@ioai/robot_viewer 1.1.2 → 1.1.4

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (12) hide show
  1. package/README.md +16 -2
  2. package/bin/cli.js +93 -2
  3. package/dist/assets/js/PlotPanel-0ea747b2.js +1 -0
  4. package/dist/assets/js/index-8af8ce50.js +6 -0
  5. package/dist/assets/js/{mujoco_wasm-345a2576.js → mujoco_wasm-eda98632.js} +1 -1
  6. package/dist/camera-publish-worker.js +1 -1
  7. package/dist/heartbeat-worker.js +1 -1
  8. package/dist/index.html +2 -2
  9. package/package.json +1 -1
  10. package/server/static-server.js +19 -5
  11. package/dist/assets/js/PlotPanel-09f986c7.js +0 -1
  12. package/dist/assets/js/index-56e94ce5.js +0 -6
package/README.md CHANGED
@@ -26,16 +26,30 @@ http://localhost:3000
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26
  `--prefer-offline` 表示优先复用 npm 缓存，缓存缺失时仍会联网。确认指定版本已经缓存后，可以在无网络环境下运行：
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27
 
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  ```bash
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- npx -y --offline @ioai/robot_viewer@1.1.2
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+ npx -y --offline @ioai/robot_viewer@1.1.4
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  ```
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31
 
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  如果需要长期离线使用和最简启动命令，推荐首次联网时全局安装：
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  ```bash
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- npm install -g @ioai/robot_viewer@1.1.2
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+ npm install -g @ioai/robot_viewer@1.1.4
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  robot-viewer
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  ```
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38
 
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+ 程序启动后会在后台检查 npm 的 `latest` 标签。发现新版本时，终端会提示：
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+
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+ ```text
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+ ⬆️ 发现 IO Robot Viewer 新版本
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+ 当前版本: 1.1.4
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+ 最新版本: 1.1.5
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+ 更新并启动:
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+ npx --yes --prefer-online @ioai/robot_viewer@latest
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+ ```
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+
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+ 更新检查不会阻塞本地服务；完全离线时会静默跳过。
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+
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+ 停止服务时按 `Ctrl+C`。程序会静默关闭 HTTP 与 keep-alive 连接，不输出额外的关闭提示；正常情况下终端会立即返回，最迟约 1 秒内强制结束。
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+
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  默认仅监听本机地址。需要允许局域网其他设备访问时：
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  ```bash
package/bin/cli.js CHANGED
@@ -8,6 +8,87 @@ const packageJson = JSON.parse(
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  fs.readFileSync(path.join(__dirname, '..', 'package.json'), 'utf8')
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  );
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10
 
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+ function versionParts(version) {
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+ return String(version)
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+ .replace(/^v/, '')
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+ .split(/[.-]/, 3)
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+ .map(part => Number.parseInt(part, 10) || 0);
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+ }
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+
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+ function isNewerVersion(candidate, current) {
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+ const next = versionParts(candidate);
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+ const installed = versionParts(current);
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+ for (let i = 0; i < 3; i += 1) {
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+ if (next[i] !== installed[i]) return next[i] > installed[i];
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+ }
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+ return false;
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+ }
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+
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+ function checkForUpdates() {
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+ const npmArgs = [
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+ 'view',
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+ packageJson.name,
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+ 'dist-tags.latest',
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+ '--json',
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+ '--prefer-online',
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+ '--fetch-retries=0',
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+ '--fetch-timeout=3000',
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+ '--loglevel=error'
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+ ];
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+
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+ // Windows + Node 24 不能直接 spawn npm.cmd（会同步抛出 EINVAL）。npx
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+ // 启动时通常会提供 npm_execpath，直接交给当前 Node 执行最可靠；其他
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+ // Windows 场景通过 cmd.exe 回退。任何检查错误都不能影响主服务启动。
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+ const npmExecPath = process.env.npm_execpath;
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+ let command = 'npm';
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+ let args = npmArgs;
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+ if (npmExecPath && fs.existsSync(npmExecPath) && /\.(?:c?js|mjs)$/i.test(npmExecPath)) {
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+ command = process.execPath;
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+ args = [npmExecPath, ...npmArgs];
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+ } else if (process.platform === 'win32') {
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+ command = process.env.ComSpec || 'cmd.exe';
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+ args = ['/d', '/s', '/c', 'npm.cmd', ...npmArgs];
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+ }
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+
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+ let checker;
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+ try {
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+ checker = spawn(command, args, {
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+ stdio: ['ignore', 'pipe', 'ignore'],
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+ windowsHide: true
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+ });
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+ } catch {
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+ return null;
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+ }
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+
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+ let output = '';
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+ checker.stdout.on('data', chunk => {
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+ if (output.length < 1024) output += chunk.toString();
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+ });
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+
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+ const timeout = setTimeout(() => checker.kill(), 5000);
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+ checker.on('error', () => clearTimeout(timeout));
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+ checker.on('close', code => {
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+ clearTimeout(timeout);
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+ if (code !== 0) return;
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+
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+ let latest;
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+ try {
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+ latest = JSON.parse(output.trim());
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+ } catch {
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+ latest = output.trim().replace(/^['"]|['"]$/g, '');
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+ }
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+
81
+ if (!isNewerVersion(latest, packageJson.version)) return;
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+ console.log('\n⬆️ 发现 IO Robot Viewer 新版本');
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+ console.log(` 当前版本: ${packageJson.version}`);
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+ console.log(` 最新版本: ${latest}`);
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+ console.log(' 更新并启动:');
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+ console.log(` npx --yes --prefer-online ${packageJson.name}@latest\n`);
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+ });
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+
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+ return checker;
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+ }
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+
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  function usage() {
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  console.log(`
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  IO Robot Viewer Mini v${packageJson.version}
@@ -60,6 +141,7 @@ if (!fs.existsSync(distIndex) || !fs.existsSync(serverEntry)) {
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  }
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142
 
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  const options = parseArgs(process.argv.slice(2));
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+ const updateChecker = checkForUpdates();
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  const child = spawn(process.execPath, [serverEntry], {
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  cwd: root,
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  env: {
@@ -76,8 +158,17 @@ child.on('error', error => {
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  process.exit(1);
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  });
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- child.on('exit', code => process.exit(code ?? 1));
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+ child.on('exit', code => process.exit(code ?? 0));
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162
 
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+ let shuttingDown = false;
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  for (const signal of ['SIGINT', 'SIGTERM']) {
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- process.on(signal, () => child.kill(signal));
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+ process.on(signal, () => {
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+ if (shuttingDown) return;
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+ shuttingDown = true;
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+ if (updateChecker?.exitCode === null) updateChecker.kill(signal);
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+ child.kill(signal);
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+
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+ const forceExit = setTimeout(() => process.exit(0), 750);
172
+ forceExit.unref();
173
+ });
83
174
  }
package/dist/assets/js/PlotPanel-0ea747b2.js ADDED
@@ -0,0 +1 @@
1
+ import{R as _0x3ce6c4}from'./index-8af8ce50.js';import'./three-9c891de0.js';import'./d3-2e308866.js';import'./codemirror-c3cec7b3.js';import'./codemirror-themes-e6995a6a.js';const e='u-off',l='u-label',n='width',i='height',s='top',o='bottom',r='left',a='right',u='#000',c=u+'0',f='mousemove',h='mousedown',d='mouseup',p='mouseenter',m='mouseleave',g='dblclick',x='change',_='dppxchange',w='--',b='undefined'!=typeof window,y=b?document:null,v=b?window:null,k=b?navigator:null;let S,E;function M(_0x3790c7,_0x1d9b09){if(null!=_0x1d9b09){let _0xa0fff5=_0x3790c7['classList'];!_0xa0fff5['contains'](_0x1d9b09)&&_0xa0fff5['add'](_0x1d9b09);}}function T(_0x1be3f4,_0x38b8e7){let _0x1e22a1=_0x1be3f4['classList'];_0x1e22a1['contains'](_0x38b8e7)&&_0x1e22a1['remove'](_0x38b8e7);}function z(_0x264dee,_0x596ac7,_0x491265){_0x264dee['style'][_0x596ac7]=_0x491265+'px';}function C(_0x169eae,_0x1796e2,_0x1621f5,_0x4942a8){let _0x135fde=y['createElement'](_0x169eae);return 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_0x55f34e='light'!==document['documentElement']['getAttribute']('data-theme'),_0x14748f=_0x55f34e?'#aeaeb2':'#86868b',_0x440be9=_0x55f34e?'rgba(255,255,255,0.06)':'rgba(0,0,0,0.06)',_0x30c8d0={'width':this['chartWrap']['clientWidth']||0x320,'height':this['chartWrap']['clientHeight']||0x258,'pxAlign':!0x1,'cursor':{'drag':{'x':!0x0,'y':!0x1}},'scales':{'x':{'time':!0x1},'y':{'auto':!0x1,'range':[-0.01,0.01]}},'axes':[{'stroke':_0x14748f,'grid':{'stroke':_0x440be9},'ticks':{'stroke':_0x440be9},'values':(_0x9b2e73,_0x1e900e)=>_0x1e900e['map'](_0x4f8c34=>_0x4f8c34['toFixed'](0x0)+'s')},{'stroke':_0x14748f,'grid':{'stroke':_0x440be9},'ticks':{'stroke':_0x440be9},'size':0x3c,'values':(_0x3e2694,_0x1ecb80)=>_0x1ecb80['map'](_0x499b30=>_0x499b30['toFixed'](0x2))}],'series':[{'label':this['_t']('time','时间')}],'legend':{'show':!0x0}};this['plot']=new tn(_0x30c8d0,[[],[]],this['chartWrap']),this['_tooltip']=this['_makeTooltip'](),this['_lastMouse']=null,this['chartWrap']['addEventListener']('mousemove',_0x1b1356=>{const _0x3847bb=this['chartWrap']['getBoundingClientRect']();this['_lastMouse']={'x':_0x1b1356['clientX']-_0x3847bb['left'],'y':_0x1b1356['clientY']-_0x3847bb['top']};}),this['chartWrap']['addEventListener']('mouseleave',()=>{this['_lastMouse']=null,this['_tooltip']['style']['display']='none';}),this['chartWrap']['addEventListener']('wheel',_0x4aa60d=>{_0x4aa60d['preventDefault']();const _0x5a4115=_0x4aa60d['deltaY']>0x0?1.1:0.9,_0x4a91e9=Math['max'](0x5,Math['min'](0x3c,this['timeWindow']*_0x5a4115));this['timeWindow']=Math['round'](_0x4a91e9),document['getElementById']('plot-window')['value']=this['timeWindow'],document['getElementById']('plot-window-val')['textContent']=this['timeWindow']+'s';},{'passive':!0x1}),this['_resizeObserver']=new ResizeObserver(()=>{this['plot']&&this['plot']['setSize']({'width':this['chartWrap']['clientWidth'],'height':this['chartWrap']['clientHeight']});}),this['_resizeObserver']['observe'](this['chartWrap']);}['_rebuildSeries'](){if(!this['plot'])return;for(;this['plot']['series']['length']>0x1;)this['plot']['delSeries'](0x1);const _0x24ee0b=Array['from'](this['selected'])['sort'](),_0x181e2c=[..._0x24ee0b['filter'](_0x2ed7e2=>{const [_0x3d7f1a]=_0x2ed7e2['split']('::');return'state'===(en[_0x3d7f1a]||_0x3d7f1a);}),..._0x24ee0b['filter'](_0x2dd139=>{const [_0x582f2a]=_0x2dd139['split']('::');return'state'!==(en[_0x582f2a]||_0x582f2a);})];this['_selectedKeys']=_0x181e2c,_0x181e2c['forEach'](_0x5e98d8=>{const [_0x6ce6b7,_0x205f16]=_0x5e98d8['split']('::'),_0x58ddac=this['_jointColorIdx'](_0x205f16),_0x56f15b=ln[_0x58ddac%ln['length']],_0x3f4778=en[_0x6ce6b7]||_0x6ce6b7,_0x4652bf='state'===_0x3f4778;this['plot']['addSeries']({'label':_0x205f16+'\x20('+_0x3f4778+')','stroke':_0x4652bf?_0x56f15b+'80':_0x56f15b,'width':_0x4652bf?2.5:1.5,'points':{'show':!0x1},'dash':_0x4652bf?[0x5,0x5]:void 0x0});});}['_buildPlotData'](){const _0x1acb99=this['_selectedKeys']||[];if(0x0===_0x1acb99['length'])return[[],[]];let _0x374cec=0x1/0x0,_0x260802=-0x1/0x0;if(_0x1acb99['forEach'](_0x59b483=>{const _0x4091ae=this['buffers']['get'](_0x59b483);if(_0x4091ae&&_0x4091ae['v']['length']>0x0)for(let _0x1e5243=0x0;_0x1e5243<_0x4091ae['v']['length'];_0x1e5243++)_0x4091ae['v'][_0x1e5243]<_0x374cec&&(_0x374cec=_0x4091ae['v'][_0x1e5243]),_0x4091ae['v'][_0x1e5243]>_0x260802&&(_0x260802=_0x4091ae['v'][_0x1e5243]);}),_0x374cec<_0x260802){const _0x403600=0.01;let _0x598ce4=0.05*(_0x260802-_0x374cec);_0x598ce4<0.02&&(_0x598ce4=0.02);let _0x4918eb=_0x374cec-_0x598ce4,_0x4e0777=_0x260802+_0x598ce4;if(_0x4e0777-_0x4918eb<_0x403600){const _0x4bb8c0=(_0x4918eb+_0x4e0777)/0x2;_0x4918eb=_0x4bb8c0-_0x403600/0x2,_0x4e0777=_0x4bb8c0+_0x403600/0x2;}_0x4918eb===this['_lastYLo']&&_0x4e0777===this['_lastYHi']||(this['_lastYLo']=_0x4918eb,this['_lastYHi']=_0x4e0777,this['plot']&&this['plot']['setScale']('y',{'min':_0x4918eb,'max':_0x4e0777}));}const _0x224049=(Date['now']()-this['_startTime'])/0x3e8,_0x10f36e=_0x224049-(this['timeWindow']+0x2);this['buffers']['forEach'](_0x4c7169=>{let _0x52bbb6=0x0;for(;_0x52bbb6<_0x4c7169['t']['length']&&_0x4c7169['t'][_0x52bbb6]<_0x10f36e;)_0x52bbb6++;_0x52bbb6>0x0&&(_0x4c7169['t']['splice'](0x0,_0x52bbb6),_0x4c7169['v']['splice'](0x0,_0x52bbb6));});const _0x5383e1=[];for(let _0x50a737=_0x224049-this['timeWindow'];_0x50a737<=_0x224049;_0x50a737+=0.01)_0x5383e1['push'](_0x50a737);const _0x436109=[_0x5383e1];return _0x1acb99['forEach'](_0x42a870=>{const _0x1efbaa=this['buffers']['get'](_0x42a870),_0x55d530=new Array(_0x5383e1['length'])['fill'](null);if(_0x1efbaa&&_0x1efbaa['t']['length']>0x0){let _0x462dfb=0.1;if(_0x1efbaa['t']['length']>=0x3){const _0x1333d9=_0x1efbaa['t']['slice'](-0xa);let _0x4014dc=0x0,_0x1e7e20=0x0;for(let _0x41d1c2=0x1;_0x41d1c2<_0x1333d9['length'];_0x41d1c2++)_0x4014dc+=_0x1333d9[_0x41d1c2]-_0x1333d9[_0x41d1c2-0x1],_0x1e7e20++;_0x1e7e20>0x0&&(_0x462dfb=_0x4014dc/_0x1e7e20);}const _0x5c2c1c=Math['max'](0x3*_0x462dfb,0.05);let _0x5bc715=0x0,_0x288b26=null,_0x319239=-0x1/0x0;for(let _0x4ef1a9=0x0;_0x4ef1a9<_0x5383e1['length'];_0x4ef1a9++){const _0x881d39=_0x5383e1[_0x4ef1a9];for(;_0x5bc715<_0x1efbaa['t']['length']&&_0x1efbaa['t'][_0x5bc715]<=_0x881d39;)_0x288b26=_0x1efbaa['v'][_0x5bc715],_0x319239=_0x1efbaa['t'][_0x5bc715],_0x5bc715++;_0x55d530[_0x4ef1a9]=_0x1efbaa['t']['length']>=0x3&&_0x881d39-_0x319239>_0x5c2c1c?null:_0x288b26;}}_0x436109['push'](_0x55d530);}),_0x436109;}['_loop'](){let _0x4c098e=0x0,_0x38bef8=0x0;const _0x21cb92=_0x90d1e3=>{if(_0x90d1e3-_0x4c098e>0x1c&&(_0x4c098e=_0x90d1e3,this['plot']&&this['ros']&&this['ros']['connected']&&(this['plot']['setData'](this['_buildPlotData']()),this['_lastMouse']&&this['_refreshTooltip']())),_0x90d1e3-_0x38bef8>0x3b6){const _0x16531a=this['_lastRateTs']?(_0x90d1e3-this['_lastRateTs'])/0x3e8:0x0;this['_lastRateTs']=_0x90d1e3,_0x38bef8=_0x90d1e3,_0x16531a>0x0&&this['ros']&&this['ros']['subStats']&&this['ros']['subStats']['forEach']((_0x1725a3,_0x4eb101)=>{const _0x434bca=this['_rateSnapshot']['get'](_0x4eb101)||0x0,_0x41ddec=_0x1725a3['count']-_0x434bca;this['_rateSnapshot']['set'](_0x4eb101,_0x1725a3['count']),this['_topicRates']['set'](_0x4eb101,Math['max'](0x0,Math['round'](_0x41ddec/_0x16531a)));}),this['_topicRates']['forEach']((_0x207a63,_0x570c4f)=>{const _0x5b46cc=document['querySelector']('[data-rate-topic=\x22'+_0x570c4f+'\x22]');_0x5b46cc&&(_0x5b46cc['textContent']=_0x207a63+'\x20Hz');});}this['_raf']=requestAnimationFrame(_0x21cb92);};this['_raf']=requestAnimationFrame(_0x21cb92);}['_makeTooltip'](){const _0x5f0937=document['createElement']('div');return _0x5f0937['style']['cssText']='position:absolute;display:none;pointer-events:none;background:rgba(0,0,0,0.85);color:#fff;font-size:11px;padding:4px\x208px;border-radius:4px;white-space:nowrap;z-index:999;font-family:monospace;',this['chartWrap']['appendChild'](_0x5f0937),_0x5f0937;}['_refreshTooltip'](){if(!this['plot']||!this['_selectedKeys']||0x0===this['_selectedKeys']['length']||!this['_lastMouse'])return void(this['_tooltip']['style']['display']='none');const _0x54b0e0=this['plot']['posToVal'](this['_lastMouse']['x'],'x'),_0x16267f=this['plot']['data'][0x0];if(!_0x16267f||0x0===_0x16267f['length'])return void(this['_tooltip']['style']['display']='none');let _0x30e8e8=0x0,_0x2609c3=0x1/0x0;for(let _0x297067=0x0;_0x297067<_0x16267f['length'];_0x297067++){const _0x285b75=Math['abs'](_0x16267f[_0x297067]-_0x54b0e0);_0x285b75<_0x2609c3&&(_0x2609c3=_0x285b75,_0x30e8e8=_0x297067);}if(_0x2609c3>this['timeWindow']/0x64)return void(this['_tooltip']['style']['display']='none');const _0xea9eb=['T:\x20'+_0x16267f[_0x30e8e8]['toFixed'](0x2)+'s'];this['_selectedKeys']['forEach']((_0x14e05c,_0x14210d)=>{const [_0x1960bc,_0x176580]=_0x14e05c['split']('::'),_0x5888c0=en[_0x1960bc]||_0x1960bc;this['plot']['data'][_0x14210d+0x1]&&null!=this['plot']['data'][_0x14210d+0x1][_0x30e8e8]&&_0xea9eb['push'](_0x176580+'\x20('+_0x5888c0+'):\x20'+this['plot']['data'][_0x14210d+0x1][_0x30e8e8]['toFixed'](0x5));}),this['_tooltip']['innerHTML']=_0xea9eb['join']('<br>'),this['_tooltip']['style']['display']='block',this['_tooltip']['style']['left']=this['_lastMouse']['x']+0xc+'px',this['_tooltip']['style']['top']=this['_lastMouse']['y']-0xa+'px';}['destroy'](){this['_raf']&&cancelAnimationFrame(this['_raf']),this['_resizeObserver']&&this['_resizeObserver']['disconnect'](),this['plot']&&this['plot']['destroy'](),this['ros']&&this['ros']['disconnect']();}}export{sn as PlotPanel};