live: real-time browser viewer (AICC-client based), sensor-built top-down map shared module, run_live.sh one-command mode

testbed/demo.py

@@ -135,57 +135,9 @@ class FrameRecorder:
         return Image.open(io.BytesIO(base64.b64decode(out["png_b64"]))).convert("RGB")
 
     def _map_frame(self, pos: tuple[float, float], yaw: float) -> Image.Image:
-        from PIL import Image, ImageDraw
+        from testbed.room.mapview import draw_sensor_map
 
-        size = self.MAP_SIZE
-        scale = size / self.ROOM
-
-        def xy(x: float, z: float) -> tuple[float, float]:
-            return (x * scale, size - z * scale)
-
-        img = Image.new("RGB", (size, size), (52, 52, 58))
-        d = ImageDraw.Draw(img)
-        for i in range(int(self.ROOM) + 1):
-            c = 60 if i % 2 == 0 else 54
-            d.line([xy(i, 0), xy(i, self.ROOM)], fill=(c, c, c + 6), width=1)
-            d.line([xy(0, i), xy(self.ROOM, i)], fill=(c, c, c + 6), width=1)
-        if self.layout:
-            for ob in self.layout.get("obstacles", []):
-                x0, z0 = xy(ob["x"] - ob["width"] / 2, ob["z"] - ob["depth"] / 2)
-                x1, z1 = xy(ob["x"] + ob["width"] / 2, ob["z"] + ob["depth"] / 2)
-                d.rectangle(
-                    [min(x0, x1), min(z0, z1), max(x0, x1), max(z0, z1)],
-                    fill=(150, 90, 60),
-                    outline=(20, 20, 26),
-                    width=2,
-                )
-            b = self.layout.get("beacon", {})
-            bx, bz = xy(b.get("x", 12.5), b.get("z", 12.5))
-            d.ellipse(
-                [bx - 8, bz - 8, bx + 8, bz + 8],
-                fill=(120, 210, 235),
-                outline=(20, 20, 26),
-                width=2,
-            )
-        if len(self.path) > 1:
-            pts = [xy(x, z) for x, z in self.path]
-            d.line(pts, fill=(255, 170, 60), width=3)
-        cx, cz = xy(*pos)
-        d.ellipse(
-            [cx - 7, cz - 7, cx + 7, cz + 7],
-            fill=(240, 240, 250),
-            outline=(20, 20, 26),
-            width=2,
-        )
-        rad = math.radians(yaw)
-        tip = xy(pos[0] + math.sin(rad) * 0.7, pos[1] + math.cos(rad) * 0.7)
-        d.line([(cx, cz), tip], fill=(30, 30, 40), width=3)
-        d.text(
-            (8, 8),
-            f"step {self.step}  pos ({pos[0]:.1f}, {pos[1]:.1f}) yaw {yaw:.0f}",
-            fill=(230, 230, 230),
-        )
-        return img
+        return draw_sensor_map(self.layout, pos, yaw, self.path, step=self.step)
 
     def finish(self, interacted: bool) -> Image.Image:
         """Write demo.gif + demo_summary.png; returns the summary image."""