fix: guard all 3D calls behind webglOk — chart fonctionne sans WebGL

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

viz/static/js/scene.js

@@ -3,29 +3,33 @@ import { OrbitControls } from 'three/addons/controls/OrbitControls.js';
 
 // ── Renderer ──────────────────────────────────────────────────────────────────
 const viewerEl = document.getElementById('viewer');
-const renderer = new THREE.WebGLRenderer({ antialias: true });
+let renderer, scene, camera, controls, webglOk = false;
+try {
+  renderer = new THREE.WebGLRenderer({ antialias: true });
   renderer.setPixelRatio(Math.min(devicePixelRatio, 2));
   renderer.setSize(viewerEl.clientWidth, viewerEl.clientHeight);
   viewerEl.appendChild(renderer.domElement);
+  webglOk = true;
+} catch(e) {
+  viewerEl.innerHTML = '<div style="color:#556;font-size:11px;padding:20px">WebGL indisponible — rechargez la page ou fermez les autres onglets.</div>';
+}
 
 // ── Scene ─────────────────────────────────────────────────────────────────────
-const scene = new THREE.Scene();
+const layers = {};
+if (webglOk) {
+  scene = new THREE.Scene();
   scene.background = new THREE.Color(0x06060f);
   scene.fog = new THREE.Fog(0x06060f, 500, 2000);
   scene.add(new THREE.GridHelper(1000, 100, 0x111133, 0x0a0a22));
   scene.add(new THREE.AxesHelper(5));
-
+  camera = new THREE.PerspectiveCamera(60, viewerEl.clientWidth / viewerEl.clientHeight, 0.1, 5000);
-// ── Camera + Controls ─────────────────────────────────────────────────────────
-const camera = new THREE.PerspectiveCamera(60, viewerEl.clientWidth / viewerEl.clientHeight, 0.1, 5000);
   camera.position.set(0, 150, 250);
-const controls = new OrbitControls(camera, renderer.domElement);
+  controls = new OrbitControls(camera, renderer.domElement);
   controls.enableDamping = true;
   controls.dampingFactor = 0.08;
   controls.minDistance = 1;
   controls.maxDistance = 3000;
-
+}
-// ── Layer registry ────────────────────────────────────────────────────────────
-const layers = {};
 
 function addLayer(name, obj) {
   layers[name] = layers[name] || [];
@@ -96,6 +100,7 @@ fetch('/api/trajectory')
     document.getElementById('status').textContent =
       `traj: ${d.traj_status || 'n/a'}`;
 
+    if (webglOk) {
       if (d.usv_gps) {
         const { x, y, z, rtk } = d.usv_gps;
         addLayer('usv_gps', makeLine(x, y, z, 0x3a9fff));
@@ -114,13 +119,12 @@ fetch('/api/trajectory')
         addLayer(trajLayer, makeLine(x, y, z, d.fused ? 0xffffff : 0xffd700));
 
         if (T_4x4 && T_4x4.length > 0) {
-        const step = Math.max(1, Math.floor(T_4x4.length / 100)); // max 100 frustums
+          const step = Math.max(1, Math.floor(T_4x4.length / 100));
           for (let i = 0; i < T_4x4.length; i += step) {
             addLayer('frustums', makeFrustum(T_4x4[i]));
           }
         }
 
-      // Center camera
         if (x.length > 0) {
           controls.target.set(x[0], z[0], -y[0]);
           camera.position.set(x[0], z[0] + 50, -y[0] + 100);
@@ -136,7 +140,6 @@ fetch('/api/trajectory')
         }));
       }
 
-    // If only USV GPS, center on that
       if (!trajData && d.usv_gps) {
         const { x, y, z } = d.usv_gps;
         const cx = x.reduce((a,b)=>a+b,0)/x.length;
@@ -145,30 +148,40 @@ fetch('/api/trajectory')
         camera.position.set(cx, 50, -cy + 80);
         controls.update();
       }
+    }
 
-    // 2D depth/altitude chart
+    // 2D cross-section chart: surface=0, AUV below (negative), seafloor even lower
     if (d.auv_profile) {
       const { t_s, depth_m, altitude_m } = d.auv_profile;
-      const hasAlt = altitude_m && altitude_m.some(v => !isNaN(v) && v !== null);
+      // depth_m from HDF5 is already negative (below surface)
+      // altitude_m is positive (above seafloor), filter zeros (Kogger not yet reading)
+      const ALT_MIN = 0.3;
       const datasets = [
         {
-          label: 'Depth (m)',
+          label: 'AUV (m sous surface)',
-          data: t_s.map((t, i) => ({ x: t, y: -depth_m[i] })),
+          data: t_s.map((t, i) => ({ x: t, y: depth_m[i] })),
           borderColor: '#3a9fff',
-          backgroundColor: 'rgba(58,159,255,0.08)',
+          backgroundColor: 'rgba(58,159,255,0.10)',
-          borderWidth: 1.5,
+          borderWidth: 2,
           pointRadius: 0,
-          fill: true,
+          fill: { target: 'origin', above: 'rgba(58,159,255,0.05)' },
         },
       ];
+      const hasAlt = altitude_m && altitude_m.some(v => v > ALT_MIN);
       if (hasAlt) {
         datasets.push({
-          label: 'Altitude above seafloor (m)',
+          label: 'Fond marin (m sous surface)',
-          data: t_s.map((t, i) => ({ x: t, y: altitude_m[i] })),
+          // seafloor = AUV depth - altitude above seafloor; null where altitude unreliable
+          data: t_s.map((t, i) => ({
+            x: t,
+            y: (altitude_m[i] > ALT_MIN) ? depth_m[i] - altitude_m[i] : null,
+          })),
           borderColor: '#44ffaa',
-          backgroundColor: 'transparent',
+          backgroundColor: 'rgba(68,255,170,0.06)',
           borderWidth: 1.5,
           pointRadius: 0,
+          spanGaps: false,
+          fill: 'end',
         });
       }
       Chart.defaults.color = '#556';
@@ -182,19 +195,20 @@ fetch('/api/trajectory')
           maintainAspectRatio: false,
           parsing: false,
           plugins: {
-            legend: { labels: { color: '#889', font: { size: 10, family: 'Courier New' } } },
+            legend: { labels: { color: '#889', font: { size: 10, family: 'Courier New' }, boxWidth: 20 } },
             tooltip: { enabled: false },
           },
           scales: {
             x: {
               type: 'linear',
-              title: { display: true, text: 'Time (s)', color: '#445' },
+              title: { display: true, text: 'Temps (s)', color: '#445' },
               ticks: { color: '#445', font: { size: 9 } },
               grid: { color: '#111' },
             },
             y: {
-              suggestedMin: 0,
+              reverse: false,
-              title: { display: true, text: 'm', color: '#445' },
+              suggestedMax: 0,
+              title: { display: true, text: 'profondeur (m)', color: '#445' },
               ticks: { color: '#445', font: { size: 9 } },
               grid: { color: '#111' },
             },
@@ -216,15 +230,17 @@ document.querySelectorAll('[data-layer]').forEach(cb => {
 });
 
 // ── Resize ────────────────────────────────────────────────────────────────────
+if (webglOk) {
   window.addEventListener('resize', () => {
     camera.aspect = viewerEl.clientWidth / viewerEl.clientHeight;
     camera.updateProjectionMatrix();
     renderer.setSize(viewerEl.clientWidth, viewerEl.clientHeight);
   });
 
-// ── Render loop ───────────────────────────────────────────────────────────────
+  // ── Render loop ─────────────────────────────────────────────────────────────
   (function animate() {
     requestAnimationFrame(animate);
     controls.update();
     renderer.render(scene, camera);
   })();
+}