fix: resolve EM overview marker and segment overlaps

2026-08-09 19:43:47 +08:00
parent 2705487651
commit 444cc3af2a
4 changed files with 60 additions and 18 deletions
@@ -62,7 +62,7 @@ main > section[hidden] { display: none !important; }
 .marker-vehicle .vehicle-outline { fill: rgba(32, 37, 43, .16); stroke: #20252b; stroke-width: 1.5; }
 .marker-vehicle .vehicle-heading { stroke: #20252b; stroke-width: 1.5; stroke-linecap: round; vector-effect: non-scaling-stroke; }
 .marker-smooth-start { fill: #2f8f56; stroke: #ffffff; stroke-width: 1.5; }
-.marker-plan-start { fill: #ffffff; stroke: #2f8f56; stroke-width: 2; }
+.marker-plan-start { fill: none; 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); }
@@ -146,7 +146,6 @@
    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 = [];
@@ -163,20 +162,25 @@
    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 (active)
+      add("segment", 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");
+    const smoothStartMarker = markers.find(marker => lineKind(marker) === "smooth-start");
+    const planStartMarker = markers.find(marker => lineKind(marker) === "plan-start");
+    const vehicleMarker = markers.find(marker => lineKind(marker) === "vehicle");
+    const gearMarker = markers.find(marker => lineKind(marker) === "gear-switch" || lineKind(marker) === "gear-switch-end");
+    const goalMarker = markers.find(marker => lineKind(marker) === "final-goal");
+    if (smoothStartMarker)
+      add("smooth-start", smoothStartMarker.labelChinese || "平滑路径起点", "legend-marker legend-smooth-start");
+    if (planStartMarker)
+      add("plan-start", planStartMarker.labelChinese || "EM 规划起点", "legend-marker legend-plan-start");
+    if (vehicleMarker)
+      add("vehicle", vehicleMarker.labelChinese || "当前车辆", "legend-marker legend-vehicle");
+    if (gearMarker)
+      add("gear", gearMarker.labelChinese || "换向点 / s_end", "legend-marker legend-gear");
+    if (goalMarker)
+      add("goal", goalMarker.labelChinese || "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),
@@ -201,15 +205,17 @@
      if (path) overlay.append(svg("path", { d: path, class: "world-line " + css }));
    };
    const staticLines = safeArray(snapshot.staticPolylines);
+    const dynamicLines = safeArray(frame.dynamicPolylines);
+    const hasDynamicActiveSegment = dynamicLines.some(line => lineKind(line) === "active-segment");
    staticLines.filter(line => lineKind(line) === "global" || lineKind(line) === "coarse")
      .forEach(line => addLine(line, "world-coarse"));
    staticLines.filter(line => lineKind(line).includes("local-g2") || lineKind(line).includes("g2"))
      .forEach(line => addLine(line, "world-local-g2"));
    staticLines.filter(line => lineKind(line) !== "global" && lineKind(line) !== "coarse" && !lineKind(line).includes("local-g2") && !lineKind(line).includes("g2"))
      .forEach(line => addLine(line, "world-static"));
-    safeArray(snapshot.directionSegments).forEach(segment => addLine(segment,
-      segment.segmentIndex === frame.activeSegmentIndex ? "world-segment-active" : "world-direction-inactive"));
-    const dynamicLines = safeArray(frame.dynamicPolylines);
+    safeArray(snapshot.directionSegments)
+      .filter(segment => !hasDynamicActiveSegment || segment.segmentIndex !== frame.activeSegmentIndex)
+      .forEach(segment => addLine(segment, "world-direction-inactive"));
    dynamicLines.filter(line => lineKind(line) === "active-segment")
      .forEach(line => addLine(line, "world-segment-active"));
    dynamicLines.filter(line => lineKind(line) === "previous" || line.lineStyle === 1)
@@ -60,13 +60,15 @@ internal static class SampleSnapshotFactory
            new VisualizationPose(2d + offset, 1d, 0d),
            new[]
            {
+                new VisualizationPolyline("active-segment", "活动方向段", "active-segment", VisualizationLineStyle.Solid,
+                    Points((0d, 1d), (3d, 1d), (6d, 2d))),
                new VisualizationPolyline("previous", "上一轮轨迹", "previous", VisualizationLineStyle.Dashed, Points((1d, 1d), (2.5d, 1d), (4d, 1.3d))),
                new VisualizationPolyline("current", "当前轨迹", "current", VisualizationLineStyle.Solid, Points((2d + offset, 1d), (3.8d + offset, 1.2d), (5.8d + offset, 1.9d)))
            },
            new[]
            {
                new VisualizationMarker("vehicle", "vehicle", "车辆", new VisualizationPoint(2d + offset, 1d)),
-                new VisualizationMarker("plan-start", "plan-start", "计划起点", new VisualizationPoint(2d + offset, 1d)),
+                new VisualizationMarker("plan-start", "plan-start", "计划起点", new VisualizationPoint(0d, 1d)),
                new VisualizationMarker("gear-switch-end", "gear-switch-end", "换向点 1 / s_end", new VisualizationPoint(6d, 2d))
            },
            CreateCharts(offset),
@@ -1,3 +1,4 @@
+using System;
 using System.Linq;
 using TrajectoryPlanningVisualization;

@@ -65,6 +66,8 @@ internal static class WebAssetChecks
            "vehicle marker no longer uses world-scale heavy strokes");
        Verification.True(css.Contains(".marker-vehicle"), "vehicle marker semantic class");
        Verification.True(css.Contains(".marker-plan-start"), "plan start marker semantic class");
+        Verification.True(css.Contains(".marker-plan-start { fill: none;"),
+            "plan start marker remains hollow when it overlaps the smoothed-path start");
        Verification.True(css.Contains(".marker-gear-switch"), "gear-switch marker semantic class");
        Verification.True(css.Contains(".marker-final-goal"), "final goal marker semantic class");
        Verification.True(js.Contains("末点后无时间区间"), "jerk terminal explanation");
@@ -85,6 +88,29 @@ internal static class WebAssetChecks
            "overview builds legend entries from current snapshot data");
        Verification.True(js.Contains("legendChinese"),
            "overview reuses exported Chinese polyline legends");
+        Verification.True(
+            js.Contains("smoothStartMarker.labelChinese || \"平滑路径起点\"") &&
+            js.Contains("planStartMarker.labelChinese || \"EM 规划起点\"") &&
+            js.Contains("vehicleMarker.labelChinese || \"当前车辆\"") &&
+            js.Contains("gearMarker.labelChinese || \"换向点 / s_end\"") &&
+            js.Contains("goalMarker.labelChinese || \"平滑路径终点\""),
+            "overview marker legends prefer the first matching marker label with canonical fallbacks");
+        Verification.True(js.Contains("const hasDynamicActiveSegment = dynamicLines.some("),
+            "overview detects whether the frame supplies a dynamic active segment");
+        Verification.True(js.Contains(
+                ".filter(segment => !hasDynamicActiveSegment || segment.segmentIndex !== frame.activeSegmentIndex)"),
+            "overview omits the matching static segment when its dynamic active segment exists");
+        Verification.True(js.Contains("if (active)") &&
+                !js.Contains("if (active || directionSegments.length)"),
+            "overview legend activates the current direction segment from dynamic data only");
+        int renderWorldStart = js.IndexOf("function renderWorld()", StringComparison.Ordinal);
+        int renderDynamicLines = js.IndexOf("const dynamicLines = safeArray(frame.dynamicPolylines);",
+            renderWorldStart, StringComparison.Ordinal);
+        int renderStaticSegments = js.IndexOf("safeArray(snapshot.directionSegments)",
+            renderDynamicLines, StringComparison.Ordinal);
+        Verification.True(renderWorldStart >= 0 && renderDynamicLines > renderWorldStart &&
+                renderStaticSegments > renderDynamicLines,
+            "overview derives dynamic lines before rendering static direction segments");
        Verification.True(js.Contains("atob"), "compact occupancy bitset is decoded in browser");
        Verification.True(!html.Contains("http://") && !html.Contains("https://"), "page has no CDN URL");
    }
@@ -100,6 +126,14 @@ internal static class WebAssetChecks
            "smoke snapshot exposes the smoothed comparison path");
        Verification.True(staticSnapshot.StaticMarkers.Any(marker => marker.Kind == "smooth-start"),
            "smoke snapshot exposes the smoothed-path start marker");
+        Verification.Equal(1, dynamicSnapshot.DynamicPolylines.Count(line => line.Kind == "active-segment"),
+            "smoke snapshot has exactly one dynamic active segment");
+        VisualizationMarker smoothStart = staticSnapshot.StaticMarkers.Single(marker => marker.Kind == "smooth-start");
+        VisualizationMarker planStart = dynamicSnapshot.DynamicMarkers.Single(marker => marker.Kind == "plan-start");
+        Verification.NearlyEqual(smoothStart.Position.X, planStart.Position.X,
+            "smoke snapshot overlaps smoothed-path and plan-start x coordinates");
+        Verification.NearlyEqual(smoothStart.Position.Y, planStart.Position.Y,
+            "smoke snapshot overlaps smoothed-path and plan-start y coordinates");
        Verification.Equal(2, staticSnapshot.DirectionSegments.Count, "smoke snapshot has two direction segments");
        Verification.True(staticSnapshot.StaticMarkers.Any(marker => marker.Kind == "gear-switch"), "smoke snapshot has a gear marker");
        Verification.True(staticSnapshot.ConfigurationGroups.Count > 0, "smoke snapshot has effective configuration");