@luxonis/visualizer-protobuf 2.2.0 → 2.4.0

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

@@ -1,6 +1,6 @@
 import { ArtificialWorker } from "../../utils/artificial-worker.js";
-import type { FoxgloveAdapterOutputMessage } from "../communicator.js";
-export declare class WebRtcBridge extends ArtificialWorker<FoxgloveAdapterOutputMessage, WorkerEventMap> {
+import type { WorkerInputMessage, WorkerOutputMessage } from "../communicator.js";
+export declare class WebRtcBridge extends ArtificialWorker<WorkerInputMessage, WorkerOutputMessage> {
     #private;
     constructor();
     terminate(): void;

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

@@ -1 +1 @@
-{"version":3,"file":"bridge.d.ts","sourceRoot":"","sources":["../../../../../../src/connection/webrtc/bridge.ts"],"names":[],"mappings":"AAeA,OAAO,EAAE,gBAAgB,EAAE,MAAM,kCAAkC,CAAC;AACpE,OAAO,KAAK,EAEV,4BAA4B,EAC7B,MAAM,oBAAoB,CAAC;AAK5B,qBAAa,YACX,SAAQ,gBAAgB,CAAC,4BAA4B,EAAE,cAAc,CAAC;;;IAetD,SAAS,IAAI,IAAI;CAmMlC"}
+{"version":3,"file":"bridge.d.ts","sourceRoot":"","sources":["../../../../../../src/connection/webrtc/bridge.ts"],"names":[],"mappings":"AAiBA,OAAO,EAAE,gBAAgB,EAAE,MAAM,kCAAkC,CAAC;AACpE,OAAO,KAAK,EACV,kBAAkB,EAClB,mBAAmB,EACpB,MAAM,oBAAoB,CAAC;AAM5B,qBAAa,YAAa,SAAQ,gBAAgB,CAAC,kBAAkB,EAAE,mBAAmB,CAAC;;;IAezE,SAAS,IAAI,IAAI;CAmKlC"}

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

@@ -2,7 +2,9 @@
 // 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 { WebRtcClient, } from "@luxonis/remote-connection";
+import { BinaryOpcode } from '@foxglove/ws-protocol';
 import { ArtificialWorker } from "../../utils/artificial-worker.js";
+import { parseFoxgloveMessage } from "../foxglove-protocol.js";
 const MESSAGE_CHANNEL_NAME = "message";
 const SYSTEM_CHANNEL_NAME = "system";
 export class WebRtcBridge extends ArtificialWorker {
@@ -21,7 +23,7 @@ export class WebRtcBridge extends ArtificialWorker {
         this.#worker.terminate();
     }
     #setupArtificialWorker() {
-        this.selfAddEventListener("message", (event) => {
+        this.addEventListenerFromMain("message", (event) => {
             switch (event.data.type) {
                 case "open": {
                     if ("config" in event.data.data) {
@@ -37,15 +39,6 @@ export class WebRtcBridge extends ArtificialWorker {
                     this.terminate();
                     break;
                 }
-                case "send": {
-                    this.#worker.postMessage({
-                        kind: "rawSend",
-                        data: {
-                            message: event.data.data,
-                        },
-                    });
-                    break;
-                }
                 case "call_service": {
                     this.#worker.postMessage({
                         kind: "serviceCall",
@@ -72,7 +65,7 @@ export class WebRtcBridge extends ArtificialWorker {
         this.#handleMessages();
     }
     #handleWebRtc(client) {
-        client.on("error", (error) => console.error("WebRtc Client Failed", error));
+        client.on("error", (error) => { console.error("WebRtc Client Failed", error); });
         client.on("connection_established", (connection) => {
             connection.on("data_channel", (channel) => {
                 channel.on("close", () => {
@@ -89,43 +82,32 @@ export class WebRtcBridge extends ArtificialWorker {
                             ready: false,
                         },
                     });
-                    this.selfPostMessage({
-                        type: "close",
-                    });
+                    this.postMessageToMain({ type: "close", });
                 });
                 if (channel.label === MESSAGE_CHANNEL_NAME) {
                     this.#messageChannel = channel;
                     channel.on("message:binary", async (view) => {
-                        const operation = view.getUint8(0);
-                        const action = operation === 0x01
-                            ? "message"
-                            : operation === 0x03
-                                ? "service_response"
-                                : "other";
-                        if (action === "message") {
-                            const subscriptionId = view.getUint32(1);
-                            const payload = new DataView(view.buffer, view.byteOffset + 1 + 4 + 8);
+                        const message = parseFoxgloveMessage(view);
+                        if (!message) {
+                            return;
+                        }
+                        if (message.op === BinaryOpcode.MESSAGE_DATA) {
                             this.#worker.postMessage({
                                 kind: "genericMessage",
-                                data: {
-                                    message: { subscriptionId, data: payload },
-                                },
-                            }, [payload.buffer]);
+                                data: { message },
+                            }, [message.data.buffer]);
                         }
                         else {
-                            const callId = view.getUint32(1 + 4); // op-code + service-id
-                            const encodingLength = view.getUint32(1 + 4 + 4); // op-code + service-id + call-id
-                            const payload = new DataView(view.buffer, view.byteOffset + 1 + 4 + 4 + 4 + encodingLength); // op-code + service-id + call-id + encoding-length
                             this.#worker.postMessage({
                                 kind: "systemMessage",
                                 data: {
                                     message: {
                                         op: "serviceResponse",
-                                        callId,
-                                        data: payload,
+                                        callId: message.callId,
+                                        data: message.data,
                                     },
                                 },
-                            }, [payload.buffer]);
+                            }, [message.data.buffer]);
                         }
                     });
                 }
@@ -138,20 +120,20 @@ export class WebRtcBridge extends ArtificialWorker {
                         });
                     });
                 }
-                this.#worker.postMessage({
-                    kind: "connection",
-                    data: {
-                        channel: channel.label === MESSAGE_CHANNEL_NAME
-                            ? "message"
-                            : "system",
-                        ready: true,
-                    },
-                });
+                if (channel.label === MESSAGE_CHANNEL_NAME || channel.label === SYSTEM_CHANNEL_NAME) {
+                    this.#worker.postMessage({
+                        kind: "connection",
+                        data: {
+                            channel: channel.label === MESSAGE_CHANNEL_NAME
+                                ? "message"
+                                : "system",
+                            ready: true,
+                        },
+                    });
+                }
                 if (this.#systemChannel?.raw.readyState === "open" &&
                     this.#messageChannel?.raw.readyState === "open") {
-                    this.selfPostMessage({
-                        type: "open",
-                    });
+                    this.postMessageToMain({ type: "open", });
                 }
             });
             connection.on("connection_closed", () => {
@@ -159,9 +141,7 @@ export class WebRtcBridge extends ArtificialWorker {
                     kind: "connection",
                     data: { channel: null, ready: false },
                 });
-                this.selfPostMessage({
-                    type: "close",
-                });
+                this.postMessageToMain({ type: "close", });
             });
         });
     }
@@ -178,7 +158,7 @@ export class WebRtcBridge extends ArtificialWorker {
                     break;
                 }
                 default: {
-                    this.selfPostMessage(event.data);
+                    this.postMessageToMain(event.data);
                 }
             }
         });

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

@@ -1 +1 @@
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package/dist/apps/depthai-visualizer/src/connection/webrtc/{worker-utils.d.ts → handler.d.ts}

@@ -1,11 +1,11 @@
-import type { Advertise, Unadvertise, AdvertiseServices, UnadvertiseServices, ServiceCallPayload } from "@foxglove/ws-protocol";
-import { FoxgloveAdapterOutputMessage, FoxgloveCommunicator } from "../communicator";
+import type { Advertise, AdvertiseServices, ServiceCallPayload, Unadvertise, UnadvertiseServices } from "@foxglove/ws-protocol";
+import { FoxgloveCommunicator, WorkerOutputMessage } from "../communicator";
 type GenericMessage = {
     subscriptionId: number;
     data: DataView;
 };
 export type SystemMessage = Advertise | Unadvertise | AdvertiseServices | UnadvertiseServices | {
-    op: 'serviceResponse';
+    op: "serviceResponse";
     callId: number;
     data: DataView;
 };
@@ -15,43 +15,43 @@ type ServiceCallMessage = {
     body?: Record<string, any>;
 };
 export type WebRtcWorkerInputMessage = {
-    kind: 'genericMessage';
+    kind: "genericMessage";
     data: {
         message: GenericMessage;
     };
 } | {
-    kind: 'systemMessage';
+    kind: "systemMessage";
     data: {
         message: SystemMessage;
     };
 } | {
-    kind: 'connection';
+    kind: "connection";
     data: {
-        channel: 'message' | 'system' | null;
+        channel: "message" | "system" | null;
         ready: boolean;
     };
 } | {
-    kind: 'serviceCall';
+    kind: "serviceCall";
     data: {
         message: ServiceCallMessage;
     };
 } | {
-    kind: 'rawSend';
+    kind: "rawSend";
     data: {
         message: {
-            channel: 'system' | 'message';
+            channel: "system" | "message";
             message: string | DataView;
         };
     };
 } | {
-    kind: 'subscribe';
+    kind: "subscribe";
     data: {
         message: {
             topics: string[];
         };
     };
 } | {
-    kind: 'unsubscribe';
+    kind: "unsubscribe";
     data: {
         message: {
             topics: string[];
@@ -59,27 +59,27 @@ export type WebRtcWorkerInputMessage = {
     };
 };
 export type WebRtcWorkerOutputMessage = {
-    type: 'send';
+    type: "send";
     data: {
-        channel: 'message' | 'system';
+        channel: "message" | "system";
         data: string | DataView;
     };
 };
 export declare class WebRtcHandler extends FoxgloveCommunicator {
     #private;
     protected isReady(): boolean;
-    send(message: FoxgloveAdapterOutputMessage): void;
-    sendWithTransfer(message: FoxgloveAdapterOutputMessage, transfer: ArrayBuffer[]): void;
+    send(message: WorkerOutputMessage): void;
+    sendWithTransfer(message: WorkerOutputMessage, transfer: ArrayBuffer[]): void;
     subscribe(topics: string[]): void;
     unsubscribe(topics: string[]): void;
-    sendServiceCallRequest(request: ServiceCallPayload): void;
-    handleRawSend(data: WebRtcWorkerOutputMessage['data']): void;
+    sendServiceCallRequest(args: ServiceCallPayload): void;
+    handleRawSend(data: WebRtcWorkerOutputMessage["data"]): void;
     handleConnection(data: (WebRtcWorkerInputMessage & {
-        kind: 'connection';
-    })['data']): void;
+        kind: "connection";
+    })["data"]): void;
     handleGeneric(message: GenericMessage): void;
     handleServiceCall(message: ServiceCallMessage): void;
     handleSystem(message: SystemMessage): void;
 }
 export {};
-//# sourceMappingURL=worker-utils.d.ts.map
+//# sourceMappingURL=handler.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"handler.d.ts","sourceRoot":"","sources":["../../../../../../src/connection/webrtc/handler.ts"],"names":[],"mappings":"AAIA,OAAO,KAAK,EACV,SAAS,EACT,iBAAiB,EACjB,kBAAkB,EAElB,WAAW,EACX,mBAAmB,EAEpB,MAAM,uBAAuB,CAAC;AAI/B,OAAO,EACL,oBAAoB,EAEpB,mBAAmB,EACpB,MAAM,iBAAiB,CAAC;AAGzB,KAAK,cAAc,GAAG;IACpB,cAAc,EAAE,MAAM,CAAC;IACvB,IAAI,EAAE,QAAQ,CAAC;CAChB,CAAC;AAEF,MAAM,MAAM,aAAa,GACrB,SAAS,GACT,WAAW,GACX,iBAAiB,GACjB,mBAAmB,GACnB;IACA,EAAE,EAAE,iBAAiB,CAAC;IACtB,MAAM,EAAE,MAAM,CAAC;IACf,IAAI,EAAE,QAAQ,CAAC;CAChB,CAAC;AAEJ,KAAK,kBAAkB,GAAG;IACxB,IAAI,EAAE,MAAM,CAAC;IACb,aAAa,EAAE,MAAM,CAAC;IACtB,IAAI,CAAC,EAAE,MAAM,CAAC,MAAM,EAAE,GAAG,CAAC,CAAC;CAC5B,CAAC;AAEF,MAAM,MAAM,wBAAwB,GAAG;IACrC,IAAI,EAAE,gBAAgB,CAAC;IACvB,IAAI,EAAE;QACJ,OAAO,EAAE,cAAc,CAAC;KACzB,CAAC;CACH,GAAG;IACF,IAAI,EAAE,eAAe,CAAC;IACtB,IAAI,EAAE;QACJ,OAAO,EAAE,aAAa,CAAC;KACxB,CAAC;CACH,GAAG;IACF,IAAI,EAAE,YAAY,CAAC;IACnB,IAAI,EAAE;QACJ,OAAO,EAAE,SAAS,GAAG,QAAQ,GAAG,IAAI,CAAC;QACrC,KAAK,EAAE,OAAO,CAAC;KAChB,CAAC;CACH,GAAG;IACF,IAAI,EAAE,aAAa,CAAC;IACpB,IAAI,EAAE;QACJ,OAAO,EAAE,kBAAkB,CAAC;KAC7B,CAAC;CACH,GAAG;IACF,IAAI,EAAE,SAAS,CAAC;IAChB,IAAI,EAAE;QACJ,OAAO,EAAE;YAAE,OAAO,EAAE,QAAQ,GAAG,SAAS,CAAC;YAAC,OAAO,EAAE,MAAM,GAAG,QAAQ,CAAA;SAAE,CAAC;KACxE,CAAC;CACH,GAAG;IACF,IAAI,EAAE,WAAW,CAAC;IAClB,IAAI,EAAE;QACJ,OAAO,EAAE;YAAE,MAAM,EAAE,MAAM,EAAE,CAAA;SAAE,CAAC;KAC/B,CAAC;CACH,GAAG;IACF,IAAI,EAAE,aAAa,CAAC;IACpB,IAAI,EAAE;QACJ,OAAO,EAAE;YAAE,MAAM,EAAE,MAAM,EAAE,CAAA;SAAE,CAAC;KAC/B,CAAC;CACH,CAAC;AAEF,MAAM,MAAM,yBAAyB,GAAG;IACtC,IAAI,EAAE,MAAM,CAAC;IACb,IAAI,EAAE;QACJ,OAAO,EAAE,SAAS,GAAG,QAAQ,CAAC;QAC9B,IAAI,EAAE,MAAM,GAAG,QAAQ,CAAC;KACzB,CAAC;CACH,CAAC;AAEF,qBAAa,aAAc,SAAQ,oBAAoB;;cASlC,OAAO,IAAI,OAAO;IAIrB,IAAI,CAAC,OAAO,EAAE,mBAAmB,GAAG,IAAI;IAIxC,gBAAgB,CAC9B,OAAO,EAAE,mBAAmB,EAC5B,QAAQ,EAAE,WAAW,EAAE,GACtB,IAAI;IA0BA,SAAS,CAAC,MAAM,EAAE,MAAM,EAAE,GAAG,IAAI;IA0BjC,WAAW,CAAC,MAAM,EAAE,MAAM,EAAE,GAAG,IAAI;IAQ1B,sBAAsB,CAAC,IAAI,EAAE,kBAAkB,GAAG,IAAI;IAQ/D,aAAa,CAAC,IAAI,EAAE,yBAAyB,CAAC,MAAM,CAAC,GAAG,IAAI;IAO5D,gBAAgB,CACrB,IAAI,EAAE,CAAC,wBAAwB,GAAG;QAAE,IAAI,EAAE,YAAY,CAAA;KAAE,CAAC,CAAC,MAAM,CAAC,GAChE,IAAI;IASA,aAAa,CAAC,OAAO,EAAE,cAAc,GAAG,IAAI;IAW5C,iBAAiB,CAAC,OAAO,EAAE,kBAAkB,GAAG,IAAI;IAIpD,YAAY,CAAC,OAAO,EAAE,aAAa,GAAG,IAAI;CAwBlD"}

package/dist/apps/depthai-visualizer/src/connection/webrtc/{worker-utils.js → handler.js}

@@ -2,7 +2,8 @@
 // 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 { recordToDataView } from "../../utils/encoding";
-import { FoxgloveCommunicator } from "../communicator";
+import { FoxgloveCommunicator, } from "../communicator";
+import { makeServiceCallRequest } from "../foxglove-protocol";
 export class WebRtcHandler extends FoxgloveCommunicator {
     #subscriptionId = 0;
     #messageReady = false;
@@ -17,76 +18,72 @@ export class WebRtcHandler extends FoxgloveCommunicator {
     sendWithTransfer(message, transfer) {
         self.postMessage(message, transfer);
     }
-    #rawSubscribe(channelIds) {
-        const subscriptions = channelIds.map(channelId => ({
-            id: ++this.#subscriptionId,
-            channelId
-        }));
+    #rawSubscribe(channelId) {
+        const subscriptionId = ++this.#subscriptionId;
+        const subscriptions = [{
+                id: subscriptionId,
+                channelId,
+            }];
         self.postMessage({
-            type: 'send',
+            type: "send",
             data: {
-                channel: 'system',
+                channel: "system",
                 data: recordToDataView({
-                    op: 'subscribe',
-                    subscriptions
-                })
-            }
+                    op: "subscribe",
+                    subscriptions,
+                }),
+            },
         });
-        return subscriptions;
+        return subscriptionId;
     }
     subscribe(topics) {
-        const channelIds = this.getPublicChannels().filter(publicChannel => topics.includes(publicChannel.topic)).map(channel => channel.id);
-        const subscriptions = this.#rawSubscribe(channelIds);
-        for (const subscription of subscriptions) {
-            const channel = this.getPublicChannels().find(publicChannel => publicChannel.id === subscription.channelId);
-            if (channel) {
-                this.#subscriptions.set(subscription.id, {
-                    topic: channel.topic,
-                    schema: channel.schemaName,
-                    kind: channel.kind
-                });
-            }
+        const channels = this.getPublicChannels().filter(publicChannel => topics.includes(publicChannel.topic));
+        for (const channel of channels) {
+            const subscription = this.#rawSubscribe(channel.id);
+            this.#subscriptions.set(subscription, {
+                topic: channel.topic,
+                schema: channel.schemaName,
+                kind: channel.kind
+            });
         }
     }
-    #rawUnsubscribe(subscriptionIds) {
+    #rawUnsubscribe(subscriptionId) {
         self.postMessage({
-            type: 'send',
+            type: "send",
             data: {
-                channel: 'system',
+                channel: "system",
                 data: recordToDataView({
-                    op: 'unsubscribe',
-                    subscriptionIds
-                })
-            }
+                    op: "unsubscribe",
+                    subscriptionIds: [subscriptionId],
+                }),
+            },
         });
     }
     unsubscribe(topics) {
         const subscriptionIds = [...this.#subscriptions.entries()].filter(([_id, data]) => topics.includes(data.topic)).map(subscription => subscription[0]);
-        this.#rawUnsubscribe(subscriptionIds);
         for (const subscriptionId of subscriptionIds) {
             this.#subscriptions.delete(subscriptionId);
+            this.#rawUnsubscribe(subscriptionId);
         }
     }
-    sendServiceCallRequest(request) {
+    sendServiceCallRequest(args) {
+        const data = makeServiceCallRequest(args);
         self.postMessage({
-            type: 'send',
-            data: {
-                channel: 'message',
-                data: recordToDataView(request)
-            }
-        });
+            type: "send",
+            data: { channel: "message", data },
+        }, [data.buffer]);
     }
     handleRawSend(data) {
         self.postMessage({
-            type: 'send',
-            data
+            type: "send",
+            data,
         });
     }
     handleConnection(data) {
-        if (!data.channel || data.channel === 'message') {
+        if (!data.channel || data.channel === "message") {
             this.#messageReady = data.ready;
         }
-        if (!data.channel || data.channel === 'system') {
+        if (!data.channel || data.channel === "system") {
             this.#systemReady = data.ready;
         }
     }
@@ -101,27 +98,27 @@ export class WebRtcHandler extends FoxgloveCommunicator {
     }
     handleSystem(message) {
         switch (message.op) {
-            case 'advertise': {
+            case "advertise": {
                 this.handleChannelsAdvertisement(message.channels);
                 break;
             }
-            case 'unadvertise': {
+            case "unadvertise": {
                 this.handleChannelsUnadvertisement(message.channelIds);
                 break;
             }
-            case 'advertiseServices': {
+            case "advertiseServices": {
                 this.handleServicesAdvertisement(message.services);
                 break;
             }
-            case 'unadvertiseServices': {
+            case "unadvertiseServices": {
                 this.handleServicesUnadvertisement(message.serviceIds);
                 break;
             }
-            case 'serviceResponse': {
+            case "serviceResponse": {
                 this.handleServiceResponse(message);
                 break;
             }
         }
     }
 }
-//# sourceMappingURL=worker-utils.js.map
+//# sourceMappingURL=handler.js.map

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

@@ -0,0 +1 @@
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package/dist/apps/depthai-visualizer/src/connection/webrtc/worker.js

@@ -1,7 +1,7 @@
 // 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 { WebRtcHandler } from "./worker-utils";
+import { WebRtcHandler } from "./handler.js";
 const handler = new WebRtcHandler();
 self.addEventListener("message", (event) => {
     if (event.data.kind === 'genericMessage') {

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

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

@@ -1,2 +1,17 @@
-export {};
+import { ServiceCallPayload } from "@foxglove/ws-protocol";
+import { FoxgloveCommunicator, WorkerInputMessage, WorkerOutputMessage } from "../communicator.js";
+export declare class WsWorker extends FoxgloveCommunicator {
+    #private;
+    protected send(message: WorkerOutputMessage): void;
+    protected sendWithTransfer(message: WorkerOutputMessage, transfer: ArrayBuffer[]): void;
+    protected sendServiceCallRequest(request: ServiceCallPayload): void;
+    protected isReady(): boolean;
+    constructor(wsUrl: string);
+    subscribe(topics: string[]): void;
+    unsubscribe(topics: string[]): void;
+    callService(args: (WorkerInputMessage & {
+        type: "call_service";
+    })["data"]): void;
+    close(): void;
+}
 //# sourceMappingURL=worker.d.ts.map

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

@@ -1 +1 @@
-{"version":3,"file":"worker.d.ts","sourceRoot":"","sources":["../../../../../../src/connection/ws/worker.ts"],"names":[],"mappings":""}
+{"version":3,"file":"worker.d.ts","sourceRoot":"","sources":["../../../../../../src/connection/ws/worker.ts"],"names":[],"mappings":"AAMA,OAAO,EAAkB,kBAAkB,EAAE,MAAM,uBAAuB,CAAC;AAG3E,OAAO,EAAE,oBAAoB,EAAmB,kBAAkB,EAAE,mBAAmB,EAAE,MAAM,oBAAoB,CAAC;AAEpH,qBAAa,QAAS,SAAQ,oBAAoB;;IAKhD,SAAS,CAAC,IAAI,CAAC,OAAO,EAAE,mBAAmB,GAAG,IAAI;IAClD,SAAS,CAAC,gBAAgB,CAAC,OAAO,EAAE,mBAAmB,EAAE,QAAQ,EAAE,WAAW,EAAE,GAAG,IAAI;cAuCpE,sBAAsB,CAAC,OAAO,EAAE,kBAAkB,GAAG,IAAI;cAIzD,OAAO,IAAI,OAAO;gBAIlB,KAAK,EAAE,MAAM;IAkBzB,SAAS,CAAC,MAAM,EAAE,MAAM,EAAE,GAAG,IAAI;IAYjC,WAAW,CAAC,MAAM,EAAE,MAAM,EAAE,GAAG,IAAI;IAQ1B,WAAW,CAAC,IAAI,EAAE,CAAC,kBAAkB,GAAG;QAAE,IAAI,EAAE,cAAc,CAAA;KAAE,CAAC,CAAC,MAAM,CAAC,GAAG,IAAI;IAIzF,KAAK,IAAI,IAAI;CACrB"}

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

@@ -1,6 +1,118 @@
 // 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 { createWsWorkerMessageListener } from "./worker-utils.js";
-self.addEventListener("message", createWsWorkerMessageListener(self.postMessage.bind(self), self.postMessage.bind(self)));
+import { Waterfall } from "hydrated-ws";
+import { FoxgloveClient } from "@foxglove/ws-protocol";
+import { FoxgloveCommunicator } from "../communicator.js";
+export class WsWorker extends FoxgloveCommunicator {
+    #ws;
+    #client;
+    #subscriptions = new Map();
+    send(message) { self.postMessage(message); }
+    sendWithTransfer(message, transfer) { self.postMessage(message, transfer); }
+    #createWs(url, onReconnect) {
+        this.#ws = new Waterfall(url, FoxgloveClient.SUPPORTED_SUBPROTOCOL, {
+            connectionTimeout: 2000,
+            retryPolicy: (_attempt) => {
+                onReconnect();
+                return 1_000;
+            },
+            factory: (wsUrl) => {
+                const rawWs = new WebSocket(wsUrl, FoxgloveClient.SUPPORTED_SUBPROTOCOL);
+                rawWs.binaryType = "arraybuffer";
+                return rawWs;
+            }
+        });
+    }
+    #createClient() {
+        this.#client = new FoxgloveClient({ ws: this.#ws });
+        this.#client.on("open", () => { this.send({ type: "open" }); });
+        this.#client.on("close", () => { this.send({ type: "close" }); });
+        this.#client.on("error", (error) => { this.send({ type: "error", error }); });
+        this.#client.on("message", ({ subscriptionId, data }) => {
+            const subscription = this.#subscriptions.get(subscriptionId);
+            if (subscription) {
+                this.handleGenericMessage(subscription.topic, subscription.schema, data);
+            }
+        });
+    }
+    #handleMessages() {
+        this.#client.on("advertise", this.handleChannelsAdvertisement.bind(this));
+        this.#client.on("unadvertise", this.handleChannelsUnadvertisement.bind(this));
+        this.#client.on("advertiseServices", this.handleServicesAdvertisement.bind(this));
+        this.#client.on("unadvertiseServices", this.handleServicesUnadvertisement.bind(this));
+        this.#client.on("serviceCallResponse", this.handleServiceResponse.bind(this));
+    }
+    sendServiceCallRequest(request) {
+        this.#client.sendServiceCallRequest(request);
+    }
+    isReady() {
+        return this.#ws.readyState === this.#ws.OPEN;
+    }
+    ;
+    constructor(wsUrl) {
+        super();
+        try {
+            this.#createWs(wsUrl, this.handleReconnect.bind(this));
+            this.#createClient();
+            this.#handleMessages();
+        }
+        catch (error) {
+            // try-catch is needed to catch `Mixed Content` errors in Chrome, where the client
+            // attempts to load `ws://` from `https://`. (Safari would catch these in `ws.onerror`
+            // but with `undefined` as an error.)
+            this.send({
+                type: "error",
+                error: error ?? { message: "Insecure WebSocket connection" }
+            });
+        }
+    }
+    subscribe(topics) {
+        const channels = this.getPublicChannels().filter(publicChannel => topics.includes(publicChannel.topic));
+        for (const channel of channels) {
+            const subscription = this.#client.subscribe(channel.id);
+            this.#subscriptions.set(subscription, {
+                topic: channel.topic,
+                schema: channel.schemaName,
+                kind: channel.kind
+            });
+        }
+    }
+    unsubscribe(topics) {
+        const subscriptionIds = [...this.#subscriptions.entries()].filter(([_id, data]) => topics.includes(data.topic)).map(subscription => subscription[0]);
+        for (const subscriptionId of subscriptionIds) {
+            this.#subscriptions.delete(subscriptionId);
+            this.#client.unsubscribe(subscriptionId);
+        }
+    }
+    callService(args) {
+        super.callService(args);
+    }
+    close() { this.#client.close(); }
+}
+let wsWorker = null;
+self.addEventListener('message', async (event) => {
+    const { type, data } = event.data;
+    if (type !== 'open' && !wsWorker) {
+        console.warn(`WS Worker Error: Requested ${type} before open`);
+        return;
+    }
+    switch (type) {
+        case "open":
+            wsWorker = new WsWorker('wsUrl' in data ? data.wsUrl : '');
+            break;
+        case "close":
+            wsWorker.close();
+            break;
+        case "call_service":
+            wsWorker.callService(data);
+            break;
+        case 'subscribe':
+            wsWorker.subscribe(data);
+            break;
+        case 'unsubscribe':
+            wsWorker.unsubscribe(data);
+            break;
+    }
+});
 //# sourceMappingURL=worker.js.map