From c0b2ee806b33ed36578c825c9360a83ea5850269 Mon Sep 17 00:00:00 2001 From: Andriy Oblivantsev Date: Wed, 8 Jul 2026 13:17:49 +0100 Subject: [PATCH] feat(prototype): 2D swarm data-plane visualization Top-down SVG view: patrol flight with separation and obstacle avoidance, mesh links appearing within radio range, pose-broadcast flashes, bulk sync transfers with live rate and cumulative up/down counters, channel hopping and battery per drone. Pure client-side simulation (Vite/React/TS). --- prototype/README.md | 19 + prototype/index.html | 12 + prototype/package-lock.json | 1849 ++++++++++++++++++++++++++++++++ prototype/package.json | 22 + prototype/src/App.tsx | 301 ++++++ prototype/src/main.tsx | 13 + prototype/src/sim.ts | 236 ++++ prototype/tsconfig.json | 16 + prototype/tsconfig.tsbuildinfo | 1 + prototype/vite.config.ts | 6 + 10 files changed, 2475 insertions(+) create mode 100644 prototype/README.md create mode 100644 prototype/index.html create mode 100644 prototype/package-lock.json create mode 100644 prototype/package.json create mode 100644 prototype/src/App.tsx create mode 100644 prototype/src/main.tsx create mode 100644 prototype/src/sim.ts create mode 100644 prototype/tsconfig.json create mode 100644 prototype/tsconfig.tsbuildinfo create mode 100644 prototype/vite.config.ts diff --git a/prototype/README.md b/prototype/README.md new file mode 100644 index 0000000..dae6e30 --- /dev/null +++ b/prototype/README.md @@ -0,0 +1,19 @@ +# Swarm visualization prototype + +A 2D top-down view of the swarm data plane from [04 — Swarm sync](../docs/04-swarm-sync.md): drones patrol an area with static and mobile obstacles, exchange 5 Hz pose broadcasts (blue link flashes), and run opportunistic bulk sync of sealed partitions (green links with live rate and cumulative up/down counters). + +No backend — a pure client-side simulation of the same behavioral model the Python simulator implements over real Parquet and UDP. + +## Run + +```bash +npm install +npm run dev # http://localhost:5173 +``` + +## What to look at + +- **Links appear and disappear** as drones move in and out of radio range; persistent links render semi-transparent, broadcast deliveries flash them briefly. +- **Busy links turn green** and show current rate plus total transferred (`↑` / `↓`) — the bandwidth budget from the sync design made visible. +- **Per-drone label**: id, current Wi-Fi channel (hopping), battery. +- Controls: drone count, simulation speed, pause. diff --git a/prototype/index.html b/prototype/index.html new file mode 100644 index 0000000..6eb0675 --- /dev/null +++ b/prototype/index.html @@ -0,0 +1,12 @@ + + + + + + Swarm House — swarm data-plane visualization + + +
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"devDependencies": { + "@types/react": "^18.3.12", + "@types/react-dom": "^18.3.1", + "@vitejs/plugin-react": "^4.3.4", + "typescript": "^5.6.3", + "vite": "^6.0.3" + } +} diff --git a/prototype/src/App.tsx b/prototype/src/App.tsx new file mode 100644 index 0000000..0223f28 --- /dev/null +++ b/prototype/src/App.tsx @@ -0,0 +1,301 @@ +import { useEffect, useMemo, useRef, useState } from "react"; +import { + AREA, + fmtBytes, + makeWorld, + seed, + tick, + type World, +} from "./sim"; + +const VIEW = 1000; + +export default function App(): JSX.Element { + const [droneCount, setDroneCount] = useState(8); + const [speedup, setSpeedup] = useState(1); + const [paused, setPaused] = useState(false); + const [world, setWorld] = useState(() => { + seed(42); + return makeWorld(8); + }); + const raf = useRef(0); + const last = useRef(performance.now()); + + useEffect(() => { + seed(42); + setWorld(makeWorld(droneCount)); + }, [droneCount]); + + useEffect(() => { + const loop = (now: number): void => { + const dt = Math.min(0.05, (now - last.current) / 1000); + last.current = now; + if (!paused && dt > 0) { + setWorld((w) => tick(w, dt * speedup)); + } + raf.current = requestAnimationFrame(loop); + }; + raf.current = requestAnimationFrame(loop); + return () => cancelAnimationFrame(raf.current); + }, [paused, speedup]); + + const activeLinks = useMemo( + () => [...world.links.values()].sort((a, b) => b.rate - a.rate), + [world.links], + ); + const busiest = activeLinks.slice(0, 6); + + return ( +
+
+
+
SWARM HOUSE
+
+ swarm data plane — pose broadcast + opportunistic bulk sync +
+
+
+ + + +
+
+ +
+ + + + + + + + + {gridLines()} + + {/* Mesh links */} + {activeLinks.map((l) => { + const a = world.drones[l.a]; + const b = world.drones[l.b]; + if (!a || !b) return null; + const mx = (a.pos.x + b.pos.x) / 2; + const my = (a.pos.y + b.pos.y) / 2; + const hot = l.rate > 20_000; + return ( + + + {hot && ( + + {fmtBytes(l.rate)}/s · Σ{fmtBytes(l.totalUp + l.totalDown)} + + )} + + ); + })} + + {/* Obstacles */} + {world.obstacles.map((ob) => ( + + + {ob.moving && ( + + mobile + + )} + + ))} + + {/* Drones */} + {world.drones.map((d) => ( + + + + dr-{String(d.id + 1).padStart(2, "0")} · ch{d.channel} · {d.battery.toFixed(0)}% + + + ))} + + + +
+
+ ); +} + +function sx(x: number): number { + return (x / AREA) * VIEW; +} +function sy(y: number): number { + return (y / AREA) * VIEW; +} + +function gridLines(): JSX.Element { + const lines = []; + for (let i = 1; i < 10; i++) { + const p = (i / 10) * VIEW; + lines.push( + , + , + ); + } + return {lines}; +} + +function Section({ title, children }: { title: string; children: React.ReactNode }): JSX.Element { + return ( +
+
{title}
+ {children} +
+ ); +} + +function Stat({ name, value }: { name: string; value: string }): JSX.Element { + return ( +
+ {name} + {value} +
+ ); +} + +const styles: Record = { + shell: { + minHeight: "100vh", + background: "#070b12", + color: "#dde4f0", + fontFamily: "'JetBrains Mono', ui-monospace, monospace", + display: "flex", + flexDirection: "column", + }, + header: { + display: "flex", + justifyContent: "space-between", + alignItems: "center", + padding: "14px 22px", + borderBottom: "1px solid #1a2436", + flexWrap: "wrap", + gap: 12, + }, + title: { fontSize: 18, fontWeight: 700, letterSpacing: 4, color: "#8fb4e8" }, + subtitle: { fontSize: 11, color: "#5a6a85", marginTop: 2 }, + controls: { display: "flex", gap: 18, alignItems: "center", flexWrap: "wrap" }, + label: { display: "flex", gap: 8, alignItems: "center", fontSize: 12, color: "#8b98b0" }, + value: { minWidth: 30, color: "#dde4f0" }, + button: { + background: "#16233a", + color: "#8fb4e8", + border: "1px solid #2a3c5c", + borderRadius: 6, + padding: "6px 16px", + fontFamily: "inherit", + fontSize: 12, + cursor: "pointer", + }, + main: { display: "flex", flex: 1, gap: 0, minHeight: 0 }, + canvas: { flex: 1, minWidth: 0, display: "block" }, + panel: { + width: 320, + borderLeft: "1px solid #1a2436", + padding: 16, + overflowY: "auto", + background: "#0a0f18", + }, + section: { marginBottom: 22 }, + sectionTitle: { + fontSize: 11, + letterSpacing: 2, + color: "#5a6a85", + textTransform: "uppercase", + marginBottom: 10, + borderBottom: "1px solid #1a2436", + paddingBottom: 5, + }, + statRow: { display: "flex", justifyContent: "space-between", padding: "3px 0", fontSize: 12 }, + statValue: { color: "#8fb4e8" }, + linkRow: { + display: "flex", + flexDirection: "column", + padding: "4px 0", + fontSize: 11, + borderBottom: "1px dotted #141d2e", + }, + linkName: { color: "#c8d2e4" }, + linkStat: { color: "#5a8c6e", fontSize: 10, marginTop: 1 }, + dim: { color: "#5a6a85", fontSize: 11, padding: "2px 0" }, + linkLabel: { fill: "#39d98a", fontSize: 10, textAnchor: "middle", fontFamily: "inherit" }, + droneLabel: { fill: "#6a7a95", fontSize: 9, textAnchor: "middle", fontFamily: "inherit" }, + obLabel: { fill: "#c05a6a", fontSize: 9, textAnchor: "middle", fontFamily: "inherit" }, +}; diff --git a/prototype/src/main.tsx b/prototype/src/main.tsx new file mode 100644 index 0000000..3dbfe39 --- /dev/null +++ b/prototype/src/main.tsx @@ -0,0 +1,13 @@ +import { StrictMode } from "react"; +import { createRoot } from "react-dom/client"; +import App from "./App"; + +const rootEl = document.getElementById("root"); +if (!rootEl) throw new Error("missing #root"); + +document.body.style.margin = "0"; +createRoot(rootEl).render( + + + , +); diff --git a/prototype/src/sim.ts b/prototype/src/sim.ts new file mode 100644 index 0000000..287b94a --- /dev/null +++ b/prototype/src/sim.ts @@ -0,0 +1,236 @@ +// Swarm simulation core: pure functions over immutable-ish state. +// Models patrol flight, separation, obstacle avoidance, mesh links with +// pose-broadcast flashes and opportunistic bulk sync transfers. + +export interface Vec { + x: number; + y: number; +} + +export interface Drone { + id: number; + pos: Vec; + vel: Vec; + heading: number; // radians + waypoint: number; + battery: number; // 0..100 + channel: number; // Wi-Fi channel currently in use +} + +export interface Obstacle { + id: number; + pos: Vec; + radius: number; + moving: boolean; + vel: Vec; +} + +export interface LinkStats { + key: string; + a: number; + b: number; + totalUp: number; // bytes, a -> b + totalDown: number; // bytes, b -> a + rate: number; // current bytes/s (both directions) + flash: number; // 0..1, decaying broadcast pulse + bulk: number; // remaining bytes of an in-flight bulk transfer +} + +export interface World { + t: number; + drones: Drone[]; + obstacles: Obstacle[]; + links: Map; + totalBytes: number; + broadcasts: number; +} + +export const AREA = 1000; // meters, square side +export const LINK_RANGE = 320; +const CRUISE = 28; +const SEPARATION = 55; +const POSE_BYTES = 46; +const POSE_HZ = 5; +const CHANNELS = [1, 6, 11, 36, 40, 44, 149, 157]; + +let seedState = 1234; +export function seed(v: number): void { + seedState = v || 1; +} +function rnd(): number { + // xorshift32 — deterministic runs + seedState ^= seedState << 13; + seedState ^= seedState >>> 17; + seedState ^= seedState << 5; + return ((seedState >>> 0) % 100000) / 100000; +} + +const WAYPOINTS: Vec[] = [ + { x: 120, y: 120 }, + { x: AREA - 120, y: 150 }, + { x: AREA - 150, y: AREA - 120 }, + { x: 150, y: AREA - 150 }, +]; + +export function makeWorld(droneCount: number): World { + const drones: Drone[] = Array.from({ length: droneCount }, (_, i) => { + const angle = (i / droneCount) * Math.PI * 2; + return { + id: i, + pos: { + x: AREA / 2 + Math.cos(angle) * (150 + rnd() * 120), + y: AREA / 2 + Math.sin(angle) * (150 + rnd() * 120), + }, + vel: { x: 0, y: 0 }, + heading: angle, + waypoint: i % WAYPOINTS.length, + battery: 90 + rnd() * 10, + channel: CHANNELS[i % CHANNELS.length], + }; + }); + const obstacles: Obstacle[] = [ + { id: 0, pos: { x: 340, y: 420 }, radius: 60, moving: false, vel: { x: 0, y: 0 } }, + { id: 1, pos: { x: 700, y: 260 }, radius: 45, moving: false, vel: { x: 0, y: 0 } }, + { id: 2, pos: { x: 560, y: 720 }, radius: 70, moving: false, vel: { x: 0, y: 0 } }, + { id: 3, pos: { x: 200, y: 800 }, radius: 30, moving: true, vel: { x: 14, y: -6 } }, + { id: 4, pos: { x: 820, y: 620 }, radius: 26, moving: true, vel: { x: -10, y: 9 } }, + ]; + return { t: 0, drones, obstacles, links: new Map(), totalBytes: 0, broadcasts: 0 }; +} + +function linkKey(a: number, b: number): string { + return a < b ? `${a}-${b}` : `${b}-${a}`; +} + +function steer(d: Drone, world: World, dt: number): Drone { + const wp = WAYPOINTS[(d.waypoint + d.id) % WAYPOINTS.length]; + let ax = wp.x - d.pos.x; + let ay = wp.y - d.pos.y; + const wpDist = Math.hypot(ax, ay); + let waypoint = d.waypoint; + if (wpDist < 90) waypoint = (d.waypoint + 1) % WAYPOINTS.length; + ax /= wpDist || 1; + ay /= wpDist || 1; + + // Separation from peers + for (const other of world.drones) { + if (other.id === d.id) continue; + const dx = d.pos.x - other.pos.x; + const dy = d.pos.y - other.pos.y; + const dist = Math.hypot(dx, dy); + if (dist < SEPARATION && dist > 0.01) { + const push = (SEPARATION - dist) / SEPARATION; + ax += (dx / dist) * push * 2.4; + ay += (dy / dist) * push * 2.4; + } + } + // Obstacle avoidance + for (const ob of world.obstacles) { + const dx = d.pos.x - ob.pos.x; + const dy = d.pos.y - ob.pos.y; + const dist = Math.hypot(dx, dy); + const margin = ob.radius + 55; + if (dist < margin && dist > 0.01) { + const push = (margin - dist) / margin; + ax += (dx / dist) * push * 4.0; + ay += (dy / dist) * push * 4.0; + } + } + + const mag = Math.hypot(ax, ay) || 1; + const vx = d.vel.x * 0.85 + (ax / mag) * CRUISE * 0.15; + const vy = d.vel.y * 0.85 + (ay / mag) * CRUISE * 0.15; + const heading = Math.atan2(vy, vx); + return { + ...d, + waypoint, + vel: { x: vx, y: vy }, + heading, + pos: { + x: Math.max(20, Math.min(AREA - 20, d.pos.x + vx * dt)), + y: Math.max(20, Math.min(AREA - 20, d.pos.y + vy * dt)), + }, + battery: Math.max(0, d.battery - dt * 0.05), + channel: rnd() < dt * 0.15 ? CHANNELS[Math.floor(rnd() * CHANNELS.length)] : d.channel, + }; +} + +export function tick(world: World, dt: number): World { + const drones = world.drones.map((d) => steer(d, world, dt)); + const obstacles = world.obstacles.map((ob) => + ob.moving + ? { + ...ob, + pos: { x: ob.pos.x + ob.vel.x * dt, y: ob.pos.y + ob.vel.y * dt }, + vel: { + x: ob.pos.x < 60 || ob.pos.x > AREA - 60 ? -ob.vel.x : ob.vel.x, + y: ob.pos.y < 60 || ob.pos.y > AREA - 60 ? -ob.vel.y : ob.vel.y, + }, + } + : ob, + ); + + const links = new Map(world.links); + let totalBytes = world.totalBytes; + let broadcasts = world.broadcasts; + + // Decay all links; drop the ones out of range + for (const [key, l] of links) { + const a = drones[l.a]; + const b = drones[l.b]; + const inRange = + a && b && Math.hypot(a.pos.x - b.pos.x, a.pos.y - b.pos.y) <= LINK_RANGE; + if (!inRange) { + links.delete(key); + continue; + } + links.set(key, { ...l, flash: Math.max(0, l.flash - dt * 3), rate: l.rate * 0.9 }); + } + + for (let i = 0; i < drones.length; i++) { + for (let j = i + 1; j < drones.length; j++) { + const dist = Math.hypot( + drones[i].pos.x - drones[j].pos.x, + drones[i].pos.y - drones[j].pos.y, + ); + if (dist > LINK_RANGE) continue; + const key = linkKey(i, j); + const link = + links.get(key) ?? + ({ key, a: i, b: j, totalUp: 0, totalDown: 0, rate: 0, flash: 0, bulk: 0 } as LinkStats); + + // Pose broadcasts: 5 Hz each direction + const poseBytes = POSE_BYTES * POSE_HZ * dt; + let up = poseBytes; + let down = poseBytes; + if (rnd() < dt * POSE_HZ * 0.35) { + link.flash = 1; + broadcasts += 1; + } + // Occasional bulk sync (sealed partition replication) + if (link.bulk <= 0 && rnd() < dt * 0.02) { + link.bulk = 50_000 + rnd() * 450_000; + } + if (link.bulk > 0) { + const chunk = Math.min(link.bulk, 120_000 * dt); + link.bulk -= chunk; + if (rnd() < 0.5) up += chunk; + else down += chunk; + } + link.totalUp += up; + link.totalDown += down; + link.rate = link.rate * 0.9 + ((up + down) / dt) * 0.1; + totalBytes += up + down; + links.set(key, { ...link }); + } + } + + return { t: world.t + dt, drones, obstacles, links, totalBytes, broadcasts }; +} + +export function fmtBytes(n: number): string { + if (n < 1024) return `${n.toFixed(0)} B`; + if (n < 1024 * 1024) return `${(n / 1024).toFixed(1)} KB`; + if (n < 1024 * 1024 * 1024) return `${(n / 1024 / 1024).toFixed(1)} MB`; + return `${(n / 1024 / 1024 / 1024).toFixed(2)} GB`; +} diff --git a/prototype/tsconfig.json b/prototype/tsconfig.json new file mode 100644 index 0000000..1878be4 --- /dev/null +++ b/prototype/tsconfig.json @@ -0,0 +1,16 @@ +{ + "compilerOptions": { + "target": "ES2022", + "lib": ["ES2022", "DOM", "DOM.Iterable"], + "module": "ESNext", + "moduleResolution": "bundler", + "jsx": "react-jsx", + "strict": true, + "noUnusedLocals": true, + "noUnusedParameters": true, + "noFallthroughCasesInSwitch": true, + "skipLibCheck": true, + "noEmit": true + }, + "include": ["src"] +} diff --git a/prototype/tsconfig.tsbuildinfo b/prototype/tsconfig.tsbuildinfo new file mode 100644 index 0000000..6953ed3 --- /dev/null +++ b/prototype/tsconfig.tsbuildinfo @@ -0,0 +1 @@ +{"root":["./src/App.tsx","./src/main.tsx","./src/sim.ts"],"version":"5.9.3"} \ No newline at end of file diff --git a/prototype/vite.config.ts b/prototype/vite.config.ts new file mode 100644 index 0000000..081c8d9 --- /dev/null +++ b/prototype/vite.config.ts @@ -0,0 +1,6 @@ +import { defineConfig } from "vite"; +import react from "@vitejs/plugin-react"; + +export default defineConfig({ + plugins: [react()], +});