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legop3
2026-04-28 19:17:23 -04:00
parent c31408611e
commit 86eb7e628e
11 changed files with 366 additions and 380 deletions
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rulesdocs/refector_rules_and_tracking.md
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@@ -66,7 +66,7 @@
- [x] drive dock action - [x] drive dock action
- [x] gamepad mapping settings - [x] gamepad mapping settings
- [x] mobile controls - [x] mobile controls
- [ ] top down map - [x] top down map
- [x] video tile - [x] video tile
- [ ] Sweep `webui` for unused or unneeded files/code with verification - [ ] Sweep `webui` for unused or unneeded files/code with verification
@@ -79,6 +79,7 @@
- drive dock action - drive dock action
- gamepad mapping settings - gamepad mapping settings
- mobile controls - mobile controls
- top down map
### LARGE CHANGES ### LARGE CHANGES
- Split `webui/src/mini/MiniSummaryApp.jsx` into folderized modules under `webui/src/mini/MiniSummaryApp/` with a compatibility entrypoint preserved. - Split `webui/src/mini/MiniSummaryApp.jsx` into folderized modules under `webui/src/mini/MiniSummaryApp/` with a compatibility entrypoint preserved.
@@ -89,6 +90,7 @@
- Moved `DriveDockAction` to `webui/src/components/DriveDockAction/index.jsx` and updated all consumers to folder entrypoint imports. - Moved `DriveDockAction` to `webui/src/components/DriveDockAction/index.jsx` and updated all consumers to folder entrypoint imports.
- Split `webui/src/components/GamepadMappingSettings.jsx` into `webui/src/components/GamepadMappingSettings/` with extracted constants/helpers/SliderField modules and removed the standalone component file. - Split `webui/src/components/GamepadMappingSettings.jsx` into `webui/src/components/GamepadMappingSettings/` with extracted constants/helpers/SliderField modules and removed the standalone component file.
- Split `webui/src/components/MobileControls.jsx` into `webui/src/components/MobileControls/` with extracted joystick/aux/constants modules; preserved named exports and moved app import to folder entrypoint. - Split `webui/src/components/MobileControls.jsx` into `webui/src/components/MobileControls/` with extracted joystick/aux/constants modules; preserved named exports and moved app import to folder entrypoint.
- Split `webui/src/components/TopDownMap.jsx` into `webui/src/components/TopDownMap/` with extracted geometry/color helpers and visual SVG primitive modules; updated all consumers to folder entrypoint.
## Done criteria (per item) ## Done criteria (per item)
- [ ] Folderized structure created. - [ ] Folderized structure created.
server/public/assets/index-CTHeAti4.js → server/public/assets/index-BSZxBzcC.js
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server/public/index.html
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@@ -11,7 +11,7 @@
<meta name="apple-mobile-web-app-status-bar-style" content="black-translucent" /> <meta name="apple-mobile-web-app-status-bar-style" content="black-translucent" />
<meta name="apple-mobile-web-app-title" content="Multi Roomba Rover" /> <meta name="apple-mobile-web-app-title" content="Multi Roomba Rover" />
<title>Multi Roomba Rover</title> <title>Multi Roomba Rover</title>
<script type="module" crossorigin src="/assets/index-CTHeAti4.js"></script> <script type="module" crossorigin src="/assets/index-BSZxBzcC.js"></script>
<link rel="stylesheet" crossorigin href="/assets/index-DVTOmRBl.css"> <link rel="stylesheet" crossorigin href="/assets/index-DVTOmRBl.css">
</head> </head>
<body> <body>
webui/src/components/ControlSummary.jsx
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@@ -3,7 +3,7 @@ import { useSession } from '../context/SessionContext.jsx';
import { useTelemetryFrame } from '../context/TelemetryContext.jsx'; import { useTelemetryFrame } from '../context/TelemetryContext.jsx';
import { useControlSystem } from '../controls/index.js'; import { useControlSystem } from '../controls/index.js';
import { formatKeyLabel } from '../controls/keymapUtils.js'; import { formatKeyLabel } from '../controls/keymapUtils.js';
import TopDownMap from './TopDownMap.jsx'; import TopDownMap from './TopDownMap/index.jsx';
import RoverRoster from './RoverRoster.jsx'; import RoverRoster from './RoverRoster.jsx';
import DriveDockAction, { useDriveDockState } from './DriveDockAction/index.jsx'; import DriveDockAction, { useDriveDockState } from './DriveDockAction/index.jsx';
import NightVisionControl from './NightVisionControl.jsx'; import NightVisionControl from './NightVisionControl.jsx';
webui/src/components/RightPaneTabs.jsx
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@@ -6,7 +6,7 @@ import ChatPanel from './ChatPanel.jsx';
import { LinkButtonsPanel, NicknameEntryPanel } from './UserListPanel.jsx'; import { LinkButtonsPanel, NicknameEntryPanel } from './UserListPanel.jsx';
import ReplaySourcesPanel from './ReplaySourcesPanel.jsx'; import ReplaySourcesPanel from './ReplaySourcesPanel.jsx';
import Tabs, { Tab, TabList, TabPanel, TabPanels } from './Tabs.jsx'; import Tabs, { Tab, TabList, TabPanel, TabPanels } from './Tabs.jsx';
import TopDownMap from './TopDownMap.jsx'; import TopDownMap from './TopDownMap/index.jsx';
import DriveDockAction, { useDriveDockState } from './DriveDockAction/index.jsx'; import DriveDockAction, { useDriveDockState } from './DriveDockAction/index.jsx';
import { useTelemetryFrame } from '../context/TelemetryContext.jsx'; import { useTelemetryFrame } from '../context/TelemetryContext.jsx';
import { useControlSystem } from '../controls/index.js'; import { useControlSystem } from '../controls/index.js';
webui/src/components/TopDownMap.jsx
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@@ -1,369 +0,0 @@
import React from 'react';
function TopDownMap({ sensors = {}, variant = 'full', size: overrideSize, overlay = false }) {
const size = overrideSize || (variant === 'mini' ? 190 : 260);
const center = size / 2;
const offsetY = size * 0.07; // nudge everything downward within the viewBox
const centerX = center;
const centerY = center + offsetY;
const innerCircle = center * 0.8; // keep proportions consistent as size changes
const lightRingInner = innerCircle - 4;
const lightRingOuter = innerCircle + 4;
const cliffRingInner = innerCircle - 14;
const cliffRingOuter = innerCircle - 6;
const wheelLineOffset = innerCircle * 0.65;
const bumps = sensors?.bumpsAndWheelDrops || {};
const wheelOver = sensors?.wheelOvercurrents || {};
const wheelCurrentLeft = sensors?.wheelLeftCurrentMa ?? 0;
const wheelCurrentRight = sensors?.wheelRightCurrentMa ?? 0;
const sideBrushCurrent = sensors?.sideBrushCurrentMa ?? 0;
const mainBrushCurrent = sensors?.mainBrushCurrentMa ?? 0;
const bumpDepress = 6;
const bumpLeftOffset = bumps.bumpLeft ? bumpDepress : 0;
const bumpRightOffset = bumps.bumpRight ? bumpDepress : 0;
const lightAngles = buildSegments({
count: 6,
totalSpan: 140,
gap: 6,
startAngle: -70,
});
const lightLabels = ['L', 'FL', 'CL', 'CR', 'FR', 'R'];
const lightValues = [
sensors?.lightBumpLeftSignal,
sensors?.lightBumpFrontLeftSignal,
sensors?.lightBumpCenterLeftSignal,
sensors?.lightBumpCenterRightSignal,
sensors?.lightBumpFrontRightSignal,
sensors?.lightBumpRightSignal,
];
const lightSegments = lightAngles.map((ang, idx) => ({
label: lightLabels[idx],
start: ang.start,
end: ang.end,
value: lightValues[idx],
}));
const cliffSegments = [
{ label: 'Cliff L', start: -60, end: -46, value: sensors?.cliffLeftSignal, active: sensors?.cliffLeft },
{ label: 'Cliff FL', start: -32, end: -16, value: sensors?.cliffFrontLeftSignal, active: sensors?.cliffFrontLeft },
{ label: 'Cliff FR', start: 16, end: 32, value: sensors?.cliffFrontRightSignal, active: sensors?.cliffFrontRight },
{ label: 'Cliff R', start: 46, end: 60, value: sensors?.cliffRightSignal, active: sensors?.cliffRight },
];
const lightMaxSamples = lightValues.filter((v) => v != null);
const maxLight = lightMaxSamples.length ? Math.max(...lightMaxSamples, 1200) : 1200;
return (
<div
className={`${overlay ? 'relative' : 'surface relative p-1'}`}
style={overlay ? { width: `${size}px`, height: `${size}px` } : { height: '100%', width: '100%', aspectRatio: '1 / 1' }}
>
{!overlay ? (
<>
<div className="absolute left-1 top-1 text-xs text-slate-400">Top-down</div>
<div className="absolute right-1 top-1 text-[0.65rem] text-slate-500">0–{maxLight}</div>
</>
) : null}
<svg width="100%" height="100%" viewBox={`0 0 ${size} ${size}`} preserveAspectRatio="xMidYMid meet" className="mx-auto block">
<circle cx={centerX} cy={centerY} r={innerCircle} fill="#0f172a" stroke="#334155" strokeWidth="2" />
<WheelVisual
cx={centerX - wheelLineOffset}
cy={centerY}
current={wheelCurrentLeft}
drop={bumps.wheelDropLeft}
overcurrent={wheelOver.leftWheel}
label="L"
/>
<WheelVisual
cx={centerX + wheelLineOffset}
cy={centerY}
current={wheelCurrentRight}
drop={bumps.wheelDropRight}
overcurrent={wheelOver.rightWheel}
label="R"
/>
<SideBrushVisual
cx={centerX + innerCircle * 0.65}
cy={centerY - innerCircle * 0.55}
current={sideBrushCurrent}
overcurrent={wheelOver.sideBrush}
/>
<MainBrushVisual
cx={centerX}
cy={centerY}
current={mainBrushCurrent}
overcurrent={wheelOver.mainBrush}
variant={variant}
dirtLeft={sensors?.dirtDetectLeft}
dirtRight={sensors?.dirtDetect}
/>
{lightSegments.map((seg) => {
const color = lightBumpColor(seg.value, maxLight);
const tipR = lightRingOuter + 4; // point starts just outside bump arc
const baseR = tipR + 28; // extend starting length for more resolution
return (
<ConeSegment
key={seg.label}
cx={centerX}
cy={centerY}
rBase={baseR}
rTip={tipR}
startDeg={seg.start}
endDeg={seg.end}
color={color}
value={seg.value}
max={maxLight}
/>
);
})}
{cliffSegments.map((seg) => {
const color = cliffColor(seg.value, seg.active);
return (
<ArcSegment
key={seg.label}
cx={centerX}
cy={centerY}
rInner={cliffRingInner}
rOuter={cliffRingOuter}
startDeg={seg.start}
endDeg={seg.end}
color={color}
opacity={1}
pulse={Boolean(seg.active)}
/>
);
})}
<ArcSegment
cx={centerX}
cy={centerY}
rInner={lightRingInner - bumpLeftOffset}
rOuter={lightRingOuter - bumpLeftOffset}
startDeg={-70}
endDeg={-6}
color={bumps.bumpLeft ? '#ef4444' : '#475569'}
opacity={1}
pulse={Boolean(bumps.bumpLeft)}
/>
<ArcSegment
cx={centerX}
cy={centerY}
rInner={lightRingInner - bumpRightOffset}
rOuter={lightRingOuter - bumpRightOffset}
startDeg={6}
endDeg={70}
color={bumps.bumpRight ? '#ef4444' : '#475569'}
opacity={1}
pulse={Boolean(bumps.bumpRight)}
/>
</svg>
</div>
);
}
function ArcSegment({ cx, cy, rInner, rOuter, startDeg, endDeg, color, pulse = false, opacity = 1 }) {
const rMid = (rInner + rOuter) / 2;
const strokeWidth = rOuter - rInner;
const path = describeArc(cx, cy, rMid, startDeg, endDeg);
return (
<>
<path d={path} stroke={color} strokeWidth={strokeWidth} strokeLinecap="round" fill="none" opacity={opacity} />
{pulse ? (
<path
d={path}
stroke="#ef4444"
strokeWidth={strokeWidth}
strokeLinecap="round"
fill="none"
className="animate-pulse"
opacity={1}
/>
) : null}
</>
);
}
function ConeSegment({ cx, cy, rBase, rTip, startDeg, endDeg, color, value, max }) {
const mid = (startDeg + endDeg) / 2;
const baseA = polarToCartesian(cx, cy, rBase, startDeg);
const baseB = polarToCartesian(cx, cy, rBase, endDeg);
const tip = polarToCartesian(cx, cy, rTip, mid);
const norm = clamp01(value != null ? value / (max || 1) : 0);
const eased = Math.pow(norm, 0.35); // even more sensitive near the start, softer near the end
// higher value = closer obstacle → bar shrinks toward the tip (reverse fill)
const filledR = rBase - (rBase - rTip) * eased;
const barR = Math.max(rTip, Math.min(filledR, rBase));
const filledA = polarToCartesian(cx, cy, filledR, startDeg);
const filledB = polarToCartesian(cx, cy, filledR, endDeg);
const fg = `M ${tip.x} ${tip.y} L ${filledA.x} ${filledA.y} L ${filledB.x} ${filledB.y} Z`;
return <path d={fg} fill={color} opacity={1} stroke="none" />;
}
function describeArc(cx, cy, r, startDeg, endDeg) {
let start = startDeg;
let end = endDeg;
if (end <= start) end += 360;
const startPt = polarToCartesian(cx, cy, r, start);
const endPt = polarToCartesian(cx, cy, r, end);
return ['M', startPt.x, startPt.y, 'A', r, r, 0, 0, 1, endPt.x, endPt.y].join(' ');
}
function polarToCartesian(cx, cy, r, angleDeg) {
const rad = toRad(angleDeg);
return {
x: cx + r * Math.cos(rad),
y: cy + r * Math.sin(rad),
};
}
function toRad(angleDeg) {
return ((angleDeg - 90) * Math.PI) / 180;
}
function currentColor(value, overcurrent) {
if (overcurrent) return '#ef4444';
const mag = Math.abs(value);
if (mag > 900) return '#f59e0b';
if (mag > 300) return '#22c55e';
return '#64748b';
}
function clamp01(value) {
return Math.max(0, Math.min(1, value));
}
function WheelVisual({ cx, cy, current, drop, overcurrent, label }) {
const mag = Math.abs(current);
const pct = clamp01(mag / 1200);
const color = currentColor(current, overcurrent);
const barH = 56;
const currentW = 14;
const dropW = 9;
const gap = 3;
const currentFill = barH * pct;
const sign = label === 'L' ? -1 : 1;
const currentCenterX = sign * (-dropW / 2 - gap / 2);
const dropCenterX = sign * (currentW / 2 + gap / 2);
const groupWidth = currentW + dropW + gap + 2;
const groupHeight = barH + 4;
return (
<g transform={`translate(${cx},${cy})`}>
<rect x={-groupWidth / 2} y={-groupHeight / 2} width={groupWidth} height={groupHeight} rx="4" fill="none" stroke="#64748b" strokeWidth="1" />
<rect x={currentCenterX - currentW / 2} y={-barH / 2} width={currentW} height={barH} fill="#0f172a" stroke="#0f172a" strokeWidth="1" rx="2" />
<rect x={currentCenterX - currentW / 2} y={barH / 2 - currentFill} width={currentW} height={currentFill} fill={color} className={overcurrent ? 'animate-pulse' : ''} />
<rect x={dropCenterX - dropW / 2} y={-barH / 2} width={dropW} height={barH} fill={drop ? '#ef4444' : '#475569'} className={drop ? 'animate-pulse' : ''} rx="2" />
<text x={0} y={barH / 2 + 10} textAnchor="middle" className="fill-slate-200 text-[0.7rem]">
{label}
</text>
</g>
);
}
function SideBrushVisual({ cx, cy, current, overcurrent }) {
var mag = Math.abs(current);
if (mag < 10) mag = 0;
const color = currentColor(current * 3, overcurrent);
const armLength = 43;
const spinDuration = mag > 0 ? 0.65 : null;
const spinDirection = 'reverse';
return (
<g
style={{
transformOrigin: `${cx}px ${cy}px`,
animation: spinDuration ? `spin ${spinDuration}s linear infinite` : 'none',
animationDirection: spinDuration ? spinDirection : 'normal',
}}
>
<circle cx={cx} cy={cy} r={10} fill="#64748b" stroke="#64748b" strokeWidth="1" />
{[0, 120, 240].map((deg) => {
const rad = toRad(deg);
const x2 = cx + armLength * Math.cos(rad);
const y2 = cy + armLength * Math.sin(rad);
return <line key={deg} x1={cx} y1={cy} x2={x2} y2={y2} stroke={color} strokeWidth="4" strokeLinecap="round" />;
})}
{overcurrent ? <circle cx={cx} cy={cy} r={armLength + 8} stroke="#ef4444" strokeWidth="3" fill="none" className="animate-pulse" /> : null}
</g>
);
}
function MainBrushVisual({ cx, cy, current, overcurrent, variant, dirtLeft, dirtRight }) {
const mag = Math.abs(current);
const color = currentColor(current, overcurrent);
const opacity = 1;
const rollerWidth = 96;
const rollerHeight = 12;
const patternA = `main-brush-pattern-a-${variant}`;
const patternB = `main-brush-pattern-b-${variant}`;
const dur = mag > 0 ? 0.6 : null;
const dir = current >= 0 ? 1 : -1;
return (
<g>
<defs>
{[patternA, patternB].map((id, idx) => (
<pattern key={id} id={id} patternUnits="userSpaceOnUse" width="6" height="6">
<rect width="6" height="6" fill={color} opacity={opacity} />
<path d="M0 6 L6 0" stroke="#0f172a" strokeWidth="1" />
{dur ? (
<animateTransform attributeName="patternTransform" type="translate" from="0 0" to={`0 ${dir * (idx === 0 ? 6 : -6)}`} dur={`${dur}s`} repeatCount="indefinite" />
) : null}
</pattern>
))}
</defs>
<rect x={cx - rollerWidth / 2} y={cy - 14} width={rollerWidth} height={rollerHeight} rx="3" fill={`url(#${patternA})`} stroke="#64748b" strokeWidth="1" />
<rect x={cx - rollerWidth / 2} y={cy + 4} width={rollerWidth} height={rollerHeight} rx="3" fill={`url(#${patternB})`} stroke="#64748b" strokeWidth="1" />
<circle cx={cx - rollerWidth / 4} cy={cy - 8} r={3.5} fill="#fbbf24" />
<circle cx={cx + rollerWidth / 4} cy={cy + 8} r={3.5} fill="#fbbf24" />
{overcurrent ? (
<rect
x={cx - rollerWidth / 2 - 4}
y={cy - 16}
width={rollerWidth + 8}
height={rollerHeight * 2 + 16}
rx="6"
stroke="#ef4444"
strokeWidth="3"
fill="none"
className="animate-pulse"
/>
) : null}
</g>
);
}
function lightBumpColor(value, max) {
if (value == null || value <= 0) return 'hsl(200 60% 18%)'; // faint blue instead of black
const maxVal = max || 1;
const norm = clamp01(value / maxVal);
const eased = Math.pow(norm, 0.45); // match cone fill sensitivity
// offset the start hue so we don't begin at red, still sweep the full rainbow
const startHue = 200; // deep cyan/blue start
const hue = (startHue + eased * 360) % 360;
return `hsl(${hue} 100% 60%)`;
}
function cliffColor(value, active) {
if (active) return '#ef4444';
const t = clamp01(value == null ? 0 : value / 4095);
const start = [47, 55, 69];
const end = [245, 158, 11];
const [r, g, b] = start.map((s, i) => Math.round(s + (end[i] - s) * t));
return `rgb(${r}, ${g}, ${b})`;
}
function buildSegments({ count, totalSpan, gap, startAngle }) {
const usable = totalSpan - gap * (count - 1);
const width = usable / count;
const segments = [];
let cursor = startAngle;
for (let i = 0; i < count; i += 1) {
const end = cursor + width;
segments.push({ start: cursor, end });
cursor = end + gap;
}
return segments;
}
export default TopDownMap;
webui/src/components/TopDownMap/TopDownMapContent.jsx
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// Top-down rover telemetry visual map.
import React from 'react';
import { buildSegments } from './helpers.js';
import {
ArcSegment,
ConeSegment,
WheelVisual,
SideBrushVisual,
MainBrushVisual,
lightBumpColor,
cliffColor,
} from './visuals.jsx';
export default function TopDownMapContent({ sensors = {}, variant = 'full', size: overrideSize, overlay = false }) {
const size = overrideSize || (variant === 'mini' ? 190 : 260);
const center = size / 2;
const offsetY = size * 0.07;
const centerX = center;
const centerY = center + offsetY;
const innerCircle = center * 0.8;
const lightRingInner = innerCircle - 4;
const lightRingOuter = innerCircle + 4;
const cliffRingInner = innerCircle - 14;
const cliffRingOuter = innerCircle - 6;
const wheelLineOffset = innerCircle * 0.65;
const bumps = sensors?.bumpsAndWheelDrops || {};
const wheelOver = sensors?.wheelOvercurrents || {};
const wheelCurrentLeft = sensors?.wheelLeftCurrentMa ?? 0;
const wheelCurrentRight = sensors?.wheelRightCurrentMa ?? 0;
const sideBrushCurrent = sensors?.sideBrushCurrentMa ?? 0;
const mainBrushCurrent = sensors?.mainBrushCurrentMa ?? 0;
const bumpDepress = 6;
const bumpLeftOffset = bumps.bumpLeft ? bumpDepress : 0;
const bumpRightOffset = bumps.bumpRight ? bumpDepress : 0;
const lightAngles = buildSegments({ count: 6, totalSpan: 140, gap: 6, startAngle: -70 });
const lightLabels = ['L', 'FL', 'CL', 'CR', 'FR', 'R'];
const lightValues = [
sensors?.lightBumpLeftSignal,
sensors?.lightBumpFrontLeftSignal,
sensors?.lightBumpCenterLeftSignal,
sensors?.lightBumpCenterRightSignal,
sensors?.lightBumpFrontRightSignal,
sensors?.lightBumpRightSignal,
];
const lightSegments = lightAngles.map((ang, idx) => ({
label: lightLabels[idx],
start: ang.start,
end: ang.end,
value: lightValues[idx],
}));
const cliffSegments = [
{ label: 'Cliff L', start: -60, end: -46, value: sensors?.cliffLeftSignal, active: sensors?.cliffLeft },
{ label: 'Cliff FL', start: -32, end: -16, value: sensors?.cliffFrontLeftSignal, active: sensors?.cliffFrontLeft },
{ label: 'Cliff FR', start: 16, end: 32, value: sensors?.cliffFrontRightSignal, active: sensors?.cliffFrontRight },
{ label: 'Cliff R', start: 46, end: 60, value: sensors?.cliffRightSignal, active: sensors?.cliffRight },
];
const lightMaxSamples = lightValues.filter((v) => v != null);
const maxLight = lightMaxSamples.length ? Math.max(...lightMaxSamples, 1200) : 1200;
return (
<div
className={`${overlay ? 'relative' : 'surface relative p-1'}`}
style={overlay ? { width: `${size}px`, height: `${size}px` } : { height: '100%', width: '100%', aspectRatio: '1 / 1' }}
>
{!overlay ? (
<>
<div className="absolute left-1 top-1 text-xs text-slate-400">Top-down</div>
<div className="absolute right-1 top-1 text-[0.65rem] text-slate-500">0–{maxLight}</div>
</>
) : null}
<svg width="100%" height="100%" viewBox={`0 0 ${size} ${size}`} preserveAspectRatio="xMidYMid meet" className="mx-auto block">
<circle cx={centerX} cy={centerY} r={innerCircle} fill="#0f172a" stroke="#334155" strokeWidth="2" />
<WheelVisual cx={centerX - wheelLineOffset} cy={centerY} current={wheelCurrentLeft} drop={bumps.wheelDropLeft} overcurrent={wheelOver.leftWheel} label="L" />
<WheelVisual cx={centerX + wheelLineOffset} cy={centerY} current={wheelCurrentRight} drop={bumps.wheelDropRight} overcurrent={wheelOver.rightWheel} label="R" />
<SideBrushVisual cx={centerX + innerCircle * 0.65} cy={centerY - innerCircle * 0.55} current={sideBrushCurrent} overcurrent={wheelOver.sideBrush} />
<MainBrushVisual
cx={centerX}
cy={centerY}
current={mainBrushCurrent}
overcurrent={wheelOver.mainBrush}
variant={variant}
dirtLeft={sensors?.dirtDetectLeft}
dirtRight={sensors?.dirtDetect}
/>
{lightSegments.map((seg) => {
const color = lightBumpColor(seg.value, maxLight);
const tipR = lightRingOuter + 4;
const baseR = tipR + 28;
return (
<ConeSegment
key={seg.label}
cx={centerX}
cy={centerY}
rBase={baseR}
rTip={tipR}
startDeg={seg.start}
endDeg={seg.end}
color={color}
value={seg.value}
max={maxLight}
/>
);
})}
{cliffSegments.map((seg) => (
<ArcSegment
key={seg.label}
cx={centerX}
cy={centerY}
rInner={cliffRingInner}
rOuter={cliffRingOuter}
startDeg={seg.start}
endDeg={seg.end}
color={cliffColor(seg.value, seg.active)}
opacity={1}
pulse={Boolean(seg.active)}
/>
))}
<ArcSegment
cx={centerX}
cy={centerY}
rInner={lightRingInner - bumpLeftOffset}
rOuter={lightRingOuter - bumpLeftOffset}
startDeg={-70}
endDeg={-6}
color={bumps.bumpLeft ? '#ef4444' : '#475569'}
opacity={1}
pulse={Boolean(bumps.bumpLeft)}
/>
<ArcSegment
cx={centerX}
cy={centerY}
rInner={lightRingInner - bumpRightOffset}
rOuter={lightRingOuter - bumpRightOffset}
startDeg={6}
endDeg={70}
color={bumps.bumpRight ? '#ef4444' : '#475569'}
opacity={1}
pulse={Boolean(bumps.bumpRight)}
/>
</svg>
</div>
);
}
webui/src/components/TopDownMap/helpers.js
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// Geometry and color helpers for top-down rover sensor map.
export function clamp01(value) {
return Math.max(0, Math.min(1, value));
}
export function toRad(angleDeg) {
return ((angleDeg - 90) * Math.PI) / 180;
}
export function polarToCartesian(cx, cy, r, angleDeg) {
const rad = toRad(angleDeg);
return {
x: cx + r * Math.cos(rad),
y: cy + r * Math.sin(rad),
};
}
export function describeArc(cx, cy, r, startDeg, endDeg) {
let start = startDeg;
let end = endDeg;
if (end <= start) end += 360;
const startPt = polarToCartesian(cx, cy, r, start);
const endPt = polarToCartesian(cx, cy, r, end);
return ['M', startPt.x, startPt.y, 'A', r, r, 0, 0, 1, endPt.x, endPt.y].join(' ');
}
export function currentColor(value, overcurrent) {
if (overcurrent) return '#ef4444';
const mag = Math.abs(value);
if (mag > 900) return '#f59e0b';
if (mag > 300) return '#22c55e';
return '#64748b';
}
export function lightBumpColor(value, max) {
if (value == null || value <= 0) return 'hsl(200 60% 18%)';
const maxVal = max || 1;
const norm = clamp01(value / maxVal);
const eased = Math.pow(norm, 0.45);
const startHue = 200;
const hue = (startHue + eased * 360) % 360;
return `hsl(${hue} 100% 60%)`;
}
export function cliffColor(value, active) {
if (active) return '#ef4444';
const t = clamp01(value == null ? 0 : value / 4095);
const start = [47, 55, 69];
const end = [245, 158, 11];
const [r, g, b] = start.map((s, i) => Math.round(s + (end[i] - s) * t));
return `rgb(${r}, ${g}, ${b})`;
}
export function buildSegments({ count, totalSpan, gap, startAngle }) {
const usable = totalSpan - gap * (count - 1);
const width = usable / count;
const segments = [];
let cursor = startAngle;
for (let i = 0; i < count; i += 1) {
const end = cursor + width;
segments.push({ start: cursor, end });
cursor = end + gap;
}
return segments;
}
webui/src/components/TopDownMap/index.jsx
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import TopDownMapContent from './TopDownMapContent.jsx';
export default TopDownMapContent;
webui/src/components/TopDownMap/visuals.jsx
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// SVG primitives for top-down rover map rendering.
import React from 'react';
import { clamp01, currentColor, describeArc, lightBumpColor, cliffColor, polarToCartesian, toRad } from './helpers.js';
export function ArcSegment({ cx, cy, rInner, rOuter, startDeg, endDeg, color, pulse = false, opacity = 1 }) {
const rMid = (rInner + rOuter) / 2;
const strokeWidth = rOuter - rInner;
const path = describeArc(cx, cy, rMid, startDeg, endDeg);
return (
<>
<path d={path} stroke={color} strokeWidth={strokeWidth} strokeLinecap="round" fill="none" opacity={opacity} />
{pulse ? (
<path
d={path}
stroke="#ef4444"
strokeWidth={strokeWidth}
strokeLinecap="round"
fill="none"
className="animate-pulse"
opacity={1}
/>
) : null}
</>
);
}
export function ConeSegment({ cx, cy, rBase, rTip, startDeg, endDeg, color, value, max }) {
const mid = (startDeg + endDeg) / 2;
const tip = polarToCartesian(cx, cy, rTip, mid);
const norm = clamp01(value != null ? value / (max || 1) : 0);
const eased = Math.pow(norm, 0.35);
const filledR = rBase - (rBase - rTip) * eased;
const barR = Math.max(rTip, Math.min(filledR, rBase));
const filledA = polarToCartesian(cx, cy, barR, startDeg);
const filledB = polarToCartesian(cx, cy, barR, endDeg);
const fg = `M ${tip.x} ${tip.y} L ${filledA.x} ${filledA.y} L ${filledB.x} ${filledB.y} Z`;
return <path d={fg} fill={color} opacity={1} stroke="none" />;
}
export function WheelVisual({ cx, cy, current, drop, overcurrent, label }) {
const mag = Math.abs(current);
const pct = clamp01(mag / 1200);
const color = currentColor(current, overcurrent);
const barH = 56;
const currentW = 14;
const dropW = 9;
const gap = 3;
const currentFill = barH * pct;
const sign = label === 'L' ? -1 : 1;
const currentCenterX = sign * (-dropW / 2 - gap / 2);
const dropCenterX = sign * (currentW / 2 + gap / 2);
const groupWidth = currentW + dropW + gap + 2;
const groupHeight = barH + 4;
return (
<g transform={`translate(${cx},${cy})`}>
<rect x={-groupWidth / 2} y={-groupHeight / 2} width={groupWidth} height={groupHeight} rx="4" fill="none" stroke="#64748b" strokeWidth="1" />
<rect x={currentCenterX - currentW / 2} y={-barH / 2} width={currentW} height={barH} fill="#0f172a" stroke="#0f172a" strokeWidth="1" rx="2" />
<rect x={currentCenterX - currentW / 2} y={barH / 2 - currentFill} width={currentW} height={currentFill} fill={color} className={overcurrent ? 'animate-pulse' : ''} />
<rect x={dropCenterX - dropW / 2} y={-barH / 2} width={dropW} height={barH} fill={drop ? '#ef4444' : '#475569'} className={drop ? 'animate-pulse' : ''} rx="2" />
<text x={0} y={barH / 2 + 10} textAnchor="middle" className="fill-slate-200 text-[0.7rem]">{label}</text>
</g>
);
}
export function SideBrushVisual({ cx, cy, current, overcurrent }) {
let mag = Math.abs(current);
if (mag < 10) mag = 0;
const color = currentColor(current * 3, overcurrent);
const armLength = 43;
const spinDuration = mag > 0 ? 0.65 : null;
const spinDirection = 'reverse';
return (
<g
style={{
transformOrigin: `${cx}px ${cy}px`,
animation: spinDuration ? `spin ${spinDuration}s linear infinite` : 'none',
animationDirection: spinDuration ? spinDirection : 'normal',
}}
>
<circle cx={cx} cy={cy} r={10} fill="#64748b" stroke="#64748b" strokeWidth="1" />
{[0, 120, 240].map((deg) => {
const rad = toRad(deg);
const x2 = cx + armLength * Math.cos(rad);
const y2 = cy + armLength * Math.sin(rad);
return <line key={deg} x1={cx} y1={cy} x2={x2} y2={y2} stroke={color} strokeWidth="4" strokeLinecap="round" />;
})}
{overcurrent ? <circle cx={cx} cy={cy} r={armLength + 8} stroke="#ef4444" strokeWidth="3" fill="none" className="animate-pulse" /> : null}
</g>
);
}
export function MainBrushVisual({ cx, cy, current, overcurrent, variant, dirtLeft, dirtRight }) {
const mag = Math.abs(current);
const color = currentColor(current, overcurrent);
const opacity = 1;
const rollerWidth = 96;
const rollerHeight = 12;
const patternA = `main-brush-pattern-a-${variant}`;
const patternB = `main-brush-pattern-b-${variant}`;
const dur = mag > 0 ? 0.6 : null;
const dir = current >= 0 ? 1 : -1;
return (
<g>
<defs>
{[patternA, patternB].map((id, idx) => (
<pattern key={id} id={id} patternUnits="userSpaceOnUse" width="6" height="6">
<rect width="6" height="6" fill={color} opacity={opacity} />
<path d="M0 6 L6 0" stroke="#0f172a" strokeWidth="1" />
{dur ? (
<animateTransform attributeName="patternTransform" type="translate" from="0 0" to={`0 ${dir * (idx === 0 ? 6 : -6)}`} dur={`${dur}s`} repeatCount="indefinite" />
) : null}
</pattern>
))}
</defs>
<rect x={cx - rollerWidth / 2} y={cy - 14} width={rollerWidth} height={rollerHeight} rx="3" fill={`url(#${patternA})`} stroke="#64748b" strokeWidth="1" />
<rect x={cx - rollerWidth / 2} y={cy + 4} width={rollerWidth} height={rollerHeight} rx="3" fill={`url(#${patternB})`} stroke="#64748b" strokeWidth="1" />
<circle cx={cx - rollerWidth / 4} cy={cy - 8} r={3.5} fill="#fbbf24" />
<circle cx={cx + rollerWidth / 4} cy={cy + 8} r={3.5} fill="#fbbf24" />
{overcurrent ? (
<rect
x={cx - rollerWidth / 2 - 4}
y={cy - 16}
width={rollerWidth + 8}
height={rollerHeight * 2 + 16}
rx="6"
stroke="#ef4444"
strokeWidth="3"
fill="none"
className="animate-pulse"
/>
) : null}
</g>
);
}
export { lightBumpColor, cliffColor };
webui/src/components/VideoTile/HudOverlay.jsx
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// Telemetry HUD and map overlay for VideoTile. // Telemetry HUD and map overlay for VideoTile.
import React from 'react'; import React from 'react';
import TopDownMap from '../TopDownMap.jsx'; import TopDownMap from '../TopDownMap/index.jsx';
import { roverNameChromeStyle } from '../../lib/roverColor.js'; import { roverNameChromeStyle } from '../../lib/roverColor.js';
export default function HudOverlay({ export default function HudOverlay({