6e83bbd73f
Serveur FastAPI reçoit le flux JSONL (sim ou ROV réel) sur /ws/ingest, SLAM incrémental, rediffuse carte+poses sur /ws/live, GUI live et export PLY. Déployé Docker sur caddy-net, exposé /moulin-live/. Client PC stream_client.py. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
488 lines
15 KiB
HTML
488 lines
15 KiB
HTML
<!DOCTYPE html>
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<html lang="fr">
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<head>
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<meta charset="UTF-8">
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<meta name="viewport" content="width=device-width, initial-scale=1.0">
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<title>Moulin Mapper — Live</title>
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<style>
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* { box-sizing: border-box; margin: 0; padding: 0; }
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body {
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background: #0d1117;
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color: #c9d1d9;
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font-family: 'Consolas', 'Monaco', monospace;
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font-size: 13px;
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display: flex;
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flex-direction: column;
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height: 100vh;
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overflow: hidden;
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}
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header {
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background: #161b22;
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border-bottom: 1px solid #30363d;
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padding: 8px 16px;
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display: flex;
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align-items: center;
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gap: 16px;
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flex-shrink: 0;
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}
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header h1 { font-size: 15px; font-weight: 600; color: #58a6ff; letter-spacing: 1px; }
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#conn-dot { width: 10px; height: 10px; border-radius: 50%; background: #f85149; flex-shrink: 0; }
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#conn-dot.ok { background: #3fb950; }
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#conn-label { font-size: 12px; }
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.main {
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display: flex;
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flex: 1;
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overflow: hidden;
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}
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/* Panneau gauche: canvas */
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#canvas-wrap {
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flex: 1;
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position: relative;
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background: #010409;
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}
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canvas {
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display: block;
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width: 100%;
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height: 100%;
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}
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/* Panneau droit: stats + contrôles */
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aside {
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width: 260px;
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background: #161b22;
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border-left: 1px solid #30363d;
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display: flex;
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flex-direction: column;
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gap: 0;
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overflow-y: auto;
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flex-shrink: 0;
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}
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.section {
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padding: 12px 14px;
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border-bottom: 1px solid #21262d;
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}
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.section h2 {
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font-size: 11px;
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text-transform: uppercase;
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letter-spacing: 1px;
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color: #8b949e;
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margin-bottom: 8px;
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}
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.stat-row {
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display: flex;
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justify-content: space-between;
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padding: 3px 0;
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border-bottom: 1px solid #0d1117;
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}
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.stat-row:last-child { border-bottom: none; }
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.stat-label { color: #8b949e; }
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.stat-value { color: #f0f6fc; font-weight: 600; }
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.stat-value.accent { color: #58a6ff; }
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.stat-value.warn { color: #e3b341; }
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input[type=text] {
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width: 100%;
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background: #0d1117;
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border: 1px solid #30363d;
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border-radius: 4px;
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color: #c9d1d9;
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padding: 5px 8px;
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font-family: inherit;
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font-size: 12px;
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margin-bottom: 8px;
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}
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input[type=text]:focus { outline: none; border-color: #58a6ff; }
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button {
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width: 100%;
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padding: 6px 10px;
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border-radius: 4px;
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border: 1px solid;
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cursor: pointer;
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font-family: inherit;
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font-size: 12px;
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font-weight: 600;
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margin-bottom: 6px;
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}
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.btn-danger {
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background: #21262d;
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border-color: #f85149;
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color: #f85149;
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}
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.btn-danger:hover { background: #3d1c1c; }
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.btn-primary {
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background: #21262d;
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border-color: #58a6ff;
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color: #58a6ff;
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text-decoration: none;
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display: block;
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text-align: center;
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}
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.btn-primary:hover { background: #1c2a3d; }
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#log {
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font-size: 11px;
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color: #8b949e;
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max-height: 120px;
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overflow-y: auto;
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padding: 8px 14px;
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flex: 1;
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word-break: break-all;
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}
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#log p { margin-bottom: 2px; line-height: 1.4; }
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#log p.err { color: #f85149; }
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#log p.ok { color: #3fb950; }
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.legend {
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display: flex; flex-direction: column; gap: 4px;
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font-size: 11px; color: #8b949e;
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}
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.legend-item { display: flex; align-items: center; gap: 6px; }
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.leg-dot { width: 10px; height: 10px; border-radius: 50%; flex-shrink: 0; }
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</style>
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</head>
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<body>
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<header>
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<h1>MOULIN MAPPER</h1>
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<div id="conn-dot"></div>
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<span id="conn-label">Déconnecté</span>
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</header>
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<div class="main">
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<div id="canvas-wrap">
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<canvas id="map-canvas"></canvas>
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</div>
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<aside>
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<div class="section">
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<h2>Stats</h2>
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<div class="stat-row"><span class="stat-label">Enregistrements</span><span class="stat-value accent" id="s-records">0</span></div>
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<div class="stat-row"><span class="stat-label">Sweeps</span><span class="stat-value" id="s-sweeps">0</span></div>
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<div class="stat-row"><span class="stat-label">Points carte</span><span class="stat-value" id="s-points">0</span></div>
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<div class="stat-row"><span class="stat-label">Fermetures boucle</span><span class="stat-value warn" id="s-loops">0</span></div>
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<div class="stat-row"><span class="stat-label">Dernier t</span><span class="stat-value" id="s-t">—</span></div>
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<div class="stat-row"><span class="stat-label">Débit</span><span class="stat-value" id="s-debit">0</span></div>
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</div>
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<div class="section">
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<h2>Pose ROV</h2>
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<div class="stat-row"><span class="stat-label">x (m)</span><span class="stat-value" id="s-x">0.00</span></div>
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<div class="stat-row"><span class="stat-label">y (m)</span><span class="stat-value" id="s-y">0.00</span></div>
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<div class="stat-row"><span class="stat-label">cap (°)</span><span class="stat-value" id="s-h">0.0</span></div>
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</div>
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<div class="section">
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<h2>Légende</h2>
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<div class="legend">
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<div class="legend-item"><div class="leg-dot" style="background:#58a6ff;"></div><span>Points carte (murs)</span></div>
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<div class="legend-item"><div class="leg-dot" style="background:#3fb950;"></div><span>Trajectoire corrigée</span></div>
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<div class="legend-item"><div class="leg-dot" style="background:#f0f6fc; border-radius:0;"></div><span>ROV courant</span></div>
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</div>
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</div>
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<div class="section">
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<h2>Contrôles</h2>
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<input type="text" id="token-input" placeholder="Token (défaut: moulin-2026)" value="moulin-2026">
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<button class="btn-danger" onclick="resetSession()">Reset session</button>
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<a id="ply-link" class="btn-primary" href="./cloud.ply" download="moulin_cloud.ply">Télécharger nuage .ply</a>
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</div>
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<div class="section" style="flex:1;padding:0;">
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<div id="log"></div>
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</div>
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</aside>
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</div>
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<script>
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// ---------------------------------------------------------------------------
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// Données en mémoire
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// ---------------------------------------------------------------------------
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let mapPoints = []; // [[x, y], ...]
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let trajectory = []; // [[t, x, y, h], ...]
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let poseCorrect = [0, 0, 0];
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let stats = { records: 0, sweeps: 0, loop_closures: 0, last_t: 0, debit: 0 };
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// ---------------------------------------------------------------------------
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// Canvas + viewport
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// ---------------------------------------------------------------------------
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const canvas = document.getElementById('map-canvas');
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const ctx = canvas.getContext('2d');
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let viewX = 4.0; // centre monde visible
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let viewY = 4.0;
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let viewScale = 50; // px/m
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let dragging = false;
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let dragStart = null;
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let dragView = null;
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function worldToCanvas(wx, wy) {
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const cx = canvas.width / 2;
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const cy = canvas.height / 2;
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return [
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cx + (wx - viewX) * viewScale,
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cy - (wy - viewY) * viewScale,
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];
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}
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function resizeCanvas() {
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const wrap = document.getElementById('canvas-wrap');
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canvas.width = wrap.clientWidth;
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canvas.height = wrap.clientHeight;
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draw();
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}
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window.addEventListener('resize', resizeCanvas);
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// Zoom molette
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canvas.addEventListener('wheel', (e) => {
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e.preventDefault();
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const factor = e.deltaY > 0 ? 0.85 : 1.18;
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viewScale = Math.max(5, Math.min(500, viewScale * factor));
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draw();
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}, { passive: false });
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// Pan souris
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canvas.addEventListener('mousedown', (e) => {
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dragging = true;
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dragStart = [e.clientX, e.clientY];
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dragView = [viewX, viewY];
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});
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canvas.addEventListener('mousemove', (e) => {
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if (!dragging) return;
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const dx = (e.clientX - dragStart[0]) / viewScale;
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const dy = (e.clientY - dragStart[1]) / viewScale;
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viewX = dragView[0] - dx;
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viewY = dragView[1] + dy;
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draw();
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});
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canvas.addEventListener('mouseup', () => { dragging = false; });
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canvas.addEventListener('mouseleave', () => { dragging = false; });
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function draw() {
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ctx.clearRect(0, 0, canvas.width, canvas.height);
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// Grille légère
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ctx.strokeStyle = '#1c2128';
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ctx.lineWidth = 1;
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const gridStep = 1; // 1m
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const xMin = viewX - canvas.width / (2 * viewScale) - gridStep;
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const xMax = viewX + canvas.width / (2 * viewScale) + gridStep;
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const yMin = viewY - canvas.height / (2 * viewScale) - gridStep;
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const yMax = viewY + canvas.height / (2 * viewScale) + gridStep;
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for (let gx = Math.floor(xMin); gx <= xMax; gx += gridStep) {
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ctx.beginPath();
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const [px, ] = worldToCanvas(gx, 0);
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ctx.moveTo(px, 0); ctx.lineTo(px, canvas.height);
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ctx.stroke();
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}
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for (let gy = Math.floor(yMin); gy <= yMax; gy += gridStep) {
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ctx.beginPath();
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const [, py] = worldToCanvas(0, gy);
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ctx.moveTo(0, py); ctx.lineTo(canvas.width, py);
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ctx.stroke();
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}
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// Axes origine
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ctx.strokeStyle = '#21262d';
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ctx.lineWidth = 1;
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const [ox, oy] = worldToCanvas(0, 0);
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ctx.beginPath(); ctx.moveTo(ox, 0); ctx.lineTo(ox, canvas.height); ctx.stroke();
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ctx.beginPath(); ctx.moveTo(0, oy); ctx.lineTo(canvas.width, oy); ctx.stroke();
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// Points carte (murs)
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const ptRadius = Math.max(1, viewScale * 0.04);
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ctx.fillStyle = 'rgba(88, 166, 255, 0.7)';
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for (const [wx, wy] of mapPoints) {
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const [px, py] = worldToCanvas(wx, wy);
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ctx.beginPath();
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ctx.arc(px, py, ptRadius, 0, 2 * Math.PI);
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ctx.fill();
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}
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// Trajectoire
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if (trajectory.length > 1) {
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ctx.strokeStyle = 'rgba(63, 185, 80, 0.8)';
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ctx.lineWidth = 1.5;
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ctx.beginPath();
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const [x0, y0] = worldToCanvas(trajectory[0][1], trajectory[0][2]);
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ctx.moveTo(x0, y0);
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for (let i = 1; i < trajectory.length; i++) {
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const [px, py] = worldToCanvas(trajectory[i][1], trajectory[i][2]);
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ctx.lineTo(px, py);
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}
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ctx.stroke();
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}
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// ROV courant
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const [rx, ry] = worldToCanvas(poseCorrect[0], poseCorrect[1]);
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const hRad = (90 - poseCorrect[2]) * Math.PI / 180; // cap → angle canvas
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const arrowLen = Math.max(8, viewScale * 0.3);
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ctx.save();
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ctx.translate(rx, ry);
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ctx.rotate(-hRad);
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ctx.fillStyle = '#f0f6fc';
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ctx.strokeStyle = '#f0f6fc';
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ctx.lineWidth = 1.5;
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ctx.beginPath();
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ctx.moveTo(0, -arrowLen);
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ctx.lineTo(arrowLen * 0.5, arrowLen * 0.5);
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ctx.lineTo(0, 0);
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ctx.lineTo(-arrowLen * 0.5, arrowLen * 0.5);
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ctx.closePath();
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ctx.fill();
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ctx.restore();
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}
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// ---------------------------------------------------------------------------
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// Stats UI
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// ---------------------------------------------------------------------------
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function updateStats(data) {
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if (data.records !== undefined) {
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stats.records = data.records;
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stats.sweeps = data.sweeps;
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stats.loop_closures = data.loop_closures;
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stats.last_t = data.last_t;
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stats.debit = data.debit || 0;
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}
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document.getElementById('s-records').textContent = stats.records;
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document.getElementById('s-sweeps').textContent = stats.sweeps;
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document.getElementById('s-loops').textContent = stats.loop_closures;
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document.getElementById('s-t').textContent = stats.last_t ? stats.last_t.toFixed(1) + 's' : '—';
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document.getElementById('s-debit').textContent = stats.debit.toFixed(1) + ' rec/s';
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document.getElementById('s-points').textContent = mapPoints.length;
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if (data.pose_corrected) {
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poseCorrect = data.pose_corrected;
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document.getElementById('s-x').textContent = poseCorrect[0].toFixed(2);
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document.getElementById('s-y').textContent = poseCorrect[1].toFixed(2);
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document.getElementById('s-h').textContent = poseCorrect[2].toFixed(1);
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}
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}
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// ---------------------------------------------------------------------------
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// Gestion message WS
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// ---------------------------------------------------------------------------
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function handleMessage(data) {
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if (data.type === 'snapshot') {
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// État complet
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mapPoints = data.map_points || [];
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trajectory = data.trajectory || [];
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poseCorrect = data.pose_corrected || [0, 0, 0];
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updateStats(data);
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draw();
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log('Snapshot reçu — ' + mapPoints.length + ' pts, ' + trajectory.length + ' poses', 'ok');
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} else if (data.type === 'delta') {
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// Nouveaux points
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const newPts = data.new_map_points || [];
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for (const pt of newPts) mapPoints.push(pt);
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// Trajectoire : ajout des dernières poses
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const tail = data.trajectory_tail || [];
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for (const pose of tail) {
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// Évite les doublons par t
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if (trajectory.length === 0 || trajectory[trajectory.length - 1][0] < pose[0]) {
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trajectory.push(pose);
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}
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}
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updateStats(data);
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draw();
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} else if (data.type === 'reset') {
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mapPoints = [];
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trajectory = [];
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poseCorrect = [0, 0, 0];
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stats = { records: 0, sweeps: 0, loop_closures: 0, last_t: 0, debit: 0 };
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updateStats({});
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draw();
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log('Session réinitialisée', 'ok');
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} else if (data.type === 'ping') {
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// keepalive silencieux
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}
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}
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// ---------------------------------------------------------------------------
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// Connexion WS /ws/live
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// ---------------------------------------------------------------------------
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let ws = null;
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let reconnectTimer = null;
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function wsConnect() {
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const base = location.pathname.replace(/\/[^/]*$/, '').replace(/\/$/, '');
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const proto = location.protocol === 'https:' ? 'wss:' : 'ws:';
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const url = proto + '//' + location.host + base + '/ws/live';
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log('Connexion ' + url + '…');
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ws = new WebSocket(url);
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ws.onopen = () => {
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document.getElementById('conn-dot').classList.add('ok');
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document.getElementById('conn-label').textContent = 'Connecté';
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log('WS ouvert', 'ok');
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if (reconnectTimer) { clearTimeout(reconnectTimer); reconnectTimer = null; }
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};
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ws.onmessage = (e) => {
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try {
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handleMessage(JSON.parse(e.data));
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} catch (err) {
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console.error('parse WS:', err);
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}
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};
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ws.onclose = () => {
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document.getElementById('conn-dot').classList.remove('ok');
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document.getElementById('conn-label').textContent = 'Déconnecté — reconnexion dans 3s…';
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log('WS fermé, tentative dans 3s…', 'err');
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reconnectTimer = setTimeout(wsConnect, 3000);
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};
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ws.onerror = (e) => {
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log('Erreur WS', 'err');
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};
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}
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// ---------------------------------------------------------------------------
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// Reset session
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// ---------------------------------------------------------------------------
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async function resetSession() {
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const token = document.getElementById('token-input').value.trim() || 'moulin-2026';
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const base = location.pathname.replace(/\/[^/]*$/, '').replace(/\/$/, '');
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try {
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const form = new FormData();
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form.append('token', token);
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const resp = await fetch(base + '/session/reset', { method: 'POST', body: form });
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if (resp.ok) {
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log('Reset OK', 'ok');
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} else {
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log('Reset KO: ' + resp.status, 'err');
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}
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} catch (e) {
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log('Reset erreur: ' + e.message, 'err');
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}
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}
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// ---------------------------------------------------------------------------
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// Bouton PLY — chemin relatif
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// ---------------------------------------------------------------------------
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(function() {
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const base = location.pathname.replace(/\/[^/]*$/, '').replace(/\/$/, '');
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document.getElementById('ply-link').href = base + '/cloud.ply';
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})();
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// ---------------------------------------------------------------------------
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// Log
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// ---------------------------------------------------------------------------
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function log(msg, cls) {
|
|
const el = document.getElementById('log');
|
|
const p = document.createElement('p');
|
|
if (cls) p.className = cls;
|
|
const now = new Date();
|
|
p.textContent = now.toTimeString().slice(0, 8) + ' ' + msg;
|
|
el.appendChild(p);
|
|
el.scrollTop = el.scrollHeight;
|
|
// Garde les 100 dernières lignes
|
|
while (el.children.length > 100) el.removeChild(el.firstChild);
|
|
}
|
|
|
|
// ---------------------------------------------------------------------------
|
|
// Init
|
|
// ---------------------------------------------------------------------------
|
|
resizeCanvas();
|
|
wsConnect();
|
|
</script>
|
|
</body>
|
|
</html>
|