Preserve onboard preview recordings across backpressure and share the complete spatial scene

2026-09-07 17:47:10 +03:00
parent 9b6534287a
commit 9bba44f7c4
30 changed files with 957 additions and 494 deletions
@@ -0,0 +1,84 @@
+/** Pure K1 telemetry and phase vocabulary, shared by direct and onboard views. */
+export type AcquisitionState =
+  | "preparing"
+  | "prepared"
+  | "awaiting_external_start"
+  | "starting"
+  | "acquiring"
+  | "awaiting_external_stop"
+  | "stopping"
+  | "finalizing"
+  | "completed"
+  | "failed"
+  | "aborted"
+  | "interrupted";
+
+export interface XgridsK1Metrics {
+  pcl_frames?: number | null;
+  pose_frames?: number | null;
+  mqtt_to_decode_ms?: number | null;
+  decode_ms?: number | null;
+  publish_ms?: number | null;
+  pipeline_ms?: number | null;
+  end_to_end_ms?: number | null;
+  frame_rate?: number | null;
+  frame_rate_hz?: number | null;
+  point_count?: number | null;
+  dropped_preview_frames?: number | null;
+  ai_end_to_end_ms?: number | null;
+  ai_end_to_end_p95_ms?: number | null;
+  ai_frame_rate_hz?: number | null;
+  ai_dropped_frames?: number | null;
+  ai_stale_ms?: number | null;
+  device_elapsed_seconds?: number | null;
+  device_route_distance_meters?: number | null;
+  device_speed_meters_per_second?: number | null;
+  device_speed_mps?: number | null;
+  elapsed_seconds?: number | null;
+  route_distance_meters?: number | null;
+  speed_meters_per_second?: number | null;
+  [key: string]: number | null | undefined;
+}
+
+export function finiteMetric(value: number | null | undefined): number | null {
+  return typeof value === "number" && Number.isFinite(value) ? value : null;
+}
+
+function nonNegativeMetric(value: number | null | undefined): number | null {
+  const finite = finiteMetric(value);
+  return finite !== null && finite >= 0 ? finite : null;
+}
+
+export interface K1DeviceTelemetry {
+  elapsedSeconds: number | null;
+  routeDistanceMeters: number | null;
+  speedMetersPerSecond: number | null;
+}
+
+
+export function deviceTelemetry(
+  metrics: XgridsK1Metrics | null | undefined,
+): K1DeviceTelemetry {
+  return {
+    elapsedSeconds: nonNegativeMetric(
+      metrics?.device_elapsed_seconds ?? metrics?.elapsed_seconds,
+    ),
+    routeDistanceMeters: nonNegativeMetric(
+      metrics?.device_route_distance_meters ?? metrics?.route_distance_meters,
+    ),
+    speedMetersPerSecond: nonNegativeMetric(
+      metrics?.device_speed_meters_per_second ??
+        metrics?.device_speed_mps ??
+        metrics?.speed_meters_per_second,
+    ),
+  };
+}
+
+export function formatNumber(value: number | null, digits = 1): string {
+  if (value === null) return "—";
+  return value.toLocaleString("ru-RU", {
+    maximumFractionDigits: digits,
+    minimumFractionDigits: digits,
+  });
+}
+