fix(control-station): align lidar viewer and expose polygon
This commit is contained in:
DCCONSTRUCTIONS
parent
c01712c30d
commit
881e97312b
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@ -47,7 +47,6 @@ import type {
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import { useRecordedSessionAdmission } from "./core/observation/useRecordedSessionAdmission";
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import { useWorkspaceLayoutProfile } from "./core/observation/useWorkspaceLayoutProfile";
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import { resolvePolygonRunRoute } from "./core/polygon/runArchive";
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import { usePolygonWorkerCapability } from "./core/polygon/usePolygonWorkerCapability";
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import {
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OBSERVATION_WORKSPACE_ID,
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OBSERVATION_WORKSPACE_LAYOUT_VERSION,
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@ -55,7 +54,7 @@ import {
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} from "./core/observation/workspaceLayout";
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import {
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rootById,
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rootsForCapabilities,
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roots,
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workspaceById,
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workspacesForRoot,
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type RootId,
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@ -151,7 +150,6 @@ function mergeViewerSettings(
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export default function App() {
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const runtime = useMissionRuntime();
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const { selection } = useDevicePluginHost();
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const polygonWorker = usePolygonWorkerCapability();
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const polygonRunRoute = useMemo(
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() => resolvePolygonRunRoute(typeof window === "undefined" ? "" : window.location.search),
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[],
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@ -199,10 +197,7 @@ export default function App() {
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const polygonRunRouteOpenedRef = useRef(false);
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const currentRoot = rootById(activeRoot);
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const visibleRoots = useMemo(
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() => rootsForCapabilities({ polygonWorkerAvailable: polygonWorker.available }),
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[polygonWorker.available],
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);
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const visibleRoots = roots;
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const activeDefinition = workspaceById(workspace.activeView);
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const spatialWorkspaceActive = Boolean(
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workspace.contentOpen && activeDefinition?.kind === "spatial",
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@ -796,14 +796,6 @@ export function rootById(id: RootId | null): RootDefinition | null {
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return id ? roots.find((root) => root.id === id) ?? null : null;
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}
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export function rootsForCapabilities({
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polygonWorkerAvailable,
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}: {
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polygonWorkerAvailable: boolean;
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}): RootDefinition[] {
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return roots.filter((root) => root.id !== "polygon" || polygonWorkerAvailable);
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}
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export function workspaceById(id: string | null): WorkspaceDefinition | null {
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return id ? workspaces.find((workspace) => workspace.id === id) ?? null : null;
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}
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@ -1441,9 +1441,8 @@
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.lidar-field-cloud {
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overflow: hidden;
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min-width: 0;
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border: 1px solid rgb(255 255 255 / 0.09);
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border-radius: 0.9rem;
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background: #071018;
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background: #06070a;
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}
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.lidar-field-camera {
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@ -1461,7 +1460,6 @@
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.lidar-field-camera > .lidar-field-stage__label,
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.lidar-field-cloud > header {
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min-height: 3.45rem;
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border-bottom: 1px solid rgb(255 255 255 / 0.08);
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padding: 0.66rem 0.72rem;
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}
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@ -1487,7 +1485,6 @@
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display: flex;
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justify-content: space-between;
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gap: 0.5rem;
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border-top: 1px solid rgb(255 255 255 / 0.08);
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padding: 0.52rem 0.7rem;
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}
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@ -1548,7 +1545,7 @@
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overflow: hidden;
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margin-top: 0.8rem;
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border-radius: 0.9rem;
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background: #071018;
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background: #06070a;
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}
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.lidar-fallback-review > header {
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@ -1557,7 +1554,6 @@
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align-items: center;
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justify-content: space-between;
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gap: 0.8rem;
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border-bottom: 1px solid rgb(255 255 255 / 0.08);
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padding: 0.65rem 0.75rem;
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}
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@ -1569,7 +1565,6 @@
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}
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.lidar-fallback-review > footer {
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border-top: 1px solid rgb(255 255 255 / 0.08);
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padding: 0.58rem 0.75rem;
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color: var(--nodedc-text-muted);
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font-size: 0.58rem;
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@ -1646,11 +1641,8 @@
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display: grid;
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gap: 0.75rem;
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margin-top: 0.85rem;
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border: 1px solid rgb(74 215 255 / 0.18);
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border-radius: 1rem;
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background:
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radial-gradient(circle at 18% 0%, rgb(56 124 255 / 0.12), transparent 34%),
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rgb(4 12 19 / 0.72);
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background: #06070a;
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padding: 0.85rem;
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}
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@ -1716,9 +1708,9 @@
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.lidar-ground-modes button,
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.lidar-ground-frame-control button,
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.lidar-ground-scene__toolbar button {
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border: 1px solid var(--station-hairline);
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border: 0;
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border-radius: 999px;
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background: rgb(255 255 255 / 0.035);
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background: transparent;
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padding: 0.4rem 0.62rem;
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color: var(--nodedc-text-secondary);
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font: inherit;
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@ -1730,9 +1722,16 @@
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.lidar-ground-modes button[data-active="true"],
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.lidar-ground-frame-control button:hover:not(:disabled),
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.lidar-ground-scene__toolbar button:hover {
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border-color: rgb(74 215 255 / 0.48);
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background: rgb(74 215 255 / 0.1);
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background: rgb(255 255 255 / 0.11);
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color: var(--nodedc-text-primary);
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outline: none;
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}
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.lidar-ground-modes button:focus-visible,
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.lidar-ground-frame-control button:focus-visible,
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.lidar-ground-scene__toolbar button:focus-visible {
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background: rgb(255 255 255 / 0.14);
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outline: none;
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}
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.lidar-ground-frame-control button {
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@ -1751,16 +1750,15 @@
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.lidar-ground-frame-control input {
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width: min(16rem, 24vw);
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accent-color: #4ad7ff;
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accent-color: #f2f2f2;
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}
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.lidar-ground-scene {
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position: relative;
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overflow: hidden;
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min-height: 30rem;
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border: 1px solid rgb(255 255 255 / 0.09);
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border-radius: 0.9rem;
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background: #071018;
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background: #06070a;
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}
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.lidar-ground-scene__viewport {
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@ -1782,15 +1780,15 @@
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display: flex;
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align-items: center;
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gap: 0.5rem;
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border: 1px solid rgb(255 255 255 / 0.08);
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border: 0;
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border-radius: 999px;
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background: rgb(5 13 21 / 0.82);
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background: rgb(10 11 14 / 0.78);
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padding: 0.28rem;
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backdrop-filter: blur(14px);
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}
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.lidar-ground-scene__toolbar button {
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background: rgb(74 215 255 / 0.08);
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background: rgb(255 255 255 / 0.06);
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}
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.lidar-ground-scene__error {
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@ -1808,9 +1806,8 @@
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place-content: center;
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justify-items: center;
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gap: 0.55rem;
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border: 1px solid var(--station-hairline);
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border-radius: 0.9rem;
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background: #071018;
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background: #06070a;
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text-align: center;
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}
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@ -60,12 +60,13 @@ function frameColors(
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const candidateAssigned = frame.masks.candidateAssigned[index] === 1;
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if (mode === "intensity") {
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const intensity = (frame.intensity0To255?.[index] ?? 96) / 255;
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const neutral = 0.16 + intensity * 0.8;
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setRgb(
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colors,
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offset,
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0.12 + intensity * 0.74,
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0.24 + intensity * 0.68,
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0.34 + intensity * 0.6,
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neutral,
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neutral,
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neutral,
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);
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} else if (mode === "current") {
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setRgb(
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@ -131,7 +132,7 @@ export function LidarGroundPointCloud({
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}
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renderer.setPixelRatio(Math.min(window.devicePixelRatio, 2));
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renderer.outputColorSpace = THREE.SRGBColorSpace;
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renderer.setClearColor(0x071018, 0.96);
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renderer.setClearColor(0x06070a, 1);
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renderer.domElement.setAttribute(
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"aria-label",
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"Интерактивное облако LiDAR",
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@ -139,7 +140,7 @@ export function LidarGroundPointCloud({
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host.prepend(renderer.domElement);
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const scene = new THREE.Scene();
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const fog = new THREE.FogExp2(0x071018, 0.035);
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const fog = new THREE.FogExp2(0x06070a, 0.035);
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scene.fog = fog;
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fogRef.current = fog;
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const camera = new THREE.PerspectiveCamera(48, 1, 0.01, 1_000);
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@ -172,7 +173,7 @@ export function LidarGroundPointCloud({
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materialRef.current = material;
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scene.add(new THREE.Points(geometry, material));
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const grid = new THREE.GridHelper(10, 40, 0x71963d, 0x26312a);
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const grid = new THREE.GridHelper(10, 40, 0x454846, 0x252725);
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gridRef.current = grid;
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const gridMaterials = Array.isArray(grid.material)
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? grid.material
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@ -378,7 +378,7 @@ export function PolygonRoverScene({
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<span>
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{workerAvailable
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? "Запустите PX4/Gazebo — модель останется доступна для осмотра."
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: "Полигон появится в шапке после подтверждения Simulation Worker."}
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: "Прогоны и датасеты доступны; запуск и управление откроются после подтверждения Simulation Worker."}
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</span>
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</div>
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) : null}
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@ -21,7 +21,7 @@ let stopPolygonWorker;
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let PolygonWorkerContractError;
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let workspaceById;
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let workspacesForRoot;
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let rootsForCapabilities;
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let roots;
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before(async () => {
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server = await createServer({
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@ -51,7 +51,7 @@ before(async () => {
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({
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workspaceById,
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workspacesForRoot,
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rootsForCapabilities,
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roots,
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} = await server.ssrLoadModule("/src/productModel.ts"));
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});
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@ -290,7 +290,7 @@ function commandAcceptance(overrides = {}) {
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};
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}
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test("Polygon is a worker-gated product root and keeps a compatible direct route", () => {
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test("Polygon stays visible while worker capability gates live actions", () => {
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assert.deepEqual(resolvePolygonRunRoute("?workspace=polygon-run"), {
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active: true,
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runId: null,
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@ -320,16 +320,7 @@ test("Polygon is a worker-gated product root and keeps a compatible direct route
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workspacesForRoot("system").some(({ id }) => id === "polygon-run"),
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false,
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);
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assert.equal(
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rootsForCapabilities({ polygonWorkerAvailable: false })
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.some(({ id }) => id === "polygon"),
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false,
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);
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assert.equal(
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rootsForCapabilities({ polygonWorkerAvailable: true })
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.some(({ id }) => id === "polygon"),
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true,
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);
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assert.equal(roots.some(({ id }) => id === "polygon"), true);
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});
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test("Polygon contracts decode path-free evidence and preserve the safety boundary", () => {
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@ -164,8 +164,8 @@ fresh loopback-only namespace, the run reached `completed`, and both provider
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groups stopped without residue. S1C commit `b7ccca3` adds a persistent
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unprivileged worker agent in the same isolation boundary, a bounded Unix-socket
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gateway, an explicit `internal-virtual-only` backend gate and a browser-native
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live panel. UI-2 commit `60e7916` promotes that panel into a worker-gated
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top-level product root and replaces the diagnostic 2D marker with a
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live panel. UI-2 commit `60e7916` promotes that panel into a top-level product
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root and replaces the diagnostic 2D marker with a
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browser-native Three.js Ackermann Rover scene. The exact D-only generation
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passed 35 target tests and one UI-driven provider run with diagnostic Gazebo
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`VehicleState`, eight persisted lifecycle events, terminal `completed` and zero
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@ -834,15 +834,16 @@ safety policy.
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## 20. UI gate
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Polygon is implemented as a capability-gated seventh top-level bounded context:
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Polygon is implemented as a permanent seventh top-level bounded context:
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```text
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Center | Fleet | Observation | Missions | Data | Polygon* | System
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* visible only while Mission Core confirms an admitted available Simulation Worker
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Center | Fleet | Observation | Missions | Data | Polygon | System
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```
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Two UI gates are intentionally distinct.
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The product surface and execution capability are intentionally distinct.
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`Полигон` and its dataset catalog remain visible without a worker. Worker
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capability gates only live lifecycle and command actions, which fail closed and
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show an explicit offline state.
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The Polygon navigation is task-oriented:
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@ -886,7 +887,7 @@ read-only evidence contract backed by the server-owned run repository and is
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composed into UI-2. A shared review deployment requires a reviewed read-only D
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mount or a co-located backend; SSH is not a product data plane.
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### UI-2 — worker-gated top-level Polygon
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### UI-2 — permanent Polygon with worker-gated live actions
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The full UI-2 control/scenario gate begins only after:
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@ -894,8 +895,10 @@ The full UI-2 control/scenario gate begins only after:
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2. S1 target backend lifecycle and command authority are proven;
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3. run history is persisted independently of a browser session.
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Commit `60e7916` accepts the presentation/lifecycle slice before all three
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conditions are complete: conditional header root, direct workspace,
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Commit `60e7916` accepted the presentation/lifecycle slice before all three
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conditions were complete. The root is now permanent so datasets and persisted
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evidence remain reachable while the worker is offline; live start/stop and
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commands remain capability-gated. The slice includes the direct workspace,
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virtual-only start/stop, 3D rover inspection, diagnostic ENU pose and read-only
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history. It does not claim command authority. Scenarios, pause/step/reset,
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canonical rover commands, Compare and Report remain planned. UI-2 cannot own
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@ -55,9 +55,10 @@ reports easy to misuse.
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13. S1 uses exact `px4_msgs` directly. The experimental
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`px4-ros2-interface-lib` is not a mandatory S1 dependency.
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14. The read-only direct UI-0 run view consumes proven target S1B persisted
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history through GET-only server routes. It is hidden from navigation and
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cannot mutate a run. Top-level Polygon UI and control remain gated on
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accepted S1 target command/lifecycle behavior.
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history through GET-only server routes and cannot mutate a run. The
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top-level Polygon product surface remains visible so datasets and persisted
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evidence are reachable offline; live lifecycle and command actions remain
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gated on admitted worker capability and accepted S1 target behavior.
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15. Real actuator authority requires a new decision and physical safety gate.
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16. S0 processes run inside an ephemeral loopback-only Linux network namespace.
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Micro XRCE-DDS Agent's UDP wildcard bind is acceptable only inside that
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