@inventure71/paddockjs 1.0.0 → 2.0.1
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/CHANGELOG.md +58 -0
- package/INSTALL_AND_UPDATE.md +4 -3
- package/README.md +219 -12
- package/docs/architecture.md +126 -45
- package/docs/concepts.md +9 -5
- package/docs/custom_model_controller.md +329 -0
- package/docs/data_contract.md +317 -22
- package/docs/data_model.md +1 -1
- package/docs/index.md +10 -0
- package/docs/learnings.md +22 -0
- package/docs/rules.md +71 -14
- package/docs/sense_contract.md +59 -0
- package/docs/system_specs.md +75 -13
- package/docs/training.md +280 -32
- package/examples/python/README.md +62 -0
- package/examples/python/base_policy_server.py +191 -0
- package/examples/python/requirements.txt +2 -0
- package/package.json +12 -4
- package/src/api/PaddockSimulatorController.js +6 -33
- package/src/app/BrowserExpertAdapter.js +76 -9
- package/src/app/BrowserExpertExternalRenderer.js +303 -0
- package/src/app/F1SimulatorApp.js +291 -1630
- package/src/app/banners/bannerFormatters.js +55 -0
- package/src/app/banners/raceDataBannerController.js +141 -0
- package/src/app/banners/stewardMessageController.js +99 -0
- package/src/app/camera/cameraConstants.js +21 -0
- package/src/app/camera/cameraController.js +265 -0
- package/src/app/camera/cameraGeometry.js +176 -0
- package/src/app/domBindings.js +4 -0
- package/src/app/readouts/carOverviewRenderer.js +109 -0
- package/src/app/readouts/controlStateRenderer.js +37 -0
- package/src/app/readouts/raceStatusRenderer.js +133 -0
- package/src/app/readouts/readoutFormatters.js +58 -0
- package/src/app/readouts/telemetryRenderer.js +113 -0
- package/src/app/readouts/timingTowerRenderer.js +177 -0
- package/src/app/rendering/appAssets.js +38 -0
- package/src/app/rendering/carRenderer.js +286 -0
- package/src/app/rendering/displayUtils.js +22 -0
- package/src/app/rendering/drsTrailRenderer.js +90 -0
- package/src/app/rendering/expertSensorRenderer.js +126 -0
- package/src/app/rendering/pitLaneStatusRenderer.js +50 -0
- package/src/app/rendering/replayGhostRenderer.js +124 -0
- package/src/app/rendering/trackRenderer.js +25 -0
- package/src/app/runtime/frameLoop.js +66 -0
- package/src/app/runtime/runtimeTiming.js +34 -0
- package/src/app/runtime/runtimeVisibility.js +45 -0
- package/src/config/defaultOptions.js +20 -0
- package/src/config/restartOptions.js +34 -0
- package/src/environment/actions.js +13 -5
- package/src/environment/controllerLoop.js +261 -0
- package/src/environment/episode.js +98 -2
- package/src/environment/evaluation.js +54 -32
- package/src/environment/index.d.ts +376 -10
- package/src/environment/index.js +1 -0
- package/src/environment/metrics.js +159 -0
- package/src/environment/observationOptions.js +22 -1
- package/src/environment/observationVector.js +200 -0
- package/src/environment/observations.js +199 -141
- package/src/environment/options.js +37 -5
- package/src/environment/recorder.js +13 -6
- package/src/environment/rewards.js +13 -2
- package/src/environment/runtime.js +272 -23
- package/src/environment/scenarios.js +57 -9
- package/src/environment/sensors/bodySenses.js +23 -0
- package/src/environment/sensors/boundarySenses.js +17 -0
- package/src/environment/sensors/carRays.js +75 -0
- package/src/environment/sensors/contactSenses.js +32 -0
- package/src/environment/sensors/index.js +157 -0
- package/src/environment/sensors/indexedRayBands.js +103 -0
- package/src/environment/sensors/nearbyCars.js +52 -0
- package/src/environment/sensors/opponentRadar.js +75 -0
- package/src/environment/sensors/rayConfig.js +110 -0
- package/src/environment/sensors/rayDefaults.js +6 -0
- package/src/environment/sensors/rayGeometry.js +60 -0
- package/src/environment/sensors/rayGuards.js +19 -0
- package/src/environment/sensors/sensorTargets.js +66 -0
- package/src/environment/sensors/surfaceRays.js +360 -0
- package/src/environment/sensors/trackRays.js +424 -0
- package/src/environment/sensors.js +1 -367
- package/src/environment/specs.js +159 -26
- package/src/environment/workerProtocol.js +13 -1
- package/src/index.d.ts +171 -6
- package/src/index.js +6 -32
- package/src/rendering/proceduralTrackAsset.js +20 -823
- package/src/rendering/renderSnapshot.js +38 -12
- package/src/rendering/track/finishLineRenderer.js +34 -0
- package/src/rendering/track/gridRenderer.js +47 -0
- package/src/rendering/track/offsetStrokeSafety.js +136 -0
- package/src/rendering/track/pitLaneRenderer.js +248 -0
- package/src/rendering/track/trackMaterialRenderer.js +326 -0
- package/src/rendering/track/trackRenderConstants.js +38 -0
- package/src/rendering/track/trackRenderGeometry.js +94 -0
- package/src/simulation/collisionGeometry.js +1 -1
- package/src/simulation/driver/driverControlConstants.js +28 -0
- package/src/simulation/driver/driverController.js +47 -0
- package/src/simulation/driver/driverInput.js +28 -0
- package/src/simulation/driver/driverMath.js +6 -0
- package/src/simulation/driver/driverPersonality.js +25 -0
- package/src/simulation/driver/edgeRecovery.js +48 -0
- package/src/simulation/driver/racingControls.js +399 -0
- package/src/simulation/driver/racingLinePlan.js +166 -0
- package/src/simulation/driver/recoveryDynamics.js +38 -0
- package/src/simulation/driver/rejoinControls.js +213 -0
- package/src/simulation/driver/safetyCarControls.js +35 -0
- package/src/simulation/driver/trafficScan.js +51 -0
- package/src/simulation/driverController.js +4 -619
- package/src/simulation/participants/participantInteractions.js +120 -0
- package/src/simulation/pit/pitFlow.js +239 -0
- package/src/simulation/pit/pitIntent.js +92 -0
- package/src/simulation/pit/pitKinematics.js +24 -0
- package/src/simulation/pit/pitOccupancy.js +47 -0
- package/src/simulation/pit/pitPenaltyService.js +71 -0
- package/src/simulation/pit/pitQueue.js +60 -0
- package/src/simulation/pit/pitRouteMovement.js +167 -0
- package/src/simulation/pit/pitRouting.js +319 -0
- package/src/simulation/pit/pitService.js +43 -0
- package/src/simulation/pit/pitServiceConstants.js +21 -0
- package/src/simulation/pit/pitServiceProfile.js +45 -0
- package/src/simulation/pit/pitSnapshots.js +61 -0
- package/src/simulation/pit/pitState.js +113 -0
- package/src/simulation/pit/pitTireService.js +94 -0
- package/src/simulation/race/classification.js +104 -0
- package/src/simulation/race/gridPenalties.js +37 -0
- package/src/simulation/race/raceControlState.js +38 -0
- package/src/simulation/race/raceDistance.js +32 -0
- package/src/simulation/race/raceFinish.js +65 -0
- package/src/simulation/race/raceLifecycle.js +67 -0
- package/src/simulation/race/raceOrder.js +113 -0
- package/src/simulation/race/raceProgress.js +129 -0
- package/src/simulation/race/raceSetup.js +93 -0
- package/src/simulation/race/raceStep.js +80 -0
- package/src/simulation/race/redFlag.js +15 -0
- package/src/simulation/race/retirements.js +44 -0
- package/src/simulation/race/safetyCar.js +92 -0
- package/src/simulation/race/stalledDnf.js +77 -0
- package/src/simulation/raceSimulation.js +231 -2817
- package/src/simulation/replay/replayGhosts.js +128 -0
- package/src/simulation/rules/moduleConfig.js +72 -0
- package/src/simulation/rules/penaltyConfig.js +99 -0
- package/src/simulation/rules/penaltyEvents.js +18 -0
- package/src/simulation/rules/penaltyStats.js +26 -0
- package/src/simulation/rules/ruleConfigMerge.js +41 -0
- package/src/simulation/rules/ruleDefaults.js +85 -0
- package/src/simulation/rules/rulesReview.js +144 -0
- package/src/simulation/rules/rulesetPresets.js +47 -0
- package/src/simulation/rules/trackLimitsSteward.js +1 -1
- package/src/simulation/rulesConfig.js +5 -323
- package/src/simulation/snapshots/raceSnapshots.js +193 -0
- package/src/simulation/timing/drsTiming.js +87 -0
- package/src/simulation/timing/gapEstimation.js +38 -0
- package/src/simulation/timing/lapTelemetry.js +182 -0
- package/src/simulation/timing/raceTiming.js +15 -0
- package/src/simulation/timing/sectorPerformance.js +60 -0
- package/src/simulation/timing/timingConstants.js +5 -0
- package/src/simulation/timing/timingHistory.js +46 -0
- package/src/simulation/timing/timingLines.js +79 -0
- package/src/simulation/track/centerlineSpline.js +59 -0
- package/src/simulation/track/drsZones.js +67 -0
- package/src/simulation/track/pitLaneAccess.js +103 -0
- package/src/simulation/track/pitLaneLayout.js +395 -0
- package/src/simulation/track/pitLaneState.js +160 -0
- package/src/simulation/track/proceduralCenterline.js +237 -0
- package/src/simulation/track/sampleGeometry.js +49 -0
- package/src/simulation/track/spatialQueries.js +154 -0
- package/src/simulation/track/startStraight.js +141 -0
- package/src/simulation/track/trackConstants.js +109 -0
- package/src/simulation/track/trackGenerationOptions.js +283 -0
- package/src/simulation/track/trackMath.js +241 -0
- package/src/simulation/track/trackModel.js +240 -0
- package/src/simulation/track/trackQueryGrid.js +94 -0
- package/src/simulation/track/trackQueryIndex.js +659 -0
- package/src/simulation/track/trackQueryPitIndex.js +140 -0
- package/src/simulation/track/trackQueryScratch.js +46 -0
- package/src/simulation/track/trackQueryStats.js +28 -0
- package/src/simulation/track/trackSectors.js +19 -0
- package/src/simulation/track/trackStatePolicy.js +24 -0
- package/src/simulation/track/trackValidation.js +98 -0
- package/src/simulation/trackModel.js +1 -1706
- package/src/simulation/vehicle/contactResolution.js +181 -0
- package/src/simulation/vehicle/mainTrackWheelSurface.js +82 -0
- package/src/simulation/vehicle/pitWheelSurface.js +69 -0
- package/src/simulation/vehicle/runoffResponse.js +87 -0
- package/src/simulation/vehicle/surfacePriority.js +28 -0
- package/src/simulation/vehicle/vehicleGeometry.js +247 -0
- package/src/simulation/vehicle/vehicleKinematics.js +37 -0
- package/src/simulation/vehicle/vehiclePhysics.js +364 -0
- package/src/simulation/vehicle/vehicleSnapshots.js +327 -0
- package/src/simulation/vehicle/vehicleState.js +220 -0
- package/src/simulation/vehicle/wheelSurface.js +152 -0
- package/src/simulation/vehicleGeometry.js +1 -247
- package/src/simulation/vehiclePhysics.js +1 -136
- package/src/simulation/warmup/runtimeWarmup.js +224 -0
- package/src/simulation/wheelSurface.js +1 -338
- package/src/styles.css +42 -0
- package/src/ui/cameraControlsTemplate.js +20 -0
- package/src/ui/carOverviewTemplate.js +33 -0
- package/src/ui/componentTemplates.js +14 -360
- package/src/ui/raceCanvasTemplate.js +69 -0
- package/src/ui/raceControlsTemplate.js +36 -0
- package/src/ui/shellTemplate.js +5 -4
- package/src/ui/telemetryDrawerTemplate.js +55 -0
- package/src/ui/telemetryTemplates.js +136 -0
- package/src/ui/timingTowerTemplate.js +34 -0
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import { renderTrackSurface } from './rendering/trackRenderer.js';
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export function createBrowserExpertExternalRendererBridge(app) {
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let unsubscribeExternalRenderer = null;
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let attached = false;
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let lastMeta = null;
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let lastFrameAt = null;
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let lastError = null;
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let driverIdMap = new Map();
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let trackFingerprint = null;
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let appliedTrackSurface = false;
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function localDriverRecords() {
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const source = Array.isArray(app.drivers) && app.drivers.length > 0
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? app.drivers
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: app.options?.drivers;
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return Array.isArray(source) ? source : [];
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}
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function localDriverIds() {
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return localDriverRecords()
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.map((driver) => driver?.id)
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.filter((id) => typeof id === 'string' && id.length > 0);
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}
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function localDriverById() {
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return new Map(localDriverRecords().map((driver) => [driver.id, driver]));
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}
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function rewriteFrame(frame) {
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if (!frame || typeof frame !== 'object') return frame;
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const snapshot = frame.snapshot;
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if (!snapshot || typeof snapshot !== 'object' || !Array.isArray(snapshot.cars)) return frame;
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const knownLocalIds = localDriverIds();
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if (knownLocalIds.length === 0) return frame;
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const knownLocalIdSet = new Set(knownLocalIds);
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const activeRawIds = new Set();
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const usedLocalIds = new Set();
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snapshot.cars.forEach((car, index) => {
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const rawId = typeof car?.id === 'string' && car.id.length > 0
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? car.id
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: `external-${String(index)}`;
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activeRawIds.add(rawId);
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if (knownLocalIdSet.has(rawId) && !usedLocalIds.has(rawId)) {
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driverIdMap.set(rawId, rawId);
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usedLocalIds.add(rawId);
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return;
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}
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const mapped = driverIdMap.get(rawId);
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if (typeof mapped === 'string' && mapped.length > 0 && !usedLocalIds.has(mapped)) {
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usedLocalIds.add(mapped);
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return;
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}
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const nextLocalId = knownLocalIds.find((id) => !usedLocalIds.has(id));
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if (nextLocalId) {
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driverIdMap.set(rawId, nextLocalId);
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usedLocalIds.add(nextLocalId);
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return;
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}
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driverIdMap.set(rawId, rawId);
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usedLocalIds.add(rawId);
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});
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for (const rawId of Array.from(driverIdMap.keys())) {
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if (!activeRawIds.has(rawId)) driverIdMap.delete(rawId);
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}
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const mapId = (value) => {
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if (typeof value !== 'string' || value.length === 0) return value;
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return driverIdMap.get(value) ?? value;
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};
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const drivers = localDriverById();
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const mappedCars = snapshot.cars.map((car, index) => {
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const rawId = typeof car?.id === 'string' && car.id.length > 0
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? car.id
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: `external-${String(index)}`;
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const mappedId = mapId(rawId);
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const driver = drivers.get(mappedId);
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return {
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...car,
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id: mappedId,
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code: car?.code ?? driver?.code ?? mappedId,
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timingCode: car?.timingCode ?? driver?.timingCode ?? driver?.code ?? mappedId,
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name: car?.name ?? driver?.name ?? mappedId,
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color: car?.color ?? driver?.color ?? '#9ca3af',
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icon: car?.icon ?? driver?.icon ?? (driver?.code ?? mappedId),
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team: car?.team ?? driver?.team ?? null,
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};
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});
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const mappedEvents = Array.isArray(snapshot.events)
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? snapshot.events.map((event) => ({
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...event,
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carId: mapId(event?.carId),
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otherCarId: mapId(event?.otherCarId),
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winnerId: mapId(event?.winnerId),
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}))
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: snapshot.events;
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const mappedPenalties = Array.isArray(snapshot.penalties)
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? snapshot.penalties.map((penalty) => ({
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...penalty,
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driverId: mapId(penalty?.driverId),
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}))
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: snapshot.penalties;
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const raceControl = snapshot.raceControl && typeof snapshot.raceControl === 'object'
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? {
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...snapshot.raceControl,
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winner: snapshot.raceControl.winner && typeof snapshot.raceControl.winner === 'object'
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? {
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...snapshot.raceControl.winner,
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id: mapId(snapshot.raceControl.winner.id),
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}
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: snapshot.raceControl.winner,
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classification: Array.isArray(snapshot.raceControl.classification)
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? snapshot.raceControl.classification.map((entry) => ({
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...entry,
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id: mapId(entry?.id),
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driverId: mapId(entry?.driverId),
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}))
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: snapshot.raceControl.classification,
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}
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: snapshot.raceControl;
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let mappedObservation = frame.observation;
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if (frame.observation && typeof frame.observation === 'object' && !Array.isArray(frame.observation)) {
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mappedObservation = {};
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Object.entries(frame.observation).forEach(([driverId, value]) => {
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mappedObservation[mapId(driverId)] = value;
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});
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}
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return {
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...frame,
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snapshot: {
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...snapshot,
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cars: mappedCars,
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events: mappedEvents,
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penalties: mappedPenalties,
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raceControl,
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},
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observation: mappedObservation,
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meta: {
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...(frame.meta && typeof frame.meta === 'object' ? frame.meta : {}),
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externalDriverMap: Object.fromEntries(driverIdMap.entries()),
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},
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};
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}
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function fingerprintTrack(snapshot) {
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const track = snapshot?.track;
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if (!track || typeof track !== 'object') return null;
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const drs = Array.isArray(track.drsZones)
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? track.drsZones.map((zone) => [zone?.id ?? null, zone?.start ?? null, zone?.end ?? null])
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: [];
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const firstSample = Array.isArray(track.samples) && track.samples.length > 0 ? track.samples[0] : null;
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162
|
+
const lastSample = Array.isArray(track.samples) && track.samples.length > 0
|
|
163
|
+
? track.samples[track.samples.length - 1]
|
|
164
|
+
: null;
|
|
165
|
+
return JSON.stringify({
|
|
166
|
+
name: track.name ?? null,
|
|
167
|
+
length: track.length ?? null,
|
|
168
|
+
width: track.width ?? null,
|
|
169
|
+
sampleCount: track.sampleCount ?? null,
|
|
170
|
+
finish: track.finish
|
|
171
|
+
? {
|
|
172
|
+
x: track.finish.x ?? null,
|
|
173
|
+
y: track.finish.y ?? null,
|
|
174
|
+
heading: track.finish.heading ?? null,
|
|
175
|
+
}
|
|
176
|
+
: null,
|
|
177
|
+
firstSample: firstSample
|
|
178
|
+
? {
|
|
179
|
+
x: firstSample.x ?? null,
|
|
180
|
+
y: firstSample.y ?? null,
|
|
181
|
+
heading: firstSample.heading ?? null,
|
|
182
|
+
}
|
|
183
|
+
: null,
|
|
184
|
+
lastSample: lastSample
|
|
185
|
+
? {
|
|
186
|
+
x: lastSample.x ?? null,
|
|
187
|
+
y: lastSample.y ?? null,
|
|
188
|
+
heading: lastSample.heading ?? null,
|
|
189
|
+
}
|
|
190
|
+
: null,
|
|
191
|
+
drs,
|
|
192
|
+
});
|
|
193
|
+
}
|
|
194
|
+
|
|
195
|
+
function syncTrackSurface(snapshot) {
|
|
196
|
+
if (!snapshot || typeof snapshot !== 'object') return;
|
|
197
|
+
const nextFingerprint = fingerprintTrack(snapshot);
|
|
198
|
+
if (!nextFingerprint) return;
|
|
199
|
+
if (nextFingerprint === trackFingerprint) return;
|
|
200
|
+
if (
|
|
201
|
+
!app.trackAsset ||
|
|
202
|
+
!app.drsLayer ||
|
|
203
|
+
!app.sensorLayer ||
|
|
204
|
+
!app.pitLaneStatusLayer
|
|
205
|
+
) {
|
|
206
|
+
trackFingerprint = nextFingerprint;
|
|
207
|
+
return;
|
|
208
|
+
}
|
|
209
|
+
app.pitLaneStatusRenderer?.reset?.();
|
|
210
|
+
app.cameraController?.invalidateTrackCaches?.();
|
|
211
|
+
renderTrackSurface({
|
|
212
|
+
drsLayer: app.drsLayer,
|
|
213
|
+
sensorLayer: app.sensorLayer,
|
|
214
|
+
pitLaneStatusLayer: app.pitLaneStatusLayer,
|
|
215
|
+
trackAsset: app.trackAsset,
|
|
216
|
+
snapshot,
|
|
217
|
+
});
|
|
218
|
+
trackFingerprint = nextFingerprint;
|
|
219
|
+
appliedTrackSurface = true;
|
|
220
|
+
}
|
|
221
|
+
|
|
222
|
+
function assertDetached(method) {
|
|
223
|
+
if (!attached) return;
|
|
224
|
+
throw new Error(`Browser expert ${method}() is disabled while external renderer mode is attached.`);
|
|
225
|
+
}
|
|
226
|
+
|
|
227
|
+
function detach() {
|
|
228
|
+
if (typeof unsubscribeExternalRenderer === 'function') {
|
|
229
|
+
try {
|
|
230
|
+
unsubscribeExternalRenderer();
|
|
231
|
+
} catch (error) {
|
|
232
|
+
lastError = error instanceof Error ? error.message : String(error);
|
|
233
|
+
}
|
|
234
|
+
}
|
|
235
|
+
unsubscribeExternalRenderer = null;
|
|
236
|
+
attached = false;
|
|
237
|
+
driverIdMap = new Map();
|
|
238
|
+
if (appliedTrackSurface && typeof app.renderTrack === 'function') {
|
|
239
|
+
try {
|
|
240
|
+
app.renderTrack();
|
|
241
|
+
} catch (error) {
|
|
242
|
+
lastError = error instanceof Error ? error.message : String(error);
|
|
243
|
+
}
|
|
244
|
+
}
|
|
245
|
+
trackFingerprint = null;
|
|
246
|
+
appliedTrackSurface = false;
|
|
247
|
+
}
|
|
248
|
+
|
|
249
|
+
function attach(source) {
|
|
250
|
+
if (!source || typeof source.subscribe !== 'function') {
|
|
251
|
+
throw new Error('attachExternalRenderer(source) requires a source with subscribe(onFrame).');
|
|
252
|
+
}
|
|
253
|
+
detach();
|
|
254
|
+
lastError = null;
|
|
255
|
+
const unsubscribe = source.subscribe((frame) => {
|
|
256
|
+
if (!frame || typeof frame !== 'object') {
|
|
257
|
+
lastError = 'Invalid external frame payload.';
|
|
258
|
+
return;
|
|
259
|
+
}
|
|
260
|
+
const rewrittenFrame = rewriteFrame(frame);
|
|
261
|
+
const snapshot = rewrittenFrame.snapshot;
|
|
262
|
+
if (!snapshot || typeof snapshot !== 'object') {
|
|
263
|
+
lastError = 'External frame is missing snapshot.';
|
|
264
|
+
return;
|
|
265
|
+
}
|
|
266
|
+
try {
|
|
267
|
+
syncTrackSurface(snapshot);
|
|
268
|
+
app.renderExpertFrame(snapshot, {
|
|
269
|
+
forceDomUpdate: true,
|
|
270
|
+
observation: rewrittenFrame.observation && typeof rewrittenFrame.observation === 'object'
|
|
271
|
+
? rewrittenFrame.observation
|
|
272
|
+
: {},
|
|
273
|
+
});
|
|
274
|
+
lastMeta = rewrittenFrame.meta ?? null;
|
|
275
|
+
lastFrameAt = Date.now();
|
|
276
|
+
lastError = null;
|
|
277
|
+
} catch (error) {
|
|
278
|
+
lastError = error instanceof Error ? error.message : String(error);
|
|
279
|
+
}
|
|
280
|
+
});
|
|
281
|
+
if (typeof unsubscribe !== 'function') {
|
|
282
|
+
throw new Error('attachExternalRenderer(source) subscribe(onFrame) must return an unsubscribe function.');
|
|
283
|
+
}
|
|
284
|
+
unsubscribeExternalRenderer = unsubscribe;
|
|
285
|
+
attached = true;
|
|
286
|
+
}
|
|
287
|
+
|
|
288
|
+
function getState() {
|
|
289
|
+
return {
|
|
290
|
+
attached,
|
|
291
|
+
lastMeta,
|
|
292
|
+
lastFrameAt,
|
|
293
|
+
lastError,
|
|
294
|
+
};
|
|
295
|
+
}
|
|
296
|
+
|
|
297
|
+
return {
|
|
298
|
+
assertDetached,
|
|
299
|
+
attach,
|
|
300
|
+
detach,
|
|
301
|
+
getState,
|
|
302
|
+
};
|
|
303
|
+
}
|