@luxonis/depthai-viewer-common 3.7.5 → 3.8.0

package/dist/visualizer/connection/communicator.d.ts

@@ -0,0 +1,94 @@
+import type { WebRtcConfig } from "@luxonis/remote-connection";
+import { type ProtobufKind } from "../messaging/protobuf.js";
+import type { PublicChannelData } from "./connection.js";
+import type { Channel, Service, ServiceCallPayload, ServiceCallResponse } from "./foxglove-ws-types.js";
+export type FoxgloveMessage = {
+    topic: string;
+    schema: string;
+    buffer: DataView;
+};
+export type WorkerInputMessage = {
+    type: "open";
+    data: {
+        wsUrl: string;
+    } | {
+        config: WebRtcConfig;
+    };
+} | {
+    type: "close";
+    data: null;
+} | {
+    type: "subscribe";
+    data: string[];
+} | {
+    type: "unsubscribe";
+    data: string[];
+} | {
+    type: "call_service";
+    data: {
+        name: string;
+        serviceCallId: number;
+        body?: Record<string, any> | string | number;
+    };
+};
+export type WorkerOutputMessage = {
+    type: "open";
+} | {
+    type: "close";
+} | {
+    type: "reconnect";
+} | {
+    type: "error";
+    error: unknown;
+} | {
+    type: "channels";
+    data: PublicChannelData[];
+} | {
+    type: "services";
+    data: string[];
+} | {
+    type: "service_response";
+    data: {
+        name: string;
+        serviceCallId: number;
+    } & ({
+        ok: true;
+        error: null;
+        buffer: DataView;
+    } | {
+        ok: false;
+        error: string;
+        buffer: null;
+    });
+} | {
+    type: "message";
+    data: FoxgloveMessage;
+} | {
+    type: "message_batch";
+    data: FoxgloveMessage[];
+} | {
+    type: "disconnect";
+    error: Error;
+};
+export type ChannelWithKind = Channel & {
+    kind: ProtobufKind;
+};
+export declare abstract class FoxgloveCommunicator {
+    #private;
+    protected abstract isReady(): boolean;
+    protected abstract send(message: WorkerOutputMessage): void;
+    protected abstract sendWithTransfer(message: WorkerOutputMessage, transfer: ArrayBuffer[]): void;
+    protected abstract sendServiceCallRequest(request: ServiceCallPayload): void;
+    protected getPublicChannels(): ChannelWithKind[];
+    protected handleReconnect(): void;
+    protected handleChannelsAdvertisement(channels: Channel[]): void;
+    protected handleChannelsUnadvertisement(channels: number[]): void;
+    protected handleServicesAdvertisement(services: Service[]): void;
+    protected handleServicesUnadvertisement(services: number[]): void;
+    protected handleServiceResponse(response: Pick<ServiceCallResponse, "callId" | "data">): void;
+    protected handleGenericMessage(topic: string, schema: string, buffer: DataView): void;
+    protected callService({ name, serviceCallId, body, }: (WorkerInputMessage & {
+        type: "call_service";
+    })["data"]): void;
+}
+//# sourceMappingURL=communicator.d.ts.map

package/dist/visualizer/connection/communicator.d.ts.map

@@ -0,0 +1 @@
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package/dist/visualizer/connection/communicator.js

@@ -0,0 +1,134 @@
+// 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 { protobufsBySchema } from "../messaging/protobuf.js";
+import { scheduleMicrotask } from "../utils/async.js";
+import { recordToDataView } from "../utils/encoding.js";
+import { Logger } from "../utils/logger.js";
+const logger = Logger.getLogger();
+export class FoxgloveCommunicator {
+    #services = new Map();
+    #channels = new Map();
+    #serviceCalls = new Map();
+    #pendingMessages = [];
+    #pendingMessageTransfers = [];
+    #messageFlushScheduled = false;
+    getPublicChannels() {
+        return [...this.#channels.values()];
+    }
+    #getPublicServices() {
+        return [...this.#services.values()].map((service) => service.name);
+    }
+    handleReconnect() {
+        this.#services.clear();
+        this.#channels.clear();
+        this.send({ type: "reconnect" });
+    }
+    handleChannelsAdvertisement(channels) {
+        for (const channel of channels) {
+            const kind = protobufsBySchema[channel.schemaName]?.kind ?? "annotations";
+            this.#channels.set(channel.id, { ...channel, kind });
+        }
+        const data = this.getPublicChannels();
+        this.send({ type: "channels", data });
+    }
+    handleChannelsUnadvertisement(channels) {
+        for (const channel of channels) {
+            this.#channels.delete(channel);
+        }
+        const data = this.getPublicChannels();
+        this.send({ type: "channels", data });
+    }
+    handleServicesAdvertisement(services) {
+        for (const service of services) {
+            this.#services.set(service.name, service);
+        }
+        const data = this.#getPublicServices();
+        this.send({ type: "services", data });
+    }
+    handleServicesUnadvertisement(services) {
+        for (const unadvertisedService of services) {
+            for (const [name, service] of this.#services) {
+                if (service.id === unadvertisedService) {
+                    this.#services.delete(name);
+                }
+            }
+        }
+        const data = this.#getPublicServices();
+        this.send({ type: "services", data });
+    }
+    handleServiceResponse(response) {
+        const name = this.#serviceCalls.get(response.callId) ?? "unknown";
+        this.#serviceCalls.delete(response.callId);
+        this.sendWithTransfer({
+            type: "service_response",
+            data: {
+                name,
+                ok: true,
+                serviceCallId: response.callId,
+                buffer: response.data,
+                error: null,
+            },
+        }, [response.data.buffer]);
+    }
+    handleGenericMessage(topic, schema, buffer) {
+        this.#pendingMessages.push({ topic, schema, buffer });
+        this.#pendingMessageTransfers.push(buffer.buffer);
+        if (!this.#messageFlushScheduled) {
+            this.#messageFlushScheduled = true;
+            scheduleMicrotask(() => {
+                this.#flushPendingMessages();
+            });
+        }
+    }
+    #flushPendingMessages() {
+        this.#messageFlushScheduled = false;
+        if (this.#pendingMessages.length === 0) {
+            return;
+        }
+        const pendingMessages = this.#pendingMessages;
+        const pendingTransfers = this.#pendingMessageTransfers;
+        this.#pendingMessages = [];
+        this.#pendingMessageTransfers = [];
+        if (pendingMessages.length === 1) {
+            this.sendWithTransfer({
+                type: "message",
+                data: pendingMessages[0],
+            }, pendingTransfers);
+            return;
+        }
+        this.sendWithTransfer({
+            type: "message_batch",
+            data: pendingMessages,
+        }, pendingTransfers);
+    }
+    callService({ name, serviceCallId, body = {}, }) {
+        const service = this.#services.get(name);
+        if (!service) {
+            this.send({
+                type: "service_response",
+                data: {
+                    name,
+                    serviceCallId,
+                    ok: false,
+                    error: "Service was not advertised",
+                    buffer: null,
+                },
+            });
+            return;
+        }
+        if (this.isReady()) {
+            this.#serviceCalls.set(serviceCallId, name);
+            this.sendServiceCallRequest({
+                serviceId: service.id,
+                callId: serviceCallId,
+                encoding: "json",
+                data: recordToDataView(body),
+            });
+        }
+        else {
+            logger.warn("Foxglove Communicator Error: requested service call, but connection is not ready");
+        }
+    }
+}
+//# sourceMappingURL=communicator.js.map

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

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

@@ -0,0 +1,54 @@
+import type { WebRtcConfig } from "@luxonis/remote-connection";
+import type { DeserializationErrorCallback } from "../messaging/deserialization.worker.js";
+import type { ProtobufKind } from "../messaging/protobuf.js";
+import { FoxgloveConnection } from "./foxglove-connection.js";
+export type PublicChannelData = {
+    topic: string;
+    kind: ProtobufKind;
+};
+export type ConnectionEventMap = {
+    open: () => void;
+    close: () => void;
+    reconnect: () => void;
+    channels: (channels: MessageEvent<PublicChannelData[]>) => void;
+    services: (services: MessageEvent<string[]>) => void;
+    unsupportedTopicDiscovered: (topic: string) => void;
+    disconnect: (error: Error) => void;
+};
+export type ServiceRequestArgs = {
+    name: string;
+    timeout?: number;
+    body?: Record<string, any> | string | number;
+    ignoreResponse?: boolean;
+};
+export type VisualizerConnectionArgs = ({
+    type: "ws";
+    data: {
+        connectionUrl: string;
+    };
+} | {
+    type: "webrtc";
+    data: {
+        config: WebRtcConfig;
+        automaticTokenRefresh?: (token: string) => void;
+    };
+}) & {
+    errorCallback?: DeserializationErrorCallback;
+    debugLogs?: boolean;
+};
+export declare class VisualizerConnection extends FoxgloveConnection {
+    #private;
+    constructor({ type, data, errorCallback, debugLogs }: VisualizerConnectionArgs);
+    close(): void;
+    on<E extends keyof ConnectionEventMap>(name: E, listener: ConnectionEventMap[E]): void;
+    off<E extends keyof ConnectionEventMap>(name: E, listener: ConnectionEventMap[E]): void;
+    request(args: ServiceRequestArgs): Promise<DataView | null>;
+    subscribe(args: {
+        topics: string[];
+    }): void;
+    unsubscribe(args: {
+        topics: string[];
+    }): void;
+    get connected(): boolean;
+}
+//# sourceMappingURL=connection.d.ts.map

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

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

@@ -0,0 +1,155 @@
+// 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 { getRuntimeConfig, setRuntimeConfig } from "../runtime-config.js";
+import { Logger } from "../utils/logger.js";
+import { PlayerPresence } from "../utils/player-types.js";
+import { FoxgloveWebSocketAdapter } from "./adapter.js";
+import { FoxgloveConnection } from "./foxglove-connection.js";
+import { WebRtcBridge } from "./webrtc/bridge.js";
+const logger = Logger.getLogger();
+export class VisualizerConnection extends FoxgloveConnection {
+    #url = null;
+    #config = null;
+    #adapter;
+    #eventListeners = [];
+    constructor({ type, data, errorCallback, debugLogs }) {
+        super(type === "ws" ? data.connectionUrl : data.config.clientId);
+        let worker;
+        if (type === "ws") {
+            this.#url = data.connectionUrl;
+            worker = new Worker(new URL("./ws/worker.js", import.meta.url), { type: "module" });
+        }
+        else {
+            this.#config = data.config;
+            worker = new WebRtcBridge(data.automaticTokenRefresh);
+        }
+        if (debugLogs != undefined) {
+            setRuntimeConfig({
+                debugLogs,
+            });
+        }
+        logger.info("[VisualizerConnection] - Opening connection with following configuration", {
+            debugLogs: getRuntimeConfig().debugLogs ?? false,
+        });
+        this.#open(worker, errorCallback);
+    }
+    close() {
+        // Clean up event listeners before closing
+        this.#cleanupEventListeners();
+        this.#adapter?.close();
+        // Clean up message handler workers
+        this.messageHandler.cleanup();
+        // Clean up pointcloud worker pool
+        this.depthToPointcloudWorkerPool.destroy();
+    }
+    #cleanupEventListeners() {
+        if (this.#adapter) {
+            for (const { name, listener } of this.#eventListeners) {
+                this.#adapter.removeEventListener(name, listener);
+            }
+            this.#eventListeners = [];
+        }
+    }
+    on(name, listener) {
+        this.#adapter?.on(name, listener);
+    }
+    off(name, listener) {
+        this.#adapter?.off(name, listener);
+    }
+    async request(args) {
+        const response = await this.#adapter?.request(args);
+        return response ?? null;
+    }
+    subscribe(args) {
+        this.#adapter?.subscribe(args);
+        let changed = false;
+        const nextSubscribedTopics = new Map(this.subscribedTopics);
+        for (const topic of args.topics) {
+            if (nextSubscribedTopics.get(topic) === topic) {
+                continue;
+            }
+            nextSubscribedTopics.set(topic, topic);
+            changed = true;
+        }
+        if (changed) {
+            this.subscribedTopics = nextSubscribedTopics;
+            void this.emitState();
+        }
+    }
+    unsubscribe(args) {
+        this.#adapter?.unsubscribe(args);
+        let subscribedTopicsChanged = false;
+        let decodingErrorsChanged = false;
+        const nextSubscribedTopics = new Map(this.subscribedTopics);
+        for (const topic of args.topics) {
+            this.messageHandler.resetTopic(topic);
+            subscribedTopicsChanged = nextSubscribedTopics.delete(topic) || subscribedTopicsChanged;
+            decodingErrorsChanged = this.topicDecodingErrors.delete(topic) || decodingErrorsChanged;
+        }
+        this.resetPointCloudTransientState(args.topics);
+        if (subscribedTopicsChanged) {
+            this.subscribedTopics = nextSubscribedTopics;
+        }
+        if (subscribedTopicsChanged || decodingErrorsChanged) {
+            void this.emitState();
+        }
+    }
+    get connected() {
+        return Boolean(this.#adapter?.readyState === WebSocket.OPEN);
+    }
+    #open = (worker, errorCallback) => {
+        this.#adapter = new FoxgloveWebSocketAdapter({ wsUrl: this.#url, config: this.#config }, worker);
+        const openListener = (() => {
+            this.playerPresence = PlayerPresence.PRESENT;
+            this.emitState();
+        });
+        const closeListener = (() => {
+            logger.warn("[VisualizerConnection] adapter closed");
+            this.playerPresence = PlayerPresence.NOT_PRESENT;
+            this.emitState();
+            this.#cleanupEventListeners();
+            // Clean up message handler workers on close
+            this.messageHandler.cleanup();
+            // Clean up pointcloud worker pool
+            this.depthToPointcloudWorkerPool.destroy();
+        });
+        const errorListener = ((_event) => {
+            this.messageEvents = [];
+            this.playerPresence = PlayerPresence.ERROR;
+            this.emitState();
+            this.#cleanupEventListeners();
+            // Close adapter to terminate worker and clean up resources
+            this.#adapter?.close();
+            // Clean up message handler workers on error
+            this.messageHandler.cleanup();
+            // Clean up pointcloud worker pool
+            this.depthToPointcloudWorkerPool.destroy();
+        });
+        const wrappedErrorCallback = (errorCode, topic, errorData) => {
+            const shouldForwardError = this.handleDeserializationError(errorCode, topic, errorData);
+            if (shouldForwardError) {
+                errorCallback?.(errorCode, topic, errorData);
+            }
+        };
+        const handleMessagePacket = this.onMessagePacket.bind(this);
+        const messageListener = ((event) => {
+            const typedEvent = event;
+            const messages = Array.isArray(typedEvent.data) ? typedEvent.data : [typedEvent.data];
+            for (const message of messages) {
+                handleMessagePacket({ ...typedEvent, data: message }, wrappedErrorCallback);
+            }
+        });
+        this.#adapter.addEventListener("open", openListener);
+        this.#adapter.addEventListener("close", closeListener);
+        this.#adapter.addEventListener("error", errorListener);
+        this.#adapter.addEventListener("message", messageListener);
+        this.#eventListeners = [
+            { name: "open", listener: openListener },
+            { name: "close", listener: closeListener },
+            { name: "error", listener: errorListener },
+            { name: "message", listener: messageListener },
+        ];
+    };
+}
+//# sourceMappingURL=connection.js.map

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

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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 @@
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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

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