feat: add scientific planning dashboard

ClumsyPilot/TrajectoryPlanningVisualization/Runtime/EmbeddedWebAssets.cs

@@ -0,0 +1,25 @@
+using System;
+using System.IO;
+using System.Reflection;
+using System.Text;
+
+namespace TrajectoryPlanningVisualization;
+
+public static class EmbeddedWebAssets
+{
+    private const string ResourcePrefix = "TrajectoryPlanningVisualization.Web.";
+
+    public static string ReadText(string fileName)
+    {
+        if (string.IsNullOrEmpty(fileName))
+        {
+            throw new ArgumentException("A web asset file name is required.", nameof(fileName));
+        }
+
+        Assembly assembly = typeof(EmbeddedWebAssets).Assembly;
+        using Stream stream = assembly.GetManifestResourceStream(ResourcePrefix + fileName)
+            ?? throw new InvalidOperationException("Embedded web asset was not found: " + fileName);
+        using var reader = new StreamReader(stream, new UTF8Encoding(false), true);
+        return reader.ReadToEnd();
+    }
+}

ClumsyPilot/TrajectoryPlanningVisualization/Runtime/LoopbackVisualizationServer.cs

@@ -162,9 +162,32 @@ internal sealed class LoopbackVisualizationServer : IDisposable
                 return;
             }
 
+            if (request.Path == "/")
+            {
+                string page = EmbeddedWebAssets.ReadText("index.html").Replace("__SESSION_TOKEN__", token);
+                WriteResponse(stream, 200, "OK", "text/html; charset=utf-8", page);
+                return;
+            }
+
+            if (request.Path == "/app.css")
+            {
+                WriteResponse(stream, 200, "OK", "text/css; charset=utf-8", EmbeddedWebAssets.ReadText("app.css"));
+                return;
+            }
+
+            if (request.Path == "/app.js")
+            {
+                WriteResponse(stream, 200, "OK", "application/javascript; charset=utf-8", EmbeddedWebAssets.ReadText("app.js"));
+                return;
+            }
+
             if (request.Path == "/api/bootstrap")
             {
-                WriteResponse(stream, 200, "OK", "application/json; charset=utf-8", VisualizationJson.Serialize(staticSnapshot));
+                WriteResponse(stream, 200, "OK", "application/json; charset=utf-8", VisualizationJson.Serialize(new
+                {
+                    staticSnapshot,
+                    refreshRateHz = options.RefreshRateHz
+                }));
                 return;
             }