@7365admin1/layer-common 4.57.2 → 4.58.0

package/CHANGELOG.md

@@ -1,5 +1,17 @@
 # @iservice365/layer-common
 
+## 4.58.0
+
+### Minor Changes
+
+- fd4c0c9: Robots: when a robot is online but its position isn't arriving, robot detail, the site mini-map and the building map say so in a calm banner ("<Robot> is online, but we're not receiving its position right now.") and detail keeps the last position seen faded, tagged "last known · HH:MM". The live-view segment fix now also catches a stray H.264 delimiter split across two TS packets. New `scripts/sync-robot-live.mjs` copies the web live-view player into the mobile apps.
+
+## 4.57.3
+
+### Patch Changes
+
+- c23d427: Robot live view: the PadBot S2's EZVIZ camera puts an H.264 access-unit delimiter in front of every H.265 frame, which made Chrome refuse every frame (decode error, black picture). The player now neutralises those units in each segment before playback, so the picture shows. The "couldn't be decoded" message no longer blames EZVIZ encryption (disproved).
+
 ## 4.57.2
 
 ### Patch Changes
@@ -1605,11 +1617,11 @@
   `utils/console-tier.ts` + `composables/useConsoleTier.ts` mirror the server's
   own rule from two endpoints the console already calls, unprojected:
 
-                                                                                                                                                                                                                                                  GET /api/members/user/:user/app/admin    the Seven365 staff membership
-                                                                                                                                                                                                                                                  GET /api/roles/id/:role                  that membership's role document
+                                                                                                                                                                                                                                                      GET /api/members/user/:user/app/admin    the Seven365 staff membership
+                                                                                                                                                                                                                                                      GET /api/roles/id/:role                  that membership's role document
 
-                                                                                                                                                                                                                                                  owner  = member.type === "admin" && role.type === "admin" && role.default === true
-                                                                                                                                                                                                                                                  staff  = member.type === "admin" && role.type === "admin"
+                                                                                                                                                                                                                                                      owner  = member.type === "admin" && role.type === "admin" && role.default === true
+                                                                                                                                                                                                                                                      staff  = member.type === "admin" && role.type === "admin"
 
   `role.default` is the marker because it is the only property of a platform
   staff role no API caller can set - `role.controller.ts` validates create and

package/components/Robot/BuildingMap.vue

@@ -219,6 +219,7 @@
         </div>
         <div class="hero-bmap__traytext">{{ unplacedLine }}</div>
       </div>
+      <div v-if="gapText" class="hero-notice" role="status">{{ gapText }}</div>
     </aside>
   </div>
 </template>
@@ -246,6 +247,8 @@ import {
   routeTags,
   rowStatus,
   unplacedRobots,
+  positionGap,
+  positionGapText,
   unplacedText,
   type TMapRobot,
   type TPatrolRouteView,
@@ -430,6 +433,11 @@ const shafts = computed(() =>
 );
 
 const unplaced = computed(() => unplacedRobots(rows.value, states.value));
+/** Online robots whose position isn't arriving: not drawn, named instead. */
+const gapText = computed(() => {
+  const names = rows.value.filter((r) => positionGap(states.value[String(r._id)], states.value[String(r._id)]?.capabilities)).map((r) => String(r.name ?? ""));
+  return names.length ? positionGapText(names) : "";
+});
 const unplacedLine = computed(() => unplacedText(unplaced.value.map((r) => brandName(r.brand, brands.value))) ?? "");
 
 const emptyNote = computed(() => {

package/components/Robot/Detail.vue

@@ -74,6 +74,7 @@
   <div v-if="!noInterface" class="hero-detail__grid">
     <div>
       <div class="hero-section__title">Location</div>
+      <div v-if="gapText" class="hero-notice" role="status">{{ gapText }}</div>
       <div v-if="locationFacts.length" class="hero-facts hero-facts--tight" role="list" aria-label="Robot location">
         <div v-for="f in locationFacts" :key="f.label" class="hero-fact" role="listitem">
           <div class="hero-fact__label">{{ f.label }}</div>
@@ -95,12 +96,12 @@
         </div>
         <RobotLivePlan
           :name="record?.name"
-          :status-label="statusLabel"
-          :point="posLive && robotOnShownMap ? point : null"
-          :stale="shown?.stale === true"
-          :heading="headingDeg(shown)"
-          :trail="trail"
-          :readout="readout"
+          :status-label="showLastKnown ? lastKnownLabel(lastKnown!.at, now) : statusLabel"
+          :point="posLive && robotOnShownMap ? point : showLastKnown ? lastKnown!.point : null"
+          :stale="shown?.stale === true || showLastKnown"
+          :heading="showLastKnown ? lastKnown!.heading : headingDeg(shown)"
+          :trail="showLastKnown ? [] : trail"
+          :readout="showLastKnown ? '' : readout"
           :lost="posLost"
           :route="route"
           :routes="selectedMap ? mapRoutes : null"
@@ -242,6 +243,7 @@ import {
   faultBadge,
   headingDeg,
   isMoving,
+  lastKnownLabel,
   mergePose,
   optimisticMode,
   patrolRunHint,
@@ -250,6 +252,8 @@ import {
   savedPointGroups,
   unplacedStopsText,
   planPoint,
+  positionGap,
+  positionGapText,
   positionText,
   robotAbilities,
   robotErrorMessage,
@@ -379,6 +383,16 @@ const point = computed(() => planPoint(shown.value as any));
 const posLive = computed(() => reportsPosition.value && online.value && !streamLost.value && !!point.value);
 const posLost = computed(() => reportsPosition.value && !!live.value && (!live.value.ok || live.value.online === false || streamLost.value));
 const trail = ref<Array<{ x: number; y: number }>>([]);
+/* Online, but no coordinates arriving (a gap on our side, not "the robot is lost"): a calm banner, and the last position seen on this screen drawn faded. */
+const gap = computed(() => positionGap(live.value, caps.value));
+const lastKnown = ref<{ point: { left: string; top: string }; heading: number; at: number; mapId: string | null } | null>(null);
+watch(point, (p) => {
+  if (p && posLive.value) lastKnown.value = { point: p, heading: headingDeg(shown.value), at: live.value?.positionAt ?? Date.now(), mapId: live.value?.mapId ?? null };
+});
+const showLastKnown = computed(
+  () => gap.value && !!lastKnown.value && (!selectedMap.value || !lastKnown.value.mapId || lastKnown.value.mapId === selectedMap.value.mapId),
+);
+const gapText = computed(() => (gap.value ? positionGapText(record.value?.name ?? "", showLastKnown.value) : ""));
 watch(
   () => shown.value?.planPosition,
   (p) => {
@@ -455,7 +469,9 @@ watch(
 /** Without robot maps the placeholder plan shows the robot as before; with them, only on its own map. */
 const robotOnShownMap = computed(() => !selectedMap.value || selectedMap.value.current);
 const currentMapLabel = computed(() => mapViews.value.find((m) => m.current)?.label ?? "");
-const hereText = computed(() => (currentMapLabel.value ? `The robot is on ${currentMapLabel.value}` : "The robot has not said which map it is on"));
+const hereText = computed(() =>
+  currentMapLabel.value ? `The robot is on ${currentMapLabel.value}` : gap.value ? "" : "We're not receiving which map the robot is on right now",
+);
 /** The routes saved on the map shown (a route without a map id goes with the robot's current map). */
 const mapRoutes = computed(() =>
   (patrol.value?.routes ?? []).filter((r) => (r.mapId ? r.mapId === selectedMap.value?.mapId : selectedMap.value?.current)),

package/components/Robot/LivePlan.vue

@@ -18,7 +18,7 @@
       <span v-for="t in trailDots(trail)" :key="t.key" class="hero-trail" :style="{ left: t.left, top: t.top, opacity: t.op }" aria-hidden="true" />
       <span class="hero-cross hero-cross--h" :style="{ top: point.top, transition: `top ${tickMs}ms linear` }" aria-hidden="true" />
       <span class="hero-cross hero-cross--v" :style="{ left: point.left, transition: `left ${tickMs}ms linear` }" aria-hidden="true" />
-      <div class="hero-readout">{{ readout }}</div>
+      <div v-if="readout" class="hero-readout">{{ readout }}</div>
       <div class="hero-me" :class="{ 'hero-me--stale': stale }" :style="{ left: point.left, top: point.top, transition: `left ${tickMs}ms linear, top ${tickMs}ms linear` }">
         <div class="hero-me__tag">{{ name }} <span>{{ statusLabel }}</span></div>
         <div class="hero-me__radar" aria-hidden="true" />

package/components/Robot/MiniMap.vue

@@ -55,6 +55,7 @@
       <span v-if="floor !== null" class="hero-mini__count">{{ robots.length }} on {{ floorName(floor) }}</span>
     </div>
     <div v-if="unplaced" class="hero-notice">{{ unplaced }}</div>
+    <div v-if="gapText" class="hero-notice" role="status">{{ gapText }}</div>
   </div>
 </template>
 
@@ -72,6 +73,8 @@ import {
   mapRobots,
   nameTagSide,
   pickFloor,
+  positionGap,
+  positionGapText,
   robotStatus,
   unplacedRobots,
   unplacedText,
@@ -159,6 +162,12 @@ const unplaced = computed(() =>
   unplacedText(unplacedRobots(props.rows, props.states).map((r) => brandName(r.brand, props.brands))),
 );
 
+/** Online robots whose position isn't arriving: not drawn (never a guessed dot), named here instead. */
+const gapText = computed(() => {
+  const names = props.rows.filter((r) => positionGap(props.states[String(r._id)], props.states[String(r._id)]?.capabilities)).map((r) => String(r.name ?? ""));
+  return names.length ? positionGapText(names) : "";
+});
+
 const TONE: Record<string, string> = {
   success: "rgb(var(--v-theme-success))",
   warning: "rgb(var(--v-theme-warning))",

package/package.json

@@ -2,7 +2,7 @@
   "name": "@7365admin1/layer-common",
   "license": "MIT",
   "type": "module",
-  "version": "4.57.2",
+  "version": "4.58.0",
   "author": "7365admin1",
   "main": "./nuxt.config.ts",
   "//files": "What a consumer extending this layer actually loads. Without this npm ships the whole working tree - the changesets, the CI workflows, the render harness in tools/ and any scratch directory that happened to exist at publish time. Nuxt resolves a layer by directory, so every runtime directory below has to stay listed; adding a new top-level runtime directory means adding it here too.",

package/utils/robot-control.ts

@@ -1,8 +1,9 @@
 /**
- * Web-only robot controls: the live-view player's URL handling and the
- * manual-drive client. Not part of the mobile-synced `robot-display.ts`
- * (mobile has no live view or manual control - parity exception, like map
- * editing, decision 81).
+ * Robot controls: the live-view player's URL handling and the manual-drive
+ * client. Not part of the mobile-synced `robot-display.ts`. The live-view
+ * player also runs on the phones: `scripts/sync-robot-live.mjs` bundles
+ * `startLivePlayer` into a WebView page for the RN apps. Manual control stays
+ * web-only (parity exception, like map editing, decision 81).
  */
 
 /* ============================================================ live view */
@@ -38,11 +39,12 @@ export const LIVE_NO_PICTURE =
 export const LIVE_DOWN = "The robot's camera isn't available right now.";
 /**
  * The decoder says it supports the codec but the frames still won't decode
- * (MEDIA_ERR_DECODE). Seen on the PadBot S2 (EZVIZ H3): EZVIZ device video
- * encryption scrambles the frames, so plain HLS can't show them. It's not the browser.
+ * (MEDIA_ERR_DECODE). On the PadBot S2 (EZVIZ H3) that was the stray H.264
+ * delimiters `neutraliseStrayAud` now removes (NOT encryption - disproved
+ * 2026-09-26 by a software decode of the real stream); kept for anything else.
  */
 export const LIVE_UNDECODABLE =
-  "The robot's camera video couldn't be decoded. This usually means video encryption is switched on in the camera's EZVIZ app. Ask the administrator to turn it off, or contact PadBot.";
+  "The robot's camera video couldn't be decoded. Press Retry. If it keeps happening, contact Seven365 support.";
 const MEDIA_ERR_DECODE = 3;
 
 /** Wait before automatic reconnect attempt n (0-based): 2 s, 4 s, 8 s, 16 s, then 30 s. */
@@ -58,7 +60,72 @@ type THls = {
   swapAudioCodec(): void;
   destroy(): void;
 };
-export type THlsCtor = { isSupported(): boolean; new (config?: Record<string, unknown>): THls };
+export type THlsCtor = { isSupported(): boolean; new (config?: Record<string, unknown>): THls; DefaultConfig?: { loader?: any } };
+
+/**
+ * The EZVIZ camera on the PadBot S2 puts an H.264 access-unit delimiter
+ * (00 00 01 09 xx) in front of every H.265 frame. Read as H.265 that is a
+ * "TSA_N" slice with temporal id 0 - invalid. ffmpeg skips it; hls.js packs it
+ * into the frame and Chrome's decoder then refuses every frame
+ * (PIPELINE_ERROR_DECODE, 0 frames). Proven on the real stream 2026-09-26:
+ * with these units removed Chrome's own decoder decodes 40/40 frames.
+ *
+ * Rewrites each such header in place, inside the TS packets of video PIDs
+ * only, to an "unspecified" H.265 unit (type 48) that hls.js and decoders
+ * ignore. Same length, so the TS stays intact. A valid single-layer H.265
+ * header never matches (its temporal id is never 0). Returns the count.
+ */
+export function neutraliseStrayAud(data: ArrayBuffer | Uint8Array): number {
+  const b = data instanceof Uint8Array ? data : new Uint8Array(data);
+  // Per video PID: where its last 4 payload bytes sit, so a header split across
+  // two TS packets is still found (a remuxed stream can put one there - 6 of 240
+  // in a local ffmpeg remux, and one missed header stops the picture).
+  const tails = new Map<number, number[]>();
+  let n = 0;
+  for (let i = 0; i + 188 <= b.length; i += 188) {
+    if (b[i] !== 0x47) continue;
+    const afc = (b[i + 3]! >> 4) & 3;
+    if (!(afc & 1)) continue;
+    const pid = ((b[i + 1]! & 0x1f) << 8) | b[i + 2]!;
+    let p = i + 4;
+    if (afc & 2) p += 1 + b[p]!;
+    const end = i + 188;
+    if (p >= end) continue;
+    // A PES start names its stream: 0xE0-0xEF = video. The PES header is never inside a NAL unit.
+    if (b[i + 1]! & 0x40 && b[p] === 0 && b[p + 1] === 0 && b[p + 2] === 1 && (b[p + 3]! & 0xf0) === 0xe0) tails.set(pid, []);
+    const tail = tails.get(pid);
+    if (!tail) continue;
+    const t = tail.length;
+    const at = (k: number) => (k < t ? tail[k]! : p + k - t);
+    const len = t + end - p;
+    for (let k = 0; k + 4 < len; k++) {
+      if (b[at(k)] === 0 && b[at(k + 1)] === 0 && b[at(k + 2)] === 1 && b[at(k + 3)] === 0x09 && (b[at(k + 4)]! & 7) === 0) {
+        b[at(k + 3)] = 0x60;
+        b[at(k + 4)] = 0x01;
+        n++;
+        k += 4;
+      }
+    }
+    tails.set(pid, Array.from({ length: Math.min(4, len) }, (_, j) => at(len - Math.min(4, len) + j)));
+  }
+  return n;
+}
+
+/** hls.js fragment loader that runs `neutraliseStrayAud` on every loaded segment. */
+function strayAudLoader(Base: any) {
+  return class extends Base {
+    load(context: any, config: any, callbacks: any) {
+      const ok = callbacks.onSuccess;
+      super.load(context, config, {
+        ...callbacks,
+        onSuccess: (response: any, ...rest: any[]) => {
+          if (response?.data instanceof ArrayBuffer) neutraliseStrayAud(response.data);
+          ok(response, ...rest);
+        },
+      });
+    }
+  };
+}
 
 /** The inline panel streams only while it is switched on, the robot is online, the tab is visible and the panel is near the screen. */
 export const liveViewActive = (s: { on: boolean; offline?: boolean; visible: boolean; inView: boolean }) =>
@@ -186,7 +253,8 @@ export function startLivePlayer(
         if (!Hls.isSupported()) return native();
         video.addEventListener("error", noteDecode);
         let recoveries = 0;
-        const h = (hls = new Hls({ enableWorker: true, lowLatencyMode: false }));
+        const Base = Hls.DefaultConfig?.loader;
+        const h = (hls = new Hls({ enableWorker: true, lowLatencyMode: false, ...(Base ? { fLoader: strayAudLoader(Base) } : {}) }));
         h.on("hlsError", (_e, data) => {
           noteDecode();
           if (!data.fatal) return;

package/utils/robot-display.ts

@@ -1204,13 +1204,44 @@ export function positionText(live: TLiveRobotState | null | undefined, capabilit
   if (capabilities?.readLocation !== true) return "Not reported";
   const p = live?.position;
   if (!live?.ok || live.online === false) return "Reconnecting";
-  // Answering, but it has no position right now (e.g. not relocalised) - said, not guessed.
+  // Answering, but no position came with this reading - said, not guessed (see positionGap).
   if (!p || !finite(p.x) || !finite(p.y)) return "Position not reported right now";
   const deg = finite(p.theta) ? Math.round(((((p.theta * 180) / Math.PI) % 360) + 360) % 360) : 0;
   const seen = staleText(live, now);
   return `x ${p.x.toFixed(1)} · y ${p.y.toFixed(1)} · ${deg}°${seen ? ` · ${seen}` : ""}`;
 }
 
+/**
+ * The robot is online and its brand is meant to report where it is, but this
+ * reading carries no coordinates. Said as a gap in what we receive - never as
+ * "the robot is lost": only the brand can say that, and none does today.
+ */
+export function positionGap(live: TLiveRobotState | null | undefined, capabilities: Record<string, unknown> | null | undefined): boolean {
+  if (capabilities?.readLocation !== true || !live?.ok || live.online !== true || live.monitorable === false) return false;
+  const p = live.position;
+  return !p || !finite(p.x) || !finite(p.y);
+}
+
+/**
+ * "HERO-OTH is online, but we're not receiving its position right now. Its last
+ * known position is shown faded." Several robots: one sentence, no faded part.
+ */
+export function positionGapText(names: string | string[], lastKnownShown = false): string {
+  const list = (Array.isArray(names) ? names : [names]).map((n) => (typeof n === "string" && n.trim()) || "The robot");
+  if (!list.length) return "";
+  const one = list.length === 1;
+  const who = one ? list[0] : `${list.slice(0, -1).join(", ")} and ${list[list.length - 1]}`;
+  const head = `${who} ${one ? "is" : "are"} online, but we're not receiving ${one ? "its position" : "their positions"} right now.`;
+  return one && lastKnownShown ? `${head} Its last known position is shown faded.` : head;
+}
+
+/** The faded marker's tag: "last known · 14:05" (device clock); "last known · 2 d ago" once older than 20 h. */
+export function lastKnownLabel(at: unknown, now: number = Date.now()): string {
+  const t = typeof at === "number" ? at : at instanceof Date ? at.getTime() : NaN;
+  if (!Number.isFinite(t)) return "last known";
+  return now - t > 20 * 3_600_000 ? `last known · ${agoText(t, now)}` : `last known · ${new Date(t).toTimeString().slice(0, 5)}`;
+}
+
 export type TRobotFact = { label: string; value: string; dim: boolean };
 
 /**