From b3b3f683910824b6750676cf5f762fd7a9bb6550 Mon Sep 17 00:00:00 2001 From: puxiaokang <1726541+joaner@users.noreply.github.com> Date: Thu, 9 Jul 2026 15:20:02 +0800 Subject: [PATCH 1/7] chore: bump dependencies to latest within existing semver ranges Refresh vite/vitest/@playwright/test and other devDependencies ahead of the multi-source merge feature work. --- package-lock.json | 2530 +++++++++++++++++++++------------------------ 1 file changed, 1204 insertions(+), 1326 deletions(-) diff --git a/package-lock.json b/package-lock.json index ef40e6a..b6b2a10 100644 --- a/package-lock.json +++ b/package-lock.json @@ -92,7 +92,7 @@ "@react-three/fiber": "^9.0.0", "react": "^19.0.0", "react-dom": "^19.0.0", - "three": "^0.173.0" + "three": ">=0.173.0" }, "peerDependenciesMeta": { "@react-three/drei": { @@ -108,7 +108,7 @@ }, "node_modules/@alloc/quick-lru": { "version": "5.2.0", - "resolved": "https://registry.npmjs.org/@alloc/quick-lru/-/quick-lru-5.2.0.tgz", + "resolved": "https://registry.npmmirror.com/@alloc/quick-lru/-/quick-lru-5.2.0.tgz", "integrity": "sha512-UrcABB+4bUrFABwbluTIBErXwvbsU/V7TZWfmbgJfbkwiBuziS9gxdODUyuiecfdGQ85jglMW6juS3+z5TsKLw==", "dev": true, "license": "MIT", @@ -121,7 +121,7 @@ }, "node_modules/@babel/code-frame": { "version": "7.29.7", - 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"resolved": "https://registry.npmjs.org/zustand/-/zustand-5.0.14.tgz", + "resolved": "https://registry.npmmirror.com/zustand/-/zustand-5.0.14.tgz", "integrity": "sha512-/8tAspM5LMPr28b3fwLYrtdj77ECpfZviaP75CMTnwO8ISyaE4GDIG/9rDDYq/cH9D2Xw2A2RXglLInmVBQB/g==", "dev": true, "license": "MIT", From 601b40b5b5fdb9e8f905946709d3bb314cf756fc Mon Sep 17 00:00:00 2001 From: puxiaokang <1726541+joaner@users.noreply.github.com> Date: Thu, 9 Jul 2026 15:30:51 +0800 Subject: [PATCH 2/7] feat(sources): add CombinedSourceProxy to merge multiple recording sources Introduce an ISourceHandle interface that both WorkerSerializedSource (single file) and the new CombinedSourceProxy (N files/formats fanned out to independent Workers) implement, so IterablePlayer can drive a merged multi-source session without any change to its own logic. - ISourceHandle: structural surface IterablePlayer depends on. - mergeInitialization: pure merge of N per-source Initialization results (topics concatenated in file order, same-name topics folded together with accumulated sourceLabels, start/end unioned, topicStats merged). - CombinedMessageCursor: parallel k-way merge of child message cursors by receiveTime, tagging each message with its origin for later routing. - CombinedSourceProxy: fans out initialize/getMessageCursor/ getBackfillMessages/getAdjacentMessage/preparePlaybackBuffer/ getLoadProgress/getDataQualityReport to only the relevant member sources in parallel, and routes resolveMessageBatch/ resolveMessageForHighFrequencyLane back to the originating member (required for per-Worker SharedArrayBuffer payload rings). TopicInfo gains an optional sourceLabels field (unset for single-file sessions, so existing UI is unaffected). --- src/core/players/IterablePlayer.ts | 6 +- src/core/types/ros.ts | 7 + .../workers/CombinedMessageCursor.test.ts | 140 ++++++++ src/infra/workers/CombinedMessageCursor.ts | 113 ++++++ src/infra/workers/CombinedSourceProxy.test.ts | 179 ++++++++++ src/infra/workers/CombinedSourceProxy.ts | 327 ++++++++++++++++++ src/infra/workers/ISourceHandle.ts | 43 +++ src/infra/workers/WorkerSerializedSource.ts | 8 +- src/infra/workers/mergeInitialization.test.ts | 177 ++++++++++ src/infra/workers/mergeInitialization.ts | 156 +++++++++ 10 files changed, 1147 insertions(+), 9 deletions(-) create mode 100644 src/infra/workers/CombinedMessageCursor.test.ts create mode 100644 src/infra/workers/CombinedMessageCursor.ts create mode 100644 src/infra/workers/CombinedSourceProxy.test.ts create mode 100644 src/infra/workers/CombinedSourceProxy.ts create mode 100644 src/infra/workers/ISourceHandle.ts create mode 100644 src/infra/workers/mergeInitialization.test.ts create mode 100644 src/infra/workers/mergeInitialization.ts diff --git a/src/core/players/IterablePlayer.ts b/src/core/players/IterablePlayer.ts index fed2fcc..1703837 100644 --- a/src/core/players/IterablePlayer.ts +++ b/src/core/players/IterablePlayer.ts @@ -8,7 +8,7 @@ import type { } from '@/core/types/player'; import { PLAYBACK_SPEED_MAX } from '@/core/types/player'; import type { DataQualityReport, Time, Initialization, MessageEvent, TimeRange } from '@/core/types/ros'; -import type { WorkerSerializedSource } from '@/infra/workers/WorkerSerializedSource'; +import type { ISourceHandle } from '@/infra/workers/ISourceHandle'; import type { IMessageCursor } from '@/infra/workers/types'; import { addMs, toNano } from '@/shared/utils/time'; import { useMessagePipelineStore } from '@/core/pipeline/store'; @@ -135,7 +135,7 @@ function isSameDataQualityReport(nextValue?: DataQualityReport, prevValue?: Data } export class IterablePlayer implements Player { - private _source: WorkerSerializedSource; + private _source: ISourceHandle; private _state: PlayerState = { presence: "preinit", progress: {}, @@ -176,7 +176,7 @@ export class IterablePlayer implements Player { private _debugEnabled = typeof window !== "undefined" && new URLSearchParams(window.location.search).get("debugPlayback") === "1"; - constructor(source: WorkerSerializedSource) { + constructor(source: ISourceHandle) { this._source = source; this._attachPageLifecycleListeners(); } diff --git a/src/core/types/ros.ts b/src/core/types/ros.ts index 63b9be5..393be58 100644 --- a/src/core/types/ros.ts +++ b/src/core/types/ros.ts @@ -14,6 +14,13 @@ export interface TopicInfo { messageCount?: number; frequency?: number; durationSec?: number; + /** + * Display labels for the recording file(s) this topic came from. Only + * populated when multiple sources are merged into one session (see + * `CombinedSourceProxy`); absent for single-file sessions so existing UI + * is unaffected. + */ + sourceLabels?: string[]; } /** ROS datatype definitions keyed by schema name (payload shape is source-dependent). */ diff --git a/src/infra/workers/CombinedMessageCursor.test.ts b/src/infra/workers/CombinedMessageCursor.test.ts new file mode 100644 index 0000000..7d7692a --- /dev/null +++ b/src/infra/workers/CombinedMessageCursor.test.ts @@ -0,0 +1,140 @@ +import { describe, expect, it } from 'vitest'; +import type { MessageEvent, Time } from '@/core/types/ros'; +import type { IMessageCursor } from './types'; +import { CombinedMessageCursor, getMessageSourceIndex } from './CombinedMessageCursor'; + +function msg(topic: string, sec: number, nsec = 0): MessageEvent { + return { + topic, + receiveTime: { sec, nsec }, + publishTime: { sec, nsec }, + message: {}, + schemaName: 'test/Msg', + }; +} + +/** Simple in-memory `IMessageCursor` backed by a fixed message list, batched by count. */ +function makeMockCursor(messages: MessageEvent[], batchSize = 10): IMessageCursor { + let offset = 0; + return { + async next(): Promise> { + if (offset >= messages.length) return { done: true, value: undefined }; + const value = messages[offset]; + offset += 1; + return { done: false, value }; + }, + async nextBatch(): Promise { + const batch = messages.slice(offset, offset + batchSize); + offset += batch.length; + return batch; + }, + async end(): Promise { + offset = messages.length; + }, + }; +} + +describe('CombinedMessageCursor', () => { + it('nextBatch merges children in overall receiveTime order', async () => { + const a = makeMockCursor([msg('/a', 0), msg('/a', 2), msg('/a', 4)]); + const b = makeMockCursor([msg('/b', 1), msg('/b', 3), msg('/b', 5)]); + const cursor = new CombinedMessageCursor([ + { cursor: a, sourceIndex: 0 }, + { cursor: b, sourceIndex: 1 }, + ]); + + const batch = await cursor.nextBatch(1000); + expect(batch.map((m) => [m.topic, m.receiveTime.sec])).toEqual([ + ['/a', 0], + ['/b', 1], + ['/a', 2], + ['/b', 3], + ['/a', 4], + ['/b', 5], + ]); + }); + + it('tags every merged message with its originating member index', async () => { + const a = makeMockCursor([msg('/a', 0)]); + const b = makeMockCursor([msg('/b', 1)]); + const cursor = new CombinedMessageCursor([ + { cursor: a, sourceIndex: 0 }, + { cursor: b, sourceIndex: 5 }, + ]); + const batch = await cursor.nextBatch(1000); + const bySourceIndex = new Map(batch.map((m) => [m.topic, getMessageSourceIndex(m)])); + expect(bySourceIndex.get('/a')).toBe(0); + expect(bySourceIndex.get('/b')).toBe(5); + }); + + it('next() yields messages across children in overall time order', async () => { + const a = makeMockCursor([msg('/a', 0), msg('/a', 3)]); + const b = makeMockCursor([msg('/b', 1), msg('/b', 2)]); + const cursor = new CombinedMessageCursor([ + { cursor: a, sourceIndex: 0 }, + { cursor: b, sourceIndex: 1 }, + ]); + const order: Array<[string, number]> = []; + for (;;) { + const result = await cursor.next(); + if (result.done) break; + order.push([result.value.topic, result.value.receiveTime.sec]); + } + expect(order).toEqual([ + ['/a', 0], + ['/b', 1], + ['/b', 2], + ['/a', 3], + ]); + }); + + it('handles an empty child list', async () => { + const cursor = new CombinedMessageCursor([]); + expect(await cursor.nextBatch(1000)).toEqual([]); + expect(await cursor.next()).toEqual({ done: true, value: undefined }); + await expect(cursor.end()).resolves.toBeUndefined(); + }); + + it('end() ends every child cursor', async () => { + let aEnded = false; + let bEnded = false; + const a: IMessageCursor = { + next: async () => ({ done: true, value: undefined }), + nextBatch: async () => [], + end: async () => { + aEnded = true; + }, + }; + const b: IMessageCursor = { + next: async () => ({ done: true, value: undefined }), + nextBatch: async () => [], + end: async () => { + bEnded = true; + }, + }; + const cursor = new CombinedMessageCursor([ + { cursor: a, sourceIndex: 0 }, + { cursor: b, sourceIndex: 1 }, + ]); + await cursor.end(); + expect(aEnded).toBe(true); + expect(bEnded).toBe(true); + }); + + it('respects options.endTime per child batch (pass-through)', async () => { + const messages = [msg('/a', 0), msg('/a', 1), msg('/a', 10)]; + let receivedEndTime: Time | undefined; + const a: IMessageCursor = { + next: async () => ({ done: true, value: undefined }), + nextBatch: async (_durationMs, options) => { + receivedEndTime = options?.endTime; + return messages.filter((m) => !options?.endTime || m.receiveTime.sec <= options.endTime.sec); + }, + end: async () => {}, + }; + const cursor = new CombinedMessageCursor([{ cursor: a, sourceIndex: 0 }]); + const batch = await cursor.nextBatch(1000, { endTime: { sec: 1, nsec: 0 } }); + expect(receivedEndTime).toEqual({ sec: 1, nsec: 0 }); + expect(batch).toHaveLength(2); + }); +}); diff --git a/src/infra/workers/CombinedMessageCursor.ts b/src/infra/workers/CombinedMessageCursor.ts new file mode 100644 index 0000000..f87297c --- /dev/null +++ b/src/infra/workers/CombinedMessageCursor.ts @@ -0,0 +1,113 @@ +import type { MessageEvent, Time } from '@/core/types/ros'; +import { toNano } from '@/shared/utils/time'; +import type { IMessageCursor } from './types'; + +const SOURCE_INDEX = Symbol('rosviewCombinedSourceIndex'); + +type TaggedMessageEvent = MessageEvent & { [SOURCE_INDEX]?: number }; + +/** + * Stamp a message with the index of the member source (into + * `CombinedSourceProxy`'s member list) that produced it. This is a + * main-thread-only marker (never serialized across a Worker boundary) used + * to route `resolveMessageBatch`/`resolveMessageForHighFrequencyLane` calls + * back to the correct member — required because SharedArrayBuffer payload + * rings are per-Worker. + */ +export function tagMessageSourceIndex(message: T, sourceIndex: number): T { + (message as TaggedMessageEvent)[SOURCE_INDEX] = sourceIndex; + return message; +} + +export function getMessageSourceIndex(message: MessageEvent): number | undefined { + return (message as TaggedMessageEvent)[SOURCE_INDEX]; +} + +function receiveTimeNs(message: MessageEvent): bigint { + return toNano(message.receiveTime); +} + +function compareByReceiveTime(a: MessageEvent, b: MessageEvent): number { + const diff = receiveTimeNs(a) - receiveTimeNs(b); + if (diff < 0n) return -1; + if (diff > 0n) return 1; + return 0; +} + +export interface CombinedCursorChild { + cursor: IMessageCursor; + /** Index into `CombinedSourceProxy`'s member list. */ + sourceIndex: number; +} + +/** + * Merges N child cursors (one per member file/source) into a single + * time-ordered stream. Batches are fetched from every child in parallel + * (each child lives in its own Worker, so this overlaps I/O/decoding across + * files) and merge-sorted by `receiveTime` before being handed back. + */ +export class CombinedMessageCursor implements IMessageCursor { + private _children: CombinedCursorChild[]; + private _pendingNext: Array; + + constructor(children: CombinedCursorChild[]) { + this._children = children; + this._pendingNext = children.map(() => undefined); + } + + async next(): Promise> { + await Promise.all( + this._children.map(async (child, i) => { + if (this._pendingNext[i] !== undefined) return; + const result = await child.cursor.next(); + if (!result.done) { + this._pendingNext[i] = tagMessageSourceIndex(result.value, child.sourceIndex); + } + }), + ); + + let minIndex = -1; + let minTimeNs: bigint | undefined; + for (let i = 0; i < this._pendingNext.length; i++) { + const msg = this._pendingNext[i]; + if (!msg) continue; + const t = receiveTimeNs(msg); + if (minTimeNs === undefined || t < minTimeNs) { + minTimeNs = t; + minIndex = i; + } + } + if (minIndex === -1) { + return { done: true, value: undefined }; + } + const value = this._pendingNext[minIndex]!; + this._pendingNext[minIndex] = undefined; + return { done: false, value }; + } + + async nextBatch( + durationMs: number, + options?: { maxMessages?: number; maxWallTimeMs?: number; endTime?: Time }, + ): Promise { + if (this._children.length === 0) { + return []; + } + const batches = await Promise.all( + this._children.map(async (child) => { + const batch = await child.cursor.nextBatch(durationMs, options); + for (const message of batch) { + tagMessageSourceIndex(message, child.sourceIndex); + } + return batch; + }), + ); + if (batches.length === 1) { + return batches[0]; + } + return batches.flat().sort(compareByReceiveTime); + } + + async end(): Promise { + await Promise.all(this._children.map((child) => child.cursor.end())); + } +} diff --git a/src/infra/workers/CombinedSourceProxy.test.ts b/src/infra/workers/CombinedSourceProxy.test.ts new file mode 100644 index 0000000..4989d05 --- /dev/null +++ b/src/infra/workers/CombinedSourceProxy.test.ts @@ -0,0 +1,179 @@ +import { describe, expect, it, vi } from 'vitest'; +import type { Initialization, MessageEvent } from '@/core/types/ros'; +import type { WorkerSerializedSource } from './WorkerSerializedSource'; +import { CombinedSourceProxy, type CombinedSourceMember } from './CombinedSourceProxy'; +import { CombinedMessageCursor } from './CombinedMessageCursor'; +import type { IMessageCursor } from './types'; + +function makeInit(overrides: Partial = {}): Initialization { + return { + topics: [], + datatypes: {}, + start: { sec: 0, nsec: 0 }, + end: { sec: 10, nsec: 0 }, + publishersByTopic: {}, + topicStats: {}, + problems: [], + ...overrides, + }; +} + +function msg(topic: string, sec: number): MessageEvent { + return { + topic, + receiveTime: { sec, nsec: 0 }, + publishTime: { sec, nsec: 0 }, + message: {}, + schemaName: 'test/Msg', + }; +} + +function makeMockWorkerSource(overrides: Partial = {}): WorkerSerializedSource { + return { + initialize: vi.fn(async () => makeInit()), + getMessageCursor: vi.fn(async (): Promise> => new CombinedMessageCursor([])), + getBackfillMessages: vi.fn(async () => []), + getAdjacentMessage: vi.fn(async () => null), + preparePlaybackBuffer: vi.fn(async () => ({ ready: true })), + getLoadProgress: vi.fn(async () => ({ percent: 100, totalBytes: 0, downloadedByteRanges: [], parsedMessageRanges: [] })), + getTransportDiagnostics: vi.fn(async () => ({ + mode: 'transfer' as const, + crossOriginIsolated: false, + binaryPayloadThresholdBytes: 64 * 1024, + droppedPayloads: 0, + stalePayloadRefs: 0, + })), + startDataQualityScan: vi.fn(async () => {}), + getDataQualityReport: vi.fn(async () => undefined), + resolveMessageBatch: vi.fn((batch: MessageEvent[]) => batch), + resolveMessageForHighFrequencyLane: vi.fn((message: MessageEvent) => message), + terminate: vi.fn(), + ...overrides, + } as unknown as WorkerSerializedSource; +} + +function makeMember(label: string, source: WorkerSerializedSource, initArgs: Record = {}): CombinedSourceMember { + return { label, source, initArgs }; +} + +describe('CombinedSourceProxy', () => { + it('requires at least 2 members', () => { + expect(() => new CombinedSourceProxy([makeMember('a', makeMockWorkerSource())])).toThrow(); + }); + + it('initializes all members in parallel and merges the result', async () => { + const sourceA = makeMockWorkerSource({ + initialize: vi.fn(async () => makeInit({ topics: [{ name: '/a', type: 'std_msgs/String' }] })), + }); + const sourceB = makeMockWorkerSource({ + initialize: vi.fn(async () => makeInit({ topics: [{ name: '/b', type: 'std_msgs/String' }] })), + }); + const proxy = new CombinedSourceProxy([makeMember('a.mcap', sourceA), makeMember('b.mcap', sourceB)]); + const init = await proxy.initialize({}); + expect(init.topics.map((t) => t.name)).toEqual(['/a', '/b']); + expect(sourceA.initialize).toHaveBeenCalledTimes(1); + expect(sourceB.initialize).toHaveBeenCalledTimes(1); + }); + + it('excludes a member that fails to initialize, terminates its worker, and records a problem', async () => { + const sourceA = makeMockWorkerSource({ + initialize: vi.fn(async () => makeInit({ topics: [{ name: '/a', type: 'std_msgs/String' }] })), + }); + const sourceB = makeMockWorkerSource({ + initialize: vi.fn(async () => { + throw new Error('corrupt file'); + }), + }); + const proxy = new CombinedSourceProxy([makeMember('a.mcap', sourceA), makeMember('broken.bag', sourceB)]); + const init = await proxy.initialize({}); + expect(init.topics.map((t) => t.name)).toEqual(['/a']); + expect(init.problems.some((p) => p.message.includes('broken.bag'))).toBe(true); + expect(sourceB.terminate).toHaveBeenCalledTimes(1); + expect(sourceA.terminate).not.toHaveBeenCalled(); + }); + + it('throws when every member fails to initialize', async () => { + const sourceA = makeMockWorkerSource({ initialize: vi.fn(async () => Promise.reject(new Error('bad a'))) }); + const sourceB = makeMockWorkerSource({ initialize: vi.fn(async () => Promise.reject(new Error('bad b'))) }); + const proxy = new CombinedSourceProxy([makeMember('a', sourceA), makeMember('b', sourceB)]); + await expect(proxy.initialize({})).rejects.toThrow(); + }); + + it('getMessageCursor only fans out to members that own the requested topics', async () => { + const sourceA = makeMockWorkerSource({ + initialize: vi.fn(async () => makeInit({ topics: [{ name: '/a', type: 'std_msgs/String' }] })), + }); + const sourceB = makeMockWorkerSource({ + initialize: vi.fn(async () => makeInit({ topics: [{ name: '/b', type: 'std_msgs/String' }] })), + }); + const proxy = new CombinedSourceProxy([makeMember('a', sourceA), makeMember('b', sourceB)]); + await proxy.initialize({}); + await proxy.getMessageCursor({ startTime: { sec: 0, nsec: 0 }, topics: ['/a'] }); + expect(sourceA.getMessageCursor).toHaveBeenCalledTimes(1); + expect(sourceB.getMessageCursor).not.toHaveBeenCalled(); + }); + + it('getBackfillMessages merges results and dedupes same-named topics by latest receiveTime', async () => { + const sourceA = makeMockWorkerSource({ + initialize: vi.fn(async () => makeInit({ topics: [{ name: '/tf', type: 'tf2_msgs/TFMessage' }] })), + getBackfillMessages: vi.fn(async () => [msg('/tf', 3)]), + }); + const sourceB = makeMockWorkerSource({ + initialize: vi.fn(async () => makeInit({ topics: [{ name: '/tf', type: 'tf2_msgs/TFMessage' }] })), + getBackfillMessages: vi.fn(async () => [msg('/tf', 5)]), + }); + const proxy = new CombinedSourceProxy([makeMember('a', sourceA), makeMember('b', sourceB)]); + await proxy.initialize({}); + const backfilled = await proxy.getBackfillMessages({ time: { sec: 10, nsec: 0 }, topics: ['/tf'] }); + expect(backfilled).toHaveLength(1); + expect(backfilled[0].receiveTime.sec).toBe(5); + }); + + it('routes resolveMessageBatch to the member that produced each message', async () => { + const sourceA = makeMockWorkerSource({ + initialize: vi.fn(async () => makeInit({ topics: [{ name: '/a', type: 'std_msgs/String' }] })), + resolveMessageBatch: vi.fn((batch: MessageEvent[]) => batch.map((m) => ({ ...m, schemaName: 'resolved-by-a' }))), + }); + const sourceB = makeMockWorkerSource({ + initialize: vi.fn(async () => makeInit({ topics: [{ name: '/b', type: 'std_msgs/String' }] })), + resolveMessageBatch: vi.fn((batch: MessageEvent[]) => batch.map((m) => ({ ...m, schemaName: 'resolved-by-b' }))), + }); + const proxy = new CombinedSourceProxy([makeMember('a', sourceA), makeMember('b', sourceB)]); + await proxy.initialize({}); + + const cursorA = await sourceA.getMessageCursor({ startTime: { sec: 0, nsec: 0 }, topics: ['/a'] }); + void cursorA; + // Build a merged batch the way CombinedMessageCursor would tag it, by + // going through getMessageCursor + nextBatch on mocked child cursors. + const childA: IMessageCursor = { + next: async () => ({ done: true, value: undefined }), + nextBatch: async () => [msg('/a', 1)], + end: async () => {}, + }; + const childB: IMessageCursor = { + next: async () => ({ done: true, value: undefined }), + nextBatch: async () => [msg('/b', 2)], + end: async () => {}, + }; + (sourceA.getMessageCursor as ReturnType).mockResolvedValueOnce(childA); + (sourceB.getMessageCursor as ReturnType).mockResolvedValueOnce(childB); + + const cursor = await proxy.getMessageCursor({ startTime: { sec: 0, nsec: 0 }, topics: ['/a', '/b'] }); + const batch = await cursor.nextBatch(1000); + const resolved = proxy.resolveMessageBatch(batch); + const bySchema = new Map(resolved.map((m) => [m.topic, m.schemaName])); + expect(bySchema.get('/a')).toBe('resolved-by-a'); + expect(bySchema.get('/b')).toBe('resolved-by-b'); + expect(sourceA.resolveMessageBatch).toHaveBeenCalledTimes(1); + expect(sourceB.resolveMessageBatch).toHaveBeenCalledTimes(1); + }); + + it('terminate() terminates every member, including ones excluded from the merge', async () => { + const sourceA = makeMockWorkerSource(); + const sourceB = makeMockWorkerSource(); + const proxy = new CombinedSourceProxy([makeMember('a', sourceA), makeMember('b', sourceB)]); + proxy.terminate(); + expect(sourceA.terminate).toHaveBeenCalledTimes(1); + expect(sourceB.terminate).toHaveBeenCalledTimes(1); + }); +}); diff --git a/src/infra/workers/CombinedSourceProxy.ts b/src/infra/workers/CombinedSourceProxy.ts new file mode 100644 index 0000000..5c28ebd --- /dev/null +++ b/src/infra/workers/CombinedSourceProxy.ts @@ -0,0 +1,327 @@ +import type { + DataQualityIssueCounts, + DataQualityReport, + Initialization, + MessageEvent, + PlayerProblem, +} from '@/core/types/ros'; +import { fromNano, toNano } from '@/shared/utils/time'; +import type { ISourceHandle, ResolveHighFrequencyLaneOptions } from './ISourceHandle'; +import type { + GetAdjacentMessageArgs, + GetBackfillMessagesArgs, + IMessageCursor, + LoadProgress, + MessageIteratorArgs, + PlaybackBufferStatus, + PreparePlaybackBufferArgs, +} from './types'; +import type { TransportDiagnostics } from './transport'; +import type { WorkerSerializedSource } from './WorkerSerializedSource'; +import { mergeInitializations } from './mergeInitialization'; +import { CombinedMessageCursor, getMessageSourceIndex, tagMessageSourceIndex } from './CombinedMessageCursor'; + +export interface CombinedSourceMember { + /** Display label for this member (typically the file/URL basename), surfaced in the topic list "more" menu. */ + label: string; + source: WorkerSerializedSource; + initArgs: Record; +} + +function errorMessage(reason: unknown): string { + if (reason instanceof Error) return reason.message; + if (typeof reason === 'string') return reason; + return 'unknown error'; +} + +function errorFromReason(reason: unknown): Error { + return reason instanceof Error ? reason : new Error(errorMessage(reason)); +} + +/** + * Merges N independent `WorkerSerializedSource` instances (each backed by its + * own Worker, possibly a different format) into a single `ISourceHandle` that + * `IterablePlayer` can drive as if it were one recording. Each member keeps + * parsing/decoding on its own thread; this class only does lightweight + * fan-out/merge work on the main thread. + */ +export class CombinedSourceProxy implements ISourceHandle { + private _members: CombinedSourceMember[]; + private _activeMemberIndices: number[] = []; + private _memberIndicesByTopic = new Map(); + + constructor(members: CombinedSourceMember[]) { + if (members.length < 2) { + throw new Error('CombinedSourceProxy requires at least 2 members; use WorkerSerializedSource directly for a single file'); + } + this._members = members; + } + + async initialize(args: Record): Promise { + const results = await Promise.allSettled( + this._members.map((member) => member.source.initialize({ ...member.initArgs, ...args })), + ); + + const succeededSources: Array<{ label: string; initialization: Initialization }> = []; + const succeededIndices: number[] = []; + const loadProblems: PlayerProblem[] = []; + + results.forEach((result, memberIndex) => { + const member = this._members[memberIndex]; + if (result.status === 'fulfilled') { + succeededSources.push({ label: member.label, initialization: result.value }); + succeededIndices.push(memberIndex); + return; + } + loadProblems.push({ + severity: 'error', + message: `Failed to load "${member.label}" and it was excluded from the merged session: ${errorMessage(result.reason)}`, + }); + // The worker for this member is otherwise unused for the lifetime of + // this session; terminate it now rather than leaking the thread. + try { + member.source.terminate(); + } catch { + // best-effort cleanup + } + }); + + if (succeededSources.length === 0) { + const firstRejected = results.find((r) => r.status === 'rejected'); + throw firstRejected && firstRejected.status === 'rejected' + ? errorFromReason(firstRejected.reason) + : new Error('All members failed to initialize'); + } + + this._activeMemberIndices = succeededIndices; + const { initialization, memberIndicesByTopic } = mergeInitializations(succeededSources); + + const remapped = new Map(); + for (const [topic, localIndices] of memberIndicesByTopic) { + remapped.set( + topic, + localIndices.map((localIndex) => succeededIndices[localIndex]), + ); + } + this._memberIndicesByTopic = remapped; + + return { + ...initialization, + problems: [...loadProblems, ...initialization.problems], + }; + } + + private _activeMembers(): CombinedSourceMember[] { + return this._activeMemberIndices.map((i) => this._members[i]); + } + + private _relevantMemberIndices(topics: readonly string[]): number[] { + const set = new Set(); + for (const topic of topics) { + const indices = this._memberIndicesByTopic.get(topic); + if (!indices) continue; + for (const i of indices) set.add(i); + } + return Array.from(set); + } + + async getMessageCursor(args: MessageIteratorArgs): Promise> { + const relevant = this._relevantMemberIndices(args.topics); + if (relevant.length === 0) { + return new CombinedMessageCursor([]); + } + const children = await Promise.all( + relevant.map(async (memberIndex) => ({ + sourceIndex: memberIndex, + cursor: await this._members[memberIndex].source.getMessageCursor(args), + })), + ); + return new CombinedMessageCursor(children); + } + + async getBackfillMessages(args: GetBackfillMessagesArgs): Promise { + const relevant = this._relevantMemberIndices(args.topics); + if (relevant.length === 0) return []; + const perMember = await Promise.all( + relevant.map(async (memberIndex) => { + const messages = await this._members[memberIndex].source.getBackfillMessages(args); + return messages.map((m) => tagMessageSourceIndex(m, memberIndex)); + }), + ); + const byTopic = new Map(); + for (const messages of perMember) { + for (const message of messages) { + const existing = byTopic.get(message.topic); + if (!existing || toNano(message.receiveTime) > toNano(existing.receiveTime)) { + byTopic.set(message.topic, message); + } + } + } + return Array.from(byTopic.values()); + } + + async getAdjacentMessage(args: GetAdjacentMessageArgs): Promise { + const relevant = this._relevantMemberIndices(args.topics); + if (relevant.length === 0) return null; + const candidates = ( + await Promise.all( + relevant.map(async (memberIndex) => { + const msg = await this._members[memberIndex].source.getAdjacentMessage(args); + return msg ? tagMessageSourceIndex(msg, memberIndex) : null; + }), + ) + ).filter((m): m is MessageEvent => m != null); + if (candidates.length === 0) return null; + const pickBetter = + args.direction === 'next' + ? (a: MessageEvent, b: MessageEvent) => (toNano(a.receiveTime) <= toNano(b.receiveTime) ? a : b) + : (a: MessageEvent, b: MessageEvent) => (toNano(a.receiveTime) >= toNano(b.receiveTime) ? a : b); + return candidates.reduce(pickBetter); + } + + async preparePlaybackBuffer(args: PreparePlaybackBufferArgs): Promise { + const relevant = this._relevantMemberIndices(args.topics); + if (relevant.length === 0) return { ready: true }; + const statuses = await Promise.all( + relevant.map((memberIndex) => this._members[memberIndex].source.preparePlaybackBuffer(args)), + ); + const ready = statuses.every((s) => s.ready); + const bufferedUntilNs = statuses + .map((s) => (s.bufferedUntil ? toNano(s.bufferedUntil) : undefined)) + .filter((v): v is bigint => v != null); + const bufferedUntil = + bufferedUntilNs.length > 0 ? fromNano(bufferedUntilNs.reduce((a, b) => (a < b ? a : b))) : undefined; + const bufferedAheadMsValues = statuses + .map((s) => s.bufferedAheadMs) + .filter((v): v is number => typeof v === 'number'); + return { + ready, + bufferedUntil, + bufferedAheadMs: bufferedAheadMsValues.length > 0 ? Math.min(...bufferedAheadMsValues) : undefined, + }; + } + + async getLoadProgress(): Promise { + const members = this._activeMembers(); + if (members.length === 0) { + return { downloadedByteRanges: [], totalBytes: 0, percent: 0, parsedMessageRanges: [] }; + } + const progresses = await Promise.all(members.map((m) => m.source.getLoadProgress())); + const totalBytes = progresses.reduce((sum, p) => sum + (p.totalBytes || 0), 0); + const downloadedBytes = progresses.reduce( + (sum, p) => sum + (p.totalBytes || 0) * (Number.isFinite(p.percent) ? p.percent : 0) / 100, + 0, + ); + // Byte-range progress is not meaningful once merged across files with + // unrelated byte spaces; only the aggregate percent and the (message) + // time-range union below are surfaced to the UI for combined sessions. + const percent = totalBytes > 0 ? (downloadedBytes / totalBytes) * 100 : 100; + const parsedMessageRanges = progresses.flatMap((p) => p.parsedMessageRanges); + const bufferedAheadMsValues = progresses + .map((p) => p.bufferedAheadMs) + .filter((v): v is number => typeof v === 'number'); + return { + downloadedByteRanges: [], + totalBytes, + percent, + parsedMessageRanges, + bufferedAheadMs: bufferedAheadMsValues.length > 0 ? Math.min(...bufferedAheadMsValues) : undefined, + }; + } + + async startDataQualityScan(): Promise { + await Promise.all(this._activeMembers().map((m) => m.source.startDataQualityScan())); + } + + async getDataQualityReport(): Promise { + const members = this._activeMembers(); + if (members.length === 0) return undefined; + const reports = await Promise.all(members.map((m) => m.source.getDataQualityReport())); + const defined = reports.filter((r): r is DataQualityReport => r != null); + if (defined.length === 0) return undefined; + const status = defined.some((r) => r.status === 'scanning') + ? 'scanning' + : defined.every((r) => r.status === 'ready') + ? 'ready' + : 'idle'; + const issueCounts = defined.reduce( + (acc, r) => { + for (const key of Object.keys(r.issueCounts) as Array) { + acc[key] = (acc[key] ?? 0) + r.issueCounts[key]; + } + return acc; + }, + { timestamp_rollback: 0, topic_frame_drop: 0 }, + ); + const totalMessagesValues = defined.map((r) => r.totalMessages).filter((v): v is number => typeof v === 'number'); + const incidents = defined.flatMap((r) => r.incidents ?? []); + return { + status, + scannedMessages: defined.reduce((sum, r) => sum + r.scannedMessages, 0), + totalMessages: totalMessagesValues.length > 0 ? totalMessagesValues.reduce((a, b) => a + b, 0) : undefined, + updatedAt: Math.max(...defined.map((r) => r.updatedAt)), + issueCounts, + ranges: defined.flatMap((r) => r.ranges), + issues: defined.flatMap((r) => r.issues), + ...(incidents.length > 0 ? { incidents } : {}), + }; + } + + async getTransportDiagnostics(): Promise { + const members = this._activeMembers(); + if (members.length === 0) { + return { mode: 'comlink', droppedPayloads: 0, stalePayloadRefs: 0 }; + } + const diagnostics = await Promise.all(members.map((m) => m.source.getTransportDiagnostics())); + const first = diagnostics[0]; + const allSameMode = diagnostics.every((d) => d.mode === first.mode); + return { + mode: allSameMode ? first.mode : 'comlink', + fallbackReason: allSameMode ? first.fallbackReason : 'Merged session mixes multiple transport modes across sources', + crossOriginIsolated: diagnostics.every((d) => d.crossOriginIsolated !== false), + binaryPayloadThresholdBytes: first.binaryPayloadThresholdBytes, + sharedPayloadRing: diagnostics.find((d) => d.sharedPayloadRing)?.sharedPayloadRing, + droppedPayloads: diagnostics.reduce((sum, d) => sum + d.droppedPayloads, 0), + stalePayloadRefs: diagnostics.reduce((sum, d) => sum + d.stalePayloadRefs, 0), + }; + } + + resolveMessageBatch(messages: MessageEvent[]): MessageEvent[] { + if (messages.length === 0) return messages; + const bucketsByMember = new Map(); + messages.forEach((message, i) => { + const sourceIndex = getMessageSourceIndex(message); + if (sourceIndex == null || !this._members[sourceIndex]) return; + const bucket = bucketsByMember.get(sourceIndex) ?? { indices: [], messages: [] }; + bucket.indices.push(i); + bucket.messages.push(message); + bucketsByMember.set(sourceIndex, bucket); + }); + if (bucketsByMember.size === 0) { + return messages; + } + const out = messages.slice(); + for (const [memberIndex, bucket] of bucketsByMember) { + const resolved = this._members[memberIndex].source.resolveMessageBatch(bucket.messages); + resolved.forEach((message, j) => { + out[bucket.indices[j]] = message; + }); + } + return out; + } + + resolveMessageForHighFrequencyLane( + message: MessageEvent, + options?: ResolveHighFrequencyLaneOptions, + ): MessageEvent { + const sourceIndex = getMessageSourceIndex(message); + if (sourceIndex == null || !this._members[sourceIndex]) return message; + return this._members[sourceIndex].source.resolveMessageForHighFrequencyLane(message, options); + } + + terminate(): void { + for (const member of this._members) { + member.source.terminate(); + } + } +} diff --git a/src/infra/workers/ISourceHandle.ts b/src/infra/workers/ISourceHandle.ts new file mode 100644 index 0000000..a6c8f15 --- /dev/null +++ b/src/infra/workers/ISourceHandle.ts @@ -0,0 +1,43 @@ +import type { DataQualityReport, Initialization, MessageEvent } from '@/core/types/ros'; +import type { + GetAdjacentMessageArgs, + GetBackfillMessagesArgs, + IMessageCursor, + LoadProgress, + MessageIteratorArgs, + PlaybackBufferStatus, + PreparePlaybackBufferArgs, +} from './types'; +import type { TransportDiagnostics } from './transport'; + +export type ResolveHighFrequencyLaneOptions = { + preferSharedView?: boolean; + copyPayload?: boolean; +}; + +/** + * Structural surface `IterablePlayer` depends on to talk to a recording source. + * + * `WorkerSerializedSource` (single file, backed by one Worker) implements this + * directly. `CombinedSourceProxy` (multiple files merged into one session) + * implements the same surface by fanning out to N `WorkerSerializedSource` + * instances, so `IterablePlayer` never needs to know whether it is driving one + * file or several. + */ +export interface ISourceHandle { + initialize(args: Record): Promise; + getMessageCursor(args: MessageIteratorArgs): Promise>; + getBackfillMessages(args: GetBackfillMessagesArgs): Promise; + getAdjacentMessage(args: GetAdjacentMessageArgs): Promise; + preparePlaybackBuffer(args: PreparePlaybackBufferArgs): Promise; + getLoadProgress(): Promise; + startDataQualityScan(): Promise; + getDataQualityReport(): Promise; + getTransportDiagnostics(): Promise; + resolveMessageBatch(messages: MessageEvent[]): MessageEvent[]; + resolveMessageForHighFrequencyLane( + message: MessageEvent, + options?: ResolveHighFrequencyLaneOptions, + ): MessageEvent; + terminate(): void; +} diff --git a/src/infra/workers/WorkerSerializedSource.ts b/src/infra/workers/WorkerSerializedSource.ts index 4d35b38..cdda5f0 100644 --- a/src/infra/workers/WorkerSerializedSource.ts +++ b/src/infra/workers/WorkerSerializedSource.ts @@ -16,6 +16,7 @@ import { SharedPayloadRing } from "./sharedPayloadRing"; import { createWorkerTransport } from "./transports/createWorkerTransport"; import { SabTransport } from "./transports/SabTransport"; import type { WorkerTransport } from "./transports/BaseWorkerTransport"; +import type { ISourceHandle, ResolveHighFrequencyLaneOptions } from "./ISourceHandle"; export class WorkerSourceCancelledError extends Error { constructor() { @@ -28,18 +29,13 @@ export function isWorkerSourceCancelledError(error: unknown): error is WorkerSou return error instanceof WorkerSourceCancelledError; } -type ResolveHighFrequencyLaneOptions = { - preferSharedView?: boolean; - copyPayload?: boolean; -}; - function errorFromUnknown(error: unknown): Error { if (error instanceof Error) return error; if (typeof error === "string") return new Error(error); return new Error("Worker operation failed"); } -export class WorkerSerializedSource { +export class WorkerSerializedSource implements ISourceHandle { private _worker: Worker; private _remote: Comlink.Remote; private _transport: WorkerTransport; diff --git a/src/infra/workers/mergeInitialization.test.ts b/src/infra/workers/mergeInitialization.test.ts new file mode 100644 index 0000000..721389c --- /dev/null +++ b/src/infra/workers/mergeInitialization.test.ts @@ -0,0 +1,177 @@ +import { describe, expect, it } from 'vitest'; +import type { Initialization } from '@/core/types/ros'; +import { mergeInitializations } from './mergeInitialization'; + +function makeInit(overrides: Partial): Initialization { + return { + topics: [], + datatypes: {}, + start: { sec: 0, nsec: 0 }, + end: { sec: 1, nsec: 0 }, + publishersByTopic: {}, + topicStats: {}, + problems: [], + ...overrides, + }; +} + +describe('mergeInitializations', () => { + it('passes a single source through unchanged', () => { + const init = makeInit({ + topics: [{ name: '/a', type: 'std_msgs/String', messageCount: 5, frequency: 1, durationSec: 4 }], + topicStats: { '/a': { messageCount: 5, frequency: 1, durationSec: 4 } }, + }); + const result = mergeInitializations([{ label: 'base.mcap', initialization: init }]); + expect(result.initialization).toBe(init); + expect(result.memberIndicesByTopic.get('/a')).toEqual([0]); + }); + + it('concatenates disjoint topics in file order (default "sort by file")', () => { + const base = makeInit({ + topics: [ + { name: '/camera', type: 'sensor_msgs/CompressedImage' }, + { name: '/joint_states', type: 'sensor_msgs/JointState' }, + ], + start: { sec: 10, nsec: 0 }, + end: { sec: 20, nsec: 0 }, + topicStats: { + '/camera': { messageCount: 100, frequency: 10, durationSec: 10 }, + '/joint_states': { messageCount: 200, frequency: 20, durationSec: 10 }, + }, + }); + const incremental = makeInit({ + topics: [{ name: '/analysis/hand_pose_overlay', type: 'sensor_msgs/Image' }], + start: { sec: 12, nsec: 0 }, + end: { sec: 18, nsec: 0 }, + topicStats: { + '/analysis/hand_pose_overlay': { messageCount: 50, frequency: 5, durationSec: 6 }, + }, + }); + + const { initialization, memberIndicesByTopic } = mergeInitializations([ + { label: 'base.mcap', initialization: base }, + { label: 'incremental.mcap', initialization: incremental }, + ]); + + expect(initialization.topics.map((t) => t.name)).toEqual([ + '/camera', + '/joint_states', + '/analysis/hand_pose_overlay', + ]); + expect(initialization.topics.find((t) => t.name === '/analysis/hand_pose_overlay')?.sourceLabels).toEqual([ + 'incremental.mcap', + ]); + expect(memberIndicesByTopic.get('/camera')).toEqual([0]); + expect(memberIndicesByTopic.get('/analysis/hand_pose_overlay')).toEqual([1]); + }); + + it('uses the union (min start, max end) of all sources as the merged time range', () => { + const a = makeInit({ start: { sec: 10, nsec: 0 }, end: { sec: 20, nsec: 0 } }); + const b = makeInit({ start: { sec: 5, nsec: 0 }, end: { sec: 15, nsec: 0 } }); + const c = makeInit({ start: { sec: 18, nsec: 0 }, end: { sec: 30, nsec: 0 } }); + const { initialization } = mergeInitializations([ + { label: 'a', initialization: a }, + { label: 'b', initialization: b }, + { label: 'c', initialization: c }, + ]); + expect(initialization.start).toEqual({ sec: 5, nsec: 0 }); + expect(initialization.end).toEqual({ sec: 30, nsec: 0 }); + }); + + it('folds same-name topics into one entry, accumulating sourceLabels and merging topicStats', () => { + const a = makeInit({ + topics: [{ name: '/tf', type: 'tf2_msgs/TFMessage', messageCount: 100, frequency: 10, durationSec: 10 }], + topicStats: { '/tf': { messageCount: 100, frequency: 10, durationSec: 10 } }, + }); + const b = makeInit({ + topics: [{ name: '/tf', type: 'tf2_msgs/TFMessage', messageCount: 50, frequency: 5, durationSec: 10 }], + topicStats: { '/tf': { messageCount: 50, frequency: 5, durationSec: 10 } }, + }); + const { initialization, memberIndicesByTopic } = mergeInitializations([ + { label: 'a.mcap', initialization: a }, + { label: 'b.mcap', initialization: b }, + ]); + expect(initialization.topics).toHaveLength(1); + const tf = initialization.topics[0]; + expect(tf.sourceLabels).toEqual(['a.mcap', 'b.mcap']); + // Per-member stats on the merged TopicInfo are cleared; the authoritative + // numbers live in topicStats (IterablePlayer backfills from there). + expect(tf.messageCount).toBeUndefined(); + expect(initialization.topicStats['/tf']).toEqual({ messageCount: 150, frequency: 7.5, durationSec: 20 }); + expect(memberIndicesByTopic.get('/tf')).toEqual([0, 1]); + }); + + it('records a problem when the same topic name has mismatched schemas', () => { + const a = makeInit({ topics: [{ name: '/x', type: 'a/A' }] }); + const b = makeInit({ topics: [{ name: '/x', type: 'b/B' }] }); + const { initialization } = mergeInitializations([ + { label: 'a', initialization: a }, + { label: 'b', initialization: b }, + ]); + expect(initialization.topics[0].type).toBe('a/A'); + expect(initialization.problems.some((p) => p.message.includes('mismatched schema'))).toBe(true); + }); + + it('merges publishersByTopic and datatypes across sources', () => { + const a = makeInit({ + publishersByTopic: { '/x': ['nodeA'] }, + datatypes: { 'a/A': { fields: [] } }, + }); + const b = makeInit({ + publishersByTopic: { '/x': ['nodeB'], '/y': ['nodeC'] }, + datatypes: { 'b/B': { fields: [] } }, + }); + const { initialization } = mergeInitializations([ + { label: 'a', initialization: a }, + { label: 'b', initialization: b }, + ]); + expect(initialization.publishersByTopic['/x']).toEqual(['nodeA', 'nodeB']); + expect(initialization.publishersByTopic['/y']).toEqual(['nodeC']); + expect(Object.keys(initialization.datatypes).sort()).toEqual(['a/A', 'b/B']); + }); + + it('randomAccessByTopic is true only when every source supports it', () => { + const a = makeInit({ randomAccessByTopic: true }); + const b = makeInit({ randomAccessByTopic: true }); + const c = makeInit({ randomAccessByTopic: false }); + expect( + mergeInitializations([ + { label: 'a', initialization: a }, + { label: 'b', initialization: b }, + ]).initialization.randomAccessByTopic, + ).toBe(true); + expect( + mergeInitializations([ + { label: 'a', initialization: a }, + { label: 'c', initialization: c }, + ]).initialization.randomAccessByTopic, + ).toBe(false); + }); + + it('preferredSamplingFps takes the max of defined hints', () => { + const a = makeInit({ preferredSamplingFps: 10 }); + const b = makeInit({ preferredSamplingFps: 30 }); + const { initialization } = mergeInitializations([ + { label: 'a', initialization: a }, + { label: 'b', initialization: b }, + ]); + expect(initialization.preferredSamplingFps).toBe(30); + }); + + it('concatenates problems from all sources', () => { + const a = makeInit({ problems: [{ severity: 'warn', message: 'a warned' }] }); + const b = makeInit({ problems: [{ severity: 'error', message: 'b errored' }] }); + const { initialization } = mergeInitializations([ + { label: 'a', initialization: a }, + { label: 'b', initialization: b }, + ]); + expect(initialization.problems).toEqual([ + { severity: 'warn', message: 'a warned' }, + { severity: 'error', message: 'b errored' }, + ]); + }); + + it('throws when given zero sources', () => { + expect(() => mergeInitializations([])).toThrow(); + }); +}); diff --git a/src/infra/workers/mergeInitialization.ts b/src/infra/workers/mergeInitialization.ts new file mode 100644 index 0000000..d9fcf41 --- /dev/null +++ b/src/infra/workers/mergeInitialization.ts @@ -0,0 +1,156 @@ +import type { Initialization, PlayerProblem, Time, TopicInfo, TopicStats } from '@/core/types/ros'; +import { toNano } from '@/shared/utils/time'; + +export interface MergeableSource { + /** Display label for this member (typically the file/URL basename). */ + label: string; + initialization: Initialization; +} + +export interface MergedInitializationResult { + initialization: Initialization; + /** + * Topic name -> ordered list of member indices (into the `sources` array + * passed to `mergeInitializations`) that publish this topic. Used by + * `CombinedSourceProxy` to avoid fanning out calls to members that do not + * own a requested topic. + */ + memberIndicesByTopic: Map; +} + +function minTime(a: Time, b: Time): Time { + return toNano(a) <= toNano(b) ? a : b; +} + +function maxTime(a: Time, b: Time): Time { + return toNano(a) >= toNano(b) ? a : b; +} + +function mergeTopicStats(existing: TopicStats | undefined, incoming: TopicStats): TopicStats { + if (!existing) { + return { ...incoming }; + } + const messageCount = existing.messageCount + incoming.messageCount; + const durationSec = + existing.durationSec != null || incoming.durationSec != null + ? (existing.durationSec ?? 0) + (incoming.durationSec ?? 0) + : undefined; + const frequency = + durationSec != null && durationSec > 0 ? messageCount / durationSec : Math.max(existing.frequency, incoming.frequency); + return { messageCount, frequency, durationSec }; +} + +/** + * Merge N per-source `Initialization` results into one, as if they came from + * a single combined recording: + * - topics are concatenated in source order (first-seen wins for ties), so + * the default topic list order matches "load order" per file. + * - a topic name appearing in more than one source is folded into a single + * entry; its `sourceLabels` accumulates every contributing file so the UI + * can surface provenance without duplicating rows. + * - `start`/`end` become the union (min start, max end) across all sources, + * which is what drives the merged session's overall playback range. + * + * Per-topic `messageCount`/`frequency`/`durationSec` are intentionally left + * undefined on the merged `TopicInfo` entries (except for topics that only + * exist in a single member, where the original values pass through + * unchanged); `IterablePlayer.initialize()` already backfills these from + * `topicStats`, so the authoritative numbers come from the `topicStats` + * merge below rather than being duplicated here. + */ +export function mergeInitializations(sources: MergeableSource[]): MergedInitializationResult { + if (sources.length === 0) { + throw new Error('mergeInitializations requires at least one source'); + } + if (sources.length === 1) { + const [only] = sources; + const memberIndicesByTopic = new Map(); + for (const topic of only.initialization.topics) { + memberIndicesByTopic.set(topic.name, [0]); + } + return { initialization: only.initialization, memberIndicesByTopic }; + } + + const topicOrder: string[] = []; + const topicsByName = new Map(); + const memberIndicesByTopic = new Map(); + const datatypes: Initialization['datatypes'] = {}; + const publishersByTopic = new Map>(); + const topicStats: Record = {}; + const problems: PlayerProblem[] = []; + let start: Time | undefined; + let end: Time | undefined; + let preferredSamplingFps: number | undefined; + let randomAccessByTopic = true; + + sources.forEach((source, memberIndex) => { + const init = source.initialization; + problems.push(...init.problems); + start = start ? minTime(start, init.start) : init.start; + end = end ? maxTime(end, init.end) : init.end; + if (init.randomAccessByTopic !== true) { + randomAccessByTopic = false; + } + if (typeof init.preferredSamplingFps === 'number' && Number.isFinite(init.preferredSamplingFps)) { + preferredSamplingFps = Math.max(preferredSamplingFps ?? 0, init.preferredSamplingFps); + } + Object.assign(datatypes, init.datatypes); + for (const [topicName, publishers] of Object.entries(init.publishersByTopic)) { + const set = publishersByTopic.get(topicName) ?? new Set(); + for (const p of publishers) set.add(p); + publishersByTopic.set(topicName, set); + } + for (const topic of init.topics) { + const indices = memberIndicesByTopic.get(topic.name) ?? []; + indices.push(memberIndex); + memberIndicesByTopic.set(topic.name, indices); + + const stats = init.topicStats[topic.name]; + if (stats) { + topicStats[topic.name] = mergeTopicStats(topicStats[topic.name], stats); + } + + const existing = topicsByName.get(topic.name); + if (!existing) { + topicOrder.push(topic.name); + topicsByName.set(topic.name, { ...topic, sourceLabels: [source.label] }); + continue; + } + if (existing.type !== topic.type) { + problems.push({ + severity: 'warn', + message: `Topic "${topic.name}" has mismatched schema across merged sources ("${existing.type}" vs "${topic.type}" from ${source.label}); using "${existing.type}".`, + }); + } + existing.sourceLabels = [...(existing.sourceLabels ?? []), source.label]; + // Multiple members contributing the same topic name is an edge case + // (same-name reuse across files); clear per-member stats so the final + // display values come from the merged `topicStats` below rather than + // whichever member happened to be seen first. + existing.messageCount = undefined; + existing.frequency = undefined; + existing.durationSec = undefined; + } + }); + + const topics = topicOrder.map((name) => topicsByName.get(name)!); + const mergedPublishersByTopic: Record = {}; + for (const [topicName, set] of publishersByTopic) { + mergedPublishersByTopic[topicName] = Array.from(set); + } + + return { + initialization: { + topics, + datatypes, + start: start!, + end: end!, + publishersByTopic: mergedPublishersByTopic, + topicStats, + problems, + preferredSamplingFps, + randomAccessByTopic, + }, + memberIndicesByTopic, + }; +} From 9203bd460ddbc2b9b8972eef7bbf7aafc554fc3c Mon Sep 17 00:00:00 2001 From: puxiaokang <1726541+joaner@users.noreply.github.com> Date: Thu, 9 Jul 2026 15:42:24 +0800 Subject: [PATCH 3/7] feat(viewer): merge multiple recording files into one session by default Add session grouping on top of the existing dataset list: - DatasetItem gains an optional groupId (datasetGroupKey/groupDatasets helpers); items without one behave exactly as a standalone group of one, so single-file loading is byte-for-byte unchanged. - RosViewerImpl builds one IterablePlayer per active group instead of per dataset: a group of one still wires WorkerSerializedSource directly; 2+ members are fanned out to independent Workers (in parallel, any mix of mcap/bag/db3/hdf5/bvh) and combined through CombinedSourceProxy. - Default interactive behavior: dropping/opening more recording files while a session is active merges them into that session (its topic list and time range grow); dropping files with nothing loaded starts one fresh merged session. Tar extraction and history replay keep today's "open an independent, switchable session" behavior. - Embed API (`file`/`files`/`url`/`urls`/`fileManifest`) is unchanged by default; a new opt-in `mergeSources` prop merges them into one group for hosts that want it. AppShell's active-dataset lookup now resolves by group key so extension context and Navbar/title labeling keep working for merged sessions. --- src/app/AppShell.tsx | 3 +- src/features/viewer/RosViewerImpl.tsx | 208 +++++++++++++++++------- src/shared/utils/datasetSources.test.ts | 91 +++++++++++ src/shared/utils/datasetSources.ts | 59 +++++++ 4 files changed, 299 insertions(+), 62 deletions(-) create mode 100644 src/shared/utils/datasetSources.test.ts diff --git a/src/app/AppShell.tsx b/src/app/AppShell.tsx index 3065814..a541bfd 100644 --- a/src/app/AppShell.tsx +++ b/src/app/AppShell.tsx @@ -4,6 +4,7 @@ import { Navbar } from '@/features/workspace/navbar/Navbar'; import { RosViewContent } from '@/features/viewer/RosViewContent'; import type { Player } from '@/core/types/player'; import type { DatasetItem } from '@/shared/utils/datasetSources'; +import { datasetGroupKey } from '@/shared/utils/datasetSources'; import type { PreferencePersistence } from '@/core/preferences/types'; import type { SampleDataset } from '@/services/sampleDatasets'; import type { DatasetHistoryListItem } from '@/shared/utils/datasetHistory'; @@ -191,7 +192,7 @@ export const AppShell: React.FC = ({ hostContext={hostContext} locale={language} theme={theme} - activeDataset={datasets.find((item) => item.id === activeDatasetId)} + activeDataset={datasets.find((item) => datasetGroupKey(item) === activeDatasetId)} showSidebar={showSidebar} showPlaybackBar={showPlaybackBar} hideOpenFileMenus={hideOpenFileMenus} diff --git a/src/features/viewer/RosViewerImpl.tsx b/src/features/viewer/RosViewerImpl.tsx index f075b67..738db0d 100644 --- a/src/features/viewer/RosViewerImpl.tsx +++ b/src/features/viewer/RosViewerImpl.tsx @@ -18,14 +18,18 @@ import { LoadingOverlay } from '@/features/workspace/common/LoadingOverlay'; import { Skeleton } from '@/shared/ui/skeleton'; import type { DatasetItem, FileListItem } from '@/shared/utils/datasetSources'; import { + createDatasetGroupId, + datasetGroupKey, datasetItemsFromListItems, dedupeDatasetItems, filterRosFilesFromFileList, + groupDatasets, isRosRecordingFilename, mergeDatasetLists, normalizeRosViewSources, parseRemoteDatasetListJson, } from '@/shared/utils/datasetSources'; +import { CombinedSourceProxy, type CombinedSourceMember } from '@/infra/workers/CombinedSourceProxy'; import { collectRosFilesFromUserDirectoryChoice, walkDirectoryHandle, @@ -110,12 +114,11 @@ async function createWorkerForExtension(ext: string | undefined): Promise { +): Promise> { const workerPerf = typeof window !== 'undefined' && new URLSearchParams(window.location.search).get('workerPerf') === '1'; const sqlWasmBinary = ext === 'db3' ? await loadSqlWasmBinary() : undefined; @@ -143,35 +146,50 @@ async function initializePlayerForDataset( ) { init.knownTotalBytes = Math.floor(ds.sizeBytes); } - await player.initialize(init); - return; + return init; } if (ds.kind === 'file' && ds.file) { const siblingFiles = ds.siblingFiles?.filter((file) => isRosRecordingFilename(file.name)) ?? []; const files = siblingFiles.length > 0 ? siblingFiles : [ds.file]; if (ext === 'bag' || ext === 'db3') { - await player.initialize({ + return { file: ds.file, files, workerPerf, autoDataQualityScan, ...(sqlWasmBinary ? { sqlWasmBinary } : {}), ...(zstdWasmBinary ? { zstdWasmBinary } : {}), - }); - } else { - await player.initialize({ - file: ds.file, - workerPerf, - autoDataQualityScan, - ...(hdf5WasmBinary ? { hdf5WasmBinary } : {}), - ...(zstdWasmBinary ? { zstdWasmBinary } : {}), - }); + }; } - return; + return { + file: ds.file, + workerPerf, + autoDataQualityScan, + ...(hdf5WasmBinary ? { hdf5WasmBinary } : {}), + ...(zstdWasmBinary ? { zstdWasmBinary } : {}), + }; } throw new Error('Invalid dataset item'); } +/** + * Creates a Worker + `WorkerSerializedSource` + init args for one dataset + * member. Shared by both the single-file fast path and the multi-file + * `CombinedSourceProxy` path so a group of 1 behaves byte-for-byte like + * today's single-source loading. + */ +async function prepareSourceMember( + ds: DatasetItem, + autoDataQualityScan: boolean, +): Promise<{ member: CombinedSourceMember; ext: string | undefined }> { + const ext = extensionForDataset(ds); + const worker = await createWorkerForExtension(ext); + worker.onerror = (ev) => console.error('MAIN: Worker error', ev); + const initArgs = await buildInitArgsForDataset(ds, ext, autoDataQualityScan); + const source = new WorkerSerializedSource(worker); + return { member: { label: ds.name, source, initArgs }, ext }; +} + /** Try indices in order: startIdx .. end-1, then 0 .. startIdx-1 */ function fallbackIndexOrder(length: number, startIdx: number): number[] { if (length <= 0) return []; @@ -194,7 +212,8 @@ function propsSignature(props: RosViewerProps): string { : typeof props.fileManifest === 'string' ? props.fileManifest.trim() : JSON.stringify(props.fileManifest); - return `${urlState}|${urls}|${url}|${files}|${file}|${fileListSig}`; + const mergeSources = props.mergeSources ? '1' : '0'; + return `${urlState}|${urls}|${url}|${files}|${file}|${fileListSig}|${mergeSources}`; } function initialUiFromProps(p: RosViewerProps) { @@ -223,6 +242,13 @@ export interface RosViewerProps { file?: File; urls?: string[]; files?: File[]; + /** + * When `true`, every dataset produced from `file`/`files`/`url`/`urls`/ + * `fileManifest` is merged into a single multi-source session (topics and + * time range unioned) instead of the default "list + switch" behavior. + * @default false + */ + mergeSources?: boolean; theme?: 'light' | 'dark' | 'system'; language?: 'en' | 'zh' | 'ja'; /** CSS class applied to the outermost container element. */ @@ -336,6 +362,7 @@ export const RosViewer: React.FC = (props) => { url: isCustomLocalLocatorString(props.url) ? undefined : props.url, urls: urlState === 'spa' ? undefined : props.urls, fileManifest: Array.isArray(props.fileManifest) ? props.fileManifest : undefined, + mergeSources: props.mergeSources, }), // eslint-disable-next-line react-hooks/exhaustive-deps -- propSig fingerprints File identity and source props [propSig, urlState], @@ -384,15 +411,16 @@ export const RosViewer: React.FC = (props) => { onFatalErrorRef.current = props.onFatalError; }, [props.onFatalError]); + /** Holds a group key (see `datasetGroupKey`); a standalone dataset is a group of one. */ const [activeId, setActiveId] = useState(null); - /** When fallback loads a non-selected dataset, highlights it in the sidebar without re-running the activeId load effect. */ - const [loadedDatasetId, setLoadedDatasetId] = useState(null); + /** When fallback loads a non-selected group, highlights it in the sidebar without re-running the activeId load effect. */ + const [loadedGroupId, setLoadedGroupId] = useState(null); const [lastLoadError, setLastLoadError] = useState(null); const [manualOpenHint, setManualOpenHint] = useState(null); useEffect(() => { setExtraDatasets([]); - setLoadedDatasetId(null); + setLoadedGroupId(null); setManualOpenHint(null); }, [propSig]); @@ -492,27 +520,39 @@ export const RosViewer: React.FC = (props) => { if (props.language != null) setCurrentLanguage(props.language); }, [props.language]); + const groups = useMemo(() => groupDatasets(datasets), [datasets]); + useEffect(() => { if (datasets.length === 0) { setActiveId(null); return; } setActiveId((prev) => { - if (prev && datasets.some((d) => d.id === prev)) return prev; - return datasets[0].id; + if (prev && datasets.some((d) => datasetGroupKey(d) === prev)) return prev; + return datasetGroupKey(datasets[0]); }); }, [datasets]); - const resolvedDatasetId = loadedDatasetId ?? activeId; - const activeDataset = useMemo( - () => (resolvedDatasetId ? datasets.find((d) => d.id === resolvedDatasetId) ?? null : null), - [datasets, resolvedDatasetId], + /** Members of the group the load effect targets, stable while unrelated datasets change. */ + const activeGroupMembersKey = useMemo(() => { + const resolvedGroupId = loadedGroupId ?? activeId; + const group = groups.find((g) => g.groupId === resolvedGroupId); + return group ? group.members.map((m) => m.id).join('\u0000') : ''; + }, [groups, loadedGroupId, activeId]); + + const resolvedDatasetId = loadedGroupId ?? activeId; + const activeGroup = useMemo( + () => (resolvedDatasetId ? groups.find((g) => g.groupId === resolvedDatasetId) ?? null : null), + [groups, resolvedDatasetId], ); - - const loadingSourceName = activeDataset - ? activeDataset.kind === 'url' - ? activeDataset.url - : activeDataset.file?.name + const activeDataset = activeGroup?.members[0] ?? null; + + const loadingSourceName = activeGroup + ? activeGroup.members.length > 1 + ? `${activeGroup.members[0].name} +${String(activeGroup.members.length - 1)}` + : activeDataset?.kind === 'url' + ? activeDataset.url + : activeDataset?.file?.name : undefined; const effectiveSourceName = props.navbarSourceName ?? loadingSourceName; @@ -565,27 +605,44 @@ export const RosViewer: React.FC = (props) => { tarInputDomIdRef.current = hasSource ? 'rosview-inline-tar' : 'rosview-landing-tar'; }, [hasSource]); - const appendFilesAsDatasets = useCallback((files: File[], focusFirstNew = true, groupFiles?: File[]) => { + const appendFilesAsDatasets = useCallback(( + files: File[], + focusFirstNew = true, + groupFiles?: File[], + forceNewSession = false, + ) => { const siblingFiles = groupFiles && groupFiles.length > 1 ? [...groupFiles] : undefined; + // Default behavior: new recording files merge into whatever session is + // currently active (topics/time-range union), matching the common + // "open base recording, later add an incrementally-produced file" + // workflow. When nothing is active yet, the whole batch becomes one + // fresh session together. `forceNewSession` opts out (used by + // tar-archive extraction and history replay, which represent opening a + // self-contained recording bundle rather than adding to the workspace). + const currentGroups = groupDatasets(datasetsRef.current); + const hasActiveGroup = + !forceNewSession && activeId != null && currentGroups.some((g) => g.groupId === activeId); + const groupId = hasActiveGroup ? activeId : createDatasetGroupId(); const items = dedupeDatasetItems( files.map((f) => ({ id: `file:${f.name}:${f.size}:${f.lastModified}`, kind: 'file' as const, name: f.name, file: f, + groupId, ...(siblingFiles ? { siblingFiles } : {}), })), ); setExtraDatasets((prev) => mergeDatasetLists(prev, items)); if (items.length > 0 && focusFirstNew) { - setActiveId(items[0].id); - setLoadedDatasetId(null); + setActiveId(groupId); + setLoadedGroupId(null); clearOpenFeedback(); } else if (items.length > 0) { - setLoadedDatasetId(null); + setLoadedGroupId(null); clearOpenFeedback(); } - }, [clearOpenFeedback]); + }, [activeId, clearOpenFeedback]); const recordLocalRosFilesHistory = useCallback( (files: File[], fileHandles?: FileSystemFileHandle[]) => { @@ -707,8 +764,8 @@ export const RosViewer: React.FC = (props) => { return; } - const datasetsLive = datasetsRef.current; - if (!datasetsLive.find((d) => d.id === activeId)) { + const groupsLive = groupDatasets(datasetsRef.current); + if (!groupsLive.find((g) => g.groupId === activeId)) { setPlayer(null); return; } @@ -718,49 +775,66 @@ export const RosViewer: React.FC = (props) => { const run = async () => { setLastLoadError(null); - const startIdx = datasetsLive.findIndex((d) => d.id === activeId); - const order = fallbackIndexOrder(datasetsLive.length, startIdx >= 0 ? startIdx : 0); + const startIdx = groupsLive.findIndex((g) => g.groupId === activeId); + const order = fallbackIndexOrder(groupsLive.length, startIdx >= 0 ? startIdx : 0); let lastErr: unknown = null; + const autoDataQualityScan = + persistence === 'localStorage' && readPreferences()?.autoDataQualityScan === true; for (const idx of order) { if (cancelled) return; - const ds = datasetsLive[idx]; - const ext = extensionForDataset(ds); - const worker = await createWorkerForExtension(ext); + const group = groupsLive[idx]; + + let preparedMembers: CombinedSourceMember[]; + try { + const prepared = await Promise.all( + group.members.map((ds) => prepareSourceMember(ds, autoDataQualityScan)), + ); + preparedMembers = prepared.map((p) => p.member); + } catch (err) { + if (cancelled) return; + lastErr = err; + continue; + } if (cancelled) { - worker.terminate(); + for (const m of preparedMembers) m.source.terminate(); return; } - worker.onerror = (ev) => console.error('MAIN: Worker error', ev); - const source = new WorkerSerializedSource(worker); - const newPlayer = new IterablePlayer(source); + // A group of one uses `WorkerSerializedSource` directly, matching + // today's single-file path byte-for-byte; only 2+ members go through + // `CombinedSourceProxy`. + const newPlayer = + preparedMembers.length === 1 + ? new IterablePlayer(preparedMembers[0].source) + : new IterablePlayer(new CombinedSourceProxy(preparedMembers)); createdPlayer = newPlayer; if (!cancelled) setPlayer(newPlayer); - const autoDataQualityScan = - persistence === 'localStorage' && readPreferences()?.autoDataQualityScan === true; try { - await initializePlayerForDataset(newPlayer, ds, ext, autoDataQualityScan); + const initArgs = preparedMembers.length === 1 ? preparedMembers[0].initArgs : {}; + await newPlayer.initialize(initArgs); if (cancelled) { newPlayer.close(); createdPlayer = null; return; } // Do not call setActiveId here: it would re-run this effect's cleanup and close the player we just opened (multi-source fallback). - setLoadedDatasetId(ds.id !== activeId ? ds.id : null); + setLoadedGroupId(group.groupId !== activeId ? group.groupId : null); clearOpenFeedback(); if (urlState === 'spa') { const sampleParam = spaSampleLocatorParamRef.current; if (sampleParam) { pushSpaUrlParam(sampleParam); spaSampleLocatorParamRef.current = null; - } else { - const loc = datasetItemToSourceLocator(ds); + } else if (group.members.length === 1) { + const loc = datasetItemToSourceLocator(group.members[0]); if (loc) { pushSpaUrlParam(serializeSourceLocator(loc)); } } + // Merged multi-file sessions have no single `?url=` locator to + // round-trip; the address bar keeps whatever it last showed. } return; } catch (err) { @@ -794,12 +868,24 @@ export const RosViewer: React.FC = (props) => { createdPlayer?.close(); setPlayer(null); }; - }, [activeId, clearOpenFeedback, hasSource, offlineIntl, persistence, requireSource, showOpenError, urlState]); + // `activeGroupMembersKey` is not read directly but forces a rebuild when + // files are added to (or removed from) the currently active group. + }, [ + activeId, + activeGroupMembersKey, + clearOpenFeedback, + hasSource, + offlineIntl, + persistence, + requireSource, + showOpenError, + urlState, + ]); const onDatasetSelect = useCallback( (id: string) => { clearOpenFeedback(); - setLoadedDatasetId(null); + setLoadedGroupId(null); if (urlState === 'spa') { spaSampleLocatorParamRef.current = null; } @@ -866,7 +952,7 @@ export const RosViewer: React.FC = (props) => { if (extracted.length === 0) { throw new Error(offlineIntl.formatMessage({ id: 'errors.noRecordingsInArchive' })); } - appendFilesAsDatasets(extracted); + appendFilesAsDatasets(extracted, true, undefined, true); const tail = resolved.split('/').pop() || resolved; await recordHistoryEntry({ kind: meta?.sample ? 'sample' : 'remote_tar', @@ -878,7 +964,7 @@ export const RosViewer: React.FC = (props) => { } else { setExtraDatasets((prev) => mergeDatasetLists(prev, normalizeRosViewSources({ url: resolved }))); setActiveId(`url:${resolved}`); - setLoadedDatasetId(null); + setLoadedGroupId(null); const tail = resolved.split('/').pop() || resolved; await recordHistoryEntry({ kind: meta?.sample ? 'sample' : 'url', @@ -910,7 +996,7 @@ export const RosViewer: React.FC = (props) => { if (extracted.length === 0) { throw new Error(offlineIntl.formatMessage({ id: 'errors.noRecordingsInArchive' })); } - appendFilesAsDatasets(extracted); + appendFilesAsDatasets(extracted, true, undefined, true); await recordHistoryEntry({ kind: 'local_tar', displayName: file.name, @@ -990,7 +1076,7 @@ export const RosViewer: React.FC = (props) => { showOpenError(offlineIntl.formatMessage({ id: 'welcome.historyEmptyDirectory' })); return; } - appendFilesAsDatasets(out, true, out); + appendFilesAsDatasets(out, true, out, true); } catch (e) { showOpenError(errorMessageFromUnknown(e, offlineIntl.formatMessage({ id: 'errors.loadFailed' }))); } @@ -1019,7 +1105,7 @@ export const RosViewer: React.FC = (props) => { showOpenError(offlineIntl.formatMessage({ id: 'welcome.historyNoSupportedRecordings' })); return; } - appendFilesAsDatasets(ros, true, ros); + appendFilesAsDatasets(ros, true, ros, true); } catch (e) { showOpenError(errorMessageFromUnknown(e, offlineIntl.formatMessage({ id: 'errors.loadFailed' }))); } @@ -1117,7 +1203,7 @@ export const RosViewer: React.FC = (props) => { spaSampleLocatorParamRef.current = null; spaUrlBootstrapGenRef.current += 1; setExtraDatasets([]); - setLoadedDatasetId(null); + setLoadedGroupId(null); setRemoteUrlBusy(false); if (urlState === 'spa') { setActiveId(null); diff --git a/src/shared/utils/datasetSources.test.ts b/src/shared/utils/datasetSources.test.ts new file mode 100644 index 0000000..c4ab3b1 --- /dev/null +++ b/src/shared/utils/datasetSources.test.ts @@ -0,0 +1,91 @@ +import { describe, expect, it } from 'vitest'; +import { + createDatasetGroupId, + datasetGroupKey, + groupDatasets, + normalizeRosViewSources, + type DatasetItem, +} from './datasetSources'; + +function makeFile(name: string, size = 10): File { + return new File([new Uint8Array(size)], name, { lastModified: 1 }); +} + +function makeDataset(id: string, overrides: Partial = {}): DatasetItem { + return { id, kind: 'file', name: id, ...overrides }; +} + +describe('datasetGroupKey', () => { + it('falls back to the item id when groupId is unset', () => { + expect(datasetGroupKey(makeDataset('a'))).toBe('a'); + }); + + it('uses groupId when set', () => { + expect(datasetGroupKey(makeDataset('a', { groupId: 'g1' }))).toBe('g1'); + }); +}); + +describe('groupDatasets', () => { + it('treats each ungrouped item as its own group, preserving order', () => { + const items = [makeDataset('a'), makeDataset('b')]; + const groups = groupDatasets(items); + expect(groups).toEqual([ + { groupId: 'a', members: [items[0]] }, + { groupId: 'b', members: [items[1]] }, + ]); + }); + + it('collects members that share a groupId, in first-seen order', () => { + const a = makeDataset('a', { groupId: 'g1' }); + const b = makeDataset('b', { groupId: 'g1' }); + const c = makeDataset('c'); + const groups = groupDatasets([a, c, b]); + expect(groups.map((g) => g.groupId)).toEqual(['g1', 'c']); + expect(groups[0].members).toEqual([a, b]); + expect(groups[1].members).toEqual([c]); + }); +}); + +describe('createDatasetGroupId', () => { + it('produces unique ids across calls', () => { + const ids = new Set(Array.from({ length: 20 }, () => createDatasetGroupId())); + expect(ids.size).toBe(20); + }); +}); + +describe('normalizeRosViewSources with mergeSources', () => { + it('does not assign a groupId by default (existing switcher behavior unchanged)', () => { + const items = normalizeRosViewSources({ files: [makeFile('a.mcap'), makeFile('b.mcap')] }); + expect(items).toHaveLength(2); + expect(items.every((i) => i.groupId == null)).toBe(true); + expect(groupDatasets(items)).toHaveLength(2); + }); + + it('assigns one shared groupId to every item when mergeSources is true', () => { + const items = normalizeRosViewSources({ + files: [makeFile('base.mcap'), makeFile('incremental.mcap')], + mergeSources: true, + }); + expect(items).toHaveLength(2); + const groupId = items[0].groupId; + expect(groupId).toBeTruthy(); + expect(items[1].groupId).toBe(groupId); + expect(groupDatasets(items)).toHaveLength(1); + }); + + it('mergeSources with a single resulting item is a no-op (no groupId needed)', () => { + const items = normalizeRosViewSources({ files: [makeFile('only.mcap')], mergeSources: true }); + expect(items).toHaveLength(1); + expect(items[0].groupId).toBeUndefined(); + }); + + it('mergeSources merges files and urls together into one group', () => { + const items = normalizeRosViewSources({ + files: [makeFile('base.mcap')], + urls: ['https://example.com/incremental.mcap'], + mergeSources: true, + }); + expect(items).toHaveLength(2); + expect(groupDatasets(items)).toHaveLength(1); + }); +}); diff --git a/src/shared/utils/datasetSources.ts b/src/shared/utils/datasetSources.ts index 77a760c..d4d3a59 100644 --- a/src/shared/utils/datasetSources.ts +++ b/src/shared/utils/datasetSources.ts @@ -16,8 +16,51 @@ export type DatasetItem = { topicCount?: number; /** Files opened together, e.g. from a directory. Some formats need sibling files to initialize correctly. */ siblingFiles?: File[]; + /** + * Session grouping key. Items sharing the same `groupId` are loaded + * together as one merged multi-source session (topics/time-range unioned + * via `CombinedSourceProxy`) instead of being independent switchable + * datasets. Absent for a standalone item, which is equivalent to a group + * of one (see `datasetGroupKey`). + */ + groupId?: string; }; +/** Grouping key for a dataset item: shared by every member of a merged session. */ +export function datasetGroupKey(item: DatasetItem): string { + return item.groupId ?? item.id; +} + +export interface DatasetGroup { + groupId: string; + members: DatasetItem[]; +} + +/** Group a flat dataset list by `datasetGroupKey`, preserving first-seen order. */ +export function groupDatasets(items: DatasetItem[]): DatasetGroup[] { + const order: string[] = []; + const byGroup = new Map(); + for (const item of items) { + const key = datasetGroupKey(item); + const members = byGroup.get(key); + if (members) { + members.push(item); + } else { + byGroup.set(key, [item]); + order.push(key); + } + } + return order.map((groupId) => ({ groupId, members: byGroup.get(groupId)! })); +} + +let groupIdCounter = 0; + +/** Fresh, unique id for a new merged-session group. */ +export function createDatasetGroupId(): string { + groupIdCounter += 1; + return `group:${Date.now().toString(36)}:${groupIdCounter}`; +} + /** One row from host `fileManifest` or remote dataset JSON. */ export type FileListItem = { url: string; @@ -69,6 +112,15 @@ export type RosViewSourceProps = { urls?: string[]; /** Inline manifest rows or JSON URL string (embed via `fileManifest` prop). */ fileManifest?: string | FileListItem[]; + /** + * When `true`, every item produced from `file`/`files`/`url`/`urls`/ + * `fileManifest` in this call is assigned one shared `groupId`, so they + * load as a single merged multi-source session instead of independent + * switchable datasets. Default `false` preserves the existing "list + + * switch" behavior for embedders that pass multiple files/urls today. + * @default false + */ + mergeSources?: boolean; }; function isRecord(v: unknown): v is Record { @@ -152,6 +204,13 @@ export function normalizeRosViewSources(props: RosViewSourceProps): DatasetItem[ } } + if (props.mergeSources && out.length > 1) { + const groupId = createDatasetGroupId(); + for (const item of out) { + item.groupId = groupId; + } + } + return out; } From ee10f40c1ed310e599e49fd6e962f7e7e328e198 Mon Sep 17 00:00:00 2001 From: puxiaokang <1726541+joaner@users.noreply.github.com> Date: Thu, 9 Jul 2026 15:46:23 +0800 Subject: [PATCH 4/7] feat(sidebar): surface merged-session provenance in topic "more" menu and Data tab - TopicRow's overflow menu shows a "Source: a.mcap, b.mcap" line when a topic's sourceLabels are populated (multi-source sessions only; the menu is unchanged for single-file sessions). - Sidebar's Data tab now renders one row per merged session (grouped by datasetGroupKey) instead of one row per file: a merged session shows "first.name +N", the full member list, and a "{count} files merged" badge, while a standalone file renders exactly as before. Adds sidebar.topicRow.sourceFiles and sidebar.datasetGroup.fileCount i18n strings (en/zh/ja). --- src/features/workspace/sidebar/Sidebar.tsx | 56 ++++++++++++++----- .../workspace/sidebar/topic-list/TopicRow.tsx | 13 +++++ src/shared/intl/messages/en/sidebar.json | 2 + src/shared/intl/messages/ja/sidebar.json | 2 + src/shared/intl/messages/zh/sidebar.json | 2 + 5 files changed, 60 insertions(+), 15 deletions(-) diff --git a/src/features/workspace/sidebar/Sidebar.tsx b/src/features/workspace/sidebar/Sidebar.tsx index 59d7cbd..45ef595 100644 --- a/src/features/workspace/sidebar/Sidebar.tsx +++ b/src/features/workspace/sidebar/Sidebar.tsx @@ -17,6 +17,7 @@ import { writePreferences } from '@/core/preferences/readWritePreferences'; import type { RosViewExtension, RosViewExtensionContext, SidebarTabContribution } from '@/core/extensions/types'; import { SidebarExtensionHost } from '@/features/extensions/SidebarExtensionHost'; import type { DatasetItem } from '@/shared/utils/datasetSources'; +import { groupDatasets } from '@/shared/utils/datasetSources'; import { formatBytes } from '@/shared/utils/formatBytes'; import { cn } from '@/shared/lib/utils'; @@ -88,6 +89,8 @@ export const Sidebar: React.FC = ({ ); const showDatasetsTab = datasets.length !== 1; + /** One row per merged session; a standalone file is a group of one. */ + const datasetGroups = useMemo(() => groupDatasets(datasets), [datasets]); const tabValue = !showDatasetsTab && activeTab === 'datasets' ? 'topics' : activeTab; @@ -235,18 +238,28 @@ export const Sidebar: React.FC = ({ >
- {datasets.length > 0 ? ( - datasets.map((dataset) => { - const isActive = dataset.id === activeDatasetId; - const sizeBytes = - dataset.kind === 'file' ? dataset.file?.size : dataset.sizeBytes; - const sizeLabel = formatBytes(sizeBytes) ?? '—'; - const rowTitle = [dataset.name, dataset.kind === 'url' ? dataset.url : undefined, sizeLabel] + {datasetGroups.length > 0 ? ( + datasetGroups.map((group) => { + const isActive = group.groupId === activeDatasetId; + const primary = group.members[0]; + const isMerged = group.members.length > 1; + const totalSizeBytes = group.members.reduce((sum, m) => { + const size = m.kind === 'file' ? m.file?.size : m.sizeBytes; + return sum + (typeof size === 'number' ? size : 0); + }, 0); + const sizeLabel = formatBytes(totalSizeBytes) ?? '—'; + const displayName = isMerged + ? `${primary.name} +${String(group.members.length - 1)}` + : primary.name; + const rowTitle = [ + ...group.members.map((m) => (m.kind === 'url' ? m.url ?? m.name : m.name)), + sizeLabel, + ] .filter(Boolean) .join('\n'); return (
= ({ type="button" title={rowTitle} aria-current={isActive ? 'true' : undefined} - onClick={() => onDatasetSelect(dataset.id)} + onClick={() => onDatasetSelect(group.groupId)} className={cn( 'flex w-full cursor-pointer items-center gap-3 p-2 outline-none', 'focus-visible:ring-1 focus-visible:ring-ring/50', )} > -
+
- {dataset.name} - {dataset.kind === 'url' && dataset.url ? ( + {displayName} + {!isMerged && primary.kind === 'url' && primary.url ? ( <>
- {dataset.url} + {primary.url} ) : null}
+ {isMerged ? ( +
+ {group.members.map((m) => m.name).join(' · ')} +
+ ) : null}
-
- {sizeLabel} +
+ {sizeLabel} + {isMerged ? ( + + {formatMessage( + { id: 'sidebar.datasetGroup.fileCount' }, + { count: group.members.length }, + )} + + ) : null}
diff --git a/src/features/workspace/sidebar/topic-list/TopicRow.tsx b/src/features/workspace/sidebar/topic-list/TopicRow.tsx index 50db514..a4bf22c 100644 --- a/src/features/workspace/sidebar/topic-list/TopicRow.tsx +++ b/src/features/workspace/sidebar/topic-list/TopicRow.tsx @@ -8,6 +8,8 @@ import { DropdownMenu, DropdownMenuContent, DropdownMenuItem, + DropdownMenuLabel, + DropdownMenuSeparator, DropdownMenuTrigger, } from '@/shared/ui/dropdown-menu'; import { getTopicMetricLines } from './topicMetrics'; @@ -126,6 +128,17 @@ export const TopicRow: React.FC = ({ topic, isSelected, onSelect {formatMessage({ id: 'sidebar.topicRow.copySchemaName' })} + {topic.sourceLabels && topic.sourceLabels.length > 0 ? ( + <> + + + {formatMessage( + { id: 'sidebar.topicRow.sourceFiles' }, + { files: topic.sourceLabels.join(', ') }, + )} + + + ) : null}
diff --git a/src/shared/intl/messages/en/sidebar.json b/src/shared/intl/messages/en/sidebar.json index 0e00439..a104196 100644 --- a/src/shared/intl/messages/en/sidebar.json +++ b/src/shared/intl/messages/en/sidebar.json @@ -10,11 +10,13 @@ "sidebar.topicRow.actionsMenu": "Topic actions", "sidebar.topicRow.copyTopicName": "Copy topic name", "sidebar.topicRow.copySchemaName": "Copy schema name", + "sidebar.topicRow.sourceFiles": "Source: {files}", "sidebar.topicDropTitle": "Drop here to open Raw Messages", "sidebar.topicDropSubtitle": "Release to create a Raw Messages panel", "sidebar.datasetSize": "{size}", "sidebar.datasetDuration": "{sec}s", "sidebar.datasetTopics": "{n} topics", + "sidebar.datasetGroup.fileCount": "{count} files merged", "sidebar.openFile": "Add file", "sidebar.openDirectory": "Open Directory", "sidebar.noTopics": "No topics found", diff --git a/src/shared/intl/messages/ja/sidebar.json b/src/shared/intl/messages/ja/sidebar.json index 8845f19..9a4eefc 100644 --- a/src/shared/intl/messages/ja/sidebar.json +++ b/src/shared/intl/messages/ja/sidebar.json @@ -10,11 +10,13 @@ "sidebar.topicRow.actionsMenu": "トピックの操作", "sidebar.topicRow.copyTopicName": "トピック名をコピー", "sidebar.topicRow.copySchemaName": "スキーマ名をコピー", + "sidebar.topicRow.sourceFiles": "ソース: {files}", "sidebar.topicDropTitle": "ここにドロップして Raw Messages を開く", "sidebar.topicDropSubtitle": "離すと Raw Messages パネルを作成します", "sidebar.datasetSize": "{size}", "sidebar.datasetDuration": "{sec} 秒", "sidebar.datasetTopics": "{n} トピック", + "sidebar.datasetGroup.fileCount": "{count} 件のファイルを統合", "sidebar.openFile": "ファイルを追加", "sidebar.openDirectory": "フォルダを開く", "sidebar.noTopics": "トピックがありません", diff --git a/src/shared/intl/messages/zh/sidebar.json b/src/shared/intl/messages/zh/sidebar.json index 8618378..230a100 100644 --- a/src/shared/intl/messages/zh/sidebar.json +++ b/src/shared/intl/messages/zh/sidebar.json @@ -10,11 +10,13 @@ "sidebar.topicRow.actionsMenu": "话题操作", "sidebar.topicRow.copyTopicName": "复制话题名称", "sidebar.topicRow.copySchemaName": "复制 Schema 名称", + "sidebar.topicRow.sourceFiles": "来源：{files}", "sidebar.topicDropTitle": "拖到此处打开原始消息", "sidebar.topicDropSubtitle": "松开后会创建 Raw Messages 面板", "sidebar.datasetSize": "{size}", "sidebar.datasetDuration": "{sec} 秒", "sidebar.datasetTopics": "{n} 个话题", + "sidebar.datasetGroup.fileCount": "已合并 {count} 个文件", "sidebar.openFile": "添加文件", "sidebar.openDirectory": "打开目录", "sidebar.noTopics": "无话题", From f1663ee29b049bda07d47fcf88ca6a7627aa1f1a Mon Sep 17 00:00:00 2001 From: puxiaokang <1726541+joaner@users.noreply.github.com> Date: Thu, 9 Jul 2026 15:54:41 +0800 Subject: [PATCH 5/7] test: add multi-mcap and mcap+bag fixture generators for merge testing - gen-test-mcap-multi-base.mjs / gen-test-mcap-multi-incremental.mjs: a "base recording" (camera + joint_states, 0-5s) and a separately- authored "incremental analysis" file (one new topic, 3-7s) that mirrors the described external hand-pose-overlay workflow. Loading both exercises topic concatenation and the union time range. - gen-test-mcap-filtered.mjs: derives a third fixture from the base file using the real `mcap filter` CLI (not @mcap/core), so at least one multi-source test loads a CLI-derived file alongside a hand-authored one. - gen-test-bag.py: writes a minimal ROS1 .bag (Python `rosbags` package, since there is no maintained JS/TS ROS1 bag writer) for mcap+bag mixed-format tests; verified against the app's own @foxglove/rosbag reader. Both the CLI-derived and bag fixtures self-skip (exit 0, no output file) when their external tool isn't installed, so `npm run gen:e2e:fixtures` keeps working for contributors without them; CI installs both (follow-up commit). --- .gitignore | 6 +- scripts/gen-e2e-fixtures.mjs | 9 +++ scripts/gen-test-bag.py | 79 +++++++++++++++++++++ scripts/gen-test-mcap-filtered.mjs | 55 ++++++++++++++ scripts/gen-test-mcap-multi-base.mjs | 67 +++++++++++++++++ scripts/gen-test-mcap-multi-incremental.mjs | 41 +++++++++++ tests/fixturePaths.ts | 21 ++++++ 7 files changed, 277 insertions(+), 1 deletion(-) create mode 100644 scripts/gen-test-bag.py create mode 100644 scripts/gen-test-mcap-filtered.mjs create mode 100644 scripts/gen-test-mcap-multi-base.mjs create mode 100644 scripts/gen-test-mcap-multi-incremental.mjs diff --git a/.gitignore b/.gitignore index 22dbe92..229ceb5 100644 --- a/.gitignore +++ b/.gitignore @@ -38,4 +38,8 @@ yarn.lock /public/examples/ /test-results/ /playwright-report/ -.tmp-urdf-debug-*/ \ No newline at end of file +.tmp-urdf-debug-*/ + +# Python (fixture generator scripts, e.g. gen-test-hdf5.py / gen-test-bag.py) +__pycache__/ +*.pyc \ No newline at end of file diff --git a/scripts/gen-e2e-fixtures.mjs b/scripts/gen-e2e-fixtures.mjs index e8ada66..0a61347 100644 --- a/scripts/gen-e2e-fixtures.mjs +++ b/scripts/gen-e2e-fixtures.mjs @@ -33,4 +33,13 @@ runNode('gen-test-mcap-compressed-depth.mjs'); runPython('gen-test-hdf5.py'); runNode('gen-test-bvh.mjs'); +// Multi-source merge fixtures. gen-test-mcap-filtered.mjs and gen-test-bag.py +// each self-skip (exit 0) when their optional external tool (`mcap` CLI / +// `rosbags` package) isn't installed, so this pipeline still succeeds for +// contributors without them; CI installs both (see .github/workflows/ci.yml). +runNode('gen-test-mcap-multi-base.mjs'); +runNode('gen-test-mcap-multi-incremental.mjs'); +runNode('gen-test-mcap-filtered.mjs'); +runPython('gen-test-bag.py'); + console.log('[gen-e2e-fixtures] all fixtures ready'); diff --git a/scripts/gen-test-bag.py b/scripts/gen-test-bag.py new file mode 100644 index 0000000..1acd636 --- /dev/null +++ b/scripts/gen-test-bag.py @@ -0,0 +1,79 @@ +#!/usr/bin/env python3 +"""Generate a minimal ROS1 .bag fixture for mcap+bag mixed-format multi-source tests. + +Uses the `rosbags` package (`pip install rosbags`) since there is no +maintained JS/TS ROS1 bag *writer* (only readers). Skips gracefully (exit 0, +no output file) when `rosbags` isn't installed, matching how +gen-test-mcap-filtered.mjs handles the optional `mcap` CLI dependency: +contributors without it still get every other fixture, and Playwright specs +that depend on this file self-skip when it's absent. CI installs the package +so it always runs there (see .github/workflows/ci.yml). +""" +from __future__ import annotations + +import sys +from pathlib import Path + +try: + import numpy as np + from rosbags.rosbag1 import Writer + from rosbags.typesys import Stores, get_typestore +except ImportError: + np = None # type: ignore[assignment] + Writer = None # type: ignore[assignment] + get_typestore = None # type: ignore[assignment] + +ROOT = Path(__file__).resolve().parent.parent +OUT = ROOT / 'public' / 'examples' / 'test_multi.bag' + + +def generate() -> None: + assert np is not None and Writer is not None and get_typestore is not None + typestore = get_typestore(Stores.ROS1_NOETIC) + joint_state_type = typestore.types['sensor_msgs/msg/JointState'] + header_type = typestore.types['std_msgs/msg/Header'] + time_type = typestore.types['builtin_interfaces/msg/Time'] + + OUT.parent.mkdir(parents=True, exist_ok=True) + if OUT.exists(): + OUT.unlink() + + with Writer(OUT) as writer: + connection = writer.add_connection( + '/bag/joint_states', + joint_state_type.__msgtype__, + typestore=typestore, + ) + for sec in range(5): + message = joint_state_type( + header_type(seq=sec, stamp=time_type(sec=sec, nanosec=0), frame_id=''), + name=['bag_joint1', 'bag_joint2'], + position=np.array([sec * 0.05, -sec * 0.05], dtype=np.float64), + velocity=np.array([], dtype=np.float64), + effort=np.array([], dtype=np.float64), + ) + writer.write( + connection, + sec * 1_000_000_000, + typestore.serialize_ros1(message, joint_state_type.__msgtype__), + ) + print(f'Wrote {OUT} ({OUT.stat().st_size} bytes)') + + +def main() -> int: + if Writer is None: + print( + '[gen-test-bag] `rosbags` package not installed; skipping test_multi.bag.\n' + ' Install it with `pip install rosbags` to exercise mcap+bag mixed-format tests.\n' + ' Tests that depend on it self-skip when the file is absent.', + file=sys.stderr, + ) + if OUT.exists(): + OUT.unlink() + return 0 + generate() + return 0 + + +if __name__ == '__main__': + raise SystemExit(main()) diff --git a/scripts/gen-test-mcap-filtered.mjs b/scripts/gen-test-mcap-filtered.mjs new file mode 100644 index 0000000..5d424b8 --- /dev/null +++ b/scripts/gen-test-mcap-filtered.mjs @@ -0,0 +1,55 @@ +#!/usr/bin/env node +/** + * Derive public/examples/test_multi_filtered.mcap from test_multi_base.mcap + * using the real `mcap` CLI's `filter` subcommand (not @mcap/core), per the + * multi-source-merge test plan's requirement to exercise `mcap filter` for + * fixture generation. + * + * Requires gen-test-mcap-multi-base.mjs to have run first. Skips gracefully + * (exit 0, no output file) when the `mcap` CLI isn't on PATH, so contributors + * without it installed still get every other fixture; tests that depend on + * this file self-skip when it's absent. CI installs the CLI so it always + * runs there (see .github/workflows/ci.yml). + */ +import { spawnSync } from 'node:child_process'; +import fs from 'node:fs'; +import path from 'node:path'; +import { EXAMPLES_DIR } from './mcap-fixture-utils.mjs'; + +const baseFile = path.join(EXAMPLES_DIR, 'test_multi_base.mcap'); +const outFile = path.join(EXAMPLES_DIR, 'test_multi_filtered.mcap'); + +function mcapCliAvailable() { + const result = spawnSync('mcap', ['--version'], { stdio: 'ignore' }); + return result.status === 0; +} + +if (!fs.existsSync(baseFile)) { + console.error(`[gen-test-mcap-filtered] missing ${baseFile}; run gen-test-mcap-multi-base.mjs first`); + process.exit(1); +} + +if (!mcapCliAvailable()) { + console.warn( + '[gen-test-mcap-filtered] `mcap` CLI not found on PATH; skipping test_multi_filtered.mcap.\n' + + ' Install it (brew install mcap, or https://github.com/foxglove/mcap/releases?q=mcap-cli)\n' + + ' to exercise the "mcap filter"-derived fixture. Tests that depend on it self-skip when\n' + + ' the file is absent.', + ); + // Remove stale output from a previous run so dependent tests see it as + // genuinely unavailable rather than stale. + if (fs.existsSync(outFile)) fs.rmSync(outFile); + process.exit(0); +} + +// Only /joint_states survives the filter; pairs with +// test_multi_incremental.mcap in tests to prove a CLI-derived file merges +// correctly alongside a hand-authored one. +const result = spawnSync('mcap', ['filter', baseFile, '-o', outFile, '-y', '/joint_states'], { + stdio: 'inherit', +}); +if (result.status !== 0) { + console.error('[gen-test-mcap-filtered] mcap filter failed with status', result.status); + process.exit(result.status ?? 1); +} +console.log('Wrote', outFile); diff --git a/scripts/gen-test-mcap-multi-base.mjs b/scripts/gen-test-mcap-multi-base.mjs new file mode 100644 index 0000000..fb47a46 --- /dev/null +++ b/scripts/gen-test-mcap-multi-base.mjs @@ -0,0 +1,67 @@ +/** + * Generate the "base recording" half of the multi-source merge fixtures: + * public/examples/test_multi_base.mcap, spanning 0s-5s with two topics. + * + * Paired with gen-test-mcap-multi-incremental.mjs, which simulates a + * separately-produced MCAP (e.g. output of an external hand-pose analysis + * pipeline) that adds one new topic over a partially-overlapping time range. + * Loading both together should merge into one session whose topic list has + * all three topics and whose time range is the union of both files. + */ +import { createIndexedMcapWriter, writeExample } from './mcap-fixture-utils.mjs'; + +const { writer, writable } = await createIndexedMcapWriter(); + +const cameraSchemaId = await writer.registerSchema({ + name: 'sensor_msgs/msg/CompressedImage', + encoding: 'jsonschema', + data: new TextEncoder().encode('{"type":"object"}'), +}); +const cameraChannelId = await writer.registerChannel({ + schemaId: cameraSchemaId, + topic: '/camera/front/image_raw/compressed', + messageEncoding: 'json', + metadata: new Map(), +}); + +const jointSchemaId = await writer.registerSchema({ + name: 'sensor_msgs/msg/JointState', + encoding: 'jsonschema', + data: new TextEncoder().encode('{"type":"object"}'), +}); +const jointChannelId = await writer.registerChannel({ + schemaId: jointSchemaId, + topic: '/joint_states', + messageEncoding: 'json', + metadata: new Map(), +}); + +const secs = [0, 1, 2, 3, 4, 5]; +for (const [idx, sec] of secs.entries()) { + const ts = BigInt(sec) * 1_000_000_000n; + await writer.addMessage({ + channelId: cameraChannelId, + sequence: idx + 1, + logTime: ts, + publishTime: ts, + data: new TextEncoder().encode(JSON.stringify({ format: 'jpeg', data: '' })), + }); + await writer.addMessage({ + channelId: jointChannelId, + sequence: idx + 1, + logTime: ts, + publishTime: ts, + data: new TextEncoder().encode( + JSON.stringify({ + header: { stamp: { sec, nanosec: 0 }, frame_id: '' }, + name: ['joint1', 'joint2'], + position: [sec * 0.1, -sec * 0.1], + velocity: [], + effort: [], + }), + ), + }); +} + +await writer.end(); +writeExample('test_multi_base.mcap', writable.getBuffer()); diff --git a/scripts/gen-test-mcap-multi-incremental.mjs b/scripts/gen-test-mcap-multi-incremental.mjs new file mode 100644 index 0000000..1ed4e27 --- /dev/null +++ b/scripts/gen-test-mcap-multi-incremental.mjs @@ -0,0 +1,41 @@ +/** + * Generate the "incremental analysis" half of the multi-source merge + * fixtures: public/examples/test_multi_incremental.mcap. + * + * Simulates a downstream tool (e.g. hand-pose extraction drawn onto frames) + * that re-processes a base recording and writes its *own* MCAP containing + * only the newly-produced topic. Spans 3s-7s, which partially overlaps and + * partially extends past gen-test-mcap-multi-base.mjs's 0s-5s range, so the + * merged session's time range (0s-7s) exercises the union-of-ranges logic + * rather than one file's range trivially containing the other's. + */ +import { createIndexedMcapWriter, writeExample } from './mcap-fixture-utils.mjs'; + +const { writer, writable } = await createIndexedMcapWriter(); + +const schemaId = await writer.registerSchema({ + name: 'sensor_msgs/msg/CompressedImage', + encoding: 'jsonschema', + data: new TextEncoder().encode('{"type":"object"}'), +}); +const channelId = await writer.registerChannel({ + schemaId, + topic: '/analysis/hand_pose_overlay/compressed', + messageEncoding: 'json', + metadata: new Map(), +}); + +const secs = [3, 4, 5, 6, 7]; +for (const [idx, sec] of secs.entries()) { + const ts = BigInt(sec) * 1_000_000_000n; + await writer.addMessage({ + channelId, + sequence: idx + 1, + logTime: ts, + publishTime: ts, + data: new TextEncoder().encode(JSON.stringify({ format: 'jpeg', data: '' })), + }); +} + +await writer.end(); +writeExample('test_multi_incremental.mcap', writable.getBuffer()); diff --git a/tests/fixturePaths.ts b/tests/fixturePaths.ts index 188cd9b..4568501 100644 --- a/tests/fixturePaths.ts +++ b/tests/fixturePaths.ts @@ -14,6 +14,14 @@ export const MCAP_COMPRESSED_DEPTH = path.join(EXAMPLES_DIR, 'test_compressed_de export const HDF5_MINIMAL = path.join(EXAMPLES_DIR, 'test_minimal.hdf5'); export const BVH_MINIMAL = path.join(EXAMPLES_DIR, 'test_minimal.bvh'); +/** Multi-source merge fixtures (see scripts/gen-test-mcap-multi-*.mjs). */ +export const MCAP_MULTI_BASE = path.join(EXAMPLES_DIR, 'test_multi_base.mcap'); +export const MCAP_MULTI_INCREMENTAL = path.join(EXAMPLES_DIR, 'test_multi_incremental.mcap'); +/** Derived from MCAP_MULTI_BASE via the real `mcap filter` CLI; absent if the CLI isn't installed. */ +export const MCAP_MULTI_FILTERED = path.join(EXAMPLES_DIR, 'test_multi_filtered.mcap'); +/** Generated by scripts/gen-test-bag.py (Python `rosbags`); absent if that package isn't installed. */ +export const BAG_MULTI = path.join(EXAMPLES_DIR, 'test_multi.bag'); + export const MCAP_BASIC_URL = '/examples/test_5s.mcap'; export const MCAP_POSE_URL = '/examples/test_pose.mcap'; export const MCAP_3CAM_URL = '/examples/test_3cam.mcap'; @@ -21,6 +29,8 @@ export const MCAP_H264_URL = '/examples/test_h264.mcap'; export const MCAP_COMPRESSED_DEPTH_URL = '/examples/test_compressed_depth.mcap'; export const HDF5_MINIMAL_URL = '/examples/test_minimal.hdf5'; export const BVH_MINIMAL_URL = '/examples/test_minimal.bvh'; +export const MCAP_MULTI_BASE_URL = '/examples/test_multi_base.mcap'; +export const MCAP_MULTI_INCREMENTAL_URL = '/examples/test_multi_incremental.mcap'; /** Fail fast when pretest:e2e has not generated fixtures. */ export function requireFixture(fixturePath: string): string { @@ -33,3 +43,14 @@ export function requireFixture(fixturePath: string): string { export function requireExamplesDir(): void { requireFixture(MCAP_BASIC); } + +/** + * Some fixtures depend on an optional external tool (the `mcap` CLI for + * MCAP_MULTI_FILTERED, the Python `rosbags` package for BAG_MULTI) and are + * skipped by their generator script when that tool isn't installed. Tests + * that need one of these should check this and `test.skip()` rather than + * fail outright. + */ +export function fixtureExists(fixturePath: string): boolean { + return existsSync(fixturePath); +} From f86a78cb859ff21c7e3b818406299f13bc4f7148 Mon Sep 17 00:00:00 2001 From: puxiaokang <1726541+joaner@users.noreply.github.com> Date: Thu, 9 Jul 2026 15:59:40 +0800 Subject: [PATCH 6/7] ci: install mcap CLI for fixture generation; commit bag source fixture - .github/workflows/ci.yml (e2e job): download the pinned mcap-cli Linux binary from GitHub releases so gen-test-mcap-filtered.mjs's `mcap filter` step actually runs in CI instead of self-skipping. - gen-test-bag.py now follows gen-test-hdf5.py's pattern: the ROS1 bag is generated once into the committed test-fixtures/media/minimal-multi.bag, and gen:e2e:fixtures just copies it into public/examples/test_multi.bag. This means CI and most contributors never need the `rosbags` Python package at all; it's only required to regenerate the source fixture. - docs/DEVELOPMENT.md: document the new fixtures, the two optional external tools and their auto-skip behavior, and a multi-source merge acceptance checklist. --- .github/workflows/ci.yml | 13 +++++++ docs/DEVELOPMENT.md | 23 +++++++++++ scripts/gen-test-bag.py | 53 ++++++++++++++------------ test-fixtures/media/minimal-multi.bag | Bin 0 -> 5823 bytes 4 files changed, 65 insertions(+), 24 deletions(-) create mode 100644 test-fixtures/media/minimal-multi.bag diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index fea190c..13e16b6 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -22,6 +22,8 @@ jobs: e2e: runs-on: ubuntu-latest + env: + MCAP_CLI_VERSION: 'v0.2.0' steps: - uses: actions/checkout@v4 - uses: actions/setup-node@v4 @@ -30,6 +32,17 @@ jobs: cache: 'npm' - run: npm ci - run: npx playwright install chromium --with-deps + - name: Install mcap CLI + # Used by scripts/gen-test-mcap-filtered.mjs to derive a fixture via + # the real `mcap filter` command (not @mcap/core). That script + # self-skips if this step is ever removed, so it's not load-bearing + # for the rest of CI, but keeping it here exercises the multi-source + # merge feature's "mcap filter"-derived fixture on every run. + run: | + curl -sSL -o /usr/local/bin/mcap \ + "https://github.com/foxglove/mcap/releases/download/releases/mcap-cli/${MCAP_CLI_VERSION}/mcap-linux-amd64" + chmod +x /usr/local/bin/mcap + mcap --version - name: Generate E2E fixtures run: npm run gen:e2e:fixtures - run: npm run test:e2e diff --git a/docs/DEVELOPMENT.md b/docs/DEVELOPMENT.md index efce917..8b45e70 100644 --- a/docs/DEVELOPMENT.md +++ b/docs/DEVELOPMENT.md @@ -29,9 +29,20 @@ This runs automatically as `pretest:e2e` before `npm run test:e2e`. | `test_h264.mcap` | H.264 CompressedImage decode | | `test_minimal.hdf5` | ALOHA-schema HDF5 (~7 KB) | | `test_minimal.bvh` | Minimal BVH skeleton | +| `test_multi_base.mcap` | Multi-source merge: "base recording" (camera + `/joint_states`, 0-5s) | +| `test_multi_incremental.mcap` | Multi-source merge: separately-authored file adding one topic, 3-7s | +| `test_multi_filtered.mcap` | Multi-source merge: derived from `test_multi_base.mcap` via the real `mcap filter` CLI — **optional**, see below | +| `test_multi.bag` | Multi-source merge: ROS1 bag for mcap+bag mixed-format tests (copied from the committed `test-fixtures/media/minimal-multi.bag`) | Vitest layout round-trip tests import JSON directly from `test-fixtures/layouts/`. +### Optional external tools + +Two fixtures depend on a tool that isn't an npm package. Their generator scripts detect absence and skip (exit 0, no output file) rather than failing the whole `gen:e2e:fixtures` run; Playwright specs that need one of these files check for it and `test.skip()` themselves when it's missing. + +- **`mcap` CLI** (Rust rewrite, `mcap --version` ≥ 0.1) — needed only to (re)generate `test_multi_filtered.mcap` via `mcap filter`. Install with `brew install mcap` or download a binary from . CI installs it explicitly (see `.github/workflows/ci.yml`), so this fixture and its tests always run there. +- **`rosbags`** Python package — needed only to *regenerate* the committed `test-fixtures/media/minimal-multi.bag` source (e.g. after changing its schema in `scripts/gen-test-bag.py`); `npm run gen:e2e:fixtures` just copies that committed file into `public/examples/test_multi.bag`, so CI and most contributors never need to install it. If you do: `pip install rosbags`. + For sample deep links (`?url=sample://…`), set `VITE_SAMPLE_DATASETS_MANIFEST_URL` in `.env` to a reachable JSON manifest (see `src/services/sampleDatasets.ts`). For remote lists in the browser during dev, prefer **same-origin** URLs, e.g. @@ -81,3 +92,15 @@ npm run test:e2e 4. Open `/`, upload or drag a local `.mcap`; confirm load succeeds. Full E2E coverage requires `npm run gen:e2e:fixtures` so `public/examples/` is populated; no files outside the repo are needed. + +## Acceptance (multi-source merge) + +Loading multiple recording files together (any mix of `.mcap`/`.bag`/`.db3`/`.hdf5`/`.bvh`) merges them into one session: topics from every file are concatenated in file order, and the playback range becomes the union of each file's time range. See `tests/multi-sources.spec.ts` for the automated coverage (multi-mcap merge, mcap+bag mixed formats, merging into an already-active session, Data tab grouping). + +**Manual checks** + +1. `npm run gen:e2e:fixtures`, then `npm run dev`. +2. Drag `public/examples/test_multi_base.mcap` onto the welcome screen; confirm it loads with 2 topics (`/camera/front/image_raw/compressed`, `/joint_states`) and a 0-5s range. +3. Drag `public/examples/test_multi_incremental.mcap` in on top of the already-loaded session; confirm the topic list grows to 3 topics and the playback range extends to 0-7s (the union), **without** switching away to a separate "Data" entry. +4. Open the new topic's "more" menu (`⋯` in the sidebar Topics tab); confirm it shows a "Source: …" line naming both files once a topic name happens to be shared, or the single owning file otherwise. +5. Optional, with the real `mcap` CLI installed and a large real-world recording on hand: split it into two files by topic/time range with `mcap filter in.mcap -o a.mcap -y /some/topic` (and a complementary `-n` regex for the rest), then load both together and confirm the merged topic count/time range match `mcap info` on the original file. diff --git a/scripts/gen-test-bag.py b/scripts/gen-test-bag.py index 1acd636..95a1d04 100644 --- a/scripts/gen-test-bag.py +++ b/scripts/gen-test-bag.py @@ -1,16 +1,16 @@ #!/usr/bin/env python3 -"""Generate a minimal ROS1 .bag fixture for mcap+bag mixed-format multi-source tests. +"""Generate or copy a minimal ROS1 .bag fixture into public/examples/. -Uses the `rosbags` package (`pip install rosbags`) since there is no -maintained JS/TS ROS1 bag *writer* (only readers). Skips gracefully (exit 0, -no output file) when `rosbags` isn't installed, matching how -gen-test-mcap-filtered.mjs handles the optional `mcap` CLI dependency: -contributors without it still get every other fixture, and Playwright specs -that depend on this file self-skip when it's absent. CI installs the package -so it always runs there (see .github/workflows/ci.yml). +Mirrors gen-test-hdf5.py's pattern: the source fixture is committed to +test-fixtures/media/ so CI and most contributors never need the `rosbags` +package (`pip install rosbags`) at all; it is only required to *regenerate* +the source fixture (e.g. after changing the schema below). There is no +maintained JS/TS ROS1 bag *writer*, which is why this one script is Python +rather than joining the .mjs generators. """ from __future__ import annotations +import shutil import sys from pathlib import Path @@ -24,6 +24,7 @@ get_typestore = None # type: ignore[assignment] ROOT = Path(__file__).resolve().parent.parent +FIXTURE_SRC = ROOT / 'test-fixtures' / 'media' / 'minimal-multi.bag' OUT = ROOT / 'public' / 'examples' / 'test_multi.bag' @@ -34,11 +35,11 @@ def generate() -> None: header_type = typestore.types['std_msgs/msg/Header'] time_type = typestore.types['builtin_interfaces/msg/Time'] - OUT.parent.mkdir(parents=True, exist_ok=True) - if OUT.exists(): - OUT.unlink() + FIXTURE_SRC.parent.mkdir(parents=True, exist_ok=True) + if FIXTURE_SRC.exists(): + FIXTURE_SRC.unlink() - with Writer(OUT) as writer: + with Writer(FIXTURE_SRC) as writer: connection = writer.add_connection( '/bag/joint_states', joint_state_type.__msgtype__, @@ -57,21 +58,25 @@ def generate() -> None: sec * 1_000_000_000, typestore.serialize_ros1(message, joint_state_type.__msgtype__), ) - print(f'Wrote {OUT} ({OUT.stat().st_size} bytes)') + print(f'Generated {FIXTURE_SRC} ({FIXTURE_SRC.stat().st_size} bytes)') def main() -> int: - if Writer is None: - print( - '[gen-test-bag] `rosbags` package not installed; skipping test_multi.bag.\n' - ' Install it with `pip install rosbags` to exercise mcap+bag mixed-format tests.\n' - ' Tests that depend on it self-skip when the file is absent.', - file=sys.stderr, - ) - if OUT.exists(): - OUT.unlink() - return 0 - generate() + if not FIXTURE_SRC.exists(): + if Writer is None: + print( + '[gen-test-bag] rosbags not installed and committed fixture missing; ' + 'skipping test_multi.bag.\n' + ' Install it with `pip install rosbags` to (re)generate ' + f'{FIXTURE_SRC.relative_to(ROOT)}.\n' + ' Tests that depend on test_multi.bag self-skip when the file is absent.', + file=sys.stderr, + ) + return 0 + generate() + OUT.parent.mkdir(parents=True, exist_ok=True) + shutil.copy2(FIXTURE_SRC, OUT) + print(f'Wrote {OUT} ({OUT.stat().st_size} bytes)') return 0 diff --git a/test-fixtures/media/minimal-multi.bag b/test-fixtures/media/minimal-multi.bag new file mode 100644 index 0000000000000000000000000000000000000000..d18b0e536e4d450536466a22f9c3f299fd2b9488 GIT binary patch literal 5823 zcmeHLOKTKC5FYdJ(GYy12QLGH;>F$UY-Wi#1OaajM74MyE)<0Mq7Jy`Hdrqwo0+jseGjW56-s z7;p?Y1{?#90mp!2z%k$$a15M825!@TGGLY;0^|h2hjR_{Z{fc}p&SUrw z;eLyjbG~B6c@%WRkf(eQCSjT-B3l`(Zt!jv^p^*LSk3rPe3f>ej6}>uCY7`}h_SqW z=p&JEQTm(J#EdPa8ohkwt0WgJ+t!H<`=nC$qw@81eJ*@u?M@L5A2tZ`Wtq$8Pkw1L|zN|I#clZHEM{f6x$dFqd-m^#EYa;I* zBQpJ5Dj+iCR)=wx$o&BLvDVDTh>R)#5E*i-!!}Fgn&tiG%=>>LcbaEWyKvzw$vdK~ zI)YQxhO()fg^MKJqtW6sWxY-ORoVx(0(>B$C5MsFZudRO?!sxVr4xAJaLOHWMdfgM svK-J!t{cSYBroBQg>ab$U0kJ&r|zPQWEP6o#y0Z@HH3P>vjNo8Z$_Y!=l}o! literal 0 HcmV?d00001 From 5d9eea4bf1b4637cdfdd709a38af88520a59a1a8 Mon Sep 17 00:00:00 2001 From: puxiaokang <1726541+joaner@users.noreply.github.com> Date: Thu, 9 Jul 2026 16:07:21 +0800 Subject: [PATCH 7/7] test(e2e): cover multi-mcap merge, mcap+bag mixing, and incremental add Extend tests/multi-sources.spec.ts with: - Two mcap files opened together merge into one session: topics from both files appear, and the playback range becomes the union of each file's time range (0-5s + 3-7s -> 0-7s), not either file's own range. - Dropping a second file onto an already-loaded session extends it in place (topics/range grow) instead of creating a separate, switchable dataset; the Data tab shows exactly one merged-session row. - The topic "more" menu surfaces which file a topic came from once sessions are merged. - mcap + bag mixed-format merge, and a file derived via the real `mcap filter` CLI merging with a hand-authored one; both self-skip when their optional fixture is unavailable. Adds a `playback-time-line` test id to PlaybackBar so tests can assert the merged/union time range shown next to the scrubber. --- .../workspace/playback/PlaybackBar.tsx | 1 + tests/multi-sources.spec.ts | 108 +++++++++++++++++- 2 files changed, 108 insertions(+), 1 deletion(-) diff --git a/src/features/workspace/playback/PlaybackBar.tsx b/src/features/workspace/playback/PlaybackBar.tsx index b6539a3..6b73722 100644 --- a/src/features/workspace/playback/PlaybackBar.tsx +++ b/src/features/workspace/playback/PlaybackBar.tsx @@ -537,6 +537,7 @@ export const PlaybackBar: React.FC = ({ player, extensionConte
diff --git a/tests/multi-sources.spec.ts b/tests/multi-sources.spec.ts index 73852c2..b4aa86f 100644 --- a/tests/multi-sources.spec.ts +++ b/tests/multi-sources.spec.ts @@ -1,5 +1,14 @@ import { test, expect } from '@playwright/test'; -import { MCAP_BASIC, MCAP_BASIC_URL, requireExamplesDir } from './fixturePaths'; +import { + BAG_MULTI, + MCAP_BASIC, + MCAP_BASIC_URL, + MCAP_MULTI_BASE, + MCAP_MULTI_FILTERED, + MCAP_MULTI_INCREMENTAL, + fixtureExists, + requireExamplesDir, +} from './fixturePaths'; import { expectDockviewTopic, openFixtureByUrl, waitForRosviewReady } from './helpers/rosview'; test.describe('multi-source URLs and sidebar', () => { @@ -22,3 +31,100 @@ test.describe('multi-source URLs and sidebar', () => { await expectDockviewTopic(page, '/camera/'); }); }); + +test.describe('multi-source merge', () => { + test.describe.configure({ timeout: 120_000 }); + + test.beforeAll(() => { + requireExamplesDir(); + }); + + test('multiple mcap files opened together merge into one session', async ({ page }) => { + await page.goto('/'); + await page.locator('#rosview-landing-file').setInputFiles([MCAP_MULTI_BASE, MCAP_MULTI_INCREMENTAL]); + await waitForRosviewReady(page); + + // Topics from both files are present in the same session. + await expect( + page.getByRole('button', { name: '/camera/front/image_raw/compressed', exact: true }), + ).toBeVisible(); + await expect(page.getByRole('button', { name: '/joint_states', exact: true })).toBeVisible(); + await expect( + page.getByRole('button', { name: '/analysis/hand_pose_overlay/compressed', exact: true }), + ).toBeVisible({ timeout: 30_000 }); + + // Base spans 0-5s, incremental spans 3-7s; the merged range is their + // union (0-7s), not either file's own range. + await expect(page.getByTestId('playback-time-line')).toContainText('00:07.000', { timeout: 30_000 }); + + // The Data tab shows one merged-session row, not two switchable entries. + await page.getByRole('tab', { name: 'Data' }).click(); + await expect(page.getByText('2 files merged')).toBeVisible(); + }); + + test('adding a file to an already-loaded session merges it in', async ({ page }) => { + await page.goto('/'); + await page.locator('#rosview-landing-file').setInputFiles([MCAP_MULTI_BASE]); + await waitForRosviewReady(page); + + await expect(page.getByRole('button', { name: '/joint_states', exact: true })).toBeVisible(); + await expect( + page.getByRole('button', { name: '/analysis/hand_pose_overlay/compressed', exact: true }), + ).toHaveCount(0); + await expect(page.getByTestId('playback-time-line')).toContainText('00:05.000', { timeout: 30_000 }); + + // Drop a second file in while the base recording is already active: it + // should extend the current session (grow topics + time range) rather + // than switching to a separate, independently-switchable dataset. + await page.locator('#rosview-inline-file').setInputFiles([MCAP_MULTI_INCREMENTAL]); + await expect( + page.getByRole('button', { name: '/analysis/hand_pose_overlay/compressed', exact: true }), + ).toBeVisible({ timeout: 30_000 }); + await expect(page.getByTestId('playback-time-line')).toContainText('00:07.000', { timeout: 30_000 }); + + await page.getByRole('tab', { name: 'Data' }).click(); + await expect(page.getByText('2 files merged')).toBeVisible(); + await expect(page.getByText('files merged', { exact: false })).toHaveCount(1); + }); + + test('topic "more" menu shows the source file once sessions are merged', async ({ page }) => { + await page.goto('/'); + await page.locator('#rosview-landing-file').setInputFiles([MCAP_MULTI_BASE, MCAP_MULTI_INCREMENTAL]); + await waitForRosviewReady(page); + + const topicRow = page.getByRole('button', { name: '/analysis/hand_pose_overlay/compressed', exact: true }); + await expect(topicRow).toBeVisible({ timeout: 30_000 }); + await topicRow.getByRole('button', { name: 'Topic actions' }).click(); + await expect(page.getByText(/Source: .*test_multi_incremental\.mcap/)).toBeVisible(); + }); + + test('mcap and bag files merge together (mixed formats)', async ({ page }) => { + test.skip(!fixtureExists(BAG_MULTI), 'test_multi.bag fixture not available'); + await page.goto('/'); + await page.locator('#rosview-landing-file').setInputFiles([MCAP_MULTI_BASE, BAG_MULTI]); + await waitForRosviewReady(page); + + await expect(page.getByRole('button', { name: '/joint_states', exact: true })).toBeVisible(); + await expect(page.getByRole('button', { name: '/bag/joint_states', exact: true })).toBeVisible({ + timeout: 30_000, + }); + }); + + test('a file derived via the mcap filter CLI merges with a hand-authored one', async ({ page }) => { + test.skip( + !fixtureExists(MCAP_MULTI_FILTERED), + 'test_multi_filtered.mcap not generated (mcap CLI not installed)', + ); + await page.goto('/'); + await page.locator('#rosview-landing-file').setInputFiles([MCAP_MULTI_FILTERED, MCAP_MULTI_INCREMENTAL]); + await waitForRosviewReady(page); + + // test_multi_filtered.mcap (0-5s, mcap filter -y /joint_states) + the + // hand-authored incremental file (3-7s) => union is 0-7s. + await expect(page.getByRole('button', { name: '/joint_states', exact: true })).toBeVisible(); + await expect( + page.getByRole('button', { name: '/analysis/hand_pose_overlay/compressed', exact: true }), + ).toBeVisible({ timeout: 30_000 }); + await expect(page.getByTestId('playback-time-line')).toContainText('00:07.000', { timeout: 30_000 }); + }); +});