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423 lines
19 KiB
423 lines
19 KiB
import { appState } from "./state.js";
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import { formatUTCTime } from "./utils.js";
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// Also import VIDEO_FPS from constants
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import { VIDEO_FPS } from "./constants.js";
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// --- DOM Element References --- //
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export const themeToggleBtn = document.getElementById("theme-toggle");
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export const canvasContainer = document.getElementById("canvas-container");
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export const canvasPlaceholder = document.getElementById("canvas-placeholder");
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export const videoPlayer = document.getElementById("video-player");
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export const videoPlaceholder = document.getElementById("video-placeholder");
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export const loadJsonBtn = document.getElementById("load-json-btn");
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export const loadVideoBtn = document.getElementById("load-video-btn");
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export const loadCanBtn = document.getElementById("load-can-btn");
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export const jsonFileInput = document.getElementById("json-file-input");
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export const videoFileInput = document.getElementById("video-file-input");
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export const canFileInput = document.getElementById("can-file-input");
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export const playPauseBtn = document.getElementById("play-pause-btn");
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export const stopBtn = document.getElementById("stop-btn");
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export const timelineSlider = document.getElementById("timeline-slider");
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export const frameCounter = document.getElementById("frame-counter");
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export const offsetInput = document.getElementById("offset-input");
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export const speedSlider = document.getElementById("speed-slider");
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export const speedDisplay = document.getElementById("speed-display");
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export const featureToggles = document.getElementById("feature-toggles");
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export const toggleSnrColor = document.getElementById("toggle-snr-color");
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export const toggleClusterColor = document.getElementById("toggle-cluster-color");
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export const toggleInlierColor = document.getElementById("toggle-inlier-color");
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export const toggleStationaryColor = document.getElementById("toggle-stationary-color");
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export const toggleVelocity = document.getElementById("toggle-velocity");
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export const toggleTracks = document.getElementById("toggle-tracks");
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export const toggleEgoSpeed = document.getElementById("toggle-ego-speed");
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export const toggleFrameNorm = document.getElementById("toggle-frame-norm");
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export const toggleDebugOverlay = document.getElementById("toggle-debug-overlay");
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export const egoSpeedDisplay = document.getElementById("ego-speed-display");
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export const canSpeedDisplay = document.getElementById("can-speed-display");
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export const debugOverlay = document.getElementById("debug-overlay");
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export const toggleDebug2Overlay = document.getElementById("toggle-debug2-overlay");
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export const snrMinInput = document.getElementById("snr-min-input");
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export const snrMaxInput = document.getElementById("snr-max-input");
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export const applySnrBtn = document.getElementById("apply-snr-btn");
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export const autoOffsetIndicator = document.getElementById("auto-offset-indicator");
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export const clearCacheBtn = document.getElementById("clear-cache-btn");
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export const speedGraphContainer = document.getElementById("speed-graph-container");
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export const speedGraphPlaceholder = document.getElementById("speed-graph-placeholder");
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export const modalContainer = document.getElementById("modal-container");
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export const modalOverlay = document.getElementById("modal-overlay");
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export const modalContent = document.getElementById("modal-content");
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export const modalText = document.getElementById("modal-text");
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export const modalOkBtn = document.getElementById("modal-ok-btn");
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export const modalCancelBtn = document.getElementById("modal-cancel-btn");
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export const toggleCloseUp = document.getElementById("toggle-close-up");
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export const togglePredictedPos = document.getElementById("toggle-predicted-pos");
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export const toggleCovariance = document.getElementById("toggle-covariance");
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export const modalProgressContainer = document.getElementById("modal-progress-container");
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export const modalProgressBar = document.getElementById("modal-progress-bar");
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export const modalProgressText = document.getElementById("modal-progress-text");
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export const timelineTooltip = document.getElementById("timeline-tooltip");
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export const radarInfoOverlay = document.getElementById("radar-info-overlay");
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export const videoInfoOverlay = document.getElementById("video-info-overlay");
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export const saveSessionBtn = document.getElementById("save-session-btn");
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export const loadSessionBtn = document.getElementById("load-session-btn");
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export const sessionFileInput = document.getElementById("session-file-input");
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export const ttcModeDefault = document.getElementById("ttc-mode-default");
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export const ttcModeCustom = document.getElementById("ttc-mode-custom");
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export const customTtcPanel = document.getElementById("custom-ttc-panel");
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export const ttcColorCritical = document.getElementById("ttc-color-critical");
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export const ttcTimeCritical = document.getElementById("ttc-time-critical");
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export const ttcColorHigh = document.getElementById("ttc-color-high");
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export const ttcTimeHigh = document.getElementById("ttc-time-high");
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export const ttcColorMedium = document.getElementById("ttc-color-medium");
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export const ttcTimeMedium = document.getElementById("ttc-time-medium");
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export const ttcColorLow = document.getElementById("ttc-color-low");
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export const collapsibleMenu = document.getElementById("collapsible-menu");
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export const toggleMenuBtn = document.getElementById("toggle-menu-btn");
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export const fullscreenBtn = document.getElementById("fullscreen-btn");
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export const mainContent = document.querySelector("main");
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export const closeMenuBtn = document.getElementById("close-menu-btn");
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export const fullscreenEnterIcon = document.getElementById("fullscreen-enter-icon");
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export const fullscreenExitIcon = document.getElementById("fullscreen-exit-icon");
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export const menuScrim = document.getElementById("menu-scrim");
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export const toggleConfirmedOnly = document.getElementById("toggle-confirmed-only");
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//----------------------UPDATE FRAME Function----------------------//
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// Updates the UI to reflect the current radar frame and synchronizes video playback.
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export function updateFrame(frame, forceVideoSeek) {
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const startTime = performance.now(); //start emasuring timer of performance.
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if (
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!appState.vizData ||
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frame < 0 ||
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frame >= appState.vizData.radarFrames.length
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)
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// Exit if no visualization data or invalid frame.
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return; // Exit if no visualization data or invalid frame
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appState.currentFrame = frame;
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timelineSlider.value = appState.currentFrame;
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frameCounter.textContent = `Frame: ${appState.currentFrame + 1} / ${
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appState.vizData.radarFrames.length
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}`;
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const frameData = appState.vizData.radarFrames[appState.currentFrame];
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if (toggleEgoSpeed.checked && frameData) {
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// Update ego speed display if enabled.
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const egoVy_kmh = (frameData.egoVelocity[1] * 3.6).toFixed(1); // Convert m/s to km/h and format
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egoSpeedDisplay.textContent = `Ego: ${egoVy_kmh} km/h`;
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egoSpeedDisplay.classList.remove("hidden");
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} else {
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egoSpeedDisplay.classList.add("hidden"); // Hide ego speed display.
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}
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// --- ADD THIS NEW BLOCK ---
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if (
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frameData &&
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frameData.canVehSpeed_kmph !== null &&
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!isNaN(frameData.canVehSpeed_kmph)
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) {
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canSpeedDisplay.textContent = `CAN: ${frameData.canVehSpeed_kmph.toFixed(
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1
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)} km/h`;
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canSpeedDisplay.classList.remove("hidden");
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} else {
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canSpeedDisplay.classList.add("hidden");
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}
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// --- END OF NEW BLOCK ---
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let timeForUpdates = videoPlayer.currentTime; // NEW: Default to the video's current time
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if (
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forceVideoSeek &&
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videoPlayer.src &&
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videoPlayer.readyState > 1 &&
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appState.videoStartDate &&
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frameData
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) {
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const offsetMs = parseFloat(offsetInput.value) || 0;
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const targetRadarTimeMs = frameData.timestampMs;
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const targetVideoTimeSec = (targetRadarTimeMs - offsetMs) / 1000;
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if (targetVideoTimeSec >= 0 && targetVideoTimeSec <= videoPlayer.duration) {
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// Ensure target time is within video duration
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if (Math.abs(videoPlayer.currentTime - targetVideoTimeSec) > 0.05) {
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// Check for significant drift
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videoPlayer.currentTime = targetVideoTimeSec; // Seek video if drift is significant
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}
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// MODIFIED: Use the calculated target time for our updates, not the stale videoPlayer.currentTime
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timeForUpdates = targetVideoTimeSec; // Update time for subsequent UI updates
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}
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} // End of forceVideoSeek block
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if (!appState.isPlaying) {
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// MODIFIED: Use our new synchronized time variable
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updatePersistentOverlays(timeForUpdates);
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}
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// --- End of fix ---
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if (appState.p5_instance) appState.p5_instance.redraw(); // Redraw radar sketch
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if (appState.speedGraphInstance && !appState.isPlaying)
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// Redraw speed graph if not playing.
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appState.speedGraphInstance.redraw();
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const endTime = performance.now();
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appState.lastFrameRenderTime = endTime - startTime; // <-- End timer and update state
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}
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//----------------------Reset UI for New file Load----------------------//
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// Resets the UI to make sure everything is clean before new files load.
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export function resetUIForNewLoad() {
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console.log("Resetting UI for new file load.");
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// Hide feature toggles
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featureToggles.classList.add("hidden");
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// Show placeholders
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canvasPlaceholder.style.display = 'flex';
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videoPlaceholder.classList.remove('hidden');
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// Hide video player and overlays
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videoPlayer.classList.add('hidden');
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videoPlayer.src = ''; // Clear the video source
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radarInfoOverlay.classList.add('hidden');
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videoInfoOverlay.classList.add('hidden');
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// Remove the p5 sketches completely
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if (appState.p5_instance) {
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appState.p5_instance.remove();
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appState.p5_instance = null;
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}
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if (appState.rawP5_instance) {
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appState.rawP5_instance.remove();
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appState.rawP5_instance = null;
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}
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if (appState.zoomSketchInstance) {
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appState.zoomSketchInstance.remove();
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appState.zoomSketchInstance = null;
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}
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if (appState.speedGraphInstance) {
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appState.speedGraphInstance.remove();
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appState.speedGraphInstance = null;
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}
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// Reset the speed graph container
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speedGraphPlaceholder.classList.remove('hidden');
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}
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//----------------------RESET VISUALIZATION Function----------------------//
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// Resets the visualization to its initial state.
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export function resetVisualization() {
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appState.isPlaying = false;
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playPauseBtn.textContent = "Play";
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const numFrames = appState.vizData.radarFrames.length;
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timelineSlider.max = numFrames > 0 ? numFrames - 1 : 0;
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updateFrame(0, true); // Update to the first frame and force video seek
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}
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//----------------------CAN DISPLAY UPDATE Function----------------------//
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// Updates the CAN speed display based on the current media time.
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//----------------------DEBUG OVERLAY UPDATE Function----------------------//
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// Updates the debug overlay with various synchronization and time information.
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export function updateDebugOverlay(currentMediaTime) {
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// Check the state of both debug toggles
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const isDebug1Visible = toggleDebugOverlay.checked;
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const isDebug2Visible = toggleDebug2Overlay.checked;
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// If neither is checked, hide the overlay and stop
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if (!isDebug1Visible && !isDebug2Visible) {
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debugOverlay.classList.add("hidden"); // Hide debug overlay
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return;
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}
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// If at least one is checked, show the overlay
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debugOverlay.classList.remove("hidden"); // Show debug overlay.
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let content = [];
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// --- Logic for the original debug overlay ---
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if (isDebug1Visible) {
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content.push(`--- Basic Info ---`);
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if (appState.videoStartDate) {
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const videoAbsoluteTimeMs =
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appState.videoStartDate.getTime() + currentMediaTime * 1000;
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content.push(`Media Time (s): ${currentMediaTime.toFixed(3)}`);
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content.push(`Video Frame: ${Math.floor(currentMediaTime * VIDEO_FPS)}`);
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content.push(
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`Vid Abs Time: ${new Date(videoAbsoluteTimeMs)
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.toISOString()
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.split("T")[1]
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.replace("Z", "")}`
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); // Format and display video absolute time
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} else {
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content.push("Video not loaded..."); // Indicate video not loaded.
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}
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if (
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appState.vizData &&
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appState.vizData.radarFrames[appState.currentFrame]
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) {
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content.push(`Radar Frame: ${appState.currentFrame + 1}`);
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const frameTime =
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appState.vizData.radarFrames[appState.currentFrame].timestampMs;
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content.push(
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`Radar Abs Time: ${new Date(
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appState.videoStartDate.getTime() + frameTime
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)
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.toISOString()
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.split("T")[1]
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.replace("Z", "")}`
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); // Format and display radar absolute time
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}
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}
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// --- Logic for the new advanced debug overlay ---
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if (isDebug2Visible) {
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content.push(`--- Sync Diagnostics ---`);
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if (
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appState.videoStartDate &&
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appState.vizData &&
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appState.vizData.radarFrames[appState.currentFrame]
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) {
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// --- START: Corrected Debug Logic ---
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const currentRadarFrame =
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appState.vizData.radarFrames[appState.currentFrame];
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const targetRadarTimeMs = currentRadarFrame.timestampMs;
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const offsetMs = parseFloat(offsetInput.value) || 0; // Read the current offset
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// Make the drift calculation "offset-aware"
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const driftMs = currentMediaTime * 1000 + offsetMs - targetRadarTimeMs;
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// --- END: Corrected Debug Logic ---
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// Style the drift value to be green if sync is good, and red if it's off.
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const driftColor = Math.abs(driftMs) > 40 ? "#FF6347" : "#98FB98"; // Tomato red or Pale green
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content.push(`Video Time (s): ${currentMediaTime.toFixed(3)}`); // Display current video time
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content.push(`Target Radar Time (ms): ${targetRadarTimeMs.toFixed(0)}`);
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content.push(`Drift (ms): <b style="color: ${driftColor};">${driftMs.toFixed(0)}</b>`);
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content.push(`Video Start Time: ${appState.videoStartDate.toISOString()}`);
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content.push(`Radar Start Time: ${new Date(appState.radarStartTimeMs).toISOString()}`);
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content.push(`Calculated Offset (ms): ${offsetInput.value}`); // Display calculated offset.
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const renderTime = appState.lastFrameRenderTime;
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// Color is green if render time is under 33ms (~30fps budget), otherwise red
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const renderTimeColor = renderTime > 33 ? "#FF6347" : "#98FB98";
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content.push(`Frame Render Time: <b style="color: ${renderTimeColor};">${renderTime.toFixed(1)}ms</b>`);
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const videoRenderTime = appState.videoFrameRenderTime;
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// Color is green if render time is under 34ms (~30fps), otherwise red
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const videoRenderTimeColor = videoRenderTime > 34 ? "#FF6347" : "#98FB98";
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content.push(`Video Frame Time: <b style="color: ${videoRenderTimeColor};">${videoRenderTime.toFixed(1)}ms</b>`);
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} else {
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content.push("Load video and radar data to see sync info."); // Prompt to load data.
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}
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}
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debugOverlay.innerHTML = content.join("<br>"); // Update debug overlay content.
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}
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// This function checks the state of the color toggles and returns the active mode.
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function getCurrentColorMode() {
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if (toggleSnrColor.checked) return "Color by SNR (1)";
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if (toggleClusterColor.checked) return "Color by Cluster (2)";
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if (toggleInlierColor.checked) return "Color by Inlier (3)";
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if (toggleStationaryColor.checked) return "Color by Stationary (4)";
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return "Default"; // The default mode when no specific color toggle is checked
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}
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export function updatePersistentOverlays(currentMediaTime) {
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// If we don't have the necessary data, hide the overlays and exit.
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const isDebug1Visible = toggleDebugOverlay.checked;
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const isDebug2Visible = toggleDebug2Overlay.checked;
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if (!appState.vizData || !appState.videoStartDate) {
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radarInfoOverlay.classList.add("hidden");
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videoInfoOverlay.classList.add("hidden");
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return;
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}
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if (isDebug1Visible && isDebug2Visible) {
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radarInfoOverlay.classList.add("hidden");
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videoInfoOverlay.classList.add("hidden");
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return;
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}
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if(isDebug1Visible || isDebug2Visible){
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videoInfoOverlay.classList.add("hidden");
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return;
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}
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// Otherwise, make sure they are visible.
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radarInfoOverlay.classList.remove("hidden");
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videoInfoOverlay.classList.remove("hidden");
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// --- Update Radar Overlay ---
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const currentRadarFrame = appState.vizData.radarFrames[appState.currentFrame];
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const frameData = appState.vizData.radarFrames[appState.currentFrame];
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const motionState = frameData.motionState;
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if (currentRadarFrame) {
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const absRadarTime = new Date(
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appState.videoStartDate.getTime() + currentRadarFrame.timestampMs
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);
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const targetRadarTimeMs = currentRadarFrame.timestampMs;
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const offsetMs = parseFloat(offsetInput.value) || 0;
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const driftMs = currentMediaTime * 1000 + offsetMs - targetRadarTimeMs;
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const driftColor = Math.abs(driftMs) > 50 ? "#FF6347" : "#98FB98"; // Tomato red or Pale green
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const colorMode = getCurrentColorMode();
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radarInfoOverlay.innerHTML = `
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Frame: ${appState.currentFrame + 1}
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Motion State: ${motionState}
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| Abs Time: ${formatUTCTime(absRadarTime)}
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| Color Mode: <b>${colorMode}</b>
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| Drift: <b style="color: ${driftColor};">${driftMs.toFixed(
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0
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)}ms </b>
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`;
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}
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// --- Update Video Overlay ---
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const absVideoTime = new Date(
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appState.videoStartDate.getTime() + currentMediaTime * 1000
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);
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const videoFrame = Math.floor(currentMediaTime * VIDEO_FPS);
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//console.warn('Could not load radarframes ', appState.vizData.radarFrames) console warning for reference
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videoInfoOverlay.innerHTML = `
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Frame: ${videoFrame}
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| Abs Time: ${formatUTCTime(absVideoTime)}
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`;
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}
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const customTtcInputs = [
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ttcColorCritical,
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ttcTimeCritical,
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ttcColorHigh,
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ttcTimeHigh,
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ttcColorMedium,
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ttcTimeMedium,
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];
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function updateCustomTtcScheme() {
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appState.customTtcScheme.critical.time = parseFloat(ttcTimeCritical.value);
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appState.customTtcScheme.critical.color = ttcColorCritical.value;
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appState.customTtcScheme.high.time = parseFloat(ttcTimeHigh.value);
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appState.customTtcScheme.high.color = ttcColorHigh.value;
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appState.customTtcScheme.medium.time = parseFloat(ttcTimeMedium.value);
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appState.customTtcScheme.medium.color = ttcColorMedium.value;
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if (appState.p5_instance) {
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appState.p5_instance.redraw();
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}
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}
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ttcModeDefault.addEventListener("change", () => {
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if (ttcModeDefault.checked) {
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appState.useCustomTtcScheme = false;
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customTtcPanel.classList.add("hidden");
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if (appState.p5_instance) appState.p5_instance.redraw();
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}
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});
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ttcModeCustom.addEventListener("change", () => {
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if (ttcModeCustom.checked) {
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appState.useCustomTtcScheme = true;
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customTtcPanel.classList.remove("hidden");
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updateCustomTtcScheme(); // Apply current custom values immediately
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}
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});
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// Add listeners to all custom inputs to update the scheme on the fly
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customTtcInputs.forEach((input) => {
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input.addEventListener("input", updateCustomTtcScheme);
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});
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