@luxonis/visualizer-protobuf 3.1.0 → 3.1.1
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/dist/{depth-BJ1GI-lD.js → depth-DlC6A3Te.js} +65 -1
- package/dist/{deserialization.worker-CpadaVUC.js → deserialization.worker-iLQYf6dz.js} +229 -157
- package/dist/{index-lYAUlgOC.js → index-BFHnSq_D.js} +2 -2
- package/dist/{index-BQ8ArLBu.js → index-BGnPWAxp.js} +2 -2
- package/dist/{index-DEAiAkuM.js → index-BN1XXU26.js} +2 -2
- package/dist/{index-DcciMCSs.js → index-BsCcQbSo.js} +2 -2
- package/dist/{index-D2XLTZD6.js → index-BwszuQxy.js} +2 -2
- package/dist/{index-kX1V6BdV.js → index-CUGaisTR.js} +2 -2
- package/dist/{index-D_329r0B.js → index-CYRDaPyN.js} +2 -2
- package/dist/{index-POkmkil6.js → index-CekJcKgK.js} +2 -2
- package/dist/{index-JtoOqqNH.js → index-CrP2kJym.js} +2 -2
- package/dist/{index-M2eVbe_0.js → index-D5H3iCVT.js} +2 -2
- package/dist/{index-DQuS45dq.js → index-DBwLkKPx.js} +61 -28
- package/dist/{index-ByH52TmT.js → index-DG1nCi2m.js} +2 -2
- package/dist/{index-BoW57zty.js → index-DoxJYKhI.js} +2 -2
- package/dist/{index-oMO5wzwz.js → index-DsJRU5mK.js} +2 -2
- package/dist/{index-DnF6OLu4.js → index-DslURtpP.js} +2 -2
- package/dist/{index-TElhyLth.js → index-VjMojhAJ.js} +3 -3
- package/dist/{index-BFuISzq9.js → index-Zjw0dbGD.js} +2 -2
- package/dist/{index-ruqK13K_.js → index-mkLEh24H.js} +2 -2
- package/dist/{index-B0OcF19n.js → index-tLfWrXcg.js} +2 -2
- package/dist/{index-BimzNWm5.js → index-xU2jSCtf.js} +2 -2
- package/dist/index.js +2 -2
- package/dist/lib/src/components/Panel.d.ts.map +1 -1
- package/dist/lib/src/components/Panel.js +3 -1
- package/dist/lib/src/components/Panel.js.map +1 -1
- package/dist/lib/src/connection/connection.d.ts.map +1 -1
- package/dist/lib/src/connection/connection.js +7 -1
- package/dist/lib/src/connection/connection.js.map +1 -1
- package/dist/lib/src/connection/foxglove-connection.d.ts +6 -0
- package/dist/lib/src/connection/foxglove-connection.d.ts.map +1 -1
- package/dist/lib/src/connection/foxglove-connection.js +24 -3
- package/dist/lib/src/connection/foxglove-connection.js.map +1 -1
- package/dist/lib/src/context/VisualizerContext.d.ts +2 -0
- package/dist/lib/src/context/VisualizerContext.d.ts.map +1 -1
- package/dist/lib/src/context/VisualizerContext.js +7 -0
- package/dist/lib/src/context/VisualizerContext.js.map +1 -1
- package/dist/lib/src/messaging/deserialization/video/h264.d.ts +2 -1
- package/dist/lib/src/messaging/deserialization/video/h264.d.ts.map +1 -1
- package/dist/lib/src/messaging/deserialization/video/h264.js +142 -97
- package/dist/lib/src/messaging/deserialization/video/h264.js.map +1 -1
- package/dist/lib/src/messaging/deserialization/video/h265.d.ts +2 -1
- package/dist/lib/src/messaging/deserialization/video/h265.d.ts.map +1 -1
- package/dist/lib/src/messaging/deserialization/video/h265.js +57 -16
- package/dist/lib/src/messaging/deserialization/video/h265.js.map +1 -1
- package/dist/lib/src/messaging/deserialization.worker.d.ts +3 -1
- package/dist/lib/src/messaging/deserialization.worker.d.ts.map +1 -1
- package/dist/lib/src/messaging/deserialization.worker.js +28 -12
- package/dist/lib/src/messaging/deserialization.worker.js.map +1 -1
- package/dist/lib/src/utils/error.d.ts +17 -4
- package/dist/lib/src/utils/error.d.ts.map +1 -1
- package/dist/lib/src/utils/error.js +59 -6
- package/dist/lib/src/utils/error.js.map +1 -1
- package/package.json +1 -1
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@@ -1 +1 @@
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-
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{"version":3,"file":"connection.js","sourceRoot":"","sources":["../../../../src/connection/connection.ts"],"names":[],"mappings":"AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAI1D,OAAO,EAAE,cAAc,EAAE,MAAM,qCAAqC,CAAC;AAErE,OAAO,EAAE,wBAAwB,EAAE,MAAM,cAAc,CAAC;AAExD,OAAO,EAAE,kBAAkB,EAAE,MAAM,0BAA0B,CAAC;AAC9D,OAAO,EAAE,YAAY,EAAE,MAAM,oBAAoB,CAAC;AAIlD,OAAO,EAAE,WAAW,EAAyB,MAAM,uBAAuB,CAAC;AAC3E,OAAO,EAAE,MAAM,EAAE,MAAM,iBAAiB,CAAC;AAEzC,MAAM,MAAM,GAAG,MAAM,CAAC,SAAS,EAAE,CAAC;AAuClC,MAAM,OAAO,oBAAqB,SAAQ,kBAAkB;IAC1D,IAAI,GAAkB,IAAI,CAAC;IAC3B,OAAO,GAAwB,IAAI,CAAC;IACpC,QAAQ,CAA4B;IACpC,eAAe,GAAqD,EAAE,CAAC;IAEvE,YAAmB,EAAE,IAAI,EAAE,IAAI,EAAE,aAAa,EAAE,SAAS,EAAE,qBAAqB,EAA4B;QAC1G,KAAK,CAAC,IAAI,KAAK,IAAI,CAAC,CAAC,CAAC,IAAI,CAAC,aAAa,CAAC,CAAC,CAAC,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,CAAC;QAEjE,IAAI,MAAM,CAAC;QACX,IAAI,IAAI,KAAK,IAAI,EAAE,CAAC;YAClB,IAAI,CAAC,IAAI,GAAG,IAAI,CAAC,aAAa,CAAC;YAC/B,MAAM,GAAG,IAAI,MAAM,CAAC,IAAI,GAAG,CAAC,aAAa,EAAE,MAAM,CAAC,IAAI,CAAC,GAAG,CAAC,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,CAAC,CAAC;QACnF,CAAC;aAAM,CAAC;YACN,IAAI,CAAC,OAAO,GAAG,IAAI,CAAC,MAAM,CAAC;YAC3B,MAAM,GAAG,IAAI,YAAY,CAAC,IAAI,CAAC,qBAAqB,CAAC,CAAC;QACxD,CAAC;QAED,WAAW,CAAC,WAAW,EAAE,CAAC,qBAAqB,GAAG,EAAE,SAAS,EAAE,SAAS,IAAI,KAAK,EAAE,qBAAqB,EAAE,qBAAqB,IAAI,IAAI,EAAE,CAAC;QAC1I,WAAW,CAAC,mBAAmB,EAAE,CAAC,CAAC,uDAAuD;QAE1F,MAAM,CAAC,IAAI,CACT,0EAA0E,EAC1E,WAAW,CAAC,WAAW,EAAE,CAAC,qBAAqB,CAChD,CAAC;QAEF,IAAI,CAAC,KAAK,CAAC,MAAM,EAAE,aAAa,CAAC,CAAC;IACpC,CAAC;IAEM,KAAK;QACV,0CAA0C;QAC1C,IAAI,CAAC,sBAAsB,EAAE,CAAC;QAC9B,IAAI,CAAC,QAAQ,EAAE,KAAK,EAAE,CAAC;QACvB,mCAAmC;QACnC,IAAI,CAAC,cAAc,CAAC,OAAO,EAAE,CAAC;QAC9B,kCAAkC;QAClC,IAAI,CAAC,2BAA2B,CAAC,OAAO,EAAE,CAAC;IAC7C,CAAC;IAED,sBAAsB;QACpB,IAAI,IAAI,CAAC,QAAQ,EAAE,CAAC;YAClB,KAAK,MAAM,EAAE,IAAI,EAAE,QAAQ,EAAE,IAAI,IAAI,CAAC,eAAe,EAAE,CAAC;gBACtD,IAAI,CAAC,QAAQ,CAAC,mBAAmB,CAAC,IAAI,EAAE,QAAQ,CAAC,CAAC;YACpD,CAAC;YACD,IAAI,CAAC,eAAe,GAAG,EAAE,CAAC;QAC5B,CAAC;IACH,CAAC;IAEM,EAAE,CAAqC,IAAO,EAAE,QAA+B;QACpF,IAAI,CAAC,QAAQ,EAAE,EAAE,CAAC,IAAI,EAAE,QAAQ,CAAC,CAAC;IACpC,CAAC;IAEM,GAAG,CAAqC,IAAO,EAAE,QAA+B;QACrF,IAAI,CAAC,QAAQ,EAAE,GAAG,CAAC,IAAI,EAAE,QAAQ,CAAC,CAAC;IACrC,CAAC;IAEM,KAAK,CAAC,OAAO,CAAC,IAAwB;QAC3C,MAAM,QAAQ,GAAG,MAAM,IAAI,CAAC,QAAQ,EAAE,OAAO,CAAC,IAAI,CAAC,CAAC;QACpD,OAAO,QAAQ,IAAI,IAAI,CAAC;IAC1B,CAAC;IAEM,SAAS,CAAC,IAA0B;QACzC,IAAI,CAAC,QAAQ,EAAE,SAAS,CAAC,IAAI,CAAC,CAAC;QAC/B,KAAK,MAAM,KAAK,IAAI,IAAI,CAAC,MAAM,EAAE,CAAC;YAChC,IAAI,CAAC,gBAAgB,CAAC,GAAG,CAAC,KAAK,EAAE,KAAK,CAAC,CAAC;QAC1C,CAAC;IACH,CAAC;IAEM,WAAW,CAAC,IAA0B;QAC3C,IAAI,CAAC,QAAQ,EAAE,WAAW,CAAC,IAAI,CAAC,CAAC;IACnC,CAAC;IAED,gDAAgD;IAChD,IAAW,SAAS;QAClB,OAAO,OAAO,CAAC,IAAI,CAAC,QAAQ,EAAE,UAAU,KAAK,SAAS,CAAC,IAAI,CAAC,CAAC;IAC/D,CAAC;IAED,KAAK,GAGO,CAAC,MAAM,EAAE,aAAa,EAAE,EAAE;QACpC,IAAI,CAAC,QAAQ,GAAG,IAAI,wBAAwB,CAC1C,EAAE,KAAK,EAAE,IAAI,CAAC,IAAK,EAAE,MAAM,EAAE,IAAI,CAAC,OAAQ,EAAE,EAC5C,MAAM,CACP,CAAC;QAEF,MAAM,YAAY,GAAG,CAAC,GAAG,EAAE;YACzB,IAAI,CAAC,cAAc,GAAG,cAAc,CAAC,OAAO,CAAC;YAC7C,IAAI,CAAC,SAAS,EAAE,CAAC;QACnB,CAAC,CAAkB,CAAC;QAEpB,MAAM,aAAa,GAAG,CAAC,GAAG,EAAE;YAC1B,IAAI,CAAC,cAAc,GAAG,cAAc,CAAC,WAAW,CAAC;YACjD,IAAI,CAAC,SAAS,EAAE,CAAC;YACjB,IAAI,CAAC,sBAAsB,EAAE,CAAC;YAC9B,4CAA4C;YAC5C,IAAI,CAAC,cAAc,CAAC,OAAO,EAAE,CAAC;YAC9B,kCAAkC;YAClC,IAAI,CAAC,2BAA2B,CAAC,OAAO,EAAE,CAAC;QAC7C,CAAC,CAAkB,CAAC;QAEpB,MAAM,aAAa,GAAG,CAAC,CAAC,MAAe,EAAE,EAAE;YACzC,IAAI,CAAC,aAAa,GAAG,EAAE,CAAC;YACxB,IAAI,CAAC,cAAc,GAAG,cAAc,CAAC,KAAK,CAAC;YAC3C,IAAI,CAAC,SAAS,EAAE,CAAC;YACjB,IAAI,CAAC,sBAAsB,EAAE,CAAC;YAC9B,2DAA2D;YAC3D,IAAI,CAAC,QAAQ,EAAE,KAAK,EAAE,CAAC;YACvB,4CAA4C;YAC5C,IAAI,CAAC,cAAc,CAAC,OAAO,EAAE,CAAC;YAC9B,kCAAkC;YAClC,IAAI,CAAC,2BAA2B,CAAC,OAAO,EAAE,CAAC;QAC7C,CAAC,CAAkB,CAAC;QAEpB,MAAM,oBAAoB,GAAiC,CAAC,SAAS,EAAE,KAAK,EAAE,SAAS,EAAE,EAAE;YACzF,MAAM,kBAAkB,GAAG,IAAI,CAAC,0BAA0B,CACxD,SAAS,EACT,KAAK,EACL,SAA6C,CAC9C,CAAC;YAEF,IAAI,kBAAkB,EAAE,CAAC;gBACvB,aAAa,EAAE,CAAC,SAAS,EAAE,KAAK,EAAE,SAAS,CAAC,CAAC;YAC/C,CAAC;QACH,CAAC,CAAC;QAEF,MAAM,eAAe,GAAG,CAAC,CAAC,KAAc,EAAE,EAAE;YAC1C,IAAI,CAAC,eAAe,CAAC,IAAI,CAAC,IAAI,CAAC,CAC7B,KAAiD,EACjD,oBAAoB,CACrB,CAAC;QACJ,CAAC,CAAkB,CAAC;QAEpB,IAAI,CAAC,QAAQ,CAAC,gBAAgB,CAAC,MAAM,EAAE,YAAY,CAAC,CAAC;QACrD,IAAI,CAAC,QAAQ,CAAC,gBAAgB,CAAC,OAAO,EAAE,aAAa,CAAC,CAAC;QACvD,IAAI,CAAC,QAAQ,CAAC,gBAAgB,CAAC,OAAO,EAAE,aAAa,CAAC,CAAC;QACvD,IAAI,CAAC,QAAQ,CAAC,gBAAgB,CAAC,SAAS,EAAE,eAAe,CAAC,CAAC;QAE3D,IAAI,CAAC,eAAe,GAAG;YACrB,EAAE,IAAI,EAAE,MAAM,EAAE,QAAQ,EAAE,YAAY,EAAE;YACxC,EAAE,IAAI,EAAE,OAAO,EAAE,QAAQ,EAAE,aAAa,EAAE;YAC1C,EAAE,IAAI,EAAE,OAAO,EAAE,QAAQ,EAAE,aAAa,EAAE;YAC1C,EAAE,IAAI,EAAE,SAAS,EAAE,QAAQ,EAAE,eAAe,EAAE;SAC/C,CAAC;IACJ,CAAC,CAAC;CACH"}
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import { type MessageHandler } from "../messaging/message-handler.js";
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import { MessagePacketKind } from "../messaging/protobuf";
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import { RateLimiter } from "../messaging/rate-limiter";
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import { type DecodingError, type DecodingErrorCode } from "../utils/error";
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import { PoitCloudSyncFramework } from "../utils/poitcloud-sync.js";
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export type Metrics = {
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resolutions: Map<string, string | undefined>;
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decodedMessagesFps: number | undefined;
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messageThroughput: number | undefined;
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};
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type DecodingErrorData = {
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message?: string;
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};
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declare class ProblemManager {
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protected problems: PlayerProblem[];
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addProblem(problem: PlayerProblem): void;
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protected publishedTopics: Map<any, any>;
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protected subscribedTopics: Map<any, any>;
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protected unsupportedTopics: Set<string>;
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+
protected topicDecodingErrors: Map<string, DecodingError>;
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protected advertisedServices: Map<any, any>;
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protected problems: ProblemManager;
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protected resolutions: Map<any, any>;
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@@ -68,6 +73,7 @@ export declare abstract class FoxgloveConnection {
|
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protected emitState: (() => void) & {
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currentPromise?: Promise<void>;
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};
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+
protected handleDeserializationError(errorCode: DecodingErrorCode, topic: string, errorData?: DecodingErrorData): boolean;
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|
protected isMessageTypeDominant(packetType: MessagePacketKind, topic: string): boolean;
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}
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export {};
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@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"foxglove-connection.d.ts","sourceRoot":"","sources":["../../../../src/connection/foxglove-connection.ts"],"names":[],"mappings":"AAKA,OAAO,EAAyC,KAAK,IAAI,EAAE,MAAM,mBAAmB,CAAC;AAErF,OAAO,EACL,KAAK,YAAY,EAEjB,cAAc,EACd,KAAK,aAAa,EAClB,KAAK,WAAW,EACjB,MAAM,qCAAqC,CAAC;AAE7C,OAAO,KAAK,EAAE,eAAe,EAAE,MAAM,mBAAmB,CAAC;AACzD,OAAO,EAAE,2BAA2B,EAAE,MAAM,iEAAiE,CAAC;AAE9G,OAAO,KAAK,EAAE,wBAAwB,EAAE,MAAM,6CAA6C,CAAC;AAC5F,OAAO,EAAE,4BAA4B,EAAE,MAAM,qCAAqC,CAAC;AACnF,OAAO,EAAwB,KAAK,cAAc,EAAE,MAAM,iCAAiC,CAAC;AAC5F,OAAO,EAAE,iBAAiB,EAA+C,MAAM,uBAAuB,CAAC;AACvG,OAAO,EAAE,WAAW,EAAE,MAAM,2BAA2B,CAAC;
|
|
1
|
+
{"version":3,"file":"foxglove-connection.d.ts","sourceRoot":"","sources":["../../../../src/connection/foxglove-connection.ts"],"names":[],"mappings":"AAKA,OAAO,EAAyC,KAAK,IAAI,EAAE,MAAM,mBAAmB,CAAC;AAErF,OAAO,EACL,KAAK,YAAY,EAEjB,cAAc,EACd,KAAK,aAAa,EAClB,KAAK,WAAW,EACjB,MAAM,qCAAqC,CAAC;AAE7C,OAAO,KAAK,EAAE,eAAe,EAAE,MAAM,mBAAmB,CAAC;AACzD,OAAO,EAAE,2BAA2B,EAAE,MAAM,iEAAiE,CAAC;AAE9G,OAAO,KAAK,EAAE,wBAAwB,EAAE,MAAM,6CAA6C,CAAC;AAC5F,OAAO,EAAE,4BAA4B,EAAE,MAAM,qCAAqC,CAAC;AACnF,OAAO,EAAwB,KAAK,cAAc,EAAE,MAAM,iCAAiC,CAAC;AAC5F,OAAO,EAAE,iBAAiB,EAA+C,MAAM,uBAAuB,CAAC;AACvG,OAAO,EAAE,WAAW,EAAE,MAAM,2BAA2B,CAAC;AAGxD,OAAO,EAAuB,KAAK,aAAa,EAAE,KAAK,iBAAiB,EAAE,MAAM,gBAAgB,CAAC;AASjG,OAAO,EAAE,sBAAsB,EAAE,MAAM,4BAA4B,CAAC;AAIpE,MAAM,MAAM,OAAO,GAAG;IACpB,WAAW,EAAE,GAAG,CAAC,MAAM,EAAE,MAAM,GAAG,SAAS,CAAC,CAAC;IAC7C,mBAAmB,EAAE,MAAM,GAAG,SAAS,CAAC;IACxC,kBAAkB,EAAE,MAAM,GAAG,SAAS,CAAC;IACvC,iBAAiB,EAAE,MAAM,GAAG,SAAS,CAAC;CACvC,CAAC;AAEF,KAAK,iBAAiB,GAAG;IACvB,OAAO,CAAC,EAAE,MAAM,CAAC;CAClB,CAAC;AACF,cAAM,cAAc;IAClB,SAAS,CAAC,QAAQ,EAAE,aAAa,EAAE,CAAM;IAElC,UAAU,CAAC,OAAO,EAAE,aAAa,GAAG,IAAI;IAIxC,aAAa,IAAI,IAAI;IAIrB,WAAW,IAAI,aAAa,EAAE;CAGtC;AAED,8BAAsB,kBAAkB;IACtC,SAAS,CAAC,QAAQ,CAAC,EAAE,CAAC,WAAW,EAAE,WAAW,KAAK,OAAO,CAAC,IAAI,CAAC,CAAC;IAEjE,SAAS,CAAC,EAAE,EAAE,MAAM,CAAC;IAGrB,SAAS,CAAC,cAAc,EAAE,cAAc,CAA8B;IACtE,SAAS,CAAC,kBAAkB,WAAwC;IAGpE,SAAS,CAAC,aAAa,EAAE,YAAY,EAAE,CAAM;IAC7C,SAAS,CAAC,gBAAgB,CAAC,EAAE,YAAY,CAAC;IAE1C,SAAS,CAAC,aAAa,SAAK;IAE5B,SAAS,CAAC,SAAS,CAAC,EAAE,IAAI,CAAC;IAC3B,SAAS,CAAC,OAAO,CAAC,EAAE,IAAI,CAAC;IAEzB,SAAS,CAAC,UAAU,gBAAa;IACjC,SAAS,CAAC,eAAe,gBAAa;IACtC,SAAS,CAAC,gBAAgB,gBAAa;IACvC,SAAS,CAAC,iBAAiB,cAAqB;IAChD,SAAS,CAAC,mBAAmB,6BAAoC;IACjE,SAAS,CAAC,kBAAkB,gBAAa;IACzC,SAAS,CAAC,QAAQ,iBAAwB;IAC1C,SAAS,CAAC,WAAW,gBAAa;IAClC,SAAS,CAAC,YAAY,4DAAkC;IACxD,SAAS,CAAC,aAAa,4DAA8B;IACrD,SAAS,CAAC,iBAAiB,iEAAkC;IAC7D,SAAS,CAAC,sBAAsB,yBAAgC;IAChE,SAAS,CAAC,2BAA2B,8BAInC;IACF,SAAS,CAAC,eAAe,6CAAwB;IAEjD,SAAS,CAAC,cAAc,EAAE,cAAc,CAAC;IAEzC,SAAS,CAAC,uBAAuB,SAAK;IACtC,SAAS,CAAC,gBAAgB,EAAE,MAAM,CAAC,iBAAiB,EAAE,MAAM,CAAC,CAK3D;IACF,SAAS,CAAC,WAAW,EAAE,WAAW,CAYhC;IAEF,SAAS,CAAC,MAAM,EAAE;QAChB,CAAC,GAAG,EAAE,MAAM,GAAG;YACb,IAAI,EAAE,MAAM,CAAC;YACb,UAAU,EAAE,MAAM,CAAC;SACpB,CAAC;KACH,CAAM;gBAEY,EAAE,EAAE,MAAM;IAKtB,WAAW,CAAC,QAAQ,EAAE,CAAC,WAAW,EAAE,WAAW,KAAK,OAAO,CAAC,IAAI,CAAC,GAAG,IAAI;IAKxE,eAAe,CAAC,KAAK,EAAE,MAAM,GAAG,OAAO;IAW9C,SAAS,CAAC,cAAc,IAAI,IAAI;IAIhC,SAAS,CAAC,eAAe,CACvB,KAAK,EAAE,UAAU,CAAC,YAAY,CAAC,eAAe,CAAC,EAC/C,aAAa,CAAC,EAAE,4BAA4B,GAC3C,IAAI;IA0CP,SAAS,CAAC,6BAA6B,CACrC,YAAY,EAAE,YAAY,EAC1B,cAAc,EAAE,wBAAwB,EACxC,OAAO,EAAE,OAAO,GACf,IAAI;cAkBS,4BAA4B,CAAC,YAAY,EAAE,YAAY,GAAG,OAAO,CAAC,IAAI,CAAC;IAiCvF,SAAS,CAAC,0BAA0B,CAClC,OAAO,EAAE,OAAO,EAChB,KAAK,EAAE,MAAM,GACZ;QAAE,KAAK,EAAE,MAAM,GAAG,SAAS,CAAC;QAAC,MAAM,EAAE,MAAM,GAAG,SAAS,CAAA;KAAE;IAU5D,SAAS,CAAC,mBAAmB,CAAC,KAAK,EAAE,YAAY,GAAG,IAAI;IA6CxD,SAAS,CAAC,SAAS;;MAiEhB;IAEH,SAAS,CAAC,0BAA0B,CAClC,SAAS,EAAE,iBAAiB,EAC5B,KAAK,EAAE,MAAM,EACb,SAAS,CAAC,EAAE,iBAAiB,GAC5B,OAAO;IAgBV,SAAS,CAAC,qBAAqB,CAAC,UAAU,EAAE,iBAAiB,EAAE,KAAK,EAAE,MAAM,GAAG,OAAO;CA2BvF"}
|
|
@@ -10,6 +10,7 @@ import { createMessageHandler } from "../messaging/message-handler.js";
|
|
|
10
10
|
import { protobufsBySchema, protobufSchemaNameToType } from "../messaging/protobuf";
|
|
11
11
|
import { RateLimiter } from "../messaging/rate-limiter";
|
|
12
12
|
import { FrameStore } from "../utils/frame-store";
|
|
13
|
+
import { createDecodingError } from "../utils/error";
|
|
13
14
|
import { getIMUEventEmitter } from "../utils/imu-manager.js";
|
|
14
15
|
import { Logger } from "../utils/logger";
|
|
15
16
|
import { constructKeyForTopicRenderMetrics, globalDecodeMetricsManager, globalInputEventMetricsManager, globalThroughputMetricsManager } from "../utils/metrics-manager.js";
|
|
@@ -43,6 +44,7 @@ export class FoxgloveConnection {
|
|
|
43
44
|
publishedTopics = new Map();
|
|
44
45
|
subscribedTopics = new Map();
|
|
45
46
|
unsupportedTopics = new Set();
|
|
47
|
+
topicDecodingErrors = new Map();
|
|
46
48
|
advertisedServices = new Map();
|
|
47
49
|
problems = new ProblemManager();
|
|
48
50
|
resolutions = new Map();
|
|
@@ -168,6 +170,7 @@ export class FoxgloveConnection {
|
|
|
168
170
|
return { width: undefined, height: undefined };
|
|
169
171
|
}
|
|
170
172
|
handleParsedMessage(event) {
|
|
173
|
+
this.topicDecodingErrors.delete(event.topic);
|
|
171
174
|
this.decodeMetrics.registerEvent(event.topic);
|
|
172
175
|
// FIXME: This isn't pretty but PC frames are transformed inside submitPointcloudFrameCallback
|
|
173
176
|
// FIXME: and we only want to register them to FrameStore when they are transformed.
|
|
@@ -207,7 +210,16 @@ export class FoxgloveConnection {
|
|
|
207
210
|
emitState = debouncePromise(async () => {
|
|
208
211
|
const messages = this.messageEvents;
|
|
209
212
|
this.messageEvents = [];
|
|
210
|
-
|
|
213
|
+
const activeDecodingProblems = [...this.topicDecodingErrors.values()].map((error) => ({
|
|
214
|
+
severity: "error",
|
|
215
|
+
message: `Unable to decode topic "${error.topicName}"`,
|
|
216
|
+
tip: error.message,
|
|
217
|
+
error,
|
|
218
|
+
}));
|
|
219
|
+
const transientProblems = this.problems.getProblems();
|
|
220
|
+
this.problems.clearProblems();
|
|
221
|
+
const problems = activeDecodingProblems.concat(transientProblems);
|
|
222
|
+
if (!this.listener || (messages.length === 0 && problems.length === 0)) {
|
|
211
223
|
await Promise.resolve();
|
|
212
224
|
return;
|
|
213
225
|
}
|
|
@@ -218,8 +230,6 @@ export class FoxgloveConnection {
|
|
|
218
230
|
if (!this.endTime || isGreaterThan(currentTime, this.endTime)) {
|
|
219
231
|
this.endTime = currentTime;
|
|
220
232
|
}
|
|
221
|
-
const problems = this.problems.getProblems();
|
|
222
|
-
this.problems.clearProblems();
|
|
223
233
|
for (const message of messages) {
|
|
224
234
|
this.topics[message.topic] = {
|
|
225
235
|
name: message.topic,
|
|
@@ -257,6 +267,17 @@ export class FoxgloveConnection {
|
|
|
257
267
|
};
|
|
258
268
|
await this.listener(newPlayerState);
|
|
259
269
|
});
|
|
270
|
+
handleDeserializationError(errorCode, topic, errorData) {
|
|
271
|
+
const nextError = createDecodingError(errorCode, topic, errorData?.message);
|
|
272
|
+
const previousError = this.topicDecodingErrors.get(topic);
|
|
273
|
+
if (previousError?.code === nextError.code &&
|
|
274
|
+
previousError.message === nextError.message) {
|
|
275
|
+
return false;
|
|
276
|
+
}
|
|
277
|
+
this.topicDecodingErrors.set(topic, nextError);
|
|
278
|
+
void this.emitState();
|
|
279
|
+
return true;
|
|
280
|
+
}
|
|
260
281
|
isMessageTypeDominant(packetType, topic) {
|
|
261
282
|
const fpsPerPacketTypeList = [
|
|
262
283
|
{
|
|
@@ -1 +1 @@
|
|
|
1
|
-
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+
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@@ -1,7 +1,9 @@
|
|
|
1
1
|
import React from "react";
|
|
2
2
|
import { PlayerProblem } from "@foxglove/studio-base/players/types";
|
|
3
3
|
import { VisualizerConnection } from "../connection/connection.js";
|
|
4
|
+
import { DecodingError } from "../utils/error.js";
|
|
4
5
|
export declare function useSourceProblems(): readonly PlayerProblem[];
|
|
6
|
+
export declare function useTopicDecodingError(topic: string): DecodingError | undefined;
|
|
5
7
|
interface VisualizerContextProps {
|
|
6
8
|
children: React.ReactNode;
|
|
7
9
|
connections: VisualizerConnection[];
|
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"VisualizerContext.d.ts","sourceRoot":"","sources":["../../../../src/context/VisualizerContext.tsx"],"names":[],"mappings":"AAIA,OAAO,KAAK,MAAM,OAAO,CAAC;AAW1B,OAAO,EAAE,aAAa,EAAE,MAAM,qCAAqC,CAAC;AAQpE,OAAO,EAAE,oBAAoB,EAAE,MAAM,6BAA6B,CAAC;
|
|
1
|
+
{"version":3,"file":"VisualizerContext.d.ts","sourceRoot":"","sources":["../../../../src/context/VisualizerContext.tsx"],"names":[],"mappings":"AAIA,OAAO,KAAK,MAAM,OAAO,CAAC;AAW1B,OAAO,EAAE,aAAa,EAAE,MAAM,qCAAqC,CAAC;AAQpE,OAAO,EAAE,oBAAoB,EAAE,MAAM,6BAA6B,CAAC;AACnE,OAAO,EAAE,aAAa,EAAE,MAAM,mBAAmB,CAAC;AAElD,wBAAgB,iBAAiB,IAAI,SAAS,aAAa,EAAE,CAE5D;AAED,wBAAgB,qBAAqB,CAAC,KAAK,EAAE,MAAM,GAAG,aAAa,GAAG,SAAS,CAQ9E;AAED,UAAU,sBAAsB;IAC9B,QAAQ,EAAE,KAAK,CAAC,SAAS,CAAC;IAC1B,WAAW,EAAE,oBAAoB,EAAE,CAAC;CACrC;AAED,eAAO,MAAM,iBAAiB,oDA6F5B,CAAC"}
|
|
@@ -18,9 +18,16 @@ import { PanelStateContextProvider } from "@foxglove/studio-base/providers/Panel
|
|
|
18
18
|
import TimelineInteractionStateProvider from "@foxglove/studio-base/providers/TimelineInteractionStateProvider";
|
|
19
19
|
import { ConnectionsProvider } from "./ConnectionsProvider.js";
|
|
20
20
|
import { MessagePipelineProvider } from "./MessagePipelineProvider";
|
|
21
|
+
import { DecodingError } from "../utils/error.js";
|
|
21
22
|
export function useSourceProblems() {
|
|
22
23
|
return useMessagePipeline((ctx) => ctx.playerState.problems ?? []);
|
|
23
24
|
}
|
|
25
|
+
export function useTopicDecodingError(topic) {
|
|
26
|
+
return useMessagePipeline((ctx) => {
|
|
27
|
+
const problems = ctx.playerState.problems ?? [];
|
|
28
|
+
return problems.find((problem) => problem.error instanceof DecodingError && problem.error.topicName === topic)?.error;
|
|
29
|
+
});
|
|
30
|
+
}
|
|
24
31
|
export const VisualizerContext = React.memo(function VisualizerContext({ children, connections, }) {
|
|
25
32
|
// eslint-disable-next-line no-warning-comments
|
|
26
33
|
// TODO(milan.medvec) improve it
|
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"VisualizerContext.js","sourceRoot":"","sources":["../../../../src/context/VisualizerContext.tsx"],"names":[],"mappings":";AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAE1D,OAAO,KAAK,MAAM,OAAO,CAAC;AAC1B,OAAO,EAAE,WAAW,EAAE,MAAM,WAAW,CAAC;AACxC,OAAO,EAAE,YAAY,EAAE,MAAM,yBAAyB,CAAC;AACvD,OAAO,EAAE,aAAa,EAAE,mBAAmB,EAAiC,MAAM,wBAAwB,CAAC;AAE3G,OAAO,WAAW,MAAM,8CAA8C,CAAC;AACvE,OAAO,aAAa,MAAM,gDAAgD,CAAC;AAC3E,OAAO,SAAS,MAAM,4CAA4C,CAAC;AACnE,OAAO,EAAE,kBAAkB,EAAE,MAAM,kDAAkD,CAAC;AACtF,OAAO,uBAA8C,MAAM,uDAAuD,CAAC;AACnH,OAAO,mBAAkC,MAAM,mDAAmD,CAAC;AAEnG,OAAO,qBAAqB,MAAM,uDAAuD,CAAC;AAC1F,OAAO,cAAc,MAAM,gDAAgD,CAAC;AAC5E,OAAO,EAAE,yBAAyB,EAAE,MAAM,2DAA2D,CAAC;AACtG,OAAO,gCAAgC,MAAM,kEAAkE,CAAC;AAEhH,OAAO,EAAE,mBAAmB,EAAE,MAAM,0BAA0B,CAAC;AAC/D,OAAO,EAAE,uBAAuB,EAAE,MAAM,2BAA2B,CAAC;
|
|
1
|
+
{"version":3,"file":"VisualizerContext.js","sourceRoot":"","sources":["../../../../src/context/VisualizerContext.tsx"],"names":[],"mappings":";AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAE1D,OAAO,KAAK,MAAM,OAAO,CAAC;AAC1B,OAAO,EAAE,WAAW,EAAE,MAAM,WAAW,CAAC;AACxC,OAAO,EAAE,YAAY,EAAE,MAAM,yBAAyB,CAAC;AACvD,OAAO,EAAE,aAAa,EAAE,mBAAmB,EAAiC,MAAM,wBAAwB,CAAC;AAE3G,OAAO,WAAW,MAAM,8CAA8C,CAAC;AACvE,OAAO,aAAa,MAAM,gDAAgD,CAAC;AAC3E,OAAO,SAAS,MAAM,4CAA4C,CAAC;AACnE,OAAO,EAAE,kBAAkB,EAAE,MAAM,kDAAkD,CAAC;AACtF,OAAO,uBAA8C,MAAM,uDAAuD,CAAC;AACnH,OAAO,mBAAkC,MAAM,mDAAmD,CAAC;AAEnG,OAAO,qBAAqB,MAAM,uDAAuD,CAAC;AAC1F,OAAO,cAAc,MAAM,gDAAgD,CAAC;AAC5E,OAAO,EAAE,yBAAyB,EAAE,MAAM,2DAA2D,CAAC;AACtG,OAAO,gCAAgC,MAAM,kEAAkE,CAAC;AAEhH,OAAO,EAAE,mBAAmB,EAAE,MAAM,0BAA0B,CAAC;AAC/D,OAAO,EAAE,uBAAuB,EAAE,MAAM,2BAA2B,CAAC;AAEpE,OAAO,EAAE,aAAa,EAAE,MAAM,mBAAmB,CAAC;AAElD,MAAM,UAAU,iBAAiB;IAC/B,OAAO,kBAAkB,CAAC,CAAC,GAAG,EAAE,EAAE,CAAC,GAAG,CAAC,WAAW,CAAC,QAAQ,IAAI,EAAE,CAAC,CAAC;AACrE,CAAC;AAED,MAAM,UAAU,qBAAqB,CAAC,KAAa;IACjD,OAAO,kBAAkB,CAAC,CAAC,GAAG,EAAE,EAAE;QAChC,MAAM,QAAQ,GAAG,GAAG,CAAC,WAAW,CAAC,QAAQ,IAAI,EAAE,CAAC;QAChD,OAAO,QAAQ,CAAC,IAAI,CAClB,CAAC,OAAO,EAAuD,EAAE,CAC/D,OAAO,CAAC,KAAK,YAAY,aAAa,IAAI,OAAO,CAAC,KAAK,CAAC,SAAS,KAAK,KAAK,CAC9E,EAAE,KAAK,CAAC;IACX,CAAC,CAAC,CAAC;AACL,CAAC;AAOD,MAAM,CAAC,MAAM,iBAAiB,GAAG,KAAK,CAAC,IAAI,CAAC,SAAS,iBAAiB,CAAC,EACrE,QAAQ,EACR,WAAW,GACY;IACvB,+CAA+C;IAC/C,gCAAgC;IAChC,MAAM,gBAAgB,GAAsB;QAC1C,GAAG,KAAK,CAAC;QACT,GAAG,EAAE,KAAK,IAAI,EAAE;YACd,MAAM,OAAO,CAAC,OAAO,EAAE,CAAC;QAC1B,CAAC;QACD,iBAAiB,EAAE,GAAG,EAAE,GAAG,CAAC;QAC5B,oBAAoB,EAAE,GAAG,EAAE,GAAG,CAAC;KACX,CAAC;IAEvB,+CAA+C;IAC/C,gCAAgC;IAChC,MAAM,OAAO,GAAG;QACd,UAAU,EAAE,GAAG,EAAE,GAAG,CAAC;QACrB,MAAM,EAAE,CAAC,KAAc,EAAE,EAAE,GAAG,CAAC;QAC/B,MAAM,EAAE,CAAC,KAAc,EAAE,WAAoB,EAAE,EAAE,GAAG,CAAC;QACrD,OAAO,EAAE,GAAG,EAAE,GAAG,CAAC;QAClB,IAAI,EAAE,CAAC,KAAc,EAAE,EAAE,GAAG,CAAC;QAC7B,WAAW,EAAE,CAAC,KAAc,EAAE,QAAiB,EAAE,EAAE,GAAG,CAAC;KACxD,CAAC;IAEF,+CAA+C;IAC/C,gCAAgC;IAChC,MAAM,aAAa,GAAmC;QACpD,aAAa,EAAE,OAAwD;QACvE,QAAQ,EAAE,UAAU;QACpB,kBAAkB,EAAE,oBAAoB;KACzC,CAAC;IAEF,+CAA+C;IAC/C,gCAAgC;IAChC,MAAM,mBAAmB,GAAwB;QAC/C,kBAAkB,EAAE,oBAAoB;QACxC,mBAAmB,EAAE;YACnB,KAAK,EAAE,KAAK,EAAE,GAAG,KAAgB,EAAiB,EAAE,GAAG,CAAC;YACxD,cAAc,EAAE,KAAK,EAAE,GAAG,KAAgB,EAAiB,EAAE,GAAG,CAAC;YACjE,yBAAyB,EAAE,CAAC,KAAyB,EAAE,EAAE,GAAG,CAAC;YAC7D,OAAO,EAAE,GAAe,EAAE;gBACxB,OAAO,EAAE,CAAC;YACZ,CAAC;YACD,iBAAiB,EAAE,CAAC,kBAA+C,EAA6B,EAAE;gBAChG,OAAO,IAAI,CAAC;YACd,CAAC;SACF;KACF,CAAC;IAEF,+CAA+C;IAC/C,gCAAgC;IAChC,MAAM,YAAY,GAAG;QACnB,SAAS;YACP,OAAO,EAAE,CAAC;QACZ,CAAC;QACD,cAAc,CAAC,KAAa;YAC1B,OAAO,SAAS,CAAC;QACnB,CAAC;KACF,CAAC;IAEF,iBAAiB;IACjB,OAAO,CACL,KAAC,uBAAuB,CAAC,QAAQ,IAAC,KAAK,EAAE,gBAAgB,YACvD,MAAC,WAAW,IAAC,OAAO,EAAE,YAAY,aAC9B,KAAC,SAAS,KAAG,EACb,KAAC,WAAW,cACV,KAAC,aAAa,cACZ,KAAC,gCAAgC,cAC/B,KAAC,qBAAqB,cACpB,KAAC,mBAAmB,IAAC,KAAK,EAAE,WAAW,YACrC,KAAC,uBAAuB,cACtB,KAAC,cAAc,cACb,KAAC,aAAa,CAAC,QAAQ,IAAC,KAAK,EAAE,aAAa,YAC1C,KAAC,mBAAmB,CAAC,QAAQ,IAAC,KAAK,EAAE,mBAAmB,YACtD,KAAC,mBAAmB,CAAC,QAAQ,IAAC,KAAK,EAAE,YAAY,YAC/C,KAAC,yBAAyB,cACvB,QAAQ,GACiB,GACC,GACF,GACR,GACV,GACO,GACN,GACA,GACS,GACrB,GACH,IACL,GACoB,CACrC,CAAC;AACJ,CAAC,CAAC,CAAC"}
|
|
@@ -12,7 +12,8 @@ type DeserializeEncodedFrameH264Args = {
|
|
|
12
12
|
message: EncodedFrame | ImgFrame;
|
|
13
13
|
topicDecoders: TopicDecoders;
|
|
14
14
|
callback: (event: MessageEvent) => void;
|
|
15
|
+
onError: (error: Error) => void;
|
|
15
16
|
};
|
|
16
|
-
export declare function deserializeEncodedFrameH264({ topic, message, topicDecoders, callback }: DeserializeEncodedFrameH264Args): Promise<void>;
|
|
17
|
+
export declare function deserializeEncodedFrameH264({ topic, message, topicDecoders, callback, onError, }: DeserializeEncodedFrameH264Args): Promise<void>;
|
|
17
18
|
export {};
|
|
18
19
|
//# sourceMappingURL=h264.d.ts.map
|
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"h264.d.ts","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/video/h264.ts"],"names":[],"mappings":"AAOA,OAAO,EAAE,YAAY,EAAE,MAAM,qCAAqC,CAAC;AAEnE,OAAO,EAAE,YAAY,EAAE,MAAM,6CAA6C,CAAC;AAC3E,OAAO,EAAE,QAAQ,EAAE,MAAM,yCAAyC,CAAC;AACnE,OAAO,EAAE,iBAAiB,EAAE,SAAS,EAAE,MAAM,uCAAuC,CAAC;
|
|
1
|
+
{"version":3,"file":"h264.d.ts","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/video/h264.ts"],"names":[],"mappings":"AAOA,OAAO,EAAE,YAAY,EAAE,MAAM,qCAAqC,CAAC;AAEnE,OAAO,EAAE,YAAY,EAAE,MAAM,6CAA6C,CAAC;AAC3E,OAAO,EAAE,QAAQ,EAAE,MAAM,yCAAyC,CAAC;AACnE,OAAO,EAAE,iBAAiB,EAAE,SAAS,EAAE,MAAM,uCAAuC,CAAC;AAQrF,MAAM,MAAM,aAAa,GAAG,GAAG,CAC7B,MAAM,EACN;IACE,OAAO,EAAE,YAAY,CAAC;IACtB,MAAM,EAAE,GAAG,CAAC,MAAM,EAAE,SAAS,CAAC,CAAC;IAC/B,eAAe,EAAE,GAAG,CAAC,MAAM,EAAE,iBAAiB,GAAG,SAAS,CAAC,CAAC;CAC7D,CACF,CAAC;AA4TF,KAAK,+BAA+B,GAAG;IACrC,KAAK,EAAE,MAAM,CAAC;IACd,OAAO,EAAE,YAAY,GAAG,QAAQ,CAAC;IACjC,aAAa,EAAE,aAAa,CAAC;IAC7B,QAAQ,EAAE,CAAC,KAAK,EAAE,YAAY,KAAK,IAAI,CAAC;IACxC,OAAO,EAAE,CAAC,KAAK,EAAE,KAAK,KAAK,IAAI,CAAC;CACjC,CAAC;AAEF,wBAAsB,2BAA2B,CAAC,EAChD,KAAK,EACL,OAAO,EACP,aAAa,EACb,QAAQ,EACR,OAAO,GACR,EAAE,+BAA+B,GAAG,OAAO,CAAC,IAAI,CAAC,CA6EjD"}
|
|
@@ -4,59 +4,35 @@
|
|
|
4
4
|
import { fromMicros } from "@foxglove/rostime";
|
|
5
5
|
import { estimateObjectSize } from "@foxglove/studio-base/players/messageMemoryEstimation.js";
|
|
6
6
|
import { ensureWebCodecsSupported } from "../../../utils/compatibility.js";
|
|
7
|
+
import { DecoderRuntimeError } from "../../../utils/error.js";
|
|
7
8
|
import { Logger } from "../../../utils/logger";
|
|
8
9
|
import { parseMessage } from "../../utils.js";
|
|
9
10
|
const logger = Logger.getLogger();
|
|
10
|
-
function
|
|
11
|
-
if (
|
|
12
|
-
|
|
11
|
+
function closeDecoder(decoder) {
|
|
12
|
+
if (!decoder) {
|
|
13
|
+
return;
|
|
13
14
|
}
|
|
14
|
-
|
|
15
|
-
|
|
16
|
-
const out = new Uint8Array(ySize + uvSize + uvSize);
|
|
17
|
-
const Y = out.subarray(0, ySize);
|
|
18
|
-
const U = out.subarray(ySize, ySize + uvSize);
|
|
19
|
-
const V = out.subarray(ySize + uvSize);
|
|
20
|
-
const stride = width * 4;
|
|
21
|
-
const clamp8 = (x) => (x < 0 ? 0 : x > 255 ? 255 : x | 0);
|
|
22
|
-
for (let y = 0; y < height; y += 2) {
|
|
23
|
-
const row0 = y * stride;
|
|
24
|
-
const row1 = (y + 1) * stride;
|
|
25
|
-
for (let x = 0; x < width; x += 2) {
|
|
26
|
-
const p00 = row0 + x * 4;
|
|
27
|
-
const p01 = row0 + (x + 1) * 4;
|
|
28
|
-
const p10 = row1 + x * 4;
|
|
29
|
-
const p11 = row1 + (x + 1) * 4;
|
|
30
|
-
const B00 = bgrx[p00 + 0], G00 = bgrx[p00 + 1], R00 = bgrx[p00 + 2];
|
|
31
|
-
const B01 = bgrx[p01 + 0], G01 = bgrx[p01 + 1], R01 = bgrx[p01 + 2];
|
|
32
|
-
const B10 = bgrx[p10 + 0], G10 = bgrx[p10 + 1], R10 = bgrx[p10 + 2];
|
|
33
|
-
const B11 = bgrx[p11 + 0], G11 = bgrx[p11 + 1], R11 = bgrx[p11 + 2];
|
|
34
|
-
const Y00 = (77 * R00 + 150 * G00 + 29 * B00 + 128) >> 8;
|
|
35
|
-
const Y01 = (77 * R01 + 150 * G01 + 29 * B01 + 128) >> 8;
|
|
36
|
-
const Y10 = (77 * R10 + 150 * G10 + 29 * B10 + 128) >> 8;
|
|
37
|
-
const Y11 = (77 * R11 + 150 * G11 + 29 * B11 + 128) >> 8;
|
|
38
|
-
const yRow0 = (y * width) + x;
|
|
39
|
-
const yRow1 = ((y + 1) * width) + x;
|
|
40
|
-
Y[yRow0 + 0] = Y00;
|
|
41
|
-
Y[yRow0 + 1] = Y01;
|
|
42
|
-
Y[yRow1 + 0] = Y10;
|
|
43
|
-
Y[yRow1 + 1] = Y11;
|
|
44
|
-
const Ravg = (R00 + R01 + R10 + R11) >> 2;
|
|
45
|
-
const Gavg = (G00 + G01 + G10 + G11) >> 2;
|
|
46
|
-
const Bavg = (B00 + B01 + B10 + B11) >> 2;
|
|
47
|
-
const Uval = clamp8(((-43 * Ravg - 85 * Gavg + 128 * Bavg) >> 8) + 128);
|
|
48
|
-
const Vval = clamp8(((128 * Ravg - 107 * Gavg - 21 * Bavg) >> 8) + 128);
|
|
49
|
-
const uvCol = x >> 1;
|
|
50
|
-
const uvRow = y >> 1;
|
|
51
|
-
const uvW = width >> 1;
|
|
52
|
-
const uvPos = uvRow * uvW + uvCol;
|
|
53
|
-
U[uvPos] = Uval;
|
|
54
|
-
V[uvPos] = Vval;
|
|
55
|
-
}
|
|
15
|
+
if (decoder.state === "closed") {
|
|
16
|
+
return;
|
|
56
17
|
}
|
|
57
|
-
|
|
18
|
+
try {
|
|
19
|
+
decoder.close();
|
|
20
|
+
}
|
|
21
|
+
catch (error) {
|
|
22
|
+
logger.warn("Failed to close H264 decoder cleanly.", error);
|
|
23
|
+
}
|
|
24
|
+
}
|
|
25
|
+
function closeTopicDecoder(topic, topicDecoders) {
|
|
26
|
+
const decoderInfo = topicDecoders.get(topic);
|
|
27
|
+
closeDecoder(decoderInfo?.decoder);
|
|
28
|
+
decoderInfo?.timing.clear();
|
|
29
|
+
decoderInfo?.transformations.clear();
|
|
30
|
+
}
|
|
31
|
+
function isIgnorableInitialDecodeError(error) {
|
|
32
|
+
const message = error instanceof Error ? error.message : String(error);
|
|
33
|
+
return message.includes("A key frame is required after configure() or flush()");
|
|
58
34
|
}
|
|
59
|
-
function
|
|
35
|
+
function packedToI420(packed, width, height, stride, format, cropLeft = 0, cropTop = 0) {
|
|
60
36
|
if ((width & 1) !== 0 || (height & 1) !== 0) {
|
|
61
37
|
throw new Error("I420 requires even width and height.");
|
|
62
38
|
}
|
|
@@ -66,20 +42,29 @@ function bgraToI420(bgra, width, height) {
|
|
|
66
42
|
const Y = out.subarray(0, ySize);
|
|
67
43
|
const U = out.subarray(ySize, ySize + uvSize);
|
|
68
44
|
const V = out.subarray(ySize + uvSize);
|
|
69
|
-
const
|
|
45
|
+
const isRgbLayout = format === "RGBX" || format === "RGBA";
|
|
70
46
|
const clamp8 = (x) => (x < 0 ? 0 : x > 255 ? 255 : x | 0);
|
|
71
47
|
for (let y = 0; y < height; y += 2) {
|
|
72
|
-
const row0 = y * stride;
|
|
73
|
-
const row1 = (y + 1) * stride;
|
|
48
|
+
const row0 = (y + cropTop) * stride;
|
|
49
|
+
const row1 = (y + cropTop + 1) * stride;
|
|
74
50
|
for (let x = 0; x < width; x += 2) {
|
|
75
|
-
const
|
|
76
|
-
const
|
|
77
|
-
const
|
|
78
|
-
const
|
|
79
|
-
const
|
|
80
|
-
const
|
|
81
|
-
const
|
|
82
|
-
const
|
|
51
|
+
const srcX = x + cropLeft;
|
|
52
|
+
const p00 = row0 + srcX * 4;
|
|
53
|
+
const p01 = row0 + (srcX + 1) * 4;
|
|
54
|
+
const p10 = row1 + srcX * 4;
|
|
55
|
+
const p11 = row1 + (srcX + 1) * 4;
|
|
56
|
+
const R00 = packed[p00 + (isRgbLayout ? 0 : 2)];
|
|
57
|
+
const G00 = packed[p00 + 1];
|
|
58
|
+
const B00 = packed[p00 + (isRgbLayout ? 2 : 0)];
|
|
59
|
+
const R01 = packed[p01 + (isRgbLayout ? 0 : 2)];
|
|
60
|
+
const G01 = packed[p01 + 1];
|
|
61
|
+
const B01 = packed[p01 + (isRgbLayout ? 2 : 0)];
|
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|
+
const R10 = packed[p10 + (isRgbLayout ? 0 : 2)];
|
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|
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const G10 = packed[p10 + 1];
|
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|
+
const B10 = packed[p10 + (isRgbLayout ? 2 : 0)];
|
|
65
|
+
const R11 = packed[p11 + (isRgbLayout ? 0 : 2)];
|
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66
|
+
const G11 = packed[p11 + 1];
|
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67
|
+
const B11 = packed[p11 + (isRgbLayout ? 2 : 0)];
|
|
83
68
|
const Y00 = (77 * R00 + 150 * G00 + 29 * B00 + 128) >> 8;
|
|
84
69
|
const Y01 = (77 * R01 + 150 * G01 + 29 * B01 + 128) >> 8;
|
|
85
70
|
const Y10 = (77 * R10 + 150 * G10 + 29 * B10 + 128) >> 8;
|
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@@ -105,14 +90,12 @@ function bgraToI420(bgra, width, height) {
|
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105
90
|
}
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|
return out;
|
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|
}
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|
-
function convertNv12ToI420(nv12Buffer, width, height,
|
|
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|
-
const actualStride = stride ?? width;
|
|
93
|
+
function convertNv12ToI420(nv12Buffer, width, height, yStride, uvStride, yOffset = 0, uvOffset = yStride * height, cropLeft = 0, cropTop = 0) {
|
|
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94
|
const ySize = width * height;
|
|
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95
|
const uvSize = ySize / 4;
|
|
112
96
|
const i420Buffer = new Uint8Array(ySize + 2 * uvSize);
|
|
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|
-
// Copy Y plane row by row (accounting for stride)
|
|
114
97
|
for (let row = 0; row < height; row++) {
|
|
115
|
-
const srcOffset = row *
|
|
98
|
+
const srcOffset = yOffset + (row + cropTop) * yStride + cropLeft;
|
|
116
99
|
const dstOffset = row * width;
|
|
117
100
|
i420Buffer.set(nv12Buffer.subarray(srcOffset, srcOffset + width), dstOffset);
|
|
118
101
|
}
|
|
@@ -120,10 +103,11 @@ function convertNv12ToI420(nv12Buffer, width, height, stride) {
|
|
|
120
103
|
const vPlaneOffset = ySize + uvSize;
|
|
121
104
|
const uvHeight = height / 2;
|
|
122
105
|
const uvWidth = width / 2;
|
|
123
|
-
|
|
106
|
+
const uvCropLeft = cropLeft >> 1;
|
|
107
|
+
const uvCropTop = cropTop >> 1;
|
|
124
108
|
for (let row = 0; row < uvHeight; row++) {
|
|
125
109
|
for (let col = 0; col < uvWidth; col++) {
|
|
126
|
-
const srcIndex =
|
|
110
|
+
const srcIndex = uvOffset + (row + uvCropTop) * uvStride + (col + uvCropLeft) * 2;
|
|
127
111
|
const dstIndex = row * uvWidth + col;
|
|
128
112
|
i420Buffer[uPlaneOffset + dstIndex] = nv12Buffer[srcIndex] ?? 0; // U
|
|
129
113
|
i420Buffer[vPlaneOffset + dstIndex] = nv12Buffer[srcIndex + 1] ?? 0; // V
|
|
@@ -131,34 +115,65 @@ function convertNv12ToI420(nv12Buffer, width, height, stride) {
|
|
|
131
115
|
}
|
|
132
116
|
return i420Buffer;
|
|
133
117
|
}
|
|
134
|
-
function
|
|
118
|
+
function repackI420(source, width, height, yLayout, uLayout, vLayout, cropLeft = 0, cropTop = 0) {
|
|
119
|
+
const ySize = width * height;
|
|
120
|
+
const uvWidth = width >> 1;
|
|
121
|
+
const uvHeight = height >> 1;
|
|
122
|
+
const uvSize = uvWidth * uvHeight;
|
|
123
|
+
const out = new Uint8Array(ySize + uvSize * 2);
|
|
124
|
+
const uvCropLeft = cropLeft >> 1;
|
|
125
|
+
const uvCropTop = cropTop >> 1;
|
|
126
|
+
for (let row = 0; row < height; row++) {
|
|
127
|
+
const srcOffset = yLayout.offset + (row + cropTop) * yLayout.stride + cropLeft;
|
|
128
|
+
out.set(source.subarray(srcOffset, srcOffset + width), row * width);
|
|
129
|
+
}
|
|
130
|
+
for (let row = 0; row < uvHeight; row++) {
|
|
131
|
+
const uSrcOffset = uLayout.offset + (row + uvCropTop) * uLayout.stride + uvCropLeft;
|
|
132
|
+
const vSrcOffset = vLayout.offset + (row + uvCropTop) * vLayout.stride + uvCropLeft;
|
|
133
|
+
const dstOffset = row * uvWidth;
|
|
134
|
+
out.set(source.subarray(uSrcOffset, uSrcOffset + uvWidth), ySize + dstOffset);
|
|
135
|
+
out.set(source.subarray(vSrcOffset, vSrcOffset + uvWidth), ySize + uvSize + dstOffset);
|
|
136
|
+
}
|
|
137
|
+
return out;
|
|
138
|
+
}
|
|
139
|
+
function createVideoDecoder({ topic, callback, topicDecoders, onError, }) {
|
|
140
|
+
let hasProducedFrame = false;
|
|
135
141
|
return new VideoDecoder({
|
|
136
142
|
output: async (frame) => {
|
|
143
|
+
hasProducedFrame = true;
|
|
144
|
+
const visibleRect = frame.visibleRect;
|
|
145
|
+
const frameWidth = visibleRect?.width ?? frame.codedWidth;
|
|
146
|
+
const frameHeight = visibleRect?.height ?? frame.codedHeight;
|
|
147
|
+
const cropLeft = visibleRect?.x ?? 0;
|
|
148
|
+
const cropTop = visibleRect?.y ?? 0;
|
|
137
149
|
let finalBuffer = new Uint8Array(frame.allocationSize());
|
|
150
|
+
logger.warn(`H264 decoder output format: ${frame.format}, coded=${frame.codedWidth}x${frame.codedHeight}, display=${frame.displayWidth}x${frame.displayHeight}, visible=${frameWidth}x${frameHeight}@${cropLeft},${cropTop}`);
|
|
138
151
|
switch (frame.format) {
|
|
139
152
|
case "I420": {
|
|
140
|
-
|
|
141
|
-
await frame.copyTo(
|
|
153
|
+
const i420Buffer = new Uint8Array(frame.allocationSize());
|
|
154
|
+
const layouts = await frame.copyTo(i420Buffer);
|
|
155
|
+
const [yLayout, uLayout, vLayout] = layouts;
|
|
156
|
+
finalBuffer =
|
|
157
|
+
yLayout != undefined && uLayout != undefined && vLayout != undefined
|
|
158
|
+
? repackI420(i420Buffer, frameWidth, frameHeight, yLayout, uLayout, vLayout, cropLeft, cropTop)
|
|
159
|
+
: i420Buffer;
|
|
142
160
|
break;
|
|
143
161
|
}
|
|
144
162
|
case "NV12": {
|
|
145
163
|
const nv12Buffer = new Uint8Array(frame.allocationSize());
|
|
146
|
-
await frame.copyTo(nv12Buffer);
|
|
147
|
-
|
|
164
|
+
const layouts = await frame.copyTo(nv12Buffer);
|
|
165
|
+
const [yLayout, uvLayout] = layouts;
|
|
166
|
+
finalBuffer = convertNv12ToI420(nv12Buffer, frameWidth, frameHeight, yLayout?.stride ?? frame.codedWidth, uvLayout?.stride ?? frame.codedWidth, yLayout?.offset ?? 0, uvLayout?.offset ?? (yLayout?.stride ?? frame.codedWidth) * frame.codedHeight, cropLeft, cropTop);
|
|
148
167
|
break;
|
|
149
168
|
}
|
|
150
169
|
case "RGBX":
|
|
151
|
-
case "
|
|
152
|
-
|
|
153
|
-
await frame.copyTo(bgrxBuffer);
|
|
154
|
-
logger.warn("PointCloud decoder received RGBX frame.");
|
|
155
|
-
finalBuffer = bgrxToI420(bgrxBuffer, frame.codedWidth, frame.codedHeight);
|
|
156
|
-
break;
|
|
157
|
-
}
|
|
170
|
+
case "RGBA":
|
|
171
|
+
case "BGRX":
|
|
158
172
|
case "BGRA": {
|
|
159
|
-
const
|
|
160
|
-
await frame.copyTo(
|
|
161
|
-
|
|
173
|
+
const packedBuffer = new Uint8Array(frame.allocationSize());
|
|
174
|
+
const [layout] = await frame.copyTo(packedBuffer);
|
|
175
|
+
logger.warn(`H264 decoder received ${frame.format} frame.`);
|
|
176
|
+
finalBuffer = packedToI420(packedBuffer, frameWidth, frameHeight, layout?.stride ?? frame.codedWidth * 4, frame.format, cropLeft, cropTop);
|
|
162
177
|
break;
|
|
163
178
|
}
|
|
164
179
|
default:
|
|
@@ -168,6 +183,7 @@ function createVideoDecoder({ topic, callback, topicDecoders, }) {
|
|
|
168
183
|
if (frame.format !== "I420" &&
|
|
169
184
|
frame.format !== "NV12" &&
|
|
170
185
|
frame.format !== "RGBX" &&
|
|
186
|
+
frame.format !== "RGBA" &&
|
|
171
187
|
frame.format !== "BGRX" &&
|
|
172
188
|
frame.format !== "BGRA") {
|
|
173
189
|
logger.warn("H264 decoder received unexpected frame format:", frame.format);
|
|
@@ -180,11 +196,11 @@ function createVideoDecoder({ topic, callback, topicDecoders, }) {
|
|
|
180
196
|
const foxgloveMessage = {
|
|
181
197
|
timestamp: receiveTime,
|
|
182
198
|
frame_id: `h264-${topic}-frame`,
|
|
183
|
-
width:
|
|
184
|
-
height:
|
|
199
|
+
width: frameWidth,
|
|
200
|
+
height: frameHeight,
|
|
185
201
|
data: finalBuffer,
|
|
186
202
|
encoding: "yuv420p",
|
|
187
|
-
step:
|
|
203
|
+
step: frameWidth
|
|
188
204
|
};
|
|
189
205
|
callback({
|
|
190
206
|
topic,
|
|
@@ -196,26 +212,50 @@ function createVideoDecoder({ topic, callback, topicDecoders, }) {
|
|
|
196
212
|
});
|
|
197
213
|
frame.close();
|
|
198
214
|
},
|
|
199
|
-
error:
|
|
215
|
+
error: (error) => {
|
|
216
|
+
if (!hasProducedFrame && isIgnorableInitialDecodeError(error)) {
|
|
217
|
+
logger.warn(`Ignoring initial H264 decoder error for topic ${topic}: ${error.message}`);
|
|
218
|
+
closeTopicDecoder(topic, topicDecoders);
|
|
219
|
+
return;
|
|
220
|
+
}
|
|
221
|
+
logger.error(error);
|
|
222
|
+
closeTopicDecoder(topic, topicDecoders);
|
|
223
|
+
onError(new DecoderRuntimeError(topic, error.message));
|
|
224
|
+
},
|
|
200
225
|
});
|
|
201
226
|
}
|
|
202
|
-
export async function deserializeEncodedFrameH264({ topic, message, topicDecoders, callback }) {
|
|
227
|
+
export async function deserializeEncodedFrameH264({ topic, message, topicDecoders, callback, onError, }) {
|
|
203
228
|
const { receiveTime } = parseMessage(message);
|
|
204
229
|
const supported = ensureWebCodecsSupported("VideoDecoder");
|
|
205
230
|
if (!supported) {
|
|
206
231
|
return;
|
|
207
232
|
}
|
|
208
|
-
|
|
209
|
-
|
|
210
|
-
decoder
|
|
211
|
-
|
|
212
|
-
|
|
213
|
-
|
|
214
|
-
|
|
215
|
-
|
|
216
|
-
|
|
217
|
-
|
|
218
|
-
|
|
233
|
+
const existingDecoderInfo = topicDecoders.get(topic);
|
|
234
|
+
if (!existingDecoderInfo || existingDecoderInfo.decoder.state === "closed") {
|
|
235
|
+
const decoder = createVideoDecoder({ topic, callback, topicDecoders, onError });
|
|
236
|
+
try {
|
|
237
|
+
decoder.configure({
|
|
238
|
+
codec: "avc1.42001E",
|
|
239
|
+
optimizeForLatency: true
|
|
240
|
+
});
|
|
241
|
+
}
|
|
242
|
+
catch (error) {
|
|
243
|
+
closeDecoder(decoder);
|
|
244
|
+
onError(new DecoderRuntimeError(topic, error instanceof Error ? error.message : "Failed to configure H.264 decoder."));
|
|
245
|
+
return;
|
|
246
|
+
}
|
|
247
|
+
if (existingDecoderInfo) {
|
|
248
|
+
existingDecoderInfo.decoder = decoder;
|
|
249
|
+
existingDecoderInfo.timing.clear();
|
|
250
|
+
existingDecoderInfo.transformations.clear();
|
|
251
|
+
}
|
|
252
|
+
else {
|
|
253
|
+
topicDecoders.set(topic, {
|
|
254
|
+
decoder,
|
|
255
|
+
timing: new Map(),
|
|
256
|
+
transformations: new Map(),
|
|
257
|
+
});
|
|
258
|
+
}
|
|
219
259
|
}
|
|
220
260
|
const decoderInfo = topicDecoders.get(topic);
|
|
221
261
|
if (!decoderInfo) {
|
|
@@ -237,8 +277,13 @@ export async function deserializeEncodedFrameH264({ topic, message, topicDecoder
|
|
|
237
277
|
const chunk = new EncodedVideoChunk(frame);
|
|
238
278
|
decoderInfo.decoder.decode(chunk);
|
|
239
279
|
}
|
|
240
|
-
catch {
|
|
241
|
-
|
|
280
|
+
catch (error) {
|
|
281
|
+
if (isIgnorableInitialDecodeError(error)) {
|
|
282
|
+
closeTopicDecoder(topic, topicDecoders);
|
|
283
|
+
return;
|
|
284
|
+
}
|
|
285
|
+
closeTopicDecoder(topic, topicDecoders);
|
|
286
|
+
onError(new DecoderRuntimeError(topic, error instanceof Error ? error.message : "Failed to decode H.264 frame."));
|
|
242
287
|
}
|
|
243
288
|
}
|
|
244
289
|
//# sourceMappingURL=h264.js.map
|