# visual

**Repository Path**: rippleos/visual

## Basic Information

- **Project Name**: visual
- **Description**: MOSS 可视化桥接模块
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2026-05-11
- **Last Updated**: 2026-05-19

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# MOSS Visualization (mvisual)

FoxGlove Studio compatible visualization bridge for MOSS, supporting Image, PointCloud, and DiagnosticArray messages.

## Features

- **FoxGlove Compatibility**: WebSocket bridge to FoxGlove Studio
- **Image Streaming**: Compressed and raw image support
- **Point Cloud**: PointCloud2 and LaserScan visualization
- **Diagnostics**: DiagnosticArray status display
- **Low Latency**: Shared memory for local, WebSocket for remote

## Architecture

```
visual/
├── include/visual/
│   ├── mvisual.h           # Main include
│   └── studio_bridge.h     # FoxGlove Studio bridge
├── src/
│   ├── studio_bridge.cpp   # WebSocket bridge
│   └── main.cpp            # Entry point
├── test/                    # Unit tests
└── examples/                # Example configurations
```

## Dependencies

- mcom (Communication)
- mlog (Logging)
- mruntime (Runtime foundation)

## Building

```bash
cd mvisual
mkdir -p build && cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DMVISUAL_BUILD_TESTS=ON
make -j4
```

## Running Tests

```bash
ctest
```

## Usage

### Start Visualization Bridge

```bash
# Default configuration
mvisual

# With custom port
mvisual --port 8765

# With configuration file
mvisual --config viz_config.json
```

### Configuration File (JSON)

```json
{
  "visual": {
    "port": 8765,
    "topics": [
      {
        "name": "/camera/image",
        "type": "image"
      },
      {
        "name": "/lidar/points",
        "type": "point_cloud"
      },
      {
        "name": "/diagnostics",
        "type": "diagnostic"
      }
    ]
  }
}
```

## Supported Message Types

| Topic Type | FoxGlove Message Type |
|------------|----------------------|
| `proto::topic::Image` | `foxglove.Image` |
| `proto::topic::CompressedImage` | `foxglove.CompressedImage` |
| `proto::topic::PointCloud2` | `foxglove.PointCloud` |
| `proto::topic::LaserScan` | `foxglove.LaserScan` |
| `proto::topic::DiagnosticArray` | `foxglove.DiagnosticArray` |

## FoxGlove Studio Setup

1. Open FoxGlove Studio
2. Add a new connection
3. Select "FoxGlove Data Platform" or "WebSocket"
4. Enter URL: `ws://localhost:8765`
5. Open the layout with desired panels

## Key Components

- **StudioBridge**: WebSocket server bridging to FoxGlove Studio protocol
- **MessageConverter**: Converts MOSS proto messages to FoxGlove format

## License

MIT License