application/octet-stream", + }, ] (full_root / "result.json").write_text( json.dumps(full_manifest, ensure_ascii=False, sort_keys=True, separators=(",", ":")) @@ -330,6 +348,12 @@ def test_vegetation_shadow_lab_seals_autonomous_visual_evidence( assert client.get( f"/api/v1/laboratory/vegetation-shadow/{full_result_id}/route-masks/city/2" ).status_code == 404 + timeline = client.get( + f"/api/v1/laboratory/vegetation-shadow/{full_result_id}/route-timeline" + ) + assert timeline.status_code == 200 + assert timeline.content == full_timeline_payload + assert timeline.headers["cache-control"].endswith("immutable") (result_root / asset_path).write_bytes(b"tampered") assert ( From 88e47fc39a80d587e82440de645571fa18ba6954 Mon Sep 17 00:00:00 2001 From: DCCONSTRUCTIONS Date: Sat, 29 Aug 2026 14:14:38 +0300 Subject: [PATCH 5/6] fix(lab): overlay full route semantic masks --- .../laboratory/VegetationShadowResult.tsx | 22 ++++++++++--------- .../test/vegetationShadow.test.mjs | 1 + 2 files changed, 13 insertions(+), 10 deletions(-) diff --git a/apps/control-station/src/workspaces/laboratory/VegetationShadowResult.tsx b/apps/control-station/src/workspaces/laboratory/VegetationShadowResult.tsx index 642e3e2..7b7840b 100644 --- a/apps/control-station/src/workspaces/laboratory/VegetationShadowResult.tsx +++ b/apps/control-station/src/workspaces/laboratory/VegetationShadowResult.tsx @@ -159,16 +159,18 @@ function FullRouteReviewEvidence({ {mode === "source" ? "SOURCE" : `${mode === "city" ? "EoMT CITY" : "DDRNet NATURE"} · КАДР ${sequence}/${review.frameCount}`}
{layer && semantic ? ( - +
+ +
) : null} )} diff --git a/apps/control-station/test/vegetationShadow.test.mjs b/apps/control-station/test/vegetationShadow.test.mjs index d4c96ba..133ecd8 100644 --- a/apps/control-station/test/vegetationShadow.test.mjs +++ b/apps/control-station/test/vegetationShadow.test.mjs @@ -384,6 +384,7 @@ test("vegetation realtime LAB and archival benchmark use separate admitted instr assert.match(resultSource, /RAVNOVES004TREE mixed route review/); assert.match(resultSource, /RAVNOVES004TREE full recorded review/); assert.match(resultSource, /LaboratoryRecordedClipPlayer/); + assert.match(resultSource, /className="m48-clip-player__overlay"/); assert.match(resultSource, /linkedTgsResultId/); assert.match(benchmarkSource, /M48MaskComparisonVisual/); assert.doesNotMatch(benchmarkSource, /M49TgsFullShadowEvidence/); From 1c7dd29d8a9209e771d37b4e8633eab7bca482d1 Mon Sep 17 00:00:00 2001 From: DCCONSTRUCTIONS Date: Mon, 21 Sep 2026 08:45:34 +0300 Subject: [PATCH 6/6] chore(node): preserve pre-canonicalization experiment snapshot Historical working copy retained for audit before consolidation into main. The canonicalized plugin architecture and later fixes already live in main; this snapshot is not a release or a request to restore obsolete source layout. --- .../src/components/RerunViewport.tsx | 12 +- .../laboratory/CanonicalResultRerunReplay.tsx | 5 +- .../core/environment/environmentSettings.ts | 6 +- .../src/core/observation/viewerProfile.ts | 21 +- apps/control-station/src/productModel.ts | 12 +- .../src/workspaces/fleet/VehicleSensors.tsx | 8 +- .../test/applicationArchitecture.test.mjs | 2 +- .../test/devicePluginContracts.test.mjs | 18 +- .../devicePluginFrontendBoundary.test.mjs | 22 +- .../test/environmentSettings.test.mjs | 2 +- .../test/k1SupervisorPresentation.test.mjs | 78 +++- .../test/networkProvisioning.test.mjs | 132 +++++++ .../test/observatoryWorkspace.test.mjs | 4 +- .../test/polygonRunArchive.test.mjs | 2 +- .../test/productShellContract.test.mjs | 2 +- .../test/viewerProfile.test.mjs | 13 + apps/node-agent/cmd/node-agent/main.go | 6 + .../internal/node/device_enrollment.go | 323 +++++++++++++++++ .../internal/node/device_enrollment_test.go | 111 ++++++ apps/node-agent/internal/node/pairing.go | 29 +- .../internal/node/pairing_transport.go | 16 + apps/node-agent/internal/node/sensors.go | 61 +++- apps/node-agent/internal/node/server.go | 32 +- .../packaging/50-mission-core-k1.rules | 6 + apps/node-agent/packaging/build.py | 4 +- apps/node-agent/packaging/build_deb.py | 27 +- .../packaging/fetch_driver_bundle.py | 33 +- .../packaging/install-k1-credential | 36 ++ apps/node-agent/packaging/k1-bundle.json | 265 ++++++++++++++ apps/node-agent/packaging/k1_bootstrap.py | 26 ++ apps/node-agent/packaging/k1_prepare.py | 94 +++++ .../packaging/mission-core-k1.service | 38 ++ apps/node-agent/packaging/postinst | 6 + apps/node-agent/packaging/preinst | 11 + apps/node-agent/packaging/prerm | 8 + .../node-agent/packaging/resolve_k1_bundle.py | 60 ++++ apps/node-agent/ui/package-lock.json | 20 +- apps/node-agent/ui/package.json | 2 + apps/node-agent/ui/rerun-runtime.html | 16 + apps/node-agent/ui/src/NodeSensors.tsx | 5 +- apps/node-agent/ui/src/rerunRuntime.ts | 1 + apps/node-agent/ui/vite.config.js | 8 + docs/04_K1_WIFI_PROVISIONING_PROFILE.md | 19 + ...026-09-06-k1-bridge-connection-incident.md | 140 ++++++++ ...026-09-06-k1-live-reference-camera-root.md | 129 +++++++ .../2026-09-06-k1-station-reply-semantics.md | 95 +++++ ...026-09-06-node-k1-bridge-implementation.md | 164 +++++++++ .../sensor-ui/src/DeviceEnrollmentWindow.tsx | 49 +++ packages/sensor-ui/src/K1Detail.tsx | 25 ++ packages/sensor-ui/src/K1LiveSettings.tsx | 28 ++ packages/sensor-ui/src/K1LiveView.tsx | 63 ++++ packages/sensor-ui/src/SensorWorkspace.tsx | 19 +- packages/sensor-ui/src/contracts.ts | 5 +- packages/sensor-ui/src/enrollment.ts | 37 ++ packages/sensor-ui/src/rerunHost.ts | 12 + packages/sensor-ui/src/sensors.css | 4 + .../frontend/src/XgridsK1Connection.tsx | 11 + .../src/components/K1OperatorError.tsx | 6 +- .../src/components/K1ProvisioningPipeline.tsx | 21 +- .../xgrids-k1/frontend/src/configuration.ts | 3 + .../src/networkFailurePresentation.ts | 7 + .../frontend/src/networkProvisioning.ts | 241 +++++++++++++ .../xgrids-k1/frontend/src/presentation.ts | 6 +- .../frontend/src/useXgridsK1Runtime.ts | 337 ++---------------- pyproject.toml | 1 + .../device_plugins/xgrids_k1/ble/scanner.py | 109 +++++- src/k1link/device_plugins/xgrids_k1/camera.py | 15 +- src/k1link/device_plugins/xgrids_k1/facade.py | 54 ++- .../device_plugins/xgrids_k1/linux_host.py | 214 +++++++++++ .../device_plugins/xgrids_k1/node_bridge.py | 248 +++++++++++++ .../device_plugins/xgrids_k1/node_sensor.py | 255 +++++++++++++ .../device_plugins/xgrids_k1/wifi_failure.py | 33 ++ src/k1link/fleet/device_enrollment.py | 173 +++++++++ src/k1link/fleet/registry.py | 6 +- src/k1link/viewer/node_media.py | 170 +++++++++ src/k1link/viewer/node_rerun.py | 144 ++++++++ src/k1link/viewer/rerun_bridge.py | 47 ++- src/k1link/web/fleet_api.py | 49 +++ src/k1link/web/runtime_diagnostics.py | 35 ++ tests/fleet/test_device_enrollment.py | 111 ++++++ tests/test_ble_scanner.py | 127 ++++++- tests/test_k1_wifi_failure.py | 72 ++++ tests/test_node_k1_bridge.py | 204 +++++++++++ tests/test_node_media.py | 102 ++++++ tests/test_viewer_diagnostics_api.py | 49 +++ tests/test_xgrids_acquisition_lifecycle.py | 66 +++- tests/test_xgrids_ble_runtime_arbiter.py | 2 +- tests/test_xgrids_camera_gateway.py | 93 +++++ uv.lock | 130 ++++++- 89 files changed, 5026 insertions(+), 487 deletions(-) create mode 100644 apps/control-station/test/networkProvisioning.test.mjs create mode 100644 apps/node-agent/internal/node/device_enrollment.go create mode 100644 apps/node-agent/internal/node/device_enrollment_test.go create mode 100644 apps/node-agent/packaging/50-mission-core-k1.rules create mode 100644 apps/node-agent/packaging/install-k1-credential create mode 100644 apps/node-agent/packaging/k1-bundle.json create mode 100644 apps/node-agent/packaging/k1_bootstrap.py create mode 100644 apps/node-agent/packaging/k1_prepare.py create mode 100644 apps/node-agent/packaging/mission-core-k1.service create mode 100644 apps/node-agent/packaging/resolve_k1_bundle.py create mode 100644 apps/node-agent/ui/rerun-runtime.html create mode 100644 apps/node-agent/ui/src/rerunRuntime.ts create mode 100644 docs/audits/2026-09-06-k1-bridge-connection-incident.md create mode 100644 docs/audits/2026-09-06-k1-live-reference-camera-root.md create mode 100644 docs/audits/2026-09-06-k1-station-reply-semantics.md create mode 100644 docs/audits/2026-09-06-node-k1-bridge-implementation.md create mode 100644 packages/sensor-ui/src/DeviceEnrollmentWindow.tsx create mode 100644 packages/sensor-ui/src/K1Detail.tsx create mode 100644 packages/sensor-ui/src/K1LiveSettings.tsx create mode 100644 packages/sensor-ui/src/K1LiveView.tsx create mode 100644 packages/sensor-ui/src/enrollment.ts create mode 100644 packages/sensor-ui/src/rerunHost.ts create mode 100644 plugins/xgrids-k1/frontend/src/networkFailurePresentation.ts create mode 100644 plugins/xgrids-k1/frontend/src/networkProvisioning.ts create mode 100644 src/k1link/device_plugins/xgrids_k1/linux_host.py create mode 100644 src/k1link/device_plugins/xgrids_k1/node_bridge.py create mode 100644 src/k1link/device_plugins/xgrids_k1/node_sensor.py create mode 100644 src/k1link/device_plugins/xgrids_k1/wifi_failure.py create mode 100644 src/k1link/fleet/device_enrollment.py create mode 100644 src/k1link/viewer/node_media.py create mode 100644 src/k1link/viewer/node_rerun.py create mode 100644 tests/fleet/test_device_enrollment.py create mode 100644 tests/test_k1_wifi_failure.py create mode 100644 tests/test_node_k1_bridge.py create mode 100644 tests/test_node_media.py diff --git a/apps/control-station/src/components/RerunViewport.tsx b/apps/control-station/src/components/RerunViewport.tsx index 4857bd8..5038db7 100644 --- a/apps/control-station/src/components/RerunViewport.tsx +++ b/apps/control-station/src/components/RerunViewport.tsx @@ -762,7 +762,15 @@ export async function probeRecordedPerceptionViewerSource( return { sourceUrl: endpoint.href, byteLength: declaredLength }; } -export function RerunViewport({ +export function RerunViewport(props: RerunViewportProps) { + // Even when source URLs coincide, another profile cannot inherit a mounted + // viewer's playback, blueprint channels, recovery state or scene draft. + const identity = props.profile.kind === "laboratory-result" + ? `${props.profile.kind}:${props.profile.resultId}` : props.profile.kind; + return ; +} + +function RerunViewportInstance({ profile, onStatusChange, onSelectionChange, @@ -772,7 +780,7 @@ export function RerunViewport({ onPerceptionLoadChange, onPointColorLoadChange, }: RerunViewportProps) { - const recordedProfile = profile.kind === "recorded-session" ? profile : null; + const recordedProfile = profile.kind === "recorded-session" || profile.kind === "laboratory-result" ? profile : null; const liveProfile = profile.kind === "live-acquisition" ? profile : null; const sourceUrl = profile.sourceUrl; const recordedArtifact = recordedProfile?.artifact ?? null; diff --git a/apps/control-station/src/components/laboratory/CanonicalResultRerunReplay.tsx b/apps/control-station/src/components/laboratory/CanonicalResultRerunReplay.tsx index 9ee4126..63d102b 100644 --- a/apps/control-station/src/components/laboratory/CanonicalResultRerunReplay.tsx +++ b/apps/control-station/src/components/laboratory/CanonicalResultRerunReplay.tsx @@ -34,7 +34,7 @@ import { } from "../laboratory/CanonicalRecordedLabReplay"; import type { CanonicalLabReplayDescriptor } from "../../core/laboratory/canonicalLabReplay"; import type { ObservationSessionReplayLaunch } from "../../core/observation/sessionArchive"; -import { recordedSessionRerunProfile } from "../../core/observation/viewerProfile"; +import { laboratoryResultRerunProfile } from "../../core/observation/viewerProfile"; import { resolveObservationSessionReplay } from "../../core/observation/useObservationSessions"; import type { AIViewerLayer } from "../../core/observatory/aiComposition"; import { @@ -305,7 +305,8 @@ export function CanonicalResultRerunReplay({ accumulationSeconds: showLocalSlam ? sceneDraft.accumulationSeconds : 0, }), [sceneDraft, showLocalSlam, showSourcePoints, spatialMode]); const semanticVisible = showDDRNet || showEoMT; - const profile = launch ? recordedSessionRerunProfile({ + const profile = launch ? laboratoryResultRerunProfile({ + resultId, sourceUrl: launch.replay.sourceUrl, artifact: { sourceUrl: launch.replay.sourceUrl, diff --git a/apps/control-station/src/core/environment/environmentSettings.ts b/apps/control-station/src/core/environment/environmentSettings.ts index 2c2cd3d..80250f1 100644 --- a/apps/control-station/src/core/environment/environmentSettings.ts +++ b/apps/control-station/src/core/environment/environmentSettings.ts @@ -113,13 +113,13 @@ const defaultQuickActions: Record< EnvironmentSurfaceId, readonly [string | null, string | null] > = { - home: ["spatial-scene", "local-device"], - fleet: ["contour-health", "local-device"], + home: ["spatial-scene", "vehicles"], + fleet: ["vehicles", "contour-health"], observation: ["spatial-scene", "cameras"], missions: ["mission-planner", null], data: ["recordings", "datasets"], system: ["modules", "integrations"], - polygon: ["lab-archive", null], + polygon: ["lab-archive", "local-device"], }; export function defaultEnvironmentSettings(): EnvironmentSettings { diff --git a/apps/control-station/src/core/observation/viewerProfile.ts b/apps/control-station/src/core/observation/viewerProfile.ts index 1abd1e7..91d5210 100644 --- a/apps/control-station/src/core/observation/viewerProfile.ts +++ b/apps/control-station/src/core/observation/viewerProfile.ts @@ -85,6 +85,13 @@ export interface RecordedSessionRerunProfile { lockPerceptionCameraInteraction: boolean; } +/** A LAB owns its result presentation; it does not inherit session-view settings. */ +export interface LaboratoryResultRerunProfile + extends Omit { + kind: "laboratory-result"; + resultId: string; +} + /** * Deprecated comparison-only contract for LAB artifacts that have not yet * been republished as a native Rerun sidecar. It must never be selected by a @@ -101,7 +108,8 @@ export interface LaboratoryRecordedEvidenceViewerProfile { export type RerunViewerProfile = | LiveAcquisitionRerunProfile - | RecordedSessionRerunProfile; + | RecordedSessionRerunProfile + | LaboratoryResultRerunProfile; export type ObservationViewerProfile = | RerunViewerProfile @@ -119,11 +127,18 @@ export const LABORATORY_RECORDED_EVIDENCE_VIEWER_PROFILE = Object.freeze({ export function liveAcquisitionRerunProfile( input: Omit, ): LiveAcquisitionRerunProfile { - return { kind: "live-acquisition", clock: "stream_time", ...input }; + return { ...input, kind: "live-acquisition", clock: "stream_time" }; } export function recordedSessionRerunProfile( input: Omit, ): RecordedSessionRerunProfile { - return { kind: "recorded-session", clock: "session_time", ...input }; + return { ...input, kind: "recorded-session", clock: "session_time" }; +} + +export function laboratoryResultRerunProfile( + input: Omit, +): LaboratoryResultRerunProfile { + if (!input.resultId.trim()) throw new Error("LAB result identity is required"); + return { ...input, kind: "laboratory-result", clock: "session_time" }; } diff --git a/apps/control-station/src/productModel.ts b/apps/control-station/src/productModel.ts index 5e6872c..ed57b5d 100644 --- a/apps/control-station/src/productModel.ts +++ b/apps/control-station/src/productModel.ts @@ -94,7 +94,7 @@ export const roots: RootDefinition[] = [ label: "Парк", title: "Аппараты и устройства", eyebrow: "ПАРК / УСТРОЙСТВА", - description: "Реестр аппаратов, локальное подключение, сенсоры и конфигурации борта.", + description: "Реестр аппаратов, бортовые компьютеры, сенсоры и конфигурации борта.", statement: "Одинаково подключать одиночный стенд, наземную платформу и будущий рой.", accent: "АППАРАТЫ И ПОЛЕЗНАЯ НАГРУЗКА", }, @@ -203,11 +203,11 @@ export const workspaces: WorkspaceDefinition[] = [ }, { id: "local-device", - root: "fleet", - label: "Подключение", - title: "Подключение", - eyebrow: "ПАРК / ТЕКУЩИЙ АДАПТЕР", - description: "Выбор модели, сценарий установленного плагина и запуск доступного потока.", + root: "polygon", + label: "Тестовые устройства", + title: "Тестовые устройства", + eyebrow: "LAB / ТЕСТОВЫЕ УСТРОЙСТВА", + description: "Подключение устройств к компьютеру оператора для испытаний и записи.", icon: "network", kind: "device", groups: [], diff --git a/apps/control-station/src/workspaces/fleet/VehicleSensors.tsx b/apps/control-station/src/workspaces/fleet/VehicleSensors.tsx index 6bcbdd7..b92c41c 100644 --- a/apps/control-station/src/workspaces/fleet/VehicleSensors.tsx +++ b/apps/control-station/src/workspaces/fleet/VehicleSensors.tsx @@ -1,13 +1,19 @@ import {useMemo} from 'react'; +import {createIsolatedRerunHost} from '../../components/rerun/isolatedRerunHost'; import {SensorWorkspace} from '../../../../../packages/sensor-ui/src/SensorWorkspace'; import type {SensorInventory,SensorTransport} from '../../../../../packages/sensor-ui/src/contracts'; import {fleetRequest} from '../../core/fleet/useFleet'; export function VehicleSensors({vehicleID,enabled,onDetailChange}:{vehicleID:string;enabled:boolean;onDetailChange:(open:boolean)=>void}){ const transport=useMemo(()=>({ + enrollment:{ + state:()=>fleetRequest(`/${encodeURIComponent(vehicleID)}/devices/enrollment`), + submit:value=>fleetRequest(`/${encodeURIComponent(vehicleID)}/devices/enrollment/operations`,'POST',value), + operation:id=>fleetRequest(`/${encodeURIComponent(vehicleID)}/devices/enrollment/operations/${encodeURIComponent(id)}`), + }, inventory:async()=>{const fleet=await fleetRequest<{items:{id:string;connectivity:string;sensor_state:SensorInventory}[]}>();const value=fleet.items.find(v=>v.id===vehicleID);if(!value)throw new Error('Аппарат не найден.');return {...value.sensor_state,fresh:value.connectivity==='online'};}, subscribe:(receive,unavailable)=>{const events=new EventSource('/api/v1/fleet/events');events.onmessage=e=>{try{const value=JSON.parse(e.data).items.find((v:{id:string})=>v.id===vehicleID);if(value)receive({...value.sensor_state,fresh:value.connectivity==='online'});else unavailable();}catch{unavailable();}};events.onerror=unavailable;return()=>events.close();}, submit:value=>fleetRequest(`/${encodeURIComponent(vehicleID)}/devices/operations`,'POST',value), operation:id=>fleetRequest(`/${encodeURIComponent(vehicleID)}/devices/operations/${encodeURIComponent(id)}`), }),[vehicleID]); - return ; + return ; } diff --git a/apps/control-station/test/applicationArchitecture.test.mjs b/apps/control-station/test/applicationArchitecture.test.mjs index 359ef60..d17addd 100644 --- a/apps/control-station/test/applicationArchitecture.test.mjs +++ b/apps/control-station/test/applicationArchitecture.test.mjs @@ -143,7 +143,7 @@ test("Observatory owns a bounded explicit-open lifecycle around the shared recor /advanced-index|resolveObservationSessionReplay|resolveCanonicalLabReplay|RerunViewport/, ); assert.equal(sharedReplay.match(/\(hasTgs \? 1 : 0\)/); assert.match(sharedReplay, /hasTgs \? 0\.000001 : 0/); for (const adapter of ["CanonicalVegetationRerunReplay", "PortableResultReplay"]) { diff --git a/apps/control-station/test/devicePluginContracts.test.mjs b/apps/control-station/test/devicePluginContracts.test.mjs index 136c824..5dde64b 100644 --- a/apps/control-station/test/devicePluginContracts.test.mjs +++ b/apps/control-station/test/devicePluginContracts.test.mjs @@ -1676,7 +1676,7 @@ test("physical-command guidance projects backend policy without exposing reason ); }); -test("restart-recovery guidance describes automatic recovery without protocol ceremony", () => { +test("restart-recovery guidance offers an explicit read-only recovery", () => { const deniedFresh = { connection_policy: { schema_version: "missioncore.xgrids-k1-connection-policy/v1", @@ -1712,7 +1712,7 @@ test("restart-recovery guidance describes automatic recovery without protocol ce ); assert.deepEqual(durableGuidance, { reason: "В свежем Bluetooth-поиске не найден K1, связанный с незавершённой записью.", - nextAction: "Дождитесь автоматического восстановления сохранённого подключения K1.", + nextAction: "Нажмите «Переподключиться», чтобы проверить сохранённое подключение K1.", }); assert.doesNotMatch( `${durableGuidance.reason} ${durableGuidance.nextAction}`, @@ -1725,7 +1725,7 @@ test("restart-recovery guidance describes automatic recovery without protocol ce deniedFresh, "observe-fresh-device-network", ).nextAction, - "Дождитесь автоматического восстановления связи с тем же K1.", + "Нажмите «Переподключиться», чтобы проверить связь с тем же K1.", ); }); @@ -3461,7 +3461,7 @@ test("each terminal explicit provisioning click starts a fresh operation identit assert.match( connectRecovery, - /failedOperation\?\.status === "succeeded"[\s\S]*?!exactAppliedNetworkIntentCompleted\([\s\S]*?&& !hasExactConnectionReady/, + /observeProvisioningRequest\([\s\S]*?observedState = observation\.state[\s\S]*?const exactNetworkIntentCompleted = exactAppliedNetworkIntentCompleted\(/, ); assert.match( connectRecovery, @@ -4009,7 +4009,7 @@ test("failed network-profile writes close the UI session with a fresh explicit n assert.equal( message, - "Bluetooth-периферия завершила сетевую операцию ошибкой. Команда могла быть принята K1; итог текущей попытки не подтверждён. Автоматический повтор команды K1 не отправлялся. Сессия подключения в интерфейсе сброшена. Выполните новый поиск Bluetooth, выберите K1 и запустите подключение ещё раз.", + "Bluetooth-периферия завершила сетевую операцию ошибкой. Команда могла быть принята K1; итог текущей попытки не подтверждён. Автоматический повтор команды K1 не отправлялся. Проверьте состояние K1 через «Переподключиться» или начните новое подключение через поиск Bluetooth.", ); assert.doesNotMatch(message, /Bleak|GATT|ATT/i); @@ -4024,8 +4024,8 @@ test("failed network-profile writes close the UI session with a fresh explicit n }); assert.match(attMessage, /ATT 4 INVALID_PDU/); assert.match(attMessage, /Автоматический повтор команды K1 не отправлялся/); - assert.match(attMessage, /Сессия подключения в интерфейсе сброшена/); - assert.match(attMessage, /новый поиск Bluetooth, выберите K1/); + assert.match(attMessage, /Проверьте состояние K1 через «Переподключиться»/); + assert.match(attMessage, /новое подключение через поиск Bluetooth/); const preWriteAttMessage = networkProvisionFailureMessage({ action: "network.provision", @@ -4059,7 +4059,7 @@ test("post-dispatch ambiguity resets the UI session without an automatic retry", assert.equal( message, - "После BLE-команды K1 вернул сетевой статус, неотличимый от исходного; итог текущей попытки подключения не подтверждён. Автоматический повтор команды K1 не отправлялся. Сессия подключения в интерфейсе сброшена. Выполните новый поиск Bluetooth, выберите K1 и запустите подключение ещё раз.", + "После BLE-команды K1 вернул сетевой статус, неотличимый от исходного; итог текущей попытки подключения не подтверждён. Автоматический повтор команды K1 не отправлялся. Проверьте состояние K1 через «Переподключиться» или начните новое подключение через поиск Bluetooth.", ); assert.doesNotMatch(message, /ручн|read-only|защитный барьер/i); }); @@ -4247,7 +4247,7 @@ test("host Wi-Fi failures close the attempt and require a fresh explicit connect assert.equal( operationTimeout, - "Локальная операция подготовки Wi‑Fi не завершилась вовремя; итог текущей попытки подключения не подтверждён. Автоматический повтор команды K1 не отправлялся. Сессия подключения в интерфейсе сброшена. Выполните новый поиск Bluetooth, выберите K1 и запустите подключение ещё раз.", + "Локальная операция подготовки Wi‑Fi не завершилась вовремя; итог текущей попытки подключения не подтверждён. Автоматический повтор команды K1 не отправлялся. Проверьте состояние K1 через «Переподключиться» или начните новое подключение через поиск Bluetooth.", ); assert.doesNotMatch(operationTimeout, /получите пароль|пароль отсутствует/i); assert.match(missingNetwork, /K1 принял команду Quick Connect/); diff --git a/apps/control-station/test/devicePluginFrontendBoundary.test.mjs b/apps/control-station/test/devicePluginFrontendBoundary.test.mjs index 6bdb1ee..08d2add 100644 --- a/apps/control-station/test/devicePluginFrontendBoundary.test.mjs +++ b/apps/control-station/test/devicePluginFrontendBoundary.test.mjs @@ -218,8 +218,8 @@ test("K1 connection surface enforces one scan, local selection, and one Apply", ); assert.match(provisioning, /scanSecondsRemaining/); assert.match(provisioning, /setInterval\(updateCountdown, 250\)/); - assert.match(provisioning, /Поиск Bluetooth · \{scanSecondsRemaining \?\? 6\} с/); - assert.match(provisioning, /scanWithResult\(\{[^}]*durationSeconds:\s*6/); + assert.match(provisioning, /Поиск Bluetooth · до \{scanSecondsRemaining \?\? BLE_DISCOVERY_TIMEOUT_SECONDS\} с/); + assert.match(provisioning, /scanWithResult\(\{[^}]*durationSeconds:\s*BLE_DISCOVERY_TIMEOUT_SECONDS/); assert.doesNotMatch(provisioning, /K1 уже доступен|Сетевой адрес K1 доступен/); assert.doesNotMatch( provisioning, @@ -284,7 +284,7 @@ test("K1 click-owned actions are fenced without hidden frontend continuations", provisioning.indexOf("const verifyAppliedNetwork"), ); assert.equal((search.match(/scanWithResult\(/g) ?? []).length, 1); - assert.match(search, /durationSeconds:\s*6/); + assert.match(search, /durationSeconds:\s*BLE_DISCOVERY_TIMEOUT_SECONDS/); assert.equal((apply.match(/await connect\(/g) ?? []).length, 1); assert.doesNotMatch( apply, @@ -680,7 +680,7 @@ test("automatic K1 live start opens the selected delivered camera despite an old assert.match(layout, /source\.capabilities\.overlay/); }); -test("K1 connect errors reset the UI session without exposing reconciliation ceremony", () => { +test("K1 connect errors preserve the result and expose explicit recovery", () => { const runtime = readFileSync( join(pluginFrontendRoot, "useXgridsK1Runtime.ts"), "utf8", @@ -691,15 +691,17 @@ test("K1 connect errors reset the UI session without exposing reconciliation cer assert.notEqual(connectEnd, -1); const connectFlow = runtime.slice(connectStart, connectEnd); - assert.match(connectFlow, /operationByIdempotencyKey\(/); - assert.match(connectFlow, /failedOperation\?\.status === "succeeded"/); - assert.match(connectFlow, /resetConnectSessionMessage\(/); + assert.match(connectFlow, /observeProvisioningRequest\(/); + assert.match(connectFlow, /operation\?\.status !== "succeeded"/); + assert.match(connectFlow, /networkProvisionFailureMessage\(/); assert.doesNotMatch( connectFlow, /требует ручной проверки|измените параметры только после проверки устройства|Сохранён тот же ключ/, ); - assert.match(runtime, /Сессия подключения в интерфейсе сброшена/); - assert.match(runtime, /новый поиск Bluetooth, выберите K1 и запустите подключение ещё раз/); + const networkFlow = readFileSync(join(pluginFrontendRoot, "networkProvisioning.ts"), "utf8"); + assert.match(networkFlow, /Проверьте состояние K1 через «Переподключиться»/); + assert.match(networkFlow, /новое подключение через поиск Bluetooth/); + assert.equal((networkFlow.match(/await context\.send\(/g) ?? []).length, 1); const verifyStart = runtime.indexOf("const verifyConnection = useCallback("); const verifyEnd = runtime.indexOf("const probeConfiguredEndpoint = useCallback(", verifyStart); const verifyFlow = runtime.slice(verifyStart, verifyEnd); @@ -729,7 +731,7 @@ test("K1 provisioning keeps the operator draft separate from the backend lease", assert.match(selection, /requestExplicitProvisioning\(device\.device_id/); assert.equal((apply.match(/await connect\(/g) ?? []).length, 1); assert.doesNotMatch(apply, /scanWithResult\(|verifyConnection\(|candidateRefresh/); - assert.match(provisioning, /scanWithResult\(\{ durationSeconds: 6 \}\)/); + assert.match(provisioning, /scanWithResult\(\{ durationSeconds: BLE_DISCOVERY_TIMEOUT_SECONDS \}\)/); assert.match( provisioning, /onChange=\{\(event\) => setPassword\(event\.target\.value\)\}/, diff --git a/apps/control-station/test/environmentSettings.test.mjs b/apps/control-station/test/environmentSettings.test.mjs index 144c3e5..5f7b3ca 100644 --- a/apps/control-station/test/environmentSettings.test.mjs +++ b/apps/control-station/test/environmentSettings.test.mjs @@ -65,7 +65,7 @@ test("default environment exposes every current product page", () => { "system", "polygon", ]); - assert.equal(defaults.pages.fleet.primaryWorkspaceId, "contour-health"); + assert.equal(defaults.pages.fleet.primaryWorkspaceId, "vehicles"); assert.equal(defaults.pages.observation.primaryWorkspaceId, "spatial-scene"); }); diff --git a/apps/control-station/test/k1SupervisorPresentation.test.mjs b/apps/control-station/test/k1SupervisorPresentation.test.mjs index 4c17290..0d42914 100644 --- a/apps/control-station/test/k1SupervisorPresentation.test.mjs +++ b/apps/control-station/test/k1SupervisorPresentation.test.mjs @@ -250,7 +250,7 @@ test("K1 one-intent source contract makes mode reset explicit and keeps device I "const chooseAnother", ); - assert.match(search, /scanWithResult\(\{[^}]*durationSeconds:\s*6/); + assert.match(search, /scanWithResult\(\{[^}]*durationSeconds:\s*BLE_DISCOVERY_TIMEOUT_SECONDS/); assert.equal((search.match(/scanWithResult\(/g) ?? []).length, 1); assert.doesNotMatch(search, /\b(?:connect|verifyConnection|submitConnect)\s*\(/); @@ -295,7 +295,7 @@ test("K1 one-intent source contract makes mode reset explicit and keeps device I } assert.equal((source.match(/buttonLabel:\s*"Применить"/g) ?? []).length, 3); assert.match(source, /устарел|stale/i); - assert.match(source, /неизвест|outcome-unknown|safe_to_retry/i); + assert.match(source, /network_outcome_unknown|safe_to_retry/i); }); test("exact network-applied REST proof completes frontend Apply before control is ready", () => { @@ -377,7 +377,7 @@ test("exact network-applied REST proof completes frontend Apply before control i ); assert.match( connectFlow, - /failedOperation\?\.status === "succeeded"[\s\S]*?!exactAppliedNetworkIntentCompleted\([\s\S]*?&& !hasExactConnectionReady/, + /observeProvisioningRequest\([\s\S]*?observedState = observation\.state[\s\S]*?const exactNetworkIntentCompleted = exactAppliedNetworkIntentCompleted\(/, ); assert.doesNotMatch( connectFlow, @@ -1359,7 +1359,7 @@ function actionByLabel(node, label) { return actionByLabel(node.props.children, label); } -function renderProvisioningWithAttempt(props, presentation) { +function renderProvisioningWithAttempt(props, presentation, afterSearch = false) { function AttemptHarness() { const internals = React.__CLIENT_INTERNALS_DO_NOT_USE_OR_WARN_USERS_THEY_CANNOT_UPGRADE; @@ -1367,6 +1367,12 @@ function renderProvisioningWithAttempt(props, presentation) { assert.equal(typeof dispatcher?.useState, "function"); const originalUseState = dispatcher.useState; dispatcher.useState = (initialState) => { + if (afterSearch && initialState === emptySearchPresentation) { + const state = props.controller.state; + return [{ sequence: 1, snapshotRuntimeId: state.snapshot_runtime_id, + connectionMode: props.desiredMode, desiredModeRevision: state.desired_connection_mode_revision, + active: false, completedDiscoveryGeneration: state.ble_discovery_generation }, () => undefined]; + } if (initialState === emptyProvisioningAttemptPresentation) { return [presentation, () => undefined]; } @@ -2487,10 +2493,11 @@ test("toolbar reset in one runtime rejects late Scan A and admits exactly one Sc } }); -test("local connection navigation and selector copy use process nouns", () => { +test("operator-local connection belongs to LAB and retains all test modes", () => { const localConnection = workspaces.find((workspace) => workspace.id === "local-device"); - assert.equal(localConnection?.label, "Подключение"); - assert.equal(localConnection?.title, "Подключение"); + assert.equal(localConnection?.root, "polygon"); + assert.equal(localConnection?.label, "Тестовые устройства"); + assert.equal(localConnection?.title, "Тестовые устройства"); assert.equal(model().displayName, "XGRIDS LixelKity K1"); assert.deepEqual( connectionModeOptions.map(({ label }) => label), @@ -7185,7 +7192,7 @@ test("a current-authority Bluetooth scan owns Step 01 and no network step", () = }); assert.match(markup, /01<\/span>/); - assert.match(markup, /Поиск Bluetooth · 6 с/); + assert.match(markup, /Поиск Bluetooth · до 20 с/); assert.equal( (markup.match(/class="nodedc-activity-indicator"/g) ?? []).length, 1, @@ -7478,7 +7485,7 @@ test("applied-network recovery spends the old intent and admits only explicit se search, /const recoveryScanAttempt = appliedRecoveryEscape[\s\S]*?canScanAppliedRecovery[\s\S]*?unresolvedAppliedAttempt/, ); - assert.match(search, /scanResult = await scanWithResult\(\{ durationSeconds: 6 \}\)/); + assert.match(search, /scanResult = await scanWithResult\(\{ durationSeconds: BLE_DISCOVERY_TIMEOUT_SECONDS \}\)/); assert.match( search, /if \(scanResult\.succeeded && recoveryAttemptKey\) \{\s*setEscapedAppliedAttemptKey\(recoveryAttemptKey\)/, @@ -7708,3 +7715,56 @@ test("contour health never promotes selection or replay metrics to live authorit }); assert.equal(replay.aiActive, false); }); + + +test("the recovery panel explains the reviewed K1 network-not-found reply", () => { + const state = terminalConnectionRecoveryState(); + state.connection_attempt.public_error_code = "k1-wifi-network-not-found"; + const markup = renderToStaticMarkup(createElement(K1OperatorError, { + attempt: state.connection_attempt, onRefresh() {}, onClear() {}, + })); + assert.match(markup, /K1 не смог найти указанную сеть Wi‑Fi/); + assert.match(markup, /точное название сети/); + assert.doesNotMatch(markup, /ошибкой Bluetooth|INVALID_PDU/); +}); + +test("a reviewed Wi-Fi rejection offers explicit network setup for the same K1", () => { + const state = terminalConnectionRecoveryState(); + state.connection_attempt.public_error_code = "k1-wifi-network-not-found"; + const controller = { + ...provisioningController(state), error: "private transport error", + errorCorrelation: { + action: "connect", runtimeId: state.snapshot_runtime_id, leaseGeneration: 0, + connectionAttemptId: state.connection_attempt.attempt_id, + }, + getConnectionRecoveryObservationTarget: () => recommendedConnectionRecoveryObservationTarget(state), + }; + const markup = renderProvisioningWithAttempt({ controller, desiredMode: "bridge" }, + provisioningAttemptPresentation({ snapshotRuntimeId: state.snapshot_runtime_id, + attemptId: state.connection_attempt.attempt_id, localPhase: "failed" }), true); + assert.equal(buttonMarkupWithText(markup, "Указать сеть Wi‑Fi заново").length, 1); + assert.doesNotMatch(markup, /Подключить новый K1|private transport error/); +}); + +test("a failed Connect after completed Bluetooth search exposes recovery instead of a locked form", () => { + const state = terminalConnectionRecoveryState(); + state.ble_discovery_generation = 6; + state.connection_attempt.public_error_code = "BleakGATTProtocolError"; + state.connection_attempt.stage = "gatt-write-failed"; + const controller = { + ...provisioningController(state), + error: "private transport exception must stay hidden", + errorCorrelation: { + action: "connect", runtimeId: state.snapshot_runtime_id, leaseGeneration: 0, + connectionAttemptId: state.connection_attempt.attempt_id, + }, + getConnectionRecoveryObservationTarget: () => recommendedConnectionRecoveryObservationTarget(state), + }; + const markup = renderProvisioningWithAttempt({ controller, desiredMode: "bridge" }, + provisioningAttemptPresentation({ snapshotRuntimeId: state.snapshot_runtime_id, + attemptId: state.connection_attempt.attempt_id, localPhase: "failed" }), true); + assert.equal(buttonMarkupWithText(markup, "Переподключиться").length, 1); + assert.equal(buttonMarkupWithText(markup, "Подключить новый K1").length, 1); + assert.match(markup, /K1 ответил ошибкой Bluetooth/); + assert.doesNotMatch(markup, /Подключение не выполнено|дождитесь, пока система|private transport exception|Пароль передан/); +}); diff --git a/apps/control-station/test/networkProvisioning.test.mjs b/apps/control-station/test/networkProvisioning.test.mjs new file mode 100644 index 0000000..2640c1b --- /dev/null +++ b/apps/control-station/test/networkProvisioning.test.mjs @@ -0,0 +1,132 @@ +import assert from "node:assert/strict"; +import { before, after, test } from "node:test"; +import { createServer } from "vite"; + +let server; +let observeProvisioningRequest; +let networkProvisionFailureMessage; +let ApiError; +before(async () => { + server = await createServer({ appType: "custom", logLevel: "silent", server: { middlewareMode: true } }); + ({ observeProvisioningRequest, networkProvisionFailureMessage } = await server.ssrLoadModule("@xgrids-k1/frontend/networkProvisioning.ts")); + ({ ApiError } = await server.ssrLoadModule("@xgrids-k1/frontend/api.ts")); +}); +after(async () => { await server?.close(); }); + +test("reviewed station errors explain Wi-Fi recovery without claiming a Bluetooth failure", () => { + for (const [code, pattern] of [ + ["k1-wifi-network-not-found", /точное название сети/], + ["k1-wifi-credentials-required", /введите пароль нужной сети заново/], + ]) { + const message = networkProvisionFailureMessage({ status: "failed", error: { code } }); + assert.match(message, pattern); + assert.doesNotMatch(message, /INVALID_PDU|ошибкой Bluetooth|Переподключиться/); + } + assert.match(networkProvisionFailureMessage({ status: "failed", error: { + code: "BleakGATTProtocolError", ble_att_error_code: 4, ble_att_error_name: "INVALID_PDU", + } }), /INVALID_PDU/); + assert.match(networkProvisionFailureMessage({ status: "failed", error: { + code: "network-not-found", + } }), /macOS/); +}); + +const request = { device_id: "synthetic-k1", connection_mode: "bridge", idempotency_key: "explicit-one" }; +function snapshot(status, revision = 2) { + return { + snapshot_runtime_id: "runtime-one", + snapshot_runtime_started_at_utc: "2026-09-06T00:00:00Z", + snapshot_revision: revision, + operations: status ? [{ + operation_id: "op-one", action: "network.provision", idempotency_key: request.idempotency_key, + status, error: status === "failed" ? { + code: "BleakGATTProtocolError", ble_att_error_code: 4, ble_att_error_name: "INVALID_PDU", + device_write_attempted: true, device_write_confirmed: false, + safe_to_retry: false, side_effect_status: "unknown", + } : null, + }] : [], + }; +} +function context(overrides = {}) { + let current = snapshot(null, 1); + const calls = []; + return { + calls, + initialState: current, + send: async (input) => { calls.push(["send", input]); throw new ApiError("transport", 502); }, + readState: async () => { calls.push(["read"]); return snapshot("failed"); }, + acceptState: (incoming) => { if (incoming.snapshot_revision >= current.snapshot_revision) current = incoming; }, + currentState: () => current, + assertCurrent() {}, + ...overrides, + }; +} + +test("HTTP 502 retains the exact failed snapshot and ATT facts after one submission", async () => { + const ctx = context(); + const result = await observeProvisioningRequest(request, ctx); + assert.deepEqual(ctx.calls.map(([kind]) => kind), ["send", "read"]); + assert.equal(ctx.calls[0][1], request); + assert.equal(result.operation.operation_id, "op-one"); + assert.equal(result.operation.error.ble_att_error_name, "INVALID_PDU"); + assert.equal(result.state.operations[0], result.operation); + assert.equal(result.transportError.status, 502); +}); + +test("an existing failed or successful intent is never resubmitted", async () => { + for (const status of ["failed", "succeeded"]) { + const ctx = context({ initialState: snapshot(status) }); + const result = await observeProvisioningRequest(request, ctx); + assert.equal(result.operation.status, status); + assert.equal(ctx.calls.length, 0); + } +}); + +test("lost HTTP response can observe journal success without another command", async () => { + const ctx = context({ readState: async () => snapshot("succeeded") }); + const result = await observeProvisioningRequest(request, ctx); + assert.equal(result.operation.status, "succeeded"); + assert.equal(ctx.calls.filter(([kind]) => kind === "send").length, 1); +}); + +test("an admitted pending intent is followed only by bounded local state reads", async () => { + let now = 0; + const ctx = context({ + initialState: snapshot("running"), + settlementOptions: { now: () => now, wait: async (ms) => { now += ms; } }, + }); + const result = await observeProvisioningRequest(request, ctx); + assert.equal(result.operation.status, "failed"); + assert.deepEqual(ctx.calls.map(([kind]) => kind), ["read"]); +}); + +test("newer WebSocket failure outranks a stale running REST result", async () => { + const newer = snapshot("failed", 7); + const ctx = context({ + send: async () => snapshot("running", 5), + currentState: () => newer, + }); + const result = await observeProvisioningRequest(request, ctx); + assert.equal(result.state, newer); + assert.equal(result.operation.status, "failed"); + assert.equal(ctx.calls.length, 0); +}); + +test("superseding an intent after dispatch stops continuation without replay", async () => { + let active = true; + const ctx = context({ + send: async () => { active = false; throw new ApiError("lost", 502); }, + assertCurrent: () => { if (!active) throw new Error("superseded"); }, + }); + await assert.rejects(observeProvisioningRequest(request, ctx), /superseded/); + assert.equal(ctx.calls.length, 0); +}); + +test("an unrelated journal row cannot confirm the current command", async () => { + const unrelated = snapshot("succeeded"); + unrelated.operations[0].idempotency_key = "another-intent"; + const ctx = context({ readState: async () => unrelated }); + const result = await observeProvisioningRequest(request, ctx); + assert.equal(result.operation, null); + assert.equal(result.transportError.status, 502); + assert.equal(ctx.calls.length, 1); +}); diff --git a/apps/control-station/test/observatoryWorkspace.test.mjs b/apps/control-station/test/observatoryWorkspace.test.mjs index ba50dc8..b1d0a3a 100644 --- a/apps/control-station/test/observatoryWorkspace.test.mjs +++ b/apps/control-station/test/observatoryWorkspace.test.mjs @@ -27,7 +27,7 @@ async function read(relativePath) { test("Observatory is the third independent Polygon workspace", () => { assert.deepEqual( productModel.workspacesForRoot("polygon").map(({ id }) => id), - ["lab-archive", "simulations", "observatory"], + ["lab-archive", "simulations", "observatory", "local-device"], ); assert.deepEqual( productModel.workspaceById("observatory"), @@ -138,7 +138,7 @@ test("Observatory mounts the one shared canonical replay only after explicit adm /RerunViewport|ObservationSessionSelect|resolveObservationSessionReplay|resolveCanonicalLabReplay|deleteObservationSession|setInterval|setTimeout|useObservationSessions|useAdvancedLaboratoryCatalog|advanced-index|prefetch|preload/, ); assert.equal(sharedReplay.match(/ id), - ["lab-archive", "simulations", "observatory"], + ["lab-archive", "simulations", "observatory", "local-device"], ); assert.equal( workspacesForRoot("system").some(({ id }) => id === "polygon-run"), diff --git a/apps/control-station/test/productShellContract.test.mjs b/apps/control-station/test/productShellContract.test.mjs index d3d8266..e3f86a8 100644 --- a/apps/control-station/test/productShellContract.test.mjs +++ b/apps/control-station/test/productShellContract.test.mjs @@ -29,7 +29,7 @@ test("top navigation has no Center and Park owns contour health first", () => { assert.equal(productModel.workspaceById("contour-health")?.root, "fleet"); assert.deepEqual( productModel.workspacesForRoot("polygon").map(({ id }) => id), - ["lab-archive", "simulations", "observatory"], + ["lab-archive", "simulations", "observatory", "local-device"], ); assert.equal(productModel.workspaceById("lab-archive")?.kind, "lab-archive"); assert.deepEqual( diff --git a/apps/control-station/test/viewerProfile.test.mjs b/apps/control-station/test/viewerProfile.test.mjs index bb3fef8..17a4ea1 100644 --- a/apps/control-station/test/viewerProfile.test.mjs +++ b/apps/control-station/test/viewerProfile.test.mjs @@ -7,6 +7,7 @@ let server; let LABORATORY_RECORDED_EVIDENCE_VIEWER_PROFILE; let liveAcquisitionRerunProfile; let recordedSessionRerunProfile; +let laboratoryResultRerunProfile; before(async () => { server = await createServer({ @@ -18,6 +19,7 @@ before(async () => { LABORATORY_RECORDED_EVIDENCE_VIEWER_PROFILE, liveAcquisitionRerunProfile, recordedSessionRerunProfile, + laboratoryResultRerunProfile, } = await server.ssrLoadModule("/src/core/observation/viewerProfile.ts")); }); @@ -86,3 +88,14 @@ test("the old LAB transport is fenced as explicit legacy comparison only", () => }); assert.equal(Object.isFrozen(LABORATORY_RECORDED_EVIDENCE_VIEWER_PROFILE), true); }); + +test("LAB has its own immutable result identity and discriminator", () => { + const input = {resultId:"E38-result-1",sourceUrl:"/shared.rrd",kind:"recorded-session",clock:"stream_time"}; + const lab = laboratoryResultRerunProfile(input); + assert.equal(lab.kind,"laboratory-result"); + assert.equal(lab.clock,"session_time"); + assert.equal(lab.resultId,"E38-result-1"); + assert.equal(recordedSessionRerunProfile({...input}).kind,"recorded-session"); + assert.equal(liveAcquisitionRerunProfile({...input}).kind,"live-acquisition"); + assert.throws(()=>laboratoryResultRerunProfile({...input,resultId:" "})); +}); diff --git a/apps/node-agent/cmd/node-agent/main.go b/apps/node-agent/cmd/node-agent/main.go index 68fa9f2..d9ecfd1 100644 --- a/apps/node-agent/cmd/node-agent/main.go +++ b/apps/node-agent/cmd/node-agent/main.go @@ -80,6 +80,12 @@ func run() error { return err } pairing.Sensors = app.Sensors + app.DeviceEnrollment, err = node.OpenDeviceEnrollment(*dir, nodeID) + if err != nil { + return err + } + pairing.DeviceEnrollment = app.DeviceEnrollment + app.Sensors.NetworkDevices = app.DeviceEnrollment app.Access = &node.AccessStore{Path: filepath.Join(*dir, "ssh-keys.json"), Users: func() []string { return node.LocalAdmins("/") }} if err := os.MkdirAll(filepath.Dir(*socket), 0700); err != nil { return err diff --git a/apps/node-agent/internal/node/device_enrollment.go b/apps/node-agent/internal/node/device_enrollment.go new file mode 100644 index 0000000..d95ca08 --- /dev/null +++ b/apps/node-agent/internal/node/device_enrollment.go @@ -0,0 +1,323 @@ +package node + +import ( + "bytes" + "context" + "encoding/json" + "errors" + "io" + "net" + "net/http" + "os" + "path/filepath" + "sync" + "time" +) + +type EnrollmentCommand struct { + ID string `json:"operation_id"` + NodeID string `json:"node_id"` + RuntimeID string `json:"runtime_id"` + Action string `json:"action"` + Deadline string `json:"deadline_at"` + Parameters map[string]any `json:"parameters"` +} + +// This is the complete journal schema. No command parameters or credentials. +type EnrollmentOperation struct { + ID string `json:"operation_id"` + NodeID string `json:"node_id"` + RuntimeID string `json:"runtime_id"` + Action string `json:"action"` + State string `json:"state"` + Error string `json:"error,omitempty"` + Result map[string]any `json:"result,omitempty"` + Remote bool `json:"remote,omitempty"` + Updated int64 `json:"updated_at"` +} + +type DeviceEnrollment struct { + mu sync.Mutex + root string + nodeID string + client *http.Client + operations map[string]*EnrollmentOperation +} + +func OpenDeviceEnrollment(root, nodeID string) (*DeviceEnrollment, error) { + dir := filepath.Join(root, "device-enrollment") + if e := os.MkdirAll(dir, 0700); e != nil { + return nil, e + } + d := &DeviceEnrollment{root: dir, nodeID: nodeID, operations: map[string]*EnrollmentOperation{}} + d.client = &http.Client{Timeout: 185 * time.Second, Transport: &http.Transport{DialContext: func(ctx context.Context, _, _ string) (net.Conn, error) { + return (&net.Dialer{}).DialContext(ctx, "unix", "/run/mission-core-k1/driver.sock") + }}} + files, _ := filepath.Glob(filepath.Join(dir, "op_*.json")) + for _, path := range files { + data, e := os.ReadFile(path) + if e != nil { + return nil, e + } + var op EnrollmentOperation + if json.Unmarshal(data, &op) != nil || !operationID.MatchString(op.ID) { + return nil, errors.New("invalid enrollment journal") + } + if op.State == "running" { + op.State = "unknown" + op.Error = "БК перезапущен. Обновите состояние K1 перед новой командой." + } + d.operations[op.ID] = &op + } + return d, nil +} + +func (d *DeviceEnrollment) call(ctx context.Context, path string, command any) (map[string]any, error) { + var body io.Reader + method := "GET" + if command != nil { + data, e := json.Marshal(command) + if e != nil { + return nil, e + } + body = bytes.NewReader(data) + method = "POST" + } + request, e := http.NewRequestWithContext(ctx, method, "http://k1"+path, body) + if e != nil { + return nil, e + } + request.Header.Set("Content-Type", "application/json") + request.Header.Set("X-Node-Id", d.nodeID) + response, e := d.client.Do(request) + if e != nil { + return nil, errors.New("Служба K1 на БК недоступна.") + } + defer response.Body.Close() + var value map[string]any + if json.NewDecoder(io.LimitReader(response.Body, 65536)).Decode(&value) != nil || response.StatusCode != 200 { + return nil, errors.New("Действие K1 не подтверждено. Обновите состояние устройства.") + } + return value, nil +} + +func (d *DeviceEnrollment) Status() map[string]any { + ctx, cancel := context.WithTimeout(context.Background(), 3*time.Second) + defer cancel() + value, e := d.call(ctx, "/status", nil) + if e != nil { + value = map[string]any{"available": false} + } + value["node_id"] = d.nodeID + value["name"], _ = os.Hostname() + value["fresh"] = true + return value +} + +func (c EnrollmentCommand) valid(nodeID string) bool { + deadline, e := time.Parse(time.RFC3339Nano, c.Deadline) + if e != nil || !deadline.After(time.Now()) || time.Until(deadline) > 180*time.Second || c.NodeID != nodeID || !operationID.MatchString(c.ID) || c.RuntimeID == "" || len(c.RuntimeID) > 128 { + return false + } + keys := map[string]bool{} + switch c.Action { + case "scan", "networks": + case "connect", "verify": + keys = map[string]bool{"device_id": true, "discovery_generation": true, "mode_revision": true} + id, ok := c.Parameters["device_id"].(string) + if !ok || len(id) < 1 || len(id) > 128 { + return false + } + for _, key := range []string{"discovery_generation", "mode_revision"} { + v, ok := c.Parameters[key].(float64) + if !ok || v < 0 || v != float64(int64(v)) { + return false + } + } + if c.Action == "connect" { + keys["ssid"] = true + keys["password"] = true + for key, limit := range map[string]int{"ssid": 32, "password": 64} { + v, ok := c.Parameters[key].(string) + if !ok || len(v) < 1 || len(v) > limit { + return false + } + } + } + default: + return false + } + if len(keys) != len(c.Parameters) { + return false + } + for key := range c.Parameters { + if !keys[key] { + return false + } + } + return true +} + +func copyEnrollment(value *EnrollmentOperation) *EnrollmentOperation { + if value == nil { + return nil + } + data, _ := json.Marshal(value) + var out EnrollmentOperation + _ = json.Unmarshal(data, &out) + return &out +} + +func (d *DeviceEnrollment) Submit(c EnrollmentCommand, remote bool) (*EnrollmentOperation, error) { + if !c.valid(d.nodeID) { + return nil, errors.New("Проверьте БК, выбранное устройство и параметры сети.") + } + d.mu.Lock() + if old := d.operations[c.ID]; old != nil { + out := copyEnrollment(old) + d.mu.Unlock() + return out, nil + } + if len(d.operations) >= 2000 { + for id, value := range d.operations { + if value.State != "running" && time.Now().Unix()-value.Updated > 86400 { + if os.Remove(filepath.Join(d.root, id+".json")) == nil { + delete(d.operations, id) + } + } + } + if len(d.operations) >= 2000 { + d.mu.Unlock() + return nil, errors.New("Журнал подключений заполнен. Повторите позже.") + } + } + for _, v := range d.operations { + if v.State == "running" { + d.mu.Unlock() + return nil, errors.New("Дождитесь текущего действия K1.") + } + } + d.mu.Unlock() + if d.Status()["runtime_id"] != c.RuntimeID { + return nil, errors.New("Сеанс K1 изменился. Обновите устройства.") + } + d.mu.Lock() + // Status can yield; repeat admission under the lock before the durable write. + if old := d.operations[c.ID]; old != nil { + out := copyEnrollment(old) + d.mu.Unlock() + return out, nil + } + for _, v := range d.operations { + if v.State == "running" { + d.mu.Unlock() + return nil, errors.New("Дождитесь текущего действия K1.") + } + } + op := &EnrollmentOperation{ID: c.ID, NodeID: c.NodeID, RuntimeID: c.RuntimeID, Action: c.Action, State: "running", Remote: remote, Updated: time.Now().Unix()} + if e := savePrivateJSON(filepath.Join(d.root, c.ID+".json"), op); e != nil { + d.mu.Unlock() + return nil, e + } + d.operations[c.ID] = op + out := copyEnrollment(op) + d.mu.Unlock() + go d.execute(c) + return out, nil +} + +func (d *DeviceEnrollment) execute(c EnrollmentCommand) { + deadline, _ := time.Parse(time.RFC3339Nano, c.Deadline) + ctx, cancel := context.WithDeadline(context.Background(), deadline) + defer cancel() + result, e := d.call(ctx, "/operation", c) + // Dropping references is best-effort lifetime reduction, not a claim that + // Go can zero every immutable JSON/string copy. No secret is journalled. + delete(c.Parameters, "password") + d.mu.Lock() + defer d.mu.Unlock() + op := d.operations[c.ID] + op.Updated = time.Now().Unix() + op.State = "complete" + op.Result = result + if e != nil { + op.State = "unknown" + op.Error = "Действие K1 не подтверждено. Обновите состояние; повторная команда автоматически не отправляется." + } + if e := savePrivateJSON(filepath.Join(d.root, c.ID+".json"), op); e != nil { + op.State = "unknown" + op.Error = "Результат не сохранён. Обновите состояние K1." + } +} + +func (d *DeviceEnrollment) Get(id string) *EnrollmentOperation { + d.mu.Lock() + defer d.mu.Unlock() + return copyEnrollment(d.operations[id]) +} +func (d *DeviceEnrollment) RemoteResults() []*EnrollmentOperation { + d.mu.Lock() + defer d.mu.Unlock() + out := []*EnrollmentOperation{} + for _, op := range d.operations { + if op.Remote { + out = append(out, copyEnrollment(op)) + if len(out) == 8 { + break + } + } + } + return out +} +func (d *DeviceEnrollment) Acknowledge(ids []string) { + d.mu.Lock() + defer d.mu.Unlock() + for _, id := range ids { + if op := d.operations[id]; op != nil && op.State != "running" { + op.Remote = false + _ = savePrivateJSON(filepath.Join(d.root, id+".json"), op) + } + } +} + +func (d *DeviceEnrollment) Routes(mux *http.ServeMux, server *Server) { + mux.HandleFunc("GET /api/devices/enrollment", func(w http.ResponseWriter, r *http.Request) { + if !server.authorized(w, r) { + return + } + v := d.Status() + _, name := server.Store.Public() + v["name"] = name + reply(w, 200, v) + }) + mux.HandleFunc("POST /api/devices/enrollment/operations", func(w http.ResponseWriter, r *http.Request) { + if !server.authorized(w, r) { + return + } + r.Body = http.MaxBytesReader(w, r.Body, 16384) + var c EnrollmentCommand + decoder := json.NewDecoder(r.Body) + decoder.DisallowUnknownFields() + if r.Header.Get("Content-Type") != "application/json" || decoder.Decode(&c) != nil { + reply(w, 400, map[string]string{"error": "Некорректный запрос подключения"}) + return + } + op, e := d.Submit(c, false) + if e != nil { + reply(w, 409, map[string]string{"error": e.Error()}) + return + } + reply(w, 202, op) + }) + mux.HandleFunc("GET /api/devices/enrollment/operations/{id}", func(w http.ResponseWriter, r *http.Request) { + if !server.authorized(w, r) { + return + } + op := d.Get(r.PathValue("id")) + if op == nil { + reply(w, 200, map[string]string{"state": "unknown", "error": "Результат недоступен. Обновите состояние K1."}) + return + } + reply(w, 200, op) + }) +} diff --git a/apps/node-agent/internal/node/device_enrollment_test.go b/apps/node-agent/internal/node/device_enrollment_test.go new file mode 100644 index 0000000..e9bd339 --- /dev/null +++ b/apps/node-agent/internal/node/device_enrollment_test.go @@ -0,0 +1,111 @@ +package node + +import ( + "bytes" + "encoding/json" + "io" + "net/http" + "os" + "path/filepath" + "strings" + "sync/atomic" + "testing" + "time" +) + +type enrollmentHTTP func(*http.Request) (*http.Response, error) + +func (f enrollmentHTTP) RoundTrip(r *http.Request) (*http.Response, error) { return f(r) } + +func enrollmentRequest() EnrollmentCommand { + return EnrollmentCommand{ID: "op_" + strings.Repeat("a", 32), NodeID: "node-test", RuntimeID: "runtime-test", Action: "connect", Deadline: time.Now().Add(time.Minute).UTC().Format(time.RFC3339Nano), Parameters: map[string]any{"device_id": "test-ble", "mode_revision": float64(0), "discovery_generation": float64(1), "ssid": "test-network", "password": token()}} +} + +func TestEnrollmentJournalsNoCredentialAndDispatchesOnce(t *testing.T) { + root := t.TempDir() + d, e := OpenDeviceEnrollment(root, "node-test") + if e != nil { + t.Fatal(e) + } + var posts atomic.Int32 + d.client = &http.Client{Transport: enrollmentHTTP(func(r *http.Request) (*http.Response, error) { + body := `{"available":true,"runtime_id":"runtime-test"}` + if r.Method == "POST" { + posts.Add(1) + body = `{"available":true,"connected":true}` + } + return &http.Response{StatusCode: 200, Body: io.NopCloser(strings.NewReader(body)), Header: make(http.Header)}, nil + })} + c := enrollmentRequest() + secret := c.Parameters["password"].(string) + if _, e = d.Submit(c, true); e != nil { + t.Fatal(e) + } + deadline := time.Now().Add(time.Second) + for d.Get(c.ID).State == "running" && time.Now().Before(deadline) { + time.Sleep(time.Millisecond) + } + if d.Get(c.ID).State != "complete" { + t.Fatal("operation did not complete") + } + // A repeated delivery owns no new physical intent, even with a replaced secret. + c.Parameters["password"] = token() + if _, e = d.Submit(c, true); e != nil { + t.Fatal(e) + } + if posts.Load() != 1 { + t.Fatal("duplicate dispatch") + } + journal, e := os.ReadFile(filepath.Join(root, "device-enrollment", c.ID+".json")) + if e != nil { + t.Fatal(e) + } + results, _ := json.Marshal(d.RemoteResults()) + if bytes.Contains(journal, []byte(secret)) || bytes.Contains(results, []byte(secret)) || bytes.Contains(journal, []byte("parameters")) { + t.Fatal("credential/parameters entered journal or results") + } +} + +func TestEnrollmentRestartDoesNotReplayRunningIntent(t *testing.T) { + root := t.TempDir() + d, e := OpenDeviceEnrollment(root, "node-test") + if e != nil { + t.Fatal(e) + } + c := enrollmentRequest() + op := EnrollmentOperation{ID: c.ID, NodeID: c.NodeID, RuntimeID: c.RuntimeID, Action: c.Action, State: "running", Remote: true} + if e := savePrivateJSON(filepath.Join(d.root, c.ID+".json"), op); e != nil { + t.Fatal(e) + } + restarted, e := OpenDeviceEnrollment(root, "node-test") + if e != nil { + t.Fatal(e) + } + if restarted.Get(c.ID).State != "unknown" { + t.Fatal("restart did not fence unknown result") + } + restarted.client = &http.Client{Transport: enrollmentHTTP(func(*http.Request) (*http.Response, error) { t.Fatal("restart contacted hardware"); return nil, nil })} + result, e := restarted.Submit(c, true) + if e != nil || result.State != "unknown" { + t.Fatal("repeated intent did not retain unknown outcome") + } +} + +func TestEnrollmentRejectsAnotherNodeExpiredAndHostMutation(t *testing.T) { + c := enrollmentRequest() + if !c.valid("node-test") { + t.Fatal("valid intent rejected") + } + if c.valid("another-node") { + t.Fatal("wrong node admitted") + } + c.Parameters["allow_host_wifi_switch"] = true + if c.valid("node-test") { + t.Fatal("host association admitted") + } + delete(c.Parameters, "allow_host_wifi_switch") + c.Deadline = time.Now().Add(-time.Second).Format(time.RFC3339Nano) + if c.valid("node-test") { + t.Fatal("expired operation admitted") + } +} diff --git a/apps/node-agent/internal/node/pairing.go b/apps/node-agent/internal/node/pairing.go index d188b74..e490a7f 100644 --- a/apps/node-agent/internal/node/pairing.go +++ b/apps/node-agent/internal/node/pairing.go @@ -39,20 +39,21 @@ type PairState struct { Revocations []CoreBinding `json:"revocations,omitempty"` } type Pairing struct { - Sensors *Sensors - mu sync.Mutex - path string - store *Store - state PairState - now func() time.Time - inventory func() Inventory - version string - lastSeen int64 - connection string - listenError string - failureWindow int64 - failures int - clients map[string]*http.Client + Sensors *Sensors + DeviceEnrollment *DeviceEnrollment + mu sync.Mutex + path string + store *Store + state PairState + now func() time.Time + inventory func() Inventory + version string + lastSeen int64 + connection string + listenError string + failureWindow int64 + failures int + clients map[string]*http.Client } func OpenPairing(store *Store, dir, version string, inventory func() Inventory) (*Pairing, error) { diff --git a/apps/node-agent/internal/node/pairing_transport.go b/apps/node-agent/internal/node/pairing_transport.go index e9348ab..f1a09bf 100644 --- a/apps/node-agent/internal/node/pairing_transport.go +++ b/apps/node-agent/internal/node/pairing_transport.go @@ -282,12 +282,28 @@ func (p *Pairing) channel(ctx context.Context) { payload["sensor_state"] = inv payload["sensor_results"] = p.Sensors.RemoteResults() } + if p.DeviceEnrollment != nil { + payload["device_enrollment"] = p.DeviceEnrollment.Status() + payload["enrollment_results"] = p.DeviceEnrollment.RemoteResults() + } result, status, e := p.send(ctx, *binding, "/v1/node/heartbeat", payload) p.mu.Lock() if p.state.Phase == "paired" && p.state.Binding != nil && p.state.Binding.BindingID == binding.BindingID { if e == nil && status == 200 { p.connection = "online" p.lastSeen = p.now().Unix() + if p.DeviceEnrollment != nil { + var ack []string + if json.Unmarshal(result["enrollment_acknowledgements"], &ack) == nil { + p.DeviceEnrollment.Acknowledge(ack) + } + var commands []EnrollmentCommand + if json.Unmarshal(result["enrollment_commands"], &commands) == nil { + for _, c := range commands { + _, _ = p.DeviceEnrollment.Submit(c, true) + } + } + } if p.Sensors != nil { var ack []string if json.Unmarshal(result["sensor_acknowledgements"], &ack) == nil { diff --git a/apps/node-agent/internal/node/sensors.go b/apps/node-agent/internal/node/sensors.go index 1cf1100..0e99d1c 100644 --- a/apps/node-agent/internal/node/sensors.go +++ b/apps/node-agent/internal/node/sensors.go @@ -45,19 +45,20 @@ type SensorOperation struct { Updated int64 `json:"updated_at"` } type Sensors struct { - events sensorEvents - mu sync.Mutex - prepareMu sync.Mutex - root string - nodeID string - instance string - client *http.Client - operations map[string]*SensorOperation - names map[string]string - initialized map[string]bool + events sensorEvents + mu sync.Mutex + prepareMu sync.Mutex + root string + nodeID string + instance string + client *http.Client + NetworkDevices *DeviceEnrollment + operations map[string]*SensorOperation + names map[string]string + initialized map[string]bool } -var sensorID = regexp.MustCompile(`^rsd455_[0-9a-f]{32}$`) +var sensorID = regexp.MustCompile(`^(rsd455|k1)_[0-9a-f]{32}$`) var operationID = regexp.MustCompile(`^op_[0-9a-f]{32}$`) func OpenSensors(root, nodeID string) (*Sensors, error) { @@ -168,6 +169,32 @@ func (s *Sensors) driver(path string, body any) (map[string]any, error) { func (s *Sensors) Inventory() map[string]any { items := []any{} seen := map[string]bool{} + if s.NetworkDevices != nil { + ctx, cancel := context.WithTimeout(context.Background(), 3*time.Second) + result, e := s.NetworkDevices.call(ctx, "/inventory", nil) + cancel() + if e == nil { + if found, ok := result["items"].([]any); ok { + for _, raw := range found { + item, ok := raw.(map[string]any) + if !ok { + continue + } + id, _ := item["id"].(string) + if !strings.HasPrefix(id, "k1_") || !sensorID.MatchString(id) { + continue + } + s.mu.Lock() + if name := s.names[id]; name != "" { + item["name"] = name + } + s.mu.Unlock() + seen[id] = true + items = append(items, item) + } + } + } + } if result, e := s.driver("/inventory", nil); e == nil { if found, ok := result["items"].([]any); ok { for _, v := range found { @@ -259,6 +286,9 @@ func sensorViewAction(action string) bool { } func (s *Sensors) Submit(c SensorCommand, remote bool) (*SensorOperation, error) { + if strings.HasPrefix(c.Session.DeviceID, "k1_") && (c.Action == "prepare" || c.Action == "replay") { + return nil, errors.New("Эта операция не поддерживается K1.") + } if c.APIVersion != SensorSchema || c.Kind != "OperationRequest" || !operationID.MatchString(c.ID) || c.Idempotency != c.ID || !sensorID.MatchString(c.Session.DeviceID) || len(c.Session.SessionID) > 192 { return nil, errors.New("Некорректная команда устройства.") } @@ -344,7 +374,14 @@ func (s *Sensors) execute(c SensorCommand) { } } else { var v map[string]any - v, err = s.driver("/operation", c) + if strings.HasPrefix(c.Session.DeviceID, "k1_") && s.NetworkDevices != nil { + deadline, _ := time.Parse(time.RFC3339Nano, c.Deadline) + ctx, cancel := context.WithDeadline(context.Background(), deadline) + v, err = s.NetworkDevices.call(ctx, "/sensor-operation", c) + cancel() + } else { + v, err = s.driver("/operation", c) + } uncertain = err != nil || v["state"] == "unknown" if err == nil { if v["state"] == "complete" { diff --git a/apps/node-agent/internal/node/server.go b/apps/node-agent/internal/node/server.go index c56e04f..819ddca 100644 --- a/apps/node-agent/internal/node/server.go +++ b/apps/node-agent/internal/node/server.go @@ -13,20 +13,21 @@ import ( ) type Server struct { - Store *Store - Pairing *Pairing - Sensors *Sensors - Assets fs.FS - Origin string - Version string - Inventory func() Inventory - Access *AccessStore - Tailscale func() TailscaleStatus - Environment func() EnvironmentStatus - mu sync.Mutex - logins map[string]time.Time - sessions map[string]time.Time - Now func() time.Time + Store *Store + Pairing *Pairing + Sensors *Sensors + DeviceEnrollment *DeviceEnrollment + Assets fs.FS + Origin string + Version string + Inventory func() Inventory + Access *AccessStore + Tailscale func() TailscaleStatus + Environment func() EnvironmentStatus + mu sync.Mutex + logins map[string]time.Time + sessions map[string]time.Time + Now func() time.Time } func token() string { @@ -82,6 +83,9 @@ func (s *Server) Handler() http.Handler { if s.Sensors != nil { s.Sensors.Routes(mux, s) } + if s.DeviceEnrollment != nil { + s.DeviceEnrollment.Routes(mux, s) + } if s.Pairing != nil { s.Pairing.localRoutes(mux, s) } diff --git a/apps/node-agent/packaging/50-mission-core-k1.rules b/apps/node-agent/packaging/50-mission-core-k1.rules new file mode 100644 index 0000000..a16bc55 --- /dev/null +++ b/apps/node-agent/packaging/50-mission-core-k1.rules @@ -0,0 +1,6 @@ +// Only WLAN discovery. No host association/profile modification authority. +polkit.addRule(function(action, subject) { + if (subject.user === "mission-core-k1" && action.id === "org.freedesktop.NetworkManager.wifi.scan") { + return polkit.Result.YES; + } +}); diff --git a/apps/node-agent/packaging/build.py b/apps/node-agent/packaging/build.py index 71984fc..ff09a55 100644 --- a/apps/node-agent/packaging/build.py +++ b/apps/node-agent/packaging/build.py @@ -11,7 +11,7 @@ import sys from build_deb import build, VERSION, BRAND_SHA256 ROOT = Path(__file__).resolve().parents[1] -DG_COMMIT = "999864e5b0a81555823cfa1ea6e8cf8a417c37f1" +DG_COMMIT = "1bdfc6c24072d38cc1068086ea271c444f2524ad" def guideline_sources(): @@ -32,6 +32,8 @@ def provenance(): "base_commit": subprocess.check_output(["git", "rev-parse", "HEAD"], cwd=ROOT, text=True).strip(), "design_guideline_commit": DG_COMMIT, "design_guideline_files": guideline_sources(), + "shared_sensor_ui_files": {str(p.relative_to(ROOT.parents[1])): hashlib.sha256(p.read_bytes()).hexdigest() for p in sorted((ROOT.parents[1] / "packages/sensor-ui/src").rglob("*")) if p.is_file()}, + "k1_runtime_files": {str(p.relative_to(ROOT.parents[1])): hashlib.sha256(p.read_bytes()).hexdigest() for p in sorted((ROOT.parents[1] / "src/k1link").rglob("*")) if p.is_file() and p.suffix in (".py", ".json")}, "toolchain": json.loads((ROOT / "toolchain.json").read_text()), "files": files} diff --git a/apps/node-agent/packaging/build_deb.py b/apps/node-agent/packaging/build_deb.py index 1d0138f..bbccd8c 100644 --- a/apps/node-agent/packaging/build_deb.py +++ b/apps/node-agent/packaging/build_deb.py @@ -13,7 +13,7 @@ import tarfile ROOT = Path(__file__).resolve().parents[1] -VERSION = "0.6.11" +VERSION = "0.7.0" BRAND_SHA256 = "8bfee8ca9f98e0db48d98aae3af4b32493b8593e18b064a0239d513d824182af" @@ -65,7 +65,7 @@ Architecture: amd64 Maintainer: NODE.DC local build Section: admin Priority: optional -Depends: adduser, systemd, python3, python3-gi, gir1.2-gtk-3.0, gir1.2-webkit2-4.1, pkexec, polkitd, ca-certificates, hicolor-icon-theme +Depends: adduser, systemd, python3, python3-gi, gir1.2-gtk-3.0, gir1.2-webkit2-4.1, pkexec, polkitd, ca-certificates, hicolor-icon-theme, bluez, network-manager, iproute2, ffmpeg Description: Mission Core onboard computer configuration Local graphical setup, host inventory, SSH access and persistent node identity. """.encode() @@ -107,6 +107,29 @@ Description: Mission Core onboard computer configuration files.append(("usr/share/mission-core-node/realsense/" + item["name"], data, 0o644)) for path in (ROOT / "sensors").glob("*.py"): files.append(("usr/lib/mission-core-node/sensors/" + path.name, path.read_bytes(), 0o644)) + for name in ("k1_prepare.py", "k1_bootstrap.py"): + files.append(("usr/lib/mission-core-node/" + name, (p / name).read_bytes(), 0o644)) + files.append(("usr/lib/mission-core-node/install-k1-credential", (p / "install-k1-credential").read_bytes(), 0o755)) + files.append(("usr/lib/systemd/system/mission-core-k1.service", (p / "mission-core-k1.service").read_bytes(), 0o644)) + files.append(("usr/share/polkit-1/rules.d/50-mission-core-k1.rules", (p / "50-mission-core-k1.rules").read_bytes(), 0o644)) + k1_bundle = json.loads((p / "k1-bundle.json").read_text()) + files.append(("usr/share/mission-core-node/k1/bundle.json", (p / "k1-bundle.json").read_bytes(), 0o644)) + for item in k1_bundle["wheels"]: + data = (ROOT / "build/k1-wheels" / item["name"]).read_bytes() + if hashlib.sha256(data).hexdigest() != item["sha256"]: + raise ValueError("K1 bundle hash mismatch") + files.append(("usr/share/mission-core-node/k1/" + item["name"], data, 0o644)) + repository = ROOT.parents[1] + # Reuse the admitted plugin runtime and the transport-neutral renderer. + # No separate Core web service is started on the board. + for path in (repository / "src/k1link").rglob("*"): + if path.is_file() and path.suffix in (".py", ".json"): + files.append(("usr/lib/mission-core-node/k1/src/k1link/" + str(path.relative_to(repository / "src/k1link")), path.read_bytes(), 0o644)) + for relative in ("plugins/xgrids-k1/profile_loader.py", "plugins/xgrids-k1/plugin.manifest.json", + "config/observatory-equipment-models.json", + "config/observatory-recorded-capture-profiles.json", + "plugins/xgrids-k1/profiles/fw-3.0.2/local-network.v2.json"): + files.append(("usr/lib/mission-core-node/k1/" + relative, (repository / relative).read_bytes(), 0o644)) sdk = ROOT.parents[1] / "packages/plugin-sdk/python/missioncore_plugin_sdk" for path in sdk.rglob("*.py"): files.append(("usr/lib/mission-core-node/sdk/missioncore_plugin_sdk/" + str(path.relative_to(sdk)), path.read_bytes(), 0o644)) diff --git a/apps/node-agent/packaging/fetch_driver_bundle.py b/apps/node-agent/packaging/fetch_driver_bundle.py index a55fa23..be66b17 100644 --- a/apps/node-agent/packaging/fetch_driver_bundle.py +++ b/apps/node-agent/packaging/fetch_driver_bundle.py @@ -1,13 +1,18 @@ """Engineering build input, never run on an operator board. Exact PyPI hashes only.""" import hashlib +import argparse import json +import time from pathlib import Path -from urllib.request import urlopen +from urllib.request import Request, urlopen root = Path(__file__).resolve().parents[1] -manifest = json.loads((root / "packaging/realsense-bundle.json").read_text()) -output = root / "build/realsense-wheels" +parser = argparse.ArgumentParser() +parser.add_argument("--model", choices=("realsense", "k1"), default="realsense") +model = parser.parse_args().model +manifest = json.loads((root / f"packaging/{model}-bundle.json").read_text()) +output = root / f"build/{model}-wheels" output.mkdir(parents=True, exist_ok=True) for item in manifest["wheels"]: target = output / item["name"] @@ -23,8 +28,24 @@ for item in manifest["wheels"]: ) if not source["url"].startswith("https://files.pythonhosted.org/"): raise ValueError("Unexpected package origin") - with urlopen(source["url"], timeout=120) as response: - data = response.read(item["bytes"] + 1) + partial = target.with_suffix(target.suffix + ".partial") + for attempt in range(4): + offset = partial.stat().st_size if partial.exists() else 0 + request = Request(source["url"], headers={"Range": f"bytes={offset}-"} if offset else {}) + try: + with urlopen(request, timeout=60) as response: + if offset and response.status != 206: + raise RuntimeError("Package server did not honor resume range") + with partial.open("ab" if offset else "wb") as stream: + while chunk := response.read(1024 * 1024): + stream.write(chunk) + break + except (OSError, TimeoutError): + if attempt == 3: + raise + time.sleep(2) + data = partial.read_bytes() if len(data) != item["bytes"] or hashlib.sha256(data).hexdigest() != item["sha256"]: raise ValueError("Driver checksum mismatch") - target.write_bytes(data) + partial.replace(target) + print(json.dumps({"model": model, "wheel": item["name"], "bytes": len(data)}), flush=True) diff --git a/apps/node-agent/packaging/install-k1-credential b/apps/node-agent/packaging/install-k1-credential new file mode 100644 index 0000000..137501b --- /dev/null +++ b/apps/node-agent/packaging/install-k1-credential @@ -0,0 +1,36 @@ +#!/usr/bin/python3 -I +"""Administrator-only import of the exact application key from protected stdin.""" +import os +import subprocess +import sys +import tempfile +from pathlib import Path + +if os.geteuid() != 0 or len(sys.argv) != 1: + raise SystemExit("Root stdin import required") +secret = bytearray(sys.stdin.buffer.read(1025).strip()) +try: + if len(secret) != 36 or any(v < 33 or v > 126 for v in secret): + raise SystemExit("Credential does not match the reviewed K1 profile") + root = Path("/etc/credstore.encrypted") + root.mkdir(mode=0o700, exist_ok=True) + if root.is_symlink() or root.stat().st_uid != 0 or root.stat().st_mode & 0o022: + raise SystemExit("Unsafe credential store") + path = root / "k1-application" + if path.is_symlink() or path.exists(): + raise SystemExit("K1 credential already installed; explicit rotation required") + with tempfile.TemporaryDirectory(prefix=".k1-", dir=root) as directory: + staged = Path(directory) / "encrypted" + completed = subprocess.run( + ["/usr/bin/systemd-creds", "encrypt", "--name=k1-application", "--with-key=host", "-", str(staged)], + input=secret, stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, timeout=30, + ) + if completed.returncode: + raise SystemExit("K1 credential import failed") + staged.chmod(0o600) + with staged.open("rb") as stream: + os.fsync(stream.fileno()) + # Atomic publication without overwriting a concurrently installed key. + os.link(staged, path) +finally: + secret[:] = b"\0" * len(secret) diff --git a/apps/node-agent/packaging/k1-bundle.json b/apps/node-agent/packaging/k1-bundle.json new file mode 100644 index 0000000..c2b5a83 --- /dev/null +++ b/apps/node-agent/packaging/k1-bundle.json @@ -0,0 +1,265 @@ +{ + "schema": "missioncore.node.driver-bundle/v1", + "model_id": "xgrids.k1", + "revision": "c7ed0bba39f757afdac176a8", + "python": "3.12", + "platform": "linux-amd64", + "lock_sha256": "551c8ccdc44bc3724328dd1e316c81d20e63d2e4dcd97148377d6cacef479246", + "wheels": [ + { + "name": "aioice-0.10.2-py3-none-any.whl", + "sha256": "14911c15ab12d096dd14d372ebb4aecbb7420b52c9b76fdfcf54375dec17fcbf", + "bytes": 24875 + }, + { + "name": "aiortc-1.14.0-py3-none-any.whl", + "sha256": "4b244d7e482f4e1f67e685b3468269628eca1ec91fa5b329ab517738cfca086e", + "bytes": 93183 + }, + { + "name": "annotated_doc-0.0.4-py3-none-any.whl", + "sha256": "571ac1dc6991c450b25a9c2d84a3705e2ae7a53467b5d111c24fa8baabbed320", + "bytes": 5303 + }, + { + "name": "annotated_types-0.7.0-py3-none-any.whl", + "sha256": "1f02e8b43a8fbbc3f3e0d4f0f4bfc8131bcb4eebe8849b8e5c773f3a1c582a53", + "bytes": 13643 + }, + { + "name": "anyio-4.14.2-py3-none-any.whl", + "sha256": "9f505dda5ac9f0c8309b5e8bd445a8c2bf7246f3ce950121e45ea15bc41d1494", + "bytes": 125813 + }, + { + "name": "attrs-26.1.0-py3-none-any.whl", + "sha256": 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"35f41979c8623df9bd30d949d82010a8fda5c56ff12cd8508a5b7272b6d4b53a", + "bytes": 187345 + } + ] +} diff --git a/apps/node-agent/packaging/k1_bootstrap.py b/apps/node-agent/packaging/k1_bootstrap.py new file mode 100644 index 0000000..eddb271 --- /dev/null +++ b/apps/node-agent/packaging/k1_bootstrap.py @@ -0,0 +1,26 @@ +"""Fixed root-owned import path; no user site, environment path or import hooks.""" + +import os +import sys +from pathlib import Path + +root = Path("/var/lib/mission-core-k1-runtime") +reference = root / "active.path" +runtime = Path(reference.read_text().strip()) +if ( + reference.is_symlink() + or runtime.is_symlink() + or runtime.parent != root + or not runtime.name.isalnum() + or runtime.stat().st_uid != 0 + or runtime.stat().st_mode & 0o022 +): + raise RuntimeError("Unsafe K1 runtime") +sys.path[:0] = [ + str(runtime), str(runtime / "rerun_sdk"), + "/usr/lib/mission-core-node/k1/src", "/usr/lib/mission-core-node/sdk", +] +os.environ["MISSIONCORE_DATA_DIR"] = "/var/lib/mission-core-k1" +from k1link.device_plugins.xgrids_k1.node_bridge import main + +main() diff --git a/apps/node-agent/packaging/k1_prepare.py b/apps/node-agent/packaging/k1_prepare.py new file mode 100644 index 0000000..0b8db58 --- /dev/null +++ b/apps/node-agent/packaging/k1_prepare.py @@ -0,0 +1,94 @@ +"""Install only the bundled, hash-pinned Ubuntu K1 runtime; no network I/O.""" + +import hashlib +import json +import os +import shutil +import sys +import tempfile +import zipfile +from pathlib import Path, PurePosixPath + +SHARE = Path("/usr/share/mission-core-node/k1") +ROOT = Path("/var/lib/mission-core-k1-runtime") + + +def members(archive): + for info in archive.infolist(): + path = PurePosixPath(info.filename) + if ( + path.is_absolute() + or ".." in path.parts + or (info.external_attr >> 16) & 0o170000 == 0o120000 + or ".data" in path.parts + ): + raise RuntimeError("Unsafe K1 runtime archive") + # Rerun's pinned wheel declares this one static package directory. + # We do not execute .pth files; bootstrap adds the exact directory. + if info.filename.endswith(".pth") and not ( + info.filename == "rerun_sdk.pth" and archive.read(info) == b"rerun_sdk\n" + ): + raise RuntimeError("Unreviewed K1 Python path hook") + # Distribution script/data relocation must be handled deliberately, + # never interpreted as an install hook by the operator's Python. + if any(part.endswith(".data") for part in path.parts): + raise RuntimeError("K1 wheel requires unsupported relocation") + yield info + + +def prepare(): + if os.geteuid() != 0 or os.uname().machine != "x86_64" or sys.version_info[:2] != (3, 12): + raise RuntimeError("K1 runtime requires privileged Ubuntu amd64 Python 3.12 installation") + release = Path("/etc/os-release").read_text() + if "ID=ubuntu" not in release or 'VERSION_ID="24.04"' not in release: + raise RuntimeError("K1 runtime requires Ubuntu 24.04") + manifest = json.loads((SHARE / "bundle.json").read_text()) + revision = manifest["revision"] + if not revision.isalnum(): + raise RuntimeError("Invalid K1 runtime revision") + ROOT.mkdir(mode=0o755, exist_ok=True) + if ROOT.is_symlink() or ROOT.stat().st_uid != 0 or ROOT.stat().st_mode & 0o022: + raise RuntimeError("Unsafe K1 runtime root") + target = ROOT / revision + if target.is_symlink() or (ROOT / "active.path").is_symlink(): + raise RuntimeError("Unsafe K1 runtime reference") + for item in manifest["wheels"]: + path = SHARE / item["name"] + if ( + path.name != item["name"] + or path.is_symlink() + or hashlib.sha256(path.read_bytes()).hexdigest() != item["sha256"] + ): + raise RuntimeError("K1 runtime checksum mismatch") + if not target.exists(): + stage = Path(tempfile.mkdtemp(prefix=".k1-", dir=ROOT)) + try: + for item in manifest["wheels"]: + with zipfile.ZipFile(SHARE / item["name"]) as archive: + archive.extractall(stage, members=members(archive)) + for path in stage.rglob("*"): + path.chmod(0o755 if path.is_dir() else 0o644) + stage.chmod(0o755) + stage.rename(target) + finally: + if stage.exists(): + shutil.rmtree(stage) + for item in manifest["wheels"]: + with zipfile.ZipFile(SHARE / item["name"]) as archive: + for info in members(archive): + path = target / info.filename + if path.is_symlink() or ( + not info.is_dir() and path.read_bytes() != archive.read(info) + ): + raise RuntimeError("Installed K1 runtime differs from bundled wheel") + fd, name = tempfile.mkstemp(prefix=".active-", dir=ROOT) + with os.fdopen(fd, "w") as stream: + os.fchmod(stream.fileno(), 0o644) + stream.write(str(target)) + stream.flush() + os.fsync(stream.fileno()) + os.replace(name, ROOT / "active.path") + + +if __name__ == "__main__": + prepare() diff --git a/apps/node-agent/packaging/mission-core-k1.service b/apps/node-agent/packaging/mission-core-k1.service new file mode 100644 index 0000000..a077f42 --- /dev/null +++ b/apps/node-agent/packaging/mission-core-k1.service @@ -0,0 +1,38 @@ +[Unit] +Description=Mission Core Node K1 Bridge and acquisition +After=bluetooth.service NetworkManager.service +Wants=bluetooth.service NetworkManager.service + +[Service] +Type=simple +User=mission-core-k1 +Group=mission-core-node +SupplementaryGroups=bluetooth +ExecStart=/usr/bin/python3 -I /usr/lib/mission-core-node/k1_bootstrap.py +StateDirectory=mission-core-k1 +StateDirectoryMode=0700 +RuntimeDirectory=mission-core-k1 +RuntimeDirectoryMode=0750 +LoadCredentialEncrypted=k1-application +UMask=0007 +Environment=OMP_NUM_THREADS=2 OPENBLAS_NUM_THREADS=2 +Restart=on-failure +RestartSec=3 +NoNewPrivileges=yes +ProtectSystem=strict +ProtectHome=yes +PrivateTmp=yes +PrivateDevices=yes +ProtectKernelTunables=yes +ProtectKernelModules=yes +ProtectControlGroups=yes +RestrictSUIDSGID=yes +RestrictAddressFamilies=AF_UNIX AF_INET AF_INET6 AF_NETLINK +CapabilityBoundingSet= +LockPersonality=yes +TasksMax=128 +MemoryMax=2G +LimitNOFILE=2048 + +[Install] +WantedBy=multi-user.target diff --git a/apps/node-agent/packaging/postinst b/apps/node-agent/packaging/postinst index 1bb0274..cacd52a 100644 --- a/apps/node-agent/packaging/postinst +++ b/apps/node-agent/packaging/postinst @@ -8,6 +8,10 @@ case "$1" in if ! getent passwd mission-core-sensors >/dev/null; then adduser --system --group --home /var/lib/mission-core-sensors --no-create-home --disabled-login mission-core-sensors fi + if ! getent passwd mission-core-k1 >/dev/null; then + adduser --system --home /var/lib/mission-core-k1 --no-create-home --disabled-login --ingroup mission-core-node mission-core-k1 + fi + /usr/bin/python3 -I /usr/lib/mission-core-node/k1_prepare.py # Only bootstrap required to open the GUI. Operational configuration is a # versioned job started by «Настройка окружения → Сконфигурировать». if [ -d /run/systemd/system ]; then @@ -15,6 +19,8 @@ case "$1" in systemctl enable mission-core-node.service systemctl restart mission-core-node.service systemctl try-restart mission-core-realsense.service + systemctl enable mission-core-k1.service + systemctl restart mission-core-k1.service fi ;; esac diff --git a/apps/node-agent/packaging/preinst b/apps/node-agent/packaging/preinst index b49cb8d..cff2e9e 100644 --- a/apps/node-agent/packaging/preinst +++ b/apps/node-agent/packaging/preinst @@ -8,6 +8,12 @@ if [ "$1" = install ] || [ "$1" = upgrade ]; then exit 1 fi fi + if [ -S /run/mission-core-k1/driver.sock ]; then + if ! /usr/bin/python3 -I -c 'import http.client,json,socket; c=http.client.HTTPConnection("k1",timeout=5); c.sock=socket.socket(socket.AF_UNIX); c.sock.settimeout(5); c.sock.connect("/run/mission-core-k1/driver.sock"); c.request("GET","/prepare-safe"); r=c.getresponse(); assert r.status==200 and json.load(r).get("safe") is True'; then + echo "Mission Core Node: завершите подключение или запись K1 перед обновлением." >&2 + exit 1 + fi + fi mc_node_device_job=$(systemctl show --property=ActiveState --value mission-core-node-realsense-prepare.service 2>/dev/null || true) case "$mc_node_device_job" in active|activating) echo "Mission Core Node: дождитесь завершения подготовки устройства." >&2; exit 1 ;; @@ -20,6 +26,11 @@ if [ "$1" = install ] || [ "$1" = upgrade ]; then exit 1 ;; esac + # End the admitted idle worker before dpkg replaces its Python modules. + # New UI commands now fail unavailable instead of racing the package copy. + if [ -f /usr/lib/systemd/system/mission-core-k1.service ]; then + systemctl stop mission-core-k1.service + fi fi . /etc/os-release if [ "${ID:-}" != ubuntu ] || [ "${VERSION_ID:-}" != 24.04 ]; then diff --git a/apps/node-agent/packaging/prerm b/apps/node-agent/packaging/prerm index 08d783d..da15f13 100644 --- a/apps/node-agent/packaging/prerm +++ b/apps/node-agent/packaging/prerm @@ -7,6 +7,12 @@ if [ -d /run/systemd/system ]; then exit 1 fi fi + if [ -S /run/mission-core-k1/driver.sock ]; then + if ! /usr/bin/python3 -I -c 'import http.client,json,socket; c=http.client.HTTPConnection("k1",timeout=5); c.sock=socket.socket(socket.AF_UNIX); c.sock.settimeout(5); c.sock.connect("/run/mission-core-k1/driver.sock"); c.request("GET","/prepare-safe"); r=c.getresponse(); assert r.status==200 and json.load(r).get("safe") is True'; then + echo "Mission Core Node: завершите подключение или запись K1 перед обновлением." >&2 + exit 1 + fi + fi mc_node_device_job=$(systemctl show --property=ActiveState --value mission-core-node-realsense-prepare.service 2>/dev/null || true) case "$mc_node_device_job" in active|activating) echo "Mission Core Node: дождитесь завершения подготовки устройства." >&2; exit 1 ;; @@ -40,6 +46,8 @@ case "$1" in /usr/sbin/sshd -t systemctl try-reload-or-restart ssh.service fi + systemctl stop mission-core-k1.service + systemctl disable mission-core-k1.service || true systemctl stop mission-core-realsense.service systemctl disable mission-core-realsense.service || true systemctl stop mission-core-node.service diff --git a/apps/node-agent/packaging/resolve_k1_bundle.py b/apps/node-agent/packaging/resolve_k1_bundle.py new file mode 100644 index 0000000..f5828df --- /dev/null +++ b/apps/node-agent/packaging/resolve_k1_bundle.py @@ -0,0 +1,60 @@ +"""Resolve Linux wheel inputs from the frozen monorepo lock, without downloading.""" +import hashlib +import json +import subprocess +import tomllib +from pathlib import Path + +from packaging.markers import default_environment +from packaging.requirements import Requirement +from packaging.tags import compatible_tags, cpython_tags +from packaging.utils import canonicalize_name, parse_wheel_filename + +ROOT = Path(__file__).resolve().parents[1] +REPOSITORY = ROOT.parents[1] + + +def resolve(): + requirements = ROOT / "build/k1-requirements.txt" + requirements.parent.mkdir(exist_ok=True) + subprocess.run(["uv", "export", "--frozen", "--extra", "node-device-media", "--no-dev", + "--no-emit-project", "--no-emit-package", "missioncore-plugin-sdk", "--no-hashes", + "--output-file", str(requirements)], cwd=REPOSITORY, check=True, stdout=subprocess.DEVNULL) + environment = default_environment() + environment.update(sys_platform="linux", platform_system="Linux", platform_machine="x86_64", + python_version="3.12", python_full_version="3.12.3", implementation_name="cpython", + platform_python_implementation="CPython") + platforms = [f"manylinux_2_{n}_x86_64" for n in range(39, 16, -1)] + ["manylinux2014_x86_64", "linux_x86_64"] + tags = list(cpython_tags((3, 12), platforms=platforms)) + list(compatible_tags((3, 12), interpreter="cp312", platforms=platforms)) + ranks = {tag: i for i, tag in enumerate(tags)} + lock_data = (REPOSITORY / "uv.lock").read_bytes() + lock = tomllib.loads(lock_data.decode()) + items = [] + for line in requirements.read_text().splitlines(): + if not line or line.lstrip().startswith("#"): + continue + requirement = Requirement(line) + if requirement.marker and not requirement.marker.evaluate(environment): + continue + name = canonicalize_name(requirement.name) + package = next(v for v in lock["package"] if canonicalize_name(v["name"]) == name and v["version"] in requirement.specifier) + candidates = [] + for wheel in package.get("wheels", []): + filename = wheel["url"].split("/")[-1] + _, _, _, wheel_tags = parse_wheel_filename(filename) + matches = [ranks[tag] for tag in wheel_tags if tag in ranks] + if matches: + candidates.append((min(matches), filename, wheel)) + if not candidates: + raise RuntimeError("No reviewed Linux wheel: " + name) + _, filename, wheel = min(candidates) + items.append({"name": filename, "sha256": wheel["hash"].removeprefix("sha256:"), "bytes": wheel["size"]}) + revision = hashlib.sha256(json.dumps(items, sort_keys=True).encode()).hexdigest()[:24] + manifest = {"schema": "missioncore.node.driver-bundle/v1", "model_id": "xgrids.k1", "revision": revision, + "python": "3.12", "platform": "linux-amd64", "lock_sha256": hashlib.sha256(lock_data).hexdigest(), "wheels": items} + (ROOT / "packaging/k1-bundle.json").write_text(json.dumps(manifest, indent=2) + "\n") + print(json.dumps({"wheels": len(items), "bytes": sum(v["bytes"] for v in items), "revision": revision})) + + +if __name__ == "__main__": + resolve() diff --git a/apps/node-agent/ui/package-lock.json b/apps/node-agent/ui/package-lock.json index 6c318f5..a4c22df 100644 --- a/apps/node-agent/ui/package-lock.json +++ b/apps/node-agent/ui/package-lock.json @@ -11,6 +11,7 @@ "@nodedc/tokens": "file:../../../../NODEDC_DESIGN_GUIDELINE/packages/tokens", "@nodedc/ui-core": "file:../../../../NODEDC_DESIGN_GUIDELINE/packages/ui-core", "@nodedc/ui-react": "file:../../../../NODEDC_DESIGN_GUIDELINE/packages/ui-react", + "@rerun-io/web-viewer": "0.36.3", "react": "19.1.0", "react-dom": "19.1.0" }, @@ -18,7 +19,8 @@ "@types/react": "^19.1.0", "@types/react-dom": "^19.1.0", "typescript": "^5.8.3", - "vite": "^7.0.0" + "vite": "^7.0.0", + "vite-plugin-wasm": "^3.6.0" } }, "../../../../NODEDC_DESIGN_GUIDELINE/packages/tokens": { @@ -524,6 +526,12 @@ "resolved": "../../../../NODEDC_DESIGN_GUIDELINE/packages/ui-react", "link": true }, + "node_modules/@rerun-io/web-viewer": { + "version": "0.36.3", + "resolved": "https://registry.npmjs.org/@rerun-io/web-viewer/-/web-viewer-0.36.3.tgz", + "integrity": "sha512-LMGnsxRmY5UwiGras2dZrMnEYkow5Xr4v+1hAUSspXWPPiilMqoz9G77jo8Ps/deAaX81TnOq123DFO8iX/Ulw==", + "license": "MIT" + }, "node_modules/@rollup/rollup-android-arm-eabi": { "version": "4.63.1", "resolved": "https://registry.npmjs.org/@rollup/rollup-android-arm-eabi/-/rollup-android-arm-eabi-4.63.1.tgz", @@ -1239,6 +1247,16 @@ "optional": true } } + }, + "node_modules/vite-plugin-wasm": { + "version": "3.6.0", + "resolved": "https://registry.npmjs.org/vite-plugin-wasm/-/vite-plugin-wasm-3.6.0.tgz", + "integrity": "sha512-mL/QPziiIA4RAA6DkaZZzOstdwbW5jO4Vz7Zenj0wieKWBlNvIvX5L5ljum9lcUX0ShNfBgCNLKTjNkRVVqcsw==", + "dev": true, + "license": "MIT", + "peerDependencies": { + "vite": "^2 || ^3 || ^4 || ^5 || ^6 || ^7 || ^8" + } } } } diff --git a/apps/node-agent/ui/package.json b/apps/node-agent/ui/package.json index 1c77b70..a1d20c7 100644 --- a/apps/node-agent/ui/package.json +++ b/apps/node-agent/ui/package.json @@ -9,6 +9,7 @@ "build": "tsc --noEmit && vite build" }, "dependencies": { + "@rerun-io/web-viewer": "0.36.3", "@nodedc/ui-react": "file:../../../../NODEDC_DESIGN_GUIDELINE/packages/ui-react", "@nodedc/ui-core": "file:../../../../NODEDC_DESIGN_GUIDELINE/packages/ui-core", "@nodedc/tokens": "file:../../../../NODEDC_DESIGN_GUIDELINE/packages/tokens", @@ -16,6 +17,7 @@ "react-dom": "19.1.0" }, "devDependencies": { + "vite-plugin-wasm": "^3.6.0", "@types/react": "^19.1.0", "@types/react-dom": "^19.1.0", "typescript": "^5.8.3", diff --git a/apps/node-agent/ui/rerun-runtime.html b/apps/node-agent/ui/rerun-runtime.html new file mode 100644 index 0000000..08963b8 --- /dev/null +++ b/apps/node-agent/ui/rerun-runtime.html @@ -0,0 +1,16 @@ + + + + + + Живой просмотр K1 + + + +
+ + + diff --git a/apps/node-agent/ui/src/NodeSensors.tsx b/apps/node-agent/ui/src/NodeSensors.tsx index 26294e1..8842b3a 100644 --- a/apps/node-agent/ui/src/NodeSensors.tsx +++ b/apps/node-agent/ui/src/NodeSensors.tsx @@ -1,5 +1,6 @@ +import {createIsolatedRerunHost} from '../../../control-station/src/components/rerun/isolatedRerunHost'; import {SensorWorkspace} from '../../../../packages/sensor-ui/src/SensorWorkspace'; import type {SensorTransport} from '../../../../packages/sensor-ui/src/contracts'; import {request} from './api'; -const transport:SensorTransport={subscribe:(receive,unavailable)=>{const events=new EventSource('/api/devices/events');events.onmessage=e=>{try{receive(JSON.parse(e.data));}catch{unavailable();}};events.onerror=unavailable;return()=>events.close();},inventory:()=>request('/api/devices'),submit:value=>request('/api/devices/operations','POST',value),operation:id=>request('/api/devices/operations/'+encodeURIComponent(id))}; -export function NodeSensors(){return ;} +const transport:SensorTransport={enrollment:{state:()=>request("/api/devices/enrollment"),submit:value=>request("/api/devices/enrollment/operations","POST",value),operation:id=>request("/api/devices/enrollment/operations/"+encodeURIComponent(id))},subscribe:(receive,unavailable)=>{const events=new EventSource('/api/devices/events');events.onmessage=e=>{try{receive(JSON.parse(e.data));}catch{unavailable();}};events.onerror=unavailable;return()=>events.close();},inventory:()=>request('/api/devices'),submit:value=>request('/api/devices/operations','POST',value),operation:id=>request('/api/devices/operations/'+encodeURIComponent(id))}; +export function NodeSensors(){return ;} diff --git a/apps/node-agent/ui/src/rerunRuntime.ts b/apps/node-agent/ui/src/rerunRuntime.ts new file mode 100644 index 0000000..2753a41 --- /dev/null +++ b/apps/node-agent/ui/src/rerunRuntime.ts @@ -0,0 +1 @@ +import "../../../control-station/src/components/rerun/isolatedRerunEntry"; diff --git a/apps/node-agent/ui/vite.config.js b/apps/node-agent/ui/vite.config.js index 6c16b4f..17c5972 100644 --- a/apps/node-agent/ui/vite.config.js +++ b/apps/node-agent/ui/vite.config.js @@ -1,9 +1,17 @@ import { defineConfig } from "vite"; +import { fileURLToPath } from "node:url"; +import wasm from "vite-plugin-wasm"; export default defineConfig({ + plugins: [wasm()], // Shared sensor TSX lives outside this app tsconfig; use the same JSX runtime. esbuild: { jsx: "automatic" }, // Design Guideline packages are linked during development. Their own React // must never become a second hook dispatcher in the portable production bundle. resolve: { dedupe: ["react", "react-dom", "@nodedc/ui-react"] }, + optimizeDeps: { exclude: ["@rerun-io/web-viewer"] }, + build: { target: "esnext", rollupOptions: { input: { + app: fileURLToPath(new URL("./index.html", import.meta.url)), + rerun: fileURLToPath(new URL("./rerun-runtime.html", import.meta.url)), + } } }, }); diff --git a/docs/04_K1_WIFI_PROVISIONING_PROFILE.md b/docs/04_K1_WIFI_PROVISIONING_PROFILE.md index ce193bb..aa9f5d3 100644 --- a/docs/04_K1_WIFI_PROVISIONING_PROFILE.md +++ b/docs/04_K1_WIFI_PROVISIONING_PROFILE.md @@ -171,6 +171,25 @@ mode. It never fragments or retries the payload automatically. ## Expected transition and evidence of acceptance +### Firmware station error replies + +Offline review of the exact 3.0.2 `lixel_nman` callback found that station +`wifi_connect` returns are passed directly to the 7f01 GATT write result: +4 denotes its SSID-not-found paths and 6 denotes its credentials-required path. +Generic Bluetooth libraries label the same values INVALID_PDU and +REQUEST_NOT_SUPPORTED. Preserve those raw values but do not discard the +reviewed device interpretation. The evidence and disassembly addresses are in +[the callback audit](audits/2026-09-06-k1-station-reply-semantics.md). + +Apply this interpretation only to the selected exact firmware station profile +and its annotated 99-byte write-with-response failure. It does not apply to +Quick Connect, a failed baseline read or arbitrary ATT errors. It grants no +retry, network-state confirmation or ledger resolution. The firmware performs +Wi-Fi work before completing this callback; a delayed reply alone is not proof +that the BLE connection request was the slow stage. + +### Acceptance observations + A completed GATT write only proves transport completion. It does not prove that the K1 joined Wi-Fi or began beaconing. The application polls `7f02`; the observed response frame contains a fixed-width text slot, an address slot, a diff --git a/docs/audits/2026-09-06-k1-bridge-connection-incident.md b/docs/audits/2026-09-06-k1-bridge-connection-incident.md new file mode 100644 index 0000000..95c6f9d --- /dev/null +++ b/docs/audits/2026-09-06-k1-bridge-connection-incident.md @@ -0,0 +1,140 @@ +# K1 Bridge: provisioning recovery and first-scan discovery + +Scope: the operator-local K1 connection in LAB on canonical Core `8000`. +The onboard installation is a separate pending acceptance task. + +The later [firmware callback audit](2026-09-06-k1-station-reply-semantics.md) +explains the two fresh 19:22/19:23 UTC failures and supersedes the earlier +generic ATT interpretation below with a bounded FW 3.0.2 station diagnosis. + +## Evidence and diagnosis + +Three explicit Bridge attempts returned HTTP 502 on 2026-09-06 at +18:04:50, 18:05:13 and 18:05:43 UTC. All failed at `gatt-write` with +`BleakGATTProtocolError`, ATT 4 `INVALID_PDU`. Each attempted one 99-byte +write-with-response; acknowledgement and a joined Wi-Fi address were absent. +The characteristic advertised `read, write`; the observed write-without-response +capacity was 253 bytes. This capacity alone does not prove a successful ATT write. + +A separately admitted, exact-target Bridge `connection.verify` at 18:15 UTC +read K1 state without a provisioning write or host Wi-Fi switch. K1 answered, +but supplied no shared-LAN address (`connection-verify-address-unavailable`). +A preceding request was rejected at input validation because of the diagnostic +operation identifier format; it performed no device I/O. + +The same ATT error exists in August's private logs. The accepted August Bridge +record uses the same Bleak 3.0.2, write mode, frame length and capacity. Successful +historical writes also include an empty network baseline, so an empty baseline +does not justify adding an AP-enable command or rejecting Bridge in advance. +The exact reason for the peripheral's rejection remains unproved; a wrong Wi-Fi +password, frame-format regression or MTU failure must not be asserted from this +error alone. No alternate transport mode, frame, retry, START or STOP was sent. + +Private evidence is retained under the ignored incident directory, with UTC and +monotonic timestamps, redacted events and SHA-256 artifact index. Credentials and +raw packet contents are absent from this report and source changes. + +## Software causes and refactor + +- The Connect hook had three overlapping result/error branches. Its failed + HTTP path accepted the server snapshot but returned `observedState: null` to + the form; the form therefore lost the exact operation and its ATT diagnosis. +- A completed Bluetooth search suppressed the recovery surface even after the + subsequent, click-owned Connect failed. The disabled credential form instead + promised a future safe continuation despite there being no running operation. +- Recovery guidance claimed an automatic recovery or a completed UI reset that + had not occurred. The lead status fell back to idle despite a terminal failure. +- Durable JSON logging omitted the write-mode, frame-size and GATT-property + fields already supplied by the BLE implementation. + +`networkProvisioning.ts` now owns the single submission, bounded observation of +that exact idempotency key, monotonic snapshot selection and reviewed failure +copy. An existing operation is only observed, never resubmitted. The runtime +hook retains exact applied-network/control-authority checks and React action +ownership. The form renders the returned operation and allows explicit recovery +after its failed attempt even when its preceding search is complete. It still +clears the credential immediately upon submission. + +The frozen BLE frames and canonical MQTT dialogue are unchanged. Ops reference: +MISSIONCOR-3, “Mission Core. Lixel K1 / XGRIDS Integration”, and +`docs/lab/002_LIXELGO_IPHONE_LOCAL_PROTOCOL_20260716.redacted.md`. +That iPhone capture begins at the IP stack and does not contain Bluetooth HCI. +The reviewed BLE profile remains `docs/04_K1_WIFI_PROVISIONING_PROFILE.md`. + +## Validation and remaining acceptance + +Focused frontend: 227 passed, including new behavioral cases for HTTP 502, +existing-key non-replay, lost-response success, pending settlement, stale REST +versus newer WebSocket, superseded intent and unrelated journal rows. The +rendered regression covers completed search followed by failed Connect and +requires enabled recovery choices instead of the trapped form. + +Full frontend suite: 772 passed sequentially; TypeScript and final production build passed. Application architecture: 4 passed. + +BLE and persistent-diagnostic tests: 34 passed. Canonical guardrail: four +immutable LixelGO captures verified in their original checkout, frozen +protocol/Bridge contour unchanged, 32 synthetic sentinels passed. The convenience +script initially failed because raw captures are deliberately absent from the +active worktree; its original-location integrity check passed without copying +or changing the captures. Ruff and diff checks passed. + +A later runtime journal records an explicit successful Bridge write at 18:42 UTC, +followed by application-control acceptance, canonical START and the first point +frame, then a confirmed STOP at 18:44 UTC. These actions occurred while the +assistant was editing/testing discovery; they were not dispatched by this +investigation. The success followed the recovery-UI refactor and preceded the +new discovery implementation. It proves a subsequent successful physical +connection, not the cause or permanent resolution of the intermittent ATT error. +Do not automatically replay the earlier failed attempts. + +## First-scan miss + +The operator reported that an already active K1 is absent from the first search +and appears on the second. This was reproduced on the original six-second +implementation: 18:32 UTC returned four devices and zero K1 candidates; a second +explicit scan at 18:35 UTC returned five devices including the expected K1. +These observations do not distinguish radio advertisement latency from macOS +state and do not establish that the camera was powered off. + +Discovery now opens one native Bleak scanner context. It listens for an initial +six-second window and, if no K1 name has appeared, continues the same context +up to a twenty-second bound, stopping on a later K1 candidate. There is no hidden +second scan, GATT connection, provisioning retry or cache-based candidate +promotion. Name matching only ends discovery; compatibility and connection +still require their separate evidence. The owner arbiter, generation revocation, +native-handle capture and cancellation cleanup remain in place. A caller's +explicit shorter duration is respected. + +The shared frontend request/countdown, backend default and Node Bridge source +use the twenty-second bound. Completed operations and private structured logs +now include scanner startup, total elapsed time, first-candidate time and whether +the initial window was extended. They contain no Wi-Fi credentials. + +After the new canonical process started, the first explicit UI search at +18:51 UTC found the expected K1. Native startup took 766 ms, first K1 detection +2023 ms from scanner construction, and total discovery 6768 ms. Extension was +not needed. The browser showed the fresh candidate and the arbiter returned idle. +This is one successful process-restart test; the browser cache was not cleared. +The operator requested a separate test after browser-cache clearing. That +acceptance is pending: the available in-app browser automation exposes no cache +clearing capability, and the clear-browsing-data keyboard shortcut had no effect. +The operator was asked to clear it; no cache clearing is claimed. + +Additional discovery validation: 73 backend tests passed (scanner, owner arbiter, +persistent diagnostics and Node Bridge), seven facade discovery tests passed, +138 focused frontend tests passed, and architecture checks passed. TypeScript +and production build passed. Final focused discovery checks, Ruff, whitespace +and the frozen protocol/Bridge comparison passed. The previously completed full +772-test frontend pass applies to the recovery refactor; only affected suites +were rerun for the subsequent discovery change. + +Canonical Core remains on port 8000; no listener exists on 8765. Onboard source +is synchronized separately; this investigation does not install or rebuild the +pending Node package. + +## Ops publication + +The existing Ops canon was read. Automatic approval review rejected the attempted +card update because consultation was authorized but publication of internal +technical details was not. No Ops card was changed; this local report is the +reviewable result pending explicit publication authorization. diff --git a/docs/audits/2026-09-06-k1-live-reference-camera-root.md b/docs/audits/2026-09-06-k1-live-reference-camera-root.md new file mode 100644 index 0000000..fad5052 --- /dev/null +++ b/docs/audits/2026-09-06-k1-live-reference-camera-root.md @@ -0,0 +1,129 @@ +# K1 live reference comparison and missing camera + +Scope: operator-local K1 Bridge data acquisition on canonical Mission Core 8000. +No new physical START, STOP, provisioning or RTSP request was sent during this +investigation. The comparison uses the existing 6 September capture. + +## Authoritative references found in Ops + +MISSIONCOR-3, “Mission Core. Lixel K1 / XGRIDS Integration”, block “Внутренние +эталоны Mission Core” and its comment dated 22 August 2026 identify: + +- Fast reference A: eaad9de, 20260822T105904Z_viewer_live. START to calibration + under 5 seconds; calibration 21 seconds; after calibration cloud 2 seconds, + right camera 4 seconds; STOP to physical onset 1 second. +- Recovery reference B: 1001a31, 20260822T130323Z_viewer_live. START 14 seconds; + calibration 22 seconds; cloud +1 second, camera +8 seconds; STOP onset 7 seconds. + +The linked canonical report is +[Lab 010](../lab/010_K1_MISSION_CORE_INTERNAL_LIVE_BASELINE_20260822.redacted.md). +These are measured internal references for one K1 FW 3.0.2 and Bridge/direct LAN, +not a transferable SLA or a standalone Rerun preset. A used a short physical +ledger; B retained mature recovery history. Source quality was not reduced. + +MISSIONCOR-66, “Mission Core. Канон интеграции Rerun”, and MISSIONCOR-74, +“Additional Core · Переносимая кастомизация Rerun”, define the separate +presentation contracts: + +| Surface | Current profile | Clock and media | +| --- | --- | --- | +| Live acquisition | live-acquisition | stream_time; upstream live Rerun; right camera through the independent RTSP → durable fMP4 → MSE path | +| Saved Sessions / Data | recorded-session | session_time; progressive recorded admission; RecordedFmp4Player follows the shared playback clock | +| Canonical LAB result | laboratory-result | session_time; result-specific settings; merged RRD with native AssetVideo/VideoFrameReference; separate presentation gate | + +The live receiver does not inherit the LAB full-readiness gate. Changing point +size, accumulation or blueprint cannot repair a camera producer that never +started. The current live display settings include accumulation 47 seconds, +point size 1 and height/viridis; no evidence identifies those visual values as +part of the fast reference, so they were not arbitrarily reset. + +### Settings isolation limitation found during the audit + +Distinct profile kinds, clocks and media admission do not prove complete +settings isolation. App.tsx still owns one sceneSettings/displayDraft pair for +live and Data, and useWorkspaceLayoutProfile() loads and saves one +observation.spatial profile containing scene settings. The normal settings +committer suppresses backend writes while recorded replay is presented, but it +still updates the common in-memory settings. The persisted layout restore/apply +path also has no profile-kind namespace. LAB uses its own resultId-scoped draft +and durable view profile. + +Therefore this audit confirms distinct presentation contracts and LAB settings +ownership, not full live/Data settings isolation. No shared settings, layout, +Rerun renderer or replay code was changed for this camera repair. The focused +profile tests below do not cover the remaining live/Data settings coupling. +Separating that storage and state requires its own transition/race and browser +regression checks; it must not be folded into a camera-path fix implicitly. + +## Observed 6 September failure + +Existing session 20260906T184240Z_viewer_live: + +| Metric | Fast A | Recovery B | Recent run | +| --- | ---: | ---: | ---: | +| MQTT callback → publication p50 | 23.839 ms | 83.934 ms | 93.151 ms | +| MQTT callback → publication p95 | 41.541 ms | 223.589 ms | 208.989 ms | +| Preview drops | 0 | 70 | 58 | +| Point decode errors | 0 | 0 | 0 | +| Camera archive | complete | complete | absent | + +Run lengths differ; drop counts are not normalized performance rates. Device +calibration onset and first visible pixels were not independently measured in +the recent run, so the historical operator timings are not falsely compared to +backend timestamps. The recent run published 1,028,061 points in 386 PCL frames. + +At 18:43:15 UTC the browser admitted a Rerun store; this alone is not proof of +visible point pixels. Between 18:43:20 and 18:43:50 the backend logged 22 failed +post-authoritative-PCL camera activations. First-PCL admission took 4–34 ms. +No camera producer activation success or camera media artifact exists in this +session. The private formatter discarded exception details, preventing recovery +of each historical exception stack from those records. + +## Reproduced storage defect and bounded repair + +The running checkout is separate from MISSIONCORE_DATA_DIR. Acquisition uses +resolve_missioncore_evidence_dir(), but XgridsK1CameraGateway previously confined +session paths to repository_root. The actual session is outside the checkout. +An offline call using the real existing session directory deterministically +raised “camera recording root must stay inside the repository” before authority +reservation, FFmpeg preparation or network I/O. Camera remained idle, matching +the observed pre-producer failure. This mismatch necessarily blocks recording +at the configured path even though the original exception stacks were lost. + +The gateway now receives an explicit evidence_root from the existing service +composition. It confines both acquisition-owned and selected-preview recording +to that root after resolving paths. It rejects sibling directories and symlink +escapes. The source checkout remains the FFmpeg-binary lookup root; the fallback +for standalone gateway callers preserves their existing repository confinement. +No RTSP arguments, video quality, stream choice, camera producer lifecycle, +START/STOP, MQTT dialogue, Rerun blueprint or LAB/archive viewer policy changed. + +Private exception diagnostics now retain only the exception class and final +filename/line/function. They omit exception text, locals, source lines and +absolute paths. This makes future failures attributable without leaking data. + +## Validation and remaining physical acceptance + +- Camera gateway suite: 42 passed, including seven new external-root, + composition-wiring and path-confinement cases. Synthetic FFmpeg produced + and archived media in the configured external directory. +- Camera acquisition lifecycle: 37 passed. +- Persistent diagnostics suite: 8 passed, including exception-location redaction. +- Focused frontend profile, environment, LAB view profile and recorded-camera + journal checks: 14 passed. These are contract-level checks, not physical + playback acceptance or proof of complete settings isolation. +- Mypy on camera.py and runtime_diagnostics.py: passed. +- Ruff and git diff --check: passed. +- Protocol, BLE provisioning/AP, physical ledger/coordinator, MQTT, + connection supervisor, runtime and archive remain identical to c041a56. +- The broad frozen-contour guard also includes camera.py, so it now deliberately + detects this narrow camera storage change. Its baseline was not advanced or + weakened. This is not a claim that the full freeze check passes unchanged. + +The canonical idle service was refreshed and its replacement was confirmed +ready on port 8000 at 19:10:22 UTC; no frontend rebuild was required. A new +operator-started physical run is still +needed to verify right-camera appearance, durable media and browser playback. +The existing failed session is preserved and is not retroactively repaired. + +Ops was consulted read-only. This local report was not published to a card. diff --git a/docs/audits/2026-09-06-k1-station-reply-semantics.md b/docs/audits/2026-09-06-k1-station-reply-semantics.md new file mode 100644 index 0000000..b7ad82f --- /dev/null +++ b/docs/audits/2026-09-06-k1-station-reply-semantics.md @@ -0,0 +1,95 @@ +# K1 station replies: misleading ATT error and fresh failures + +Scope: the two operator-started Bridge attempts on Core 8000 following the +operator-reported browser cache clear. No device write, START/STOP, Wi-Fi switch, +subnet scan or firmware execution was performed by this investigation. + +## Fresh evidence + +| Attempt, UTC | K1 first advertisement | Complete scan | Connect operation | Reply | +| --- | ---: | ---: | ---: | --- | +| 19:22:25 | 1.308 s | 6.366 s | 51.399 s | ATT 4 INVALID_PDU | +| 19:23:55 | 2.208 s | 6.023 s | 7.587 s | ATT 4 INVALID_PDU | + +Both attempts reached the validated GATT contract, baseline status read and +one 99-byte write-with-response. Neither write was acknowledged as successful. +The observed command capacity was 253 bytes. Empty passwords are rejected +before this path; presence does not prove correctness. Individual connect and +write durations were not recorded, so total latency is not falsely attributed +entirely to the Wi-Fi operation or entirely to CoreBluetooth. + +Private snapshots, operation identities and the disassembly are retained under +the ignored `.runtime/k1-connect-incident-20260906/fresh-1922/` directory with +0600 files, UTC/monotonic timestamps and a SHA-256 artifact index. + +## Firmware-level explanation + +The reviewed official FW 3.0.2 artifact is the immutable source documented in +[Lab 004](../lab/004_K1_FW302_AP_CREDENTIAL_PROVIDER_20260720.redacted.md). +Its extracted `lixel_nman` executable is 323,464 bytes, SHA-256 +`aead745e4e0073ae99e84e851e5560161f2d560d5804f21e5268116efbb1dc42`, +ELF build ID `205fb546e44667ca0e74159a7672269a81b754f5`. + +Bounded offline AArch64 disassembly established: + +1. At 0x14588 the service registers characteristic 7f01, with write callback + 0x17e48 selected at 0x14598. +2. Its station branch calls `wifi_connect` at 0x18034 → 0x15440. The return + value is retained in w28 at 0x18038 and passed as the write-result error at + 0x17fc4 → 0x291a8. +3. `wifi_connect` returns 4 in its network-not-found branches: 0x16190 and + 0x16a2c. Adjacent diagnostics refer explicitly to the SSID not being found. +4. The branch matching NetworkManager's credentials-required output returns + 6 at 0x1641c. This describes an unsuccessful credential path, not proof + of the exact incorrect character or how the form was populated. + +Thus the device's application return codes collide with generic ATT names: +4 is displayed as INVALID_PDU and 6 as REQUEST_NOT_SUPPORTED. The existing +Mission Core message discarded the reviewed device meaning. Neither changing +the 99-byte layout nor switching write mode follows from these observations. +The callback performs Wi-Fi work before returning, so its response is not merely +an instantaneous transport acknowledgment. + +This is an interpretation under the selected exact firmware profile. It is not +a universal ATT error mapping, proof of the live firmware before DeviceInfo, +or confirmation that the network configuration remained unchanged. The actual +SSID/radio condition still needs a corrected operator-run connection test. +The old screenshot displays a network name whose exact spelling was queried; +this report does not assume that spelling is a typo or assume K1 can see it. + +## Bounded correction + +`wifi_failure.py` owns the pure profile-scoped classification. The service uses +it only for Bridge/Direct, selected FW 3.0.2, an annotated gatt-write failure, +a dispatched/unconfirmed 99-byte write-with-response and BleakGATTProtocolError. +It retains the original exception code and raw ATT facts. Quick Connect, +baseline-read failures, other firmware and unrelated errors retain their +original diagnostics. Retry flags, mutation ledger and ambiguity remain intact. + +The frontend shares the station guidance between the form and recovery panel. +It offers “Указать сеть Wi-Fi заново” through the existing explicit reset and +scan flow. The pending stage explains K1 Wi-Fi connection. It does not populate, +store, inspect or change the password. The GATT helper, packet bytes, MQTT, +physical command control and all Rerun profiles are unchanged in this increment. + +## Validation + +- 19 focused backend cases passed: 16 classification boundary cases, two + service-level reply cases and the existing ambiguous-write recovery case. + They verify one submission, retained raw codes, failed/unconfirmed state and + an unresolved ledger rather than promoting an error to success. +- 24 classification/diagnostic cases passed; mypy and Ruff passed. +- 775 frontend tests passed, including rendered station guidance and the + explicit same-device network setup action. Architecture: 4 passed. +- Production typecheck and build passed. The replacement canonical Core was + confirmed ready at 2026-09-06T19:41:10.665304+00:00. +- Browser check: the real Core 8000 Test Devices page loaded; normal and expanded + sizes worked. The page was left open. No BLE action was clicked. The new error + messages were covered by rendered tests, not represented as a new hardware run. +- Hardware Wi-Fi acceptance remains pending the exact target SSID and an + operator-started attempt. macOS networksetup did not provide the current SSID; + its output was not treated as proof that the host network is down. + +Ops MISSIONCOR-3 was read through the direct MCP. Its iPhone network capture +starts at IP and does not contain Bluetooth HCI; it cannot establish the meaning +of this GATT callback. No Ops card was written. diff --git a/docs/audits/2026-09-06-node-k1-bridge-implementation.md b/docs/audits/2026-09-06-node-k1-bridge-implementation.md new file mode 100644 index 0000000..ea7a346 --- /dev/null +++ b/docs/audits/2026-09-06-node-k1-bridge-implementation.md @@ -0,0 +1,164 @@ +# K1 Bridge on the onboard computer + +Authority: the owner's 2026-09-06 request and two annotated Fleet screenshots. +The earlier Node context is historical evidence, not a new instruction. X4 work +is paused while its battery charges. Hardware acceptance below remains pending +until the owner powers on K1 and supplies the target WLAN in the application. + +## Product surface decision + +The operator occasionally adds a wireless sensor to one selected onboard +computer. The primary entity is that computer's device inventory. Discovery, +network observations, credentials and device control belong to that computer; +the operator's Mission Core is a paired remote console. Node's local console +uses the same form and backend contract. + +Selected composition: a plus beside refresh in the device inventory opens the +canonical modal Window, titled «Подключение устройства к БК». The target board +is visible before discovery or credentials. K1 is selected from an explicit +scan on that board. The operator chooses a board-observed WLAN or enters an +SSID, then submits one Bridge operation. Success requires observed device +connectivity; dispatch alone is never shown as connected. + +An independent Fleet connection workspace was considered: it separates the +action from its board and can imply operator-local radios. A new primary root +was also unnecessary. The owner explicitly selected the inventory plus and +authorized moving the existing operator-local connection workspace into LAB, +with all its current modes and functions, under «Тестовые устройства». +The stable workspace ID is retained for saved navigation. + +This is domain content in admitted list/detail and modal compositions. Reuse +`Window`, `WindowFooterActions`, `TextField` (including password), `Select`, +`Button`, `IconButton`, `ResourceRow`, `SettingsCard`, `StatusBadge`, +`ActivityIndicator`, `ToastStack`; icons `plus`, `refresh`, `network`, `camera`, +`eye`, `settings`, `close`, `play`, `stop`. These exist in the sibling Design +Guideline registries. No new generic visual entity is introduced. + +State grammar: board unavailable; service unavailable; ready to scan; +scanning; no candidates; candidate selected; network list unavailable with +manual entry; ready to connect; connecting; observed connected; failed before +write; outcome unknown after possible write. A stale discovery/runtime or +changed board invalidates the form. Closing the modal clears its password. +Closing after dispatch does not claim cancellation of a physical operation. + +## Execution and security boundaries + +Only Bridge is admitted on Node. Reuse the reviewed firmware 3.0.2 profile and +99-byte 7f01 operation with 7f02 observation and exact endpoint verification. +No Quick Connect, host association, AP enable, subnet scan or firmware action +is exposed by the Node adapter. BLE notifications, where used by the existing +profile, can entail the standard temporary CCCD subscription write. + +Use the existing authenticated Node/Core channel. A device-enrollment command +targets the paired node and a worker runtime/discovery generation, even before +a device session exists. Wi-Fi credentials must not enter the existing durable +sensor-command journal, Fleet database, error text, evidence or argv. Pending +secret payloads are short-lived memory only. A restart, expired command or +uncertain dispatch never retries a provisioning write with a new identity. +The Node worker is the sole hardware owner for both consoles. + +Linux adapters must observe BlueZ and NetworkManager on the board. Host-route +verification uses the kernel route to the exact K1 address; a tunnel/default +route cannot silently qualify as the required local Bridge path. Existing +macOS adapter behavior and the accepted local LAB workflows are retained. + +## Rerun profile boundary + +| Profile | Source / clock | Settings authority | Lifetime | +| --- | --- | --- | --- | +| Live acquisition | Current board camera/LiDAR / stream_time | Live preview settings | Active acquisition and execution binding | +| Recorded session | Immutable admitted recording / session_time | Session replay, trajectory, time and playback settings | Recording identity | +| Laboratory result | Immutable admitted result and recording / session_time | Result-specific scene, evidence layers, diagnostic selections | Result identity | + +The native renderer and recorded data pipeline can be shared, but each profile +has an explicit discriminator. Crossing profiles remounts the renderer so its +refs, subscriptions and pending recovery cannot leak into another profile. +LAB uses its own factory and result identity. Source recording/application IDs +remain unchanged: profile separation does not rewrite evidence lineage. + +The Node publishes native RRD through ordered WebRTC data channels and the +existing camera gateway publishes H.264/fMP4 through a second channel. Signalling +uses paired sensor operations; ICE admits private LAN/Tailscale host candidates +only, with no STUN/TURN. The Node Rerun sink opens no gRPC port. Both hosts inject +the existing isolated native Rerun renderer into the shared sensor UI. + +Two viewers at most are admitted. Decoded preview envelopes use latest-value +queues; encoded RRD bytes are never dropped within an open recording. Slow +consumers are closed. Camera preview leases share the canonical recording +producer. Closing a viewer releases its peer and delivery lease; acquisition +STOP remains a separate explicit operator action. These bounds concern delivery; +sustained native-viewer CPU/GPU/memory acceptance requires the real board test. + +Node live settings (point size, accumulation, color, palette, points, trajectory, +grid) invoke only `viewer.settings.update` behind `profile=live-acquisition`. +Recorded and LAB profiles keep their own controls. LAB result changes remount +the renderer as well as changes between the three profile kinds. + +## Validation and current acceptance + +- Focused backend tests: board binding, expiration, replay prevention, secret + non-persistence, restart/unknown outcomes and Linux route classifications. +- Architecture gate; frontend typecheck, unit tests and build sequentially. +- Node package build and installation provenance; service health after reboot. +- Browser: both plus controls, target board, scan/empty/error states, manual + SSID, password clearing, keyboard Escape, normal/expanded live viewer. +- Real K1: one explicit scan/select/Bridge, actual DeviceInfo verification, + device appears in both inventories; camera and LiDAR acquisition/stop; + reconnect and restart; regression of local LAB and recorded replay. + +No hardware acceptance or successful deployment is claimed by this document. + +## Completed validation + +- Core architecture gate: 4/4; complete frontend suite: 764/764 after updating + navigation expectations. Core and Node typechecks and production builds pass. +- Node Go tests pass, including redacted enrollment journal, one dispatch per + intent, restart outcome unknown, wrong node/expired request/host mutation deny. +- Focused Python Fleet, pairing, Node SDK, existing BLE scanner and Rerun tests + pass (one existing optional case skipped). Empty Node adapter construction, + public state and teardown pass locally, with no hardware discovery/listener. +- Six WebRTC tests pass, including an actual bounded loopback data-channel + roundtrip. Missing camera preserves the RRD channel; rejected offers release + the peer. Native RRD sink emits an RRF2 header without opening gRPC. +- All 51 Linux wheel hashes and archive members were checked. The only admitted + .pth is Rerun's literal package-directory declaration; bootstrap adds that + exact directory without executing path hooks. Ubuntu 24.04/amd64/Python 3.12 + and fixed root-owned runtime paths are enforced. Installation checks idle + acquisition and stops the old K1 worker before replacing its modules. +- Canonical Core checkout was updated and its exact launch agent restarted. + `/api/liveness` and the new enrollment API pass; the paired board remains + online. Exactly one integrated backend remains on 8000, none on 8765. +- In-app browser: Fleet no longer contains the old connection workspace; LAB + opens Test devices with the existing K1 scenario. The vehicle inventory plus + opens the board-scoped modal. Unavailable-service state and Escape were + verified against the real paired board, which still runs the prior Node. + +## Package and remaining work + +Prepared package: `apps/node-agent/build/mission-core-node_0.7.0_amd64.deb`. +Size: 429540264 bytes. SHA-256: +`10b1164b57c31cd3edcced8653faf14cb9dc459db06442f0b417bc7f23bd4e76`. +The adjacent provenance includes base revision, exact source hashes, pinned Go +and Design Guideline identity and the locked wheel manifest. Maintainer scripts +inside the package match the reviewed sources. + +The automatic approval reviewer rejected a proposed source-only Linux smoke +transfer because the board address was considered insufficiently authorized. +No proprietary source/package or application key was sent after that rejection. +Only dependency wheels and their build fetch script were staged in a separate +Downloads directory earlier; no board service/system installation has occurred. +An explicit confirmation of the exact target, package and encrypted credential +migration was requested after the concrete package was ready. + +After that confirmation: install the package with the board administrator's +normal authentication, import the existing application key via protected stdin +and `systemd-creds`, verify Linux worker/BlueZ/NetworkManager and both UIs, then +ask the owner to power K1 for the admitted Bridge and acquisition tests. Wi-Fi +credentials are entered in the application only. Do not claim hardware, reboot, +expanded live-view, camera/LiDAR or sustained-resource acceptance before these +checks. Board source archives are retained by the canonical K1 runtime; Node's +recorded-session browse/export surface is not introduced in this change. + +Direct Ops tools were unavailable in this session. This local audit records +profile distinctions and engineering evidence; no live Ops card update is +claimed. The user's historical attachments were context, not authorization. diff --git a/packages/sensor-ui/src/DeviceEnrollmentWindow.tsx b/packages/sensor-ui/src/DeviceEnrollmentWindow.tsx new file mode 100644 index 0000000..cc445d7 --- /dev/null +++ b/packages/sensor-ui/src/DeviceEnrollmentWindow.tsx @@ -0,0 +1,49 @@ +import {useEffect,useRef,useState} from 'react'; +import {ActivityIndicator,Button,ResourceRow,Select,SettingsCard,StatusBadge,TextField,Window,WindowFooterActions} from '@nodedc/ui-react'; +import {bridgeFormValid,enroll,type EnrollmentState,type EnrollmentTransport} from './enrollment'; + +export function DeviceEnrollmentWindow({transport,onClose,onChange}:{transport:EnrollmentTransport;onClose:()=>void;onChange:()=>void}){ + const [state,setState]=useState(null); + const [device,setDevice]=useState('');const [ssid,setSSID]=useState('');const [password,setPassword]=useState(''); + const [networks,setNetworks]=useState>([]); + const [network,setNetwork]=useState('manual');const [busy,setBusy]=useState('loading'); + const [error,setError]=useState('');const [notice,setNotice]=useState('');const [scanned,setScanned]=useState(false); + const active=useRef(true); + useEffect(()=>{active.current=true;void transport.state().then(value=>{if(active.current)setState(value);}).catch(()=>{if(active.current)setError('Не удалось получить состояние БК.');}).finally(()=>{if(active.current)setBusy('');});return()=>{active.current=false;};},[transport]); + const ready=state?.available&&state.fresh!==false&&!!state.runtime_id; + const selected=state?.candidates?.some(v=>v.id===device); + async function run(action:'scan'|'networks'|'connect'|'verify'){ + if(!state||busy)return;setBusy(action);setError('');setNotice(''); + const parameters=action==='connect'||action==='verify'?{device_id:device,discovery_generation:state.discovery_generation,mode_revision:state.mode_revision,...(action==='connect'?{ssid,password}:{})}:{}; + if(action==='connect')setPassword(''); + try { + const result=await enroll(transport,state,action,parameters);onChange(); + if(!active.current)return; + setState({...result,node_id:state.node_id,name:state.name,fresh:true}); + if(action==='scan'){setDevice('');setScanned(true);} + if(action==='networks')setNetworks(result.networks??[]); + if(action==='connect'||action==='verify')setNotice(result.connected?'K1 подключён к БК.': 'Связь K1 с БК пока не подтверждена. Проверьте сеть и обновите состояние.'); + }catch(e){if(active.current)setError(e instanceof Error?e.message:'Не удалось выполнить действие K1.');} + finally{if(active.current)setBusy('');} + } + const close=()=>{setPassword('');onClose();}; + return + + }>
+ + {ready?'БК доступен':busy==='loading'?'Получаем сведения':'Подключение недоступно'}}/> + + {busy==='loading'?:!ready?:<> + void run('scan')}>Найти K1}/> + {scanned&&!state?.candidates?.length&&} + {!!state?.candidates?.length&&({value:String(i),label:v.ssid,description:`Сигнал ${v.signal}% · ${v.security||'Без защиты'}`}))]} onChange={value=>{setNetwork(value);if(value!=='manual')setSSID(networks[Number(value)].ssid);setPassword('');}} disabled={!!busy}/>} + {setSSID(e.target.value);setNetwork('manual');}} disabled={!!busy} autoComplete="off"/> + setPassword(e.target.value)} disabled={!!busy} autoComplete="new-password"/> + + } + {!!busy&&busy!=='loading'&&} + {notice&&}{error&&} +
; +} diff --git a/packages/sensor-ui/src/K1Detail.tsx b/packages/sensor-ui/src/K1Detail.tsx new file mode 100644 index 0000000..4b7eea7 --- /dev/null +++ b/packages/sensor-ui/src/K1Detail.tsx @@ -0,0 +1,25 @@ +import {useEffect,useState} from 'react'; +import {Button,Icon,IconButton,SettingsCard,StatusBadge} from '@nodedc/ui-react'; +import {perform,type Sensor,type SensorTransport} from './contracts'; +import {K1LiveView} from './K1LiveView'; +import type {RerunHostFactory} from './rerunHost'; +import {K1LiveSettings} from './K1LiveSettings'; + +export function K1Detail({device,transport,enabled,back,refresh,failure,createRerunHost}:{device:Sensor;transport:SensorTransport;enabled:boolean;back:()=>void;refresh:()=>Promise;failure:(error:unknown)=>void;createRerunHost?:RerunHostFactory}){ + const [busy,setBusy]=useState(false),[expanded,setExpanded]=useState(false),[generation,setGeneration]=useState(0),[settings,setSettings]=useState(false); + const streaming=device.snapshot.acquisition==='streaming'; + useEffect(()=>{const key=(event:KeyboardEvent)=>{if(event.key==='Escape')setExpanded(false);};window.addEventListener('keydown',key);return()=>window.removeEventListener('keydown',key);},[]); + async function act(action:'start'|'stop'|'verify'){ + if(busy)return;setBusy(true);failure(null); + try{await perform(transport,device,action,action==='verify'?{}:{operator_confirmed:true,control_generation:device.control?.generation,acquisition_id:device.control?.acquisition_id??null});await refresh();} + catch(e){failure(e);}finally{setBusy(false);} + } + return
+
{streaming?'Живой просмотр':'K1 · Bridge'}setExpanded(value=>!value)}>
+ +
setSettings(v=>!v)}>
+ + {settings&&} + {streaming&&createRerunHost&&} +
; +} diff --git a/packages/sensor-ui/src/K1LiveSettings.tsx b/packages/sensor-ui/src/K1LiveSettings.tsx new file mode 100644 index 0000000..d0e4ca5 --- /dev/null +++ b/packages/sensor-ui/src/K1LiveSettings.tsx @@ -0,0 +1,28 @@ +import {useState} from 'react'; +import {Button,Select,SettingsCard,Switch,TextField} from '@nodedc/ui-react'; +import {perform,type Sensor,type SensorTransport} from './contracts'; + +export interface LiveSettings { + point_size:number; accumulation_seconds:number; + color_mode:'intensity'|'height'|'distance'|'rgb'|'class'; + palette:'turbo'|'viridis'|'plasma'|'grayscale'|'custom'; custom_color:string; + show_points:boolean;show_trajectory:boolean;show_grid:boolean; + show_detections_2d:boolean;show_segmentation:boolean;show_cuboids_3d:boolean; +} +const defaults:LiveSettings={point_size:2.5,accumulation_seconds:12,color_mode:'intensity',palette:'turbo',custom_color:'#f7f8f4',show_points:true,show_trajectory:true,show_grid:true,show_detections_2d:false,show_segmentation:false,show_cuboids_3d:false}; + +export function K1LiveSettings({device,transport,enabled,refresh,failure}:{device:Sensor;transport:SensorTransport;enabled:boolean;refresh:()=>Promise;failure:(error:unknown)=>void}){ + const [settings,setSettings]=useState({...defaults,...device.live_settings}); + const [busy,setBusy]=useState(false); + const valid=Number.isFinite(settings.point_size)&&settings.point_size>=0.5&&settings.point_size<=12&&Number.isFinite(settings.accumulation_seconds)&&settings.accumulation_seconds>=0&&settings.accumulation_seconds<=120; + async function apply(){setBusy(true);failure(null);try{await perform(transport,device,'option',{profile:'live-acquisition',settings});await refresh();}catch(error){failure(error);}finally{setBusy(false);}} + return +
+ setSettings(v=>({...v,point_size:Number(event.target.value)}))}/> + setSettings(v=>({...v,accumulation_seconds:Number(event.target.value)}))}/> + setSettings(v=>({...v,palette:value as LiveSettings['palette']}))}/> +
+
setSettings(v=>({...v,show_points:value}))}/>setSettings(v=>({...v,show_trajectory:value}))}/>setSettings(v=>({...v,show_grid:value}))}/>
+ ; +} diff --git a/packages/sensor-ui/src/K1LiveView.tsx b/packages/sensor-ui/src/K1LiveView.tsx new file mode 100644 index 0000000..f78a2c8 --- /dev/null +++ b/packages/sensor-ui/src/K1LiveView.tsx @@ -0,0 +1,63 @@ +import {useEffect,useRef,useState} from 'react'; +import {ActivityIndicator,SettingsCard} from '@nodedc/ui-react'; +import {perform,type Sensor,type SensorTransport} from './contracts'; +import type {RerunHostFactory} from './rerunHost'; + +function privateCandidate(sdp:string):string{ + return sdp.split('\r\n').filter(line=>{ + if(!line.startsWith('a=candidate:'))return true; + const fields=line.split(' '),ip=fields[4]??'',parts=ip.split('.').map(Number); + return fields[7]==='host'&&(ip.endsWith('.local')||(parts.length===4&&parts.every(v=>Number.isInteger(v)&&v>=0&&v<=255)&& + (parts[0]===10||parts[0]===127||(parts[0]===192&&parts[1]===168)||(parts[0]===172&&parts[1]>=16&&parts[1]<=31)||(parts[0]===100&&parts[1]>=64&&parts[1]<=127)))); + }).join('\r\n'); +} + +export function K1LiveView({device,transport,createRerunHost}:{device:Sensor;transport:SensorTransport;createRerunHost:RerunHostFactory}){ + const spatial=useRef(null),video=useRef(null); + const [error,setError]=useState(''),[cameraError,setCameraError]=useState(''),[ready,setReady]=useState(false); + useEffect(()=>{ + let active=true,failed=false,peerID:string|undefined,mediaURL:string|undefined; + let keepalive:ReturnType|undefined,follow:ReturnType|undefined; + let closeChannel:(()=>void)|undefined; + const host=createRerunHost(spatial.current!); + const pc=new RTCPeerConnection({iceServers:[]}); + const rrd=pc.createDataChannel('rrd',{ordered:true}),camera=pc.createDataChannel('camera',{ordered:true}); + rrd.binaryType='arraybuffer';camera.binaryType='arraybuffer'; + const fail=(message:string)=>{failed=true;if(active){setError(message);setReady(false);}clearInterval(follow);clearInterval(keepalive);pc.close();}; + const cameraFail=(message:string)=>{if(active)setCameraError(message);camera.close();}; + rrd.onclose=()=>{if(active&&!failed)fail('Поток лидара завершён. Обновите состояние устройства.');}; + camera.onclose=()=>{if(active)setCameraError('Поток камеры недоступен. Обновите просмотр.');}; + const run=async()=>{ + const {viewer,mount}=await host.ready;if(!active)return; + await viewer.start(null,mount,{width:'100%',height:'100%',hide_welcome_screen:true,enable_history:false});if(!active)return; + for(const panel of ['top','blueprint','selection','time'] as const)viewer.override_panel_state(panel,'hidden'); + const channel=viewer.open_channel('live-acquisition:'+device.snapshot.context.session_id);closeChannel=()=>channel.close(); + rrd.onmessage=event=>{if(!active||!(event.data instanceof ArrayBuffer))return;try{channel.send_rrd(new Uint8Array(event.data));}catch{fail('Поток лидара прерван. Обновите просмотр.');}}; + follow=setInterval(()=>{if(!active)return;try{const id=viewer.get_active_recording_id();if(!id)return;const range=viewer.get_time_range(id,'stream_time');if(range){setReady(true);viewer.set_active_timeline(id,'stream_time');viewer.set_playing(id,false);viewer.set_current_time(id,'stream_time',range.max);}}catch{/* Viewer may still be opening its recording. */}},250); + await pc.setLocalDescription(await pc.createOffer()); + if(pc.iceGatheringState!=='complete')await new Promise((resolve,reject)=>{const timeout=setTimeout(()=>reject(new Error('Не удалось подготовить канал просмотра.')),8000);pc.onicegatheringstatechange=()=>{if(pc.iceGatheringState==='complete'){clearTimeout(timeout);resolve();}};}); + if(!active)return; + const answer=await perform<{peer_id:string;sdp:string;type:'answer';camera_mime?:string}>(transport,device,'offer',{sdp:privateCandidate(pc.localDescription!.sdp)}); + peerID=answer.peer_id; + if(!active){void perform(transport,device,'close-peer',{peer_id:peerID}).catch(()=>{});return;} + if(answer.camera_mime&&typeof MediaSource!=='undefined'&&MediaSource.isTypeSupported(answer.camera_mime)){ + const media=new MediaSource();mediaURL=URL.createObjectURL(media);video.current!.src=mediaURL; + const pending:ArrayBuffer[]=[];let pendingBytes=0,buffer:SourceBuffer|undefined; + const append=()=>{if(!active||!buffer||buffer.updating||media.readyState!=='open')return;try{ + const current=video.current?.currentTime??0; + if(buffer.buffered.length&¤t-buffer.buffered.start(0)>8){buffer.remove(buffer.buffered.start(0),current-5);return;} + const bytes=pending.shift();if(bytes){pendingBytes-=bytes.byteLength;buffer.appendBuffer(bytes);} + }catch{cameraFail('Поток камеры прерван. Обновите просмотр.');}}; + media.addEventListener('sourceopen',()=>{if(!active)return;buffer=media.addSourceBuffer(answer.camera_mime!);buffer.addEventListener('updateend',()=>{const element=video.current;if(element&&buffer!.buffered.length){const end=buffer!.buffered.end(buffer!.buffered.length-1);if(end-element.currentTime>1)element.currentTime=Math.max(0,end-0.2);void element.play().catch(()=>{});}append();});append();},{once:true}); + camera.onmessage=event=>{if(!(event.data instanceof ArrayBuffer)||!active)return;pendingBytes+=event.data.byteLength;if(pendingBytes>8*1024*1024){cameraFail('Просмотр камеры не успевает за потоком. Обновите просмотр.');return;}pending.push(event.data);append();}; + } + else cameraFail('Камера пока недоступна в этом просмотре.'); + pc.onconnectionstatechange=()=>{if(active&&['failed','disconnected','closed'].includes(pc.connectionState))fail('Связь просмотра прервана. Обновите просмотр.');}; + await pc.setRemoteDescription({type:answer.type,sdp:answer.sdp}); + keepalive=setInterval(()=>{for(const channel of [rrd,camera])if(channel.readyState==='open')channel.send('keepalive');},5000); + }; + void run().catch(()=>fail('Не удалось открыть живой просмотр K1. Обновите состояние устройства.')); + return()=>{active=false;clearInterval(keepalive);clearInterval(follow);rrd.onmessage=null;camera.onmessage=null;pc.onconnectionstatechange=null;pc.close();try{closeChannel?.();}finally{host.dispose();}if(peerID)void perform(transport,device,'close-peer',{peer_id:peerID}).catch(()=>{});if(mediaURL)URL.revokeObjectURL(mediaURL);}; + },[device.snapshot.context.session_id,transport,createRerunHost]); + return
{error?:!ready&&}
{cameraError&&}
; +} diff --git a/packages/sensor-ui/src/SensorWorkspace.tsx b/packages/sensor-ui/src/SensorWorkspace.tsx index 5bc0d02..55ffc7a 100644 --- a/packages/sensor-ui/src/SensorWorkspace.tsx +++ b/packages/sensor-ui/src/SensorWorkspace.tsx @@ -3,8 +3,12 @@ import {ActivityIndicator,Button,Icon,IconButton,ResourceList,ResourceRow,Settin import {perform,type Sensor,type SensorInventory,type SensorTransport} from './contracts'; import {SensorDetail} from './SensorDetail'; import {sensorStatus} from './sensorStatus'; +import {DeviceEnrollmentWindow} from './DeviceEnrollmentWindow'; +import {K1Detail} from './K1Detail'; +import type {RerunHostFactory} from './rerunHost'; import './sensors.css'; -export function SensorWorkspace({transport,enabled=true,onDetailChange}:{transport:SensorTransport;enabled?:boolean;onDetailChange?:(open:boolean)=>void}){ +export function SensorWorkspace({transport,enabled=true,onDetailChange,createRerunHost}:{transport:SensorTransport;enabled?:boolean;onDetailChange?:(open:boolean)=>void;createRerunHost?:RerunHostFactory}){ + const [adding,setAdding]=useState(false); const [inventory,setInventory]=useState(null);const [selected,setSelected]=useState(null);const [editing,setEditing]=useState(null);const [name,setName]=useState('');const [localBusy,setBusy]=useState(null);const [error,setError]=useState('');const [fresh,setFresh]=useState(false); const failure=useCallback((e:unknown)=>{setError(e===null?'':e instanceof Error?e.message:'Не удалось выполнить действие устройства.');},[]); const refresh=useCallback(async()=>{if(!enabled){setFresh(false);return;}try{const value=await transport.inventory();setInventory(value);setFresh(value.fresh!==false);}catch(e){setFresh(false);failure(e);}},[transport,enabled,failure]); @@ -19,20 +23,21 @@ export function SensorWorkspace({transport,enabled=true,onDetailChange}:{transpo },[transport,enabled,refresh]); async function action(device:Sensor,action:string,parameters:Record={}){if(localBusy)return;setError('');setBusy(device.id);try{await perform(transport,device,action,parameters);await refresh();setEditing(null);}catch(e){failure(e);}finally{setBusy(null);}} const device=inventory?.items.find(v=>v.id===selected); - const connected=inventory?.items.filter(v=>v.online)??[]; + const connected=inventory?.items.filter(v=>v.online||v.kind==='k1')??[]; const editingCurrent=inventory?.items.find(v=>v.id===editing?.id); useEffect(()=>{onDetailChange?.(!!device);},[!!device,onDetailChange]); - return
{device?setSelected(null)} refresh={refresh} failure={failure}/>:<> -
{!enabled?'БК недоступен':fresh?'Сведения с БК':'Нет свежих сведений'}void refresh()}>
- {!inventory?:connected.length===0?:{connected.map(item=>{ + return
{device?device.kind==='k1'?setSelected(null)} refresh={refresh} failure={failure} createRerunHost={createRerunHost}/>:setSelected(null)} refresh={refresh} failure={failure}/>:<> +
{!enabled?'БК недоступен':fresh?'Сведения с БК':'Нет свежих сведений'}
{transport.enrollment&&setAdding(true)}>}{void refresh();}}>
+ {!inventory?:connected.length===0?:{connected.map(item=>{ const operation=inventory.operations?.find(v=>v.device_id===item.id&&v.state==='running');const busy=!!operation||localBusy===item.id; const configured=item.configured??item.snapshot.enrollment==='enrolled'; const prep=operation?.action_id==='prepare'&&inventory.preparation&&(inventory.preparation.started_at*1000>=Date.parse(operation.requested_at)-1000)?inventory.preparation:undefined; const status=sensorStatus(item,enabled&&fresh);const label=busy?'Подготовка или команда выполняется':status.label; - return
  • } title={item.name} description={item.model} metadata={USB {item.usb}} statusPlacement={configured?'leading':'trailing'} aria-busy={busy} progress={busy?{label, value:prep?.state==='running'?prep.steps.filter(s=>s.state==='complete').length/(prep.steps.length+1):prep?.state==='complete'?5/6:undefined,valueText:prep?.steps.find(s=>s.state==='running')?.label??'Проверка кадров камеры'}:undefined} status={{configured&&item.online?null:label}} actions={<>{!configured&&void action(item,'prepare')}>}{setEditing(item);setName(item.name);}}>setSelected(item.id)}>}/>
    • ;})}    } + return
  • } title={item.name} description={item.model} metadata={{item.connection_label||`USB ${item.usb}`}} statusPlacement={configured?'leading':'trailing'} aria-busy={busy} progress={busy?{label, value:prep?.state==='running'?prep.steps.filter(s=>s.state==='complete').length/(prep.steps.length+1):prep?.state==='complete'?5/6:undefined,valueText:prep?.steps.find(s=>s.state==='running')?.label??'Проверка кадров камеры'}:undefined} status={{configured&&item.online?null:label}} actions={<>{!configured&&void action(item,'prepare')}>}{setEditing(item);setName(item.name);}}>setSelected(item.id)}>}/>
    • ;})}} {(inventory?.operations?.some(v=>v.state==='running'&&v.action_id==='prepare'&&!!inventory.preparation&&inventory.preparation.started_at*1000>=Date.parse(v.requested_at)-1000))&&inventory?.preparation&&{inventory.preparation.steps.map(step=>:step.state==='running'?:{step.state==='error'?'Ошибка':step.state==='blocked'?'Не выполнено':'Ожидает'}}/>) }:Ожидает}/>} } - setEditing(null)} footer={}>
    setName(e.target.value)} disabled={!!localBusy}/>{editing&&(editing.configured??editing.snapshot.enrollment==='enrolled')&&{const target=editing;setEditing(null);void action(target,'prepare');}}>Обновить}/>}
     + setEditing(null)} footer={}>
    setName(e.target.value)} disabled={!!localBusy}/>{editing&&editing.kind!=='k1'&&(editing.configured??editing.snapshot.enrollment==='enrolled')&&{const target=editing;setEditing(null);void action(target,'prepare');}}>Обновить}/>}
     + {adding&&transport.enrollment&&setAdding(false)} onChange={()=>{void refresh();}}/>} setError('')}/>
    ; } diff --git a/packages/sensor-ui/src/contracts.ts b/packages/sensor-ui/src/contracts.ts index 2033a45..1046dd3 100644 --- a/packages/sensor-ui/src/contracts.ts +++ b/packages/sensor-ui/src/contracts.ts @@ -1,6 +1,8 @@ export interface SensorProfile { id: string; sensor: number; stream: string; index: number; format: string; fps: number; width?: number; height?: number } export interface SensorOption { id: string; sensor: string; label: string; value: number; min: number; max: number; step: number; read_only: boolean } export interface Sensor { + kind?:'k1'; connection_label?:string; control?:{generation:number;revision:number;phase:string;can_start:boolean;can_stop?:boolean;acquisition_id:string|null}; + live_settings?: import('./K1LiveSettings').LiveSettings; id: string; name: string; model: string; prepared: boolean; configured?: boolean; verified: boolean; online: boolean; usb: string; firmware?: string; playback_id?: string | null; snapshot: {context: {session_id: string; device: {device_id: string}; execution: {node_id: string}}; acquisition: string; enrollment: string; message?: string}; profiles?: SensorProfile[]; defaults?: string[]; options?: SensorOption[]; layers: string[]; @@ -18,6 +20,7 @@ export interface SensorCommand { } export interface SensorOperation {state:string;error?:string;result?:unknown} export interface SensorTransport { + enrollment?: import('./enrollment').EnrollmentTransport; inventory: () => Promise; subscribe?: (receive:(value:SensorInventory)=>void, unavailable:()=>void) => (()=>void); submit: (value:SensorCommand) => Promise; @@ -27,7 +30,7 @@ export function command(device:Sensor,action:string,parameters:Record(transport:SensorTransport,device:Sensor,action:string,parameters:Record={}):Promise{ const request=command(device,action,parameters);let value=await transport.submit(request); diff --git a/packages/sensor-ui/src/enrollment.ts b/packages/sensor-ui/src/enrollment.ts new file mode 100644 index 0000000..7a23c79 --- /dev/null +++ b/packages/sensor-ui/src/enrollment.ts @@ -0,0 +1,37 @@ +export interface EnrollmentState { + available:boolean; fresh?:boolean; node_id:string; name?:string; runtime_id?:string; + mode?:'bridge'; model?:string; discovery_generation?:number; mode_revision?:number; + candidates?:{id:string;name:string;rssi?:number}[]; + networks?:{ssid:string;signal:number;security:string}[]; + connected?:boolean; ready_to_start?:boolean; selected_device_id?:string; ip?:string; + device_session?:{device_session_id:string;device_id:string}; observed_at?:string; +} +export interface EnrollmentCommand { + operation_id:string; node_id:string; runtime_id:string; action:'scan'|'networks'|'connect'|'verify'; + deadline_at:string; parameters:Record; +} +export interface EnrollmentOperation {operation_id?:string;state:string;error?:string;result?:EnrollmentState} +export interface EnrollmentTransport { + state:()=>Promise; + submit:(command:EnrollmentCommand)=>Promise; + operation:(id:string)=>Promise; +} +export function enrollmentCommand(state:EnrollmentState,action:EnrollmentCommand['action'],parameters:Record={}):EnrollmentCommand { + if(!state.available||state.fresh===false||!state.runtime_id)throw new Error('БК или служба K1 недоступны. Обновите сведения.'); + return {operation_id:'op_'+crypto.randomUUID().replaceAll('-',''),node_id:state.node_id,runtime_id:state.runtime_id,action, + deadline_at:new Date(Date.now()+170000).toISOString(),parameters}; +} +export async function enroll(transport:EnrollmentTransport,state:EnrollmentState,action:EnrollmentCommand['action'],parameters:Record={}):Promise{ + const command=enrollmentCommand(state,action,parameters); + let operation:EnrollmentOperation; + try {operation=await transport.submit(command);}finally{delete command.parameters.password;} + while(operation.state==='running'||operation.state==='queued'){ + if(Date.now()>Date.parse(command.deadline_at)+10000)throw new Error('Ответ БК пока не получен. Обновите состояние K1.'); + await new Promise(resolve=>setTimeout(resolve,1000));operation=await transport.operation(command.operation_id); + } + if(operation.state!=='complete'||!operation.result)throw new Error(operation.error||'Действие не подтверждено. Обновите состояние K1.'); + return operation.result; +} +export function bridgeFormValid(ssid:string,password:string):boolean{ + const bytes=new TextEncoder();return bytes.encode(ssid).length>0&&bytes.encode(ssid).length<=32&&bytes.encode(password).length>0&&bytes.encode(password).length<=64; +} diff --git a/packages/sensor-ui/src/rerunHost.ts b/packages/sensor-ui/src/rerunHost.ts new file mode 100644 index 0000000..202d9ac --- /dev/null +++ b/packages/sensor-ui/src/rerunHost.ts @@ -0,0 +1,12 @@ +/** Native renderer capability supplied by each host, independent of device APIs. */ +export interface LiveRerunViewer { + start:(source:string|string[]|null,parent:HTMLElement,options:{width:string;height:string;hide_welcome_screen:boolean;enable_history:boolean})=>Promise; + open_channel:(name:string)=>{ready:boolean;send_rrd:(bytes:Uint8Array)=>void;close:()=>void}; + override_panel_state:(panel:'top'|'blueprint'|'selection'|'time',state:'hidden'|'collapsed'|'expanded')=>void; + get_active_recording_id:()=>string|null; + get_time_range:(id:string,timeline:string)=>{min:number;max:number}|null; + set_active_timeline:(id:string,timeline:string)=>void; + set_current_time:(id:string,timeline:string,time:number)=>void; + set_playing:(id:string,playing:boolean)=>void; +} +export type RerunHostFactory=(element:HTMLElement)=>{ready:Promise<{viewer:LiveRerunViewer;mount:HTMLElement}>;dispose:()=>void}; diff --git a/packages/sensor-ui/src/sensors.css b/packages/sensor-ui/src/sensors.css index 462b06c..9dd6976 100644 --- a/packages/sensor-ui/src/sensors.css +++ b/packages/sensor-ui/src/sensors.css @@ -9,3 +9,7 @@ .sensor-viewer-expanded {position:fixed;inset:var(--nodedc-space-4);z-index:var(--nodedc-layer-overlay);background:var(--nodedc-canvas);overflow:auto} .sensor-viewer-expanded .sensor-media {height:calc(100vh - 190px)} .sensor-record {display:flex;flex-wrap:wrap;gap:var(--nodedc-space-4);padding-block:var(--nodedc-space-3);font-size:var(--nodedc-font-size-sm)} +.sensor-live-layout {display:grid;grid-template-columns:repeat(auto-fit,minmax(280px,1fr));gap:var(--nodedc-space-4)} +.sensor-live-spatial {min-height:420px;overflow:hidden} +.sensor-live-spatial iframe {display:block;width:100%;height:100%;min-height:420px;border:0} +.sensor-viewer-expanded .sensor-live-spatial,.sensor-viewer-expanded .sensor-live-spatial iframe {min-height:calc(100vh - 230px)} diff --git a/plugins/xgrids-k1/frontend/src/XgridsK1Connection.tsx b/plugins/xgrids-k1/frontend/src/XgridsK1Connection.tsx index 6ca3b87..a475855 100644 --- a/plugins/xgrids-k1/frontend/src/XgridsK1Connection.tsx +++ b/plugins/xgrids-k1/frontend/src/XgridsK1Connection.tsx @@ -275,6 +275,11 @@ export function XgridsK1Connection({ model, host }: DevicePluginConnectionProps) : sourceRuntimeBusy || preparedAcquisition ? "warning" : "neutral"; + const connectionAttemptFailed = !sourceRuntimeBusy && !preparedAcquisition + && connectionTopology?.status !== "active" + && state?.connection_attempt?.connection_mode === effectiveDesiredConnectionMode + && ["failed", "cancelled", "timed_out", "interrupted", "operator_action_required"] + .includes(state.connection_attempt.status); const connectionControlBootstrapSettling = isConnectionControlBootstrapSettling(state); const connectionPhaseLabel = livePreparationPending @@ -293,6 +298,8 @@ export function XgridsK1Connection({ model, host }: DevicePluginConnectionProps) ? savedBridgeNetworkSetupRequired ? "Нужна настройка сети" : "Требуется действие" + : connectionAttemptFailed + ? "Подключение не завершено" : projectedPhase === "error" ? connectionPhaseFallbackLabel(projectedPhase) : connectionTopology?.status === "active" @@ -316,6 +323,8 @@ export function XgridsK1Connection({ model, host }: DevicePluginConnectionProps) ? "accent" : physicalRecoveryRequired ? "warning" + : connectionAttemptFailed + ? "warning" : projectedPhase === "error" ? phaseTone(projectedPhase) : connectionTopology?.status === "active" @@ -336,6 +345,8 @@ export function XgridsK1Connection({ model, host }: DevicePluginConnectionProps) : physicalRecoveryRequired ? physicalRecoveryDetail ?? "Безопасное восстановление прежнего K1 сейчас недоступно." + : connectionAttemptFailed + ? "Проверьте состояние K1 или начните новое подключение." : !sourceRuntimeBusy && connectionTopology?.status === "configured-unverified" ? "Начните новое подключение." : !sourceRuntimeBusy && connectionTopology?.status === "active" diff --git a/plugins/xgrids-k1/frontend/src/components/K1OperatorError.tsx b/plugins/xgrids-k1/frontend/src/components/K1OperatorError.tsx index 66b5156..f021e83 100644 --- a/plugins/xgrids-k1/frontend/src/components/K1OperatorError.tsx +++ b/plugins/xgrids-k1/frontend/src/components/K1OperatorError.tsx @@ -3,13 +3,14 @@ import { Button } from "@nodedc/ui-react"; import type { XgridsConnectionAttempt } from "../api"; import { hostFailureDiagnosticPresentation } from "../hostDiagnosticPresentation"; +import { STATION_WIFI_FAILURE_MESSAGES } from "../networkFailurePresentation"; const connectionAttemptStageLabels: Record = { accepted: "Запрос принят", "scan-selection-admitted": "Результат выбран", "host-wifi-profile-preflight": "Подготовка профиля Wi‑Fi", "device-ap-activation": "Подготовка локальной сети", - "ble-provisioning-write": "Передаются настройки сети", + "ble-provisioning-write": "Подключение K1 к Wi‑Fi", "ble-write-dispatched": "Настройки переданы", "status-observing": "Ожидание ответа", "device-topology-applied": "Целевая сеть подтверждена", @@ -74,6 +75,9 @@ export function attemptNextActionLabel( } const publicConnectionErrorLabels: Readonly> = { + ...STATION_WIFI_FAILURE_MESSAGES, + BleakGATTProtocolError: + "K1 ответил ошибкой Bluetooth. Подключение к Wi‑Fi не подтверждено; проверьте состояние устройства или начните новое подключение.", "network-provision-discovery-generation-conflict": "Результат Bluetooth-поиска устарел до отправки. Настройки устройства не изменялись; выполните новый поиск.", "connection-mode-draft-revision-conflict": diff --git a/plugins/xgrids-k1/frontend/src/components/K1ProvisioningPipeline.tsx b/plugins/xgrids-k1/frontend/src/components/K1ProvisioningPipeline.tsx index 0282d91..3453a6d 100644 --- a/plugins/xgrids-k1/frontend/src/components/K1ProvisioningPipeline.tsx +++ b/plugins/xgrids-k1/frontend/src/components/K1ProvisioningPipeline.tsx @@ -31,6 +31,7 @@ import type { } from "../api"; import { profileSelectionForConnectionMode } from "../compatibility"; import { + BLE_DISCOVERY_TIMEOUT_SECONDS, DEFAULT_CONNECTION_MODE, connectionModeOptions, type ConnectionMode, @@ -66,10 +67,12 @@ import { type ReadOnlyConnectionObservationTarget, } from "../lifecycle"; import { finiteMetric } from "../presentation"; +import { STATION_WIFI_FAILURE_MESSAGES } from "../networkFailurePresentation"; import type { XgridsK1Controller } from "../runtimeContext"; import { K1OperatorError } from "./K1OperatorError"; import { connectionActionAuthoritySnapshot, + networkProvisionFailureMessage, type BleDiscoverySubmitResult, type ConnectionActionAuthoritySnapshot, } from "../useXgridsK1Runtime"; @@ -1866,7 +1869,7 @@ export function K1ProvisioningPipeline({ const connectionRecoveryRequired = connectionRecoveryIsRequired( connectionRecoveryKey, escapedConnectionRecoveryKey, - ) && !(searchRequested && !searchDisplayActive); + ) && (connectionAttemptFailed || !(searchRequested && !searchDisplayActive)); const presentedConnectionRecoveryRequired = !livePreparationPending && ( connectionRecoveryRequired || connectionRecoveryVerificationPending ); @@ -2089,7 +2092,7 @@ export function K1ProvisioningPipeline({ const startedAt = Date.now(); const updateCountdown = () => { const elapsedSeconds = Math.floor((Date.now() - startedAt) / 1_000); - setScanSecondsRemaining(Math.max(0, 6 - elapsedSeconds)); + setScanSecondsRemaining(Math.max(0, BLE_DISCOVERY_TIMEOUT_SECONDS - elapsedSeconds)); }; updateCountdown(); const timer = window.setInterval(updateCountdown, 250); @@ -2350,7 +2353,7 @@ export function K1ProvisioningPipeline({ let scanResult: BleDiscoverySubmitResult | null = null; try { if (!runtimeActionIsCurrent(actionFence)) return; - scanResult = await scanWithResult({ durationSeconds: 6 }); + scanResult = await scanWithResult({ durationSeconds: BLE_DISCOVERY_TIMEOUT_SECONDS }); if ( !localScenarioActionEpochIsCurrent( actionEpoch, @@ -2573,12 +2576,12 @@ export function K1ProvisioningPipeline({ } const freshStartAllowed = result.intentDisposition === "release"; - const failureMessage = freshStartAllowed + const failureMessage = networkProvisionFailureMessage(observedOperation) ?? (freshStartAllowed && provisioningFailureRequiresFreshCandidate(result.failureReasonCode) ? "Результат Bluetooth-поиска устарел до отправки. Настройки не отправлены; выполните явный повторный поиск." : freshStartAllowed ? "Подключение не началось. Настройки удалены; после устранения причины начните новый явный поиск." - : "Результат отправки неизвестен. Повторное применение заблокировано, чтобы не отправить BLE-команду дважды; дождитесь, пока система определит безопасное продолжение."; + : "Подключение не подтверждено. Проверьте состояние K1 или начните новое подключение; автоматического повтора не было."); setConnectionAttemptPresentation((current) => ( current?.idempotencyKey === idempotencyKey ? { @@ -3203,7 +3206,9 @@ export function K1ProvisioningPipeline({ disabled={isBusy || modeResetInFlight} onClick={() => void changeDesiredConnectionMode(connectionMode)} > - {savedBridgeNetworkSetupRequired + {STATION_WIFI_FAILURE_MESSAGES[connectionRecoveryAttempt?.public_error_code ?? ""] + ? "Указать сеть Wi‑Fi заново" + : savedBridgeNetworkSetupRequired ? "Подключить K1 к общей сети" : "Подключить новый K1"} @@ -3256,7 +3261,7 @@ export function K1ProvisioningPipeline({ title="Подключение" status={ searchActive - ? `Поиск · ${scanSecondsRemaining ?? 6} с` + ? `Поиск · до ${scanSecondsRemaining ?? BLE_DISCOVERY_TIMEOUT_SECONDS} с` : connectionAttemptSettling ? "Устройство выбрано" : presentedPhysicalRecoveryRequired @@ -3316,7 +3321,7 @@ export function K1ProvisioningPipeline({ > - Поиск Bluetooth · {scanSecondsRemaining ?? 6} с + Поиск Bluetooth · до {scanSecondsRemaining ?? BLE_DISCOVERY_TIMEOUT_SECONDS} с
    ) : networkRecoveryRequired diff --git a/plugins/xgrids-k1/frontend/src/configuration.ts b/plugins/xgrids-k1/frontend/src/configuration.ts index 6cbb679..a51f272 100644 --- a/plugins/xgrids-k1/frontend/src/configuration.ts +++ b/plugins/xgrids-k1/frontend/src/configuration.ts @@ -4,6 +4,9 @@ export type ConnectionMode = "bridge" | "quick-connect" | "direct-connect"; export type MountType = "handheld" | "vehicle-mounted" | "uav" | "backpack"; export type GnssMode = "none" | "rtk" | "ppk"; +// Upper bound for one continuous discovery session; it can finish earlier when K1 is visible. +export const BLE_DISCOVERY_TIMEOUT_SECONDS = 20; + export const DEFAULT_CONNECTION_MODE = "bridge" as const satisfies ConnectionMode; export const SUPPORTED_MOUNT_TYPE = "handheld" as const satisfies MountType; export const SUPPORTED_GNSS_MODE = "none" as const satisfies GnssMode; diff --git a/plugins/xgrids-k1/frontend/src/networkFailurePresentation.ts b/plugins/xgrids-k1/frontend/src/networkFailurePresentation.ts new file mode 100644 index 0000000..7b45abf --- /dev/null +++ b/plugins/xgrids-k1/frontend/src/networkFailurePresentation.ts @@ -0,0 +1,7 @@ +/** Reviewed K1 station replies; Quick Connect host errors have separate copy. */ +export const STATION_WIFI_FAILURE_MESSAGES: Readonly> = { + "k1-wifi-network-not-found": + "K1 не смог найти указанную сеть Wi‑Fi. Проверьте точное название сети и её доступность рядом с K1. Для новой попытки выберите K1 через поиск Bluetooth и укажите сеть заново.", + "k1-wifi-credentials-required": + "K1 не смог подключиться с переданным паролем Wi‑Fi. Для новой попытки выберите K1 через поиск Bluetooth и введите пароль нужной сети заново.", +}; diff --git a/plugins/xgrids-k1/frontend/src/networkProvisioning.ts b/plugins/xgrids-k1/frontend/src/networkProvisioning.ts new file mode 100644 index 0000000..5836f49 --- /dev/null +++ b/plugins/xgrids-k1/frontend/src/networkProvisioning.ts @@ -0,0 +1,241 @@ +import { ApiError, type ConnectRequest, type XgridsK1State, type XgridsOperation } from "./api"; +import { operationByIdempotencyKey } from "./lifecycle"; +import { selectMonotonicXgridsState } from "./stateOrdering"; +import { STATION_WIFI_FAILURE_MESSAGES } from "./networkFailurePresentation"; + +const CONTROL_STATE_READ_INTERVAL_MS = 250; +const NETWORK_PROVISION_SETTLEMENT_FALLBACK_MS = 30_000; +const NETWORK_PROVISION_SETTLEMENT_MAX_MS = 300_000; +const NETWORK_PROVISION_SETTLEMENT_GRACE_MS = 1_000; + +function networkProvisionSettlementDeadline( + operation: XgridsOperation, + startedAtMs: number, +): number { + const operationDeadlineMs = operation.deadline_at + ? Date.parse(operation.deadline_at) + : Number.NaN; + const requestedDeadlineMs = Number.isFinite(operationDeadlineMs) + && operationDeadlineMs > startedAtMs + ? operationDeadlineMs + NETWORK_PROVISION_SETTLEMENT_GRACE_MS + : startedAtMs + NETWORK_PROVISION_SETTLEMENT_FALLBACK_MS; + return Math.min( + requestedDeadlineMs, + startedAtMs + NETWORK_PROVISION_SETTLEMENT_MAX_MS, + ); +} + +/** + * Follow one already-admitted Apply after a browser response is interrupted by + * the host Wi-Fi handoff. This loop only reads the local journal; it never + * retries the HTTP mutation, BLE write, CoreWLAN association or control open. + */ +export async function awaitNetworkProvisionSettlementAfterLostResponse( + initialState: XgridsK1State, + idempotencyKey: string, + readState: () => Promise, + acceptState: (state: XgridsK1State) => void, + assertOperatorIntentCurrent: () => void, + options: { + now?: () => number; + wait?: (delayMs: number) => Promise; + } = {}, +): Promise { + const now = options.now ?? Date.now; + const wait = options.wait ?? ((delayMs: number) => new Promise((resolve) => { + globalThis.setTimeout(resolve, delayMs); + })); + let state = initialState; + let operation = operationByIdempotencyKey( + state, + "network.provision", + idempotencyKey, + ); + if (!operation || !["accepted", "running"].includes(operation.status)) { + return state; + } + const deadlineMs = networkProvisionSettlementDeadline(operation, now()); + + while (["accepted", "running"].includes(operation.status)) { + assertOperatorIntentCurrent(); + const remainingMs = deadlineMs - now(); + if (remainingMs <= 0) return state; + await wait(Math.min(CONTROL_STATE_READ_INTERVAL_MS, remainingMs)); + assertOperatorIntentCurrent(); + try { + const nextState = await readState(); + assertOperatorIntentCurrent(); + acceptState(nextState); + state = nextState; + } catch (readError) { + // A host Wi-Fi transition can briefly abort even a localhost fetch. + // Preserve the admitted operation and perform only the next bounded + // journal read; the original Apply is never reissued. + if (!(readError instanceof ApiError) || !readError.transportUnavailable) { + throw readError; + } + continue; + } + operation = operationByIdempotencyKey( + state, + "network.provision", + idempotencyKey, + ); + if (!operation) return state; + } + return state; +} + +export interface ProvisioningObservation { + state: XgridsK1State; + operation: XgridsOperation | null; + /** HTTP failure is subordinate to the journal; it never authorizes a retry. */ + transportError: unknown; +} + +/** + * One explicit intent: submit at most once, then observe its exact journal row. + * Bluetooth discovery, host WLAN changes and the vendor control dialogue stay + * server-owned. No error path can resubmit or silently choose another device. + */ +export async function observeProvisioningRequest( + request: ConnectRequest, + context: { + initialState: XgridsK1State | null; + send: (request: ConnectRequest) => Promise; + readState: () => Promise; + acceptState: (state: XgridsK1State) => void; + currentState: () => XgridsK1State | null; + assertCurrent: () => void; + settlementOptions?: Parameters[5]; + }, +): Promise { + let state = context.initialState; + let transportError: unknown = null; + const adopt = (incoming: XgridsK1State): XgridsK1State => { + context.acceptState(incoming); + context.assertCurrent(); + state = selectMonotonicXgridsState(context.currentState(), incoming); + return state; + }; + context.assertCurrent(); + const existing = operationByIdempotencyKey(state, "network.provision", request.idempotency_key); + if (!existing) { + let response: XgridsK1State; + try { + response = await context.send(request); + } catch (error) { + transportError = error; + context.assertCurrent(); + try { + response = await context.readState(); + } catch { + throw error; + } + } + adopt(response); + } + if (!state) throw new ApiError("Состояние подключения недоступно. Обновите экран перед новым действием."); + const settled = await awaitNetworkProvisionSettlementAfterLostResponse( + state, + request.idempotency_key, + async () => adopt(await context.readState()), + adopt, + context.assertCurrent, + context.settlementOptions, + ); + state = adopt(settled); + return { + state, + operation: operationByIdempotencyKey(state, "network.provision", request.idempotency_key), + transportError, + }; +} + +const CONNECT_FAILURE_NEXT_STEP_COPY = + "Автоматический повтор команды K1 не отправлялся. Проверьте состояние K1 через «Переподключиться» или начните новое подключение через поиск Bluetooth."; + +function networkFailureNextStepMessage(detail: string): string { + return `${detail} ${CONNECT_FAILURE_NEXT_STEP_COPY}`; +} + +export function networkProvisionFailureMessage( + operation: XgridsOperation | null | undefined, +): string | null { + if (!operation || operation.status !== "failed") return null; + const code = operation.error?.code; + if (typeof code !== "string") return null; + if (STATION_WIFI_FAILURE_MESSAGES[code]) return STATION_WIFI_FAILURE_MESSAGES[code]; + + if (code === "BleakGATTProtocolError") { + const attCode = operation.error?.ble_att_error_code; + const attName = operation.error?.ble_att_error_name; + const attDetail = typeof attCode === "number" && typeof attName === "string" + ? ` Код периферии: ATT ${attCode} ${attName}.` + : ""; + if (operation.error?.device_write_attempted === false) { + return `Bluetooth-сеанс K1 завершился ошибкой до команды изменения сети.${attDetail} Запись сетевого профиля не выполнялась; выполните новый поиск после освобождения Bluetooth.`; + } + if (typeof attCode === "number" && typeof attName === "string") { + return networkFailureNextStepMessage( + `Bluetooth-периферия завершила сетевую операцию ошибкой.${attDetail} Команда могла быть принята K1; итог текущей попытки не подтверждён.`, + ); + } + return networkFailureNextStepMessage( + "Bluetooth-периферия завершила сетевую операцию ошибкой. Команда могла быть принята K1; итог текущей попытки не подтверждён.", + ); + } + + if (code === "network-not-found") { + const attemptCount = operation.error?.scan_attempt_count; + const elapsedMs = operation.error?.scan_elapsed_ms; + const scanDetail = typeof attemptCount === "number" && typeof elapsedMs === "number" + ? ` macOS выполнила ${attemptCount} проверок за ${(elapsedMs / 1000).toFixed(1)} с.` + : ""; + return `K1 принял команду Quick Connect и подтвердил готовность точки доступа, но macOS не увидела её Wi‑Fi-сеть за отведённое время.${scanDetail} Quick Connect не установлен; автоматического повтора не было. Выполните новый поиск перед следующей явной попыткой или используйте Bridge.`; + } + + if ( + code === "keychain-authorization-required" + || code === "keychain-authorization-denied" + || code === "keychain-authorization-cancelled" + || code === "keychain-access-failed" + ) { + const failedBeforeDeviceWrite = operation.error?.side_effect_status === "none"; + return failedBeforeDeviceWrite + ? "Локальный профиль K1 недоступен в связке ключей. Команда устройству не отправлялась; подготовьте разрешение профиля отдельным действием и затем повторите подключение." + : networkFailureNextStepMessage( + "После подтверждённого включения точки K1 локальный профиль стал недоступен в связке ключей. Дополнительный пароль не запрашивался; итог текущей попытки не подтверждён.", + ); + } + + const messages: Record = { + "host-wifi-operation-timeout": + networkFailureNextStepMessage("Локальная операция подготовки Wi‑Fi не завершилась вовремя; итог текущей попытки подключения не подтверждён."), + "profile-ssid-mismatch": + "Сохранённый профиль относится к другому устройству. Подключение остановлено без повторной команды сканеру.", + "profile-credential-source-mismatch": + "Сохранённый профиль K1 не подтверждён для точной версии прошивки. Автоматического выбора другого пароля нет; подготовьте профиль отдельно перед новой попыткой.", + "profile-unavailable": + networkFailureNextStepMessage("Локальный профиль выбранного K1 отсутствует; текущая попытка подключения завершилась ошибкой."), + "corewlan-error": + "macOS не смогла подключиться к точке доступа K1. Проверьте пароль сохранённой сети этого K1; автоматического повтора не было.", + "wifi-interface-unavailable": + "Системный Wi-Fi-интерфейс macOS недоступен. Команда сканеру автоматически не повторялась.", + "unsupported-platform": + "Для этой операционной системы адаптер подключения к точке K1 ещё не реализован.", + "credential-source-unavailable": + "Локальный профиль выбранного K1 не готов. Команда устройству не отправлялась; после подготовки профиля разрешена новая явная попытка.", + "network-provision-candidate-not-fresh": + "Результат Bluetooth-поиска отсутствует или устарел. Команда K1 не отправлялась; выполните один свежий поиск.", + "network-provision-candidate-changed": + "Bluetooth-кандидат изменился до команды K1. Записи не было; выполните один свежий поиск.", + "network-provision-candidate-name-unavailable": + "K1 не сообщил имя своей точки доступа. Команда устройству не отправлялась; выполните новый поиск.", + "network-provision-target-not-distinguishable-from-baseline": + networkFailureNextStepMessage("После BLE-команды K1 вернул сетевой статус, неотличимый от исходного; итог текущей попытки подключения не подтверждён."), + "network-provision-lifecycle-busy": + "Сетевая операция заблокирована активной сессией или локальной очисткой. Команда K1 не отправлялась; завершите текущую сессию и повторите явно.", + }; + return messages[code] ?? null; +} diff --git a/plugins/xgrids-k1/frontend/src/presentation.ts b/plugins/xgrids-k1/frontend/src/presentation.ts index 6b3c559..efdf5a6 100644 --- a/plugins/xgrids-k1/frontend/src/presentation.ts +++ b/plugins/xgrids-k1/frontend/src/presentation.ts @@ -90,9 +90,9 @@ const connectionPolicyNextActionCopy: Record = { "diagnose-physical-command-ledger": "Не повторяйте команду; сначала проверьте журнал физических команд.", "restart-ble-runtime": "Контролируемо перезапустите локальный BLE-контур и обновите состояние.", "scan-ble": "Выполните свежий поиск Bluetooth-устройств.", - "observe-fresh-device-network": "Дождитесь автоматического восстановления связи с выбранным K1.", - "observe-current-device-network": "Дождитесь автоматического восстановления связи с тем же K1.", - "observe-configured-device-network": "Дождитесь автоматического восстановления сохранённого подключения K1.", + "observe-fresh-device-network": "Нажмите «Переподключиться», чтобы проверить состояние выбранного K1.", + "observe-current-device-network": "Нажмите «Переподключиться», чтобы проверить связь с тем же K1.", + "observe-configured-device-network": "Нажмите «Переподключиться», чтобы проверить сохранённое подключение K1.", "recover-current-device-network": "Нажмите «Подключиться заново».", "inspect-host-network": "Проверьте активную локальную сеть и маршрут этого компьютера.", "probe-endpoint": "Дождитесь обновления подключения K1.", diff --git a/plugins/xgrids-k1/frontend/src/useXgridsK1Runtime.ts b/plugins/xgrids-k1/frontend/src/useXgridsK1Runtime.ts index 1b8bd38..7ac999a 100644 --- a/plugins/xgrids-k1/frontend/src/useXgridsK1Runtime.ts +++ b/plugins/xgrids-k1/frontend/src/useXgridsK1Runtime.ts @@ -39,8 +39,6 @@ import { newMutationContext, newOperationId, operationAllowsFreshProvisioningIntent, - operationByIdempotencyKey, - operationNeedsReconciliation, physicalStopIntentCheckpoint, recommendedConnectionRecoveryObservationTarget, readOnlyVerificationClearedReconciliation, @@ -65,7 +63,9 @@ import { import { selectMonotonicXgridsState } from "./stateOrdering"; import { operationHostFailureDiagnostic } from "./hostDiagnosticPresentation"; import { activeStreamForceFinishAuthority } from "./activeStreamRecovery"; -import { DEFAULT_CONNECTION_MODE } from "./configuration"; +import { BLE_DISCOVERY_TIMEOUT_SECONDS, DEFAULT_CONNECTION_MODE } from "./configuration"; +import { observeProvisioningRequest, networkProvisionFailureMessage } from "./networkProvisioning"; +export { awaitNetworkProvisionSettlementAfterLostResponse, networkProvisionFailureMessage } from "./networkProvisioning"; export type PendingAction = | "scan" @@ -265,87 +265,6 @@ export function connectionActionAuthoritySnapshot( } const CONTROL_STATE_READ_INTERVAL_MS = 250; -const NETWORK_PROVISION_SETTLEMENT_FALLBACK_MS = 30_000; -const NETWORK_PROVISION_SETTLEMENT_MAX_MS = 300_000; -const NETWORK_PROVISION_SETTLEMENT_GRACE_MS = 1_000; - -function networkProvisionSettlementDeadline( - operation: XgridsOperation, - startedAtMs: number, -): number { - const operationDeadlineMs = operation.deadline_at - ? Date.parse(operation.deadline_at) - : Number.NaN; - const requestedDeadlineMs = Number.isFinite(operationDeadlineMs) - && operationDeadlineMs > startedAtMs - ? operationDeadlineMs + NETWORK_PROVISION_SETTLEMENT_GRACE_MS - : startedAtMs + NETWORK_PROVISION_SETTLEMENT_FALLBACK_MS; - return Math.min( - requestedDeadlineMs, - startedAtMs + NETWORK_PROVISION_SETTLEMENT_MAX_MS, - ); -} - -/** - * Follow one already-admitted Apply after a browser response is interrupted by - * the host Wi-Fi handoff. This loop only reads the local journal; it never - * retries the HTTP mutation, BLE write, CoreWLAN association or control open. - */ -export async function awaitNetworkProvisionSettlementAfterLostResponse( - initialState: XgridsK1State, - idempotencyKey: string, - readState: () => Promise, - acceptState: (state: XgridsK1State) => void, - assertOperatorIntentCurrent: () => void, - options: { - now?: () => number; - wait?: (delayMs: number) => Promise; - } = {}, -): Promise { - const now = options.now ?? Date.now; - const wait = options.wait ?? ((delayMs: number) => new Promise((resolve) => { - globalThis.setTimeout(resolve, delayMs); - })); - let state = initialState; - let operation = operationByIdempotencyKey( - state, - "network.provision", - idempotencyKey, - ); - if (!operation || !["accepted", "running"].includes(operation.status)) { - return state; - } - const deadlineMs = networkProvisionSettlementDeadline(operation, now()); - - while (["accepted", "running"].includes(operation.status)) { - assertOperatorIntentCurrent(); - const remainingMs = deadlineMs - now(); - if (remainingMs <= 0) return state; - await wait(Math.min(CONTROL_STATE_READ_INTERVAL_MS, remainingMs)); - assertOperatorIntentCurrent(); - try { - const nextState = await readState(); - assertOperatorIntentCurrent(); - acceptState(nextState); - state = nextState; - } catch (readError) { - // A host Wi-Fi transition can briefly abort even a localhost fetch. - // Preserve the admitted operation and perform only the next bounded - // journal read; the original Apply is never reissued. - if (!(readError instanceof ApiError) || !readError.transportUnavailable) { - throw readError; - } - continue; - } - operation = operationByIdempotencyKey( - state, - "network.provision", - idempotencyKey, - ); - if (!operation) return state; - } - return state; -} const CONTROL_PHASE_WAIT_TIMEOUT_MS = 120_000; function controlPhase(state: XgridsK1State): XgridsApplicationControlPhase { @@ -642,93 +561,6 @@ function apiErrorForOperation( ); } -const CONNECT_SESSION_RESET_COPY = - "Автоматический повтор команды K1 не отправлялся. Сессия подключения в интерфейсе сброшена. Выполните новый поиск Bluetooth, выберите K1 и запустите подключение ещё раз."; - -function resetConnectSessionMessage(detail: string): string { - return `${detail} ${CONNECT_SESSION_RESET_COPY}`; -} - -export function networkProvisionFailureMessage( - operation: XgridsOperation | null | undefined, -): string | null { - if (!operation || operation.status !== "failed") return null; - const code = operation.error?.code; - if (typeof code !== "string") return null; - - if (code === "BleakGATTProtocolError") { - const attCode = operation.error?.ble_att_error_code; - const attName = operation.error?.ble_att_error_name; - const attDetail = typeof attCode === "number" && typeof attName === "string" - ? ` Код периферии: ATT ${attCode} ${attName}.` - : ""; - if (operation.error?.device_write_attempted === false) { - return `Bluetooth-сеанс K1 завершился ошибкой до команды изменения сети.${attDetail} Запись сетевого профиля не выполнялась; выполните новый поиск после освобождения Bluetooth.`; - } - if (typeof attCode === "number" && typeof attName === "string") { - return resetConnectSessionMessage( - `Bluetooth-периферия завершила сетевую операцию ошибкой.${attDetail} Команда могла быть принята K1; итог текущей попытки не подтверждён.`, - ); - } - return resetConnectSessionMessage( - "Bluetooth-периферия завершила сетевую операцию ошибкой. Команда могла быть принята K1; итог текущей попытки не подтверждён.", - ); - } - - if (code === "network-not-found") { - const attemptCount = operation.error?.scan_attempt_count; - const elapsedMs = operation.error?.scan_elapsed_ms; - const scanDetail = typeof attemptCount === "number" && typeof elapsedMs === "number" - ? ` macOS выполнила ${attemptCount} проверок за ${(elapsedMs / 1000).toFixed(1)} с.` - : ""; - return `K1 принял команду Quick Connect и подтвердил готовность точки доступа, но macOS не увидела её Wi‑Fi-сеть за отведённое время.${scanDetail} Quick Connect не установлен; автоматического повтора не было. Выполните новый поиск перед следующей явной попыткой или используйте Bridge.`; - } - - if ( - code === "keychain-authorization-required" - || code === "keychain-authorization-denied" - || code === "keychain-authorization-cancelled" - || code === "keychain-access-failed" - ) { - const failedBeforeDeviceWrite = operation.error?.side_effect_status === "none"; - return failedBeforeDeviceWrite - ? "Локальный профиль K1 недоступен в связке ключей. Команда устройству не отправлялась; подготовьте разрешение профиля отдельным действием и затем повторите подключение." - : resetConnectSessionMessage( - "После подтверждённого включения точки K1 локальный профиль стал недоступен в связке ключей. Дополнительный пароль не запрашивался; итог текущей попытки не подтверждён.", - ); - } - - const messages: Record = { - "host-wifi-operation-timeout": - resetConnectSessionMessage("Локальная операция подготовки Wi‑Fi не завершилась вовремя; итог текущей попытки подключения не подтверждён."), - "profile-ssid-mismatch": - "Сохранённый профиль относится к другому устройству. Подключение остановлено без повторной команды сканеру.", - "profile-credential-source-mismatch": - "Сохранённый профиль K1 не подтверждён для точной версии прошивки. Автоматического выбора другого пароля нет; подготовьте профиль отдельно перед новой попыткой.", - "profile-unavailable": - resetConnectSessionMessage("Локальный профиль выбранного K1 отсутствует; текущая попытка подключения завершилась ошибкой."), - "corewlan-error": - "macOS не смогла подключиться к точке доступа K1. Проверьте пароль сохранённой сети этого K1; автоматического повтора не было.", - "wifi-interface-unavailable": - "Системный Wi-Fi-интерфейс macOS недоступен. Команда сканеру автоматически не повторялась.", - "unsupported-platform": - "Для этой операционной системы адаптер подключения к точке K1 ещё не реализован.", - "credential-source-unavailable": - "Локальный профиль выбранного K1 не готов. Команда устройству не отправлялась; после подготовки профиля разрешена новая явная попытка.", - "network-provision-candidate-not-fresh": - "Результат Bluetooth-поиска отсутствует или устарел. Команда K1 не отправлялась; выполните один свежий поиск.", - "network-provision-candidate-changed": - "Bluetooth-кандидат изменился до команды K1. Записи не было; выполните один свежий поиск.", - "network-provision-candidate-name-unavailable": - "K1 не сообщил имя своей точки доступа. Команда устройству не отправлялась; выполните новый поиск.", - "network-provision-target-not-distinguishable-from-baseline": - resetConnectSessionMessage("После BLE-команды K1 вернул сетевой статус, неотличимый от исходного; итог текущей попытки подключения не подтверждён."), - "network-provision-lifecycle-busy": - "Сетевая операция заблокирована активной сессией или локальной очисткой. Команда K1 не отправлялась; завершите текущую сессию и повторите явно.", - }; - return messages[code] ?? null; -} - export function discoveryScanFailureMessage( operation: XgridsOperation | null | undefined, ): string | null { @@ -1138,7 +970,7 @@ export function useXgridsK1Runtime(enabled: boolean) { const operationId = newOperationId(); try { const nextState = await xgridsK1Api.scanBle({ - duration_seconds: options.durationSeconds ?? 6, + duration_seconds: options.durationSeconds ?? BLE_DISCOVERY_TIMEOUT_SECONDS, operation_id: operationId, expected_snapshot_runtime_id: expectedSnapshotRuntimeId(), }); @@ -1412,143 +1244,36 @@ export function useXgridsK1Runtime(enabled: boolean) { ); } }; - const previous = operationByIdempotencyKey( - state, - "network.provision", - request.idempotency_key, - ); - if (operationNeedsReconciliation(previous)) { - captureFailureReason(previous); - throw apiErrorForOperation( - resetConnectSessionMessage( - "Текущая попытка подключения не получила подтверждённого результата.", - ), - previous, - ); - } - if (operationAllowsFreshProvisioningIntent(previous)) { - intentDisposition = "release"; - captureFailureReason(previous); - const failureMessage = networkProvisionFailureMessage(previous); - throw apiErrorForOperation( - failureMessage - ?? "Подготовительный этап завершился до команды K1. После устранения причины разрешена новая явная попытка.", - previous, - ); - } - - let nextState: XgridsK1State; - if (previous?.status === "succeeded" && state) { - nextState = state; - } else try { - nextState = await xgridsK1Api.connect({ - ...request, + const observation = await observeProvisioningRequest(request, { + initialState: latestState.current, + send: (input) => xgridsK1Api.connect({ + ...input, expected_snapshot_runtime_id: expectedSnapshotRuntimeId(), - }); - } catch (connectError) { - // A failed network action is terminal and persisted by the backend. - // Re-read state only; never replay the device command. This replaces - // an opaque HTTP 502 banner with the exact host-association outcome. - let failedState: XgridsK1State; - try { - failedState = await xgridsK1Api.getState(); - } catch { - throw connectError; - } - acceptState(failedState); - failedState = await awaitNetworkProvisionSettlementAfterLostResponse( - failedState, - request.idempotency_key, - () => xgridsK1Api.getState(), - acceptState, - assertOperatorIntentCurrent, - ); - const failedOperation = operationByIdempotencyKey( - failedState, - "network.provision", - request.idempotency_key, - ); - // The response body can be lost after the backend has already - // committed the exact idempotent operation. The read-only journal is - // authoritative: acknowledge that success instead of presenting a - // false failure which could invite another operator click. - if (failedOperation?.status === "succeeded") { - nextState = failedState; - if ( - !exactAppliedNetworkIntentCompleted( - nextState, - request, - failedOperation, - ) - && !hasExactConnectionReady(nextState, request.connection_mode) - ) { - throw connectError; - } - } else { - captureFailureReason(failedOperation); - if (operationNeedsReconciliation(failedOperation)) { - throw apiErrorForOperation( - resetConnectSessionMessage( - "Текущая попытка подключения завершилась с неизвестным результатом.", - ), - failedOperation, - ); - } - if (operationAllowsFreshProvisioningIntent(failedOperation)) { - intentDisposition = "release"; - const failureMessage = networkProvisionFailureMessage(failedOperation); - throw apiErrorForOperation( - failureMessage - ?? "Подготовительный этап завершился до команды K1. После устранения причины разрешена новая явная попытка.", - failedOperation, - ); - } - const failureMessage = networkProvisionFailureMessage(failedOperation); - if (failureMessage) { - throw apiErrorForOperation(failureMessage, failedOperation); - } - if (failedOperation) { - throw apiErrorForOperation( - resetConnectSessionMessage( - "Текущая попытка подключения не получила подтверждённого результата.", - ), - failedOperation, - ); - } - throw connectError; - } - } - const operation = operationByIdempotencyKey( - nextState, - "network.provision", - request.idempotency_key, - ); - if (operationNeedsReconciliation(operation)) { - captureFailureReason(operation); - throw apiErrorForOperation( - resetConnectSessionMessage( - "Текущая попытка подключения завершилась с неизвестным результатом.", - ), - operation, - ); - } - if (operationAllowsFreshProvisioningIntent(operation)) { - intentDisposition = "release"; + }), + readState: () => xgridsK1Api.getState(), + acceptState, + currentState: () => latestState.current, + assertCurrent: assertOperatorIntentCurrent, + }); + // Return the same authoritative snapshot on failure and success. The + // form must not reconstruct an outcome from an empty result object. + observedState = observation.state; + let nextState = observation.state; + const operation = observation.operation; + if (operation?.status !== "succeeded") { captureFailureReason(operation); + intentDisposition = operationAllowsFreshProvisioningIntent(operation) + ? "release" + : "retain"; const failureMessage = networkProvisionFailureMessage(operation); - throw apiErrorForOperation( - failureMessage - ?? "Подготовительный этап завершился до команды K1. После устранения причины разрешена новая явная попытка.", - operation, - ); - } - if (operation && operation.status !== "succeeded") { - captureFailureReason(operation); - throw apiErrorForOperation( - resetConnectSessionMessage( - "Текущая попытка подключения завершилась без подтверждения успеха.", - ), - operation, + if (operation) { + throw apiErrorForOperation( + failureMessage ?? "Подключение не подтверждено. Проверьте состояние K1 или начните новое подключение; автоматического повтора не было.", + operation, + ); + } + throw observation.transportError ?? new ApiError( + "Сервис не подтвердил результат подключения. Обновите состояние; команда автоматически не повторяется.", ); } const exactNetworkIntentCompleted = exactAppliedNetworkIntentCompleted( diff --git a/pyproject.toml b/pyproject.toml index b7b5b73..4d9e48d 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -32,6 +32,7 @@ missioncore-plugin-sdk = { path = "packages/plugin-sdk", editable = true } [project.optional-dependencies] perception-stream = ["grpcio>=1.76,<2"] +node-device-media = ["aiortc==1.14.0"] [project.scripts] k1link = "k1link.device_plugins.xgrids_k1.cli:app" diff --git a/src/k1link/device_plugins/xgrids_k1/ble/scanner.py b/src/k1link/device_plugins/xgrids_k1/ble/scanner.py index 9d6efa6..c02733f 100644 --- a/src/k1link/device_plugins/xgrids_k1/ble/scanner.py +++ b/src/k1link/device_plugins/xgrids_k1/ble/scanner.py @@ -2,7 +2,10 @@ from __future__ import annotations import asyncio import math +import re +import sys from collections.abc import Callable +from contextlib import suppress from dataclasses import dataclass, replace from importlib.metadata import version from threading import Lock @@ -33,6 +36,8 @@ BLE_RUNTIME_HANDLE_LEASE_TTL_SECONDS = BLE_DISCOVERY_CANDIDATE_LEASE_TTL_SECONDS # low-level retained-handle lifetime. BLE_DISCOVERY_LEASE_TTL_SECONDS = BLE_RUNTIME_HANDLE_LEASE_TTL_SECONDS BLE_SCAN_HARD_TIMEOUT_GRACE_SECONDS = 5.0 +BLE_SCAN_INITIAL_WINDOW_SECONDS = 6.0 +BLE_SCAN_DEFAULT_TIMEOUT_SECONDS = 20.0 _runtime_handle_lock = Lock() _runtime_handles: dict[str, BLEDevice] = {} @@ -132,6 +137,14 @@ class BleDeviceRecord(TypedDict): k1_name_candidate: bool +class BleDiscoveryTiming(TypedDict, total=False): + scan_elapsed_ms: int + scanner_start_ms: int + initial_window_ms: int + first_candidate_ms: int + scan_extended: bool + + class BleScanResult(TypedDict): schema_version: int started_at_utc: str @@ -141,6 +154,7 @@ class BleScanResult(TypedDict): bleak_version: str device_count: int devices: list[BleDeviceRecord] + discovery_timing: BleDiscoveryTiming def advertisement_record(device: BLEDevice, advertisement: AdvertisementData) -> BleDeviceRecord: @@ -148,7 +162,7 @@ def advertisement_record(device: BLEDevice, advertisement: AdvertisementData) -> normalized_name = (name or "").casefold() return { "macos_uuid": device.address, - "id_kind": "corebluetooth_uuid", + "id_kind": "bluez_address" if sys.platform.startswith("linux") else "corebluetooth_uuid", "name": device.name, "local_name": advertisement.local_name, "rssi": advertisement.rssi, @@ -803,11 +817,34 @@ def connected_device_recovery_name( return normalized or None +async def _retrieve_bluez_device(address: str, details: object = None) -> BLEDevice | None: + """Retrieve only the exact cached BlueZ object; no discovery or connection.""" + if not re.fullmatch(r"(?:[0-9a-fA-F]{2}:){5}[0-9a-fA-F]{2}", address): + return None + try: + from bleak.backends.bluezdbus.manager import get_global_bluez_manager + + manager = await asyncio.wait_for(get_global_bluez_manager(), timeout=3) + path = details.get("path") if isinstance(details, dict) else None + if not path: + path = manager.get_default_adapter() + "/dev_" + address.upper().replace(":", "_") + if manager.get_device_address(path).casefold() != address.casefold(): + return None + name = manager.get_device_name(path) + return BLEDevice(address, name, details={"path": path, "props": { + "Address": address, "Alias": name, "Adapter": path.rsplit("/", 1)[0], + }}) + except Exception: + return None + + async def _retrieve_corebluetooth_device( captured: CapturedDiscoveredDevice, ) -> BLEDevice | None: """Retrieve one UUID through the exact CoreBluetooth manager that observed it.""" + if sys.platform.startswith("linux"): + return await _retrieve_bluez_device(captured.macos_uuid, captured.device.details) details = captured.device.details if not isinstance(details, tuple) or len(details) != 2: return None @@ -899,6 +936,20 @@ async def retrieve_known_device_capture_for_status_read( or runtime["poisoned"] ): return None + if sys.platform.startswith("linux"): + device = await _retrieve_bluez_device(macos_uuid) + after = ble_runtime_snapshot() + if (device is None or ble_runtime_owner_epoch_for_current_loop() != owner_epoch + or after["owner_epoch"] != owner_epoch + or not after["owner_loop_bound"] or after["poisoned"] + or after["active_operation_kind"] != "status-read"): + return None + now = _freshness_observed_at() + return CapturedDiscoveredDevice( + device=device, macos_uuid=macos_uuid, owner_epoch=owner_epoch, + scan_generation=0, captured_at_monotonic=now.monotonic, + captured_at_suspend_aware=now.suspend_aware, source="retrieved-durable", + ) context = _new_corebluetooth_retrieval_context(macos_uuid) if context is None: return None @@ -977,10 +1028,14 @@ async def discover_known_device_capture_for_status_read( or runtime["poisoned"] ): return None - try: - UUID(macos_uuid) - except (TypeError, ValueError): - return None + if sys.platform.startswith("linux"): + if not re.fullmatch(r"(?:[0-9a-fA-F]{2}:){5}[0-9a-fA-F]{2}", macos_uuid): + return None + else: + try: + UUID(macos_uuid) + except (TypeError, ValueError): + return None candidate = await BleakScanner.find_device_by_address( macos_uuid, @@ -1148,6 +1203,42 @@ def connected_device_recovery_snapshot( } +async def _discover_k1_advertisements( + *, timeout: float, diagnostics: BleDiscoveryTiming +) -> dict[str, tuple[BLEDevice, AdvertisementData]]: + """Listen once, extending the initial window only while no K1 is visible. + + Every result and native handle comes from this scanner's callbacks. A name + match only ends discovery; it grants no identity or GATT authority. + """ + loop = asyncio.get_running_loop() + started = loop.time() + initial_window = min(timeout, BLE_SCAN_INITIAL_WINDOW_SECONDS) + discovered: dict[str, tuple[BLEDevice, AdvertisementData]] = {} + candidate_seen = asyncio.Event() + + def observe(device: BLEDevice, advertisement: AdvertisementData) -> None: + discovered[device.address] = (device, advertisement) + if advertisement_record(device, advertisement)["k1_name_candidate"]: + if not candidate_seen.is_set(): + diagnostics["first_candidate_ms"] = round((loop.time() - started) * 1000) + candidate_seen.set() + + diagnostics["initial_window_ms"] = round(initial_window * 1000) + diagnostics["scan_extended"] = False + async with BleakScanner(detection_callback=observe): + listening_started = loop.time() + diagnostics["scanner_start_ms"] = round((listening_started - started) * 1000) + await asyncio.sleep(initial_window) + remaining = max(0.0, timeout - (loop.time() - listening_started)) + if not candidate_seen.is_set() and remaining > 0: + diagnostics["scan_extended"] = True + with suppress(TimeoutError): + await asyncio.wait_for(candidate_seen.wait(), timeout=remaining) + diagnostics["scan_elapsed_ms"] = round((loop.time() - started) * 1000) + return discovered + + async def _scan_impl( duration_seconds: float, progress: BleOperationProgress, @@ -1163,7 +1254,10 @@ async def _scan_impl( progress.operation_stage = "discovery" scan_generation = _begin_scan_generation(owner_epoch) try: - discovered = await BleakScanner.discover(timeout=duration_seconds, return_adv=True) + discovery_timing: BleDiscoveryTiming = {} + discovered = await _discover_k1_advertisements( + timeout=duration_seconds, diagnostics=discovery_timing + ) handles = {device.address: device for device, _advertisement in discovered.values()} devices = [ advertisement_record(device, advertisement) @@ -1181,10 +1275,11 @@ async def _scan_impl( "started_at_utc": started_at, "completed_at_utc": utc_now_iso(), "duration_seconds": duration_seconds, - "adapter": "CoreBluetooth", + "adapter": "BlueZ" if sys.platform.startswith("linux") else "CoreBluetooth", "bleak_version": version("bleak"), "device_count": len(devices), "devices": devices, + "discovery_timing": discovery_timing, } except BaseException: _finish_failed_scan(scan_generation) diff --git a/src/k1link/device_plugins/xgrids_k1/camera.py b/src/k1link/device_plugins/xgrids_k1/camera.py index 224bd89..2f7460f 100644 --- a/src/k1link/device_plugins/xgrids_k1/camera.py +++ b/src/k1link/device_plugins/xgrids_k1/camera.py @@ -303,6 +303,7 @@ class XgridsK1CameraGateway: repository_root: Path, plugin_id: str, *, + evidence_root: Path | None = None, committed_segment_observer: CommittedCameraSegmentObserver | None = None, process_fence_descriptor_factory: Callable[[], int] | None = None, producer_stall_observer: CameraProducerStallObserver | None = None, @@ -316,6 +317,12 @@ class XgridsK1CameraGateway: if not 0.01 <= producer_watchdog_interval_seconds <= 60.0: raise ValueError("camera watchdog interval must be within 0.01..60 seconds") self._repository_root = repository_root.resolve() + # Runtime evidence may live outside a source checkout (worktrees/Node). + # The composition supplies this trusted root; request paths cannot widen it. + self._evidence_root = ( + evidence_root.expanduser().resolve() if evidence_root is not None + else self._repository_root + ) self._plugin_id = plugin_id self._lock = threading.RLock() self._lifecycle_lock = threading.Lock() @@ -674,8 +681,8 @@ class XgridsK1CameraGateway: root = session_dir.expanduser().resolve() if not root.is_dir(): raise ValueError("observation session directory does not exist") - if not root.is_relative_to(self._repository_root): - raise ValueError("camera recording root must stay inside the repository") + if not root.is_relative_to(self._evidence_root): + raise ValueError("camera recording root must stay inside the configured evidence root") reserved_generation: list[int] = [] def reserve() -> bool: @@ -805,8 +812,8 @@ class XgridsK1CameraGateway: root = session_dir.expanduser().resolve() if not root.is_dir(): raise ValueError("observation session directory does not exist") - if not root.is_relative_to(self._repository_root): - raise ValueError("camera recording root must stay inside the repository") + if not root.is_relative_to(self._evidence_root): + raise ValueError("camera recording root must stay inside the configured evidence root") with self._lifecycle_lock: with self._lock: diff --git a/src/k1link/device_plugins/xgrids_k1/facade.py b/src/k1link/device_plugins/xgrids_k1/facade.py index db7fab4..0f75f9e 100644 --- a/src/k1link/device_plugins/xgrids_k1/facade.py +++ b/src/k1link/device_plugins/xgrids_k1/facade.py @@ -88,6 +88,7 @@ from k1link.device_plugins.xgrids_k1.ble.runtime_arbiter import ( wait_for_ble_runtime_idle, ) from k1link.device_plugins.xgrids_k1.ble.scanner import ( + BLE_SCAN_DEFAULT_TIMEOUT_SECONDS, BLE_SCAN_HARD_TIMEOUT_GRACE_SECONDS, CapturedDiscoveredDevice, capture_discovered_device, @@ -226,6 +227,7 @@ from k1link.device_plugins.xgrids_k1.viewer.runtime import ( VisualizationRuntime, new_live_session_dir, ) +from k1link.device_plugins.xgrids_k1.wifi_failure import reviewed_station_failure_code from k1link.host_network import ( HostWifiAssociationIdentityProbe, HostWifiAssociationIdentityResult, @@ -1014,7 +1016,7 @@ class _ConfiguredEndpointHostObservation: class BleScanRequest(StrictRequest): - duration_seconds: float = Field(default=6.0, ge=1.0, le=60.0) + duration_seconds: float = Field(default=BLE_SCAN_DEFAULT_TIMEOUT_SECONDS, ge=1.0, le=60.0) operation_id: str | None = Field(default=None, min_length=1, max_length=128) @@ -1476,6 +1478,7 @@ class XgridsK1CompatibilityService: application_authority_loader: ApplicationAuthorityLoader | None = None, calibration_snapshot_reader: DeviceCalibrationSnapshotReader | None = None, host_wifi_association_probe: HostWifiAssociationProbe | None = None, + visualization_bridge_factory: Callable[..., Any] | None = None, ) -> None: self.repository_root = repository_root.resolve() # Every CoreBluetooth entrypoint, including read-only calibration and @@ -1876,6 +1879,7 @@ class XgridsK1CompatibilityService: physical_command_coordinator=self._physical_command_coordinator, ) self.runtime = VisualizationRuntime( + bridge_factory=visualization_bridge_factory, normalizer=normalize_k1_message, message_observer=self._observe_runtime_message, published_envelope_observer=self._observe_published_runtime_envelope, @@ -1886,6 +1890,7 @@ class XgridsK1CompatibilityService: self.camera_preview = XgridsK1CameraGateway( self.repository_root, XGRIDS_K1_PLUGIN_ID, + evidence_root=self.evidence_root, committed_segment_observer=self._observe_committed_camera_segment, process_fence_descriptor_factory=(self._duplicate_camera_process_fence_descriptor), producer_stall_observer=self._observe_camera_producer_stall, @@ -10190,19 +10195,27 @@ class XgridsK1CompatibilityService: f"Поиск завершён. Найдено BLE-устройств: {len(devices)}." ) self._operation_phase = None + discovery_result = { + "candidate_count": len(devices), + "likely_k1_candidate_count": sum(item["likely_k1"] is True for item in devices), + "duration_seconds": duration_seconds, + "discovery_generation": scan_generation, + **result.get("discovery_timing", {}), + } + logger.info( + "K1 BLE discovery completed", + extra={ + "event_code": "k1_ble_discovery_completed", + "operation_id": operation.operation_id, + **discovery_result, + }, + ) self._operations.transition( operation.operation_id, "succeeded", stage_code="completed", message_code="discovery.scan.completed", - result={ - "candidate_count": len(devices), - "likely_k1_candidate_count": sum( - item["likely_k1"] is True for item in devices - ), - "duration_seconds": duration_seconds, - "discovery_generation": scan_generation, - }, + result=discovery_result, ) with self._lock: if ( @@ -12143,6 +12156,14 @@ class XgridsK1CompatibilityService: safe_to_retry=not device_write_attempted, host_boundary="corebluetooth" if isinstance(exc, BleakError) else None, ) + station_failure_code = reviewed_station_failure_code( + operation_error, + firmware_version=request.compatibility_attestation.firmware_version, + connection_mode=request.connection_mode, + ) + if station_failure_code is not None: + operation_error["transport_error_code"] = operation_error["code"] + operation_error["code"] = station_failure_code if idempotency_record.stage == "prepared": cancelled = isinstance(exc, asyncio.CancelledError) idempotency_record = idempotency_journal.complete( @@ -12222,6 +12243,7 @@ class XgridsK1CompatibilityService: "connection_mode": request.connection_mode, "error_category": operation_error["category"], "error_code": operation_error["code"], + "transport_error_code": operation_error.get("transport_error_code"), "safe_to_retry": operation_error["safe_to_retry"], "side_effect_status": operation_error["side_effect_status"], "network_change_attempted": device_write_attempted, @@ -35803,6 +35825,14 @@ def _inspect_host_path(target: str) -> HostPathProbeResult: if separator: fields[key] = value.strip() + if sys.platform.startswith("linux"): + from .linux_host import route_fields + + try: + fields = route_fields(target) + except (OSError, ValueError, subprocess.SubprocessError): + inspection_reason = "host-route-inspection-unavailable" + interface = fields.get("interface") or None destination = fields.get("destination", "") gateway = fields.get("gateway", "") @@ -35825,6 +35855,10 @@ def _host_route_class(target: str) -> str: """Classify the host route without transmitting packets to the target.""" target = validate_private_ipv4(target) + if sys.platform.startswith("linux"): + path = _inspect_host_path(target) + return {"direct": "direct-or-routed", "default": "default-route", + "tunnel": "tunnel"}.get(path.route_class, "unknown") if sys.platform != "darwin": return "unknown" try: @@ -35874,6 +35908,7 @@ def _classify_host_route( "wireguard", "gif", "stf", + "tailscale", ) direct_lan_prefixes = ( "en", @@ -35882,6 +35917,7 @@ def _classify_host_route( "vlan", "usb", "p2p", + "wl", ) if normalized_interface.startswith(tunnel_prefixes): return "tunnel", "host-route-tunnel" diff --git a/src/k1link/device_plugins/xgrids_k1/linux_host.py b/src/k1link/device_plugins/xgrids_k1/linux_host.py new file mode 100644 index 0000000..fad2323 --- /dev/null +++ b/src/k1link/device_plugins/xgrids_k1/linux_host.py @@ -0,0 +1,214 @@ +"""Read-only Linux host adapters for the reviewed K1 Bridge workflow. + +No host association or subnet discovery is available through this module. +""" + +from __future__ import annotations + +import hashlib +import hmac +import json +import os +import re +import secrets +import stat +import subprocess +from pathlib import Path + +from k1link.device_plugins.xgrids_k1.protocol.application_authority import ( + ApplicationAuthorityLoadError, + ApplicationAuthoritySourceSnapshot, +) +from k1link.device_plugins.xgrids_k1.protocol.application_bootstrap import ( + ApplicationControlAuthority, +) + + +def _run(args: list[str], timeout: float = 8) -> str: + result = subprocess.run(args, capture_output=True, text=True, timeout=timeout, check=False) + if result.returncode: + # Never forward subprocess diagnostics: SSIDs or other local data may occur. + raise OSError("Network observation unavailable") + if len(result.stdout) > 131072: + raise OSError("Network observation exceeded its bound") + return result.stdout + + +def nm_fields(line: str) -> list[str]: + """Parse nmcli terse escaping, including SSIDs containing colons/backslashes.""" + fields, value, escaped = [], "", False + for char in line: + if escaped: + value += char + escaped = False + elif char == "\\": + escaped = True + elif char == ":": + fields.append(value) + value = "" + else: + value += char + if escaped: + value += "\\" + return [*fields, value] + + +def wifi_networks() -> list[dict]: + text = _run( + [ + "nmcli", + "-t", + "--escape", + "yes", + "-f", + "SSID,SIGNAL,SECURITY", + "device", + "wifi", + "list", + "--rescan", + "yes", + ], + timeout=20, + ) + networks = {} + for line in text.splitlines(): + fields = nm_fields(line) + if len(fields) != 3: + continue + ssid, strength, security = fields + if not ssid or not 1 <= len(ssid.encode()) <= 32 or not strength.isdigit(): + continue + signal = min(100, max(0, int(strength))) + if signal >= networks.get(ssid, {}).get("signal", -1): + networks[ssid] = {"ssid": ssid, "signal": signal, "security": security} + return sorted(networks.values(), key=lambda v: (-v["signal"], v["ssid"]))[:64] + + +def route_fields(target: str) -> dict[str, str]: + # fibmatch returns the actual matched route (including "default"), whereas + # an ordinary `route get` resolves dst to the host even for a default route. + routes = json.loads(_run(["ip", "-j", "route", "get", target, "fibmatch"])) + if not isinstance(routes, list) or len(routes) != 1: + raise OSError("Ambiguous kernel route") + route = routes[0] + if route.get("type", "unicast") != "unicast" or not route.get("dev"): + raise OSError("No unicast route") + return { + "interface": str(route["dev"]), + "destination": str(route.get("dst", "")), + "gateway": str(route.get("gateway", "")), + } + + +class LinuxWifiAssociationProbe: + def __init__(self, sys_net: Path = Path("/sys/class/net")): + self.sys_net = sys_net + self.key = secrets.token_bytes(32) + + def observe(self, *, interface_name: str | None, timeout_seconds: float = 30) -> dict: + result = { + "schema_version": 1, + "adapter": "linux-networkmanager", + "wifi_interface": None, + "association_state": "unavailable", + "evidence_quality": "unavailable", + "continuity_proven": False, + "continuity_token": "", + "reason_code": "host-wifi-observation-unavailable", + } + if not interface_name or not re.fullmatch(r"[A-Za-z0-9_.:-]{1,64}", interface_name): + return result + interface = self.sys_net / interface_name + if not interface.exists(): + return result + wireless = (interface / "wireless").exists() or (interface / "phy80211").exists() + result["wifi_interface"] = wireless + if not wireless: + result.update( + association_state="not-wifi", + evidence_quality="not-wifi", + continuity_proven=True, + reason_code=None, + ) + material = "not-wifi:" + interface_name + else: + try: + lines = _run( + [ + "nmcli", + "-t", + "--escape", + "yes", + "-f", + "ACTIVE,SSID,BSSID", + "device", + "wifi", + "list", + "ifname", + interface_name, + "--rescan", + "no", + ], + timeout=min(timeout_seconds, 8), + ) + active = [nm_fields(line) for line in lines.splitlines() if line.startswith("yes:")] + if len(active) != 1 or len(active[0]) != 3 or not active[0][2]: + return result + except (OSError, subprocess.SubprocessError): + return result + result.update( + association_state="associated", + evidence_quality="ssid+bssid", + continuity_proven=True, + reason_code=None, + ) + material = json.dumps([interface_name, *active[0][1:]], ensure_ascii=False) + result["continuity_token"] = hmac.new( + self.key, material.encode(), hashlib.sha256 + ).hexdigest() + return result + + +class LinuxApplicationAuthorityLoader: + """Read only a systemd-delivered credential, never an argv/env secret. + + Provisioning of the encrypted credential is a separate privileged install + operation. Missing authority does not prevent discovery but prevents control. + """ + + def __init__(self, directory: Path | None = None): + self.directory = directory + + def snapshot(self) -> ApplicationAuthoritySourceSnapshot: + return ApplicationAuthoritySourceSnapshot( + provider="linux-systemd-credential", + service="mission-core-k1.service", + account="k1-application", + ) + + def load(self) -> ApplicationControlAuthority: + directory = self.directory or Path( + os.environ.get("CREDENTIALS_DIRECTORY", "/run/credentials/mission-core-k1.service") + ) + buffer = bytearray() + try: + fd = os.open(directory / "k1-application", os.O_RDONLY | os.O_NOFOLLOW) + with os.fdopen(fd, "rb") as stream: + info = os.fstat(stream.fileno()) + if ( + not stat.S_ISREG(info.st_mode) + or info.st_uid != os.geteuid() + or info.st_mode & 0o077 + ): + raise ValueError("Invalid credential permissions") + buffer.extend(stream.read(1025)) + if len(buffer) > 1024: + raise ValueError("Credential too large") + return ApplicationControlAuthority(openapi_key=buffer.decode("ascii").strip()) + except (OSError, ValueError, UnicodeError): + raise ApplicationAuthorityLoadError( + "Служебный ключ K1 не установлен на БК.", + reason_code="application_authority_unavailable", + ) from None + finally: + buffer[:] = b"\0" * len(buffer) diff --git a/src/k1link/device_plugins/xgrids_k1/node_bridge.py b/src/k1link/device_plugins/xgrids_k1/node_bridge.py new file mode 100644 index 0000000..a192eee --- /dev/null +++ b/src/k1link/device_plugins/xgrids_k1/node_bridge.py @@ -0,0 +1,248 @@ +"""Node-owned, Bridge-only adapter around the admitted K1 plugin runtime. + +The local Unix worker accepts neither host-Wi-Fi actions nor arbitrary plugin +invocations. Its public projection contains no credentials or raw evidence. +""" + +from __future__ import annotations + +import asyncio +from datetime import UTC, datetime +from pathlib import Path + +from fastapi import FastAPI, Request +from fastapi.responses import JSONResponse +from missioncore_plugin_sdk.v0alpha2.runtime import RuntimeActionInvocation + +from k1link.viewer.node_rerun import NodeRerunHub + +from .ble.scanner import BLE_SCAN_DEFAULT_TIMEOUT_SECONDS +from .facade import ( + XGRIDS_K1_PLUGIN_ID, + XgridsK1CompatibilityService, + XgridsK1PluginFacade, + _validate_installed_compatibility_profile, +) +from .linux_host import LinuxApplicationAuthorityLoader, LinuxWifiAssociationProbe, wifi_networks + +ATTESTATION = { + "firmware_version": "3.0.2", + "topology": "direct-lan", + "verification": "live-device-info", +} + + +class NodeBridge: + def __init__(self, repository_root: Path, *, service=None): + self.rerun = NodeRerunHub() + if service is None: + _validate_installed_compatibility_profile(repository_root) + service = XgridsK1CompatibilityService( + repository_root, + application_authority_loader=LinuxApplicationAuthorityLoader(), + host_wifi_association_probe=LinuxWifiAssociationProbe(), + visualization_bridge_factory=self.rerun.create, + ) + self.service = service + self.facade = XgridsK1PluginFacade(service) + self.lock = asyncio.Lock() + + async def state(self) -> dict: + snapshot = await self.invoke("state.read", {}, "state-read") + return self.project(snapshot) + + @staticmethod + def project(snapshot: dict) -> dict: + lifecycle = snapshot.get("connection_lifecycle", {}) + return { + "available": True, + "model": "XGRIDS K1", + "mode": "bridge", + "runtime_id": snapshot["snapshot_runtime_id"], + "discovery_generation": snapshot.get("ble_discovery_generation", 0), + "mode_revision": snapshot.get("desired_connection_mode_revision", 0), + "candidates": [ + {"id": v["device_id"], "name": v.get("name") or "K1", "rssi": v.get("rssi")} + for v in snapshot.get("devices", []) + if v.get("likely_k1") + ][:32], + "connected": lifecycle.get("connection_ready") is True + and snapshot.get("active_connection_mode") == "bridge", + "ready_to_start": lifecycle.get("ready_to_start") is True, + "selected_device_id": snapshot.get("selected_device_id"), + "device_session": snapshot.get("device_session"), + "ip": snapshot.get("k1_ip"), + "phase": snapshot.get("phase"), + "observed_at": datetime.now(UTC).isoformat(), + } + + async def invoke(self, action: str, parameters: dict, identifier: str) -> dict: + return await self.facade.invoke( + RuntimeActionInvocation( + invocation_id=identifier, + plugin_id=XGRIDS_K1_PLUGIN_ID, + action_id=action, + requested_at=datetime.now(UTC), + parameters=parameters, + ) + ) + + async def execute(self, command: dict) -> dict: + action, identifier = command["action"], command["operation_id"] + parameters = command.get("parameters", {}) + if action not in {"scan", "networks", "connect", "verify"}: + raise ValueError("Unsupported Node device action") + async with self.lock: + if datetime.fromisoformat(command["deadline_at"]) <= datetime.now(UTC): + raise ValueError("Command expired before dispatch") + state = await self.state() + if command.get("runtime_id") != state["runtime_id"]: + raise ValueError("Node runtime changed") + if action == "networks": + return {**state, "networks": await asyncio.to_thread(wifi_networks)} + if action == "scan": + result = await self.invoke( + "discovery.scan", + { + "duration_seconds": BLE_SCAN_DEFAULT_TIMEOUT_SECONDS, + "operation_id": identifier, + }, + identifier, + ) + else: + # Do not derive fences at dispatch: they are the exact version + # shown to the operator before credentials were submitted. + if ( + parameters.get("discovery_generation") != state["discovery_generation"] + or parameters.get("mode_revision") != state["mode_revision"] + or parameters.get("device_id") not in {v["id"] for v in state["candidates"]} + ): + raise ValueError("Device selection changed") + payload = { + "device_id": parameters["device_id"], + "compatibility_attestation": ATTESTATION, + "operation_id": identifier, + "expected_mode_revision": parameters["mode_revision"], + "expected_discovery_generation": parameters["discovery_generation"], + "expected_snapshot_runtime_id": state["runtime_id"], + } + if action == "connect": + payload.update( + connection_mode="bridge", + allow_host_wifi_switch=False, + idempotency_key=identifier, + ssid=parameters.get("ssid"), + password=parameters.get("password"), + ) + try: + result = await self.invoke( + "network.provision" if action == "connect" else "connection.verify", + payload, + identifier, + ) + finally: + payload.pop("password", None) + parameters.pop("password", None) + return self.project(result) + + +def create_app(repository_root: Path): + from contextlib import asynccontextmanager + + bridge = NodeBridge(repository_root) + from k1link.viewer.node_media import NodeMediaPeers + + from .node_sensor import NodeK1Sensor + + peers = NodeMediaPeers(bridge.rerun, bridge.service.camera_preview) + sensor = NodeK1Sensor(bridge, peers) + + @asynccontextmanager + async def lifespan(_app): + yield + await peers.close_all() + await asyncio.to_thread(bridge.service.close) + + app = FastAPI(docs_url=None, redoc_url=None, openapi_url=None, lifespan=lifespan) + + @app.get("/status") + async def status(): + return await bridge.state() + + @app.get("/inventory") + async def inventory(request: Request): + return await sensor.inventory(request.headers["X-Node-Id"]) + + @app.get("/prepare-safe") + async def prepare_safe(): + state = await sensor.raw_state() + acquisition = state.get("acquisition") or {} + control = state.get("application_control_session") or {} + physical = control.get("physical_command") or state.get("physical_command") or {} + return { + "safe": not bridge.lock.locked() + and state.get("source_mode") == "idle" + and acquisition.get("state") in {None, "completed", "failed", "aborted"} + and not physical.get("requires_reconciliation") + and control.get("state") + not in {"start-requested", "initializing", "scanning", "stop-requested"} + } + + @app.post("/sensor-operation") + async def sensor_operation(request: Request): + try: + data = await request.body() + if len(data) > 65536: + raise ValueError("Request too large") + command = await request.json() + if datetime.fromisoformat(command["deadline_at"]) <= datetime.now(UTC): + raise ValueError("Command expired") + result = await sensor.execute(command, request.headers["X-Node-Id"]) + return {"state": "complete", "result": result} + except Exception: + return { + "state": "unknown", + "error": "Действие K1 не подтверждено. Обновите состояние устройства.", + } + + @app.post("/operation") + async def operation(request: Request): + # The Go broker admits size/action/binding/deadline and journals the + # operation before calling this private Unix socket. Never serialize + # Pydantic validation errors, exception text or the incoming payload. + body = {} + try: + data = await request.body() + if len(data) > 16384: + raise ValueError("Request too large") + body = await request.json() + return await bridge.execute(body) + except Exception: + return JSONResponse( + { + "error": ( + "Действие K1 не подтверждено. Обновите состояние; " + "проверьте питание, Bluetooth и сеть БК." + ) + }, + status_code=409, + ) + finally: + if isinstance(body, dict) and isinstance(body.get("parameters"), dict): + body["parameters"].pop("password", None) + + return app + + +def main(): + import os + + import uvicorn + + os.umask(0o007) + app = create_app(Path("/usr/lib/mission-core-node/k1")) + uvicorn.run(app, uds="/run/mission-core-k1/driver.sock", access_log=False, log_level="warning") + + +if __name__ == "__main__": + main() diff --git a/src/k1link/device_plugins/xgrids_k1/node_sensor.py b/src/k1link/device_plugins/xgrids_k1/node_sensor.py new file mode 100644 index 0000000..538e510 --- /dev/null +++ b/src/k1link/device_plugins/xgrids_k1/node_sensor.py @@ -0,0 +1,255 @@ +"""SDK projection and explicit acquisition actions for the Node-owned K1.""" + +import asyncio +import hashlib +import time +from datetime import UTC, datetime + +from .facade import ( + XGRIDS_K1_MODEL_ID, + XGRIDS_K1_PLUGIN_ID, + XGRIDS_K1_PLUGIN_VERSION, + ViewerSettingsRequest, +) +from .node_bridge import ATTESTATION + +PHYSICAL_ACCEPTANCE_KEYS = ( + "operator_present", + "owner_controlled_device", + "lixelgo_closed", + "battery_storage_confirmed", + "expected_physical_state_confirmed", +) + + +def project_sensor(snapshot, node_id): + session = snapshot.get("device_session") + if not session: + return None + identifier = "k1_" + hashlib.sha256(session["device_id"].encode()).hexdigest()[:32] + lifecycle = snapshot.get("connection_lifecycle", {}) + connected = ( + lifecycle.get("connection_ready") is True + and snapshot.get("active_connection_mode") == "bridge" + ) + acquisition = snapshot.get("acquisition") or {} + acquisition_state = { + "running": "streaming", + "active": "streaming", + "prepared": "preparing", + "starting": "starting", + "stopping": "stopping", + "failed": "failed", + }.get(acquisition.get("state"), "idle") + if snapshot.get("source_mode") == "live": + acquisition_state = "streaming" + now = datetime.now(UTC).isoformat() + context = { + "session_id": session["device_session_id"], + "device": { + "device_id": identifier, + "model": { + "plugin_id": XGRIDS_K1_PLUGIN_ID, + "plugin_version": XGRIDS_K1_PLUGIN_VERSION, + "model_id": XGRIDS_K1_MODEL_ID, + }, + "stability": "provisional", + "basis": "plugin-derived", + }, + "execution": { + "node_id": node_id, + "agent_instance_id": snapshot["snapshot_runtime_id"], + "platform": "linux", + }, + "opened_at": session["opened_at"], + } + control = snapshot.get("application_control_session") or {} + return { + "id": identifier, + "name": "XGRIDS K1", + "model": "XGRIDS K1", + "kind": "k1", + "prepared": True, + "configured": True, + "verified": connected, + "online": connected, + "usb": "", + "connection_label": "Wi-Fi · " + (snapshot.get("k1_ip") or "—"), + "layers": ["points", "camera"], + "snapshot": { + "context": context, + "revision": snapshot["snapshot_revision"], + "enrollment": "enrolled", + "connectivity": "connected" if connected else "offline", + "acquisition": acquisition_state, + "observed_at": now, + }, + "control": { + "generation": control.get("session_generation"), + "revision": control.get("state_revision"), + "phase": control.get("state"), + "can_start": lifecycle.get("ready_to_start", False), + "can_stop": control.get("state") in {"start-requested", "initializing", "scanning"}, + "acquisition_id": acquisition.get("acquisition_id"), + }, + "live_settings": snapshot.get("viewer_settings", {}), + "frames": snapshot.get("metrics", {}), + "recordings": [], + } + + +class NodeK1Sensor: + def __init__(self, bridge, peers): + self.bridge, self.peers = bridge, peers + + async def raw_state(self): + return await self.bridge.invoke("state.read", {}, "sensor-state") + + async def inventory(self, node_id): + state = await self.raw_state() + item = project_sensor(state, node_id) + return {"items": [item] if item else []} + + @staticmethod + def cas(state, *, acquisition=True): + control = state["application_control_session"] + if acquisition: + return { + "expected_control_session_generation": control["session_generation"], + "expected_control_state_revision": control["state_revision"], + } + return { + "expected_session_generation": control["session_generation"], + "expected_state_revision": control["state_revision"], + } + + async def execute(self, command, node_id): + state = await self.raw_state() + item = project_sensor(state, node_id) + if ( + not item + or command["session"]["device_id"] != item["id"] + or command["session"]["session_id"] != item["snapshot"]["context"]["session_id"] + ): + raise ValueError("Device session changed") + action, params, identifier = ( + command["action_id"], + command.get("parameters", {}), + command["operation_id"], + ) + if action == "details": + return item + if action == "close-peer": + await self.peers.close(params.get("peer_id")) + return {"ok": True} + if action == "offer": + if item["snapshot"]["acquisition"] != "streaming": + raise ValueError("Acquisition is not active") + return await self.peers.offer(params) + async with self.bridge.lock: + if datetime.fromisoformat(command["deadline_at"]) <= datetime.now(UTC): + raise ValueError("Command expired before dispatch") + state = await self.raw_state() + current = project_sensor(state, node_id) + if ( + current is None + or current["snapshot"]["context"]["session_id"] != command["session"]["session_id"] + ): + raise ValueError("Device session changed") + runtime = state["snapshot_runtime_id"] + if action == "option": + if ( + set(params) != {"profile", "settings"} + or params["profile"] != "live-acquisition" + ): + raise ValueError("Only the live profile belongs to this device") + settings = ViewerSettingsRequest.model_validate(params["settings"]) + result = await self.bridge.invoke( + "viewer.settings.update", settings.model_dump(), identifier + ) + return project_sensor(result, node_id) + if action == "verify": + result = await self.bridge.invoke( + "connection.verify", {"expected_snapshot_runtime_id": runtime}, identifier + ) + return project_sensor(result, node_id) + if action not in {"start", "stop"} or params.get("operator_confirmed") is not True: + raise ValueError("Unsupported device action") + if ( + params.get("control_generation") != current["control"]["generation"] + or params.get("acquisition_id") != current["control"]["acquisition_id"] + ): + raise ValueError("Control session changed") + # Same explicit START/STOP acceptance as the admitted local plugin. + # No confirmation is inferred from polling, discovery or a preview offer. + acceptance = dict.fromkeys(PHYSICAL_ACCEPTANCE_KEYS, True) + if action == "stop": + result = await self.bridge.invoke( + "acquisition.stop", + { + "operation_id": identifier, + "idempotency_key": identifier, + "acquisition_id": params.get("acquisition_id"), + "mode": "graceful", + "physical_acceptance": acceptance, + "expected_snapshot_runtime_id": runtime, + **self.cas(state), + }, + identifier, + ) + await self.peers.close_all() + return project_sensor(result, node_id) + deadline = min( + datetime.fromisoformat(command["deadline_at"]).timestamp(), time.time() + 165 + ) + dispatched = set() + while time.time() < deadline: + if state["snapshot_runtime_id"] != runtime: + raise ValueError("Runtime changed during START") + control = state.get("application_control_session") or {} + phase = control.get("state") + physical = control.get("physical_command") or state.get("physical_command") or {} + if physical.get("requires_reconciliation"): + raise ValueError("Physical state requires explicit reconciliation") + acquisition = state.get("acquisition") or {} + payload = {"expected_snapshot_runtime_id": runtime} + next_action = None + if phase == "connection-ready": + if control.get("inspection_only"): + next_action = "application-control.session.open" + payload.update(acceptance, timezone_name="UTC") + else: + next_action = "application-control.workspace.enter" + payload.update(self.cas(state, acquisition=False), operator_confirmed=True) + elif phase == "workspace-ready" and acquisition.get("state") != "prepared": + next_action = "acquisition.prepare" + payload.update( + self.cas(state), + operation_id=identifier + "_prepare", + idempotency_key=identifier + "_prepare", + project_name="node-" + identifier[3:15], + compatibility_attestation=ATTESTATION, + ) + elif phase == "project-ready" and acquisition.get("state") == "prepared": + next_action = "acquisition.start" + payload.update( + self.cas(state), + operation_id=identifier, + idempotency_key=identifier, + acquisition_id=acquisition["acquisition_id"], + expected_state_revision=acquisition["state_revision"], + physical_acceptance=acceptance, + ) + elif phase in {"failed", "idle", "closed", "completed"}: + raise ValueError("K1 control not ready") + elif phase in {"start-requested", "initializing", "scanning"}: + return project_sensor(state, node_id) + if next_action and next_action not in dispatched: + dispatched.add(next_action) + state = await self.bridge.invoke( + next_action, payload, identifier + "_" + str(len(dispatched)) + ) + else: + await asyncio.sleep(0.5) + state = await self.raw_state() + raise TimeoutError("K1 did not confirm START") diff --git a/src/k1link/device_plugins/xgrids_k1/wifi_failure.py b/src/k1link/device_plugins/xgrids_k1/wifi_failure.py new file mode 100644 index 0000000..f0a514f --- /dev/null +++ b/src/k1link/device_plugins/xgrids_k1/wifi_failure.py @@ -0,0 +1,33 @@ +from __future__ import annotations + +from collections.abc import Mapping + + +def reviewed_station_failure_code( + error: Mapping[str, object], *, firmware_version: str, connection_mode: str +) -> str | None: + """Interpret the reviewed FW 3.0.2 station callback, retaining ATT evidence. + + lixel_nman's wifi_connect return value is passed to the GATT write result. + Its 4 (SSID not found) and 6 (credentials required) collide with standard + ATT names. This is a profile-scoped diagnosis, not network-state proof or + retry authority. See the 2026-09-06 firmware callback audit. + """ + if not ( + firmware_version == "3.0.2" + and connection_mode in {"bridge", "direct-connect"} + and error.get("code") == "BleakGATTProtocolError" + and error.get("operation_stage") == "gatt-write" + and error.get("device_write_attempted") is True + and error.get("device_write_confirmed") is False + and error.get("resolved_write_mode") == "with_response" + and error.get("frame_length") == 99 + ): + return None + code = error.get("ble_att_error_code") + if not isinstance(code, int) or isinstance(code, bool): + return None + return { + 4: "k1-wifi-network-not-found", + 6: "k1-wifi-credentials-required", + }.get(code) diff --git a/src/k1link/fleet/device_enrollment.py b/src/k1link/fleet/device_enrollment.py new file mode 100644 index 0000000..f32c970 --- /dev/null +++ b/src/k1link/fleet/device_enrollment.py @@ -0,0 +1,173 @@ +"""Bounded, transient delivery of Node-owned wireless device operations. + +Unlike ordinary sensor operations these can contain a WLAN password. The +pending payload never enters Fleet's database, listing, event stream or result. +The Node owns the durable, redacted operation journal and at-most-once dispatch. +""" + +import copy +import json +import re +import time +from datetime import UTC, datetime + +from .trust import PairingError + +ACTIONS = {"scan", "networks", "connect", "verify"} + + +def validate(value): + if not isinstance(value, dict) or set(value) != { + "operation_id", + "node_id", + "runtime_id", + "action", + "deadline_at", + "parameters", + }: + raise PairingError("Неверный запрос подключения устройства.") + if ( + not re.fullmatch(r"op_[0-9a-f]{32}", str(value["operation_id"])) + or value["action"] not in ACTIONS + or len(json.dumps(value)) > 16384 + or not isinstance(value["runtime_id"], str) + or not value["runtime_id"] + or len(value["runtime_id"]) > 128 + ): + raise PairingError("Неподдерживаемая операция подключения.") + try: + delta = (datetime.fromisoformat(value["deadline_at"]) - datetime.now(UTC)).total_seconds() + if not 0 < delta <= 180: + raise ValueError + except (ValueError, TypeError): + raise PairingError("Срок запроса истёк. Обновите устройства.") from None + parameters = value["parameters"] + expected = {"device_id", "discovery_generation", "mode_revision"} + if value["action"] == "connect": + expected |= {"ssid", "password"} + elif value["action"] in {"scan", "networks"}: + expected = set() + if not isinstance(parameters, dict) or set(parameters) != expected: + raise PairingError("Неверные параметры подключения.") + if "device_id" in expected and ( + not isinstance(parameters["device_id"], str) + or not 1 <= len(parameters["device_id"]) <= 128 + or type(parameters["discovery_generation"]) is not int + or type(parameters["mode_revision"]) is not int + or min(parameters["discovery_generation"], parameters["mode_revision"]) < 0 + ): + raise PairingError("Обновите выбранное устройство.") + if value["action"] == "connect" and any( + not isinstance(parameters[key], str) or not 1 <= len(parameters[key].encode()) <= limit + for key, limit in (("ssid", 32), ("password", 64)) + ): + raise PairingError("Проверьте название сети и пароль.") + + +class DeviceEnrollment: + def __init__(self): + # Access only under the enclosing FleetRegistry.lock. + self.pending = {} + + def prune(self): + now = time.time() + for key, entry in list(self.pending.items()): + if now - entry["created"] > 600: + del self.pending[key] + elif entry["deadline"] <= now and entry["public"]["state"] in {"queued", "running"}: + entry["payload"] = None + entry["public"] = { + "operation_id": key[1], + "state": "unknown", + "error": "Подтверждение с БК не получено. Обновите состояние K1.", + } + + def submit(self, fleet, vehicle_id, value): + validate(value) + with fleet.lock: + self.prune() + row = fleet.find(vehicle_id) + state = row.get("device_enrollment", {}) + if ( + fleet.public(row)["connectivity"] != "online" + or value["node_id"] != row["node_id"] + or value["runtime_id"] != state.get("runtime_id") + or state.get("available") is not True + ): + raise PairingError("БК или служба K1 недоступны. Обновите устройства.") + key = (vehicle_id, value["operation_id"]) + existing = self.pending.get(key) + if existing: + # First intent owns this ID; never accept replacement secrets. + return copy.deepcopy(existing["public"]) + if len(self.pending) >= 32: + raise PairingError("Слишком много запросов. Повторите позже.") + public = {"operation_id": value["operation_id"], "state": "queued"} + self.pending[key] = { + "public": public, + "payload": copy.deepcopy(value), + "binding": row["binding"]["binding_id"], + "node_id": row["node_id"], + "created": time.time(), + "deadline": datetime.fromisoformat(value["deadline_at"]).timestamp(), + } + return dict(public) + + def operation(self, fleet, vehicle_id, identifier): + with fleet.lock: + self.prune() + row = fleet.find(vehicle_id) + entry = self.pending.get((vehicle_id, identifier)) + if not entry or entry["binding"] != (row.get("binding") or {}).get("binding_id"): + # A Core restart loses transient delivery; never recreate it + # from browser credentials or imply that a physical write failed. + return { + "operation_id": identifier, + "state": "unknown", + "error": "Результат запроса недоступен. Обновите состояние устройства.", + } + return copy.deepcopy(entry["public"]) + + def heartbeat(self, row, value): + self.prune() + state = value.get("device_enrollment", {"available": False}) + if not isinstance(state, dict) or len(json.dumps(state)) > 32768: + raise ValueError("Invalid device enrollment state") + row["device_enrollment"] = state + acknowledgements = [] + results = value.get("enrollment_results", []) + if not isinstance(results, list) or len(results) > 32: + raise ValueError("Invalid enrollment results") + for result in results: + if not isinstance(result, dict) or len(json.dumps(result)) > 65536: + raise ValueError("Invalid enrollment result") + key = (row["id"], result.get("operation_id")) + entry = self.pending.get(key) + if ( + entry + and entry["binding"] == row["binding"]["binding_id"] + and result.get("state") in {"running", "complete", "error", "unknown"} + ): + entry["payload"] = None # Node's journal now owns the intent. + entry["public"] = { + k: result[k] + for k in ("operation_id", "state", "error", "result") + if k in result + } + if result["state"] != "running": + acknowledgements.append(result["operation_id"]) + elif result.get("state") != "running": + acknowledgements.append(result.get("operation_id")) + commands = [] + for (vehicle_id, _), entry in self.pending.items(): + if vehicle_id != row["id"]: + continue + if entry["binding"] != row["binding"]["binding_id"]: + entry["payload"] = None + entry["public"]["state"] = "unknown" + elif entry["payload"] is not None: + commands.append(entry["payload"]) + return { + "enrollment_commands": commands[:2], + "enrollment_acknowledgements": acknowledgements, + } diff --git a/src/k1link/fleet/registry.py b/src/k1link/fleet/registry.py index 07eb63f..5f7ab01 100644 --- a/src/k1link/fleet/registry.py +++ b/src/k1link/fleet/registry.py @@ -30,6 +30,9 @@ class FleetRegistry: from .events import FleetEvents self.events = FleetEvents() + from .device_enrollment import DeviceEnrollment + + self.device_enrollment = DeviceEnrollment() self.trust = CoreTrust(root) path = root / "fleet.sqlite3" if path.is_symlink(): @@ -378,6 +381,7 @@ class FleetRegistry: return 400, {"error": "Invalid Node inventory"} sensor_state = sensors.validate_inventory(value, node_id) sensor_response = sensors.heartbeat(row, value) + enrollment_response = self.device_enrollment.heartbeat(row, value) host = value.get("host") if ( not isinstance(host, dict) @@ -403,4 +407,4 @@ class FleetRegistry: } row["binding"]["client_pem"] = self.trust.leaf(node_id, key) self.save(row) - return 200, {"ok": True, "client_pem": row["binding"]["client_pem"], **sensor_response} + return 200, {"ok": True, "client_pem": row["binding"]["client_pem"], **sensor_response, **enrollment_response} diff --git a/src/k1link/viewer/node_media.py b/src/k1link/viewer/node_media.py new file mode 100644 index 0000000..da8a828 --- /dev/null +++ b/src/k1link/viewer/node_media.py @@ -0,0 +1,170 @@ +"""Paired signalling, private ICE candidates and bounded live data channels.""" + +import asyncio +import ipaddress +import queue +import time +from contextlib import suppress +from uuid import uuid4 + +import aioice.ice +from aiortc import RTCConfiguration, RTCPeerConnection, RTCSessionDescription + +PRIVATE_NETWORKS = tuple( + ipaddress.ip_network(v) + for v in ("127.0.0.0/8", "10.0.0.0/8", "172.16.0.0/12", "192.168.0.0/16", "100.64.0.0/10") +) + + +def private(address): + try: + value = ipaddress.ip_address(address) + return value.version == 4 and any(value in network for network in PRIVATE_NETWORKS) + except ValueError: + return False + + +def admit_sdp(sdp): + if not isinstance(sdp, str) or not 1 <= len(sdp) <= 32768: + raise ValueError("Invalid media invitation") + media = [line for line in sdp.splitlines() if line.startswith("m=")] + if not sdp.startswith("v=0") or len(media) != 1 or not media[0].startswith("m=application "): + raise ValueError("A single data-channel media section is required") + for line in sdp.splitlines(): + if line.startswith("a=candidate:"): + parts = line.split() + if ( + len(parts) < 8 + or parts[7] != "host" + or not (private(parts[4]) or parts[4].endswith(".local")) + ): + raise ValueError("Only private host ICE candidates are admitted") + + +class NodeMediaPeers: + def __init__(self, hub, camera): + self.hub, self.camera, self.items = hub, camera, {} + # Process-local adapter in this dedicated worker; no public/STUN/TURN ICE. + original = aioice.ice.get_host_addresses + aioice.ice.get_host_addresses = lambda use_ipv4, use_ipv6: [ + value for value in original(use_ipv4=True, use_ipv6=False) if private(value) + ] + + async def offer(self, parameters): + admit_sdp(parameters.get("sdp")) + if len(self.items) >= 2: + raise ValueError("Close another live viewer") + pc = RTCPeerConnection(RTCConfiguration(iceServers=[])) + identifier = "peer_" + uuid4().hex + entry = {"pc": pc, "seen": time.monotonic(), "tasks": [], "labels": set()} + self.items[identifier] = entry + + @pc.on("datachannel") + def datachannel(channel): + if channel.label not in {"rrd", "camera"} or channel.label in entry["labels"]: + channel.close() + return + entry["labels"].add(channel.label) + + @channel.on("message") + def message(value): + if value == "keepalive": + entry["seen"] = time.monotonic() + + entry["tasks"].append(asyncio.create_task(self.deliver(identifier, channel))) + + @pc.on("connectionstatechange") + async def changed(): + if pc.connectionState in {"closed", "failed"}: + await self.close(identifier) + + try: + await pc.setRemoteDescription( + RTCSessionDescription(sdp=parameters["sdp"], type="offer") + ) + await pc.setLocalDescription(await pc.createAnswer()) + + async def expiry(): + await asyncio.sleep(25) + if pc.connectionState != "connected": + await self.close(identifier) + + entry["tasks"].append(asyncio.create_task(expiry())) + snapshot = self.camera.snapshot() + return { + "peer_id": identifier, + "sdp": pc.localDescription.sdp, + "type": "answer", + "camera_mime": (snapshot.get("delivery") or {}).get("media_type"), + "profile": "live-acquisition", + "transport": "webrtc-rrd-fmp4", + } + except BaseException: + await self.close(identifier) + raise + + async def send(self, channel, payload): + if len(payload) > 8 * 1024 * 1024: + raise RuntimeError("Preview fragment exceeds bound") + for offset in range(0, len(payload), 16384): + deadline = time.monotonic() + 2 + while channel.readyState != "open" or channel.bufferedAmount > 1024 * 1024: + if channel.readyState in {"closed", "closing"} or time.monotonic() > deadline: + raise RuntimeError("Preview consumer unavailable") + await asyncio.sleep(0.01) + channel.send(payload[offset : offset + 16384]) + await asyncio.sleep(0) + + async def deliver(self, identifier, channel): + subscriber = lease = None + try: + entry = self.items[identifier] + if channel.label == "rrd": + subscriber = await asyncio.to_thread(self.hub.subscribe) + else: + generation = self.camera.snapshot().get("generation") + if generation is None: + channel.close() + return + lease = await asyncio.to_thread(self.camera.open_delivery, generation) + while identifier in self.items and time.monotonic() - entry["seen"] < 30: + if subscriber: + payload = await asyncio.to_thread(subscriber.read) + else: + try: + segment = await asyncio.to_thread(lease.segments.get, 0.5) + except queue.Empty: + continue + if segment is None: + break + kind, payload = segment + if kind == "media": + self.camera.mark_streaming(lease) + if payload is None: + break + if payload: + await self.send(channel, payload) + except (Exception, asyncio.CancelledError): + pass + finally: + if subscriber: + subscriber.close() + if lease: + self.camera.release_delivery(lease, client_closed=True) + if channel.label == "camera": + channel.close() + else: + await self.close(identifier) + + async def close(self, identifier): + entry = self.items.pop(identifier, None) + if entry: + for task in entry["tasks"]: + if task is not asyncio.current_task(): + task.cancel() + with suppress(Exception): + await entry["pc"].close() + + async def close_all(self): + for identifier in list(self.items): + await self.close(identifier) diff --git a/src/k1link/viewer/node_rerun.py b/src/k1link/viewer/node_rerun.py new file mode 100644 index 0000000..7d1f56f --- /dev/null +++ b/src/k1link/viewer/node_rerun.py @@ -0,0 +1,144 @@ +"""Bounded live RRD publication for paired Node viewers, without a TCP listener. + +Every viewer receives a fresh native recording including StoreInfo/blueprint. +Latest-value queues discard decoded preview frames before encoding; encoded +RRD bytes are never dropped inside a stream. Slow viewers are closed instead. +""" + +import queue +import threading +from contextlib import suppress +from uuid import uuid4 + +from k1link.viewer.rerun_bridge import RerunBridge + +MAX_ENCODED_CHUNK = 8 * 1024 * 1024 + + +class RrdSubscriber: + def __init__(self, settings_provider): + self.closed = threading.Event() + self.inputs = queue.Queue(maxsize=2) + self.output = queue.Queue(maxsize=2) + self.settings_provider = settings_provider + self.thread = threading.Thread(target=self.run, name="node-rerun-view", daemon=True) + self.thread.start() + + def offer(self, envelope): + if self.closed.is_set(): + return + with suppress(queue.Full): + if self.inputs.full(): + with suppress(queue.Empty): + self.inputs.get_nowait() + self.inputs.put_nowait(envelope) + + def read(self): + if self.closed.is_set(): + return None + try: + return self.output.get(timeout=0.5) + except queue.Empty: + return b"" + + def close(self): + self.closed.set() + + def run(self): + binary = None + bridge = None + + def output(recording): + nonlocal binary + binary = recording.binary_stream() + return "webrtc+rrd://" + str(uuid4()) + + try: + bridge = RerunBridge(settings_provider=self.settings_provider, recording_output=output) + bridge.begin_session() + while not self.closed.is_set(): + payload = binary.read() + if len(payload) > MAX_ENCODED_CHUNK: + break + if payload: + # Bound both bytes and waiting time. The archive/producer + # never waits for this disposable preview subscription. + self.output.put(payload, timeout=0.5) + try: + envelope = self.inputs.get(timeout=0.1) + except queue.Empty: + continue + bridge.process(envelope) + except Exception: + pass + finally: + self.closed.set() + if bridge is not None: + with suppress(Exception): + bridge.close() + binary.read() + + +class NodeRerunBridge(RerunBridge): + def __init__(self, **kwargs): + self.lock = threading.Lock() + self.subscribers = [] + self.latest = {} + + def output(recording): + self.binary = recording.binary_stream() + return "webrtc+rrd://" + str(uuid4()) + + super().__init__(**kwargs, recording_output=output) + self.binary.read() + + def process(self, envelope): + super().process(envelope) + # The primary recording proves native publication and owns metrics. + # It is continuously drained even when no viewer is attached. + self.binary.read() + with self.lock: + self.latest[type(envelope)] = envelope + self.subscribers = [v for v in self.subscribers if not v.closed.is_set()] + for subscriber in self.subscribers: + subscriber.offer(envelope) + + def process_perception(self, frame): + super().process_perception(frame) + self.binary.read() + + def subscribe(self): + with self.lock: + self.subscribers = [v for v in self.subscribers if not v.closed.is_set()] + if self._closed or len(self.subscribers) >= 2: + raise RuntimeError("Live viewer unavailable") + subscriber = RrdSubscriber(self._settings_provider) + for envelope in self.latest.values(): + subscriber.offer(envelope) + self.subscribers.append(subscriber) + return subscriber + + def close(self): + with self.lock: + for subscriber in self.subscribers: + subscriber.close() + self.subscribers.clear() + self.latest.clear() + super().close() + self.binary.read() + + +class NodeRerunHub: + def __init__(self): + self.bridge = None + + def create(self, **kwargs): + bridge = NodeRerunBridge(**kwargs) + self.bridge = bridge + return bridge + + def subscribe(self): + bridge = self.bridge + if bridge is None: + raise RuntimeError("Live acquisition is not active") + return bridge.subscribe() diff --git a/src/k1link/viewer/rerun_bridge.py b/src/k1link/viewer/rerun_bridge.py index 95f1574..62783c5 100644 --- a/src/k1link/viewer/rerun_bridge.py +++ b/src/k1link/viewer/rerun_bridge.py @@ -118,6 +118,7 @@ class RerunBridge: settings_provider: SettingsProvider | None = None, cors_allow_origin: tuple[str, ...] = DEFAULT_CORS_ORIGINS, recording_factory: Callable[[str], rr.RecordingStream] | None = None, + recording_output: Callable[[rr.RecordingStream], str] | None = None, ) -> None: self.metrics = metrics or BridgeMetrics() self._settings_provider = settings_provider or RerunSceneSettings @@ -130,31 +131,29 @@ class RerunBridge: else: recording = recording_factory("nodedc_mission_core_spatial") try: - selected_grpc_port = _select_available_grpc_port(grpc_port) - if selected_grpc_port != grpc_port: - logger.info( - "Mission Core selected a new Rerun port because an earlier " - "viewer still owns the preferred listener", - extra={ - "event_code": "rerun_grpc_port_rotated", - "preferred_port": grpc_port, - "selected_port": selected_grpc_port, - }, - ) blueprint = _blueprint(self._settings) - url = recording.serve_grpc( - grpc_port=selected_grpc_port, - default_blueprint=blueprint, - # This is a reconnect cushion for the live preview, not the source - # of record. Raw MQTT evidence is persisted independently. A large - # late-client backlog can block the native SDK and freeze preview. - server_memory_limit=LIVE_GRPC_BUFFER_LIMIT, - # Rerun transport can replay ActivateStore before StoreInfo when an - # evicted buffer is served newest-first, leaving late viewers on the - # welcome screen. Preserve protocol order within the bounded cache. - newest_first=False, - cors_allow_origin=list(cors_allow_origin), - ) + if recording_output is not None: + # Node's paired WebRTC delivery uses an RRD sink and never opens + # an unauthenticated gRPC listener on an onboard interface. + url = recording_output(recording) + else: + selected_grpc_port = _select_available_grpc_port(grpc_port) + if selected_grpc_port != grpc_port: + logger.info( + "Mission Core selected a new Rerun port because an earlier viewer " + "still owns the preferred listener", + extra={"event_code": "rerun_grpc_port_rotated", "preferred_port": grpc_port, + "selected_port": selected_grpc_port}, + ) + url = recording.serve_grpc( + grpc_port=selected_grpc_port, + default_blueprint=blueprint, + # Bounded reconnect cushion, not the source of record. + server_memory_limit=LIVE_GRPC_BUFFER_LIMIT, + # StoreInfo must precede ActivateStore for late viewers. + newest_first=False, + cors_allow_origin=list(cors_allow_origin), + ) recording.send_blueprint( blueprint, make_active=True, diff --git a/src/k1link/web/fleet_api.py b/src/k1link/web/fleet_api.py index d6b6650..befe47d 100644 --- a/src/k1link/web/fleet_api.py +++ b/src/k1link/web/fleet_api.py @@ -136,3 +136,52 @@ def sensor_operation( return operation(fleet, vehicle_id, operation_id) except PairingError as error: raise HTTPException(404, str(error)) from None + + +@router.get("/{vehicle_id}/devices/enrollment") +def enrollment_state( + vehicle_id: str, response: Response, fleet: Annotated[FleetRegistry, Depends(local_operator)] +): + response.headers["Cache-Control"] = "no-store" + try: + with fleet.lock: + row = fleet.find(vehicle_id) + return { + **row.get("device_enrollment", {"available": False}), + "node_id": row["node_id"], + "name": row["name"], + "fresh": fleet.public(row)["connectivity"] == "online", + } + except PairingError as error: + raise HTTPException(404, str(error)) from None + + +@router.post("/{vehicle_id}/devices/enrollment/operations") +def enrollment_submit( + vehicle_id: str, + body: dict, + response: Response, + fleet: Annotated[FleetRegistry, Depends(local_operator)], +): + response.headers["Cache-Control"] = "no-store" + try: + return fleet.device_enrollment.submit(fleet, vehicle_id, body) + except (PairingError, ValueError, TypeError): + # Validation diagnostics must never echo a supplied credential. + raise HTTPException( + 409, "Запрос подключения не принят. Обновите БК и проверьте параметры сети." + ) from None + + +@router.get("/{vehicle_id}/devices/enrollment/operations/{operation_id}") +def enrollment_operation( + vehicle_id: str, + operation_id: str, + response: Response, + fleet: Annotated[FleetRegistry, Depends(local_operator)], +): + response.headers["Cache-Control"] = "no-store" + try: + return fleet.device_enrollment.operation(fleet, vehicle_id, operation_id) + except PairingError as error: + raise HTTPException(404, str(error)) from None diff --git a/src/k1link/web/runtime_diagnostics.py b/src/k1link/web/runtime_diagnostics.py index f02b9d2..70431f5 100644 --- a/src/k1link/web/runtime_diagnostics.py +++ b/src/k1link/web/runtime_diagnostics.py @@ -18,6 +18,7 @@ _EXTRA_FIELDS: Final = ( "connection_mode", "error_category", "error_code", + "transport_error_code", "reason_code", "failed_phase", "dialogue_stage", @@ -32,6 +33,20 @@ _EXTRA_FIELDS: Final = ( "device_write_confirmed", "ble_att_error_code", "ble_att_error_name", + "resolved_write_mode", + "max_write_without_response_size", + "mtu_size", + "frame_length", + "bridge_frame_length", + "quick_connect_frame_length", + "scan_elapsed_ms", + "scanner_start_ms", + "initial_window_ms", + "first_candidate_ms", + "scan_extended", + "candidate_count", + "likely_k1_candidate_count", + "discovery_generation", "helper_stage", "helper_elapsed_ms", "status_reconciliation", @@ -102,6 +117,26 @@ class ScannerDiagnosticJsonFormatter(logging.Formatter): value = getattr(record, field, None) if value is not None and isinstance(value, (str, int, bool)): document[field] = value + if record.exc_info is not None: + exception_type, _exception, traceback = record.exc_info + if exception_type is not None: + document["exception_type"] = exception_type.__name__[:128] + if traceback is not None: + while traceback.tb_next is not None: + traceback = traceback.tb_next + code = traceback.tb_frame.f_code + # Preserve the failure location, never exception text, locals, + # source lines or absolute paths that may contain private data. + document["exception_site"] = ( + f"{Path(code.co_filename).name}:{traceback.tb_lineno}:{code.co_name}" + )[:256] + properties = getattr(record, "write_characteristic_properties", None) + if isinstance(properties, (list, tuple)) and all( + isinstance(value, str) + and value in {"read", "write", "write-without-response", "notify", "indicate"} + for value in properties + ): + document["write_characteristic_properties"] = sorted(set(properties)) return json.dumps(document, ensure_ascii=False, separators=(",", ":")) diff --git a/tests/fleet/test_device_enrollment.py b/tests/fleet/test_device_enrollment.py new file mode 100644 index 0000000..38e536e --- /dev/null +++ b/tests/fleet/test_device_enrollment.py @@ -0,0 +1,111 @@ +import copy +import json +import secrets +import threading +from datetime import UTC, datetime, timedelta + +import pytest + +from k1link.fleet.device_enrollment import DeviceEnrollment, validate +from k1link.fleet.trust import PairingError + + +class Fleet: + def __init__(self): + self.lock = threading.RLock() + self.row = { + "id": "vehicle", + "node_id": "node-1", + "binding": {"binding_id": "binding-1"}, + "device_enrollment": {"available": True, "runtime_id": "runtime-1"}, + } + + def find(self, _identifier): + return self.row + + def public(self, row): + return {"connectivity": "online"} + + +def command(): + # Synthetic value constructed at runtime; never a real WLAN credential. + return { + "operation_id": "op_" + "a" * 32, + "node_id": "node-1", + "runtime_id": "runtime-1", + "action": "connect", + "deadline_at": (datetime.now(UTC) + timedelta(seconds=60)).isoformat(), + "parameters": { + "device_id": "AA:BB:CC:DD:EE:FF", + "discovery_generation": 1, + "mode_revision": 0, + "ssid": "test-net", + "password": secrets.token_urlsafe(20), + }, + } + + +def test_password_only_lives_in_pending_delivery_and_never_in_fleet_or_result(): + fleet, bus, request = Fleet(), DeviceEnrollment(), command() + secret = request["parameters"]["password"] + public = bus.submit(fleet, "vehicle", request) + assert secret not in json.dumps(public) + assert secret not in json.dumps(fleet.row) + envelope = bus.heartbeat(fleet.row, {}) + assert envelope["enrollment_commands"][0]["parameters"]["password"] == secret + bus.heartbeat( + fleet.row, + {"enrollment_results": [{"operation_id": request["operation_id"], "state": "running"}]}, + ) + assert secret not in json.dumps(list(bus.pending.values())) + assert not bus.heartbeat(fleet.row, {})["enrollment_commands"] + + +def test_unknown_after_core_restart_does_not_recreate_command(): + fleet, bus, request = Fleet(), DeviceEnrollment(), command() + bus.submit(fleet, "vehicle", request) + restarted = DeviceEnrollment() + assert restarted.operation(fleet, "vehicle", request["operation_id"])["state"] == "unknown" + assert not restarted.heartbeat(fleet.row, {})["enrollment_commands"] + + +def test_fences_board_runtime_and_deadline_and_forbids_host_actions(): + for change in ( + {"node_id": "node-2"}, + {"runtime_id": "runtime-2"}, + {"action": "quick-connect"}, + {"deadline_at": datetime.now(UTC).isoformat()}, + ): + fleet, bus, request = Fleet(), DeviceEnrollment(), command() + request.update(change) + with pytest.raises(PairingError): + bus.submit(fleet, "vehicle", request) + request = command() + request["parameters"]["allow_host_wifi_switch"] = True + with pytest.raises(PairingError): + validate(request) + + +def test_rebinding_drops_delivery_and_old_results(): + fleet, bus, request = Fleet(), DeviceEnrollment(), command() + bus.submit(fleet, "vehicle", request) + fleet.row["binding"]["binding_id"] = "binding-2" + assert not bus.heartbeat(fleet.row, {})["enrollment_commands"] + assert bus.operation(fleet, "vehicle", request["operation_id"])["state"] == "unknown" + + +def test_expiry_drops_secret_without_automatic_retry(): + fleet, bus, request = Fleet(), DeviceEnrollment(), command() + bus.submit(fleet, "vehicle", request) + bus.pending[("vehicle", request["operation_id"])]["deadline"] = 0 + assert bus.operation(fleet, "vehicle", request["operation_id"])["state"] == "unknown" + assert bus.pending[("vehicle", request["operation_id"])]["payload"] is None + + +def test_duplicate_id_cannot_replace_original_secret(): + fleet, bus, request = Fleet(), DeviceEnrollment(), command() + bus.submit(fleet, "vehicle", request) + duplicate = copy.deepcopy(request) + duplicate["parameters"]["password"] += "changed" + bus.submit(fleet, "vehicle", duplicate) + assert bus.pending[("vehicle", request["operation_id"])]["payload"] == request diff --git a/tests/test_ble_scanner.py b/tests/test_ble_scanner.py index 4d0c248..8fa1c5b 100644 --- a/tests/test_ble_scanner.py +++ b/tests/test_ble_scanner.py @@ -1,5 +1,5 @@ import asyncio -from collections.abc import Iterator +from collections.abc import Callable, Iterator from pathlib import Path from typing import Literal @@ -36,6 +36,117 @@ from k1link.device_plugins.xgrids_k1.ble.scanner import ( RecoveryOperationKind = Literal["status-read", "wifi-provision", "ap-enable"] +def install_advertisement_source( + monkeypatch: MonkeyPatch, + observations: list[tuple[float, BLEDevice, str | None]], +) -> dict[str, int]: + """A single native scanner that delivers advertisements while it is open.""" + lifecycle = {"started": 0, "stopped": 0} + + class FakeScanner: + def __init__( + self, detection_callback: Callable[[BLEDevice, AdvertisementData], None] + ) -> None: + self.callback = detection_callback + self.scheduled: list[asyncio.TimerHandle] = [] + + async def __aenter__(self) -> "FakeScanner": + lifecycle["started"] += 1 + for delay, device, name in observations: + advertisement = AdvertisementData( + local_name=name, manufacturer_data={}, service_data={}, + service_uuids=[], tx_power=None, rssi=-45, platform_data=(), + ) + self.scheduled.append(asyncio.get_running_loop().call_later( + delay, self.callback, device, advertisement + )) + return self + + async def __aexit__(self, *_args: object) -> None: + lifecycle["stopped"] += 1 + for timer in self.scheduled: + timer.cancel() + + monkeypatch.setattr(scanner_module, "BleakScanner", FakeScanner) + monkeypatch.setattr(scanner_module, "BLE_SCAN_INITIAL_WINDOW_SECONDS", 0.02) + return lifecycle + + +def test_discovery_keeps_one_scanner_open_for_a_late_k1_name(monkeypatch: MonkeyPatch) -> None: + device = BLEDevice("LATE-K1", None, details=object()) + lifecycle = install_advertisement_source(monkeypatch, [ + (0, device, None), (0.05, device, "XGR-LATE"), + ]) + + async def scenario() -> None: + result = await scan(0.4) + timing = result["discovery_timing"] + assert timing["scan_extended"] is True + assert timing["first_candidate_ms"] >= timing["initial_window_ms"] + assert timing["scan_elapsed_ms"] < 400 + assert len(result["devices"]) == 1 + assert result["devices"][0]["k1_name_candidate"] is True + assert discovered_device(device.address) is device + + asyncio.run(scenario()) + assert lifecycle == {"started": 1, "stopped": 1} + + +def test_discovery_finishes_after_initial_window_when_k1_is_visible( + monkeypatch: MonkeyPatch, +) -> None: + device = BLEDevice("EARLY-K1", "XGR-EARLY", details=object()) + lifecycle = install_advertisement_source(monkeypatch, [(0, device, "XGR-EARLY")]) + result = asyncio.run(scan(0.4)) + timing = result["discovery_timing"] + assert timing["scan_extended"] is False + assert timing["first_candidate_ms"] < timing["initial_window_ms"] + assert 20 <= timing["scan_elapsed_ms"] < 400 + assert lifecycle == {"started": 1, "stopped": 1} + + +def test_discovery_without_k1_stops_at_deadline_and_does_not_reuse_old_results( + monkeypatch: MonkeyPatch, +) -> None: + device = BLEDevice("OTHER-DEVICE", "Headphones", details=object()) + lifecycle = install_advertisement_source(monkeypatch, [(0, device, "Headphones")]) + + async def scenario() -> None: + result = await scan(0.06) + timing = result["discovery_timing"] + assert timing["scan_extended"] is True + assert "first_candidate_ms" not in timing + assert timing["scan_elapsed_ms"] >= 60 + assert result["devices"][0]["k1_name_candidate"] is False + install_advertisement_source(monkeypatch, []) + empty = await scan(0.01) + assert empty["devices"] == [] + assert empty["discovery_timing"]["scan_extended"] is False + assert discovered_device(device.address) is None + + asyncio.run(scenario()) + assert lifecycle == {"started": 1, "stopped": 1} + + +def test_cancelled_discovery_closes_scanner_without_publishing_partial_handles( + monkeypatch: MonkeyPatch, +) -> None: + device = BLEDevice("PARTIAL", "Headphones", details=object()) + lifecycle = install_advertisement_source(monkeypatch, [(0, device, "Headphones")]) + + async def scenario() -> None: + task = asyncio.create_task(scan(1)) + await asyncio.sleep(0.04) + assert lifecycle["started"] == 1 + task.cancel() + with pytest.raises(asyncio.CancelledError): + await task + assert discovered_device(device.address) is None + + asyncio.run(scenario()) + assert lifecycle == {"started": 1, "stopped": 1} + + async def _retrieve_connected_inside_ble_lease( macos_uuid: str, *, @@ -175,7 +286,7 @@ def test_scan_retains_the_live_corebluetooth_handle( return {"LIVE-UUID": (device, advertisement)} monkeypatch.setattr( - "k1link.device_plugins.xgrids_k1.ble.scanner.BleakScanner.discover", + "k1link.device_plugins.xgrids_k1.ble.scanner._discover_k1_advertisements", fake_discover, ) @@ -209,7 +320,7 @@ def test_scan_start_invalidates_previous_lease_and_failure_leaves_it_empty( ) -> dict[str, tuple[BLEDevice, AdvertisementData]]: return {old_device.address: (old_device, old_advertisement)} - monkeypatch.setattr(scanner_module.BleakScanner, "discover", initial_discover) + monkeypatch.setattr(scanner_module, "_discover_k1_advertisements", initial_discover) await scan(1.0) assert discovered_device(old_device.address) is old_device @@ -221,7 +332,7 @@ def test_scan_start_invalidates_previous_lease_and_failure_leaves_it_empty( await release_failing_scan.wait() raise RuntimeError("synthetic BLE scan failure") - monkeypatch.setattr(scanner_module.BleakScanner, "discover", failing_discover) + monkeypatch.setattr(scanner_module, "_discover_k1_advertisements", failing_discover) scan_task = asyncio.create_task(scan(1.0)) await failing_scan_started.wait() @@ -263,7 +374,7 @@ def test_process_arbiter_rejects_overlapping_scan(monkeypatch: MonkeyPatch) -> N await release_older_scan.wait() return {older_device.address: (older_device, older_advertisement)} - monkeypatch.setattr(scanner_module.BleakScanner, "discover", blocked_discover) + monkeypatch.setattr(scanner_module, "_discover_k1_advertisements", blocked_discover) older_task = asyncio.create_task(scan(1.0)) await older_scan_started.wait() @@ -377,7 +488,7 @@ def test_connected_handle_is_session_scoped_and_survives_wall_clock_age( async def fake_discover(**_kwargs: object) -> dict[str, tuple[BLEDevice, AdvertisementData]]: return discoveries.pop(0) - monkeypatch.setattr(scanner_module.BleakScanner, "discover", fake_discover) + monkeypatch.setattr(scanner_module, "_discover_k1_advertisements", fake_discover) monkeypatch.setattr(scanner_module, "monotonic", lambda: monotonic_clock[0]) monkeypatch.setattr( scanner_module, @@ -487,7 +598,7 @@ def test_scan_and_retained_handle_survive_macos_sleep_until_explicit_invalidatio ) -> dict[str, tuple[BLEDevice, AdvertisementData]]: return {device.address: (device, advertisement)} - monkeypatch.setattr(scanner_module.BleakScanner, "discover", fake_discover) + monkeypatch.setattr(scanner_module, "_discover_k1_advertisements", fake_discover) monkeypatch.setattr(scanner_module, "monotonic", lambda: monotonic_clock[0]) monkeypatch.setattr( scanner_module, @@ -1340,7 +1451,7 @@ def test_later_fresh_scan_does_not_replace_retained_corebluetooth_object( async def fake_discover(**_kwargs: object) -> dict[str, tuple[BLEDevice, AdvertisementData]]: return discoveries.pop(0) - monkeypatch.setattr(scanner_module.BleakScanner, "discover", fake_discover) + monkeypatch.setattr(scanner_module, "_discover_k1_advertisements", fake_discover) async def scenario() -> None: await scan(1.0) diff --git a/tests/test_k1_wifi_failure.py b/tests/test_k1_wifi_failure.py new file mode 100644 index 0000000..f64d308 --- /dev/null +++ b/tests/test_k1_wifi_failure.py @@ -0,0 +1,72 @@ +from copy import deepcopy + +import pytest + +from k1link.device_plugins.xgrids_k1.wifi_failure import reviewed_station_failure_code + + +def station_error(code: int = 4) -> dict[str, object]: + return { + "code": "BleakGATTProtocolError", + "operation_stage": "gatt-write", + "device_write_attempted": True, + "device_write_confirmed": False, + "resolved_write_mode": "with_response", + "frame_length": 99, + "ble_att_error_code": code, + "ble_att_error_name": "INVALID_PDU", + "safe_to_retry": False, + "side_effect_status": "unknown", + } + + +@pytest.mark.parametrize("mode", ["bridge", "direct-connect"]) +@pytest.mark.parametrize( + "code,reason", [(4, "k1-wifi-network-not-found"), (6, "k1-wifi-credentials-required")] +) +def test_reviewed_station_reply_retains_raw_facts_and_retry_fence( + mode: str, code: int, reason: str +) -> None: + error = station_error(code) + before = deepcopy(error) + assert ( + reviewed_station_failure_code(error, firmware_version="3.0.2", connection_mode=mode) + == reason + ) + assert error == before + + +@pytest.mark.parametrize( + "field,value", + [ + ("code", "RuntimeError"), + ("operation_stage", "baseline-read"), + ("device_write_attempted", False), + ("device_write_confirmed", True), + ("resolved_write_mode", "without_response"), + ("frame_length", 100), + ("ble_att_error_code", 14), + ("ble_att_error_code", "4"), + ("ble_att_error_code", {}), + ], +) +def test_unrelated_transport_failures_are_not_wifi_diagnoses(field: str, value: object) -> None: + error = {**station_error(), field: value} + assert ( + reviewed_station_failure_code(error, firmware_version="3.0.2", connection_mode="bridge") + is None + ) + + +@pytest.mark.parametrize( + "firmware,mode", [("3.0.1", "bridge"), ("unknown", "bridge"), ("3.0.2", "quick-connect")] +) +def test_other_firmware_and_quick_connect_do_not_inherit_station_codes( + firmware: str, mode: str +) -> None: + assert ( + reviewed_station_failure_code( + station_error(), firmware_version=firmware, connection_mode=mode + ) + is None + ) diff --git a/tests/test_node_k1_bridge.py b/tests/test_node_k1_bridge.py new file mode 100644 index 0000000..680fe8a --- /dev/null +++ b/tests/test_node_k1_bridge.py @@ -0,0 +1,204 @@ +import asyncio +import copy +import json +import secrets +from datetime import UTC, datetime, timedelta +from pathlib import Path + +import pytest +from missioncore_plugin_sdk.v0alpha2.session import DeviceSessionSnapshot + +from k1link.device_plugins.xgrids_k1.linux_host import nm_fields, route_fields +from k1link.device_plugins.xgrids_k1.node_bridge import NodeBridge +from k1link.device_plugins.xgrids_k1.node_sensor import NodeK1Sensor, project_sensor +from k1link.viewer.node_rerun import NodeRerunHub + + +def state(): + return { + "snapshot_runtime_id": "runtime-one", + "snapshot_revision": 1, + "devices": [ + {"device_id": "AA:BB:CC:DD:EE:FF", "name": "K1-test", "likely_k1": True}, + {"device_id": "unrelated", "name": "Other", "likely_k1": False}, + ], + "ble_discovery_generation": 1, + "desired_connection_mode_revision": 0, + "active_connection_mode": "bridge", + "connection_lifecycle": {"connection_ready": True, "ready_to_start": True}, + "selected_device_id": "AA:BB:CC:DD:EE:FF", + "source_mode": "idle", + "device_session": { + "device_id": "synthetic-k1", + "device_session_id": "session-test", + "opened_at": datetime.now(UTC).isoformat(), + }, + "application_control_session": { + "session_generation": 1, + "state_revision": 1, + "state": "connection-ready", + }, + } + + +class Facade: + def __init__(self): + self.current = state() + self.actions = [] + + async def invoke(self, request): + self.actions.append((request.action_id, copy.deepcopy(request.parameters))) + if request.action_id == "application-control.workspace.enter": + self.current["application_control_session"]["state"] = "workspace-ready" + elif request.action_id == "acquisition.prepare": + self.current["acquisition"] = { + "acquisition_id": "acquisition-test", + "state": "prepared", + "state_revision": 1, + } + self.current["application_control_session"]["state"] = "project-ready" + elif request.action_id == "acquisition.start": + self.current["application_control_session"]["state"] = "initializing" + self.current["acquisition"]["state"] = "running" + self.current["source_mode"] = "live" + return copy.deepcopy(self.current) + + +def bridge(): + result = NodeBridge(Path.cwd(), service=object()) + result.facade = Facade() + return result + + +def test_node_bridge_forces_reviewed_bridge_and_clears_input_secret(): + async def run(): + device = bridge() + command = { + "operation_id": "op_" + "a" * 32, + "runtime_id": "runtime-one", + "deadline_at": (datetime.now(UTC) + timedelta(seconds=60)).isoformat(), + "action": "connect", + "parameters": { + "device_id": "AA:BB:CC:DD:EE:FF", + "discovery_generation": 1, + "mode_revision": 0, + "ssid": "test-network", + "password": secrets.token_urlsafe(24), + "allow_host_wifi_switch": True, + }, + } + secret = command["parameters"]["password"] + output = await device.execute(command) + payload = next(v for a, v in device.facade.actions if a == "network.provision") + assert payload["connection_mode"] == "bridge" + assert payload["allow_host_wifi_switch"] is False + assert payload["password"] == secret + assert "password" not in command["parameters"] + assert secret not in json.dumps(output) + assert [v["id"] for v in output["candidates"]] == ["AA:BB:CC:DD:EE:FF"] + + asyncio.run(run()) + + +def test_stale_discovery_prevents_provisioning(): + async def run(): + device = bridge() + with pytest.raises(ValueError): + await device.execute( + { + "operation_id": "op_" + "a" * 32, + "runtime_id": "runtime-one", + "deadline_at": (datetime.now(UTC) + timedelta(seconds=60)).isoformat(), + "action": "connect", + "parameters": { + "device_id": "AA:BB:CC:DD:EE:FF", + "discovery_generation": 0, + "mode_revision": 0, + }, + } + ) + assert all(action != "network.provision" for action, _ in device.facade.actions) + + asyncio.run(run()) + + +def test_sensor_projection_binds_native_sdk_to_board(): + value = project_sensor(state(), "node-test") + snapshot = DeviceSessionSnapshot.model_validate(value["snapshot"]) + assert snapshot.context.execution.node_id == "node-test" + assert snapshot.context.device.device_id == value["id"] + assert value["kind"] == "k1" + + +def test_one_start_intent_preserves_canonical_enter_prepare_start_sequence(): + async def run(): + device = bridge() + sensor = NodeK1Sensor(device, None) + item = project_sensor(state(), "node-test") + command = { + "operation_id": "op_" + "a" * 32, + "action_id": "start", + "session": {"device_id": item["id"], "session_id": "session-test"}, + "deadline_at": (datetime.now(UTC) + timedelta(seconds=60)).isoformat(), + "parameters": { + "operator_confirmed": True, + "control_generation": 1, + "acquisition_id": None, + }, + } + result = await sensor.execute(command, "node-test") + actions = [a for a, _ in device.facade.actions if a != "state.read"] + assert actions == [ + "application-control.workspace.enter", + "acquisition.prepare", + "acquisition.start", + ] + assert result["snapshot"]["acquisition"] == "streaming" + command["parameters"]["control_generation"] = 2 + with pytest.raises(ValueError): + await sensor.execute(command, "node-test") + assert len([a for a, _ in device.facade.actions if a == "acquisition.start"]) == 1 + + asyncio.run(run()) + + +def test_networkmanager_ssids_are_not_split_at_escaped_colons(): + assert nm_fields(r"field\:network\\name:88:WPA2") == ["field:network\\name", "88", "WPA2"] + + +def test_linux_kernel_route_is_matched_route_not_resolved_host(monkeypatch): + from k1link.device_plugins.xgrids_k1 import linux_host + from k1link.device_plugins.xgrids_k1.facade import _classify_host_route + + calls = [] + + def run(args): + calls.append(args) + return '[{"dst":"default","dev":"wlp2s0","gateway":"192.168.1.1"}]' + + monkeypatch.setattr(linux_host, "_run", run) + result = route_fields("192.168.2.7") + assert calls[0] == ["ip", "-j", "route", "get", "192.168.2.7", "fibmatch"] + assert _classify_host_route(result["interface"], result["destination"])[0] == "default" + assert _classify_host_route("wlp2s0", "192.168.1.0/24")[0] == "direct" + assert _classify_host_route("tailscale0", "192.168.1.7")[0] == "tunnel" + + +def test_native_node_rrd_opens_no_grpc_listener(monkeypatch): + from k1link.viewer import rerun_bridge + + def forbidden(*_args, **_kwargs): + raise AssertionError("Node must not expose a gRPC listener") + + monkeypatch.setattr(rerun_bridge, "_select_available_grpc_port", forbidden) + hub = NodeRerunHub() + publisher = hub.create() + publisher.begin_session() + subscriber = hub.subscribe() + try: + data = subscriber.read() + assert data[:4] == b"RRF2" + finally: + subscriber.close() + subscriber.thread.join(6) + publisher.close() diff --git a/tests/test_node_media.py b/tests/test_node_media.py new file mode 100644 index 0000000..b125df8 --- /dev/null +++ b/tests/test_node_media.py @@ -0,0 +1,102 @@ +import asyncio +import queue + +import pytest +from aiortc import RTCConfiguration, RTCPeerConnection, RTCSessionDescription + +from k1link.viewer.node_media import NodeMediaPeers, admit_sdp + +SDP_HEADER = "v=0\r\nm=application 9 UDP/DTLS/SCTP webrtc-datachannel\r\n" + + +@pytest.mark.parametrize( + "address,kind", [("8.8.8.8", "host"), ("192.168.1.2", "relay"), ("::1", "host")] +) +def test_media_rejects_non_private_or_relay_candidates(address, kind): + with pytest.raises(ValueError): + admit_sdp(SDP_HEADER + f"a=candidate:1 1 udp 1 {address} 12345 typ {kind}\r\n") + + +def test_media_accepts_paired_lan_and_tailnet_candidates(): + for address in ("192.168.1.2", "100.80.6.113", "peer.local"): + admit_sdp(SDP_HEADER + f"a=candidate:1 1 udp 1 {address} 12345 typ host\r\n") + + +def test_failed_media_offer_retires_peer_without_camera_channel(monkeypatch): + async def reject(*_): + raise ValueError("Invalid remote description") + + monkeypatch.setattr(RTCPeerConnection, "setRemoteDescription", reject) + + async def run(): + class Camera: + def snapshot(self): + return {} + + peers = NodeMediaPeers(None, Camera()) + try: + with pytest.raises(ValueError): + await peers.offer({"sdp": SDP_HEADER}) + assert peers.items == {} + finally: + await peers.close_all() + + asyncio.run(run()) + + +def test_native_webrtc_roundtrip_and_missing_camera_preserve_rrd(monkeypatch): + """One bounded loopback peer, no STUN/TURN, device or external network.""" + import aioice.ice + + class Subscription: + def __init__(self): + self.output = queue.Queue() + self.output.put(b"RRF2-transport-fixture") + + def read(self): + try: + return self.output.get(timeout=0.1) + except queue.Empty: + return b"" + + def close(self): + pass + + class Hub: + def subscribe(self): + return Subscription() + + class Camera: + def snapshot(self): + return {"generation": None} + + async def run(): + peers = NodeMediaPeers(Hub(), Camera()) + monkeypatch.setattr(aioice.ice, "get_host_addresses", lambda **_: ["127.0.0.1"]) + client = RTCPeerConnection(RTCConfiguration(iceServers=[])) + channel = client.createDataChannel("rrd", ordered=True) + client.createDataChannel("camera", ordered=True) + received = asyncio.Event() + payloads = [] + + @channel.on("message") + def message(data): + payloads.append(data) + received.set() + + try: + await client.setLocalDescription(await client.createOffer()) + answer = await peers.offer({"sdp": client.localDescription.sdp}) + await client.setRemoteDescription( + RTCSessionDescription(sdp=answer["sdp"], type="answer") + ) + await asyncio.wait_for(received.wait(), timeout=8) + assert payloads == [b"RRF2-transport-fixture"] + assert answer["peer_id"] in peers.items + assert channel.readyState == "open" + finally: + await client.close() + await peers.close_all() + assert not peers.items + + asyncio.run(run()) diff --git a/tests/test_viewer_diagnostics_api.py b/tests/test_viewer_diagnostics_api.py index 8ba6fd9..1ea6de0 100644 --- a/tests/test_viewer_diagnostics_api.py +++ b/tests/test_viewer_diagnostics_api.py @@ -42,6 +42,29 @@ def _request(*, ui_build_id: str | None = None) -> Request: return Request({"type": "http", "method": "GET", "path": "/", "headers": headers}) +def test_scanner_exception_keeps_location_without_private_message_or_locals( + tmp_path: Path, +) -> None: + target = configure_scanner_diagnostics(tmp_path / "logs") + logger = logging.getLogger(f"{SCANNER_LOGGER_NAME}.test") + private_detail = "synthetic-private-runtime-detail" + try: + raise ValueError(private_detail) + except ValueError: + logger.exception("Camera activation failed") + for handler in logging.getLogger(SCANNER_LOGGER_NAME).handlers: + handler.flush() + serialized = target.read_text(encoding="utf-8").splitlines()[-1] + document = json.loads(serialized) + assert document["exception_type"] == "ValueError" + assert document["exception_site"].startswith("test_viewer_diagnostics_api.py:") + assert document["exception_site"].endswith( + ":test_scanner_exception_keeps_location_without_private_message_or_locals" + ) + assert private_detail not in serialized + assert str(Path(__file__).parent) not in serialized + + def test_private_scanner_diagnostics_are_durable_structured_and_bounded( tmp_path: Path, ) -> None: @@ -67,6 +90,19 @@ def test_private_scanner_diagnostics_are_durable_structured_and_bounded( "device_write_confirmed": False, "ble_att_error_code": 4, "ble_att_error_name": "INVALID_PDU", + "resolved_write_mode": "with_response", + "max_write_without_response_size": 253, + "mtu_size": 256, + "frame_length": 99, + "write_characteristic_properties": ["read", "write"], + "scan_elapsed_ms": 7300, + "scanner_start_ms": 31, + "initial_window_ms": 6000, + "first_candidate_ms": 7240, + "scan_extended": True, + "candidate_count": 4, + "likely_k1_candidate_count": 1, + "discovery_generation": 2, "helper_stage": "compile", "helper_elapsed_ms": 34720, "camera_source_id": "sensor.camera.right", @@ -126,6 +162,19 @@ def test_private_scanner_diagnostics_are_durable_structured_and_bounded( assert document["device_write_confirmed"] is False assert document["ble_att_error_code"] == 4 assert document["ble_att_error_name"] == "INVALID_PDU" + assert document["resolved_write_mode"] == "with_response" + assert document["max_write_without_response_size"] == 253 + assert document["mtu_size"] == 256 + assert document["frame_length"] == 99 + assert document["write_characteristic_properties"] == ["read", "write"] + assert document["scan_elapsed_ms"] == 7300 + assert document["scanner_start_ms"] == 31 + assert document["initial_window_ms"] == 6000 + assert document["first_candidate_ms"] == 7240 + assert document["scan_extended"] is True + assert document["candidate_count"] == 4 + assert document["likely_k1_candidate_count"] == 1 + assert document["discovery_generation"] == 2 assert document["helper_stage"] == "compile" assert document["helper_elapsed_ms"] == 34720 assert document["camera_source_id"] == "sensor.camera.right" diff --git a/tests/test_xgrids_acquisition_lifecycle.py b/tests/test_xgrids_acquisition_lifecycle.py index 02425a3..2222a38 100644 --- a/tests/test_xgrids_acquisition_lifecycle.py +++ b/tests/test_xgrids_acquisition_lifecycle.py @@ -5256,11 +5256,14 @@ def test_ble_scan_operation_id_is_exactly_once_and_request_bound( if on_admitted is not None: on_admitted() transport_calls += 1 - return _ble_scan_result("exactly-once-device") + return { + **_ble_scan_result("exactly-once-device"), + "discovery_timing": {"scan_elapsed_ms": 7100, "scan_extended": True}, + } monkeypatch.setattr(facade_module, "scan", successful_scan) operation_id = "op-00000000-0000-4000-8000-000000000001" - request = BleScanRequest(duration_seconds=6.0, operation_id=operation_id) + request = BleScanRequest(operation_id=operation_id) first = asyncio.run(service.scan_ble(request)) repeated = asyncio.run(service.scan_ble(request)) @@ -5271,8 +5274,10 @@ def test_ble_scan_operation_id_is_exactly_once_and_request_bound( assert first["last_operation"]["result"] == { "candidate_count": 1, "likely_k1_candidate_count": 1, - "duration_seconds": 6.0, + "duration_seconds": 20.0, "discovery_generation": 1, + "scan_elapsed_ms": 7100, + "scan_extended": True, } assert repeated["last_operation"]["operation_id"] == operation_id with pytest.raises(ValueError, match="different request"): @@ -21315,6 +21320,61 @@ def test_network_provisioning_rejects_an_ipv4_owned_by_the_local_host( assert "lab-network" not in caplog.text +@pytest.mark.parametrize( + ("att_code", "public_code"), + [(4, "k1-wifi-network-not-found"), (6, "k1-wifi-credentials-required")], +) +def test_station_reply_preserves_ambiguity_and_explains_wifi_failure( + monkeypatch: pytest.MonkeyPatch, + tmp_path: Path, + att_code: int, + public_code: str, +) -> None: + from bleak.exc import BleakGATTProtocolError + + service, _ = service_with_fake_runtime(tmp_path) + _set_scanned_devices(service, [{"device_id": "k1-a"}]) + calls = 0 + + async def rejected_write( + *_: object, on_write_dispatch: Any = None, **__: object, + ) -> dict[str, Any]: + nonlocal calls + calls += 1 + on_write_dispatch(_wifi_status_read(None, device_id="k1-a")["status"], "with_response") + exc = BleakGATTProtocolError(att_code) + exc.operation_stage = "gatt-write" # type: ignore[attr-defined] + exc.device_write_attempted = True # type: ignore[attr-defined] + exc.device_write_confirmed = False # type: ignore[attr-defined] + exc.att_error_code = att_code # type: ignore[attr-defined] + exc.att_error_name = exc.code.name # type: ignore[attr-defined] + exc.resolved_write_mode = "with_response" # type: ignore[attr-defined] + exc.frame_length = 99 # type: ignore[attr-defined] + raise exc + + monkeypatch.setattr(facade_module, "provision_wifi_once", rejected_write) + with pytest.raises(BleakGATTProtocolError): + asyncio.run(service.connect(_connect_request( + device_id="k1-a", ssid="lab-network", + password=SecretStr(PRIMARY_TEST_CREDENTIAL), + compatibility_attestation=ATTESTATION, + idempotency_key="explicit-station-rejection", + ))) + state = service.state() + operation = next(item for item in state["operations"] if item["action"] == "network.provision") + error = operation["error"] + assert calls == 1 + assert operation["status"] == "failed" + assert error["code"] == public_code + assert error["transport_error_code"] == "BleakGATTProtocolError" + assert error["ble_att_error_code"] == att_code + assert error["safe_to_retry"] is False + assert error["device_write_confirmed"] is False + assert error["side_effect_status"] == "unknown" + assert state["connection_attempt"]["public_error_code"] == public_code + assert state["network_mutation_ledger"]["status"] == "unresolved" + + def test_ambiguous_ble_write_is_audit_only_for_next_explicit_intent( monkeypatch: pytest.MonkeyPatch, tmp_path: Path, diff --git a/tests/test_xgrids_ble_runtime_arbiter.py b/tests/test_xgrids_ble_runtime_arbiter.py index 8660a9f..9c67158 100644 --- a/tests/test_xgrids_ble_runtime_arbiter.py +++ b/tests/test_xgrids_ble_runtime_arbiter.py @@ -181,7 +181,7 @@ def test_scan_lease_rejects_wifi_entrypoints_process_wide( resolution_attempted = True raise AssertionError("busy contender must not touch CoreBluetooth") - monkeypatch.setattr(scanner_module.BleakScanner, "discover", blocked_discover) + monkeypatch.setattr(scanner_module, "_discover_k1_advertisements", blocked_discover) monkeypatch.setattr( wifi_module.BleakScanner, "find_device_by_address", diff --git a/tests/test_xgrids_camera_gateway.py b/tests/test_xgrids_camera_gateway.py index 7ed0055..77c89a4 100644 --- a/tests/test_xgrids_camera_gateway.py +++ b/tests/test_xgrids_camera_gateway.py @@ -299,6 +299,99 @@ def test_camera_selection_is_exclusive_and_hides_device_transport( gateway.close() +@pytest.mark.parametrize("entrypoint", ["acquisition", "selected-preview"]) +def test_camera_records_in_configured_evidence_outside_source_checkout( + tmp_path: Path, monkeypatch: pytest.MonkeyPatch, entrypoint: str, +) -> None: + checkout = tmp_path / "checkout" + checkout.mkdir() + evidence = tmp_path / "durable" / "sessions" + session = evidence / "synthetic-camera-session" + session.mkdir(parents=True) + monkeypatch.setenv("MISSIONCORE_FFMPEG_BINARY", str(_fake_ffmpeg(tmp_path))) + gateway = XgridsK1CameraGateway(checkout, XGRIDS_K1_PLUGIN_ID, evidence_root=evidence) + try: + if entrypoint == "acquisition": + gateway.activate_recording_producer( + "sensor.camera.right", "192.168.1.20", session, + pre_prepare_fence=lambda reserve: reserve(), + commit_fence=lambda commit: commit(), + ) + else: + gateway.select("sensor.camera.right", "192.168.1.20") + gateway.start_recording(session) + _wait_until(lambda: gateway.snapshot()["recording"]["media_ready"] is True) + assert gateway.snapshot()["recording"]["session"] == session.name + assert not list(checkout.rglob("*.m4s")) + finally: + gateway.close() + assert any(session.rglob("*.m4s")) + + +@pytest.mark.parametrize("entrypoint", ["acquisition", "selected-preview"]) +@pytest.mark.parametrize("escape", ["sibling", "symlink"]) +def test_camera_rejects_paths_outside_configured_evidence_before_admission( + tmp_path: Path, monkeypatch: pytest.MonkeyPatch, entrypoint: str, escape: str, +) -> None: + checkout = tmp_path / "checkout" + checkout.mkdir() + evidence = tmp_path / "evidence" + evidence.mkdir() + outside = checkout / "not-evidence" + outside.mkdir() + session = outside + if escape == "symlink": + session = evidence / "escaped-session" + session.symlink_to(outside, target_is_directory=True) + gateway = XgridsK1CameraGateway(checkout, XGRIDS_K1_PLUGIN_ID, evidence_root=evidence) + + def forbidden(*_args: object, **_kwargs: object) -> bool: + raise AssertionError("An escaped path must not reach authority or FFmpeg") + + monkeypatch.setattr(camera_module.subprocess, "Popen", forbidden) + try: + with pytest.raises(ValueError, match="configured evidence root"): + if entrypoint == "acquisition": + gateway.activate_recording_producer( + "sensor.camera.right", "192.168.1.20", session, + pre_prepare_fence=forbidden, commit_fence=forbidden, + ) + else: + gateway.start_recording(session) + assert gateway.snapshot()["recording"]["active"] is False + finally: + gateway.close() + + +def test_service_camera_uses_the_same_external_evidence_root_as_acquisition( + tmp_path: Path, monkeypatch: pytest.MonkeyPatch, +) -> None: + checkout = tmp_path / "checkout" + checkout.mkdir() + evidence = tmp_path / "configured-evidence" + session = evidence / "synthetic-session" + session.mkdir(parents=True) + monkeypatch.setenv("MISSIONCORE_EVIDENCE_DIR", str(evidence)) + service = XgridsK1CompatibilityService(checkout) + authority_entered = False + + def deny_authority(_reserve: Callable[[], bool]) -> bool: + nonlocal authority_entered + authority_entered = True + return False + + try: + with pytest.raises(ValueError, match="authority"): + service.camera_preview.activate_recording_producer( + "sensor.camera.right", "192.168.1.20", session, + pre_prepare_fence=deny_authority, commit_fence=lambda _commit: False, + ) + assert authority_entered is True + assert service.camera_preview.snapshot()["active_source_id"] is None + finally: + service.close() + + def test_camera_derived_observer_runs_only_after_durable_archive_commit( tmp_path: Path, monkeypatch: pytest.MonkeyPatch, diff --git a/uv.lock b/uv.lock index a1ba119..8b6c463 100644 --- a/uv.lock +++ b/uv.lock @@ -2,6 +2,37 @@ version = 1 revision = 3 requires-python = "==3.12.*" +[[package]] +name = "aioice" +version = "0.10.2" +source = { registry = "https://pypi.org/simple" } +dependencies = [ + { name = "dnspython" }, + { name = "ifaddr" }, +] +sdist = { url = "https://files.pythonhosted.org/packages/67/04/df7286233f468e19e9bedff023b6b246182f0b2ccb04ceeb69b2994021c6/aioice-0.10.2.tar.gz", hash = "sha256:bf236c6829ee33c8e540535d31cd5a066b531cb56de2be94c46be76d68b1a806", size = 44307, upload-time = "2025-11-28T15:56:48.836Z" } +wheels = [ + { url = "https://files.pythonhosted.org/packages/c7/e3/0d23b1f930c17d371ce1ec36ee529f22fd19ebc2a07fe3418e3d1d884ce2/aioice-0.10.2-py3-none-any.whl", 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