Feat: upgrade hdf5 to 1.0.0 and e2e fixtures

.github/workflows/ci.yml

@@ -30,8 +30,8 @@ jobs:
           cache: 'npm'
       - run: npm ci
       - run: npx playwright install chromium --with-deps
-      - name: Generate E2E MCAP fixture
-        run: node scripts/gen-test-mcap.mjs
+      - name: Generate E2E fixtures
+        run: npm run gen:e2e:fixtures
       - run: npm run test:e2e
         env:
           CI: true

docs/DEVELOPMENT.md

@@ -11,26 +11,26 @@
 | `npm run build:lib` | `tsc` + **npm package** build (`vite.lib.config.ts` → `dist-lib/`); used by `prepublishOnly` and embedders. |
 | `npm run test:e2e` | Playwright (requires fixture MCAP; see below). |
 
-## Fixtures (`public/examples/`)
+## Fixtures
 
-Place sample bags/MCAP files here for local dev and E2E. Expected names include:
-
-- `test_5s.mcap` — minimal indexed MCAP for most Playwright cases (generated automatically before `test:e2e`; see `scripts/gen-test-mcap.mjs`)
-- `episode_20260122_122345.hdf5` — optional HDF5 case
-
-Regenerate the default small MCAP (also run as `pretest:e2e` via `npm run gen:e2e:fixtures`):
+Committed sources live under **`test-fixtures/`** (layouts, minimal HDF5/BVH, H264/JPEG bytes). Playwright copies or generates runtime files into **`public/examples/`** (gitignored) via:
 
 ```bash
 npm run gen:e2e:fixtures
 ```
 
-Override paths when files live elsewhere:
+This runs automatically as `pretest:e2e` before `npm run test:e2e`.
 
-```bash
-export ROSVIEW_TEST_MCAP=/absolute/path/to/test_5s.mcap
-export ROSVIEW_TEST_HDF5=/absolute/path/to/episode.hdf5
-npm run test:e2e
-```
+| Generated file (`public/examples/`) | Purpose |
+|-------------------------------------|---------|
+| `test_5s.mcap` | Basic MCAP playback, dockview, transport |
+| `test_pose.mcap` | PoseStamped sidebar topics |
+| `test_3cam.mcap` | Three-camera image grid layout |
+| `test_h264.mcap` | H.264 CompressedImage decode |
+| `test_minimal.hdf5` | ALOHA-schema HDF5 (~7 KB) |
+| `test_minimal.bvh` | Minimal BVH skeleton |
+
+Vitest layout round-trip tests import JSON directly from `test-fixtures/layouts/`.
 
 For sample deep links (`?url=sample://…`), set `VITE_SAMPLE_DATASETS_MANIFEST_URL` in `.env` to a reachable JSON manifest (see `src/services/sampleDatasets.ts`).
 
@@ -62,7 +62,7 @@ Prefer main-thread rendering and subscription tuning before MCAP-parse WASM. Con
 **Prerequisites**
 
 1. `npm install` and (first time) `npx playwright install`.
-2. Put `test_5s.mcap` under `public/examples/` or set `ROSVIEW_TEST_MCAP`.
+2. `npm run gen:e2e:fixtures` (also runs automatically before `test:e2e`).
 3. `npm run dev` → `http://localhost:5173`.
 
 **Playwright**
@@ -80,4 +80,4 @@ npm run test:e2e
 3. Switch to **Data** if multiple sources are present; the successfully loaded row is highlighted.
 4. Open `/`, upload or drag a local `.mcap`; confirm load succeeds.
 
-If no local sample is available, smoke-test routing and sidebar shell only; full Range behavior needs same-origin static assets and correct CORS/Range headers.
+Full E2E coverage requires `npm run gen:e2e:fixtures` so `public/examples/` is populated; no files outside the repo are needed.

index.html

@@ -18,16 +18,16 @@
     <meta name="robots" content="index, follow, max-image-preview:large, max-snippet:-1, max-video-preview:-1" />
     <meta name="author" content="IO-AI Tech — ROSView" />
 
-    <link rel="alternate" hreflang="en" href="https://io-ai.tech/rosview/?lang=en" />
-    <link rel="alternate" hreflang="zh-CN" href="https://io-ai.tech/rosview/?lang=zh-CN" />
-    <link rel="alternate" hreflang="ja" href="https://io-ai.tech/rosview/?lang=ja" />
-    <link rel="alternate" hreflang="x-default" href="https://io-ai.tech/rosview/?lang=en" />
+    <link rel="alternate" hreflang="en" href="https://rosview.com/?lang=en" />
+    <link rel="alternate" hreflang="zh-CN" href="https://rosview.com/?lang=zh-CN" />
+    <link rel="alternate" hreflang="ja" href="https://rosview.com/?lang=ja" />
+    <link rel="alternate" hreflang="x-default" href="https://rosview.com/?lang=en" />
 
-    <link rel="canonical" href="https://io-ai.tech/rosview/?lang=en" />
+    <link rel="canonical" href="https://rosview.com/?lang=en" />
 
     <meta property="og:type" content="website" />
     <meta property="og:site_name" content="ROSView" />
-    <meta property="og:url" content="https://io-ai.tech/rosview/?lang=en" />
+    <meta property="og:url" content="https://rosview.com/?lang=en" />
     <meta
       property="og:title"
       content="ROSView — MCAP, ROS bag, ROS 2 db3, HDF5 &amp; BVH visualization in the browser"
@@ -39,7 +39,7 @@
     <meta property="og:locale" content="en_US" />
     <meta property="og:locale:alternate" content="zh_CN" />
     <meta property="og:locale:alternate" content="ja_JP" />
-    <meta property="og:image" content="https://io-ai.tech/rosview/og-image.png" />
+    <meta property="og:image" content="https://rosview.com/og-image.png" />
     <meta property="og:image:width" content="1200" />
     <meta property="og:image:height" content="630" />
     <meta
@@ -48,7 +48,7 @@
     />
 
     <meta name="twitter:card" content="summary_large_image" />
-    <meta name="twitter:image" content="https://io-ai.tech/rosview/og-image.png" />
+    <meta name="twitter:image" content="https://rosview.com/og-image.png" />
     <meta
       name="twitter:title"
       content="ROSView — MCAP, ROS bag, ROS 2 db3, HDF5 &amp; BVH visualization in the browser"
@@ -63,7 +63,7 @@
         "@context": "https://schema.org",
         "@type": "WebApplication",
         "name": "ROSView",
-        "url": "https://io-ai.tech/rosview/?lang=en",
+        "url": "https://rosview.com/?lang=en",
         "applicationCategory": "DeveloperApplication",
         "operatingSystem": "Any",
         "browserRequirements": "Requires JavaScript. Modern evergreen browser recommended.",
@@ -79,8 +79,8 @@
     </script>
     <script>
       (function () {
-        var SEO_ORIGIN = 'https://io-ai.tech';
-        var SEO_PATH = '/rosview/';
+        var SEO_ORIGIN = 'https://rosview.com';
+        var SEO_PATH = '/';
         var SEO_BASE = SEO_ORIGIN + SEO_PATH;
         var OG_IMAGE = SEO_BASE + 'og-image.png';
 

package.json

@@ -1,6 +1,6 @@
 {
   "name": "@ioai/rosview",
-  "version": "1.3.1",
+  "version": "1.3.2",
   "description": "High-performance robotics data visualization for MCAP, ROS bag, ROS2 db3, HDF5 and BVH — embeddable React component and standalone SPA",
   "keywords": [
     "ros",
@@ -63,7 +63,7 @@
     "lint": "eslint \"src/**/*.{ts,tsx}\" \"tests/**/*.ts\"",
     "test": "vitest run",
     "preview": "npm run build && vite preview",
-    "gen:e2e:fixtures": "node scripts/gen-test-mcap.mjs",
+    "gen:e2e:fixtures": "node scripts/gen-e2e-fixtures.mjs",
     "pretest:e2e": "npm run gen:e2e:fixtures",
     "test:e2e": "playwright test"
   },
@@ -96,7 +96,7 @@
     "@foxglove/rosmsg": "^5.0.5",
     "@foxglove/rosmsg-serialization": "^2.0.4",
     "@foxglove/rosmsg2-serialization": "^3.0.3",
-    "@ioai/hdf5": "^0.1.4",
+    "@ioai/hdf5": "^1.0.0",
     "@mcap/core": "^2.0.2",
     "@playwright/test": "^1.59.1",
     "@radix-ui/react-collapsible": "^1.1.12",

scripts/gen-e2e-fixtures.mjs

@@ -0,0 +1,35 @@
+/**
+ * Generate all Playwright E2E fixtures into public/examples/.
+ */
+import { spawnSync } from 'node:child_process';
+import path from 'node:path';
+import { fileURLToPath } from 'node:url';
+
+const __dirname = path.dirname(fileURLToPath(import.meta.url));
+
+/** @param {string} script */
+function runNode(script) {
+  const scriptPath = path.join(__dirname, script);
+  const result = spawnSync(process.execPath, [scriptPath], { stdio: 'inherit' });
+  if (result.status !== 0) {
+    process.exit(result.status ?? 1);
+  }
+}
+
+/** @param {string} script */
+function runPython(script) {
+  const scriptPath = path.join(__dirname, script);
+  const result = spawnSync('python3', [scriptPath], { stdio: 'inherit' });
+  if (result.status !== 0) {
+    process.exit(result.status ?? 1);
+  }
+}
+
+runNode('gen-test-mcap.mjs');
+runNode('gen-test-mcap-pose.mjs');
+runNode('gen-test-mcap-3cam.mjs');
+runNode('gen-test-mcap-h264.mjs');
+runPython('gen-test-hdf5.py');
+runNode('gen-test-bvh.mjs');
+
+console.log('[gen-e2e-fixtures] all fixtures ready');

scripts/gen-test-bvh.mjs

@@ -0,0 +1,12 @@
+/**
+ * Copy minimal BVH fixture into public/examples/ for E2E.
+ */
+import fs from 'node:fs';
+import path from 'node:path';
+import { FIXTURES_DIR, EXAMPLES_DIR } from './mcap-fixture-utils.mjs';
+
+const src = path.join(FIXTURES_DIR, 'media/minimal.bvh');
+const dest = path.join(EXAMPLES_DIR, 'test_minimal.bvh');
+fs.mkdirSync(EXAMPLES_DIR, { recursive: true });
+fs.copyFileSync(src, dest);
+console.log('Wrote', dest, `(${fs.statSync(dest).size} bytes)`);

scripts/gen-test-hdf5.py

@@ -0,0 +1,56 @@
+#!/usr/bin/env python3
+"""Generate or copy minimal ALOHA-schema HDF5 fixture into public/examples/."""
+from __future__ import annotations
+
+import shutil
+import sys
+from pathlib import Path
+
+try:
+    import h5py
+    import numpy as np
+except ImportError:
+    h5py = None  # type: ignore
+    np = None  # type: ignore
+
+ROOT = Path(__file__).resolve().parent.parent
+FIXTURE_SRC = ROOT / 'test-fixtures' / 'media' / 'minimal-aloha.h5'
+OUT = ROOT / 'public' / 'examples' / 'test_minimal.hdf5'
+
+
+def generate() -> None:
+    assert h5py is not None and np is not None
+    n, k, h, w, c = 4, 3, 2, 2, 3
+    FIXTURE_SRC.parent.mkdir(parents=True, exist_ok=True)
+    with h5py.File(FIXTURE_SRC, 'w') as h5:
+        h5.create_dataset('/action', data=np.arange(n * k, dtype=np.float32).reshape(n, k))
+        h5.create_dataset('/observations/qpos', data=(np.arange(n * k, dtype=np.float32).reshape(n, k) * 2))
+        h5.create_dataset('/observations/qvel', data=np.zeros((n, k), dtype=np.float32))
+        h5.create_dataset('/observations/tau_J', data=np.zeros((n, k), dtype=np.float32))
+        h5.create_dataset('/observations/ee_pos_t', data=np.zeros((n, 3), dtype=np.float32))
+        h5.create_dataset(
+            '/observations/ee_pos_q',
+            data=np.tile([0, 0, 0, 1], (n, 1)).astype(np.float32),
+        )
+        h5.create_dataset(
+            '/observations/images/ext1',
+            data=np.arange(n * h * w * c, dtype=np.uint8).reshape(n, h, w, c),
+        )
+        h5.create_dataset('/tm', data=np.full((n, 1), 0.125, dtype=np.float32))
+    print(f'Generated {FIXTURE_SRC} ({FIXTURE_SRC.stat().st_size} bytes)')
+
+
+def main() -> int:
+    if not FIXTURE_SRC.exists():
+        if h5py is None:
+            print('h5py not installed and committed fixture missing', file=sys.stderr)
+            return 1
+        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
+
+
+if __name__ == '__main__':
+    raise SystemExit(main())

scripts/gen-test-mcap-3cam.mjs

@@ -0,0 +1,42 @@
+/**
+ * Minimal MCAP with three compressed JPEG camera topics for ros-image-grid E2E.
+ */
+import {
+  createIndexedMcapWriter,
+  encodeCompressedImageCdr,
+  readFixture,
+  registerCompressedImageChannel,
+  writeExample,
+} from './mcap-fixture-utils.mjs';
+
+const jpegBytes = readFixture('media/jpeg-1x1.bin');
+
+const { writer, writable } = await createIndexedMcapWriter();
+
+const topics = [
+  '/camera/left/color/image_raw/compressed',
+  '/camera/top/color/image_raw/compressed',
+  '/camera/right/color/image_raw/compressed',
+];
+
+const channelIds = [];
+for (const topic of topics) {
+  channelIds.push(await registerCompressedImageChannel(topic, writer));
+}
+
+const messageTimes = [1_000_000_000n, 3_000_000_000n, 5_000_000_000n];
+for (const [idx, ts] of messageTimes.entries()) {
+  const stamp = { sec: Number(ts / 1_000_000_000n), nsec: Number(ts % 1_000_000_000n) };
+  for (const channelId of channelIds) {
+    await writer.addMessage({
+      channelId,
+      sequence: idx + 1,
+      logTime: ts,
+      publishTime: ts,
+      data: encodeCompressedImageCdr(stamp, 'jpeg', jpegBytes),
+    });
+  }
+}
+
+await writer.end();
+writeExample('test_3cam.mcap', writable.getBuffer());

scripts/gen-test-mcap-h264.mjs

@@ -0,0 +1,43 @@
+/**
+ * Minimal MCAP with H.264 CompressedImage messages for image-h264 E2E.
+ */
+import {
+  createIndexedMcapWriter,
+  encodeCompressedImageCdr,
+  readFixture,
+  registerCompressedImageChannel,
+  writeExample,
+} from './mcap-fixture-utils.mjs';
+
+const keyBytes = readFixture('media/h264-key.bin');
+const deltaBytes = readFixture('media/h264-delta.bin');
+
+const { writer, writable } = await createIndexedMcapWriter();
+
+const channelId = await registerCompressedImageChannel(
+  '/camera/head/color/image_raw/compressed',
+  writer,
+);
+
+const frames = [
+  { ts: 1_000_000_000n, data: keyBytes },
+  { ts: 1_100_000_000n, data: deltaBytes },
+  { ts: 1_200_000_000n, data: deltaBytes },
+  { ts: 3_000_000_000n, data: keyBytes },
+  { ts: 3_100_000_000n, data: deltaBytes },
+  { ts: 5_000_000_000n, data: keyBytes },
+];
+
+for (const [idx, { ts, data }] of frames.entries()) {
+  const stamp = { sec: Number(ts / 1_000_000_000n), nsec: Number(ts % 1_000_000_000n) };
+  await writer.addMessage({
+    channelId,
+    sequence: idx + 1,
+    logTime: ts,
+    publishTime: ts,
+    data: encodeCompressedImageCdr(stamp, 'h264', data),
+  });
+}
+
+await writer.end();
+writeExample('test_h264.mcap', writable.getBuffer());