@luxonis/visualizer-protobuf 2.1.1 → 2.3.0

package/dist/apps/depthai-visualizer/src/components/Panel.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"Panel.d.ts","sourceRoot":"","sources":["../../../../../src/components/Panel.tsx"],"names":[],"mappings":"AAaA,OAAO,EAAE,YAAY,EAAE,MAAM,0BAA0B,CAAC;AAExD,OAAO,oBAAoB,CAAC;AAE5B,MAAM,MAAM,UAAU,GAAG;IACvB,IAAI,EAAE,MAAM,CAAC;IACb,KAAK,EAAE,OAAO,CAAC;IACf,OAAO,EAAE,OAAO,CAAC;CAClB,CAAC;AAEF,MAAM,MAAM,UAAU,GAAG,KAAK,CAAC,iBAAiB,CAAC;IAC/C,KAAK,EAAE,MAAM,CAAC;IACd,IAAI,EAAE,YAAY,CAAC;IACnB,kBAAkB,CAAC,EAAE,OAAO,CAAC;IAC7B,gBAAgB,CAAC,EAAE,MAAM,EAAE,CAAC;IAC5B,qBAAqB,CAAC,EAAE,MAAM,EAAE,CAAC;CAClC,CAAC,CAAC;AAEH,MAAM,MAAM,eAAe,GAAG,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC;AAEtD,MAAM,MAAM,aAAa,GAAG;IAC1B,UAAU,EAAE,UAAU,EAAE,CAAC;CAC1B,CAAC;AAIF,eAAO,MAAM,aAAa,QAAO,aAEhC,CAAC;AASF,eAAO,MAAM,KAAK,EAAE,KAAK,CAAC,EAAE,CAAC,UAAU,CA0DtC,CAAC"}

package/dist/apps/depthai-visualizer/src/components/Panel.js

@@ -8,6 +8,7 @@ import EmptyState from "@foxglove/studio-base/components/EmptyState.js";
 import ErrorBoundary from "@foxglove/studio-base/components/ErrorBoundary.js";
 import RemountOnValueChange from "@foxglove/studio-base/components/RemountOnValueChange.js";
 import { PanelToolbar } from "./PanelToolbar.js";
+import { useConnections } from "../context/ConnectionsProvider.js";
 import '../fonts/fonts.css';
 const DetectionContext = React.createContext({ detections: [] });
 export const useDetections = () => {
@@ -19,13 +20,21 @@ const rawToAnnotations = (rawAnnotations, kind, current) => rawAnnotations.map((
     enabled: current.find(({ name }) => name === annotationTopic)?.enabled ?? kind === 'main'
 }));
 export const Panel = ({ children, kind, topic, disableAnnotations = false, annotationTopics = [], extraAnnotationTopics = [] }) => {
+    const connections = useConnections();
     const [detections, setDetections] = React.useState([]);
     React.useEffect(() => {
         if (!disableAnnotations) {
-            setDetections(current => [
-                ...rawToAnnotations(annotationTopics, 'main', current),
-                ...rawToAnnotations(extraAnnotationTopics, 'extra', current)
-            ]);
+            setDetections(current => {
+                const newAnnotations = [
+                    ...rawToAnnotations(annotationTopics, 'main', current),
+                    ...rawToAnnotations(extraAnnotationTopics, 'extra', current)
+                ];
+                for (const connection of connections) {
+                    connection.unsubscribe({ topics: current.map(c => c.name) });
+                    connection.subscribe({ topics: newAnnotations.filter(c => c.enabled).map(c => c.name) });
+                }
+                return newAnnotations;
+            });
         }
         // eslint-disable-next-line react-hooks/exhaustive-deps
     }, [JSON.stringify(annotationTopics), JSON.stringify(extraAnnotationTopics)]);

package/dist/apps/depthai-visualizer/src/components/Panel.js.map

@@ -1 +1 @@
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package/dist/apps/depthai-visualizer/src/components/PanelToolbar.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"PanelToolbar.d.ts","sourceRoot":"","sources":["../../../../../src/components/PanelToolbar.tsx"],"names":[],"mappings":"AASA,OAAO,EAAiB,KAAK,UAAU,EAAE,MAAM,YAAY,CAAC;AAG5D,OAAO,EAAE,YAAY,EAAE,MAAM,0BAA0B,CAAC;AAExD,OAAO,sCAAsC,CAAC;AAuB9C,MAAM,MAAM,iBAAiB,GAAG;IAC9B,KAAK,EAAE,MAAM,CAAC;IACd,IAAI,EAAE,YAAY,CAAC;IACnB,kBAAkB,CAAC,EAAE,OAAO,CAAC;IAC7B,aAAa,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC,MAAM,EAAE,UAAU,EAAE,KAAK,UAAU,EAAE,KAAK,IAAI,CAAC;CACtE,CAAC;AAEF,eAAO,MAAM,YAAY,EAAE,KAAK,CAAC,EAAE,CAAC,iBAAiB,CAiIpD,CAAC"}

package/dist/apps/depthai-visualizer/src/components/PanelToolbar.js

@@ -11,7 +11,7 @@ const PanelAnnotationButton = ({ topic, onClick }) => {
     const handleClick = React.useCallback(event => {
         event.preventDefault();
         onClick();
-    }, []);
+    }, [onClick]);
     return (_jsx(DropdownMenuItem, { onClick: handleClick, children: _jsxs(Flex, { align: "center", gap: "sm", children: [_jsx(Icon, { color: "active", icon: topic.enabled ? ImCheckboxChecked : ImCheckboxUnchecked }), _jsx(NormalText, { text: topic.name })] }) }));
 };
 export const PanelToolbar = ({ topic, kind, setDetections, disableAnnotations = false }) => {
@@ -23,32 +23,32 @@ export const PanelToolbar = ({ topic, kind, setDetections, disableAnnotations =
             setMetrics(connections[0]?.getTopicMetrics(topic));
         }, 500);
         return () => { clearInterval(interval); };
+        // eslint-disable-next-line react-hooks/exhaustive-deps
     }, []);
     const [annotationsOpened, setAnnotationsOpened] = React.useState(false);
-    const hasExtra = React.useMemo(() => detections.some((topic) => topic.extra && !topic.enabled), [detections]);
+    const hasExtra = React.useMemo(() => detections.some((detection) => detection.extra && !detection.enabled), [detections]);
     const [extraVisible, setExtraVisible] = React.useState(false);
     const onToggleTopic = React.useCallback((toggleTopicName) => {
-        setDetections?.((current) => current.map((topic) => ({
-            ...topic,
-            ...(toggleTopicName === topic.name && {
-                enabled: !topic.enabled
+        setDetections?.((current) => current.map((detection) => ({
+            ...detection,
+            ...(toggleTopicName === detection.name && {
+                enabled: !detection.enabled
             })
         })));
-    }, [detections, setDetections]);
+    }, [setDetections]);
     // TODO: show only when debug mode is ON
     const name = React.useMemo(() => {
-        return `${topic} - ${metrics?.inputFPS || 0}/${metrics?.postDecodeFPS || 0} FPS`;
+        return `${topic} - ${metrics?.inputFPS ?? 0}/${metrics?.postDecodeFPS ?? 0} FPS`;
     }, [topic, metrics]);
+    const makeDetection = React.useCallback((detection, { extra }) => (extra ? (detection.extra && !detection.enabled) : (!detection.extra || detection.enabled)) && (_jsx(PanelAnnotationButton, { topic: detection, onClick: () => { onToggleTopic(detection.name); } }, detection.name)), [onToggleTopic]);
     return (_jsxs(Flex, { direction: "row", gap: "sm", align: "center", justify: "space-between", style: {
             paddingLeft: 16
         }, children: [_jsx(SubHeader, { text: name }), !disableAnnotations && kind === 'image' && (_jsxs(DropdownMenu, { onOpenChange: setAnnotationsOpened, children: [_jsx(DropdownMenuTrigger, { asChild: true, disabled: detections.length === 0, children: _jsx(Button, { variant: "outline", label: "Annotations", "aria-controls": annotationsOpened ? "basic-menu" : undefined, "aria-haspopup": "true", "aria-expanded": annotationsOpened ? "true" : undefined, icon: annotationsOpened ? ArrowUpIcon : ArrowDownIcon, disabled: detections.length === 0, style: {
                                 borderRadius: 0,
                                 borderTopRightRadius: 8,
-                            } }) }), _jsxs(DropdownMenuContent, { children: [detections.map((topic) => (!topic.extra || topic.enabled) && (_jsx(PanelAnnotationButton, { topic: topic, onClick: () => { onToggleTopic(topic.name); } }, topic.name))), hasExtra && (_jsx(Button, { width: "full", paddingY: "xs", variant: "ghost", "aria-expanded": extraVisible ? "true" : undefined, onClick: () => { setExtraVisible((current) => !current); }, icon: extraVisible ? ArrowUpIcon : ArrowDownIcon, style: {
+                            } }) }), _jsxs(DropdownMenuContent, { children: [extraVisible && detections.map(detection => makeDetection(detection, { extra: false })), hasExtra && (_jsx(Button, { width: "full", paddingY: "xs", variant: "ghost", "aria-expanded": extraVisible ? "true" : undefined, onClick: () => { setExtraVisible((current) => !current); }, icon: extraVisible ? ArrowUpIcon : ArrowDownIcon, style: {
                                     borderRadius: 4,
-                                }, children: extraVisible ? "Less" : "More" })), extraVisible &&
-                                detections.map((topic) => topic.extra &&
-                                    !topic.enabled && (_jsx(PanelAnnotationButton, { topic: topic, onClick: () => { onToggleTopic(topic.name); } }, topic.name)))] })] })), kind === 'pointCloud' && (_jsx(Tooltip, { content: _jsxs(_Fragment, { children: [_jsx(Label, { text: "To move camera:" }), _jsxs("ul", { children: [_jsx("li", { children: "w - Move camera forward" }), _jsx("li", { children: "a - Move camera backward" }), _jsx("li", { children: "s - Move camera to the left" }), _jsx("li", { children: "d - Move camera to the right" }), _jsx("li", { children: "Scroll \u2013 Zoom in and out" }), _jsx("li", { children: "Drag \u2013 Move camera parallel to the ground" }), _jsx("li", { children: "Right-click + Drag horizontally \u2013 Rotate the camera around the world's z-axis" }), _jsx("li", { children: "Right-click + Drag vertically \u2013 Pan the camera around the world's x- and y- axes" })] })] }), children: _jsx(Button, { variant: "ghost", colorVariant: "white", cursor: "help", icon: HelpIcon, style: {
+                                }, children: extraVisible ? "Less" : "More" })), extraVisible && detections.map(detection => makeDetection(detection, { extra: true }))] })] })), kind === 'pointCloud' && (_jsx(Tooltip, { content: _jsxs(_Fragment, { children: [_jsx(Label, { text: "To move camera:" }), _jsxs("ul", { children: [_jsx("li", { children: "w - Move camera forward" }), _jsx("li", { children: "a - Move camera backward" }), _jsx("li", { children: "s - Move camera to the left" }), _jsx("li", { children: "d - Move camera to the right" }), _jsx("li", { children: "Scroll \u2013 Zoom in and out" }), _jsx("li", { children: "Drag \u2013 Move camera parallel to the ground" }), _jsx("li", { children: `Right-click + Drag horizontally – Rotate the camera around the world's z-axis` }), _jsx("li", { children: `Right-click + Drag vertically – Pan the camera around the world's x- and y- axes` })] })] }), children: _jsx(Button, { variant: "ghost", colorVariant: "white", cursor: "help", icon: HelpIcon, style: {
                         borderRadius: 0,
                         borderTopRightRadius: 8
                     } }) }))] }));

package/dist/apps/depthai-visualizer/src/components/PanelToolbar.js.map

@@ -1 +1 @@
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package/dist/apps/depthai-visualizer/src/connection/adapter.d.ts

@@ -1,4 +1,4 @@
-import { FoxgloveAdapterInputMessage, FoxgloveAdapterOutputMessage } from "./communicator.js";
+import { WorkerInputMessage, WorkerOutputMessage } from "./communicator.js";
 import { PublicChannelData, VisualizerConnection, ServiceRequestArgs } from "./connection.js";
 import { ArtificialWorker } from "../utils/artificial-worker.js";
 export type EventData = {
@@ -25,16 +25,19 @@ export declare class FoxgloveWebSocketAdapter extends EventTarget implements Web
     readonly CLOSING: 2;
     /**  The connection is closed or couldn't be opened. */
     readonly CLOSED: 3;
-    constructor(data: (FoxgloveAdapterInputMessage & {
+    constructor(data: (WorkerInputMessage & {
         type: 'open';
-    })['data'], worker: Worker | ArtificialWorker<FoxgloveAdapterOutputMessage, WorkerEventMap>);
+    })['data'], worker: Worker | ArtificialWorker<WorkerInputMessage, WorkerOutputMessage>);
     on: VisualizerConnection["on"];
     off: VisualizerConnection["off"];
     close(): void;
-    request({ name, timeout, ignoreResponse, body }: ServiceRequestArgs): Promise<DataView | null>;
-    send(data: string | ArrayBuffer | ArrayBufferView | {
-        channel: 'system' | 'message';
-        message: string;
+    subscribe({ topics }: {
+        topics: string[];
+    }): void;
+    unsubscribe({ topics }: {
+        topics: string[];
     }): void;
+    request({ name, timeout, ignoreResponse, body }: ServiceRequestArgs): Promise<DataView | null>;
+    send(data: string | ArrayBuffer | ArrayBufferView): void;
 }
 //# sourceMappingURL=adapter.d.ts.map

package/dist/apps/depthai-visualizer/src/connection/adapter.d.ts.map

@@ -1 +1 @@
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package/dist/apps/depthai-visualizer/src/connection/adapter.js

@@ -72,12 +72,12 @@ export class FoxgloveWebSocketAdapter extends EventTarget {
                     this.dispatchEvent(new MessageEvent("services", event.data));
                     break;
                 }
-                case 'custom': {
-                    this.dispatchEvent(new MessageEvent('custom', event.data));
+                case "service_response": {
+                    // Each service request has its own response listener
                     break;
                 }
                 default: {
-                    // Ignore
+                    console.warn(`Foxglove Ws Adapter: Worker sent unexpected message`, event.data);
                 }
             }
         });
@@ -108,6 +108,12 @@ export class FoxgloveWebSocketAdapter extends EventTarget {
             this.dispatchEvent(new Event("close"));
         }
     }
+    subscribe({ topics }) {
+        this.#sendToWorker({ type: 'subscribe', data: topics });
+    }
+    unsubscribe({ topics }) {
+        this.#sendToWorker({ type: 'unsubscribe', data: topics });
+    }
     async request({ name, timeout = REQUEST_RESPONSE_TIMEOUT, ignoreResponse = false, body = {} }) {
         return await new Promise((resolve) => {
             const serviceCallId = ++this.#serviceCallId;
@@ -144,9 +150,9 @@ export class FoxgloveWebSocketAdapter extends EventTarget {
             }
         });
     }
-    // @ts-expect-error TODO: WebRTC hack
     send(data) {
-        this.#sendToWorker({ type: "send", data: data });
+        console.error('Foxglove Ws Aparter Error: raw send was requested', data);
+        // this.#sendToWorker({ type: "send", data: data as any });
     }
 }
 //# sourceMappingURL=adapter.js.map

package/dist/apps/depthai-visualizer/src/connection/adapter.js.map

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package/dist/apps/depthai-visualizer/src/connection/communicator.d.ts

@@ -1,24 +1,28 @@
 import { WebRtcConfig } from "@luxonis/remote-connection";
 import { Service, Channel, ServiceCallPayload, ServiceCallResponse } from "@foxglove/ws-protocol";
 import { PublicChannelData } from "./connection";
+import { ProtobufKind } from "../messaging/protobuf";
 export type FoxgloveMessage = {
     topic: string;
     schema: string;
     buffer: DataView;
 };
-export type FoxgloveAdapterInputMessage = {
+export type WorkerInputMessage = {
     type: "open";
     data: {
         wsUrl: string;
     } | {
         config: WebRtcConfig;
     };
-} | {
-    type: "send";
-    data: string | ArrayBuffer | ArrayBufferView;
 } | {
     type: "close";
     data: null;
+} | {
+    type: "subscribe";
+    data: string[];
+} | {
+    type: "unsubscribe";
+    data: string[];
 } | {
     type: "call_service";
     data: {
@@ -27,7 +31,7 @@ export type FoxgloveAdapterInputMessage = {
         body?: Record<string, any>;
     };
 };
-export type FoxgloveAdapterOutputMessage = {
+export type WorkerOutputMessage = {
     type: "open";
 } | {
     type: "close";
@@ -59,25 +63,25 @@ export type FoxgloveAdapterOutputMessage = {
 } | {
     type: "message";
     data: FoxgloveMessage;
-} | {
-    type: "custom";
-    data: any;
+};
+export type ChannelWithKind = Channel & {
+    kind: ProtobufKind;
 };
 export declare abstract class FoxgloveCommunicator {
     #private;
     protected abstract isReady(): boolean;
-    protected abstract send(message: FoxgloveAdapterOutputMessage): void;
-    protected abstract sendWithTransfer(message: FoxgloveAdapterOutputMessage, transfer: ArrayBuffer[]): void;
+    protected abstract send(message: WorkerOutputMessage): void;
+    protected abstract sendWithTransfer(message: WorkerOutputMessage, transfer: ArrayBuffer[]): void;
     protected abstract sendServiceCallRequest(request: ServiceCallPayload): void;
-    protected abstract subscribe(channel: number): number;
+    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(subscriptionId: number, data: DataView): void;
-    protected callService({ name, serviceCallId, body }: (FoxgloveAdapterInputMessage & {
+    protected handleGenericMessage(topic: string, schema: string, buffer: DataView): void;
+    protected callService({ name, serviceCallId, body }: (WorkerInputMessage & {
         type: "call_service";
     })["data"]): void;
 }

package/dist/apps/depthai-visualizer/src/connection/communicator.d.ts.map

@@ -1 +1 @@
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package/dist/apps/depthai-visualizer/src/connection/communicator.js

@@ -4,47 +4,40 @@
 import { protobufsBySchema } from "../messaging/protobuf";
 import { recordToDataView } from "../utils/encoding";
 export class FoxgloveCommunicator {
-    #subscriptions = new Map();
     #services = new Map();
+    #channels = new Map();
     #serviceCalls = new Map();
-    #getPublicChannels() {
-        return [...this.#subscriptions.values()].map(({ kind, topic }) => ({ kind, topic }));
+    getPublicChannels() {
+        return [...this.#channels.values()];
     }
     #getPublicServices() {
         return [...this.#services.values()].map(service => service.name);
     }
     handleReconnect() {
         this.#services.clear();
-        this.#subscriptions.clear();
+        this.#channels.clear();
         this.send({ type: "reconnect" });
     }
     handleChannelsAdvertisement(channels) {
-        const data = this.#getPublicChannels();
         for (const channel of channels) {
-            const subscriptionId = this.subscribe(channel.id);
             const kind = protobufsBySchema[channel.schemaName]?.kind ?? 'annotations';
-            this.#subscriptions.set(subscriptionId, {
-                topic: channel.topic,
-                schema: channel.schemaName,
-                kind
-            });
-            data.push({ topic: channel.topic, kind });
+            this.#channels.set(channel.id, { ...channel, kind });
         }
+        const data = this.getPublicChannels();
         this.send({ type: "channels", data });
     }
     handleChannelsUnadvertisement(channels) {
         for (const channel of channels) {
-            this.#subscriptions.delete(channel);
+            this.#channels.delete(channel);
         }
-        const data = this.#getPublicChannels();
+        const data = this.getPublicChannels();
         this.send({ type: "channels", data });
     }
     handleServicesAdvertisement(services) {
-        const data = this.#getPublicServices();
         for (const service of services) {
             this.#services.set(service.name, service);
-            data.push(service.name);
         }
+        const data = this.#getPublicServices();
         this.send({ type: "services", data });
     }
     handleServicesUnadvertisement(services) {
@@ -72,14 +65,11 @@ export class FoxgloveCommunicator {
             }
         }, [response.data.buffer]);
     }
-    handleGenericMessage(subscriptionId, data) {
-        const subscription = this.#subscriptions.get(subscriptionId);
-        if (subscription) {
-            this.sendWithTransfer({
-                type: "message",
-                data: { ...subscription, buffer: data }
-            }, [data.buffer]);
-        }
+    handleGenericMessage(topic, schema, buffer) {
+        this.sendWithTransfer({
+            type: "message",
+            data: { topic, schema, buffer }
+        }, [buffer.buffer]);
     }
     callService({ name, serviceCallId, body = {} }) {
         const service = this.#services.get(name);
@@ -105,6 +95,9 @@ export class FoxgloveCommunicator {
                 data: recordToDataView(body)
             });
         }
+        else {
+            console.warn('Foxglove Communicator Error: requested service call, but connection is not ready');
+        }
     }
 }
 //# sourceMappingURL=communicator.js.map

package/dist/apps/depthai-visualizer/src/connection/communicator.js.map

@@ -1 +1 @@
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+{"version":3,"file":"communicator.js","sourceRoot":"","sources":["../../../../../src/connection/communicator.ts"],"names":[],"mappings":"AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAO1D,OAAO,EAAgB,iBAAiB,EAAE,MAAM,uBAAuB,CAAC;AACxE,OAAO,EAAE,gBAAgB,EAAE,MAAM,mBAAmB,CAAC;AAqDrD,MAAM,OAAgB,oBAAoB;IACxC,SAAS,GAAG,IAAI,GAAG,EAAmB,CAAC;IACvC,SAAS,GAAG,IAAI,GAAG,EAA2B,CAAC;IAC/C,aAAa,GAAG,IAAI,GAAG,EAAkB,CAAC;IAQhC,iBAAiB;QACzB,OAAO,CAAC,GAAG,IAAI,CAAC,SAAS,CAAC,MAAM,EAAE,CAAC,CAAC;IACtC,CAAC;IAED,kBAAkB;QAChB,OAAO,CAAC,GAAG,IAAI,CAAC,SAAS,CAAC,MAAM,EAAE,CAAC,CAAC,GAAG,CAAC,OAAO,CAAC,EAAE,CAAC,OAAO,CAAC,IAAI,CAAC,CAAC;IACnE,CAAC;IAES,eAAe;QACvB,IAAI,CAAC,SAAS,CAAC,KAAK,EAAE,CAAC;QACvB,IAAI,CAAC,SAAS,CAAC,KAAK,EAAE,CAAC;QACvB,IAAI,CAAC,IAAI,CAAC,EAAE,IAAI,EAAE,WAAW,EAAE,CAAC,CAAC;IACnC,CAAC;IAES,2BAA2B,CAAC,QAAmB;QACvD,KAAK,MAAM,OAAO,IAAI,QAAQ,EAAE,CAAC;YAC/B,MAAM,IAAI,GAAG,iBAAiB,CAAC,OAAO,CAAC,UAAU,CAAC,EAAE,IAAI,IAAI,aAAa,CAAC;YAC1E,IAAI,CAAC,SAAS,CAAC,GAAG,CAAC,OAAO,CAAC,EAAE,EAAE,EAAE,GAAG,OAAO,EAAE,IAAI,EAAE,CAAC,CAAC;QACvD,CAAC;QACD,MAAM,IAAI,GAAG,IAAI,CAAC,iBAAiB,EAAE,CAAC;QACtC,IAAI,CAAC,IAAI,CAAC,EAAE,IAAI,EAAE,UAAU,EAAE,IAAI,EAAE,CAAC,CAAC;IACxC,CAAC;IAES,6BAA6B,CAAC,QAAkB;QACxD,KAAK,MAAM,OAAO,IAAI,QAAQ,EAAE,CAAC;YAC/B,IAAI,CAAC,SAAS,CAAC,MAAM,CAAC,OAAO,CAAC,CAAC;QACjC,CAAC;QACD,MAAM,IAAI,GAAG,IAAI,CAAC,iBAAiB,EAAE,CAAC;QACtC,IAAI,CAAC,IAAI,CAAC,EAAE,IAAI,EAAE,UAAU,EAAE,IAAI,EAAE,CAAC,CAAC;IACxC,CAAC;IAES,2BAA2B,CAAC,QAAmB;QACvD,KAAK,MAAM,OAAO,IAAI,QAAQ,EAAE,CAAC;YAC/B,IAAI,CAAC,SAAS,CAAC,GAAG,CAAC,OAAO,CAAC,IAAI,EAAE,OAAO,CAAC,CAAC;QAC5C,CAAC;QACD,MAAM,IAAI,GAAG,IAAI,CAAC,kBAAkB,EAAE,CAAC;QACvC,IAAI,CAAC,IAAI,CAAC,EAAE,IAAI,EAAE,UAAU,EAAE,IAAI,EAAE,CAAC,CAAC;IACxC,CAAC;IAES,6BAA6B,CAAC,QAAkB;QACxD,KAAK,MAAM,mBAAmB,IAAI,QAAQ,EAAE,CAAC;YAC3C,KAAK,MAAM,CAAC,IAAI,EAAE,OAAO,CAAC,IAAI,IAAI,CAAC,SAAS,EAAE,CAAC;gBAC7C,IAAI,OAAO,CAAC,EAAE,KAAK,mBAAmB,EAAE,CAAC;oBACvC,IAAI,CAAC,SAAS,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;gBAC9B,CAAC;YACH,CAAC;QACH,CAAC;QACD,MAAM,IAAI,GAAG,IAAI,CAAC,kBAAkB,EAAE,CAAC;QACvC,IAAI,CAAC,IAAI,CAAC,EAAE,IAAI,EAAE,UAAU,EAAE,IAAI,EAAE,CAAC,CAAC;IACxC,CAAC;IAES,qBAAqB,CAAC,QAAsD;QACpF,MAAM,IAAI,GAAG,IAAI,CAAC,aAAa,CAAC,GAAG,CAAC,QAAQ,CAAC,MAAM,CAAC,IAAI,SAAS,CAAC;QAClE,IAAI,CAAC,aAAa,CAAC,MAAM,CAAC,QAAQ,CAAC,MAAM,CAAC,CAAC;QAC3C,IAAI,CAAC,gBAAgB,CACnB;YACE,IAAI,EAAE,kBAAkB;YACxB,IAAI,EAAE;gBACJ,IAAI;gBACJ,EAAE,EAAE,IAAI;gBACR,aAAa,EAAE,QAAQ,CAAC,MAAM;gBAC9B,MAAM,EAAE,QAAQ,CAAC,IAAI;gBACrB,KAAK,EAAE,IAAI;aACZ;SACF,EACD,CAAC,QAAQ,CAAC,IAAI,CAAC,MAAM,CAAC,CACvB,CAAC;IACJ,CAAC;IAES,oBAAoB,CAAC,KAAa,EAAE,MAAc,EAAE,MAAgB;QAC5E,IAAI,CAAC,gBAAgB,CACnB;YACE,IAAI,EAAE,SAAS;YACf,IAAI,EAAE,EAAE,KAAK,EAAE,MAAM,EAAE,MAAM,EAAE;SAChC,EACD,CAAC,MAAM,CAAC,MAAM,CAAC,CAChB,CAAC;IACJ,CAAC;IAES,WAAW,CAAC,EACpB,IAAI,EACJ,aAAa,EACb,IAAI,GAAG,EAAE,EAC+C;QACxD,MAAM,OAAO,GAAG,IAAI,CAAC,SAAS,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC;QACzC,IAAI,CAAC,OAAO,EAAE,CAAC;YACb,IAAI,CAAC,IAAI,CAAC;gBACR,IAAI,EAAE,kBAAkB;gBACxB,IAAI,EAAE;oBACJ,IAAI;oBACJ,aAAa;oBACb,EAAE,EAAE,KAAK;oBACT,KAAK,EAAE,4BAA4B;oBACnC,MAAM,EAAE,IAAI;iBACb;aACF,CAAC,CAAC;YACH,OAAO;QACT,CAAC;QAED,IAAI,IAAI,CAAC,OAAO,EAAE,EAAE,CAAC;YACnB,IAAI,CAAC,aAAa,CAAC,GAAG,CAAC,aAAa,EAAE,IAAI,CAAC,CAAC;YAE5C,IAAI,CAAC,sBAAsB,CAAC;gBAC1B,SAAS,EAAE,OAAO,CAAC,EAAE;gBACrB,MAAM,EAAE,aAAa;gBACrB,QAAQ,EAAE,MAAM;gBAChB,IAAI,EAAE,gBAAgB,CAAC,IAAI,CAAC;aAC7B,CAAC,CAAC;QACL,CAAC;aAAM,CAAC;YACN,OAAO,CAAC,IAAI,CAAC,kFAAkF,CAAC,CAAA;QAClG,CAAC;IACH,CAAC;CACF"}

package/dist/apps/depthai-visualizer/src/connection/connection.d.ts

@@ -1,18 +1,15 @@
 import { WebRtcConfig } from "@luxonis/remote-connection";
-import { FoxgloveAdapterOutputMessage } from "./communicator.js";
 import { FoxgloveConnection } from "./foxglove-connection.js";
 import { ProtobufKind } from "../messaging/protobuf.js";
-import { ArtificialWorker } from "../utils/artificial-worker.js";
 export type PublicChannelData = {
     topic: string;
     kind: ProtobufKind;
 };
-export type ConnectionEventMap<CustomMessage> = {
-    custom: (message: globalThis.MessageEvent<CustomMessage>) => void;
+export type ConnectionEventMap = {
     open: () => void;
     close: () => void;
-    channels: (channels: globalThis.MessageEvent<PublicChannelData[]>) => void;
-    services: (services: globalThis.MessageEvent<string[]>) => void;
+    channels: (channels: MessageEvent<PublicChannelData[]>) => void;
+    services: (services: MessageEvent<string[]>) => void;
 };
 export type ServiceRequestArgs = {
     name: string;
@@ -20,7 +17,7 @@ export type ServiceRequestArgs = {
     body?: Record<string, any>;
     ignoreResponse?: boolean;
 };
-export type VisualizerConnectionArgs = ({
+export type VisualizerConnectionArgs = {
     type: 'ws';
     data: {
         connectionUrl: string;
@@ -30,16 +27,20 @@ export type VisualizerConnectionArgs = ({
     data: {
         config: WebRtcConfig;
     };
-}) & {
-    worker?: Worker | ArtificialWorker<FoxgloveAdapterOutputMessage, WorkerEventMap>;
 };
-export declare class VisualizerConnection<CustomMessage = never> extends FoxgloveConnection {
+export declare class VisualizerConnection extends FoxgloveConnection {
     #private;
-    constructor({ type, data, worker }: VisualizerConnectionArgs);
+    constructor({ type, data }: VisualizerConnectionArgs);
     close(): void;
-    on<E extends keyof ConnectionEventMap<CustomMessage>>(name: E, listener: ConnectionEventMap<CustomMessage>[E]): void;
-    off<E extends keyof ConnectionEventMap<CustomMessage>>(name: E, listener: ConnectionEventMap<CustomMessage>[E]): 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/apps/depthai-visualizer/src/connection/connection.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"connection.d.ts","sourceRoot":"","sources":["../../../../../src/connection/connection.ts"],"names":[],"mappings":"AAIA,OAAO,EAAE,YAAY,EAAE,MAAM,4BAA4B,CAAC;AAM1D,OAAO,EAAE,kBAAkB,EAAE,MAAM,0BAA0B,CAAC;AAE9D,OAAO,EAAE,YAAY,EAAE,MAAM,0BAA0B,CAAC;AAGxD,MAAM,MAAM,iBAAiB,GAAG;IAC9B,KAAK,EAAE,MAAM,CAAC;IACd,IAAI,EAAE,YAAY,CAAC;CACpB,CAAC;AAEF,MAAM,MAAM,kBAAkB,GAAG;IAC/B,IAAI,EAAE,MAAM,IAAI,CAAC;IACjB,KAAK,EAAE,MAAM,IAAI,CAAC;IAClB,QAAQ,EAAE,CAAC,QAAQ,EAAE,YAAY,CAAC,iBAAiB,EAAE,CAAC,KAAK,IAAI,CAAC;IAChE,QAAQ,EAAE,CAAC,QAAQ,EAAE,YAAY,CAAC,MAAM,EAAE,CAAC,KAAK,IAAI,CAAC;CACtD,CAAC;AAEF,MAAM,MAAM,kBAAkB,GAAG;IAC/B,IAAI,EAAE,MAAM,CAAC;IACb,OAAO,CAAC,EAAE,MAAM,CAAC;IACjB,IAAI,CAAC,EAAE,MAAM,CAAC,MAAM,EAAE,GAAG,CAAC,CAAC;IAC3B,cAAc,CAAC,EAAE,OAAO,CAAC;CAC1B,CAAC;AAEF,MAAM,MAAM,wBAAwB,GAAG;IACrC,IAAI,EAAE,IAAI,CAAC;IAAC,IAAI,EAAE;QAAE,aAAa,EAAE,MAAM,CAAA;KAAE,CAAA;CAC5C,GAAG;IACF,IAAI,EAAE,QAAQ,CAAC;IAAC,IAAI,EAAE;QAAE,MAAM,EAAE,YAAY,CAAA;KAAE,CAAA;CAC/C,CAAA;AAED,qBAAa,oBAAqB,SAAQ,kBAAkB;;gBAKvC,EAAE,IAAI,EAAE,IAAI,EAAE,EAAE,wBAAwB;IAepD,KAAK,IAAI,IAAI;IAIb,EAAE,CAAC,CAAC,SAAS,MAAM,kBAAkB,EAC1C,IAAI,EAAE,CAAC,EACP,QAAQ,EAAE,kBAAkB,CAAC,CAAC,CAAC,GAC9B,IAAI;IAIA,GAAG,CAAC,CAAC,SAAS,MAAM,kBAAkB,EAC3C,IAAI,EAAE,CAAC,EACP,QAAQ,EAAE,kBAAkB,CAAC,CAAC,CAAC,GAC9B,IAAI;IAIM,OAAO,CAAC,IAAI,EAAE,kBAAkB,GAAG,OAAO,CAAC,QAAQ,GAAG,IAAI,CAAC;IAKjE,SAAS,CAAC,IAAI,EAAE;QAAE,MAAM,EAAE,MAAM,EAAE,CAAA;KAAE,GAAG,IAAI;IAI3C,WAAW,CAAC,IAAI,EAAE;QAAE,MAAM,EAAE,MAAM,EAAE,CAAA;KAAE,GAAG,IAAI;IAKpD,IAAW,SAAS,IAAI,OAAO,CAE9B;CAyBF"}

package/dist/apps/depthai-visualizer/src/connection/connection.js

@@ -9,18 +9,18 @@ export class VisualizerConnection extends FoxgloveConnection {
     #url = null;
     #config = null;
     #adapter;
-    constructor({ type, data, worker }) {
+    constructor({ type, data }) {
         super(type === 'ws' ? data.connectionUrl : data.config.clientId);
-        let finalWorker = worker;
+        let worker;
         if (type === 'ws') {
             this.#url = data.connectionUrl;
-            finalWorker ??= new Worker(new URL("./ws/worker", import.meta.url), { type: "module" });
+            worker = new Worker(new URL("./ws/worker", import.meta.url), { type: "module" });
         }
         else {
             this.#config = data.config;
-            finalWorker ??= new WebRtcBridge();
+            worker = new WebRtcBridge();
         }
-        this.#open(finalWorker);
+        this.#open(worker);
     }
     close() {
         this.#adapter?.close();
@@ -35,31 +35,34 @@ export class VisualizerConnection extends FoxgloveConnection {
         const response = await this.#adapter?.request(args);
         return response ?? null;
     }
+    subscribe(args) {
+        this.#adapter?.subscribe(args);
+    }
+    unsubscribe(args) {
+        this.#adapter?.unsubscribe(args);
+    }
     // eslint-disable-next-line no-restricted-syntax
     get connected() {
         return Boolean(this.#adapter?.readyState === WebSocket.OPEN);
     }
     #open = (worker) => {
         this.#adapter = new FoxgloveWebSocketAdapter({ wsUrl: this.#url, config: this.#config }, worker);
-        this.#adapter.addEventListener("open", this.#onOpen.bind(this));
-        this.#adapter.addEventListener("message", (event) => {
+        this.#adapter.addEventListener("open", () => {
+            this.playerPresence = PlayerPresence.PRESENT;
+            this.emitState();
+        });
+        this.#adapter.addEventListener("close", () => {
+            this.playerPresence = PlayerPresence.NOT_PRESENT;
+            this.emitState();
+        });
+        this.#adapter.addEventListener("error", (_event) => {
+            this.messageEvent = null;
+            this.playerPresence = PlayerPresence.ERROR;
+            this.emitState();
+        });
+        this.#adapter.addEventListener("message", event => {
             this.onMessagePacket.bind(this)(event);
         });
-        this.#adapter.addEventListener("close", this.#onClose.bind(this));
-        this.#adapter.addEventListener("error", this.#onClose.bind(this));
-    };
-    #onOpen = () => {
-        this.playerPresence = PlayerPresence.PRESENT;
-        this.emitState();
-    };
-    #onClose = () => {
-        this.playerPresence = PlayerPresence.NOT_PRESENT;
-        this.emitState();
-    };
-    #onError = (_event) => {
-        this.messageEvent = null;
-        this.playerPresence = PlayerPresence.ERROR;
-        this.emitState();
     };
 }
 //# sourceMappingURL=connection.js.map