@ioai/robot_viewer 1.1.1 → 1.1.2

package/dist/camera-publish-worker.js

@@ -1 +1 @@
-const PREVIEW_MIME='image/jpeg';const PREVIEW_QUALITY=0.7;const MAX_SOCKET_BUFFER=0x4*0x400*0x400;const MAX_QUEUE=0x3;const DOMAIN_ID_TOPIC='/robot_viewer/domain_id';const DOMAIN_ID_TYPE='std_msgs/msg/Int32';const DOMAIN_ID_TIMEOUT_MS=0x1388;const TOPIC_TYPE='sensor_msgs/msg/CompressedImage';const ENCODINGS=[{'format':'jpeg','mime':'image/jpeg','lossy':!![]},{'format':'png','mime':'image/png','lossy':![]},{'format':'webp','mime':'image/webp','lossy':!![]}];const MIME_TO_FORMAT={'image/jpeg':'jpeg','image/png':'png','image/webp':'webp'};const requestedEncoding=()=>ENCODINGS['find'](_0x3dff2d=>_0x3dff2d['format']===cfg['format'])||ENCODINGS[0x0];const formatOfBlob=(_0x5ec4d2,_0x1ff46e)=>MIME_TO_FORMAT[_0x5ec4d2]||_0x1ff46e;let encodingSupport=null;async function probeEncodings(){if(!encodingSupport){const _0x55e441=[];try{const _0x2fa405=new OffscreenCanvas(0x8,0x8);const _0x333b09=_0x2fa405['getContext']('2d');_0x333b09['putImageData'](new ImageData(new Uint8ClampedArray(0x8*0x8*0x4),0x8,0x8),0x0,0x0);for(const _0x358006 of ENCODINGS){let _0x5f5c6b=![];try{const _0x36f746=await _0x2fa405['convertToBlob'](_0x358006['lossy']?{'type':_0x358006['mime'],'quality':0.8}:{'type':_0x358006['mime']});_0x5f5c6b=!!_0x36f746&&_0x36f746['type']===_0x358006['mime'];}catch(_0x573601){_0x5f5c6b=![];}_0x55e441['push']({'format':_0x358006['format'],'supported':_0x5f5c6b});}}catch(_0x56704f){for(const _0x4b0027 of ENCODINGS)_0x55e441['push']({'format':_0x4b0027['format'],'supported':_0x4b0027['format']==='jpeg'});}encodingSupport=_0x55e441;}self['postMessage']({'cmd':'encodings','list':encodingSupport});return encodingSupport;}function bytesToBase64(_0x1e9bda){const _0x15d925=0x8000;let _0x1f2fe0='';for(let _0x28167c=0x0;_0x28167c<_0x1e9bda['length'];_0x28167c+=_0x15d925){_0x1f2fe0+=String['fromCharCode']['apply'](null,_0x1e9bda['subarray'](_0x28167c,_0x28167c+_0x15d925));}return btoa(_0x1f2fe0);}let cfg={'url':'','topic':'','type':TOPIC_TYPE,'frameId':'','rate':0xa,'format':'jpeg','quality':0x50,'preview':![],'previewWidth':0x140};let ws=null;let connected=![];let running=![];let connectionWanted=![];let reconnectTimer=null;let retryDelay=0x7d0;let connectStartedAt=-0x1;let advertisedTopic=null;let gridTimer=null;let queue=[];let pendingNeed=0x0;let encodeInFlight=0x0;let lastNeedAt=0x0;let lastEncodeAt=0x0;let domainId=undefined;let domainIdTimer=null;let domainIdSubscribed=![];let canvas=null;let ctx=null;let previewCanvas=null;let previewCtx=null;let statsTimer=null;const NEED_TIMEOUT_MS=0x5dc;const ENCODE_TIMEOUT_MS=0x1388;const CONNECT_TIMEOUT_MS=0x1388;const stats={'published':0x0,'dropped':0x0,'underruns':0x0,'stalled':0x0,'reconnects':0x0,'payloadBytes':0x0,'encodeMs':0x0,'captureMs':0x0,'rate':0x0,'lastDrop':null};let rateWindow={'start':0x0,'count':0x0};let produceSamples=[];const clampedRate=()=>Math['max'](0x1,Math['min'](0x78,Math['round'](cfg['rate'])||0xa));const ROUND_TRIP_MS=0x3;const MIN_DEPTH=0x2;const targetDepth=()=>{const _0x3cfccc=0x3e8/clampedRate();const _0x1d88b1=produceSamples['length']?Math['max'](...produceSamples):0x0;if(_0x1d88b1<=0x0)return MIN_DEPTH;const _0x6efe43=Math['ceil']((_0x1d88b1+ROUND_TRIP_MS)*1.15/_0x3cfccc);return Math['min'](MAX_QUEUE,Math['max'](MIN_DEPTH,_0x6efe43));};function closeSocket(){stopDomainIdQuery();if(ws){const _0x4ef6f5=ws;_0x4ef6f5['onopen']=null;_0x4ef6f5['onclose']=null;_0x4ef6f5['onerror']=null;try{_0x4ef6f5['close']();}catch(_0x46c81f){}ws=null;}connected=![];advertisedTopic=null;}function scheduleReconnect(){if(!connectionWanted||reconnectTimer)return;reconnectTimer=setTimeout(()=>{reconnectTimer=null;if(running)connect(cfg['url']);},retryDelay);retryDelay=Math['min'](0x2710,retryDelay*0x2);}function connect(_0x11488b){if(ws&&connected&&ws['readyState']===0x1&&cfg['url']===_0x11488b){self['postMessage']({'cmd':'state','connected':!![],'reused':!![]});return;}closeSocket();if(!_0x11488b){self['postMessage']({'cmd':'state','connected':![],'error':'缺少\x20rosbridge\x20地址'});return;}connectStartedAt=performance['now']();try{ws=new WebSocket(_0x11488b);}catch(_0x13f154){self['postMessage']({'cmd':'state','connected':![],'error':String(_0x13f154&&_0x13f154['message']||_0x13f154)});scheduleReconnect();return;}ws['onopen']=()=>{connected=!![];connectStartedAt=-0x1;retryDelay=0x7d0;advertise();queryDomainId();if(running)startGrid();self['postMessage']({'cmd':'state','connected':!![]});};ws['onclose']=()=>{connected=![];connectStartedAt=-0x1;advertisedTopic=null;self['postMessage']({'cmd':'state','connected':![]});scheduleReconnect();};ws['onerror']=()=>{self['postMessage']({'cmd':'state','connected':![],'error':'WebSocket\x20连接错误'});};ws['onmessage']=_0x312c2b=>onSocketMessage(_0x312c2b['data']);}function wsSend(_0x410c27){if(!ws||ws['readyState']!==0x1)return![];try{ws['send'](JSON['stringify'](_0x410c27));return!![];}catch(_0x5217f7){return![];}}function advertise(){if(!connected||!cfg['topic'])return;wsSend({'op':'advertise','id':'advertise:'+cfg['topic'],'type':cfg['type'],'topic':cfg['topic'],'latch':![],'queue_size':0xa,'qos':{'history':'keep_last','depth':0xa,'reliability':'best_effort','durability':'volatile'}});advertisedTopic=cfg['topic'];}function unadvertise(){if(connected&&advertisedTopic){wsSend({'op':'unadvertise','topic':advertisedTopic,'id':'advertise:'+advertisedTopic});}advertisedTopic=null;}function queryDomainId(){if(!connected)return;domainIdSubscribed=!![];domainId=undefined;wsSend({'op':'subscribe','id':'domain-id','topic':DOMAIN_ID_TOPIC,'type':DOMAIN_ID_TYPE,'throttle_rate':0x7d0});if(domainIdTimer)clearTimeout(domainIdTimer);domainIdTimer=setTimeout(()=>{domainIdTimer=null;if(domainId===undefined){domainId=null;self['postMessage']({'cmd':'domainId','value':null});}},DOMAIN_ID_TIMEOUT_MS);}function stopDomainIdQuery(){domainIdSubscribed=![];if(domainIdTimer)clearTimeout(domainIdTimer);domainIdTimer=null;if(ws&&connected&&ws['readyState']===0x1){try{wsSend({'op':'unsubscribe','id':'domain-id','topic':DOMAIN_ID_TOPIC});}catch(_0x4d454b){}}domainId=undefined;}function onSocketMessage(_0xcf43d5){let _0x5881eb=null;try{_0x5881eb=JSON['parse'](_0xcf43d5);}catch(_0x58b8ba){return;}if(!domainIdSubscribed)return;if(!_0x5881eb||_0x5881eb['topic']!==DOMAIN_ID_TOPIC)return;const _0x1098c9=typeof _0x5881eb['msg']==='number'?_0x5881eb['msg']:_0x5881eb['msg']&&_0x5881eb['msg']['data'];if(typeof _0x1098c9!=='number')return;domainId=_0x1098c9;if(domainIdTimer)clearTimeout(domainIdTimer);domainIdTimer=null;self['postMessage']({'cmd':'domainId','value':_0x1098c9});}function startGrid(){stopGrid();rateWindow={'start':performance['now'](),'count':0x0};gridTimer=setInterval(onGrid,0x3e8/clampedRate());}function stopGrid(){if(gridTimer)clearInterval(gridTimer);gridTimer=null;}function onGrid(){if(!connected||!running)return;if(ws&&typeof ws['bufferedAmount']==='number'&&ws['bufferedAmount']>MAX_SOCKET_BUFFER){stats['dropped']++;stats['lastDrop']='socket-backlog';return;}const _0x534628=queue['shift']()||null;if(_0x534628){publish(_0x534628);}else if(stats['published']>0x0||pendingNeed>0x0){stats['underruns']++;}requestFrames();}function requestFrames(){if(!connected)return;const _0x4179d0=targetDepth()-queue['length']-pendingNeed-encodeInFlight;for(let _0x4de80f=0x0;_0x4de80f<_0x4179d0;_0x4de80f++){pendingNeed++;lastNeedAt=performance['now']();self['postMessage']({'cmd':'need'});}}function watchdogStall(_0x2ca755){if(!running)return;if(!connected){if(connectStartedAt>=0x0&&_0x2ca755-connectStartedAt>CONNECT_TIMEOUT_MS){stats['reconnects']++;stats['lastDrop']='connect-timeout';connectStartedAt=-0x1;closeSocket();connect(cfg['url']);}return;}if(pendingNeed>0x0&&_0x2ca755-lastNeedAt>NEED_TIMEOUT_MS){stats['stalled']+=pendingNeed;pendingNeed=0x0;stats['lastDrop']='need-timeout';requestFrames();}if(encodeInFlight>0x0&&_0x2ca755-lastEncodeAt>ENCODE_TIMEOUT_MS){stats['stalled']+=encodeInFlight;encodeInFlight=0x0;stats['lastDrop']='encode-timeout';requestFrames();}}function buildMessage(_0x107e95){const _0x66162b=Date['now']();return{'header':{'stamp':{'sec':Math['floor'](_0x66162b/0x3e8),'nanosec':_0x66162b%0x3e8*0xf4240},'frame_id':cfg['frameId']||''},'format':_0x107e95['format']||requestedEncoding()['format'],'data':_0x107e95['base64']};}function publish(_0x1e3cad){const _0x287762=wsSend({'op':'publish','topic':cfg['topic'],'msg':buildMessage(_0x1e3cad)});if(!_0x287762){stats['dropped']++;stats['lastDrop']='send';return;}stats['published']++;rateWindow['count']++;stats['payloadBytes']=_0x1e3cad['base64']['length'];stats['captureMs']=_0x1e3cad['captureMs']||0x0;stats['encodeMs']=_0x1e3cad['encodeMs']||0x0;stats['format']=_0x1e3cad['format']||'';if(cfg['preview']&&_0x1e3cad['previewBase64']){self['postMessage']({'cmd':'preview','base64':_0x1e3cad['previewBase64'],'mime':PREVIEW_MIME,'width':_0x1e3cad['width'],'height':_0x1e3cad['height'],'previewWidth':_0x1e3cad['pw'],'previewHeight':_0x1e3cad['ph'],'payloadBytes':_0x1e3cad['base64']['length'],'captureMs':_0x1e3cad['captureMs']||0x0});}}function reportStats(){const _0x915268=performance['now']();watchdogStall(_0x915268);const _0x210e68=_0x915268-rateWindow['start'];stats['rate']=_0x210e68>0x0?rateWindow['count']/(_0x210e68/0x3e8):0x0;rateWindow={'start':_0x915268,'count':0x0};stats['queue']=queue['length'];stats['depth']=targetDepth();stats['pendingNeed']=pendingNeed;stats['encodeInFlight']=encodeInFlight;stats['wsState']=ws?ws['readyState']:-0x1;stats['connected']=connected;stats['running']=running;self['postMessage']({'cmd':'stats',...stats,'target':clampedRate()});}async function encodeFrame(_0x4ccbbc){const {buffer:_0x11520c,width:_0x2d51f0,height:_0x599158,captureMs:_0x2625d4}=_0x4ccbbc;const _0x5a6813=performance['now']();try{if(!canvas)canvas=new OffscreenCanvas(_0x2d51f0,_0x599158);else if(canvas['width']!==_0x2d51f0||canvas['height']!==_0x599158){canvas['width']=_0x2d51f0;canvas['height']=_0x599158;}if(!ctx)ctx=canvas['getContext']('2d');ctx['putImageData'](new ImageData(new Uint8ClampedArray(_0x11520c),_0x2d51f0,_0x599158),0x0,0x0);const _0x2ab8e3=requestedEncoding();const _0x42fd50=await canvas['convertToBlob'](_0x2ab8e3['lossy']?{'type':_0x2ab8e3['mime'],'quality':Math['min'](0x1,Math['max'](0.01,(cfg['quality']||0x50)/0x64))}:{'type':_0x2ab8e3['mime']});const _0x3e88dd=new Uint8Array(await _0x42fd50['arrayBuffer']());const _0x3ee74c=formatOfBlob(_0x42fd50['type'],_0x2ab8e3['format']);if(_0x3ee74c!==_0x2ab8e3['format']){stats['lastDrop']='编码回落:'+_0x2ab8e3['format']+'->'+_0x3ee74c;}let _0xd0b97=null;let _0x18a905=0x0;let _0x1845e9=0x0;if(cfg['preview']){const _0x434b1b=Math['max'](0x50,Math['min'](0x280,cfg['previewWidth']||0x140));_0x18a905=Math['min'](_0x434b1b,_0x2d51f0);_0x1845e9=Math['max'](0x1,Math['round'](_0x599158*(_0x18a905/_0x2d51f0)));if(!previewCanvas)previewCanvas=new OffscreenCanvas(_0x18a905,_0x1845e9);else if(previewCanvas['width']!==_0x18a905||previewCanvas['height']!==_0x1845e9){previewCanvas['width']=_0x18a905;previewCanvas['height']=_0x1845e9;}if(!previewCtx)previewCtx=previewCanvas['getContext']('2d');previewCtx['drawImage'](canvas,0x0,0x0,_0x18a905,_0x1845e9);const _0x45f6ec=await previewCanvas['convertToBlob']({'type':PREVIEW_MIME,'quality':PREVIEW_QUALITY});_0xd0b97=bytesToBase64(new Uint8Array(await _0x45f6ec['arrayBuffer']()));}const _0x270f54=performance['now']()-_0x5a6813;produceSamples['push']((_0x2625d4||0x0)+_0x270f54);if(produceSamples['length']>0x8)produceSamples['shift']();queue['push']({'base64':bytesToBase64(_0x3e88dd),'format':_0x3ee74c,'previewBase64':_0xd0b97,'pw':_0x18a905,'ph':_0x1845e9,'width':_0x2d51f0,'height':_0x599158,'captureMs':_0x2625d4,'encodeMs':_0x270f54});if(queue['length']>MAX_QUEUE)queue['shift']();requestFrames();}catch(_0x16c4eb){stats['dropped']++;self['postMessage']({'cmd':'state','connected':connected,'error':'编码失败:\x20'+(_0x16c4eb&&_0x16c4eb['message']?_0x16c4eb['message']:String(_0x16c4eb))});}finally{try{self['postMessage']({'cmd':'buffer','buffer':_0x11520c},[_0x11520c]);}catch(_0x830969){stats['lastDrop']='buffer-return';}}}function applyConfig(_0x3165ff){Object['assign'](cfg,{'url':_0x3165ff['url']||cfg['url'],'topic':_0x3165ff['topic']||cfg['topic'],'type':_0x3165ff['type']||cfg['type'],'frameId':_0x3165ff['frameId']!==undefined?_0x3165ff['frameId']:cfg['frameId'],'rate':_0x3165ff['rate']||cfg['rate'],'format':_0x3165ff['format']||cfg['format'],'quality':_0x3165ff['quality']||cfg['quality'],'preview':_0x3165ff['preview']!==undefined?!!_0x3165ff['preview']:cfg['preview'],'previewWidth':_0x3165ff['previewWidth']||cfg['previewWidth']});}self['onmessage']=_0x208f48=>{const _0x3d10b1=_0x208f48['data']||{};switch(_0x3d10b1['cmd']){case'connect':{applyConfig(_0x3d10b1);connectionWanted=!![];retryDelay=0x7d0;if(reconnectTimer)clearTimeout(reconnectTimer);reconnectTimer=null;connectStartedAt=-0x1;if(!statsTimer)statsTimer=setInterval(reportStats,0x3e8);connect(cfg['url']);probeEncodings();break;}case'disconnect':{running=![];connectionWanted=![];connectStartedAt=-0x1;if(reconnectTimer)clearTimeout(reconnectTimer);reconnectTimer=null;stopGrid();if(statsTimer)clearInterval(statsTimer);statsTimer=null;unadvertise();closeSocket();queue=[];pendingNeed=0x0;encodeInFlight=0x0;self['postMessage']({'cmd':'state','connected':![]});break;}case'start':{applyConfig(_0x3d10b1);running=!![];connectionWanted=!![];retryDelay=0x7d0;if(reconnectTimer)clearTimeout(reconnectTimer);reconnectTimer=null;queue=[];produceSamples=[];pendingNeed=0x0;encodeInFlight=0x0;lastNeedAt=performance['now']();lastEncodeAt=lastNeedAt;connectStartedAt=-0x1;stats['published']=0x0;stats['dropped']=0x0;stats['underruns']=0x0;stats['stalled']=0x0;stats['reconnects']=0x0;stats['lastDrop']=null;if(statsTimer)clearInterval(statsTimer);statsTimer=setInterval(reportStats,0x3e8);connect(cfg['url']);if(connected)startGrid();probeEncodings();break;}case'config':{const _0x442249=clampedRate();const _0x3cde53=cfg['topic'];const _0x3e30f1=cfg['type'];['topic','type','frameId','rate','format','quality','preview','previewWidth']['forEach'](_0xf8392c=>{if(_0x3d10b1[_0xf8392c]!==undefined)cfg[_0xf8392c]=_0x3d10b1[_0xf8392c];});if(cfg['topic']!==_0x3cde53||cfg['type']!==_0x3e30f1){unadvertise();advertise();}if(clampedRate()!==_0x442249)startGrid();break;}case'stop':{running=![];stopGrid();queue=[];pendingNeed=0x0;encodeInFlight=0x0;break;}case'frame':{pendingNeed=Math['max'](0x0,pendingNeed-0x1);lastNeedAt=performance['now']();encodeInFlight++;lastEncodeAt=performance['now']();encodeFrame(_0x3d10b1)['finally'](()=>{encodeInFlight=Math['max'](0x0,encodeInFlight-0x1);});break;}case'noframe':{pendingNeed=Math['max'](0x0,pendingNeed-0x1);lastNeedAt=performance['now']();if(_0x3d10b1['reason'])stats['lastDrop']='no-frame:'+_0x3d10b1['reason'];break;}case'encodings':{if(typeof domainId==='number')self['postMessage']({'cmd':'domainId','value':domainId});probeEncodings();break;}default:break;}};
+const PREVIEW_MIME='image/jpeg';const PREVIEW_QUALITY=0.7;const MAX_SOCKET_BUFFER=0x4*0x400*0x400;const MAX_QUEUE=0x3;const DOMAIN_ID_TOPIC='/robot_viewer/domain_id';const DOMAIN_ID_TYPE='std_msgs/msg/Int32';const DOMAIN_ID_TIMEOUT_MS=0x1388;const TOPIC_TYPE='sensor_msgs/msg/CompressedImage';const ENCODINGS=[{'format':'jpeg','mime':'image/jpeg','lossy':!![]},{'format':'png','mime':'image/png','lossy':![]},{'format':'webp','mime':'image/webp','lossy':!![]}];const MIME_TO_FORMAT={'image/jpeg':'jpeg','image/png':'png','image/webp':'webp'};const requestedEncoding=()=>ENCODINGS['find'](_0x18f059=>_0x18f059['format']===cfg['format'])||ENCODINGS[0x0];const formatOfBlob=(_0x1cdf63,_0x3dddad)=>MIME_TO_FORMAT[_0x1cdf63]||_0x3dddad;let encodingSupport=null;async function probeEncodings(){if(!encodingSupport){const _0x15483b=[];try{const _0x3f8cd0=new OffscreenCanvas(0x8,0x8);const _0x5bf113=_0x3f8cd0['getContext']('2d');_0x5bf113['putImageData'](new ImageData(new Uint8ClampedArray(0x8*0x8*0x4),0x8,0x8),0x0,0x0);for(const _0x27e78e of ENCODINGS){let _0x5833e5=![];try{const _0x4ab256=await _0x3f8cd0['convertToBlob'](_0x27e78e['lossy']?{'type':_0x27e78e['mime'],'quality':0.8}:{'type':_0x27e78e['mime']});_0x5833e5=!!_0x4ab256&&_0x4ab256['type']===_0x27e78e['mime'];}catch(_0x92927c){_0x5833e5=![];}_0x15483b['push']({'format':_0x27e78e['format'],'supported':_0x5833e5});}}catch(_0x2b6980){for(const _0xd82ff5 of ENCODINGS)_0x15483b['push']({'format':_0xd82ff5['format'],'supported':_0xd82ff5['format']==='jpeg'});}encodingSupport=_0x15483b;}self['postMessage']({'cmd':'encodings','list':encodingSupport});return encodingSupport;}function bytesToBase64(_0x434049){const _0x4499e8=0x8000;let _0x53a71c='';for(let _0xc65f4e=0x0;_0xc65f4e<_0x434049['length'];_0xc65f4e+=_0x4499e8){_0x53a71c+=String['fromCharCode']['apply'](null,_0x434049['subarray'](_0xc65f4e,_0xc65f4e+_0x4499e8));}return btoa(_0x53a71c);}let cfg={'url':'','topic':'','type':TOPIC_TYPE,'frameId':'','rate':0xa,'format':'jpeg','quality':0x50,'preview':![],'previewWidth':0x140};let ws=null;let connected=![];let running=![];let connectionWanted=![];let reconnectTimer=null;let retryDelay=0x7d0;let connectStartedAt=-0x1;let advertisedTopic=null;let gridTimer=null;let queue=[];let pendingNeed=0x0;let encodeInFlight=0x0;let lastNeedAt=0x0;let lastEncodeAt=0x0;let domainId=undefined;let domainIdTimer=null;let domainIdSubscribed=![];let canvas=null;let ctx=null;let previewCanvas=null;let previewCtx=null;let statsTimer=null;const NEED_TIMEOUT_MS=0x5dc;const ENCODE_TIMEOUT_MS=0x1388;const CONNECT_TIMEOUT_MS=0x1388;const stats={'published':0x0,'dropped':0x0,'underruns':0x0,'stalled':0x0,'reconnects':0x0,'payloadBytes':0x0,'encodeMs':0x0,'captureMs':0x0,'rate':0x0,'lastDrop':null};let rateWindow={'start':0x0,'count':0x0};let produceSamples=[];const clampedRate=()=>Math['max'](0x1,Math['min'](0x78,Math['round'](cfg['rate'])||0xa));const ROUND_TRIP_MS=0x3;const MIN_DEPTH=0x2;const targetDepth=()=>{const _0x5c2904=0x3e8/clampedRate();const _0x3e9854=produceSamples['length']?Math['max'](...produceSamples):0x0;if(_0x3e9854<=0x0)return MIN_DEPTH;const _0x473b2c=Math['ceil']((_0x3e9854+ROUND_TRIP_MS)*1.15/_0x5c2904);return Math['min'](MAX_QUEUE,Math['max'](MIN_DEPTH,_0x473b2c));};function closeSocket(){stopDomainIdQuery();if(ws){const _0x11e06a=ws;_0x11e06a['onopen']=null;_0x11e06a['onclose']=null;_0x11e06a['onerror']=null;try{_0x11e06a['close']();}catch(_0x2c6c5){}ws=null;}connected=![];advertisedTopic=null;}function scheduleReconnect(){if(!connectionWanted||reconnectTimer)return;reconnectTimer=setTimeout(()=>{reconnectTimer=null;if(running)connect(cfg['url']);},retryDelay);retryDelay=Math['min'](0x2710,retryDelay*0x2);}function connect(_0x4ddf25){if(ws&&connected&&ws['readyState']===0x1&&cfg['url']===_0x4ddf25){self['postMessage']({'cmd':'state','connected':!![],'reused':!![]});return;}closeSocket();if(!_0x4ddf25){self['postMessage']({'cmd':'state','connected':![],'error':'缺少\x20rosbridge\x20地址'});return;}connectStartedAt=performance['now']();try{ws=new WebSocket(_0x4ddf25);}catch(_0x18676b){self['postMessage']({'cmd':'state','connected':![],'error':String(_0x18676b&&_0x18676b['message']||_0x18676b)});scheduleReconnect();return;}ws['onopen']=()=>{connected=!![];connectStartedAt=-0x1;retryDelay=0x7d0;advertise();queryDomainId();if(running)startGrid();self['postMessage']({'cmd':'state','connected':!![]});};ws['onclose']=()=>{connected=![];connectStartedAt=-0x1;advertisedTopic=null;self['postMessage']({'cmd':'state','connected':![]});scheduleReconnect();};ws['onerror']=()=>{self['postMessage']({'cmd':'state','connected':![],'error':'WebSocket\x20连接错误'});};ws['onmessage']=_0x13a21e=>onSocketMessage(_0x13a21e['data']);}function wsSend(_0xd69d70){if(!ws||ws['readyState']!==0x1)return![];try{ws['send'](JSON['stringify'](_0xd69d70));return!![];}catch(_0x312abc){return![];}}function advertise(){if(!connected||!cfg['topic'])return;wsSend({'op':'advertise','id':'advertise:'+cfg['topic'],'type':cfg['type'],'topic':cfg['topic'],'latch':![],'queue_size':0xa,'qos':{'history':'keep_last','depth':0xa,'reliability':'best_effort','durability':'volatile'}});advertisedTopic=cfg['topic'];}function unadvertise(){if(connected&&advertisedTopic){wsSend({'op':'unadvertise','topic':advertisedTopic,'id':'advertise:'+advertisedTopic});}advertisedTopic=null;}function queryDomainId(){if(!connected)return;domainIdSubscribed=!![];domainId=undefined;wsSend({'op':'subscribe','id':'domain-id','topic':DOMAIN_ID_TOPIC,'type':DOMAIN_ID_TYPE,'throttle_rate':0x7d0});if(domainIdTimer)clearTimeout(domainIdTimer);domainIdTimer=setTimeout(()=>{domainIdTimer=null;if(domainId===undefined){domainId=null;self['postMessage']({'cmd':'domainId','value':null});}},DOMAIN_ID_TIMEOUT_MS);}function stopDomainIdQuery(){domainIdSubscribed=![];if(domainIdTimer)clearTimeout(domainIdTimer);domainIdTimer=null;if(ws&&connected&&ws['readyState']===0x1){try{wsSend({'op':'unsubscribe','id':'domain-id','topic':DOMAIN_ID_TOPIC});}catch(_0x5ad13e){}}domainId=undefined;}function onSocketMessage(_0x130fa5){let _0x4a4d43=null;try{_0x4a4d43=JSON['parse'](_0x130fa5);}catch(_0xa82860){return;}if(!domainIdSubscribed)return;if(!_0x4a4d43||_0x4a4d43['topic']!==DOMAIN_ID_TOPIC)return;const _0x260825=typeof _0x4a4d43['msg']==='number'?_0x4a4d43['msg']:_0x4a4d43['msg']&&_0x4a4d43['msg']['data'];if(typeof _0x260825!=='number')return;domainId=_0x260825;if(domainIdTimer)clearTimeout(domainIdTimer);domainIdTimer=null;self['postMessage']({'cmd':'domainId','value':_0x260825});}function startGrid(){stopGrid();rateWindow={'start':performance['now'](),'count':0x0};gridTimer=setInterval(onGrid,0x3e8/clampedRate());}function stopGrid(){if(gridTimer)clearInterval(gridTimer);gridTimer=null;}function onGrid(){if(!connected||!running)return;if(ws&&typeof ws['bufferedAmount']==='number'&&ws['bufferedAmount']>MAX_SOCKET_BUFFER){stats['dropped']++;stats['lastDrop']='socket-backlog';return;}const _0x53975c=queue['shift']()||null;if(_0x53975c){publish(_0x53975c);}else if(stats['published']>0x0||pendingNeed>0x0){stats['underruns']++;}requestFrames();}function requestFrames(){if(!connected)return;const _0x194044=targetDepth()-queue['length']-pendingNeed-encodeInFlight;for(let _0x54293e=0x0;_0x54293e<_0x194044;_0x54293e++){pendingNeed++;lastNeedAt=performance['now']();self['postMessage']({'cmd':'need'});}}function watchdogStall(_0x4e6d02){if(!running)return;if(!connected){if(connectStartedAt>=0x0&&_0x4e6d02-connectStartedAt>CONNECT_TIMEOUT_MS){stats['reconnects']++;stats['lastDrop']='connect-timeout';connectStartedAt=-0x1;closeSocket();connect(cfg['url']);}return;}if(pendingNeed>0x0&&_0x4e6d02-lastNeedAt>NEED_TIMEOUT_MS){stats['stalled']+=pendingNeed;pendingNeed=0x0;stats['lastDrop']='need-timeout';requestFrames();}if(encodeInFlight>0x0&&_0x4e6d02-lastEncodeAt>ENCODE_TIMEOUT_MS){stats['stalled']+=encodeInFlight;encodeInFlight=0x0;stats['lastDrop']='encode-timeout';requestFrames();}}function buildMessage(_0x4fda6b){const _0xc7e127=Date['now']();return{'header':{'stamp':{'sec':Math['floor'](_0xc7e127/0x3e8),'nanosec':_0xc7e127%0x3e8*0xf4240},'frame_id':cfg['frameId']||''},'format':_0x4fda6b['format']||requestedEncoding()['format'],'data':_0x4fda6b['base64']};}function publish(_0x42c567){const _0x1e2305=wsSend({'op':'publish','topic':cfg['topic'],'msg':buildMessage(_0x42c567)});if(!_0x1e2305){stats['dropped']++;stats['lastDrop']='send';return;}stats['published']++;rateWindow['count']++;stats['payloadBytes']=_0x42c567['base64']['length'];stats['captureMs']=_0x42c567['captureMs']||0x0;stats['encodeMs']=_0x42c567['encodeMs']||0x0;stats['format']=_0x42c567['format']||'';if(cfg['preview']&&_0x42c567['previewBase64']){self['postMessage']({'cmd':'preview','base64':_0x42c567['previewBase64'],'mime':PREVIEW_MIME,'width':_0x42c567['width'],'height':_0x42c567['height'],'previewWidth':_0x42c567['pw'],'previewHeight':_0x42c567['ph'],'payloadBytes':_0x42c567['base64']['length'],'captureMs':_0x42c567['captureMs']||0x0});}}function reportStats(){const _0x19731c=performance['now']();watchdogStall(_0x19731c);const _0xf682e0=_0x19731c-rateWindow['start'];stats['rate']=_0xf682e0>0x0?rateWindow['count']/(_0xf682e0/0x3e8):0x0;rateWindow={'start':_0x19731c,'count':0x0};stats['queue']=queue['length'];stats['depth']=targetDepth();stats['pendingNeed']=pendingNeed;stats['encodeInFlight']=encodeInFlight;stats['wsState']=ws?ws['readyState']:-0x1;stats['connected']=connected;stats['running']=running;self['postMessage']({'cmd':'stats',...stats,'target':clampedRate()});}async function encodeFrame(_0xf50773){const {buffer:_0x179b43,width:_0x5958dc,height:_0x5f52dc,captureMs:_0x54e1c6}=_0xf50773;const _0x18c4f7=performance['now']();try{if(!canvas)canvas=new OffscreenCanvas(_0x5958dc,_0x5f52dc);else if(canvas['width']!==_0x5958dc||canvas['height']!==_0x5f52dc){canvas['width']=_0x5958dc;canvas['height']=_0x5f52dc;}if(!ctx)ctx=canvas['getContext']('2d');ctx['putImageData'](new ImageData(new Uint8ClampedArray(_0x179b43),_0x5958dc,_0x5f52dc),0x0,0x0);const _0x79a8a0=requestedEncoding();const _0x1eab18=await canvas['convertToBlob'](_0x79a8a0['lossy']?{'type':_0x79a8a0['mime'],'quality':Math['min'](0x1,Math['max'](0.01,(cfg['quality']||0x50)/0x64))}:{'type':_0x79a8a0['mime']});const _0x383bb5=new Uint8Array(await _0x1eab18['arrayBuffer']());const _0x3eccc2=formatOfBlob(_0x1eab18['type'],_0x79a8a0['format']);if(_0x3eccc2!==_0x79a8a0['format']){stats['lastDrop']='编码回落:'+_0x79a8a0['format']+'->'+_0x3eccc2;}let _0x51dbcc=null;let _0x3310ad=0x0;let _0x23f07f=0x0;if(cfg['preview']){const _0x256adb=Math['max'](0x50,Math['min'](0x280,cfg['previewWidth']||0x140));_0x3310ad=Math['min'](_0x256adb,_0x5958dc);_0x23f07f=Math['max'](0x1,Math['round'](_0x5f52dc*(_0x3310ad/_0x5958dc)));if(!previewCanvas)previewCanvas=new OffscreenCanvas(_0x3310ad,_0x23f07f);else if(previewCanvas['width']!==_0x3310ad||previewCanvas['height']!==_0x23f07f){previewCanvas['width']=_0x3310ad;previewCanvas['height']=_0x23f07f;}if(!previewCtx)previewCtx=previewCanvas['getContext']('2d');previewCtx['drawImage'](canvas,0x0,0x0,_0x3310ad,_0x23f07f);const _0x393e2c=await previewCanvas['convertToBlob']({'type':PREVIEW_MIME,'quality':PREVIEW_QUALITY});_0x51dbcc=bytesToBase64(new Uint8Array(await _0x393e2c['arrayBuffer']()));}const _0x3d9880=performance['now']()-_0x18c4f7;produceSamples['push']((_0x54e1c6||0x0)+_0x3d9880);if(produceSamples['length']>0x8)produceSamples['shift']();queue['push']({'base64':bytesToBase64(_0x383bb5),'format':_0x3eccc2,'previewBase64':_0x51dbcc,'pw':_0x3310ad,'ph':_0x23f07f,'width':_0x5958dc,'height':_0x5f52dc,'captureMs':_0x54e1c6,'encodeMs':_0x3d9880});if(queue['length']>MAX_QUEUE)queue['shift']();requestFrames();}catch(_0x51b40a){stats['dropped']++;self['postMessage']({'cmd':'state','connected':connected,'error':'编码失败:\x20'+(_0x51b40a&&_0x51b40a['message']?_0x51b40a['message']:String(_0x51b40a))});}finally{try{self['postMessage']({'cmd':'buffer','buffer':_0x179b43},[_0x179b43]);}catch(_0x4bbd72){stats['lastDrop']='buffer-return';}}}function applyConfig(_0x5409fd){Object['assign'](cfg,{'url':_0x5409fd['url']||cfg['url'],'topic':_0x5409fd['topic']||cfg['topic'],'type':_0x5409fd['type']||cfg['type'],'frameId':_0x5409fd['frameId']!==undefined?_0x5409fd['frameId']:cfg['frameId'],'rate':_0x5409fd['rate']||cfg['rate'],'format':_0x5409fd['format']||cfg['format'],'quality':_0x5409fd['quality']||cfg['quality'],'preview':_0x5409fd['preview']!==undefined?!!_0x5409fd['preview']:cfg['preview'],'previewWidth':_0x5409fd['previewWidth']||cfg['previewWidth']});}self['onmessage']=_0x571913=>{const _0x46d2a0=_0x571913['data']||{};switch(_0x46d2a0['cmd']){case'connect':{applyConfig(_0x46d2a0);connectionWanted=!![];retryDelay=0x7d0;if(reconnectTimer)clearTimeout(reconnectTimer);reconnectTimer=null;connectStartedAt=-0x1;if(!statsTimer)statsTimer=setInterval(reportStats,0x3e8);connect(cfg['url']);probeEncodings();break;}case'disconnect':{running=![];connectionWanted=![];connectStartedAt=-0x1;if(reconnectTimer)clearTimeout(reconnectTimer);reconnectTimer=null;stopGrid();if(statsTimer)clearInterval(statsTimer);statsTimer=null;unadvertise();closeSocket();queue=[];pendingNeed=0x0;encodeInFlight=0x0;self['postMessage']({'cmd':'state','connected':![]});break;}case'start':{applyConfig(_0x46d2a0);running=!![];connectionWanted=!![];retryDelay=0x7d0;if(reconnectTimer)clearTimeout(reconnectTimer);reconnectTimer=null;queue=[];produceSamples=[];pendingNeed=0x0;encodeInFlight=0x0;lastNeedAt=performance['now']();lastEncodeAt=lastNeedAt;connectStartedAt=-0x1;stats['published']=0x0;stats['dropped']=0x0;stats['underruns']=0x0;stats['stalled']=0x0;stats['reconnects']=0x0;stats['lastDrop']=null;if(statsTimer)clearInterval(statsTimer);statsTimer=setInterval(reportStats,0x3e8);connect(cfg['url']);if(connected)startGrid();probeEncodings();break;}case'config':{const _0x1b403a=clampedRate();const _0x50a588=cfg['topic'];const _0x3e6223=cfg['type'];['topic','type','frameId','rate','format','quality','preview','previewWidth']['forEach'](_0x19023f=>{if(_0x46d2a0[_0x19023f]!==undefined)cfg[_0x19023f]=_0x46d2a0[_0x19023f];});if(cfg['topic']!==_0x50a588||cfg['type']!==_0x3e6223){unadvertise();advertise();}if(clampedRate()!==_0x1b403a)startGrid();break;}case'stop':{running=![];stopGrid();queue=[];pendingNeed=0x0;encodeInFlight=0x0;break;}case'frame':{pendingNeed=Math['max'](0x0,pendingNeed-0x1);lastNeedAt=performance['now']();encodeInFlight++;lastEncodeAt=performance['now']();encodeFrame(_0x46d2a0)['finally'](()=>{encodeInFlight=Math['max'](0x0,encodeInFlight-0x1);});break;}case'noframe':{pendingNeed=Math['max'](0x0,pendingNeed-0x1);lastNeedAt=performance['now']();if(_0x46d2a0['reason'])stats['lastDrop']='no-frame:'+_0x46d2a0['reason'];break;}case'encodings':{if(typeof domainId==='number')self['postMessage']({'cmd':'domainId','value':domainId});probeEncodings();break;}default:break;}};

package/dist/heartbeat-worker.js

@@ -1 +1 @@
-let intervalId=null;self['onmessage']=_0x150b3f=>{const {cmd:_0xa9fa09,rate:_0x3998d6}=_0x150b3f['data'];if(_0xa9fa09==='start'){if(intervalId)clearInterval(intervalId);const _0x2afbcf=Math['max'](0x1,Math['min'](_0x3998d6||0xc8,0x1f4));intervalId=setInterval(()=>{self['postMessage']('tick');},0x3e8/_0x2afbcf);}else if(_0xa9fa09==='stop'){if(intervalId){clearInterval(intervalId);intervalId=null;}}};
+let intervalId=null;self['onmessage']=_0x60997=>{const {cmd:_0x3e64c1,rate:_0x149300}=_0x60997['data'];if(_0x3e64c1==='start'){if(intervalId)clearInterval(intervalId);const _0x3a99db=Math['max'](0x1,Math['min'](_0x149300||0xc8,0x1f4));intervalId=setInterval(()=>{self['postMessage']('tick');},0x3e8/_0x3a99db);}else if(_0x3e64c1==='stop'){if(intervalId){clearInterval(intervalId);intervalId=null;}}};

package/dist/index.html

@@ -4069,7 +4069,7 @@
 
     </style>
     <!-- MATOMO_PLACEHOLDER -->
-  <script type="module" crossorigin src="./assets/js/index-2e5294e6.js"></script>
+  <script type="module" crossorigin src="./assets/js/index-56e94ce5.js"></script>
   <link rel="modulepreload" crossorigin href="./assets/js/three-9c891de0.js">
   <link rel="modulepreload" crossorigin href="./assets/js/d3-2e308866.js">
   <link rel="modulepreload" crossorigin href="./assets/js/codemirror-c3cec7b3.js">
@@ -4264,7 +4264,7 @@
 
             <div id="floating-help-panel" class="floating-panel" style="display: none;">
                 <div class="floating-panel-header">
-                    <span data-i18n="helpTitle">Robot Viewer v1.1.1</span>
+                    <span data-i18n="helpTitle">Robot Viewer v1.1.2</span>
                     <button class="panel-close-btn" data-panel="floating-help-panel">✕</button>
                 </div>
                 <div class="floating-panel-content">

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@ioai/robot_viewer",
-  "version": "1.1.1",
+  "version": "1.1.2",
   "description": "Lightweight browser-based robot model viewer supporting URDF, MJCF, and USD formats",
   "main": "bin/cli.js",
   "bin": {
@@ -43,6 +43,9 @@
     "access": "public"
   },
   "dependencies": {
+    "express": "^4.18.2"
+  },
+  "devDependencies": {
     "@babel/runtime": "^7.23.0",
     "@codemirror/autocomplete": "^6.12.0",
     "@codemirror/commands": "^6.3.3",
@@ -55,16 +58,13 @@
     "@uiw/codemirror-theme-vscode": "^4.21.21",
     "codemirror": "^6.0.1",
     "d3": "^7.9.0",
-    "express": "^4.18.2",
     "fflate": "^0.8.2",
     "mujoco-js": "^0.0.7",
     "roslib": "^1.3.0",
     "three": "^0.163.0",
     "uplot": "^1.6.32",
     "urdf-loader": "^0.12.5",
-    "xacro-parser": "^0.3.11"
-  },
-  "devDependencies": {
+    "xacro-parser": "^0.3.11",
     "javascript-obfuscator": "^5.6.0",
     "terser": "^5.26.0",
     "vite": "^4.5.0"

package/server/static-server.js

@@ -75,8 +75,26 @@ app.get('*', (req, res, next) => {
 });
 
 const server = app.listen(PORT, HOST, () => {
-    console.log(`io_robot_viewer 生产服务运行在 http://${HOST}:${PORT}`);
-    console.log(`  静态目录: ${DIST_DIR}`);
+    const localUrl = `http://127.0.0.1:${PORT}`;
+    const localhostUrl = `http://localhost:${PORT}`;
+    console.log('\n✅ IO Robot Viewer 已在本地启动');
+    console.log(`   请在浏览器访问: ${localUrl}`);
+    console.log(`   或访问:         ${localhostUrl}`);
+    if (HOST === '0.0.0.0') {
+        console.log(`   监听地址:       0.0.0.0:${PORT}（允许局域网访问）`);
+    } else if (HOST !== '127.0.0.1' && HOST !== 'localhost') {
+        console.log(`   指定地址:       http://${HOST}:${PORT}`);
+    }
+    console.log('   按 Ctrl+C 停止服务\n');
+});
+
+server.on('error', (error) => {
+    if (error.code === 'EADDRINUSE') {
+        console.error(`\n✗ 端口 ${PORT} 已被占用，请更换端口，例如：--port ${PORT + 1}`);
+    } else {
+        console.error(`\n✗ 服务启动失败: ${error.message}`);
+    }
+    process.exit(1);
 });
 
 // 容器/systemd 里用 SIGTERM 停服，需要优雅关闭，否则连接会被硬断