pubo-web 1.0.4-alpha.0

package/lib/ros/ros3d/utils.js

@@ -0,0 +1,272 @@
+"use strict";
+
+var __assign = this && this.__assign || function () {
+  __assign = Object.assign || function (t) {
+    for (var s, i = 1, n = arguments.length; i < n; i++) {
+      s = arguments[i];
+
+      for (var p in s) {
+        if (Object.prototype.hasOwnProperty.call(s, p)) t[p] = s[p];
+      }
+    }
+
+    return t;
+  };
+
+  return __assign.apply(this, arguments);
+};
+
+var __awaiter = this && this.__awaiter || function (thisArg, _arguments, P, generator) {
+  function adopt(value) {
+    return value instanceof P ? value : new P(function (resolve) {
+      resolve(value);
+    });
+  }
+
+  return new (P || (P = Promise))(function (resolve, reject) {
+    function fulfilled(value) {
+      try {
+        step(generator.next(value));
+      } catch (e) {
+        reject(e);
+      }
+    }
+
+    function rejected(value) {
+      try {
+        step(generator["throw"](value));
+      } catch (e) {
+        reject(e);
+      }
+    }
+
+    function step(result) {
+      result.done ? resolve(result.value) : adopt(result.value).then(fulfilled, rejected);
+    }
+
+    step((generator = generator.apply(thisArg, _arguments || [])).next());
+  });
+};
+
+var __generator = this && this.__generator || function (thisArg, body) {
+  var _ = {
+    label: 0,
+    sent: function sent() {
+      if (t[0] & 1) throw t[1];
+      return t[1];
+    },
+    trys: [],
+    ops: []
+  },
+      f,
+      y,
+      t,
+      g;
+  return g = {
+    next: verb(0),
+    "throw": verb(1),
+    "return": verb(2)
+  }, typeof Symbol === "function" && (g[Symbol.iterator] = function () {
+    return this;
+  }), g;
+
+  function verb(n) {
+    return function (v) {
+      return step([n, v]);
+    };
+  }
+
+  function step(op) {
+    if (f) throw new TypeError("Generator is already executing.");
+
+    while (_) {
+      try {
+        if (f = 1, y && (t = op[0] & 2 ? y["return"] : op[0] ? y["throw"] || ((t = y["return"]) && t.call(y), 0) : y.next) && !(t = t.call(y, op[1])).done) return t;
+        if (y = 0, t) op = [op[0] & 2, t.value];
+
+        switch (op[0]) {
+          case 0:
+          case 1:
+            t = op;
+            break;
+
+          case 4:
+            _.label++;
+            return {
+              value: op[1],
+              done: false
+            };
+
+          case 5:
+            _.label++;
+            y = op[1];
+            op = [0];
+            continue;
+
+          case 7:
+            op = _.ops.pop();
+
+            _.trys.pop();
+
+            continue;
+
+          default:
+            if (!(t = _.trys, t = t.length > 0 && t[t.length - 1]) && (op[0] === 6 || op[0] === 2)) {
+              _ = 0;
+              continue;
+            }
+
+            if (op[0] === 3 && (!t || op[1] > t[0] && op[1] < t[3])) {
+              _.label = op[1];
+              break;
+            }
+
+            if (op[0] === 6 && _.label < t[1]) {
+              _.label = t[1];
+              t = op;
+              break;
+            }
+
+            if (t && _.label < t[2]) {
+              _.label = t[2];
+
+              _.ops.push(op);
+
+              break;
+            }
+
+            if (t[2]) _.ops.pop();
+
+            _.trys.pop();
+
+            continue;
+        }
+
+        op = body.call(thisArg, _);
+      } catch (e) {
+        op = [6, e];
+        y = 0;
+      } finally {
+        f = t = 0;
+      }
+    }
+
+    if (op[0] & 5) throw op[1];
+    return {
+      value: op[0] ? op[1] : void 0,
+      done: true
+    };
+  }
+};
+
+var __importDefault = this && this.__importDefault || function (mod) {
+  return mod && mod.__esModule ? mod : {
+    "default": mod
+  };
+};
+
+Object.defineProperty(exports, "__esModule", {
+  value: true
+});
+exports.basePointCloudOptions = exports.loadLib = exports.colormap = exports.getRainbowColor = void 0;
+
+var roslib_1 = __importDefault(require("roslib"));
+
+var load_script_1 = require("../../load-script");
+
+function getRainbowColor(pct) {
+  var h = (1 - pct) * 5.0 + 1.0;
+  var i = Math.floor(h);
+  var f = h % 1.0;
+
+  if ((i & 1) === 0) {
+    f = 1 - f;
+  }
+
+  var n = 1 - f;
+  var dic = [{
+    r: n,
+    g: 0,
+    b: 1
+  }, {
+    r: 0,
+    g: n,
+    b: 1
+  }, {
+    r: 0,
+    g: 1,
+    b: n
+  }, {
+    r: n,
+    g: 1,
+    b: 0
+  }, {
+    r: 1,
+    g: n,
+    b: 0
+  }];
+
+  if (i < 1) {
+    i = 1;
+  }
+
+  var temp = dic[i - 1] || dic[4];
+  Object.keys(temp).forEach(function (key) {
+    return temp[key] = temp[key] * 255;
+  });
+  return __assign(__assign({}, temp), {
+    a: 1
+  });
+}
+
+exports.getRainbowColor = getRainbowColor;
+
+function colormap(x) {
+  var minColorValue = 0;
+  var maxColorValue = 512 * 512 * 512;
+  var colorFieldRange = maxColorValue - minColorValue || Infinity;
+  var pct = Math.max(0, Math.min((Math.pow(x, 4) - minColorValue) / colorFieldRange, 1));
+  return getRainbowColor(pct);
+}
+
+exports.colormap = colormap;
+
+function loadLib(url) {
+  return __awaiter(this, void 0, void 0, function () {
+    return __generator(this, function (_a) {
+      switch (_a.label) {
+        case 0:
+          if (!window.ROSLIB) {
+            window.ROSLIB = roslib_1["default"];
+          }
+
+          if (window.ROS3D) {
+            return [2
+            /*return*/
+            , window.ROS3D];
+          }
+
+          return [4
+          /*yield*/
+          , load_script_1.loadScript(url)];
+
+        case 1:
+          _a.sent();
+
+          return [2
+          /*return*/
+          , window.ROS3D];
+      }
+    });
+  });
+}
+
+exports.loadLib = loadLib;
+exports.basePointCloudOptions = {
+  colorsrc: 'intensity',
+  material: {
+    size: 0.1
+  },
+  max_pts: 10000000,
+  colormap: colormap
+};

package/lib/ros/ros3d/viewer.d.ts

@@ -0,0 +1,19 @@
+import { RosConfigure } from '../factory/configure';
+import { InjectUtil } from './inject';
+interface InitProps {
+    elem: any;
+    view?: any;
+    tf?: any;
+}
+export declare class RosViewer {
+    private readonly configure;
+    private elem;
+    ROS3D: any;
+    viewer: any;
+    iu: InjectUtil;
+    constructor(configure: RosConfigure);
+    init({ elem, view, tf }: InitProps): Promise<void>;
+    destroy(): void;
+    initPointClouds(optList: any[]): any[];
+}
+export {};

package/lib/ros/ros3d/viewer.js

@@ -0,0 +1,259 @@
+"use strict";
+
+var __assign = this && this.__assign || function () {
+  __assign = Object.assign || function (t) {
+    for (var s, i = 1, n = arguments.length; i < n; i++) {
+      s = arguments[i];
+
+      for (var p in s) {
+        if (Object.prototype.hasOwnProperty.call(s, p)) t[p] = s[p];
+      }
+    }
+
+    return t;
+  };
+
+  return __assign.apply(this, arguments);
+};
+
+var __awaiter = this && this.__awaiter || function (thisArg, _arguments, P, generator) {
+  function adopt(value) {
+    return value instanceof P ? value : new P(function (resolve) {
+      resolve(value);
+    });
+  }
+
+  return new (P || (P = Promise))(function (resolve, reject) {
+    function fulfilled(value) {
+      try {
+        step(generator.next(value));
+      } catch (e) {
+        reject(e);
+      }
+    }
+
+    function rejected(value) {
+      try {
+        step(generator["throw"](value));
+      } catch (e) {
+        reject(e);
+      }
+    }
+
+    function step(result) {
+      result.done ? resolve(result.value) : adopt(result.value).then(fulfilled, rejected);
+    }
+
+    step((generator = generator.apply(thisArg, _arguments || [])).next());
+  });
+};
+
+var __generator = this && this.__generator || function (thisArg, body) {
+  var _ = {
+    label: 0,
+    sent: function sent() {
+      if (t[0] & 1) throw t[1];
+      return t[1];
+    },
+    trys: [],
+    ops: []
+  },
+      f,
+      y,
+      t,
+      g;
+  return g = {
+    next: verb(0),
+    "throw": verb(1),
+    "return": verb(2)
+  }, typeof Symbol === "function" && (g[Symbol.iterator] = function () {
+    return this;
+  }), g;
+
+  function verb(n) {
+    return function (v) {
+      return step([n, v]);
+    };
+  }
+
+  function step(op) {
+    if (f) throw new TypeError("Generator is already executing.");
+
+    while (_) {
+      try {
+        if (f = 1, y && (t = op[0] & 2 ? y["return"] : op[0] ? y["throw"] || ((t = y["return"]) && t.call(y), 0) : y.next) && !(t = t.call(y, op[1])).done) return t;
+        if (y = 0, t) op = [op[0] & 2, t.value];
+
+        switch (op[0]) {
+          case 0:
+          case 1:
+            t = op;
+            break;
+
+          case 4:
+            _.label++;
+            return {
+              value: op[1],
+              done: false
+            };
+
+          case 5:
+            _.label++;
+            y = op[1];
+            op = [0];
+            continue;
+
+          case 7:
+            op = _.ops.pop();
+
+            _.trys.pop();
+
+            continue;
+
+          default:
+            if (!(t = _.trys, t = t.length > 0 && t[t.length - 1]) && (op[0] === 6 || op[0] === 2)) {
+              _ = 0;
+              continue;
+            }
+
+            if (op[0] === 3 && (!t || op[1] > t[0] && op[1] < t[3])) {
+              _.label = op[1];
+              break;
+            }
+
+            if (op[0] === 6 && _.label < t[1]) {
+              _.label = t[1];
+              t = op;
+              break;
+            }
+
+            if (t && _.label < t[2]) {
+              _.label = t[2];
+
+              _.ops.push(op);
+
+              break;
+            }
+
+            if (t[2]) _.ops.pop();
+
+            _.trys.pop();
+
+            continue;
+        }
+
+        op = body.call(thisArg, _);
+      } catch (e) {
+        op = [6, e];
+        y = 0;
+      } finally {
+        f = t = 0;
+      }
+    }
+
+    if (op[0] & 5) throw op[1];
+    return {
+      value: op[0] ? op[1] : void 0,
+      done: true
+    };
+  }
+};
+
+var __importDefault = this && this.__importDefault || function (mod) {
+  return mod && mod.__esModule ? mod : {
+    "default": mod
+  };
+};
+
+Object.defineProperty(exports, "__esModule", {
+  value: true
+});
+exports.RosViewer = void 0;
+
+var roslib_1 = __importDefault(require("roslib"));
+
+var inject_1 = require("./inject");
+
+var utils_1 = require("./utils");
+
+var RosViewer =
+/** @class */
+function () {
+  function RosViewer(configure) {
+    this.iu = new inject_1.InjectUtil();
+    this.configure = configure;
+  }
+
+  RosViewer.prototype.init = function (_a) {
+    var elem = _a.elem,
+        _b = _a.view,
+        view = _b === void 0 ? {} : _b,
+        _c = _a.tf,
+        tf = _c === void 0 ? {} : _c;
+    return __awaiter(this, void 0, void 0, function () {
+      var _d, tfClient;
+
+      return __generator(this, function (_e) {
+        switch (_e.label) {
+          case 0:
+            if (!this.configure.conf.ros3d_lib_url) {
+              throw new Error('ros3djs lib not found');
+            }
+
+            _d = this;
+            return [4
+            /*yield*/
+            , utils_1.loadLib(this.configure.conf.ros3d_lib_url)];
+
+          case 1:
+            _d.ROS3D = _e.sent();
+            this.elem = elem;
+            this.iu.install('ros', this.configure.ros);
+            this.viewer = new this.ROS3D.Viewer(__assign({
+              elem: elem,
+              width: elem.clientWidth,
+              height: elem.clientHeight,
+              antialias: true,
+              cameraPose: {
+                x: 100,
+                y: 100,
+                z: 100
+              },
+              displayPanAndZoomFrame: false,
+              background: '#000000'
+            }, view));
+            this.iu.install('rootObject', this.viewer.scene);
+            tfClient = this.iu.inject(roslib_1["default"].TFClient, __assign({
+              angularThres: 0.01,
+              transThres: 0.01,
+              fixedFrame: '/base_link'
+            }, tf));
+            this.iu.install('tfClient', tfClient);
+            return [2
+            /*return*/
+            ];
+        }
+      });
+    });
+  };
+
+  RosViewer.prototype.destroy = function () {
+    if (this.viewer && typeof this.viewer.stop === 'function') {
+      this.viewer.stop();
+    }
+
+    this.elem.innerHTML = '';
+  };
+
+  RosViewer.prototype.initPointClouds = function (optList) {
+    var _this = this;
+
+    return optList.map(function (opt) {
+      return _this.iu.inject(_this.ROS3D.PointCloud2, __assign(__assign({}, utils_1.basePointCloudOptions), opt));
+    });
+  };
+
+  return RosViewer;
+}();
+
+exports.RosViewer = RosViewer;

package/lib/storage/index.d.ts

@@ -0,0 +1,16 @@
+declare type StorageType = 'sessionStorage' | 'localStorage';
+interface WebStorageProps {
+    type?: StorageType;
+    key: string;
+}
+export declare class WebStorage {
+    private readonly _key;
+    private readonly storage;
+    constructor(props: WebStorageProps);
+    get state(): any;
+    set state(data: any);
+    get key(): string;
+    merge(data: any): void;
+    clear(): void;
+}
+export {};

package/lib/storage/index.js

@@ -0,0 +1,72 @@
+"use strict";
+
+var __assign = this && this.__assign || function () {
+  __assign = Object.assign || function (t) {
+    for (var s, i = 1, n = arguments.length; i < n; i++) {
+      s = arguments[i];
+
+      for (var p in s) {
+        if (Object.prototype.hasOwnProperty.call(s, p)) t[p] = s[p];
+      }
+    }
+
+    return t;
+  };
+
+  return __assign.apply(this, arguments);
+};
+
+Object.defineProperty(exports, "__esModule", {
+  value: true
+});
+exports.WebStorage = void 0;
+
+var WebStorage =
+/** @class */
+function () {
+  function WebStorage(props) {
+    var _a = props.type,
+        type = _a === void 0 ? 'sessionStorage' : _a,
+        key = props.key;
+    this._key = key;
+    this.storage = window[type];
+  }
+
+  Object.defineProperty(WebStorage.prototype, "state", {
+    get: function get() {
+      var value = this.storage.getItem(this._key);
+
+      if (value) {
+        return JSON.parse(value);
+      } else {
+        return null;
+      }
+    },
+    set: function set(data) {
+      var temp = JSON.stringify(data);
+      this.storage.setItem(this._key, temp);
+    },
+    enumerable: false,
+    configurable: true
+  });
+  Object.defineProperty(WebStorage.prototype, "key", {
+    get: function get() {
+      return this._key;
+    },
+    enumerable: false,
+    configurable: true
+  });
+
+  WebStorage.prototype.merge = function (data) {
+    var old = this.state;
+    this.state = __assign(__assign({}, old), data);
+  };
+
+  WebStorage.prototype.clear = function () {
+    this.storage.removeItem(this._key);
+  };
+
+  return WebStorage;
+}();
+
+exports.WebStorage = WebStorage;

package/package.json

@@ -0,0 +1,26 @@
+{
+  "name": "pubo-web",
+  "version": "1.0.4-alpha.0",
+  "main": "./lib/index.js",
+  "module": "./es/index.js",
+  "types": "./lib/index.d.ts",
+  "unpkg": "dist/index.js",
+  "sideEffects": false,
+  "scripts": {
+    "build": "gulp && webpack-cli"
+  },
+  "files": [
+    "dist",
+    "lib",
+    "es",
+    "package.json"
+  ],
+  "engines": {
+    "node": ">=8.0.0"
+  },
+  "dependencies": {
+    "pubo-utils": "^1.0.3-alpha.0",
+    "roslib": "^1.2.0"
+  },
+  "gitHead": "34e995171bfc1cb3010bc1e68949e8a6e326b883"
+}