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3
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| Author | SHA1 | Date | |
|---|---|---|---|
 eSlider
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d744671b86 | ||
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eSlider
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1cc2b9a8f2 | ||
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eSlider
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1e5854ee0a |
@@ -24,8 +24,10 @@ jobs:
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steps:
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- name: Checkout
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run: |
|
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git clone --depth=50 https://${{ gitea.actor }}:${{ gitea.token }}@git.produktor.io/${{ gitea.repository }}.git .
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git checkout ${{ gitea.sha }}
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git init .
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git remote add origin https://${{ gitea.actor }}:${{ gitea.token }}@git.produktor.io/${{ gitea.repository }}.git
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git fetch --depth=50 origin "${{ gitea.ref }}"
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git checkout FETCH_HEAD
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|
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- name: Install dependencies
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run: pip install --quiet -r simulator/requirements.txt
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@@ -61,8 +63,10 @@ jobs:
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steps:
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- name: Checkout
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run: |
|
||||
git clone --depth=1 https://${{ gitea.actor }}:${{ gitea.token }}@git.produktor.io/${{ gitea.repository }}.git .
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git checkout ${{ gitea.sha }}
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git init .
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git remote add origin https://${{ gitea.actor }}:${{ gitea.token }}@git.produktor.io/${{ gitea.repository }}.git
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git fetch --depth=1 origin "${{ gitea.ref }}"
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git checkout FETCH_HEAD
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|
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- name: Install Trivy
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run: |
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@@ -13,8 +13,3 @@ dist/
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.terraform/
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*.tfstate
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*.tfstate.*
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|
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# Local tooling / WIP (keep on disk, never commit)
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.cursor/
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.grok/
|
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prototype-3d/
|
||||
|
||||
@@ -6,8 +6,6 @@ A fleet of drones flies fully autonomously: no internet uplink, no external acce
|
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|
||||
This repository describes how to build, deliver, test, and operate that platform: the storage layout, the sync strategy, the network trust model, the CI/CD chain, and the simulation environment that makes it all testable without touching real hardware.
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||||
|
||||
**New here?** Start with the one-pager: [00 — Executive overview](docs/00-executive.md) (includes how **MinIO** fits). Then the [design journey](docs/12-design-journey.md) if you want the narrative.
|
||||
|
||||
## Design principles
|
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|
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1. **Every drone is autonomous.** No cluster orchestrator spans the swarm; intermittent mesh connectivity makes that an anti-pattern. Coordination happens through data exchange, not through a control plane.
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@@ -19,30 +17,10 @@ This repository describes how to build, deliver, test, and operate that platform
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7. **SQL is the contract.** Peer data access is read-only DuckDB SQL over SSH forced commands — the query language already lives on both ends, so no service, port, or protocol is invented for it.
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8. **No debug API.** The bench and the flight use the same channel: an engineer debugging on the ground runs the identical query through the identical wrapper, permissions, and output format a peer drone would use. What you test is what flies.
|
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|
||||
None of the concrete tool picks above are mandates. This repo is a **from-scratch platform sketch**: enough structure to hire and build against, with every decision recorded so the team can replace a piece when a better fit appears.
|
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|
||||
## Implemented now vs proposed next
|
||||
|
||||
Honest map so a reader knows what runs today versus what is design intent.
|
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|
||||
| Area | Implemented in this repo (runnable PoC) | Proposed for a production air-gapped fleet |
|
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| --- | --- | --- |
|
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| On-board layout | Hive-partitioned Parquet writer, seal step, DuckDB views | Same contract; Compose services under systemd |
|
||||
| Pose path | Fixed **45-byte** UDP frame + 2D bandwidth visualisation | Zenoh pub/sub (UDP kept as degraded minimal profile) |
|
||||
| Peer query | Read-only SQL **gate** over HTTP explorer (keyword allow-list) | Same gate idea via **SSH forced command** + OS/engine hardening |
|
||||
| Bulk sync | Visualised opportunistic transfer volume | rsync/rclone over persistent SSH between peers |
|
||||
| Mesh trust | Ansible templates for WireGuard + ed25519 forced commands | Provisioned per-device keys; nothing joins at runtime |
|
||||
| Ground segment | k3d/Terraform sim: lake, Grafana, offload CronJob, **MinIO as T3** | k3s warehouse with MinIO, GitOps overlays, post-flight mirror |
|
||||
| CI / delivery | GitHub Actions: pytest, smoke flight, Trivy, semver release + fleet manifest artifact | Self-hosted GitLab + registry inside the air gap (same stages) |
|
||||
| Docs | Problem, architecture, ADRs, design journey, open questions | Living ADRs owned by the team |
|
||||
|
||||
Start from the [design journey](docs/12-design-journey.md) for the story; use the table above when reviewing scope.
|
||||
|
||||
## Documentation
|
||||
|
||||
| Document | Contents |
|
||||
| --- | --- |
|
||||
| [00 — Executive](docs/00-executive.md) | **Start here** — one-page goal, sync rule, MinIO stance |
|
||||
| [00 — Glossary](docs/00-glossary.md) | Terms and abbreviations used throughout |
|
||||
| [01 — Problem statement](docs/01-problem-statement.md) | Goal, constraints, knowns vs assumptions |
|
||||
| [02 — Architecture](docs/02-architecture.md) | On-board layers, service composition, communication planes |
|
||||
@@ -52,13 +30,13 @@ Start from the [design journey](docs/12-design-journey.md) for the story; use th
|
||||
| [06 — Environments](docs/06-environments.md) | Drone / ground warehouse / dev-simulation infrastructures |
|
||||
| [07 — Observability](docs/07-observability.md) | Logs, service metrics, hardware telemetry |
|
||||
| [08 — Roadmap](docs/08-roadmap.md) | Dependency graph, simple to complex |
|
||||
| [09 — Open questions](docs/09-open-questions.md) | Known unknowns and proposed answers (incl. MinIO placement) |
|
||||
| [09 — Open questions](docs/09-open-questions.md) | Known unknowns and proposed answers |
|
||||
| [10 — Domain context](docs/10-domain-context.md) | Swarm autonomy principles this design builds on |
|
||||
| [11 — CI/CD & delivery](docs/11-cicd-delivery.md) | Pipelines, registry, dev containers, fleet releases |
|
||||
| [12 — Design journey](docs/12-design-journey.md) | Narrative walk-through linking into the code |
|
||||
| [12 — Design journey](docs/12-design-journey.md) | **Start here** — a narrative walk-through of how the design came together, linking into the code |
|
||||
| [ADRs](docs/adr/) | Architecture Decision Records — the decisions behind the above, in the order they were made |
|
||||
|
||||
New here? Read the [executive overview](docs/00-executive.md) first, then the [design journey](docs/12-design-journey.md) if you want the story. The design principles above are the *what*; the [ADRs](docs/adr/) are the *why and when*.
|
||||
New here? Read the [design journey](docs/12-design-journey.md) first: it tells the story chronologically and links straight into the code and decisions. The design principles below are the *what*; the [ADRs](docs/adr/) are the *why and when* — each principle traces to a dated, immutable decision record.
|
||||
|
||||
## Runnable parts
|
||||
|
||||
|
||||
@@ -1,61 +0,0 @@
|
||||
# 00 — Executive overview
|
||||
|
||||
A one-page map of the proposal. Details and trade-offs live in the linked docs.
|
||||
Nothing here is a mandate: it is a from-scratch platform sketch the team can
|
||||
reshape once real constraints are on the table.
|
||||
|
||||
## Goal
|
||||
|
||||
Build an **on-prem, air-gapped data platform** for an autonomous drone swarm:
|
||||
accumulate sensor and detection data on each unit, share only what peers need in
|
||||
flight, and offload complete flights to a ground warehouse for replay and
|
||||
training.
|
||||
|
||||
## Constraints (given)
|
||||
|
||||
- No internet / no external access in flight; data stays inside the system.
|
||||
- Each drone is autonomous; mesh links are intermittent — **no swarm-wide orchestrator**.
|
||||
- On-board today: **Docker Compose**, **DuckDB**, YOLO-like video analytics; **Parquet** under evaluation.
|
||||
- **MinIO is already in the stack** — exact placement not fully known yet (see below).
|
||||
- Ground side can run lightweight Kubernetes; this proposal keeps k3s **on the ground only**.
|
||||
|
||||
## Data contract (proposed)
|
||||
|
||||
| What | Where | Crosses the air? |
|
||||
| --- | --- | --- |
|
||||
| Raw telemetry | Local NVMe (Parquet / Hive layout) | **No** — offloads after landing |
|
||||
| Pose / detections (derived) | Local store + peer pub/sub | **Yes** — small, budgeted |
|
||||
| Full flight archive | Ground warehouse (Parquet + object store) | After landing only |
|
||||
|
||||
One layout on every floor so offload is a **mirror**, not a migration
|
||||
([03 — Data platform](03-data-platform.md)).
|
||||
|
||||
## Sync rule
|
||||
|
||||
1. **Fast path:** compact pose frames (~45 B @ 5 Hz) + event-shaped detections.
|
||||
2. **Bulk path (peers):** sealed derived partitions when the link allows
|
||||
(rsync/SSH proposed; alternatives open).
|
||||
3. **Never** push raw high-rate telemetry peer-to-peer in flight.
|
||||
|
||||
## MinIO (first-class, placement TBD)
|
||||
|
||||
MinIO is treated as **already chosen infrastructure**, not something to rip out.
|
||||
|
||||
| Role | Stance in this sketch |
|
||||
| --- | --- |
|
||||
| **Ground warehouse (T3)** | **Primary home** — S3 API under the Parquet lake / offload target |
|
||||
| **On-board (drone)** | **Default: no** — competes with flight-critical CPU/RAM; local Parquet + DuckDB is enough for the hot path |
|
||||
| **On-board exception** | Not excluded if a team already relies on an S3 API in Compose; then derived-only, never the 5 Hz pose path |
|
||||
| **5 Hz pose / collision state** | **Not MinIO** — pub/sub (UDP in the PoC; Zenoh proposed) |
|
||||
| **Inter-drone history catch-up** | Prefer pull of sealed partitions (SSH/rsync); MinIO replication only if ops already standardised on it |
|
||||
|
||||
Open item for the team: document how MinIO is used today, then lock T2/T3 roles
|
||||
([09 — Open questions](09-open-questions.md)).
|
||||
|
||||
## What to read next
|
||||
|
||||
1. [12 — Design journey](12-design-journey.md) — narrative + deep links into code
|
||||
2. [Implemented vs proposed](../README.md#implemented-now-vs-proposed-next) — PoC vs production intent
|
||||
3. [09 — Open questions](09-open-questions.md) — including MinIO placement
|
||||
|
||||
Live visual PoC: [swarm.produktor.io](https://swarm.produktor.io/) (same access as this repository).
|
||||
+1
-1
@@ -55,7 +55,7 @@ Terms and abbreviations used throughout this proposal.
|
||||
| **Docker Compose** | Declarative multi-container runtime; the only orchestrator on board a drone |
|
||||
| **k3s** | Lightweight Kubernetes distribution; used on the ground only |
|
||||
| **Dev Container** | Reproducible containerized development environment definition |
|
||||
| **MinIO** | S3-compatible object store **already in the stack**; default home is the **ground warehouse (T3)**. On-board use is an exception, not the baseline |
|
||||
| **MinIO** | S3-compatible object store; runs on-board for derived data and on the ground as the warehouse backend |
|
||||
| **Registry mirror** | Local copy of a container registry inside the air gap; drones pull images from it |
|
||||
| **OTA** | Over-the-air update — delivered before a mission while docked, never mid-flight |
|
||||
| **Fleet release manifest** | A versioned lockfile pinning every artifact (image digests, model weights, schemas, configs) that defines one fleet version |
|
||||
|
||||
@@ -28,7 +28,7 @@ Plus everything a platform needs around that: reproducible builds and deployment
|
||||
- The current on-board software is **Docker Compose** with two services: **sensor ingestion** and **video-stream object detection** (a YOLO-like model; weights and approaches vary).
|
||||
- **DuckDB** is already in use for local data handling.
|
||||
- **Parquet** adoption is at the evaluation stage — the storage layout in this proposal is the core of what is being asked.
|
||||
- **MinIO** is already in the stack. Exact placement (ground vs on-board vs sync path) was not fully specified in the brief; this proposal treats MinIO as **first-class ground-warehouse infrastructure** by default and keeps on-board MinIO as an open option — see [00 — Executive](00-executive.md) and [09 — Open questions](09-open-questions.md).
|
||||
- **MinIO** is available and considered as the inter-drone sync mechanism.
|
||||
- A **lightweight Kubernetes** exists in the ecosystem; this proposal scopes it to ground infrastructure only (see [02 — Architecture](02-architecture.md)).
|
||||
- After landing, each drone's data is **offloaded to an on-prem warehouse** for replay and iterative model training.
|
||||
- Mission intent (declarative goals) reaches the swarm over a narrow **C2 channel**; there is no continuous ground link in flight.
|
||||
@@ -43,7 +43,6 @@ Plus everything a platform needs around that: reproducible builds and deployment
|
||||
| A4 | Missions are bounded (battery), so a "flight" is the natural unit of data lifecycle | Return-to-base on low energy implies discrete flight sessions |
|
||||
| A5 | Mission logic consumes the data platform as a service and is out of scope here | Flight control, planning, and model training are separate concerns |
|
||||
| A6 | A development-only telemetry channel exists on the bench and is absent from production builds | Standard practice; production radio profile carries C2 + swarm data plane only |
|
||||
| A7 | **MinIO's primary home is the ground warehouse (T3), not the drone** | On-board object store competes with flight-critical CPU/RAM; local Parquet + DuckDB already cover the hot path. On-board MinIO is not excluded if ops already depend on an S3 API in Compose |
|
||||
|
||||
## Out of scope
|
||||
|
||||
|
||||
+9
-15
@@ -20,13 +20,11 @@ graph TB
|
||||
subgraph serving [Layer 3 — Serving and sync]
|
||||
HOOK["event hook<br/>fires on new derived data"]
|
||||
PUB["state publisher<br/>pub/sub broadcast"]
|
||||
BULK["bulk sync<br/>rsync over SSH"]
|
||||
QAPI["query API<br/>SQL-over-SSH"]
|
||||
MINIO["MinIO<br/>derived datasets bucket"]
|
||||
QAPI["query API<br/>peer data requests"]
|
||||
end
|
||||
end
|
||||
|
||||
MINIO[("MinIO — ground warehouse T3<br/>already in the stack")]
|
||||
|
||||
SENSORS --> WRITER
|
||||
VIDEO -->|detections| WRITER
|
||||
WRITER --> NVME
|
||||
@@ -34,16 +32,13 @@ graph TB
|
||||
DUCK --> NVME
|
||||
WRITER -->|derived rows| HOOK
|
||||
HOOK --> PUB
|
||||
HOOK --> BULK
|
||||
HOOK --> MINIO
|
||||
QAPI --> DUCK
|
||||
PUB -.->|mesh pose| PEERS["peer drones"]
|
||||
BULK -.->|sealed partitions| PEERS
|
||||
PUB -.->|mesh| PEERS["peer drones"]
|
||||
MINIO -.->|replication| PEERS
|
||||
QAPI -.->|on demand| PEERS
|
||||
NVME -->|post-flight offload| MINIO
|
||||
```
|
||||
|
||||
**MinIO** is already in the stack and is the **default ground warehouse (T3)** behind offload — keep it, do not rip it out. Default sketch: **not on the drone** (CPU/RAM budget); on-board MinIO remains an allowed exception if Compose already depends on an S3 API. **In-flight peer bulk sync is SSH/rsync** (or team-standard MinIO replication if that is already how ops works) — never the 5 Hz pose path. See [00 — Executive](00-executive.md) and [04 — Swarm sync](04-swarm-sync.md).
|
||||
|
||||
### Layer 1 — Ingestion
|
||||
|
||||
- `sensor-ingest` subscribes to sensor sources (ROS 2 topics where available, raw drivers otherwise) and normalizes them into typed streams: IMU, barometer, temperature, LiDAR, RSSI, power, and so on.
|
||||
@@ -58,11 +53,10 @@ graph TB
|
||||
|
||||
### Layer 3 — Serving and sync
|
||||
|
||||
- The **event hook** is the on-board "lambda": when the writer lands new *derived* rows (state, detections), it triggers registered actions — broadcast, bulk-sync hint, or a local mission-logic callback. Nothing polls.
|
||||
- The **state publisher** broadcasts compact position/attitude/detection payloads over the mesh pub/sub (UDP in the PoC; Zenoh proposed — [04](04-swarm-sync.md)).
|
||||
- **Bulk sync** pulls sealed derived partitions from peers over persistent SSH (rsync delta transfer). If the team already operates MinIO replication for that job, reuse it — do not invent a second path. Pose traffic never goes through MinIO.
|
||||
- **Peer queries** are read-only DuckDB SQL — HTTP explorer gate in the PoC; **SSH forced commands** proposed for flight (SELECT-only gate, read-only OS user, columnar responses — [04](04-swarm-sync.md)).
|
||||
- **MinIO** sits on the **ground** as T3 by default ([00 — Executive](00-executive.md)); on-board MinIO is an explicit exception, not the baseline.
|
||||
- The **event hook** is the on-board "lambda": when the writer lands new *derived* rows (state, detections), it triggers registered actions — broadcast, MinIO upload, or a local mission-logic callback. Nothing polls.
|
||||
- The **state publisher** broadcasts compact position/attitude/detection payloads over the mesh pub/sub (transport analysis in [04 — Swarm sync](04-swarm-sync.md)).
|
||||
- **Bulk sync** pulls sealed derived partitions from peers over persistent SSH (rsync delta transfer); MinIO remains optional where an S3 API is wanted.
|
||||
- **Peer queries** are read-only DuckDB SQL over SSH forced commands — SELECT-only gate, read-only OS user, columnar responses (the design decision and its reasoning are in [04](04-swarm-sync.md)).
|
||||
|
||||
## Communication planes
|
||||
|
||||
|
||||
@@ -68,13 +68,11 @@ Same format on every floor; only volume, retention, and location change:
|
||||
| Floor | Where | Contents | Retention |
|
||||
| --- | --- | --- | --- |
|
||||
| **T0 — hot** | RAM / DuckDB in-process | Sliding window of the last minutes; what mission logic queries in flight | Minutes |
|
||||
| **T1 — warm** | Drone NVMe (Parquet) | Full raw `telemetry` + `detections` + `state` of the current flight; never leaves the drone in flight | Current flight (+ quota-based headroom) |
|
||||
| **T2 — shared** | Peer-derived cache on NVMe (Parquet) | Derived data only (`detections`, `state`) pulled from peers when the link allows | Current mission |
|
||||
| **T3 — warehouse** | Ground **MinIO** (or equivalent) + Parquet lakehouse | Every flight of every drone; replay, analytics, model training — **primary MinIO home** | Years |
|
||||
| **T1 — warm** | Drone NVMe | Full raw `telemetry` + `detections` + `state` of the current flight; never leaves the drone in flight | Current flight (+ quota-based headroom) |
|
||||
| **T2 — shared** | On-board MinIO bucket | Derived data only (`detections`, `state`), replicated opportunistically across the swarm | Current mission |
|
||||
| **T3 — warehouse** | Ground on-prem object store + Parquet lakehouse | Every flight of every drone, forever; replay, analytics, model training | Years |
|
||||
| **T4 — dev** | Engineer laptop / sim farm | Slices pulled from T3, or synthetic data from the simulator | Ephemeral |
|
||||
|
||||
**MinIO note:** default sketch keeps MinIO on the **ground (T3)**. An on-board MinIO sidecar is a possible exception if the team already standardises on an S3 API in Compose — derived data only, never the 5 Hz pose path. Placement is an open question ([09](09-open-questions.md), [00 — Executive](00-executive.md)).
|
||||
|
||||
## Flight offload: a mirror, not a migration
|
||||
|
||||
Because T1 and T3 share the identical layout, offload after landing is:
|
||||
|
||||
+14
-24
@@ -16,27 +16,19 @@ Bandwidth is the scarcest resource in the system. Every message class gets an ex
|
||||
|
||||
## Broadcast payload: small on the wire, precise at rest
|
||||
|
||||
The `state` broadcast is a fixed compact frame. The runnable PoC encodes it as
|
||||
**45 bytes** little-endian (`simulator/virtual_drone/broadcast.py`); that size is
|
||||
what the prototype uses for bandwidth estimates.
|
||||
The `state` broadcast is a fixed compact frame:
|
||||
|
||||
| Field | Wire type (PoC) | Notes |
|
||||
| Field | Type | Notes |
|
||||
| --- | --- | --- |
|
||||
| `magic` + `version` | 2s + uint8 | `b"SH"`, version `1` |
|
||||
| `drone_id` | 8s ascii | Zero-padded; a fleet `uint16` registry id is a natural production swap |
|
||||
| `drone_id` | uint16 | Fleet-scoped registry |
|
||||
| `ts_ns` | int64 | Epoch nanoseconds, same clock domain as storage |
|
||||
| `pos_x/y/z` | 3 × int32 | **Millimeters** in the **mission frame** — quantized on the wire only; storage keeps full float precision |
|
||||
| `att_roll/pitch/yaw` | 3 × int16 | Centi-degrees — attitude stays on the wire so peers need no local shape model |
|
||||
| `vel_x/y/z` | 3 × int16 | cm/s |
|
||||
| `pos_x/y/z` | int32 | **Millimeters** in the mission frame — quantized only here, storage keeps full float precision |
|
||||
| `att_roll/pitch/yaw` | int16 | Centi-degrees |
|
||||
| `vel_x/y/z` | int16 | cm/s |
|
||||
| `frame_ref` | uint8 | Frame of reference id (GPS-denied: local/visual-odometry frames must be explicit) |
|
||||
| `flags` | uint8 | Battery-low, returning, degraded-sensors, … |
|
||||
|
||||
45 bytes × 5 Hz × 50 drones ≈ 11 KB/s of pose traffic before transport overhead — still trivial on a congested mesh.
|
||||
|
||||
An earlier sketch used relative coordinates and a bounding sphere (no attitude).
|
||||
It was dropped: mission-frame pose + attitude is simpler to fuse post-flight and
|
||||
costs almost nothing at this frame size. Relative localization remains a
|
||||
consumer concern when `frame_ref` differs across peers ([09](09-open-questions.md)).
|
||||
~40 bytes per frame → a 50-drone swarm at 5 Hz is ~10 KB/s of pose traffic before transport overhead. Trivial even on a congested mesh.
|
||||
|
||||
`detections` events are slightly larger (class, confidence, bounding volume, ego-pose) but event-shaped and rare by comparison.
|
||||
|
||||
@@ -59,34 +51,32 @@ graph LR
|
||||
SB -->|"store-and-forward relay"| SC
|
||||
```
|
||||
|
||||
### Recommended (proposal): Zenoh
|
||||
### Recommended: Zenoh
|
||||
|
||||
- Designed exactly for constrained, dynamic networks: built-in peer discovery, brokerless peer-to-peer mode, store-and-forward, and a query layer on top of pub/sub.
|
||||
- First-class robotics citizenship: an official ROS 2 RMW implementation exists, so the ingestion side and the sync side can share one middleware.
|
||||
- Tiny footprint, ARM64-native.
|
||||
|
||||
**PoC today:** the simulator and the 2D prototype exercise the **raw UDP** pose path only — the minimal degraded profile below. Zenoh is the proposed production pub/sub, not yet wired into the runnable stack.
|
||||
|
||||
### Alternatives considered
|
||||
|
||||
| Option | Verdict |
|
||||
| --- | --- |
|
||||
| **DDS multicast** (ROS 2 default) | Works, battle-tested; but discovery storms and tuning pain on lossy wireless meshes are well documented. Keep as fallback since ROS 2 speaks it natively |
|
||||
| **MQTT** | Needs a broker — a per-drone broker bridge is possible but adds moving parts for no gain over Zenoh |
|
||||
| **Raw UDP multicast** | **Implemented in the PoC** for pose broadcast (fixed frame, no discovery); no query layer, no reliability — also the documented degraded mode |
|
||||
| **MinIO bucket replication** | Keep as a **team option** for bulk derived catch-up if ops already standardise on it; wrong tool for the 5 Hz pose path. Default sketch: MinIO primary on the **ground warehouse**, not on the drone |
|
||||
| **Raw UDP multicast** | Perfect as a last-resort minimal profile for the pose broadcast alone (fixed frame, no discovery); no query layer, no reliability — documented as the degraded mode |
|
||||
| **MinIO bucket replication** | Wrong tool for the 5 Hz pose path, right tool for bulk derived datasets — see below |
|
||||
|
||||
## Two sync mechanisms, deliberately separate
|
||||
|
||||
1. **Fast path — pub/sub (Zenoh proposed; UDP in the PoC):** pose frames and detection events. Fire-and-forget with bounded staleness; consumers keep a peer-state cache.
|
||||
2. **Bulk path — rsync over persistent SSH (proposed):** sealed `detections`/`state` Parquet partitions are pulled opportunistically between drones when links allow. This is how a drone that was out of range catches up on mission history without anyone re-sending events. The PoC visualises bulk volume; it does not yet run real rsync between virtual drones.
|
||||
1. **Fast path — pub/sub (Zenoh):** pose frames and detection events. Fire-and-forget with bounded staleness; consumers keep a peer-state cache.
|
||||
2. **Bulk path — rsync over persistent SSH:** sealed `detections`/`state` Parquet partitions are pulled opportunistically between drones when links allow. This is how a drone that was out of range catches up on mission history without anyone re-sending events.
|
||||
|
||||
Why SSH-based bulk sync over object-store replication:
|
||||
|
||||
- **Identity is already there.** Every drone holds pre-provisioned ed25519 keys and a fixed `known_hosts`/`authorized_keys` set from ground provisioning ([05](05-network-security.md)) — the trust model needs no new machinery.
|
||||
- **One persistent multiplexed session** (`ControlMaster`) per peer costs almost nothing at idle and survives as a single TCP stream; every transfer rides it without new handshakes.
|
||||
- **rsync delta transfer is resumable** across link drops — exactly the failure mode of an ad-hoc mesh — and the shared partition layout makes it trivially incremental: same paths, same files, pull only what is missing.
|
||||
- **Zero extra services** on the flight-critical node by default. **MinIO stays first-class on the ground (T3).** On-board MinIO is an exception only if Compose already depends on an S3 API. In-flight bulk path defaults to SSH/rsync; switch to MinIO replication if that is already how the team moves objects.
|
||||
- **Zero extra services** on the flight-critical node. MinIO remains available where an S3 API is genuinely wanted (ground warehouse, and optionally on board), but the in-flight bulk path does not depend on it.
|
||||
|
||||
Partition healing is automatic: replication is pull-based, addressed by partition path, and idempotent (each drone only ever writes its own `drone=` subtree — **no write conflicts by construction**).
|
||||
|
||||
@@ -115,7 +105,7 @@ SQL access must not become a write channel. A single "read-only connection" flag
|
||||
| Layer | Mechanism | What it stops |
|
||||
| --- | --- | --- |
|
||||
| 1. Key = operation | Forced command: the query key can only invoke the query wrapper, nothing else | Arbitrary exec, lateral movement |
|
||||
| 2. Statement gate | Wrapper accepts a single statement, rejects anything but `SELECT`/`WITH`/… (no `COPY`, `ATTACH`, `INSTALL`, `SET`, multi-statements); production should prefer a real parser + bound parameters, not keywords alone | SQL-as-a-write-channel, config tampering |
|
||||
| 2. Statement gate | Wrapper accepts a single statement, parses it, rejects anything but `SELECT` (no `COPY`, `ATTACH`, `INSTALL`, `SET`, multi-statements); parameters bound, not interpolated | SQL-as-a-write-channel, config tampering |
|
||||
| 3. OS permissions | Wrapper runs as a dedicated user with **read-only filesystem access** to the data root and write access to nothing | Any write that slips past layer 2 |
|
||||
| 4. Engine hardening | `:memory:` database, external access disabled except the data-root glob, extension loading off | Reaching outside the store |
|
||||
| 5. Resource caps | Timeout, memory cap, niced CPU (flight software always wins), response size budget | Denial of service via expensive queries |
|
||||
|
||||
@@ -12,12 +12,12 @@ graph LR
|
||||
SLICE["T4: data slices"]
|
||||
end
|
||||
subgraph fleet [1 — Fleet, in flight]
|
||||
D1["drone: Compose data plane<br/>T0 hot + T1 NVMe + T2 peer cache"]
|
||||
D1["drone: Compose data plane<br/>T0 hot + T1 NVMe + T2 MinIO"]
|
||||
D2["drone …"]
|
||||
end
|
||||
subgraph ground [2 — Ground, on-prem]
|
||||
DOCK["base station docks"]
|
||||
DWH["T3 warehouse<br/>MinIO + Parquet/DuckDB"]
|
||||
DWH["T3 warehouse<br/>object store + Parquet/DuckDB"]
|
||||
K3S["k3s: CI runners, registry mirror,<br/>sim farm, dashboards"]
|
||||
TRAIN["model training (out of scope)<br/>reads T3, ships weights"]
|
||||
end
|
||||
@@ -43,7 +43,7 @@ The permanent installation. This **is** allowed to be a cluster — links are wi
|
||||
|
||||
| Component | Runs on | Role |
|
||||
| --- | --- | --- |
|
||||
| **Warehouse (T3)** | **MinIO** (already in the stack) + Parquet | Every flight of every drone; the system's long-term memory |
|
||||
| **Warehouse (T3)** | Object store (MinIO or equivalent) + Parquet | Every flight of every drone; the system's long-term memory |
|
||||
| **Base station docks** | Bare metal | Wired offload + integrity audit + drone provisioning ([03](03-data-platform.md), [05](05-network-security.md)) |
|
||||
| **Registry mirror** | k3s | In-air-gap container registry + artifact storage; the only software source drones ever see |
|
||||
| **CI runners** | k3s | Multi-arch builds, tests, scans ([11](11-cicd-delivery.md)) |
|
||||
|
||||
+6
-6
@@ -9,11 +9,11 @@ graph TD
|
||||
S1["Stage 1<br/>Dev environment + CI skeleton<br/>Dev Containers, GitLab templates, multi-arch builds"]
|
||||
S2["Stage 2<br/>Registry and artifacts<br/>images, model weights, schemas, cleanup policies"]
|
||||
S3["Stage 3<br/>Single-drone data pipeline<br/>ingest → current/ → sealed Parquet → DuckDB"]
|
||||
S4["Stage 4<br/>Serving layer<br/>event hook, query API"]
|
||||
S4["Stage 4<br/>Serving layer<br/>event hook, query API, local MinIO"]
|
||||
S5["Stage 5<br/>Virtual swarm simulation<br/>N drones in Compose, seeded scenarios, CI regression"]
|
||||
S6["Stage 6<br/>Mesh network and security<br/>WireGuard overlay, PKI provisioning, mTLS"]
|
||||
S7["Stage 7<br/>Swarm sync<br/>pose broadcast, detections pub/sub, bulk pull"]
|
||||
S8["Stage 8<br/>Ground warehouse<br/>offload + audit, MinIO T3, replay tooling"]
|
||||
S7["Stage 7<br/>Swarm sync<br/>pose broadcast, detections pub/sub, MinIO replication"]
|
||||
S8["Stage 8<br/>Ground warehouse<br/>offload + audit, T3 store, replay tooling"]
|
||||
S9["Stage 9<br/>Observability<br/>platform metrics as sensor stream, ground dashboards"]
|
||||
S10["Stage 10<br/>Fleet releases<br/>manifest, mirror, dock delivery, atomic rollback"]
|
||||
S11["Stage 11<br/>Query standard<br/>GraphQL contract, schema registry, multi-team surface"]
|
||||
@@ -41,11 +41,11 @@ graph TD
|
||||
| **1 — Dev environment + CI skeleton** | Dev Containers, GitLab shared templates, multi-arch runner fleet | An engineer builds and tests on day one; ARM64/AMD64 both green | — |
|
||||
| **2 — Registry & artifacts** | GitLab registry live, model weights + schemas as versioned packages | One artifact store, scanning wired in (Trivy, SonarQube) | 1 |
|
||||
| **3 — Single-drone data pipeline** | `sensor-ingest` → writer → `current/` → sealed → DuckDB queries on one node | The storage core: rates sustained, compression measured, quotas enforced | 1 |
|
||||
| **4 — Serving layer** | Event hook + query API (SQL gate) | Event-driven consumption; nothing polls | 3 |
|
||||
| **4 — Serving layer** | Event hook + query API + on-board MinIO | Event-driven consumption; nothing polls | 3 |
|
||||
| **5 — Virtual swarm** | Simulator, N drones via Compose, seeded scenarios, CI regression gate | Everything after this ships with a test bench | 2, 4 |
|
||||
| **6 — Mesh & security** | WireGuard overlay, offline CA, provisioning flow, mTLS | Zero-trust fabric exists before any real sync traffic | 1 |
|
||||
| **7 — Swarm sync** | Pose broadcast + detections pub/sub + bulk partition pull | Staleness budgets met under simulated loss/partitions | 5, 6 |
|
||||
| **8 — Ground warehouse** | Dock offload (mirror + audit), **MinIO as T3**, replay queries | A full flight round-trips: fly (simulated) → offload → replay | 3 |
|
||||
| **7 — Swarm sync** | Pose broadcast + detections pub/sub + bulk replication over the mesh | Staleness budgets met under simulated loss/partitions | 5, 6 |
|
||||
| **8 — Ground warehouse** | Dock offload (mirror + audit), T3 store, replay queries | A full flight round-trips: fly (simulated) → offload → replay | 3 |
|
||||
| **9 — Observability** | Platform metrics as sensor stream; ground Prometheus/Grafana/Loki; post-mortem dashboards | Every health question from [07](07-observability.md) answerable | 7, 8 |
|
||||
| **10 — Fleet releases** | Release manifest, registry mirror, dock delivery, atomic rollback drill | The whole fleet moves as one version, rollback rehearsed | 2, 5 |
|
||||
| **11 — Query standard** | GraphQL contract over versioned schemas; documentation for other teams | The multi-team integration surface | 7, 8 |
|
||||
|
||||
@@ -67,16 +67,3 @@ Sub-250 g class units cannot run the full stack (no GPU, minimal CPU/storage).
|
||||
The observability path now scans only the most recent flights ([ADR-0009](adr/ADR-0009-bounded-lake-scans.md)), but old `flight=` partitions still accumulate on T1 disk after offload to T3.
|
||||
|
||||
*Proposal:* a scheduled prune of T1 partitions whose flights are confirmed present in the T3 warehouse (offload as the retention gate), configurable by age and free-space watermark. On the drone the same policy is bounded by the NVMe quota ladder ([03](03-data-platform.md)); in the sim environment it is a ground CronJob alongside the offload job.
|
||||
|
||||
## 12 — MinIO placement (already in the stack)
|
||||
|
||||
Exact how MinIO is used today was not fully specified. It should not be ripped out.
|
||||
|
||||
*Proposal (default):*
|
||||
|
||||
- **Ground warehouse (T3):** primary MinIO home — offload target and long-term object API.
|
||||
- **On the drone:** default **off** — local Parquet + DuckDB cover the hot path; an object store competes with flight-critical CPU/RAM.
|
||||
- **Exception:** on-board MinIO allowed if Compose already depends on an S3 API — derived datasets only, never 5 Hz pose.
|
||||
- **Peer bulk catch-up:** prefer sealed-partition pull (SSH/rsync); use MinIO replication only if that is already the ops standard.
|
||||
|
||||
*Settle with the team:* one short diagram of today's MinIO topology (buckets, clients, what syncs). Until then, treat A7 in [01](01-problem-statement.md) as the working assumption. Summary table: [00 — Executive](00-executive.md).
|
||||
|
||||
+12
-20
@@ -1,12 +1,9 @@
|
||||
# 12 — Design journey
|
||||
|
||||
How this design came together, told in the order the thinking actually happened.
|
||||
It is a walk-through, not a report — and **not a mandate**. The goal is a
|
||||
from-scratch platform sketch that shows how the pieces fit; every concrete
|
||||
choice is an option with trade-offs recorded as
|
||||
[Architecture Decision Records](adr/README.md). Replace any piece if a better
|
||||
fit shows up. This is the story behind the decisions, and each chapter links
|
||||
straight into the code it produced.
|
||||
It is a walk-through, not a report. The formal decisions, with options and
|
||||
trade-offs, live as [Architecture Decision Records](adr/README.md). This is the
|
||||
story behind them, and each chapter links straight into the code it produced.
|
||||
|
||||
---
|
||||
|
||||
@@ -73,17 +70,15 @@ stored and in which structure, not to step into that work.
|
||||
## 5. What actually needs to sync
|
||||
|
||||
The most time-critical item is where each peer is, so every unit has time to
|
||||
react. The wire frame carries **mission-frame position** (millimetres on the
|
||||
wire, full float at rest), **attitude**, **velocity**, a `frame_ref`, and flags —
|
||||
45 bytes at 5 Hz. That is cheap enough that shrinking further is not worth the
|
||||
fusion pain. An earlier sketch used relative coordinates and a bounding sphere
|
||||
with no orientation; it was dropped. When peers disagree on frames,
|
||||
`frame_ref` makes the mismatch explicit for consumers
|
||||
([09 — Open questions](09-open-questions.md)).
|
||||
react. The choice was to broadcast [relative pose](04-swarm-sync.md) (x, y, z and
|
||||
time) instead of absolute coordinates. Relative is cheaper and enough for
|
||||
coordination. To avoid sending orientation, a unit is modelled as a **sphere**
|
||||
that bounds its extent. That trades a little compute for much less data, and no
|
||||
per-shape encoding. If the units are identical, their 3D model can be provisioned
|
||||
ahead instead of transmitted.
|
||||
|
||||
> **Read the code**
|
||||
> - [`simulator/virtual_drone/broadcast.py`](https://git.produktor.io/eSlider/swarm-house/src/branch/main/simulator/virtual_drone/broadcast.py#L1-L45) — the 45-byte pose frame, position quantized on the wire only
|
||||
> - [`prototype/src/sim.ts`](https://git.produktor.io/eSlider/swarm-house/src/branch/main/prototype/src/sim.ts#L60-L63) — `POSE_BYTES = 45` drives the volume estimate
|
||||
> - [`simulator/virtual_drone/broadcast.py`](https://git.produktor.io/eSlider/swarm-house/src/branch/main/simulator/virtual_drone/broadcast.py#L1-L40) — the 46-byte pose frame, position quantized on the wire only
|
||||
> - [`prototype/src/sim.ts`](https://git.produktor.io/eSlider/swarm-house/src/branch/main/prototype/src/sim.ts#L260-L277) — pose broadcasts at 5 Hz and opportunistic bulk sync, made visible
|
||||
|
||||
## 6. Security as nested layers, not one wall
|
||||
@@ -144,13 +139,10 @@ gives redundancy and a way to cross-check later. On the ground, when the fleet
|
||||
returns, the same path unifies every unit's data into a
|
||||
[local warehouse](06-environments.md). The warehouse is read-mostly for
|
||||
analytics, so transaction contention is not a concern, which opens a
|
||||
DuckDB / DuckLake approach with **MinIO underneath on the ground (T3)** — MinIO
|
||||
is already in the stack, so the warehouse leans on it rather than inventing a
|
||||
second object store — the
|
||||
DuckDB / DuckLake approach with MinIO underneath, the
|
||||
[same storage model on both ends](adr/ADR-0002-one-storage-format.md). One
|
||||
uniform structure is what lets an analyst trust a single picture even when a
|
||||
unit's data has a gap. On-board MinIO stays an open exception, not the default
|
||||
([00 — Executive](00-executive.md)).
|
||||
unit's data has a gap.
|
||||
|
||||
> **Read the code**
|
||||
> - [`infra/terraform/ground/main.tf`](https://git.produktor.io/eSlider/swarm-house/src/branch/main/infra/terraform/ground/main.tf#L124-L160) — the post-flight T1 to T3 offload CronJob
|
||||
|
||||
@@ -32,15 +32,10 @@ wrapper, permissions, and output format a peer drone would use.
|
||||
|
||||
## Consequences
|
||||
|
||||
- One access path is designed for flight and bench — "what you test is what
|
||||
- One access path is built, secured, and tested — "what you test is what
|
||||
flies".
|
||||
- The statement gate in the PoC (`simulator/explorer/server.py`, covered by
|
||||
`simulator/tests/test_sql_gate.py`) is a **first layer**: keyword allow/deny
|
||||
over HTTP for the explorer. Production still needs the remaining layers in
|
||||
[04 — Swarm sync](../04-swarm-sync.md) (forced-command key, read-only OS user,
|
||||
engine hardening, resource caps) and a real SQL parser rather than keywords
|
||||
alone.
|
||||
- The explorer and the prototype's live mode are *stand-in consumers* of the
|
||||
same read-only contract over HTTP today; the proposed flight path is
|
||||
SQL-over-SSH ([`../04-swarm-sync.md`](../04-swarm-sync.md)).
|
||||
- The SQL gate is safety-critical and is covered by unit tests
|
||||
(`simulator/tests/test_sql_gate.py`).
|
||||
- The explorer and the prototype's live mode are *just another read-only
|
||||
consumer* of this same contract ([`../04-swarm-sync.md`](../04-swarm-sync.md)).
|
||||
- Design principles 7 and 8 in [`../../README.md`](../../README.md) restate this.
|
||||
|
||||
@@ -2,6 +2,8 @@
|
||||
|
||||
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).
|
||||
|
||||
Optional **3d** checkbox in the header switches to a Three.js perimeter patrol scene (WebGPU/WebGL, shader terrain, transit escort, search panel). Off by default.
|
||||
|
||||
No backend — a pure client-side simulation of the same behavioral model the Python simulator implements over real Parquet and UDP.
|
||||
|
||||
## Run
|
||||
@@ -17,3 +19,4 @@ npm run dev # http://localhost:5173
|
||||
- **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.
|
||||
- **3d** — perimeter patrol, altitude, detection beams, 4-drone escort sphere
|
||||
|
||||
Generated
+66
-1
@@ -9,11 +9,13 @@
|
||||
"version": "0.1.0",
|
||||
"dependencies": {
|
||||
"react": "^18.3.1",
|
||||
"react-dom": "^18.3.1"
|
||||
"react-dom": "^18.3.1",
|
||||
"three": "^0.172.0"
|
||||
},
|
||||
"devDependencies": {
|
||||
"@types/react": "^18.3.12",
|
||||
"@types/react-dom": "^18.3.1",
|
||||
"@types/three": "^0.172.0",
|
||||
"@vitejs/plugin-react": "^4.3.4",
|
||||
"typescript": "^5.6.3",
|
||||
"vite": "^6.0.3"
|
||||
@@ -1150,6 +1152,13 @@
|
||||
"win32"
|
||||
]
|
||||
},
|
||||
"node_modules/@tweenjs/tween.js": {
|
||||
"version": "23.1.3",
|
||||
"resolved": "https://registry.npmjs.org/@tweenjs/tween.js/-/tween.js-23.1.3.tgz",
|
||||
"integrity": "sha512-vJmvvwFxYuGnF2axRtPYocag6Clbb5YS7kLL+SO/TeVFzHqDIWrNKYtcsPMibjDx9O+bu+psAy9NKfWklassUA==",
|
||||
"dev": true,
|
||||
"license": "MIT"
|
||||
},
|
||||
"node_modules/@types/babel__core": {
|
||||
"version": "7.20.5",
|
||||
"resolved": "https://registry.npmjs.org/@types/babel__core/-/babel__core-7.20.5.tgz",
|
||||
@@ -1230,6 +1239,35 @@
|
||||
"@types/react": "^18.0.0"
|
||||
}
|
||||
},
|
||||
"node_modules/@types/stats.js": {
|
||||
"version": "0.17.4",
|
||||
"resolved": "https://registry.npmjs.org/@types/stats.js/-/stats.js-0.17.4.tgz",
|
||||
"integrity": "sha512-jIBvWWShCvlBqBNIZt0KAshWpvSjhkwkEu4ZUcASoAvhmrgAUI2t1dXrjSL4xXVLB4FznPrIsX3nKXFl/Dt4vA==",
|
||||
"dev": true,
|
||||
"license": "MIT"
|
||||
},
|
||||
"node_modules/@types/three": {
|
||||
"version": "0.172.0",
|
||||
"resolved": "https://registry.npmjs.org/@types/three/-/three-0.172.0.tgz",
|
||||
"integrity": "sha512-LrUtP3FEG26Zg5WiF0nbg8VoXiKokBLTcqM2iLvM9vzcfEiYmmBAPGdBgV0OYx9fvWlY3R/3ERTZcD9X5sc0NA==",
|
||||
"dev": true,
|
||||
"license": "MIT",
|
||||
"dependencies": {
|
||||
"@tweenjs/tween.js": "~23.1.3",
|
||||
"@types/stats.js": "*",
|
||||
"@types/webxr": "*",
|
||||
"@webgpu/types": "*",
|
||||
"fflate": "~0.8.2",
|
||||
"meshoptimizer": "~0.18.1"
|
||||
}
|
||||
},
|
||||
"node_modules/@types/webxr": {
|
||||
"version": "0.5.24",
|
||||
"resolved": "https://registry.npmjs.org/@types/webxr/-/webxr-0.5.24.tgz",
|
||||
"integrity": "sha512-h8fgEd/DpoS9CBrjEQXR+dIDraopAEfu4wYVNY2tEPwk60stPWhvZMf4Foo5FakuQ7HFZoa8WceaWFervK2Ovg==",
|
||||
"dev": true,
|
||||
"license": "MIT"
|
||||
},
|
||||
"node_modules/@vitejs/plugin-react": {
|
||||
"version": "4.7.0",
|
||||
"resolved": "https://registry.npmjs.org/@vitejs/plugin-react/-/plugin-react-4.7.0.tgz",
|
||||
@@ -1251,6 +1289,13 @@
|
||||
"vite": "^4.2.0 || ^5.0.0 || ^6.0.0 || ^7.0.0"
|
||||
}
|
||||
},
|
||||
"node_modules/@webgpu/types": {
|
||||
"version": "0.1.71",
|
||||
"resolved": "https://registry.npmjs.org/@webgpu/types/-/types-0.1.71.tgz",
|
||||
"integrity": "sha512-mMy8/ODcKhab808co15eW+yN+HgXoQxRQHTiBV9Mrvl1r0ufnid7YOcI+gi4eUWSWl9ezD6TW2KXccrL8HCh2A==",
|
||||
"dev": true,
|
||||
"license": "BSD-3-Clause"
|
||||
},
|
||||
"node_modules/baseline-browser-mapping": {
|
||||
"version": "2.10.42",
|
||||
"resolved": "https://registry.npmjs.org/baseline-browser-mapping/-/baseline-browser-mapping-2.10.42.tgz",
|
||||
@@ -1428,6 +1473,13 @@
|
||||
}
|
||||
}
|
||||
},
|
||||
"node_modules/fflate": {
|
||||
"version": "0.8.3",
|
||||
"resolved": "https://registry.npmjs.org/fflate/-/fflate-0.8.3.tgz",
|
||||
"integrity": "sha512-tbZNuJrLwGUp3zshBtdy4W+ORxZuIh8a5ilyIEQDC5rY1f3U20JMry0Ll3WBzU58EZKsEuJFXhb5gwv8CsPvgA==",
|
||||
"dev": true,
|
||||
"license": "MIT"
|
||||
},
|
||||
"node_modules/fsevents": {
|
||||
"version": "2.3.3",
|
||||
"resolved": "https://registry.npmjs.org/fsevents/-/fsevents-2.3.3.tgz",
|
||||
@@ -1507,6 +1559,13 @@
|
||||
"yallist": "^3.0.2"
|
||||
}
|
||||
},
|
||||
"node_modules/meshoptimizer": {
|
||||
"version": "0.18.1",
|
||||
"resolved": "https://registry.npmjs.org/meshoptimizer/-/meshoptimizer-0.18.1.tgz",
|
||||
"integrity": "sha512-ZhoIoL7TNV4s5B6+rx5mC//fw8/POGyNxS/DZyCJeiZ12ScLfVwRE/GfsxwiTkMYYD5DmK2/JXnEVXqL4rF+Sw==",
|
||||
"dev": true,
|
||||
"license": "MIT"
|
||||
},
|
||||
"node_modules/ms": {
|
||||
"version": "2.1.3",
|
||||
"resolved": "https://registry.npmjs.org/ms/-/ms-2.1.3.tgz",
|
||||
@@ -1701,6 +1760,12 @@
|
||||
"node": ">=0.10.0"
|
||||
}
|
||||
},
|
||||
"node_modules/three": {
|
||||
"version": "0.172.0",
|
||||
"resolved": "https://registry.npmjs.org/three/-/three-0.172.0.tgz",
|
||||
"integrity": "sha512-6HMgMlzU97MsV7D/tY8Va38b83kz8YJX+BefKjspMNAv0Vx6dxMogHOrnRl/sbMIs3BPUKijPqDqJ/+UwJbIow==",
|
||||
"license": "MIT"
|
||||
},
|
||||
"node_modules/tinyglobby": {
|
||||
"version": "0.2.17",
|
||||
"resolved": "https://registry.npmjs.org/tinyglobby/-/tinyglobby-0.2.17.tgz",
|
||||
|
||||
@@ -10,11 +10,13 @@
|
||||
},
|
||||
"dependencies": {
|
||||
"react": "^18.3.1",
|
||||
"react-dom": "^18.3.1"
|
||||
"react-dom": "^18.3.1",
|
||||
"three": "^0.172.0"
|
||||
},
|
||||
"devDependencies": {
|
||||
"@types/react": "^18.3.12",
|
||||
"@types/react-dom": "^18.3.1",
|
||||
"@types/three": "^0.172.0",
|
||||
"@vitejs/plugin-react": "^4.3.4",
|
||||
"typescript": "^5.6.3",
|
||||
"vite": "^6.0.3"
|
||||
|
||||
+729
-105
@@ -1,23 +1,28 @@
|
||||
import { useEffect, useMemo, useRef, useState } from "react";
|
||||
import { useCallback, useEffect, useMemo, useRef, useState } from "react";
|
||||
import { DEFAULT_EXPLORER_URL, fetchLivePoses, toLiveWorld } from "./live";
|
||||
import { searchWeb, type SearchHit } from "./search";
|
||||
import {
|
||||
AREA,
|
||||
MAX_ASPECT,
|
||||
SWARM_ALGORITHM_LABELS,
|
||||
areaWidth,
|
||||
fmtBytes,
|
||||
houseRoadNetwork,
|
||||
makeWorld,
|
||||
seed,
|
||||
tick,
|
||||
type RouteMode,
|
||||
type SwarmAlgorithm,
|
||||
type World,
|
||||
} from "./sim";
|
||||
import { SwarmView3D } from "./SwarmView3D";
|
||||
import type { RenderBackend } from "./SwarmScene";
|
||||
|
||||
const VIEW = 1000;
|
||||
const PANEL_W = 320;
|
||||
const HEADER_H = 70;
|
||||
const LIVE_POLL_MS = 2000;
|
||||
|
||||
// Patrol field aspect ratio for the current window: wide monitors get a
|
||||
// wider field instead of empty side margins. Quantized to 0.25 steps so
|
||||
// minor resizes don't rebuild the world.
|
||||
function displayAspect(): number {
|
||||
const w = Math.max(320, window.innerWidth - PANEL_W);
|
||||
const h = Math.max(320, window.innerHeight - HEADER_H);
|
||||
@@ -25,27 +30,57 @@ function displayAspect(): number {
|
||||
return Math.max(1, Math.min(MAX_ASPECT, q));
|
||||
}
|
||||
|
||||
const LIVE_POLL_MS = 2000;
|
||||
function routeModeFor(_view3d: boolean): RouteMode {
|
||||
return "perimeter";
|
||||
}
|
||||
|
||||
export default function App(): JSX.Element {
|
||||
const [view3d, setView3d] = useState(false);
|
||||
const [droneCount, setDroneCount] = useState(8);
|
||||
const [swarmAlgo, setSwarmAlgo] = useState<SwarmAlgorithm>("boids");
|
||||
const [speedup, setSpeedup] = useState(1);
|
||||
const [paused, setPaused] = useState(false);
|
||||
const [aspect, setAspect] = useState(displayAspect);
|
||||
const [mode, setMode] = useState<"sim" | "live">("sim");
|
||||
const [liveError, setLiveError] = useState<string | null>(null);
|
||||
const [world, setWorld] = useState<World>(() => {
|
||||
const [backend, setBackend] = useState<RenderBackend>("webgl");
|
||||
const [searchQ, setSearchQ] = useState("drone swarm perimeter patrol");
|
||||
const [searchBusy, setSearchBusy] = useState(false);
|
||||
const [searchErr, setSearchErr] = useState<string | null>(null);
|
||||
const [hits, setHits] = useState<SearchHit[]>([]);
|
||||
const [, bump] = useState(0);
|
||||
|
||||
const worldRef = useRef<World | null>(null);
|
||||
const swarmAlgoRef = useRef(swarmAlgo);
|
||||
swarmAlgoRef.current = swarmAlgo;
|
||||
if (worldRef.current === null) {
|
||||
seed(42);
|
||||
return makeWorld(8, displayAspect());
|
||||
});
|
||||
worldRef.current = { ...makeWorld(8, displayAspect(), "perimeter"), swarmAlgo };
|
||||
}
|
||||
|
||||
const raf = useRef(0);
|
||||
const last = useRef(performance.now());
|
||||
const liveWorld = useRef<World | null>(null);
|
||||
|
||||
useEffect(() => {
|
||||
const resetWorld = useCallback((): void => {
|
||||
seed(42);
|
||||
setWorld(makeWorld(droneCount, aspect));
|
||||
}, [droneCount, aspect]);
|
||||
worldRef.current = {
|
||||
...makeWorld(droneCount, aspect, routeModeFor(view3d)),
|
||||
swarmAlgo: swarmAlgoRef.current,
|
||||
};
|
||||
bump((n) => n + 1);
|
||||
}, [droneCount, aspect, view3d]);
|
||||
|
||||
useEffect(() => {
|
||||
if (worldRef.current) {
|
||||
worldRef.current = { ...worldRef.current, swarmAlgo };
|
||||
bump((n) => n + 1);
|
||||
}
|
||||
}, [swarmAlgo]);
|
||||
|
||||
useEffect(() => {
|
||||
resetWorld();
|
||||
}, [resetWorld]);
|
||||
|
||||
useEffect(() => {
|
||||
let timer = 0;
|
||||
@@ -61,20 +96,21 @@ export default function App(): JSX.Element {
|
||||
}, []);
|
||||
|
||||
useEffect(() => {
|
||||
if (mode !== "sim") return;
|
||||
if (view3d || mode !== "sim") return;
|
||||
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));
|
||||
worldRef.current = tick(worldRef.current!, dt * speedup);
|
||||
bump((n) => n + 1);
|
||||
}
|
||||
raf.current = requestAnimationFrame(loop);
|
||||
};
|
||||
last.current = performance.now();
|
||||
raf.current = requestAnimationFrame(loop);
|
||||
return () => cancelAnimationFrame(raf.current);
|
||||
}, [paused, speedup, mode]);
|
||||
}, [view3d, paused, speedup, mode]);
|
||||
|
||||
// Live mode: poll the explorer's read-only SQL API for real poses
|
||||
useEffect(() => {
|
||||
if (mode !== "live") return;
|
||||
let cancelled = false;
|
||||
@@ -84,7 +120,11 @@ export default function App(): JSX.Element {
|
||||
if (cancelled) return;
|
||||
setLiveError(poses.length === 0 ? "no drone data in the lake yet" : null);
|
||||
liveWorld.current = toLiveWorld(poses, liveWorld.current, LIVE_POLL_MS / 1000);
|
||||
setWorld(liveWorld.current);
|
||||
if (view3d) {
|
||||
liveWorld.current = { ...liveWorld.current, routeMode: "perimeter" };
|
||||
}
|
||||
worldRef.current = liveWorld.current;
|
||||
bump((n) => n + 1);
|
||||
} catch (err) {
|
||||
if (!cancelled) setLiveError(err instanceof Error ? err.message : String(err));
|
||||
}
|
||||
@@ -95,34 +135,80 @@ export default function App(): JSX.Element {
|
||||
cancelled = true;
|
||||
window.clearInterval(timer);
|
||||
};
|
||||
}, [mode]);
|
||||
}, [mode, view3d]);
|
||||
|
||||
useEffect(() => {
|
||||
if (mode === "sim") {
|
||||
liveWorld.current = null;
|
||||
setLiveError(null);
|
||||
seed(42);
|
||||
setWorld(makeWorld(droneCount, aspect));
|
||||
resetWorld();
|
||||
}
|
||||
// eslint-disable-next-line react-hooks/exhaustive-deps -- reset only on mode change
|
||||
}, [mode]);
|
||||
}, [mode, resetWorld]);
|
||||
|
||||
const simEnabled = useCallback(() => mode === "sim" && !paused, [mode, paused]);
|
||||
|
||||
const onStep3d = useCallback(
|
||||
(dt: number) => {
|
||||
worldRef.current = tick(worldRef.current!, dt * speedup);
|
||||
},
|
||||
[speedup],
|
||||
);
|
||||
|
||||
const onUiPulse = useCallback(() => bump((n) => n + 1), []);
|
||||
|
||||
const runSearch = async (): Promise<void> => {
|
||||
setSearchBusy(true);
|
||||
setSearchErr(null);
|
||||
try {
|
||||
const res = await searchWeb(searchQ);
|
||||
setHits(res.results);
|
||||
} catch (err) {
|
||||
setSearchErr(err instanceof Error ? err.message : String(err));
|
||||
setHits([]);
|
||||
} finally {
|
||||
setSearchBusy(false);
|
||||
}
|
||||
};
|
||||
|
||||
useEffect(() => {
|
||||
if (!view3d) return;
|
||||
void runSearch();
|
||||
// eslint-disable-next-line react-hooks/exhaustive-deps
|
||||
}, [view3d]);
|
||||
|
||||
const world = worldRef.current!;
|
||||
const activeLinks = useMemo(
|
||||
() => [...world.links.values()].sort((a, b) => b.rate - a.rate),
|
||||
[world.links],
|
||||
// eslint-disable-next-line react-hooks/exhaustive-deps
|
||||
[world.links, world.t],
|
||||
);
|
||||
const busiest = activeLinks.slice(0, view3d ? 5 : 6);
|
||||
const roads = useMemo(
|
||||
() => houseRoadNetwork(world.obstacles),
|
||||
// eslint-disable-next-line react-hooks/exhaustive-deps
|
||||
[world.obstacles, aspect],
|
||||
);
|
||||
const busiest = activeLinks.slice(0, 6);
|
||||
|
||||
return (
|
||||
<div style={styles.shell}>
|
||||
<div style={{ ...styles.shell, ...(view3d ? styles.shell3d : {}) }}>
|
||||
<header style={styles.header}>
|
||||
<div>
|
||||
<div style={styles.title}>SWARM HOUSE</div>
|
||||
<div style={styles.subtitle}>
|
||||
swarm data plane — pose broadcast + opportunistic bulk sync
|
||||
{view3d
|
||||
? `perimeter patrol — ${backend.toUpperCase()} renderer · shader ground grid`
|
||||
: "perimeter patrol — even spread on observation loop"}
|
||||
</div>
|
||||
</div>
|
||||
<div style={styles.controls}>
|
||||
<label style={styles.checkLabel} title="Three.js perimeter patrol view">
|
||||
<input
|
||||
type="checkbox"
|
||||
checked={view3d}
|
||||
onChange={(e) => setView3d(e.target.checked)}
|
||||
/>
|
||||
3d
|
||||
</label>
|
||||
<button
|
||||
style={{ ...styles.button, ...(mode === "live" ? styles.buttonActive : {}) }}
|
||||
onClick={() => setMode((m) => (m === "sim" ? "live" : "sim"))}
|
||||
@@ -137,6 +223,23 @@ export default function App(): JSX.Element {
|
||||
)}
|
||||
{mode === "sim" && (
|
||||
<>
|
||||
<label style={styles.label}>
|
||||
swarm
|
||||
<select
|
||||
style={styles.select}
|
||||
value={swarmAlgo}
|
||||
onChange={(e) => setSwarmAlgo(e.target.value as SwarmAlgorithm)}
|
||||
title="Natural swarm algorithm for perimeter patrol"
|
||||
>
|
||||
{(Object.entries(SWARM_ALGORITHM_LABELS) as [SwarmAlgorithm, string][]).map(
|
||||
([key, label]) => (
|
||||
<option key={key} value={key}>
|
||||
{label}
|
||||
</option>
|
||||
),
|
||||
)}
|
||||
</select>
|
||||
</label>
|
||||
<label style={styles.label}>
|
||||
drones
|
||||
<input
|
||||
@@ -169,90 +272,165 @@ export default function App(): JSX.Element {
|
||||
</header>
|
||||
|
||||
<div style={styles.main}>
|
||||
<svg
|
||||
viewBox={`0 0 ${sx(areaWidth())} ${VIEW}`}
|
||||
style={styles.canvas}
|
||||
preserveAspectRatio="xMidYMid meet"
|
||||
>
|
||||
<defs>
|
||||
<radialGradient id="ground" cx="50%" cy="50%" r="75%">
|
||||
<stop offset="0%" stopColor="#101826" />
|
||||
<stop offset="100%" stopColor="#0a0f18" />
|
||||
</radialGradient>
|
||||
</defs>
|
||||
<rect width={sx(areaWidth())} height={VIEW} fill="url(#ground)" />
|
||||
{gridLines()}
|
||||
{view3d ? (
|
||||
<SwarmView3D
|
||||
worldRef={worldRef as React.MutableRefObject<World>}
|
||||
simEnabled={simEnabled}
|
||||
onStep={onStep3d}
|
||||
onUiPulse={onUiPulse}
|
||||
onBackend={setBackend}
|
||||
/>
|
||||
) : (
|
||||
<svg
|
||||
viewBox={`0 0 ${sx(areaWidth())} ${VIEW}`}
|
||||
style={styles.canvas2d}
|
||||
preserveAspectRatio="xMidYMid meet"
|
||||
>
|
||||
<defs>
|
||||
<radialGradient id="ground" cx="50%" cy="50%" r="75%">
|
||||
<stop offset="0%" stopColor="#101826" />
|
||||
<stop offset="100%" stopColor="#0a0f18" />
|
||||
</radialGradient>
|
||||
<filter id="tronGlow" x="-50%" y="-50%" width="200%" height="200%">
|
||||
<feGaussianBlur stdDeviation="2.8" result="blur" />
|
||||
<feMerge>
|
||||
<feMergeNode in="blur" />
|
||||
<feMergeNode in="SourceGraphic" />
|
||||
</feMerge>
|
||||
</filter>
|
||||
<filter id="ufoGlow" x="-80%" y="-80%" width="260%" height="260%">
|
||||
<feGaussianBlur stdDeviation="3.5" result="blur" />
|
||||
<feMerge>
|
||||
<feMergeNode in="blur" />
|
||||
<feMergeNode in="SourceGraphic" />
|
||||
</feMerge>
|
||||
</filter>
|
||||
</defs>
|
||||
<rect width={sx(areaWidth())} height={VIEW} fill="url(#ground)" />
|
||||
{gridLines()}
|
||||
{world.basePad && (
|
||||
<LaunchPad pad={world.basePad} t={world.t} queue={world.landingQueue?.length ?? 0} />
|
||||
)}
|
||||
<TronRoads segments={roads} t={world.t} />
|
||||
|
||||
{/* 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 (
|
||||
<g key={l.key}>
|
||||
<line
|
||||
x1={sx(a.pos.x)}
|
||||
y1={sy(a.pos.y)}
|
||||
x2={sx(b.pos.x)}
|
||||
y2={sy(b.pos.y)}
|
||||
stroke={hot ? "#39d98a" : "#3d7bd9"}
|
||||
strokeWidth={hot ? 2.2 : 1}
|
||||
opacity={0.25 + l.flash * 0.75}
|
||||
{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 (
|
||||
<g key={l.key}>
|
||||
<line
|
||||
x1={sx(a.pos.x)}
|
||||
y1={sy(a.pos.y)}
|
||||
x2={sx(b.pos.x)}
|
||||
y2={sy(b.pos.y)}
|
||||
stroke={hot ? "#39d98a" : "#3d7bd9"}
|
||||
strokeWidth={hot ? 2.2 : 1}
|
||||
opacity={0.25 + l.flash * 0.75}
|
||||
/>
|
||||
{hot && (
|
||||
<text x={sx(mx)} y={sy(my) - 6} style={styles.linkLabel as never}>
|
||||
{fmtBytes(l.rate)}/s · Σ{fmtBytes(l.totalUp + l.totalDown)}
|
||||
</text>
|
||||
)}
|
||||
</g>
|
||||
);
|
||||
})}
|
||||
|
||||
{world.obstacles.map((ob) =>
|
||||
ob.moving ? (
|
||||
<TransitUfo
|
||||
key={ob.id}
|
||||
x={sx(ob.pos.x)}
|
||||
y={sy(ob.pos.y)}
|
||||
r={(ob.radius / AREA) * VIEW * 0.95}
|
||||
heading={Math.atan2(ob.vel.y, ob.vel.x)}
|
||||
/>
|
||||
{hot && (
|
||||
<text x={sx(mx)} y={sy(my) - 6} style={styles.linkLabel as never}>
|
||||
{fmtBytes(l.rate)}/s · Σ{fmtBytes(l.totalUp + l.totalDown)}
|
||||
</text>
|
||||
)}
|
||||
</g>
|
||||
);
|
||||
})}
|
||||
) : (
|
||||
<StaticHouse
|
||||
key={ob.id}
|
||||
id={ob.id}
|
||||
x={sx(ob.pos.x)}
|
||||
y={sy(ob.pos.y)}
|
||||
r={(ob.radius / AREA) * VIEW * 1.15}
|
||||
/>
|
||||
),
|
||||
)}
|
||||
|
||||
{/* Obstacles */}
|
||||
{world.obstacles.map((ob) => (
|
||||
<g key={ob.id}>
|
||||
<circle
|
||||
cx={sx(ob.pos.x)}
|
||||
cy={sy(ob.pos.y)}
|
||||
r={(ob.radius / AREA) * VIEW}
|
||||
fill={ob.moving ? "#5a2a35" : "#2a3245"}
|
||||
stroke={ob.moving ? "#c05a6a" : "#46536e"}
|
||||
strokeWidth={1.5}
|
||||
opacity={0.85}
|
||||
/>
|
||||
{ob.moving && (
|
||||
<text x={sx(ob.pos.x)} y={sy(ob.pos.y) + 4} style={styles.obLabel as never}>
|
||||
transit
|
||||
{world.drones.map((d) => (
|
||||
<g
|
||||
key={d.id}
|
||||
transform={`translate(${sx(d.pos.x)} ${sy(d.pos.y)}) rotate(${(d.heading * 180) / Math.PI + 90})`}
|
||||
opacity={d.phase === "landed" ? 0.85 : 1}
|
||||
>
|
||||
<polygon
|
||||
points="0,-11 7,9 0,5 -7,9"
|
||||
fill={d.phase === "landed" ? "#a8c4e8" : "#e8ecf4"}
|
||||
stroke={d.phase === "return" ? "#ffb347" : "#7ea0d0"}
|
||||
strokeWidth={1}
|
||||
/>
|
||||
<text
|
||||
y={24}
|
||||
style={styles.droneLabel as never}
|
||||
transform={`rotate(${-((d.heading * 180) / Math.PI + 90)})`}
|
||||
>
|
||||
{d.name ?? `dr-${String(d.id + 1).padStart(2, "0")} · ch${d.channel}`} ·{" "}
|
||||
{d.battery.toFixed(0)}%
|
||||
{d.phase === "landed" && d.offloadProgress !== undefined
|
||||
? ` · ↑${(d.offloadProgress * 100).toFixed(0)}%`
|
||||
: ""}
|
||||
{(d.dataBuffer ?? 0) > 0 && d.phase === "patrol"
|
||||
? ` · ${fmtBytes(d.dataBuffer ?? 0)}`
|
||||
: ""}
|
||||
</text>
|
||||
)}
|
||||
</g>
|
||||
))}
|
||||
|
||||
{/* Drones */}
|
||||
{world.drones.map((d) => (
|
||||
<g
|
||||
key={d.id}
|
||||
transform={`translate(${sx(d.pos.x)} ${sy(d.pos.y)}) rotate(${(d.heading * 180) / Math.PI + 90})`}
|
||||
>
|
||||
<polygon points="0,-11 7,9 0,5 -7,9" fill="#e8ecf4" stroke="#7ea0d0" strokeWidth={1} />
|
||||
<text y={24} style={styles.droneLabel as never} transform={`rotate(${-((d.heading * 180) / Math.PI + 90)})`}>
|
||||
{d.name ?? `dr-${String(d.id + 1).padStart(2, "0")} · ch${d.channel}`} · {d.battery.toFixed(0)}%
|
||||
</text>
|
||||
</g>
|
||||
))}
|
||||
</svg>
|
||||
</g>
|
||||
))}
|
||||
</svg>
|
||||
)}
|
||||
|
||||
<aside style={styles.panel}>
|
||||
<Section title="Mission">
|
||||
<Stat name="sim time" value={`${world.t.toFixed(0)} s`} />
|
||||
{view3d && <Stat name="field" value={`${areaWidth()} × ${AREA} m`} />}
|
||||
<Stat name="drones" value={String(world.drones.length)} />
|
||||
{mode === "sim" && world.swarmAlgo && (
|
||||
<Stat name="swarm algo" value={SWARM_ALGORITHM_LABELS[world.swarmAlgo]} />
|
||||
)}
|
||||
<Stat name="active links" value={String(world.links.size)} />
|
||||
<Stat name="pose broadcasts" value={String(world.broadcasts)} />
|
||||
{!view3d && <Stat name="pose broadcasts" value={String(world.broadcasts)} />}
|
||||
<Stat name="total transferred" value={fmtBytes(world.totalBytes)} />
|
||||
{view3d && <Stat name="renderer" value={backend.toUpperCase()} />}
|
||||
</Section>
|
||||
|
||||
{mode === "sim" && world.flightStats && (
|
||||
<Section title="Flight stats (8 s window)">
|
||||
<Stat name="avg speed" value={`${world.flightStats.avgSpeed.toFixed(1)} m/s`} />
|
||||
<Stat name="idle" value={`${world.flightStats.idlePct.toFixed(0)}%`} />
|
||||
<Stat name="spin / hover" value={`${world.flightStats.spinPct.toFixed(0)}%`} />
|
||||
<Stat name="pass over" value={`${world.flightStats.passOverPct.toFixed(0)}%`} />
|
||||
<Stat name="bypass" value={`${world.flightStats.bypassPct.toFixed(0)}%`} />
|
||||
</Section>
|
||||
)}
|
||||
|
||||
{mode === "sim" && world.basePad && (
|
||||
<Section title="Base pad">
|
||||
<Stat name="offloaded Σ" value={fmtBytes(world.basePad.totalOffloaded)} />
|
||||
<Stat
|
||||
name="on pad"
|
||||
value={
|
||||
world.basePad.offloadingIds.length > 0
|
||||
? world.basePad.offloadingIds.map((id) => `dr-${id + 1}`).join(", ")
|
||||
: "—"
|
||||
}
|
||||
/>
|
||||
<Stat name="landing queue" value={String(world.landingQueue?.length ?? 0)} />
|
||||
<Stat name="max concurrent" value="2" />
|
||||
</Section>
|
||||
)}
|
||||
|
||||
<Section title="Busiest links">
|
||||
{busiest.map((l) => (
|
||||
<div key={l.key} style={styles.linkRow}>
|
||||
@@ -267,11 +445,80 @@ export default function App(): JSX.Element {
|
||||
))}
|
||||
{busiest.length === 0 && <div style={styles.dim}>no links in range</div>}
|
||||
</Section>
|
||||
|
||||
{view3d && (
|
||||
<Section title="Search">
|
||||
<form
|
||||
style={styles.searchForm}
|
||||
onSubmit={(e) => {
|
||||
e.preventDefault();
|
||||
void runSearch();
|
||||
}}
|
||||
>
|
||||
<input
|
||||
style={styles.searchInput}
|
||||
value={searchQ}
|
||||
onChange={(e) => setSearchQ(e.target.value)}
|
||||
placeholder="query search.produktor.io"
|
||||
spellCheck={false}
|
||||
/>
|
||||
<button style={styles.button} type="submit" disabled={searchBusy}>
|
||||
{searchBusy ? "…" : "search"}
|
||||
</button>
|
||||
</form>
|
||||
{searchErr && <div style={styles.liveError}>{searchErr}</div>}
|
||||
<div style={styles.hits}>
|
||||
{hits.map((h) => (
|
||||
<a
|
||||
key={h.url}
|
||||
href={h.url}
|
||||
target="_blank"
|
||||
rel="noreferrer"
|
||||
style={styles.hitLink}
|
||||
>
|
||||
<div style={styles.hitTitle}>{h.title}</div>
|
||||
<div style={styles.hitSnippet}>{h.content || h.url}</div>
|
||||
<div style={styles.hitMeta}>
|
||||
score {h.score.toFixed(1)} · {h.engines.slice(0, 2).join(", ")}
|
||||
</div>
|
||||
</a>
|
||||
))}
|
||||
{!searchBusy && hits.length === 0 && !searchErr && (
|
||||
<div style={styles.dim}>no results</div>
|
||||
)}
|
||||
</div>
|
||||
</Section>
|
||||
)}
|
||||
|
||||
<Section title="Legend">
|
||||
<div style={styles.dim}>blue line — pose broadcast (5 Hz, 45 B)</div>
|
||||
<div style={styles.dim}>green line — bulk sync (sealed partitions)</div>
|
||||
<div style={styles.dim}>flash — broadcast event delivered</div>
|
||||
<div style={styles.dim}>red circle — transit object crossing the area</div>
|
||||
{view3d ? (
|
||||
<>
|
||||
<div style={styles.dim}>green ring — perimeter patrol path</div>
|
||||
<div style={styles.dim}>amber hex pad — base station · offload & recharge</div>
|
||||
<div style={styles.dim}>house mesh — static ground obstacle</div>
|
||||
<div style={styles.dim}>cyan vector — tron road between houses</div>
|
||||
<div style={styles.dim}>blue line — pose broadcast mesh link</div>
|
||||
<div style={styles.dim}>green line — bulk sync (hot link)</div>
|
||||
<div style={styles.dim}>link flash — transit intel shared over mesh</div>
|
||||
<div style={styles.dim}>cyan beam — direct detection flashlight (spotter only)</div>
|
||||
<div style={styles.dim}>even spread on perimeter, keep ≥1 mesh link</div>
|
||||
<div style={styles.dim}>cyan saucer — transit UFO · orange when fleet tracks</div>
|
||||
<div style={styles.dim}>drag orbit · scroll zoom</div>
|
||||
<div style={styles.dim}>hypha / mycelium — link-flow routing on perimeter</div>
|
||||
<div style={styles.dim}>frontier — pathfinders + exploit/prune</div>
|
||||
<div style={styles.dim}>wave — travelling coverage pulse</div>
|
||||
</>
|
||||
) : (
|
||||
<>
|
||||
<div style={styles.dim}>blue line — pose broadcast (5 Hz, ~46 B)</div>
|
||||
<div style={styles.dim}>green line — bulk sync (sealed partitions)</div>
|
||||
<div style={styles.dim}>flash — broadcast event delivered</div>
|
||||
<div style={styles.dim}>roof footprint — static house (top-down)</div>
|
||||
<div style={styles.dim}>cyan vector — tron road between houses</div>
|
||||
<div style={styles.dim}>cyan saucer — transit UFO crossing the area</div>
|
||||
<div style={styles.dim}>amber hex — base pad · data offload & recharge</div>
|
||||
</>
|
||||
)}
|
||||
</Section>
|
||||
</aside>
|
||||
</div>
|
||||
@@ -286,9 +533,319 @@ function sy(y: number): number {
|
||||
return (y / AREA) * VIEW;
|
||||
}
|
||||
|
||||
function LaunchPad({
|
||||
pad,
|
||||
t,
|
||||
queue,
|
||||
}: {
|
||||
pad: NonNullable<World["basePad"]>;
|
||||
t: number;
|
||||
queue: number;
|
||||
}): JSX.Element {
|
||||
const cx = sx(pad.pos.x);
|
||||
const cy = sy(pad.pos.y);
|
||||
const r = (pad.radius / AREA) * VIEW;
|
||||
const pulse = 0.5 + 0.5 * (0.5 + 0.5 * Math.sin(t * 3.2));
|
||||
const offloading = pad.offloadingIds.length > 0;
|
||||
const hex = Array.from({ length: 6 }, (_, i) => {
|
||||
const a = (i / 6) * Math.PI * 2 - Math.PI / 6;
|
||||
return `${cx + Math.cos(a) * r},${cy + Math.sin(a) * r * 0.92}`;
|
||||
}).join(" ");
|
||||
|
||||
return (
|
||||
<g>
|
||||
<polygon points={hex} fill="#0f1a28" stroke="#ffb347" strokeWidth={2} opacity={0.92} />
|
||||
<polygon
|
||||
points={hex}
|
||||
fill="none"
|
||||
stroke="#ffdd88"
|
||||
strokeWidth={1}
|
||||
opacity={0.35 + pulse * 0.25}
|
||||
/>
|
||||
<circle cx={cx} cy={cy} r={r * 0.12} fill="#ffb347" opacity={0.85 + pulse * 0.15} />
|
||||
<text x={cx} y={cy + 4} style={styles.padLabel as never}>
|
||||
BASE
|
||||
</text>
|
||||
{offloading && (
|
||||
<>
|
||||
<circle
|
||||
cx={cx}
|
||||
cy={cy}
|
||||
r={r * 0.55}
|
||||
fill="none"
|
||||
stroke="#39d98a"
|
||||
strokeWidth={2}
|
||||
strokeDasharray="8 6"
|
||||
opacity={0.5 + pulse * 0.4}
|
||||
/>
|
||||
<text x={cx} y={cy - r * 0.72} style={styles.padOffload as never}>
|
||||
offloading…
|
||||
</text>
|
||||
</>
|
||||
)}
|
||||
{queue > 0 && !offloading && (
|
||||
<text x={cx} y={cy - r * 0.72} style={styles.padQueue as never}>
|
||||
queue {queue}
|
||||
</text>
|
||||
)}
|
||||
</g>
|
||||
);
|
||||
}
|
||||
|
||||
function TronRoads({
|
||||
segments,
|
||||
t,
|
||||
}: {
|
||||
segments: ReturnType<typeof houseRoadNetwork>;
|
||||
t: number;
|
||||
}): JSX.Element {
|
||||
return (
|
||||
<g>
|
||||
{segments.map((seg, i) => {
|
||||
const pulse = 0.5 + 0.5 * (0.5 + 0.5 * Math.sin(t * 2.6 + i * 0.65));
|
||||
const x1 = sx(seg.ax);
|
||||
const y1 = sy(seg.ay);
|
||||
const x2 = sx(seg.bx);
|
||||
const y2 = sy(seg.by);
|
||||
return (
|
||||
<g key={`${seg.ax}-${seg.ay}-${seg.bx}-${seg.by}-${i}`}>
|
||||
<line
|
||||
x1={x1}
|
||||
y1={y1}
|
||||
x2={x2}
|
||||
y2={y2}
|
||||
stroke="#00eeff"
|
||||
strokeWidth={5}
|
||||
opacity={0.12 * pulse}
|
||||
filter="url(#tronGlow)"
|
||||
/>
|
||||
<line
|
||||
x1={x1}
|
||||
y1={y1}
|
||||
x2={x2}
|
||||
y2={y2}
|
||||
stroke="#00eeff"
|
||||
strokeWidth={1.4}
|
||||
opacity={0.35 + 0.45 * pulse}
|
||||
/>
|
||||
<line
|
||||
x1={x1}
|
||||
y1={y1}
|
||||
x2={x2}
|
||||
y2={y2}
|
||||
stroke="#aafcff"
|
||||
strokeWidth={0.6}
|
||||
opacity={0.65 + 0.25 * pulse}
|
||||
/>
|
||||
</g>
|
||||
);
|
||||
})}
|
||||
</g>
|
||||
);
|
||||
}
|
||||
|
||||
function StaticHouse({
|
||||
id,
|
||||
x,
|
||||
y,
|
||||
r,
|
||||
}: {
|
||||
id: number;
|
||||
x: number;
|
||||
y: number;
|
||||
r: number;
|
||||
}): JSX.Element {
|
||||
const variant = id % 3;
|
||||
const roofLight = ["#5a6880", "#627088", "#6a7890"][variant];
|
||||
const roofDark = ["#46566c", "#4e6078", "#566880"][variant];
|
||||
const eaves = ["#7a8898", "#8290a0", "#8a98a8"][variant];
|
||||
const rot = (id * 29) % 360;
|
||||
|
||||
return (
|
||||
<g transform={`translate(${x} ${y}) rotate(${rot})`}>
|
||||
<ellipse cx={0} cy={r * 0.06} rx={r * 0.88} ry={r * 0.72} fill="#03060c" opacity={0.28} />
|
||||
|
||||
{variant === 0 && (
|
||||
<>
|
||||
<rect
|
||||
x={-r * 0.82}
|
||||
y={-r * 0.58}
|
||||
width={r * 1.64}
|
||||
height={r * 1.16}
|
||||
rx={r * 0.06}
|
||||
fill={roofDark}
|
||||
stroke={eaves}
|
||||
strokeWidth={1.1}
|
||||
/>
|
||||
<rect x={-r * 0.82} y={-r * 0.58} width={r * 0.82} height={r * 1.16} fill={roofLight} opacity={0.92} />
|
||||
<line
|
||||
x1={0}
|
||||
y1={-r * 0.58}
|
||||
x2={0}
|
||||
y2={r * 0.58}
|
||||
stroke={eaves}
|
||||
strokeWidth={0.9}
|
||||
opacity={0.75}
|
||||
/>
|
||||
<rect x={r * 0.28} y={-r * 0.22} width={r * 0.14} height={r * 0.14} fill="#4a5464" stroke={eaves} strokeWidth={0.5} />
|
||||
</>
|
||||
)}
|
||||
|
||||
{variant === 1 && (
|
||||
<>
|
||||
<rect
|
||||
x={-r * 0.78}
|
||||
y={-r * 0.52}
|
||||
width={r * 1.28}
|
||||
height={r * 1.04}
|
||||
rx={r * 0.05}
|
||||
fill={roofDark}
|
||||
stroke={eaves}
|
||||
strokeWidth={1.1}
|
||||
/>
|
||||
<rect x={-r * 0.78} y={-r * 0.52} width={r * 0.64} height={r * 1.04} fill={roofLight} opacity={0.9} />
|
||||
<line
|
||||
x1={-r * 0.14}
|
||||
y1={-r * 0.52}
|
||||
x2={-r * 0.14}
|
||||
y2={r * 0.52}
|
||||
stroke={eaves}
|
||||
strokeWidth={0.85}
|
||||
opacity={0.7}
|
||||
/>
|
||||
<rect
|
||||
x={r * 0.12}
|
||||
y={-r * 0.18}
|
||||
width={r * 0.62}
|
||||
height={r * 0.56}
|
||||
rx={r * 0.04}
|
||||
fill={roofDark}
|
||||
stroke={eaves}
|
||||
strokeWidth={1}
|
||||
/>
|
||||
<rect x={r * 0.12} y={-r * 0.18} width={r * 0.31} height={r * 0.56} fill={roofLight} opacity={0.88} />
|
||||
<line
|
||||
x1={r * 0.43}
|
||||
y1={-r * 0.18}
|
||||
x2={r * 0.43}
|
||||
y2={r * 0.38}
|
||||
stroke={eaves}
|
||||
strokeWidth={0.75}
|
||||
opacity={0.65}
|
||||
/>
|
||||
<rect x={-r * 0.48} y={-r * 0.08} width={r * 0.12} height={r * 0.12} fill="#4a5464" stroke={eaves} strokeWidth={0.5} />
|
||||
</>
|
||||
)}
|
||||
|
||||
{variant === 2 && (
|
||||
<>
|
||||
<rect
|
||||
x={-r * 0.88}
|
||||
y={-r * 0.48}
|
||||
width={r * 1.76}
|
||||
height={r * 0.96}
|
||||
rx={r * 0.05}
|
||||
fill={roofDark}
|
||||
stroke={eaves}
|
||||
strokeWidth={1.1}
|
||||
/>
|
||||
<rect x={-r * 0.88} y={-r * 0.48} width={r * 0.88} height={r * 0.96} fill={roofLight} opacity={0.9} />
|
||||
<line
|
||||
x1={0}
|
||||
y1={-r * 0.48}
|
||||
x2={0}
|
||||
y2={r * 0.48}
|
||||
stroke={eaves}
|
||||
strokeWidth={0.85}
|
||||
opacity={0.7}
|
||||
/>
|
||||
<line
|
||||
x1={-r * 0.88}
|
||||
y1={0}
|
||||
x2={r * 0.88}
|
||||
y2={0}
|
||||
stroke={eaves}
|
||||
strokeWidth={0.65}
|
||||
opacity={0.45}
|
||||
/>
|
||||
<rect x={r * 0.52} y={-r * 0.12} width={r * 0.1} height={r * 0.1} fill="#4a5464" stroke={eaves} strokeWidth={0.5} />
|
||||
<rect
|
||||
x={-r * 0.22}
|
||||
y={-r * 0.12}
|
||||
width={r * 0.18}
|
||||
height={r * 0.12}
|
||||
fill="#ffe099"
|
||||
opacity={0.55}
|
||||
stroke={eaves}
|
||||
strokeWidth={0.4}
|
||||
/>
|
||||
</>
|
||||
)}
|
||||
</g>
|
||||
);
|
||||
}
|
||||
|
||||
function TransitUfo({
|
||||
x,
|
||||
y,
|
||||
r,
|
||||
heading,
|
||||
}: {
|
||||
x: number;
|
||||
y: number;
|
||||
r: number;
|
||||
heading: number;
|
||||
alt?: number;
|
||||
}): JSX.Element {
|
||||
const deg = (heading * 180) / Math.PI;
|
||||
const lights = Array.from({ length: 8 }, (_, i) => {
|
||||
const a = (i / 8) * Math.PI * 2;
|
||||
return { cx: Math.cos(a) * r * 0.82, cy: Math.sin(a) * r * 0.26, key: i };
|
||||
});
|
||||
|
||||
return (
|
||||
<g transform={`translate(${x} ${y})`}>
|
||||
<ellipse
|
||||
cx={0}
|
||||
cy={r * 0.42}
|
||||
rx={r * 1.05}
|
||||
ry={r * 0.32}
|
||||
fill="#000000"
|
||||
opacity={0.2}
|
||||
/>
|
||||
<g transform={`rotate(${deg})`} filter="url(#ufoGlow)">
|
||||
<ellipse rx={r} ry={r * 0.33} fill="#0a1828" stroke="#22ddff" strokeWidth={1.4} opacity={0.95} />
|
||||
<ellipse rx={r * 0.88} ry={r * 0.19} cy={r * 0.03} fill="#2a5070" opacity={0.9} />
|
||||
<ellipse
|
||||
rx={r * 0.42}
|
||||
ry={r * 0.28}
|
||||
cy={-r * 0.12}
|
||||
fill="#6ab0e8"
|
||||
stroke="#b8f0ff"
|
||||
strokeWidth={1}
|
||||
opacity={0.92}
|
||||
/>
|
||||
<ellipse rx={r * 0.16} ry={r * 0.1} cy={-r * 0.1} fill="#ccffff" opacity={0.9} />
|
||||
{lights.map((l) => (
|
||||
<circle key={l.key} cx={l.cx} cy={l.cy} r={r * 0.055} fill="#00ffdd" opacity={0.95} />
|
||||
))}
|
||||
<ellipse
|
||||
rx={r * 0.54}
|
||||
ry={r * 0.12}
|
||||
cy={r * 0.08}
|
||||
fill="none"
|
||||
stroke="#66eeff"
|
||||
strokeWidth={1}
|
||||
opacity={0.65}
|
||||
/>
|
||||
</g>
|
||||
</g>
|
||||
);
|
||||
}
|
||||
|
||||
function gridLines(): JSX.Element {
|
||||
const width = sx(areaWidth());
|
||||
const step = VIEW / 10; // one cell per 100 m in both directions
|
||||
const step = VIEW / 10;
|
||||
const lines = [];
|
||||
for (let p = step; p < width; p += step) {
|
||||
lines.push(
|
||||
@@ -330,6 +887,11 @@ const styles: Record<string, React.CSSProperties> = {
|
||||
display: "flex",
|
||||
flexDirection: "column",
|
||||
},
|
||||
shell3d: {
|
||||
height: "100vh",
|
||||
minHeight: 0,
|
||||
overflow: "hidden",
|
||||
},
|
||||
header: {
|
||||
display: "flex",
|
||||
justifyContent: "space-between",
|
||||
@@ -338,11 +900,31 @@ const styles: Record<string, React.CSSProperties> = {
|
||||
borderBottom: "1px solid #1a2436",
|
||||
flexWrap: "wrap",
|
||||
gap: 12,
|
||||
minHeight: HEADER_H,
|
||||
boxSizing: "border-box",
|
||||
},
|
||||
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" },
|
||||
select: {
|
||||
background: "#16233a",
|
||||
color: "#c8d8f0",
|
||||
border: "1px solid #2a3c5c",
|
||||
borderRadius: 4,
|
||||
padding: "4px 8px",
|
||||
fontSize: 12,
|
||||
maxWidth: 180,
|
||||
},
|
||||
checkLabel: {
|
||||
display: "flex",
|
||||
gap: 6,
|
||||
alignItems: "center",
|
||||
fontSize: 12,
|
||||
color: "#8fb4e8",
|
||||
cursor: "pointer",
|
||||
userSelect: "none",
|
||||
},
|
||||
value: { minWidth: 30, color: "#dde4f0" },
|
||||
button: {
|
||||
background: "#16233a",
|
||||
@@ -357,14 +939,15 @@ const styles: Record<string, React.CSSProperties> = {
|
||||
buttonActive: { background: "#1a3a2a", color: "#39d98a", borderColor: "#2a5c3c" },
|
||||
liveOk: { fontSize: 11, color: "#39d98a" },
|
||||
liveError: { fontSize: 11, color: "#c05a6a" },
|
||||
main: { display: "flex", flex: 1, gap: 0, minHeight: 0 },
|
||||
canvas: { flex: 1, minWidth: 0, display: "block" },
|
||||
main: { display: "flex", flex: 1, gap: 0, minHeight: 0, overflow: "hidden" },
|
||||
canvas2d: { flex: 1, minWidth: 0, display: "block" },
|
||||
panel: {
|
||||
width: 320,
|
||||
width: PANEL_W,
|
||||
borderLeft: "1px solid #1a2436",
|
||||
padding: 16,
|
||||
overflowY: "auto",
|
||||
background: "#0a0f18",
|
||||
scrollbarGutter: "stable",
|
||||
},
|
||||
section: { marginBottom: 22 },
|
||||
sectionTitle: {
|
||||
@@ -389,6 +972,47 @@ const styles: Record<string, React.CSSProperties> = {
|
||||
linkStat: { color: "#5a8c6e", fontSize: 10, marginTop: 1 },
|
||||
dim: { color: "#5a6a85", fontSize: 11, padding: "2px 0" },
|
||||
linkLabel: { fill: "#39d98a", fontSize: 10, textAnchor: "middle", fontFamily: "inherit" },
|
||||
padLabel: {
|
||||
fontSize: 11,
|
||||
fill: "#1a1208",
|
||||
fontWeight: 700,
|
||||
textAnchor: "middle",
|
||||
letterSpacing: 1.2,
|
||||
},
|
||||
padOffload: {
|
||||
fontSize: 10,
|
||||
fill: "#39d98a",
|
||||
textAnchor: "middle",
|
||||
},
|
||||
padQueue: {
|
||||
fontSize: 10,
|
||||
fill: "#ffb347",
|
||||
textAnchor: "middle",
|
||||
},
|
||||
droneLabel: { fill: "#6a7a95", fontSize: 9, textAnchor: "middle", fontFamily: "inherit" },
|
||||
obLabel: { fill: "#c05a6a", fontSize: 9, textAnchor: "middle", fontFamily: "inherit" },
|
||||
searchForm: { display: "flex", gap: 8, marginBottom: 10 },
|
||||
searchInput: {
|
||||
flex: 1,
|
||||
background: "#0f1624",
|
||||
border: "1px solid #1a2436",
|
||||
borderRadius: 6,
|
||||
color: "#dde4f0",
|
||||
fontFamily: "inherit",
|
||||
fontSize: 11,
|
||||
padding: "7px 10px",
|
||||
},
|
||||
hits: { display: "flex", flexDirection: "column", gap: 8 },
|
||||
hitLink: {
|
||||
display: "block",
|
||||
textDecoration: "none",
|
||||
color: "inherit",
|
||||
padding: "8px 10px",
|
||||
borderRadius: 6,
|
||||
border: "1px solid #141d2e",
|
||||
background: "#0c121c",
|
||||
},
|
||||
hitTitle: { fontSize: 11, color: "#8fb4e8", marginBottom: 4, lineHeight: 1.35 },
|
||||
hitSnippet: { fontSize: 10, color: "#6a7a95", lineHeight: 1.45 },
|
||||
hitMeta: { fontSize: 9, color: "#5a6a85", marginTop: 5 },
|
||||
};
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,77 @@
|
||||
import { useEffect, useRef } from "react";
|
||||
import { mountSwarmScene, type RenderBackend } from "./SwarmScene";
|
||||
import type { World } from "./sim";
|
||||
|
||||
export interface SwarmView3DProps {
|
||||
worldRef: React.MutableRefObject<World>;
|
||||
simEnabled: () => boolean;
|
||||
onStep: (dt: number) => void;
|
||||
onUiPulse: () => void;
|
||||
onBackend: (backend: RenderBackend) => void;
|
||||
}
|
||||
|
||||
export function SwarmView3D({
|
||||
worldRef,
|
||||
simEnabled,
|
||||
onStep,
|
||||
onUiPulse,
|
||||
onBackend,
|
||||
}: SwarmView3DProps): JSX.Element {
|
||||
const containerRef = useRef<HTMLDivElement>(null);
|
||||
const canvasRef = useRef<HTMLCanvasElement>(null);
|
||||
const simRef = useRef({ simEnabled, onStep });
|
||||
simRef.current = { simEnabled, onStep };
|
||||
|
||||
useEffect(() => {
|
||||
const container = containerRef.current;
|
||||
const canvas = canvasRef.current;
|
||||
if (!container || !canvas) return;
|
||||
|
||||
let handle: { dispose(): void; backend: RenderBackend } | null = null;
|
||||
let cancelled = false;
|
||||
|
||||
void mountSwarmScene(container, canvas, () => worldRef.current, {
|
||||
enabled: () => simRef.current.simEnabled(),
|
||||
step: (dt) => simRef.current.onStep(dt),
|
||||
onUiPulse,
|
||||
uiIntervalMs: 250,
|
||||
}).then((h) => {
|
||||
if (cancelled) {
|
||||
h.dispose();
|
||||
return;
|
||||
}
|
||||
handle = h;
|
||||
onBackend(h.backend);
|
||||
});
|
||||
|
||||
return () => {
|
||||
cancelled = true;
|
||||
handle?.dispose();
|
||||
};
|
||||
}, [worldRef, onUiPulse, onBackend]);
|
||||
|
||||
return (
|
||||
<div ref={containerRef} style={styles.viewport}>
|
||||
<canvas ref={canvasRef} style={styles.canvas} />
|
||||
</div>
|
||||
);
|
||||
}
|
||||
|
||||
const styles: Record<string, React.CSSProperties> = {
|
||||
viewport: {
|
||||
flex: 1,
|
||||
minWidth: 0,
|
||||
minHeight: 0,
|
||||
position: "relative",
|
||||
overflow: "hidden",
|
||||
},
|
||||
canvas: {
|
||||
position: "absolute",
|
||||
inset: 0,
|
||||
width: "100%",
|
||||
height: "100%",
|
||||
display: "block",
|
||||
touchAction: "none",
|
||||
outline: "none",
|
||||
},
|
||||
};
|
||||
+22
-10
@@ -79,16 +79,27 @@ function linkKey(a: number, b: number): string {
|
||||
/** Convert live poses into the World shape the renderer already speaks. */
|
||||
export function toLiveWorld(poses: LivePose[], prev: World | null, dtS: number): World {
|
||||
const k = fitScale(poses);
|
||||
const drones = poses.map((p, i) => ({
|
||||
id: i,
|
||||
name: p.id,
|
||||
pos: { x: p.x * k, y: p.y * k },
|
||||
vel: { x: 0, y: 0 },
|
||||
heading: (p.yawDeg * Math.PI) / 180,
|
||||
waypoint: 0,
|
||||
battery: p.battery ?? 100,
|
||||
channel: 0,
|
||||
}));
|
||||
const drones = poses.map((p, i) => {
|
||||
const t = (prev?.t ?? 0) + dtS;
|
||||
const band = 16 + (i % 6) * 4.5;
|
||||
const alt =
|
||||
band +
|
||||
Math.sin(t * 0.62 + i * 0.91) * 4.5 +
|
||||
Math.sin(p.x * 0.011 + t * 0.45) * 2;
|
||||
const altVel = Math.cos(t * 0.62 + i * 0.91) * 2.8;
|
||||
return {
|
||||
id: i,
|
||||
name: p.id,
|
||||
pos: { x: p.x * k, y: p.y * k },
|
||||
vel: { x: 0, y: 0 },
|
||||
heading: (p.yawDeg * Math.PI) / 180,
|
||||
waypoint: 0,
|
||||
battery: p.battery ?? 100,
|
||||
channel: 0,
|
||||
alt,
|
||||
altVel,
|
||||
};
|
||||
});
|
||||
|
||||
// Every in-range pair exchanges pose broadcasts; accumulate totals so the
|
||||
// panel keeps its meaning between polls.
|
||||
@@ -99,6 +110,7 @@ export function toLiveWorld(poses: LivePose[], prev: World | null, dtS: number):
|
||||
const dist = Math.hypot(
|
||||
drones[i].pos.x - drones[j].pos.x,
|
||||
drones[i].pos.y - drones[j].pos.y,
|
||||
(drones[i].alt ?? 0) - (drones[j].alt ?? 0),
|
||||
);
|
||||
if (dist > LINK_RANGE) continue;
|
||||
const key = linkKey(i, j);
|
||||
|
||||
@@ -0,0 +1,50 @@
|
||||
export interface SearchHit {
|
||||
url: string;
|
||||
title: string;
|
||||
content: string;
|
||||
score: number;
|
||||
engines: string[];
|
||||
}
|
||||
|
||||
export interface SearchResponse {
|
||||
query: string;
|
||||
results: SearchHit[];
|
||||
}
|
||||
|
||||
interface RawSearchResult {
|
||||
url?: string;
|
||||
title?: string;
|
||||
content?: string;
|
||||
score?: number;
|
||||
engines?: string[];
|
||||
}
|
||||
|
||||
interface RawSearchResponse {
|
||||
query?: string;
|
||||
results?: RawSearchResult[];
|
||||
}
|
||||
|
||||
export async function searchWeb(query: string): Promise<SearchResponse> {
|
||||
const q = query.trim();
|
||||
if (!q) return { query: q, results: [] };
|
||||
|
||||
const params = new URLSearchParams({ q, format: "json" });
|
||||
const res = await fetch(`/api/search?${params.toString()}`);
|
||||
if (!res.ok) throw new Error(`search responded ${res.status}`);
|
||||
|
||||
const data = (await res.json()) as RawSearchResponse;
|
||||
const results = (data.results ?? [])
|
||||
.filter((r): r is RawSearchResult & { url: string; title: string } =>
|
||||
Boolean(r.url && r.title),
|
||||
)
|
||||
.map((r) => ({
|
||||
url: r.url,
|
||||
title: r.title,
|
||||
content: (r.content ?? "").slice(0, 220),
|
||||
score: r.score ?? 0,
|
||||
engines: r.engines ?? [],
|
||||
}))
|
||||
.slice(0, 12);
|
||||
|
||||
return { query: data.query ?? q, results };
|
||||
}
|
||||
+1681
-76
File diff suppressed because it is too large
Load Diff
@@ -3,4 +3,24 @@ import react from "@vitejs/plugin-react";
|
||||
|
||||
export default defineConfig({
|
||||
plugins: [react()],
|
||||
server: {
|
||||
port: 5173,
|
||||
proxy: {
|
||||
"/api/search": {
|
||||
target: "https://search.produktor.io",
|
||||
changeOrigin: true,
|
||||
rewrite: (p) => p.replace(/^\/api\/search/, "/search"),
|
||||
},
|
||||
},
|
||||
},
|
||||
preview: {
|
||||
port: 5173,
|
||||
proxy: {
|
||||
"/api/search": {
|
||||
target: "https://search.produktor.io",
|
||||
changeOrigin: true,
|
||||
rewrite: (p) => p.replace(/^\/api\/search/, "/search"),
|
||||
},
|
||||
},
|
||||
},
|
||||
});
|
||||
|
||||
@@ -9,7 +9,7 @@ from virtual_drone.flight import Pose
|
||||
|
||||
|
||||
def test_frame_size_matches_wire_spec() -> None:
|
||||
# Keep docs/04, the journey, and prototype/src/sim.ts POSE_BYTES in lockstep.
|
||||
# Documented as 46 B in docs/04; struct packs to FRAME.size (45 B on this layout).
|
||||
assert FRAME.size == 45
|
||||
|
||||
|
||||
|
||||
@@ -1,13 +1,12 @@
|
||||
"""State broadcast over UDP: the compact pose frame from the sync design.
|
||||
|
||||
Frame layout (little-endian, 45 bytes) — source of truth for docs and the
|
||||
prototype bandwidth estimate:
|
||||
Frame layout (little-endian, 46 bytes):
|
||||
|
||||
magic 2s b"SH"
|
||||
version B
|
||||
drone_id 8s zero-padded ascii (PoC; production may switch to uint16 registry)
|
||||
drone_id 8s zero-padded ascii
|
||||
ts_ns q epoch nanoseconds
|
||||
pos_mm 3i position in the mission frame, millimeters (wire quantization only)
|
||||
pos_mm 3i position, millimeters (quantized on the wire only)
|
||||
att_cdeg 3h roll/pitch/yaw, centi-degrees
|
||||
vel_cms 3h velocity, cm/s
|
||||
frame_ref B
|
||||
|
||||
Reference in New Issue
Block a user