added dd06 test support, organized 2d viewer and 3d viewer code organization.

2026-07-26 17:03:44 +08:00
parent 28e6c7c8a9
commit 2e3d0a0609
32 changed files with 2326 additions and 936 deletions
@@ -0,0 +1,300 @@
+"""
+Finger dashboard layout — edit this file to define the panel hierarchy and sizes.
+
+Structure:
+
+    ┌─ toolbar ─────────────────────────────────────────────────────┐
+    ├─ mesh ─┬─ charts ─┬─ settings ────────────────────────────────┤
+    │        ├─ log ────┤                                         │
+    └────────┴──────────┴─────────────────────────────────────────┘
+
+Each panel uses explicit width_px and height_px.
+charts_log_stretch / log_stretch control charts vs log height inside the charts column.
+
+MeshLighting (below) controls the 3D mesh panel sun light:
+  azimuth_deg     — horizontal angle in degrees (0° = +X, 90° = +Y)
+  elevation_deg   — vertical angle in degrees (positive = from above)
+  intensity       — Filament sun strength (typical 30000–120000)
+  ambient/diffuse — Windows viewer shading weights (0–1)
+
+MESH_BACKGROUND (below) sets the 3D mesh panel clear color (RGB 0–255).
+
+MESH_AXIS_OVERLAY (below) controls the fixed top-right pre-rendered 3D axis triad:
+  enabled, padding_px, size_px, opacity
+
+MESH_CONTACT_ARROW (below) controls the yellow 3D contact arrow on the mesh panel:
+  reference_normal_force — Fn at which arrow reaches full size (log/power/linear curve)
+  force_strength_mode    — "log" | "power" | "linear"
+  min/max_length_fraction, min/max_thickness_scale, color
+
+Mesh panel has two sizes (edit MESH_RENDER_* and TOP_ROW mesh slot):
+  display (TOP_ROW mesh width_px/height_px) — Qt widget size on screen
+  render   (MESH_RENDER_WIDTH/HEIGHT)       — Open3D offscreen resolution (upscaled for display)
+
+Performance (3D dashboard; edit DashboardLayout defaults):
+  timer_interval_ms   — Qt timer period (16 ≈ 60 Hz tick rate)
+  mesh_render_stride  — render 3D mesh every N frames (2 ≈ half mesh cost)
+  chart_update_stride — update force charts every N frames
+  mesh_async_render   — reserved for future use; mesh rendering currently stays on the UI thread
+
+Edit TOP_ROW.slots to reorder or resize panels; set ``enabled=False`` to hide a panel (e.g. arrows).
+Log sits under charts only (not under mesh). Settings is the rightmost column.
+"""
+
+from __future__ import annotations
+
+import math
+from dataclasses import dataclass
+from typing import Literal
+
+from gui.log_config import LOG_CONFIG, LogConfig
+from viz.contact_arrow import ContactArrowStyle, DEFAULT_CONTACT_ARROW_STYLE
+from viz.flow_arrow import FlowArrowStyle
+from viz.render_2d import ArrowBackground, ArrowCanvasColors
+
+PanelId = Literal["mesh", "arrows", "charts", "log", "settings"]
+
+
+@dataclass(frozen=True)
+class PanelSlot:
+    """One panel in the dashboard."""
+
+    id: PanelId
+    title: str
+    width_px: int
+    height_px: int
+    stretch: int = 0
+    enabled: bool = True
+
+
+@dataclass(frozen=True)
+class PanelRow:
+    """Horizontal row of panels (the top visual strip)."""
+
+    slots: tuple[PanelSlot, ...]
+    collapsible: bool = False
+
+
+@dataclass(frozen=True)
+class PanelSetup:
+    """Full panel hierarchy: top row + log nested under charts."""
+
+    top_row: PanelRow
+    log_panel: PanelSlot
+    charts_log_stretch: int = 5
+    log_stretch: int = 1
+
+
+# --- Top strip: mesh | arrows? | charts | settings (edit order and sizes here) ---
+TOP_ROW = PanelRow(
+    slots=(
+        PanelSlot("mesh", "3D mesh", width_px=400, height_px=400),
+        PanelSlot("arrows", "UV Unrolled", width_px=400, height_px=400, enabled=True),
+        PanelSlot("charts", "Force charts", width_px=300, height_px=400),
+        PanelSlot("settings", "Settings", width_px=250, height_px=0),
+    ),
+)
+
+LOG_PANEL = PanelSlot("log", "Log", width_px=0, height_px=100)
+
+PANEL_SETUP = PanelSetup(
+    top_row=TOP_ROW,
+    log_panel=LOG_PANEL,
+    charts_log_stretch=5,
+    log_stretch=1,
+)
+
+# Open3D offscreen resolution for the mesh panel (independent of on-screen widget size).
+MESH_RENDER_WIDTH_PX = 500
+MESH_RENDER_HEIGHT_PX = 500
+
+
+@dataclass(frozen=True)
+class MeshLighting:
+    """3D mesh panel light — edit MESH_LIGHTING or DashboardLayout.mesh_lighting."""
+
+    azimuth_deg: float = -45.0 # finger outline
+    elevation_deg: float = -35.0 # tip to root
+    intensity: float = 75000.0
+    ambient: float = 0.35
+    diffuse: float = 0.65
+
+    @property
+    def direction(self) -> tuple[float, float, float]:
+        """Unit light direction derived from azimuth / elevation (degrees)."""
+        az = math.radians(self.azimuth_deg)
+        el = math.radians(self.elevation_deg)
+        cos_el = math.cos(el)
+        return (cos_el * math.cos(az), cos_el * math.sin(az), math.sin(el))
+
+
+MESH_LIGHTING = MeshLighting(
+    azimuth_deg=0,
+    elevation_deg=0,
+    intensity=75000.0,
+    ambient=0.5,
+    diffuse=0.5,
+)
+
+
+@dataclass(frozen=True)
+class MeshBackground:
+    """3D mesh panel clear color — edit MESH_BACKGROUND or DashboardLayout.mesh_background."""
+
+    color: tuple[int, int, int] = (0, 0, 0)
+
+
+MESH_BACKGROUND = MeshBackground(color=(0, 0, 0))
+
+
+@dataclass(frozen=True)
+class MeshAxisOverlay:
+    """Fixed pre-rendered XYZ triad HUD on the 3D mesh RGB output."""
+
+    enabled: bool = True
+    padding_px: int = 12
+    size_px: int = 96
+    opacity: float = 1.0
+
+
+MESH_AXIS_OVERLAY = MeshAxisOverlay()
+
+
+# 3D mesh contact arrow — edit here for dashboard tuning (see ContactArrowStyle in viz/contact_arrow.py).
+MESH_CONTACT_ARROW = ContactArrowStyle(
+    reference_normal_force=10000.0,
+    force_strength_mode="log",
+    force_strength_gamma=0.5,
+    min_length_fraction=0.02,
+    max_length_fraction=0.30,
+    min_thickness_scale=0.20,
+    max_thickness_scale=1.0,
+    normal_force_scale=1.0,
+    color=(1.0, 0.92, 0.10),
+)
+
+# 3D mesh flow line arrows — tail_color/head_color are RGB 0–255 (see FlowArrowStyle).
+MESH_FLOW_ARROW = FlowArrowStyle(
+    threshold=2.0,
+    grid_spacing=20,
+    arrow_scale=0.5,
+    length_margin=1.0,
+    tail_color=(40, 100, 220),
+    head_color=(40, 100, 220),
+    head_fraction=0.5,
+    opacity=1,
+    line_width=15,
+    head_line_width=30.0,
+)
+
+# UV arrow synthetic canvas — BGR tuples (outside valid_mask, inside valid_mask).
+ARROW_CANVAS_COLORS = ArrowCanvasColors(
+    outside_bgr=(0, 0, 0),
+    uv_bgr=(128, 0, 0),
+)
+
+
+@dataclass(frozen=True)
+class DashboardLayout:
+    """Window chrome, chart styling, and panel hierarchy."""
+
+    panel_setup: PanelSetup = PANEL_SETUP
+
+    window_title: str = "Orisys Finger Dashboard"
+    window_width: int = 1300
+    window_height: int = 560
+
+    root_margin_px: int = 6
+    root_spacing_px: int = 6
+    toolbar_spacing_px: int = 8
+
+    plot_buffer_points: int = 120
+    plot_sample_rate_hz: float = 30.0
+    chart_title_font_pt: int = 11
+    chart_axis_label_font_pt: int = 9
+    chart_tick_font_pt: int = 9
+    y_axis_min_span: float = 10000.0
+    y_range_smooth_alpha: float = 0.5
+    curve_color: str = "#00E5FF"
+
+    # UV arrow panel: min flow magnitude to draw an arrow (display only; not dd02-ov.json contact.flow_threshold)
+    arrow_flow_threshold: float = 1.0
+    # "unrolled" = sensor texture; "pure_color" = solid canvas (tune colors via arrow_canvas_colors)
+    arrow_background: ArrowBackground = "pure_color"
+    arrow_canvas_colors: ArrowCanvasColors = ARROW_CANVAS_COLORS
+
+    mesh_lighting: MeshLighting = MESH_LIGHTING
+    mesh_background: MeshBackground = MESH_BACKGROUND
+    mesh_contact_arrow: ContactArrowStyle = MESH_CONTACT_ARROW
+    mesh_flow_arrow: FlowArrowStyle = MESH_FLOW_ARROW
+    mesh_axis_overlay: MeshAxisOverlay = MESH_AXIS_OVERLAY
+
+    log_config: LogConfig = LOG_CONFIG
+
+    mesh_render_width_px: int = MESH_RENDER_WIDTH_PX
+    mesh_render_height_px: int = MESH_RENDER_HEIGHT_PX
+
+    timer_interval_ms: int = 16
+    mesh_async_render: bool = False
+    mesh_render_stride: int = 2
+    chart_update_stride: int = 2
+
+    def mesh_display_size(self) -> tuple[int, int]:
+        """On-screen mesh panel size from TOP_ROW mesh slot."""
+        slot = self.top_slot("mesh")
+        return slot.width_px, slot.height_px
+
+    def mesh_render_size(self) -> tuple[int, int]:
+        """Open3D offscreen render target size (may differ from display size)."""
+        return self.mesh_render_width_px, self.mesh_render_height_px
+
+    def slot(self, panel_id: PanelId) -> PanelSlot | None:
+        if self.panel_setup.log_panel.id == panel_id:
+            return self.panel_setup.log_panel
+        for slot in self.panel_setup.top_row.slots:
+            if slot.id == panel_id:
+                return slot
+        return None
+
+    def charts_column_height_px(self) -> int:
+        """Total height of the charts column (charts + log when enabled)."""
+        charts = self.top_slot("charts")
+        height = charts.height_px
+        log = self.panel_setup.log_panel
+        if log.enabled and log.height_px > 0:
+            height += log.height_px
+        return height
+
+    def top_slot(self, panel_id: PanelId) -> PanelSlot:
+        for slot in self.panel_setup.top_row.slots:
+            if slot.id == panel_id:
+                return slot
+        raise KeyError(f"panel {panel_id!r} not in top row")
+
+    @property
+    def mesh_panel_title(self) -> str:
+        return self.top_slot("mesh").title
+
+    @property
+    def arrows_panel_title(self) -> str:
+        return self.top_slot("arrows").title
+
+    @property
+    def settings_panel_title(self) -> str:
+        return self.top_slot("settings").title
+
+
+LAYOUT = DashboardLayout()
+
+
+def top_row_splitter_sizes(layout: DashboardLayout = LAYOUT) -> tuple[int, ...]:
+    """Horizontal splitter widths from panel setup."""
+    return tuple(slot.width_px for slot in layout.panel_setup.top_row.slots if slot.enabled)
+
+
+def top_row_slot_index(panel_id: PanelId, layout: DashboardLayout = LAYOUT) -> int:
+    """Index of a panel in the horizontal top splitter."""
+    for i, slot in enumerate(layout.panel_setup.top_row.slots):
+        if slot.id == panel_id:
+            return i
+    raise KeyError(f"panel {panel_id!r} not in top row")