diff --git a/GEMstack/onboard/visualization/sr_viz/README.md b/GEMstack/onboard/visualization/sr_viz/README.md new file mode 100644 index 000000000..251d8b027 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/README.md @@ -0,0 +1,141 @@ +# SR Visualization Dashboard + +## How to Use + +### 1. Start Backend Server + +Navigate to the backend directory: + +``` +cd ./log_dashboard +``` + +Install Python dependencies: + +``` +pip install -r requirements.txt +``` + +Start the backend server: + +``` +python app.py +``` + +The backend server will be running at: [http://localhost:5000](http://localhost:5000) + +--- + +### 2. Start Frontend (Development or Production) + +#### Prerequisites + +- Node.js (v18.17+) and npm. If you already have a different version of Node.js installed, you can manage multiple versions using [nvm](https://github.com/nvm-sh/nvm) (for Unix-based systems) or [nvm-windows](https://github.com/coreybutler/nvm-windows) (for Windows). + +Navigate to the frontend directory: + +``` +cd ./GEMstack/onboard/visualization/sr_viz/threeD +``` + +Install frontend dependencies: + +``` +npm install +``` + +Run development server: + +``` +npm run dev +``` + +Or run production build: + +``` +npm run build && npm run start +``` + +The frontend visualizer will be available at: [http://localhost:3000](http://localhost:3000) + +--- + +### 3. Open the Dashboard + +Visit: [http://localhost:5000](http://localhost:5000) + +If a valid `behavior.json` file is loaded, the **"3D Visualization"** button will appear at the top-right corner. + +Clicking it redirects you to the 3D visualizer at: [http://localhost:3000](http://localhost:3000) + +--- + +## Format of Objects in `behavior.json` + +### Other Vehicles + +```json +{ + "other_vehicles": { + "": { + "type": "OtherVehicleState", + "data": { + "pose": { + "frame": , + "t": , + "x": , + "y": , + "z": , + "yaw": , + "pitch": , + "roll": + }, + "dimensions": [, , ], + "outline": , + "type": , + "activity": , + "velocity": [, , ], + "yaw_rate": + } + } + }, + "time": +} +``` + +### Traffic Lights + +```json +{ + "traffic_lights": { + "": { + "type": "TrafficLightState", + "data": { + "pose": { + "frame": , + "t": , + "x": , + "y": , + "z": , + "yaw": , + "pitch": , + "roll": + }, + "state": + } + } + }, + "time": +} +``` + +# SR Rosbag Viewer +## How to Use +In the bottom-right corner of the 3D Visualizer, there's a redirect button. Clicking it will take you to the Rosbag Viewer. Currently, it supports viewing uncompressed images and point clouds by topic. + +To view both images and point clouds simultaneously: + 1. After uploading the rosbag file and confirming that the upload is complete (as indicated by the loading status in the scrubber), click the menu in the top-right corner. + + 2. Choose to split the current panel vertically or horizontally. + + 3. In one of the panels, select `Switch to PointCloud Panel`. \ No newline at end of file diff --git a/GEMstack/onboard/visualization/sr_viz/data/__init__.py b/GEMstack/onboard/visualization/sr_viz/data/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/.gitignore b/GEMstack/onboard/visualization/sr_viz/threeD/.gitignore new file mode 100644 index 000000000..5ef6a5207 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/.gitignore @@ -0,0 +1,41 @@ +# See https://help.github.com/articles/ignoring-files/ for more about ignoring files. + +# dependencies +/node_modules +/.pnp +.pnp.* +.yarn/* +!.yarn/patches +!.yarn/plugins +!.yarn/releases +!.yarn/versions + +# testing +/coverage + +# next.js +/.next/ +/out/ + +# production +/build + +# misc +.DS_Store +*.pem + +# debug +npm-debug.log* +yarn-debug.log* +yarn-error.log* +.pnpm-debug.log* + +# env files (can opt-in for committing if needed) +.env* + +# vercel +.vercel + +# typescript +*.tsbuildinfo +next-env.d.ts diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/app.config.mjs b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/app.config.mjs new file mode 100644 index 000000000..fc95a313e --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/app.config.mjs @@ -0,0 +1,18 @@ + +import { _replaceAppConfig } from '#app/config' +import { defuFn } from 'defu' + +const inlineConfig = { + "nuxt": {} +} + +// Vite - webpack is handled directly in #app/config +if (import.meta.hot) { + import.meta.hot.accept((newModule) => { + _replaceAppConfig(newModule.default) + }) +} + + + +export default /*@__PURE__*/ defuFn(inlineConfig) diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/components.d.ts b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/components.d.ts new file mode 100644 index 000000000..728c161ba --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/components.d.ts @@ -0,0 +1,138 @@ + +import type { DefineComponent, SlotsType } from 'vue' +type IslandComponent = T & DefineComponent<{}, {refresh: () => Promise}, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, SlotsType<{ fallback: { error: unknown } }>> +type HydrationStrategies = { + hydrateOnVisible?: IntersectionObserverInit | true + hydrateOnIdle?: number | true + hydrateOnInteraction?: keyof HTMLElementEventMap | Array | true + hydrateOnMediaQuery?: string + hydrateAfter?: number + hydrateWhen?: boolean + hydrateNever?: true +} +type LazyComponent = (T & DefineComponent void }>) +interface _GlobalComponents { + 'AxesReference': typeof import("../components/AxesReference.vue")['default'] + 'Car': typeof import("../components/Car")['default'] + 'Human': typeof import("../components/Human")['default'] + 'RoadVehicleViz': typeof import("../components/RoadVehicleViz.vue")['default'] + 'TrafficLight': typeof import("../components/TrafficLight")['default'] + 'UnoIcon': typeof import("../node_modules/@unocss/nuxt/runtime/UnoIcon.vue")['default'] + 'NuxtWelcome': typeof import("../node_modules/nuxt/dist/app/components/welcome.vue")['default'] + 'NuxtLayout': typeof import("../node_modules/nuxt/dist/app/components/nuxt-layout")['default'] + 'NuxtErrorBoundary': typeof import("../node_modules/nuxt/dist/app/components/nuxt-error-boundary")['default'] + 'ClientOnly': typeof import("../node_modules/nuxt/dist/app/components/client-only")['default'] + 'DevOnly': typeof import("../node_modules/nuxt/dist/app/components/dev-only")['default'] + 'ServerPlaceholder': typeof import("../node_modules/nuxt/dist/app/components/server-placeholder")['default'] + 'NuxtLink': typeof import("../node_modules/nuxt/dist/app/components/nuxt-link")['default'] + 'NuxtLoadingIndicator': typeof import("../node_modules/nuxt/dist/app/components/nuxt-loading-indicator")['default'] + 'NuxtRouteAnnouncer': typeof import("../node_modules/nuxt/dist/app/components/nuxt-route-announcer")['default'] + 'NuxtImg': typeof import("../node_modules/nuxt/dist/app/components/nuxt-stubs")['NuxtImg'] + 'NuxtPicture': typeof import("../node_modules/nuxt/dist/app/components/nuxt-stubs")['NuxtPicture'] + 'NuxtPage': typeof import("../node_modules/nuxt/dist/pages/runtime/page")['default'] + 'NoScript': typeof import("../node_modules/nuxt/dist/head/runtime/components")['NoScript'] + 'Link': typeof import("../node_modules/nuxt/dist/head/runtime/components")['Link'] + 'Base': typeof import("../node_modules/nuxt/dist/head/runtime/components")['Base'] + 'Title': typeof import("../node_modules/nuxt/dist/head/runtime/components")['Title'] + 'Meta': typeof import("../node_modules/nuxt/dist/head/runtime/components")['Meta'] + 'Style': typeof import("../node_modules/nuxt/dist/head/runtime/components")['Style'] + 'Head': typeof import("../node_modules/nuxt/dist/head/runtime/components")['Head'] + 'Html': typeof import("../node_modules/nuxt/dist/head/runtime/components")['Html'] + 'Body': typeof import("../node_modules/nuxt/dist/head/runtime/components")['Body'] + 'NuxtIsland': typeof import("../node_modules/nuxt/dist/app/components/nuxt-island")['default'] + 'NuxtRouteAnnouncer': IslandComponent + 'LazyAxesReference': LazyComponent + 'LazyCar': LazyComponent + 'LazyHuman': LazyComponent + 'LazyRoadVehicleViz': LazyComponent + 'LazyTrafficLight': LazyComponent + 'LazyUnoIcon': LazyComponent + 'LazyNuxtWelcome': LazyComponent + 'LazyNuxtLayout': LazyComponent + 'LazyNuxtErrorBoundary': LazyComponent + 'LazyClientOnly': LazyComponent + 'LazyDevOnly': LazyComponent + 'LazyServerPlaceholder': LazyComponent + 'LazyNuxtLink': LazyComponent + 'LazyNuxtLoadingIndicator': LazyComponent + 'LazyNuxtRouteAnnouncer': LazyComponent + 'LazyNuxtImg': LazyComponent + 'LazyNuxtPicture': LazyComponent + 'LazyNuxtPage': LazyComponent + 'LazyNoScript': LazyComponent + 'LazyLink': LazyComponent + 'LazyBase': LazyComponent + 'LazyTitle': LazyComponent + 'LazyMeta': LazyComponent + 'LazyStyle': LazyComponent + 'LazyHead': LazyComponent + 'LazyHtml': LazyComponent + 'LazyBody': LazyComponent + 'LazyNuxtIsland': LazyComponent + 'LazyNuxtRouteAnnouncer': LazyComponent> +} + +declare module 'vue' { + export interface GlobalComponents extends _GlobalComponents { } +} + +export const AxesReference: typeof import("../components/AxesReference.vue")['default'] +export const Car: typeof import("../components/Car")['default'] +export const Human: typeof import("../components/Human")['default'] +export const RoadVehicleViz: typeof import("../components/RoadVehicleViz.vue")['default'] +export const TrafficLight: typeof import("../components/TrafficLight")['default'] +export const UnoIcon: typeof import("../node_modules/@unocss/nuxt/runtime/UnoIcon.vue")['default'] +export const NuxtWelcome: typeof import("../node_modules/nuxt/dist/app/components/welcome.vue")['default'] +export const NuxtLayout: typeof import("../node_modules/nuxt/dist/app/components/nuxt-layout")['default'] +export const NuxtErrorBoundary: typeof import("../node_modules/nuxt/dist/app/components/nuxt-error-boundary")['default'] +export const ClientOnly: typeof import("../node_modules/nuxt/dist/app/components/client-only")['default'] +export const DevOnly: typeof import("../node_modules/nuxt/dist/app/components/dev-only")['default'] +export const ServerPlaceholder: typeof import("../node_modules/nuxt/dist/app/components/server-placeholder")['default'] +export const NuxtLink: typeof import("../node_modules/nuxt/dist/app/components/nuxt-link")['default'] +export const NuxtLoadingIndicator: typeof import("../node_modules/nuxt/dist/app/components/nuxt-loading-indicator")['default'] +export const NuxtRouteAnnouncer: typeof import("../node_modules/nuxt/dist/app/components/nuxt-route-announcer")['default'] +export const NuxtImg: typeof import("../node_modules/nuxt/dist/app/components/nuxt-stubs")['NuxtImg'] +export const NuxtPicture: typeof import("../node_modules/nuxt/dist/app/components/nuxt-stubs")['NuxtPicture'] +export const NuxtPage: typeof import("../node_modules/nuxt/dist/pages/runtime/page")['default'] +export const NoScript: typeof import("../node_modules/nuxt/dist/head/runtime/components")['NoScript'] +export const Link: typeof import("../node_modules/nuxt/dist/head/runtime/components")['Link'] +export const Base: typeof import("../node_modules/nuxt/dist/head/runtime/components")['Base'] +export const Title: typeof import("../node_modules/nuxt/dist/head/runtime/components")['Title'] +export const Meta: typeof import("../node_modules/nuxt/dist/head/runtime/components")['Meta'] +export const Style: typeof import("../node_modules/nuxt/dist/head/runtime/components")['Style'] +export const Head: typeof import("../node_modules/nuxt/dist/head/runtime/components")['Head'] +export const Html: typeof import("../node_modules/nuxt/dist/head/runtime/components")['Html'] +export const Body: typeof import("../node_modules/nuxt/dist/head/runtime/components")['Body'] +export const NuxtIsland: typeof import("../node_modules/nuxt/dist/app/components/nuxt-island")['default'] +export const NuxtRouteAnnouncer: IslandComponent +export const LazyAxesReference: LazyComponent +export const LazyCar: LazyComponent +export const LazyHuman: LazyComponent +export const LazyRoadVehicleViz: LazyComponent +export const LazyTrafficLight: LazyComponent +export const LazyUnoIcon: LazyComponent +export const LazyNuxtWelcome: LazyComponent +export const LazyNuxtLayout: LazyComponent +export const LazyNuxtErrorBoundary: LazyComponent +export const LazyClientOnly: LazyComponent +export const LazyDevOnly: LazyComponent +export const LazyServerPlaceholder: LazyComponent +export const LazyNuxtLink: LazyComponent +export const LazyNuxtLoadingIndicator: LazyComponent +export const LazyNuxtRouteAnnouncer: LazyComponent +export const LazyNuxtImg: LazyComponent +export const LazyNuxtPicture: LazyComponent +export const LazyNuxtPage: LazyComponent +export const LazyNoScript: LazyComponent +export const LazyLink: LazyComponent +export const LazyBase: LazyComponent +export const LazyTitle: LazyComponent +export const LazyMeta: LazyComponent +export const LazyStyle: LazyComponent +export const LazyHead: LazyComponent +export const LazyHtml: LazyComponent +export const LazyBody: LazyComponent +export const LazyNuxtIsland: LazyComponent +export const LazyNuxtRouteAnnouncer: LazyComponent> + +export const componentNames: string[] diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/imports.d.ts b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/imports.d.ts new file mode 100644 index 000000000..94d8219ea --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/imports.d.ts @@ -0,0 +1,32 @@ +export { useScriptTriggerConsent, useScriptEventPage, useScriptTriggerElement, useScript, useScriptGoogleAnalytics, useScriptPlausibleAnalytics, useScriptCrisp, useScriptClarity, useScriptCloudflareWebAnalytics, useScriptFathomAnalytics, useScriptMatomoAnalytics, useScriptGoogleTagManager, useScriptGoogleAdsense, useScriptSegment, useScriptMetaPixel, useScriptXPixel, useScriptIntercom, useScriptHotjar, useScriptStripe, useScriptLemonSqueezy, useScriptVimeoPlayer, useScriptYouTubePlayer, useScriptGoogleMaps, useScriptNpm, useScriptUmamiAnalytics, useScriptSnapchatPixel } from '#app/composables/script-stubs'; +export { isVue2, isVue3 } from 'vue-demi'; +export { defineNuxtLink } from '#app/components/nuxt-link'; +export { useNuxtApp, tryUseNuxtApp, defineNuxtPlugin, definePayloadPlugin, useRuntimeConfig, defineAppConfig } from '#app/nuxt'; +export { useAppConfig, updateAppConfig } from '#app/config'; +export { defineNuxtComponent } from '#app/composables/component'; +export { useAsyncData, useLazyAsyncData, useNuxtData, refreshNuxtData, clearNuxtData } from '#app/composables/asyncData'; +export { useHydration } from '#app/composables/hydrate'; +export { callOnce } from '#app/composables/once'; +export { useState, clearNuxtState } from '#app/composables/state'; +export { clearError, createError, isNuxtError, showError, useError } from '#app/composables/error'; +export { useFetch, useLazyFetch } from '#app/composables/fetch'; +export { useCookie, refreshCookie } from '#app/composables/cookie'; +export { onPrehydrate, prerenderRoutes, useRequestHeader, useRequestHeaders, useResponseHeader, useRequestEvent, useRequestFetch, setResponseStatus } from '#app/composables/ssr'; +export { onNuxtReady } from '#app/composables/ready'; +export { preloadComponents, prefetchComponents, preloadRouteComponents } from '#app/composables/preload'; +export { abortNavigation, addRouteMiddleware, defineNuxtRouteMiddleware, setPageLayout, navigateTo, useRoute, useRouter } from '#app/composables/router'; +export { isPrerendered, loadPayload, preloadPayload, definePayloadReducer, definePayloadReviver } from '#app/composables/payload'; +export { useLoadingIndicator } from '#app/composables/loading-indicator'; +export { getAppManifest, getRouteRules } from '#app/composables/manifest'; +export { reloadNuxtApp } from '#app/composables/chunk'; +export { useRequestURL } from '#app/composables/url'; +export { usePreviewMode } from '#app/composables/preview'; +export { useRouteAnnouncer } from '#app/composables/route-announcer'; +export { useRuntimeHook } from '#app/composables/runtime-hook'; +export { useHead, useHeadSafe, useServerHeadSafe, useServerHead, useSeoMeta, useServerSeoMeta, injectHead } from '#app/composables/head'; +export { onBeforeRouteLeave, onBeforeRouteUpdate, useLink } from 'vue-router'; +export { withCtx, withDirectives, withKeys, withMemo, withModifiers, withScopeId, onActivated, onBeforeMount, onBeforeUnmount, onBeforeUpdate, onDeactivated, onErrorCaptured, onMounted, onRenderTracked, onRenderTriggered, onServerPrefetch, onUnmounted, onUpdated, computed, customRef, isProxy, isReactive, isReadonly, isRef, markRaw, proxyRefs, reactive, readonly, ref, shallowReactive, shallowReadonly, shallowRef, toRaw, toRef, toRefs, triggerRef, unref, watch, watchEffect, watchPostEffect, watchSyncEffect, isShallow, effect, effectScope, getCurrentScope, onScopeDispose, defineComponent, defineAsyncComponent, resolveComponent, getCurrentInstance, h, inject, hasInjectionContext, nextTick, provide, mergeModels, toValue, useModel, useAttrs, useCssModule, useCssVars, useSlots, useTransitionState, useId, useTemplateRef, useShadowRoot, Component, ComponentPublicInstance, ComputedRef, DirectiveBinding, ExtractDefaultPropTypes, ExtractPropTypes, ExtractPublicPropTypes, InjectionKey, PropType, Ref, MaybeRef, MaybeRefOrGetter, VNode, WritableComputedRef } from 'vue'; +export { requestIdleCallback, cancelIdleCallback } from '#app/compat/idle-callback'; +export { setInterval } from '#app/compat/interval'; +export { HUMAN_BODY_RATIOS, HUMAN_TO_CAR_HEIGHT_RATIO } from '../utils/constants'; +export { definePageMeta } from '../node_modules/nuxt/dist/pages/runtime/composables'; \ No newline at end of file diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/nuxt.d.ts b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/nuxt.d.ts new file mode 100644 index 000000000..7ed344d33 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/nuxt.d.ts @@ -0,0 +1,22 @@ +// Generated by nuxi +/// +/// +/// +/// +/// +/// +/// +/// +/// +/// +/// +/// +/// +/// +/// +/// +/// +/// +/// + +export {} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/nuxt.json b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/nuxt.json new file mode 100644 index 000000000..e0cddd4b5 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/nuxt.json @@ -0,0 +1,9 @@ +{ + "_hash": "ZSSPpUqkABKhlhHw1INEi3K-kN_AvMblsSfoalBhuyw", + "project": { + "rootDir": "/Users/qhk/Library/CloudStorage/GoogleDrive-hangkai2@illinois.edu/My Drive/Academics/Graduate3/588/GEMstack/GEMstack/onboard/visualization/sr_viz/threeD" + }, + "versions": { + "nuxt": "3.16.1" + } +} \ No newline at end of file diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/schema/nuxt.schema.d.ts b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/schema/nuxt.schema.d.ts new file mode 100644 index 000000000..d9d266ce5 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/schema/nuxt.schema.d.ts @@ -0,0 +1,17 @@ +export interface NuxtCustomSchema { + +} +export type CustomAppConfig = Exclude +type _CustomAppConfig = CustomAppConfig + +declare module '@nuxt/schema' { + interface NuxtConfig extends Omit {} + interface NuxtOptions extends Omit {} + interface CustomAppConfig extends _CustomAppConfig {} +} + +declare module 'nuxt/schema' { + interface NuxtConfig extends Omit {} + interface NuxtOptions extends Omit {} + interface CustomAppConfig extends _CustomAppConfig {} +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/schema/nuxt.schema.json b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/schema/nuxt.schema.json new file mode 100644 index 000000000..034ff697e --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/schema/nuxt.schema.json @@ -0,0 +1,3 @@ +{ + "id": "#" +} \ No newline at end of file diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/tsconfig.json b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/tsconfig.json new file mode 100644 index 000000000..1205b7bde --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/tsconfig.json @@ -0,0 +1,173 @@ +// Generated by nuxi +{ + "compilerOptions": { + "paths": { + "nitropack/types": [ + "../node_modules/nitropack/types" + ], + "nitropack/runtime": [ + "../node_modules/nitropack/runtime" + ], + "nitropack": [ + "../node_modules/nitropack" + ], + "defu": [ + "../node_modules/defu" + ], + "h3": [ + "../node_modules/h3" + ], + "consola": [ + "../node_modules/consola" + ], + "ofetch": [ + "../node_modules/ofetch" + ], + "@unhead/vue": [ + "../node_modules/@unhead/vue" + ], + "@nuxt/devtools": [ + "../node_modules/@nuxt/devtools" + ], + "@vue/runtime-core": [ + "../node_modules/@vue/runtime-core" + ], + "@vue/compiler-sfc": [ + "../node_modules/@vue/compiler-sfc" + ], + "unplugin-vue-router/client": [ + "../node_modules/unplugin-vue-router/client" + ], + "@nuxt/schema": [ + "../node_modules/@nuxt/schema" + ], + "nuxt": [ + "../node_modules/nuxt" + ], + "vite/client": [ + "../node_modules/vite/client" + ], + "~": [ + ".." + ], + "~/*": [ + "../*" + ], + "@": [ + ".." + ], + "@/*": [ + "../*" + ], + "~~": [ + ".." + ], + "~~/*": [ + "../*" + ], + "@@": [ + ".." + ], + "@@/*": [ + "../*" + ], + "#shared": [ + "../shared" + ], + "assets": [ + "../assets" + ], + "public": [ + "../public" + ], + "public/*": [ + "../public/*" + ], + "#app": [ + "../node_modules/nuxt/dist/app" + ], + "#app/*": [ + "../node_modules/nuxt/dist/app/*" + ], + "vue-demi": [ + "../node_modules/nuxt/dist/app/compat/vue-demi" + ], + "#vue-router": [ + "../node_modules/vue-router" + ], + "#unhead/composables": [ + "../node_modules/nuxt/dist/head/runtime/composables/v3" + ], + "#imports": [ + "./imports" + ], + "#app-manifest": [ + "./manifest/meta/b2c428c1-7be1-4c1c-b492-5128fccb89d9" + ], + "#components": [ + "./components" + ], + "#build": [ + "." + ], + "#build/*": [ + "./*" + ] + }, + "esModuleInterop": true, + "skipLibCheck": true, + "target": "ESNext", + "allowJs": true, + "resolveJsonModule": true, + "moduleDetection": "force", + "isolatedModules": true, + "verbatimModuleSyntax": true, + "strict": true, + "noUncheckedIndexedAccess": false, + "forceConsistentCasingInFileNames": true, + "noImplicitOverride": true, + "module": "preserve", + "noEmit": true, + "lib": [ + "ESNext", + "dom", + "dom.iterable", + "webworker" + ], + "jsx": "preserve", + "jsxImportSource": "vue", + "types": [], + "moduleResolution": "Bundler", + "useDefineForClassFields": true, + "noImplicitThis": true, + "allowSyntheticDefaultImports": true + }, + "include": [ + "./nuxt.d.ts", + "../.config/nuxt.*", + "../**/*", + "../node_modules/@unocss/nuxt/runtime", + "../node_modules/@unocss/nuxt/dist/runtime", + "../node_modules/@nuxt/devtools/runtime", + "../node_modules/@nuxt/devtools/dist/runtime", + "../node_modules/@nuxt/telemetry/runtime", + "../node_modules/@nuxt/telemetry/dist/runtime", + ".." + ], + "exclude": [ + "../dist", + "../node_modules", + "../../../../../../node_modules", + "../node_modules/nuxt/node_modules", + "../node_modules/@unocss/nuxt/node_modules", + "../node_modules/@nuxt/devtools/node_modules", + "../node_modules/@nuxt/telemetry/node_modules", + "../node_modules/@unocss/nuxt/runtime/server", + "../node_modules/@unocss/nuxt/dist/runtime/server", + "../node_modules/@nuxt/devtools/runtime/server", + "../node_modules/@nuxt/devtools/dist/runtime/server", + "../node_modules/@nuxt/telemetry/runtime/server", + "../node_modules/@nuxt/telemetry/dist/runtime/server", + "../.output" + ] +} \ No newline at end of file diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/tsconfig.server.json b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/tsconfig.server.json new file mode 100644 index 000000000..dc195cab9 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/tsconfig.server.json @@ -0,0 +1,122 @@ +{ + "compilerOptions": { + "forceConsistentCasingInFileNames": true, + "strict": true, + "noEmit": true, + "target": "ESNext", + "module": "ESNext", + "moduleResolution": "Bundler", + "allowJs": true, + "resolveJsonModule": true, + "jsx": "preserve", + "allowSyntheticDefaultImports": true, + "jsxFactory": "h", + "jsxFragmentFactory": "Fragment", + "paths": { + "#imports": [ + "./types/nitro-imports" + ], + "~/*": [ + "../*" + ], + "@/*": [ + "../*" + ], + "~~/*": [ + "../*" + ], + "@@/*": [ + "../*" + ], + "nitropack/types": [ + "../node_modules/nitropack/types" + ], + "nitropack/runtime": [ + "../node_modules/nitropack/runtime" + ], + "nitropack": [ + "../node_modules/nitropack" + ], + "defu": [ + "../node_modules/defu" + ], + "h3": [ + "../node_modules/h3" + ], + "consola": [ + "../node_modules/consola" + ], + "ofetch": [ + "../node_modules/ofetch" + ], + "@unhead/vue": [ + "../node_modules/@unhead/vue" + ], + "@nuxt/devtools": [ + "../node_modules/@nuxt/devtools" + ], + "@vue/runtime-core": [ + "../node_modules/@vue/runtime-core" + ], + "@vue/compiler-sfc": [ + "../node_modules/@vue/compiler-sfc" + ], + "unplugin-vue-router/client": [ + "../node_modules/unplugin-vue-router/client" + ], + "@nuxt/schema": [ + "../node_modules/@nuxt/schema" + ], + "nuxt": [ + "../node_modules/nuxt" + ], + "vite/client": [ + "../node_modules/vite/client" + ], + "#shared": [ + "../shared" + ], + "assets": [ + "../assets" + ], + "public": [ + "../public" + ], + "public/*": [ + "../public/*" + ], + "#build": [ + "./" + ], + "#internal/nuxt/paths": [ + "../node_modules/nuxt/dist/core/runtime/nitro/utils/paths" + ], + "#unhead/composables": [ + "../node_modules/nuxt/dist/head/runtime/composables/v3" + ] + }, + "lib": [ + "esnext", + "webworker", + "dom.iterable" + ] + }, + "include": [ + "./types/nitro-nuxt.d.ts", + "../node_modules/@unocss/nuxt/runtime/server", + "../node_modules/@nuxt/devtools/runtime/server", + "../node_modules/@nuxt/telemetry/runtime/server", + "./types/nitro.d.ts", + "../**/*", + "../server/**/*" + ], + "exclude": [ + "../node_modules", + "../../../../../../node_modules", + "../node_modules/nuxt/node_modules", + "../node_modules/@unocss/nuxt/node_modules", + "../node_modules/@nuxt/devtools/node_modules", + "../node_modules/@nuxt/telemetry/node_modules", + "../dist" + ] +} \ No newline at end of file diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/app-defaults.d.ts b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/app-defaults.d.ts new file mode 100644 index 000000000..7a36d008d --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/app-defaults.d.ts @@ -0,0 +1,7 @@ + +declare module 'nuxt/app/defaults' { + type DefaultAsyncDataErrorValue = null + type DefaultAsyncDataValue = null + type DefaultErrorValue = null + type DedupeOption = boolean | 'cancel' | 'defer' +} \ No newline at end of file diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/app.config.d.ts b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/app.config.d.ts new file mode 100644 index 000000000..23d972d1d --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/app.config.d.ts @@ -0,0 +1,31 @@ + +import type { CustomAppConfig } from 'nuxt/schema' +import type { Defu } from 'defu' + + +declare const inlineConfig = { + "nuxt": {} +} +type ResolvedAppConfig = Defu +type IsAny = 0 extends 1 & T ? true : false + +type MergedAppConfig, Custom extends Record> = { + [K in keyof (Resolved & Custom)]: K extends keyof Custom + ? unknown extends Custom[K] + ? Resolved[K] + : IsAny extends true + ? Resolved[K] + : Custom[K] extends Record + ? Resolved[K] extends Record + ? MergedAppConfig + : Exclude + : Exclude + : Resolved[K] +} + +declare module 'nuxt/schema' { + interface AppConfig extends MergedAppConfig { } +} +declare module '@nuxt/schema' { + interface AppConfig extends MergedAppConfig { } +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/build.d.ts b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/build.d.ts new file mode 100644 index 000000000..42040d97b --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/build.d.ts @@ -0,0 +1,22 @@ +declare module "#build/app-component.mjs"; +declare module "#build/nitro.client.mjs"; +declare module "#build/plugins.client.mjs"; +declare module "#build/css.mjs"; +declare module "#build/fetch.mjs"; +declare module "#build/error-component.mjs"; +declare module "#build/layouts.mjs"; +declare module "#build/middleware.mjs"; +declare module "#build/nuxt.config.mjs"; +declare module "#build/paths.mjs"; +declare module "#build/root-component.mjs"; +declare module "#build/plugins.server.mjs"; +declare module "#build/test-component-wrapper.mjs"; +declare module "#build/unocss.mjs"; +declare module "#build/routes.mjs"; +declare module "#build/pages.mjs"; +declare module "#build/router.options.mjs"; +declare module "#build/unhead-options.mjs"; +declare module "#build/unhead.config.mjs"; +declare module "#build/components.plugin.mjs"; +declare module "#build/component-names.mjs"; +declare module "#build/components.islands.mjs"; diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/builder-env.d.ts b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/builder-env.d.ts new file mode 100644 index 000000000..0eb132902 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/builder-env.d.ts @@ -0,0 +1 @@ +import "vite/client"; \ No newline at end of file diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/imports.d.ts b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/imports.d.ts new file mode 100644 index 000000000..585706af9 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/imports.d.ts @@ -0,0 +1,356 @@ +// Generated by auto imports +export {} +declare global { + const HUMAN_BODY_RATIOS: typeof import('../../utils/constants')['HUMAN_BODY_RATIOS'] + const HUMAN_TO_CAR_HEIGHT_RATIO: typeof import('../../utils/constants')['HUMAN_TO_CAR_HEIGHT_RATIO'] + const abortNavigation: typeof import('../../node_modules/nuxt/dist/app/composables/router')['abortNavigation'] + const addRouteMiddleware: typeof import('../../node_modules/nuxt/dist/app/composables/router')['addRouteMiddleware'] + const callOnce: typeof import('../../node_modules/nuxt/dist/app/composables/once')['callOnce'] + const cancelIdleCallback: typeof import('../../node_modules/nuxt/dist/app/compat/idle-callback')['cancelIdleCallback'] + const clearError: typeof import('../../node_modules/nuxt/dist/app/composables/error')['clearError'] + const clearNuxtData: typeof import('../../node_modules/nuxt/dist/app/composables/asyncData')['clearNuxtData'] + const clearNuxtState: typeof import('../../node_modules/nuxt/dist/app/composables/state')['clearNuxtState'] + const computed: typeof import('vue')['computed'] + const createError: typeof import('../../node_modules/nuxt/dist/app/composables/error')['createError'] + const customRef: typeof import('vue')['customRef'] + const defineAppConfig: typeof import('../../node_modules/nuxt/dist/app/nuxt')['defineAppConfig'] + const defineAsyncComponent: typeof import('vue')['defineAsyncComponent'] + const defineComponent: typeof import('vue')['defineComponent'] + const defineNuxtComponent: typeof import('../../node_modules/nuxt/dist/app/composables/component')['defineNuxtComponent'] + const defineNuxtLink: typeof import('../../node_modules/nuxt/dist/app/components/nuxt-link')['defineNuxtLink'] + const defineNuxtPlugin: typeof import('../../node_modules/nuxt/dist/app/nuxt')['defineNuxtPlugin'] + const defineNuxtRouteMiddleware: typeof import('../../node_modules/nuxt/dist/app/composables/router')['defineNuxtRouteMiddleware'] + const definePageMeta: typeof import('../../node_modules/nuxt/dist/pages/runtime/composables')['definePageMeta'] + const definePayloadPlugin: typeof import('../../node_modules/nuxt/dist/app/nuxt')['definePayloadPlugin'] + const definePayloadReducer: typeof import('../../node_modules/nuxt/dist/app/composables/payload')['definePayloadReducer'] + const definePayloadReviver: typeof import('../../node_modules/nuxt/dist/app/composables/payload')['definePayloadReviver'] + const effect: typeof import('vue')['effect'] + const effectScope: typeof import('vue')['effectScope'] + const getAppManifest: typeof import('../../node_modules/nuxt/dist/app/composables/manifest')['getAppManifest'] + const getCurrentInstance: typeof import('vue')['getCurrentInstance'] + const getCurrentScope: typeof import('vue')['getCurrentScope'] + const getRouteRules: typeof import('../../node_modules/nuxt/dist/app/composables/manifest')['getRouteRules'] + const h: typeof import('vue')['h'] + const hasInjectionContext: typeof import('vue')['hasInjectionContext'] + const inject: typeof import('vue')['inject'] + const injectHead: typeof import('../../node_modules/nuxt/dist/app/composables/head')['injectHead'] + const isNuxtError: typeof import('../../node_modules/nuxt/dist/app/composables/error')['isNuxtError'] + const isPrerendered: typeof import('../../node_modules/nuxt/dist/app/composables/payload')['isPrerendered'] + const isProxy: typeof import('vue')['isProxy'] + const isReactive: typeof import('vue')['isReactive'] + const isReadonly: typeof import('vue')['isReadonly'] + const isRef: typeof import('vue')['isRef'] + const isShallow: typeof import('vue')['isShallow'] + const isVue2: typeof import('../../node_modules/nuxt/dist/app/compat/vue-demi')['isVue2'] + const isVue3: typeof import('../../node_modules/nuxt/dist/app/compat/vue-demi')['isVue3'] + const loadPayload: typeof import('../../node_modules/nuxt/dist/app/composables/payload')['loadPayload'] + const markRaw: typeof import('vue')['markRaw'] + const mergeModels: typeof import('vue')['mergeModels'] + const navigateTo: typeof import('../../node_modules/nuxt/dist/app/composables/router')['navigateTo'] + const nextTick: typeof import('vue')['nextTick'] + const onActivated: typeof import('vue')['onActivated'] + const onBeforeMount: typeof import('vue')['onBeforeMount'] + const onBeforeRouteLeave: typeof import('vue-router')['onBeforeRouteLeave'] + const onBeforeRouteUpdate: typeof import('vue-router')['onBeforeRouteUpdate'] + const onBeforeUnmount: typeof import('vue')['onBeforeUnmount'] + const onBeforeUpdate: typeof import('vue')['onBeforeUpdate'] + const onDeactivated: typeof import('vue')['onDeactivated'] + const onErrorCaptured: typeof import('vue')['onErrorCaptured'] + const onMounted: typeof import('vue')['onMounted'] + const onNuxtReady: typeof import('../../node_modules/nuxt/dist/app/composables/ready')['onNuxtReady'] + const onPrehydrate: typeof import('../../node_modules/nuxt/dist/app/composables/ssr')['onPrehydrate'] + const onRenderTracked: typeof import('vue')['onRenderTracked'] + const onRenderTriggered: typeof import('vue')['onRenderTriggered'] + const onScopeDispose: typeof import('vue')['onScopeDispose'] + const onServerPrefetch: typeof import('vue')['onServerPrefetch'] + const onUnmounted: typeof import('vue')['onUnmounted'] + const onUpdated: typeof import('vue')['onUpdated'] + const prefetchComponents: typeof import('../../node_modules/nuxt/dist/app/composables/preload')['prefetchComponents'] + const preloadComponents: typeof import('../../node_modules/nuxt/dist/app/composables/preload')['preloadComponents'] + const preloadPayload: typeof import('../../node_modules/nuxt/dist/app/composables/payload')['preloadPayload'] + const preloadRouteComponents: typeof import('../../node_modules/nuxt/dist/app/composables/preload')['preloadRouteComponents'] + const prerenderRoutes: typeof import('../../node_modules/nuxt/dist/app/composables/ssr')['prerenderRoutes'] + const provide: typeof import('vue')['provide'] + const proxyRefs: typeof import('vue')['proxyRefs'] + const reactive: typeof import('vue')['reactive'] + const readonly: typeof import('vue')['readonly'] + const ref: typeof import('vue')['ref'] + const refreshCookie: typeof import('../../node_modules/nuxt/dist/app/composables/cookie')['refreshCookie'] + const refreshNuxtData: typeof import('../../node_modules/nuxt/dist/app/composables/asyncData')['refreshNuxtData'] + const reloadNuxtApp: typeof import('../../node_modules/nuxt/dist/app/composables/chunk')['reloadNuxtApp'] + const requestIdleCallback: typeof import('../../node_modules/nuxt/dist/app/compat/idle-callback')['requestIdleCallback'] + const resolveComponent: typeof import('vue')['resolveComponent'] + const setInterval: typeof import('../../node_modules/nuxt/dist/app/compat/interval')['setInterval'] + const setPageLayout: typeof import('../../node_modules/nuxt/dist/app/composables/router')['setPageLayout'] + const setResponseStatus: typeof import('../../node_modules/nuxt/dist/app/composables/ssr')['setResponseStatus'] + const shallowReactive: typeof import('vue')['shallowReactive'] + const shallowReadonly: typeof import('vue')['shallowReadonly'] + const shallowRef: typeof import('vue')['shallowRef'] + const showError: typeof import('../../node_modules/nuxt/dist/app/composables/error')['showError'] + const toRaw: typeof import('vue')['toRaw'] + const toRef: typeof import('vue')['toRef'] + const toRefs: typeof import('vue')['toRefs'] + const toValue: typeof import('vue')['toValue'] + const triggerRef: typeof import('vue')['triggerRef'] + const tryUseNuxtApp: typeof import('../../node_modules/nuxt/dist/app/nuxt')['tryUseNuxtApp'] + const unref: typeof import('vue')['unref'] + const updateAppConfig: typeof import('../../node_modules/nuxt/dist/app/config')['updateAppConfig'] + const useAppConfig: typeof import('../../node_modules/nuxt/dist/app/config')['useAppConfig'] + const useAsyncData: typeof import('../../node_modules/nuxt/dist/app/composables/asyncData')['useAsyncData'] + const useAttrs: typeof import('vue')['useAttrs'] + const useCookie: typeof import('../../node_modules/nuxt/dist/app/composables/cookie')['useCookie'] + const useCssModule: typeof import('vue')['useCssModule'] + const useCssVars: typeof import('vue')['useCssVars'] + const useError: typeof import('../../node_modules/nuxt/dist/app/composables/error')['useError'] + const useFetch: typeof import('../../node_modules/nuxt/dist/app/composables/fetch')['useFetch'] + const useHead: typeof import('../../node_modules/nuxt/dist/app/composables/head')['useHead'] + const useHeadSafe: typeof import('../../node_modules/nuxt/dist/app/composables/head')['useHeadSafe'] + const useHydration: typeof import('../../node_modules/nuxt/dist/app/composables/hydrate')['useHydration'] + const useId: typeof import('vue')['useId'] + const useLazyAsyncData: typeof import('../../node_modules/nuxt/dist/app/composables/asyncData')['useLazyAsyncData'] + const useLazyFetch: typeof import('../../node_modules/nuxt/dist/app/composables/fetch')['useLazyFetch'] + const useLink: typeof import('vue-router')['useLink'] + const useLoadingIndicator: typeof import('../../node_modules/nuxt/dist/app/composables/loading-indicator')['useLoadingIndicator'] + const useModel: typeof import('vue')['useModel'] + const useNuxtApp: typeof import('../../node_modules/nuxt/dist/app/nuxt')['useNuxtApp'] + const useNuxtData: typeof import('../../node_modules/nuxt/dist/app/composables/asyncData')['useNuxtData'] + const usePreviewMode: typeof import('../../node_modules/nuxt/dist/app/composables/preview')['usePreviewMode'] + const useRequestEvent: typeof import('../../node_modules/nuxt/dist/app/composables/ssr')['useRequestEvent'] + const useRequestFetch: typeof import('../../node_modules/nuxt/dist/app/composables/ssr')['useRequestFetch'] + const useRequestHeader: typeof import('../../node_modules/nuxt/dist/app/composables/ssr')['useRequestHeader'] + const useRequestHeaders: typeof import('../../node_modules/nuxt/dist/app/composables/ssr')['useRequestHeaders'] + const useRequestURL: typeof import('../../node_modules/nuxt/dist/app/composables/url')['useRequestURL'] + const useResponseHeader: typeof import('../../node_modules/nuxt/dist/app/composables/ssr')['useResponseHeader'] + const useRoute: typeof import('../../node_modules/nuxt/dist/app/composables/router')['useRoute'] + const useRouteAnnouncer: typeof import('../../node_modules/nuxt/dist/app/composables/route-announcer')['useRouteAnnouncer'] + const useRouter: typeof import('../../node_modules/nuxt/dist/app/composables/router')['useRouter'] + const useRuntimeConfig: typeof import('../../node_modules/nuxt/dist/app/nuxt')['useRuntimeConfig'] + const useRuntimeHook: typeof import('../../node_modules/nuxt/dist/app/composables/runtime-hook')['useRuntimeHook'] + const useScript: typeof import('../../node_modules/nuxt/dist/app/composables/script-stubs')['useScript'] + const useScriptClarity: typeof import('../../node_modules/nuxt/dist/app/composables/script-stubs')['useScriptClarity'] + const useScriptCloudflareWebAnalytics: typeof import('../../node_modules/nuxt/dist/app/composables/script-stubs')['useScriptCloudflareWebAnalytics'] + const useScriptCrisp: typeof import('../../node_modules/nuxt/dist/app/composables/script-stubs')['useScriptCrisp'] + const useScriptEventPage: typeof import('../../node_modules/nuxt/dist/app/composables/script-stubs')['useScriptEventPage'] + const useScriptFathomAnalytics: typeof import('../../node_modules/nuxt/dist/app/composables/script-stubs')['useScriptFathomAnalytics'] + const useScriptGoogleAdsense: typeof import('../../node_modules/nuxt/dist/app/composables/script-stubs')['useScriptGoogleAdsense'] + const useScriptGoogleAnalytics: typeof import('../../node_modules/nuxt/dist/app/composables/script-stubs')['useScriptGoogleAnalytics'] + const useScriptGoogleMaps: typeof import('../../node_modules/nuxt/dist/app/composables/script-stubs')['useScriptGoogleMaps'] + const useScriptGoogleTagManager: typeof import('../../node_modules/nuxt/dist/app/composables/script-stubs')['useScriptGoogleTagManager'] + const useScriptHotjar: typeof import('../../node_modules/nuxt/dist/app/composables/script-stubs')['useScriptHotjar'] + const useScriptIntercom: typeof import('../../node_modules/nuxt/dist/app/composables/script-stubs')['useScriptIntercom'] + const useScriptLemonSqueezy: typeof import('../../node_modules/nuxt/dist/app/composables/script-stubs')['useScriptLemonSqueezy'] + const useScriptMatomoAnalytics: typeof import('../../node_modules/nuxt/dist/app/composables/script-stubs')['useScriptMatomoAnalytics'] + const useScriptMetaPixel: typeof import('../../node_modules/nuxt/dist/app/composables/script-stubs')['useScriptMetaPixel'] + const useScriptNpm: typeof import('../../node_modules/nuxt/dist/app/composables/script-stubs')['useScriptNpm'] + const useScriptPlausibleAnalytics: typeof import('../../node_modules/nuxt/dist/app/composables/script-stubs')['useScriptPlausibleAnalytics'] + const useScriptSegment: typeof import('../../node_modules/nuxt/dist/app/composables/script-stubs')['useScriptSegment'] + const useScriptSnapchatPixel: typeof import('../../node_modules/nuxt/dist/app/composables/script-stubs')['useScriptSnapchatPixel'] + const useScriptStripe: typeof import('../../node_modules/nuxt/dist/app/composables/script-stubs')['useScriptStripe'] + const useScriptTriggerConsent: typeof import('../../node_modules/nuxt/dist/app/composables/script-stubs')['useScriptTriggerConsent'] + const useScriptTriggerElement: typeof import('../../node_modules/nuxt/dist/app/composables/script-stubs')['useScriptTriggerElement'] + const useScriptUmamiAnalytics: typeof import('../../node_modules/nuxt/dist/app/composables/script-stubs')['useScriptUmamiAnalytics'] + const useScriptVimeoPlayer: typeof import('../../node_modules/nuxt/dist/app/composables/script-stubs')['useScriptVimeoPlayer'] + const useScriptXPixel: typeof import('../../node_modules/nuxt/dist/app/composables/script-stubs')['useScriptXPixel'] + const useScriptYouTubePlayer: typeof import('../../node_modules/nuxt/dist/app/composables/script-stubs')['useScriptYouTubePlayer'] + const useSeoMeta: typeof import('../../node_modules/nuxt/dist/app/composables/head')['useSeoMeta'] + const useServerHead: typeof import('../../node_modules/nuxt/dist/app/composables/head')['useServerHead'] + const useServerHeadSafe: typeof import('../../node_modules/nuxt/dist/app/composables/head')['useServerHeadSafe'] + const useServerSeoMeta: typeof import('../../node_modules/nuxt/dist/app/composables/head')['useServerSeoMeta'] + const useShadowRoot: typeof import('vue')['useShadowRoot'] + const useSlots: typeof import('vue')['useSlots'] + const useState: typeof import('../../node_modules/nuxt/dist/app/composables/state')['useState'] + const useTemplateRef: typeof import('vue')['useTemplateRef'] + const useTransitionState: typeof import('vue')['useTransitionState'] + const watch: typeof import('vue')['watch'] + const watchEffect: typeof import('vue')['watchEffect'] + const watchPostEffect: typeof import('vue')['watchPostEffect'] + const watchSyncEffect: typeof import('vue')['watchSyncEffect'] + const withCtx: typeof import('vue')['withCtx'] + const withDirectives: typeof import('vue')['withDirectives'] + const withKeys: typeof import('vue')['withKeys'] + const withMemo: typeof import('vue')['withMemo'] + const withModifiers: typeof import('vue')['withModifiers'] + const withScopeId: typeof import('vue')['withScopeId'] +} +// for type re-export +declare global { + // @ts-ignore + export type { Component, ComponentPublicInstance, ComputedRef, DirectiveBinding, ExtractDefaultPropTypes, ExtractPropTypes, ExtractPublicPropTypes, InjectionKey, PropType, Ref, MaybeRef, MaybeRefOrGetter, VNode, WritableComputedRef } from 'vue' + import('vue') +} +// for vue template auto import +import { UnwrapRef } from 'vue' +declare module 'vue' { + interface ComponentCustomProperties { + readonly HUMAN_BODY_RATIOS: UnwrapRef + readonly HUMAN_TO_CAR_HEIGHT_RATIO: UnwrapRef + readonly abortNavigation: UnwrapRef + readonly addRouteMiddleware: UnwrapRef + readonly callOnce: UnwrapRef + readonly cancelIdleCallback: UnwrapRef + readonly clearError: UnwrapRef + readonly clearNuxtData: UnwrapRef + readonly clearNuxtState: UnwrapRef + readonly computed: UnwrapRef + readonly createError: UnwrapRef + readonly customRef: UnwrapRef + readonly defineAppConfig: UnwrapRef + readonly defineAsyncComponent: UnwrapRef + readonly defineComponent: UnwrapRef + readonly defineNuxtComponent: UnwrapRef + readonly defineNuxtLink: UnwrapRef + readonly defineNuxtPlugin: UnwrapRef + readonly defineNuxtRouteMiddleware: UnwrapRef + readonly definePageMeta: UnwrapRef + readonly definePayloadPlugin: UnwrapRef + readonly definePayloadReducer: UnwrapRef + readonly definePayloadReviver: UnwrapRef + readonly effect: UnwrapRef + readonly effectScope: UnwrapRef + readonly getAppManifest: UnwrapRef + readonly getCurrentInstance: UnwrapRef + readonly getCurrentScope: UnwrapRef + readonly getRouteRules: UnwrapRef + readonly h: UnwrapRef + readonly hasInjectionContext: UnwrapRef + readonly inject: UnwrapRef + readonly injectHead: UnwrapRef + readonly isNuxtError: UnwrapRef + readonly isPrerendered: UnwrapRef + readonly isProxy: UnwrapRef + readonly isReactive: UnwrapRef + readonly isReadonly: UnwrapRef + readonly isRef: UnwrapRef + readonly isShallow: UnwrapRef + readonly isVue2: UnwrapRef + readonly isVue3: UnwrapRef + readonly loadPayload: UnwrapRef + readonly markRaw: UnwrapRef + readonly mergeModels: UnwrapRef + readonly navigateTo: UnwrapRef + readonly nextTick: UnwrapRef + readonly onActivated: UnwrapRef + readonly onBeforeMount: UnwrapRef + readonly onBeforeRouteLeave: UnwrapRef + readonly onBeforeRouteUpdate: UnwrapRef + readonly onBeforeUnmount: UnwrapRef + readonly onBeforeUpdate: UnwrapRef + readonly onDeactivated: UnwrapRef + readonly onErrorCaptured: UnwrapRef + readonly onMounted: UnwrapRef + readonly onNuxtReady: UnwrapRef + readonly onPrehydrate: UnwrapRef + readonly onRenderTracked: UnwrapRef + readonly onRenderTriggered: UnwrapRef + readonly onScopeDispose: UnwrapRef + readonly onServerPrefetch: UnwrapRef + readonly onUnmounted: UnwrapRef + readonly onUpdated: UnwrapRef + readonly prefetchComponents: UnwrapRef + readonly preloadComponents: UnwrapRef + readonly preloadPayload: UnwrapRef + readonly preloadRouteComponents: UnwrapRef + readonly prerenderRoutes: UnwrapRef + readonly provide: UnwrapRef + readonly proxyRefs: UnwrapRef + readonly reactive: UnwrapRef + readonly readonly: UnwrapRef + readonly ref: UnwrapRef + readonly refreshCookie: UnwrapRef + readonly refreshNuxtData: UnwrapRef + readonly reloadNuxtApp: UnwrapRef + readonly requestIdleCallback: UnwrapRef + readonly resolveComponent: UnwrapRef + readonly setInterval: UnwrapRef + readonly setPageLayout: UnwrapRef + readonly setResponseStatus: UnwrapRef + readonly shallowReactive: UnwrapRef + readonly shallowReadonly: UnwrapRef + readonly shallowRef: UnwrapRef + readonly showError: UnwrapRef + readonly toRaw: UnwrapRef + readonly toRef: UnwrapRef + readonly toRefs: UnwrapRef + readonly toValue: UnwrapRef + readonly triggerRef: UnwrapRef + readonly tryUseNuxtApp: UnwrapRef + readonly unref: UnwrapRef + readonly updateAppConfig: UnwrapRef + readonly useAppConfig: UnwrapRef + readonly useAsyncData: UnwrapRef + readonly useAttrs: UnwrapRef + readonly useCookie: UnwrapRef + readonly useCssModule: UnwrapRef + readonly useCssVars: UnwrapRef + readonly useError: UnwrapRef + readonly useFetch: UnwrapRef + readonly useHead: UnwrapRef + readonly useHeadSafe: UnwrapRef + readonly useHydration: UnwrapRef + readonly useId: UnwrapRef + readonly useLazyAsyncData: UnwrapRef + readonly useLazyFetch: UnwrapRef + readonly useLink: UnwrapRef + readonly useLoadingIndicator: UnwrapRef + readonly useModel: UnwrapRef + readonly useNuxtApp: UnwrapRef + readonly useNuxtData: UnwrapRef + readonly usePreviewMode: UnwrapRef + readonly useRequestEvent: UnwrapRef + readonly useRequestFetch: UnwrapRef + readonly useRequestHeader: UnwrapRef + readonly useRequestHeaders: UnwrapRef + readonly useRequestURL: UnwrapRef + readonly useResponseHeader: UnwrapRef + readonly useRoute: UnwrapRef + readonly useRouteAnnouncer: UnwrapRef + readonly useRouter: UnwrapRef + readonly useRuntimeConfig: UnwrapRef + readonly useRuntimeHook: UnwrapRef + readonly useScript: UnwrapRef + readonly useScriptClarity: UnwrapRef + readonly useScriptCloudflareWebAnalytics: UnwrapRef + readonly useScriptCrisp: UnwrapRef + readonly useScriptEventPage: UnwrapRef + readonly useScriptFathomAnalytics: UnwrapRef + readonly useScriptGoogleAdsense: UnwrapRef + readonly useScriptGoogleAnalytics: UnwrapRef + readonly useScriptGoogleMaps: UnwrapRef + readonly useScriptGoogleTagManager: UnwrapRef + readonly useScriptHotjar: UnwrapRef + readonly useScriptIntercom: UnwrapRef + readonly useScriptLemonSqueezy: UnwrapRef + readonly useScriptMatomoAnalytics: UnwrapRef + readonly useScriptMetaPixel: UnwrapRef + readonly useScriptNpm: UnwrapRef + readonly useScriptPlausibleAnalytics: UnwrapRef + readonly useScriptSegment: UnwrapRef + readonly useScriptSnapchatPixel: UnwrapRef + readonly useScriptStripe: UnwrapRef + readonly useScriptTriggerConsent: UnwrapRef + readonly useScriptTriggerElement: UnwrapRef + readonly useScriptUmamiAnalytics: UnwrapRef + readonly useScriptVimeoPlayer: UnwrapRef + readonly useScriptXPixel: UnwrapRef + readonly useScriptYouTubePlayer: UnwrapRef + readonly useSeoMeta: UnwrapRef + readonly useServerHead: UnwrapRef + readonly useServerHeadSafe: UnwrapRef + readonly useServerSeoMeta: UnwrapRef + readonly useShadowRoot: UnwrapRef + readonly useSlots: UnwrapRef + readonly useState: UnwrapRef + readonly useTemplateRef: UnwrapRef + readonly useTransitionState: UnwrapRef + readonly watch: UnwrapRef + readonly watchEffect: UnwrapRef + readonly watchPostEffect: UnwrapRef + readonly watchSyncEffect: UnwrapRef + readonly withCtx: UnwrapRef + readonly withDirectives: UnwrapRef + readonly withKeys: UnwrapRef + readonly withMemo: UnwrapRef + readonly withModifiers: UnwrapRef + readonly withScopeId: UnwrapRef + } +} \ No newline at end of file diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/layouts.d.ts b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/layouts.d.ts new file mode 100644 index 000000000..5a6f1868d --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/layouts.d.ts @@ -0,0 +1,7 @@ +import type { ComputedRef, MaybeRef } from 'vue' +export type LayoutKey = string +declare module "../../node_modules/nuxt/dist/pages/runtime/composables" { + interface PageMeta { + layout?: MaybeRef | ComputedRef + } +} \ No newline at end of file diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/middleware.d.ts b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/middleware.d.ts new file mode 100644 index 000000000..c018923cf --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/middleware.d.ts @@ -0,0 +1,7 @@ +import type { NavigationGuard } from 'vue-router' +export type MiddlewareKey = never +declare module "../../node_modules/nuxt/dist/pages/runtime/composables" { + interface PageMeta { + middleware?: MiddlewareKey | NavigationGuard | Array + } +} \ No newline at end of file diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/nitro-config.d.ts b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/nitro-config.d.ts new file mode 100644 index 000000000..94df18ab1 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/nitro-config.d.ts @@ -0,0 +1,14 @@ +// Generated by nitro + +// App Config +import type { Defu } from 'defu' + + + +type UserAppConfig = Defu<{}, []> + +declare module "nitropack/types" { + interface AppConfig extends UserAppConfig {} + +} +export {} \ No newline at end of file diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/nitro-imports.d.ts b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/nitro-imports.d.ts new file mode 100644 index 000000000..d8f55d612 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/nitro-imports.d.ts @@ -0,0 +1,141 @@ +declare global { + const __buildAssetsURL: typeof import('../../node_modules/nuxt/dist/core/runtime/nitro/utils/paths')['buildAssetsURL'] + const __publicAssetsURL: typeof import('../../node_modules/nuxt/dist/core/runtime/nitro/utils/paths')['publicAssetsURL'] + const appendCorsHeaders: typeof import('../../node_modules/h3')['appendCorsHeaders'] + const appendCorsPreflightHeaders: typeof import('../../node_modules/h3')['appendCorsPreflightHeaders'] + const appendHeader: typeof import('../../node_modules/h3')['appendHeader'] + const appendHeaders: typeof import('../../node_modules/h3')['appendHeaders'] + const appendResponseHeader: typeof import('../../node_modules/h3')['appendResponseHeader'] + const appendResponseHeaders: typeof import('../../node_modules/h3')['appendResponseHeaders'] + const assertMethod: typeof import('../../node_modules/h3')['assertMethod'] + const cachedEventHandler: typeof import('../../node_modules/nitropack/dist/runtime/internal/cache')['cachedEventHandler'] + const cachedFunction: typeof import('../../node_modules/nitropack/dist/runtime/internal/cache')['cachedFunction'] + const callNodeListener: typeof import('../../node_modules/h3')['callNodeListener'] + const clearResponseHeaders: typeof import('../../node_modules/h3')['clearResponseHeaders'] + const clearSession: typeof import('../../node_modules/h3')['clearSession'] + const createApp: typeof import('../../node_modules/h3')['createApp'] + const createAppEventHandler: typeof import('../../node_modules/h3')['createAppEventHandler'] + const createError: typeof import('../../node_modules/h3')['createError'] + const createEvent: typeof import('../../node_modules/h3')['createEvent'] + const createEventStream: typeof import('../../node_modules/h3')['createEventStream'] + const createRouter: typeof import('../../node_modules/h3')['createRouter'] + const defaultContentType: typeof import('../../node_modules/h3')['defaultContentType'] + const defineAppConfig: typeof import('../../node_modules/nuxt/dist/core/runtime/nitro/utils/config')['defineAppConfig'] + const defineCachedEventHandler: typeof import('../../node_modules/nitropack/dist/runtime/internal/cache')['defineCachedEventHandler'] + const defineCachedFunction: typeof import('../../node_modules/nitropack/dist/runtime/internal/cache')['defineCachedFunction'] + const defineEventHandler: typeof import('../../node_modules/h3')['defineEventHandler'] + const defineLazyEventHandler: typeof import('../../node_modules/h3')['defineLazyEventHandler'] + const defineNitroErrorHandler: typeof import('../../node_modules/nitropack/dist/runtime/internal/error/utils')['defineNitroErrorHandler'] + const defineNitroPlugin: typeof import('../../node_modules/nitropack/dist/runtime/internal/plugin')['defineNitroPlugin'] + const defineNodeListener: typeof import('../../node_modules/h3')['defineNodeListener'] + const defineNodeMiddleware: typeof import('../../node_modules/h3')['defineNodeMiddleware'] + const defineRenderHandler: typeof import('../../node_modules/nitropack/dist/runtime/internal/renderer')['defineRenderHandler'] + const defineRequestMiddleware: typeof import('../../node_modules/h3')['defineRequestMiddleware'] + const defineResponseMiddleware: typeof import('../../node_modules/h3')['defineResponseMiddleware'] + const defineRouteMeta: typeof import('../../node_modules/nitropack/dist/runtime/internal/meta')['defineRouteMeta'] + const defineTask: typeof import('../../node_modules/nitropack/dist/runtime/internal/task')['defineTask'] + const defineWebSocket: typeof import('../../node_modules/h3')['defineWebSocket'] + const defineWebSocketHandler: typeof import('../../node_modules/h3')['defineWebSocketHandler'] + const deleteCookie: typeof import('../../node_modules/h3')['deleteCookie'] + const dynamicEventHandler: typeof import('../../node_modules/h3')['dynamicEventHandler'] + const eventHandler: typeof import('../../node_modules/h3')['eventHandler'] + const fetchWithEvent: typeof import('../../node_modules/h3')['fetchWithEvent'] + const fromNodeMiddleware: typeof import('../../node_modules/h3')['fromNodeMiddleware'] + const fromPlainHandler: typeof import('../../node_modules/h3')['fromPlainHandler'] + const fromWebHandler: typeof import('../../node_modules/h3')['fromWebHandler'] + const getCookie: typeof import('../../node_modules/h3')['getCookie'] + const getHeader: typeof import('../../node_modules/h3')['getHeader'] + const getHeaders: typeof import('../../node_modules/h3')['getHeaders'] + const getMethod: typeof import('../../node_modules/h3')['getMethod'] + const getProxyRequestHeaders: typeof import('../../node_modules/h3')['getProxyRequestHeaders'] + const getQuery: typeof import('../../node_modules/h3')['getQuery'] + const getRequestFingerprint: typeof import('../../node_modules/h3')['getRequestFingerprint'] + const getRequestHeader: typeof import('../../node_modules/h3')['getRequestHeader'] + const getRequestHeaders: typeof import('../../node_modules/h3')['getRequestHeaders'] + const getRequestHost: typeof import('../../node_modules/h3')['getRequestHost'] + const getRequestIP: typeof import('../../node_modules/h3')['getRequestIP'] + const getRequestPath: typeof import('../../node_modules/h3')['getRequestPath'] + const getRequestProtocol: typeof import('../../node_modules/h3')['getRequestProtocol'] + const getRequestURL: typeof import('../../node_modules/h3')['getRequestURL'] + const getRequestWebStream: typeof import('../../node_modules/h3')['getRequestWebStream'] + const getResponseHeader: typeof import('../../node_modules/h3')['getResponseHeader'] + const getResponseHeaders: typeof import('../../node_modules/h3')['getResponseHeaders'] + const getResponseStatus: typeof import('../../node_modules/h3')['getResponseStatus'] + const getResponseStatusText: typeof import('../../node_modules/h3')['getResponseStatusText'] + const getRouteRules: typeof import('../../node_modules/nitropack/dist/runtime/internal/route-rules')['getRouteRules'] + const getRouterParam: typeof import('../../node_modules/h3')['getRouterParam'] + const getRouterParams: typeof import('../../node_modules/h3')['getRouterParams'] + const getSession: typeof import('../../node_modules/h3')['getSession'] + const getValidatedQuery: typeof import('../../node_modules/h3')['getValidatedQuery'] + const getValidatedRouterParams: typeof import('../../node_modules/h3')['getValidatedRouterParams'] + const handleCacheHeaders: typeof import('../../node_modules/h3')['handleCacheHeaders'] + const handleCors: typeof import('../../node_modules/h3')['handleCors'] + const isCorsOriginAllowed: typeof import('../../node_modules/h3')['isCorsOriginAllowed'] + const isError: typeof import('../../node_modules/h3')['isError'] + const isEvent: typeof import('../../node_modules/h3')['isEvent'] + const isEventHandler: typeof import('../../node_modules/h3')['isEventHandler'] + const isMethod: typeof import('../../node_modules/h3')['isMethod'] + const isPreflightRequest: typeof import('../../node_modules/h3')['isPreflightRequest'] + const isStream: typeof import('../../node_modules/h3')['isStream'] + const isWebResponse: typeof import('../../node_modules/h3')['isWebResponse'] + const lazyEventHandler: typeof import('../../node_modules/h3')['lazyEventHandler'] + const nitroPlugin: typeof import('../../node_modules/nitropack/dist/runtime/internal/plugin')['nitroPlugin'] + const parseCookies: typeof import('../../node_modules/h3')['parseCookies'] + const promisifyNodeListener: typeof import('../../node_modules/h3')['promisifyNodeListener'] + const proxyRequest: typeof import('../../node_modules/h3')['proxyRequest'] + const readBody: typeof import('../../node_modules/h3')['readBody'] + const readFormData: typeof import('../../node_modules/h3')['readFormData'] + const readMultipartFormData: typeof import('../../node_modules/h3')['readMultipartFormData'] + const readRawBody: typeof import('../../node_modules/h3')['readRawBody'] + const readValidatedBody: typeof import('../../node_modules/h3')['readValidatedBody'] + const removeResponseHeader: typeof import('../../node_modules/h3')['removeResponseHeader'] + const runTask: typeof import('../../node_modules/nitropack/dist/runtime/internal/task')['runTask'] + const sanitizeStatusCode: typeof import('../../node_modules/h3')['sanitizeStatusCode'] + const sanitizeStatusMessage: typeof import('../../node_modules/h3')['sanitizeStatusMessage'] + const sealSession: typeof import('../../node_modules/h3')['sealSession'] + const send: typeof import('../../node_modules/h3')['send'] + const sendError: typeof import('../../node_modules/h3')['sendError'] + const sendIterable: typeof import('../../node_modules/h3')['sendIterable'] + const sendNoContent: typeof import('../../node_modules/h3')['sendNoContent'] + const sendProxy: typeof import('../../node_modules/h3')['sendProxy'] + const sendRedirect: typeof import('../../node_modules/h3')['sendRedirect'] + const sendStream: typeof import('../../node_modules/h3')['sendStream'] + const sendWebResponse: typeof import('../../node_modules/h3')['sendWebResponse'] + const serveStatic: typeof import('../../node_modules/h3')['serveStatic'] + const setCookie: typeof import('../../node_modules/h3')['setCookie'] + const setHeader: typeof import('../../node_modules/h3')['setHeader'] + const setHeaders: typeof import('../../node_modules/h3')['setHeaders'] + const setResponseHeader: typeof import('../../node_modules/h3')['setResponseHeader'] + const setResponseHeaders: typeof import('../../node_modules/h3')['setResponseHeaders'] + const setResponseStatus: typeof import('../../node_modules/h3')['setResponseStatus'] + const splitCookiesString: typeof import('../../node_modules/h3')['splitCookiesString'] + const toEventHandler: typeof import('../../node_modules/h3')['toEventHandler'] + const toNodeListener: typeof import('../../node_modules/h3')['toNodeListener'] + const toPlainHandler: typeof import('../../node_modules/h3')['toPlainHandler'] + const toWebHandler: typeof import('../../node_modules/h3')['toWebHandler'] + const toWebRequest: typeof import('../../node_modules/h3')['toWebRequest'] + const unsealSession: typeof import('../../node_modules/h3')['unsealSession'] + const updateSession: typeof import('../../node_modules/h3')['updateSession'] + const useAppConfig: typeof import('../../node_modules/nitropack/dist/runtime/internal/config')['useAppConfig'] + const useBase: typeof import('../../node_modules/h3')['useBase'] + const useEvent: typeof import('../../node_modules/nitropack/dist/runtime/internal/context')['useEvent'] + const useNitroApp: typeof import('../../node_modules/nitropack/dist/runtime/internal/app')['useNitroApp'] + const useRuntimeConfig: typeof import('../../node_modules/nitropack/dist/runtime/internal/config')['useRuntimeConfig'] + const useSession: typeof import('../../node_modules/h3')['useSession'] + const useStorage: typeof import('../../node_modules/nitropack/dist/runtime/internal/storage')['useStorage'] + const writeEarlyHints: typeof import('../../node_modules/h3')['writeEarlyHints'] +} +export { useNitroApp } from 'nitropack/runtime/internal/app'; +export { useRuntimeConfig, useAppConfig } from 'nitropack/runtime/internal/config'; +export { defineNitroPlugin, nitroPlugin } from 'nitropack/runtime/internal/plugin'; +export { defineCachedFunction, defineCachedEventHandler, cachedFunction, cachedEventHandler } from 'nitropack/runtime/internal/cache'; +export { useStorage } from 'nitropack/runtime/internal/storage'; +export { defineRenderHandler } from 'nitropack/runtime/internal/renderer'; +export { defineRouteMeta } from 'nitropack/runtime/internal/meta'; +export { getRouteRules } from 'nitropack/runtime/internal/route-rules'; +export { useEvent } from 'nitropack/runtime/internal/context'; +export { defineTask, runTask } from 'nitropack/runtime/internal/task'; +export { defineNitroErrorHandler } from 'nitropack/runtime/internal/error/utils'; +export { appendCorsHeaders, appendCorsPreflightHeaders, appendHeader, appendHeaders, appendResponseHeader, appendResponseHeaders, assertMethod, callNodeListener, clearResponseHeaders, clearSession, createApp, createAppEventHandler, createError, createEvent, createEventStream, createRouter, defaultContentType, defineEventHandler, defineLazyEventHandler, defineNodeListener, defineNodeMiddleware, defineRequestMiddleware, defineResponseMiddleware, defineWebSocket, defineWebSocketHandler, deleteCookie, dynamicEventHandler, eventHandler, fetchWithEvent, fromNodeMiddleware, fromPlainHandler, fromWebHandler, getCookie, getHeader, getHeaders, getMethod, getProxyRequestHeaders, getQuery, getRequestFingerprint, getRequestHeader, getRequestHeaders, getRequestHost, getRequestIP, getRequestPath, getRequestProtocol, getRequestURL, getRequestWebStream, getResponseHeader, getResponseHeaders, getResponseStatus, getResponseStatusText, getRouterParam, getRouterParams, getSession, getValidatedQuery, getValidatedRouterParams, handleCacheHeaders, handleCors, isCorsOriginAllowed, isError, isEvent, isEventHandler, isMethod, isPreflightRequest, isStream, isWebResponse, lazyEventHandler, parseCookies, promisifyNodeListener, proxyRequest, readBody, readFormData, readMultipartFormData, readRawBody, readValidatedBody, removeResponseHeader, sanitizeStatusCode, sanitizeStatusMessage, sealSession, send, sendError, sendIterable, sendNoContent, sendProxy, sendRedirect, sendStream, sendWebResponse, serveStatic, setCookie, setHeader, setHeaders, setResponseHeader, setResponseHeaders, setResponseStatus, splitCookiesString, toEventHandler, toNodeListener, toPlainHandler, toWebHandler, toWebRequest, unsealSession, updateSession, useBase, useSession, writeEarlyHints } from 'h3'; +export { buildAssetsURL as __buildAssetsURL, publicAssetsURL as __publicAssetsURL } from '/Users/qhk/Library/CloudStorage/GoogleDrive-hangkai2@illinois.edu/My Drive/Academics/Graduate3/588/GEMstack/GEMstack/onboard/visualization/sr_viz/threeD/node_modules/nuxt/dist/core/runtime/nitro/utils/paths'; +export { defineAppConfig } from '/Users/qhk/Library/CloudStorage/GoogleDrive-hangkai2@illinois.edu/My Drive/Academics/Graduate3/588/GEMstack/GEMstack/onboard/visualization/sr_viz/threeD/node_modules/nuxt/dist/core/runtime/nitro/utils/config'; \ No newline at end of file diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/nitro-middleware.d.ts b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/nitro-middleware.d.ts new file mode 100644 index 000000000..3b02e2b95 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/nitro-middleware.d.ts @@ -0,0 +1,6 @@ +export type MiddlewareKey = never +declare module 'nitropack' { + interface NitroRouteConfig { + appMiddleware?: MiddlewareKey | MiddlewareKey[] | Record + } +} \ No newline at end of file diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/nitro-nuxt.d.ts b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/nitro-nuxt.d.ts new file mode 100644 index 000000000..000340901 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/nitro-nuxt.d.ts @@ -0,0 +1,34 @@ + +/// +/// + +import type { RuntimeConfig } from 'nuxt/schema' +import type { H3Event } from 'h3' +import type { LogObject } from 'consola' +import type { NuxtIslandContext, NuxtIslandResponse, NuxtRenderHTMLContext } from 'nuxt/app' + +declare module 'nitropack' { + interface NitroRuntimeConfigApp { + buildAssetsDir: string + cdnURL: string + } + interface NitroRuntimeConfig extends RuntimeConfig {} + interface NitroRouteConfig { + ssr?: boolean + noScripts?: boolean + /** @deprecated Use `noScripts` instead */ + experimentalNoScripts?: boolean + } + interface NitroRouteRules { + ssr?: boolean + noScripts?: boolean + /** @deprecated Use `noScripts` instead */ + experimentalNoScripts?: boolean + appMiddleware?: Record + } + interface NitroRuntimeHooks { + 'dev:ssr-logs': (ctx: { logs: LogObject[], path: string }) => void | Promise + 'render:html': (htmlContext: NuxtRenderHTMLContext, context: { event: H3Event }) => void | Promise + 'render:island': (islandResponse: NuxtIslandResponse, context: { event: H3Event, islandContext: NuxtIslandContext }) => void | Promise + } +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/nitro-routes.d.ts b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/nitro-routes.d.ts new file mode 100644 index 000000000..e6ba37e3a --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/nitro-routes.d.ts @@ -0,0 +1,11 @@ +// Generated by nitro +import type { Serialize, Simplify } from "nitropack/types"; +declare module "nitropack/types" { + type Awaited = T extends PromiseLike ? Awaited : T + interface InternalApi { + '/__nuxt_error': { + 'default': Simplify>>> + } + } +} +export {} \ No newline at end of file diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/nitro.d.ts b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/nitro.d.ts new file mode 100644 index 000000000..bf09bd4d3 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/nitro.d.ts @@ -0,0 +1,3 @@ +/// +/// +/// \ No newline at end of file diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/plugins.d.ts b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/plugins.d.ts new file mode 100644 index 000000000..5e10cfd6a --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/plugins.d.ts @@ -0,0 +1,31 @@ +// Generated by Nuxt' +import type { Plugin } from '#app' + +type Decorate> = { [K in keyof T as K extends string ? `$${K}` : never]: T[K] } + +type InjectionType = A extends {default: Plugin} ? Decorate : unknown + +type NuxtAppInjections = + InjectionType & + InjectionType & + InjectionType & + InjectionType & + InjectionType & + InjectionType & + InjectionType & + InjectionType & + InjectionType + +declare module '#app' { + interface NuxtApp extends NuxtAppInjections { } + + interface NuxtAppLiterals { + pluginName: 'nuxt:revive-payload:client' | 'nuxt:head' | 'nuxt:router' | 'nuxt:payload' | 'nuxt:revive-payload:server' | 'nuxt:chunk-reload' | 'nuxt:global-components' | 'nuxt:prefetch' + } +} + +declare module 'vue' { + interface ComponentCustomProperties extends NuxtAppInjections { } +} + +export { } diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/schema.d.ts b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/schema.d.ts new file mode 100644 index 000000000..f97dda2a5 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/schema.d.ts @@ -0,0 +1,92 @@ +import { NuxtModule, RuntimeConfig } from '@nuxt/schema' +declare module '@nuxt/schema' { + interface NuxtOptions { + /** + * Configuration for `@unocss/nuxt` + */ + ["unocss"]: typeof import("@unocss/nuxt").default extends NuxtModule ? O : Record + /** + * Configuration for `@nuxt/devtools` + */ + ["devtools"]: typeof import("@nuxt/devtools").default extends NuxtModule ? O : Record + /** + * Configuration for `@nuxt/telemetry` + */ + ["telemetry"]: typeof import("@nuxt/telemetry").default extends NuxtModule ? O : Record + } + interface NuxtConfig { + /** + * Configuration for `@unocss/nuxt` + */ + ["unocss"]?: typeof import("@unocss/nuxt").default extends NuxtModule ? Partial : Record + /** + * Configuration for `@nuxt/devtools` + */ + ["devtools"]?: typeof import("@nuxt/devtools").default extends NuxtModule ? Partial : Record + /** + * Configuration for `@nuxt/telemetry` + */ + ["telemetry"]?: typeof import("@nuxt/telemetry").default extends NuxtModule ? Partial : Record + modules?: (undefined | null | false | NuxtModule | string | [NuxtModule | string, Record] | ["@unocss/nuxt", Exclude] | ["@nuxt/devtools", Exclude] | ["@nuxt/telemetry", Exclude])[], + } +} +declare module 'nuxt/schema' { + interface NuxtOptions { + /** + * Configuration for `@unocss/nuxt` + * @see https://www.npmjs.com/package/@unocss/nuxt + */ + ["unocss"]: typeof import("@unocss/nuxt").default extends NuxtModule ? O : Record + /** + * Configuration for `@nuxt/devtools` + * @see https://www.npmjs.com/package/@nuxt/devtools + */ + ["devtools"]: typeof import("@nuxt/devtools").default extends NuxtModule ? O : Record + /** + * Configuration for `@nuxt/telemetry` + * @see https://www.npmjs.com/package/@nuxt/telemetry + */ + ["telemetry"]: typeof import("@nuxt/telemetry").default extends NuxtModule ? O : Record + } + interface NuxtConfig { + /** + * Configuration for `@unocss/nuxt` + * @see https://www.npmjs.com/package/@unocss/nuxt + */ + ["unocss"]?: typeof import("@unocss/nuxt").default extends NuxtModule ? Partial : Record + /** + * Configuration for `@nuxt/devtools` + * @see https://www.npmjs.com/package/@nuxt/devtools + */ + ["devtools"]?: typeof import("@nuxt/devtools").default extends NuxtModule ? Partial : Record + /** + * Configuration for `@nuxt/telemetry` + * @see https://www.npmjs.com/package/@nuxt/telemetry + */ + ["telemetry"]?: typeof import("@nuxt/telemetry").default extends NuxtModule ? Partial : Record + modules?: (undefined | null | false | NuxtModule | string | [NuxtModule | string, Record] | ["@unocss/nuxt", Exclude] | ["@nuxt/devtools", Exclude] | ["@nuxt/telemetry", Exclude])[], + } + interface RuntimeConfig { + app: { + buildId: string, + + baseURL: string, + + buildAssetsDir: string, + + cdnURL: string, + }, + + nitro: { + envPrefix: string, + }, + } + interface PublicRuntimeConfig { + + } +} +declare module 'vue' { + interface ComponentCustomProperties { + $config: RuntimeConfig + } + } \ No newline at end of file diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/vue-shim.d.ts b/GEMstack/onboard/visualization/sr_viz/threeD/.nuxt/types/vue-shim.d.ts new file mode 100644 index 000000000..e69de29bb diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/README.md b/GEMstack/onboard/visualization/sr_viz/threeD/README.md new file mode 100644 index 000000000..e215bc4cc --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/README.md @@ -0,0 +1,36 @@ +This is a [Next.js](https://nextjs.org) project bootstrapped with [`create-next-app`](https://nextjs.org/docs/app/api-reference/cli/create-next-app). + +## Getting Started + +First, run the development server: + +```bash +npm run dev +# or +yarn dev +# or +pnpm dev +# or +bun dev +``` + +Open [http://localhost:3000](http://localhost:3000) with your browser to see the result. + +You can start editing the page by modifying `app/page.tsx`. The page auto-updates as you edit the file. + +This project uses [`next/font`](https://nextjs.org/docs/app/building-your-application/optimizing/fonts) to automatically optimize and load [Geist](https://vercel.com/font), a new font family for Vercel. + +## Learn More + +To learn more about Next.js, take a look at the following resources: + +- [Next.js Documentation](https://nextjs.org/docs) - learn about Next.js features and API. +- [Learn Next.js](https://nextjs.org/learn) - an interactive Next.js tutorial. + +You can check out [the Next.js GitHub repository](https://github.com/vercel/next.js) - your feedback and contributions are welcome! + +## Deploy on Vercel + +The easiest way to deploy your Next.js app is to use the [Vercel Platform](https://vercel.com/new?utm_medium=default-template&filter=next.js&utm_source=create-next-app&utm_campaign=create-next-app-readme) from the creators of Next.js. + +Check out our [Next.js deployment documentation](https://nextjs.org/docs/app/building-your-application/deploying) for more details. diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/eslint.config.mjs b/GEMstack/onboard/visualization/sr_viz/threeD/eslint.config.mjs new file mode 100644 index 000000000..c85fb67c4 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/eslint.config.mjs @@ -0,0 +1,16 @@ +import { dirname } from "path"; +import { fileURLToPath } from "url"; +import { FlatCompat } from "@eslint/eslintrc"; + +const __filename = fileURLToPath(import.meta.url); +const __dirname = dirname(__filename); + +const compat = new FlatCompat({ + baseDirectory: __dirname, +}); + +const eslintConfig = [ + ...compat.extends("next/core-web-vitals", "next/typescript"), +]; + +export default eslintConfig; diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/next-env.d.ts b/GEMstack/onboard/visualization/sr_viz/threeD/next-env.d.ts new file mode 100644 index 000000000..1b3be0840 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/next-env.d.ts @@ -0,0 +1,5 @@ +/// +/// + +// NOTE: This file should not be edited +// see https://nextjs.org/docs/app/api-reference/config/typescript for more information. diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/next.config.ts b/GEMstack/onboard/visualization/sr_viz/threeD/next.config.ts new file mode 100644 index 000000000..5ca340c47 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/next.config.ts @@ -0,0 +1,13 @@ +import type { NextConfig } from "next"; + +const nextConfig: NextConfig = { + /* config options here */ + eslint: { + ignoreDuringBuilds: true, + }, + typescript: { + ignoreBuildErrors: true, + }, +}; + +export default nextConfig; diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/package-lock.json b/GEMstack/onboard/visualization/sr_viz/threeD/package-lock.json new file mode 100644 index 000000000..2ae9e1513 --- /dev/null +++ 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"0.1.0", + "private": true, + "scripts": { + "dev": "next dev --turbopack", + "build": "next build", + "start": "next start", + "lint": "next lint" + }, + "dependencies": { + "@emotion/react": "^11.14.0", + "@emotion/styled": "^11.14.0", + "@foxglove/rosbag": "^0.4.1", + "@mui/icons-material": "^7.0.2", + "@mui/material": "^7.0.2", + "@react-three/drei": "^10.0.6", + "@react-three/fiber": "^9.1.2", + "cs588_vis": "file:", + "next": "15.3.0", + "react": "^19.0.0", + "react-dom": "^19.0.0", + "react-icons": "^5.5.0", + "react-resizable-panels": "^3.0.1", + "three": "^0.175.0", + "three-stdlib": "^2.36.0", + "urdf-loader": "^0.12.4" + }, + "devDependencies": { + "@eslint/eslintrc": "^3", + "@tailwindcss/postcss": "^4", + "@types/node": "^20", + "@types/react": "^19", + "@types/react-dom": "^19", + "eslint": "^9", + "eslint-config-next": "15.3.0", + "tailwindcss": "^4", + "typescript": "^5" + } +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/postcss.config.mjs b/GEMstack/onboard/visualization/sr_viz/threeD/postcss.config.mjs new file mode 100644 index 000000000..c7bcb4b1e --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/postcss.config.mjs @@ -0,0 +1,5 @@ +const config = { + plugins: ["@tailwindcss/postcss"], +}; + +export default config; diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/public/models/model/gem_e2.urdf b/GEMstack/onboard/visualization/sr_viz/threeD/public/models/model/gem_e2.urdf new file mode 100644 index 000000000..1989feab6 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/public/models/model/gem_e2.urdf @@ -0,0 +1,1473 @@ + + + + + + + + Gazebo/Red + + + Gazebo/Red + + + 10000 + 100000000 + 1000000 + 1e8 + 0.001 + 100.0 + Gazebo/Blue + + + 10000 + 100000000 + 1000000 + 1e8 + 0.001 + 100.0 + Gazebo/Blue + + + 0.9 + 1000000 + 0.005 + 1e8 + Gazebo/Black + + + 0.9 + 1000000 + 0.005 + 1e8 + Gazebo/Black + + + 0.9 + 1000000 + 0.005 + 1e8 + Gazebo/Black + + + 0.9 + 1000000 + 0.005 + 1e8 + Gazebo/Black + + + + + Gazebo/White + + + Gazebo/Grey + + + Gazebo/White + + + + Gazebo/Black + + + Gazebo/Black + + + Gazebo/Black + + + Gazebo/Red + + + Gazebo/Red + + + Gazebo/Red + + + Gazebo/Red + + + Gazebo/Red + + + Gazebo/Red + + + Gazebo/Red + + + Gazebo/White + + + Gazebo/White + + + Gazebo/Orange + + + Gazebo/Orange + + + Gazebo/Orange + + + Gazebo/Orange + + + Gazebo/Blue + + + Gazebo/Blue + + + Gazebo/Grey + + + Gazebo/Grey + + + Gazebo/Red + + + Gazebo/Red + + + Gazebo/Red + + + Gazebo/Red + + + Gazebo/Orange + + + Gazebo/Orange + + + Gazebo/Red + + + + true + gazebo_ros_control/DefaultRobotHWSim + + + + + + 30.0 + + + 1.5707963 + + 640 + 480 + + R8G8B8 + + + 0.02 + 300 + + + gaussian + 0.0 + 0.007 + + + + true + 0.0 + front_single_camera + image_raw + camera_info + front_single_camera_link + 0.07 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + + + + + true + IMU_link + IMU_link + imu + imu_service + 0.0 + 50.0 + + + + + + 20.0 + GPS_link + GPS_link + /gps/fix + /gps/fix_velocity + 40.09302494 + -88.23575484 + 90 + 220 + 0 0 0 + 0.001 0.001 0.001 + 0.05 0.05 0.05 + 0.001 0.001 0.001 + 0.5 0.5 0.5 + + + + + + + + + + true + 20 + 0 0 0 0 0 0 + false + + + + 2 + 1 + -28 + 28 + + + 2 + 1 + -28 + 28 + + + + 0.3 + 5 + 0.01 + + + + 0.005 + /front_sonar_distance + front_sonar_link + + + + + + + true + 20 + 0 0 0 0 0 0 + false + + + + 2 + 1 + -28 + 28 + + + 2 + 1 + -28 + 28 + + + + 0.3 + 5 + 0.01 + + + + 0.005 + /rear_sonar_distance + rear_sonar_link + + + + + + + 30.0 + + 1.5707963 + + 800 + 600 + R8G8B8 + + + 0.02 + 300 + + + gaussian + 0.0 + 0.007 + + + + 0 -0.07 0 0 0 0 + 1.5707963 + + 800 + 600 + R8G8B8 + + + 0.02 + 300 + + + gaussian + 0.0 + 0.007 + + + + true + 0.0 + stereo/camera + image_raw + camera_info + stereo_camera_link + + + 0.5 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/public/models/model/gem_e4.urdf b/GEMstack/onboard/visualization/sr_viz/threeD/public/models/model/gem_e4.urdf new file mode 100644 index 000000000..5ddb5a0eb --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/public/models/model/gem_e4.urdf @@ -0,0 +1,919 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + 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differ diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/app/favicon.ico b/GEMstack/onboard/visualization/sr_viz/threeD/src/app/favicon.ico new file mode 100644 index 000000000..718d6fea4 Binary files /dev/null and b/GEMstack/onboard/visualization/sr_viz/threeD/src/app/favicon.ico differ diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/app/globals.css b/GEMstack/onboard/visualization/sr_viz/threeD/src/app/globals.css new file mode 100644 index 000000000..a2dc41ece --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/app/globals.css @@ -0,0 +1,26 @@ +@import "tailwindcss"; + +:root { + --background: #ffffff; + --foreground: #171717; +} + +@theme inline { + --color-background: var(--background); + --color-foreground: var(--foreground); + --font-sans: var(--font-geist-sans); + --font-mono: var(--font-geist-mono); +} + +@media (prefers-color-scheme: dark) { + :root { + --background: #0a0a0a; + --foreground: #ededed; + } +} + +body { + background: var(--background); + color: var(--foreground); + font-family: Arial, Helvetica, sans-serif; +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/app/layout.tsx b/GEMstack/onboard/visualization/sr_viz/threeD/src/app/layout.tsx new file mode 100644 index 000000000..5ec74caf3 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/app/layout.tsx @@ -0,0 +1,32 @@ +import type { Metadata } from "next"; +import { Geist, Geist_Mono } from "next/font/google"; +import "./globals.css"; + +const geistSans = Geist({ + variable: "--font-geist-sans", + subsets: ["latin"], +}); + +const geistMono = Geist_Mono({ + variable: "--font-geist-mono", + subsets: ["latin"], +}); + +export const metadata: Metadata = { + title: "CS588 Visualizer", + description: "CS588 3D driving UI in Three.js", +}; + +export default function RootLayout({ + children, +}: { + children: React.ReactNode; +}) { + return ( + + + {children} + + + ); +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/app/page.tsx b/GEMstack/onboard/visualization/sr_viz/threeD/src/app/page.tsx new file mode 100644 index 000000000..70c3cd55e --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/app/page.tsx @@ -0,0 +1,85 @@ +"use client"; + +import { useEffect, useState } from "react"; +import ControlPanel from "@/components/ControlPanel"; +import CanvasWrapper from "@/components/CanvasWrapper"; +import Scrubber from "@/components/Scrubber"; +import { VehicleInfoPanel } from "@/components/VehicleInfoPanel"; +import { usePlaybackTime } from "@/hooks/usePlaybackTime"; +import { useRouter } from "next/navigation"; +import Button from "@mui/material/Button"; +import PageviewIcon from "@mui/icons-material/Pageview"; + +export default function HomePage() { + const router = useRouter(); + const { + time, + reset, + restart, + play, + setPlay, + togglePlay, + speed, + setPlaybackSpeed, + moveToTime, + duration, + setDuration, + } = usePlaybackTime(); + + const [searchParams, setSearchParams] = useState<{ + folder?: string; + file?: string; + }>({}); + + useEffect(() => { + if (typeof window !== "undefined") { + const params = new URLSearchParams(window.location.search); + const folder = params.get("folder") || undefined; + const file = params.get("file") || undefined; + setSearchParams({ folder, file }); + } + }, []); + + const handleRedirect = () => { + setPlay(false); + router.replace("/rosbagViewer"); + }; + + return ( +
+
+
+ +
+
+ + + + +
+ ); +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/app/rosbagViewer/page.tsx b/GEMstack/onboard/visualization/sr_viz/threeD/src/app/rosbagViewer/page.tsx new file mode 100644 index 000000000..411ea3acd --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/app/rosbagViewer/page.tsx @@ -0,0 +1,37 @@ +"use client"; + +import React from "react"; +import RosbagViewer from "@/components/RosbagViewer"; +import { useRouter } from "next/navigation"; +import Button from "@mui/material/Button"; +import HomeIcon from "@mui/icons-material/Home"; + +export default function RosbagViewerPage() { + const router = useRouter(); + const handleRedirect = () => { + router.replace("/"); + }; + return ( +
+
+
+ +
+
+ +
+ ); +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/components/CanvasWrapper.tsx b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/CanvasWrapper.tsx new file mode 100644 index 000000000..e9477cad5 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/CanvasWrapper.tsx @@ -0,0 +1,70 @@ +"use client"; + +import { Canvas } from "@react-three/fiber"; +import React, { useEffect } from "react"; +import { Environment } from "@react-three/drei"; +import { useTimelineStore } from "@/hooks/useTimelineStore"; +import Vehicle from "./Vehicle"; +import Pedestrian from "./Pedestrian"; +import TrafficLight from "./TrafficLight"; +import OtherVehicle from "./OtherVehicle"; +import Ground from "./Ground"; +import TrafficCone from "./TrafficCone"; + +export default function CanvasWrapper({ + time, + setDuration, +}: { + time: number; + setDuration: (duration: number) => void; +}) { + const { vehicle, pedestrians, trafficLights, trafficCones, otherVehicles } = + useTimelineStore(); + + useEffect(() => { + if (vehicle.length > 0) { + setDuration(vehicle[vehicle.length - 1].time - vehicle[0].time); + } + }, [vehicle]); + + const startTime = vehicle.length > 0 ? vehicle[0].time : 0; + const syncedTime = startTime + time; + + return ( + + + + + + + {Object.entries(pedestrians).map(([id, timeline]) => ( + + ))} + + {Object.entries(trafficLights).map(([id, timeline]) => ( + + ))} + + {Object.entries(trafficCones).map(([id, timeline]) => ( + + ))} + + {Object.entries(otherVehicles).map(([id, timeline]) => ( + + ))} + + + + ); +} \ No newline at end of file diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/components/ControlPanel.tsx b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/ControlPanel.tsx new file mode 100644 index 000000000..474019e36 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/ControlPanel.tsx @@ -0,0 +1,112 @@ +"use client"; + +import React, { useRef, useState, useEffect } from "react"; +import { TiUpload } from "react-icons/ti"; +import { RxCross2 } from "react-icons/rx"; +import { buildTimeline } from "@/utils/buildTimeline"; +import { parseLogFile } from "@/utils/parseLogFile"; +import { useTimelineStore } from "@/hooks/useTimelineStore"; +import { TimelineData } from "@/types/TimelineData"; + +export default function ControlPanel({ + reset, + folder, + file, +}: { + reset: () => void; + folder?: string; + file?: string; +}) { + const [isOpen, setIsOpen] = useState(false); + const [fileName, setFileName] = useState(null); + const fileInputRef = useRef(null); + const prevKeyRef = useRef(null); + const setTimeline = useTimelineStore((state) => state.setTimeline); + + const handleFileUpload = async ( + event: React.ChangeEvent + ) => { + const uploaded = event.target.files?.[0]; + if (!uploaded) return; + setFileName(uploaded.name); + const entries = await parseLogFile(uploaded); + const timeline: TimelineData = buildTimeline(entries); + setTimeline(timeline); + reset(); + fileInputRef.current!.value = ""; + }; + + useEffect(() => { + if (!folder || !file) return; + const key = `${folder}/${file}`; + if (prevKeyRef.current === key) return; + prevKeyRef.current = key; + (async () => { + const url = `http://localhost:5000/raw_logs/${encodeURIComponent( + folder + )}/${encodeURIComponent(file)}`; + const res = await fetch(url); + const text = await res.text(); + const fakeFile = new File([text], file, { type: "text/plain" }); + const entries = await parseLogFile(fakeFile); + const timeline = buildTimeline(entries); + setTimeline(timeline); + reset(); + setFileName(file); + })(); + }, [folder, file, reset, setTimeline]); + + return ( + <> +
{ + e.preventDefault(); + setIsOpen((o) => !o); + }} + > + {isOpen && ( + <> +
+

+ Control Panel +

+ +
+
+ +

+ {fileName ?? "No file loaded"} +

+
+ + )} +
+ {!isOpen && ( + + )} + + ); +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/components/Ground.tsx b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/Ground.tsx new file mode 100644 index 000000000..010a80a8e --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/Ground.tsx @@ -0,0 +1,24 @@ +"use client"; + +import React from "react"; +import { groundConfig } from "@/config/groundConfig"; +import { Grid } from "@react-three/drei"; + +export default function Ground() { + return ( + + ); +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/components/OtherVehicle.tsx b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/OtherVehicle.tsx new file mode 100644 index 000000000..f0224111f --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/OtherVehicle.tsx @@ -0,0 +1,69 @@ +"use client"; + +import React, { useRef, useEffect, useMemo, useState } from "react"; +import { useFrame } from "@react-three/fiber"; +import * as THREE from "three"; +import { FrameData } from "@/types/FrameData"; +import { currentOtherVehicle } from "@/config/otherVehicleConfig"; +import URDFLoader from "urdf-loader"; +import { getInterpolatedFrame } from "@/utils/getInterpolatedFrame"; + +interface OtherVehicleProps { + id: string; + timeline: FrameData[]; + time: number; +} + +export default function OtherVehicle({ id, timeline, time }: OtherVehicleProps) { + const ref = useRef(null); + const vehicleGroup = useRef(new THREE.Group()); + const [isLoaded, setIsLoaded] = useState(false); + + const targetPosition = useMemo(() => new THREE.Vector3(), []); + const targetQuaternion = useMemo(() => new THREE.Quaternion(), []); + + const { modelPath, scale, rotation, offset, bodyColor } = currentOtherVehicle; + + useEffect(() => { + const loader = new URDFLoader(); + loader.load( + modelPath, + (robot) => { + robot.scale.set(scale[0], scale[1], scale[2]); + robot.rotation.set(rotation[0], rotation[1], rotation[2]); + robot.position.set(offset[0], offset[1], offset[2]); + robot.traverse((child) => { + if ( + child instanceof THREE.Mesh && + child.material instanceof THREE.MeshStandardMaterial + ) { + child.material = child.material.clone(); + child.material.color.set(bodyColor); + } + }); + vehicleGroup.current.add(robot); + setIsLoaded(true); + }, + undefined, + (error) => { + console.error("URDF loading failed:", error); + } + ); + }, [modelPath, scale, rotation, offset, bodyColor]); + + useFrame(() => { + if (!ref.current || timeline.length === 0) return; + const frame = getInterpolatedFrame(timeline, time); + if (!frame) return; + targetPosition.set(frame.x, 0, frame.y); + ref.current.position.lerp(targetPosition, 0.2); + targetQuaternion.setFromEuler(new THREE.Euler(0, -frame.yaw, 0)); + ref.current.quaternion.slerp(targetQuaternion, 0.2); + }); + + return ( + + + + ); +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/components/PanelManager.tsx b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/PanelManager.tsx new file mode 100644 index 000000000..2cfc438dd --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/PanelManager.tsx @@ -0,0 +1,274 @@ +"use client"; + +import React, { useState } from "react"; +import { VideoPanel } from "./VideoPanel"; +import { PointCloudPanel } from "./PointCloudPanel"; +import { + Button, + Menu, + MenuItem, + ListItemIcon, + ListItemText, +} from "@mui/material"; +import MenuIcon from "@mui/icons-material/Menu"; +import { PanelGroup, Panel, PanelResizeHandle } from "react-resizable-panels"; +import HorizontalSplitIcon from "@mui/icons-material/HorizontalSplit"; +import VerticalSplitIcon from "@mui/icons-material/VerticalSplit"; +import ImageIcon from "@mui/icons-material/Image"; +import HubIcon from "@mui/icons-material/Hub"; +import CloseIcon from "@mui/icons-material/Close"; + +type PanelNode = + | { + id: number; + type: "video" | "pointcloud" | "text"; + } + | { + id: number; + split: "horizontal" | "vertical"; + children: PanelNode[]; + }; + +let panelIdCounter = 2; + +function createPanel(type: "video" | "pointcloud" | "text"): PanelNode { + return { id: panelIdCounter++, type }; +} + +export const PanelManager = ({ + messageMap, +}: { + messageMap: Record | any[]>; +}) => { + const [rootPanel, setRootPanel] = useState(createPanel("video")); + + const renderPanelNode = (node: PanelNode) => { + if ("split" in node) { + return ( + + + {node.children.map((child, idx) => ( + + {renderPanelNode(child)} + {idx < node.children.length - 1 && ( + + )} + + ))} + + + ); + } + + return ( + + { + const newSplit: PanelNode = { + id: panelIdCounter++, + split: direction, + children: [node, createPanel("video")], + }; + replacePanel( + rootPanel, + node.id, + newSplit, + setRootPanel + ); + }} + onClose={() => closePanel(rootPanel, node.id, setRootPanel)} + onChangeType={(newType) => + changePanelType( + rootPanel, + node.id, + newType, + setRootPanel + ) + } + rootPanel={rootPanel} + /> + {node.type === "video" && ( + } initialTopic={Object.keys(messageMap["video"])[0]} /> + )} + {node.type === "pointcloud" && ( + } + tfMessages={messageMap["tf"] as any[]} + initialTopic={Object.keys(messageMap["pointcloud"])[0]} + /> + )} + + ); + }; + + return ( +
+ + {renderPanelNode(rootPanel)} + +
+ ); +}; + +function replacePanel( + root: PanelNode, + targetId: number, + replacement: PanelNode, + setRoot: (r: PanelNode) => void +) { + function helper(node: PanelNode): PanelNode { + if (node.id === targetId) return replacement; + if ("split" in node) { + return { + ...node, + children: node.children.map(helper), + }; + } + return node; + } + const newRoot = helper(root); + setRoot(newRoot); +} + +function closePanel( + root: PanelNode, + targetId: number, + setRoot: (r: PanelNode) => void +) { + function helper(node: PanelNode): PanelNode | null { + if (node.id === targetId) return null; + if ("split" in node) { + const newChildren = node.children + .map(helper) + .filter((child) => child !== null) as PanelNode[]; + return { ...node, children: newChildren }; + } + return node; + } + const newRoot = helper(root); + if (newRoot) setRoot(newRoot); +} + +function changePanelType( + root: PanelNode, + targetId: number, + newType: "video" | "pointcloud" | "text", + setRoot: (r: PanelNode) => void +) { + function helper(node: PanelNode): PanelNode { + if (node.id === targetId) { + return { ...node, type: newType }; + } + if ("split" in node) { + return { + ...node, + children: node.children.map(helper), + }; + } + return node; + } + const newRoot = helper(root); + setRoot(newRoot); +} + +function getNumLeaves(node: PanelNode): number { + if ("split" in node) { + return node.children.reduce( + (sum, child) => sum + getNumLeaves(child), + 0 + ); + } + return 1; +} + +const PanelMenu = ({ + onSplit, + onClose, + onChangeType, + rootPanel, +}: { + onSplit: (dir: "horizontal" | "vertical") => void; + onClose: () => void; + onChangeType: (newType: "video" | "pointcloud") => void; + rootPanel: PanelNode; +}) => { + const [anchorEl, setAnchorEl] = useState(null); + const open = Boolean(anchorEl); + const handleClick = (event: React.MouseEvent) => { + setAnchorEl(event.currentTarget); + }; + const handleClose = () => setAnchorEl(null); + + return ( +
+ + + { + onSplit("horizontal"); + handleClose(); + }} + > + + + + Split Horizontally + + { + onSplit("vertical"); + handleClose(); + }} + > + + + + Split Vertically + + { + onChangeType("video"); + handleClose(); + }} + > + + + + Switch to Video Panel + + { + onChangeType("pointcloud"); + handleClose(); + }} + > + + + + Switch to PointCloud Panel + + {getNumLeaves(rootPanel) > 1 && ( + { + onClose(); + handleClose(); + }} + > + + + + Close Panel + + )} + +
+ ); +}; diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/components/Pedestrian.tsx b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/Pedestrian.tsx new file mode 100644 index 000000000..13b3331ad --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/Pedestrian.tsx @@ -0,0 +1,70 @@ +"use client"; + +import React, { useRef, useMemo, useEffect, useState } from "react"; +import { useFrame } from "@react-three/fiber"; +import { + Mesh, + Object3D, + MeshStandardMaterial, + Vector3, + Quaternion, + Euler, +} from "three"; +import { useGLTF } from "@react-three/drei"; +import { FrameData } from "@/types/FrameData"; +import { currentPedestrian } from "@/config/pedestrianConfig"; +import { getInterpolatedFrame } from "@/utils/getInterpolatedFrame"; + +interface PedestrianProps { + id: string; + timeline: FrameData[]; + time: number; +} + +export default function Pedestrian({ id, timeline, time }: PedestrianProps) { + const [mounted, setMounted] = useState(false); + const ref = useRef(null); + + const { modelPath, scale, rotation, offset, bodyColor } = currentPedestrian; + const { scene } = useGLTF(modelPath); + const clonedScene = useMemo(() => scene.clone(true), [scene]); + + const targetPosition = useMemo(() => new Vector3(), []); + const targetQuaternion = useMemo(() => new Quaternion(), []); + + useEffect(() => { + setMounted(true); + }, []); + + useEffect(() => { + clonedScene.traverse((child) => { + if ( + child instanceof Mesh && + child.material instanceof MeshStandardMaterial + ) { + child.material = child.material.clone(); + child.material.color.set(bodyColor); + } + }); + }, [clonedScene, bodyColor]); + + useFrame(() => { + if (!ref.current || timeline.length === 0) return; + const frame = getInterpolatedFrame(timeline, time); + if (!frame) return; + targetPosition.set(frame.x, 0, frame.y); + ref.current.position.lerp(targetPosition, 0.2); + targetQuaternion.setFromEuler(new Euler(0, -frame.yaw, 0)); + ref.current.quaternion.slerp(targetQuaternion, 0.2); + }); + + return ( + } + object={clonedScene} + scale={scale} + rotation={rotation} + position={offset} + /> + ); +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/components/PointCloudPanel.tsx b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/PointCloudPanel.tsx new file mode 100644 index 000000000..69e6063b7 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/PointCloudPanel.tsx @@ -0,0 +1,256 @@ +"use client"; + +import React, { useEffect, useRef, useState } from "react"; +import { useScrubber } from "./ScrubberContext"; +import * as THREE from "three"; +import { OrbitControls } from "three-stdlib"; +import { Select, SelectChangeEvent, MenuItem } from "@mui/material"; + +function parsePointCloud2(msg: any): THREE.Points { + const { data, point_step, fields } = msg; + const positions: number[] = []; + const colors: number[] = []; + + const fieldMap = Object.fromEntries( + fields.map((f: any) => [f.name, f.offset]) + ); + const dv = new DataView(data.buffer, data.byteOffset, data.byteLength); + + for (let i = 0; i < data.length; i += point_step) { + const x = dv.getFloat32(i + fieldMap["x"], true); + const y = dv.getFloat32(i + fieldMap["y"], true); + const z = dv.getFloat32(i + fieldMap["z"], true); + + if (!Number.isFinite(x) || !Number.isFinite(y) || !Number.isFinite(z)) + continue; + + positions.push(x, y, z); + + if ("rgba" in fieldMap) { + const rgba = dv.getUint32(i + fieldMap["rgba"], true); + const r = (rgba >> 24) & 0xff; + const g = (rgba >> 16) & 0xff; + const b = (rgba >> 8) & 0xff; + colors.push(r / 255, g / 255, b / 255); + } else if ("rgb" in fieldMap) { + const rgb = dv.getUint32(i + fieldMap["rgb"], true); + const r = (rgb >> 16) & 0xff; + const g = (rgb >> 8) & 0xff; + const b = rgb & 0xff; + colors.push(r / 255, g / 255, b / 255); + } else { + colors.push(1, 1, 1); + } + } + + const geometry = new THREE.BufferGeometry(); + geometry.setAttribute( + "position", + new THREE.Float32BufferAttribute(positions, 3) + ); + geometry.setAttribute("color", new THREE.Float32BufferAttribute(colors, 3)); + const material = new THREE.PointsMaterial({ + size: 0.05, + vertexColors: true, + }); + + return new THREE.Points(geometry, material); +} + +function buildTransformLookup(tfMessages: any[], time: number) { + const latestTransforms = new Map(); + + for (const msg of tfMessages) { + const transforms = msg.data.transforms || []; + for (const t of transforms) { + if (t.header.stamp.sec + t.header.stamp.nsec * 1e-9 < time) + continue; + const key = `${t.header.frame_id}->${t.child_frame_id}`; + if (!latestTransforms.has(key)) { + latestTransforms.set(key, t); + } + } + } + + return latestTransforms; +} + +function getTransformMatrix( + lookup: Map, + from: string, + to: string +): THREE.Matrix4 | null { + const key = `${from}->${to}`; + const tf = lookup.get(key); + if (!tf) return null; + + const { translation, rotation } = tf.transform; + const position = new THREE.Vector3( + translation.x, + translation.y, + translation.z + ); + const quaternion = new THREE.Quaternion( + rotation.x, + rotation.y, + rotation.z, + rotation.w + ); + + const matrix = new THREE.Matrix4(); + matrix.makeRotationFromQuaternion(quaternion); + matrix.setPosition(position); + + return matrix; +} + +export const PointCloudPanel = ({ + messages, + tfMessages, + initialTopic, +}: { + messages: Record; + tfMessages: any[]; + initialTopic?: string; +}) => { + const mountRef = useRef(null); + const { startTime, currentTime } = useScrubber(); + const rendererRef = useRef(null); + const cameraRef = useRef(null); + const sceneRef = useRef(null); + const controlsRef = useRef(null); + const pointCloudRef = useRef(null); + const [selectedTopic, setSelectedTopic] = useState( + initialTopic || Object.keys(messages)[0] || "" + ); + + useEffect(() => { + if (initialTopic && messages[initialTopic]) { + setSelectedTopic(initialTopic); + } + }, [initialTopic]); + + useEffect(() => { + if (!selectedTopic || !messages[selectedTopic]) return; + if (!mountRef.current) return; + + const scene = new THREE.Scene(); + const camera = new THREE.PerspectiveCamera( + 75, + mountRef.current.clientWidth / mountRef.current.clientHeight, + 0.1, + 1000 + ); + camera.position.z = 5; + + const renderer = new THREE.WebGLRenderer({ antialias: true }); + renderer.setSize( + mountRef.current.clientWidth, + mountRef.current.clientHeight + ); + mountRef.current.appendChild(renderer.domElement); + + const controls = new OrbitControls(camera, renderer.domElement); + controls.enableDamping = true; + + sceneRef.current = scene; + cameraRef.current = camera; + rendererRef.current = renderer; + controlsRef.current = controls; + + const animate = () => { + requestAnimationFrame(animate); + controls.update(); + renderer.render(scene, camera); + }; + animate(); + + return () => { + if (rendererRef.current) { + rendererRef.current.dispose(); + const canvas = rendererRef.current.domElement; + canvas.remove(); + } + }; + }, []); + + useEffect(() => { + const scene = sceneRef.current; + if (!scene) return; + + const msg = messages[selectedTopic].find( + (m) => m.timestamp >= startTime + currentTime + ); + if (!msg) return; + + if (pointCloudRef.current) { + scene.remove(pointCloudRef.current); + pointCloudRef.current.geometry.dispose(); + (pointCloudRef.current.material as THREE.Material).dispose(); + } + + const newCloud = parsePointCloud2(msg.data); + pointCloudRef.current = newCloud; + + const transforms = buildTransformLookup( + tfMessages, + currentTime + startTime + ); + const cloudFrame = msg.data.header.frame_id; + const targetFrame = "base_link"; + + const matrix = getTransformMatrix(transforms, cloudFrame, targetFrame); + + if (matrix) { + newCloud.applyMatrix4(matrix); + } + scene.add(newCloud); + }, [startTime, currentTime, messages, tfMessages]); + + useEffect(() => { + if (!mountRef.current || !rendererRef.current || !cameraRef.current) + return; + + const observer = new ResizeObserver(() => { + const width = mountRef.current!.clientWidth; + const height = mountRef.current!.clientHeight; + + rendererRef.current!.setSize(width, height); + cameraRef.current!.aspect = width / height; + cameraRef.current!.updateProjectionMatrix(); + }); + + observer.observe(mountRef.current); + + return () => observer.disconnect(); + }, []); + + return ( +
+
+ +
+
+ ); +}; diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/components/RosbagViewer.tsx b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/RosbagViewer.tsx new file mode 100644 index 000000000..a42dd2191 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/RosbagViewer.tsx @@ -0,0 +1,184 @@ +"use client"; + +import React, { useState } from "react"; +import { Bag } from "@foxglove/rosbag"; +import Button from "@mui/material/Button"; +import CloudUploadIcon from "@mui/icons-material/CloudUpload"; +import { styled } from "@mui/material/styles"; +import { ScrubberProvider } from "./ScrubberContext"; +import { Scrubber2 } from "@/components/Scrubber2"; +import { PanelManager } from "./PanelManager"; + +const VisuallyHiddenInput = styled("input")({ + clip: "rect(0 0 0 0)", + clipPath: "inset(50%)", + height: 1, + overflow: "hidden", + position: "absolute", + bottom: 0, + left: 0, + whiteSpace: "nowrap", + width: 1, +}); + +function fileToReader(file: File) { + return { + size: () => file.size, + read: async (offset: number, length: number) => { + const blob = file.slice(offset, offset + length); + const arrayBuffer = await blob.arrayBuffer(); + return new Uint8Array(arrayBuffer); + }, + }; +} + +export default function RosbagViewer() { + const [topics, setTopics] = useState([]); + const [types, setTypes] = useState([]); + const [loading, setLoading] = useState(false); + const [messageMap, setMessageMap] = useState<{ + video: Record; + pointcloud: Record; + tf: any[]; + }>({ + video: {}, + pointcloud: {}, + tf: [], + }); + + const [duration, setDuration] = useState(0); + const [startTime, setStartTime] = useState(0); + + const handleFileUpload = async ( + event: React.ChangeEvent + ) => { + const file = event.target.files?.[0]; + if (!file) return; + + setMessageMap({ + video: {}, + pointcloud: {}, + tf: [], + }); + setLoading(true); + const reader = fileToReader(file); + const bag = new Bag(reader); + await bag.open(); + // console.log("Bag opened:", bag); + const topicNames = Array.from(bag.connections.values()).map( + (conn) => conn.topic + ); + const topicTypes = Array.from(bag.connections.values()).map( + (conn) => conn.type + ); + setTopics(topicNames); + setTypes(topicTypes as string[]); + // console.log("Topics:", topicNames, topicTypes); + + const videoMessages: Record = {}; + const pointcloudMessages: Record = {}; + const tfMessages: any[] = []; + for await (const msg of bag.messageIterator()) { + const entry = { + timestamp: msg.timestamp.sec + msg.timestamp.nsec * 1e-9, + topic: msg.topic, + data: msg.message, + }; + const type = topicTypes[topicNames.indexOf(msg.topic)] as string; + if (type.includes("Image")) { + if (!videoMessages[msg.topic]) videoMessages[msg.topic] = []; + videoMessages[msg.topic].push(entry); + } + if (type.includes("PointCloud2")) { + if (!pointcloudMessages[msg.topic]) + pointcloudMessages[msg.topic] = []; + pointcloudMessages[msg.topic].push(entry); + } + if (type.includes("TFMessage")) tfMessages.push(entry); + } + setLoading(false); + // console.log( + // "Messages parsed:", + // videoMessages, + // pointcloudMessages, + // tfMessages + // ); + setMessageMap({ + video: videoMessages, + pointcloud: pointcloudMessages, + tf: tfMessages, + }); + const getDuration = ( + messagesByTopic: Record + ): number => { + const durations = Object.values(messagesByTopic) + .filter((msgs) => msgs.length > 1) + .map( + (msgs) => + msgs[msgs.length - 1].timestamp - msgs[0].timestamp + ); + return durations.length > 0 ? Math.max(...durations) : 0; + }; + + const getStart = (messagesByTopic: Record): number => { + const starts = Object.values(messagesByTopic) + .filter((msgs) => msgs.length > 0) + .map((msgs) => msgs[0].timestamp); + return starts.length > 0 ? Math.min(...starts) : 0; + }; + + setDuration( + Math.max( + getDuration(videoMessages), + getDuration(pointcloudMessages), + 0 + ) + ); + const videoStart = getStart(videoMessages); + const pointcloudStart = getStart(pointcloudMessages); + setStartTime( + videoStart > 0 && pointcloudStart > 0 + ? Math.min(videoStart, pointcloudStart) + : Math.max(videoStart, pointcloudStart) + ); + }; + + return ( +
+
+
+ +
+
+ + + + + +
+ ); +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/components/Scrubber.tsx b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/Scrubber.tsx new file mode 100644 index 000000000..5729d6312 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/Scrubber.tsx @@ -0,0 +1,131 @@ +"use client"; + +import React, { useState } from "react"; +import { IconButton, Slider, Menu, MenuItem } from "@mui/material"; +import PlayArrowIcon from "@mui/icons-material/PlayArrow"; +import PauseIcon from "@mui/icons-material/Pause"; +import SpeedIcon from "@mui/icons-material/Speed"; +import RefreshIcon from "@mui/icons-material/Refresh"; + +export default function Scrubber({ + time, + play, + togglePlay, + restart, + setPlaybackSpeed, + moveToTime, + duration, +}: { + time: number; + play: boolean; + togglePlay: () => void; + restart: () => void; + setPlaybackSpeed: (speed: number) => void; + moveToTime: (time: number) => void; + duration: number; +}) { + const [anchorEl, setAnchorEl] = useState(null); + const [selectedSpeed, setSelectedSpeed] = useState(1); + const [isDragging, setIsDragging] = useState(false); + const speedOptions = [0.5, 1, 1.5, 2, 3]; + const open = Boolean(anchorEl); + + const handleClick = (event: React.MouseEvent) => { + setAnchorEl(event.currentTarget); + }; + const handleClose = () => { + setAnchorEl(null); + }; + const handleMenuItemClick = (speed: number) => { + setSelectedSpeed(speed); + setPlaybackSpeed(speed); + handleClose(); + }; + const handleSliderChange = (_: Event, newValue: number) => { + moveToTime(newValue); + }; + const handleSliderChangeCommitted = () => { + setIsDragging(false); + }; + const formatDuration = (time: number) => { + const minutes = Math.floor(time / 60); + const seconds = Math.floor(time % 60); + return `${minutes < 10 ? "0" : ""}${minutes}:${ + seconds < 10 ? "0" : "" + }${seconds}`; + }; + const handleContextMenu = (event: React.MouseEvent) => { + event.preventDefault(); + }; + + return ( +
+ + {play ? ( + + ) : ( + + )} + + +
+ + {formatDuration(Math.min(time, duration))} + + setIsDragging(true)} + onChangeCommitted={handleSliderChangeCommitted} + /> + + {formatDuration(duration)} + +
+ +
+ + + + + {speedOptions.map((speed) => ( + handleMenuItemClick(speed)} + > + {speed}x + + ))} + + + + + +
+
+ ); +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/components/Scrubber2.tsx b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/Scrubber2.tsx new file mode 100644 index 000000000..b26f3ac26 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/Scrubber2.tsx @@ -0,0 +1,170 @@ +"use client"; + +import React, { useEffect, useState } from "react"; +import { useScrubber } from "./ScrubberContext"; +import { IconButton, Slider, Menu, MenuItem } from "@mui/material"; +import PlayArrowIcon from "@mui/icons-material/PlayArrow"; +import PauseIcon from "@mui/icons-material/Pause"; +import SpeedIcon from "@mui/icons-material/Speed"; +import RefreshIcon from "@mui/icons-material/Refresh"; + +export const Scrubber2 = ({ + duration, + startTime, + loading, +}: { + duration: number; + startTime: number; + loading: boolean; +}) => { + const { + setStartTime, + currentTime, + setCurrentTime, + isPlaying, + setIsPlaying, + } = useScrubber(); + const frameRate = 30; + const [anchorEl, setAnchorEl] = useState(null); + const [selectedSpeed, setSelectedSpeed] = useState(1); + const speedOptions = [0.5, 1, 1.5, 2, 3]; + const open = Boolean(anchorEl); + const [isDragging, setIsDragging] = useState(false); + + const handleClick = (event: React.MouseEvent) => { + setAnchorEl(event.currentTarget); + }; + const handleClose = () => { + setAnchorEl(null); + }; + const handleMenuItemClick = (speed: number) => { + setSelectedSpeed(speed); + handleClose(); + }; + const handleSliderChange = (_: Event, newValue: number) => { + setCurrentTime(newValue); + }; + const handleSliderChangeCommitted = () => { + setIsDragging(false); + }; + const togglePlay = () => { + setIsPlaying((prev: boolean) => !prev); + }; + const restart = () => { + setCurrentTime(0); + }; + const formatDuration = (time: number) => { + const minutes = Math.floor(time / 60); + const seconds = Math.floor(time % 60); + return `${minutes < 10 ? "0" : ""}${minutes}:${ + seconds < 10 ? "0" : "" + }${seconds}`; + }; + const handleContextMenu = (event: React.MouseEvent) => { + event.preventDefault(); + }; + useEffect(() => { + if (!isPlaying) return; + const interval = setInterval(() => { + setCurrentTime((prev: number) => + Math.min(prev + (selectedSpeed * frameRate) / 1000, duration) + ); + }, 1000 / frameRate); + return () => clearInterval(interval); + }, [isPlaying, duration, selectedSpeed]); + + useEffect(() => { + setStartTime(startTime); + setCurrentTime(0); + }, [startTime]); + + useEffect(() => { + if (currentTime >= duration) { + setIsPlaying(false); + } + }, [currentTime, duration]); + + useEffect(() => { + if (loading) { + setIsPlaying(false); + } + }, [loading]); + + return ( +
+ + {isPlaying ? ( + + ) : ( + + )} + +
+ + {currentTime < duration + ? formatDuration(currentTime) + : formatDuration(duration)} + + setIsDragging(true)} + onChangeCommitted={handleSliderChangeCommitted} + value={currentTime} + /> + {formatDuration(duration)} +
+
+ + + + + {speedOptions.map((speed) => ( + handleMenuItemClick(speed)} + > + {speed}x + + ))} + + + + +
+
+ ); +}; diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/components/ScrubberContext.tsx b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/ScrubberContext.tsx new file mode 100644 index 000000000..180c79356 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/ScrubberContext.tsx @@ -0,0 +1,32 @@ +"use client"; + +import React, { createContext, useContext, useState } from "react"; + +const ScrubberContext = createContext(null); + +export const ScrubberProvider = ({ + children, +}: { + children: React.ReactNode; +}) => { + const [startTime, setStartTime] = useState(0); + const [currentTime, setCurrentTime] = useState(0); + const [isPlaying, setIsPlaying] = useState(false); + + return ( + + {children} + + ); +}; + +export const useScrubber = () => useContext(ScrubberContext); diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/components/TrafficCone.tsx b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/TrafficCone.tsx new file mode 100644 index 000000000..e9991414f --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/TrafficCone.tsx @@ -0,0 +1,69 @@ +"use client"; + +import React, { useRef, useMemo, useEffect, useState } from "react"; +import { useFrame } from "@react-three/fiber"; +import { + Mesh, + Object3D, + MeshStandardMaterial, + Vector3, + Quaternion, + Euler, +} from "three"; +import { useGLTF } from "@react-three/drei"; +import { FrameData } from "@/types/FrameData"; +import { currentTrafficCone } from "@/config/trafficConeConfig"; +import { getInterpolatedFrame } from "@/utils/getInterpolatedFrame"; + +interface TrafficConeProps { + id: string; + timeline: FrameData[]; + time: number; +} + +export default function TrafficCone({ id, timeline, time }: TrafficConeProps) { + const [mounted, setMounted] = useState(false); + const ref = useRef(null); + const { modelPath, scale, rotation, offset, bodyColor } = currentTrafficCone; + const { scene } = useGLTF(modelPath); + const clonedScene = useMemo(() => scene.clone(true), [scene]); + + const targetPosition = useMemo(() => new Vector3(), []); + const targetQuaternion = useMemo(() => new Quaternion(), []); + + useEffect(() => { + setMounted(true); + }, []); + + useEffect(() => { + clonedScene.traverse((child) => { + if ( + child instanceof Mesh && + child.material instanceof MeshStandardMaterial + ) { + child.material = child.material.clone(); + child.material.color.set(bodyColor); + } + }); + }, [clonedScene, bodyColor]); + + useFrame(() => { + if (!ref.current || timeline.length === 0) return; + const frame = getInterpolatedFrame(timeline, time); + if (!frame) return; + targetPosition.set(frame.x, frame.z, frame.y); + ref.current.position.lerp(targetPosition, 0.2); + targetQuaternion.setFromEuler(new Euler(0, -frame.yaw, 0)); + ref.current.quaternion.slerp(targetQuaternion, 0.2); + }); + + return ( + } + object={clonedScene} + scale={scale} + rotation={rotation} + position={offset} + /> + ); +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/components/TrafficLight.tsx b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/TrafficLight.tsx new file mode 100644 index 000000000..59039ab13 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/TrafficLight.tsx @@ -0,0 +1,73 @@ +"use client"; + +import React, { useRef, useMemo, useEffect, useState } from "react"; +import { useFrame } from "@react-three/fiber"; +import { + Mesh, + Object3D, + MeshStandardMaterial, + Vector3, + Quaternion, + Euler, +} from "three"; +import { useGLTF } from "@react-three/drei"; +import { FrameData } from "@/types/FrameData"; +import { currentTrafficLight } from "@/config/trafficLightConfig"; +import { getInterpolatedFrame } from "@/utils/getInterpolatedFrame"; + +interface TrafficLightProps { + id: string; + timeline: FrameData[]; + time: number; +} + +export default function TrafficLight({ + id, + timeline, + time, +}: TrafficLightProps) { + const [mounted, setMounted] = useState(false); + const ref = useRef(null); + const { modelPath, scale, rotation, offset, bodyColor } = currentTrafficLight; + const { scene } = useGLTF(modelPath); + const clonedScene = useMemo(() => scene.clone(true), [scene]); + + const targetPosition = useMemo(() => new Vector3(), []); + const targetQuaternion = useMemo(() => new Quaternion(), []); + + useEffect(() => { + setMounted(true); + }, []); + + useEffect(() => { + clonedScene.traverse((child) => { + if ( + child instanceof Mesh && + child.material instanceof MeshStandardMaterial + ) { + child.material = child.material.clone(); + child.material.color.set(bodyColor); + } + }); + }, [clonedScene, bodyColor]); + + useFrame(() => { + if (!ref.current || timeline.length === 0) return; + const frame = getInterpolatedFrame(timeline, time); + if (!frame) return; + targetPosition.set(frame.x, frame.z, frame.y); + ref.current.position.lerp(targetPosition, 0.2); + targetQuaternion.setFromEuler(new Euler(0, -frame.yaw, 0)); + ref.current.quaternion.slerp(targetQuaternion, 0.2); + }); + + return ( + } + object={clonedScene} + scale={scale} + rotation={rotation} + position={offset} + /> + ); +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/components/Vehicle.tsx b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/Vehicle.tsx new file mode 100644 index 000000000..eb4a24527 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/Vehicle.tsx @@ -0,0 +1,75 @@ +import React, { useRef, useMemo, useEffect } from "react"; +import * as THREE from "three"; +import { useFrame } from "@react-three/fiber"; +import { useCameraController } from "@/hooks/useCameraController"; +import { currentVehicle } from "@/config/vehicleConfig"; +import { FrameData } from "@/types/FrameData"; +import { OrbitControls } from "@react-three/drei"; +import URDFLoader from "urdf-loader"; +import { getInterpolatedFrame } from "@/utils/getInterpolatedFrame"; + +interface VehicleProps { + timeline: FrameData[]; + time: number; +} + +export default function Vehicle({ timeline, time }: VehicleProps) { + const ref = useRef(null); + const vehicleGroup = useRef(new THREE.Group()); + const mode = useCameraController(ref); + + const targetPosition = useMemo(() => new THREE.Vector3(), []); + const targetQuaternion = useMemo(() => new THREE.Quaternion(), []); + + const { modelPath, scale, rotation, offset, bodyColor } = currentVehicle; + + useEffect(() => { + const loader = new URDFLoader(); + + loader.load( + modelPath, + (robot) => { + robot.scale.set(scale[0], scale[1], scale[2]); + robot.rotation.set(rotation[0], rotation[1], rotation[2]); + robot.position.set(offset[0], offset[1], offset[2]); + + robot.traverse((child) => { + if ( + child instanceof THREE.Mesh && + child.material instanceof THREE.MeshStandardMaterial + ) { + child.material = child.material.clone(); + child.material.color.set(bodyColor); + } + }); + + if (vehicleGroup.current) { + vehicleGroup.current.add(robot); + } + }, + undefined, + (error) => { + console.error("URDF loading failed", error); + } + ); + }, [modelPath, scale, rotation, offset, bodyColor]); + + useFrame(() => { + if (!ref.current || timeline.length === 0) return; + const interp = getInterpolatedFrame(timeline, time); + if (!interp) return; + targetPosition.set(interp.x, 0, interp.y); + ref.current.position.lerp(targetPosition, 0.2); + targetQuaternion.setFromEuler(new THREE.Euler(0, -interp.yaw, 0)); + ref.current.quaternion.slerp(targetQuaternion, 0.2); + }); + + return ( + <> + + + + {mode === "free" && } + + ); +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/components/VehicleInfoPanel.tsx b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/VehicleInfoPanel.tsx new file mode 100644 index 000000000..72ab56221 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/VehicleInfoPanel.tsx @@ -0,0 +1,95 @@ +"use client"; + +import React, { useState } from "react"; +import { useTimelineStore } from "@/hooks/useTimelineStore"; +import { RxCross2 } from "react-icons/rx"; + +export function VehicleInfoPanel({ time }: { time: number }) { + const [isOpen, setIsOpen] = useState(true); + const frames = useTimelineStore((s) => s.vehicle); + + const toggleOpen = (e?: React.MouseEvent) => { + if (e) e.preventDefault(); + setIsOpen((open) => !open); + }; + + if (frames.length === 0) return null; + + const startTimestamp = frames[0].time; + const currentTimestamp = startTimestamp + time; + const current = frames.filter((f) => f.time <= currentTimestamp).pop(); + + return ( + <> +
+
+

Vehicle State

+ +
+ + {/* Scrollable content */} +
+ {current ? ( +
    + {[ + ["Timestamp", current.time], + ["X", current.x], + ["Y", current.y], + ["Z", current.z], + ["Yaw", current.yaw], + ["Pitch", current.pitch], + ["Roll", current.roll], + ].map(([label, value]) => ( +
  • + {label}: + {value} +
    • + ))} + + {current.metadata && + Object.entries(current.metadata).map(([key, value]) => { + if (typeof value === "object") return null; + return ( +
  • + + {key.replace(/_/g, " ")}: + + + {String(value)} + +
    • + ); + })} +
+ ) : ( +

+ No vehicle data at this time +

+ )} +
+
+ + {!isOpen && ( + + )} + + ); +} \ No newline at end of file diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/components/VideoPanel.tsx b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/VideoPanel.tsx new file mode 100644 index 000000000..69f39f3e4 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/VideoPanel.tsx @@ -0,0 +1,354 @@ +"use client"; + +import React, { useEffect, useRef, useState } from "react"; +import { useScrubber } from "./ScrubberContext"; +import { + Switch, + FormControlLabel, + Select, + SelectChangeEvent, + MenuItem, +} from "@mui/material"; + +export function decodeImage(msg: { + encoding: string; + data: Uint8Array; + height: number; + width: number; + step: number; +}): ImageData { + const { encoding, data, height, width, step } = msg; + const rgba = new Uint8ClampedArray(width * height * 4); + + if (encoding === "bgr8") { + for (let i = 0; i < height; i++) { + for (let j = 0; j < width; j++) { + const srcIdx = i * step + j * 3; + const dstIdx = (i * width + j) * 4; + rgba[dstIdx] = data[srcIdx + 2]; + rgba[dstIdx + 1] = data[srcIdx + 1]; + rgba[dstIdx + 2] = data[srcIdx]; + rgba[dstIdx + 3] = 255; + } + } + } else if (encoding === "rgb8") { + for (let i = 0; i < height; i++) { + for (let j = 0; j < width; j++) { + const srcIdx = i * step + j * 3; + const dstIdx = (i * width + j) * 4; + rgba[dstIdx] = data[srcIdx]; + rgba[dstIdx + 1] = data[srcIdx + 1]; + rgba[dstIdx + 2] = data[srcIdx + 2]; + rgba[dstIdx + 3] = 255; + } + } + } else if (encoding === "mono8") { + for (let i = 0; i < height; i++) { + for (let j = 0; j < width; j++) { + const gray = data[i * step + j]; + const dstIdx = (i * width + j) * 4; + rgba[dstIdx] = gray; + rgba[dstIdx + 1] = gray; + rgba[dstIdx + 2] = gray; + rgba[dstIdx + 3] = 255; + } + } + } else if (encoding === "bayer_grbg8") { + const get = (x: number, y: number): number => + x >= 0 && y >= 0 && x < width && y < height + ? data[y * width + x] + : 0; + + for (let y = 0; y < height; y++) { + for (let x = 0; x < width; x++) { + let r = 0, + g = 0, + b = 0; + + const val = get(x, y); + + if (y % 2 === 0) { + if (x % 2 === 0) { + g = val; + r = (get(x - 1, y) + get(x + 1, y)) / 2; + b = (get(x, y - 1) + get(x, y + 1)) / 2; + } else { + r = val; + g = + (get(x - 1, y) + + get(x + 1, y) + + get(x, y - 1) + + get(x, y + 1)) / + 4; + b = + (get(x - 1, y - 1) + + get(x + 1, y - 1) + + get(x - 1, y + 1) + + get(x + 1, y + 1)) / + 4; + } + } else { + if (x % 2 === 0) { + b = val; + g = + (get(x - 1, y) + + get(x + 1, y) + + get(x, y - 1) + + get(x, y + 1)) / + 4; + r = + (get(x - 1, y - 1) + + get(x + 1, y - 1) + + get(x - 1, y + 1) + + get(x + 1, y + 1)) / + 4; + } else { + g = val; + r = (get(x, y - 1) + get(x, y + 1)) / 2; + b = (get(x - 1, y) + get(x + 1, y)) / 2; + } + } + + const i = (y * width + x) * 4; + rgba[i] = r; + rgba[i + 1] = g; + rgba[i + 2] = b; + rgba[i + 3] = 255; + } + } + } else { + throw new Error(`Unsupported encoding: ${encoding}`); + } + + return new ImageData(rgba, width, height); +} + +type VideoPanelProps = { + messages: Record; + initialTopic?: string; +}; + +export const VideoPanel: React.FC = ({ + messages, + initialTopic, +}) => { + const { startTime, currentTime } = useScrubber(); + const canvasRef = useRef(null); + const containerRef = useRef(null); + const imageRef = useRef(null); + + const [enableInteraction, setEnableInteraction] = useState(false); + const [zoom, setZoom] = useState(1); + const [offset, setOffset] = useState({ x: 0, y: 0 }); + const [isDragging, setIsDragging] = useState(false); + const lastMouse = useRef({ x: 0, y: 0 }); + const [selectedTopic, setSelectedTopic] = useState( + initialTopic || Object.keys(messages)[0] || "" + ); + + useEffect(() => { + if (initialTopic && messages[initialTopic]) { + setSelectedTopic(initialTopic); + } + }, [initialTopic]); + + useEffect(() => { + if (!selectedTopic || !messages[selectedTopic]) return; + const msg = messages[selectedTopic].find( + (m) => m.timestamp >= startTime + currentTime + ); + if (!msg || !msg.data) return; + + const canvas = canvasRef.current; + const ctx = canvas?.getContext("2d"); + + try { + const imageData = decodeImage(msg.data); + imageRef.current = imageData; + + if (!enableInteraction) { + if (canvas && ctx) { + canvas.width = imageData.width; + canvas.height = imageData.height; + ctx.putImageData(imageData, 0, 0); + } + } else { + drawImage(); + } + } catch (e) { + console.error("Failed to decode image:", e); + } + }, [messages, currentTime, enableInteraction]); + + const drawImage = () => { + requestAnimationFrame(() => { + const canvas = canvasRef.current; + const ctx = canvas?.getContext("2d"); + const imageData = imageRef.current; + if (!canvas || !ctx || !imageData) return; + + const { width: cw, height: ch } = canvas; + ctx.clearRect(0, 0, cw, ch); + + const imgAspect = imageData.width / imageData.height; + const canvasAspect = cw / ch; + + let drawW = imageData.width * zoom; + let drawH = imageData.height * zoom; + + if (imgAspect > canvasAspect) { + drawW = cw * zoom; + drawH = drawW / imgAspect; + } else { + drawH = ch * zoom; + drawW = drawH * imgAspect; + } + + const drawX = (cw - drawW) / 2 + offset.x; + const drawY = (ch - drawH) / 2 + offset.y; + + const offscreen = document.createElement("canvas"); + offscreen.width = imageData.width; + offscreen.height = imageData.height; + offscreen.getContext("2d")?.putImageData(imageData, 0, 0); + + ctx.drawImage(offscreen, drawX, drawY, drawW, drawH); + }); + }; + + useEffect(() => { + if (!enableInteraction) return; + + const container = containerRef.current; + if (!container) return; + + const handleWheel = (e: WheelEvent) => { + e.preventDefault(); + const zoomDelta = -e.deltaY * 0.001; + setZoom((z) => Math.min(Math.max(z + zoomDelta, 0.1), 10)); + }; + + container.addEventListener("wheel", handleWheel, { passive: false }); + return () => container.removeEventListener("wheel", handleWheel); + }, [enableInteraction]); + + useEffect(() => { + if (!enableInteraction) return; + drawImage(); + }, [zoom, offset, enableInteraction]); + + useEffect(() => { + const handleResize = () => { + const container = containerRef.current; + const canvas = canvasRef.current; + if (container && canvas) { + canvas.width = container.clientWidth; + canvas.height = container.clientHeight; + if (enableInteraction) drawImage(); + } + }; + + window.addEventListener("resize", handleResize); + handleResize(); + return () => window.removeEventListener("resize", handleResize); + }, [enableInteraction]); + + useEffect(() => { + if (!enableInteraction) { + setZoom(1); + setOffset({ x: 0, y: 0 }); + } + }, [enableInteraction]); + + const handleMouseDown = (e: React.MouseEvent) => { + if (!enableInteraction) return; + setIsDragging(true); + lastMouse.current = { x: e.clientX, y: e.clientY }; + }; + + const handleMouseMove = (e: React.MouseEvent) => { + if (!enableInteraction || !isDragging) return; + const dx = e.clientX - lastMouse.current.x; + const dy = e.clientY - lastMouse.current.y; + lastMouse.current = { x: e.clientX, y: e.clientY }; + setOffset((prev) => ({ x: prev.x + dx, y: prev.y + dy })); + }; + + const handleMouseUp = () => { + if (!enableInteraction) return; + setIsDragging(false); + }; + + return ( +
+
+ +
+
+ + setEnableInteraction(e.target.checked) + } + /> + } + sx={{ + backgroundColor: "white", + opacity: 0.25, + borderRadius: "9999px", + paddingRight: "10px", + "&:hover": { + opacity: 0.5, + }, + }} + /> +
+ + +
+ ); +}; diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/config/cameraConfig.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/config/cameraConfig.ts new file mode 100644 index 000000000..ae017432c --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/config/cameraConfig.ts @@ -0,0 +1,35 @@ +type CameraConfig = { + position: [number, number, number]; + lookAt: [number, number, number]; + damping?: number; +}; + +type CameraConfigMap = { + [key in 'first' | 'chase' | 'top' | 'side' | 'free']: Partial; +}; + +const cameraConfig: CameraConfigMap = { + first: { + position: [0, 1.5, 0], + lookAt: [10, 2, 0], + damping: 0.1, + }, + chase: { + position: [-6, 3, 0], + lookAt: [0, 0, 0], + damping: 0.1, + }, + top: { + position: [0, 10, 0], + lookAt: [0, 0, 0], + damping: 0.1, + }, + side: { + position: [0, 2, 5], + lookAt: [0, 0, -10], + damping: 0.1, + }, + free: {}, +}; + +export { cameraConfig }; diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/config/groundConfig.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/config/groundConfig.ts new file mode 100644 index 000000000..914fc6362 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/config/groundConfig.ts @@ -0,0 +1,32 @@ +export interface GroundConfig { + size: [number, number]; + position: [number, number, number]; + rotation: [number, number, number]; + cellSize: number; + cellThickness: number; + cellColor: string; + sectionSize: number; + sectionThickness: number; + sectionColor: string; + fadeDistance: number; + fadeStrength: number; + infiniteGrid: boolean; +} + +const groundConfig: GroundConfig = { + size: [1000, 1000], + position: [0, 0, 0], + rotation: [0, 0, 0], + cellSize: 2, + cellThickness: 0.5, + cellColor: "#222222", + sectionSize: 10, + sectionThickness: 1, + sectionColor: "#444444", + fadeDistance: 1500, + fadeStrength: 0, + infiniteGrid: false, +}; + + +export { groundConfig }; \ No newline at end of file diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/config/otherVehicleConfig.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/config/otherVehicleConfig.ts new file mode 100644 index 000000000..2296e26d0 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/config/otherVehicleConfig.ts @@ -0,0 +1,14 @@ +const otherVehicleConfig = { + car: { + name: "Car", + modelPath: "/models/model/gem_e2.urdf", + scale: [1, 1, 1], + rotation: [-Math.PI / 2, 0, 0], + offset: [0, 0, 0], + bodyColor: "#808080", + }, +}; + +const currentOtherVehicle = otherVehicleConfig.car; + +export { otherVehicleConfig, currentOtherVehicle }; diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/config/pedestrianConfig.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/config/pedestrianConfig.ts new file mode 100644 index 000000000..57030e97d --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/config/pedestrianConfig.ts @@ -0,0 +1,14 @@ +const pedestrianConfig = { + pedestrian: { + name: "Pedestrian", + modelPath: "/models/pedestrian.glb", + scale: [0.2, 0.2, 0.2], + rotation: [0, Math.PI, 0], + offset: [0, 0, 0], + bodyColor: "#808080", + } +}; + +const currentPedestrian = pedestrianConfig.pedestrian; + +export { pedestrianConfig, currentPedestrian }; \ No newline at end of file diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/config/trafficConeConfig.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/config/trafficConeConfig.ts new file mode 100644 index 000000000..76a1e6479 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/config/trafficConeConfig.ts @@ -0,0 +1,14 @@ +const trafficConeConfig = { + trafficCone: { + name: "Traffic Cone", + modelPath: "/models/traffic_cone.glb", + scale: [0.03, 0.03, 0.03], + rotation: [0, 0, 0], + offset: [0, 0, 0], + bodyColor: "#FFFFFF", + }, +}; + +const currentTrafficCone = trafficConeConfig.trafficCone; + +export { trafficConeConfig, currentTrafficCone }; diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/config/trafficLightConfig.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/config/trafficLightConfig.ts new file mode 100644 index 000000000..ef86a63ee --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/config/trafficLightConfig.ts @@ -0,0 +1,14 @@ +const trafficLightConfig = { + trafficLight: { + name: "Traffic Light", + modelPath: "/models/traffic_light.glb", + scale: [0.03, 0.03, 0.03], + rotation: [0, 0, 0], + offset: [0, 0, 0], + bodyColor: "#FFD700", + }, +}; + +const currentTrafficLight = trafficLightConfig.trafficLight; + +export { trafficLightConfig, currentTrafficLight }; diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/config/vehicleConfig.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/config/vehicleConfig.ts new file mode 100644 index 000000000..a23435ad0 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/config/vehicleConfig.ts @@ -0,0 +1,14 @@ +const vehicles = { + gemE4: { + name: "Gem E4", + modelPath: "/models/model/gem_e4.urdf", + scale: [1, 1, 1], + rotation: [-Math.PI / 2, 0, 0], + offset: [0, 0, 0], + bodyColor: "#808080", + } +}; + +const currentVehicle = vehicles.gemE4; + +export { vehicles, currentVehicle }; diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/hooks/useCameraController.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/hooks/useCameraController.ts new file mode 100644 index 000000000..326cef297 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/hooks/useCameraController.ts @@ -0,0 +1,86 @@ +"use client"; + +import { useEffect, useState, useRef } from "react"; +import { useThree, useFrame } from "@react-three/fiber"; +import * as THREE from "three"; +import { cameraConfig } from "@/config/cameraConfig"; + +type CameraModeKey = "chase" | "top" | "side" | "free" | "first"; + +export function useCameraController( + carRef: React.RefObject +): CameraModeKey { + const { camera, gl } = useThree(); + const [mode, setMode] = useState("chase"); + const lastMode = useRef("chase"); + const modeRef = useRef("chase"); + + const smoothedPos = useRef(new THREE.Vector3()); + const smoothedLookAt = useRef(new THREE.Vector3()); + + useEffect(() => { modeRef.current = mode; }, [mode]); + + useEffect(() => { + const handleKey = (e: KeyboardEvent) => { + switch (e.key) { + case "1": setMode("first"); break; + case "2": setMode("chase"); break; + case "3": setMode("top"); break; + case "4": setMode("side"); break; + case "5": lastMode.current = modeRef.current; setMode("free"); break; + case "0": if (lastMode.current !== "free") setMode(lastMode.current); break; + } + }; + window.addEventListener("keydown", handleKey); + return () => window.removeEventListener("keydown", handleKey); + }, []); + + useEffect(() => { + const dom = gl.domElement; + const activateFree = () => { + if (modeRef.current !== "free") { + lastMode.current = modeRef.current; + setMode("free"); + } + }; + const onMouseDown = (e: MouseEvent) => { if (e.button === 0) activateFree(); }; + const onWheel = () => activateFree(); + + dom.addEventListener("mousedown", onMouseDown); + dom.addEventListener("wheel", onWheel); + return () => { + dom.removeEventListener("mousedown", onMouseDown); + dom.removeEventListener("wheel", onWheel); + }; + }, [gl.domElement]); + + useFrame((_, delta) => { + if (modeRef.current === "free" || !carRef.current) return; + + const config = cameraConfig[modeRef.current]; + if (!config) return; + + const alpha = 1 - Math.exp(-10.0 * delta); + + const carPos = new THREE.Vector3(); + carRef.current.getWorldPosition(carPos); + const carQuat = new THREE.Quaternion(); + carRef.current.getWorldQuaternion(carQuat); + + const [px, py, pz] = config.position ?? [0, 0, 0]; + const camTargetPos = carPos.clone().add( + new THREE.Vector3(px, py, pz).applyQuaternion(carQuat) + ); + smoothedPos.current.lerp(camTargetPos, alpha); + camera.position.copy(smoothedPos.current); + + const [lx, ly, lz] = config.lookAt ?? [0, 0, 0]; + const camLookAt = carPos.clone().add( + new THREE.Vector3(lx, ly, lz).applyQuaternion(carQuat) + ); + smoothedLookAt.current.lerp(camLookAt, alpha); + camera.lookAt(smoothedLookAt.current); + }); + + return mode; +} \ No newline at end of file diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/hooks/usePlaybackTime.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/hooks/usePlaybackTime.ts new file mode 100644 index 000000000..95843bb0f --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/hooks/usePlaybackTime.ts @@ -0,0 +1,61 @@ +import { useEffect, useRef, useState } from "react"; + +export function usePlaybackTime() { + const [time, setTime] = useState(0); + const [play, setPlay] = useState(true); + const [speed, setSpeed] = useState(1); + const [duration, setDuration] = useState(0); + + const lastFrame = useRef(performance.now()); + + const reset = () => { + lastFrame.current = performance.now(); + setTime(0); + setDuration(0); + setPlay(true); + }; + + const restart = () => { + lastFrame.current = performance.now(); + setTime(0); + setPlay(true); + } + + const togglePlay = () => { + setPlay((prev) => { + if (!prev) lastFrame.current = performance.now(); + return !prev; + }); + }; + + const setPlaybackSpeed = (newSpeed: number) => { + if (newSpeed <= 0) return; + setSpeed(newSpeed); + }; + + const moveToTime = (targetTime: number) => { + setTime(targetTime); + lastFrame.current = performance.now(); + } + + useEffect(() => { + let rafId: number; + + const loop = () => { + rafId = requestAnimationFrame(loop); + + if (!play) return; + + const now = performance.now(); + const delta = (now - lastFrame.current) / 1000; + lastFrame.current = now; + + setTime((t) => t + delta * speed); + }; + + rafId = requestAnimationFrame(loop); + return () => cancelAnimationFrame(rafId); + }, [play, speed]); + + return { time, reset, restart, play, setPlay, togglePlay, speed, setPlaybackSpeed, moveToTime, duration, setDuration }; +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/hooks/useTimelineStore.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/hooks/useTimelineStore.ts new file mode 100644 index 000000000..ba371de9e --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/hooks/useTimelineStore.ts @@ -0,0 +1,11 @@ +import { TimelineStore } from '@/types/TimelineStore'; +import { create } from 'zustand'; + +export const useTimelineStore = create((set) => ({ + vehicle: [], + pedestrians: {}, + trafficLights: {}, + trafficCones: {}, + otherVehicles: {}, + setTimeline: (timeline) => set(timeline), +})); diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/hooks/useVehicleControls.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/hooks/useVehicleControls.ts new file mode 100644 index 000000000..27eccfc5f --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/hooks/useVehicleControls.ts @@ -0,0 +1,67 @@ +import { useEffect, useState, useRef } from 'react'; +import { Group, Vector3, Euler } from 'three'; +import { useFrame } from '@react-three/fiber'; + +export function useVehicleControls( + groupRef: React.RefObject, + getSpeed: () => number = () => 1 +) { + const [keys, setKeys] = useState<{ [key: string]: boolean }>({}); + const targetPosition = useRef(new Vector3()); + const targetRotation = useRef(new Euler()); + + useEffect(() => { + const handleKeyDown = (e: KeyboardEvent) => + setKeys((k) => ({ ...k, [e.key.toLowerCase()]: true })); + const handleKeyUp = (e: KeyboardEvent) => + setKeys((k) => ({ ...k, [e.key.toLowerCase()]: false })); + + window.addEventListener('keydown', handleKeyDown); + window.addEventListener('keyup', handleKeyUp); + return () => { + window.removeEventListener('keydown', handleKeyDown); + window.removeEventListener('keyup', handleKeyUp); + }; + }, []); + + const state = { moving: false, direction: 0 }; + + useFrame((_, delta) => { + if (!groupRef.current) return; + + const group = groupRef.current; + const speed = getSpeed(); + const moveDir = new Vector3(); + const currentRotation = group.rotation.clone(); + + state.moving = false; + + const forward = new Vector3(1, 0, 0).applyEuler(currentRotation); + + if (keys['w']) { + moveDir.add(forward); + state.moving = true; + state.direction = 1; + } + if (keys['s']) { + moveDir.sub(forward); + state.moving = true; + state.direction = -1; + } + + moveDir.normalize().multiplyScalar(speed * delta); + targetPosition.current.add(moveDir); + + const steerAmount = 1.5 * delta * (keys['s'] ? -1 : 1); + if (keys['a']) targetRotation.current.y += steerAmount; + if (keys['d']) targetRotation.current.y -= steerAmount; + + // Smooth rotation + group.rotation.y += (targetRotation.current.y - group.rotation.y) * 0.2; + + // Smooth position + group.position.lerp(targetPosition.current, 0.2); + }); + + return state; +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/types/FrameData.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/types/FrameData.ts new file mode 100644 index 000000000..8e9442962 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/types/FrameData.ts @@ -0,0 +1,10 @@ +export interface FrameData { + time: number; + x: number; + y: number; + z: number; + yaw: number; + pitch: number; + roll: number; + metadata?: Record; +} \ No newline at end of file diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/types/LogEntry.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/types/LogEntry.ts new file mode 100644 index 000000000..15b88b363 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/types/LogEntry.ts @@ -0,0 +1,7 @@ +export interface LogEntry { + key: string; // Top-level key (e.g., "vehicle", "agents", etc.) + type: string; // Inner type (e.g., "VehicleState") + time: number; // Timestamp of the event + data: T; // Full data object (includes pose, velocity, etc.) +} + diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/types/TimelineData.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/types/TimelineData.ts new file mode 100644 index 000000000..8db52b621 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/types/TimelineData.ts @@ -0,0 +1,9 @@ +import { FrameData } from './FrameData'; + +export interface TimelineData { + vehicle: FrameData[]; + pedestrians: Record; + trafficLights: Record; + trafficCones: Record; + otherVehicles: Record; +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/types/TimelineStore.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/types/TimelineStore.ts new file mode 100644 index 000000000..ed2341de9 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/types/TimelineStore.ts @@ -0,0 +1,5 @@ +import { TimelineData } from './TimelineData'; + +export interface TimelineStore extends TimelineData { + setTimeline: (timeline: TimelineData) => void; +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/utils/buildTimeline.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/utils/buildTimeline.ts new file mode 100644 index 000000000..536c6e896 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/utils/buildTimeline.ts @@ -0,0 +1,49 @@ +import { LogEntry } from "@/types/LogEntry"; +import { FrameData } from "@/types/FrameData"; +import { TimelineData } from "@/types/TimelineData"; + +export function buildTimeline(entries: LogEntry[]): TimelineData { + const vehicle: FrameData[] = []; + const pedestrians: Record = {}; + const trafficLights: Record = {}; + const trafficCones: Record = {}; + const otherVehicles: Record = {}; + + for (const entry of entries) { + const pose = entry.data?.pose; + if (!pose || typeof pose.x !== "number" || typeof pose.y !== "number") continue; + + const frame: FrameData = { + time: entry.time, + x: pose.x ?? 0, + y: pose.y ?? 0, + z: pose.z ?? 0, + yaw: pose.yaw ?? 0, + pitch: pose.pitch ?? 0, + roll: pose.roll ?? 0, + metadata: entry.type === "VehicleState" ? { ...entry.data } : undefined, + }; + + if (entry.type === "VehicleState") { + vehicle.push(frame); + } else if (entry.type === "PedestrianState") { + const key = entry.key.trim(); + if (!pedestrians[key]) pedestrians[key] = []; + pedestrians[key].push(frame); + } else if (entry.type === "TrafficLightState") { + const key = entry.key.trim(); + if (!trafficLights[key]) trafficLights[key] = []; + trafficLights[key].push(frame); + } else if (entry.type === "TrafficConeState") { + const key = entry.key.trim(); + if (!trafficCones[key]) trafficCones[key] = []; + trafficCones[key].push(frame); + } else if (entry.type === "OtherVehicleState") { + const key = entry.key.trim(); + if (!otherVehicles[key]) otherVehicles[key] = []; + otherVehicles[key].push(frame); + } + } + + return { vehicle, pedestrians, trafficLights, trafficCones, otherVehicles }; +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/utils/getInterpolatedFrame.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/utils/getInterpolatedFrame.ts new file mode 100644 index 000000000..cc38d019e --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/utils/getInterpolatedFrame.ts @@ -0,0 +1,30 @@ +import { FrameData } from "@/types/FrameData"; + +export function getInterpolatedFrame(frames: FrameData[], t: number): FrameData | null { + if (frames.length === 0) return null; + // If before first or after last, clamp + if (t <= frames[0].time) return frames[0]; + if (t >= frames[frames.length - 1].time) return frames[frames.length - 1]; + + // binary search for the first frame with time > t + let lo = 0, hi = frames.length - 1; + while (lo < hi) { + const mid = Math.floor((lo + hi) / 2); + if (frames[mid].time > t) hi = mid; + else lo = mid + 1; + } + const b = frames[lo]; + const a = frames[lo - 1]; + + const α = (t - a.time) / (b.time - a.time); + return { + time: t, + x: a.x * (1 - α) + b.x * α, + y: a.y * (1 - α) + b.y * α, + z: a.z * (1 - α) + b.z * α, + yaw: a.yaw * (1 - α) + b.yaw * α, + pitch: a.pitch * (1 - α) + b.pitch * α, + roll: a.roll * (1 - α) + b.roll * α, + metadata: a.metadata, // or merge if needed + }; +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/utils/parseLogFile.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/utils/parseLogFile.ts new file mode 100644 index 000000000..cd7887aec --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/utils/parseLogFile.ts @@ -0,0 +1,66 @@ +import { LogEntry } from '../types/LogEntry'; +import { streamLogLines } from './streamLogLines'; + +export async function parseLogFile(file: File): Promise { + const entries: LogEntry[] = []; + + for await (const line of streamLogLines(file)) { + try { + const parsed = JSON.parse(line); + const time = parsed.time; + + for (const [key, value] of Object.entries(parsed)) { + if (key === 'time' || typeof value !== 'object' || value === null) continue; + + // Main vehicle (frame 2) + if ( + key === 'vehicle' && + 'type' in value && + 'data' in value && + (value as any).type === "VehicleState" + ) { + entries.push({ + key, + type: (value as any).type, + time, + data: (value as any).data, + }); + continue; + } + + // Unified agents (pedestrians, lights, cones, others) — frame 0 only + if (key === 'agents') { + for (const [agentId, agentValue] of Object.entries(value)) { + if ( + typeof agentValue === 'object' && + agentValue !== null && + 'data' in agentValue && + (agentValue as any).type === 'AgentState' + ) { + const inferredType = getTypeFromKey(agentId); + entries.push({ + key: agentId, + type: inferredType, + time, + data: (agentValue as any).data, + }); + } + } + } + } + } catch (err) { + console.warn('Failed to parse log line:', err); + } + } + + return entries; +} + +function getTypeFromKey(key: string): string { + const lowerKey = key.toLowerCase(); + if (lowerKey.startsWith('pedestrian')) return 'PedestrianState'; + if (lowerKey.startsWith('vehicle')) return 'OtherVehicleState'; + if (lowerKey.startsWith('light')) return 'TrafficLightState'; + if (lowerKey.startsWith('cone')) return 'TrafficConeState'; + return 'UnknownState'; +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/utils/streamLogLines.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/utils/streamLogLines.ts new file mode 100644 index 000000000..d4c0c5ba8 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/utils/streamLogLines.ts @@ -0,0 +1,20 @@ +export async function* streamLogLines(file: File): AsyncGenerator { + const reader = file.stream().getReader(); + const decoder = new TextDecoder('utf-8'); + let partial = ''; + + while (true) { + const { value, done } = await reader.read(); + if (done) break; + + partial += decoder.decode(value, { stream: true }); + const lines = partial.split('\n'); + partial = lines.pop() || ''; + + for (const line of lines) { + if (line.trim()) yield line; + } + } + + if (partial.trim()) yield partial; +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/tsconfig.json b/GEMstack/onboard/visualization/sr_viz/threeD/tsconfig.json new file mode 100644 index 000000000..c1334095f --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/tsconfig.json @@ -0,0 +1,27 @@ +{ + "compilerOptions": { + "target": "ES2017", + "lib": ["dom", "dom.iterable", "esnext"], + "allowJs": true, + "skipLibCheck": true, + "strict": true, + "noEmit": true, + "esModuleInterop": true, + "module": "esnext", + "moduleResolution": "bundler", + "resolveJsonModule": true, + "isolatedModules": true, + "jsx": "preserve", + "incremental": true, + "plugins": [ + { + "name": "next" + } + ], + "paths": { + "@/*": ["./src/*"] + } + }, + "include": ["next-env.d.ts", "**/*.ts", "**/*.tsx", ".next/types/**/*.ts"], + "exclude": ["node_modules"] +} diff --git a/log_dashboard/app.py b/log_dashboard/app.py index 3258d9cbd..7e2178b06 100644 --- a/log_dashboard/app.py +++ b/log_dashboard/app.py @@ -9,179 +9,228 @@ import numpy as np import platform import matplotlib +from flask import Response, stream_with_context +from flask_cors import CORS + # Use the 'Agg' backend which is thread-safe and doesn't require a GUI -matplotlib.use('Agg') +matplotlib.use("Agg") import matplotlib.pyplot as plt + app = Flask(__name__) +CORS(app) +CORS(app, origins=["http://localhost:3000"]) + # Configure cache cache = SimpleCache(threshold=500, default_timeout=300) # 5 minutes cache timeout -LOG_DIR = '../logs' +LOG_DIR = "../logs" + def generate_behavior_plots(log_folder, behavior_file, target_frame=3): """ Generate a comprehensive visualization plot for vehicle, agents, and trajectory - + Args: log_folder (str): Name of the log folder behavior_file (str): Path to the behavior.json file target_frame (int, optional): Specific frame to filter data. Defaults to None. - + Returns: dict: Paths to generated plot files """ target_frame = 3 # Define output plot directory - plot_dir = os.path.join('./plots', log_folder, 'viz') + plot_dir = os.path.join("./plots", log_folder, "viz") os.makedirs(plot_dir, exist_ok=True) - + # Create cache file to track previous plot generation - cache_file = os.path.join(plot_dir, f'plot_cache_frame_{target_frame}.json') - + cache_file = os.path.join(plot_dir, f"plot_cache_frame_{target_frame}.json") + # Check if plots have been previously generated if os.path.exists(cache_file): - with open(cache_file, 'r') as f: + with open(cache_file, "r") as f: return json.load(f) - + + # Initialize data collections vehicle_data = [] agent_data = {} trajectory_data = [] - + # Parse behavior file - with open(behavior_file, 'r') as f: + with open(behavior_file, "r") as f: for line in f: try: entry = json.loads(line.strip()) - + # Vehicle state - if 'vehicle' in entry and 'data' in entry['vehicle']: - vehicle_state = entry['vehicle']['data']['pose'] + if "vehicle" in entry and "data" in entry["vehicle"]: + vehicle_state = entry["vehicle"]["data"]["pose"] # Check frame filter if specified - if target_frame is None or vehicle_state.get('frame') == target_frame: - vehicle_data.append({ - 'time': entry['time'], - 'x': vehicle_state.get('x', 0), - 'y': vehicle_state.get('y', 0), - 'frame': vehicle_state.get('frame') - }) - + if ( + target_frame is None + or vehicle_state.get("frame") == target_frame + ): + vehicle_data.append( + { + "time": entry["time"], + "x": vehicle_state.get("x", 0), + "y": vehicle_state.get("y", 0), + "frame": vehicle_state.get("frame"), + } + ) + # Agent states - if 'agents' in entry: - for agent_name, agent_info in entry['agents'].items(): - agent_state = agent_info['data']['pose'] + if "agents" in entry: + for agent_name, agent_info in entry["agents"].items(): + agent_state = agent_info["data"]["pose"] # Check frame filter if specified - if target_frame is None or agent_state.get('frame') == target_frame: + if ( + target_frame is None + or agent_state.get("frame") == target_frame + ): if agent_name not in agent_data: agent_data[agent_name] = [] - - agent_data[agent_name].append({ - 'time': entry['time'], - 'x': agent_state.get('x', 0), - 'y': agent_state.get('y', 0), - 'frame': agent_state.get('frame') - }) - + + agent_data[agent_name].append( + { + "time": entry["time"], + "x": agent_state.get("x", 0), + "y": agent_state.get("y", 0), + "frame": agent_state.get("frame"), + } + ) + # Trajectory - if 'trajectory' in entry and 'data' in entry['trajectory']: - traj_points = entry['trajectory']['data']['points'] - traj_times = entry['trajectory']['data']['times'] - traj_frames = entry['trajectory']['data'].get('frames', [None] * len(traj_points)) - + if "trajectory" in entry and "data" in entry["trajectory"]: + traj_points = entry["trajectory"]["data"]["points"] + traj_times = entry["trajectory"]["data"]["times"] + traj_frames = entry["trajectory"]["data"].get( + "frames", [None] * len(traj_points) + ) + trajectory_data = [ - {'x': point[0], 'y': point[1], 'time': time, 'frame': frame} - for point, time, frame in zip(traj_points, traj_times, traj_frames) + {"x": point[0], "y": point[1], "time": time, "frame": frame} + for point, time, frame in zip( + traj_points, traj_times, traj_frames + ) if target_frame is None or frame == target_frame ] - + except json.JSONDecodeError: continue - + # Comprehensive Plot plt.figure(figsize=(12, 8)) - + # Plot vehicle trajectory if vehicle_data: - vehicle_xs = [v['x'] for v in vehicle_data] - vehicle_ys = [v['y'] for v in vehicle_data] - plt.plot(vehicle_xs, vehicle_ys, label='Vehicle Path', color='red', linewidth=3, marker='o', markersize=5) - + vehicle_xs = [v["x"] for v in vehicle_data] + vehicle_ys = [v["y"] for v in vehicle_data] + plt.plot( + vehicle_xs, + vehicle_ys, + label="Vehicle Path", + color="red", + linewidth=3, + marker="o", + markersize=5, + ) + # Plot agent trajectories for agent_name, positions in agent_data.items(): - agent_xs = [a['x'] for a in positions] - agent_ys = [a['y'] for a in positions] - plt.plot(agent_xs, agent_ys, label=agent_name, marker='x') - + agent_xs = [a["x"] for a in positions] + agent_ys = [a["y"] for a in positions] + plt.plot(agent_xs, agent_ys, label=agent_name, marker="x") + # Plot planned trajectory if trajectory_data: - traj_xs = [t['x'] for t in trajectory_data] - traj_ys = [t['y'] for t in trajectory_data] - plt.plot(traj_xs, traj_ys, label='Planned Trajectory', color='green', linestyle='--', linewidth=2) - - plt.title(f'Comprehensive Movement Visualization (Frame {target_frame})') - plt.xlabel('X Position') - plt.ylabel('Y Position') + traj_xs = [t["x"] for t in trajectory_data] + traj_ys = [t["y"] for t in trajectory_data] + plt.plot( + traj_xs, + traj_ys, + label="Planned Trajectory", + color="green", + linestyle="--", + linewidth=2, + ) + + plt.title(f"Comprehensive Movement Visualization (Frame {target_frame})") + plt.xlabel("X Position") + plt.ylabel("Y Position") plt.legend() - plt.grid(True, linestyle='--', alpha=0.7) - + plt.grid(True, linestyle="--", alpha=0.7) + # Save the plot - plot_path = os.path.join(plot_dir, f'comprehensive_trajectory_frame_{target_frame}.png') - plt.savefig(plot_path, dpi=300, bbox_inches='tight') + plot_path = os.path.join( + plot_dir, f"comprehensive_trajectory_frame_{target_frame}.png" + ) + plt.savefig(plot_path, dpi=300, bbox_inches="tight") plt.close() - + # Cache plot file paths - plot_files = {'comprehensive': plot_path} - with open(cache_file, 'w') as f: + plot_files = {"comprehensive": plot_path} + with open(cache_file, "w") as f: json.dump(plot_files, f) - + return plot_files -@app.route('/view_log//render') + +@app.route("/view_log//render") + def render_vis_html(log_folder): print(f"Rendering visualization HTML for log folder: {log_folder}") return render_template("render.html", log_folder=log_folder) -@app.route('/view_log//get_render') + +@app.route("/view_log//get_render") def render_behavior_visualization(log_folder): """ Render behavior visualization for a specific log folder - + + Returns: JSON response with plot file paths """ log_folder_path = os.path.join(LOG_DIR, log_folder) - + # Find behavior.json file - behavior_files = [f for f in os.listdir(log_folder_path) if f == 'behavior.json'] - + behavior_files = [f for f in os.listdir(log_folder_path) if f == "behavior.json"] + if not behavior_files: - return jsonify({'error': 'No behavior.json file found'}), 404 - + return jsonify({"error": "No behavior.json file found"}), 404 + behavior_file_path = os.path.join(log_folder_path, behavior_files[0]) - + # Get frame from query parameter, default to None if not specified - target_frame = request.args.get('frame', type=int) - + target_frame = request.args.get("frame", type=int) + try: # Generate behavior plots - plot_files = generate_behavior_plots(log_folder, behavior_file_path, target_frame) + plot_files = generate_behavior_plots( + log_folder, behavior_file_path, target_frame + ) print(plot_files) # return jsonify(plot_files) # return render_template("render.html", image_path=plot_files) - return send_file(plot_files['comprehensive'], mimetype='image/png') - + return send_file(plot_files["comprehensive"], mimetype="image/png") + except Exception as e: - return jsonify({'error': str(e)}), 500 + return jsonify({"error": str(e)}), 500 + # Add a route to serve plot files -@app.route('/plots//viz/') +@app.route("/plots//viz/") + def serve_plot(log_folder, filename): """ Serve plot files from the plots directory """ - plot_dir = os.path.join('./plots', log_folder, 'viz') + plot_dir = os.path.join("./plots", log_folder, "viz") + return send_file(os.path.join(plot_dir, filename)) @@ -189,10 +238,12 @@ def get_cache_key(prefix, *args): """Generate a cache key with a prefix and arguments""" return f"{prefix}_{hash(str(args))}" + def parse_behavior_data(file_path): """ Parse behavior.json file and extract vehicle and agent positions - + + Returns: { 'vehicle': [{'time': float, 'x': float, 'y': float}, ...], @@ -204,86 +255,96 @@ def parse_behavior_data(file_path): } """ try: - with open(file_path, 'r') as f: + with open(file_path, "r") as f: # Read file line by line to handle large files - positions = { - 'vehicle': [], - 'agents': {} - } - + positions = {"vehicle": [], "agents": {}} + for line in f: try: entry = json.loads(line.strip()) - + # Process Vehicle State - if 'vehicle' in entry: - vehicle_data = entry['vehicle']['data']['pose'] - positions['vehicle'].append({ - 'time': entry['time'], - 'x': vehicle_data.get('x', 0), - 'y': vehicle_data.get('y', 0) - }) - + if "vehicle" in entry: + vehicle_data = entry["vehicle"]["data"]["pose"] + positions["vehicle"].append( + { + "time": entry["time"], + "x": vehicle_data.get("x", 0), + "y": vehicle_data.get("y", 0), + } + ) + # Process Agent States - if 'agents' in entry: - for agent_name, agent_data in entry['agents'].items(): - if agent_name not in positions['agents']: - positions['agents'][agent_name] = [] - - agent_pose = agent_data['data']['pose'] - positions['agents'][agent_name].append({ - 'time': entry['time'], - 'x': agent_pose.get('x', 0), - 'y': agent_pose.get('y', 0) - }) - + if "agents" in entry: + for agent_name, agent_data in entry["agents"].items(): + if agent_name not in positions["agents"]: + positions["agents"][agent_name] = [] + + agent_pose = agent_data["data"]["pose"] + positions["agents"][agent_name].append( + { + "time": entry["time"], + "x": agent_pose.get("x", 0), + "y": agent_pose.get("y", 0), + } + ) + except json.JSONDecodeError: # Skip invalid JSON lines continue - + + return positions except Exception as e: print(f"Error parsing behavior data: {e}") return None + @functools.lru_cache(maxsize=100) def load_log_data(): """Load all log data with caching""" - cache_key = 'all_logs' + cache_key = "all_logs" cached_logs = cache.get(cache_key) - + if cached_logs is not None: return cached_logs - + start_time = time.time() logs = [] - + + for log_folder in sorted(os.listdir(LOG_DIR), reverse=True): log_path = os.path.join(LOG_DIR, log_folder) if not os.path.isdir(log_path): continue - meta_path = os.path.join(log_path, 'meta.yaml') - settings_path = os.path.join(log_path, 'settings.yaml') + meta_path = os.path.join(log_path, "meta.yaml") + settings_path = os.path.join(log_path, "settings.yaml") try: - with open(meta_path, 'r') as meta_file: + with open(meta_path, "r") as meta_file: meta_data = yaml.safe_load(meta_file) - with open(settings_path, 'r') as settings_file: - settings_data = yaml.safe_load(settings_file).get('run', {}) + with open(settings_path, "r") as settings_file: + settings_data = yaml.safe_load(settings_file).get("run", {}) + except Exception as e: print(f"Error loading log data: {e}") continue - logs.append({ - 'date': log_folder, - 'run_duration': meta_data.get('run_duration', 'Unknown'), - 'exit_reason': meta_data.get('exit_reason', 'Unknown'), - 'mode': settings_data.get('mode', 'Unknown'), - 'launch_command': settings_data.get('log', {}).get('launch_command', 'Unknown'), - 'folder': log_path - }) - + logs.append( + { + "date": log_folder, + "run_duration": meta_data.get("run_duration", "Unknown"), + "exit_reason": meta_data.get("exit_reason", "Unknown"), + "mode": settings_data.get("mode", "Unknown"), + "launch_command": settings_data.get("log", {}).get( + "launch_command", "Unknown" + ), + "folder": log_path, + } + ) + + # Store results in cache cache.set(cache_key, logs) end_time = time.time() @@ -291,14 +352,16 @@ def load_log_data(): print(logs) return logs + def filter_logs_by_date(logs, start_date=None, end_date=None): """Filter logs by date range""" - cache_key = get_cache_key('filtered_logs', start_date, end_date) + cache_key = get_cache_key("filtered_logs", start_date, end_date) cached_result = cache.get(cache_key) - + if cached_result is not None: return cached_result - + + if start_date: start_date = datetime.datetime.strptime(start_date, "%Y-%m-%d") if end_date: @@ -307,72 +370,84 @@ def filter_logs_by_date(logs, start_date=None, end_date=None): filtered_logs = [] for log in logs: try: - log_date = datetime.datetime.strptime(log['date'][:10], "%Y-%m-%d") - if (not start_date or log_date >= start_date) and (not end_date or log_date <= end_date): + log_date = datetime.datetime.strptime(log["date"][:10], "%Y-%m-%d") + if (not start_date or log_date >= start_date) and ( + not end_date or log_date <= end_date + ): + filtered_logs.append(log) except ValueError: # Skip logs with invalid date format continue - + # Cache the filtered results cache.set(cache_key, filtered_logs) return filtered_logs + @functools.lru_cache(maxsize=50) def get_log_metadata(log_folder_path): """Get metadata for a specific log with caching""" cache_key = f"metadata_{log_folder_path}" cached_metadata = cache.get(cache_key) - + if cached_metadata is not None: return cached_metadata - - metadata = {'folder': log_folder_path} - + + metadata = {"folder": log_folder_path} + # Read metadata from files - meta_path = os.path.join(log_folder_path, 'meta.yaml') - settings_path = os.path.join(log_folder_path, 'settings.yaml') + meta_path = os.path.join(log_folder_path, "meta.yaml") + settings_path = os.path.join(log_folder_path, "settings.yaml") try: if os.path.exists(meta_path): - with open(meta_path, 'r') as meta_file: + with open(meta_path, "r") as meta_file: metadata.update(yaml.safe_load(meta_file)) if os.path.exists(settings_path): - with open(settings_path, 'r') as settings_file: - log_settings = yaml.safe_load(settings_file).get('run', {}) - - - metadata.update({ - 'mode': log_settings.get('mode', 'Unknown'), - 'launch_command': log_settings.get('log', {}).get('launch_command', 'Unknown'), - }) + with open(settings_path, "r") as settings_file: + log_settings = yaml.safe_load(settings_file).get("run", {}) + + metadata.update( + { + "mode": log_settings.get("mode", "Unknown"), + "launch_command": log_settings.get("log", {}).get( + "launch_command", "Unknown" + ), + } + ) except Exception as e: print(f"Error loading metadata: {e}") - + # Cache the results cache.set(cache_key, metadata) return metadata -@app.route('/') + +@app.route("/") def index(): logs = load_log_data() - return render_template('index.html', logs=logs) + return render_template("index.html", logs=logs) + + +@app.route("/filter_logs", methods=["POST"]) -@app.route('/filter_logs', methods=['POST']) def filter_logs(): start_time = time.time() logs = load_log_data() data = request.json - start_date = data.get('start_date') - end_date = data.get('end_date') + start_date = data.get("start_date") + end_date = data.get("end_date") filtered_logs = filter_logs_by_date(logs, start_date, end_date) - + end_time = time.time() print(f"Filtered logs in {end_time - start_time:.2f} seconds") return jsonify(filtered_logs) -@app.route('/view_log/') + +@app.route("/view_log/") + def view_log(log_folder): log_folder_path = os.path.join(LOG_DIR, log_folder) if not os.path.exists(log_folder_path): @@ -380,106 +455,144 @@ def view_log(log_folder): # Get metadata with caching metadata = get_log_metadata(log_folder_path) - + # Get directory structure files = sorted(os.listdir(log_folder_path)) - return render_template('view_log.html', log_folder=log_folder, metadata=metadata, files=files) + return render_template( + "view_log.html", log_folder=log_folder, metadata=metadata, files=files + ) + -@app.route('/open_folder/') +@app.route("/open_folder/") def open_folder(folder): - # Determine the platform and try to open the folder - if platform.system() == 'Linux': - result = os.system(f'xdg-open "{folder}"') - elif platform.system() == 'Windows': - result = os.system(f'explorer "{folder}"') - elif platform.system() == 'Darwin': # macOS - result = os.system(f'open "{folder}"') - else: - return 'Unsupported platform', 400 - - # Check the result of the command - if result != 0: - return 'Failed to open folder', 500 - - return '', 204 - -@app.route('/view_file//') + import os, platform + + full_path = os.path.abspath(os.path.join(LOG_DIR, folder)) + if not full_path.startswith(os.path.abspath(LOG_DIR)): + return "Invalid path", 400 + if not os.path.isdir(full_path): + return f"Folder does not exist: {folder}", 404 + + try: + if platform.system() == "Windows": + os.system(f'explorer "{full_path}"') + elif platform.system() == "Linux": + os.system(f'xdg-open "{full_path}"') + elif platform.system() == "Darwin": + os.system(f'open "{full_path}"') + else: + return "Unsupported platform", 400 + except Exception as e: + return f"Failed to open folder: {e}", 500 + + # if result != 0: + # return 'Failed to open folder', 500 + + return "Folder opened successfully.", 204 + + +@app.route("/view_file//") def view_file(log_folder, filename): file_path = os.path.join(LOG_DIR, log_folder, filename) if not os.path.exists(file_path): - return jsonify({'error': 'File not found!'}), 404 + return jsonify({"error": "File not found!"}), 404 # Check file size first file_size = os.path.getsize(file_path) - + # Define chunk size for pagination (50,000 lines or ~1MB) CHUNK_SIZE = 1000 - + # Get page number from query parameter (default to 1) - page = request.args.get('page', 1, type=int) - + page = request.args.get("page", 1, type=int) + try: - with open(file_path, 'r') as f: + with open(file_path, "r") as f: # Skip lines for previous pages for _ in range((page - 1) * CHUNK_SIZE): f.readline() - + + # Read next chunk of lines lines = [f.readline() for _ in range(CHUNK_SIZE)] # Check if there are more lines has_more = bool(f.readline()) - + # Prepare response - return jsonify({ - 'filename': filename, - 'content': ''.join(lines), - 'total_size': file_size, - 'page': page, - 'has_more': has_more - }) + return jsonify( + { + "filename": filename, + "content": "".join(lines), + "total_size": file_size, + "page": page, + "has_more": has_more, + } + ) except UnicodeDecodeError: - return jsonify({ - 'filename': filename, - 'content': "This file contains binary data and cannot be displayed in the browser.", - 'total_size': file_size, - 'page': page, - 'has_more': False - }) - -@app.route('/parse_behavior//') + return jsonify( + { + "filename": filename, + "content": "This file contains binary data and cannot be displayed in the browser.", + "total_size": file_size, + "page": page, + "has_more": False, + } + ) + + +@app.route("/raw_logs//") +def stream_raw_log(log_folder, filename): + file_path = os.path.join(LOG_DIR, log_folder, filename) + if not os.path.isfile(file_path): + return "File not found!", 404 + + def generate(): + with open(file_path, "r", encoding="utf-8") as f: + for line in f: + yield line + + return Response(stream_with_context(generate()), mimetype="text/plain") + + +@app.route("/parse_behavior//") + def parse_behavior(log_folder, filename): """ Parse behavior.json and return structured position data """ file_path = os.path.join(LOG_DIR, log_folder, filename) - + if not os.path.exists(file_path): - return jsonify({'error': 'File not found!'}), 404 - + return jsonify({"error": "File not found!"}), 404 + # Parse behavior data behavior_data = parse_behavior_data(file_path) - + if behavior_data is None: - return jsonify({'error': 'Could not parse behavior data'}), 500 - + return jsonify({"error": "Could not parse behavior data"}), 500 + return jsonify(behavior_data) + + # Clear cache after certain time period @app.after_request def add_header(response): # Invalidate cache for certain requests - if request.path == '/': + if request.path == "/": # Clear cache periodically for main page current_time = int(time.time()) - last_cleared = cache.get('last_cache_clear') or 0 - + last_cleared = cache.get("last_cache_clear") or 0 + if current_time - last_cleared > 300: # 5 minutes # Reset log data cache load_log_data.cache_clear() - cache.set('last_cache_clear', current_time) - + cache.set("last_cache_clear", current_time) + return response -if __name__ == '__main__': - app.run(debug=True) \ No newline at end of file + +if __name__ == "__main__": + app.run(debug=True) + diff --git a/log_dashboard/requirements.txt b/log_dashboard/requirements.txt index cb006a29b..485786a9f 100644 --- a/log_dashboard/requirements.txt +++ b/log_dashboard/requirements.txt @@ -2,4 +2,5 @@ flask pyyaml cachelib numpy -matplotlib \ No newline at end of file +matplotlib +flask-cors diff --git a/log_dashboard/templates/index.html b/log_dashboard/templates/index.html index d82dd2137..d48791218 100644 --- a/log_dashboard/templates/index.html +++ b/log_dashboard/templates/index.html @@ -37,8 +37,11 @@

GEMstack Log Dashboard

{{ log.launch_command }}
- View Details - + View + Details + +
@@ -49,21 +52,21 @@

GEMstack Log Dashboard

+ + \ No newline at end of file diff --git a/log_dashboard/templates/view_log.html b/log_dashboard/templates/view_log.html index 1a59b119d..9fb7c8c25 100644 --- a/log_dashboard/templates/view_log.html +++ b/log_dashboard/templates/view_log.html @@ -1,5 +1,6 @@ + View Log - {{ log_folder }} @@ -9,15 +10,17 @@ + -
-
-

Log Details for {{ log_folder }}

-
- Back to Dashboard - -
-
- -
-
-
-

Run Duration: {{ metadata.run_duration }}

-

Exit Reason: {{ metadata.exit_reason }}

-
-
-

Mode: {{ metadata.mode }}

-

Launch Command: {{ metadata.launch_command }}

+
+
+

Log Details for {{ log_folder }}

+
+ Back to Dashboard +
-
-
-
-

Files

-
- {% for file in files %} -
- {% if file.endswith('.yaml') or file.endswith('.yml') %} - 📄 {{ file }} - {% elif file.endswith('.txt') or file.endswith('.log') %} - 📝 {{ file }} - {% elif file.endswith('.csv') %} - 📊 {{ file }} - {% else %} - 📄 {{ file }} - {% endif %} +
+
+
+

Run Duration: {{ metadata.run_duration }}

+

Exit Reason: {{ metadata.exit_reason }}

+
+
+

Mode: {{ metadata.mode }}

+

Launch Command: {{ metadata.launch_command }}

- {% endfor %}
-
-
-

Select a file to view

-
-
-
+ +
+
+

Files

+
+ {% for file in files %} +
+ {% if file.endswith('.yaml') or file.endswith('.yml') %} + 📄 {{ file }} + {% elif file.endswith('.txt') or file.endswith('.log') %} + 📝 {{ file }} + {% elif file.endswith('.csv') %} + 📊 {{ file }} + {% else %} + 📄 {{ file }} + {% endif %} +
+ {% endfor %} +
-
- +
+
+

Select a file to view

+
+
+
+
+
+ +
-
- - - - + function loadMoreContent() { + if (hasMorePages) { + currentPage++; + loadFileContent(currentLogFolder, currentFilename, currentPage); + } + } + + function toggleLoadMoreButton() { + if (hasMorePages) { + $('#load-more-btn').show(); + } else { + $('#load-more-btn').hide(); + } + } + + function formatLogFile(content, element) { + // Replace the content with formatted HTML + let formattedContent = content + // Format timestamps (like 22:29:43.349:) + .replace(/(\d{2}:\d{2}:\d{2}\.\d{3}):/g, '$1:') + // Format error words + .replace(/\b(Error|ERROR|error|Exception|EXCEPTION|exception|Warning|WARNING|warning)\b/g, '$1') + // Format numeric values with units + .replace(/(\d+(\.\d+)?\s*(m\/s(\^2)?|degrees))/g, '$1'); + + element.innerHTML = formattedContent; + } + + function formatCsvFile(content, element) { + // Check if it's actually CSV content + if (content.includes(',')) { + let rows = content.trim().split('\n'); + let table = ''; + + // Process header row + let headers = rows[0].split(','); + table += ''; + headers.forEach(header => { + table += ``; + }); + table += ''; + // Process data rows + for (let i = 1; i < rows.length; i++) { + let cells = rows[i].split(','); + table += ''; + cells.forEach(cell => { + table += ``; + }); + table += ''; + } + + table += '
${header.trim()}
${cell.trim()}
'; + element.innerHTML = table; + } else { + // If not properly formatted as CSV, display as plain text + element.textContent = content; + } + } + + document.addEventListener('DOMContentLoaded', function () { + document.getElementById('openFolderBtn').addEventListener('click', function () { + openFolder('{{ log_folder }}'); + }); + }); + + function openFolder(folderName) { + window.location.href = `/open_folder/${encodeURIComponent(folderName)}`; + } + + + +