Add D455 sensor host and shared Node/Core preparation surface

2026-09-05 22:27:07 +03:00
parent 3616acc648
commit b1aaa40508
41 changed files with 2293 additions and 19 deletions
@@ -0,0 +1,40 @@
+export interface SensorProfile { id: string; sensor: number; stream: string; index: number; format: string; fps: number; width?: number; height?: number }
+export interface SensorOption { id: string; sensor: string; label: string; value: number; min: number; max: number; step: number; read_only: boolean }
+export interface Sensor {
+ id: string; name: string; model: string; prepared: boolean; verified: boolean; online: boolean; usb: string; firmware?: string;
+ snapshot: {context: {session_id: string; device: {device_id: string}; execution: {node_id: string}}; acquisition: string; enrollment: string; message?: string};
+ profiles?: SensorProfile[]; defaults?: string[]; options?: SensorOption[]; layers: string[];
+ frames?: Record<string,number>; last_frame?: {observed_at:string}; recording?: {id: string};
+ recordings?: {id:string;state:string;started_at:string;bytes?:number;sha256?:string}[];
+}
+export interface SensorInventory {
+ items: Sensor[]; operations: {operation_id:string;device_id:string;action_id:string;state:string;error?:string}[];
+ preparation?: {state:string;steps:{id:string;label:string;state:string;message?:string}[]};
+}
+export interface SensorCommand {
+ api_version: 'missioncore.nodedc/plugin-sdk/v0alpha2'; kind:'OperationRequest'; operation_id:string;
+ session: {session_id:string;device_id:string}; action_id:string; requested_at:string; deadline_at:string;
+ idempotency_key:string; parameters:Record<string,unknown>;
+}
+export interface SensorOperation {state:string;error?:string;result?:unknown}
+export interface SensorTransport {
+ inventory: () => Promise<SensorInventory>;
+ submit: (value:SensorCommand) => Promise<SensorOperation>;
+ operation: (id:string) => Promise<SensorOperation>;
+}
+export function command(device:Sensor,action:string,parameters:Record<string,unknown>={}):SensorCommand {
+ const id='op_'+crypto.randomUUID().replaceAll('-','');const now=Date.now();
+ return {api_version:'missioncore.nodedc/plugin-sdk/v0alpha2',kind:'OperationRequest',operation_id:id,idempotency_key:id,
+ session:{session_id:device.snapshot.context.session_id,device_id:device.id},action_id:action,
+ requested_at:new Date(now).toISOString(),deadline_at:new Date(now+(action==='prepare'?350000:60000)).toISOString(),parameters};
+}
+export async function perform<T>(transport:SensorTransport,device:Sensor,action:string,parameters:Record<string,unknown>={}):Promise<T>{
+ const request=command(device,action,parameters);let value=await transport.submit(request);
+ const deadline=Date.parse(request.deadline_at)+10000;
+ while (value.state==='running'||value.state==='queued') {
+  if(Date.now()>deadline) throw new Error('Подтверждение пока не получено. Обновите состояние устройства.');
+  await new Promise(resolve=>setTimeout(resolve,1000));value=await transport.operation(request.operation_id);
+ }
+ if(value.state!=='complete') throw new Error(value.error||'Операция не завершена. Обновите состояние устройства.');
+ return value.result as T;
+}