Add production bathymetric sonar slice

game/composition/vertical_slice/vertical_slice_root.gd

@@ -18,6 +18,7 @@ const VehicleCollisionSample = preload(
 	"res://game/application/vehicle/vehicle_collision_sample.gd"
 )
 const PilotUseCase = preload("res://game/application/vehicle/pilot_use_case.gd")
+const SonarService = preload("res://game/application/sonar/sonar_service.gd")
 const SubmarineActor = preload("res://game/world/submarine/submarine_actor.gd")
 const SubmarineMotionAdapter = preload(
 	"res://game/world/submarine/submarine_motion_adapter.gd"
@@ -25,6 +26,9 @@ const SubmarineMotionAdapter = preload(
 const SubmarineTelemetryAdapter = preload(
 	"res://game/world/submarine/submarine_telemetry_adapter.gd"
 )
+const ReferenceBathymetryAcquisition = preload(
+	"res://game/world/sonar/reference_bathymetry_acquisition.gd"
+)
 const ProductionInputAdapter = preload(
 	"res://game/infrastructure/input/production_input_adapter.gd"
 )
@@ -35,6 +39,7 @@ const CockpitInstrumentPanel = preload(
 	"res://game/presentation/cockpit/cockpit_instrument_panel.gd"
 )
 const CockpitHud = preload("res://game/presentation/cockpit/cockpit_hud.gd")
+const SonarDisplay = preload("res://game/presentation/sonar/sonar_display.gd")
 const MainMenuScreen = preload("res://game/presentation/main_menu/main_menu_screen.gd")
 const PauseMenu = preload("res://game/presentation/pause/pause_menu.gd")
 const ControlsSettingsScreen = preload(
@@ -50,6 +55,9 @@ const VEHICLE_TEST_WORLD_SCENE_PATH := (
 	"res://game/composition/vertical_slice/vehicle_test_world.tscn"
 )
 const COCKPIT_HUD_SCENE = preload("res://game/presentation/cockpit/cockpit_hud.tscn")
+const SONAR_DISPLAY_SCENE = preload(
+	"res://game/presentation/sonar/sonar_display.tscn"
+)
 const PAUSE_MENU_SCENE = preload("res://game/presentation/pause/pause_menu.tscn")
 const CONTROLS_SETTINGS_SCENE = preload(
 	"res://game/presentation/settings/controls_settings_screen.tscn"
@@ -75,6 +83,8 @@ var _actor: SubmarineActor
 var _camera_controller: CockpitCameraController
 var _instrument_panel: CockpitInstrumentPanel
 var _hud: CockpitHud
+var _sonar_service: SonarService
+var _sonar_display: SonarDisplay
 var _latest_update: DiveUpdate
 var _active_world: Node3D
 var _active_screen: Control
@@ -90,6 +100,8 @@ var _dive_terminal := false
 func _ready() -> void:
 	_input_adapter.pause_requested.connect(_on_pause_requested)
 	_input_adapter.rebind_result_available.connect(_on_rebind_result_available)
+	_input_adapter.sonar_scan_requested.connect(_on_sonar_scan_requested)
+	_input_adapter.sonar_view_toggle_requested.connect(_on_sonar_view_toggle_requested)
 	_show_main_menu()
 
 
@@ -115,10 +127,18 @@ func _start_vehicle_test() -> void:
 	_instrument_panel = world.get_node("%CockpitInterior") as CockpitInstrumentPanel
 	_hud = COCKPIT_HUD_SCENE.instantiate() as CockpitHud
 	_replace_active_screen(_hud)
+	_sonar_display = SONAR_DISPLAY_SCENE.instantiate() as SonarDisplay
+	_hud.add_child(_sonar_display)
+	_instrument_panel.attach_sonar_texture(_sonar_display.sonar_texture())
 
 	var motion_adapter := SubmarineMotionAdapter.new(_actor)
 	_pilot_use_case = PilotUseCase.new(motion_adapter)
 	_telemetry_adapter = SubmarineTelemetryAdapter.new(_actor)
+	var sonar_acquisition := ReferenceBathymetryAcquisition.new(
+		_actor.get_world_3d(),
+		_actor
+	)
+	_sonar_service = SonarService.new(sonar_acquisition, DIVE_SESSION_ID)
 	_runner = DiveTickRunner.new(session)
 	_latest_update = _runner.initial_update()
 	_vehicle_command_sequence = 0
@@ -177,6 +197,8 @@ func _physics_process(delta: float) -> void:
 	)
 	_hud.present(_latest_update, telemetry)
 	_instrument_panel.present(_latest_update, telemetry)
+	_sonar_service.advance(delta)
+	_present_sonar()
 	if _latest_update.snapshot.is_terminal():
 		_finish_dive_motion()
 
@@ -213,6 +235,14 @@ func active_overlay() -> Control:
 	return _active_overlay
 
 
+func sonar_service() -> SonarService:
+	return _sonar_service
+
+
+func sonar_display() -> SonarDisplay:
+	return _sonar_display
+
+
 func _finish_dive_motion() -> void:
 	_dive_terminal = true
 	_input_adapter.set_gameplay_enabled(false)
@@ -242,6 +272,41 @@ func _on_collision_sampled(sample: VehicleCollisionSample) -> void:
 	_pending_collision_samples.append(sample)
 
 
+func _on_sonar_scan_requested() -> void:
+	if _sonar_service == null or _actor == null or _dive_terminal:
+		return
+	var result = _sonar_service.request_scan(_sonar_sensor_transform())
+	if result.accepted:
+		_present_sonar()
+
+
+func _on_sonar_view_toggle_requested() -> void:
+	if _sonar_display != null and not _dive_terminal:
+		_sonar_display.toggle_expanded()
+
+
+func _present_sonar() -> void:
+	if _sonar_service == null or _sonar_display == null:
+		return
+	_sonar_display.present(
+		_sonar_service.current_scan(),
+		_sonar_service.previous_scan(),
+		_sonar_service.visible_row_count(),
+		_sonar_service.previous_scan_opacity()
+	)
+
+
+func _sonar_sensor_transform() -> Transform3D:
+	var world_basis := _actor.global_basis
+	var contract_basis := Basis(
+		world_basis.x,
+		world_basis.y,
+		-world_basis.z
+	)
+	var sensor_origin := _actor.global_transform * Vector3(0.0, -0.75, -2.2)
+	return Transform3D(contract_basis, sensor_origin)
+
+
 func _on_pause_requested() -> void:
 	if _runner == null:
 		return
@@ -382,6 +447,8 @@ func _show_main_menu() -> void:
 	_camera_controller = null
 	_instrument_panel = null
 	_hud = null
+	_sonar_service = null
+	_sonar_display = null
 	_latest_update = null
 	_pending_collision_samples.clear()
 	_dive_terminal = false