npm - @ioai/robot_viewer - Versions diffs - 1.1.3 → 1.1.4 - Mend

@ioai/robot_viewer 1.1.3 → 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 (11) hide show

package/README.md +4 -4
package/bin/cli.js +27 -7
package/dist/assets/js/PlotPanel-0ea747b2.js +1 -0
package/dist/assets/js/index-8af8ce50.js +6 -0
package/dist/assets/js/{mujoco_wasm-d0cfe29a.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/dist/assets/js/PlotPanel-b7b606e3.js +0 -1
package/dist/assets/js/index-90ddef80.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'](_0x4b771d=>_0x4b771d['format']===cfg['format'])\|\|ENCODINGS[0x0];const formatOfBlob=(_0x221ca8,_0x4d2be4)=>MIME_TO_FORMAT[_0x221ca8]\|\|_0x4d2be4;let encodingSupport=null;async function probeEncodings(){if(!encodingSupport){const _0x21d09a=[];try{const _0x33366a=new OffscreenCanvas(0x8,0x8);const _0x417f8d=_0x33366a['getContext']('2d');_0x417f8d['putImageData'](new ImageData(new Uint8ClampedArray(0x80x80x4),0x8,0x8),0x0,0x0);for(const _0x5ad1b6 of ENCODINGS){let _0x3cc882=![];try{const _0x8edd10=await _0x33366a['convertToBlob'](_0x5ad1b6['lossy']?{'type':_0x5ad1b6['mime'],'quality':0.8}:{'type':_0x5ad1b6['mime']});_0x3cc882=!!_0x8edd10&&_0x8edd10['type']===_0x5ad1b6['mime'];}catch(_0x26f11a){_0x3cc882=![];}_0x21d09a['push']({'format':_0x5ad1b6['format'],'supported':_0x3cc882});}}catch(_0x4b1a05){for(const _0x15a3fa of ENCODINGS)_0x21d09a['push']({'format':_0x15a3fa['format'],'supported':_0x15a3fa['format']==='jpeg'});}encodingSupport=_0x21d09a;}self['postMessage']({'cmd':'encodings','list':encodingSupport});return encodingSupport;}function bytesToBase64(_0x183cd7){const _0x584846=0x8000;let _0x376ca9='';for(let _0x498086=0x0;_0x498086<_0x183cd7['length'];_0x498086+=_0x584846){_0x376ca9+=String['fromCharCode']['apply'](null,_0x183cd7['subarray'](_0x498086,_0x498086+_0x584846));}return btoa(_0x376ca9);}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 _0x7dec1=0x3e8/clampedRate();const _0x27795a=produceSamples['length']?Math['max'](...produceSamples):0x0;if(_0x27795a<=0x0)return MIN_DEPTH;const _0x9dde24=Math['ceil']((_0x27795a+ROUND_TRIP_MS)1.15/_0x7dec1);return Math['min'](MAX_QUEUE,Math['max'](MIN_DEPTH,_0x9dde24));};function closeSocket(){stopDomainIdQuery();if(ws){const _0x5b17a9=ws;_0x5b17a9['onopen']=null;_0x5b17a9['onclose']=null;_0x5b17a9['onerror']=null;try{_0x5b17a9['close']();}catch(_0x343be9){}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(_0x4606d6){if(ws&&connected&&ws['readyState']===0x1&&cfg['url']===_0x4606d6){self['postMessage']({'cmd':'state','connected':!![],'reused':!![]});return;}closeSocket();if(!_0x4606d6){self['postMessage']({'cmd':'state','connected':![],'error':'缺少\x20rosbridge\x20地址'});return;}connectStartedAt=performance['now']();try{ws=new WebSocket(_0x4606d6);}catch(_0x2a3217){self['postMessage']({'cmd':'state','connected':![],'error':String(_0x2a3217&&_0x2a3217['message']\|\|_0x2a3217)});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']=_0x2add74=>onSocketMessage(_0x2add74['data']);}function wsSend(_0x275708){if(!ws\|\|ws['readyState']!==0x1)return![];try{ws['send'](JSON['stringify'](_0x275708));return!![];}catch(_0x22c302){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(_0x5234af){}}domainId=undefined;}function onSocketMessage(_0x5b4213){let _0x554433=null;try{_0x554433=JSON['parse'](_0x5b4213);}catch(_0x3eeebb){return;}if(!domainIdSubscribed)return;if(!_0x554433\|\|_0x554433['topic']!==DOMAIN_ID_TOPIC)return;const _0xc1c559=typeof _0x554433['msg']==='number'?_0x554433['msg']:_0x554433['msg']&&_0x554433['msg']['data'];if(typeof _0xc1c559!=='number')return;domainId=_0xc1c559;if(domainIdTimer)clearTimeout(domainIdTimer);domainIdTimer=null;self['postMessage']({'cmd':'domainId','value':_0xc1c559});}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 _0x188878=queue['shift']()\|\|null;if(_0x188878){publish(_0x188878);}else if(stats['published']>0x0\|\|pendingNeed>0x0){stats['underruns']++;}requestFrames();}function requestFrames(){if(!connected)return;const _0x4c9b79=targetDepth()-queue['length']-pendingNeed-encodeInFlight;for(let _0xce24ac=0x0;_0xce24ac<_0x4c9b79;_0xce24ac++){pendingNeed++;lastNeedAt=performance['now']();self['postMessage']({'cmd':'need'});}}function watchdogStall(_0x2588b7){if(!running)return;if(!connected){if(connectStartedAt>=0x0&&_0x2588b7-connectStartedAt>CONNECT_TIMEOUT_MS){stats['reconnects']++;stats['lastDrop']='connect-timeout';connectStartedAt=-0x1;closeSocket();connect(cfg['url']);}return;}if(pendingNeed>0x0&&_0x2588b7-lastNeedAt>NEED_TIMEOUT_MS){stats['stalled']+=pendingNeed;pendingNeed=0x0;stats['lastDrop']='need-timeout';requestFrames();}if(encodeInFlight>0x0&&_0x2588b7-lastEncodeAt>ENCODE_TIMEOUT_MS){stats['stalled']+=encodeInFlight;encodeInFlight=0x0;stats['lastDrop']='encode-timeout';requestFrames();}}function buildMessage(_0x5df382){const _0x4b9b80=Date['now']();return{'header':{'stamp':{'sec':Math['floor'](_0x4b9b80/0x3e8),'nanosec':_0x4b9b80%0x3e80xf4240},'frame_id':cfg['frameId']\|\|''},'format':_0x5df382['format']\|\|requestedEncoding()['format'],'data':_0x5df382['base64']};}function publish(_0x5e2e8e){const _0x1c4533=wsSend({'op':'publish','topic':cfg['topic'],'msg':buildMessage(_0x5e2e8e)});if(!_0x1c4533){stats['dropped']++;stats['lastDrop']='send';return;}stats['published']++;rateWindow['count']++;stats['payloadBytes']=_0x5e2e8e['base64']['length'];stats['captureMs']=_0x5e2e8e['captureMs']\|\|0x0;stats['encodeMs']=_0x5e2e8e['encodeMs']\|\|0x0;stats['format']=_0x5e2e8e['format']\|\|'';if(cfg['preview']&&_0x5e2e8e['previewBase64']){self['postMessage']({'cmd':'preview','base64':_0x5e2e8e['previewBase64'],'mime':PREVIEW_MIME,'width':_0x5e2e8e['width'],'height':_0x5e2e8e['height'],'previewWidth':_0x5e2e8e['pw'],'previewHeight':_0x5e2e8e['ph'],'payloadBytes':_0x5e2e8e['base64']['length'],'captureMs':_0x5e2e8e['captureMs']\|\|0x0});}}function reportStats(){const _0xf4f6cf=performance['now']();watchdogStall(_0xf4f6cf);const _0xce75ff=_0xf4f6cf-rateWindow['start'];stats['rate']=_0xce75ff>0x0?rateWindow['count']/(_0xce75ff/0x3e8):0x0;rateWindow={'start':_0xf4f6cf,'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(_0x443592){const {buffer:_0x26291c,width:_0x4a3d24,height:_0x13cafd,captureMs:_0x537c3b}=_0x443592;const _0xdb75a1=performance['now']();try{if(!canvas)canvas=new OffscreenCanvas(_0x4a3d24,_0x13cafd);else if(canvas['width']!==_0x4a3d24\|\|canvas['height']!==_0x13cafd){canvas['width']=_0x4a3d24;canvas['height']=_0x13cafd;}if(!ctx)ctx=canvas['getContext']('2d');ctx['putImageData'](new ImageData(new Uint8ClampedArray(_0x26291c),_0x4a3d24,_0x13cafd),0x0,0x0);const _0x799c92=requestedEncoding();const _0x4c7d9b=await canvas['convertToBlob'](_0x799c92['lossy']?{'type':_0x799c92['mime'],'quality':Math['min'](0x1,Math['max'](0.01,(cfg['quality']\|\|0x50)/0x64))}:{'type':_0x799c92['mime']});const _0x32a812=new Uint8Array(await _0x4c7d9b['arrayBuffer']());const _0x4cace8=formatOfBlob(_0x4c7d9b['type'],_0x799c92['format']);if(_0x4cace8!==_0x799c92['format']){stats['lastDrop']='编码回落:'+_0x799c92['format']+'->'+_0x4cace8;}let _0x11f22d=null;let _0x87be05=0x0;let _0x299bc0=0x0;if(cfg['preview']){const _0x5e2164=Math['max'](0x50,Math['min'](0x280,cfg['previewWidth']\|\|0x140));_0x87be05=Math['min'](_0x5e2164,_0x4a3d24);_0x299bc0=Math['max'](0x1,Math['round'](_0x13cafd(_0x87be05/_0x4a3d24)));if(!previewCanvas)previewCanvas=new OffscreenCanvas(_0x87be05,_0x299bc0);else if(previewCanvas['width']!==_0x87be05\|\|previewCanvas['height']!==_0x299bc0){previewCanvas['width']=_0x87be05;previewCanvas['height']=_0x299bc0;}if(!previewCtx)previewCtx=previewCanvas['getContext']('2d');previewCtx['drawImage'](canvas,0x0,0x0,_0x87be05,_0x299bc0);const _0x394db4=await previewCanvas['convertToBlob']({'type':PREVIEW_MIME,'quality':PREVIEW_QUALITY});_0x11f22d=bytesToBase64(new Uint8Array(await _0x394db4['arrayBuffer']()));}const _0x44b6f8=performance['now']()-_0xdb75a1;produceSamples['push']((_0x537c3b\|\|0x0)+_0x44b6f8);if(produceSamples['length']>0x8)produceSamples['shift']();queue['push']({'base64':bytesToBase64(_0x32a812),'format':_0x4cace8,'previewBase64':_0x11f22d,'pw':_0x87be05,'ph':_0x299bc0,'width':_0x4a3d24,'height':_0x13cafd,'captureMs':_0x537c3b,'encodeMs':_0x44b6f8});if(queue['length']>MAX_QUEUE)queue['shift']();requestFrames();}catch(_0x56ae71){stats['dropped']++;self['postMessage']({'cmd':'state','connected':connected,'error':'编码失败:\x20'+(_0x56ae71&&_0x56ae71['message']?_0x56ae71['message']:String(_0x56ae71))});}finally{try{self['postMessage']({'cmd':'buffer','buffer':_0x26291c},[_0x26291c]);}catch(_0x5e8afe){stats['lastDrop']='buffer-return';}}}function applyConfig(_0x1349c1){Object['assign'](cfg,{'url':_0x1349c1['url']\|\|cfg['url'],'topic':_0x1349c1['topic']\|\|cfg['topic'],'type':_0x1349c1['type']\|\|cfg['type'],'frameId':_0x1349c1['frameId']!==undefined?_0x1349c1['frameId']:cfg['frameId'],'rate':_0x1349c1['rate']\|\|cfg['rate'],'format':_0x1349c1['format']\|\|cfg['format'],'quality':_0x1349c1['quality']\|\|cfg['quality'],'preview':_0x1349c1['preview']!==undefined?!!_0x1349c1['preview']:cfg['preview'],'previewWidth':_0x1349c1['previewWidth']\|\|cfg['previewWidth']});}self['onmessage']=_0x238200=>{const _0x84e5e5=_0x238200['data']\|\|{};switch(_0x84e5e5['cmd']){case'connect':{applyConfig(_0x84e5e5);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(_0x84e5e5);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 _0x564318=clampedRate();const _0x4da94e=cfg['topic'];const _0x1fb281=cfg['type'];['topic','type','frameId','rate','format','quality','preview','previewWidth']['forEach'](_0x3fdda9=>{if(_0x84e5e5[_0x3fdda9]!==undefined)cfg[_0x3fdda9]=_0x84e5e5[_0x3fdda9];});if(cfg['topic']!==_0x4da94e\|\|cfg['type']!==_0x1fb281){unadvertise();advertise();}if(clampedRate()!==_0x564318)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(_0x84e5e5)['finally'](()=>{encodeInFlight=Math['max'](0x0,encodeInFlight-0x1);});break;}case'noframe':{pendingNeed=Math['max'](0x0,pendingNeed-0x1);lastNeedAt=performance['now']();if(_0x84e5e5['reason'])stats['lastDrop']='no-frame:'+_0x84e5e5['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']=~~_0x1c7c32~~=>{const {cmd:~~_0x27038b~~,rate:~~_0x1adc87~~}=~~_0x1c7c32~~['data'];if(~~_0x27038b~~==='start'){if(intervalId)clearInterval(intervalId);const ~~_0x18cb24~~=Math['max'](0x1,Math['min'](~~_0x1adc87~~\|\|0xc8,0x1f4));intervalId=setInterval(()=>{self['postMessage']('tick');},0x3e8/~~_0x18cb24~~);}else if(~~_0x27038b~~==='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-90ddef80.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 v1.1.3</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": "1.1.3",
+  "version": "1.1.4",
   "description": "Lightweight browser-based robot model viewer supporting URDF, MJCF, and USD formats",
   "main": "bin/cli.js",
   "bin": {

package/dist/assets/js/PlotPanel-b7b606e3.js DELETED Viewed

@@ -1 +0,0 @@

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_0x413860=this['_rateSnapshot']['get'](_0x1d8b28)||0x0,_0x17fed1=_0x3c1808['count']-_0x413860;this['_rateSnapshot']['set'](_0x1d8b28,_0x3c1808['count']),this['_topicRates']['set'](_0x1d8b28,Math['max'](0x0,Math['round'](_0x17fed1/_0x174c15)));}),this['_topicRates']['forEach']((_0x1243cc,_0x5ad0b7)=>{const _0x15601f=document['querySelector']('[data-rate-topic=\x22'+_0x5ad0b7+'\x22]');_0x15601f&&(_0x15601f['textContent']=_0x1243cc+'\x20Hz');});}this['_raf']=requestAnimationFrame(_0x41694b);};this['_raf']=requestAnimationFrame(_0x41694b);}['_makeTooltip'](){const _0x16eccf=document['createElement']('div');return _0x16eccf['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'](_0x16eccf),_0x16eccf;}['_refreshTooltip'](){if(!this['plot']||!this['_selectedKeys']||0x0===this['_selectedKeys']['length']||!this['_lastMouse'])return void(this['_tooltip']['style']['display']='none');const _0x3178f9=this['plot']['posToVal'](this['_lastMouse']['x'],'x'),_0x1ad54d=this['plot']['data'][0x0];if(!_0x1ad54d||0x0===_0x1ad54d['length'])return void(this['_tooltip']['style']['display']='none');let _0x19f70a=0x0,_0x2be7cc=0x1/0x0;for(let _0x21e1d7=0x0;_0x21e1d7<_0x1ad54d['length'];_0x21e1d7++){const _0x4756c2=Math['abs'](_0x1ad54d[_0x21e1d7]-_0x3178f9);_0x4756c2<_0x2be7cc&&(_0x2be7cc=_0x4756c2,_0x19f70a=_0x21e1d7);}if(_0x2be7cc>this['timeWindow']/0x64)return void(this['_tooltip']['style']['display']='none');const _0x53eca9=['T:\x20'+_0x1ad54d[_0x19f70a]['toFixed'](0x2)+'s'];this['_selectedKeys']['forEach']((_0x6b1e0e,_0x1b645b)=>{const [_0x1bb0aa,_0x330a15]=_0x6b1e0e['split']('::'),_0x241001=en[_0x1bb0aa]||_0x1bb0aa;this['plot']['data'][_0x1b645b+0x1]&&null!=this['plot']['data'][_0x1b645b+0x1][_0x19f70a]&&_0x53eca9['push'](_0x330a15+'\x20('+_0x241001+'):\x20'+this['plot']['data'][_0x1b645b+0x1][_0x19f70a]['toFixed'](0x5));}),this['_tooltip']['innerHTML']=_0x53eca9['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};