290 lines
17 KiB
JavaScript
290 lines
17 KiB
JavaScript
const $=s=>document.querySelector(s), $$=s=>[...document.querySelectorAll(s)];
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const control={forward:0,turn:0,vertical:0}, keys=new Set(); let bridgeReady=false, connected=false, batteryConfig={}, servoSignature='', lastAxisSend=0, axisTimer=0;
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const api=(name,...args)=>window.pywebview.api[name](...args);
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addEventListener('pointermove',e=>{const button=e.target.closest?.('button:not(.battery-card), .stick');if(!button)return;const rect=button.getBoundingClientRect();button.style.setProperty('--glow-x',`${e.clientX-rect.left}px`);button.style.setProperty('--glow-y',`${e.clientY-rect.top}px`)});
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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}))});
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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)}
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window.showToast=toast;
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function populatePorts(ports){const p=$('#port'),old=p.value;p.innerHTML='';if(!ports.length)p.add(new Option('No COM ports',''));ports.forEach(x=>p.add(new Option(x,x)));if(ports.includes(old))p.value=old}
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function sendAxes(){if(!bridgeReady)return;const transmit=()=>{lastAxisSend=performance.now();axisTimer=0;api('set_axes',control.forward,control.turn,control.vertical).catch(e=>toast(e.message,true))},wait=50-(performance.now()-lastAxisSend);if(wait<=0)transmit();else{clearTimeout(axisTimer);axisTimer=setTimeout(transmit,wait)}}
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function updateReadouts(){ $('#surge-readout').textContent=Math.round(control.forward*100);$('#yaw-readout').textContent=Math.round(control.turn*100);$('#heave-readout').textContent=Math.round(control.vertical*100)}
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window.setJoyControl=(x,y)=>{control.turn=x;control.forward=-y;updateReadouts();sendAxes()};
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function releaseHandle(el){el.classList.remove('pressed');el.classList.add('released');setTimeout(()=>el.classList.remove('released'),520)}
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const heave=$('#heave'),hknob=$('#heave-knob'),hfill=$('#heave-fill');let heaveDrag=false,heaveAnim=0;
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function setHeave(v,send=true){v=Math.max(-1,Math.min(1,v));control.vertical=v;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)sendAxes()}
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function heaveEvent(e){const b=heave.getBoundingClientRect();setHeave((b.top+b.height/2-e.clientY)/(b.height*.43))}
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heave.addEventListener('pointerdown',e=>{heaveDrag=true;hknob.classList.remove('released');hknob.classList.add('pressed');cancelAnimationFrame(heaveAnim);heave.setPointerCapture(e.pointerId);heaveEvent(e)});heave.addEventListener('pointermove',e=>{if(heaveDrag)heaveEvent(e)});heave.addEventListener('pointerup',()=>{heaveDrag=false;releaseHandle(hknob);easeHeave()});heave.addEventListener('pointercancel',()=>{heaveDrag=false;releaseHandle(hknob);easeHeave()});
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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)}
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function applyKeys(){const turn=(keys.has('d')||keys.has('e')?1:0)-(keys.has('a')||keys.has('q')?1:0),forward=(keys.has('w')?1:0)-(keys.has('s')?1:0),vertical=(keys.has('r')?1:0)-(keys.has('f')?1:0);if(turn||forward){window.joystick3D?.setPos(turn,-forward)}else{window.joystick3D?.easeBack()}if(vertical){cancelAnimationFrame(heaveAnim);setHeave(vertical)}else if(!heaveDrag)easeHeave()}
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addEventListener('keydown',e=>{if(/^(INPUT|SELECT)$/.test(e.target.tagName))return;if(e.key==='F2'){e.preventDefault();if(!e.repeat)startArmHold();return}const shortcuts={F1:'#manual',F3:'#disarm'};if(shortcuts[e.key]){e.preventDefault();if(!e.repeat)$(shortcuts[e.key]).click();return}const k=e.key.toLowerCase();if('wasdqerf'.includes(k)&&!keys.has(k)){keys.add(k);applyKeys()}});addEventListener('keyup',e=>{if(e.key==='F2'){e.preventDefault();stopArmHold(true);return}const k=e.key.toLowerCase();if(keys.delete(k))applyKeys()});
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addEventListener('blur',()=>{keys.clear();window.joystick3D?.easeBack();if(!heaveDrag)easeHeave()});
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function openModal(id){
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const el=typeof id==='string'?document.getElementById(id):id;
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if(!el)return;
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el.classList.remove('closing');
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if(!el.open)el.showModal();
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}
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function closeModal(dialog){
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if(!dialog||!dialog.open||dialog.classList.contains('closing'))return;
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dialog.classList.add('closing');
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let done=false;
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const finish=()=>{
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if(done)return;
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done=true;
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dialog.removeEventListener('animationend',finish);
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dialog.classList.remove('closing');
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dialog.close();
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};
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dialog.addEventListener('animationend',finish,{once:true});
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setTimeout(finish,300);
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}
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$$('[data-open]').forEach(b=>b.onclick=()=>openModal(b.dataset.open));
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$$('[data-close]').forEach(b=>b.onclick=()=>closeModal(b.closest('dialog')));
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$$('dialog').forEach(d=>{
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d.addEventListener('cancel',e=>{e.preventDefault();closeModal(d)});
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d.addEventListener('click',e=>{
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const r=d.getBoundingClientRect();
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if(e.clientX<r.left||e.clientX>r.right||e.clientY<r.top||e.clientY>r.bottom)closeModal(d);
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});
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});
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$('#window-min').onclick=()=>api('minimize_window');$('#window-max').onclick=async()=>{const max=await api('toggle_maximize_window');document.body.classList.toggle('maximized',!!max)};$('#window-close').onclick=()=>{if(document.body.classList.contains('window-exiting'))return;document.body.classList.add('window-exiting');setTimeout(()=>api('close_window'),360)};$('.topbar').ondblclick=async e=>{if(!e.target.closest('button,select,input')){const max=await api('toggle_maximize_window');document.body.classList.toggle('maximized',!!max)}};
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const modelInput=$('#model-input'), modelButton=$('#load-model'), rovStage=$('.rov-stage');
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async function handleStlFile(file){
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if(!file)return;
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try{
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if(!file.name.toLowerCase().endsWith('.stl'))throw new Error('Choose an STL mesh (*.stl)');
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if(file.size>30*1024*1024)throw new Error('The STL is larger than 30 MB; export a lighter mesh');
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modelButton.disabled=true;
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modelButton.textContent='Loading…';
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const buffer=await file.arrayBuffer();
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const result=window.rovModel.loadBuffer(buffer,file.name);
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modelButton.textContent='Replace STL';
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toast(`Loaded ${result.name} • ${result.triangles.toLocaleString()} triangles`);
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if(bridgeReady&&window.pywebview?.api?.save_model){
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const dataUrl=await new Promise((resolve,reject)=>{
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const reader=new FileReader();
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reader.onload=()=>resolve(reader.result);
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reader.onerror=()=>reject(reader.error);
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reader.readAsDataURL(file);
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});
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api('save_model',file.name,String(dataUrl).split(',')[1]).catch(e=>console.warn(e));
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}
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}catch(error){
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toast(`STL import failed: ${error.message}`,true);
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}finally{
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modelButton.disabled=false;
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if(modelButton.textContent==='Loading…')modelButton.textContent='Load STL';
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}
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}
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modelButton.onclick=async()=>{
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let loaded=false;
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if(window.pywebview?.api?.choose_model){
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try{
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const model=await api('choose_model');
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if(model&&model.data){
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const res=window.rovModel.load(model);
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modelButton.textContent='Replace STL';
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toast(`Loaded ${res.name} • ${res.triangles.toLocaleString()} triangles`);
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loaded=true;
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}
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}catch(err){
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console.warn('choose_model error:', err);
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}
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}
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if(!loaded&&modelInput){
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modelInput.value='';
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modelInput.click();
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}
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};
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if(modelInput){
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modelInput.onchange=()=>{
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const file=modelInput.files?.[0];
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if(file)handleStlFile(file);
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};
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}
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if(rovStage){
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rovStage.addEventListener('dragover',e=>{e.preventDefault();e.stopPropagation();rovStage.classList.add('drag-over')});
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rovStage.addEventListener('dragleave',e=>{e.preventDefault();e.stopPropagation();rovStage.classList.remove('drag-over')});
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rovStage.addEventListener('drop',e=>{
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e.preventDefault();e.stopPropagation();rovStage.classList.remove('drag-over');
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const file=e.dataTransfer?.files?.[0];
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if(file)handleStlFile(file);
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});
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}
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$('#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);if(bridgeReady)populatePorts(await api('refresh_ports'))};$('#connect').onclick=async()=>{try{if(connected)await api('disconnect');else await api('connect',$('#port').value,+$('#baud').value,+$('#rate').value)}catch(e){toast(e.message,true)}};
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$('#manual').onclick=async()=>{try{await api('command','manual');toast('Manual mode command sent')}catch(e){toast(e.message,true)}};
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const armButton=$('#arm');
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let armHoldTimer=null, armStart=0, armCharged=false;
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const ARM_HOLD_MS=1000;
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function updateArmProgress(){
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if(!armStart)return;
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const elapsed=performance.now()-armStart;
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const progress=Math.min(1,elapsed/ARM_HOLD_MS);
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armButton.style.setProperty('--arm-progress',`${progress*100}%`);
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if(progress>=1){
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armCharged=true;
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stopArmHold(false);
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armButton.classList.add('charged');
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setTimeout(()=>armButton.classList.remove('charged'),600);
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api('command','arm').then(()=>toast('Vehicle armed')).catch(e=>toast(e.message,true));
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return;
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}
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armHoldTimer=requestAnimationFrame(updateArmProgress);
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}
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function startArmHold(e){
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if(armStart||armCharged)return;
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if(e&&e.button!==undefined&&e.button!==0)return;
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armStart=performance.now();
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armCharged=false;
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armButton.classList.add('charging');
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armButton.style.setProperty('--arm-progress','0%');
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armHoldTimer=requestAnimationFrame(updateArmProgress);
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}
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function stopArmHold(wasCancelled=true){
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if(!armStart)return;
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const elapsed=performance.now()-armStart;
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cancelAnimationFrame(armHoldTimer);
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armHoldTimer=null;
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armStart=0;
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armButton.classList.remove('charging');
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armButton.style.setProperty('--arm-progress','0%');
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if(wasCancelled&&!armCharged&&elapsed<ARM_HOLD_MS&&elapsed>70){
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toast('Hold for 1s to Arm vehicle');
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}
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armCharged=false;
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}
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armButton.addEventListener('pointerdown',startArmHold);
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armButton.addEventListener('pointerup',()=>stopArmHold(true));
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armButton.addEventListener('pointerleave',()=>stopArmHold(true));
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armButton.addEventListener('pointercancel',()=>stopArmHold(true));
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armButton.addEventListener('contextmenu',e=>e.preventDefault());
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$('#disarm').onclick=async()=>{try{await api('command','disarm');toast('Disarm command sent')}catch(e){toast(e.message,true)}};
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$('#logs').onclick=()=>api('open_logs');
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function setGain(value){const gain=$('#gain');gain.value=Math.max(+gain.min,Math.min(+gain.max,value));$('#gain-value').textContent=`${gain.value}%`;if(bridgeReady)api('set_gain',+gain.value)}
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$('#gain').oninput=e=>setGain(+e.target.value);$('#gain-down').onclick=()=>setGain(+$('#gain').value-5);$('#gain-up').onclick=()=>setGain(+$('#gain').value+5);
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$('#battery-form').onsubmit=async e=>{e.preventDefault();const data=Object.fromEntries(new FormData(e.target));try{batteryConfig=await api('save_battery',data);closeModal($('#battery-modal'));toast('Battery settings saved')}catch(err){toast(err.message,true)}};
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function fillBatteryForm(){for(const [k,v] of Object.entries(batteryConfig)){const el=$(`#battery-form [name=${k}]`);if(el)el.value=v}}
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function renderMotors(servos){const signature=JSON.stringify(servos);if(signature===servoSignature)return;servoSignature=signature;const list=$('#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>${s.direction==null?'—':s.direction===-1?'Reversed':'Normal'}</span><button class="button subtle">Reverse</button>`;row.querySelector('select').onchange=e=>api('set_servo_function',i,+e.target.value).catch(x=>toast(x.message,true));row.querySelector('button').onclick=()=>api('reverse_motor',i).catch(x=>toast(x.message,true));list.append(row)}}
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function render(s){connected=s.connected;$('#connect').textContent=connected?'Disconnect':'Connect';const linkText=s.link==='LINK OK'?'connected':(s.link?s.link.toLowerCase():'disconnected');$('#link').textContent=linkText;$('.link-state').classList.toggle('online',s.link==='LINK OK'||s.link==='connected');$('#vehicle').textContent=s.vehicle?s.vehicle.toLowerCase():'no heartbeat';$('#status').textContent=s.status?s.status.toLowerCase():'ready';const b=s.battery;if(b){$('#battery-title').textContent=`${b.voltage.toFixed(2)} V`;$('#battery-percent').textContent=`${Math.round(b.percent)}% • ${b.cells}s`;$('#battery-fill').style.width=`${b.percent}%`;$('#battery-fill').style.background=b.low?'var(--red)':'var(--acid)'}else{$('#battery-title').textContent='—';$('#battery-percent').textContent='waiting';$('#battery-fill').style.width='0'}renderMotors(s.servos)}
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async function poll(){if(!bridgeReady)return;try{render(await api('poll'))}catch(e){}setTimeout(poll,250)}
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let modelLoadPromise=null;
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async function loadDefaultModel(){
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if(modelLoadPromise)return modelLoadPromise;
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modelLoadPromise=(async()=>{
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const statusEl=$('#model-status');
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// 1. Direct high-speed HTTP fetch (instant, ~20ms)
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for(const url of [
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'/model.stl',
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'/model',
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'/runtime/vehicle_model.stl',
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'/assets/Main%20Assembly%20V1%20(2).stl',
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'../runtime/vehicle_model.stl',
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'../assets/Main%20Assembly%20V1%20(2).stl'
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]){
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try{
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const res=await fetch(url);
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if(res.ok){
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if(statusEl)statusEl.textContent='Loading mesh…';
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const buf=await res.arrayBuffer();
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if(window.rovModel){
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const result=window.rovModel.loadBuffer(buf,'Main Assembly V1 (2).stl');
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$('#load-model').textContent='Replace STL';
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console.log('[Direct Fetch] Model loaded:', result);
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return true;
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}
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}
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}catch(err){
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console.warn(`[Direct Fetch] ${url} failed:`, err);
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}
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}
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// 2. Python Bridge Chunked Stream (fallback)
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if(window.pywebview?.api?.get_saved_model_info){
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try{
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const info=await api('get_saved_model_info');
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if(info&&info.size){
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const total=info.size, chunk=262144;
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const bytes=new Uint8Array(total);
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let loaded=0;
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if(statusEl){
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statusEl.className='model-status';
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statusEl.textContent=`Streaming ${info.name} (0%)…`;
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}
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while(loaded<total){
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const reqSize=Math.min(chunk,total-loaded);
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const resp=await api('read_saved_model_chunk',loaded,reqSize);
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const part=atob(resp.data);
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for(let i=0;i<part.length;i++)bytes[loaded+i]=part.charCodeAt(i);
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loaded+=part.length;
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const pct=Math.round((loaded/total)*100);
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if(statusEl)statusEl.textContent=`Streaming ${pct}% (${(loaded/(1024*1024)).toFixed(1)}MB)…`;
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if(loaded%(chunk*4)===0)await new Promise(r=>setTimeout(r,0));
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}
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if(window.rovModel){
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const res=window.rovModel.loadBuffer(bytes.buffer,info.name);
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$('#load-model').textContent='Replace STL';
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return true;
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}
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}
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}catch(e){
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console.warn('[Bridge Stream] Failed:', e);
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if(statusEl){
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statusEl.className='model-status error';
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statusEl.textContent=`Bridge Error: ${e.message}`;
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}
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}
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}
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return false;
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})();
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return modelLoadPromise;
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}
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let booted=false;
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async function boot(){
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if(booted||!window.pywebview?.api)return;
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booted=true;
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bridgeReady=true;
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loadDefaultModel();
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try{
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const init=await api('initial_state');
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batteryConfig=init.battery_config;
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populatePorts(init.ports);
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fillBatteryForm();
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render(init.state);
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poll();
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setInterval(async()=>{
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if(!connected){
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try{populatePorts(await api('refresh_ports'))}catch(_){}
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}
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},2000);
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}catch(e){
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toast(`Python bridge: ${e.message}`,true);
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}
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}
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function waitForBridge(){
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if(window.pywebview?.api)boot();
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else setTimeout(waitForBridge,50);
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}
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addEventListener('pywebviewready',boot);
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if(document.readyState==='loading'){
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addEventListener('DOMContentLoaded',()=>{loadDefaultModel();waitForBridge()});
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}else{
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loadDefaultModel();
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waitForBridge();
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}
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