sl-webui
5dac6337e6
Standalone 3-file 2D map panel (ui/map_panel.{html,js,css}).
No build step. Open directly or serve ui/ directory.
Canvas layers (drawn every animation frame):
- Grid lines (1m spacing) + world-origin axis cross + 1m scale bar
- RPLIDAR scan dots (/scan, green, cbor-compressed, 100ms throttle)
- Safety zone rings: danger 0.30m (red dashed) + warn 1.00m (amber dashed)
- 100-position breadcrumb trail with fading cyan polyline + dots every 5 pts
- UWB anchor markers (amber diamond + label, user-configured)
- Robot marker: circle + forward arrow, red when e-stopped
Interactions:
- Mouse wheel zoom (zooms around cursor)
- Click+drag pan
- Pinch-to-zoom (touch, two-finger)
- Auto-center toggle (robot stays centered when on)
- Zoom +/- buttons, Reset view button
- Clear trail button
- Mouse hover shows world coords (m) in bottom-left HUD
ROS topics:
SUB /saltybot/pose/fused geometry_msgs/PoseStamped 50ms throttle
SUB /scan sensor_msgs/LaserScan 100ms + cbor
SUB /saltybot/safety_zone/status std_msgs/String (JSON) 200ms throttle
Sidebar:
- Robot position (x, y m) + heading (°)
- Safety zone: forward zone (CLEAR/WARN/DANGER), closest obstacle (m), e-stop
- UWB anchor manager: add/remove anchors with x/y/label, persisted localStorage
- Topic reference
E-stop banner: pulsing red overlay when /saltybot/safety_zone/status estop_active=true
Mobile-responsive: sidebar hidden on <700px, canvas fills viewport.
WS URL persisted in localStorage.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
237 lines
5.8 KiB
CSS
237 lines
5.8 KiB
CSS
/* map_panel.css — Saltybot 2D Map View (Issue #587) */
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*, *::before, *::after { box-sizing: border-box; margin: 0; padding: 0; }
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:root {
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--bg0: #050510;
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--bg1: #070712;
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--bg2: #0a0a1a;
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--bd: #0c2a3a;
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--bd2: #1e3a5f;
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--dim: #374151;
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--mid: #6b7280;
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--base: #9ca3af;
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--hi: #d1d5db;
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--cyan: #06b6d4;
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--green: #22c55e;
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--amber: #f59e0b;
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--red: #ef4444;
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}
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body {
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font-family: 'Courier New', Courier, monospace;
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font-size: 12px;
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background: var(--bg0);
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color: var(--base);
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height: 100dvh;
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display: flex;
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flex-direction: column;
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overflow: hidden;
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}
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/* ── Header ── */
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#header {
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display: flex;
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align-items: center;
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padding: 5px 12px;
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background: var(--bg1);
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border-bottom: 1px solid var(--bd);
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flex-shrink: 0;
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gap: 8px;
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flex-wrap: wrap;
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}
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.logo { color: #f97316; font-weight: bold; letter-spacing: .15em; font-size: 13px; flex-shrink: 0; }
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#conn-dot {
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width: 8px; height: 8px; border-radius: 50%;
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background: var(--dim); flex-shrink: 0; transition: background .3s;
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}
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#conn-dot.connected { background: var(--green); }
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#conn-dot.error { background: var(--red); animation: blink 1s infinite; }
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@keyframes blink { 0%,100%{opacity:1} 50%{opacity:.3} }
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#ws-input {
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background: var(--bg2); border: 1px solid var(--bd2); border-radius: 4px;
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color: #67e8f9; padding: 2px 7px; font-family: monospace; font-size: 11px; width: 185px;
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}
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#ws-input:focus { outline: none; border-color: var(--cyan); }
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.hbtn {
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padding: 2px 8px; border-radius: 4px; border: 1px solid var(--bd2);
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background: var(--bg2); color: #67e8f9; font-family: monospace;
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font-size: 10px; font-weight: bold; cursor: pointer; transition: background .15s;
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white-space: nowrap;
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}
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.hbtn:hover { background: #0e4f69; }
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.hbtn.on { background: #0e4f69; border-color: var(--cyan); color: #fff; }
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.hbtn.warn-on { background: #3d1a00; border-color: #92400e; color: #fbbf24; }
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/* ── Toolbar ── */
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#toolbar {
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display: flex;
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align-items: center;
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gap: 8px;
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padding: 4px 12px;
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background: var(--bg1);
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border-bottom: 1px solid var(--bd);
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flex-shrink: 0;
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flex-wrap: wrap;
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font-size: 10px;
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}
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.tsep { width: 1px; height: 16px; background: var(--bd2); }
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#zoom-display { color: var(--mid); min-width: 45px; }
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/* ── Main: map + sidebar ── */
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#main {
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flex: 1;
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display: grid;
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grid-template-columns: 1fr 240px;
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min-height: 0;
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}
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@media (max-width: 700px) {
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#main { grid-template-columns: 1fr; }
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#sidebar { display: none; }
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}
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/* ── Canvas ── */
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#map-canvas {
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display: block;
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width: 100%;
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height: 100%;
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cursor: grab;
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touch-action: none;
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}
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#map-canvas.dragging { cursor: grabbing; }
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#map-wrap {
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position: relative;
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overflow: hidden;
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background: #010108;
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}
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/* No-signal overlay */
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#no-signal {
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position: absolute;
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inset: 0;
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display: flex;
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flex-direction: column;
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align-items: center;
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justify-content: center;
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gap: 8px;
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color: var(--dim);
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pointer-events: none;
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}
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#no-signal.hidden { display: none; }
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#no-signal .icon { font-size: 48px; }
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/* E-stop overlay */
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#estop-overlay {
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position: absolute;
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top: 8px; left: 50%; transform: translateX(-50%);
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background: rgba(127,0,0,0.85);
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border: 2px solid #ef4444;
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color: #fca5a5;
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padding: 4px 14px;
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border-radius: 4px;
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font-weight: bold;
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font-size: 11px;
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letter-spacing: .1em;
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pointer-events: none;
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display: none;
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animation: blink 1s infinite;
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}
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#estop-overlay.visible { display: block; }
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/* Mouse coords HUD */
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#coords-hud {
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position: absolute;
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bottom: 6px; left: 8px;
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background: rgba(0,0,0,.7);
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color: var(--mid);
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padding: 2px 6px;
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border-radius: 3px;
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font-size: 10px;
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pointer-events: none;
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}
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/* ── Sidebar ── */
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#sidebar {
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background: var(--bg1);
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border-left: 1px solid var(--bd);
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display: flex;
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flex-direction: column;
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overflow-y: auto;
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padding: 8px;
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gap: 8px;
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font-size: 11px;
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}
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.sb-card {
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background: var(--bg2);
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border: 1px solid var(--bd2);
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border-radius: 6px;
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padding: 8px;
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}
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.sb-title {
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font-size: 9px; font-weight: bold; letter-spacing: .12em;
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color: #0891b2; text-transform: uppercase; margin-bottom: 6px;
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}
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.sb-row {
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display: flex; justify-content: space-between;
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padding: 2px 0; border-bottom: 1px solid var(--bd);
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font-size: 10px;
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}
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.sb-row:last-child { border-bottom: none; }
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.sb-lbl { color: var(--mid); }
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.sb-val { color: var(--hi); font-family: monospace; }
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/* Status dots */
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.sdot {
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width: 8px; height: 8px; border-radius: 50%;
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display: inline-block; margin-right: 4px;
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}
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.sdot.green { background: var(--green); }
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.sdot.amber { background: var(--amber); }
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.sdot.red { background: var(--red); animation: blink .8s infinite; }
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.sdot.gray { background: var(--dim); }
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/* Legend ── */
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.legend-row {
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display: flex; align-items: center; gap: 6px;
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font-size: 10px; color: var(--base); padding: 2px 0;
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}
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.legend-swatch {
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width: 20px; height: 3px; border-radius: 2px; flex-shrink: 0;
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}
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/* Anchor list */
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#anchor-list .anchor-row {
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display: flex; align-items: center; gap: 4px;
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padding: 2px 0; font-size: 10px; color: var(--base);
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border-bottom: 1px solid var(--bd);
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}
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#anchor-list .anchor-row:last-child { border-bottom: none; }
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#anchor-add { width: 100%; margin-top: 4px; }
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/* Anchor input row */
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.anchor-inputs {
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display: grid; grid-template-columns: 1fr 1fr 1fr;
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gap: 4px; margin-top: 4px;
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}
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.anchor-inputs input {
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background: var(--bg0); border: 1px solid var(--bd2);
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border-radius: 3px; color: var(--hi); padding: 2px 4px;
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font-family: monospace; font-size: 10px; text-align: center;
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width: 100%;
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}
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.anchor-inputs input:focus { outline: none; border-color: var(--cyan); }
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/* ── Footer ── */
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#footer {
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background: var(--bg1); border-top: 1px solid var(--bd);
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padding: 3px 12px;
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display: flex; align-items: center; justify-content: space-between;
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flex-shrink: 0; font-size: 10px; color: var(--dim);
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}
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