feat: add configurable VDO.Ninja overview and floating window focus

2026-09-22 17:32:51 +09:00
parent d70f99e9c9
commit a5cd3528b7
19 changed files with 29510 additions and 3 deletions
@@ -0,0 +1,134 @@
+const assert = require('node:assert/strict');
+const fs = require('node:fs');
+const path = require('node:path');
+require('dotenv').config({ quiet: true });
+const { PrismaClient } = require('@prisma/client');
+
+const url = new URL(process.env.DATABASE_URL);
+url.hostname = '192.168.0.20';
+url.port = '15437';
+url.pathname = '/lms';
+url.searchParams.set('connect_timeout', '5');
+const db = new PrismaClient({ datasources: { db: { url: url.toString() } } });
+const apply = process.argv.includes('--apply');
+const slug = 'futuredrive-autonomy-basic';
+const localImage = 'future-nav2-gazebo:humble';
+const remoteImage = 'future-nav2:humble-jetson_orin';
+const names = ['NAV2-Control', 'NAV2-Localization', 'NAV2-Map', 'NAV2-Perception',
+  'NAV2-Perception3D', 'NAV2-Planning', 'NAV2-Gazebo', 'NAV2-SLAM', 'NAV2-SLAM3D',
+  'NAV2-MKMini', 'NAV2-Rviz2'];
+const steps = [
+  { title: 'SLAM', detail: '원거리 MK-mini 플랫폼에 연결하여 모듈 소스와 파라미터를 수정하고, 센서 토픽을 확인하며 SLAM 맵을 생성·저장합니다. 로컬 MK-mini 시뮬레이션에서 먼저 검증합니다.' },
+  { title: '자율주행', detail: '저장한 맵으로 위치추정·경로 계획·제어 모듈을 구성하고 목표 지점 주행을 검증합니다. 원격 코드 편집과 빌드, 실행 로그 분석 및 파라미터 튜닝을 실습합니다.' },
+];
+
+function parameters(module, remote) {
+  const sim = `sim_mode:=${!remote}`;
+  switch (module.name) {
+    case 'NAV2-Gazebo': return ['gui:=false', 'platform:=mkmini'];
+    case 'NAV2-MKMini': return [sim, 'platform:=mkmini', 'robot:=mkmini', 'level:=2d', ...(!remote ? ['simulator:=gazebo'] : [])];
+    case 'NAV2-Control': return [sim, 'robot:=mkmini', 'level:=2d'];
+    case 'NAV2-Perception': return [sim];
+    case 'NAV2-Perception3D':
+    case 'NAV2-SLAM3D': return [sim, 'robot:=mkmini'];
+    case 'NAV2-Localization': return [sim, 'robot:=mkmini', 'level:=2d', 'localization_mode:=amcl'];
+    case 'NAV2-SLAM':
+    case 'NAV2-Planning':
+    case 'NAV2-Map': return [sim, 'robot:=mkmini', 'level:=2d'];
+    default: return module.defaultParameters;
+  }
+}
+
+async function snapshot(client) {
+  return client.course.findUniqueOrThrow({ where: { slug }, include: {
+    weeks: { orderBy: { week: 'asc' }, include: {
+      modules: { orderBy: { sortOrder: 'asc' } }, topics: { orderBy: { sortOrder: 'asc' } },
+      practices: { orderBy: { sortOrder: 'asc' } }, references: true,
+    } }, environmentProfiles: { orderBy: [{ week: 'asc' }, { platformKey: 'asc' }] },
+    weekMaps: true,
+  } });
+}
+
+async function main() {
+  const before = await snapshot(db);
+  assert.equal(before.weeks.length, 2, 'Expected only weeks 1 and 2; refusing to overwrite');
+  const source = before.weeks.find(w => w.week === 1);
+  assert(source);
+  const selected = names.map(name => {
+    const matches = source.modules.filter(m => m.name === name);
+    assert.equal(matches.length, 1, `Missing or ambiguous module: ${name}`);
+    return matches[0];
+  });
+  const profiles = before.environmentProfiles.filter(p => p.week === 1);
+  assert.equal(profiles.length, 2);
+  assert(profiles.some(p => p.config.target === 'local'));
+  assert(profiles.some(p => p.config.target === 'remote-jetson'));
+  if (apply) {
+    const backup = path.resolve('backups', `base-before-week3-${Date.now()}.json`);
+    fs.mkdirSync(path.dirname(backup), { recursive: true });
+    fs.writeFileSync(backup, JSON.stringify(before, null, 2), { mode: 0o600, flag: 'wx' });
+    console.log('Backup:', backup);
+  }
+  let summary;
+  try {
+    await db.$transaction(async tx => {
+      assert.deepEqual(await snapshot(tx), before, 'Source changed during preparation');
+      const week = await tx.courseWeek.create({ data: {
+        courseId: before.id, week: 3, title: '원격 개발', tags: ['MK-mini', '진행예정'],
+        progress: 0, state: 'locked', duration: '1주', github: source.github,
+        overview: '원거리 MK-mini 플랫폼을 연결하고 원격으로 코드를 편집·빌드·실행합니다. 로컬 MK-mini 시뮬레이션과 실차에서 SLAM 및 자율주행을 검증합니다.',
+        deliverable: 'SLAM 저장 맵, 자율주행 검증 결과, 원격 개발 소스 변경 내역 및 실행 로그를 제출합니다.',
+        requiresSourceSubmission: true,
+        topics: { create: steps.map((s, i) => ({ ...s, sortOrder: i + 1 })) },
+        practices: { create: steps.map((s, i) => ({ title: s.title, description: s.detail, sortOrder: i + 1 })) },
+      } });
+      const mapping = new Map();
+      const created = [];
+      for (const [i, m] of selected.entries()) {
+        const { id, weekId, createdAt, updatedAt, ...data } = m;
+        const next = await tx.courseWeekModule.create({ data: {
+          ...data, weekId: week.id, sortOrder: i + 1,
+          dockerImage: localImage, defaultParameters: parameters(m, false),
+        } });
+        mapping.set(id, next.id);
+        created.push(next);
+      }
+      const newProfiles = [];
+      for (const p of profiles) {
+        const remote = p.config.target === 'remote-jetson';
+        const config = structuredClone(p.config);
+        config.moduleSet.modules = p.config.moduleSet.modules.flatMap(entry => {
+          if (!mapping.has(entry.id)) return [];
+          const m = selected.find(m => m.id === entry.id);
+          return [{ ...entry, id: mapping.get(entry.id), dockerImage: remote ? remoteImage : localImage,
+            defaultParameters: parameters(m, remote) }];
+        });
+        config.moduleSet.includeUnlisted = false;
+        assert.equal(config.moduleSet.modules.length, 9);
+        assert(config.moduleSet.modules.every(m => created.some(c => c.id === m.id)));
+        newProfiles.push(await tx.courseEnvironmentProfile.create({ data: {
+          courseId: before.id, week: 3, platformKey: p.platformKey, profileType: p.profileType,
+          name: p.name, enabled: p.enabled, config,
+        } }));
+      }
+      for (const m of before.weekMaps.filter(m => m.week === 1)) {
+        await tx.courseWeekMap.create({ data: { courseId: before.id, week: 3, mapKey: m.mapKey, sortOrder: m.sortOrder } });
+      }
+      const after = await snapshot(tx);
+      assert.deepEqual(after.weeks.filter(w => w.week !== 3), before.weeks);
+      assert.deepEqual(after.environmentProfiles.filter(p => p.week !== 3), before.environmentProfiles);
+      assert.equal(after.weeks.find(w => w.week === 3).topics.length, 2);
+      assert(!created.some(m => /yahboom|turtlebot/i.test(JSON.stringify(m))));
+      summary = { applied: apply, course: before.title, weekId: week.id, title: week.title,
+        steps: steps.map(s => s.title), modules: created.map(m => m.name),
+        environments: newProfiles.map(p => ({ target: p.config.target, modules: p.config.moduleSet.modules.map(m => ({
+          name: created.find(c => c.id === m.id).name, image: m.dockerImage, parameters: m.defaultParameters,
+        })) })) };
+      if (!apply) throw new Error('DRY_RUN_ROLLBACK');
+    }, { isolationLevel: 'Serializable', timeout: 30000 });
+  } catch (e) {
+    if (e.message !== 'DRY_RUN_ROLLBACK') throw e;
+  }
+  console.log(JSON.stringify(summary, null, 2));
+}
+main().catch(e => { console.error(e.message); process.exitCode = 1; }).finally(() => db.$disconnect());