@luxonis/depthai-viewer-common 3.7.4 → 3.7.6

package/dist/visualizer/messaging/message-handler.js

@@ -0,0 +1,436 @@
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at http://mozilla.org/MPL/2.0/
+import * as Comlink from "comlink";
+import { Profile } from "../protobuf.generated/EncodedFrame.js";
+import { Type } from "../protobuf.generated/ImgFrame.js";
+import { scheduleMicrotask } from "../utils/async.js";
+import { createComlinkWorker } from "../utils/comlink-wrap.js";
+import { getDecodeRuntimeSettings, getRuntimeConfig, subscribeRuntimeConfig, } from "../utils/runtime-config.js";
+import { closeRenderableBitmapFromEvent, shouldCoalesceMessageEvent } from "./message-event.js";
+import { protobufSchemaNameToType, protobufsBySchema } from "./protobuf.js";
+const MAX_DECODER_WORKERS = 4;
+const MAX_IMAGE_DECODER_WORKERS = 4;
+function isReleasedProxyError(error) {
+    return error instanceof Error && error.message.includes("Proxy has been released");
+}
+function shouldCoalesceDecodedEvent(event) {
+    return shouldCoalesceMessageEvent(event);
+}
+function flushDecodedEvents(events, callback) {
+    const latestEventIndexByKey = new Map();
+    for (let index = 0; index < events.length; index += 1) {
+        const event = events[index];
+        if (!shouldCoalesceDecodedEvent(event)) {
+            continue;
+        }
+        latestEventIndexByKey.set(`${event.schemaName}:${event.topic}`, index);
+    }
+    for (let index = 0; index < events.length; index += 1) {
+        const event = events[index];
+        if (!shouldCoalesceDecodedEvent(event)) {
+            callback(event);
+            continue;
+        }
+        if (latestEventIndexByKey.get(`${event.schemaName}:${event.topic}`) !== index) {
+            closeRenderableBitmapFromEvent(event);
+            continue;
+        }
+        callback(event);
+    }
+}
+function initWorker(callback, nameSuffix) {
+    const worker = new Worker(new URL("./deserialization.worker.js", import.meta.url), {
+        type: "module",
+        name: `message-decoder-${nameSuffix}`,
+    });
+    const { remote, dispose } = createComlinkWorker(worker);
+    const channel = new MessageChannel();
+    channel.port1.onmessage = (messageEvent) => {
+        const data = messageEvent.data;
+        if (!data) {
+            return;
+        }
+        if (data.type === "decoded-message-batch" && data.events && data.events.length > 0) {
+            callback(data.events);
+            return;
+        }
+        if (data.type === "decoded-message" && data.event) {
+            callback([data.event]);
+        }
+    };
+    channel.port1.start();
+    const diagnosticsChannel = new MessageChannel();
+    diagnosticsChannel.port1.onmessage = (messageEvent) => {
+        const { type, key, summary } = messageEvent.data ?? {};
+        if (type === "stream-diagnostics" && key && summary) {
+            console.info(`[stream-diagnostics] ${key}`, summary);
+        }
+    };
+    diagnosticsChannel.port1.start();
+    void remote.setDecodedMessagePort(Comlink.transfer(channel.port2, [channel.port2]));
+    void remote.setDiagnosticsPort(Comlink.transfer(diagnosticsChannel.port2, [diagnosticsChannel.port2]));
+    return {
+        remote,
+        decodedMessagePort: channel.port1,
+        diagnosticsPort: diagnosticsChannel.port1,
+        dispose: () => {
+            channel.port1.close();
+            diagnosticsChannel.port1.close();
+            dispose();
+        },
+    };
+}
+function getDecoderWorkerCount() {
+    const hardwareConcurrency = navigator.hardwareConcurrency ?? MAX_DECODER_WORKERS;
+    return Math.max(1, Math.min(MAX_DECODER_WORKERS, Math.floor(hardwareConcurrency / 2) || 1));
+}
+function getImageDecoderWorkerCount(sharedWorkerCount) {
+    return Math.max(1, Math.min(MAX_IMAGE_DECODER_WORKERS, sharedWorkerCount));
+}
+function hashTopic(topic) {
+    let hash = 0;
+    for (let i = 0; i < topic.length; i++) {
+        hash = (hash * 31 + topic.charCodeAt(i)) >>> 0;
+    }
+    return hash;
+}
+function readVarint(bytes, start) {
+    let value = 0;
+    let shift = 0;
+    let offset = start;
+    while (offset < bytes.length && shift < 35) {
+        const byte = bytes[offset];
+        value |= (byte & 0x7f) << shift;
+        offset += 1;
+        if ((byte & 0x80) === 0) {
+            return { value, nextOffset: offset };
+        }
+        shift += 7;
+    }
+    return undefined;
+}
+function skipField(bytes, wireType, offset) {
+    switch (wireType) {
+        case 0:
+            return readVarint(bytes, offset)?.nextOffset;
+        case 1:
+            return offset + 8 <= bytes.length ? offset + 8 : undefined;
+        case 2: {
+            const length = readVarint(bytes, offset);
+            if (!length) {
+                return undefined;
+            }
+            const nextOffset = length.nextOffset + length.value;
+            return nextOffset <= bytes.length ? nextOffset : undefined;
+        }
+        case 5:
+            return offset + 4 <= bytes.length ? offset + 4 : undefined;
+        default:
+            return undefined;
+    }
+}
+function getEncodedFrameProfile(buffer) {
+    const bytes = new Uint8Array(buffer.buffer, buffer.byteOffset, buffer.byteLength);
+    let offset = 0;
+    while (offset < bytes.length) {
+        const tag = readVarint(bytes, offset);
+        if (!tag) {
+            return undefined;
+        }
+        offset = tag.nextOffset;
+        const fieldNumber = tag.value >>> 3;
+        const wireType = tag.value & 0x7;
+        if (fieldNumber === 7 && wireType === 0) {
+            return readVarint(bytes, offset)?.value;
+        }
+        const nextOffset = skipField(bytes, wireType, offset);
+        if (nextOffset == undefined) {
+            return undefined;
+        }
+        offset = nextOffset;
+    }
+    return undefined;
+}
+function getImgFrameType(buffer) {
+    const bytes = new Uint8Array(buffer.buffer, buffer.byteOffset, buffer.byteLength);
+    let offset = 0;
+    while (offset < bytes.length) {
+        const tag = readVarint(bytes, offset);
+        if (!tag) {
+            return undefined;
+        }
+        offset = tag.nextOffset;
+        const fieldNumber = tag.value >>> 3;
+        const wireType = tag.value & 0x7;
+        if ((fieldNumber === 4 || fieldNumber === 5) && wireType === 2) {
+            const length = readVarint(bytes, offset);
+            if (!length) {
+                return undefined;
+            }
+            let nestedOffset = length.nextOffset;
+            const nestedEnd = nestedOffset + length.value;
+            if (nestedEnd > bytes.length) {
+                return undefined;
+            }
+            while (nestedOffset < nestedEnd) {
+                const nestedTag = readVarint(bytes, nestedOffset);
+                if (!nestedTag) {
+                    return undefined;
+                }
+                nestedOffset = nestedTag.nextOffset;
+                const nestedFieldNumber = nestedTag.value >>> 3;
+                const nestedWireType = nestedTag.value & 0x7;
+                if (nestedFieldNumber === 1 && nestedWireType === 0) {
+                    return readVarint(bytes, nestedOffset)?.value;
+                }
+                const nextNestedOffset = skipField(bytes, nestedWireType, nestedOffset);
+                if (nextNestedOffset == undefined || nextNestedOffset > nestedEnd) {
+                    return undefined;
+                }
+                nestedOffset = nextNestedOffset;
+            }
+        }
+        const nextOffset = skipField(bytes, wireType, offset);
+        if (nextOffset == undefined) {
+            return undefined;
+        }
+        offset = nextOffset;
+    }
+    return undefined;
+}
+function shouldCoalesceImageMessage(message) {
+    const protobufSchema = protobufsBySchema[message.schema];
+    if (protobufSchema?.type === "encodedFrame") {
+        return getEncodedFrameProfile(message.buffer) === Profile.JPEG;
+    }
+    if (protobufSchema?.type === "imageFrame") {
+        const imageType = getImgFrameType(message.buffer);
+        return imageType != undefined && imageType !== Type.BITSTREAM;
+    }
+    return true;
+}
+export function createMessageHandler(callback) {
+    let isCleaningUp = false;
+    const pendingIncomingMessages = [];
+    let incomingFlushScheduled = false;
+    const pendingDecodedEvents = [];
+    let decodedFlushScheduled = false;
+    const enqueueDecodedEvents = (events) => {
+        pendingDecodedEvents.push(...events);
+        if (decodedFlushScheduled) {
+            return;
+        }
+        decodedFlushScheduled = true;
+        scheduleMicrotask(() => {
+            decodedFlushScheduled = false;
+            if (pendingDecodedEvents.length === 0) {
+                return;
+            }
+            const eventsToFlush = pendingDecodedEvents.splice(0, pendingDecodedEvents.length);
+            flushDecodedEvents(eventsToFlush, callback);
+        });
+    };
+    const sharedWorkerCount = getDecoderWorkerCount();
+    const workerSlots = Array.from({ length: sharedWorkerCount }, () => ({}));
+    const imageWorkerSlots = Array.from({ length: getImageDecoderWorkerCount(sharedWorkerCount) }, () => ({}));
+    const topicDispatchStates = new Map();
+    const unsubscribeRuntimeConfig = subscribeRuntimeConfig((runtimeConfig) => {
+        if (isCleaningUp) {
+            return;
+        }
+        const debugLogsEnabled = runtimeConfig.debugLogs ?? false;
+        const streamDiagnosticsEnabled = runtimeConfig.streamDiagnostics ?? false;
+        for (const slot of workerSlots) {
+            if (slot.wrapper) {
+                void slot.wrapper.remote
+                    .updateConnectionConfig(debugLogsEnabled, streamDiagnosticsEnabled)
+                    .catch(() => {
+                    // Worker teardown during shutdown may release the proxy before
+                    // this fire-and-forget update reaches the remote endpoint.
+                });
+            }
+        }
+        for (const slot of imageWorkerSlots) {
+            if (slot.wrapper) {
+                void slot.wrapper.remote
+                    .updateConnectionConfig(debugLogsEnabled, streamDiagnosticsEnabled)
+                    .catch(() => {
+                    // Worker teardown during shutdown may release the proxy before
+                    // this fire-and-forget update reaches the remote endpoint.
+                });
+            }
+        }
+    });
+    const getSharedWorkerWrapperForTopic = (topic) => {
+        const index = hashTopic(topic) % workerSlots.length;
+        const slot = workerSlots[index];
+        if (!slot.wrapper) {
+            slot.wrapper = initWorker(enqueueDecodedEvents, index);
+            void slot.wrapper.remote.updateConnectionConfig(getRuntimeConfig().debugLogs ?? false, getRuntimeConfig().streamDiagnostics ?? false);
+        }
+        return slot.wrapper;
+    };
+    const getImageWorkerWrapperForTopic = (topic) => {
+        const index = hashTopic(topic) % imageWorkerSlots.length;
+        const slot = imageWorkerSlots[index];
+        if (!slot.wrapper) {
+            slot.wrapper = initWorker(enqueueDecodedEvents, `image-${index}`);
+            void slot.wrapper.remote.updateConnectionConfig(getRuntimeConfig().debugLogs ?? false, getRuntimeConfig().streamDiagnostics ?? false);
+        }
+        return slot.wrapper;
+    };
+    const dispatchToWorker = async (workerWrapper, message, errorCallback) => {
+        if (isCleaningUp) {
+            return;
+        }
+        const { neuralCameraIntrinsics, stereoDepthMaxValue } = getDecodeRuntimeSettings();
+        const proxiedErrorCallback = errorCallback ? Comlink.proxy(errorCallback) : undefined;
+        try {
+            await workerWrapper.remote.handleMessageToDecode(Comlink.transfer({
+                schema: message.schema,
+                buffer: message.buffer,
+                topic: message.topic,
+                neuralCameraIntrinsics,
+                stereoDepthMaxValue,
+            }, [message.buffer.buffer]), proxiedErrorCallback);
+        }
+        catch (error) {
+            if (isCleaningUp || isReleasedProxyError(error)) {
+                return;
+            }
+            throw error;
+        }
+    };
+    const flushTopicImageDecode = (topic) => {
+        const topicDispatchState = topicDispatchStates.get(topic);
+        if (!topicDispatchState || topicDispatchState.inFlight) {
+            return;
+        }
+        const pendingImageDecode = topicDispatchState.queuedOrderedImageDecodes.shift() ??
+            topicDispatchState.pendingCoalescedImageDecode;
+        if (!pendingImageDecode) {
+            return;
+        }
+        if (pendingImageDecode === topicDispatchState.pendingCoalescedImageDecode) {
+            topicDispatchState.pendingCoalescedImageDecode = undefined;
+        }
+        topicDispatchState.inFlight = true;
+        const workerWrapper = getImageWorkerWrapperForTopic(topic);
+        void dispatchToWorker(workerWrapper, pendingImageDecode.message, pendingImageDecode.errorCallback)
+            .catch(() => {
+            // Deserialization errors are surfaced through the existing error callback path.
+        })
+            .finally(() => {
+            topicDispatchState.inFlight = false;
+            flushTopicImageDecode(topic);
+        });
+    };
+    const isImageMessage = (schema) => {
+        const protobufSchema = protobufsBySchema[schema];
+        return protobufSchema != undefined && protobufSchemaNameToType(protobufSchema.type) === "image";
+    };
+    const processIncomingMessage = (message, errorCallback) => {
+        const { schema, topic } = message;
+        if (!isImageMessage(schema)) {
+            const workerWrapper = getSharedWorkerWrapperForTopic(topic);
+            void dispatchToWorker(workerWrapper, message, errorCallback).catch(() => {
+                // Deserialization errors are surfaced through the existing error callback path.
+            });
+            return;
+        }
+        const topicDispatchState = topicDispatchStates.get(topic) ?? {
+            inFlight: false,
+            queuedOrderedImageDecodes: [],
+        };
+        topicDispatchStates.set(topic, topicDispatchState);
+        if (shouldCoalesceImageMessage(message)) {
+            topicDispatchState.pendingCoalescedImageDecode = {
+                message,
+                errorCallback,
+            };
+        }
+        else {
+            topicDispatchState.queuedOrderedImageDecodes.push({
+                message,
+                errorCallback,
+            });
+        }
+        flushTopicImageDecode(topic);
+    };
+    const resetTopic = (topic) => {
+        for (let index = pendingIncomingMessages.length - 1; index >= 0; index -= 1) {
+            const pendingMessage = pendingIncomingMessages[index];
+            if (!pendingMessage) {
+                continue;
+            }
+            if (pendingMessage.message.topic === topic ||
+                pendingMessage.message.topic.startsWith(`${topic}::`)) {
+                pendingIncomingMessages.splice(index, 1);
+            }
+        }
+        for (let index = pendingDecodedEvents.length - 1; index >= 0; index -= 1) {
+            const pendingEvent = pendingDecodedEvents[index];
+            if (!pendingEvent) {
+                continue;
+            }
+            if (pendingEvent.topic === topic || pendingEvent.topic.startsWith(`${topic}::`)) {
+                closeRenderableBitmapFromEvent(pendingEvent);
+                pendingDecodedEvents.splice(index, 1);
+            }
+        }
+        topicDispatchStates.delete(topic);
+        for (const slot of workerSlots) {
+            void slot.wrapper?.remote.resetTopic(topic).catch(() => {
+                // Topic reset can race with worker disposal during connection shutdown.
+            });
+        }
+        for (const slot of imageWorkerSlots) {
+            void slot.wrapper?.remote.resetTopic(topic).catch(() => {
+                // Topic reset can race with worker disposal during connection shutdown.
+            });
+        }
+    };
+    const flushIncomingMessages = () => {
+        incomingFlushScheduled = false;
+        if (pendingIncomingMessages.length === 0) {
+            return;
+        }
+        const messagesToFlush = pendingIncomingMessages.splice(0, pendingIncomingMessages.length);
+        for (const entry of messagesToFlush) {
+            processIncomingMessage(entry.message, entry.errorCallback);
+        }
+    };
+    return {
+        handle: (({ schema, buffer, topic }, errorCallback) => {
+            if (isCleaningUp) {
+                return;
+            }
+            pendingIncomingMessages.push({
+                message: { schema, buffer, topic },
+                errorCallback,
+            });
+            if (!incomingFlushScheduled) {
+                incomingFlushScheduled = true;
+                scheduleMicrotask(flushIncomingMessages);
+            }
+        }),
+        resetTopic,
+        cleanup: () => {
+            isCleaningUp = true;
+            incomingFlushScheduled = false;
+            pendingIncomingMessages.length = 0;
+            decodedFlushScheduled = false;
+            pendingDecodedEvents.length = 0;
+            unsubscribeRuntimeConfig();
+            for (const slot of workerSlots) {
+                slot.wrapper?.dispose();
+            }
+            for (const slot of imageWorkerSlots) {
+                slot.wrapper?.dispose();
+            }
+            topicDispatchStates.clear();
+        },
+    };
+}
+//# sourceMappingURL=message-handler.js.map

package/dist/visualizer/messaging/message-handler.js.map

@@ -0,0 +1 @@
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package/dist/visualizer/messaging/message.d.ts

@@ -0,0 +1,32 @@
+export type DepthAIMessageImgFrame = {
+    type: "img_frame";
+    width: number;
+    height: number;
+    data: Uint8Array;
+    options: {
+        type: "h264" | "color" | "depth" | "mono";
+    };
+};
+export type DepthAIDetection = {
+    label: number;
+    confidence: number;
+    xmin: number;
+    xmax: number;
+    ymin: number;
+    ymax: number;
+};
+export type DepthAIDetections = Array<DepthAIDetection>;
+export type DepthAIImuData = [
+    {
+        acc: [number, number, number];
+        gyro: [number, number, number];
+    }
+];
+export type DepthAIMessageImuData = {
+    type: "imu_data";
+    data: DepthAIImuData;
+};
+export type DepthAIMessage = {
+    topic: string;
+} & (DepthAIMessageImgFrame | DepthAIMessageImuData);
+//# sourceMappingURL=message.d.ts.map

package/dist/visualizer/messaging/message.d.ts.map

@@ -0,0 +1 @@
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package/dist/visualizer/messaging/message.js

@@ -0,0 +1,5 @@
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at http://mozilla.org/MPL/2.0/
+export {};
+//# sourceMappingURL=message.js.map

package/dist/visualizer/messaging/message.js.map

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package/dist/visualizer/messaging/parse-utils.d.ts

@@ -0,0 +1,23 @@
+import type { Timestamp } from "../protobuf.generated/common.js";
+import { type Specs, Type } from "../protobuf.generated/ImgFrame.js";
+export declare function fromMillis(value: number): Timestamp;
+export type FoxglovePixelFormat = "yuv422" | "uyvy" | "nv12" | "yuv422_yuy2" | "yuyv" | "rgb8" | "rgb8p" | "rgba8" | "bgra8" | "bgr8" | "bgr8p" | "bgr8i" | "8UC3" | "32FC1" | "I420" | "bayer_rggb8" | "bayer_bggr8" | "bayer_gbrg8" | "bayer_grbg8" | "mono8" | "8UC1" | "mono16" | "16UC1";
+export type ParsedEncoding = [encoding: FoxglovePixelFormat, widthStep: number];
+export declare function parsePixelFormat(format: VideoPixelFormat | null): ParsedEncoding;
+export type ParseMessageResult = {
+    encoding: FoxglovePixelFormat;
+    step: number;
+    receiveTime: Timestamp;
+    width: number;
+    height: number;
+    stride: number | null;
+    planeStride: number | null;
+    type: Type;
+};
+export declare function parseMessage(message: {
+    fb?: Specs;
+    sourceFb?: Specs;
+    ts?: Timestamp;
+    tsDevice?: Timestamp;
+}): ParseMessageResult;
+//# sourceMappingURL=parse-utils.d.ts.map

package/dist/visualizer/messaging/parse-utils.d.ts.map

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package/dist/visualizer/messaging/parse-utils.js

@@ -0,0 +1,76 @@
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at http://mozilla.org/MPL/2.0/
+import { Type } from "../protobuf.generated/ImgFrame.js";
+export function fromMillis(value) {
+    let sec = Math.trunc(value / 1000);
+    let nsec = Math.round((value - sec * 1000) * 1e6);
+    sec += Math.trunc(nsec / 1e9);
+    nsec %= 1e9;
+    return { sec, nsec };
+}
+export function parsePixelFormat(format) {
+    switch (format) {
+        case "BGRA":
+            return ["bgra8", 3];
+        case "BGRX":
+            return ["bgr8", 3];
+        case "I420":
+        case "I420A":
+            return ["I420", 2];
+        case "I422":
+        case "I444":
+            return ["yuv422", 2];
+        case "RGBA":
+            return ["rgba8", 1];
+        case "RGBX":
+            return ["rgb8", 1];
+        case "NV12":
+            return ["nv12", 1];
+        default:
+            return ["bgra8", 3];
+    }
+}
+function parseMessageType(type) {
+    switch (type) {
+        case Type.YUV422i:
+        case Type.YUV422p:
+            return ["yuv422", 2];
+        case Type.YUV420p:
+            return ["I420", 1];
+        case Type.NV12:
+            return ["nv12", 1];
+        case Type.RGB888i:
+            return ["rgb8", 3];
+        case Type.RGB888p:
+            return ["rgb8p", 1];
+        case Type.RGBA8888:
+            return ["rgba8", 1];
+        case Type.BGR888i:
+            return ["bgr8i", 3];
+        case Type.BGR888p:
+            return ["bgr8p", 3];
+        case Type.RAW16:
+            return ["mono16", 2];
+        case Type.RAW8:
+            return ["mono8", 2];
+        default:
+            throw new Error(`Unsupported encoding ${Type[type]}`);
+    }
+}
+export function parseMessage(message) {
+    const width = Number(message.fb?.width ?? message.sourceFb?.width ?? 1920);
+    const height = Number(message.fb?.height ?? message.sourceFb?.height ?? 1200);
+    const stride = message.fb?.stride ?? message.sourceFb?.stride ?? null;
+    const p2Offset = message.fb?.p2Offset ?? message.sourceFb?.p2Offset ?? null;
+    const p1Offset = message.fb?.p1Offset ?? message.sourceFb?.p1Offset ?? null;
+    let planeStride = p1Offset != null && p2Offset != null ? p2Offset - p1Offset : 0;
+    if (planeStride <= 0) {
+        planeStride = null;
+    }
+    const type = message.fb?.type ?? message.sourceFb?.type ?? Type.RGB888p;
+    const [encoding, step] = parseMessageType(type);
+    const receiveTime = message.ts ?? message.tsDevice ?? fromMillis(Date.now());
+    return { encoding, step: stride ?? step, receiveTime, width, height, stride, planeStride, type };
+}
+//# sourceMappingURL=parse-utils.js.map

package/dist/visualizer/messaging/parse-utils.js.map

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