From 3a2589d6aa1d98bbd9eb6fdca4466be2989080db Mon Sep 17 00:00:00 2001 From: James Pace Date: Tue, 26 May 2026 15:38:15 -0400 Subject: [PATCH] Stream in costmap from mediamtx. --- .pnp.cjs | 24 +++++++++++ ...-react-npm-1.0.1-de237e3035-ee1e630f20.zip | Bin 0 -> 252756 bytes package.json | 1 + src/Autonomy.tsx | 38 +++++------------- yarn.lock | 16 ++++++++ 5 files changed, 50 insertions(+), 29 deletions(-) create mode 100644 .yarn/cache/mediamtx-webrtc-react-npm-1.0.1-de237e3035-ee1e630f20.zip diff --git a/.pnp.cjs b/.pnp.cjs index 914048d..54de1fe 100755 --- a/.pnp.cjs +++ b/.pnp.cjs @@ -45,6 +45,7 @@ const RAW_RUNTIME_STATE = ["globals", "npm:16.5.0"],\ ["jotai", "virtual:ae939b5bf1c4da31987d1d461851d6cc956667f76e9d6d3a45643e06af20bf533b9bcec6bab70ed0ca795aebf9ce43b3ed74bd20004783b74b2a0cc963cd86b8#npm:2.18.0"],\ ["jotai-tanstack-query", "virtual:ae939b5bf1c4da31987d1d461851d6cc956667f76e9d6d3a45643e06af20bf533b9bcec6bab70ed0ca795aebf9ce43b3ed74bd20004783b74b2a0cc963cd86b8#npm:0.11.0"],\ + ["mediamtx-webrtc-react", "virtual:ae939b5bf1c4da31987d1d461851d6cc956667f76e9d6d3a45643e06af20bf533b9bcec6bab70ed0ca795aebf9ce43b3ed74bd20004783b74b2a0cc963cd86b8#npm:1.0.1"],\ ["prettier", "npm:3.8.1"],\ ["react", "npm:19.2.4"],\ ["react-bootstrap", "virtual:ae939b5bf1c4da31987d1d461851d6cc956667f76e9d6d3a45643e06af20bf533b9bcec6bab70ed0ca795aebf9ce43b3ed74bd20004783b74b2a0cc963cd86b8#npm:2.10.10"],\ @@ -1670,6 +1671,7 @@ const RAW_RUNTIME_STATE = ["globals", "npm:16.5.0"],\ ["jotai", "virtual:ae939b5bf1c4da31987d1d461851d6cc956667f76e9d6d3a45643e06af20bf533b9bcec6bab70ed0ca795aebf9ce43b3ed74bd20004783b74b2a0cc963cd86b8#npm:2.18.0"],\ ["jotai-tanstack-query", "virtual:ae939b5bf1c4da31987d1d461851d6cc956667f76e9d6d3a45643e06af20bf533b9bcec6bab70ed0ca795aebf9ce43b3ed74bd20004783b74b2a0cc963cd86b8#npm:0.11.0"],\ + ["mediamtx-webrtc-react", "virtual:ae939b5bf1c4da31987d1d461851d6cc956667f76e9d6d3a45643e06af20bf533b9bcec6bab70ed0ca795aebf9ce43b3ed74bd20004783b74b2a0cc963cd86b8#npm:1.0.1"],\ ["prettier", "npm:3.8.1"],\ ["react", "npm:19.2.4"],\ ["react-bootstrap", "virtual:ae939b5bf1c4da31987d1d461851d6cc956667f76e9d6d3a45643e06af20bf533b9bcec6bab70ed0ca795aebf9ce43b3ed74bd20004783b74b2a0cc963cd86b8#npm:2.10.10"],\ @@ -2787,6 +2789,28 @@ const RAW_RUNTIME_STATE = "linkType": "HARD"\ }]\ ]],\ + ["mediamtx-webrtc-react", [\ + ["npm:1.0.1", {\ + "packageLocation": "./.yarn/cache/mediamtx-webrtc-react-npm-1.0.1-de237e3035-ee1e630f20.zip/node_modules/mediamtx-webrtc-react/",\ + "packageDependencies": [\ + ["mediamtx-webrtc-react", "npm:1.0.1"]\ + ],\ + "linkType": "SOFT"\ + }],\ + ["virtual:ae939b5bf1c4da31987d1d461851d6cc956667f76e9d6d3a45643e06af20bf533b9bcec6bab70ed0ca795aebf9ce43b3ed74bd20004783b74b2a0cc963cd86b8#npm:1.0.1", {\ + "packageLocation": 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"prettier": "^3.8.1", "react": "^19.2.0", "react-bootstrap": "^2.10.10", diff --git a/src/Autonomy.tsx b/src/Autonomy.tsx index 1cea132..62809da 100644 --- a/src/Autonomy.tsx +++ b/src/Autonomy.tsx @@ -12,33 +12,7 @@ import { AppNav, Footer } from "./AppNav.tsx"; import { Container, Row, Col, Image, Card } from "react-bootstrap"; import { atom, useAtomValue } from "jotai"; import { atomWithQuery } from "jotai-tanstack-query"; - -const costmapImageQuery = async () => { - const resp = await fetch("api/costmap_image"); - if (!resp.ok) { - throw new Error("Network response was not ok"); - } - const blob = await resp.blob(); - return URL.createObjectURL(blob); -}; -const costmapImageQueryAtom = atomWithQuery(() => ({ - queryKey: ["costmap_image"], - queryFn: costmapImageQuery, - refetchInterval: 1000, // 1s -})); -const costmapImageAtom = atom((get) => { - const response = get(costmapImageQueryAtom); - if (response.isPending) { - return

    "Loading..."

    ; - } - if (response.isError) { - return

    "Error loading!"

    ; - } - const costmapStyle = { - minHeight: "65svb", - }; - return ; -}); +import { WebRTCVideo } from "mediamtx-webrtc-react"; const statusStringQuery = async () => { const resp = await fetch("api/status"); @@ -81,7 +55,6 @@ const latLongAtom = atom((get) => { }); export function Autonomy() { - const costmapImage = useAtomValue(costmapImageAtom); const statusString = useAtomValue(statusStringAtom); const latLong = useAtomValue(latLongAtom); @@ -91,7 +64,14 @@ export function Autonomy() { - {costmapImage} + + +

    Status:

    {statusString}
    diff --git a/yarn.lock b/yarn.lock index a340618..7372879 100644 --- a/yarn.lock +++ b/yarn.lock @@ -1188,6 +1188,7 @@ __metadata: globals: "npm:^16.5.0" jotai: "npm:^2.18.0" jotai-tanstack-query: "npm:^0.11.0" + mediamtx-webrtc-react: "npm:^1.0.1" prettier: "npm:^3.8.1" react: "npm:^19.2.0" react-bootstrap: "npm:^2.10.10" @@ -2167,6 +2168,21 @@ __metadata: languageName: node linkType: hard +"mediamtx-webrtc-react@npm:^1.0.1": + version: 1.0.1 + resolution: "mediamtx-webrtc-react@npm:1.0.1" + peerDependencies: + "@types/react": ^16.8.0 || ^17.0.0 || ^18.0.0 || ^19.0.0 + react: ^16.8.0 || ^17.0.0 || ^18.0.0 || ^19.0.0 + peerDependenciesMeta: + "@types/react": + optional: true + react: + optional: true + checksum: 10c0/ee1e630f203b94ddba9e2caa20187f05989098814cc6efd89a0c32e75e887dc3a536ca74ea7ed26689ef7dd732fa0f18b3222570ae915eb86fcf70ae665f662d + languageName: node + linkType: hard + "minimatch@npm:^10.2.2": version: 10.2.4 resolution: "minimatch@npm:10.2.4"