ParkingRobot/ClumsyPilot/TrajectoryPlanningVisualization/Web/app.js

(() => {
  "use strict";
  const token = new URLSearchParams(window.location.search).get("token") || "";
  const svgNs = "http://www.w3.org/2000/svg";
  const state = { staticSnapshot: null, frame: null, history: [], refreshRateHz: 10, ended: false, activeTab: "overview", redrawEnabled: {} };
  const liveState = document.getElementById("live-state");
  const occupancyCanvas = document.getElementById("occupancy-grid");
  const overlay = document.getElementById("world-overlay");

  function authorized(path) { return path + "?token=" + encodeURIComponent(token); }
  function finite(value) { return typeof value === "number" && Number.isFinite(value); }
  function element(name, className, text) { const node = document.createElement(name); if (className) node.className = className; if (text !== undefined) node.textContent = text; return node; }
  function svg(name, attributes) { const node = document.createElementNS(svgNs, name); Object.keys(attributes || {}).forEach(key => node.setAttribute(key, String(attributes[key]))); return node; }
  function safeArray(value) { return Array.isArray(value) ? value : []; }
  function setLiveState(text, className) { liveState.textContent = text; liveState.className = className || ""; }

  function installTabs() {
    document.querySelectorAll("nav button[data-tab]").forEach(button => button.addEventListener("click", () => {
      state.activeTab = button.dataset.tab;
      document.querySelectorAll("nav button[data-tab]").forEach(item => item.setAttribute("aria-selected", String(item === button)));
      document.querySelectorAll("main > section").forEach(section => { section.hidden = section.id !== state.activeTab; });
      renderActiveTab();
    }));
  }

  function getBounds() {
    const values = [];
    const include = points => safeArray(points).forEach(point => { if (point && finite(point.x) && finite(point.y)) values.push(point); });
    const snapshot = state.staticSnapshot || {};
    include([ { x: snapshot.worldBounds && snapshot.worldBounds.xMin, y: snapshot.worldBounds && snapshot.worldBounds.yMin }, { x: snapshot.worldBounds && snapshot.worldBounds.xMax, y: snapshot.worldBounds && snapshot.worldBounds.yMax } ]);
    safeArray(snapshot.staticPolylines).forEach(line => include(line.points)); safeArray(snapshot.directionSegments).forEach(line => include(line.points)); safeArray(snapshot.staticMarkers).forEach(marker => include([marker.position]));
    const frame = state.frame || {}; safeArray(frame.dynamicPolylines).forEach(line => include(line.points)); safeArray(frame.dynamicMarkers).forEach(marker => include([marker.position])); include([frame.vehiclePose]);
    if (!values.length) return { xMin: 0, xMax: 1, yMin: 0, yMax: 1 };
    let xMin = Math.min(...values.map(point => point.x)), xMax = Math.max(...values.map(point => point.x)), yMin = Math.min(...values.map(point => point.y)), yMax = Math.max(...values.map(point => point.y));
    const pad = Math.max(xMax - xMin, yMax - yMin, 1) * .05; return { xMin: xMin - pad, xMax: xMax + pad, yMin: yMin - pad, yMax: yMax + pad };
  }

  function drawOccupancy(bounds) {
    const grid = state.staticSnapshot && state.staticSnapshot.occupancyGrid;
    const box = occupancyCanvas.getBoundingClientRect(); const scale = window.devicePixelRatio || 1;
    occupancyCanvas.width = Math.max(1, Math.round(box.width * scale)); occupancyCanvas.height = Math.max(1, Math.round(box.height * scale));
    const context = occupancyCanvas.getContext("2d"); context.setTransform(scale, 0, 0, scale, 0, 0); context.clearRect(0, 0, box.width, box.height);
    if (!grid || !grid.occupancyBitsBase64 || !grid.rows || !grid.columns) return;
    const bits = Uint8Array.from(atob(grid.occupancyBitsBase64), character => character.charCodeAt(0));
    const factor = Math.min(box.width / (bounds.xMax - bounds.xMin), box.height / (bounds.yMax - bounds.yMin)); const offsetX = (box.width - (bounds.xMax - bounds.xMin) * factor) / 2; const offsetY = (box.height - (bounds.yMax - bounds.yMin) * factor) / 2;
    context.fillStyle = "#edf0f2";
    for (let row = 0; row < grid.rows; row += 1) for (let column = 0; column < grid.columns; column += 1) { const index = row * grid.columns + column; if ((bits[index >> 3] & (1 << (index & 7))) !== 0) { const x = offsetX + (grid.bounds.xMin + column * grid.resolutionMeters - bounds.xMin) * factor; const y = offsetY + (bounds.yMax - (grid.bounds.yMin + (row + 1) * grid.resolutionMeters)) * factor; context.fillRect(x, y, grid.resolutionMeters * factor, grid.resolutionMeters * factor); } }
  }

  function worldPath(points) { return safeArray(points).filter(point => finite(point.x) && finite(point.y)).map((point, index) => (index ? "L" : "M") + point.x + " " + (-point.y)).join(" "); }
  function renderWorld() {
    const bounds = getBounds(); drawOccupancy(bounds); overlay.replaceChildren(); overlay.setAttribute("viewBox", `${bounds.xMin} ${-bounds.yMax} ${bounds.xMax - bounds.xMin} ${bounds.yMax - bounds.yMin}`); overlay.setAttribute("preserveAspectRatio", "xMidYMid meet");
    const snapshot = state.staticSnapshot || {}; const frame = state.frame || {};
    const addLine = (line, css) => { const path = worldPath(line.points); if (path) overlay.append(svg("path", { d: path, class: "world-line " + css })); };
    const staticClass = line => { const kind = String(line.kind || "").toLowerCase(); if (kind === "global" || kind === "coarse") return "world-coarse"; if (kind.includes("local-g2") || kind.includes("g2")) return "world-local-g2"; return "world-static"; };
    const dynamicClass = line => { const kind = String(line.kind || "").toLowerCase(); if (kind === "current") return "world-current"; if (kind === "previous" || line.lineStyle === 1) return "world-previous"; return "world-current"; };
    safeArray(snapshot.staticPolylines).forEach(line => addLine(line, staticClass(line)));
    safeArray(snapshot.directionSegments).forEach(segment => addLine(segment, segment.segmentIndex === frame.activeSegmentIndex ? "world-segment-active" : "world-direction-inactive"));
    safeArray(frame.dynamicPolylines).forEach(line => addLine(line, dynamicClass(line)));
    const hasPath = safeArray(snapshot.staticPolylines).concat(safeArray(snapshot.directionSegments), safeArray(frame.dynamicPolylines))
      .some(line => safeArray(line && line.points).some(point => point && finite(point.x) && finite(point.y)));
    const appendMarker = marker => {
      if (!marker.position || !finite(marker.position.x) || !finite(marker.position.y)) return;
      const x = marker.position.x, y = -marker.position.y; const kind = String(marker.kind || "").toLowerCase();
      if (kind === "vehicle") {
        const pose = frame.vehiclePose; const heading = pose && finite(pose.headingRadians) ? pose.headingRadians : 0;
        const cos = Math.cos(heading), sin = Math.sin(heading);
        const corners = [[.38, .18], [-.38, .18], [-.38, -.18], [.38, -.18]].map(([dx, dy]) => {
          const wx = marker.position.x + dx * cos - dy * sin; const wy = marker.position.y + dx * sin + dy * cos; return `${wx} ${-wy}`;
        });
        const group = svg("g", { class: "marker-vehicle" });
        group.append(svg("path", { d: `M ${corners[0]} L ${corners[1]} L ${corners[2]} L ${corners[3]} Z`, class: "vehicle-outline" }));
        group.append(svg("line", { x1: x, y1: y, x2: x + .22 * cos, y2: y - .22 * sin, class: "vehicle-heading" }));
        overlay.append(group);
      } else if (kind === "plan-start") {
        overlay.append(svg("circle", { cx: x, cy: y, r: ".12", class: "marker-plan-start" }));
      } else if (kind === "gear-switch" || kind === "gear-switch-end") {
        const size = ".14"; overlay.append(svg("path", { d: `M ${x} ${y - size} L ${x + size} ${y} L ${x} ${y + size} L ${x - size} ${y} Z`, class: "marker-gear-switch" }));
      } else if (kind === "final-goal") {
        const size = ".13"; overlay.append(svg("path", { d: `M ${x - size} ${y - size} L ${x + size} ${y - size} L ${x + size} ${y + size} L ${x - size} ${y + size} Z`, class: "marker-final-goal" }));
      } else {
        const size = ".18"; overlay.append(svg("path", { d: `M ${x} ${y - size} L ${x + size} ${y} L ${x} ${y + size} L ${x - size} ${y} Z`, class: "world-marker" }));
      }
      const label = svg("text", { x: x + .2, y: y - .2, fill: "#20252b", "font-size": ".32" }); label.textContent = marker.labelChinese || ""; overlay.append(label);
    };
    safeArray(snapshot.staticMarkers).concat(safeArray(frame.dynamicMarkers)).forEach(appendMarker);
    if (!hasPath) {
      const empty = svg("text", { x: (bounds.xMin + bounds.xMax) / 2, y: -((bounds.yMin + bounds.yMax) / 2), class: "world-empty-state", "text-anchor": "middle" });
      empty.textContent = "未收到 Local G2 路径"; overlay.append(empty);
    }
  }

  function niceDomain(values, padding = .05, unitFloor = 1e-6) {
    const flat = safeArray(values).filter(finite);
    if (!flat.length) return { min: 0, max: 1 };
    let min = Math.min(...flat), max = Math.max(...flat);
    const span = max - min;
    if (span < unitFloor) {
      const pad = Math.max(Math.abs(min) * padding, unitFloor); min -= pad; max += pad;
    } else {
      const pad = span * padding; min -= pad; max += pad;
    }
    const tickSpan = max - min;
    if (tickSpan > 0) {
      const roughStep = tickSpan / 4;
      const magnitude = Math.pow(10, Math.floor(Math.log10(roughStep)));
      const normalized = roughStep / magnitude;
      const step = normalized >= 5 ? 5 : normalized >= 2 ? 2 : 1;
      const niceStep = step * magnitude; min = Math.floor(min / niceStep) * niceStep; max = Math.ceil(max / niceStep) * niceStep;
    }
    if (!(max > min)) max = min + 1;
    return { min, max };
  }
  function formatTick(value) {
    if (!finite(value)) return "";
    if (value === 0) return "0";
    const abs = Math.abs(value); const precision = abs >= 100 ? 1 : abs >= 1 ? 2 : 4;
    return Number(value.toFixed(precision)).toString();
  }
  function renderChart(id, chart) {
    const host = document.getElementById(id); if (!host) return; host.replaceChildren(); const title = element("div", "chart-title", chart ? chart.chineseTitle : id); const noteText = id === "jerk-t" ? "末点后无时间区间" : chart ? chart.noteChinese : "等待当前周期数据"; const note = element("div", "chart-note", noteText); host.append(title, note);
    const all = chart ? safeArray(chart.series).flatMap(series => safeArray(series.points)) : [];
    const xDomain = niceDomain(all.map(point => point.x)), yDomain = niceDomain(all.map(point => point.y));
    const domain = { x0: xDomain.min, x1: xDomain.max, y0: yDomain.min, y1: yDomain.max };
    const width = 640, height = 244, left = 58, right = 16, top = 8, bottom = 36;
    const plotWidth = width - left - right, plotHeight = height - top - bottom;
    const sx = value => left + (value - domain.x0) * plotWidth / (domain.x1 - domain.x0); const sy = value => height - bottom - (value - domain.y0) * plotHeight / (domain.y1 - domain.y0); const graph = svg("svg", { viewBox: `0 0 ${width} ${height}`, role: "img", "aria-label": chart ? chart.chineseTitle : id });
    for (let tick = 0; tick <= 4; tick += 1) {
      const x = left + tick * plotWidth / 4, y = top + tick * plotHeight / 4;
      graph.append(svg("line", { x1: x, y1: top, x2: x, y2: height - bottom, class: "chart-grid" }), svg("line", { x1: left, y1: y, x2: width - right, y2: y, class: "chart-grid" }));
      const xt = svg("text", { x, y: height - bottom + 14, class: "axis-tick axis-tick-x", "text-anchor": "middle" }); xt.textContent = formatTick(domain.x0 + tick * (domain.x1 - domain.x0) / 4); graph.append(xt);
      const yt = svg("text", { x: left - 7, y, class: "axis-tick axis-tick-y", "text-anchor": "end", "dominant-baseline": "middle" }); yt.textContent = formatTick(domain.y1 - tick * (domain.y1 - domain.y0) / 4); graph.append(yt);
    }
    graph.append(svg("line", { x1: left, y1: top, x2: left, y2: height - bottom, class: "chart-axis" }), svg("line", { x1: left, y1: height - bottom, x2: width - right, y2: height - bottom, class: "chart-axis" }));
    safeArray(chart && chart.series).forEach(series => { const points = safeArray(series.points).filter(point => finite(point.x) && finite(point.y)); if (!points.length) return; const d = points.map((point, index) => (index ? "L" : "M") + sx(point.x) + " " + sy(point.y)).join(" "); const kind = String(series.kind || "").toLowerCase(); const lineClass = kind === "limit" || series.lineStyle === 2 ? "chart-limit" : kind === "previous" || series.lineStyle === 1 ? "chart-dashed" : "chart-solid"; graph.append(svg("path", { d, class: "chart-data " + lineClass })); });
    safeArray(chart && chart.annotations).forEach(annotation => { if (!finite(annotation.x)) return; const ax = sx(annotation.x); graph.append(svg("line", { x1: ax, y1: top, x2: ax, y2: height - bottom, class: "chart-annotation-line" })); if (finite(annotation.y)) graph.append(svg("circle", { cx: ax, cy: sy(annotation.y), r: 3, class: "chart-annotation-point" })); const label = svg("text", { x: Math.min(ax + 4, width - right - 2), y: top + 10, class: "chart-annotation-label" }); label.textContent = annotation.labelChinese || ""; graph.append(label); });
    const xLabel = svg("text", { x: (left + width - right) / 2, y: height - 4, class: "axis-label axis-label-x", "text-anchor": "middle" }); xLabel.textContent = chart ? chart.xAxisLabel : "x"; const yLabel = svg("text", { x: 13, y: (top + height - bottom) / 2, class: "axis-label axis-label-y", transform: `rotate(-90 13 ${(top + height - bottom) / 2})`, "text-anchor": "middle" }); yLabel.textContent = chart ? chart.yAxisLabel : "y"; graph.append(xLabel, yLabel); host.append(graph);
  }

  function renderOverview() { renderWorld(); const summary = document.getElementById("overview-summary"); summary.replaceChildren(); const frame = state.frame || {}; safeArray(frame.statusValues).concat([{ chineseName: "活动方向段", rawName: "SegmentIndex", value: String(frame.activeSegmentIndex ?? "不可用"), unit: "", severity: "normal" }, { chineseName: "方向", rawName: "Direction", value: frame.activeDirection || "不可用", unit: "", severity: "normal" }]).forEach(value => { const cell = element("div", "summary-value " + (value.severity || "")); const name = element("small", "", `${value.chineseName || "不可用"} · ${value.rawName || ""}`); const data = element("div", "", `${value.value || "不可用"} ${value.unit || ""}`.trim()); cell.append(name, data); summary.append(cell); }); }
  function chartById(id) { return safeArray(state.frame && state.frame.charts).find(chart => chart.id === id); }
  function renderCharts(ids) { ids.forEach(id => renderChart(id, chartById(id))); }
  function renderHistoryConfig() { const history = document.getElementById("cycle-history"); history.replaceChildren(); const table = element("table"); const head = element("tr"); ["周期", "时间", "状态", "发布", "耗时 (ms)", "段", "方向", "模式", "终端", "失败原因"].forEach(label => head.append(element("th", "", label))); table.append(head); safeArray(state.history).forEach(item => { const row = element("tr"); [item.cycleVersion, item.occurredAtUtc, item.status, item.published, item.planningElapsedMilliseconds, item.segmentIndex, item.direction, item.longitudinalMode, item.terminalType, item.failureReason || ""].forEach(value => row.append(element("td", "", String(value ?? "不可用")))); table.append(row); }); history.append(table); const configuration = document.getElementById("configuration"); configuration.replaceChildren(); safeArray(state.staticSnapshot && state.staticSnapshot.configurationGroups).forEach(group => { const panel = element("div", "config-group"); panel.append(element("h3", "", group.chineseTitle)); safeArray(group.entries).forEach(entry => { const line = element("div", "config-entry " + (entry.severity || "")); line.append(element("span", "", entry.chineseName), element("span", "raw", entry.rawName), element("span", "", entry.value), element("span", "", entry.unit)); panel.append(line); }); configuration.append(panel); }); }
  function renderActiveTab() { if (!state.redrawEnabled[state.activeTab]) return; try { if (state.activeTab === "overview") renderOverview(); else if (state.activeTab === "ls-st") renderCharts(["ls", "st"]); else if (state.activeTab === "kinematics") renderCharts(["curvature-s", "curvature-t", "velocity-t", "acceleration-t", "jerk-t", "yaw-rate-t"]); else renderHistoryConfig(); } catch (error) { state.redrawEnabled[state.activeTab] = false; setLiveState("页面绘图异常", "failure"); } }
  function renderAll() { renderActiveTab(); }
  function updateConnectionState() { if (state.ended) return; if (!state.lastFrameAt || Date.now() - state.lastFrameAt > 2000 / state.refreshRateHz * 1000) setLiveState("数据已过期", "failure"); }
  function receiveFrame(payload) { state.frame = payload.snapshot || null; state.history = safeArray(payload.history); state.lastFrameAt = Date.now(); if (!state.ended) setLiveState(state.frame && state.frame.sessionStateChinese || "运行中"); renderAll(); }
  function startEvents() { const events = new EventSource(authorized("/api/events")); events.addEventListener("frame", event => { try { receiveFrame(JSON.parse(event.data)); } catch (error) { state.redrawEnabled[state.activeTab] = false; setLiveState("页面绘图异常", "failure"); } }); events.addEventListener("end", () => { state.ended = true; events.close(); setLiveState("会话已结束"); }); events.onerror = () => { if (!state.ended) setLiveState("连接中断，正在重连", "notice"); }; }
  async function boot() { installTabs(); ["overview", "ls-st", "kinematics", "history-config"].forEach(tab => { state.redrawEnabled[tab] = true; }); try { const response = await fetch(authorized("/api/bootstrap"), { cache: "no-store" }); if (!response.ok) throw new Error("bootstrap failed"); const bootstrap = await response.json(); state.staticSnapshot = bootstrap.staticSnapshot || bootstrap; state.refreshRateHz = finite(bootstrap.refreshRateHz) && bootstrap.refreshRateHz > 0 ? bootstrap.refreshRateHz : 10; renderAll(); startEvents(); window.setInterval(updateConnectionState, 250); } catch (error) { setLiveState("页面绘图异常", "failure"); } }
  window.addEventListener("error", () => { state.redrawEnabled[state.activeTab] = false; setLiveState("页面绘图异常", "failure"); }); window.addEventListener("unhandledrejection", () => { state.redrawEnabled[state.activeTab] = false; setLiveState("页面绘图异常", "failure"); });
  if (window.__TRAJECTORY_VISUALIZATION_TEST__ === true) {
    ["overview", "ls-st", "kinematics", "history-config"].forEach(tab => { state.redrawEnabled[tab] = true; });
    window.__trajectoryVisualizationTestHooks = Object.freeze({
      setBootstrap(snapshot) { state.staticSnapshot = snapshot || null; },
      receiveFrame,
      renderActiveTab,
      installTabs
    });
    installTabs();
  } else {
    boot();
  }
})();