Bi-Space Viewer

A web-based viewer for bigrids (bi-spatial structures). It provides an interactive 3D environment for exploring and debugging bigrid models.

Features

• Bigrid Generation

  • Load sample models
  • Upload custom XMI files
  • Generate grids via the bigrid-provider-service
  • Fetch from a CDO repository

• Live Monitoring

  • Visualize simulated or physical Crazyflie drone positions as a colored block (via cf.PyControl WebSocket integration)

• 3D Navigation

  • Free-flight camera

Screenshots

Getting Started

Start the Web App:

$ nvm install node --lts
$ nvm use --lts 
$ npm install
$ npm run dev

Open the browser at: http://localhost:5173/

Press ESC to leave the 3D view and take back control.

More Functions

• Start the bigrid-provider-service if you plan to generate grids dynamically.
• Start the CDO server if you want to load models from a CDO repository. See here and here for example.

If these services are not running, some features may be unavailable, but the application will still start and all offline functionality will work normally.

Configuration

bigrid-provider-service

• Change URL+Port: vite.config.ts

How to Create Bigrids?

Use:

• bigrid-provider-service
• bigraphs.model-provider
• Bigraph Framework
• Bigellor

Create your own: The signature of bigrids is very simple and their usage as well. The file parsing logic lives in BigraphGridXMLParser.js.

Dev-Notes

• The renderer supports two bigrid encodings:
  • Single-root (1): all Locale elements share a single root.
  • Multi-root (0): each Locale is attached to its own root.
  • Moreover, the coordinates can be encoded as "outer names" or as dedicated "CO-typed nodes" (coordinate nodes).
• The XMI parsing logic lives in BigraphGridXMLParser.js.
  It is self-contained and can be ported to other languages that need to read the same bigrid format (XMI).
• In the UI the appropriate parser is selected by passing the desired version to fetchSampleAndRender(filename, version = 0 | 1).

License

This Open Source software is released under the Apache 2.0 license.

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Copyright © 2025 The UniAgent Developers and Contributors.
(Main Developer: Dominik Grzelak)