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This commit is contained in:
chyoo
2026-08-12 14:46:39 +09:00
parent f6be625a8f
commit c010d0c913
15 changed files with 422 additions and 302 deletions
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.env.example
+2 -2
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@@ -4,9 +4,9 @@ VITE_LAUNCHER_API_BASE_URL=http://localhost:4200/api
# Electron main process runtime overrides # Electron main process runtime overrides
LOCAL_AUTOWARE_BRIDGE_IMAGE=autoware-ros-bridge LOCAL_AUTOWARE_BRIDGE_IMAGE=autoware-ros-bridge
LOCAL_NAV2_BRIDGE_IMAGE=nav2-ros-bridge LOCAL_NAV2_BRIDGE_IMAGE=nav2-ros-bridge
LOCAL_NAV2_RUNTIME_IMAGE=nav2-slam:humble LOCAL_NAV2_RUNTIME_IMAGE=future-nav2-gazebo:humble
LOCAL_SLAM_BRIDGE_IMAGE=slam-ros-bridge LOCAL_SLAM_BRIDGE_IMAGE=slam-ros-bridge
LOCAL_SLAM_RUNTIME_IMAGE=nav2-slam:humble LOCAL_SLAM_RUNTIME_IMAGE=future-nav2-gazebo:humble
# Remote Jetson runtime overrides # Remote Jetson runtime overrides
JETSON_AGENT_URL=http://100.64.0.2:8787 JETSON_AGENT_URL=http://100.64.0.2:8787
resources/nav2-dev-image/Dockerfile
-41
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@@ -1,41 +0,0 @@
FROM future-nav2:humble
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ENV DEBIAN_FRONTEND=noninteractive \
ROS_DISTRO=humble \
TURTLEBOT3_MODEL=burger \
NAV2_WORKSPACE=/workspace/nav2-slam_ws
# Nav2 and SLAM Toolbox are provided by the base image. Module workspaces may
# override those packages with local sources, while Gazebo and TurtleBot3 are
# added here for the source-based simulator modules.
RUN apt-get update \
&& apt-get install -y --no-install-recommends \
build-essential \
cmake \
git \
python3-argcomplete \
python3-colcon-common-extensions \
python3-rosdep \
python3-vcstool \
python3-pip \
ros-humble-gazebo-plugins \
ros-humble-gazebo-ros-pkgs \
ros-humble-turtlebot3-description \
ros-humble-turtlebot3-gazebo \
ros-humble-turtlebot3-msgs \
ros-humble-xacro \
ros-humble-tf-transformations \
&& rm -rf /var/lib/apt/lists/* \
&& rosdep init 2>/dev/null || true
RUN rosdep update
COPY docker-entrypoint.sh /usr/local/bin/studio-nav2-entrypoint
RUN chmod +x /usr/local/bin/studio-nav2-entrypoint \
&& mkdir -p "${NAV2_WORKSPACE}/src"
WORKDIR /workspace
ENTRYPOINT ["/usr/local/bin/studio-nav2-entrypoint"]
CMD ["bash"]
resources/nav2-dev-image/README.md
-34
View File
@@ -1,34 +0,0 @@
# Nav2 Development Image
`nav2-dev:humble` is the source-build runtime for Nav2 learning modules. It
contains ROS 2 Humble, Gazebo, colcon, and rosdep, but intentionally does not
contain Nav2, TurtleBot3, or SLAM Toolbox source code.
Build it from this directory:
```bash
./build.sh
```
Mount a composed module workspace and build its sources:
```bash
docker run --rm -it --network host \
-e DISPLAY="$DISPLAY" \
-e TURTLEBOT3_MODEL=burger \
-v /tmp/.X11-unix:/tmp/.X11-unix \
-v "$HOME/autonomy-studio/workspaces/nav2-slam_ws:/workspace/nav2-slam_ws" \
nav2-dev:humble bash
cd "$NAV2_WORKSPACE"
rosdep install --from-paths src --ignore-src -r -y
colcon build
```
The composed workspace must contain all direct source dependencies. For Nav2,
include its shared packages such as `nav2_common`, `nav2_util`, and `nav2_msgs`
alongside the module packages being built.
On later container starts, the entrypoint automatically sources
`/workspace/nav2-slam_ws/install/setup.bash`, so source-built packages override
the base ROS installation.
resources/nav2-dev-image/build.sh
-4
View File
@@ -1,4 +0,0 @@
#!/usr/bin/env bash
set -euo pipefail
docker build -t nav2-dev:humble "$(cd "$(dirname "$0")" && pwd)"
resources/nav2-dev-image/docker-entrypoint.sh
-12
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@@ -1,12 +0,0 @@
#!/usr/bin/env bash
set -e
source "/opt/ros/${ROS_DISTRO}/setup.bash"
# A prior colcon build takes precedence over apt packages when the workspace
# is mounted. This makes source edits immediately available to ROS commands.
if [[ -f "${NAV2_WORKSPACE}/install/setup.bash" ]]; then
source "${NAV2_WORKSPACE}/install/setup.bash"
fi
exec "$@"
src/main/index.ts
+117 -65
View File
@@ -26,10 +26,10 @@ const moduleCacheRoot = resolve(homedir(), '.caches')
const artifactCacheRoot = resolve(homedir(), '.cache', 'autonomy-studio', 'artifacts') const artifactCacheRoot = resolve(homedir(), '.cache', 'autonomy-studio', 'artifacts')
const studioRuntimeRoot = resolve(homedir(), 'autonomy-studio', 'runtime') const studioRuntimeRoot = resolve(homedir(), 'autonomy-studio', 'runtime')
const autowareDockerImage = 'ghcr.io/autowarefoundation/autoware-universe:humble-20240301-cuda' const autowareDockerImage = 'ghcr.io/autowarefoundation/autoware-universe:humble-20240301-cuda'
const nav2DockerImage = 'nav2-dev:humble' const nav2DockerImage = 'future-nav2-gazebo:humble'
const autowareRosBridgeImage = 'autoware-ros-bridge' const autowareRosBridgeImage = 'autoware-ros-bridge'
const slamRosBridgeImage = 'slam-ros-bridge' const slamRosBridgeImage = 'slam-ros-bridge'
const slamSimulationRuntimeImage = 'nav2-slam:humble' const slamSimulationRuntimeImage = 'future-nav2-gazebo:humble'
const slamSimulationRuntimeContainerName = 'nav2-slam' const slamSimulationRuntimeContainerName = 'nav2-slam'
const rosBridgePort = 8765 const rosBridgePort = 8765
const exampleCodeRoot = resolve(homedir(), '다운로드', 'example-code') const exampleCodeRoot = resolve(homedir(), '다운로드', 'example-code')
@@ -199,6 +199,14 @@ type RuntimeImageArtifact = {
required?: boolean | null required?: boolean | null
} }
const defaultNav2GazeboRuntimeImage: RuntimeImageArtifact = {
image: 'future-nav2-gazebo:humble',
url: 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/runtime-images/nav2/gazebo/latest/future-nav2-gazebo-humble.tar.zst',
fileName: 'future-nav2-gazebo-humble.tar.zst',
checksumSha256: '54230e039c1fa5dc82615cef3828c5acae7b8bea8e921b70cfdc5351d8301644',
required: true,
}
type ModuleInstallOptions = { type ModuleInstallOptions = {
prebuiltArtifacts?: ModulePrebuiltArtifact[] | null prebuiltArtifacts?: ModulePrebuiltArtifact[] | null
runtimeImages?: RuntimeImageArtifact[] | null runtimeImages?: RuntimeImageArtifact[] | null
@@ -236,6 +244,10 @@ type WorldLayoutObject = {
type WorldLayout = { type WorldLayout = {
version: 1 version: 1
bounds: {
width: number
depth: number
}
objects: WorldLayoutObject[] objects: WorldLayoutObject[]
} }
@@ -255,6 +267,7 @@ type SavedMapArtifactDownload = {
function defaultWorldLayout(): WorldLayout { function defaultWorldLayout(): WorldLayout {
return { return {
version: 1, version: 1,
bounds: { width: 10, depth: 10 },
objects: [] objects: []
} }
} }
@@ -278,7 +291,14 @@ function normalizeWorldLayout(value: unknown): WorldLayout {
size: tuple(object.size, [1, 1, 1]) size: tuple(object.size, [1, 1, 1])
}] }]
}).filter((object) => !['wall-1', 'pillar-1'].includes(object.id)) }).filter((object) => !['wall-1', 'pillar-1'].includes(object.id))
return { version: 1, objects } const boundsInput = (value as { bounds?: unknown }).bounds
const bounds = boundsInput && typeof boundsInput === 'object'
? boundsInput as { width?: unknown; depth?: unknown }
: {}
const size = (input: unknown, fallback: number): number => (
typeof input === 'number' && Number.isFinite(input) ? Math.min(40, Math.max(2, input)) : fallback
)
return { version: 1, bounds: { width: size(bounds.width, 10), depth: size(bounds.depth, 10) }, objects }
} }
function worldLayoutPath(workspaceRoot?: string | null): string { function worldLayoutPath(workspaceRoot?: string | null): string {
@@ -766,6 +786,17 @@ function resolveNav2RuntimeImage(
return nav2Image || nav2DockerImage return nav2Image || nav2DockerImage
} }
function requiredRuntimeImages(
runtimeImages: RuntimeImageArtifact[] | null | undefined,
runtimeImage: string,
): RuntimeImageArtifact[] {
const images = (runtimeImages ?? []).filter((image) => image?.image?.trim())
if (runtimeImage !== nav2DockerImage || images.some((image) => image.image?.trim() === runtimeImage)) {
return images
}
return [...images, defaultNav2GazeboRuntimeImage]
}
async function resolveCustomModuleRuntimeImage(moduleRoot: string, fallbackImage: string): Promise<string> { async function resolveCustomModuleRuntimeImage(moduleRoot: string, fallbackImage: string): Promise<string> {
try { try {
const config = JSON.parse(await readFile(resolve(moduleRoot, '.autonomy-studio-module.json'), 'utf8')) as { dockerImage?: unknown } const config = JSON.parse(await readFile(resolve(moduleRoot, '.autonomy-studio-module.json'), 'utf8')) as { dockerImage?: unknown }
@@ -1153,7 +1184,11 @@ async function ensureArtifactFile(url?: string | null, fileName?: string | null,
const targetPath = artifactCachePath(artifactUrl, fileName) const targetPath = artifactCachePath(artifactUrl, fileName)
const expected = checksumSha256?.trim().toLowerCase() const expected = checksumSha256?.trim().toLowerCase()
if (!existsSync(targetPath)) await downloadArtifact(artifactUrl, targetPath) // Module artifact URLs are intentionally stable (for example, `latest`).
// Do not reuse a same-named local file, or a source update can run with an
// older install tree even though R2 already contains the current artifact.
await rm(targetPath, { force: true })
await downloadArtifact(artifactUrl, targetPath)
if (expected) { if (expected) {
let actual = createHash('sha256').update(await readFile(targetPath)).digest('hex').toLowerCase() let actual = createHash('sha256').update(await readFile(targetPath)).digest('hex').toLowerCase()
if (actual !== expected) { if (actual !== expected) {
@@ -2507,7 +2542,7 @@ function bridgeContainerCommand(stack: VisualizationStack): string {
function normalizeVisualizationStack(value?: string | null): VisualizationStack { function normalizeVisualizationStack(value?: string | null): VisualizationStack {
if (value === 'slam') return 'slam' if (value === 'slam') return 'slam'
if (value === 'slam3d') return 'slam3d' if (value === 'slam3d') return 'slam3d'
return value === 'nav2' ? 'nav2' : 'autoware' return value === 'nav2' || value === 'local' || value === 'platform' ? 'nav2' : 'autoware'
} }
async function readContainerEnvironmentValue(containerName: string, key: string): Promise<string | null> { async function readContainerEnvironmentValue(containerName: string, key: string): Promise<string | null> {
@@ -2722,10 +2757,7 @@ function withRuntimeProfileDefaults(
if (!profile) return profile if (!profile) return profile
const target = normalizeRuntimeTarget(profile.target) const target = normalizeRuntimeTarget(profile.target)
const prefix = target === 'remote-jetson' ? `JETSON_${stackEnvPrefix(stack)}` : `LOCAL_${stackEnvPrefix(stack)}` const prefix = target === 'remote-jetson' ? `JETSON_${stackEnvPrefix(stack)}` : `LOCAL_${stackEnvPrefix(stack)}`
const dedicatedReadOnlyBridge = profile.type?.toLowerCase() === 'real_slam_3d' const bridgeImage = envValue(`${prefix}_BRIDGE_IMAGE`) ?? profile.bridge?.image
const bridgeImage = dedicatedReadOnlyBridge
? profile.bridge?.image
: envValue(`${prefix}_BRIDGE_IMAGE`) ?? profile.bridge?.image
const runtimeImage = envValue(`${prefix}_RUNTIME_IMAGE`) const runtimeImage = envValue(`${prefix}_RUNTIME_IMAGE`)
const agentUrl = target === 'remote-jetson' const agentUrl = target === 'remote-jetson'
? envValue(`${prefix}_AGENT_URL`) ?? envValue('JETSON_AGENT_URL') ?? profile.agent?.url ? envValue(`${prefix}_AGENT_URL`) ?? envValue('JETSON_AGENT_URL') ?? profile.agent?.url
@@ -2790,7 +2822,7 @@ async function startVisualizationBridge(
rosNetwork?: RosNetworkConfig | null, rosNetwork?: RosNetworkConfig | null,
savedMapDatabasePath?: string | null, savedMapDatabasePath?: string | null,
): Promise<VisualizationBridgeStatus> { ): Promise<VisualizationBridgeStatus> {
const stack = normalizeVisualizationStack(environmentProfile?.type?.toLowerCase() ?? stackInput) const stack = normalizeVisualizationStack(stackInput ?? environmentProfile?.type?.toLowerCase())
const resolvedProfile = withRuntimeProfileDefaults(environmentProfile, stack) const resolvedProfile = withRuntimeProfileDefaults(environmentProfile, stack)
const target = normalizeRuntimeTarget(resolvedProfile?.target) const target = normalizeRuntimeTarget(resolvedProfile?.target)
const bridge = resolvedProfile?.bridge const bridge = resolvedProfile?.bridge
@@ -2869,7 +2901,7 @@ async function startVisualizationBridge(
'-e', '-e',
`ROS_DOMAIN_ID=${requestedRosDomainId}`, `ROS_DOMAIN_ID=${requestedRosDomainId}`,
'-e', '-e',
'ROS_LOCALHOST_ONLY=0', `ROS_LOCALHOST_ONLY=${rosNetworkEnabled(rosNetwork) ? '0' : '1'}`,
'-e', '-e',
`AUTONOMY_STUDIO_ROS_NETWORK=${requestedRosNetworkKey}`, `AUTONOMY_STUDIO_ROS_NETWORK=${requestedRosNetworkKey}`,
'-e', '-e',
@@ -3150,8 +3182,9 @@ async function installRemoteWorkspaceModule(
' if not url: continue', ' if not url: continue',
' name = item.get("fileName") or os.path.basename(url.split("?", 1)[0]) or "artifact.tar"', ' name = item.get("fileName") or os.path.basename(url.split("?", 1)[0]) or "artifact.tar"',
' path = os.path.join(cache, name)', ' path = os.path.join(cache, name)',
' if not os.path.exists(path):', ' # Stable latest URLs must not reuse a same-named local artifact.',
' subprocess.run(["curl", "-fL", url, "-o", path], check=True)', ' if os.path.exists(path): os.unlink(path)',
' subprocess.run(["curl", "-fL", url, "-o", path], check=True)',
' expected = (item.get("checksumSha256") or "").strip().lower()', ' expected = (item.get("checksumSha256") or "").strip().lower()',
' if expected:', ' if expected:',
' import hashlib', ' import hashlib',
@@ -3531,6 +3564,7 @@ function buildNav2DockerRunScript(): string {
'GPU_ENABLED=${6:-false}', 'GPU_ENABLED=${6:-false}',
'shift 6 || true', 'shift 6 || true',
'FASTDDS_CONFIG_PATH=${FASTDDS_CONFIG_PATH:-}', 'FASTDDS_CONFIG_PATH=${FASTDDS_CONFIG_PATH:-}',
'ROS_LOCALHOST_ONLY_VALUE=${ROS_LOCALHOST_ONLY:-1}',
'LOCALIZATION_MODE=slam', 'LOCALIZATION_MODE=slam',
'filtered_args=()', 'filtered_args=()',
'for arg in "$@"; do', 'for arg in "$@"; do',
@@ -3591,6 +3625,7 @@ function buildNav2DockerRunScript(): string {
' --rm -d --network host --ipc=host', ' --rm -d --network host --ipc=host',
' --name "$CONTAINER_NAME"', ' --name "$CONTAINER_NAME"',
' -e "ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VALUE"', ' -e "ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VALUE"',
' -e "ROS_LOCALHOST_ONLY=$ROS_LOCALHOST_ONLY_VALUE"',
' -e "TURTLEBOT3_MODEL=${TURTLEBOT3_MODEL:-burger}"', ' -e "TURTLEBOT3_MODEL=${TURTLEBOT3_MODEL:-burger}"',
' -e "MODULE_ROOT=/modules"', ' -e "MODULE_ROOT=/modules"',
' -e "MODULE_FOLDER=$MODULE_FOLDER"', ' -e "MODULE_FOLDER=$MODULE_FOLDER"',
@@ -3603,7 +3638,7 @@ function buildNav2DockerRunScript(): string {
' args+=(--gpus all -e NVIDIA_VISIBLE_DEVICES=all -e NVIDIA_DRIVER_CAPABILITIES=compute,utility,graphics)', ' args+=(--gpus all -e NVIDIA_VISIBLE_DEVICES=all -e NVIDIA_DRIVER_CAPABILITIES=compute,utility,graphics)',
'fi', 'fi',
'if [ -n "$FASTDDS_CONFIG_PATH" ] && [ -f "$FASTDDS_CONFIG_PATH" ]; then', 'if [ -n "$FASTDDS_CONFIG_PATH" ] && [ -f "$FASTDDS_CONFIG_PATH" ]; then',
' args+=(-v "$FASTDDS_CONFIG_PATH:/fastdds_profiles.xml:ro" -e "FASTDDS_DEFAULT_PROFILES_FILE=/fastdds_profiles.xml" -e "FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds_profiles.xml" -e ROS_LOCALHOST_ONLY=0)', ' args+=(-v "$FASTDDS_CONFIG_PATH:/fastdds_profiles.xml:ro" -e "FASTDDS_DEFAULT_PROFILES_FILE=/fastdds_profiles.xml" -e "FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds_profiles.xml")',
'fi', 'fi',
'if [ -d /dev/dri ]; then args+=(--device /dev/dri); fi', 'if [ -d /dev/dri ]; then args+=(--device /dev/dri); fi',
'if [ -n "${DISPLAY:-}" ] && [ -d /tmp/.X11-unix ]; then', 'if [ -n "${DISPLAY:-}" ] && [ -d /tmp/.X11-unix ]; then',
@@ -3999,7 +4034,6 @@ async function startWorkspaceModule(
const dockerInfo = parseModuleDockerInfo(targetFolderName) const dockerInfo = parseModuleDockerInfo(targetFolderName)
if (!dockerInfo || !isAllowedContainerName(dockerInfo.containerKey)) throw new Error('모듈 폴더명 형식이 올바르지 않습니다.') if (!dockerInfo || !isAllowedContainerName(dockerInfo.containerKey)) throw new Error('모듈 폴더명 형식이 올바르지 않습니다.')
await prepareRuntimeImages(runtimeImages)
if (isNav2ModuleFolder(targetFolderName)) { if (isNav2ModuleFolder(targetFolderName)) {
await ensureNav2RuntimeAssets() await ensureNav2RuntimeAssets()
const fastDdsConfigPath = await prepareLocalRosNetworkConfig(rosNetwork, rosDomainId) const fastDdsConfigPath = await prepareLocalRosNetworkConfig(rosNetwork, rosDomainId)
@@ -4009,6 +4043,7 @@ async function startWorkspaceModule(
moduleRoot, moduleRoot,
resolveNav2RuntimeImage(runtimeImages, targetFolderName, rosParams), resolveNav2RuntimeImage(runtimeImages, targetFolderName, rosParams),
) )
await prepareRuntimeImages(requiredRuntimeImages(runtimeImages, runtimeImage))
await runCommand( await runCommand(
'bash', 'bash',
[ [
@@ -4022,12 +4057,16 @@ async function startWorkspaceModule(
...splitRosParams(rosParams) ...splitRosParams(rosParams)
], ],
undefined, undefined,
fastDdsConfigPath ? { FASTDDS_CONFIG_PATH: fastDdsConfigPath } : undefined, {
ROS_LOCALHOST_ONLY: rosNetworkEnabled(rosNetwork) ? '0' : '1',
...(fastDdsConfigPath ? { FASTDDS_CONFIG_PATH: fastDdsConfigPath } : {}),
},
30000 30000
) )
return { ok: true, message: '실행 요청을 보냈습니다.' } return { ok: true, message: '실행 요청을 보냈습니다.' }
} }
await prepareRuntimeImages(runtimeImages)
await ensureStudioRuntimeAssets() await ensureStudioRuntimeAssets()
const scriptPath = resolveAutowareDockerRunScript() const scriptPath = resolveAutowareDockerRunScript()
if (!existsSync(scriptPath)) throw new Error(`${scriptPath} 파일을 찾을 수 없습니다.`) if (!existsSync(scriptPath)) throw new Error(`${scriptPath} 파일을 찾을 수 없습니다.`)
@@ -4082,7 +4121,6 @@ async function buildWorkspaceModule(
const dockerInfo = parseModuleDockerInfo(targetFolderName) const dockerInfo = parseModuleDockerInfo(targetFolderName)
if (!dockerInfo || !isAllowedContainerName(dockerInfo.containerKey)) throw new Error('모듈 폴더명 형식이 올바르지 않습니다.') if (!dockerInfo || !isAllowedContainerName(dockerInfo.containerKey)) throw new Error('모듈 폴더명 형식이 올바르지 않습니다.')
await prepareRuntimeImages(runtimeImages)
if (isNav2ModuleFolder(targetFolderName)) { if (isNav2ModuleFolder(targetFolderName)) {
await ensureNav2RuntimeAssets() await ensureNav2RuntimeAssets()
const rosParams = typeof rosParamsOverride === 'string' ? rosParamsOverride.trim() : await readModuleRosParams(moduleRoot) const rosParams = typeof rosParamsOverride === 'string' ? rosParamsOverride.trim() : await readModuleRosParams(moduleRoot)
@@ -4090,6 +4128,7 @@ async function buildWorkspaceModule(
moduleRoot, moduleRoot,
resolveNav2RuntimeImage(runtimeImages, targetFolderName, rosParams), resolveNav2RuntimeImage(runtimeImages, targetFolderName, rosParams),
) )
await prepareRuntimeImages(requiredRuntimeImages(runtimeImages, runtimeImage))
await runCommand( await runCommand(
'bash', 'bash',
[ [
@@ -4106,6 +4145,7 @@ async function buildWorkspaceModule(
return { ok: true, message: '빌드가 완료되었습니다.' } return { ok: true, message: '빌드가 완료되었습니다.' }
} }
await prepareRuntimeImages(runtimeImages)
await runCommand( await runCommand(
'docker', 'docker',
[ [
@@ -4124,6 +4164,62 @@ async function buildWorkspaceModule(
return { ok: true, message: '빌드가 완료되었습니다.' } return { ok: true, message: '빌드가 완료되었습니다.' }
} }
async function prepareRemoteRuntimeImages(
target: RemoteWorkspaceTarget,
runtimeImages?: RuntimeImageArtifact[] | null,
): Promise<void> {
const artifacts = (runtimeImages ?? [])
.filter((image) => image?.image?.trim())
.map((image) => ({
image: image.image?.trim() ?? '',
url: image.url?.trim() ?? '',
fileName: image.url?.trim() ? safeArtifactFileName(image.url.trim(), image.fileName) : '',
checksumSha256: image.checksumSha256?.trim() ?? '',
required: Boolean(image.required),
}))
const artifactsJson = JSON.stringify(artifacts)
await runSsh(
target,
[
'set -e',
`RUNTIME_IMAGE_JSON="$(printf %s ${quoteShellSingle(encodeBase64(artifactsJson))} | base64 -d)"`,
'ARTIFACT_CACHE="${XDG_CACHE_HOME:-$HOME/.cache}/autonomy-studio/artifacts"',
'mkdir -p "$ARTIFACT_CACHE"',
'LOCK_FILE="$ARTIFACT_CACHE/runtime-images.lock"',
'flock "$LOCK_FILE" python3 - "$RUNTIME_IMAGE_JSON" "$ARTIFACT_CACHE" <<\'PY\'',
'import json, os, subprocess, sys',
'images = json.loads(sys.argv[1] or "[]")',
'cache = sys.argv[2]',
'for item in images:',
' image = (item.get("image") or "").strip()',
' if not image: continue',
' exists = subprocess.run(["docker", "image", "inspect", image], stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL).returncode == 0',
' if exists: continue',
' url = (item.get("url") or "").strip()',
' if not url:',
' if item.get("required"): raise SystemExit(f"runtime image artifact url is missing: {image}")',
' continue',
' name = item.get("fileName") or os.path.basename(url.split("?", 1)[0]) or "runtime-image.tar"',
' path = os.path.join(cache, name)',
' if os.path.exists(path): os.unlink(path)',
' subprocess.run(["curl", "-fL", url, "-o", path], check=True)',
' expected = (item.get("checksumSha256") or "").strip().lower()',
' if expected:',
' import hashlib',
' with open(path, "rb") as fp: actual = hashlib.sha256(fp.read()).hexdigest().lower()',
' if actual != expected: raise SystemExit(f"runtime image checksum mismatch: {name}")',
' if path.lower().endswith(".tar.zst") or path.lower().endswith(".tzst"):',
' import shlex',
' subprocess.run(f"zstd -dc {shlex.quote(path)} | docker load", shell=True, check=True)',
' else:',
' subprocess.run(["docker", "load", "-i", path], check=True)',
'PY'
].join('\n'),
900000,
)
}
async function startRemoteWorkspaceModule( async function startRemoteWorkspaceModule(
targetInput: RemoteWorkspaceTarget, targetInput: RemoteWorkspaceTarget,
moduleName: string, moduleName: string,
@@ -4140,17 +4236,6 @@ async function startRemoteWorkspaceModule(
const dockerInfo = parseModuleDockerInfo(targetFolderName) const dockerInfo = parseModuleDockerInfo(targetFolderName)
if (!dockerInfo || !isAllowedContainerName(dockerInfo.containerKey)) throw new Error('모듈 폴더명 형식이 올바르지 않습니다.') if (!dockerInfo || !isAllowedContainerName(dockerInfo.containerKey)) throw new Error('모듈 폴더명 형식이 올바르지 않습니다.')
const runtimeImageArtifacts = (runtimeImages ?? [])
.filter((image) => image?.image?.trim())
.map((image) => ({
image: image.image?.trim() ?? '',
url: image.url?.trim() ?? '',
fileName: image.url?.trim() ? safeArtifactFileName(image.url.trim(), image.fileName) : '',
checksumSha256: image.checksumSha256?.trim() ?? '',
required: Boolean(image.required),
}))
const runtimeImageJson = JSON.stringify(runtimeImageArtifacts)
const existsOutput = await runSshOutput(target, [ const existsOutput = await runSshOutput(target, [
`ROOT=${quoteShellSingle(target.workspaceRoot)}`, `ROOT=${quoteShellSingle(target.workspaceRoot)}`,
...expandRemotePathVar('ROOT'), ...expandRemotePathVar('ROOT'),
@@ -4172,43 +4257,7 @@ async function startRemoteWorkspaceModule(
? await ensureRemoteNav2RuntimeAssets(target) ? await ensureRemoteNav2RuntimeAssets(target)
: await ensureRemoteStudioRuntimeAssets(target) : await ensureRemoteStudioRuntimeAssets(target)
const fastDdsConfigPath = await prepareRemoteRosNetworkConfig(target, runtimeRoot, rosNetwork, rosDomainId) const fastDdsConfigPath = await prepareRemoteRosNetworkConfig(target, runtimeRoot, rosNetwork, rosDomainId)
await runSsh( await prepareRemoteRuntimeImages(target, runtimeImages)
target,
[
'set -e',
`RUNTIME_IMAGE_JSON="$(printf %s ${quoteShellSingle(encodeBase64(runtimeImageJson))} | base64 -d)"`,
'ARTIFACT_CACHE="${XDG_CACHE_HOME:-$HOME/.cache}/autonomy-studio/artifacts"',
'mkdir -p "$ARTIFACT_CACHE"',
'python3 - "$RUNTIME_IMAGE_JSON" "$ARTIFACT_CACHE" <<\'PY\'',
'import json, os, subprocess, sys',
'images = json.loads(sys.argv[1] or "[]")',
'cache = sys.argv[2]',
'for item in images:',
' image = (item.get("image") or "").strip()',
' if not image: continue',
' exists = subprocess.run(["docker", "image", "inspect", image], stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL).returncode == 0',
' if exists: continue',
' url = (item.get("url") or "").strip()',
' if not url:',
' if item.get("required"): raise SystemExit(f"runtime image artifact url is missing: {image}")',
' continue',
' name = item.get("fileName") or os.path.basename(url.split("?", 1)[0]) or "runtime-image.tar"',
' path = os.path.join(cache, name)',
' if not os.path.exists(path): subprocess.run(["curl", "-fL", url, "-o", path], check=True)',
' expected = (item.get("checksumSha256") or "").strip().lower()',
' if expected:',
' import hashlib',
' with open(path, "rb") as fp: actual = hashlib.sha256(fp.read()).hexdigest().lower()',
' if actual != expected: raise SystemExit(f"runtime image checksum mismatch: {name}")',
' if path.lower().endswith(".tar.zst") or path.lower().endswith(".tzst"):',
' import shlex',
' subprocess.run(f"zstd -dc {shlex.quote(path)} | docker load", shell=True, check=True)',
' else:',
' subprocess.run(["docker", "load", "-i", path], check=True)',
'PY'
].join('\n'),
900000
)
const currentStatus = await runSshOutput(target, `timeout 12s docker ps -a --filter ${quoteShellSingle(`name=^/${dockerInfo.containerKey}$`)} --format "{{.Status}}" 2>/dev/null || true`, 20000) const currentStatus = await runSshOutput(target, `timeout 12s docker ps -a --filter ${quoteShellSingle(`name=^/${dockerInfo.containerKey}$`)} --format "{{.Status}}" 2>/dev/null || true`, 20000)
if (/^Up\b/i.test(currentStatus.trim())) return { ok: true, message: '이미 실행 중입니다.' } if (/^Up\b/i.test(currentStatus.trim())) return { ok: true, message: '이미 실행 중입니다.' }
if (currentStatus.trim()) { if (currentStatus.trim()) {
@@ -4257,9 +4306,11 @@ async function startRemoteWorkspaceModule(
...expandRemotePathVar('ROOT'), ...expandRemotePathVar('ROOT'),
`PARAMS=${quoteShellSingle(remoteRosParams)}`, `PARAMS=${quoteShellSingle(remoteRosParams)}`,
`FASTDDS_CONFIG_PATH=${quoteShellSingle(fastDdsConfigPath ?? '')}`, `FASTDDS_CONFIG_PATH=${quoteShellSingle(fastDdsConfigPath ?? '')}`,
`ROS_LOCALHOST_ONLY=${rosNetworkEnabled(rosNetwork) ? '0' : '1'}`,
...expandRemotePathVar('FASTDDS_CONFIG_PATH'), ...expandRemotePathVar('FASTDDS_CONFIG_PATH'),
'read -r -a EXTRA_ARGS <<< "$PARAMS"', 'read -r -a EXTRA_ARGS <<< "$PARAMS"',
'export FASTDDS_CONFIG_PATH', 'export FASTDDS_CONFIG_PATH',
'export ROS_LOCALHOST_ONLY',
`bash "$RUNTIME_ROOT/docker/docker_run_nav2.sh" ${quoteShellSingle(dockerInfo.containerKey)} "$ROOT" ${quoteShellSingle(targetFolderName)} ${quoteShellSingle(runtimeImage!)} ${quoteShellSingle(String(rosDomainId ?? process.env.ROS_DOMAIN_ID ?? '0').trim() || '0')} ${gpuEnabled ? 'true' : 'false'} "\${EXTRA_ARGS[@]}"` `bash "$RUNTIME_ROOT/docker/docker_run_nav2.sh" ${quoteShellSingle(dockerInfo.containerKey)} "$ROOT" ${quoteShellSingle(targetFolderName)} ${quoteShellSingle(runtimeImage!)} ${quoteShellSingle(String(rosDomainId ?? process.env.ROS_DOMAIN_ID ?? '0').trim() || '0')} ${gpuEnabled ? 'true' : 'false'} "\${EXTRA_ARGS[@]}"`
].join('\n') ].join('\n')
: [ : [
@@ -4298,6 +4349,7 @@ async function buildRemoteWorkspaceModule(
targetFolderName, targetFolderName,
await resolveRemoteNav2RuntimeImage(runtimeImages), await resolveRemoteNav2RuntimeImage(runtimeImages),
) )
await prepareRemoteRuntimeImages(target, runtimeImages)
await runSsh(target, [ await runSsh(target, [
'set -e', 'set -e',
`RUNTIME_ROOT=${quoteShellSingle(runtimeRoot)}`, `RUNTIME_ROOT=${quoteShellSingle(runtimeRoot)}`,
src/renderer/public/slam-viewer/index.html
+71 -43
View File
@@ -389,7 +389,7 @@
display:none; display:none;
} }
#splatToggle { display:none; } #splatToggle { display:none; }
.nav2-slam #goalToggle, .nav2-slam #poseToggle, .nav2-slam #sensorToggle { display:none; } .nav2-slam #goalToggle, .nav2-slam #poseToggle { display:none; }
.nav2-navigation #downloadWrap { display:none; } .nav2-navigation #downloadWrap { display:none; }
.nav2-navigation #topLeftControls { display:block; } .nav2-navigation #topLeftControls { display:block; }
.nav2-navigation #keyGuide { display:none; } .nav2-navigation #keyGuide { display:none; }
@@ -473,6 +473,7 @@ const ROBOT_PLATFORM = (params.get('platform') || '').trim().toLowerCase();
// Keep the prior real-platform default when an older LMS URL has no platform. // Keep the prior real-platform default when an older LMS URL has no platform.
const USE_MKMINI_MODEL = ROBOT_PLATFORM === 'mkmini' || (!ROBOT_PLATFORM && REAL_RUNTIME); const USE_MKMINI_MODEL = ROBOT_PLATFORM === 'mkmini' || (!ROBOT_PLATFORM && REAL_RUNTIME);
const SHOW_POINT_CLOUD = params.get('pointCloud') === '1'; const SHOW_POINT_CLOUD = params.get('pointCloud') === '1';
const SHOW_SENSOR_POINT_CLOUD = REAL_RUNTIME && SHOW_POINT_CLOUD;
const SENSOR_POINT_CLOUD_MAX_AGE_MS = 3_000; const SENSOR_POINT_CLOUD_MAX_AGE_MS = 3_000;
// Camera preview is kept for the RGB test module, but is paused for now so // Camera preview is kept for the RGB test module, but is paused for now so
// regular visualization sessions never poll `/camera-frame`. // regular visualization sessions never poll `/camera-frame`.
@@ -480,8 +481,10 @@ const ENABLE_CAMERA_PREVIEW = false;
const CUSTOM_WORLD = !REAL_RUNTIME && viewerMapKey === 'nav2-custom'; const CUSTOM_WORLD = !REAL_RUNTIME && viewerMapKey === 'nav2-custom';
const activeWorldModel = viewerMapKey === 'nav2-turtlebot3-house' ? 'turtlebot3_house' : 'turtlebot3_world'; const activeWorldModel = viewerMapKey === 'nav2-turtlebot3-house' ? 'turtlebot3_house' : 'turtlebot3_world';
const MKMINI_WORLD_SPACING_SCALE = USE_MKMINI_MODEL && activeWorldModel === 'turtlebot3_world' ? 1.6 : 1; const MKMINI_WORLD_SPACING_SCALE = USE_MKMINI_MODEL && activeWorldModel === 'turtlebot3_world' ? 1.6 : 1;
const MKMINI_RENDER_LENGTH = 0.855; const MKMINI_RENDER_LENGTH = 0.84;
const MKMINI_WHEELBASE_METERS = 0.325; const MKMINI_RENDER_WIDTH = 0.61;
const MKMINI_RENDER_HEIGHT = 0.6575;
const MKMINI_WHEELBASE_METERS = 0.6;
const MKMINI_MAX_STEERING_RADIANS = 0.52; const MKMINI_MAX_STEERING_RADIANS = 0.52;
const DEFAULT_SIMULATION_SPAWN = USE_MKMINI_MODEL const DEFAULT_SIMULATION_SPAWN = USE_MKMINI_MODEL
? { x: -1.4, y: -0.5 } ? { x: -1.4, y: -0.5 }
@@ -648,6 +651,8 @@ gazeboWorldRoot.name = 'gazebo-world';
sdfRoot.add(gazeboWorldRoot); sdfRoot.add(gazeboWorldRoot);
const editorObjects = new THREE.Group(); const editorObjects = new THREE.Group();
sdfRoot.add(editorObjects); sdfRoot.add(editorObjects);
const editorBoundaryObjects = new THREE.Group();
sdfRoot.add(editorBoundaryObjects);
const runtimeLayoutObjects = new THREE.Group(); const runtimeLayoutObjects = new THREE.Group();
gazeboWorldRoot.add(runtimeLayoutObjects); gazeboWorldRoot.add(runtimeLayoutObjects);
const navigationMapRoot = new THREE.Group(); const navigationMapRoot = new THREE.Group();
@@ -665,9 +670,9 @@ const remoteNavigationSplatBaseScale = new THREE.Vector3(3.672624762730334, 3.67
const pointCloudGeometry = SHOW_POINT_CLOUD ? new THREE.BufferGeometry() : null; const pointCloudGeometry = SHOW_POINT_CLOUD ? new THREE.BufferGeometry() : null;
let pointCloudLayer = null; let pointCloudLayer = null;
let hasGlobalMapPointCloud = false; let hasGlobalMapPointCloud = false;
// A real platform can provide a 3D LiDAR stream even when this viewer was // The live sensor point cloud belongs to the 3D view. 2D SLAM renders only
// opened through a legacy NAV2 stack URL without pointCloud=1. // LaserScan and must never poll the point-cloud endpoint.
const sensorPointCloudGeometry = REAL_RUNTIME ? new THREE.BufferGeometry() : null; const sensorPointCloudGeometry = SHOW_SENSOR_POINT_CLOUD ? new THREE.BufferGeometry() : null;
let sensorPointCloudLayer = null; let sensorPointCloudLayer = null;
if (pointCloudGeometry) { if (pointCloudGeometry) {
pointCloudLayer = new THREE.Points( pointCloudLayer = new THREE.Points(
@@ -833,8 +838,9 @@ function createLayoutMesh(item, editor = false) {
function renderEditorLayout(layout) { function renderEditorLayout(layout) {
if (!EDITOR_MODE) return; if (!EDITOR_MODE) return;
editorLayout = layout && Array.isArray(layout.objects) ? layout : { version:1, objects:[] }; editorLayout = layout && Array.isArray(layout.objects) ? layout : { version:1, bounds:{ width:10, depth:10 }, objects:[] };
clearLayoutObjects(editorObjects); clearLayoutObjects(editorObjects);
clearLayoutObjects(editorBoundaryObjects);
for (const item of editorLayout.objects) { for (const item of editorLayout.objects) {
editorObjects.add(createLayoutMesh(item, true)); editorObjects.add(createLayoutMesh(item, true));
} }
@@ -846,7 +852,7 @@ async function refreshRuntimeLayout() {
if (EDITOR_MODE || REAL_RUNTIME || !CUSTOM_WORLD) return; if (EDITOR_MODE || REAL_RUNTIME || !CUSTOM_WORLD) return;
try { try {
const layout = await fetch(`${BACKEND_URL}/world-layout`).then(response => response.ok ? response.json() : { objects: [] }); const layout = await fetch(`${BACKEND_URL}/world-layout`).then(response => response.ok ? response.json() : { objects: [] });
const signature = JSON.stringify(layout?.objects || []); const signature = JSON.stringify({ bounds: layout?.bounds || null, objects: layout?.objects || [] });
if (signature === runtimeLayoutSignature) return; if (signature === runtimeLayoutSignature) return;
runtimeLayoutSignature = signature; runtimeLayoutSignature = signature;
clearLayoutObjects(runtimeLayoutObjects); clearLayoutObjects(runtimeLayoutObjects);
@@ -884,6 +890,7 @@ let targetMkMiniSteeringAngle = 0;
let currentMkMiniSteeringAngle = 0; let currentMkMiniSteeringAngle = 0;
let targetMkMiniSteeringAngles = { left: 0, right: 0 }; let targetMkMiniSteeringAngles = { left: 0, right: 0 };
let currentMkMiniSteeringAngles = { left: 0, right: 0 }; let currentMkMiniSteeringAngles = { left: 0, right: 0 };
let lastMkMiniSteeringUpdateMs = null;
let lastMkMiniMotionSample = null; let lastMkMiniMotionSample = null;
let hasSimulatorMkMiniSteering = false; let hasSimulatorMkMiniSteering = false;
let laserGroup = null; let laserGroup = null;
@@ -910,10 +917,12 @@ let cameraFrameRequestInFlight = false;
let cameraFrameRefreshTimer = null; let cameraFrameRefreshTimer = null;
let cameraFrameObjectUrl = null; let cameraFrameObjectUrl = null;
let pathVisible = false; let pathVisible = false;
// Sensor data is opt-in in every visualization mode. A saved 3D map is // SLAM always renders its live scan, including the forward beam. Navigation
// rendered independently, so it must not implicitly enable the live lidar. // keeps the sensor opt-in so a saved-map view starts cleanly.
let navigationSensorVisible = false; let navigationSensorVisible = NAV2_VIEW_MODE !== 'navigation';
if (sensorPointCloudLayer) sensorPointCloudLayer.visible = false; if (sensorPointCloudLayer) sensorPointCloudLayer.visible = navigationSensorVisible;
sensorToggleButton.classList.toggle('active', navigationSensorVisible);
sensorToggleButton.setAttribute('aria-pressed', String(navigationSensorVisible));
const robotPathPoints = []; const robotPathPoints = [];
let robotPathLine = null; let robotPathLine = null;
let navigationPlanLine = null; let navigationPlanLine = null;
@@ -1183,7 +1192,7 @@ function addCylinder(parent, visual, geometry) {
const cyl = directChild(geometry, 'cylinder'); const cyl = directChild(geometry, 'cylinder');
const radius = Number(getDirectText(cyl, 'radius', '0.1')) || .1; const radius = Number(getDirectText(cyl, 'radius', '0.1')) || .1;
const sourceLength = Number(getDirectText(cyl, 'length', '1')) || 1; const sourceLength = Number(getDirectText(cyl, 'length', '1')) || 1;
const length = isMkMiniWorldPillar(visual) && sourceLength === .5 ? .8 : sourceLength; const length = isMkMiniWorldPillar(visual) && sourceLength === .5 ? 1.2 : sourceLength;
const mesh = new THREE.Mesh(new THREE.CylinderGeometry(radius, radius, length, 32), materialFromVisual(visual)); const mesh = new THREE.Mesh(new THREE.CylinderGeometry(radius, radius, length, 32), materialFromVisual(visual));
// Three cylinder 기본 축은 Y, SDF cylinder 기본 축은 Z입니다. // Three cylinder 기본 축은 Y, SDF cylinder 기본 축은 Z입니다.
mesh.rotation.x = Math.PI / 2; mesh.rotation.x = Math.PI / 2;
@@ -1231,7 +1240,7 @@ async function buildFromSdf() {
const visualGroup = new THREE.Group(); const visualGroup = new THREE.Group();
visualGroup.name = visual.getAttribute('name') || 'visual'; visualGroup.name = visual.getAttribute('name') || 'visual';
applyWorldSdfPose(visualGroup, parsePose(getDirectText(visual, 'pose', '0 0 0 0 0 0'))); applyWorldSdfPose(visualGroup, parsePose(getDirectText(visual, 'pose', '0 0 0 0 0 0')));
if (isMkMiniWorldPillar(visual)) visualGroup.position.z += 0.15; if (isMkMiniWorldPillar(visual)) visualGroup.position.z = 0.6;
linkGroup.add(visualGroup); linkGroup.add(visualGroup);
const geometry = directChild(visual, 'geometry'); const geometry = directChild(visual, 'geometry');
@@ -1366,15 +1375,18 @@ async function loadMkMiniModel(sdfPose = { x:0, y:0, z:0, roll:0, pitch:0, yaw:0
model.updateMatrixWorld(true); model.updateMatrixWorld(true);
const initialBounds = new THREE.Box3().setFromObject(model); const initialBounds = new THREE.Box3().setFromObject(model);
const initialSize = initialBounds.getSize(new THREE.Vector3()); const initialSize = initialBounds.getSize(new THREE.Vector3());
const largestDimension = Math.max(initialSize.x, initialSize.y, initialSize.z, 0.001); // The GLB is rotated into the SDF coordinate system above. Its local axes
// Match the Gazebo MKMini collision body's 1.05 m longest dimension. // then map to SDF as X=length, Z=width, Y=height. Normalize every axis to
model.scale.setScalar(MKMINI_RENDER_LENGTH / largestDimension); // the same physical envelope used by the Gazebo collision model.
const scaleX = MKMINI_RENDER_LENGTH / Math.max(initialSize.x, 0.001);
const scaleY = MKMINI_RENDER_HEIGHT / Math.max(initialSize.z, 0.001);
const scaleZ = MKMINI_RENDER_WIDTH / Math.max(initialSize.y, 0.001);
model.scale.set(scaleX, scaleY, scaleZ);
model.updateMatrixWorld(true); model.updateMatrixWorld(true);
const normalizedBounds = new THREE.Box3().setFromObject(model); const normalizedBounds = new THREE.Box3().setFromObject(model);
const center = normalizedBounds.getCenter(new THREE.Vector3()); const center = normalizedBounds.getCenter(new THREE.Vector3());
// This model lives under sdfRoot (Gazebo Z-up). Center it on base_link in // Keep the wheels on SDF Z=0 after scaling the vehicle height.
// the horizontal plane and place its base on SDF Z=0.
model.position.set(-center.x, -center.y, -normalizedBounds.min.z); model.position.set(-center.x, -center.y, -normalizedBounds.min.z);
model.traverse((child) => { model.traverse((child) => {
if (!child.isMesh) return; if (!child.isMesh) return;
@@ -1491,15 +1503,11 @@ async function setRemoteNavigationSplatVisible(visible) {
} }
const LASER_HOLE_R = 0.14; const LASER_HOLE_R = 0.14;
const LASER_OFFSET_X = USE_MKMINI_MODEL ? 0.1 : -0.032; const LASER_OFFSET_X = USE_MKMINI_MODEL ? 0.15 : -0.032;
const LASER_OFFSET_Y = 0; const LASER_OFFSET_Y = 0;
// Calibrated to the MKMini GLB at the current display scale. // Fallback height when an explicit ROS scan pose is unavailable.
const LASER_Z = USE_MKMINI_MODEL ? 0.5 : 0.181; const LASER_Z = USE_MKMINI_MODEL ? 0.5 : 0.181;
// The MKMini ROS frame reports os_lidar at Z=0.6 m while the bundled GLB const MKMINI_LASER_RENDER_BACKWARD_OFFSET = 0.03;
// places the visible LiDAR head at approximately Z=0.5 m. Keep ROS/map
// coordinates untouched and correct only the rendered scan origin.
const MKMINI_LASER_RENDER_Z_OFFSET = 0.1;
const MKMINI_LASER_RENDER_FORWARD_OFFSET = 0.12;
function setRobotPose(pose) { function setRobotPose(pose) {
if (!pose) return; if (!pose) return;
@@ -1556,7 +1564,6 @@ function applyCurrentRobotPose() {
robotModel.visible = shouldRenderRobot(); robotModel.visible = shouldRenderRobot();
robotModel.position.set(currentRobotPose.x, currentRobotPose.y, currentRobotPose.z); robotModel.position.set(currentRobotPose.x, currentRobotPose.y, currentRobotPose.z);
robotModel.rotation.set(currentRobotPose.roll, currentRobotPose.pitch, currentRobotPose.yaw, 'XYZ'); robotModel.rotation.set(currentRobotPose.roll, currentRobotPose.pitch, currentRobotPose.yaw, 'XYZ');
updateMkMiniFrontWheelSteering();
} }
function updateMkMiniSteeringTarget(pose) { function updateMkMiniSteeringTarget(pose) {
@@ -1647,7 +1654,7 @@ function mkMiniAckermannAngles(steeringAngle) {
if (Math.abs(steeringAngle) < 0.0001) return { left: 0, right: 0 }; if (Math.abs(steeringAngle) < 0.0001) return { left: 0, right: 0 };
const direction = Math.sign(steeringAngle); const direction = Math.sign(steeringAngle);
const radius = MKMINI_GAZEBO_WHEELBASE_METERS / Math.tan(Math.abs(steeringAngle)); const radius = MKMINI_GAZEBO_WHEELBASE_METERS / Math.tan(Math.abs(steeringAngle));
const halfTrack = 0.293; const halfTrack = 0.255;
const inner = Math.atan(MKMINI_GAZEBO_WHEELBASE_METERS / Math.max(0.01, radius - halfTrack)); const inner = Math.atan(MKMINI_GAZEBO_WHEELBASE_METERS / Math.max(0.01, radius - halfTrack));
const outer = Math.atan(MKMINI_GAZEBO_WHEELBASE_METERS / (radius + halfTrack)); const outer = Math.atan(MKMINI_GAZEBO_WHEELBASE_METERS / (radius + halfTrack));
return direction > 0 ? { left: inner, right: outer } : { left: -outer, right: -inner }; return direction > 0 ? { left: inner, right: outer } : { left: -outer, right: -inner };
@@ -1655,13 +1662,17 @@ function mkMiniAckermannAngles(steeringAngle) {
function updateMkMiniFrontWheelSteering() { function updateMkMiniFrontWheelSteering() {
if (!mkMiniFrontWheelPivots.length) return; if (!mkMiniFrontWheelPivots.length) return;
currentMkMiniSteeringAngle += (targetMkMiniSteeringAngle - currentMkMiniSteeringAngle) const now = performance.now();
* (hasSimulatorMkMiniSteering ? 1 : 0.28); const elapsedSeconds = lastMkMiniSteeringUpdateMs === null
? 0
: Math.min((now - lastMkMiniSteeringUpdateMs) / 1000, 0.1);
lastMkMiniSteeringUpdateMs = now;
const alpha = 1 - Math.exp(-8 * elapsedSeconds);
currentMkMiniSteeringAngle += (targetMkMiniSteeringAngle - currentMkMiniSteeringAngle) * alpha;
for (const { pivot, side } of mkMiniFrontWheelPivots) { for (const { pivot, side } of mkMiniFrontWheelPivots) {
// The asset is Z-up before its model-level X rotation, so its local Y axis // The asset is Z-up before its model-level X rotation, so its local Y axis
// becomes the viewer's vertical steering axis. // becomes the viewer's vertical steering axis.
currentMkMiniSteeringAngles[side] += (targetMkMiniSteeringAngles[side] - currentMkMiniSteeringAngles[side]) currentMkMiniSteeringAngles[side] += (targetMkMiniSteeringAngles[side] - currentMkMiniSteeringAngles[side]) * alpha;
* (hasSimulatorMkMiniSteering ? 1 : 0.28);
pivot.rotation.y = currentMkMiniSteeringAngles[side]; pivot.rotation.y = currentMkMiniSteeringAngles[side];
} }
} }
@@ -1768,7 +1779,7 @@ function setNavigationSensorVisible(visible) {
drawMiniMap(latestSlamState); drawMiniMap(latestSlamState);
return; return;
} }
if (REAL_RUNTIME) { if (SHOW_SENSOR_POINT_CLOUD) {
void refreshSensorPointCloud(); void refreshSensorPointCloud();
if (!sensorPointCloudRefreshTimer) { if (!sensorPointCloudRefreshTimer) {
sensorPointCloudRefreshTimer = window.setInterval(() => void refreshSensorPointCloud(), 500); sensorPointCloudRefreshTimer = window.setInterval(() => void refreshSensorPointCloud(), 500);
@@ -1798,9 +1809,8 @@ function drawLaserScan(scan, scanPose = (
const renderPose = USE_MKMINI_MODEL && scanPose const renderPose = USE_MKMINI_MODEL && scanPose
? { ? {
...sourcePose, ...sourcePose,
x: sourcePose.x + Math.cos(sourcePose.yaw || 0) * MKMINI_LASER_RENDER_FORWARD_OFFSET, x: sourcePose.x - Math.cos(sourcePose.yaw || 0) * MKMINI_LASER_RENDER_BACKWARD_OFFSET,
y: sourcePose.y + Math.sin(sourcePose.yaw || 0) * MKMINI_LASER_RENDER_FORWARD_OFFSET, y: sourcePose.y - Math.sin(sourcePose.yaw || 0) * MKMINI_LASER_RENDER_BACKWARD_OFFSET,
z: (sourcePose.z || 0) - MKMINI_LASER_RENDER_Z_OFFSET,
} }
: sourcePose; : sourcePose;
const origin = scanPose const origin = scanPose
@@ -1813,18 +1823,25 @@ function drawLaserScan(scan, scanPose = (
const endpoints = []; const endpoints = [];
const linePoints = []; const linePoints = [];
const openSpaceLinePoints = [];
const showOpenSpaceRays = NAV2_VIEW_MODE === 'slam';
for (let i = 0; i < scan.ranges.length; i++) { for (let i = 0; i < scan.ranges.length; i++) {
const raw = scan.ranges[i]; const raw = scan.ranges[i];
const valid = Number.isFinite(raw) && raw >= rangeMin && raw < rangeMax; const valid = Number.isFinite(raw) && raw >= rangeMin && raw < rangeMax;
const d = valid ? Math.min(raw, rangeMax) : rangeMax; const d = valid ? Math.min(raw, rangeMax) : rangeMax;
const a = angleMin + i * angleInc; const a = angleMin + i * angleInc;
const dir = laserDirectionFromPose(sourcePose, a); const dir = laserDirectionFromPose(renderPose, a);
const startD = Math.min(LASER_HOLE_R, d); const startD = Math.min(LASER_HOLE_R, d);
const start = origin.clone().addScaledVector(dir, startD); const start = origin.clone().addScaledVector(dir, startD);
const point = origin.clone().addScaledVector(dir, d); const point = origin.clone().addScaledVector(dir, d);
endpoints.push({ start, point, hit: valid }); endpoints.push({ start, point, hit: valid });
// A range-max value represents open space, not an actual reflected beam. if (valid) {
if (valid) linePoints.push(start.x, start.y, start.z, point.x, point.y, point.z); linePoints.push(start.x, start.y, start.z, point.x, point.y, point.z);
} else if (showOpenSpaceRays) {
// Match Gazebo's ray visualization: no-return rays remain visible, but
// deliberately subdued so detected obstacles stay the primary signal.
openSpaceLinePoints.push(start.x, start.y, start.z, point.x, point.y, point.z);
}
} }
const fillPoints = []; const fillPoints = [];
@@ -1858,10 +1875,20 @@ function drawLaserScan(scan, scanPose = (
const lineGeo = new THREE.BufferGeometry(); const lineGeo = new THREE.BufferGeometry();
lineGeo.setAttribute('position', new THREE.Float32BufferAttribute(linePoints, 3)); lineGeo.setAttribute('position', new THREE.Float32BufferAttribute(linePoints, 3));
grp.add(new THREE.LineSegments(lineGeo, lineMat)); grp.add(new THREE.LineSegments(lineGeo, lineMat));
if (openSpaceLinePoints.length) {
const openSpaceGeo = new THREE.BufferGeometry();
openSpaceGeo.setAttribute('position', new THREE.Float32BufferAttribute(openSpaceLinePoints, 3));
grp.add(new THREE.LineSegments(
openSpaceGeo,
new THREE.LineBasicMaterial({ color: 0x6f9dff, transparent: true, opacity: 0.28 }),
));
}
const frontIndex = Math.max(0, Math.min(scan.ranges.length - 1, Math.round((0 - angleMin) / angleInc))); const frontIndex = Math.max(0, Math.min(scan.ranges.length - 1, Math.round((0 - angleMin) / angleInc)));
const front = endpoints[frontIndex]; const front = endpoints[frontIndex];
if (front?.hit) { // Keep the forward direction beam even in open space. It is the visual
// heading reference used in the TurtleBot SLAM view, not only a hit marker.
if (front) {
const delta = new THREE.Vector3( const delta = new THREE.Vector3(
front.point.x - front.start.x, front.point.x - front.start.x,
front.point.y - front.start.y, front.point.y - front.start.y,
@@ -1980,7 +2007,7 @@ async function refreshPointCloud() {
} }
async function refreshSensorPointCloud() { async function refreshSensorPointCloud() {
if (!REAL_RUNTIME || !navigationSensorVisible || sensorPointCloudRequestInFlight) return; if (!SHOW_SENSOR_POINT_CLOUD || !navigationSensorVisible || sensorPointCloudRequestInFlight) return;
sensorPointCloudRequestInFlight = true; sensorPointCloudRequestInFlight = true;
try { try {
const response = await fetch(`${BACKEND_URL}/sensor-point-cloud`); const response = await fetch(`${BACKEND_URL}/sensor-point-cloud`);
@@ -3188,7 +3215,7 @@ if (SHOW_POINT_CLOUD) {
void refreshPointCloud(); void refreshPointCloud();
pointCloudRefreshTimer = window.setInterval(() => void refreshPointCloud(), 1000); pointCloudRefreshTimer = window.setInterval(() => void refreshPointCloud(), 1000);
} }
if (REAL_RUNTIME && navigationSensorVisible) { if (SHOW_SENSOR_POINT_CLOUD && navigationSensorVisible) {
void refreshSensorPointCloud(); void refreshSensorPointCloud();
sensorPointCloudRefreshTimer = window.setInterval(() => void refreshSensorPointCloud(), 500); sensorPointCloudRefreshTimer = window.setInterval(() => void refreshSensorPointCloud(), 500);
} }
@@ -3223,7 +3250,7 @@ let singleMoveStopTimer = null;
const TELEOP_COMMAND_INTERVAL_MS = 120; const TELEOP_COMMAND_INTERVAL_MS = 120;
const SINGLE_MOVE_DURATION_MS = 120; const SINGLE_MOVE_DURATION_MS = 120;
const LATCHED_ROTATION_SPEED_SCALE = 0.25; const LATCHED_ROTATION_SPEED_SCALE = 0.25;
const MKMINI_GAZEBO_WHEELBASE_METERS = 0.489; const MKMINI_GAZEBO_WHEELBASE_METERS = 0.6;
const MKMINI_GAZEBO_MAX_STEERING_RADIANS = 0.5; const MKMINI_GAZEBO_MAX_STEERING_RADIANS = 0.5;
let cmdVelRequestInFlight = false; let cmdVelRequestInFlight = false;
let queuedCmdVel = null; let queuedCmdVel = null;
@@ -3446,6 +3473,7 @@ window.addEventListener('resize', () => {
function animate(){ function animate(){
requestAnimationFrame(animate); requestAnimationFrame(animate);
updateSmoothedRobotPose(); updateSmoothedRobotPose();
updateMkMiniFrontWheelSteering();
controls.update(); controls.update();
if (remoteNavigationSplatViewer && remoteNavigationSplatEnabled) { if (remoteNavigationSplatViewer && remoteNavigationSplatEnabled) {
remoteNavigationSplatViewer.update(); remoteNavigationSplatViewer.update();
src/renderer/src/App.tsx
+84 -43
View File
@@ -43,7 +43,7 @@ import WorkspaceLogView from './features/workspace/WorkspaceLogView'
import WorkspaceModuleTabContextMenu from './features/workspace/WorkspaceModuleTabContextMenu' import WorkspaceModuleTabContextMenu from './features/workspace/WorkspaceModuleTabContextMenu'
import ModuleListView from './features/workspace/ModuleListView' import ModuleListView from './features/workspace/ModuleListView'
import WorldEditorModal from './features/workspace/WorldEditorModal' import WorldEditorModal from './features/workspace/WorldEditorModal'
import WorldMapSelectorModal, { WorldMapRestartConfirmModal, type SavedMapRuntimeKind, type WorkspaceMapOption } from './features/workspace/WorldMapSelectorModal' import WorldMapSelectorModal, { NAV2_MAP_OPTIONS, WorldMapRestartConfirmModal, type SavedMapRuntimeKind, type WorkspaceMapOption } from './features/workspace/WorldMapSelectorModal'
import WorkspaceQaPanel from './features/workspace/WorkspaceQaPanel' import WorkspaceQaPanel from './features/workspace/WorkspaceQaPanel'
import WorkspaceSettingsView from './features/workspace/WorkspaceSettingsView' import WorkspaceSettingsView from './features/workspace/WorkspaceSettingsView'
import WorkspaceSourceControlView from './features/workspace/WorkspaceSourceControlView' import WorkspaceSourceControlView from './features/workspace/WorkspaceSourceControlView'
@@ -85,6 +85,11 @@ type IdeActivity = WorkspaceActivity
const PUBLIC_GUIDE_COURSE_SLUG = 'autonomy-studio-lms-guide' const PUBLIC_GUIDE_COURSE_SLUG = 'autonomy-studio-lms-guide'
function isRemoteEnvironmentProfile(profile: EnvironmentProfile): boolean {
const target = profile.config?.target
return target === 'remote-jetson' || target === 'platform'
}
function resolveModuleRuntimeImages( function resolveModuleRuntimeImages(
profiles: EnvironmentProfile[], profiles: EnvironmentProfile[],
remoteWorkspace: boolean, remoteWorkspace: boolean,
@@ -93,7 +98,7 @@ function resolveModuleRuntimeImages(
if (!remoteWorkspace) return activeRuntimeImages if (!remoteWorkspace) return activeRuntimeImages
const images = profiles const images = profiles
.filter((profile) => ['real_slam', 'real_slam_3d', 'real_navigation'].includes(profile.profileType.toLowerCase())) .filter(isRemoteEnvironmentProfile)
.flatMap((profile) => Array.isArray(profile.config.runtimeImages) ? profile.config.runtimeImages : []) .flatMap((profile) => Array.isArray(profile.config.runtimeImages) ? profile.config.runtimeImages : [])
.filter((image): image is RuntimeImageArtifact => ( .filter((image): image is RuntimeImageArtifact => (
typeof image === 'object' typeof image === 'object'
@@ -806,39 +811,56 @@ function LocalPcWorkspaceMockup({
const sessionWorldMaps = useMemo(() => { const sessionWorldMaps = useMemo(() => {
const configuredMaps = (curriculumWeek.maps ?? []) const configuredMaps = (curriculumWeek.maps ?? [])
.filter((map): map is WorkspaceMapOption => map.platformKey === 'NAV2') .filter((map): map is WorkspaceMapOption => map.platformKey === 'NAV2')
const baseMaps = [...configuredMaps] const customMap = NAV2_MAP_OPTIONS.find((map) => map.key === 'nav2-custom')
const usesThreeDimensionalSlam = (curriculumWeek.modules ?? []).some((module) => ( const baseMaps = configuredMaps.some((map) => map.key === 'nav2-custom') || !customMap
/lms-nav2-gazebo-slam3d/i.test(module.folderName ?? '') ? [...configuredMaps]
)) : [...configuredMaps, customMap]
const platformSlamMap: WorkspaceMapOption = { const platformSlamMaps: WorkspaceMapOption[] = [
key: 'nav2-platform-slam', {
platformKey: 'NAV2', key: 'nav2-platform-slam-2d',
name: '새 SLAM', platformKey: 'NAV2',
description: '플랫폼 LiDAR로 새 지도를 생성합니다.', name: '새 2D SLAM',
worldFile: '', description: '2D LiDAR로 새 지도를 생성합니다.',
viewerModel: 'turtlebot3_world', worldFile: '',
remoteSlam: true, viewerModel: 'turtlebot3_world',
runtimeKind: usesThreeDimensionalSlam ? 'PLATFORM_3D' : 'PLATFORM_2D', remoteSlam: true,
} runtimeKind: 'PLATFORM_2D',
const maps = [...baseMaps, platformSlamMap, ...savedSlamMaps] },
{
key: 'nav2-platform-slam-3d',
platformKey: 'NAV2',
name: '새 3D SLAM',
description: '3D LiDAR 포인트 클라우드로 새 지도를 생성합니다.',
worldFile: '',
viewerModel: 'turtlebot3_world',
remoteSlam: true,
runtimeKind: 'PLATFORM_3D',
},
]
const maps = [...baseMaps, ...platformSlamMaps, ...savedSlamMaps]
const keys = new Set<string>() const keys = new Set<string>()
return maps.filter((map) => { return maps.filter((map) => {
if (keys.has(map.key)) return false if (keys.has(map.key)) return false
keys.add(map.key) keys.add(map.key)
return true return true
}) })
}, [curriculumWeek.maps, curriculumWeek.modules, savedSlamMaps]) }, [curriculumWeek.maps, savedSlamMaps])
useEffect(() => { useEffect(() => {
const storedMapKey = window.localStorage.getItem(sessionMapStorageKey) const storedMapKey = window.localStorage.getItem(sessionMapStorageKey)
?? window.localStorage.getItem(simulationMapStorageKey) ?? window.localStorage.getItem(simulationMapStorageKey)
?? window.localStorage.getItem(platformMapStorageKey) ?? window.localStorage.getItem(platformMapStorageKey)
const requestedMapKey = selectedWorldMapKey || storedMapKey const normalizedStoredMapKey = storedMapKey === 'nav2-platform-slam'
? 'nav2-platform-slam-2d'
: storedMapKey
const requestedMapKey = selectedWorldMapKey === 'nav2-platform-slam'
? 'nav2-platform-slam-2d'
: selectedWorldMapKey || normalizedStoredMapKey
if (!savedSlamMapsLoaded && requestedMapKey?.startsWith('saved-slam-')) return if (!savedSlamMapsLoaded && requestedMapKey?.startsWith('saved-slam-')) return
setSelectedWorldMapKey((current) => { setSelectedWorldMapKey((current) => {
const next = sessionWorldMaps.some((map) => map.key === current) const next = sessionWorldMaps.some((map) => map.key === current)
? current ? current
: sessionWorldMaps.some((map) => map.key === storedMapKey) : sessionWorldMaps.some((map) => map.key === normalizedStoredMapKey)
? storedMapKey! ? normalizedStoredMapKey!
: sessionWorldMaps[0]?.key ?? 'nav2-turtlebot3-world' : sessionWorldMaps[0]?.key ?? 'nav2-turtlebot3-world'
window.localStorage.setItem(sessionMapStorageKey, next) window.localStorage.setItem(sessionMapStorageKey, next)
return next return next
@@ -1014,7 +1036,7 @@ function LocalPcWorkspaceMockup({
mapKey: selectedWorldMap.saved ? selectedWorldMap.sourceMapKey : selectedWorldMap.key, mapKey: selectedWorldMap.saved ? selectedWorldMap.sourceMapKey : selectedWorldMap.key,
platform: visualizationPlatform, platform: visualizationPlatform,
threeDimensional: Boolean( threeDimensional: Boolean(
selectedWorldMap.databasePath || selectedWorldMap.runtimeKind === 'PLATFORM_3D' selectedWorldMap.runtimeKind === 'PLATFORM_3D'
), ),
savedMapDatabasePath: selectedWorldMap.databasePath, savedMapDatabasePath: selectedWorldMap.databasePath,
prepareSavedMap: async () => prepareVisualizationSavedMapRef.current?.() ?? {}, prepareSavedMap: async () => prepareVisualizationSavedMapRef.current?.() ?? {},
@@ -1037,9 +1059,7 @@ function LocalPcWorkspaceMockup({
if (initializedVisualizationMapRef.current === mapIdentity) return if (initializedVisualizationMapRef.current === mapIdentity) return
initializedVisualizationMapRef.current = mapIdentity initializedVisualizationMapRef.current = mapIdentity
const navigationMap = Boolean(selectedWorldMap?.saved) const navigationMap = Boolean(selectedWorldMap?.saved)
const threeDimensionalMap = Boolean( const threeDimensionalMap = selectedWorldMap?.runtimeKind === 'PLATFORM_3D'
selectedWorldMap?.databasePath || selectedWorldMap?.runtimeKind === 'PLATFORM_3D'
)
// Saved RTAB-Map databases are navigable maps. Keep the 3D viewer while // Saved RTAB-Map databases are navigable maps. Keep the 3D viewer while
// enabling the same pose and goal controls used by NAV2 navigation. // enabling the same pose and goal controls used by NAV2 navigation.
const nextMode = navigationMap ? 'navigation' : 'slam' const nextMode = navigationMap ? 'navigation' : 'slam'
@@ -1050,7 +1070,7 @@ function LocalPcWorkspaceMockup({
: 'slam' : 'slam'
if (visualizationStack !== nextStack) setVisualizationStack(nextStack) if (visualizationStack !== nextStack) setVisualizationStack(nextStack)
if (nav2VisualizationMode !== nextMode) setNav2VisualizationMode(nextMode) if (nav2VisualizationMode !== nextMode) setNav2VisualizationMode(nextMode)
}, [nav2VisualizationMode, selectedWorldMap?.databasePath, selectedWorldMap?.key, selectedWorldMap?.runtimeKind, selectedWorldMap?.saved, setNav2VisualizationMode, setVisualizationStack, visualizationStack]) }, [nav2VisualizationMode, selectedWorldMap?.key, selectedWorldMap?.runtimeKind, selectedWorldMap?.saved, setNav2VisualizationMode, setVisualizationStack, visualizationStack])
const [customModules, setCustomModules] = useState<NonNullable<CurriculumWeek['modules']>>(() => ( const [customModules, setCustomModules] = useState<NonNullable<CurriculumWeek['modules']>>(() => (
(curriculumWeek.modules ?? []).filter((module) => module.sourceType === 'CUSTOM') (curriculumWeek.modules ?? []).filter((module) => module.sourceType === 'CUSTOM')
)) ))
@@ -1083,7 +1103,7 @@ function LocalPcWorkspaceMockup({
const resolvedModules = resolveRuntimeModules( const resolvedModules = resolveRuntimeModules(
curriculumModulesWithCustom, curriculumModulesWithCustom,
remoteWorkspace remoteWorkspace
? visualizationProfiles.filter((profile) => ['real_slam', 'real_slam_3d', 'real_navigation'].includes(profile.profileType.toLowerCase())) ? visualizationProfiles.filter(isRemoteEnvironmentProfile)
: activeEnvironmentProfile, : activeEnvironmentProfile,
remoteWorkspace ? 'platform' : 'local' remoteWorkspace ? 'platform' : 'local'
) ?? [] ) ?? []
@@ -1129,11 +1149,9 @@ function LocalPcWorkspaceMockup({
const maps = await response.json() as Array<{ id: string; name: string; yamlPath: string; pgmPath: string; yamlUrl?: string | null; pgmUrl?: string | null; previewPgm?: string | null; databasePath?: string | null; databaseUrl?: string | null; runtimeKind?: SavedMapRuntimeKind; sourceMapKey: string; worldFile: string; viewerModel: 'turtlebot3_world' | 'turtlebot3_house'; createdAt: string }> const maps = await response.json() as Array<{ id: string; name: string; yamlPath: string; pgmPath: string; yamlUrl?: string | null; pgmUrl?: string | null; previewPgm?: string | null; databasePath?: string | null; databaseUrl?: string | null; runtimeKind?: SavedMapRuntimeKind; sourceMapKey: string; worldFile: string; viewerModel: 'turtlebot3_world' | 'turtlebot3_house'; createdAt: string }>
setSavedSlamMaps(maps.map((map) => { setSavedSlamMaps(maps.map((map) => {
const isThreeDimensional = map.runtimeKind === 'PLATFORM_3D' const isThreeDimensional = map.runtimeKind === 'PLATFORM_3D'
|| Boolean(map.databasePath || map.databaseUrl) const databasePath = isThreeDimensional
// Older 3D map rows can omit databasePath even though the database ? (map.databasePath ?? map.yamlPath.replace(/\.yaml$/i, '.db'))
// artifact follows the YAML filename in the workspace maps directory. : undefined
const databasePath = map.databasePath
?? (isThreeDimensional ? map.yamlPath.replace(/\.yaml$/i, '.db') : undefined)
return { return {
key: `saved-slam-${map.id}`, key: `saved-slam-${map.id}`,
platformKey: 'NAV2', platformKey: 'NAV2',
@@ -1153,7 +1171,7 @@ function LocalPcWorkspaceMockup({
databasePath, databasePath,
databaseUrl: map.databaseUrl ?? undefined, databaseUrl: map.databaseUrl ?? undefined,
runtimeKind: map.runtimeKind runtimeKind: map.runtimeKind
?? (databasePath ? 'PLATFORM_3D' : map.sourceMapKey === 'nav2-platform-slam' ? 'PLATFORM_2D' : 'SIMULATION'), ?? (map.sourceMapKey === 'nav2-platform-slam' ? 'PLATFORM_2D' : 'SIMULATION'),
} }
})) }))
} catch (error) { } catch (error) {
@@ -1266,9 +1284,8 @@ function LocalPcWorkspaceMockup({
form.set('sourceMapKey', selectedWorldMap.key) form.set('sourceMapKey', selectedWorldMap.key)
form.set('worldFile', selectedWorldMap.worldFile) form.set('worldFile', selectedWorldMap.worldFile)
form.set('viewerModel', selectedWorldMap.viewerModel) form.set('viewerModel', selectedWorldMap.viewerModel)
form.set('runtimeKind', remoteWorkspace form.set('runtimeKind', selectedWorldMap.runtimeKind
? (databasePath ? 'PLATFORM_3D' : 'PLATFORM_2D') ?? (databasePath ? 'PLATFORM_3D' : remoteWorkspace ? 'PLATFORM_2D' : 'SIMULATION'))
: 'SIMULATION')
form.set('yamlPath', payload.map.yamlPath) form.set('yamlPath', payload.map.yamlPath)
form.set('pgmPath', payload.map.pgmPath) form.set('pgmPath', payload.map.pgmPath)
if (payload.map.previewPgm) form.set('previewPgm', payload.map.previewPgm) if (payload.map.previewPgm) form.set('previewPgm', payload.map.previewPgm)
@@ -1310,7 +1327,7 @@ function LocalPcWorkspaceMockup({
const workspaceRestoreStartedAtRef = useRef(Date.now()) const workspaceRestoreStartedAtRef = useRef(Date.now())
const moduleParameterScope = remoteWorkspace ? `platform:${platformId}` : 'local' const moduleParameterScope = remoteWorkspace ? `platform:${platformId}` : 'local'
const getModuleParameterStorageKey = (module: ModuleRow): string => ( const getModuleParameterStorageKey = (module: ModuleRow): string => (
makeModuleParameterKey(courseKey, weekNumber, module.folderName ?? module.name, moduleParameterScope) makeModuleParameterKey(courseKey, weekNumber, module.id ?? module.folderName ?? module.name, moduleParameterScope)
) )
const applyModuleParameterOverrides = useCallback((modules: ModuleRow[]): ModuleRow[] => { const applyModuleParameterOverrides = useCallback((modules: ModuleRow[]): ModuleRow[] => {
const storedParameters = readStoredModuleParameters() const storedParameters = readStoredModuleParameters()
@@ -2368,6 +2385,24 @@ function LocalPcWorkspaceMockup({
void applySourceSettings(normalizedSettings, false) void applySourceSettings(normalizedSettings, false)
} }
const sourceSettingsDirty = (() => {
const normalizeForSave = (settings: StudioSourceSettings): StudioSourceSettings => normalizeStudioSourceSettings({
workspaceRoot: remoteWorkspace
? platformSourceSettingsDefaults.workspaceRoot
: settings.workspaceRoot.trim() || defaultStudioSourceSettings.workspaceRoot,
giteaBaseUrl: sourceSettings.giteaBaseUrl,
giteaOwner: sourceSettings.giteaOwner,
gpuEnabled: settings.gpuEnabled,
editorWordWrap: settings.editorWordWrap,
editorFontSize: settings.editorFontSize,
editorTabSize: settings.editorTabSize,
editorMinimap: settings.editorMinimap,
rosDomainId: settings.rosDomainId.trim() || defaultStudioSourceSettings.rosDomainId,
rosLinkedPlatformId: settings.rosLinkedPlatformId ?? null,
visualizationBridgeLocation: settings.visualizationBridgeLocation ?? 'local',
})
return JSON.stringify(normalizeForSave(sourceSettingsDraft)) !== JSON.stringify(normalizeForSave(sourceSettings))
})()
const saveDirtyFilesForModule = async (module: ModuleRow): Promise<void> => { const saveDirtyFilesForModule = async (module: ModuleRow): Promise<void> => {
const moduleRoot = getModuleFilePrefix(module.name) const moduleRoot = getModuleFilePrefix(module.name)
const dirtyFiles = Object.keys(dirtyEditorFiles).filter((file) => ( const dirtyFiles = Object.keys(dirtyEditorFiles).filter((file) => (
@@ -2512,11 +2547,10 @@ function LocalPcWorkspaceMockup({
} }
if (map.saved) { if (map.saved) {
setNav2VisualizationMode('navigation') setNav2VisualizationMode('navigation')
setVisualizationStack(map.databasePath ? 'slam3d' : 'nav2') setVisualizationStack(map.runtimeKind === 'PLATFORM_3D' ? 'slam3d' : 'nav2')
} else { } else {
setNav2VisualizationMode('slam') setNav2VisualizationMode('slam')
if (map.remoteSlam && visualizationStacks.includes('slam3d')) setVisualizationStack('slam3d') setVisualizationStack(map.runtimeKind === 'PLATFORM_3D' ? 'slam3d' : 'slam')
else if (visualizationStacks.includes('slam')) setVisualizationStack('slam')
} }
onTitlebarNotice(`[${map.name}] 맵이 선택되었습니다.`, 'info') onTitlebarNotice(`[${map.name}] 맵이 선택되었습니다.`, 'info')
} }
@@ -3542,6 +3576,7 @@ function LocalPcWorkspaceMockup({
platformName={platformName} platformName={platformName}
configuredDraftWorkspaceRoot={configuredDraftWorkspaceRoot} configuredDraftWorkspaceRoot={configuredDraftWorkspaceRoot}
sourceSettingsDraft={sourceSettingsDraft} sourceSettingsDraft={sourceSettingsDraft}
saveDisabled={!sourceSettingsDirty}
remotePlatforms={platformOptions.filter((platform) => platform.platformKey !== 'futuredrive-local-pc')} remotePlatforms={platformOptions.filter((platform) => platform.platformKey !== 'futuredrive-local-pc')}
onUpdateSourceSetting={updateSourceSetting} onUpdateSourceSetting={updateSourceSetting}
onSaveSourceSettings={saveSourceSettings} onSaveSourceSettings={saveSourceSettings}
@@ -3786,13 +3821,12 @@ function LocalPcWorkspaceMockup({
onTitlebarNotice('맵 편집은 로컬 시뮬레이션 환경에서 사용할 수 있습니다.', 'warning') onTitlebarNotice('맵 편집은 로컬 시뮬레이션 환경에서 사용할 수 있습니다.', 'warning')
return return
} }
setWorldMapSelectorOpen(false)
setWorldEditorOpen(true) setWorldEditorOpen(true)
}} }}
onDelete={(map) => void deleteSavedSlamMap(map)} onDelete={(map) => void deleteSavedSlamMap(map)}
onSelect={(map) => { onSelect={(map) => {
if (map.key === selectedWorldMapKey) return
setWorldMapSelectorOpen(false) setWorldMapSelectorOpen(false)
if (map.key === selectedWorldMapKey) return
if (availableModules.some((module) => module.state === 'running')) { if (availableModules.some((module) => module.state === 'running')) {
void applyWorldMapSelection(map) void applyWorldMapSelection(map)
setPendingWorldMapRestart(map) setPendingWorldMapRestart(map)
@@ -3812,7 +3846,14 @@ function LocalPcWorkspaceMockup({
{worldEditorOpen && ( {worldEditorOpen && (
<WorldEditorModal <WorldEditorModal
workspaceRoot={clonePathPreview} workspaceRoot={clonePathPreview}
onSaved={() => setWorldLayoutVersion((version) => version + 1)} onSaved={() => {
setWorldLayoutVersion((version) => version + 1)
const customMap = sessionWorldMaps.find((map) => map.key === 'nav2-custom')
if (customMap) void applyWorldMapSelection(customMap)
if (availableModules.some((module) => module.state === 'running')) {
onTitlebarNotice('커스텀 맵은 시뮬레이터를 다시 실행하면 적용됩니다.', 'warning')
}
}}
onClose={() => setWorldEditorOpen(false)} onClose={() => setWorldEditorOpen(false)}
/> />
)} )}
src/renderer/src/env.d.ts
Vendored
+4
View File
@@ -348,6 +348,10 @@ type WorldLayoutObject = {
type WorldLayout = { type WorldLayout = {
version: 1 version: 1
bounds: {
width: number
depth: number
}
objects: WorldLayoutObject[] objects: WorldLayoutObject[]
} }
src/renderer/src/features/workspace/ModuleListRow.tsx
+34 -22
View File
@@ -17,6 +17,8 @@ export type ModuleListRowItem = {
type ModuleActionTone = 'install' | 'start' | 'warning' | 'delete' | 'neutral' type ModuleActionTone = 'install' | 'start' | 'warning' | 'delete' | 'neutral'
let dismissActiveTooltip: (() => void) | null = null
type ModuleListRowProps<Module extends ModuleListRowItem> = { type ModuleListRowProps<Module extends ModuleListRowItem> = {
dark: boolean dark: boolean
module: Module module: Module
@@ -75,55 +77,65 @@ function actionButtonClass(dark: boolean, tone: ModuleActionTone, busy: boolean)
function TooltipLabel({ dark, children }: { dark: boolean; children: React.ReactNode }): React.JSX.Element { function TooltipLabel({ dark, children }: { dark: boolean; children: React.ReactNode }): React.JSX.Element {
const anchorRef = useRef<HTMLSpanElement>(null) const anchorRef = useRef<HTMLSpanElement>(null)
const dismissTimerRef = useRef<number | null>(null)
const [position, setPosition] = useState<{ left: number; top: number } | null>(null) const [position, setPosition] = useState<{ left: number; top: number } | null>(null)
useEffect(() => { useEffect(() => {
const anchor = anchorRef.current?.parentElement const anchor = anchorRef.current?.parentElement
if (!(anchor instanceof HTMLElement)) return if (!(anchor instanceof HTMLElement)) return
const clearDismissTimer = (): void => {
if (dismissTimerRef.current === null) return
window.clearTimeout(dismissTimerRef.current)
dismissTimerRef.current = null
}
const hideTooltip = (): void => {
clearDismissTimer()
setPosition(null)
if (dismissActiveTooltip === hideTooltip) dismissActiveTooltip = null
}
const showTooltip = (): void => { const showTooltip = (): void => {
dismissActiveTooltip?.()
clearDismissTimer()
const bounds = anchor.getBoundingClientRect() const bounds = anchor.getBoundingClientRect()
setPosition({ setPosition({
left: Math.min(window.innerWidth - 8, Math.max(8, bounds.left + (bounds.width / 2))), left: Math.min(window.innerWidth - 8, Math.max(8, bounds.left + (bounds.width / 2))),
top: bounds.top - 8 top: bounds.top - 8
}) })
dismissActiveTooltip = hideTooltip
dismissTimerRef.current = window.setTimeout(() => {
hideTooltip()
}, 3000)
}
const hideWhenPointerLeaves = (event: PointerEvent): void => {
if (event.target instanceof Node && anchor.contains(event.target)) return
hideTooltip()
} }
const hideTooltip = (): void => setPosition(null)
anchor.addEventListener('mouseenter', showTooltip) anchor.addEventListener('mouseenter', showTooltip)
anchor.addEventListener('mouseleave', hideTooltip) anchor.addEventListener('mouseleave', hideTooltip)
anchor.addEventListener('focus', showTooltip) anchor.addEventListener('focus', showTooltip)
anchor.addEventListener('blur', hideTooltip) anchor.addEventListener('blur', hideTooltip)
document.addEventListener('pointermove', hideWhenPointerLeaves, true)
document.addEventListener('pointerdown', hideTooltip, true)
document.addEventListener('scroll', hideTooltip, true)
window.addEventListener('blur', hideTooltip)
window.addEventListener('resize', hideTooltip)
return () => { return () => {
anchor.removeEventListener('mouseenter', showTooltip) anchor.removeEventListener('mouseenter', showTooltip)
anchor.removeEventListener('mouseleave', hideTooltip) anchor.removeEventListener('mouseleave', hideTooltip)
anchor.removeEventListener('focus', showTooltip) anchor.removeEventListener('focus', showTooltip)
anchor.removeEventListener('blur', hideTooltip) anchor.removeEventListener('blur', hideTooltip)
document.removeEventListener('pointermove', hideWhenPointerLeaves, true)
document.removeEventListener('pointerdown', hideTooltip, true)
document.removeEventListener('scroll', hideTooltip, true)
window.removeEventListener('blur', hideTooltip)
window.removeEventListener('resize', hideTooltip)
hideTooltip()
} }
}, []) }, [])
useEffect(() => {
if (!position) return
const updateTooltipPosition = (): void => {
const anchor = anchorRef.current?.parentElement
if (!(anchor instanceof HTMLElement)) return
const bounds = anchor.getBoundingClientRect()
setPosition({
left: Math.min(window.innerWidth - 8, Math.max(8, bounds.left + (bounds.width / 2))),
top: bounds.top - 8
})
}
window.addEventListener('resize', updateTooltipPosition)
window.addEventListener('scroll', updateTooltipPosition, true)
return () => {
window.removeEventListener('resize', updateTooltipPosition)
window.removeEventListener('scroll', updateTooltipPosition, true)
}
}, [position])
return ( return (
<> <>
<span ref={anchorRef} aria-hidden="true" className="absolute h-0 w-0 overflow-hidden" /> <span ref={anchorRef} aria-hidden="true" className="absolute h-0 w-0 overflow-hidden" />
src/renderer/src/features/workspace/WorkspaceSettingsView.tsx
+4 -1
View File
@@ -10,6 +10,7 @@ type Props = {
platformName: string platformName: string
configuredDraftWorkspaceRoot: string configuredDraftWorkspaceRoot: string
sourceSettingsDraft: StudioSourceSettings sourceSettingsDraft: StudioSourceSettings
saveDisabled: boolean
remotePlatforms: PlatformOption[] remotePlatforms: PlatformOption[]
onUpdateSourceSetting: <Key extends keyof StudioSourceSettings>(key: Key, value: StudioSourceSettings[Key]) => void onUpdateSourceSetting: <Key extends keyof StudioSourceSettings>(key: Key, value: StudioSourceSettings[Key]) => void
onSaveSourceSettings: () => void onSaveSourceSettings: () => void
@@ -23,6 +24,7 @@ function WorkspaceSettingsView({
platformName, platformName,
configuredDraftWorkspaceRoot, configuredDraftWorkspaceRoot,
sourceSettingsDraft, sourceSettingsDraft,
saveDisabled,
remotePlatforms, remotePlatforms,
onUpdateSourceSetting, onUpdateSourceSetting,
onSaveSourceSettings onSaveSourceSettings
@@ -173,8 +175,9 @@ function WorkspaceSettingsView({
<div className="mt-8 flex justify-end"> <div className="mt-8 flex justify-end">
<button <button
type="button" type="button"
disabled={saveDisabled}
onClick={onSaveSourceSettings} onClick={onSaveSourceSettings}
className="h-9 cursor-pointer rounded-md border border-[#2563eb] bg-[#2563eb] px-4 text-[12px] font-bold text-white transition hover:bg-[#1d4ed8]" className="h-9 rounded-md border border-[#2563eb] bg-[#2563eb] px-4 text-[12px] font-bold text-white transition hover:bg-[#1d4ed8] disabled:cursor-default disabled:border-[#64748b] disabled:bg-[#64748b] disabled:text-white/70 disabled:hover:bg-[#64748b]"
> >
저장 저장
</button> </button>
src/renderer/src/features/workspace/WorldEditorModal.tsx
+27 -6
View File
@@ -11,7 +11,7 @@ type WorldObjectType = WorldLayoutObject['type']
type WorldEditorModalProps = { type WorldEditorModalProps = {
workspaceRoot: string workspaceRoot: string
onClose: () => void onClose: () => void
onSaved?: () => void onSaved?: (layout: WorldLayout) => void
} }
type TransformMode = 'translate' | 'rotate' | 'scale' type TransformMode = 'translate' | 'rotate' | 'scale'
@@ -175,10 +175,10 @@ async function loadWorldSdf(parent: THREE.Group): Promise<void> {
export default function WorldEditorModal({ workspaceRoot, onClose, onSaved }: WorldEditorModalProps): React.JSX.Element { export default function WorldEditorModal({ workspaceRoot, onClose, onSaved }: WorldEditorModalProps): React.JSX.Element {
const canvasHostRef = useRef<HTMLDivElement>(null) const canvasHostRef = useRef<HTMLDivElement>(null)
const viewerRef = useRef<HTMLIFrameElement>(null) const viewerRef = useRef<HTMLIFrameElement>(null)
const worldRef = useRef<WorldLayout>({ version: 1, objects: [] }) const worldRef = useRef<WorldLayout>({ version: 1, bounds: { width: 10, depth: 10 }, objects: [] })
const selectedIdRef = useRef<string | null>(null) const selectedIdRef = useRef<string | null>(null)
const renderSceneRef = useRef<(() => void) | null>(null) const renderSceneRef = useRef<(() => void) | null>(null)
const [layout, setLayout] = useState<WorldLayout>({ version: 1, objects: [] }) const [layout, setLayout] = useState<WorldLayout>({ version: 1, bounds: { width: 10, depth: 10 }, objects: [] })
const [selectedId, setSelectedId] = useState<string | null>(null) const [selectedId, setSelectedId] = useState<string | null>(null)
const [loading, setLoading] = useState(true) const [loading, setLoading] = useState(true)
const [saving, setSaving] = useState(false) const [saving, setSaving] = useState(false)
@@ -403,8 +403,16 @@ export default function WorldEditorModal({ workspaceRoot, onClose, onSaved }: Wo
setSelectedId(remaining[0]?.id ?? null) setSelectedId(remaining[0]?.id ?? null)
window.requestAnimationFrame(() => renderSceneRef.current?.()) window.requestAnimationFrame(() => renderSceneRef.current?.())
} }
const updateBounds = (key: 'width' | 'depth', value: string): void => {
const numeric = Number(value)
if (!Number.isFinite(numeric)) return
setLayout((current) => ({
...current,
bounds: { ...current.bounds, [key]: Math.min(40, Math.max(2, numeric)) },
}))
}
const resetLayout = (): void => { const resetLayout = (): void => {
const next: WorldLayout = { version: 1, objects: [] } const next: WorldLayout = { version: 1, bounds: layout.bounds, objects: [] }
worldRef.current = next worldRef.current = next
setLayout(next) setLayout(next)
setSelectedId(null) setSelectedId(null)
@@ -416,7 +424,7 @@ export default function WorldEditorModal({ workspaceRoot, onClose, onSaved }: Wo
try { try {
const saved = await window.localWorkspace.worldLayout.write(workspaceRoot, layout) const saved = await window.localWorkspace.worldLayout.write(workspaceRoot, layout)
setLayout(saved) setLayout(saved)
onSaved?.() onSaved?.(saved)
onClose() onClose()
} catch (cause) { } catch (cause) {
setError(cause instanceof Error ? cause.message : '월드 정보를 저장하지 못했습니다.') setError(cause instanceof Error ? cause.message : '월드 정보를 저장하지 못했습니다.')
@@ -426,7 +434,7 @@ export default function WorldEditorModal({ workspaceRoot, onClose, onSaved }: Wo
} }
return ( return (
<div className="absolute inset-0 z-[70] flex items-center justify-center bg-[#050914]/78 p-6 backdrop-blur-sm"> <div className="absolute inset-0 z-[170] flex items-center justify-center bg-[#050914]/78 p-6 backdrop-blur-sm">
<section className="flex h-[min(820px,calc(100vh-64px))] w-[min(1280px,calc(100vw-64px))] flex-col overflow-hidden rounded-lg border border-white/12 bg-[#111a2a] shadow-[0_24px_72px_rgba(0,0,0,0.5)]"> <section className="flex h-[min(820px,calc(100vh-64px))] w-[min(1280px,calc(100vw-64px))] flex-col overflow-hidden rounded-lg border border-white/12 bg-[#111a2a] shadow-[0_24px_72px_rgba(0,0,0,0.5)]">
<header className="flex h-12 shrink-0 items-center justify-between border-b border-white/10 bg-[#162238] px-4"> <header className="flex h-12 shrink-0 items-center justify-between border-b border-white/10 bg-[#162238] px-4">
<div> <div>
@@ -442,6 +450,19 @@ export default function WorldEditorModal({ workspaceRoot, onClose, onSaved }: Wo
<p className="text-[10px] font-bold tracking-[0.1em] text-white/38">SCENE</p> <p className="text-[10px] font-bold tracking-[0.1em] text-white/38">SCENE</p>
<p className="mt-1 text-[11px] font-semibold text-white/66">월드 오브젝트</p> <p className="mt-1 text-[11px] font-semibold text-white/66">월드 오브젝트</p>
</div> </div>
<div className="border-b border-white/10 px-3 py-3">
<p className="mb-2 text-[10px] font-bold tracking-[0.08em] text-white/38">맵 크기</p>
<div className="grid grid-cols-2 gap-1.5">
<label className="min-w-0">
<span className="mb-1 block text-[10px] font-bold text-white/38">가로 (m)</span>
<input type="number" min="2" max="40" step="0.5" value={layout.bounds.width} onChange={(event) => updateBounds('width', event.target.value)} className="h-8 w-full rounded border border-white/12 bg-[#0d1728] px-2 text-[11px] font-medium text-white outline-none transition focus:border-[#60a5fa]" />
</label>
<label className="min-w-0">
<span className="mb-1 block text-[10px] font-bold text-white/38">세로 (m)</span>
<input type="number" min="2" max="40" step="0.5" value={layout.bounds.depth} onChange={(event) => updateBounds('depth', event.target.value)} className="h-8 w-full rounded border border-white/12 bg-[#0d1728] px-2 text-[11px] font-medium text-white outline-none transition focus:border-[#60a5fa]" />
</label>
</div>
</div>
<div className="min-h-0 flex-1 overflow-y-auto p-2"> <div className="min-h-0 flex-1 overflow-y-auto p-2">
{layout.objects.length ? layout.objects.map((item) => { {layout.objects.length ? layout.objects.map((item) => {
const Icon = item.type === 'pillar' ? Cylinder : item.type === 'wall' ? PanelsTopLeft : Box const Icon = item.type === 'pillar' ? Cylinder : item.type === 'wall' ? PanelsTopLeft : Box
src/renderer/src/features/workspace/WorldMapSelectorModal.tsx
+28 -5
View File
@@ -137,7 +137,30 @@ export function WorkspaceMapPreview({
> >
{map.previewPgm && <canvas ref={canvasRef} className="absolute inset-0 size-full" />} {map.previewPgm && <canvas ref={canvasRef} className="absolute inset-0 size-full" />}
{!map.previewPgm && <span className="absolute inset-0 bg-[linear-gradient(rgba(20,30,42,0.08)_1px,transparent_1px),linear-gradient(90deg,rgba(20,30,42,0.08)_1px,transparent_1px)] bg-[size:8px_8px]" />} {!map.previewPgm && <span className="absolute inset-0 bg-[linear-gradient(rgba(20,30,42,0.08)_1px,transparent_1px),linear-gradient(90deg,rgba(20,30,42,0.08)_1px,transparent_1px)] bg-[size:8px_8px]" />}
{!map.previewPgm && (map.custom ? ( {!map.previewPgm && (map.remoteSlam && map.runtimeKind === 'PLATFORM_3D' ? (
<>
<span className="absolute inset-0 bg-[linear-gradient(rgba(20,30,42,0.08)_1px,transparent_1px),linear-gradient(90deg,rgba(20,30,42,0.08)_1px,transparent_1px)] bg-[size:8px_8px]" />
<span className="absolute inset-[11%] border-[3px] border-[#455363]" />
{[
['left-[27%]', 'top-[31%]'], ['left-[31%]', 'top-[36%]'], ['left-[35%]', 'top-[28%]'],
['left-[38%]', 'top-[40%]'], ['left-[44%]', 'top-[33%]'], ['left-[48%]', 'top-[43%]'],
['left-[62%]', 'top-[27%]'], ['left-[68%]', 'top-[33%]'], ['left-[72%]', 'top-[40%]'],
['left-[58%]', 'top-[57%]'], ['left-[64%]', 'top-[63%]'], ['left-[70%]', 'top-[55%]'],
].map(([left, top], index) => (
<span
key={`${left}-${top}`}
className={[
'absolute rounded-full bg-[#536273]',
index % 4 === 0 ? 'size-1.5 opacity-90' : index % 3 === 0 ? 'size-1 opacity-75' : 'size-[3px] opacity-60',
left,
top,
].join(' ')}
/>
))}
<span className="absolute left-[28%] top-[51%] h-px w-[25%] rotate-[-20deg] bg-[#536273]/70" />
<span className="absolute left-[55%] top-[48%] h-px w-[23%] rotate-[28deg] bg-[#536273]/70" />
</>
) : map.custom ? (
<> <>
<span className="absolute left-[18%] top-[28%] h-[12%] w-[42%] bg-[#536273]" /> <span className="absolute left-[18%] top-[28%] h-[12%] w-[42%] bg-[#536273]" />
<span className="absolute bottom-[20%] right-[16%] h-[34%] w-[12%] bg-[#536273]" /> <span className="absolute bottom-[20%] right-[16%] h-[34%] w-[12%] bg-[#536273]" />
@@ -208,7 +231,7 @@ export default function WorldMapSelectorModal({ weekNumber, initialScope = 'simu
<button type="button" onClick={() => setScope('simulation')} className={['h-8 cursor-pointer border-b-2 px-2 text-[12px] font-bold transition', scope === 'simulation' ? 'border-[#3b7ffa] text-[#78a4ff]' : 'border-transparent text-white/45 hover:text-white/75'].join(' ')}>시뮬레이션</button> <button type="button" onClick={() => setScope('simulation')} className={['h-8 cursor-pointer border-b-2 px-2 text-[12px] font-bold transition', scope === 'simulation' ? 'border-[#3b7ffa] text-[#78a4ff]' : 'border-transparent text-white/45 hover:text-white/75'].join(' ')}>시뮬레이션</button>
<button type="button" onClick={() => setScope('platform')} className={['h-8 cursor-pointer border-b-2 px-2 text-[12px] font-bold transition', scope === 'platform' ? 'border-[#3b7ffa] text-[#78a4ff]' : 'border-transparent text-white/45 hover:text-white/75'].join(' ')}>플랫폼</button> <button type="button" onClick={() => setScope('platform')} className={['h-8 cursor-pointer border-b-2 px-2 text-[12px] font-bold transition', scope === 'platform' ? 'border-[#3b7ffa] text-[#78a4ff]' : 'border-transparent text-white/45 hover:text-white/75'].join(' ')}>플랫폼</button>
</div> </div>
<div className="thin-y-scrollbar min-h-[270px] max-h-[270px] space-y-2 overflow-y-auto p-5"> <div className="thin-y-scrollbar min-h-[320px] max-h-[320px] space-y-2 overflow-y-auto p-5">
{maps.map((map) => { {maps.map((map) => {
const pending = map.key === pendingMap?.key const pending = map.key === pendingMap?.key
const selected = map.key === selectedMapKey const selected = map.key === selectedMapKey
@@ -216,7 +239,7 @@ export default function WorldMapSelectorModal({ weekNumber, initialScope = 'simu
// runtime is chosen by the active SLAM stack, so only persisted // runtime is chosen by the active SLAM stack, so only persisted
// map results receive a dimensional badge. // map results receive a dimensional badge.
const mapDimension = map.saved const mapDimension = map.saved
? (map.runtimeKind === 'PLATFORM_3D' || Boolean(map.databasePath) ? '3D' : '2D') ? (map.runtimeKind === 'PLATFORM_3D' ? '3D' : '2D')
: null : null
return ( return (
<button <button
@@ -257,10 +280,10 @@ export default function WorldMapSelectorModal({ weekNumber, initialScope = 'simu
{scope === 'simulation' && onCreate && ( {scope === 'simulation' && onCreate && (
<button type="button" onClick={onCreate} className="inline-flex h-8 cursor-pointer items-center gap-1.5 rounded-md border border-white/12 px-3 text-[12px] font-bold text-white/70 transition hover:bg-white/8 hover:text-white"> <button type="button" onClick={onCreate} className="inline-flex h-8 cursor-pointer items-center gap-1.5 rounded-md border border-white/12 px-3 text-[12px] font-bold text-white/70 transition hover:bg-white/8 hover:text-white">
<PencilRuler className="size-3.5" /> <PencilRuler className="size-3.5" />
맵 편집 커스텀 맵
</button> </button>
)} )}
<button type="button" disabled={!pendingMap || pendingMap.key === selectedMapKey} onClick={() => pendingMap && onSelect(pendingMap)} className="ml-auto h-8 cursor-pointer rounded-md bg-[#2563eb] px-3 text-[12px] font-bold text-white transition hover:bg-[#1d5ed8] disabled:cursor-default disabled:opacity-45"> <button type="button" disabled={!pendingMap} onClick={() => pendingMap && onSelect(pendingMap)} className="ml-auto h-8 cursor-pointer rounded-md bg-[#2563eb] px-3 text-[12px] font-bold text-white transition hover:bg-[#1d5ed8] disabled:cursor-default disabled:opacity-45">
확인 확인
</button> </button>
</footer> </footer>
src/renderer/src/features/workspace/useWorkspaceModuleControl.ts
+41 -7
View File
@@ -31,6 +31,24 @@ function waitForSimulatorStartup(): Promise<void> {
return new Promise((resolve) => window.setTimeout(resolve, 4000)) return new Promise((resolve) => window.setTimeout(resolve, 4000))
} }
function duplicateCategorySummary(modules: ModuleRow[]): string | null {
const categories = new Map<string, { label: string; modules: ModuleRow[] }>()
modules.forEach((module) => {
const label = module.category.trim()
if (!label) return
const key = label.toLowerCase()
const entry = categories.get(key) ?? { label, modules: [] }
entry.modules.push(module)
categories.set(key, entry)
})
const conflicts = Array.from(categories.values()).filter((entry) => entry.modules.length > 1)
if (!conflicts.length) return null
return conflicts
.map((entry) => `${entry.label}: ${entry.modules.map((module) => module.name).join(', ')}`)
.join(' / ')
}
type UseWorkspaceModuleControlOptions = { type UseWorkspaceModuleControlOptions = {
availableModules: ModuleRow[] availableModules: ModuleRow[]
setAvailableModules: React.Dispatch<React.SetStateAction<ModuleRow[]>> setAvailableModules: React.Dispatch<React.SetStateAction<ModuleRow[]>>
@@ -284,14 +302,17 @@ export function useWorkspaceModuleControl({
try { try {
const requestAccessToken = await getFreshAccessToken() const requestAccessToken = await getFreshAccessToken()
await installModuleOnce(module, requestAccessToken) await installModuleOnce(module, requestAccessToken)
await loadAvailableModules({ silent: true }) // The install request completed successfully, so update only this row.
// A full module probe can overlap the ongoing background probe and leave
// the install action visible until the user refreshes the workspace.
markModuleState(module, 'stopped')
} catch (error) { } catch (error) {
console.error('[modules] install failed', error) console.error('[modules] install failed', error)
setModuleInstallError(error instanceof Error ? error.message : '모듈 설치 실패') setModuleInstallError(error instanceof Error ? error.message : '모듈 설치 실패')
} finally { } finally {
setInstallingModuleName(null) setInstallingModuleName(null)
} }
}, [getFreshAccessToken, installModuleOnce, installingModuleName, loadAvailableModules]) }, [getFreshAccessToken, installModuleOnce, installingModuleName, markModuleState])
const installAllModules = useCallback(async (): Promise<void> => { const installAllModules = useCallback(async (): Promise<void> => {
if (installingModuleName) return if (installingModuleName) return
@@ -304,16 +325,15 @@ export function useWorkspaceModuleControl({
const requestAccessToken = await getFreshAccessToken() const requestAccessToken = await getFreshAccessToken()
for (const module of targets) { for (const module of targets) {
await installModuleOnce(module, requestAccessToken) await installModuleOnce(module, requestAccessToken)
markModuleState(module, 'stopped')
} }
await loadAvailableModules({ silent: true })
} catch (error) { } catch (error) {
console.error('[modules] install all failed', error) console.error('[modules] install all failed', error)
setModuleInstallError(error instanceof Error ? error.message : '전체 설치 실패') setModuleInstallError(error instanceof Error ? error.message : '전체 설치 실패')
await loadAvailableModules({ silent: true })
} finally { } finally {
setInstallingModuleName(null) setInstallingModuleName(null)
} }
}, [availableModules, getFreshAccessToken, installModuleOnce, installingModuleName, isExcludedFromBulkControl, loadAvailableModules]) }, [availableModules, getFreshAccessToken, installModuleOnce, installingModuleName, isExcludedFromBulkControl, markModuleState])
const startAllModules = useCallback(async (): Promise<void> => { const startAllModules = useCallback(async (): Promise<void> => {
if (installingModuleName) return if (installingModuleName) return
@@ -323,6 +343,18 @@ export function useWorkspaceModuleControl({
return return
} }
const activeModules = availableModules.filter((module) => (
!isExcludedFromBulkControl(module)
&& (module.state === 'stopped' || module.state === 'running')
))
const duplicateCategories = duplicateCategorySummary(activeModules)
if (duplicateCategories) {
const message = `동일 카테고리 모듈이 중복되어 전체 실행을 중단했습니다. ${duplicateCategories}`
setModuleInstallError(message)
onTitlebarNotice('중복 카테고리 모듈을 확인하세요', 'warning')
return
}
setInstallingModuleName('__start_all__') setInstallingModuleName('__start_all__')
setModuleInstallError(null) setModuleInstallError(null)
try { try {
@@ -386,6 +418,7 @@ export function useWorkspaceModuleControl({
targets.map((module) => ({ moduleName: module.name, folderName: module.folderName })), targets.map((module) => ({ moduleName: module.name, folderName: module.folderName })),
) )
if (!result.ok) throw new Error(result.message) if (!result.ok) throw new Error(result.message)
targets.forEach((module) => markModuleState(module, 'stopped'))
} else { } else {
if (targets.length) { if (targets.length) {
const result = await window.localWorkspace.modules.stopMany( const result = await window.localWorkspace.modules.stopMany(
@@ -393,6 +426,7 @@ export function useWorkspaceModuleControl({
clonePathPreview clonePathPreview
) )
if (!result.ok) throw new Error(result.message) if (!result.ok) throw new Error(result.message)
targets.forEach((module) => markModuleState(module, 'stopped'))
} }
await stopLocalVisualization() await stopLocalVisualization()
} }
@@ -406,7 +440,7 @@ export function useWorkspaceModuleControl({
} finally { } finally {
setInstallingModuleName(null) setInstallingModuleName(null)
} }
}, [availableModules, clonePathPreview, getRemoteWorkspaceTarget, installingModuleName, isExcludedFromBulkControl, loadAvailableModules, onStopVisualization, onTitlebarNotice, remoteWorkspace]) }, [availableModules, clonePathPreview, getRemoteWorkspaceTarget, installingModuleName, isExcludedFromBulkControl, loadAvailableModules, markModuleState, onStopVisualization, onTitlebarNotice, remoteWorkspace])
const restartRunningModules = useCallback(async (overrides?: { simulatorWorldFile?: string | null; savedMapYamlPath?: string | null }): Promise<boolean> => { const restartRunningModules = useCallback(async (overrides?: { simulatorWorldFile?: string | null; savedMapYamlPath?: string | null }): Promise<boolean> => {
if (installingModuleName) return false if (installingModuleName) return false
@@ -588,7 +622,7 @@ export function useWorkspaceModuleControl({
.map((parameter) => ({ ...parameter, name: parameter.name.trim(), value: parameter.value.trim() })) .map((parameter) => ({ ...parameter, name: parameter.name.trim(), value: parameter.value.trim() }))
.filter((parameter) => parameter.name) .filter((parameter) => parameter.name)
storeModuleParameters( storeModuleParameters(
makeModuleParameterKey(courseKey, weekNumber, module.folderName ?? module.name, moduleParameterScope), makeModuleParameterKey(courseKey, weekNumber, module.id ?? module.folderName ?? module.name, moduleParameterScope),
normalizedParameters normalizedParameters
) )
const nextTokens = serializeModuleParameters(normalizedParameters).split(/\s+/).filter(Boolean) const nextTokens = serializeModuleParameters(normalizedParameters).split(/\s+/).filter(Boolean)
src/renderer/src/features/workspace/useWorkspaceVisualization.ts
+10 -17
View File
@@ -28,20 +28,10 @@ const DEFAULT_NAV2_VISUALIZATION_PROFILE: EnvironmentProfile = {
function resolveVisualizationStack(profileType: string): VisualizationStack | null { function resolveVisualizationStack(profileType: string): VisualizationStack | null {
const type = profileType.toLowerCase() const type = profileType.toLowerCase()
if (type === 'local' || type === 'platform') return 'nav2' if (type === 'local' || type === 'platform') return 'nav2'
if (type === 'real_slam') return 'slam'
if (type === 'real_slam_3d') return 'slam3d'
if (type === 'real_navigation') return 'nav2'
return type === 'autoware' || type === 'nav2' || type === 'slam' || type === 'slam3d' ? type : null return type === 'autoware' || type === 'nav2' || type === 'slam' || type === 'slam3d' ? type : null
} }
function resolveNav2Mode(profile: EnvironmentProfile | null): Nav2VisualizationMode { function isRemoteEnvironment(profile: EnvironmentProfile | null): boolean {
const type = profile?.profileType.toLowerCase()
if (type === 'real_navigation') return 'navigation'
return 'slam'
}
function isRealPlatformProfile(profile: EnvironmentProfile | null): boolean {
if (['real_slam', 'real_slam_3d', 'real_navigation'].includes(profile?.profileType.toLowerCase() ?? '')) return true
const config = profile?.config const config = profile?.config
return Boolean( return Boolean(
config config
@@ -53,7 +43,7 @@ function isRealPlatformProfile(profile: EnvironmentProfile | null): boolean {
function selectRuntimeProfiles(profiles: EnvironmentProfile[], remoteWorkspace: boolean): EnvironmentProfile[] { function selectRuntimeProfiles(profiles: EnvironmentProfile[], remoteWorkspace: boolean): EnvironmentProfile[] {
const matchingProfiles = profiles.filter((profile) => ( const matchingProfiles = profiles.filter((profile) => (
remoteWorkspace ? isRealPlatformProfile(profile) : !isRealPlatformProfile(profile) remoteWorkspace ? isRemoteEnvironment(profile) : !isRemoteEnvironment(profile)
)) ))
return matchingProfiles.length ? matchingProfiles : profiles return matchingProfiles.length ? matchingProfiles : profiles
} }
@@ -175,7 +165,7 @@ export function useWorkspaceVisualization({
// resolves to the generic NAV2 viewer. Keep the viewer mode tied to the map, // resolves to the generic NAV2 viewer. Keep the viewer mode tied to the map,
// not only to the profile label, so 3D state is never rendered as /scan. // not only to the profile label, so 3D state is never rendered as /scan.
const pointCloudQuery = visualizationStack === 'slam3d' || threeDimensional ? '&pointCloud=1' : '' const pointCloudQuery = visualizationStack === 'slam3d' || threeDimensional ? '&pointCloud=1' : ''
const viewerRuntime = visualizationRuntime ?? (isRealPlatformProfile(activeEnvironmentProfile) ? 'real' : 'simulation') const viewerRuntime = visualizationRuntime ?? (isRemoteEnvironment(activeEnvironmentProfile) ? 'real' : 'simulation')
const localBridgeProfile = useMemo(() => { const localBridgeProfile = useMemo(() => {
const configuredBridge = typeof activeEnvironmentConfig.bridge === 'object' && activeEnvironmentConfig.bridge !== null const configuredBridge = typeof activeEnvironmentConfig.bridge === 'object' && activeEnvironmentConfig.bridge !== null
? activeEnvironmentConfig.bridge as Record<string, unknown> ? activeEnvironmentConfig.bridge as Record<string, unknown>
@@ -205,7 +195,6 @@ export function useWorkspaceVisualization({
? savedStack as VisualizationStack ? savedStack as VisualizationStack
: fallback ?? fallbackStack : fallback ?? fallbackStack
setVisualizationStack(stack) setVisualizationStack(stack)
setNav2VisualizationMode(resolveNav2Mode(runtimeProfiles[0] ?? null))
}, [fallbackStack, runtimeProfiles, visualizationStackStorageKey, visualizationStacks]) }, [fallbackStack, runtimeProfiles, visualizationStackStorageKey, visualizationStacks])
const refreshVisualizationStatus = useCallback(async (): Promise<void> => { const refreshVisualizationStatus = useCallback(async (): Promise<void> => {
@@ -227,9 +216,13 @@ export function useWorkspaceVisualization({
const rawStatusStack = status.stack === 'autoware' || status.stack === 'nav2' || status.stack === 'slam' const rawStatusStack = status.stack === 'autoware' || status.stack === 'nav2' || status.stack === 'slam'
? status.stack ? status.stack
: null : null
const statusStack = rawStatusStack === 'nav2' && visualizationStack === 'slam3d' ? 'slam3d' : rawStatusStack // The runtime bridge reports Nav2 for both SLAM modes. Preserve the
setVisualizationRunning(Boolean(status.running) && Boolean(statusStack && visualizationStacks.includes(statusStack))) // map-selected SLAM stack instead of treating it as an unavailable profile.
if (statusStack && visualizationStacks.includes(statusStack)) setVisualizationStack(statusStack) const statusStack = rawStatusStack === 'nav2' && (visualizationStack === 'slam' || visualizationStack === 'slam3d')
? visualizationStack
: rawStatusStack
setVisualizationRunning(Boolean(status.running) && Boolean(statusStack))
if (statusStack) setVisualizationStack(statusStack)
setVisualizationStatusMessage(status.running setVisualizationStatusMessage(status.running
? formatVisualizationStackLabel(status.stack) ? formatVisualizationStackLabel(status.stack)
: status.message : status.message