Preserve RRD preview frames and clarify onboard K1 status

plugins/xgrids-k1/frontend/src/sensors/K1Detail.tsx

@@ -1,37 +1,41 @@
-import {useEffect,useRef,useState} from 'react';
+import {useRef,useState} from 'react';
 import {ActivityIndicator,Button,Icon,IconButton,SettingsCard,StatusBadge} from '@nodedc/ui-react';
 import {perform,type Sensor,type SensorTransport} from './runtime';
 import {K1LiveView} from './K1LiveView';
 import type {RerunHostFactory} from '@mission-core/sensor-sdk';
 import {K1LiveSettings} from './K1LiveSettings';
 import {k1ConnectionNotice,k1ManualState,k1Status} from './presentation';
+import {pendingPreview} from './useK1Preview';
 
 export function K1Detail({device,transport,enabled,back,refresh,failure,createRerunHost}:{device:Sensor;transport:SensorTransport;enabled:boolean;back:()=>void;refresh:()=>Promise<void>;failure:(error:unknown)=>void;createRerunHost?:RerunHostFactory}){
- const [busy,setBusy]=useState(''),[expanded,setExpanded]=useState(false),[generation,setGeneration]=useState(0),[settings,setSettings]=useState(false);
+ const [busy,setBusy]=useState(''),[settings,setSettings]=useState(false),[operationError,setOperationError]=useState('');
+ const [preview,setPreview]=useState(pendingPreview);
  const running=useRef(false);
+ const failedAction=useRef('');
  const streaming=device.snapshot.acquisition==='streaming';
  const manual=k1ManualState(device,enabled),status=k1Status(device,enabled);
- useEffect(()=>{const key=(event:KeyboardEvent)=>{if(event.key==='Escape')setExpanded(false);};window.addEventListener('keydown',key);return()=>window.removeEventListener('keydown',key);},[]);
+ const pending=busy||(['preparing','starting'].includes(device.snapshot.acquisition)?'start':device.snapshot.acquisition==='stopping'?'stop':'');
  async function act(action:'start'|'stop'|'verify'){
   if(running.current||!enabled)return;
-  running.current=true;setBusy(action);failure(null);
+  running.current=true;setBusy(action);failedAction.current='';setOperationError('');failure(null);
   try{await perform(transport,device,action,action==='verify'?{}:{operator_confirmed:true,control_generation:device.control?.generation,acquisition_id:device.control?.acquisition_id??null});await refresh();}
-  catch(e){failure(e);}finally{running.current=false;setBusy('');}
+  catch{failedAction.current=action;setOperationError(action==='start'?'Результат запуска пока не подтверждён.':action==='stop'?'Результат остановки пока не подтверждён.':'Не удалось подтвердить связь с K1.');await refresh().catch(()=>{});}
+  finally{running.current=false;setBusy('');}
  }
- return <div className={expanded?'sensor-content sensor-viewer-expanded':'sensor-content'}>
-  <div className="sensor-actions sensor-inventory-toolbar"><Button onClick={back}>К устройствам</Button><div className="sensor-actions"><StatusBadge tone={status.tone}>{status.label}</StatusBadge>{streaming&&<IconButton label={expanded?'Свернуть просмотр':'Развернуть просмотр'} onClick={()=>setExpanded(value=>!value)}><Icon name={expanded?'minimize':'expand'}/></IconButton>}</div></div>
+ const confirmed=(failedAction.current==='start'&&streaming)||(failedAction.current==='stop'&&device.control?.phase==='completed')||(failedAction.current==='verify'&&manual.connected);
+ const summary=(!confirmed&&operationError)||(pending==='start'?'Запускаем устройство. Ожидаем завершения калибровки.':pending==='stop'?'Останавливаем устройство. Ожидаем подтверждения.':!manual.connected?k1ConnectionNotice(device,enabled):status.label);
+ return <div className="sensor-content">
+  <div className="sensor-actions sensor-inventory-toolbar"><Button onClick={back}>К устройствам</Button><StatusBadge tone={status.tone}>{status.label}</StatusBadge></div>
   <SettingsCard title={device.name} description="Ручной запуск камеры и лидара на бортовом компьютере. Исходные данные записи сохраняются на БК."
-   actions={manual.connected&&<IconButton label="Настройки устройства" disabled={!!busy} onClick={()=>setSettings(value=>!value)}><Icon name="settings"/></IconButton>}>
-   {manual.connected&&!manual.showStop&&<Button variant="primary" disabled={!!busy||!manual.canStart} aria-busy={busy==='start'}
-    icon={busy==='start'?<ActivityIndicator size="compact"/>:undefined} onClick={()=>void act('start')}>{busy==='start'?'Запускаем устройство':'Инициировать запуск'}</Button>}
-   {manual.showStop&&<Button disabled={!manual.connected||!!busy||(!streaming&&!device.control?.can_stop)} aria-busy={busy==='stop'}
-    icon={busy==='stop'?<ActivityIndicator size="compact"/>:undefined} onClick={()=>void act('stop')}>{busy==='stop'?'Останавливаем устройство':'Остановить устройство'}</Button>}
-   {!manual.connected&&<SettingsCard align="center" title={k1ConnectionNotice(device,enabled)}>
-    {device.control?.can_verify&&<Button disabled={!enabled||!!busy} aria-busy={busy==='verify'} icon={busy==='verify'?<ActivityIndicator size="compact"/>:undefined} onClick={()=>void act('verify')}>Проверить состояние K1</Button>}
-   </SettingsCard>}
+   actions={manual.connected&&<IconButton label="Настройки устройства" disabled={!!pending} onClick={()=>setSettings(value=>!value)}><Icon name="settings"/></IconButton>}>
+   {manual.connected&&(!manual.showStop||pending==='start')&&<Button variant="primary" disabled={!!pending||!manual.canStart} aria-busy={pending==='start'}
+    icon={pending==='start'?<ActivityIndicator size="compact"/>:undefined} onClick={()=>void act('start')}>{pending==='start'?'Запускаем устройство':'Инициировать запуск'}</Button>}
+   {manual.showStop&&pending!=='start'&&<Button disabled={!manual.connected||!!pending||(!streaming&&!device.control?.can_stop)} aria-busy={pending==='stop'}
+    icon={pending==='stop'?<ActivityIndicator size="compact"/>:undefined} onClick={()=>void act('stop')}>{pending==='stop'?'Останавливаем устройство':'Остановить устройство'}</Button>}
+   {!manual.connected&&device.control?.can_verify&&<Button disabled={!enabled||!!pending} aria-busy={pending==='verify'} icon={pending==='verify'?<ActivityIndicator size="compact"/>:undefined} onClick={()=>void act('verify')}>Проверить состояние K1</Button>}
   </SettingsCard>
-  {manual.connected&&settings&&<K1LiveSettings device={device} transport={transport} enabled={enabled&&!busy} refresh={refresh} failure={failure}/>}
-  {!streaming&&(busy==='start'||manual.active)&&<ActivityIndicator label="Запускаем K1 и ожидаем живые данные"/>}
-  {streaming&&createRerunHost&&<K1LiveView key={generation} device={device} transport={transport} createRerunHost={createRerunHost} onReconnect={()=>setGeneration(value=>value+1)}/>}
+  <SettingsCard title="Статус" align="center" description={streaming?`${summary} ${preview.lidar}. ${preview.camera}.`:summary} role="status" aria-live="polite"/>
+  {manual.connected&&settings&&<K1LiveSettings device={device} transport={transport} enabled={enabled&&!pending} refresh={refresh} failure={failure}/>}
+  {streaming&&createRerunHost&&<K1LiveView device={device} transport={transport} createRerunHost={createRerunHost} onStatus={setPreview}/>}
  </div>;
 }

plugins/xgrids-k1/frontend/src/sensors/K1LiveView.tsx

@@ -1,63 +1,26 @@
-import {useEffect,useRef,useState} from 'react';
-import {ActivityIndicator,Button,SettingsCard} from '@nodedc/ui-react';
-import {perform,type Sensor,type SensorTransport} from './runtime';
+import {useCallback,useEffect,useRef,useState} from 'react';
+import {Icon,IconButton,SettingsCard} from '@nodedc/ui-react';
 import type {RerunHostFactory} from '@mission-core/sensor-sdk';
+import type {Sensor,SensorTransport} from './runtime';
+import {useK1Preview,type PreviewStatus} from './useK1Preview';
+import './livePreview.css';
 
-function privateCandidate(sdp:string):string{
- return sdp.split('\r\n').filter(line=>{
-  if(!line.startsWith('a=candidate:'))return true;
-  const fields=line.split(' '),ip=fields[4]??'',parts=ip.split('.').map(Number);
-  return fields[7]==='host'&&(ip.endsWith('.local')||(parts.length===4&&parts.every(v=>Number.isInteger(v)&&v>=0&&v<=255)&&
-   (parts[0]===10||parts[0]===127||(parts[0]===192&&parts[1]===168)||(parts[0]===172&&parts[1]>=16&&parts[1]<=31)||(parts[0]===100&&parts[1]>=64&&parts[1]<=127))));
- }).join('\r\n');
-}
-
-export function K1LiveView({device,transport,createRerunHost,onReconnect}:{device:Sensor;transport:SensorTransport;createRerunHost:RerunHostFactory;onReconnect:()=>void}){
+export function K1LiveView({device,transport,createRerunHost,onStatus}:{device:Sensor;transport:SensorTransport;createRerunHost:RerunHostFactory;onStatus:(value:PreviewStatus)=>void}){
  const spatial=useRef<HTMLDivElement>(null),video=useRef<HTMLVideoElement>(null);
- const [error,setError]=useState(''),[cameraError,setCameraError]=useState(''),[ready,setReady]=useState(false);
+ const [expanded,setExpanded]=useState(false);
+ const [generation,setGeneration]=useState(0),[status,setStatus]=useState<PreviewStatus|null>(null);
+ const attempts=useRef(0);
+ const report=useCallback((value:PreviewStatus)=>{setStatus(value);onStatus(value);},[onStatus]);
+ useK1Preview(device,transport,createRerunHost,spatial,video,report,generation);
  useEffect(()=>{
-  let active=true,failed=false,peerID:string|undefined,mediaURL:string|undefined;
-  let keepalive:ReturnType<typeof setInterval>|undefined,follow:ReturnType<typeof setInterval>|undefined;
-  let closeChannel:(()=>void)|undefined;
-  const host=createRerunHost(spatial.current!);
-  const pc=new RTCPeerConnection({iceServers:[]});
-  const rrd=pc.createDataChannel('rrd',{ordered:true}),camera=pc.createDataChannel('camera',{ordered:true});
-  rrd.binaryType='arraybuffer';camera.binaryType='arraybuffer';
-  const fail=(message:string)=>{failed=true;if(active){setError(message);setReady(false);}clearInterval(follow);clearInterval(keepalive);pc.close();};
-  const cameraFail=(message:string)=>{if(active)setCameraError(message);camera.close();};
-  rrd.onclose=()=>{if(active&&!failed)fail('Поток лидара завершён. Обновите состояние устройства.');};
-  camera.onclose=()=>{if(active)setCameraError('Поток камеры недоступен. Обновите просмотр.');};
-  const run=async()=>{
-   const {viewer,mount}=await host.ready;if(!active)return;
-   await viewer.start(null,mount,{width:'100%',height:'100%',hide_welcome_screen:true,enable_history:false});if(!active)return;
-   for(const panel of ['top','blueprint','selection','time'] as const)viewer.override_panel_state(panel,'hidden');
-   const channel=viewer.open_channel('live-acquisition:'+device.snapshot.context.session_id);closeChannel=()=>channel.close();
-   rrd.onmessage=event=>{if(!active||!(event.data instanceof ArrayBuffer))return;try{channel.send_rrd(new Uint8Array(event.data));}catch{fail('Поток лидара прерван. Обновите просмотр.');}};
-   follow=setInterval(()=>{if(!active)return;try{const id=viewer.get_active_recording_id();if(!id)return;const range=viewer.get_time_range(id,'stream_time');if(range){setReady(true);viewer.set_active_timeline(id,'stream_time');viewer.set_playing(id,false);viewer.set_current_time(id,'stream_time',range.max);}}catch{/* Viewer may still be opening its recording. */}},250);
-   await pc.setLocalDescription(await pc.createOffer());
-   if(pc.iceGatheringState!=='complete')await new Promise<void>((resolve,reject)=>{const timeout=setTimeout(()=>reject(new Error('Не удалось подготовить канал просмотра.')),8000);pc.onicegatheringstatechange=()=>{if(pc.iceGatheringState==='complete'){clearTimeout(timeout);resolve();}};});
-   if(!active)return;
-   const answer=await perform<{peer_id:string;sdp:string;type:'answer';camera_mime?:string}>(transport,device,'offer',{sdp:privateCandidate(pc.localDescription!.sdp)});
-   peerID=answer.peer_id;
-   if(!active){void perform(transport,device,'close-peer',{peer_id:peerID}).catch(()=>{});return;}
-   if(answer.camera_mime&&typeof MediaSource!=='undefined'&&MediaSource.isTypeSupported(answer.camera_mime)){
-    const media=new MediaSource();mediaURL=URL.createObjectURL(media);video.current!.src=mediaURL;
-    const pending:ArrayBuffer[]=[];let pendingBytes=0,buffer:SourceBuffer|undefined;
-    const append=()=>{if(!active||!buffer||buffer.updating||media.readyState!=='open')return;try{
-     const current=video.current?.currentTime??0;
-     if(buffer.buffered.length&&current-buffer.buffered.start(0)>8){buffer.remove(buffer.buffered.start(0),current-5);return;}
-     const bytes=pending.shift();if(bytes){pendingBytes-=bytes.byteLength;buffer.appendBuffer(bytes);}
-    }catch{cameraFail('Поток камеры прерван. Обновите просмотр.');}};
-    media.addEventListener('sourceopen',()=>{if(!active)return;buffer=media.addSourceBuffer(answer.camera_mime!);buffer.addEventListener('updateend',()=>{const element=video.current;if(element&&buffer!.buffered.length){const end=buffer!.buffered.end(buffer!.buffered.length-1);if(end-element.currentTime>1)element.currentTime=Math.max(0,end-0.2);void element.play().catch(()=>{});}append();});append();},{once:true});
-    camera.onmessage=event=>{if(!(event.data instanceof ArrayBuffer)||!active)return;pendingBytes+=event.data.byteLength;if(pendingBytes>8*1024*1024){cameraFail('Просмотр камеры не успевает за потоком. Обновите просмотр.');return;}pending.push(event.data);append();};
-   }
-   else cameraFail('Камера пока недоступна в этом просмотре.');
-   pc.onconnectionstatechange=()=>{if(active&&['failed','disconnected','closed'].includes(pc.connectionState))fail('Связь просмотра прервана. Обновите просмотр.');};
-   await pc.setRemoteDescription({type:answer.type,sdp:answer.sdp});
-   keepalive=setInterval(()=>{for(const channel of [rrd,camera])if(channel.readyState==='open')channel.send('keepalive');},5000);
-  };
-  void run().catch(()=>fail('Не удалось открыть живой просмотр K1. Обновите состояние устройства.'));
-  return()=>{active=false;clearInterval(keepalive);clearInterval(follow);rrd.onmessage=null;camera.onmessage=null;pc.onconnectionstatechange=null;pc.close();try{closeChannel?.();}finally{host.dispose();}if(peerID)void perform(transport,device,'close-peer',{peer_id:peerID}).catch(()=>{});if(mediaURL)URL.revokeObjectURL(mediaURL);};
- },[device.snapshot.context.session_id,transport,createRerunHost]);
- return <div className="sensor-content">{error?<SettingsCard title={error}/>:!ready&&<ActivityIndicator label="Получаем живые данные K1"/>}{(error||cameraError)&&<Button onClick={onReconnect}>Восстановить просмотр</Button>}<div className="sensor-live-layout"><div className="sensor-live-spatial" ref={spatial}/><div className="sensor-content">{cameraError&&<SettingsCard title={cameraError}/>}<video className="sensor-media" ref={video} muted autoPlay playsInline aria-label="Камера K1"/></div></div></div>;
+  if(!status?.retry)return;
+  const timer=setTimeout(()=>setGeneration(value=>value+1),Math.min(30000,2000*2**Math.min(attempts.current++,4)));
+  return()=>clearTimeout(timer);
+ },[status?.retry]);
+ useEffect(()=>{const key=(event:KeyboardEvent)=>{if(event.key==='Escape')setExpanded(false);};window.addEventListener('keydown',key);return()=>window.removeEventListener('keydown',key);},[]);
+ return <SettingsCard title="Rerun" className={expanded?'k1-preview sensor-viewer-expanded':'k1-preview'}
+  actions={<IconButton label={expanded?'Свернуть просмотр':'Развернуть просмотр'} onClick={()=>setExpanded(value=>!value)}><Icon name={expanded?'minimize':'expand'}/></IconButton>}>
+  <div className="k1-preview-spatial" ref={spatial}/>
+  <video className="k1-preview-camera" hidden={status?.camera!=='Камера: изображение поступает'} ref={video} muted autoPlay playsInline aria-label="Камера K1"/>
+ </SettingsCard>;
 }

plugins/xgrids-k1/frontend/src/sensors/livePreview.css

@@ -0,0 +1,6 @@
+.k1-preview {min-width:0;width:100%}
+.k1-preview-spatial {position:relative;min-width:0;width:100%;height:clamp(420px,60vh,800px);overflow:hidden}
+.k1-preview-spatial iframe {display:block;position:absolute;inset:0;width:100%;height:100%;border:0}
+.k1-preview-camera {display:block;width:100%;height:clamp(220px,32vh,360px);object-fit:contain}
+.k1-preview-camera[hidden] {display:none}
+.k1-preview.sensor-viewer-expanded .k1-preview-spatial {height:calc(100vh - 150px)}

plugins/xgrids-k1/frontend/src/sensors/presentation.ts

@@ -2,6 +2,7 @@ import type {Sensor} from './runtime';
 
 export function k1Status(device:Sensor,fresh:boolean):{label:string;tone:'neutral'|'success'|'warning'|'danger'} {
  if(!fresh)return {label:'Нет свежих сведений с БК',tone:'neutral'};
+ if(device.control?.phase==='completed'&&device.snapshot.acquisition==='idle')return {label:'Устройство остановлено',tone:'neutral'};
  if(!device.online||!device.verified)return device.control?.network_applied
   ?{label:'Wi-Fi настроен · нет управления',tone:'warning'}:{label:'Связь не подтверждена',tone:'neutral'};
  if(device.snapshot.acquisition==='failed')return {label:'Ошибка захвата',tone:'danger'};
@@ -13,6 +14,7 @@ export function k1Status(device:Sensor,fresh:boolean):{label:string;tone:'neutra
 
 export function k1ConnectionNotice(device:Sensor,fresh:boolean):string {
  if(!fresh)return 'Нет свежих сведений с БК. Ожидаем восстановления связи.';
+ if(device.control?.phase==='completed')return 'Устройство остановлено. Проверьте связь с K1 перед следующим запуском; повторно вводить настройки Wi-Fi не нужно.';
  if(device.control?.reason_code==='application_authority_unavailable')
   return 'Wi-Fi настроен. Служба K1 на БК не смогла авторизовать подключение. Обновите интеграцию K1 на БК и проверьте состояние устройства.';
  return device.control?.network_applied

plugins/xgrids-k1/frontend/src/sensors/previewCamera.ts

@@ -0,0 +1,38 @@
+/** One MSE decoder per preview; the onboard producer owns camera activation. */
+export function previewCamera(video:HTMLVideoElement,ready:()=>void,failed:()=>void){
+ let active=true,media:MediaSource|undefined,buffer:SourceBuffer|undefined,url:string|undefined;
+ let pending:Uint8Array<ArrayBuffer>[]=[],bytes=0;
+ const append=()=>{
+  if(!active||!buffer||buffer.updating||media?.readyState!=='open')return;
+  try{
+   if(buffer.buffered.length&&video.currentTime-buffer.buffered.start(0)>8){buffer.remove(buffer.buffered.start(0),video.currentTime-5);return;}
+   const next=pending.shift();if(next){bytes-=next.byteLength;buffer.appendBuffer(next);}
+  }catch{failed();}
+ };
+ const decoded=()=>{if(active)ready();};
+ video.addEventListener('loadeddata',decoded);
+ return {
+  open(mime:string){
+   if(media||typeof MediaSource==='undefined'||!MediaSource.isTypeSupported(mime))throw new Error('Camera format unavailable');
+   media=new MediaSource();url=URL.createObjectURL(media);video.src=url;
+   media.addEventListener('sourceopen',()=>{
+    if(!active)return;
+    try{
+     buffer=media!.addSourceBuffer(mime);
+     buffer.addEventListener('error',failed);
+     buffer.addEventListener('updateend',()=>{
+      if(!active)return;
+      if(buffer!.buffered.length){const end=buffer!.buffered.end(buffer!.buffered.length-1);if(end-video.currentTime>1)video.currentTime=Math.max(0,end-0.2);void video.play().catch(()=>{});}
+      append();
+     });append();
+    }catch{failed();}
+   },{once:true});
+  },
+  push(payload:Uint8Array<ArrayBuffer>){
+   if(!media)throw new Error('Camera metadata missing');
+   bytes+=payload.byteLength;if(bytes>8*1024*1024)throw new Error('Camera preview backlog');
+   pending.push(payload);append();
+  },
+  close(){active=false;pending=[];bytes=0;video.removeEventListener('loadeddata',decoded);video.pause();video.removeAttribute('src');video.load();if(url)URL.revokeObjectURL(url);},
+ };
+}

plugins/xgrids-k1/frontend/src/sensors/previewFrames.ts

@@ -0,0 +1,25 @@
+/** Ordered data-channel fragments are reassembled before a decoder sees them. */
+export const MEDIA_PROTOCOL='missioncore.node-preview/v1';
+const MAX_PAYLOAD=8*1024*1024,FRAGMENT_BYTES=16384;
+export function previewFrames(accept:(payload:Uint8Array<ArrayBuffer>)=>void) {
+ let pending:Uint8Array<ArrayBuffer>|null=null,offset=0;
+ return {
+  push(data:ArrayBuffer) {
+   const bytes=new Uint8Array(data);
+   if(!pending){
+    if(bytes.length!==8||bytes[0]!==77||bytes[1]!==67||bytes[2]!==70||bytes[3]!==49)throw new Error('Invalid preview envelope');
+    const length=new DataView(data).getUint32(4);
+    if(length<1||length>MAX_PAYLOAD)throw new Error('Preview exceeds bound');
+    pending=new Uint8Array(length);offset=0;return;
+   }
+   if(!bytes.length||bytes.length>FRAGMENT_BYTES||offset+bytes.length>pending.length)throw new Error('Invalid preview fragment');
+   pending.set(bytes,offset);offset+=bytes.length;
+   if(offset===pending.length){const complete=pending;pending=null;offset=0;accept(complete);}
+  },
+  close(){pending=null;offset=0;},
+ };
+}
+
+export function assertRrd(bytes:Uint8Array){
+ if(bytes.length<12||bytes[0]!==82||bytes[1]!==82||bytes[2]!==70||bytes[3]!==50)throw new Error('Invalid RRD recording');
+}

plugins/xgrids-k1/frontend/src/sensors/useK1Preview.ts

@@ -0,0 +1,83 @@
+import {useEffect,type RefObject} from 'react';
+import type {RerunHostFactory} from '@mission-core/sensor-sdk';
+import {perform,type Sensor,type SensorTransport} from './runtime';
+import {assertRrd,MEDIA_PROTOCOL,previewFrames} from './previewFrames';
+import {previewCamera} from './previewCamera';
+
+export type PreviewStatus={lidar:string;camera:string;retry:boolean};
+export const pendingPreview:PreviewStatus={lidar:'Лидар: ожидаем данные',camera:'Камера: ожидаем изображение',retry:false};
+
+function privateCandidate(sdp:string):string{
+ return sdp.split('\r\n').filter(line=>{
+  if(!line.startsWith('a=candidate:'))return true;
+  const fields=line.split(' '),ip=fields[4]??'',parts=ip.split('.').map(Number);
+  return fields[7]==='host'&&(ip.endsWith('.local')||(parts.length===4&&parts.every(v=>Number.isInteger(v)&&v>=0&&v<=255)&&
+   (parts[0]===10||parts[0]===127||(parts[0]===192&&parts[1]===168)||(parts[0]===172&&parts[1]>=16&&parts[1]<=31)||(parts[0]===100&&parts[1]>=64&&parts[1]<=127))));
+ }).join('\r\n');
+}
+
+export function useK1Preview(device:Sensor,transport:SensorTransport,createRerunHost:RerunHostFactory,
+ spatial:RefObject<HTMLDivElement|null>,video:RefObject<HTMLVideoElement|null>,onStatus:(value:PreviewStatus)=>void,generation=0){
+ useEffect(()=>{
+  let active=true,failed=false,peerID:string|undefined,viewClose:(()=>void)|undefined;
+  let keepalive:ReturnType<typeof setInterval>|undefined,follow:ReturnType<typeof setInterval>|undefined,iceTimeout:ReturnType<typeof setTimeout>|undefined;
+  let status={...pendingPreview};onStatus(status);
+  const update=(patch:Partial<PreviewStatus>)=>{if(active){status={...status,...patch};onStatus(status);}};
+  const host=createRerunHost(spatial.current!);
+  const pc=new RTCPeerConnection({iceServers:[]});
+  const rrd=pc.createDataChannel('rrd',{ordered:true}),camera=pc.createDataChannel('camera',{ordered:true});
+  rrd.binaryType='arraybuffer';camera.binaryType='arraybuffer';
+  const fail=()=>{if(!active||failed)return;failed=true;update({lidar:'Лидар: восстанавливаем просмотр',camera:'Камера: ожидаем соединение',retry:true});clearInterval(follow);clearInterval(keepalive);pc.close();};
+  const cameraFail=()=>{update({camera:'Камера: изображение недоступно'});camera.close();};
+  const decoder=previewCamera(video.current!,()=>update({camera:'Камера: изображение поступает'}),cameraFail);
+  const cameraFrames=previewFrames(payload=>decoder.push(payload));
+  let rrdFrames:ReturnType<typeof previewFrames>|undefined;
+  rrd.onclose=()=>{if(active&&!failed)fail();};
+  camera.onclose=()=>{if(active&&!failed)update({camera:'Камера: изображение недоступно'});};
+  camera.onmessage=event=>{
+   if(!active)return;
+   try{
+    if(typeof event.data==='string'){
+     const metadata=JSON.parse(event.data);
+     if(metadata.type!=='camera-ready'||typeof metadata.mime!=='string')throw new Error('Invalid camera metadata');
+     decoder.open(metadata.mime);
+    }else if(event.data instanceof ArrayBuffer)cameraFrames.push(event.data);
+   }catch{cameraFail();}
+  };
+  const run=async()=>{
+   const {viewer,mount}=await host.ready;if(!active)return;
+   await viewer.start(null,mount,{width:'100%',height:'100%',hide_welcome_screen:true,enable_history:false});if(!active)return;
+   for(const panel of ['top','blueprint','selection','time'] as const)viewer.override_panel_state(panel,'hidden');
+   const channel=viewer.open_channel('live-acquisition:'+device.snapshot.context.session_id);viewClose=()=>channel.close();
+   rrdFrames=previewFrames(payload=>{assertRrd(payload);if(!channel.ready)throw new Error('Viewer unavailable');channel.send_rrd(payload);});
+   rrd.onmessage=event=>{if(active&&event.data instanceof ArrayBuffer)try{rrdFrames!.push(event.data);}catch{fail();}};
+   follow=setInterval(()=>{
+    if(!active||failed)return;
+    try{const id=viewer.get_active_recording_id();if(!id)return;const range=viewer.get_time_range(id,'stream_time');if(range){
+     if(status.lidar!=='Лидар: данные поступают')update({lidar:'Лидар: данные поступают'});
+     viewer.set_active_timeline(id,'stream_time');viewer.set_playing(id,false);viewer.set_current_time(id,'stream_time',range.max);
+    }}catch{/* Native recording has not opened yet. */}
+   },250);
+   await pc.setLocalDescription(await pc.createOffer());
+   if(pc.iceGatheringState!=='complete')await new Promise<void>((resolve,reject)=>{
+    iceTimeout=setTimeout(()=>reject(new Error('ICE timeout')),8000);
+    pc.onicegatheringstatechange=()=>{if(pc.iceGatheringState==='complete'){clearTimeout(iceTimeout);resolve();}};
+   });
+   if(!active)return;
+   const answer=await perform<{peer_id:string;sdp:string;type:'answer';media_protocol:string}>(transport,device,'offer',{sdp:privateCandidate(pc.localDescription!.sdp)});
+   peerID=answer.peer_id;
+   if(!active){void perform(transport,device,'close-peer',{peer_id:peerID}).catch(()=>{});return;}
+   if(answer.media_protocol!==MEDIA_PROTOCOL){failed=true;clearInterval(follow);pc.close();update({lidar:'Для просмотра требуется обновление приложения на БК',camera:'Камера: ожидаем обновление',retry:false});return;}
+   pc.onconnectionstatechange=()=>{if(active&&['failed','closed'].includes(pc.connectionState))fail();};
+   await pc.setRemoteDescription({type:answer.type,sdp:answer.sdp});
+   keepalive=setInterval(()=>{for(const channel of [rrd,camera])if(channel.readyState==='open')channel.send('keepalive');},5000);
+  };
+  void run().catch(fail);
+  return()=>{
+   active=false;clearInterval(keepalive);clearInterval(follow);clearTimeout(iceTimeout);
+   rrd.onmessage=null;camera.onmessage=null;pc.onconnectionstatechange=null;pc.onicegatheringstatechange=null;pc.close();
+   rrdFrames?.close();cameraFrames.close();decoder.close();try{viewClose?.();}finally{host.dispose();}
+   if(peerID)void perform(transport,device,'close-peer',{peer_id:peerID}).catch(()=>{});
+  };
+ },[device.snapshot.context.session_id,transport,createRerunHost,onStatus,spatial,video,generation]);
+}

plugins/xgrids-k1/packaging/build_deb.py

@@ -22,7 +22,7 @@ from credential_install import PROFILE_ID, validate  # noqa: E402
 from debian import package  # noqa: E402
 from runtime_payload import files as runtime_files  # noqa: E402
 
-VERSION = "0.1.6"
+VERSION = "0.1.7"
 RESOURCES = (
     "plugins/xgrids-k1/profile_loader.py",
     "plugins/xgrids-k1/plugin.manifest.json",

plugins/xgrids-k1/packaging/mission-core-k1.service

@@ -16,6 +16,7 @@ RuntimeDirectoryMode=0750
 LoadCredentialEncrypted=k1-application
 UMask=0007
 Environment=OMP_NUM_THREADS=2 OPENBLAS_NUM_THREADS=2
+Environment=MISSIONCORE_FFMPEG_BINARY=/usr/bin/ffmpeg
 Restart=on-failure
 RestartSec=3
 NoNewPrivileges=yes