commit d732580c3e049c526332bd51cd27e3c47a0c5c76 Author: xin Date: Wed Jun 17 17:17:39 2026 +0800 Initial commit: Happa Mission Plan v0.1.0 Task planning and path generation software for automated data collection equipment (hyperspectral cameras, DSLR, depth cameras). - Generate mission plans (JSON) with subtasks per device - Generate scan path binary files (.RecordLine3) - Multi-rectangle area planning with reference map support - Device-specific FOV defaults (Pika L 17.6°, Pika NIR 21.7°, etc.) - Timeline scheduling with constraint validation - Tauri 2.x + Vue 3 + Naive UI + Pinia diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..8584043 --- /dev/null +++ b/.gitignore @@ -0,0 +1,27 @@ +# Logs +logs +*.log +npm-debug.log* +yarn-debug.log* +yarn-error.log* +pnpm-debug.log* +lerna-debug.log* + +node_modules +dist +dist-ssr +*.local + +# Editor directories and files +.vscode/* +!.vscode/extensions.json +.idea +.DS_Store +*.suo +*.ntvs* +*.njsproj +*.sln +*.sw? + +# Rust +/target diff --git a/.vscode/extensions.json b/.vscode/extensions.json new file mode 100644 index 0000000..cf4385b --- /dev/null +++ b/.vscode/extensions.json @@ -0,0 +1,7 @@ +{ + "recommendations": [ + "Vue.volar", + "tauri-apps.tauri-vscode", + "rust-lang.rust-analyzer" + ] +} diff --git a/README.md b/README.md new file mode 100644 index 0000000..12920b6 --- /dev/null +++ b/README.md @@ -0,0 +1,7 @@ +# Tauri + Vue + TypeScript + +This template should help get you started developing with Vue 3 and TypeScript in Vite. The template uses Vue 3 ` + + diff --git a/package-lock.json b/package-lock.json new file mode 100644 index 0000000..90a96a4 --- /dev/null +++ b/package-lock.json @@ -0,0 +1,2130 @@ +{ + "name": "happa-mission-plan", + "version": "0.1.0", + "lockfileVersion": 3, + "requires": true, + "packages": { + "": { + "name": "happa-mission-plan", + "version": "0.1.0", + "dependencies": { + "@tauri-apps/api": "^2", + "@tauri-apps/plugin-dialog": "^2.7.1", + "@tauri-apps/plugin-fs": "^2.5.1", + "@tauri-apps/plugin-opener": "^2", + "@vicons/ionicons5": "^0.13.0", + "naive-ui": "^2.44.1", + "pinia": "^3.0.4", + "vue": "^3.5.13", + "vue-router": "^4.6.4" + }, + "devDependencies": { + "@tauri-apps/cli": "^2", + "@vitejs/plugin-vue": "^5.2.1", + "typescript": "~5.6.2", + "vite": "^6.0.3", + "vue-tsc": "^2.1.10" + } + }, + "node_modules/@babel/helper-string-parser": { + "version": "7.29.7", + "resolved": "https://registry.npmjs.org/@babel/helper-string-parser/-/helper-string-parser-7.29.7.tgz", + 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a/src-tauri/icons/icon.png b/src-tauri/icons/icon.png new file mode 100644 index 0000000..e1cd261 Binary files /dev/null and b/src-tauri/icons/icon.png differ diff --git a/src-tauri/src/commands/defaults_commands.rs b/src-tauri/src/commands/defaults_commands.rs new file mode 100644 index 0000000..6c3220f --- /dev/null +++ b/src-tauri/src/commands/defaults_commands.rs @@ -0,0 +1,76 @@ +use tauri::command; +use crate::error::AppError; +use crate::models::{MissionScanConfig, PlannerDefaults}; +use std::path::PathBuf; + +fn defaults_dir() -> PathBuf { + // Save next to the executable + std::env::current_exe() + .unwrap_or_else(|_| PathBuf::from(".")) + .parent() + .unwrap_or_else(|| std::path::Path::new(".")) + .to_path_buf() +} + +#[command] +pub fn save_default_scan_config(config: MissionScanConfig) -> Result<(), AppError> { + let path = defaults_dir().join("scan_defaults.json"); + let content = serde_json::to_string_pretty(&config)?; + std::fs::write(path, content)?; + Ok(()) +} + +#[command] +pub fn load_default_scan_config() -> Result { + let path = defaults_dir().join("scan_defaults.json"); + if path.exists() { + let content = std::fs::read_to_string(path)?; + let config: MissionScanConfig = serde_json::from_str(&content)?; + Ok(config) + } else { + Ok(MissionScanConfig::default()) + } +} + +#[command] +pub fn save_default_background(path: String) -> Result<(), AppError> { + let file_path = defaults_dir().join("background_default.txt"); + std::fs::write(file_path, &path)?; + Ok(()) +} + +#[command] +pub fn load_default_background() -> Result, AppError> { + let file_path = defaults_dir().join("background_default.txt"); + if file_path.exists() { + let content = std::fs::read_to_string(file_path)?; + let trimmed = content.trim().to_string(); + if trimmed.is_empty() { + Ok(None) + } else { + Ok(Some(trimmed)) + } + } else { + Ok(None) + } +} + +#[command] +pub fn save_planner_defaults(config: PlannerDefaults) -> Result<(), AppError> { + let path = defaults_dir().join("planner_defaults.json"); + let content = serde_json::to_string_pretty(&config)?; + std::fs::write(path, content)?; + Ok(()) +} + +#[command] +pub fn load_planner_defaults() -> Result { + let path = defaults_dir().join("planner_defaults.json"); + if path.exists() { + let content = std::fs::read_to_string(path)?; + let config: PlannerDefaults = serde_json::from_str(&content)?; + Ok(config) + } else { + Ok(PlannerDefaults::default()) + } +} diff --git a/src-tauri/src/commands/devtools_commands.rs b/src-tauri/src/commands/devtools_commands.rs new file mode 100644 index 0000000..a32c40b --- /dev/null +++ b/src-tauri/src/commands/devtools_commands.rs @@ -0,0 +1,10 @@ +use tauri::{command, Webview}; + +#[command] +pub async fn toggle_devtools(webview: Webview) { + if webview.is_devtools_open() { + webview.close_devtools(); + } else { + webview.open_devtools(); + } +} diff --git a/src-tauri/src/commands/file_commands.rs b/src-tauri/src/commands/file_commands.rs new file mode 100644 index 0000000..d99d6ed --- /dev/null +++ b/src-tauri/src/commands/file_commands.rs @@ -0,0 +1,20 @@ +use std::path::Path; +use tauri::command; +use crate::error::AppError; +use crate::io; +use crate::models::MissionPlan; + +#[command] +pub fn load_mission(path: String) -> Result { + io::json_reader::read_mission(Path::new(&path)) +} + +#[command] +pub fn save_mission(path: String, mission: MissionPlan) -> Result<(), AppError> { + io::json_writer::write_mission(Path::new(&path), &mission) +} + +#[command] +pub fn new_mission() -> MissionPlan { + MissionPlan::new() +} diff --git a/src-tauri/src/commands/mod.rs b/src-tauri/src/commands/mod.rs new file mode 100644 index 0000000..382ee1f --- /dev/null +++ b/src-tauri/src/commands/mod.rs @@ -0,0 +1,6 @@ +pub mod file_commands; +pub mod task_commands; +pub mod validation_commands; +pub mod path_commands; +pub mod devtools_commands; +pub mod defaults_commands; diff --git a/src-tauri/src/commands/path_commands.rs b/src-tauri/src/commands/path_commands.rs new file mode 100644 index 0000000..e1e1385 --- /dev/null +++ b/src-tauri/src/commands/path_commands.rs @@ -0,0 +1,62 @@ +use std::path::Path; +use tauri::command; +use crate::error::AppError; +use crate::io; +use crate::models::{PathLineFile, ScanParams, ScanRegion, CameraParams, ScanMode}; +use crate::services; + +#[command] +pub fn load_path_line(path: String) -> Result { + io::binary_reader::read_path_line(Path::new(&path)) +} + +#[command] +pub fn save_path_line(path: String, file: PathLineFile) -> Result<(), AppError> { + io::binary_writer::write_path_line(Path::new(&path), &file) +} + +#[command] +pub fn generate_scan_path(params: ScanParams) -> Result { + let records = services::path_generator::generate_path(¶ms); + let count = records.len() as u64; + Ok(PathLineFile { count, records }) +} + +#[command] +pub fn estimate_scan_time_minutes(params: ScanParams) -> f64 { + services::path_generator::estimate_scan_time(¶ms) +} + +#[command] +pub fn generate_scan_paths_multi( + regions: Vec, + camera: CameraParams, + coverage_rate: f64, + speed_y_cm_s: f64, + speed_x_start_cm_s: f64, + speed_x_scan_cm_s: f64, + mode: ScanMode, +) -> Result { + let records = services::path_generator::generate_paths_multi( + ®ions, &camera, coverage_rate, + speed_y_cm_s, speed_x_start_cm_s, speed_x_scan_cm_s, &mode, + ); + let count = records.len() as u64; + Ok(PathLineFile { count, records }) +} + +#[command] +pub fn estimate_scan_time_multi_minutes( + regions: Vec, + camera: CameraParams, + coverage_rate: f64, + speed_y_cm_s: f64, + speed_x_start_cm_s: f64, + speed_x_scan_cm_s: f64, + mode: ScanMode, +) -> f64 { + services::path_generator::estimate_scan_time_multi( + ®ions, &camera, coverage_rate, + speed_y_cm_s, speed_x_start_cm_s, speed_x_scan_cm_s, &mode, + ) +} diff --git a/src-tauri/src/commands/task_commands.rs b/src-tauri/src/commands/task_commands.rs new file mode 100644 index 0000000..6994c93 --- /dev/null +++ b/src-tauri/src/commands/task_commands.rs @@ -0,0 +1,163 @@ +use tauri::command; +use crate::error::AppError; +use crate::models::{MissionPlan, SubTask, SubTaskType, Task}; + +#[command] +pub fn add_task(mission: MissionPlan) -> MissionPlan { + let mut m = mission; + let new_id = m.next_task_id(); + m.tasks.push(Task::new(new_id)); + m.task_count = m.tasks.len() as u32; + m +} + +#[command] +pub fn copy_task(mission: MissionPlan, task_id: u32) -> Result { + let mut m = mission; + let src = m.tasks.iter() + .find(|t| t.id == task_id) + .ok_or(AppError::TaskNotFound(task_id))? + .clone(); + let new_id = m.next_task_id(); + let mut new_task = src; + new_task.id = new_id; + new_task.scheduled_time = "2000-01-01T00:00:00".to_string(); + new_task.start_time = None; + new_task.end_time = None; + new_task.duration_minutes = 0.0; + new_task.estimated_duration_minutes = 0.0; + new_task.status = "Waiting".to_string(); + // Reset subtask IDs + for sub in &mut new_task.sub_tasks { + sub.id = uuid::Uuid::new_v4().to_string(); + sub.start_time = None; + sub.end_time = None; + sub.duration_minutes = 0.0; + sub.estimated_duration_minutes = 0.0; + sub.status = "Waiting".to_string(); + } + m.tasks.push(new_task); + m.task_count = m.tasks.len() as u32; + Ok(m) +} + +#[command] +pub fn remove_task(mission: MissionPlan, task_id: u32) -> Result { + let mut m = mission; + let pos = m.tasks.iter().position(|t| t.id == task_id) + .ok_or(AppError::TaskNotFound(task_id))?; + m.tasks.remove(pos); + m.task_count = m.tasks.len() as u32; + Ok(m) +} + +#[command] +pub fn add_sub_task( + mission: MissionPlan, + task_id: u32, + sub_task_type: SubTaskType, +) -> Result { + let mut m = mission; + let task = m.tasks.iter_mut() + .find(|t| t.id == task_id) + .ok_or(AppError::TaskNotFound(task_id))?; + + // Check: same type already exists + if task.has_type(&sub_task_type) { + return Err(AppError::Validation(format!( + "Task #{} already has a {} sub-task", + task_id, + sub_task_type.label() + ))); + } + + task.sub_tasks.push(SubTask::new(sub_task_type)); + Ok(m) +} + +#[command] +pub fn remove_sub_task( + mission: MissionPlan, + task_id: u32, + sub_task_id: String, +) -> Result { + let mut m = mission; + let task = m.tasks.iter_mut() + .find(|t| t.id == task_id) + .ok_or(AppError::TaskNotFound(task_id))?; + + let pos = task.sub_tasks.iter().position(|s| s.id == sub_task_id) + .ok_or(AppError::SubTaskNotFound(sub_task_id))?; + task.sub_tasks.remove(pos); + Ok(m) +} + +#[command] +pub fn update_sub_task( + mission: MissionPlan, + task_id: u32, + sub_task: SubTask, +) -> Result { + let mut m = mission; + let task = m.tasks.iter_mut() + .find(|t| t.id == task_id) + .ok_or(AppError::TaskNotFound(task_id))?; + + let pos = task.sub_tasks.iter().position(|s| s.id == sub_task.id) + .ok_or(AppError::SubTaskNotFound(sub_task.id.clone()))?; + task.sub_tasks[pos] = sub_task; + Ok(m) +} + +#[command] +pub fn update_task( + mission: MissionPlan, + task: Task, +) -> Result { + let mut m = mission; + let pos = m.tasks.iter().position(|t| t.id == task.id) + .ok_or(AppError::TaskNotFound(task.id))?; + m.tasks[pos] = task; + Ok(m) +} + +#[command] +pub fn reorder_sub_tasks( + mission: MissionPlan, + task_id: u32, + from_index: usize, + to_index: usize, +) -> Result { + let mut m = mission; + let task = m.tasks.iter_mut() + .find(|t| t.id == task_id) + .ok_or(AppError::TaskNotFound(task_id))?; + + if from_index >= task.sub_tasks.len() || to_index >= task.sub_tasks.len() { + return Err(AppError::Validation("Index out of bounds".into())); + } + + let sub = task.sub_tasks.remove(from_index); + task.sub_tasks.insert(to_index, sub); + Ok(m) +} + +#[command] +pub fn validate_sub_task_order( + mission: MissionPlan, + task_id: u32, +) -> Result { + let task = mission.tasks.iter() + .find(|t| t.id == task_id) + .ok_or(AppError::TaskNotFound(task_id))?; + + let mut found_camera = false; + for sub in &task.sub_tasks { + if sub.sub_task_type.is_camera_type() { + found_camera = true; + } else if found_camera && sub.sub_task_type.is_hyperspectral() { + return Ok(false); + } + } + Ok(true) +} diff --git a/src-tauri/src/commands/validation_commands.rs b/src-tauri/src/commands/validation_commands.rs new file mode 100644 index 0000000..e5e5abf --- /dev/null +++ b/src-tauri/src/commands/validation_commands.rs @@ -0,0 +1,17 @@ +use crate::error::AppError; +use crate::models::MissionPlan; +use crate::services; +use tauri::command; + +#[command] +pub fn calculate_schedule(mission: MissionPlan) -> Result { + let mut m = mission; + services::scheduler::calculate_schedule(&mut m)?; + Ok(m) +} + +#[command] +pub fn validate_mission(mission: MissionPlan) -> Vec { + let validator = services::validator::Validator::new(); + validator.validate(&mission) +} diff --git a/src-tauri/src/error.rs b/src-tauri/src/error.rs new file mode 100644 index 0000000..8bc13a2 --- /dev/null +++ b/src-tauri/src/error.rs @@ -0,0 +1,28 @@ +use std::io; + +#[derive(Debug, thiserror::Error)] +pub enum AppError { + #[error("IO error: {0}")] + Io(#[from] io::Error), + #[error("JSON parse error: {0}")] + Json(#[from] serde_json::Error), + #[error("Binary format error at byte {offset}: {detail}")] + BinaryFormat { offset: u64, detail: String }, + #[error("Validation error: {0}")] + Validation(String), + #[error("Task {0} not found")] + TaskNotFound(u32), + #[error("SubTask {0} not found")] + SubTaskNotFound(String), + #[error("Chrono parse error: {0}")] + ChronoParse(#[from] chrono::ParseError), +} + +impl serde::Serialize for AppError { + fn serialize(&self, serializer: S) -> Result + where + S: serde::Serializer, + { + serializer.serialize_str(&self.to_string()) + } +} diff --git a/src-tauri/src/io/binary_reader.rs b/src-tauri/src/io/binary_reader.rs new file mode 100644 index 0000000..a7bfd83 --- /dev/null +++ b/src-tauri/src/io/binary_reader.rs @@ -0,0 +1,72 @@ +use std::path::Path; +use crate::error::AppError; +use crate::models::{PathLineFile, PathLineRecord}; + +/// Read a .RecordLine3 binary file. +/// +/// Format: +/// [1 x f64 = count of remaining f64 values] + [count x f64] +/// Every 6 f64 values = one PathLineRecord +pub fn read_path_line(path: &Path) -> Result { + let data = std::fs::read(path)?; + + if data.len() < 8 { + return Err(AppError::BinaryFormat { + offset: 0, + detail: "File too short: need at least 8 bytes for count header".into(), + }); + } + + let count_bytes: [u8; 8] = data[..8].try_into().unwrap(); + let total_elements = f64::from_le_bytes(count_bytes) as u64; + + let expected_data_size = total_elements as usize * 8; + if data.len() != 8 + expected_data_size { + return Err(AppError::BinaryFormat { + offset: 8, + detail: format!( + "File size mismatch: header claims {} f64 values ({} bytes) but file has {} data bytes", + total_elements, + expected_data_size, + data.len() - 8 + ), + }); + } + + if total_elements % 6 != 0 { + return Err(AppError::BinaryFormat { + offset: 0, + detail: format!( + "Total element count {} is not a multiple of 6", + total_elements + ), + }); + } + + let records_count = total_elements / 6; + let mut records = Vec::with_capacity(records_count as usize); + + for i in 0..records_count { + let base = 8 + (i as usize * 6 * 8); + let record_bytes = &data[base..base + 48]; + + let mut iter = record_bytes.chunks_exact(8); + let read_f64 = |chunks: &mut std::slice::ChunksExact| -> f64 { + f64::from_le_bytes(chunks.next().unwrap().try_into().unwrap()) + }; + + records.push(PathLineRecord { + target_y_position: read_f64(&mut iter), + speed_target_y_position: read_f64(&mut iter), + target_x_min_position: read_f64(&mut iter), + speed_target_x_min_position: read_f64(&mut iter), + target_x_max_position: read_f64(&mut iter), + speed_target_x_max_position: read_f64(&mut iter), + }); + } + + Ok(PathLineFile { + count: records_count, + records, + }) +} diff --git a/src-tauri/src/io/binary_writer.rs b/src-tauri/src/io/binary_writer.rs new file mode 100644 index 0000000..ea9bc71 --- /dev/null +++ b/src-tauri/src/io/binary_writer.rs @@ -0,0 +1,26 @@ +use std::path::Path; +use crate::error::AppError; +use crate::models::PathLineFile; + +/// Write a .RecordLine3 binary file. +/// +/// Writes total_elements = records.len() * 6 as the first f64, +/// then serializes each record's 6 f64 values in order. +pub fn write_path_line(path: &Path, file: &PathLineFile) -> Result<(), AppError> { + let total_elements = file.records.len() as u64 * 6; + let mut buf = Vec::with_capacity(8 + total_elements as usize * 8); + + buf.extend_from_slice(&(total_elements as f64).to_le_bytes()); + + for record in &file.records { + buf.extend_from_slice(&record.target_y_position.to_le_bytes()); + buf.extend_from_slice(&record.speed_target_y_position.to_le_bytes()); + buf.extend_from_slice(&record.target_x_min_position.to_le_bytes()); + buf.extend_from_slice(&record.speed_target_x_min_position.to_le_bytes()); + buf.extend_from_slice(&record.target_x_max_position.to_le_bytes()); + buf.extend_from_slice(&record.speed_target_x_max_position.to_le_bytes()); + } + + std::fs::write(path, buf)?; + Ok(()) +} diff --git a/src-tauri/src/io/json_reader.rs b/src-tauri/src/io/json_reader.rs new file mode 100644 index 0000000..1433dbd --- /dev/null +++ b/src-tauri/src/io/json_reader.rs @@ -0,0 +1,9 @@ +use std::path::Path; +use crate::error::AppError; +use crate::models::MissionPlan; + +pub fn read_mission(path: &Path) -> Result { + let content = std::fs::read_to_string(path)?; + let mission: MissionPlan = serde_json::from_str(&content)?; + Ok(mission) +} diff --git a/src-tauri/src/io/json_writer.rs b/src-tauri/src/io/json_writer.rs new file mode 100644 index 0000000..82f2264 --- /dev/null +++ b/src-tauri/src/io/json_writer.rs @@ -0,0 +1,9 @@ +use std::path::Path; +use crate::error::AppError; +use crate::models::MissionPlan; + +pub fn write_mission(path: &Path, mission: &MissionPlan) -> Result<(), AppError> { + let content = serde_json::to_string_pretty(mission)?; + std::fs::write(path, content)?; + Ok(()) +} diff --git a/src-tauri/src/io/mod.rs b/src-tauri/src/io/mod.rs new file mode 100644 index 0000000..c61e10c --- /dev/null +++ b/src-tauri/src/io/mod.rs @@ -0,0 +1,4 @@ +pub mod json_reader; +pub mod json_writer; +pub mod binary_reader; +pub mod binary_writer; diff --git a/src-tauri/src/lib.rs b/src-tauri/src/lib.rs new file mode 100644 index 0000000..1fef646 --- /dev/null +++ b/src-tauri/src/lib.rs @@ -0,0 +1,53 @@ +mod error; +mod models; +mod io; +mod services; +mod commands; + +use tauri::Manager; + +#[cfg_attr(mobile, tauri::mobile_entry_point)] +pub fn run() { + let version = env!("CARGO_PKG_VERSION"); + tauri::Builder::default() + .setup(move |app| { + if let Some(w) = app.get_webview_window("main") { + w.set_title(&format!("Happa Mission Plan v{}", version)).ok(); + } + Ok(()) + }) + .plugin(tauri_plugin_opener::init()) + .plugin(tauri_plugin_dialog::init()) + .plugin(tauri_plugin_fs::init()) + .invoke_handler(tauri::generate_handler![ + commands::file_commands::load_mission, + commands::file_commands::save_mission, + commands::file_commands::new_mission, + commands::task_commands::add_task, + commands::task_commands::copy_task, + commands::task_commands::remove_task, + commands::task_commands::add_sub_task, + commands::task_commands::remove_sub_task, + commands::task_commands::update_sub_task, + commands::task_commands::update_task, + commands::task_commands::reorder_sub_tasks, + commands::task_commands::validate_sub_task_order, + commands::validation_commands::calculate_schedule, + commands::validation_commands::validate_mission, + commands::path_commands::load_path_line, + commands::path_commands::save_path_line, + commands::path_commands::generate_scan_path, + commands::path_commands::estimate_scan_time_minutes, + commands::path_commands::generate_scan_paths_multi, + commands::path_commands::estimate_scan_time_multi_minutes, + commands::devtools_commands::toggle_devtools, + commands::defaults_commands::save_default_scan_config, + commands::defaults_commands::load_default_scan_config, + commands::defaults_commands::save_default_background, + commands::defaults_commands::load_default_background, + commands::defaults_commands::save_planner_defaults, + commands::defaults_commands::load_planner_defaults, + ]) + .run(tauri::generate_context!()) + .expect("error while running tauri application"); +} diff --git a/src-tauri/src/main.rs b/src-tauri/src/main.rs new file mode 100644 index 0000000..9a5eaba --- /dev/null +++ b/src-tauri/src/main.rs @@ -0,0 +1,6 @@ +// Prevents additional console window on Windows in release, DO NOT REMOVE!! +#![cfg_attr(not(debug_assertions), windows_subsystem = "windows")] + +fn main() { + happa_mission_plan_lib::run() +} diff --git a/src-tauri/src/models/mission.rs b/src-tauri/src/models/mission.rs new file mode 100644 index 0000000..34c243a --- /dev/null +++ b/src-tauri/src/models/mission.rs @@ -0,0 +1,59 @@ +use serde::{Deserialize, Serialize}; +use super::task::Task; + +#[derive(Debug, Clone, Serialize, Deserialize)] +pub struct MissionScanConfig { + #[serde(rename = "xMin")] + pub x_min: f64, + #[serde(rename = "xMax")] + pub x_max: f64, + #[serde(rename = "yMin")] + pub y_min: f64, + #[serde(rename = "yMax")] + pub y_max: f64, +} + +impl Default for MissionScanConfig { + fn default() -> Self { + Self { + x_min: 0.0, + x_max: 100.0, + y_min: 0.0, + y_max: 100.0, + } + } +} + +#[derive(Debug, Clone, Serialize, Deserialize)] +pub struct MissionPlan { + pub version: String, + #[serde(rename = "taskCount")] + pub task_count: u32, + pub tasks: Vec, + #[serde(rename = "scanConfig", default = "MissionScanConfig::default")] + pub scan_config: MissionScanConfig, + #[serde(rename = "backgroundImage", skip_serializing_if = "Option::is_none")] + pub background_image: Option, +} + +impl MissionPlan { + pub fn new() -> Self { + Self { + version: "1.0".to_string(), + task_count: 0, + tasks: Vec::new(), + scan_config: MissionScanConfig::default(), + background_image: None, + } + } + + pub fn next_task_id(&self) -> u32 { + self.tasks.iter().map(|t| t.id).max().unwrap_or(0) + 1 + } +} + +impl Default for MissionPlan { + fn default() -> Self { + Self::new() + } +} diff --git a/src-tauri/src/models/mod.rs b/src-tauri/src/models/mod.rs new file mode 100644 index 0000000..8adf366 --- /dev/null +++ b/src-tauri/src/models/mod.rs @@ -0,0 +1,9 @@ +pub mod mission; +pub mod task; +pub mod path_line; +pub mod path_plan; + +pub use mission::{MissionPlan, MissionScanConfig}; +pub use task::{SubTask, SubTaskType, Task}; +pub use path_line::{PathLineFile, PathLineRecord}; +pub use path_plan::{ScanMode, ScanParams, ScanRegion, CameraParams, PlannerDefaults}; diff --git a/src-tauri/src/models/path_line.rs b/src-tauri/src/models/path_line.rs new file mode 100644 index 0000000..21fc52c --- /dev/null +++ b/src-tauri/src/models/path_line.rs @@ -0,0 +1,23 @@ +use serde::{Deserialize, Serialize}; + +#[derive(Debug, Clone, Serialize, Deserialize)] +pub struct PathLineRecord { + #[serde(rename = "targetYPosition")] + pub target_y_position: f64, + #[serde(rename = "speedTargetYPosition")] + pub speed_target_y_position: f64, + #[serde(rename = "targetXMinPosition")] + pub target_x_min_position: f64, + #[serde(rename = "speedTargetXMinPosition")] + pub speed_target_x_min_position: f64, + #[serde(rename = "targetXMaxPosition")] + pub target_x_max_position: f64, + #[serde(rename = "speedTargetXMaxPosition")] + pub speed_target_x_max_position: f64, +} + +#[derive(Debug, Clone, Serialize, Deserialize)] +pub struct PathLineFile { + pub count: u64, + pub records: Vec, +} diff --git a/src-tauri/src/models/path_plan.rs b/src-tauri/src/models/path_plan.rs new file mode 100644 index 0000000..0afec1c --- /dev/null +++ b/src-tauri/src/models/path_plan.rs @@ -0,0 +1,73 @@ +use serde::{Deserialize, Serialize}; + +#[derive(Debug, Clone, Serialize, Deserialize)] +pub struct ScanRegion { + #[serde(rename = "xMin")] + pub x_min: f64, + #[serde(rename = "xMax")] + pub x_max: f64, + #[serde(rename = "yMin")] + pub y_min: f64, + #[serde(rename = "yMax")] + pub y_max: f64, +} + +#[derive(Debug, Clone, Serialize, Deserialize)] +pub struct CameraParams { + #[serde(rename = "fovDegrees")] + pub fov_degrees: f64, + #[serde(rename = "heightCm")] + pub height_cm: f64, +} + +#[derive(Debug, Clone, Serialize, Deserialize)] +pub enum ScanMode { + Zigzag, + OneWay, +} + +#[derive(Debug, Clone, Serialize, Deserialize)] +pub struct ScanParams { + pub region: ScanRegion, + pub camera: CameraParams, + #[serde(rename = "coverageRate")] + pub coverage_rate: f64, + #[serde(rename = "speedYCmS")] + pub speed_y_cm_s: f64, + #[serde(rename = "speedXStartCmS")] + pub speed_x_start_cm_s: f64, + #[serde(rename = "speedXScanCmS")] + pub speed_x_scan_cm_s: f64, + pub mode: ScanMode, +} + +#[derive(Debug, Clone, Serialize, Deserialize)] +pub struct PlannerDefaults { + #[serde(rename = "fovDegrees")] + pub fov_degrees: f64, + #[serde(rename = "heightCm")] + pub height_cm: f64, + #[serde(rename = "coverageRate")] + pub coverage_rate: f64, + #[serde(rename = "speedYCmS")] + pub speed_y_cm_s: f64, + #[serde(rename = "speedXStartCmS")] + pub speed_x_start_cm_s: f64, + #[serde(rename = "speedXScanCmS")] + pub speed_x_scan_cm_s: f64, + pub mode: String, +} + +impl Default for PlannerDefaults { + fn default() -> Self { + Self { + fov_degrees: 30.0, + height_cm: 50.0, + coverage_rate: 30.0, + speed_y_cm_s: 5.0, + speed_x_start_cm_s: 20.0, + speed_x_scan_cm_s: 10.0, + mode: "Zigzag".to_string(), + } + } +} diff --git a/src-tauri/src/models/task.rs b/src-tauri/src/models/task.rs new file mode 100644 index 0000000..4e7f292 --- /dev/null +++ b/src-tauri/src/models/task.rs @@ -0,0 +1,130 @@ +use serde::{Deserialize, Serialize}; +use uuid::Uuid; + +#[derive(Debug, Clone, Serialize, Deserialize, PartialEq)] +pub enum SubTaskType { + #[serde(rename = "HyperSpectual400_1000nm")] + HyperSpectual400_1000nm, + #[serde(rename = "HyperSpectual1000_1700nm")] + HyperSpectual1000_1700nm, + #[serde(rename = "SingleLensReflex")] + SingleLensReflex, + #[serde(rename = "DepthCamera")] + DepthCamera, +} + +impl SubTaskType { + pub fn is_hyperspectral(&self) -> bool { + matches!(self, Self::HyperSpectual400_1000nm | Self::HyperSpectual1000_1700nm) + } + + pub fn is_camera_type(&self) -> bool { + matches!(self, Self::SingleLensReflex | Self::DepthCamera) + } + + pub fn label(&self) -> &'static str { + match self { + Self::HyperSpectual400_1000nm => "Pika L", + Self::HyperSpectual1000_1700nm => "Pika NIR", + Self::SingleLensReflex => "单反相机", + Self::DepthCamera => "深度相机", + } + } +} + +#[derive(Debug, Clone, Serialize, Deserialize)] +pub struct SubTask { + #[serde(default = "default_subtask_id")] + pub id: String, + #[serde(rename = "type")] + pub sub_task_type: SubTaskType, + #[serde(rename = "captureIntervalSeconds")] + pub capture_interval_seconds: Option, + #[serde(rename = "defaultRenderBand")] + pub default_render_band: Option, + #[serde(rename = "exposureTime")] + pub exposure_time: Option, + #[serde(rename = "frameRate")] + pub frame_rate: Option, + #[serde(rename = "pathLineFilePath")] + pub path_line_file_path: String, + #[serde(rename = "durationMinutes")] + pub duration_minutes: f64, + #[serde(rename = "estimatedDurationMinutes")] + pub estimated_duration_minutes: f64, + #[serde(rename = "endTime")] + pub end_time: Option, + #[serde(rename = "startTime")] + pub start_time: Option, + pub status: String, +} + +fn default_subtask_id() -> String { + Uuid::new_v4().to_string() +} + +impl SubTask { + pub fn new(sub_task_type: SubTaskType) -> Self { + Self { + id: default_subtask_id(), + sub_task_type, + capture_interval_seconds: None, + default_render_band: Some(550), + exposure_time: None, + frame_rate: None, + path_line_file_path: String::new(), + duration_minutes: 0.0, + estimated_duration_minutes: 0.0, + end_time: None, + start_time: None, + status: "Waiting".to_string(), + } + } +} + +#[derive(Debug, Clone, Serialize, Deserialize)] +pub struct Task { + pub id: u32, + #[serde(rename = "savePath")] + pub save_path: String, + #[serde(rename = "scheduledTime")] + pub scheduled_time: String, + #[serde(rename = "HalogenLampPreheatingTime_Minute")] + pub halogen_lamp_preheating_time_minute: f64, + #[serde(rename = "durationMinutes")] + pub duration_minutes: f64, + #[serde(rename = "estimatedDurationMinutes")] + pub estimated_duration_minutes: f64, + #[serde(rename = "endTime")] + pub end_time: Option, + #[serde(rename = "startTime")] + pub start_time: Option, + pub status: String, + #[serde(rename = "subTasks")] + pub sub_tasks: Vec, +} + +impl Task { + pub fn new(id: u32) -> Self { + Self { + id, + save_path: String::new(), + scheduled_time: "2000-01-01T00:00:00".to_string(), + halogen_lamp_preheating_time_minute: 0.1, + duration_minutes: 0.0, + estimated_duration_minutes: 0.0, + end_time: None, + start_time: None, + status: "Waiting".to_string(), + sub_tasks: Vec::new(), + } + } + + pub fn has_hyperspectral(&self) -> bool { + self.sub_tasks.iter().any(|s| s.sub_task_type.is_hyperspectral()) + } + + pub fn has_type(&self, stype: &SubTaskType) -> bool { + self.sub_tasks.iter().any(|s| s.sub_task_type == *stype) + } +} diff --git a/src-tauri/src/services/mod.rs b/src-tauri/src/services/mod.rs new file mode 100644 index 0000000..1452acc --- /dev/null +++ b/src-tauri/src/services/mod.rs @@ -0,0 +1,3 @@ +pub mod scheduler; +pub mod validator; +pub mod path_generator; diff --git a/src-tauri/src/services/path_generator.rs b/src-tauri/src/services/path_generator.rs new file mode 100644 index 0000000..4a3d691 --- /dev/null +++ b/src-tauri/src/services/path_generator.rs @@ -0,0 +1,155 @@ +use std::f64::consts::PI; +use crate::models::{PathLineRecord, ScanMode, ScanParams, ScanRegion}; + +const DEG_TO_RAD: f64 = PI / 180.0; + +/// Calculate the camera footprint width at the target surface. +pub fn calc_footprint(height_cm: f64, fov_degrees: f64) -> f64 { + 2.0 * height_cm * (fov_degrees / 2.0 * DEG_TO_RAD).tan() +} + +/// Generate path line records from scan parameters. +pub fn generate_path(params: &ScanParams) -> Vec { + let footprint = calc_footprint(params.camera.height_cm, params.camera.fov_degrees); + let step = footprint * (1.0 - params.coverage_rate / 100.0); + + let x_min = params.region.x_min; + let x_max = params.region.x_max; + let y_min = params.region.y_min; + let y_max = params.region.y_max; + + let line_count = if step <= 0.0 { + 1 + } else { + ((y_max - y_min) / step).ceil() as u64 + 1 + }; + + let mut records = Vec::with_capacity(line_count as usize); + + match params.mode { + ScanMode::Zigzag => { + for i in 0..line_count { + let y = y_min + (i as f64) * step; + if y > y_max { + break; + } + + let is_forward = i % 2 == 0; + let (scan_start, scan_end) = if is_forward { + (x_min, x_max) + } else { + (x_max, x_min) + }; + + records.push(PathLineRecord { + target_y_position: y, + speed_target_y_position: params.speed_y_cm_s, + target_x_min_position: scan_start, + speed_target_x_min_position: params.speed_x_start_cm_s, + target_x_max_position: scan_end, + speed_target_x_max_position: params.speed_x_scan_cm_s, + }); + } + } + ScanMode::OneWay => { + for i in 0..line_count { + let y = y_min + (i as f64) * step; + if y > y_max { + break; + } + + records.push(PathLineRecord { + target_y_position: y, + speed_target_y_position: params.speed_y_cm_s, + target_x_min_position: x_min, + speed_target_x_min_position: params.speed_x_start_cm_s, + target_x_max_position: x_max, + speed_target_x_max_position: params.speed_x_scan_cm_s, + }); + } + } + } + + records +} + +/// Estimate total time for a scan. +pub fn estimate_scan_time(params: &ScanParams) -> f64 { + let records = generate_path(params); + if records.is_empty() { + return 0.0; + } + + let y_range = (params.region.y_max - params.region.y_min).abs(); + let x_range = (params.region.x_max - params.region.x_min).abs(); + + let y_time = if params.speed_y_cm_s > 0.0 { + y_range / params.speed_y_cm_s + } else { + 0.0 + }; + + let total_x_time = records.len() as f64 * x_range / params.speed_x_scan_cm_s; + + let total_return_time = if matches!(params.mode, ScanMode::OneWay) { + // In one-way mode, return to X start between lines + (records.len() as f64 - 1.0) * x_range / params.speed_x_start_cm_s.max(0.01) + } else { + // In zigzag mode, no return travel needed + 0.0 + }; + + (y_time + total_x_time + total_return_time) / 60.0 // convert to minutes +} + +/// Generate paths for multiple regions, concatenated into one record list. +pub fn generate_paths_multi( + regions: &[ScanRegion], + camera: &crate::models::CameraParams, + coverage_rate: f64, + speed_y_cm_s: f64, + speed_x_start_cm_s: f64, + speed_x_scan_cm_s: f64, + mode: &ScanMode, +) -> Vec { + let mut all_records = Vec::new(); + for region in regions { + let params = ScanParams { + region: region.clone(), + camera: camera.clone(), + coverage_rate, + speed_y_cm_s, + speed_x_start_cm_s, + speed_x_scan_cm_s, + mode: mode.clone(), + }; + all_records.extend(generate_path(¶ms)); + } + all_records +} + +/// Estimate total time for multiple regions. +pub fn estimate_scan_time_multi( + regions: &[ScanRegion], + camera: &crate::models::CameraParams, + coverage_rate: f64, + speed_y_cm_s: f64, + speed_x_start_cm_s: f64, + speed_x_scan_cm_s: f64, + mode: &ScanMode, +) -> f64 { + let mut total = 0.0; + for region in regions { + let params = ScanParams { + region: region.clone(), + camera: camera.clone(), + coverage_rate, + speed_y_cm_s, + speed_x_start_cm_s, + speed_x_scan_cm_s, + mode: mode.clone(), + }; + total += estimate_scan_time(¶ms); + } + total +} diff --git a/src-tauri/src/services/scheduler.rs b/src-tauri/src/services/scheduler.rs new file mode 100644 index 0000000..b2bf9ce --- /dev/null +++ b/src-tauri/src/services/scheduler.rs @@ -0,0 +1,95 @@ +use crate::error::AppError; +use crate::models::{MissionPlan, SubTaskType}; +use chrono::NaiveDateTime; + +pub fn calculate_schedule(mission: &mut MissionPlan) -> Result<(), AppError> { + let fmt = "%Y-%m-%dT%H:%M:%S"; + + for task in &mut mission.tasks { + if task.scheduled_time.is_empty() { + continue; + } + + let mut current_time = NaiveDateTime::parse_from_str(&task.scheduled_time, fmt)?; + + // Phase 1: Halogen lamp preheating + if task.has_hyperspectral() && task.halogen_lamp_preheating_time_minute > 0.0 { + let preheat_minutes = task.halogen_lamp_preheating_time_minute; + current_time = current_time + .checked_add_signed(chrono::Duration::minutes( + (preheat_minutes * 60.0) as i64, + )) + .unwrap_or(current_time); + } + + // Phase 2: Process subtasks using index to avoid borrow conflicts + let sub_types: Vec = task.sub_tasks.iter().map(|s| s.sub_task_type.clone()).collect(); + + for i in 0..task.sub_tasks.len() { + let sub = &mut task.sub_tasks[i]; + sub.start_time = Some(current_time.format(fmt).to_string()); + + let sub_type = sub.sub_task_type.clone(); + + // Calculate estimated duration + let est_duration = match sub_type { + SubTaskType::HyperSpectual400_1000nm | SubTaskType::HyperSpectual1000_1700nm => { + sub.estimated_duration_minutes + } + SubTaskType::SingleLensReflex | SubTaskType::DepthCamera => { + if let Some(interval) = sub.capture_interval_seconds { + sub.estimated_duration_minutes + .max(interval as f64 * 10.0 / 60.0) + } else { + sub.estimated_duration_minutes + } + } + }; + + // Add DSLR wake-up delay if needed + if sub_type == SubTaskType::SingleLensReflex { + // Check if previous subtask exists and is not DSLR + let prev_is_dslr = if i > 0 { + sub_types[i - 1] == SubTaskType::SingleLensReflex + } else { + false + }; + + if !prev_is_dslr { + // Add 135s (2.25 min) wake-up delay + current_time = current_time + .checked_add_signed(chrono::Duration::seconds(135)) + .unwrap_or(current_time); + } + } + + // Advance time by estimated execution duration + let duration_secs = (est_duration * 60.0) as i64; + current_time = current_time + .checked_add_signed(chrono::Duration::seconds(duration_secs.max(1))) + .unwrap_or(current_time); + + sub.end_time = Some(current_time.format(fmt).to_string()); + } + + // Set task-level timing + if let Some(first) = task.sub_tasks.first() { + task.start_time = first.start_time.clone(); + } + if let Some(last) = task.sub_tasks.last() { + task.end_time = last.end_time.clone(); + } + + if let (Some(st), Some(et)) = (&task.start_time, &task.end_time) { + if let (Ok(s), Ok(e)) = + (NaiveDateTime::parse_from_str(st, fmt), NaiveDateTime::parse_from_str(et, fmt)) + { + let dur_minutes = (e - s).num_seconds() as f64 / 60.0; + task.duration_minutes = dur_minutes; + task.estimated_duration_minutes = dur_minutes; + } + } + } + + Ok(()) +} diff --git a/src-tauri/src/services/validator.rs b/src-tauri/src/services/validator.rs new file mode 100644 index 0000000..312fe85 --- /dev/null +++ b/src-tauri/src/services/validator.rs @@ -0,0 +1,355 @@ +use crate::models::{MissionPlan, SubTaskType}; +use serde::{Deserialize, Serialize}; + +#[derive(Debug, Clone, Serialize, Deserialize)] +pub struct ValidationIssue { + pub severity: ValidationSeverity, + pub rule: String, + pub message: String, + #[serde(rename = "taskId")] + pub task_id: Option, + #[serde(rename = "subTaskId")] + pub sub_task_id: Option, + #[serde(rename = "fieldPath")] + pub field_path: Option, +} + +#[derive(Debug, Clone, Serialize, Deserialize)] +pub enum ValidationSeverity { + Error, + Warning, +} + +pub trait ValidationRule: Send + Sync { + fn name(&self) -> &'static str; + fn check(&self, mission: &MissionPlan) -> Vec; +} + +pub struct Validator { + rules: Vec>, +} + +impl Validator { + pub fn new() -> Self { + Self { + rules: vec![ + Box::new(SubTaskOrderRule), + Box::new(HalogenPreheatingRule), + Box::new(DSLRWakeupRule), + Box::new(RequiredFieldsRule), + Box::new(TimingConsistencyRule), + Box::new(HyperspectralRequiredRule), + ], + } + } + + pub fn validate(&self, mission: &MissionPlan) -> Vec { + self.rules + .iter() + .flat_map(|rule| rule.check(mission)) + .collect() + } +} + +impl Default for Validator { + fn default() -> Self { + Self::new() + } +} + +// Rule 1: Hyperspectral subtasks must come before DSLR/Depth +struct SubTaskOrderRule; + +impl ValidationRule for SubTaskOrderRule { + fn name(&self) -> &'static str { + "SubTaskOrder" + } + + fn check(&self, mission: &MissionPlan) -> Vec { + let mut issues = Vec::new(); + for task in &mission.tasks { + let mut found_camera = false; + for sub in &task.sub_tasks { + if sub.sub_task_type.is_camera_type() { + found_camera = true; + } else if found_camera && sub.sub_task_type.is_hyperspectral() { + issues.push(ValidationIssue { + severity: ValidationSeverity::Error, + rule: self.name().to_string(), + message: format!( + "Task #{}: 高光谱子任务 ({} 在位置 {}) 必须在单反/深度之后", + task.id, + sub.sub_task_type.label(), + "unknown" + ), + task_id: Some(task.id), + sub_task_id: Some(sub.id.clone()), + field_path: Some(format!("tasks[{}].subTasks[{}]", task.id, "order")), + }); + } + } + } + issues + } +} + +// Rule 2: Halogen preheating required when hyperspectral tasks exist +struct HalogenPreheatingRule; + +impl ValidationRule for HalogenPreheatingRule { + fn name(&self) -> &'static str { + "HalogenPreheating" + } + + fn check(&self, mission: &MissionPlan) -> Vec { + let mut issues = Vec::new(); + for task in &mission.tasks { + if task.has_hyperspectral() && task.halogen_lamp_preheating_time_minute <= 0.0 { + issues.push(ValidationIssue { + severity: ValidationSeverity::Warning, + rule: self.name().to_string(), + message: format!( + "Task #{}: 包含高光谱子任务但卤素灯预热时间为0", + task.id + ), + task_id: Some(task.id), + sub_task_id: None, + field_path: Some(format!("tasks[{}].HalogenLampPreheatingTime_Minute", task.id)), + }); + } + } + issues + } +} + +// Rule 3: DSLR wake-up timing check +struct DSLRWakeupRule; + +impl ValidationRule for DSLRWakeupRule { + fn name(&self) -> &'static str { + "DSLRWakeup" + } + + fn check(&self, mission: &MissionPlan) -> Vec { + let mut issues = Vec::new(); + for task in &mission.tasks { + let mut prev_was_dslr = false; + for sub in &task.sub_tasks { + if sub.sub_task_type == SubTaskType::SingleLensReflex { + if !prev_was_dslr { + // First DSLR in sequence - should have 135s wake-up delay + if let (Some(st), Some(prev_end)) = + (&sub.start_time, task.sub_tasks.iter().rev().find(|s| s.id != sub.id).and_then(|s| s.end_time.as_ref())) + { + if let (Ok(st_t), Ok(prev_t)) = ( + chrono::NaiveDateTime::parse_from_str(st, "%Y-%m-%dT%H:%M:%S"), + chrono::NaiveDateTime::parse_from_str(prev_end, "%Y-%m-%dT%H:%M:%S"), + ) { + let gap = (st_t - prev_t).num_seconds(); + if gap < 135 { + issues.push(ValidationIssue { + severity: ValidationSeverity::Warning, + rule: self.name().to_string(), + message: format!( + "Task #{}: DSLR 唤醒间隔 {}s 不足 135s", + task.id, gap + ), + task_id: Some(task.id), + sub_task_id: Some(sub.id.clone()), + field_path: None, + }); + } + } + } + } + prev_was_dslr = true; + } else { + prev_was_dslr = false; + } + } + } + issues + } +} + +// Rule 4: Required fields check +struct RequiredFieldsRule; + +impl ValidationRule for RequiredFieldsRule { + fn name(&self) -> &'static str { + "RequiredFields" + } + + fn check(&self, mission: &MissionPlan) -> Vec { + let mut issues = Vec::new(); + + for (ti, task) in mission.tasks.iter().enumerate() { + if task.save_path.is_empty() { + issues.push(ValidationIssue { + severity: ValidationSeverity::Error, + rule: self.name().to_string(), + message: format!("Task #{}: savePath 不能为空", task.id), + task_id: Some(task.id), + sub_task_id: None, + field_path: Some(format!("tasks[{}].savePath", ti)), + }); + } + if task.scheduled_time.is_empty() { + issues.push(ValidationIssue { + severity: ValidationSeverity::Error, + rule: self.name().to_string(), + message: format!("Task #{}: scheduledTime 不能为空", task.id), + task_id: Some(task.id), + sub_task_id: None, + field_path: Some(format!("tasks[{}].scheduledTime", ti)), + }); + } + + for (si, sub) in task.sub_tasks.iter().enumerate() { + if sub.path_line_file_path.is_empty() { + issues.push(ValidationIssue { + severity: ValidationSeverity::Warning, + rule: self.name().to_string(), + message: format!( + "Task #{}: {} 航线文件路径为空", + task.id, + sub.sub_task_type.label() + ), + task_id: Some(task.id), + sub_task_id: Some(sub.id.clone()), + field_path: Some(format!("tasks[{}].subTasks[{}].pathLineFilePath", ti, si)), + }); + } + + match sub.sub_task_type { + SubTaskType::HyperSpectual400_1000nm | SubTaskType::HyperSpectual1000_1700nm => { + if sub.exposure_time.is_none() || sub.exposure_time == Some(0) { + issues.push(ValidationIssue { + severity: ValidationSeverity::Error, + rule: self.name().to_string(), + message: format!( + "Task #{}: {} exposureTime 必填", + task.id, + sub.sub_task_type.label() + ), + task_id: Some(task.id), + sub_task_id: Some(sub.id.clone()), + field_path: Some(format!( + "tasks[{}].subTasks[{}].exposureTime", + ti, si + )), + }); + } + if sub.frame_rate.is_none() || sub.frame_rate == Some(0) { + issues.push(ValidationIssue { + severity: ValidationSeverity::Error, + rule: self.name().to_string(), + message: format!( + "Task #{}: {} frameRate 必填", + task.id, + sub.sub_task_type.label() + ), + task_id: Some(task.id), + sub_task_id: Some(sub.id.clone()), + field_path: Some(format!( + "tasks[{}].subTasks[{}].frameRate", + ti, si + )), + }); + } + } + SubTaskType::SingleLensReflex | SubTaskType::DepthCamera => { + if sub.capture_interval_seconds.is_none() || sub.capture_interval_seconds == Some(0) { + issues.push(ValidationIssue { + severity: ValidationSeverity::Error, + rule: self.name().to_string(), + message: format!( + "Task #{}: {} captureIntervalSeconds 必填", + task.id, + sub.sub_task_type.label() + ), + task_id: Some(task.id), + sub_task_id: Some(sub.id.clone()), + field_path: Some(format!( + "tasks[{}].subTasks[{}].captureIntervalSeconds", + ti, si + )), + }); + } + } + } + } + } + + issues + } +} + +// Rule 5: Timing consistency +struct TimingConsistencyRule; + +impl ValidationRule for TimingConsistencyRule { + fn name(&self) -> &'static str { + "TimingConsistency" + } + + fn check(&self, mission: &MissionPlan) -> Vec { + let mut issues = Vec::new(); + let fmt = "%Y-%m-%dT%H:%M:%S"; + + for task in &mission.tasks { + for sub in &task.sub_tasks { + if let (Some(st), Some(et)) = (&sub.start_time, &sub.end_time) { + if let (Ok(s), Ok(e)) = + (chrono::NaiveDateTime::parse_from_str(st, fmt), chrono::NaiveDateTime::parse_from_str(et, fmt)) + { + if e <= s { + issues.push(ValidationIssue { + severity: ValidationSeverity::Error, + rule: self.name().to_string(), + message: format!( + "Task #{}: {} endTime ({}) 早于或等于 startTime ({})", + task.id, + sub.sub_task_type.label(), + et, + st + ), + task_id: Some(task.id), + sub_task_id: Some(sub.id.clone()), + field_path: None, + }); + } + } + } + } + } + + issues + } +} + +// Rule 7: Each task must have at least one hyperspectral subtask +struct HyperspectralRequiredRule; + +impl ValidationRule for HyperspectralRequiredRule { + fn name(&self) -> &'static str { + "HyperspectralRequired" + } + + fn check(&self, mission: &MissionPlan) -> Vec { + let mut issues = Vec::new(); + for task in &mission.tasks { + if !task.has_hyperspectral() { + issues.push(ValidationIssue { + severity: ValidationSeverity::Error, + rule: self.name().to_string(), + message: format!("Task #{}: 必须至少包含一个高光谱子任务", task.id), + task_id: Some(task.id), + sub_task_id: None, + field_path: Some(format!("tasks[{}].subTasks", task.id)), + }); + } + } + issues + } +} diff --git a/src-tauri/tauri.conf.json b/src-tauri/tauri.conf.json new file mode 100644 index 0000000..ca4363f --- /dev/null +++ b/src-tauri/tauri.conf.json @@ -0,0 +1,47 @@ +{ + "$schema": "https://schema.tauri.app/config/2", + "productName": "happa-mission-plan", + "version": "0.0.1", + "identifier": "com.xin.happa-mission-plan", + "build": { + "beforeDevCommand": "npm run dev", + "devUrl": "http://localhost:1420", + "beforeBuildCommand": "npm run build", + "frontendDist": "../dist" + }, + "app": { + "windows": [ + { + "title": "Happa Mission Plan", + "width": 1400, + "height": 900, + "minWidth": 1024, + "minHeight": 600 + } + ], + "security": { + "csp": "default-src 'self' ipc: http://ipc.localhost; connect-src 'self' ws: http://localhost:1420; img-src 'self' asset: http://asset.localhost https: data: blob:; style-src 'self' 'unsafe-inline'; font-src 'self' data:;", + "assetProtocol": { + "enable": true, + "scope": ["**"] + } + } + }, + "bundle": { + "active": true, + "targets": "nsis", + "icon": [ + "icons/32x32.png", + "icons/128x128.png", + "icons/128x128@2x.png", + "icons/icon.icns", + "icons/icon.ico" + ], + "windows": { + "nsis": { + "installMode": "perMachine", + "installerHooks": "./hooks.nsi" + } + } + } +} diff --git a/src/App.vue b/src/App.vue new file mode 100644 index 0000000..3b53f11 --- /dev/null +++ b/src/App.vue @@ -0,0 +1,32 @@ + + + diff --git a/src/assets/vue.svg b/src/assets/vue.svg new file mode 100644 index 0000000..770e9d3 --- /dev/null +++ b/src/assets/vue.svg @@ -0,0 +1 @@ + \ No newline at end of file diff --git a/src/components/planner/ScanCanvas.vue b/src/components/planner/ScanCanvas.vue new file mode 100644 index 0000000..fcd6af7 --- /dev/null +++ b/src/components/planner/ScanCanvas.vue @@ -0,0 +1,210 @@ + + + + + diff --git a/src/components/planner/ScanParamPanel.vue b/src/components/planner/ScanParamPanel.vue new file mode 100644 index 0000000..9c255fe --- /dev/null +++ b/src/components/planner/ScanParamPanel.vue @@ -0,0 +1,93 @@ + + + + + diff --git a/src/components/timeline/TimelineGantt.vue b/src/components/timeline/TimelineGantt.vue new file mode 100644 index 0000000..05c5d09 --- /dev/null +++ b/src/components/timeline/TimelineGantt.vue @@ -0,0 +1,142 @@ + + + + + diff --git a/src/components/validation/ValidationPanel.vue b/src/components/validation/ValidationPanel.vue new file mode 100644 index 0000000..e8f7273 --- /dev/null +++ b/src/components/validation/ValidationPanel.vue @@ -0,0 +1,46 @@ + + + + + diff --git a/src/main.ts b/src/main.ts new file mode 100644 index 0000000..c415d6d --- /dev/null +++ b/src/main.ts @@ -0,0 +1,11 @@ +import { createApp } from 'vue'; +import { createPinia } from 'pinia'; +import NaiveUI from 'naive-ui'; +import router from './router'; +import App from './App.vue'; + +const app = createApp(App); +app.use(createPinia()); +app.use(NaiveUI); +app.use(router); +app.mount('#app'); diff --git a/src/router/index.ts b/src/router/index.ts new file mode 100644 index 0000000..3b4bea6 --- /dev/null +++ b/src/router/index.ts @@ -0,0 +1,19 @@ +import { createRouter, createWebHistory } from 'vue-router'; +import HomeView from '../views/HomeView.vue'; +import MissionEditorView from '../views/MissionEditorView.vue'; +import PathPlannerView from '../views/PathPlannerView.vue'; +import PathLineViewer from '../views/PathLineViewer.vue'; + +const routes = [ + { path: '/', name: 'home', component: HomeView }, + { path: '/editor', name: 'mission-editor', component: MissionEditorView }, + { path: '/planner', name: 'path-planner', component: PathPlannerView }, + { path: '/pathline', name: 'pathline-viewer', component: PathLineViewer }, +]; + +const router = createRouter({ + history: createWebHistory(), + routes, +}); + +export default router; diff --git a/src/stores/mission.ts b/src/stores/mission.ts new file mode 100644 index 0000000..f5e3da4 --- /dev/null +++ b/src/stores/mission.ts @@ -0,0 +1,161 @@ +import { defineStore } from 'pinia'; +import { ref, computed, watch } from 'vue'; +import { invoke } from '@tauri-apps/api/core'; +import type { MissionPlan, MissionScanConfig } from '../types/mission'; +import { createEmptyMission } from '../types/mission'; +import type { Task, SubTask, SubTaskType } from '../types/task'; +import type { ValidationIssue } from '../types/validation'; + +export const useMissionStore = defineStore('mission', () => { + const mission = ref(createEmptyMission()); + const currentFilePath = ref(null); + const isDirty = ref(false); + + const taskCount = computed(() => mission.value.tasks.length); + + // Auto-persist scan config and background when they change + let saveTimer: ReturnType | null = null; + watch( + () => ({ sc: mission.value.scanConfig, bg: mission.value.backgroundImage }), + () => { + if (saveTimer) clearTimeout(saveTimer); + saveTimer = setTimeout(() => { + invoke('save_default_scan_config', { config: mission.value.scanConfig }).catch(() => {}); + invoke('save_default_background', { path: mission.value.backgroundImage || '' }).catch(() => {}); + }, 500); + }, + { deep: true } + ); + + async function createNew() { + mission.value = createEmptyMission(); + // Load persisted defaults + try { + const defaults = await invoke('load_default_scan_config'); + mission.value.scanConfig = defaults; + } catch { + // use defaults + } + try { + const bg = await invoke('load_default_background'); + mission.value.backgroundImage = bg; + } catch { + // ignore + } + currentFilePath.value = null; + isDirty.value = false; + } + + async function loadMission(path: string) { + const result = await invoke('load_mission', { path }); + mission.value = result; + currentFilePath.value = path; + isDirty.value = false; + } + + async function saveMission(path?: string) { + const savePath = path || currentFilePath.value; + if (!savePath) throw new Error('No save path specified'); + await invoke('save_mission', { path: savePath, mission: mission.value }); + currentFilePath.value = savePath; + isDirty.value = false; + } + + async function addTask() { + const result = await invoke('add_task', { mission: mission.value }); + mission.value = result; + isDirty.value = true; + } + + async function copyTask(taskId: number) { + const result = await invoke('copy_task', { mission: mission.value, taskId }); + mission.value = result; + isDirty.value = true; + } + + async function removeTask(taskId: number) { + const result = await invoke('remove_task', { mission: mission.value, taskId }); + mission.value = result; + isDirty.value = true; + } + + async function addSubTask(taskId: number, subTaskType: SubTaskType) { + const result = await invoke('add_sub_task', { + mission: mission.value, + taskId, + subTaskType, + }); + mission.value = result; + isDirty.value = true; + } + + async function removeSubTask(taskId: number, subTaskId: string) { + const result = await invoke('remove_sub_task', { + mission: mission.value, + taskId, + subTaskId, + }); + mission.value = result; + isDirty.value = true; + } + + async function updateSubTask(taskId: number, subTask: SubTask) { + const result = await invoke('update_sub_task', { + mission: mission.value, + taskId, + subTask, + }); + mission.value = result; + isDirty.value = true; + } + + async function updateTask(task: Task) { + const result = await invoke('update_task', { + mission: mission.value, + task, + }); + mission.value = result; + isDirty.value = true; + } + + async function calculateSchedule() { + const result = await invoke('calculate_schedule', { mission: mission.value }); + mission.value = result; + isDirty.value = true; + } + + async function runValidation(): Promise { + return await invoke('validate_mission', { mission: mission.value }); + } + + function updateScanConfig(config: Partial) { + mission.value.scanConfig = { ...mission.value.scanConfig, ...config }; + isDirty.value = true; + } + + function setBackgroundImage(path: string | null) { + mission.value.backgroundImage = path; + isDirty.value = true; + } + + return { + mission, + currentFilePath, + isDirty, + taskCount, + createNew, + loadMission, + saveMission, + addTask, + copyTask, + removeTask, + addSubTask, + removeSubTask, + updateSubTask, + updateTask, + calculateSchedule, + runValidation, + updateScanConfig, + setBackgroundImage, + }; +}); diff --git a/src/stores/ui.ts b/src/stores/ui.ts new file mode 100644 index 0000000..8b1011f --- /dev/null +++ b/src/stores/ui.ts @@ -0,0 +1,46 @@ +import { defineStore } from 'pinia'; +import { ref, computed } from 'vue'; + +export interface UiState { + sidebarCollapsed: boolean; + showValidationPanel: boolean; + globalLoading: boolean; + globalError: string | null; +} + +export const useUiStore = defineStore('ui', () => { + const sidebarCollapsed = ref(false); + const showValidationPanel = ref(true); + const globalLoading = ref(false); + const globalError = ref(null); + + const hasError = computed(() => globalError.value !== null); + + function showError(msg: string) { + globalError.value = msg; + } + + function dismissError() { + globalError.value = null; + } + + function toggleSidebar() { + sidebarCollapsed.value = !sidebarCollapsed.value; + } + + function toggleValidationPanel() { + showValidationPanel.value = !showValidationPanel.value; + } + + return { + sidebarCollapsed, + showValidationPanel, + globalLoading, + globalError, + hasError, + showError, + dismissError, + toggleSidebar, + toggleValidationPanel, + }; +}); diff --git a/src/stores/validation.ts b/src/stores/validation.ts new file mode 100644 index 0000000..9b66a70 --- /dev/null +++ b/src/stores/validation.ts @@ -0,0 +1,28 @@ +import { defineStore } from 'pinia'; +import { ref, computed } from 'vue'; +import type { ValidationIssue } from '../types/validation'; + +export const useValidationStore = defineStore('validation', () => { + const issues = ref([]); + + const errorCount = computed(() => issues.value.filter(i => i.severity === 'Error').length); + const warningCount = computed(() => issues.value.filter(i => i.severity === 'Warning').length); + const hasIssues = computed(() => issues.value.length > 0); + + function setIssues(newIssues: ValidationIssue[]) { + issues.value = newIssues; + } + + function clear() { + issues.value = []; + } + + return { + issues, + errorCount, + warningCount, + hasIssues, + setIssues, + clear, + }; +}); diff --git a/src/types/mission.ts b/src/types/mission.ts new file mode 100644 index 0000000..e3063b4 --- /dev/null +++ b/src/types/mission.ts @@ -0,0 +1,49 @@ +import type { Task } from './task'; + +export interface MissionScanConfig { + xMin: number; + xMax: number; + yMin: number; + yMax: number; +} + +export interface PlannerDefaults { + fovDegrees: number; + heightCm: number; + coverageRate: number; + speedYCmS: number; + speedXStartCmS: number; + speedXScanCmS: number; + mode: string; +} + +export interface MissionPlan { + version: string; + taskCount: number; + tasks: Task[]; + scanConfig: MissionScanConfig; + backgroundImage?: string | null; +} + +export function createDefaultScanConfig(): MissionScanConfig { + return { xMin: 0, xMax: 100, yMin: 0, yMax: 100 }; +} + +export function createDefaultPlannerParams(): PlannerDefaults { + return { + fovDegrees: 30, heightCm: 50, + coverageRate: 30, + speedYCmS: 5, speedXStartCmS: 20, speedXScanCmS: 10, + mode: 'Zigzag', + }; +} + +export function createEmptyMission(): MissionPlan { + return { + version: '1.0', + taskCount: 0, + tasks: [], + scanConfig: createDefaultScanConfig(), + backgroundImage: null, + }; +} diff --git a/src/types/path-line.ts b/src/types/path-line.ts new file mode 100644 index 0000000..c8eabc1 --- /dev/null +++ b/src/types/path-line.ts @@ -0,0 +1,13 @@ +export interface PathLineRecord { + targetYPosition: number; + speedTargetYPosition: number; + targetXMinPosition: number; + speedTargetXMinPosition: number; + targetXMaxPosition: number; + speedTargetXMaxPosition: number; +} + +export interface PathLineFile { + count: number; + records: PathLineRecord[]; +} diff --git a/src/types/path-plan.ts b/src/types/path-plan.ts new file mode 100644 index 0000000..1362014 --- /dev/null +++ b/src/types/path-plan.ts @@ -0,0 +1,23 @@ +export interface ScanRegion { + xMin: number; + xMax: number; + yMin: number; + yMax: number; +} + +export interface CameraParams { + fovDegrees: number; + heightCm: number; +} + +export type ScanMode = 'Zigzag' | 'OneWay'; + +export interface ScanParams { + region: ScanRegion; + camera: CameraParams; + coverageRate: number; + speedYCmS: number; + speedXStartCmS: number; + speedXScanCmS: number; + mode: ScanMode; +} diff --git a/src/types/task.ts b/src/types/task.ts new file mode 100644 index 0000000..befe86d --- /dev/null +++ b/src/types/task.ts @@ -0,0 +1,42 @@ +export enum SubTaskType { + HyperSpectual400_1000nm = 'HyperSpectual400_1000nm', + HyperSpectual1000_1700nm = 'HyperSpectual1000_1700nm', + SingleLensReflex = 'SingleLensReflex', + DepthCamera = 'DepthCamera', +} + +export function isHyperspectral(type: SubTaskType): boolean { + return type === SubTaskType.HyperSpectual400_1000nm || type === SubTaskType.HyperSpectual1000_1700nm; +} + +export function isCameraType(type: SubTaskType): boolean { + return type === SubTaskType.SingleLensReflex || type === SubTaskType.DepthCamera; +} + +export interface SubTask { + id: string; + type: SubTaskType; + captureIntervalSeconds: number | null; + defaultRenderBand: number | null; + exposureTime: number | null; + frameRate: number | null; + pathLineFilePath: string; + durationMinutes: number; + estimatedDurationMinutes: number; + endTime: string | null; + startTime: string | null; + status: string; +} + +export interface Task { + id: number; + savePath: string; + scheduledTime: string; + HalogenLampPreheatingTime_Minute: number; + durationMinutes: number; + estimatedDurationMinutes: number; + endTime: string | null; + startTime: string | null; + status: string; + subTasks: SubTask[]; +} diff --git a/src/types/validation.ts b/src/types/validation.ts new file mode 100644 index 0000000..18ff707 --- /dev/null +++ b/src/types/validation.ts @@ -0,0 +1,10 @@ +export type ValidationSeverity = 'Error' | 'Warning'; + +export interface ValidationIssue { + severity: ValidationSeverity; + rule: string; + message: string; + taskId: number | null; + subTaskId: string | null; + fieldPath: string | null; +} diff --git a/src/utils/constants.ts b/src/utils/constants.ts new file mode 100644 index 0000000..263afca --- /dev/null +++ b/src/utils/constants.ts @@ -0,0 +1,47 @@ +export const SUBTASK_TYPE_LABELS: Record = { + HyperSpectual400_1000nm: 'Pika L', + HyperSpectual1000_1700nm: 'Pika NIR', + SingleLensReflex: '单反相机', + DepthCamera: '深度相机', +}; + +export const SUBTASK_TYPE_COLORS: Record = { + HyperSpectual400_1000nm: '#18a058', + HyperSpectual1000_1700nm: '#2080f0', + SingleLensReflex: '#f0a020', + DepthCamera: '#d03050', +}; + +export const DEVICE_FOV: Record = { + HyperSpectual400_1000nm: 17.6, + HyperSpectual1000_1700nm: 21.7, + SingleLensReflex: 74, + DepthCamera: 90, +}; + +export const DEFAULT_VALUES = { + halogenLampPreheatingTime_Minute: 0.1, + captureIntervalSeconds: 5, + exposureTime: 1, + frameRate: 30, + defaultRenderBand: 550, +}; + +export function formatDuration(minutes: number): string { + if (minutes < 0) return '0min'; + if (minutes < 1) return `${(minutes * 60).toFixed(0)}s`; + const h = Math.floor(minutes / 60); + const m = Math.round(minutes % 60); + if (h > 0) return `${h}h${m}min`; + return `${m}min`; +} + +export function formatDateTime(isoString: string | null): string { + if (!isoString) return '-'; + try { + const d = new Date(isoString); + return d.toLocaleTimeString('zh-CN', { hour: '2-digit', minute: '2-digit', second: '2-digit' }); + } catch { + return isoString; + } +} diff --git a/src/views/HomeView.vue b/src/views/HomeView.vue new file mode 100644 index 0000000..c1d4d77 --- /dev/null +++ b/src/views/HomeView.vue @@ -0,0 +1,81 @@ + + + + + diff --git a/src/views/MissionEditorView.vue b/src/views/MissionEditorView.vue new file mode 100644 index 0000000..4025eec --- /dev/null +++ b/src/views/MissionEditorView.vue @@ -0,0 +1,398 @@ + + + + + diff --git a/src/views/PathLineViewer.vue b/src/views/PathLineViewer.vue new file mode 100644 index 0000000..a9492d4 --- /dev/null +++ b/src/views/PathLineViewer.vue @@ -0,0 +1,82 @@ + + + + + diff --git a/src/views/PathPlannerView.vue b/src/views/PathPlannerView.vue new file mode 100644 index 0000000..dc8f002 --- /dev/null +++ b/src/views/PathPlannerView.vue @@ -0,0 +1,215 @@ + + + + + diff --git a/src/vite-env.d.ts b/src/vite-env.d.ts new file mode 100644 index 0000000..fc81239 --- /dev/null +++ b/src/vite-env.d.ts @@ -0,0 +1,7 @@ +/// + +declare module "*.vue" { + import type { DefineComponent } from "vue"; + const component: DefineComponent<{}, {}, any>; + export default component; +} diff --git a/tsconfig.json b/tsconfig.json new file mode 100644 index 0000000..f82888f --- /dev/null +++ b/tsconfig.json @@ -0,0 +1,25 @@ +{ + "compilerOptions": { + "target": "ES2020", + "useDefineForClassFields": true, + "module": "ESNext", + "lib": ["ES2020", "DOM", "DOM.Iterable"], + "skipLibCheck": true, + + /* Bundler mode */ + "moduleResolution": "bundler", + "allowImportingTsExtensions": true, + "resolveJsonModule": true, + "isolatedModules": true, + "noEmit": true, + "jsx": "preserve", + + /* Linting */ + "strict": true, + "noUnusedLocals": true, + "noUnusedParameters": true, + "noFallthroughCasesInSwitch": true + }, + "include": ["src/**/*.ts", "src/**/*.d.ts", "src/**/*.tsx", "src/**/*.vue"], + "references": [{ "path": "./tsconfig.node.json" }] +} diff --git a/tsconfig.node.json b/tsconfig.node.json new file mode 100644 index 0000000..42872c5 --- /dev/null +++ b/tsconfig.node.json @@ -0,0 +1,10 @@ +{ + "compilerOptions": { + "composite": true, + "skipLibCheck": true, + "module": "ESNext", + "moduleResolution": "bundler", + "allowSyntheticDefaultImports": true + }, + "include": ["vite.config.ts"] +} diff --git a/vite.config.ts b/vite.config.ts new file mode 100644 index 0000000..812e61c --- /dev/null +++ b/vite.config.ts @@ -0,0 +1,32 @@ +import { defineConfig } from "vite"; +import vue from "@vitejs/plugin-vue"; + +// @ts-expect-error process is a nodejs global +const host = process.env.TAURI_DEV_HOST; + +// https://vite.dev/config/ +export default defineConfig(async () => ({ + plugins: [vue()], + + // Vite options tailored for Tauri development and only applied in `tauri dev` or `tauri build` + // + // 1. prevent Vite from obscuring rust errors + clearScreen: false, + // 2. tauri expects a fixed port, fail if that port is not available + server: { + port: 1420, + strictPort: true, + host: host || false, + hmr: host + ? { + protocol: "ws", + host, + port: 1421, + } + : undefined, + watch: { + // 3. tell Vite to ignore watching `src-tauri` + ignored: ["**/src-tauri/**"], + }, + }, +}));