gitrusprusandCursor
6cfc16e53c
Вкладки позволяют готовить рельеф, двигать АНПА, накапливать поверхность по лучам и сохранять скриншоты окон; ГБО использует бортовые секторы 12–75° и чёрные зоны вне обзора. Co-authored-by: Cursor <cursoragent@cursor.com>
322 lines
9.7 KiB
Python
322 lines
9.7 KiB
Python
"""Multibeam echosounder (МЛЭ) simulator helpers: seafloor mesh + OBJ export."""
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from __future__ import annotations
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import json
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import math
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import random
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from datetime import datetime, timezone
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from pathlib import Path
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from typing import Any
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def resolve_mle_dir(output_dir: str | Path = "mle_runs") -> Path:
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out = Path(output_dir)
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if not out.is_absolute():
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project_root = Path(__file__).resolve().parent.parent
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out = project_root / out
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return out
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LAST_SETTINGS_FILENAME = "_last_settings.json"
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def save_last_settings(
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settings: dict[str, Any],
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*,
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output_dir: str | Path = "mle_runs",
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) -> dict[str, Any]:
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"""Persist UI preset so it survives app restarts."""
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base = resolve_mle_dir(output_dir)
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base.mkdir(parents=True, exist_ok=True)
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payload = {
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"savedAt": datetime.now(timezone.utc).isoformat(),
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"settings": settings or {},
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}
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path = base / LAST_SETTINGS_FILENAME
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path.write_text(json.dumps(payload, ensure_ascii=False, indent=2), encoding="utf-8")
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return {"ok": True, "path": str(path), "savedAt": payload["savedAt"]}
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def load_last_settings(*, output_dir: str | Path = "mle_runs") -> dict[str, Any]:
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"""Load last UI preset from mle_runs/_last_settings.json."""
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path = resolve_mle_dir(output_dir) / LAST_SETTINGS_FILENAME
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if not path.is_file():
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return {"settings": None, "savedAt": None, "path": str(path)}
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try:
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data = json.loads(path.read_text(encoding="utf-8"))
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except (OSError, json.JSONDecodeError):
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return {"settings": None, "savedAt": None, "path": str(path)}
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settings = data.get("settings") if isinstance(data, dict) else None
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if not isinstance(settings, dict):
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settings = data if isinstance(data, dict) else None
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saved_at = data.get("savedAt") if isinstance(data, dict) else None
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return {"settings": settings, "savedAt": saved_at, "path": str(path)}
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def _height_at(
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x: float,
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y: float,
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*,
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base_z: float,
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amplitude: float,
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frequency: float,
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hills: list[tuple[float, float, float, float]],
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valleys: list[tuple[float, float, float, float]],
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bumps: list[tuple[float, float, float, float]],
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) -> float:
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z = base_z + amplitude * math.sin(frequency * x) * math.cos(frequency * 0.7 * y)
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for hx, hy, hamp, hrad in hills:
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d2 = (x - hx) ** 2 + (y - hy) ** 2
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z += hamp * math.exp(-d2 / max(hrad * hrad, 1e-6))
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for vx, vy, vamp, vrad in valleys:
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d2 = (x - vx) ** 2 + (y - vy) ** 2
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z -= vamp * math.exp(-d2 / max(vrad * vrad, 1e-6))
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for bx, by, bamp, brad in bumps:
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d2 = (x - bx) ** 2 + (y - by) ** 2
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z += bamp * math.exp(-d2 / max(brad * brad, 1e-6))
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return z
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def build_seafloor_params(
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seed: int = 42,
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*,
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size_x: float = 40.0,
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size_y: float = 60.0,
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) -> dict[str, Any]:
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rng = random.Random(int(seed))
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size_x = max(4.0, float(size_x))
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size_y = max(4.0, float(size_y))
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base_z = rng.uniform(-8.0, -3.0)
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amplitude = rng.uniform(0.15, 0.6)
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frequency = rng.uniform(0.15, 0.55)
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hills = [
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(
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rng.uniform(-size_x * 0.4, size_x * 0.4),
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rng.uniform(-size_y * 0.4, size_y * 0.4),
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rng.uniform(0.3, 1.4),
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rng.uniform(2.0, 8.0),
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)
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for _ in range(rng.randint(2, 5))
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]
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valleys = [
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(
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rng.uniform(-size_x * 0.4, size_x * 0.4),
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rng.uniform(-size_y * 0.4, size_y * 0.4),
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rng.uniform(0.2, 0.9),
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rng.uniform(2.0, 7.0),
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)
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for _ in range(rng.randint(1, 4))
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]
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bumps = [
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(
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rng.uniform(-size_x * 0.45, size_x * 0.45),
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rng.uniform(-size_y * 0.45, size_y * 0.45),
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rng.uniform(0.05, 0.4),
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rng.uniform(0.4, 2.0),
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)
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for _ in range(rng.randint(8, 20))
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]
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return {
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"seed": int(seed),
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"sizeX": size_x,
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"sizeY": size_y,
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"baseZ": base_z,
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"amplitude": amplitude,
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"frequency": frequency,
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"hills": hills,
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"valleys": valleys,
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"bumps": bumps,
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}
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def sample_seafloor_grid(
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params: dict[str, Any],
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*,
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res_x: int = 80,
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res_y: int = 120,
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) -> dict[str, Any]:
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"""Build a triangulated seafloor mesh over [-sizeX/2, sizeX/2] × [-sizeY/2, sizeY/2]."""
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res_x = max(4, int(res_x))
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res_y = max(4, int(res_y))
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size_x = float(params["sizeX"])
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size_y = float(params["sizeY"])
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half_x = size_x * 0.5
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half_y = size_y * 0.5
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vertices: list[list[float]] = []
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heights: list[list[float]] = []
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for j in range(res_y):
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row: list[float] = []
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y = -half_y if res_y == 1 else (-half_y + size_y * j / (res_y - 1))
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for i in range(res_x):
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x = -half_x if res_x == 1 else (-half_x + size_x * i / (res_x - 1))
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z = _height_at(
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x,
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y,
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base_z=float(params["baseZ"]),
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amplitude=float(params["amplitude"]),
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frequency=float(params["frequency"]),
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hills=params["hills"],
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valleys=params["valleys"],
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bumps=params["bumps"],
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)
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vertices.append([x, y, z])
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row.append(z)
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heights.append(row)
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faces: list[list[int]] = []
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for j in range(res_y - 1):
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for i in range(res_x - 1):
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a = j * res_x + i
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b = a + 1
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c = a + res_x
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d = c + 1
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faces.append([a + 1, c + 1, b + 1]) # 1-based OBJ indices
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faces.append([b + 1, c + 1, d + 1])
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return {
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"resX": res_x,
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"resY": res_y,
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"vertices": vertices,
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"faces": faces,
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"heights": heights,
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"vertexCount": len(vertices),
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"faceCount": len(faces),
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}
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def export_mesh_obj(
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vertices: list[list[float]],
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faces: list[list[int]],
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*,
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object_name: str = "seafloor",
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) -> str:
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safe = "".join(ch if ch.isalnum() or ch in "_-" else "_" for ch in (object_name or "seafloor")) or "seafloor"
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lines = [
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f"# DotsToSurface MLE seafloor ({len(vertices)} vertices, {len(faces)} faces)",
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f"o {safe}",
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]
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for v in vertices:
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lines.append(f"v {v[0]:.8f} {v[1]:.8f} {v[2]:.8f}")
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for f in faces:
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lines.append(f"f {f[0]} {f[1]} {f[2]}")
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return "\n".join(lines) + "\n"
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def write_mesh_obj_file(
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path: Path,
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vertices: list[list[float]],
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faces: list[list[int]],
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*,
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object_name: str = "seafloor",
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) -> Path:
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path.parent.mkdir(parents=True, exist_ok=True)
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path.write_text(
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export_mesh_obj(vertices, faces, object_name=object_name),
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encoding="utf-8",
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)
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return path
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def save_survey_surface(
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*,
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output_dir: str | Path,
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vertices: list[list[float]],
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faces: list[list[int]],
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filename: str = "seafloor.obj",
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) -> dict[str, Any]:
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"""Overwrite the survey OBJ inside an existing MLE run folder."""
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run_dir = Path(output_dir)
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if not run_dir.is_absolute():
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run_dir = resolve_mle_dir(run_dir)
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if not run_dir.is_dir():
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raise FileNotFoundError(f"MLE run folder not found: {run_dir}")
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if not vertices:
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raise ValueError("vertices must not be empty")
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obj_path = write_mesh_obj_file(
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run_dir / filename,
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vertices,
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faces,
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object_name="seafloor",
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)
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return {
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"outputDir": str(run_dir),
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"seafloorObj": str(obj_path),
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"vertexCount": len(vertices),
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"faceCount": len(faces),
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}
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def prepare_mle_scene(
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*,
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seed: int = 42,
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size_x: float = 40.0,
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size_y: float = 60.0,
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res_x: int = 80,
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res_y: int = 120,
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output_dir: str | Path = "mle_runs",
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settings: dict[str, Any] | None = None,
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) -> dict[str, Any]:
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"""Generate seafloor for simulation; create run folder with empty survey OBJ."""
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base = resolve_mle_dir(output_dir)
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base.mkdir(parents=True, exist_ok=True)
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stamp = datetime.now().strftime("%Y-%m-%d_%H-%M-%S")
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run_dir = base / stamp
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n = 2
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while run_dir.exists():
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run_dir = base / f"{stamp}_{n}"
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n += 1
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run_dir.mkdir(parents=True, exist_ok=False)
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params = build_seafloor_params(seed, size_x=size_x, size_y=size_y)
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mesh = sample_seafloor_grid(params, res_x=res_x, res_y=res_y)
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# Survey OBJ starts empty and is filled from multibeam hits during motion.
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obj_path = run_dir / "seafloor.obj"
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obj_path.write_text(
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"# DotsToSurface MLE survey surface (populated during AUV motion)\no seafloor\n",
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encoding="utf-8",
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)
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# Keep full terrain for reference / debugging (not the survey panel content).
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write_mesh_obj_file(
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run_dir / "terrain_full.obj",
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mesh["vertices"],
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mesh["faces"],
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object_name="terrain_full",
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)
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manifest = {
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"generatedAt": datetime.now(timezone.utc).isoformat(),
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"runName": run_dir.name,
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"outputDir": str(run_dir),
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"seafloorObj": str(obj_path),
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"params": params,
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"mesh": {
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"resX": mesh["resX"],
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"resY": mesh["resY"],
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"vertexCount": mesh["vertexCount"],
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"faceCount": mesh["faceCount"],
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},
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"settings": settings or {},
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}
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(run_dir / "mle_run.json").write_text(
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json.dumps(manifest, ensure_ascii=False, indent=2),
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encoding="utf-8",
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)
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return {
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"runName": run_dir.name,
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"outputDir": str(run_dir),
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"seafloorObj": str(obj_path),
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"params": params,
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"mesh": {
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"resX": mesh["resX"],
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"resY": mesh["resY"],
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"vertices": mesh["vertices"],
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"faces": mesh["faces"],
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"heights": mesh["heights"],
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"vertexCount": mesh["vertexCount"],
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"faceCount": mesh["faceCount"],
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},
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}
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