603 lines
33 KiB
JavaScript
603 lines
33 KiB
JavaScript
const STATUS_LABELS = {
|
|
disconnected: 'Disconnected — select a port and connect',
|
|
connecting: 'Connecting…',
|
|
connected_disarmed: 'Connected · Disarmed',
|
|
armed: 'Connected · Armed',
|
|
link_degraded: 'Signal lost — check tether',
|
|
};
|
|
const $=s=>document.querySelector(s), $$=s=>[...document.querySelectorAll(s)];
|
|
const control={forward:0,turn:0,vertical:0}, pressedKeys=new Set(); let bridgeReady=false, appState='disconnected', batteryConfig={}, servoSignature='', lastAxisSend=0, axisTimer=0, demoActive=false, demoState=null;
|
|
const api=(name,...args)=>window.pywebview.api[name](...args);
|
|
const activity=[];
|
|
let lastReportedStatus='';
|
|
function recordActivity(message){
|
|
if(!message||activity[0]===message)return;
|
|
activity.unshift(String(message));activity.length=Math.min(activity.length,3);
|
|
['#status-text','#activity-previous','#activity-oldest'].forEach((selector,i)=>{
|
|
const row=$(selector);if(row){row.textContent=activity[i]||'';row.hidden=!activity[i]}
|
|
});
|
|
}
|
|
function withTimeout(promise,ms=1500){return new Promise((resolve,reject)=>{const timer=setTimeout(()=>reject(new Error('Control bridge timed out')),ms);Promise.resolve(promise).then(value=>{clearTimeout(timer);resolve(value)},error=>{clearTimeout(timer);reject(error)})})}
|
|
let vehicleSnapshot={connected:false,armed:null}, view=ControlState.present(vehicleSnapshot), inputFocused=true,
|
|
bridgeStale=false,lastBridgeAt=performance.now(),axisBusy=false,inputSequence=Date.now(),
|
|
localRequest=null,commandError='',requestSerial=0,demoCommandTimer=0,lastSafetyTick=performance.now();
|
|
const canDrive=()=>view.drive&&performance.now()-lastSafetyTick<750;
|
|
window.canDrive=canDrive;
|
|
function makeDemoState(){const servos={};for(let i=1;i<=16;i++)servos[String(i)]={function:i<=3?32+i:0,label:i<=3?`Motor ${i}`:'Unassigned',motor:i<=3?i:null,direction:i<=3?1:null};return {connected:true,link:'LINK OK',vehicle:'DEMO • DISARMED',armed:false,armed_known:true,mode:'MANUAL',app_state:'connected_disarmed',status:'Demo mode ready — no hardware or spoofer.',battery:{voltage:15.8,per_cell:3.95,percent:72,cells:4,low:false},servos}}
|
|
function updateDemo(patch){Object.assign(demoState,patch);render(demoState)}
|
|
document.addEventListener('click',e=>{const btn=e.target.closest('.num-step');if(!btn)return;const pill=btn.closest('.number-pill');if(!pill)return;const input=pill.querySelector('input');if(!input)return;const step=+input.step||1,min=input.min!==''?+input.min:-Infinity,max=input.max!==''?+input.max:Infinity;let val=+input.value||0;if(btn.classList.contains('down'))val=Math.max(min,+(val-step).toFixed(4));else val=Math.min(max,+(val+step).toFixed(4));input.value=val;input.dispatchEvent(new Event('input',{bubbles:true}));input.dispatchEvent(new Event('change',{bubbles:true}))});
|
|
function toast(message,error=false){const el=$('#toast');el.textContent=message;el.className=`toast show${error?' error':''}`;clearTimeout(toast.t);toast.t=setTimeout(()=>el.className='toast',2600)}
|
|
window.showToast=toast;
|
|
function populatePorts(ports){
|
|
const p=$('#port');
|
|
if(!p)return;
|
|
const old=p.value||'';
|
|
p.innerHTML='';
|
|
|
|
const allList=[];
|
|
const seen=new Set();
|
|
|
|
const addPort=item=>{
|
|
let dev=item, lbl=item;
|
|
if(item&&typeof item==='object'){
|
|
dev=item.device||'';
|
|
lbl=item.label||dev;
|
|
}
|
|
if(dev&&!seen.has(dev)){
|
|
seen.add(dev);
|
|
allList.push({device:dev, label:lbl});
|
|
}
|
|
};
|
|
|
|
if(Array.isArray(ports)) ports.forEach(addPort);
|
|
addPort({device:'demo', label:'Demo Mode (no hardware)'});
|
|
|
|
let matched=false;
|
|
allList.forEach(item=>{
|
|
const opt=new Option(item.label, item.device);
|
|
p.add(opt);
|
|
if(item.device===old){
|
|
p.value=item.device;
|
|
matched=true;
|
|
}
|
|
});
|
|
if(!matched&&allList.length>0){
|
|
p.value=allList[0].device;
|
|
}
|
|
}
|
|
function sendAxes(){
|
|
if(!canDrive()||demoActive||!bridgeReady||axisBusy)return;
|
|
const transmit=()=>{
|
|
axisTimer=0;
|
|
if(!canDrive()||demoActive||axisBusy)return;
|
|
lastAxisSend=performance.now();axisBusy=true;
|
|
withTimeout(api('set_axes',control.forward,control.turn,control.vertical,++inputSequence))
|
|
.catch(()=>markBridgeStale()).finally(()=>axisBusy=false);
|
|
};
|
|
const wait=50-(performance.now()-lastAxisSend);
|
|
if(wait<=0)transmit();else if(!axisTimer)axisTimer=setTimeout(transmit,wait);
|
|
}
|
|
// This is a local bridge lease, not extra MAVLink traffic. The worker retains
|
|
// the configured wire rate and neutralizes if the UI stops renewing its input.
|
|
setInterval(()=>{if(canDrive())sendAxes()},250);
|
|
function updateReadouts(){ if(!canDrive()){$('#surge-readout').textContent='—';$('#yaw-readout').textContent='—';$('#heave-readout').textContent='—';return;}$('#surge-readout').textContent=Math.round(control.forward*100);$('#yaw-readout').textContent=Math.round(control.turn*100);$('#heave-readout').textContent=Math.round(control.vertical*100);}
|
|
|
|
window.setJoyControl=(x,y)=>{if(!canDrive())return;control.turn=x;control.forward=-y;updateReadouts();sendAxes();};
|
|
function releaseHandle(el){el.classList.remove('pressed');el.classList.add('released');setTimeout(()=>el.classList.remove('released'),520)}
|
|
|
|
const heave=$('#heave'),hknob=$('#heave-knob'),hfill=$('#heave-fill');let heavePointer=null,heaveAnim=0;
|
|
function setHeave(v,send=true){if(!canDrive()&&v!==0)return;v=Math.max(-1,Math.min(1,v));control.vertical=v;heave.dataset.commanded=String(Math.abs(v)>.03);hknob.style.top=`${50-v*43}%`;hfill.style.top=v>=0?`${50-v*43}%`:'50%';hfill.style.height=`${Math.abs(v)*43}%`;updateReadouts();if(send&&canDrive())sendAxes();}
|
|
function heaveEvent(e){const b=heave.getBoundingClientRect();setHeave((b.top+b.height/2-e.clientY)/(b.height*.43))}
|
|
function releaseHeave(e){if(heavePointer===null||(e?.pointerId!=null&&e.pointerId!==heavePointer))return;const pointer=heavePointer;heavePointer=null;try{heave.releasePointerCapture(pointer)}catch(_){}releaseHandle(hknob);easeHeave()}
|
|
heave.addEventListener('pointerdown',e=>{if(!canDrive()||heavePointer!==null||e.button>0)return;heavePointer=e.pointerId;hknob.classList.remove('released');hknob.classList.add('pressed');cancelAnimationFrame(heaveAnim);heave.setPointerCapture(e.pointerId);heaveEvent(e);e.preventDefault()});heave.addEventListener('pointermove',e=>{if(e.pointerId===heavePointer)heaveEvent(e)});heave.addEventListener('pointerup',releaseHeave);heave.addEventListener('pointercancel',releaseHeave);heave.addEventListener('lostpointercapture',e=>{if(e.pointerId===heavePointer)releaseHeave(e)});
|
|
function easeHeave(){const sv=control.vertical,start=performance.now();function frame(now){const p=Math.min(1,(now-start)/400),smooth=p*p*(3-2*p);setHeave(sv*(1-smooth));if(p<1)heaveAnim=requestAnimationFrame(frame)}heaveAnim=requestAnimationFrame(frame)}
|
|
window.verticalControl={setPos:value=>{cancelAnimationFrame(heaveAnim);setHeave(value)},easeBack:()=>{if(heavePointer===null)easeHeave()},getState:()=>({value:control.vertical,active:heavePointer!==null})};
|
|
|
|
function applyKeys(){if(!canDrive()){pressedKeys.clear();return;}const turn=(pressedKeys.has('d')||pressedKeys.has('e')?1:0)-(pressedKeys.has('a')||pressedKeys.has('q')?1:0),forward=(pressedKeys.has('w')?1:0)-(pressedKeys.has('s')?1:0),vertical=(pressedKeys.has('r')?1:0)-(pressedKeys.has('f')?1:0);if(!window.joystick3D?.getState().active){if(turn||forward)window.joystick3D?.setPos(turn,-forward);else window.joystick3D?.easeBack()}if(heavePointer===null){if(vertical){cancelAnimationFrame(heaveAnim);setHeave(vertical)}else easeHeave()}}
|
|
addEventListener('keydown',e=>{if(e.key==='F3'){e.preventDefault();if(!e.repeat&&view.action==='disarm')requestControl('disarm');return;}if(/^(INPUT|SELECT|TEXTAREA)$/.test(e.target.tagName))return;if(e.key==='F2'){e.preventDefault();if(!e.repeat)startEngageHold();return;}const k=e.key.toLowerCase();if('wasdqerf'.includes(k)&&k.length===1){if(!canDrive())return;e.preventDefault();if(!pressedKeys.has(k)){pressedKeys.add(k);applyKeys();}}});addEventListener('keyup',e=>{if(e.key==='F2'){e.preventDefault();cancelEngageHold(true);return;}const k=e.key.toLowerCase();if(pressedKeys.delete(k))applyKeys();});
|
|
function resetInputs(){
|
|
if(gainPointer!==null)releaseGain({pointerId:gainPointer});
|
|
clearTimeout(axisTimer);axisTimer=0;pressedKeys.clear();cancelEngageHold(false);
|
|
window.joystick3D?.reset();
|
|
const pointer=heavePointer;heavePointer=null;cancelAnimationFrame(heaveAnim);
|
|
if(pointer!==null)try{heave.releasePointerCapture(pointer)}catch(_){}
|
|
hknob.classList.remove('pressed','released');
|
|
control.forward=control.turn=control.vertical=0;setHeave(0,false);
|
|
if(bridgeReady&&!demoActive)api('stop_controls',++inputSequence).catch(()=>{});
|
|
}
|
|
function focusChanged(focused){inputFocused=focused;if(!focused)resetInputs();render(vehicleSnapshot)}
|
|
addEventListener('blur',()=>focusChanged(false));
|
|
addEventListener('focus',()=>focusChanged(!document.hidden));
|
|
document.addEventListener('visibilitychange',()=>focusChanged(!document.hidden&&document.hasFocus()));
|
|
addEventListener('pagehide',()=>focusChanged(false));
|
|
|
|
function openModal(id){
|
|
const el=typeof id==='string'?document.getElementById(id):id;
|
|
if(!el)return;
|
|
el.classList.remove('closing');
|
|
if(!el.open)el.showModal();
|
|
}
|
|
function closeModal(dialog){
|
|
if(!dialog||!dialog.open||dialog.classList.contains('closing'))return;
|
|
dialog.classList.add('closing');
|
|
let done=false;
|
|
const finish=()=>{
|
|
if(done)return;
|
|
done=true;
|
|
dialog.removeEventListener('animationend',finish);
|
|
dialog.classList.remove('closing');
|
|
dialog.close();
|
|
};
|
|
dialog.addEventListener('animationend',finish,{once:true});
|
|
setTimeout(finish,300);
|
|
}
|
|
$$('[data-open]').forEach(b=>b.onclick=()=>openModal(b.dataset.open));
|
|
$$('[data-close]').forEach(b=>b.onclick=()=>closeModal(b.closest('dialog')));
|
|
$$('dialog').forEach(d=>{
|
|
d.addEventListener('cancel',e=>{e.preventDefault();closeModal(d)});
|
|
d.addEventListener('click',e=>{
|
|
const r=d.getBoundingClientRect();
|
|
if(e.clientX<r.left||e.clientX>r.right||e.clientY<r.top||e.clientY>r.bottom)closeModal(d);
|
|
});
|
|
});
|
|
$('#window-min').onclick=()=>api('minimize_window');$('#window-max').onclick=async()=>{const max=await api('toggle_maximize_window');document.body.classList.toggle('maximized',!!max)};$('#window-close').onclick=()=>{if(document.body.classList.contains('window-exiting'))return;document.body.classList.add('window-exiting');setTimeout(()=>api('close_window'),360)};const windowBar=$('.workspace-topbar');if(windowBar)windowBar.ondblclick=async e=>{if(!e.target.closest('button,select,input')){const max=await api('toggle_maximize_window');document.body.classList.toggle('maximized',!!max)}};
|
|
const modelInput=$('#model-input'), modelButton=$('#load-model'), rovStage=$('.rov-stage');
|
|
|
|
async function handleStlFile(file){
|
|
if(!file)return;
|
|
try{
|
|
if(!file.name.toLowerCase().endsWith('.stl'))throw new Error('Choose an STL mesh (*.stl)');
|
|
if(file.size>30*1024*1024)throw new Error('The STL is larger than 30 MB; export a lighter mesh');
|
|
modelButton.disabled=true;
|
|
modelButton.textContent='Loading…';
|
|
const buffer=await file.arrayBuffer();
|
|
const result=window.rovModel.loadBuffer(buffer,file.name);
|
|
modelButton.textContent='Replace STL';
|
|
toast(`Loaded ${result.name} • ${result.triangles.toLocaleString()} triangles`);
|
|
if(bridgeReady&&window.pywebview?.api?.save_model){
|
|
const dataUrl=await new Promise((resolve,reject)=>{
|
|
const reader=new FileReader();
|
|
reader.onload=()=>resolve(reader.result);
|
|
reader.onerror=()=>reject(reader.error);
|
|
reader.readAsDataURL(file);
|
|
});
|
|
api('save_model',file.name,String(dataUrl).split(',')[1]).catch(e=>console.warn(e));
|
|
}
|
|
}catch(error){
|
|
toast(`STL import failed: ${error.message}`,true);
|
|
}finally{
|
|
modelButton.disabled=false;
|
|
if(modelButton.textContent==='Loading…')modelButton.textContent='Load STL';
|
|
}
|
|
}
|
|
|
|
modelButton.onclick=async()=>{
|
|
let loaded=false;
|
|
if(window.pywebview?.api?.choose_model){
|
|
try{
|
|
const model=await api('choose_model');
|
|
if(model&&model.data){
|
|
const res=window.rovModel.load(model);
|
|
modelButton.textContent='Replace STL';
|
|
toast(`Loaded ${res.name} • ${res.triangles.toLocaleString()} triangles`);
|
|
loaded=true;
|
|
}
|
|
}catch(err){
|
|
console.warn('choose_model error:', err);
|
|
}
|
|
}
|
|
if(!loaded&&modelInput){
|
|
modelInput.value='';
|
|
modelInput.click();
|
|
}
|
|
};
|
|
|
|
if(modelInput){
|
|
modelInput.onchange=()=>{
|
|
const file=modelInput.files?.[0];
|
|
if(file)handleStlFile(file);
|
|
};
|
|
}
|
|
|
|
if(rovStage){
|
|
rovStage.addEventListener('dragover',e=>{e.preventDefault();e.stopPropagation();rovStage.classList.add('drag-over')});
|
|
rovStage.addEventListener('dragleave',e=>{e.preventDefault();e.stopPropagation();rovStage.classList.remove('drag-over')});
|
|
rovStage.addEventListener('drop',e=>{
|
|
e.preventDefault();e.stopPropagation();rovStage.classList.remove('drag-over');
|
|
const file=e.dataTransfer?.files?.[0];
|
|
if(file)handleStlFile(file);
|
|
});
|
|
}
|
|
$('#refresh').onclick=async e=>{
|
|
const button=e.currentTarget;button.classList.remove('spinning');void button.offsetWidth;button.classList.add('spinning');setTimeout(()=>button.classList.remove('spinning'),650);
|
|
try{
|
|
if(typeof window.pywebview?.api?.refresh_ports!=='function')throw new Error('Desktop connection is not ready. Open the app using run.ps1.');
|
|
populatePorts(await withTimeout(api('refresh_ports'),4000));
|
|
if(!booted)boot();
|
|
}catch(error){recordActivity(`Port refresh failed: ${error.message}`);toast(error.message,true)}
|
|
};
|
|
$('#connect').onclick=async()=>{
|
|
const btn=$('#connect');
|
|
const label=btn.querySelector('.btn-label')||btn;
|
|
const p=$('#port');
|
|
const port=p?p.value:'';
|
|
|
|
if(port==='demo'||demoActive){
|
|
resetInputs();clearTimeout(demoCommandTimer);requestSerial++;localRequest=null;commandError='';bridgeStale=false;
|
|
if(demoActive){demoActive=false;demoState=null;render({app_state:'disconnected',connected:false,link:'DISCONNECTED',vehicle:'No heartbeat',armed:false,mode:null,status:'Demo mode disconnected',battery:null,servos:{}});toast('Demo disconnected')}
|
|
else{demoActive=true;demoState=makeDemoState();render(demoState);toast('Demo connected — no hardware required')}
|
|
return;
|
|
}
|
|
|
|
if(appState==='connecting'){
|
|
label.textContent='Canceling…';
|
|
try{ await api('disconnect'); }catch(_){}
|
|
return;
|
|
}
|
|
|
|
if(appState!=='disconnected'){
|
|
resetInputs();
|
|
label.textContent='Disconnecting…';
|
|
try{
|
|
await api('disconnect');
|
|
toast('Disconnected');
|
|
}catch(e){
|
|
toast(e.message,true);
|
|
}
|
|
}else{
|
|
if(!port){
|
|
toast('Select or enter a port to connect',true);
|
|
return;
|
|
}
|
|
btn.classList.add('is-connecting');
|
|
label.textContent='Connecting…';
|
|
const statusEl=$('#status-text');
|
|
recordActivity(`Connecting to ${port}…`);
|
|
toast(`Connecting to ${port}…`);
|
|
try{
|
|
const confirmedState=await api('connect',port,+$('#baud').value,+$('#rate').value);
|
|
if(confirmedState)render(confirmedState);
|
|
toast(confirmedState?.armed_known?'MAVLink connected':'Waiting for vehicle telemetry',!confirmedState?.armed_known);
|
|
}catch(e){
|
|
btn.classList.remove('is-connecting');
|
|
label.textContent='Connect';
|
|
toast(e.message,true);
|
|
recordActivity(`Connection error: ${e.message}`);
|
|
}
|
|
}
|
|
};
|
|
const customPortBtn=$('#custom-port-btn'), customPortInput=$('#custom-port-input');
|
|
if(customPortBtn&&customPortInput){
|
|
const applyCustomPort=()=>{
|
|
const val=customPortInput.value.trim();
|
|
if(!val)return;
|
|
const p=$('#port');
|
|
let exists=false;
|
|
for(const opt of p.options){
|
|
if(opt.value===val){opt.selected=true;exists=true;break;}
|
|
}
|
|
if(!exists){
|
|
p.add(new Option(`Custom (${val})`, val), 0);
|
|
p.value=val;
|
|
}
|
|
closeModal($('#link-modal'));
|
|
toast(`Selected port: ${val}`);
|
|
};
|
|
customPortBtn.onclick=applyCustomPort;
|
|
customPortInput.onkeydown=e=>{if(e.key==='Enter'){e.preventDefault();applyCustomPort();}};
|
|
}
|
|
const engageButton=$('#engage');
|
|
const engageProgressLabel=engageButton?.querySelector('.engage-progress-label');
|
|
let engageHoldTimer=null,engageStart=0,engagePointer=null,completedEngagePointer=null,suppressEngageClick=false,engageVisualState='',engageTransitionTimer=null;
|
|
const ENGAGE_HOLD_MS=1400;
|
|
|
|
function applyEngageVisual(next){
|
|
if(!engageButton)return;
|
|
const label=({'ENGAGE':'engage','DISARM':'disengage','ENGAGING…':'engaging…','DISARMING…':'disengaging…','DISARM · ?':'disengage · ?','STATE UNKNOWN':'state unknown'})[next.label]||next.label.toLowerCase();
|
|
// Interaction updates immediately; the short fade never gates emergency access.
|
|
engageButton.disabled=!next.action;
|
|
engageButton.setAttribute('aria-busy',String(next.pending));
|
|
engageButton.setAttribute('aria-label',label);
|
|
engageButton.title=next.action==='disarm'?'Request disarm immediately (F3)':next.action==='arm'?'Hold 1.4 seconds to engage (F2)':next.message;
|
|
const key=`${next.label}/${next.tone}`;
|
|
if(engageVisualState===key)return;
|
|
const previous=engageVisualState;engageVisualState=key;
|
|
clearTimeout(engageTransitionTimer);
|
|
engageButton.classList.remove('arm','danger','subtle','charged','pending');
|
|
engageButton.classList.add(next.tone==='danger'?'danger':next.tone==='pending'?'pending':'arm');
|
|
engageButton.style.setProperty('--engage-progress',next.pending?'100%':'0%');
|
|
$('#engage-label').textContent=label;
|
|
if(engageProgressLabel)engageProgressLabel.textContent=label;
|
|
const sheen=engageButton.querySelector('.engage-sheen-label');if(sheen)sheen.textContent=label;
|
|
if(previous){
|
|
engageButton.classList.remove('state-transition');void engageButton.offsetWidth;
|
|
engageButton.classList.add('state-transition');
|
|
engageTransitionTimer=setTimeout(()=>engageButton.classList.remove('state-transition'),240);
|
|
}
|
|
}
|
|
function completeEngage(){
|
|
const pointer=engagePointer;cancelAnimationFrame(engageHoldTimer);engageHoldTimer=null;engageStart=0;engagePointer=null;completedEngagePointer=typeof pointer==='number'?pointer:null;engageButton.classList.remove('charging');engageButton.classList.add('charged');engageButton.style.setProperty('--engage-progress','100%');
|
|
requestControl('arm');
|
|
}
|
|
async function requestControl(name){
|
|
if((name==='arm'&&view.action!=='arm')||(name==='disarm'&&view.action!=='disarm'))return;
|
|
const id=++requestSerial;
|
|
commandError='';localRequest={name,deadline:performance.now()+6000,sent:false};
|
|
recordActivity(name==='arm'?'Engage requested':'Disengage requested');
|
|
resetInputs();render(vehicleSnapshot);
|
|
try{
|
|
if(demoActive){
|
|
// Separate simulated request and simulated heartbeat, just like the real UI.
|
|
clearTimeout(demoCommandTimer);
|
|
updateDemo({pending_command:name,command_error:''});
|
|
demoCommandTimer=setTimeout(()=>{
|
|
if(!demoActive||id!==requestSerial)return;
|
|
localRequest=null;
|
|
updateDemo({pending_command:null,armed:name==='arm',armed_known:true,
|
|
app_state:name==='arm'?'armed':'connected_disarmed',
|
|
vehicle:`DEMO • ${name==='arm'?'ARMED':'DISARMED'}`,status:`Demo: ${name} confirmed`});
|
|
},650);
|
|
}else{
|
|
await api('command',name,++inputSequence,Date.now()+2000);
|
|
if(id===requestSerial&&localRequest)localRequest.sent=true;
|
|
// Only poll snapshots may confirm state; a send result is not confirmation.
|
|
}
|
|
}catch(error){
|
|
if(id!==requestSerial)return;
|
|
localRequest=null;commandError=`${name==='arm'?'Engage':'Disarm'} request failed: ${error.message}`;
|
|
render(vehicleSnapshot);toast(commandError,true);
|
|
}
|
|
}
|
|
function updateEngageProgress(now){
|
|
if(!engageStart||view.action!=='arm'||!inputFocused)return cancelEngageHold(false);
|
|
const progress=Math.min(1,(now-engageStart)/ENGAGE_HOLD_MS);engageButton.style.setProperty('--engage-progress',`${progress*100}%`);if(progress>=1)return void completeEngage();engageHoldTimer=requestAnimationFrame(updateEngageProgress);
|
|
}
|
|
function startEngageHold(e){
|
|
if(view.action!=='arm'||!inputFocused||engageStart)return;
|
|
if(e&&e.button!==undefined&&e.button!==0)return;
|
|
engagePointer=e?.pointerId??'keyboard';engageStart=performance.now();engageButton.classList.add('charging');engageButton.style.setProperty('--engage-progress','0%');
|
|
if(e?.pointerId!=null)engageButton.setPointerCapture(e.pointerId);
|
|
engageHoldTimer=requestAnimationFrame(updateEngageProgress);
|
|
}
|
|
function cancelEngageHold(showHint=true){
|
|
if(!engageStart)return;
|
|
const elapsed=performance.now()-engageStart,pointer=engagePointer;cancelAnimationFrame(engageHoldTimer);engageHoldTimer=null;engageStart=0;engagePointer=null;engageButton.classList.remove('charging');engageButton.classList.add('canceling');engageButton.style.setProperty('--engage-progress','0%');setTimeout(()=>engageButton.classList.remove('canceling'),280);if(typeof pointer==='number')try{engageButton.releasePointerCapture(pointer)}catch(_){}if(showHint&&elapsed>80)toast('Engagement canceled');
|
|
}
|
|
|
|
if(engageButton){
|
|
engageButton.addEventListener('pointerdown',startEngageHold);
|
|
engageButton.addEventListener('pointerup',e=>{if(e.pointerId===completedEngagePointer){completedEngagePointer=null;try{engageButton.releasePointerCapture(e.pointerId)}catch(_){}suppressEngageClick=true;setTimeout(()=>suppressEngageClick=false,0);return}if(e.pointerId===engagePointer)cancelEngageHold(true)});
|
|
engageButton.addEventListener('pointerleave',e=>{if(e.pointerId===engagePointer)cancelEngageHold(true)});
|
|
engageButton.addEventListener('pointercancel',e=>{if(e.pointerId===completedEngagePointer)completedEngagePointer=null;if(e.pointerId===engagePointer)cancelEngageHold(false)});
|
|
engageButton.addEventListener('lostpointercapture',e=>{if(e.pointerId===engagePointer)cancelEngageHold(false);if(e.pointerId===completedEngagePointer)completedEngagePointer=null});
|
|
engageButton.addEventListener('pointermove',e=>{if(e.pointerId!==engagePointer)return;const r=engageButton.getBoundingClientRect();if(e.clientX<r.left||e.clientX>r.right||e.clientY<r.top||e.clientY>r.bottom)cancelEngageHold(false)});
|
|
engageButton.addEventListener('contextmenu',e=>e.preventDefault());
|
|
|
|
engageButton.onclick=()=>{
|
|
if(suppressEngageClick){suppressEngageClick=false;return}
|
|
if(view.action==='disarm')requestControl('disarm');
|
|
};
|
|
}
|
|
|
|
$('#logs').onclick=()=>api('open_logs');
|
|
function setGain(value){const gain=$('#gain');gain.value=Math.max(+gain.min,Math.min(+gain.max,value));$('#gain-value').textContent=`${gain.value}%`;if(bridgeReady)api('set_gain',+gain.value)}
|
|
$('#gain').oninput=e=>setGain(+e.target.value);$('#gain-down').onclick=()=>setGain(+$('#gain').value-5);$('#gain-up').onclick=()=>setGain(+$('#gain').value+5);
|
|
// Explicit pointer ownership makes the full range rail a reliable touch target
|
|
// in the embedded window, without depending on native range drag defaults.
|
|
const gainSlider=$('#gain');let gainPointer=null;
|
|
function gainFromPointer(e){const r=gainSlider.getBoundingClientRect(),fraction=Math.max(0,Math.min(1,(e.clientX-r.left-9)/Math.max(1,r.width-18)));setGain(Math.round(+gainSlider.min+fraction*(+gainSlider.max-+gainSlider.min)))}
|
|
function releaseGain(e){if(e.pointerId!==gainPointer)return;gainPointer=null;try{gainSlider.releasePointerCapture(e.pointerId)}catch(_){}}
|
|
gainSlider.addEventListener('pointerdown',e=>{if(gainPointer!==null||e.button>0)return;gainPointer=e.pointerId;gainSlider.setPointerCapture(e.pointerId);gainFromPointer(e);e.preventDefault()});
|
|
gainSlider.addEventListener('pointermove',e=>{if(e.pointerId===gainPointer)gainFromPointer(e)});
|
|
['pointerup','pointercancel','lostpointercapture'].forEach(type=>gainSlider.addEventListener(type,releaseGain));
|
|
gainSlider.addEventListener('keydown',e=>{const delta={ArrowRight:1,ArrowUp:1,ArrowLeft:-1,ArrowDown:-1}[e.key];if(delta){e.preventDefault();setGain(+gainSlider.value+delta)}else if(e.key==='Home'||e.key==='End'){e.preventDefault();setGain(+(e.key==='Home'?gainSlider.min:gainSlider.max))}});
|
|
$('#battery-form').onsubmit=async e=>{e.preventDefault();const data=Object.fromEntries(new FormData(e.target));try{batteryConfig=await api('save_battery',data);closeModal($('#battery-modal'));toast('Battery settings saved')}catch(err){toast(err.message,true)}};
|
|
function fillBatteryForm(){for(const [k,v] of Object.entries(batteryConfig)){const el=$(`#battery-form [name=${k}]`);if(el)el.value=v}}
|
|
function renderMotors(servos){const signature=JSON.stringify(servos);if(signature===servoSignature)return;servoSignature=signature;const list=$('#motor-list');list.innerHTML='';for(let i=1;i<=16;i++){const s=servos[String(i)]||{},row=document.createElement('div');row.className='motor-row';const opts=['<option value="0">Unassigned</option>',...Array.from({length:12},(_,n)=>`<option value="${n+1}" ${s.motor===n+1?'selected':''}>Motor ${n+1}</option>`)].join('');row.innerHTML=`<strong>SERVO${i}</strong><select aria-label="SERVO${i} function">${opts}</select><span>${s.direction==null?'—':s.direction===-1?'Reversed':'Normal'}</span><button class="button subtle">Reverse</button>`;row.querySelector('select').onchange=e=>{if(demoActive){const motor=+e.target.value;demoState.servos[String(i)]={function:motor?32+motor:0,label:motor?`Motor ${motor}`:'Unassigned',motor:motor||null,direction:motor?1:null};servoSignature='';renderMotors(demoState.servos);toast(`Demo SERVO${i} updated`)}else api('set_servo_function',i,+e.target.value).catch(x=>toast(x.message,true))};row.querySelector('button').onclick=()=>{if(demoActive){if(s.motor){s.direction=s.direction===-1?1:-1;servoSignature='';renderMotors(demoState.servos);toast(`Demo Motor ${s.motor} reversed`)}else toast(`SERVO${i} is unassigned`,true)}else api('reverse_motor',i).catch(x=>toast(x.message,true))};list.append(row)}}
|
|
function render(s,confirmed=false){
|
|
vehicleSnapshot=s;
|
|
if(confirmed&&localRequest?.sent && (s.pending_command===localRequest.name || s.command_error ||
|
|
(s.armed_known&&s.armed===(localRequest.name==='arm')))) localRequest=null;
|
|
const previous=view;
|
|
view=ControlState.present(s,{stale:bridgeStale,focused:inputFocused,pending:localRequest?.name,error:commandError});
|
|
if((previous.drive&&!view.drive)||(previous.action==='arm'&&view.action!=='arm'))resetInputs();
|
|
appState=bridgeStale&&s.connected?'link_degraded':s.app_state||'disconnected';
|
|
document.body.dataset.appState=appState;
|
|
document.body.dataset.controlsEnabled=String(view.drive);
|
|
document.body.dataset.telemetryStale=String(!view.known||!!s.battery_stale);
|
|
$('#port').disabled=!!s.connected;
|
|
const isOnline=(appState==='connected_disarmed'||appState==='armed');
|
|
const connectBtn=$('#connect');
|
|
const connectLabel=connectBtn?connectBtn.querySelector('.btn-label'):null;
|
|
if(connectBtn){
|
|
if(appState==='connecting'){
|
|
if(connectLabel)connectLabel.textContent='Connecting…';
|
|
else connectBtn.textContent='Connecting…';
|
|
connectBtn.classList.add('is-connecting');
|
|
connectBtn.classList.remove('is-connected');
|
|
}else if(appState!=='disconnected'){
|
|
if(connectLabel)connectLabel.textContent='Disconnect';
|
|
else connectBtn.textContent='Disconnect';
|
|
connectBtn.classList.remove('is-connecting');
|
|
connectBtn.classList.add('is-connected');
|
|
}else{
|
|
if(connectLabel)connectLabel.textContent='Connect';
|
|
else connectBtn.textContent='Connect';
|
|
connectBtn.classList.remove('is-connecting', 'is-connected');
|
|
}
|
|
}
|
|
const engageBtn=$('#engage');
|
|
const engageLabel=$('#engage-label');
|
|
if(engageBtn&&engageLabel){
|
|
applyEngageVisual(view);
|
|
}
|
|
const controlStatus=$('#control-status');
|
|
controlStatus.textContent=view.message;
|
|
controlStatus.classList.toggle('is-error',view.error);
|
|
controlStatus.hidden=!(view.pending||view.error||(view.known&&s.armed&&!inputFocused));
|
|
const motorBtn=$('[data-open="motors-modal"]');
|
|
if(motorBtn)motorBtn.disabled=(!isOnline);
|
|
|
|
const confirmedCommand=previous.pending&&!view.pending&&view.known&&!view.error;
|
|
const reported=commandError||s.command_error||((!view.known&&s.connected&&appState!=='connecting')?'Telemetry stale — vehicle state unknown':s.status);
|
|
if(reported&&reported!==lastReportedStatus){lastReportedStatus=reported;if(!confirmedCommand)recordActivity(reported)}
|
|
if(confirmedCommand){
|
|
recordActivity(s.armed?'Engage confirmed':'Disengage confirmed');
|
|
}
|
|
updateReadouts();
|
|
const b=s.battery;
|
|
if(b){
|
|
$('#battery-title').textContent=`${b.voltage.toFixed(2)} V`;
|
|
$('#battery-percent').textContent=`${Math.round(b.percent)}% • ${b.cells}s${!view.known||s.battery_stale?' · stale':''}`;
|
|
$('#battery-fill').style.width=`${b.percent}%`;
|
|
$('#battery-fill').style.background=b.low?'var(--red)':'var(--acid)';
|
|
}else{
|
|
$('#battery-title').textContent='—';
|
|
$('#battery-percent').textContent='waiting';
|
|
$('#battery-fill').style.width='0';
|
|
}
|
|
renderMotors(s.servos||{});
|
|
}
|
|
|
|
function markBridgeStale(){
|
|
if(demoActive||bridgeStale)return;
|
|
bridgeStale=true;resetInputs();render(vehicleSnapshot);
|
|
}
|
|
setInterval(()=>{
|
|
const now=performance.now();
|
|
if(now-lastSafetyTick>750)resetInputs();
|
|
lastSafetyTick=now;
|
|
if(!demoActive&&bridgeReady&&vehicleSnapshot.connected&&performance.now()-lastBridgeAt>1500)markBridgeStale();
|
|
if(localRequest&&performance.now()>localRequest.deadline){
|
|
commandError=`${localRequest.name==='arm'?'Engage':'Disarm'} confirmation timed out. Check the vehicle state.`;
|
|
localRequest=null;render(vehicleSnapshot);
|
|
}
|
|
},100);
|
|
async function poll(){
|
|
if(!bridgeReady)return;
|
|
if(!demoActive)try{
|
|
const snapshot=await withTimeout(api('poll'));
|
|
if(!demoActive){lastBridgeAt=performance.now();bridgeStale=false;render(snapshot,true)}
|
|
}catch(e){markBridgeStale()}
|
|
setTimeout(poll,250);
|
|
}
|
|
let modelLoadPromise=null;
|
|
async function loadDefaultModel(){
|
|
if(modelLoadPromise)return modelLoadPromise;
|
|
modelLoadPromise=(async()=>{
|
|
const statusEl=$('#model-status');
|
|
|
|
// 1. Direct high-speed HTTP fetch (instant, ~20ms)
|
|
for(const url of [
|
|
'/model.stl',
|
|
'/model',
|
|
'/runtime/vehicle_model.stl',
|
|
'/assets/Main%20Assembly%20V1%20(2).stl',
|
|
'../runtime/vehicle_model.stl',
|
|
'../assets/Main%20Assembly%20V1%20(2).stl'
|
|
]){
|
|
try{
|
|
const res=await fetch(url);
|
|
if(res.ok){
|
|
if(statusEl)statusEl.textContent='Loading mesh…';
|
|
const buf=await res.arrayBuffer();
|
|
if(window.rovModel){
|
|
const result=window.rovModel.loadBuffer(buf,'Main Assembly V1 (2).stl');
|
|
$('#load-model').textContent='Replace STL';
|
|
console.log('[Direct Fetch] Model loaded:', result);
|
|
return true;
|
|
}
|
|
}
|
|
}catch(err){
|
|
console.warn(`[Direct Fetch] ${url} failed:`, err);
|
|
}
|
|
}
|
|
|
|
// 2. Python Bridge Chunked Stream (fallback)
|
|
if(window.pywebview?.api?.get_saved_model_info){
|
|
try{
|
|
const info=await api('get_saved_model_info');
|
|
if(info&&info.size){
|
|
const total=info.size, chunk=262144;
|
|
const bytes=new Uint8Array(total);
|
|
let loaded=0;
|
|
if(statusEl){
|
|
statusEl.className='model-status';
|
|
statusEl.textContent=`Streaming ${info.name} (0%)…`;
|
|
}
|
|
while(loaded<total){
|
|
const reqSize=Math.min(chunk,total-loaded);
|
|
const resp=await api('read_saved_model_chunk',loaded,reqSize);
|
|
const part=atob(resp.data);
|
|
for(let i=0;i<part.length;i++)bytes[loaded+i]=part.charCodeAt(i);
|
|
loaded+=part.length;
|
|
const pct=Math.round((loaded/total)*100);
|
|
if(statusEl)statusEl.textContent=`Streaming ${pct}% (${(loaded/(1024*1024)).toFixed(1)}MB)…`;
|
|
if(loaded%(chunk*4)===0)await new Promise(r=>setTimeout(r,0));
|
|
}
|
|
if(window.rovModel){
|
|
const res=window.rovModel.loadBuffer(bytes.buffer,info.name);
|
|
$('#load-model').textContent='Replace STL';
|
|
return true;
|
|
}
|
|
}
|
|
}catch(e){
|
|
console.warn('[Bridge Stream] Failed:', e);
|
|
if(statusEl){
|
|
statusEl.className='model-status error';
|
|
statusEl.textContent=`Bridge Error: ${e.message}`;
|
|
}
|
|
}
|
|
}
|
|
return false;
|
|
})();
|
|
return modelLoadPromise;
|
|
}
|
|
|
|
let booted=false,booting=false,bootRetry=0,portRefreshTimer=0;
|
|
function hasDesktopApi(){return ['initial_state','refresh_ports','poll'].every(name=>typeof window.pywebview?.api?.[name]==='function')}
|
|
async function boot(){
|
|
if(booted||booting||!hasDesktopApi())return;
|
|
booting=true;clearTimeout(bootRetry);
|
|
try{
|
|
// OS port discovery must not depend on model/config initialization succeeding.
|
|
populatePorts(await withTimeout(api('refresh_ports'),4000));
|
|
const init=await withTimeout(api('initial_state'),4000);
|
|
batteryConfig=init.battery_config||{};
|
|
populatePorts(init.ports);
|
|
fillBatteryForm();
|
|
bridgeReady=true;booted=true;lastBridgeAt=performance.now();
|
|
if(!demoActive)render(init.state);
|
|
poll();
|
|
// Populate the serial selector before starting the optional model load.
|
|
// A large cached mesh must never delay an operator seeing USB COM ports.
|
|
loadDefaultModel();
|
|
if(!portRefreshTimer)portRefreshTimer=setInterval(async()=>{
|
|
if(appState==='disconnected'||demoActive){
|
|
try{populatePorts(await withTimeout(api('refresh_ports'),1500))}
|
|
catch(error){recordActivity(`Port scan failed: ${error.message}`)}
|
|
}
|
|
},2000);
|
|
}catch(e){
|
|
booted=false;bridgeReady=false;
|
|
recordActivity(`Desktop startup failed; retrying: ${e.message}`);
|
|
toast(`Python bridge: ${e.message}`,true);
|
|
bootRetry=setTimeout(boot,1000);
|
|
}finally{
|
|
booting=false;
|
|
}
|
|
}
|
|
function waitForBridge(){
|
|
if(booted)return;
|
|
if(hasDesktopApi())boot();
|
|
setTimeout(waitForBridge,250);
|
|
}
|
|
addEventListener('pywebviewready',boot);
|
|
render(vehicleSnapshot);
|
|
if(document.readyState==='loading'){
|
|
addEventListener('DOMContentLoaded',()=>{loadDefaultModel();waitForBridge()});
|
|
}else{
|
|
loadDefaultModel();
|
|
waitForBridge();
|
|
}
|