npm - @ioai/robot_viewer - Versions diffs - 1.1.2 → 1.1.4 - Mend

@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

package/README.md +16 -2
package/bin/cli.js +93 -2
package/dist/assets/js/PlotPanel-0ea747b2.js +1 -0
package/dist/assets/js/index-8af8ce50.js +6 -0
package/dist/assets/js/{mujoco_wasm-345a2576.js → mujoco_wasm-eda98632.js} +1 -1
package/dist/camera-publish-worker.js +1 -1
package/dist/heartbeat-worker.js +1 -1
package/dist/index.html +2 -2
package/package.json +1 -1
package/server/static-server.js +19 -5
package/dist/assets/js/PlotPanel-09f986c7.js +0 -1
package/dist/assets/js/index-56e94ce5.js +0 -6

package/dist/camera-publish-worker.js CHANGED Viewed

	@@ -1 +1 @@
1	- const PREVIEW_MIME='image/jpeg';const PREVIEW_QUALITY=0.7;const MAX_SOCKET_BUFFER=0x40x4000x400;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(0x80x80x4),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,retryDelay0x2);}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%0x3e80xf4240},'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;}};
1	+ const PREVIEW_MIME='image/jpeg';const PREVIEW_QUALITY=0.7;const MAX_SOCKET_BUFFER=0x40x4000x400;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'](_0x3dc730=>_0x3dc730['format']===cfg['format'])\|\|ENCODINGS[0x0];const formatOfBlob=(_0x3a8294,_0x74ddb1)=>MIME_TO_FORMAT[_0x3a8294]\|\|_0x74ddb1;let encodingSupport=null;async function probeEncodings(){if(!encodingSupport){const _0x5bbc26=[];try{const _0x427457=new OffscreenCanvas(0x8,0x8);const _0x573e95=_0x427457['getContext']('2d');_0x573e95['putImageData'](new ImageData(new Uint8ClampedArray(0x80x80x4),0x8,0x8),0x0,0x0);for(const _0x4fefec of ENCODINGS){let _0x539efe=![];try{const _0x3eadc8=await _0x427457['convertToBlob'](_0x4fefec['lossy']?{'type':_0x4fefec['mime'],'quality':0.8}:{'type':_0x4fefec['mime']});_0x539efe=!!_0x3eadc8&&_0x3eadc8['type']===_0x4fefec['mime'];}catch(_0x1a9c57){_0x539efe=![];}_0x5bbc26['push']({'format':_0x4fefec['format'],'supported':_0x539efe});}}catch(_0x23b629){for(const _0x3e9676 of ENCODINGS)_0x5bbc26['push']({'format':_0x3e9676['format'],'supported':_0x3e9676['format']==='jpeg'});}encodingSupport=_0x5bbc26;}self['postMessage']({'cmd':'encodings','list':encodingSupport});return encodingSupport;}function bytesToBase64(_0x5c11a0){const _0x43b6ef=0x8000;let _0x2085dd='';for(let _0x489775=0x0;_0x489775<_0x5c11a0['length'];_0x489775+=_0x43b6ef){_0x2085dd+=String['fromCharCode']['apply'](null,_0x5c11a0['subarray'](_0x489775,_0x489775+_0x43b6ef));}return btoa(_0x2085dd);}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 _0x2d00a9=0x3e8/clampedRate();const _0x3099b7=produceSamples['length']?Math['max'](...produceSamples):0x0;if(_0x3099b7<=0x0)return MIN_DEPTH;const _0x190da0=Math['ceil']((_0x3099b7+ROUND_TRIP_MS)1.15/_0x2d00a9);return Math['min'](MAX_QUEUE,Math['max'](MIN_DEPTH,_0x190da0));};function closeSocket(){stopDomainIdQuery();if(ws){const _0x31e283=ws;_0x31e283['onopen']=null;_0x31e283['onclose']=null;_0x31e283['onerror']=null;try{_0x31e283['close']();}catch(_0x2739b3){}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,retryDelay0x2);}function connect(_0x1a4112){if(ws&&connected&&ws['readyState']===0x1&&cfg['url']===_0x1a4112){self['postMessage']({'cmd':'state','connected':!![],'reused':!![]});return;}closeSocket();if(!_0x1a4112){self['postMessage']({'cmd':'state','connected':![],'error':'缺少\x20rosbridge\x20地址'});return;}connectStartedAt=performance['now']();try{ws=new WebSocket(_0x1a4112);}catch(_0x4e5e38){self['postMessage']({'cmd':'state','connected':![],'error':String(_0x4e5e38&&_0x4e5e38['message']\|\|_0x4e5e38)});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']=_0x2d7608=>onSocketMessage(_0x2d7608['data']);}function wsSend(_0x4b70c8){if(!ws\|\|ws['readyState']!==0x1)return![];try{ws['send'](JSON['stringify'](_0x4b70c8));return!![];}catch(_0x1efcd4){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(_0x777ce2){}}domainId=undefined;}function onSocketMessage(_0x25cdfb){let _0x25af96=null;try{_0x25af96=JSON['parse'](_0x25cdfb);}catch(_0x598eae){return;}if(!domainIdSubscribed)return;if(!_0x25af96\|\|_0x25af96['topic']!==DOMAIN_ID_TOPIC)return;const _0xfcbd4=typeof _0x25af96['msg']==='number'?_0x25af96['msg']:_0x25af96['msg']&&_0x25af96['msg']['data'];if(typeof _0xfcbd4!=='number')return;domainId=_0xfcbd4;if(domainIdTimer)clearTimeout(domainIdTimer);domainIdTimer=null;self['postMessage']({'cmd':'domainId','value':_0xfcbd4});}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 _0x20b111=queue['shift']()\|\|null;if(_0x20b111){publish(_0x20b111);}else if(stats['published']>0x0\|\|pendingNeed>0x0){stats['underruns']++;}requestFrames();}function requestFrames(){if(!connected)return;const _0x513c58=targetDepth()-queue['length']-pendingNeed-encodeInFlight;for(let _0x13ea81=0x0;_0x13ea81<_0x513c58;_0x13ea81++){pendingNeed++;lastNeedAt=performance['now']();self['postMessage']({'cmd':'need'});}}function watchdogStall(_0x2740f1){if(!running)return;if(!connected){if(connectStartedAt>=0x0&&_0x2740f1-connectStartedAt>CONNECT_TIMEOUT_MS){stats['reconnects']++;stats['lastDrop']='connect-timeout';connectStartedAt=-0x1;closeSocket();connect(cfg['url']);}return;}if(pendingNeed>0x0&&_0x2740f1-lastNeedAt>NEED_TIMEOUT_MS){stats['stalled']+=pendingNeed;pendingNeed=0x0;stats['lastDrop']='need-timeout';requestFrames();}if(encodeInFlight>0x0&&_0x2740f1-lastEncodeAt>ENCODE_TIMEOUT_MS){stats['stalled']+=encodeInFlight;encodeInFlight=0x0;stats['lastDrop']='encode-timeout';requestFrames();}}function buildMessage(_0x4bd6b7){const _0x36cc79=Date['now']();return{'header':{'stamp':{'sec':Math['floor'](_0x36cc79/0x3e8),'nanosec':_0x36cc79%0x3e80xf4240},'frame_id':cfg['frameId']\|\|''},'format':_0x4bd6b7['format']\|\|requestedEncoding()['format'],'data':_0x4bd6b7['base64']};}function publish(_0x4c51f4){const _0x3dc57c=wsSend({'op':'publish','topic':cfg['topic'],'msg':buildMessage(_0x4c51f4)});if(!_0x3dc57c){stats['dropped']++;stats['lastDrop']='send';return;}stats['published']++;rateWindow['count']++;stats['payloadBytes']=_0x4c51f4['base64']['length'];stats['captureMs']=_0x4c51f4['captureMs']\|\|0x0;stats['encodeMs']=_0x4c51f4['encodeMs']\|\|0x0;stats['format']=_0x4c51f4['format']\|\|'';if(cfg['preview']&&_0x4c51f4['previewBase64']){self['postMessage']({'cmd':'preview','base64':_0x4c51f4['previewBase64'],'mime':PREVIEW_MIME,'width':_0x4c51f4['width'],'height':_0x4c51f4['height'],'previewWidth':_0x4c51f4['pw'],'previewHeight':_0x4c51f4['ph'],'payloadBytes':_0x4c51f4['base64']['length'],'captureMs':_0x4c51f4['captureMs']\|\|0x0});}}function reportStats(){const _0x3d7d52=performance['now']();watchdogStall(_0x3d7d52);const _0x2d4894=_0x3d7d52-rateWindow['start'];stats['rate']=_0x2d4894>0x0?rateWindow['count']/(_0x2d4894/0x3e8):0x0;rateWindow={'start':_0x3d7d52,'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(_0xa41bd8){const {buffer:_0x3d9f17,width:_0x5f3672,height:_0x10e312,captureMs:_0x1c100b}=_0xa41bd8;const _0x31a0b6=performance['now']();try{if(!canvas)canvas=new OffscreenCanvas(_0x5f3672,_0x10e312);else if(canvas['width']!==_0x5f3672\|\|canvas['height']!==_0x10e312){canvas['width']=_0x5f3672;canvas['height']=_0x10e312;}if(!ctx)ctx=canvas['getContext']('2d');ctx['putImageData'](new ImageData(new Uint8ClampedArray(_0x3d9f17),_0x5f3672,_0x10e312),0x0,0x0);const _0x5016b6=requestedEncoding();const _0x15861a=await canvas['convertToBlob'](_0x5016b6['lossy']?{'type':_0x5016b6['mime'],'quality':Math['min'](0x1,Math['max'](0.01,(cfg['quality']\|\|0x50)/0x64))}:{'type':_0x5016b6['mime']});const _0xa4636d=new Uint8Array(await _0x15861a['arrayBuffer']());const _0x54e273=formatOfBlob(_0x15861a['type'],_0x5016b6['format']);if(_0x54e273!==_0x5016b6['format']){stats['lastDrop']='编码回落:'+_0x5016b6['format']+'->'+_0x54e273;}let _0x24daef=null;let _0xa8f932=0x0;let _0x1b04f0=0x0;if(cfg['preview']){const _0xdb1438=Math['max'](0x50,Math['min'](0x280,cfg['previewWidth']\|\|0x140));_0xa8f932=Math['min'](_0xdb1438,_0x5f3672);_0x1b04f0=Math['max'](0x1,Math['round'](_0x10e312(_0xa8f932/_0x5f3672)));if(!previewCanvas)previewCanvas=new OffscreenCanvas(_0xa8f932,_0x1b04f0);else if(previewCanvas['width']!==_0xa8f932\|\|previewCanvas['height']!==_0x1b04f0){previewCanvas['width']=_0xa8f932;previewCanvas['height']=_0x1b04f0;}if(!previewCtx)previewCtx=previewCanvas['getContext']('2d');previewCtx['drawImage'](canvas,0x0,0x0,_0xa8f932,_0x1b04f0);const _0x527e23=await previewCanvas['convertToBlob']({'type':PREVIEW_MIME,'quality':PREVIEW_QUALITY});_0x24daef=bytesToBase64(new Uint8Array(await _0x527e23['arrayBuffer']()));}const _0x1ceb20=performance['now']()-_0x31a0b6;produceSamples['push']((_0x1c100b\|\|0x0)+_0x1ceb20);if(produceSamples['length']>0x8)produceSamples['shift']();queue['push']({'base64':bytesToBase64(_0xa4636d),'format':_0x54e273,'previewBase64':_0x24daef,'pw':_0xa8f932,'ph':_0x1b04f0,'width':_0x5f3672,'height':_0x10e312,'captureMs':_0x1c100b,'encodeMs':_0x1ceb20});if(queue['length']>MAX_QUEUE)queue['shift']();requestFrames();}catch(_0x7c2222){stats['dropped']++;self['postMessage']({'cmd':'state','connected':connected,'error':'编码失败:\x20'+(_0x7c2222&&_0x7c2222['message']?_0x7c2222['message']:String(_0x7c2222))});}finally{try{self['postMessage']({'cmd':'buffer','buffer':_0x3d9f17},[_0x3d9f17]);}catch(_0x2ed54b){stats['lastDrop']='buffer-return';}}}function applyConfig(_0x4dea1a){Object['assign'](cfg,{'url':_0x4dea1a['url']\|\|cfg['url'],'topic':_0x4dea1a['topic']\|\|cfg['topic'],'type':_0x4dea1a['type']\|\|cfg['type'],'frameId':_0x4dea1a['frameId']!==undefined?_0x4dea1a['frameId']:cfg['frameId'],'rate':_0x4dea1a['rate']\|\|cfg['rate'],'format':_0x4dea1a['format']\|\|cfg['format'],'quality':_0x4dea1a['quality']\|\|cfg['quality'],'preview':_0x4dea1a['preview']!==undefined?!!_0x4dea1a['preview']:cfg['preview'],'previewWidth':_0x4dea1a['previewWidth']\|\|cfg['previewWidth']});}self['onmessage']=_0x31d212=>{const _0x2f79f9=_0x31d212['data']\|\|{};switch(_0x2f79f9['cmd']){case'connect':{applyConfig(_0x2f79f9);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(_0x2f79f9);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 _0x455f6a=clampedRate();const _0x19c08b=cfg['topic'];const _0x2cbf95=cfg['type'];['topic','type','frameId','rate','format','quality','preview','previewWidth']['forEach'](_0x552d05=>{if(_0x2f79f9[_0x552d05]!==undefined)cfg[_0x552d05]=_0x2f79f9[_0x552d05];});if(cfg['topic']!==_0x19c08b\|\|cfg['type']!==_0x2cbf95){unadvertise();advertise();}if(clampedRate()!==_0x455f6a)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(_0x2f79f9)['finally'](()=>{encodeInFlight=Math['max'](0x0,encodeInFlight-0x1);});break;}case'noframe':{pendingNeed=Math['max'](0x0,pendingNeed-0x1);lastNeedAt=performance['now']();if(_0x2f79f9['reason'])stats['lastDrop']='no-frame:'+_0x2f79f9['reason'];break;}case'encodings':{if(typeof domainId==='number')self['postMessage']({'cmd':'domainId','value':domainId});probeEncodings();break;}default:break;}};

package/dist/heartbeat-worker.js CHANGED Viewed

	@@ -1 +1 @@
1	- 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;}}};
1	+ let intervalId=null;self['onmessage']=_0x59cffe=>{const {cmd:_0x3c3728,rate:_0x3d5890}=_0x59cffe['data'];if(_0x3c3728==='start'){if(intervalId)clearInterval(intervalId);const _0x2b9616=Math['max'](0x1,Math['min'](_0x3d5890\|\|0xc8,0x1f4));intervalId=setInterval(()=>{self['postMessage']('tick');},0x3e8/_0x2b9616);}else if(_0x3c3728==='stop'){if(intervalId){clearInterval(intervalId);intervalId=null;}}};

package/dist/index.html CHANGED Viewed

@@ -4069,7 +4069,7 @@
     </style>
     <!-- MATOMO_PLACEHOLDER -->
-  <script type="module" crossorigin src="./assets/js/index-56e94ce5.js"></script>
+  <script type="module" crossorigin src="./assets/js/index-8af8ce50.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 v1.1.2</span>
+                    <span data-i18n="helpTitle">Robot Viewer v1.1.4</span>
                     <button class="panel-close-btn" data-panel="floating-help-panel">✕</button>
                 </div>
                 <div class="floating-panel-content">

package/package.json CHANGED Viewed

@@ -1,6 +1,6 @@
 {
   "name": "@ioai/robot_viewer",
-  "version": "1.1.2",
+  "version": "1.1.4",
   "description": "Lightweight browser-based robot model viewer supporting URDF, MJCF, and USD formats",
   "main": "bin/cli.js",
   "bin": {

package/server/static-server.js CHANGED Viewed

@@ -97,10 +97,24 @@ server.on('error', (error) => {
     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
-for (const sig of ['SIGTERM', 'SIGINT']) {
-    process.on(sig, () => {
-        console.log(`\n收到 ${sig}，正在关闭…`);
-        server.close(() => process.exit(0));
+// Ctrl+C / SIGTERM 静默快速退出。先停止接收新请求，再关闭浏览器留下的
+// keep-alive 连接；兜底定时器避免异常连接让终端长时间无法返回。
+let shuttingDown = false;
+function shutdown() {
+    if (shuttingDown) return;
+    shuttingDown = true;
+    const forceExit = setTimeout(() => process.exit(0), 500);
+    forceExit.unref();
+    server.close(() => {
+        clearTimeout(forceExit);
+        process.exit(0);
     });
+    server.closeIdleConnections?.();
+    server.closeAllConnections?.();
+}
+for (const signal of ['SIGTERM', 'SIGINT']) {
+    process.on(signal, shutdown);
 }

package/dist/assets/js/PlotPanel-09f986c7.js DELETED Viewed

@@ -1 +0,0 @@

- import{R as _0x3853a3}from'./index-56e94ce5.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(_0x424ed7,_0x534bf3){if(null!=_0x534bf3){let _0x46d5e9=_0x424ed7['classList'];!_0x46d5e9['contains'](_0x534bf3)&&_0x46d5e9['add'](_0x534bf3);}}function T(_0x461f7f,_0x248a77){let _0x2cb777=_0x461f7f['classList'];_0x2cb777['contains'](_0x248a77)&&_0x2cb777['remove'](_0x248a77);}function z(_0x2291e4,_0x4a139c,_0x62c4ce){_0x2291e4['style'][_0x4a139c]=_0x62c4ce+'px';}function C(_0xf9a9b8,_0x3cad19,_0x5071dc,_0x4811bd){let _0x1cbfb8=y['createElement'](_0xf9a9b8);return 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_0x3cf977['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'](_0x3cf977),_0x3cf977;}['_refreshTooltip'](){if(!this['plot']||!this['_selectedKeys']||0x0===this['_selectedKeys']['length']||!this['_lastMouse'])return void(this['_tooltip']['style']['display']='none');const _0xa592f0=this['plot']['posToVal'](this['_lastMouse']['x'],'x'),_0x3c82ab=this['plot']['data'][0x0];if(!_0x3c82ab||0x0===_0x3c82ab['length'])return void(this['_tooltip']['style']['display']='none');let _0x1d58b4=0x0,_0x269d9c=0x1/0x0;for(let _0x582095=0x0;_0x582095<_0x3c82ab['length'];_0x582095++){const _0x49deaa=Math['abs'](_0x3c82ab[_0x582095]-_0xa592f0);_0x49deaa<_0x269d9c&&(_0x269d9c=_0x49deaa,_0x1d58b4=_0x582095);}if(_0x269d9c>this['timeWindow']/0x64)return void(this['_tooltip']['style']['display']='none');const _0x1d8119=['T:\x20'+_0x3c82ab[_0x1d58b4]['toFixed'](0x2)+'s'];this['_selectedKeys']['forEach']((_0x5437fb,_0x2506ca)=>{const [_0x1a1393,_0x19f9e8]=_0x5437fb['split']('::'),_0x12be84=en[_0x1a1393]||_0x1a1393;this['plot']['data'][_0x2506ca+0x1]&&null!=this['plot']['data'][_0x2506ca+0x1][_0x1d58b4]&&_0x1d8119['push'](_0x19f9e8+'\x20('+_0x12be84+'):\x20'+this['plot']['data'][_0x2506ca+0x1][_0x1d58b4]['toFixed'](0x5));}),this['_tooltip']['innerHTML']=_0x1d8119['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};