feat: 机械臂提示
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@ -1,4 +1,8 @@
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import { throttle } from 'lodash';
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const MEDIA_HEADER_SIZE = 26;
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const MEDIA_MAGIC = [0x43, 0x4d, 0x56, 0x46]; // CMVF
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const MEDIA_MIME_TYPES = {
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1: 'video/mp4; codecs="avc1.42C01E"'
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};
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class WebSocketManager {
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constructor(url, userId) {
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@ -10,7 +14,8 @@ class WebSocketManager {
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this.heartbeatTimer = null;
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this.isManualClose = false;
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this.messageQueue = [];
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this.maxQueueSize = 1;
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this.processingMessages = false;
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this.maxQueueSize = 100;
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this.status = false;
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}
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@ -28,21 +33,28 @@ class WebSocketManager {
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this.status = true;
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this.startHeartbeat();
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this.processMessageQueue();
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this.dispatch('open');
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};
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this.ws.onmessage = (event) => {
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if (this.messageQueue.length < this.maxQueueSize) {
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this.messageQueue.push(event);
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this.processMessageQueue();
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} else {
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console.warn('消息队列已满，丢弃消息');
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this.ws.onmessage = async (event) => {
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const data = event.data instanceof Blob ? await event.data.arrayBuffer() : event.data;
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if (data instanceof ArrayBuffer && this.isMediaPacket(data)) {
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this.dispatchMediaPacket(data);
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return;
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}
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if (this.messageQueue.length >= this.maxQueueSize) {
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console.warn('WebSocket控制消息队列已满，丢弃最旧消息');
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this.messageQueue.shift();
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}
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this.messageQueue.push(data);
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this.processMessageQueue();
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};
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this.ws.onclose = () => {
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console.log('WebSocket 断开');
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this.status = false;
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this.stopHeartbeat();
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this.dispatch('close');
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if (!this.isManualClose) {
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this.reconnect();
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}
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@ -53,65 +65,80 @@ class WebSocketManager {
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};
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}
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async processMessageQueue() {
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if (!this.ws || this.messageQueue.length === 0) return;
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isMediaPacket(buffer) {
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if (buffer.byteLength < MEDIA_HEADER_SIZE) return false;
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const bytes = new Uint8Array(buffer, 0, MEDIA_MAGIC.length);
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return MEDIA_MAGIC.every((value, index) => bytes[index] === value);
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}
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const event = this.messageQueue.shift();
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dispatchMediaPacket(buffer) {
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try {
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// 处理消息数据
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console.log('收到消息数据类型:', event.data.constructor.name);
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let compressedData;
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const view = new DataView(buffer);
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const version = view.getUint8(4);
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const mediaType = view.getUint8(5);
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const timestamp = view.getUint32(8) * 0x100000000 + view.getUint32(12);
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const sequence = view.getUint32(16);
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const channelLength = view.getUint16(20);
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const payloadLength = view.getUint32(22);
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const payloadOffset = MEDIA_HEADER_SIZE + channelLength;
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if (version !== 1 || payloadOffset + payloadLength !== buffer.byteLength) {
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throw new Error('媒体数据包头无效');
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}
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const channel = new TextDecoder().decode(new Uint8Array(buffer, MEDIA_HEADER_SIZE, channelLength));
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const mimeType = MEDIA_MIME_TYPES[mediaType];
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if (!mimeType) {
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throw new Error(`不支持的媒体类型: ${mediaType}`);
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}
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this.dispatch(channel, {
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media: true,
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mimeType,
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sequence,
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timestamp,
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data: buffer.slice(payloadOffset, payloadOffset + payloadLength)
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});
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} catch (error) {
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console.error('WebSocket媒体包解析失败:', error);
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}
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}
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// 处理 Blob 或 ArrayBuffer
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if (event.data instanceof Blob) {
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console.log('处理 Blob 数据，大小:', event.data.size);
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compressedData = new Uint8Array(await event.data.arrayBuffer());
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} else if (event.data instanceof ArrayBuffer) {
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console.log('处理 ArrayBuffer 数据，大小:', event.data.byteLength);
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compressedData = new Uint8Array(event.data);
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async processMessageQueue() {
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if (this.processingMessages || !this.ws) return;
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this.processingMessages = true;
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try {
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while (this.messageQueue.length > 0) {
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const data = this.messageQueue.shift();
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let message;
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if (typeof data === 'string') {
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message = JSON.parse(data);
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} else if (data instanceof ArrayBuffer) {
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const decompressedStream = new Blob([data])
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.stream()
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.pipeThrough(new DecompressionStream('gzip'));
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const decompressedData = await new Response(decompressedStream).arrayBuffer();
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message = JSON.parse(new TextDecoder().decode(decompressedData));
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} else {
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throw new Error('不支持的数据类型: ' + event.data.constructor.name);
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throw new Error(`不支持的WebSocket数据类型: ${typeof data}`);
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}
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// 使用 DecompressionStream 解压 GZIP 数据
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const decompressionStream = new DecompressionStream('gzip');
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const writer = decompressionStream.writable.getWriter();
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writer.write(compressedData);
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writer.close();
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const decompressedStream = decompressionStream.readable;
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const reader = decompressedStream.getReader();
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let decompressedData = new Uint8Array(0);
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while (true) {
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const { done, value } = await reader.read();
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if (done) break;
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const newData = new Uint8Array(decompressedData.length + value.length);
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newData.set(decompressedData);
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newData.set(value, decompressedData.length);
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decompressedData = newData;
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if (message.channel) {
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this.dispatch(message.channel, message.payload);
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} else if (message.type) {
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this.dispatch(message.type, message.payload ?? message.content ?? message);
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}
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// 将解压后的数据转换为字符串
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const textDecoder = new TextDecoder();
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const decompressedString = textDecoder.decode(decompressedData);
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console.log('解压后的数据:', JSON.parse(decompressedString));
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// 解析 JSON
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const { type, channel, payload,timestamp } = JSON.parse(decompressedString);
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console.log('后端到前端延迟:', ((new Date()).getTime() - timestamp));
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if (channel && this.events[channel]) {
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this.events[channel].forEach(callback => callback(payload));
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} else if (type && this.events[type]) {
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this.events[type].forEach(callback => callback(payload));
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}
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setTimeout(() => this.processMessageQueue(), 0);
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} catch (err) {
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console.error('WebSocket 消息解析失败:', err);
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console.error('错误堆栈:', err.stack);
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console.error('原始数据类型:', event.data.constructor.name);
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console.error('原始数据大小:', event.data instanceof Blob ? event.data.size : event.data.byteLength || '未知');
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console.error('WebSocket消息解析失败:', err);
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} finally {
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this.processingMessages = false;
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if (this.messageQueue.length > 0) {
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queueMicrotask(() => this.processMessageQueue());
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}
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}
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}
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dispatch(eventName, payload) {
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const callbacks = this.events[eventName];
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if (callbacks) {
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callbacks.slice().forEach(callback => callback(payload));
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}
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}
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@ -14,30 +14,20 @@
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</div>
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</el-col>
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<el-col :span="20" class="video-panel" v-if="form.stereoModule || form.rgbCamera">
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<div v-if="form.stereoModule && form.rgbCamera" class="stream-container">
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<div class="stream-item">
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<div class="stream-container" :class="{ dual: form.stereoModule && form.rgbCamera }">
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<div v-show="form.stereoModule" class="stream-item">
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<div class="stream-wrapper">
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<video ref="depthVideo" autoplay muted playsinline></video>
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<video ref="depthVideoBuffer" autoplay muted playsinline style="display: none;"></video>
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<span class="stream-state">{{ statusText(streamStatus.getDepthImageStream) }}</span>
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</div>
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</div>
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<div class="stream-item">
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<div v-show="form.rgbCamera" class="stream-item">
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<div class="stream-wrapper">
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<video ref="colorVideo" autoplay muted playsinline></video>
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<video ref="colorVideoBuffer" autoplay muted playsinline style="display: none;"></video>
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<span class="stream-state">{{ statusText(streamStatus.getRGBImageStream) }}</span>
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</div>
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</div>
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</div>
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<div v-else class="single-stream-container">
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<div v-if="form.stereoModule" class="stream-wrapper">
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<video ref="depthVideo" width="640" height="480" autoplay muted playsinline></video>
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<video ref="depthVideoBuffer" width="640" height="480" autoplay muted playsinline style="display: none;"></video>
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</div>
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<div v-if="form.rgbCamera" class="stream-wrapper">
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<video ref="colorVideo" width="640" height="480" autoplay muted playsinline></video>
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<video ref="colorVideoBuffer" width="640" height="480" autoplay muted playsinline style="display: none;"></video>
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</div>
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</div>
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</el-col>
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<el-col v-else :span="20" style="align-self: center;">
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<el-empty description="请选择模式" />
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@ -47,18 +37,17 @@
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</template>
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<script setup>
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import { inject, reactive, toRefs, watch, onMounted, onUnmounted, ref, nextTick } from 'vue';
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import { inject, reactive, toRefs, watch, onUnmounted, ref, nextTick } from 'vue';
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import { getRegister } from "@/api/device/register";
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import { getRgbStreamUrl } from "@/api/device/camera";
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import { useRoute } from "vue-router";
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import { debounce } from 'lodash'; // 引入 lodash 的防抖函数
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// 1. 定义 props
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const props = defineProps({
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initialDeviceId: { // 示例 prop，用于从弹窗接收cameraId
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initialDeviceId: {
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type: String,
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default: null,
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},
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initialTerminalId: { // 示例 prop，用于从弹窗接收 terminalId
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initialTerminalId: {
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type: String,
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default: null,
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},
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@ -78,175 +67,402 @@ const data = reactive({
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});
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const { form } = toRefs(data);
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const depthVideo = ref(null);
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const depthVideoBuffer = ref(null);
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const colorVideo = ref(null);
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const colorVideoBuffer = ref(null);
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const blobUrls = ref([]);
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const frameData = reactive({
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getRGBImageStream: { count: 0, lastTime: 0 },
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getDepthImageStream: { count: 0, lastTime: 0 },
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const streamStatus = reactive({
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getRGBImageStream: 'idle',
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getDepthImageStream: 'idle',
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});
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const mediaPlayers = new Map();
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const retryTimers = new Map();
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let rgbStreamGeneration = 0;
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let rgbStreamRetryTimer = null;
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let rgbStreamAbortController = null;
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const MAX_QUEUE_BYTES = 2 * 1024 * 1024;
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const STARTUP_BUFFER_SECONDS = 0.35;
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const TARGET_LIVE_LATENCY_SECONDS = 0.45;
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const MAX_PLAYED_BUFFER_SECONDS = 2;
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const PLAYBACK_SYNC_INTERVAL_MS = 200;
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function renderVideo(mainRef, bufferRef, data, channel, imageType) {
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const mainVideo = mainRef.value;
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const bufferVideo = bufferRef.value;
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if (!mainVideo || !bufferVideo) {
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console.error(`视频元素未找到 (${imageType}): 通道: ${channel}`);
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return;
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}
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const statusText = (status) => ({
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connecting: '连接中',
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live: '实时',
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retrying: '重连中',
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error: '播放异常',
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}[status] || '未连接');
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const start = performance.now();
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function getVideoRef(method) {
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return method === 'getRGBImageStream' ? colorVideo : depthVideo;
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}
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async function startDirectRgbStream() {
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if (!data.terminalId || !data.cameraId || !colorVideo.value) return;
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rgbStreamAbortController?.abort();
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rgbStreamAbortController = null;
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const generation = ++rgbStreamGeneration;
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clearTimeout(rgbStreamRetryTimer);
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rgbStreamRetryTimer = null;
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streamStatus.getRGBImageStream = 'connecting';
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try {
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if (typeof data === 'string') {
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const newSrc = data.startsWith('blob:') ? data : `data:video/mp4;base64,${data}`;
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// 先加载到缓冲视频元素
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bufferVideo.src = newSrc;
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bufferVideo.onloadeddata = () => {
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// 缓冲视频加载完成后，切换到主视频
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if (mainVideo.src && mainVideo.src.startsWith('blob:')) {
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URL.revokeObjectURL(mainVideo.src);
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blobUrls.value = blobUrls.value.filter(url => url !== mainVideo.src);
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const response = await getRgbStreamUrl(data.terminalId, data.cameraId);
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if (generation !== rgbStreamGeneration || !data.form.rgbCamera) return;
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const relativeUrl = response.data;
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const baseUrl = import.meta.env.VITE_APP_BASE_API.replace(/\/$/, '');
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const video = colorVideo.value;
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if (!video) return;
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const player = createMediaPlayer(
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'getRGBImageStream',
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video,
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'video/mp4; codecs="avc1.42C01E"'
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);
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rgbStreamAbortController = new AbortController();
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consumeDirectRgbStream(
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`${baseUrl}${relativeUrl}`,
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generation,
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player,
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rgbStreamAbortController.signal
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);
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} catch (error) {
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if (generation === rgbStreamGeneration && data.form.rgbCamera) {
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console.error('Failed to open the direct RGB video stream:', error);
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scheduleDirectRgbRestart();
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}
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mainVideo.src = bufferVideo.src;
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blobUrls.value.push(newSrc);
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bufferVideo.src = ''; // 清空缓冲视频源
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};
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frameData[imageType].count++;
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const currentTime = performance.now();
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if (frameData[imageType].lastTime && currentTime - frameData[imageType].lastTime >= 1000) {
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const fps = frameData[imageType].count * 1000 / (currentTime - frameData[imageType].lastTime);
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console.log(`渲染帧率 (${imageType}): ${fps.toFixed(2)} fps, 通道: ${channel}`);
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frameData[imageType].count = 0;
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frameData[imageType].lastTime = currentTime;
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} else if (!frameData[imageType].lastTime) {
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frameData[imageType].lastTime = currentTime;
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}
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console.log(`视频渲染耗时 (${imageType}): ${performance.now() - start}ms, 通道: ${channel}`);
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if (performance.memory) {
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console.log('当前内存使用:', {
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usedJSHeapSize: (performance.memory.usedJSHeapSize / 1024 / 1024).toFixed(2) + ' MB',
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totalJSHeapSize: (performance.memory.totalJSHeapSize / 1024 / 1024).toFixed(2) + ' MB',
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});
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}
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} else {
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console.error(`未知 payload 类型 (${imageType}):`, typeof data, '通道:', channel);
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}
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} catch (err) {
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console.error(`视频渲染失败 (${imageType}):`, err, '通道:', channel);
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}
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}
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// 防抖订阅函数
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const subscribeDebounced = debounce(async (sub, terminalId, method) => {
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if (!socket || !terminalId || !data.cameraId) {
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console.warn(`订阅失败: socket=${!!socket}, terminalId=${terminalId}, cameraId=${data.cameraId}, method=${method}`);
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async function consumeDirectRgbStream(url, generation, player, signal) {
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try {
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const response = await fetch(url, { signal, cache: 'no-store' });
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if (!response.ok || !response.body) {
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throw new Error(`RGB video stream request failed: HTTP ${response.status}`);
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}
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const reader = response.body.getReader();
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while (generation === rgbStreamGeneration && data.form.rgbCamera) {
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const { done, value } = await reader.read();
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if (done) break;
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if (!value?.byteLength || player.destroyed) continue;
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const chunk = value.buffer.slice(value.byteOffset, value.byteOffset + value.byteLength);
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player.queue.push(chunk);
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player.queueBytes += chunk.byteLength;
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if (player.queueBytes > MAX_QUEUE_BYTES) {
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throw new Error(`RGB video stream queue exceeded ${MAX_QUEUE_BYTES} bytes`);
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}
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pumpMediaQueue(player);
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}
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if (!signal.aborted && generation === rgbStreamGeneration && data.form.rgbCamera) {
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scheduleDirectRgbRestart();
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}
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} catch (error) {
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if (error?.name !== 'AbortError' && generation === rgbStreamGeneration && data.form.rgbCamera) {
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console.error('Direct RGB video stream interrupted:', error);
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scheduleDirectRgbRestart();
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}
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}
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}
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function stopDirectRgbStream() {
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rgbStreamGeneration++;
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clearTimeout(rgbStreamRetryTimer);
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rgbStreamRetryTimer = null;
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rgbStreamAbortController?.abort();
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rgbStreamAbortController = null;
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destroyMediaPlayer('getRGBImageStream');
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streamStatus.getRGBImageStream = 'idle';
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}
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function scheduleDirectRgbRestart() {
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if (rgbStreamRetryTimer || !data.form.rgbCamera) return;
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rgbStreamAbortController?.abort();
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rgbStreamAbortController = null;
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destroyMediaPlayer('getRGBImageStream');
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streamStatus.getRGBImageStream = 'retrying';
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rgbStreamRetryTimer = setTimeout(() => {
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rgbStreamRetryTimer = null;
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startDirectRgbStream();
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}, 1000);
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}
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function createMediaPlayer(method, video, mimeType) {
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if (!window.MediaSource || !MediaSource.isTypeSupported(mimeType)) {
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streamStatus[method] = 'error';
|
||||
throw new Error(`浏览器不支持媒体格式: ${mimeType}`);
|
||||
}
|
||||
|
||||
destroyMediaPlayer(method);
|
||||
const mediaSource = new MediaSource();
|
||||
const objectUrl = URL.createObjectURL(mediaSource);
|
||||
const state = {
|
||||
method,
|
||||
video,
|
||||
mimeType,
|
||||
mediaSource,
|
||||
sourceBuffer: null,
|
||||
objectUrl,
|
||||
queue: [],
|
||||
queueBytes: 0,
|
||||
lastSequence: 0,
|
||||
started: false,
|
||||
syncTimer: null,
|
||||
destroyed: false,
|
||||
};
|
||||
mediaPlayers.set(method, state);
|
||||
video.src = objectUrl;
|
||||
|
||||
mediaSource.addEventListener('sourceopen', () => {
|
||||
if (state.destroyed || state.sourceBuffer) return;
|
||||
try {
|
||||
const sourceBuffer = mediaSource.addSourceBuffer(mimeType);
|
||||
state.sourceBuffer = sourceBuffer;
|
||||
sourceBuffer.addEventListener('updateend', () => pumpMediaQueue(state));
|
||||
sourceBuffer.addEventListener('error', () => restartMediaStream(method));
|
||||
state.syncTimer = window.setInterval(() => maintainLivePlayback(state), PLAYBACK_SYNC_INTERVAL_MS);
|
||||
pumpMediaQueue(state);
|
||||
} catch (error) {
|
||||
console.error('创建视频缓冲区失败:', error);
|
||||
restartMediaStream(method);
|
||||
}
|
||||
}, { once: true });
|
||||
return state;
|
||||
}
|
||||
|
||||
function appendMediaPacket(method, packet) {
|
||||
const video = getVideoRef(method).value;
|
||||
if (!video) return;
|
||||
let state = mediaPlayers.get(method);
|
||||
if (!state || state.mimeType !== packet.mimeType || state.video !== video) {
|
||||
state = createMediaPlayer(method, video, packet.mimeType);
|
||||
}
|
||||
if (state.lastSequence && packet.sequence !== state.lastSequence + 1) {
|
||||
console.warn(`视频片段序号中断: ${state.lastSequence} -> ${packet.sequence}`);
|
||||
scheduleRestart(method);
|
||||
return;
|
||||
}
|
||||
const channel = `edgeCameraServiceImpl/${method}/${terminalId}/${data.cameraId}`;
|
||||
console.log(sub ? '订阅' : '取消订阅', channel);
|
||||
socket.send({
|
||||
type: 'channel_subscription',
|
||||
action: sub ? 'subscribe' : 'unsubscribe',
|
||||
channel,
|
||||
});
|
||||
|
||||
if (sub) {
|
||||
await nextTick();
|
||||
const mainRef = method === 'getRGBImageStream' ? colorVideo : depthVideo;
|
||||
const bufferRef = method === 'getRGBImageStream' ? colorVideoBuffer : depthVideoBuffer;
|
||||
if (!mainRef.value || !bufferRef.value) {
|
||||
console.error(`视频元素未找到: ${method}, 通道: ${channel}`);
|
||||
state.lastSequence = packet.sequence;
|
||||
state.queue.push(packet.data);
|
||||
state.queueBytes += packet.data.byteLength;
|
||||
if (state.queueBytes > MAX_QUEUE_BYTES) {
|
||||
console.warn(`视频缓冲积压超过${MAX_QUEUE_BYTES / 1024 / 1024}MB，重新建立实时流`);
|
||||
scheduleRestart(method);
|
||||
return;
|
||||
}
|
||||
pumpMediaQueue(state);
|
||||
}
|
||||
|
||||
// 清理旧回调
|
||||
if (data.callbacks[channel]) {
|
||||
socket.off(channel, data.callbacks[channel]);
|
||||
console.log('清理旧回调:', channel);
|
||||
function pumpMediaQueue(state) {
|
||||
const sourceBuffer = state.sourceBuffer;
|
||||
if (state.destroyed || !sourceBuffer || sourceBuffer.updating) return;
|
||||
try {
|
||||
maintainLivePlayback(state);
|
||||
const buffered = sourceBuffer.buffered;
|
||||
if (buffered.length > 0 && state.started) {
|
||||
const oldestBufferedTime = buffered.start(0);
|
||||
const removeEnd = state.video.currentTime - 1;
|
||||
if (removeEnd - oldestBufferedTime > MAX_PLAYED_BUFFER_SECONDS) {
|
||||
sourceBuffer.remove(oldestBufferedTime, removeEnd);
|
||||
return;
|
||||
}
|
||||
}
|
||||
if (state.queue.length === 0) return;
|
||||
const chunk = state.queue.shift();
|
||||
state.queueBytes -= chunk.byteLength;
|
||||
sourceBuffer.appendBuffer(chunk);
|
||||
streamStatus[state.method] = 'live';
|
||||
} catch (error) {
|
||||
console.error('追加视频片段失败:', error);
|
||||
restartMediaStream(state.method);
|
||||
}
|
||||
}
|
||||
|
||||
const callback = (data) => {
|
||||
if (data !== '500') {
|
||||
requestAnimationFrame(() => renderVideo(mainRef, bufferRef, data, channel, method));
|
||||
function restartMediaStream(method) {
|
||||
if (method === 'getRGBImageStream') {
|
||||
scheduleDirectRgbRestart();
|
||||
} else {
|
||||
// 错误处理：取消订阅后重新订阅
|
||||
subscribeDebounced(false, terminalId, method);
|
||||
subscribeDebounced(true, terminalId, method);
|
||||
scheduleRestart(method);
|
||||
}
|
||||
}
|
||||
|
||||
function maintainLivePlayback(state) {
|
||||
const { sourceBuffer, video } = state;
|
||||
if (state.destroyed || !sourceBuffer || sourceBuffer.updating || sourceBuffer.buffered.length === 0) return;
|
||||
|
||||
const buffered = sourceBuffer.buffered;
|
||||
const rangeIndex = buffered.length - 1;
|
||||
const liveStart = buffered.start(rangeIndex);
|
||||
const liveEnd = buffered.end(rangeIndex);
|
||||
const bufferedDuration = liveEnd - liveStart;
|
||||
|
||||
if (!state.started) {
|
||||
if (bufferedDuration < STARTUP_BUFFER_SECONDS) return;
|
||||
video.currentTime = Math.max(liveStart, liveEnd - TARGET_LIVE_LATENCY_SECONDS);
|
||||
video.playbackRate = 1;
|
||||
state.started = true;
|
||||
video.play().catch(() => {});
|
||||
return;
|
||||
}
|
||||
|
||||
if (video.paused) {
|
||||
video.play().catch(() => {});
|
||||
}
|
||||
if (video.seeking) return;
|
||||
|
||||
const latency = liveEnd - video.currentTime;
|
||||
let playbackRate = 1;
|
||||
if (latency > 1.4) {
|
||||
playbackRate = 1.2;
|
||||
} else if (latency > 1) {
|
||||
playbackRate = 1.12;
|
||||
} else if (latency > 0.7) {
|
||||
playbackRate = 1.05;
|
||||
} else if (latency < 0.28) {
|
||||
playbackRate = 0.98;
|
||||
}
|
||||
if (Math.abs(video.playbackRate - playbackRate) > 0.001) {
|
||||
video.playbackRate = playbackRate;
|
||||
}
|
||||
}
|
||||
|
||||
function destroyMediaPlayer(method) {
|
||||
const state = mediaPlayers.get(method);
|
||||
if (!state) return;
|
||||
state.destroyed = true;
|
||||
state.queue = [];
|
||||
state.queueBytes = 0;
|
||||
if (state.syncTimer) {
|
||||
clearInterval(state.syncTimer);
|
||||
state.syncTimer = null;
|
||||
}
|
||||
const video = state.video;
|
||||
if (video) {
|
||||
video.playbackRate = 1;
|
||||
video.pause();
|
||||
video.removeAttribute('src');
|
||||
video.load();
|
||||
}
|
||||
URL.revokeObjectURL(state.objectUrl);
|
||||
mediaPlayers.delete(method);
|
||||
}
|
||||
|
||||
function channelFor(method) {
|
||||
return `edgeCameraServiceImpl/${method}/${data.terminalId}/${data.cameraId}`;
|
||||
}
|
||||
|
||||
async function setSubscription(enabled, method, force = false) {
|
||||
if (!socket || !data.terminalId || !data.cameraId) return;
|
||||
await nextTick();
|
||||
const channel = channelFor(method);
|
||||
|
||||
if (enabled) {
|
||||
if (data.callbacks[channel] && !force) return;
|
||||
streamStatus[method] = 'connecting';
|
||||
if (!data.callbacks[channel]) {
|
||||
const callback = (payload) => {
|
||||
if (payload?.media) {
|
||||
appendMediaPacket(method, payload);
|
||||
} else if (payload === '500') {
|
||||
scheduleRestart(method);
|
||||
}
|
||||
};
|
||||
// 先注册前端回调，再通知后端启动，避免丢失初始化片段。
|
||||
socket.on(channel, callback);
|
||||
data.callbacks[channel] = callback;
|
||||
console.log('注册新回调:', channel);
|
||||
}
|
||||
} else {
|
||||
clearTimeout(retryTimers.get(method));
|
||||
retryTimers.delete(method);
|
||||
}
|
||||
|
||||
socket.send({
|
||||
type: 'channel_subscription',
|
||||
action: enabled ? 'subscribe' : 'unsubscribe',
|
||||
channel,
|
||||
});
|
||||
if (!enabled) {
|
||||
if (data.callbacks[channel]) {
|
||||
socket.off(channel, data.callbacks[channel]);
|
||||
delete data.callbacks[channel];
|
||||
console.log('清理回调:', channel);
|
||||
}
|
||||
destroyMediaPlayer(method);
|
||||
streamStatus[method] = 'idle';
|
||||
}
|
||||
}, 300); // 300ms 防抖延迟
|
||||
}
|
||||
|
||||
function scheduleRestart(method) {
|
||||
if (retryTimers.has(method) || !data.form[method === 'getRGBImageStream' ? 'rgbCamera' : 'stereoModule']) return;
|
||||
streamStatus[method] = 'retrying';
|
||||
destroyMediaPlayer(method);
|
||||
const timer = setTimeout(async () => {
|
||||
retryTimers.delete(method);
|
||||
await setSubscription(false, method);
|
||||
await new Promise(resolve => setTimeout(resolve, 500));
|
||||
if (data.form[method === 'getRGBImageStream' ? 'rgbCamera' : 'stereoModule']) {
|
||||
await setSubscription(true, method);
|
||||
}
|
||||
}, 1000);
|
||||
retryTimers.set(method, timer);
|
||||
}
|
||||
|
||||
function handleSocketOpen() {
|
||||
if (data.form.stereoModule && data.terminalId && data.cameraId) {
|
||||
destroyMediaPlayer('getDepthImageStream');
|
||||
setSubscription(true, 'getDepthImageStream', true);
|
||||
}
|
||||
}
|
||||
|
||||
function handleSocketClose() {
|
||||
destroyMediaPlayer('getDepthImageStream');
|
||||
if (data.form.stereoModule) {
|
||||
streamStatus.getDepthImageStream = 'retrying';
|
||||
}
|
||||
}
|
||||
|
||||
socket?.on('open', handleSocketOpen);
|
||||
socket?.on('close', handleSocketClose);
|
||||
|
||||
// 监听开关变化
|
||||
watch(() => data.form.stereoModule, async (newVal) => {
|
||||
if (!data.terminalId || !data.cameraId) return;
|
||||
await nextTick();
|
||||
subscribeDebounced(newVal, data.terminalId, 'getDepthImageStream');
|
||||
await setSubscription(newVal, 'getDepthImageStream');
|
||||
});
|
||||
|
||||
watch(() => data.form.rgbCamera, async (newVal) => {
|
||||
if (!data.terminalId || !data.cameraId) return;
|
||||
if (newVal) {
|
||||
await nextTick();
|
||||
subscribeDebounced(newVal, data.terminalId, 'getRGBImageStream');
|
||||
});
|
||||
|
||||
// 2. 使用 watchEffect 来响应 props 和路由的变化
|
||||
watchEffect(() => {
|
||||
let deviceId = null;
|
||||
// 优先使用 props 中的值（如果弹窗传入了）
|
||||
if (props.initialDeviceId) {
|
||||
deviceId = props.initialDeviceId;
|
||||
await startDirectRgbStream();
|
||||
} else {
|
||||
stopDirectRgbStream();
|
||||
}
|
||||
// 如果 props 没有传入，再从路由获取（仅当cameraId和terminalId都还没设置时）
|
||||
// 注意：这里需要根据你实际从路由获取参数的逻辑来调整
|
||||
// 假设 route.path.split("/")[3] 是cameraId
|
||||
if (!props.initialDeviceId && route.path.split("/")[3]) {
|
||||
deviceId = route.path.split("/")[3];
|
||||
// 调用 getRegister 并设置 cameraId
|
||||
// 注意：这里的 getRegister 函数需要能够处理从路由获取的参数
|
||||
});
|
||||
|
||||
watch(
|
||||
() => props.initialDeviceId || route.path.split('/')[3],
|
||||
async (deviceId) => {
|
||||
if (!deviceId) return;
|
||||
try {
|
||||
const response = await getRegister(deviceId);
|
||||
data.cameraId = response.data.deviceCode;
|
||||
data.terminalId = props.initialTerminalId || response.data.idDeDeviceTerminalConfig;
|
||||
if (data.form.stereoModule) await setSubscription(true, 'getDepthImageStream');
|
||||
if (data.form.rgbCamera) await startDirectRgbStream();
|
||||
} catch (error) {
|
||||
console.error('获取摄像头注册信息失败:', error);
|
||||
}
|
||||
getRegister(deviceId).then(res => {
|
||||
data.cameraId = res.data.deviceCode;
|
||||
data.terminalId = res.data.idDeDeviceTerminalConfig;
|
||||
}).catch(error => {
|
||||
console.error("Error fetching register from route:", error);
|
||||
});
|
||||
|
||||
});
|
||||
|
||||
onMounted(() => {
|
||||
// getRegister(route.path.split("/")[3]).then(res => {
|
||||
// data.cameraId = res.data.deviceCode;
|
||||
// data.terminalId = res.data.idDeDeviceTerminalConfig;
|
||||
// });
|
||||
});
|
||||
},
|
||||
{ immediate: true }
|
||||
);
|
||||
|
||||
onUnmounted(() => {
|
||||
if (socket && data.terminalId && data.cameraId) {
|
||||
const channels = [
|
||||
`edgeCameraServiceImpl/getRGBImageStream/${data.terminalId}/${data.cameraId}`,
|
||||
`edgeCameraServiceImpl/getDepthImageStream/${data.terminalId}/${data.cameraId}`,
|
||||
];
|
||||
channels.forEach(channel => {
|
||||
socket.off(channel, data.callbacks[channel]);
|
||||
console.log('卸载时清理回调:', channel);
|
||||
socket?.off('open', handleSocketOpen);
|
||||
socket?.off('close', handleSocketClose);
|
||||
stopDirectRgbStream();
|
||||
['getDepthImageStream'].forEach(method => {
|
||||
clearTimeout(retryTimers.get(method));
|
||||
if (data.terminalId && data.cameraId) {
|
||||
const channel = channelFor(method);
|
||||
socket?.send({ type: 'channel_subscription', action: 'unsubscribe', channel });
|
||||
if (data.callbacks[channel]) socket.off(channel, data.callbacks[channel]);
|
||||
}
|
||||
destroyMediaPlayer(method);
|
||||
});
|
||||
data.callbacks = {};
|
||||
}
|
||||
blobUrls.value.forEach(url => URL.revokeObjectURL(url));
|
||||
blobUrls.value = [];
|
||||
});
|
||||
</script>
|
||||
|
||||
@ -276,34 +492,19 @@ onUnmounted(() => {
|
||||
flex-direction: column;
|
||||
flex-grow: 1;
|
||||
overflow: hidden;
|
||||
.single-stream-container {
|
||||
display: flex;
|
||||
flex-direction: column;
|
||||
justify-content: center;
|
||||
align-items: center;
|
||||
flex-grow: 1;
|
||||
.stream-wrapper {
|
||||
width: 100%;
|
||||
height: 100%;
|
||||
display: flex;
|
||||
justify-content: center;
|
||||
align-items: center;
|
||||
overflow: hidden;
|
||||
position: relative;
|
||||
video {
|
||||
width: auto;
|
||||
height: 100%;
|
||||
object-fit: contain;
|
||||
transition: opacity 0.1s ease-in-out; /* 平滑过渡 */
|
||||
}
|
||||
}
|
||||
}
|
||||
.stream-container {
|
||||
display: flex;
|
||||
flex-direction: column;
|
||||
flex-grow: 1;
|
||||
min-height: 0;
|
||||
&.dual {
|
||||
.stream-item {
|
||||
min-height: 50%;
|
||||
}
|
||||
}
|
||||
.stream-item {
|
||||
flex: 1;
|
||||
min-height: 0;
|
||||
display: flex;
|
||||
flex-direction: column;
|
||||
justify-content: center;
|
||||
@ -317,10 +518,23 @@ onUnmounted(() => {
|
||||
overflow: hidden;
|
||||
position: relative;
|
||||
video {
|
||||
width: auto;
|
||||
width: 100%;
|
||||
height: 100%;
|
||||
object-fit: contain;
|
||||
transition: opacity 0.1s ease-in-out; /* 平滑过渡 */
|
||||
background: #000;
|
||||
}
|
||||
.stream-state {
|
||||
position: absolute;
|
||||
top: 12px;
|
||||
right: 12px;
|
||||
padding: 4px 9px;
|
||||
border: 1px solid rgba(255, 255, 255, 0.2);
|
||||
border-radius: 4px;
|
||||
background: rgba(0, 0, 0, 0.58);
|
||||
color: rgba(255, 255, 255, 0.9);
|
||||
font-size: 12px;
|
||||
line-height: 18px;
|
||||
pointer-events: none;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -219,7 +219,21 @@ const testRule = (property) => {
|
||||
} else {
|
||||
return Promise.reject(new Error('加速度必须大于速度'))
|
||||
}
|
||||
}, trigger: 'blur' }
|
||||
}, trigger: 'change' }
|
||||
]
|
||||
|
||||
}
|
||||
|
||||
if (property?.name === 'velocity') {
|
||||
return [
|
||||
{ required: true, message: '请输入参数值', trigger: 'blur' },
|
||||
{ validator: () => {
|
||||
if (formData.nodeParams.find(param => param.name === 'acceleration')?.input > formData.nodeParams.find(param => param.name === 'velocity')?.input) {
|
||||
return Promise.resolve()
|
||||
} else {
|
||||
return Promise.reject(new Error('加速度必须大于速度'))
|
||||
}
|
||||
}, trigger: 'change' }
|
||||
]
|
||||
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user