@luxonis/depthai-viewer-common 3.7.4 → 3.7.6

package/dist/visualizer/connection/connection.js.map

@@ -0,0 +1 @@
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package/dist/visualizer/connection/foxglove-client-adapter.d.ts

@@ -0,0 +1,31 @@
+import type { Channel, MessageData, Service, ServiceCallPayload, ServiceCallResponse } from "./foxglove-ws-types.js";
+type FoxgloveClientEvents = {
+    open: () => void;
+    close: () => void;
+    error: (error: Error) => void;
+    message: (message: MessageData) => void;
+    advertise: (channels: Channel[]) => void;
+    unadvertise: (channelIds: number[]) => void;
+    advertiseServices: (services: Service[]) => void;
+    unadvertiseServices: (serviceIds: number[]) => void;
+    serviceCallResponse: (response: ServiceCallResponse) => void;
+};
+export interface FoxgloveClientAdapter {
+    subscribe(channelId: number): number;
+    unsubscribe(subscriptionId: number): void;
+    sendServiceCallRequest(request: ServiceCallPayload): void;
+    close(): void;
+    on<E extends keyof FoxgloveClientEvents>(event: E, listener: FoxgloveClientEvents[E]): void;
+}
+export declare const FOXGLOVE_WS_SUBPROTOCOL = "foxglove.websocket.v1";
+export declare class NativeFoxgloveClientAdapter implements FoxgloveClientAdapter {
+    #private;
+    constructor(ws: WebSocket);
+    subscribe(channelId: number): number;
+    unsubscribe(subscriptionId: number): void;
+    sendServiceCallRequest(request: ServiceCallPayload): void;
+    close(): void;
+    on<E extends keyof FoxgloveClientEvents>(event: E, listener: FoxgloveClientEvents[E]): void;
+}
+export {};
+//# sourceMappingURL=foxglove-client-adapter.d.ts.map

package/dist/visualizer/connection/foxglove-client-adapter.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"foxglove-client-adapter.d.ts","sourceRoot":"","sources":["../../../src/visualizer/connection/foxglove-client-adapter.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EAGV,OAAO,EACP,WAAW,EACX,OAAO,EACP,kBAAkB,EAClB,mBAAmB,EAGpB,MAAM,wBAAwB,CAAC;AAEhC,KAAK,oBAAoB,GAAG;IAC1B,IAAI,EAAE,MAAM,IAAI,CAAC;IACjB,KAAK,EAAE,MAAM,IAAI,CAAC;IAClB,KAAK,EAAE,CAAC,KAAK,EAAE,KAAK,KAAK,IAAI,CAAC;IAC9B,OAAO,EAAE,CAAC,OAAO,EAAE,WAAW,KAAK,IAAI,CAAC;IACxC,SAAS,EAAE,CAAC,QAAQ,EAAE,OAAO,EAAE,KAAK,IAAI,CAAC;IACzC,WAAW,EAAE,CAAC,UAAU,EAAE,MAAM,EAAE,KAAK,IAAI,CAAC;IAC5C,iBAAiB,EAAE,CAAC,QAAQ,EAAE,OAAO,EAAE,KAAK,IAAI,CAAC;IACjD,mBAAmB,EAAE,CAAC,UAAU,EAAE,MAAM,EAAE,KAAK,IAAI,CAAC;IACpD,mBAAmB,EAAE,CAAC,QAAQ,EAAE,mBAAmB,KAAK,IAAI,CAAC;CAC9D,CAAC;AAaF,MAAM,WAAW,qBAAqB;IACpC,SAAS,CAAC,SAAS,EAAE,MAAM,GAAG,MAAM,CAAC;IACrC,WAAW,CAAC,cAAc,EAAE,MAAM,GAAG,IAAI,CAAC;IAC1C,sBAAsB,CAAC,OAAO,EAAE,kBAAkB,GAAG,IAAI,CAAC;IAC1D,KAAK,IAAI,IAAI,CAAC;IACd,EAAE,CAAC,CAAC,SAAS,MAAM,oBAAoB,EAAE,KAAK,EAAE,CAAC,EAAE,QAAQ,EAAE,oBAAoB,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC;CAC7F;AAED,eAAO,MAAM,uBAAuB,0BAA0B,CAAC;AA0B/D,qBAAa,2BAA4B,YAAW,qBAAqB;;gBAKpD,EAAE,EAAE,SAAS;IAKzB,SAAS,CAAC,SAAS,EAAE,MAAM,GAAG,MAAM;IASpC,WAAW,CAAC,cAAc,EAAE,MAAM,GAAG,IAAI;IAOzC,sBAAsB,CAAC,OAAO,EAAE,kBAAkB,GAAG,IAAI;IAKzD,KAAK,IAAI,IAAI;IAIb,EAAE,CAAC,CAAC,SAAS,MAAM,oBAAoB,EAC5C,KAAK,EAAE,CAAC,EACR,QAAQ,EAAE,oBAAoB,CAAC,CAAC,CAAC,GAChC,IAAI;CAuFR"}

package/dist/visualizer/connection/foxglove-client-adapter.js

@@ -0,0 +1,125 @@
+import { makeServiceCallRequest, parseFoxgloveMessage } from "./foxglove-protocol.js";
+export const FOXGLOVE_WS_SUBPROTOCOL = "foxglove.websocket.v1";
+function createListeners() {
+    return {
+        open: new Set(),
+        close: new Set(),
+        error: new Set(),
+        message: new Set(),
+        advertise: new Set(),
+        unadvertise: new Set(),
+        advertiseServices: new Set(),
+        unadvertiseServices: new Set(),
+        serviceCallResponse: new Set(),
+    };
+}
+function toError(error) {
+    if (error instanceof Error) {
+        return error;
+    }
+    if (typeof error === "string") {
+        return new Error(error);
+    }
+    return new Error("Unknown WebSocket error");
+}
+export class NativeFoxgloveClientAdapter {
+    #listeners = createListeners();
+    #nextSubscriptionId = 0;
+    #ws;
+    constructor(ws) {
+        this.#ws = ws;
+        this.#attachWebSocket();
+    }
+    subscribe(channelId) {
+        const subscriptionId = this.#nextSubscriptionId++;
+        this.#sendJson({
+            op: "subscribe",
+            subscriptions: [{ id: subscriptionId, channelId }],
+        });
+        return subscriptionId;
+    }
+    unsubscribe(subscriptionId) {
+        this.#sendJson({
+            op: "unsubscribe",
+            subscriptionIds: [subscriptionId],
+        });
+    }
+    sendServiceCallRequest(request) {
+        const payload = makeServiceCallRequest(request);
+        this.#ws.send(payload);
+    }
+    close() {
+        this.#ws.close();
+    }
+    on(event, listener) {
+        this.#listeners[event].add(listener);
+    }
+    #emit(event, ...args) {
+        const listeners = this.#listeners[event];
+        for (const listener of listeners) {
+            listener(...args);
+        }
+    }
+    #attachWebSocket() {
+        this.#ws.binaryType = "arraybuffer";
+        this.#ws.onopen = () => {
+            if (this.#ws.protocol !== FOXGLOVE_WS_SUBPROTOCOL) {
+                this.#emit("error", new Error(`Expected subprotocol ${FOXGLOVE_WS_SUBPROTOCOL}, got '${this.#ws.protocol}'`));
+                return;
+            }
+            this.#emit("open");
+        };
+        this.#ws.onerror = (event) => {
+            this.#emit("error", toError(event.error));
+        };
+        this.#ws.onclose = () => {
+            this.#emit("close");
+        };
+        this.#ws.onmessage = (event) => {
+            try {
+                if (event.data instanceof ArrayBuffer) {
+                    this.#handleBinaryMessage(new DataView(event.data));
+                }
+                else {
+                    this.#handleJsonMessage(JSON.parse(event.data));
+                }
+            }
+            catch (error) {
+                this.#emit("error", toError(error));
+            }
+        };
+    }
+    #handleBinaryMessage(data) {
+        const message = parseFoxgloveMessage(data);
+        if (message == undefined) {
+            return;
+        }
+        if (message.op === 1) {
+            this.#emit("message", message);
+            return;
+        }
+        this.#emit("serviceCallResponse", message);
+    }
+    #handleJsonMessage(message) {
+        switch (message.op) {
+            case "advertise":
+                this.#emit("advertise", message.channels);
+                break;
+            case "unadvertise":
+                this.#emit("unadvertise", message.channelIds);
+                break;
+            case "advertiseServices":
+                this.#emit("advertiseServices", message.services);
+                break;
+            case "unadvertiseServices":
+                this.#emit("unadvertiseServices", message.serviceIds);
+                break;
+            default:
+                break;
+        }
+    }
+    #sendJson(message) {
+        this.#ws.send(JSON.stringify(message));
+    }
+}
+//# sourceMappingURL=foxglove-client-adapter.js.map

package/dist/visualizer/connection/foxglove-client-adapter.js.map

@@ -0,0 +1 @@
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package/dist/visualizer/connection/foxglove-connection.d.ts

@@ -0,0 +1,86 @@
+import { DepthToPointcloudWorkerPool } from "../messaging/deserialization/pointcloud/poitcloudPoolManager.js";
+import type { NeuralCameraIntrinsics } from "../messaging/deserialization/pointcloud/utils.js";
+import type { PointCloudWithDimensions } from "../messaging/deserialization/video/depth.js";
+import type { DeserializationErrorCallback } from "../messaging/deserialization.worker.js";
+import { type VisualizerMessageEvent } from "../messaging/message-event.js";
+import { type MessageHandler } from "../messaging/message-handler.js";
+import { type DecodingError, type DecodingErrorCode } from "../utils/error.js";
+import { PlayerPresence, type PlayerProblem, type PlayerState } from "../utils/player-types.js";
+import { PoitCloudSyncFramework } from "../utils/poitcloud-sync.js";
+import { type Time } from "../utils/time.js";
+import type { FoxgloveMessage } from "./communicator.js";
+export type Metrics = {
+    resolutions: Map<string, string | undefined>;
+    incomingMessagesFps: number | undefined;
+    decodedMessagesFps: number | undefined;
+    messageThroughput: number | undefined;
+};
+type DecodingErrorData = {
+    message?: string;
+};
+declare class ProblemManager {
+    protected problems: PlayerProblem[];
+    addProblem(problem: PlayerProblem): void;
+    clearProblems(): void;
+    getProblems(): PlayerProblem[];
+}
+export declare abstract class FoxgloveConnection {
+    protected listener?: (playerState: PlayerState) => Promise<void>;
+    protected liveMessageListener?: (messages: readonly VisualizerMessageEvent[], lastSeekTime: number | undefined) => void;
+    protected publishFrameMessagesInState: boolean;
+    protected id: string;
+    protected playerPresence: PlayerPresence;
+    protected playerCapabilities: "playbackControl"[];
+    protected messageEvents: VisualizerMessageEvent[];
+    protected lastEncodedFrame?: VisualizerMessageEvent;
+    protected receivedBytes: number;
+    protected startTime?: Time;
+    protected endTime?: Time;
+    protected parameters: Map<any, any>;
+    protected publishedTopics: Map<any, any>;
+    protected subscribedTopics: Map<any, any>;
+    protected unsupportedTopics: Set<string>;
+    protected topicDecodingErrors: Map<string, DecodingError>;
+    protected advertisedServices: Map<any, any>;
+    protected problems: ProblemManager;
+    protected resolutions: Map<any, any>;
+    protected inputMetrics: import("../utils/metrics-manager.js").EventMetricsManager;
+    protected decodeMetrics: import("../utils/metrics-manager.js").EventMetricsManager;
+    protected throughputMetrics: import("../utils/metrics-manager.js").ThroughputMetricsManager;
+    protected PoitCloudSyncFramework: PoitCloudSyncFramework;
+    protected depthToPointcloudWorkerPool: DepthToPointcloudWorkerPool;
+    protected IMUEventEmitter: import("../utils/imu-manager.js").IMUEvent;
+    protected messageHandler: MessageHandler;
+    protected topics: {
+        [key: string]: {
+            name: string;
+            schemaName: string;
+        };
+    };
+    protected topicList: {
+        name: string;
+        schemaName: string;
+    }[];
+    constructor(id: string);
+    protected createDepthToPointcloudWorkerPool(): DepthToPointcloudWorkerPool;
+    protected resetPointCloudTransientState(topics: readonly string[]): void;
+    setListener(listener: (playerState: PlayerState) => Promise<void>): void;
+    setLiveMessageListener(listener: ((messages: readonly VisualizerMessageEvent[], lastSeekTime: number | undefined) => void) | undefined): void;
+    setPublishFrameMessagesInState(enabled: boolean): void;
+    getTopicMetrics(topic: string): Metrics;
+    protected getCurrentTime(): Time;
+    protected getNeuralCameraIntrinsics(): NeuralCameraIntrinsics | undefined;
+    protected onMessagePacket(event: globalThis.MessageEvent<FoxgloveMessage>, errorCallback?: DeserializationErrorCallback): void;
+    protected submitPointcloudFrameCallback(coloredEvent: VisualizerMessageEvent, poitcloudFrame: PointCloudWithDimensions, message: unknown): void;
+    protected handleParsePointcloudMessage(coloredEvent: VisualizerMessageEvent): Promise<void>;
+    protected parseResolutionFromMessage(message: unknown, topic: string): {
+        width: number | undefined;
+        height: number | undefined;
+    };
+    protected trackTopic(topic: string, schemaName: string): void;
+    protected handleParsedMessage(event: VisualizerMessageEvent): void;
+    protected emitState: () => Promise<void>;
+    protected handleDeserializationError(errorCode: DecodingErrorCode, topic: string, errorData?: DecodingErrorData): boolean;
+}
+export {};
+//# sourceMappingURL=foxglove-connection.d.ts.map

package/dist/visualizer/connection/foxglove-connection.d.ts.map

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package/dist/visualizer/connection/foxglove-connection.js

@@ -0,0 +1,329 @@
+// 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 { DepthToPointcloudWorkerPool } from "../messaging/deserialization/pointcloud/poitcloudPoolManager.js";
+import { getKnownMessageSizeInBytes, } from "../messaging/message-event.js";
+import { createMessageHandler } from "../messaging/message-handler.js";
+import { protobufSchemaNameToType, protobufsBySchema } from "../messaging/protobuf.js";
+import { debouncePromise } from "../utils/async.js";
+import { createDecodingError } from "../utils/error.js";
+import { estimateObjectSize } from "../utils/estimate-object-size.js";
+import { FrameStore } from "../utils/frame-store.js";
+import { getIMUEventEmitter } from "../utils/imu-manager.js";
+import { Logger } from "../utils/logger.js";
+import { constructKeyForTopicRenderMetrics, globalDecodeMetricsManager, globalInputEventMetricsManager, globalRenderMetricsManager, globalThroughputMetricsManager, } from "../utils/metrics-manager.js";
+import { PlayerCapabilities, PlayerPresence, } from "../utils/player-types.js";
+import { PoitCloudSyncFramework } from "../utils/poitcloud-sync.js";
+import { getNeuralCameraIntrinsics } from "../utils/runtime-config.js";
+import { fromMillis, isGreaterThan, isLessThan } from "../utils/time.js";
+const logger = Logger.getLogger();
+const EMPTY_PLAYER_PROGRESS = {};
+const EMPTY_TOPIC_STATS = new Map();
+const EMPTY_DATATYPES = new Map();
+const POINT_CLOUD_TRANSIENT_TOPICS = new Set([
+    "Point Cloud",
+    "PointCloud",
+    "pointCloud",
+    "_Point Cloud Color",
+    "H.264 Stream",
+]);
+class ProblemManager {
+    problems = [];
+    addProblem(problem) {
+        this.problems.push(problem);
+    }
+    clearProblems() {
+        this.problems = [];
+    }
+    getProblems() {
+        return this.problems;
+    }
+}
+export class FoxgloveConnection {
+    listener;
+    liveMessageListener;
+    publishFrameMessagesInState = true;
+    id;
+    // player options
+    playerPresence = PlayerPresence.NOT_PRESENT;
+    playerCapabilities = [PlayerCapabilities.playbackControl];
+    // state options
+    messageEvents = [];
+    lastEncodedFrame;
+    receivedBytes = 0;
+    startTime;
+    endTime;
+    parameters = new Map();
+    publishedTopics = new Map();
+    subscribedTopics = new Map();
+    unsupportedTopics = new Set();
+    topicDecodingErrors = new Map();
+    advertisedServices = new Map();
+    problems = new ProblemManager();
+    resolutions = new Map();
+    inputMetrics = globalInputEventMetricsManager;
+    decodeMetrics = globalDecodeMetricsManager;
+    throughputMetrics = globalThroughputMetricsManager;
+    PoitCloudSyncFramework = new PoitCloudSyncFramework();
+    depthToPointcloudWorkerPool = this.createDepthToPointcloudWorkerPool();
+    IMUEventEmitter = getIMUEventEmitter();
+    // message handler
+    messageHandler;
+    topics = {};
+    topicList = [];
+    constructor(id) {
+        this.id = id;
+        this.messageHandler = createMessageHandler(this.handleParsedMessage.bind(this));
+    }
+    createDepthToPointcloudWorkerPool() {
+        return new DepthToPointcloudWorkerPool((event, frame, message) => {
+            this.submitPointcloudFrameCallback(event, frame, message);
+        });
+    }
+    resetPointCloudTransientState(topics) {
+        if (!topics.some((topic) => POINT_CLOUD_TRANSIENT_TOPICS.has(topic))) {
+            return;
+        }
+        this.PoitCloudSyncFramework = new PoitCloudSyncFramework();
+        this.depthToPointcloudWorkerPool.destroy();
+        this.depthToPointcloudWorkerPool = this.createDepthToPointcloudWorkerPool();
+    }
+    setListener(listener) {
+        this.listener = listener;
+        this.emitState();
+    }
+    setLiveMessageListener(listener) {
+        this.liveMessageListener = listener;
+    }
+    setPublishFrameMessagesInState(enabled) {
+        this.publishFrameMessagesInState = enabled;
+    }
+    getTopicMetrics(topic) {
+        return {
+            incomingMessagesFps: this.inputMetrics.calculate(constructKeyForTopicRenderMetrics("incomingImageFrame", topic)),
+            decodedMessagesFps: this.decodeMetrics.calculate(topic),
+            messageThroughput: this.throughputMetrics.calculate(topic),
+            resolutions: this.resolutions,
+        };
+    }
+    getCurrentTime() {
+        return fromMillis(Date.now());
+    }
+    getNeuralCameraIntrinsics() {
+        return getNeuralCameraIntrinsics();
+    }
+    onMessagePacket(event, errorCallback) {
+        const [imageFrameMetricsKey, annotationsFrameMetricsKey, pointCloudFrameMetricsKey] = [
+            constructKeyForTopicRenderMetrics("incomingImageFrame", event.data.topic),
+            constructKeyForTopicRenderMetrics("incomingAnnotationsFrame", event.data.topic),
+            constructKeyForTopicRenderMetrics("incomingPointCloudFrame", event.data.topic),
+        ];
+        const specificProtobuf = protobufsBySchema[event.data.schema]?.type;
+        if (!specificProtobuf) {
+            throw new Error(`Unsupported protobuf schema: ${event.data.schema}`);
+        }
+        const packetType = protobufSchemaNameToType(specificProtobuf);
+        this.inputMetrics.registerEvent(packetType === "image"
+            ? imageFrameMetricsKey
+            : packetType === "pointCloud"
+                ? pointCloudFrameMetricsKey
+                : annotationsFrameMetricsKey);
+        this.throughputMetrics.registerEvent(event.data.topic, event.data.buffer.byteLength);
+        this.messageHandler.handle(event.data, errorCallback);
+    }
+    submitPointcloudFrameCallback(coloredEvent, poitcloudFrame, message) {
+        coloredEvent.topic = "Point Cloud";
+        coloredEvent.schemaName = "foxglove.PointCloud";
+        coloredEvent.message = poitcloudFrame;
+        this.trackTopic(coloredEvent.topic, coloredEvent.schemaName);
+        // @ts-expect-error - ITS unknow
+        coloredEvent.message.data = message;
+        const messageSize = getKnownMessageSizeInBytes(coloredEvent.message) ?? estimateObjectSize(coloredEvent.message);
+        coloredEvent.sizeInBytes = messageSize;
+        this.inputMetrics.registerEvent(constructKeyForTopicRenderMetrics("incomingPointCloudFrame", "Point Cloud"));
+        globalRenderMetricsManager.ensureTopic(constructKeyForTopicRenderMetrics("renderPointCloudFrame", "Point Cloud"));
+        this.decodeMetrics.registerEvent("Point Cloud");
+        this.throughputMetrics.registerEvent("Point Cloud", messageSize);
+        this.parseResolutionFromMessage(coloredEvent.message, "Point Cloud");
+        for (const topic of ["Point Cloud", "PointCloud", "pointCloud"]) {
+            FrameStore.getInstance().registerFrame(topic, coloredEvent);
+        }
+        this.liveMessageListener?.([coloredEvent], 0);
+        if (this.publishFrameMessagesInState) {
+            this.messageEvents.push(coloredEvent);
+            this.emitState();
+        }
+    }
+    async handleParsePointcloudMessage(coloredEvent) {
+        const poitcloudFrame = this.PoitCloudSyncFramework.getFrame(coloredEvent.receiveTime);
+        const { width: colorWith, height: colorHeight } = this.parseResolutionFromMessage(coloredEvent.message, coloredEvent.topic);
+        if (poitcloudFrame) {
+            const neuralCameraIntrinsics = this.getNeuralCameraIntrinsics();
+            if (!neuralCameraIntrinsics) {
+                logger.warn("Cannot parse pointcloud frame, missing camera intrinsics");
+                return;
+            }
+            const colorFrameMessage = coloredEvent.message;
+            if (!(colorFrameMessage.data instanceof Uint8Array)) {
+                logger.warn("Cannot parse pointcloud frame, missing color frame bytes");
+                return;
+            }
+            const pointCloudColorEvent = {
+                ...coloredEvent,
+                message: coloredEvent.message && typeof coloredEvent.message === "object"
+                    ? { ...coloredEvent.message }
+                    : coloredEvent.message,
+            };
+            await this.depthToPointcloudWorkerPool.queueDepthFrame({
+                depthFrame: poitcloudFrame,
+                width: poitcloudFrame.width ?? 0,
+                height: poitcloudFrame.height ?? 0,
+                fx: neuralCameraIntrinsics.right.focalLenght.x,
+                fy: neuralCameraIntrinsics.right.focalLenght.y,
+                cx: neuralCameraIntrinsics.right.principalPoint.x,
+                cy: neuralCameraIntrinsics.right.principalPoint.y,
+                colorFrame: pointCloudColorEvent,
+                colorFrameData: new Uint8Array(colorFrameMessage.data),
+                i420Width: colorWith ?? poitcloudFrame.width ?? 0,
+                i420Height: colorHeight ?? poitcloudFrame.height ?? 0,
+            });
+        }
+    }
+    parseResolutionFromMessage(message, topic) {
+        // Check if usual width/height attributes are present
+        // @ts-expect-error - ITS unknow
+        if ("width" in message && "height" in message) {
+            const nextResolution = `${message.width}x${message.height}`;
+            if (this.resolutions.get(topic) !== nextResolution) {
+                this.resolutions.set(topic, nextResolution);
+            }
+            return { width: message.width, height: message.height };
+        }
+        return { width: undefined, height: undefined };
+    }
+    trackTopic(topic, schemaName) {
+        if (this.topics[topic]?.schemaName === schemaName) {
+            return;
+        }
+        this.topics[topic] = {
+            name: topic,
+            schemaName,
+        };
+        this.topicList = Object.values(this.topics);
+    }
+    handleParsedMessage(event) {
+        this.topicDecodingErrors.delete(event.topic);
+        this.decodeMetrics.registerEvent(event.topic);
+        this.trackTopic(event.topic, event.schemaName);
+        if (event.schemaName === "foxglove.IMU") {
+            this.IMUEventEmitter.push(event.message);
+            return;
+        }
+        this.parseResolutionFromMessage(event.message, event.topic);
+        if (event.schemaName === "foxglove.PointCloud") {
+            for (const topic of ["Point Cloud", "PointCloud", "pointCloud"]) {
+                FrameStore.getInstance().registerFrame(topic, event);
+            }
+            this.PoitCloudSyncFramework.addFrame(event.message);
+            return;
+        }
+        if (event.schemaName === "foxglove.PointCloud.Colored") {
+            for (const topic of ["Point Cloud", "PointCloud", "pointCloud"]) {
+                FrameStore.getInstance().registerFrame(topic, event);
+            }
+        }
+        if (event.schemaName === "foxglove.PointClouds.Colored") {
+            event.schemaName = "foxglove.PointClouds";
+        }
+        const messageSize = Number.isFinite(event.sizeInBytes) && event.sizeInBytes > 0
+            ? event.sizeInBytes
+            : (getKnownMessageSizeInBytes(event.message) ?? estimateObjectSize(event.message));
+        event.sizeInBytes = messageSize;
+        this.liveMessageListener?.([event], 0);
+        if (this.publishFrameMessagesInState) {
+            this.messageEvents.push(event);
+            this.emitState();
+        }
+        const poitcloudColorFrameName = this.subscribedTopics.get("_Point Cloud Color")
+            ? "_Point Cloud Color"
+            : "H.264 Stream";
+        if (event.topic === poitcloudColorFrameName) {
+            /* Good for performance testing
+            const date = Date.now();
+            event.publishTime= {
+              sec: Math.floor(date / 1000),
+              nsec: date *10 ** 6,
+            };
+            */
+            void this.handleParsePointcloudMessage(event);
+        }
+    }
+    emitState = debouncePromise(async () => {
+        const messages = this.messageEvents;
+        this.messageEvents = [];
+        const activeDecodingProblems = [...this.topicDecodingErrors.values()].map((error) => ({
+            severity: "error",
+            message: `Unable to decode topic "${error.topicName}"`,
+            tip: error.message,
+            error,
+        }));
+        const transientProblems = this.problems.getProblems();
+        this.problems.clearProblems();
+        const problems = activeDecodingProblems.concat(transientProblems);
+        if (!this.listener || (messages.length === 0 && problems.length === 0)) {
+            await Promise.resolve();
+            return;
+        }
+        const currentTime = this.getCurrentTime();
+        if (!this.startTime || isLessThan(currentTime, this.startTime)) {
+            this.startTime = currentTime;
+        }
+        if (!this.endTime || isGreaterThan(currentTime, this.endTime)) {
+            this.endTime = currentTime;
+        }
+        const newPlayerState = {
+            name: this.id,
+            presence: this.playerPresence,
+            progress: EMPTY_PLAYER_PROGRESS,
+            capabilities: this.playerCapabilities,
+            profile: undefined,
+            playerId: "internal-player",
+            problems,
+            urlState: undefined,
+            activeData: {
+                messages,
+                totalBytesReceived: this.receivedBytes,
+                startTime: this.startTime,
+                endTime: this.endTime,
+                currentTime,
+                isPlaying: true,
+                repeatEnabled: false,
+                speed: 1,
+                lastSeekTime: 0,
+                topics: this.topicList,
+                topicStats: EMPTY_TOPIC_STATS,
+                datatypes: EMPTY_DATATYPES,
+                parameters: this.parameters,
+                publishedTopics: this.publishedTopics,
+                subscribedTopics: this.subscribedTopics,
+                unsupportedTopics: this.unsupportedTopics,
+                services: this.advertisedServices,
+            },
+        };
+        await this.listener(newPlayerState);
+    });
+    handleDeserializationError(errorCode, topic, errorData) {
+        if (!this.subscribedTopics.has(topic)) {
+            return false;
+        }
+        const nextError = createDecodingError(errorCode, topic, errorData?.message);
+        const previousError = this.topicDecodingErrors.get(topic);
+        if (previousError?.code === nextError.code && previousError.message === nextError.message) {
+            return false;
+        }
+        this.topicDecodingErrors.set(topic, nextError);
+        void this.emitState();
+        return true;
+    }
+}
+//# sourceMappingURL=foxglove-connection.js.map

package/dist/visualizer/connection/foxglove-connection.js.map

@@ -0,0 +1 @@
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package/dist/visualizer/connection/foxglove-protocol.d.ts

@@ -0,0 +1,6 @@
+import type { MessageData, ServiceCallPayload, ServiceCallResponse } from "./foxglove-ws-types.js";
+export declare function makeServiceCallRequest(request: ServiceCallPayload): DataView<ArrayBuffer>;
+export declare function parseMessage(view: DataView): MessageData;
+export declare function parseServiceCallResponse(view: DataView): ServiceCallResponse;
+export declare function parseFoxgloveMessage(view: DataView): MessageData | ServiceCallResponse | null;
+//# sourceMappingURL=foxglove-protocol.d.ts.map

package/dist/visualizer/connection/foxglove-protocol.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"foxglove-protocol.d.ts","sourceRoot":"","sources":["../../../src/visualizer/connection/foxglove-protocol.ts"],"names":[],"mappings":"AAIA,OAAO,KAAK,EAAE,WAAW,EAAE,kBAAkB,EAAE,mBAAmB,EAAE,MAAM,wBAAwB,CAAC;AAMnG,wBAAgB,sBAAsB,CAAC,OAAO,EAAE,kBAAkB,GAAG,QAAQ,CAAC,WAAW,CAAC,CAsBzF;AAED,wBAAgB,YAAY,CAAC,IAAI,EAAE,QAAQ,GAAG,WAAW,CAUxD;AAED,wBAAgB,wBAAwB,CAAC,IAAI,EAAE,QAAQ,GAAG,mBAAmB,CAe5E;AAED,wBAAgB,oBAAoB,CAAC,IAAI,EAAE,QAAQ,GAAG,WAAW,GAAG,mBAAmB,GAAG,IAAI,CAQ7F"}