:root {
  --paper: #ffffff;
  --text: #20252b;
  --grid: #d9dde1;
  --current-trajectory: #1769aa;
  --previous-trajectory: #8d959d;
  --handoff: #d87918;
  --failure: #b42318;
  --world-coarse-path: #7e8790;
  --world-smoothed-path: #168b83;
  --world-active-segment: #3f78a8;
  --world-em-trajectory: #df6b1f;
}
* { box-sizing: border-box; }
body { margin: 0; background: var(--paper); color: var(--text); font: 14px/1.45 "Microsoft YaHei", "Noto Sans CJK SC", sans-serif; }
header { display: flex; justify-content: space-between; align-items: end; padding: 22px 30px 16px; border-bottom: 1px solid var(--grid); }
h1, h2, p { margin: 0; } h1 { font-size: 22px; font-weight: 600; letter-spacing: .02em; } h2 { font-size: 15px; font-weight: 600; }
.eyebrow { color: #66707a; font: 11px/1.2 ui-monospace, Consolas, monospace; letter-spacing: .08em; text-transform: uppercase; }
#live-state { min-width: 170px; padding: 5px 8px; border-left: 3px solid var(--current-trajectory); color: #3f4851; text-align: right; }
nav { display: flex; gap: 2px; padding: 10px 30px 0; border-bottom: 1px solid var(--grid); }
nav button { border: 0; border-bottom: 2px solid transparent; background: transparent; color: #59636d; cursor: pointer; padding: 9px 12px 8px; font: inherit; }
nav button[aria-selected="true"] { border-bottom-color: var(--current-trajectory); color: var(--text); font-weight: 600; }
main { max-width: 1500px; margin: auto; padding: 22px 30px 36px; }
.summary-grid { display: grid; grid-template-columns: repeat(auto-fit, minmax(130px, 1fr)); gap: 7px 16px; margin-bottom: 14px; }
.summary-value { border-bottom: 1px solid var(--grid); padding: 4px 0; } .summary-value small { display: block; color: #66707a; }
.world-stack { position: relative; width: 100%; min-height: 520px; border: 1px solid var(--grid); overflow: hidden; background: #fff; }
#occupancy-grid, #world-overlay { position: absolute; inset: 0; width: 100%; height: 100%; } #world-overlay { pointer-events: none; }
main > section[hidden] { display: none !important; }
#ls-st:not([hidden]), #kinematics:not([hidden]) { display: grid; grid-template-columns: repeat(auto-fit, minmax(360px, 1fr)); gap: 18px; }
.chart { position: relative; min-height: 280px; border: 1px solid var(--grid); padding: 8px; } .chart svg { display: block; width: 100%; height: 244px; touch-action: none; }
.chart-tools { position: absolute; top: 6px; right: 6px; display: flex; gap: 6px; }
.chart-tools button { width: 26px; height: 26px; border: 1px solid var(--grid); background: #fff; color: #59636d; cursor: pointer; font: 12px/1 sans-serif; }
.chart-tools button:hover { border-color: #8d959d; color: #20252b; }
.chart-zoom-box { fill: rgba(23, 105, 170, .08); stroke: #1769aa; stroke-width: .8; }
.chart.is-fullscreen { position: fixed; inset: 0; z-index: 100; min-height: 100vh; padding: 18px; overflow: auto; background: var(--paper); }
.chart.is-fullscreen svg { height: calc(100vh - 110px); min-height: 320px; }
.chart-title { font-size: 14px; font-weight: 600; } .chart-note { min-height: 20px; color: #66707a; font-size: 12px; }
.chart-grid { stroke: var(--grid); stroke-width: .55; } .chart-axis { stroke: #59636d; stroke-width: .8; } .chart-data { fill: none; stroke-width: 1.1; vector-effect: non-scaling-stroke; }
.chart-solid { stroke: var(--current-trajectory); } .chart-dashed { stroke: var(--previous-trajectory); stroke-dasharray: 5 4; } .chart-limit { stroke: var(--failure); stroke-dasharray: 3 3; }
.axis-label { fill: #48515b; font: 11px sans-serif; } .axis-tick { fill: #66707a; font: 10px sans-serif; }
.axis-label-x, .axis-label-y { fill: #48515b; font: 11px sans-serif; } .axis-tick-x, .axis-tick-y { fill: #66707a; font: 10px sans-serif; }
.chart-annotation-line { stroke: var(--handoff); stroke-width: .8; stroke-dasharray: 2 2; }
.chart-annotation-point { fill: var(--handoff); stroke: #ffffff; stroke-width: .6; }
.chart-annotation-label { fill: var(--handoff); font: 10px sans-serif; }
.world-line { fill: none; vector-effect: non-scaling-stroke; }
.world-coordinate-grid { stroke: #dfe4e8; stroke-opacity: .62; stroke-width: .7; vector-effect: non-scaling-stroke; }
.world-axis-zero { stroke: #7c8791; stroke-opacity: .72; stroke-width: 1.1; vector-effect: non-scaling-stroke; }
.world-axis-tick { fill: #68737d; font-family: ui-monospace, Consolas, monospace; }
.world-axis-label { fill: #48535d; font-family: "Microsoft YaHei", "Noto Sans CJK SC", sans-serif; font-weight: 600; }
.world-static { stroke: #8d959d; stroke-opacity: .38; stroke-width: 1.4; }
.world-future { stroke: #b6bec6; stroke-dasharray: 5 4; stroke-width: 1.2; }
.world-active { stroke: var(--world-active-segment); stroke-width: 1.5; }
.world-previous { stroke: #887493; stroke-opacity: .66; stroke-dasharray: 7 5; stroke-width: 2; }
.world-coarse { stroke: var(--world-coarse-path); stroke-opacity: .40; stroke-dasharray: 7 5; stroke-width: 2; }
.world-local-g2 { stroke: var(--world-smoothed-path); stroke-opacity: .65; stroke-width: 4; }
.world-segment-active { stroke: var(--world-active-segment); stroke-opacity: .50; stroke-width: 1.5; }
.world-direction-inactive { stroke: #aab2b9; stroke-opacity: .30; stroke-dasharray: 5 5; stroke-width: 1.1; }
.world-current { stroke: var(--world-em-trajectory); stroke-opacity: .96; stroke-width: 2.4; }
.world-marker-shape { vector-effect: non-scaling-stroke; }
.world-marker-label { fill: #20252b; font: 11px/1.2 "Microsoft YaHei", "Noto Sans CJK SC", sans-serif; paint-order: stroke; stroke: rgba(255, 255, 255, .88); stroke-width: 3px; stroke-linejoin: round; }
.world-marker { fill: #d87918; stroke: #ffffff; stroke-width: 1.4; }
.marker-vehicle .vehicle-outline { fill: rgba(32, 37, 43, .16); stroke: #20252b; stroke-width: 1.5; }
.marker-vehicle .vehicle-heading { stroke: #20252b; stroke-width: 1.5; stroke-linecap: round; vector-effect: non-scaling-stroke; }
.marker-smooth-start { fill: #2f8f56; stroke: #ffffff; stroke-width: 1.5; }
.marker-plan-start { fill: none; stroke: #2f8f56; stroke-width: 2; }
.marker-gear-switch { fill: #d87918; stroke: #ffffff; stroke-width: 1.5; }
.marker-final-goal { fill: #1769aa; stroke: #ffffff; stroke-width: 1.5; }
.world-legend { position: absolute; top: 14px; right: 14px; z-index: 3; display: grid; gap: 6px; min-width: 154px; max-width: min(260px, calc(100% - 28px)); padding: 10px 12px; border: 1px solid rgba(112, 123, 133, .38); border-radius: 6px; background: rgba(255, 255, 255, .88); box-shadow: 0 2px 10px rgba(32, 37, 43, .08); color: #36404a; font-size: 12px; pointer-events: none; backdrop-filter: blur(2px); }
.world-legend[hidden] { display: none; }
.world-legend-item { display: grid; grid-template-columns: 30px minmax(0, 1fr); align-items: center; gap: 8px; min-height: 16px; }
.world-legend-swatch { display: block; justify-self: center; }
.legend-line { width: 28px; height: 0; border-top-style: solid; }
.legend-coarse { border-top: 2px dashed rgba(126, 135, 144, .62); }
.legend-smooth { border-top: 4px solid rgba(22, 139, 131, .65); }
.legend-segment { border-top: 2px solid rgba(63, 120, 168, .50); }
.legend-previous { border-top: 2px dashed rgba(136, 116, 147, .72); }
.legend-current { border-top: 3px solid rgba(223, 107, 31, .96); }
.legend-marker { width: 11px; height: 11px; border: 1.5px solid #ffffff; box-shadow: 0 0 0 1px rgba(32, 37, 43, .22); }
.legend-smooth-start { border-radius: 50%; background: #2f8f56; }
.legend-plan-start { border: 2px solid #2f8f56; border-radius: 50%; background: #ffffff; }
.legend-vehicle { width: 17px; height: 9px; border: 1.5px solid #20252b; border-radius: 2px; background: rgba(32, 37, 43, .16); }
.legend-gear { transform: rotate(45deg); background: #d87918; }
.legend-goal { background: #1769aa; }
.world-legend-label { overflow: hidden; text-overflow: ellipsis; white-space: nowrap; }
.world-empty-state { fill: #66707a; font: 14px/1.2 "Microsoft YaHei", "Noto Sans CJK SC", sans-serif; }
.history-panel, .configuration-panel { margin-bottom: 26px; } #cycle-history { overflow-x: auto; } table { width: 100%; border-collapse: collapse; font-size: 12px; } th, td { padding: 6px 8px; border-bottom: 1px solid var(--grid); text-align: left; white-space: nowrap; } th { color: #59636d; font-weight: 600; }
.config-group { margin: 13px 0; border-top: 1px solid var(--grid); } .config-group h3 { margin: 8px 0; font-size: 13px; } .config-entry { display: grid; grid-template-columns: minmax(110px, 1fr) minmax(130px, 1fr) minmax(90px, 1fr) 70px; gap: 8px; padding: 4px 0; border-bottom: 1px dotted #e5e8eb; } .raw { color: #66707a; font-family: ui-monospace, Consolas, monospace; }
.failure { color: var(--failure); } .notice { color: var(--handoff); }
@media (max-width: 720px) {
  header { align-items: start; flex-direction: column; gap: 10px; }
  nav, main, header { padding-left: 14px; padding-right: 14px; }
  .world-stack { min-height: 360px; }
  .world-legend { top: 8px; right: 8px; min-width: 138px; padding: 8px 9px; font-size: 11px; }
  .config-entry { grid-template-columns: 1fr 1fr; }
}
