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feat: add legend to EM path overview

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梁薄云
2026-08-09 19:27:23 +08:00
parent bc76ff45c8
commit 2705487651
5 changed files with 93 additions and 2 deletions
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ClumsyPilot/TrajectoryPlanningVisualization/Web/app.css
+24 -1
View File
@@ -65,8 +65,31 @@ main > section[hidden] { display: none !important; }
.marker-plan-start { fill: #ffffff; stroke: #2f8f56; stroke-width: 2; }
.marker-gear-switch { fill: #d87918; stroke: #ffffff; stroke-width: 1.5; }
.marker-final-goal { fill: #1769aa; stroke: #ffffff; stroke-width: 1.5; }
.world-legend { position: absolute; top: 14px; right: 14px; z-index: 3; display: grid; gap: 6px; min-width: 154px; max-width: min(260px, calc(100% - 28px)); padding: 10px 12px; border: 1px solid rgba(112, 123, 133, .38); border-radius: 6px; background: rgba(255, 255, 255, .88); box-shadow: 0 2px 10px rgba(32, 37, 43, .08); color: #36404a; font-size: 12px; pointer-events: none; backdrop-filter: blur(2px); }
.world-legend[hidden] { display: none; }
.world-legend-item { display: grid; grid-template-columns: 30px minmax(0, 1fr); align-items: center; gap: 8px; min-height: 16px; }
.world-legend-swatch { display: block; justify-self: center; }
.legend-line { width: 28px; height: 0; border-top-style: solid; }
.legend-coarse { border-top: 2px dashed rgba(126, 135, 144, .62); }
.legend-smooth { border-top: 4px solid rgba(22, 139, 131, .65); }
.legend-segment { border-top: 2px solid rgba(63, 120, 168, .50); }
.legend-previous { border-top: 2px dashed rgba(136, 116, 147, .72); }
.legend-current { border-top: 3px solid rgba(223, 107, 31, .96); }
.legend-marker { width: 11px; height: 11px; border: 1.5px solid #ffffff; box-shadow: 0 0 0 1px rgba(32, 37, 43, .22); }
.legend-smooth-start { border-radius: 50%; background: #2f8f56; }
.legend-plan-start { border: 2px solid #2f8f56; border-radius: 50%; background: #ffffff; }
.legend-vehicle { width: 17px; height: 9px; border: 1.5px solid #20252b; border-radius: 2px; background: rgba(32, 37, 43, .16); }
.legend-gear { transform: rotate(45deg); background: #d87918; }
.legend-goal { background: #1769aa; }
.world-legend-label { overflow: hidden; text-overflow: ellipsis; white-space: nowrap; }
.world-empty-state { fill: #66707a; font: 14px/1.2 "Microsoft YaHei", "Noto Sans CJK SC", sans-serif; }
.history-panel, .configuration-panel { margin-bottom: 26px; } #cycle-history { overflow-x: auto; } table { width: 100%; border-collapse: collapse; font-size: 12px; } th, td { padding: 6px 8px; border-bottom: 1px solid var(--grid); text-align: left; white-space: nowrap; } th { color: #59636d; font-weight: 600; }
.config-group { margin: 13px 0; border-top: 1px solid var(--grid); } .config-group h3 { margin: 8px 0; font-size: 13px; } .config-entry { display: grid; grid-template-columns: minmax(110px, 1fr) minmax(130px, 1fr) minmax(90px, 1fr) 70px; gap: 8px; padding: 4px 0; border-bottom: 1px dotted #e5e8eb; } .raw { color: #66707a; font-family: ui-monospace, Consolas, monospace; }
.failure { color: var(--failure); } .notice { color: var(--handoff); }
@media (max-width: 720px) { header { align-items: start; flex-direction: column; gap: 10px; } nav, main, header { padding-left: 14px; padding-right: 14px; } .world-stack { min-height: 360px; } .config-entry { grid-template-columns: 1fr 1fr; } }
@media (max-width: 720px) {
header { align-items: start; flex-direction: column; gap: 10px; }
nav, main, header { padding-left: 14px; padding-right: 14px; }
.world-stack { min-height: 360px; }
.world-legend { top: 8px; right: 8px; min-width: 138px; padding: 8px 9px; font-size: 11px; }
.config-entry { grid-template-columns: 1fr 1fr; }
}
ClumsyPilot/TrajectoryPlanningVisualization/Web/app.js
+46
View File
@@ -8,6 +8,7 @@
const liveState = document.getElementById("live-state");
const occupancyCanvas = document.getElementById("occupancy-grid");
const overlay = document.getElementById("world-overlay");
const worldLegend = document.getElementById("world-legend");
function authorized(path) { return path + "?token=" + encodeURIComponent(token); }
function finite(value) { return typeof value === "number" && Number.isFinite(value); }
@@ -141,6 +142,50 @@
overlay.append(labelGroup);
}
function renderWorldLegend(snapshot, frame) {
if (!worldLegend) return;
worldLegend.replaceChildren();
const staticLines = safeArray(snapshot.staticPolylines);
const directionSegments = safeArray(snapshot.directionSegments);
const dynamicLines = safeArray(frame.dynamicPolylines);
const markers = safeArray(snapshot.staticMarkers).concat(safeArray(frame.dynamicMarkers));
const entries = [];
const seen = new Set();
const add = (key, label, swatchClass) => {
if (seen.has(key)) return;
seen.add(key);
entries.push({ label, swatchClass });
};
const coarse = staticLines.find(line => lineKind(line) === "global" || lineKind(line) === "coarse");
const smooth = staticLines.find(line => lineKind(line).includes("local-g2") || lineKind(line).includes("g2"));
const active = dynamicLines.find(line => lineKind(line) === "active-segment");
const previous = dynamicLines.find(line => lineKind(line) === "previous" || line.lineStyle === 1);
const current = dynamicLines.find(line => lineKind(line) !== "active-segment" && lineKind(line) !== "previous" && line.lineStyle !== 1);
if (coarse) add("coarse", coarse.legendChinese || "粗路径", "legend-line legend-coarse");
if (smooth) add("smooth", smooth.legendChinese || "完整 Local G2 路径", "legend-line legend-smooth");
if (active || directionSegments.length)
add("segment", active && active.legendChinese || "当前方向段", "legend-line legend-segment");
if (previous) add("previous", previous.legendChinese || "上一条 EM 轨迹", "legend-line legend-previous");
if (current) add("current", current.legendChinese || "当前 EM 轨迹", "legend-line legend-current");
if (markers.some(marker => lineKind(marker) === "smooth-start"))
add("smooth-start", "平滑路径起点", "legend-marker legend-smooth-start");
if (markers.some(marker => lineKind(marker) === "plan-start"))
add("plan-start", "EM 规划起点", "legend-marker legend-plan-start");
if (markers.some(marker => lineKind(marker) === "vehicle"))
add("vehicle", "当前车辆", "legend-marker legend-vehicle");
if (markers.some(marker => lineKind(marker) === "gear-switch" || lineKind(marker) === "gear-switch-end"))
add("gear", "换向点 / s_end", "legend-marker legend-gear");
if (markers.some(marker => lineKind(marker) === "final-goal"))
add("goal", "平滑路径终点", "legend-marker legend-goal");
entries.forEach(entry => {
const item = element("div", "world-legend-item");
item.append(element("span", "world-legend-swatch " + entry.swatchClass),
element("span", "world-legend-label", entry.label));
worldLegend.append(item);
});
worldLegend.hidden = entries.length === 0;
}
function renderWorld() {
const bounds = getBounds();
const metrics = worldMetrics(bounds);
@@ -176,6 +221,7 @@
.some(point => point && finite(point.x) && finite(point.y)));
safeArray(snapshot.staticMarkers).concat(safeArray(frame.dynamicMarkers))
.forEach(marker => appendWorldMarker(marker, frame, metrics));
renderWorldLegend(snapshot, frame);
if (!hasPath) {
const emptyGroup = svg("g", { transform: `translate(${(bounds.xMin + bounds.xMax) / 2} ${-((bounds.yMin + bounds.yMax) / 2)}) scale(${metrics.unitsPerPixel})` });
const empty = svg("text", { x: 0, y: 0, class: "world-empty-state", "text-anchor": "middle" });
ClumsyPilot/TrajectoryPlanningVisualization/Web/index.html
+1
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@@ -23,6 +23,7 @@
<div class="world-stack">
<canvas id="occupancy-grid" aria-label="占用栅格底图"></canvas>
<svg id="world-overlay" role="img" aria-label="全局路径与当前规划段"></svg>
<aside id="world-legend" class="world-legend" aria-label="路径图例" hidden></aside>
</div>
</section>
<section id="ls-st" hidden aria-label="LS / ST">