feat: serve planning snapshots on loopback

2026-08-06 09:38:12 +08:00
parent 106201e87b
commit fa1a2666d3
6 changed files with 955 additions and 0 deletions
@@ -0,0 +1,119 @@
+using System;
+using System.Security.Cryptography;
+using System.Threading;
+
+namespace TrajectoryPlanningVisualization;
+
+public sealed class PlanningVisualizationSessionInfo
+{
+    public PlanningVisualizationSessionInfo(Uri uri, string token)
+    {
+        Uri = uri ?? throw new ArgumentNullException(nameof(uri));
+        Token = token ?? throw new ArgumentNullException(nameof(token));
+    }
+
+    public Uri Uri { get; }
+    public string Token { get; }
+}
+
+public sealed class PlanningVisualizationSession : IDisposable
+{
+    private readonly object lifecycleLock = new object();
+    private readonly PlanningVisualizationOptions options;
+    private LoopbackVisualizationServer server;
+    private PlanningVisualizationSessionInfo sessionInfo;
+
+    public PlanningVisualizationSession(PlanningVisualizationOptions options)
+    {
+        this.options = options ?? throw new ArgumentNullException(nameof(options));
+    }
+
+    public bool IsRunning
+    {
+        get
+        {
+            lock (lifecycleLock)
+            {
+                return server != null && server.IsRunning;
+            }
+        }
+    }
+
+    public PlanningVisualizationSessionInfo Start(PlanningVisualizationStaticSnapshot staticSnapshot)
+    {
+        if (staticSnapshot == null)
+        {
+            throw new ArgumentNullException(nameof(staticSnapshot));
+        }
+
+        lock (lifecycleLock)
+        {
+            if (server != null)
+            {
+                return sessionInfo;
+            }
+
+            PlanningVisualizationOptionsSnapshot validated = options.CreateValidatedSnapshot();
+            string token = CreateToken();
+            var created = new LoopbackVisualizationServer(validated, staticSnapshot, token);
+            try
+            {
+                created.Start();
+                server = created;
+                sessionInfo = new PlanningVisualizationSessionInfo(
+                    new Uri("http://127.0.0.1:" + created.Port + "/?token=" + token), token);
+                return sessionInfo;
+            }
+            catch
+            {
+                created.Dispose();
+                throw;
+            }
+        }
+    }
+
+    public void Publish(PlanningVisualizationDynamicSnapshot snapshot)
+    {
+        if (snapshot == null)
+        {
+            throw new ArgumentNullException(nameof(snapshot));
+        }
+
+        try
+        {
+            Volatile.Read(ref server)?.Publish(snapshot);
+        }
+        catch
+        {
+        }
+    }
+
+    public void Stop()
+    {
+        LoopbackVisualizationServer current;
+        lock (lifecycleLock)
+        {
+            current = server;
+            server = null;
+            sessionInfo = null;
+        }
+
+        current?.Dispose();
+    }
+
+    public void Dispose()
+    {
+        Stop();
+    }
+
+    private static string CreateToken()
+    {
+        byte[] tokenBytes = new byte[32];
+        using (RandomNumberGenerator random = RandomNumberGenerator.Create())
+        {
+            random.GetBytes(tokenBytes);
+        }
+
+        return BitConverter.ToString(tokenBytes).Replace("-", string.Empty).ToLowerInvariant();
+    }
+}