Fix onboard WebKit preview and archive board telemetry locally

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

@@ -0,0 +1,71 @@
+import {command, type Sensor, type SensorTransport} from '@mission-core/sensor-sdk';
+import {MEDIA_PROTOCOL} from './previewFrames';
+
+export interface PreviewChannel {
+ readyState:string;
+ onmessage:((event:{data:string|ArrayBuffer})=>void)|null;
+ onclose:(()=>void)|null;
+ send:(value:string)=>void;
+ close:()=>void;
+}
+
+class LocalChannel extends EventTarget implements PreviewChannel {
+ readyState='open';
+ onmessage:PreviewChannel['onmessage']=null;
+ onclose:PreviewChannel['onclose']=null;
+ constructor(private acknowledge:(value:string)=>void){
+  super();
+  this.addEventListener('message',event=>this.onmessage?.({data:(event as MessageEvent).data}));
+  this.addEventListener('close',()=>this.onclose?.());
+ }
+ send(value:string){this.acknowledge(value);}
+ close(){this.readyState='closed';}
+ receive(data:string|ArrayBuffer){if(this.readyState==='open')this.dispatchEvent(new MessageEvent('message',{data}));}
+ ended(){this.close();this.dispatchEvent(new Event('close'));}
+}
+
+/** Framing may split at any TCP boundary. Only complete bounded messages leave. */
+export function localPreviewFrames(receive:(kind:number,payload:Uint8Array)=>void) {
+ let pending=new Uint8Array(0);
+ return (input:Uint8Array)=>{
+  const joined=new Uint8Array(pending.length+input.length);joined.set(pending);joined.set(input,pending.length);
+  let offset=0;
+  while(joined.length-offset>=5){
+   const kind=joined[offset], length=new DataView(joined.buffer,joined.byteOffset+offset+1,4).getUint32(0);
+   if(kind>6||length>32768)throw new Error('Invalid local preview frame');
+   if(joined.length-offset<5+length)break;
+   receive(kind,joined.slice(offset+5,offset+5+length));offset+=5+length;
+  }
+  pending=joined.slice(offset);
+ };
+}
+
+/** Bounded completed responses work in the onboard WebKitGTK carrier. */
+export function localPreview(device:Sensor,transport:SensorTransport,parameters:Record<string,unknown>,failed:()=>void) {
+ const carrier=transport.localPreview!;
+ const abort=new AbortController();let peer='',after=Number(parameters.after)||0;
+ const makeChannel=()=>new LocalChannel(value=>{if(value==='keepalive')return;const message=JSON.parse(value);if(!Number.isSafeInteger(message.ack)||message.ack<after)throw new Error('Invalid ACK');after=message.ack;});
+ const rrd=makeChannel(),camera=makeChannel();
+ const close=()=>{if(abort.signal.aborted)return;abort.abort();rrd.close();camera.close();if(peer)void transport.submit(command(device,'close-peer',{peer_id:peer})).catch(()=>{});};
+ const start=async()=>{
+  let response=await carrier.open(command(device,'offer',parameters),abort.signal);
+  const text=new TextDecoder();
+  const parse=localPreviewFrames((kind,payload)=>{
+   if(kind===0){const hello=JSON.parse(text.decode(payload));if(peer||hello.media_protocol!==MEDIA_PROTOCOL||!/^peer_[0-9a-f]{32}$/.test(hello.peer_id))throw new Error('Invalid local preview');peer=hello.peer_id;return;}
+   if(!peer)throw new Error('Missing preview admission');
+   const channel=kind<=2||kind===6?rrd:camera;
+   if(kind>=5){channel.ended();return;}
+   channel.receive(kind%2?text.decode(payload):payload.buffer as ArrayBuffer);
+  });
+  while(!abort.signal.aborted){
+   if(!response.ok)throw new Error('Local preview unavailable');
+   const bytes=await response.arrayBuffer();
+   if(bytes.byteLength>196608)throw new Error('Local preview budget');
+   if(abort.signal.aborted)return;
+   parse(new Uint8Array(bytes));
+   if(!peer)throw new Error('Missing preview admission');
+   if(!abort.signal.aborted)response=await carrier.read(peer,after,abort.signal);
+  }
+ };
+ return {rrd,camera,start:async()=>{try{await start();}catch(error){if(!abort.signal.aborted)failed();throw error;}},close};
+}

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

@@ -4,6 +4,7 @@ import { perform, type Sensor, type SensorTransport } from './runtime';
 import { MEDIA_PROTOCOL, previewFrames, previewRecording } from './previewFrames';
 import { previewCamera } from './previewCamera';
 import { previewFreshness } from './previewFreshness';
+import {localPreview, type PreviewChannel} from './localPreview';
 export type PreviewStatus = {
     lidar: string;
     camera: string;
@@ -76,13 +77,28 @@ export function useK1Preview(device: Sensor, transport: SensorTransport, createR
             }
         } };
         const viewer = native, freshness = previewFreshness();
-        const pc = new RTCPeerConnection({ iceServers: [] });
-        const rrd = pc.createDataChannel('rrd', { ordered: true }), camera = pc.createDataChannel('camera', { ordered: true });
-        rrd.binaryType = 'arraybuffer';
-        camera.binaryType = 'arraybuffer';
+        if (!transport.localPreview && typeof RTCPeerConnection !== 'function') {
+            update({lidar:'Этот браузер не поддерживает просмотр. Откройте сцену в Mission Core.',camera:'Просмотр недоступен',retry:false});
+            return;
+        }
+        let pc:RTCPeerConnection|null=null;
+        try {if(!transport.localPreview)pc=new RTCPeerConnection({iceServers:[]});}
+        catch {update({lidar:'Не удалось открыть канал просмотра',retry:false});return;}
+        const local=transport.localPreview?localPreview(device,transport,{acquisition_id:device.control?.acquisition_id,view_id:view.id,after:view.recording.after},()=>fail()):null;
+        let rrd:PreviewChannel|RTCDataChannel, camera:PreviewChannel|RTCDataChannel;
+        try {
+            rrd = local?.rrd ?? pc!.createDataChannel('rrd', { ordered: true });
+            camera = local?.camera ?? pc!.createDataChannel('camera', { ordered: true });
+        } catch {
+            local?.close();pc?.close();
+            update({lidar:'Не удалось открыть канал просмотра',camera:'Просмотр недоступен',retry:false});return;
+        }
+        if('binaryType' in rrd)rrd.binaryType = 'arraybuffer';
+        if('binaryType' in camera)camera.binaryType = 'arraybuffer';
+        const closeConnection=()=>{local?.close();pc?.close();};
         const {channel, previousRecording} = view;
         const fail = () => { if (!active || failed)
-            return; failed = true; update({ lidar: 'Лидар: восстанавливаем связь', camera: 'Камера: ожидаем соединение', retry: true, presented: false, cameraPresented: false }); clearInterval(follow); clearInterval(keepalive); pc.close(); };
+            return; failed = true; update({ lidar: 'Лидар: восстанавливаем связь', camera: 'Камера: ожидаем соединение', retry: true, presented: false, cameraPresented: false }); clearInterval(follow); clearInterval(keepalive); closeConnection(); };
         let cameraDecoded = false, cameraFailed = false, lastVideoTime = -1, lastVideoProgress = 0, seenLidar = false;
         const cameraFail = () => { cameraFailed = true; update({ camera: 'Камера: изображение недоступно', cameraPresented: false }); camera.close(); };
         let decoder = previewCamera(video.current!, () => { cameraDecoded = true; lastVideoProgress = performance.now(); }, cameraFail);
@@ -101,7 +117,7 @@ export function useK1Preview(device: Sensor, transport: SensorTransport, createR
             fail(); };
         camera.onclose = () => { if (active && !failed)
             cameraFail(); };
-        rrd.onmessage = event => {
+        rrd.onmessage = (event:{data:string|ArrayBuffer}) => {
             if (!active)
                 return;
             try {
@@ -110,7 +126,7 @@ export function useK1Preview(device: Sensor, transport: SensorTransport, createR
                     if (value.type === 'preview-unavailable' && value.code === 'resume-expired') {
                         failed = true; clearInterval(follow); clearInterval(keepalive);
                         update({retry:false, presented:false, cameraPresented:false, lidar:'Сессия просмотра истекла. Закройте и откройте пространственную сцену.'});
-                        pc.close(); return;
+                        closeConnection(); return;
                     }
                     if (batch || value.type !== 'rrd-batch' || !Number.isSafeInteger(value.sequence) || value.sequence < 1 || !value.lidar)
                         throw new Error('Invalid RRD batch');
@@ -123,7 +139,7 @@ export function useK1Preview(device: Sensor, transport: SensorTransport, createR
                 fail();
             }
         };
-        camera.onmessage = event => {
+        camera.onmessage = (event:{data:string|ArrayBuffer}) => {
             if (!active || failed)
                 return;
             try {
@@ -176,11 +192,13 @@ export function useK1Preview(device: Sensor, transport: SensorTransport, createR
                     lidar: presented ? 'Лидар: данные поступают' : seenLidar ? 'Лидар: нет свежих данных' : 'Лидар: ожидаем данные',
                     camera: cameraFailed ? 'Камера: изображение недоступно' : cameraPresented ? 'Камера: изображение поступает' : cameraDecoded ? 'Камера: нет свежих кадров' : 'Камера: ожидаем изображение' });
             }, 250);
+            if(local){await local.start();return;}
+            if(!pc)return;
             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') {
+                    pc.onicegatheringstatechange = () => { if (pc?.iceGatheringState === 'complete') {
                         clearTimeout(iceTimeout);
                         resolve();
                     } };
@@ -201,11 +219,11 @@ export function useK1Preview(device: Sensor, transport: SensorTransport, createR
             if (answer.media_protocol !== MEDIA_PROTOCOL) {
                 failed = true;
                 clearInterval(follow);
-                pc.close();
+                closeConnection();
                 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))
+            pc.onconnectionstatechange = () => { if (active && ['failed', 'closed'].includes(pc?.connectionState ?? 'closed'))
                 fail(); };
             await pc.setRemoteDescription({ type: answer.type, sdp: answer.sdp });
             keepalive = setInterval(() => { for (const c of [rrd, camera])
@@ -222,9 +240,8 @@ export function useK1Preview(device: Sensor, transport: SensorTransport, createR
             camera.onmessage = null;
             camera.onclose = null;
             rrd.onclose = null;
-            pc.onconnectionstatechange = null;
-            pc.onicegatheringstatechange = null;
-            pc.close();
+            if(pc){pc.onconnectionstatechange = null;pc.onicegatheringstatechange = null;}
+            closeConnection();
             rrdFrames.close();
             cameraFrames.close();
             decoder.close();

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 = "0.1.13"
+VERSION = "0.1.14"
 RESOURCES = (
     "plugins/xgrids-k1/profile_loader.py",
     "plugins/xgrids-k1/plugin.manifest.json",

plugins/xgrids-k1/packaging/runtime-files.json

@@ -79,6 +79,7 @@
     "src/k1link/viewer/__init__.py",
     "src/k1link/viewer/metrics.py",
     "src/k1link/viewer/node_media.py",
+    "src/k1link/viewer/node_local_media.py",
     "src/k1link/viewer/node_rerun.py",
     "src/k1link/viewer/recorded.py",
     "src/k1link/viewer/recorded_blueprint_lifecycle.py",