bob_av_tools.webscreen_node
===========================

.. py:module:: bob_av_tools.webscreen_node

.. autoapi-nested-parse::

   Render any URL offscreen and stream it to a FIFO pipe and/or ROS topic.

   Supports cookie injection (JSON file), JavaScript pre-script injection at
   DeferredLoad time, non-blocking FIFO auto-reconnect, and ROS Image publishing.



Attributes
----------

.. autoapisummary::

   bob_av_tools.webscreen_node.HAS_CV_BRIDGE


Classes
-------

.. autoapisummary::

   bob_av_tools.webscreen_node.CustomPage
   bob_av_tools.webscreen_node.WebScreenNode


Functions
---------

.. autoapisummary::

   bob_av_tools.webscreen_node.main


Module Contents
---------------

.. py:data:: HAS_CV_BRIDGE
   :value: True


.. py:class:: CustomPage(node)

   Bases: :py:obj:`PySide6.QtWebEngineCore.QWebEnginePage`


   QWebEnginePage subclass forwarding console output to ROS logger.


   .. py:attribute:: node


   .. py:method:: javaScriptConsoleMessage(level, message, line, source)

      Forward browser console messages to ROS logger at DEBUG level.



.. py:class:: WebScreenNode

   Bases: :py:obj:`rclpy.node.Node`


   ROS 2 node that renders any URL offscreen and streams frames.

   Renders a URL or local file using QtWebEngine (Chromium) in offscreen mode.
   Frames are captured at the configured FPS, published as ROS Image, and/or
   written to a named FIFO pipe (ffplay, bob_sdlviz, FFmpeg).
   Supports cookie injection and JS pre-script injection for automation.


   .. py:attribute:: width


   .. py:attribute:: height


   .. py:attribute:: fps


   .. py:attribute:: url


   .. py:attribute:: fifo_path


   .. py:attribute:: queue_length


   .. py:attribute:: cookies_file


   .. py:attribute:: pre_script


   .. py:attribute:: scroll_x


   .. py:attribute:: scroll_y


   .. py:attribute:: publisher


   .. py:attribute:: fifo_fd
      :value: None



   .. py:attribute:: qt_app


   .. py:attribute:: profile


   .. py:attribute:: cookie_store


   .. py:attribute:: page


   .. py:attribute:: view


   .. py:attribute:: timer


   .. py:method:: _inject_cookies(path)

      Load cookies from a JSON file and inject them into the browser.



   .. py:method:: _inject_pre_script(path)

      Register a JS file to be injected at DeferredLoad into each page.



   .. py:method:: _on_load_finished(success)

      Log the result of a page load attempt.



   .. py:method:: _try_reconnect_fifo()

      Try to open the FIFO non-blockingly and then switch to blocking.



   .. py:method:: capture_frame()

      Capture the current render, publish to ROS, and write to FIFO.



   .. py:method:: run()

      Run the Qt + ROS event loop and return the exit code.



.. py:function:: main(args=None)

   Entry point for the webscreen node.