chore: bump version to 1.2.22

package-lock.json

@@ -1,12 +1,12 @@
 {
   "name": "lms",
-  "version": "1.2.21",
+  "version": "1.2.22",
   "lockfileVersion": 3,
   "requires": true,
   "packages": {
     "": {
       "name": "lms",
-      "version": "1.2.21",
+      "version": "1.2.22",
       "dependencies": {
         "@electron-toolkit/preload": "^3.0.1",
         "@electron-toolkit/utils": "^4.0.0",

package.json

@@ -1,6 +1,6 @@
 {
   "name": "lms",
-  "version": "1.2.21",
+  "version": "1.2.22",
   "description": "Autonomy Studio LMS Electron app",
   "main": "./out/main/index.js",
   "author": {

resources/slam-ros-bridge/bridge.py

@@ -6,6 +6,7 @@ import json
 import logging
 import math
 import os
+import re
 import shutil
 import sqlite3
 import struct
@@ -207,6 +208,8 @@ class SlamNode(Node):
         self._fallback_point_cloud: Optional[PointCloud2] = None
         self._color_point_cloud: Optional[PointCloud2] = None
         self._camera_image: Optional[CompressedImage] = None
+        self._camera_frames = {}
+        self._camera_subscriptions = {}
         self._icp_odom: Optional[Odometry] = None
         self._map: Optional[OccupancyGrid] = None
         self._plan: Optional[NavPath] = None
@@ -261,6 +264,8 @@ class SlamNode(Node):
         self.create_subscription(CompressedImage, self.camera_image_topic, self._on_camera_image, qos_profile_sensor_data)
         if not os.environ.get("CAMERA_IMAGE_TOPIC"):
             self.create_subscription(CompressedImage, "/image_raw/compressed", self._on_camera_image, qos_profile_sensor_data)
+        self._camera_discovery_timer = self.create_timer(
+            1.0, self._discover_cameras, clock=Clock(clock_type=ClockType.STEADY_TIME))
         self.create_subscription(Odometry, self.icp_odom_topic, self._on_icp_odom, best_effort_qos)
         self.create_subscription(Odometry, self.icp_odom_topic, self._on_icp_odom, reliable_qos)
         self.create_subscription(OccupancyGrid, self.map_topic, self._on_map, map_qos)
@@ -625,11 +630,45 @@ class SlamNode(Node):
             self._color_point_cloud_count += 1
             self._last_color_point_cloud_wall_time = time.time()
 
-    def _on_camera_image(self, msg: CompressedImage):
+    def _discover_cameras(self):
+        try:
+            topics = sorted(name for name, types in self.get_topic_names_and_types()
+                            if re.fullmatch(r'/camera_test/cameras/video[0-9]+/image_jpeg', name)
+                            and 'sensor_msgs/msg/CompressedImage' in types)[:8]
+        except Exception:
+            return
+        for topic in topics:
+            camera_id = topic.split('/')[-2]
+            if camera_id not in self._camera_subscriptions:
+                self._camera_subscriptions[camera_id] = self.create_subscription(
+                    CompressedImage, topic,
+                    lambda msg, key=camera_id, name=topic: self._on_camera_image(msg, key, name),
+                    qos_profile_sensor_data)
+        active = {topic.split('/')[-2] for topic in topics}
+        for camera_id in list(self._camera_subscriptions):
+            if camera_id not in active:
+                self.destroy_subscription(self._camera_subscriptions.pop(camera_id))
+                with self._lock:
+                    self._camera_frames.pop(camera_id, None)
+
+    def _on_camera_image(self, msg: CompressedImage, camera_id='legacy', topic=None):
         with self._lock:
+            if camera_id != 'legacy' and camera_id not in self._camera_subscriptions:
+                return
             self._camera_image = msg
             self._camera_image_count += 1
             self._last_camera_image_wall_time = time.time()
+            self._camera_frames[camera_id] = (msg, self._last_camera_image_wall_time,
+                                               topic or self.camera_image_topic)
+
+    def camera_sources(self):
+        now = time.time()
+        with self._lock:
+            frames = list(self._camera_frames.items())
+        return [{"id": key, "name": f'/dev/{key}' if key != 'legacy' else 'Camera',
+                 "topic": topic, "available": now - received <= _CAMERA_FRAME_MAX_AGE_SECONDS
+                 and bool(image.data) and 'jpeg' in image.format.lower()}
+                for key, (image, received, topic) in sorted(frames)]
 
     def _active_point_cloud(self) -> Optional[PointCloud2]:
         with self._lock:
@@ -687,7 +726,6 @@ class SlamNode(Node):
             point_cloud_last = self._last_point_cloud_wall_time
             fallback_point_cloud_last = self._last_fallback_point_cloud_wall_time
             color_point_cloud_last = self._last_color_point_cloud_wall_time
-            camera_image_last = self._last_camera_image_wall_time
             map_count = self._map_count
             plan_count = self._plan_count
 
@@ -727,7 +765,7 @@ class SlamNode(Node):
             },
             "camera_image": {
                 "name": self.camera_image_topic,
-                "available": received_recently(camera_image_last),
+                "available": any(camera['available'] for camera in self.camera_sources()),
             },
             "plan": {"name": self.plan_topic, "available": plan_available},
             "cmd_vel": {"name": self.cmd_vel_topic, "available": cmd_vel_available},
@@ -1238,6 +1276,7 @@ class SlamNode(Node):
             "sensor_point_cloud": sensor_point_cloud_payload,
             "color_point_cloud": color_point_cloud_payload,
             "camera_image": camera_image_payload,
+            "cameras": self.camera_sources(),
             "map": map_payload,
             "tf": {
                 "map_to_odom": resolve_2d_transform(tf_snapshot, "map", "odom"),
@@ -1302,10 +1341,16 @@ class SlamNode(Node):
         payload["received_at"] = received_at
         return payload
 
-    def camera_frame_jpeg(self) -> Optional[bytes]:
+    def camera_frame_jpeg(self, camera_id=None) -> Optional[bytes]:
         with self._lock:
-            image = self._camera_image
+            if camera_id is not None:
-            received_at = self._last_camera_image_wall_time
+                entry = self._camera_frames.get(camera_id)
+                if entry is None:
+                    return None
+                image, received_at, _topic = entry
+            else:
+                image = self._camera_image
+                received_at = self._last_camera_image_wall_time
         if image is None or received_at is None or time.time() - received_at > _CAMERA_FRAME_MAX_AGE_SECONDS:
             return None
         if not image.data or "jpeg" not in image.format.lower():
@@ -1531,10 +1576,10 @@ def color_point_cloud():
 
 
 @app.get("/camera-frame")
-def camera_frame():
+def camera_frame(camera_id: Optional[str] = None):
     if not slam_node:
         raise HTTPException(status_code=503, detail="ROS node is not ready")
-    frame = slam_node.camera_frame_jpeg()
+    frame = slam_node.camera_frame_jpeg(camera_id)
     if frame is None:
         raise HTTPException(status_code=404, detail="카메라 프레임을 아직 수신하지 못했습니다.")
     return Response(content=frame, media_type="image/jpeg", headers={"Cache-Control": "no-store"})

resources/slam-ros-bridge/test_cameras.py

@@ -0,0 +1,67 @@
+import ast
+from pathlib import Path
+import re
+import threading
+from types import SimpleNamespace
+from typing import Optional
+import unittest
+
+
+class CameraTests(unittest.TestCase):
+    def setUp(self):
+        self.now = 10.0
+        source = ast.parse(Path(__file__).with_name('bridge.py').read_text())
+        node = next(item for item in source.body if isinstance(item, ast.ClassDef) and item.name == 'SlamNode')
+        names = ('_discover_cameras', '_on_camera_image', 'camera_sources', 'camera_frame_jpeg')
+        methods = [item for item in node.body if isinstance(item, ast.FunctionDef) and item.name in names]
+        scope = {'re': re, 'Optional': Optional, 'CompressedImage': object,
+                 'time': SimpleNamespace(time=lambda: self.now), '_CAMERA_FRAME_MAX_AGE_SECONDS': 3,
+                 'qos_profile_sensor_data': object()}
+        exec(compile(ast.Module(body=methods, type_ignores=[]), 'camera-bridge', 'exec'), scope)
+        self.node = type('CameraNode', (), {name: scope[name] for name in names})()
+        self.node._lock = threading.Lock()
+        self.node._camera_frames = {}
+        self.node._camera_subscriptions = {}
+        self.node._camera_image = None
+        self.node._last_camera_image_wall_time = None
+        self.node._camera_image_count = 0
+        self.node.camera_image_topic = '/camera_test/image_jpeg'
+        self.topics = []
+        self.callbacks = {}
+        self.node.get_topic_names_and_types = lambda: self.topics
+        def subscribe(kind, topic, callback, qos):
+            self.callbacks[topic] = callback
+            return topic
+        self.node.create_subscription = subscribe
+        self.node.destroy_subscription = lambda sub: self.callbacks.pop(sub)
+
+    def test_independent_frames_and_disconnect(self):
+        for key in ['video0', 'video2']:
+            self.topics.append((f'/camera_test/cameras/{key}/image_jpeg', ['sensor_msgs/msg/CompressedImage']))
+        self.topics += [('/other/image_jpeg', ['sensor_msgs/msg/CompressedImage']),
+                        ('/camera_test/cameras/video9/image_jpeg', ['sensor_msgs/msg/Image'])]
+        self.node._discover_cameras()
+        self.assertEqual(len(self.callbacks), 2)
+        for topic, callback in self.callbacks.items():
+            callback(SimpleNamespace(data=topic.encode(), format='jpeg'))
+        self.assertEqual([item['id'] for item in self.node.camera_sources()], ['video0', 'video2'])
+        self.assertIn(b'video2', self.node.camera_frame_jpeg('video2'))
+        self.assertIsNone(self.node.camera_frame_jpeg('../video0'))
+        self.now += 4
+        self.assertTrue(all(not item['available'] for item in self.node.camera_sources()))
+        self.assertIsNone(self.node.camera_frame_jpeg('video0'))
+        self.topics = self.topics[:1]
+        self.node._discover_cameras()
+        self.assertNotIn('video2', self.node._camera_frames)
+
+    def test_single_camera_compatibility_and_non_jpeg(self):
+        self.node._on_camera_image(SimpleNamespace(data=b'jpeg', format='jpeg'))
+        self.assertEqual(self.node.camera_frame_jpeg(), b'jpeg')
+        self.assertEqual(self.node.camera_frame_jpeg('legacy'), b'jpeg')
+        self.node._on_camera_image(SimpleNamespace(data=b'png', format='png'))
+        self.assertIsNone(self.node.camera_frame_jpeg('legacy'))
+        self.assertFalse(self.node.camera_sources()[0]['available'])
+
+
+if __name__ == '__main__':
+    unittest.main()

scripts/test-agent-code-navigation.cjs

@@ -98,6 +98,51 @@ test('legacy cancelled references can be opened with the same read-only navigati
   assert.equal(h.message().codeReferenceStates.location.status, 'opened')
 })
 
+test('code navigation does not block or abort a pending model response', async () => {
+  const h = consentHarness()
+  const controller = new AbortController()
+  h.globals.abortControllerRef.current = controller
+  let opened = 0
+  await h.openCodeReference('answer', 'location', async (_reference, isCurrent) => {
+    assert.equal(isCurrent(), true)
+    opened++
+  })
+  assert.equal(opened, 1)
+  assert.equal(controller.signal.aborted, false)
+  assert.equal(h.globals.abortControllerRef.current, controller)
+  assert.equal(h.message().codeReferenceStates.location.status, 'opened')
+})
+
+test('an arriving model response does not cancel an in-flight code navigation', async () => {
+  const h = consentHarness()
+  h.globals.abortControllerRef.current = new AbortController()
+  let finish, current
+  const pending = h.openCodeReference('answer', 'location', (_reference, isCurrent) => {
+    current = isCurrent
+    return new Promise(resolve => { finish = resolve })
+  })
+  h.globals.messageStateRef.current.messages.push({ id: 'new-answer', role: 'assistant' })
+  h.globals.abortControllerRef.current = null
+  assert.equal(current(), true)
+  finish()
+  await pending
+  assert.equal(h.globals.messageStateRef.current.messages[0].codeReferenceStates.location.status, 'opened')
+})
+
+test('starting file application invalidates a navigation that is still reading', async () => {
+  const h = consentHarness()
+  let finish, current
+  const pending = h.openCodeReference('answer', 'location', (_reference, isCurrent) => {
+    current = isCurrent
+    return new Promise((_resolve, reject) => { finish = () => reject(Error('applying')) })
+  })
+  h.globals.applyingRef.current = true
+  assert.equal(current(), false)
+  finish()
+  await pending
+  assert.equal(h.message().codeReferenceStates.location.status, 'error')
+})
+
 test('duplicate clicks, invalid IDs and busy tasks do not open more files', async () => {
   const h = consentHarness()
   let finish, opened = 0

scripts/test-ai-response-presentation.cjs

@@ -22,6 +22,7 @@ const panelSource = ts.createSourceFile('WorkspaceQaPanel.tsx', fs.readFileSync(
 const declarations = panelSource.statements.filter(node => ts.isFunctionDeclaration(node) && ['AiMessages', 'AgentMessages', 'TeacherMessages'].includes(node.name?.text))
 const ProgressiveChatResponse = props => React.createElement('div', { 'data-reveal-start': props.message.revealStartedAt, 'data-collapsed': props.defaultCollapsed }, props.message.content)
 const ChatImageAttachments = props => React.createElement('div', { 'data-chat-image-attachments': props.variant }, props.images.map(image => React.createElement('img', { key: image.url, src: image.url, alt: image.name })))
+const AgentCodeReferences = () => null
 const { AgentWorkDuration } = compile(fs.readFileSync(require.resolve('../src/renderer/src/components/AgentWorkDuration.tsx'), 'utf8'), {
   '../i18n': { t: (key, values = {}) => key.replace(/\{\{(\w+)\}\}/g, (_, name) => values[name] ?? ''), useLocaleRender() {} }
 })
@@ -36,6 +37,7 @@ const messages = compile(declarations.map(node => `export ${node.getText(panelSo
   ChatEmptyState: widgets.ChatEmptyState,
   ProgressiveChatResponse,
   ChatImageAttachments,
+  AgentCodeReferences,
   AgentProgressBubble,
   AgentWorkDuration,
   MessageCopyButton: () => null,
@@ -43,6 +45,27 @@ const messages = compile(declarations.map(node => `export ${node.getText(panelSo
   Bot: () => React.createElement('svg'), WandSparkles: () => React.createElement('svg')
 })
 
+test('existing code locations stay usable during model and command work but not file application', () => {
+  for (const applying of [false, true]) {
+    const onOpen = () => {}
+    const tree = messages.AgentMessages({
+      dark: true, enabled: true, statusLoading: false, pending: true, busy: true,
+      messages: [{ id: 'answer', role: 'assistant', content: '코드 위치', applyState: applying ? 'applying' : undefined, plan: { codeReferences: [{ id: 'code-1' }], changes: [], commands: [], actionPlan: [], createModule: null } }],
+      onOpenCodeReference: onOpen
+    })
+    let references
+    function visit(element) {
+      if (!React.isValidElement(element)) return
+      if (element.type === AgentCodeReferences) references = element
+      React.Children.toArray(element.props.children).forEach(visit)
+    }
+    visit(tree)
+    assert.ok(references)
+    assert.equal(references.props.busy, applying)
+    assert.equal(typeof references.props.onOpen, 'function')
+  }
+})
+
 test('agent image thumbnails are siblings below the user bubble rather than bubble contents', () => {
   const tree = messages.AgentMessages({
     dark: true, enabled: true, statusLoading: false, pending: false,

src/main/index.ts

@@ -2563,6 +2563,23 @@ async function startRemoteVisualizationBridge(
     ].join('\n'), 900_000)
   }
   const command = bridgeContainerCommand(stack)
+  let bridgeContextRevision: string | null = null
+  if (stack !== 'autoware') {
+    const context = resolveResourceContextPath('resources/slam-ros-bridge')
+    if (!context) throw new Error('Bundled SLAM bridge source is missing')
+    const files = { 'bridge.py': await readFile(join(context, 'bridge.py'), 'utf8'), 'requirements.txt': await readFile(join(context, 'requirements.txt'), 'utf8') }
+    bridgeContextRevision = createHash('sha256').update(JSON.stringify(files)).digest('hex')
+    await runUnqueuedSshOutput(target, `python3 -c ${quoteShellSingle([
+      'import json, os, pathlib, sys',
+      'data = json.load(sys.stdin)',
+      'root = pathlib.Path.home() / ".autonomy-studio/runtime/bridges" / data["revision"]',
+      'root.mkdir(parents=True, exist_ok=True)',
+      'for name in ("bridge.py", "requirements.txt"):',
+      '    temporary = root / ("." + name + "." + str(os.getpid()) + ".tmp")',
+      '    temporary.write_text(data["files"][name], encoding="utf-8")',
+      '    temporary.replace(root / name)',
+    ].join('\n'))}`, 30_000, JSON.stringify({ revision: bridgeContextRevision, files }))
+  }
 
   reportVisualizationProgress('시각화 시작 중...')
 
@@ -2580,6 +2597,7 @@ async function startRemoteVisualizationBridge(
       'docker run -d --name "$CONTAINER" --net=host',
       '-v /dev/shm:/dev/shm',
       '-v "$ROOT:/workspace"',
+      ...(bridgeContextRevision ? [`-v "$HOME/.autonomy-studio/runtime/bridges/${bridgeContextRevision}:/app:ro"`] : []),
       ...(fastDdsConfigPath ? ['-v "$FASTDDS_CONFIG_PATH:/fastdds_profiles.xml:ro"', '-e FASTDDS_DEFAULT_PROFILES_FILE=/fastdds_profiles.xml', '-e FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds_profiles.xml'] : []),
       '-e "ROS_DOMAIN_ID=$ROS_DOMAIN_ID"',
       '-e ROS_LOCALHOST_ONLY=0',
@@ -4777,10 +4795,19 @@ function buildNav2DockerRunScript(): string {
     'test -f "$MODULE_ROOT/$MODULE_FOLDER/install/setup.bash" || { echo "Module is not built: $MODULE_FOLDER" >&2; exit 1; }',
     ...yahboomDevicePreflight(),
     'CAMERA_DEVICE=""',
+    'CAMERA_DEVICES=()',
     'if [[ "$MODULE_FOLDER" == *lms-nav2-camera-test* ]]; then',
     '  CAMERA_DEVICE=/dev/video0',
     '  for arg in "$@"; do case "$arg" in video_device:=*) CAMERA_DEVICE=${arg#video_device:=} ;; esac; done',
-    '  [[ "$CAMERA_DEVICE" =~ ^/dev/video[0-9]+$ ]] && [ -c "$CAMERA_DEVICE" ] || { echo "Camera device not found: $CAMERA_DEVICE" >&2; exit 1; }',
+    '  if [ "$CAMERA_DEVICE" = /dev ]; then',
+    '    CAMERA_DISCOVERY="$MODULE_ROOT/$MODULE_FOLDER/src/camera_test_pkg/camera_test_pkg/devices.py"',
+    '    test -f "$CAMERA_DISCOVERY" || { echo "Update and rebuild the camera module for automatic discovery" >&2; exit 1; }',
+    '    camera_devices=$(python3 "$CAMERA_DISCOVERY" /dev) || exit 1',
+    '    mapfile -t CAMERA_DEVICES <<< "$camera_devices"',
+    '  else CAMERA_DEVICES=("$CAMERA_DEVICE"); fi',
+    '  for camera_device in "${CAMERA_DEVICES[@]}"; do',
+    '    [[ "$camera_device" =~ ^/dev/video[0-9]+$ ]] && [ -c "$camera_device" ] || { echo "Camera device not found: $camera_device" >&2; exit 1; }',
+    '  done',
     'fi',
     'docker rm -f "$CONTAINER_NAME" >/dev/null 2>&1 || true',
     '',
@@ -4800,7 +4827,7 @@ function buildNav2DockerRunScript(): string {
     ')',
     'if [ -n "$YAHBOOM_DEVICE" ]; then args+=(--device "$YAHBOOM_DEVICE:$YAHBOOM_DEVICE"); fi',
     'if [ -n "$CAMERA_DEVICE" ]; then',
-    '  args+=(--device "$CAMERA_DEVICE:$CAMERA_DEVICE")',
+    '  for camera_device in "${CAMERA_DEVICES[@]}"; do args+=(--device "$camera_device:$camera_device"); done',
     '  for capture_device in /dev/capture-vi-channel*; do',
     '    if [ -c "$capture_device" ]; then args+=(--device "$capture_device:$capture_device"); fi',
     '  done',

src/renderer/public/slam-viewer/camera-preview.js

@@ -0,0 +1,113 @@
+export function createCameraPreview({ root, baseUrl, getState, onAvailable }) {
+  const cameras = new Map();
+  let enabled = false;
+  let timer = null;
+
+  function sources() {
+    const { state, receivedAt } = getState();
+    if (!enabled || Date.now() - receivedAt >= 3000) return [];
+    const list = Array.isArray(state?.cameras) ? state.cameras
+      : state?.topic_status?.camera_image?.available ? [{ id: 'legacy', name: 'Camera', available: true }] : [];
+    const seen = new Set();
+    return list.filter(item => {
+      if (!item?.available || !/^[a-zA-Z0-9_-]{1,64}$/.test(item.id) || seen.has(item.id)) return false;
+      seen.add(item.id);
+      return true;
+    }).slice(0, 8);
+  }
+
+  function clearFrame(camera) {
+    if (camera.url) URL.revokeObjectURL(camera.url);
+    camera.url = null;
+    camera.image.removeAttribute('src');
+  }
+
+  function remove(id, camera) {
+    cameras.delete(id);
+    camera.controller?.abort();
+    clearFrame(camera);
+    camera.element.remove();
+  }
+
+  async function frame(id, camera) {
+    if (camera.controller || Date.now() < camera.retryAt || document.hidden) return;
+    const controller = new AbortController();
+    camera.controller = controller;
+    const timeout = window.setTimeout(() => controller.abort(), 2000);
+    try {
+      const query = id === 'legacy' ? '' : `?camera_id=${encodeURIComponent(id)}`;
+      const response = await fetch(`${baseUrl}/camera-frame${query}`, { cache: 'no-store', signal: controller.signal });
+      if (!response.ok) throw new Error('Camera frame unavailable');
+      const blob = await response.blob();
+      if (controller.signal.aborted || document.hidden || cameras.get(id) !== camera || !sources().some(item => item.id === id)) return;
+      const previous = camera.url;
+      camera.url = URL.createObjectURL(blob);
+      camera.image.src = camera.url;
+      camera.retryAt = 0;
+      if (previous) URL.revokeObjectURL(previous);
+    } catch (_) {
+      if (cameras.get(id) === camera) {
+        camera.retryAt = Date.now() + 5000;
+        clearFrame(camera);
+      }
+    } finally {
+      window.clearTimeout(timeout);
+      if (camera.controller === controller) camera.controller = null;
+    }
+  }
+
+  function refresh() {
+    const live = sources();
+    const ids = new Set(live.map(item => item.id));
+    for (const [id, camera] of cameras) if (!ids.has(id)) remove(id, camera);
+    for (const item of live) {
+      let camera = cameras.get(item.id);
+      if (!camera) {
+        const element = document.createElement('div');
+        element.className = 'camera-preview-item';
+        element.dataset.cameraId = item.id;
+        const label = document.createElement('div');
+        label.className = 'camera-preview-label';
+        const image = document.createElement('img');
+        image.className = 'camera-preview-image';
+        element.append(label, image);
+        root.append(element);
+        camera = { element, label, image, url: null, controller: null, retryAt: 0 };
+        image.addEventListener('error', () => {
+          if (cameras.get(item.id) === camera) {
+            clearFrame(camera);
+            camera.retryAt = Date.now() + 5000;
+          }
+        });
+        cameras.set(item.id, camera);
+      }
+      camera.label.textContent = item.name || item.id;
+      camera.image.alt = item.name || item.id;
+      void frame(item.id, camera);
+    }
+    onAvailable(enabled && cameras.size > 0);
+  }
+
+  function visibilityChanged() {
+    if (document.hidden) for (const camera of cameras.values()) camera.controller?.abort();
+    else refresh();
+  }
+  document.addEventListener('visibilitychange', visibilityChanged);
+
+  function setEnabled(value) {
+    enabled = value;
+    if (timer) window.clearInterval(timer);
+    timer = null;
+    refresh();
+    if (enabled) timer = window.setInterval(refresh, 200);
+  }
+
+  return {
+    setEnabled,
+    refresh,
+    dispose() {
+      setEnabled(false);
+      document.removeEventListener('visibilitychange', visibilityChanged);
+    },
+  };
+}

src/renderer/public/slam-viewer/index.html

@@ -61,14 +61,29 @@
     #cameraPreviewWrap.is-visible { display:block; }
     #cameraToggle { display:grid; place-items:center; width:34px; flex:0 0 34px; padding:0; }
     #cameraPreviewWrap.is-collapsed { background:transparent; border-color:transparent; box-shadow:none; }
-    #cameraPreview {
+    #cameraPreviewList {
+      max-height:min(60vh, 600px);
+      overflow-y:auto;
+      scrollbar-width:thin;
+      scrollbar-color:rgba(148,163,184,.65) transparent;
+    }
+    .camera-preview-item + .camera-preview-item { border-top:1px solid rgba(255,255,255,.18); }
+    .camera-preview-label {
+      padding:5px 8px;
+      overflow:hidden;
+      text-overflow:ellipsis;
+      white-space:nowrap;
+      color:rgba(255,255,255,.85);
+      font:11px sans-serif;
+    }
+    .camera-preview-image {
       display:block;
       width:100%;
       aspect-ratio:16 / 9;
       object-fit:contain;
       background:#111520;
     }
-    #cameraPreviewWrap.is-collapsed #cameraPreview { display:none; }
+    #cameraPreviewWrap.is-collapsed #cameraPreviewList { display:none; }
     #cameraPreviewToggle {
       position:absolute;
       left:0;
@@ -426,7 +441,7 @@
 	<button id="miniMapToggle" title="미니맵 접기/펼치기" data-i18n-title="미니맵 접기/펼치기" aria-label="미니맵 접기" data-i18n-aria-label="미니맵 접기">▾</button>
 	<div id="cameraPreviewWrap">
 	  <button id="cameraPreviewToggle" type="button" title="카메라 화면 접기/펼치기" data-i18n-title="카메라 화면 접기/펼치기" aria-label="카메라 화면 접기" data-i18n-aria-label="카메라 화면 접기" aria-expanded="true"><span id="cameraPreviewChevron" aria-hidden="true">▾</span></button>
-	  <img id="cameraPreview" alt="실시간 카메라 화면" data-i18n-alt="실시간 카메라 화면" />
+	  <div id="cameraPreviewList"></div>
 	</div>
 	<div id="keyGuide">
 	  <div data-i18n="i 전진 · , 후진 · j/l 회전 · k 정지">i 전진 · , 후진 · j/l 회전 · k 정지</div>
@@ -463,6 +478,7 @@
 <script type="module" src="./locale.js"></script>
 <script type="module">
 import { t, setText } from './locale.js';
+import { createCameraPreview } from './camera-preview.js';
 
 import * as THREE from 'three';
 import { OrbitControls } from 'three/addons/controls/OrbitControls.js';
@@ -502,7 +518,7 @@ const miniMap = document.getElementById('miniMap');
 const miniCtx = miniMap.getContext('2d');
 const miniMapToggle = document.getElementById('miniMapToggle');
 const cameraPreviewWrap = document.getElementById('cameraPreviewWrap');
-const cameraPreview = document.getElementById('cameraPreview');
+const cameraPreviewList = document.getElementById('cameraPreviewList');
 const cameraPreviewToggle = document.getElementById('cameraPreviewToggle');
 const cameraToggleButton = document.getElementById('cameraToggle');
 const topRightControls = document.getElementById('topRightControls');
@@ -937,12 +953,7 @@ let pointCloudRefreshTimer = null;
 let savedMapPointCloudLoaded = false;
 let sensorPointCloudRequestInFlight = false;
 let sensorPointCloudRefreshTimer = null;
-let cameraFrameRequestInFlight = false;
-let cameraFrameRetryAt = 0;
-let cameraFrameRefreshTimer = null;
-let cameraFrameObjectUrl = null;
 let cameraPreviewEnabled = ENABLE_CAMERA_PREVIEW;
-let cameraFrameAbortController = null;
 let pathVisible = false;
 // SLAM always renders its live scan, including the forward beam. Navigation
 // keeps the sensor opt-in so a saved-map view starts cleanly.
@@ -2087,84 +2098,27 @@ async function refreshSensorPointCloud() {
   }
 }
 
-function setCameraPreviewAvailable(available) {
+const cameraPreviewController = createCameraPreview({
-  available = available && cameraPreviewEnabled;
+  root: cameraPreviewList,
-  cameraPreviewWrap?.classList.toggle('is-visible', available);
+  baseUrl: BACKEND_URL,
-  if (available) return;
+  getState: () => ({ state: latestSlamState, receivedAt: latestSlamStateReceivedAt }),
-  if (cameraFrameObjectUrl) {
+  onAvailable: available => cameraPreviewWrap.classList.toggle('is-visible', available),
-    URL.revokeObjectURL(cameraFrameObjectUrl);
+});
-    cameraFrameObjectUrl = null;
-  }
-  if (cameraPreview) cameraPreview.removeAttribute('src');
-}
-
-function hasLiveCameraState() {
-  return latestSlamState?.topic_status?.camera_image?.available === true
-    && Date.now() - latestSlamStateReceivedAt < 3000;
-}
-
-async function refreshCameraFrame() {
-  if (!cameraPreviewEnabled || cameraFrameRequestInFlight || document.hidden) return;
-  // Reuse websocket topic status instead of probing an absent camera with HTTP.
-  if (!hasLiveCameraState()) {
-    setCameraPreviewAvailable(false);
-    return;
-  }
-  if (Date.now() < cameraFrameRetryAt) return;
-  cameraFrameRequestInFlight = true;
-  const controller = new AbortController();
-  cameraFrameAbortController = controller;
-  const timeout = window.setTimeout(() => controller.abort(), 2000);
-  try {
-    const response = await fetch(`${BACKEND_URL}/camera-frame`, { cache: 'no-store', signal: controller.signal });
-    if (!response.ok) {
-      cameraFrameRetryAt = Date.now() + 5000;
-      setCameraPreviewAvailable(false);
-      return;
-    }
-    const frame = await response.blob();
-    if (controller.signal.aborted || !cameraPreviewEnabled || !hasLiveCameraState() || document.hidden) {
-      setCameraPreviewAvailable(false);
-      return;
-    }
-    cameraFrameRetryAt = 0;
-    const nextUrl = URL.createObjectURL(frame);
-    const previousUrl = cameraFrameObjectUrl;
-    cameraFrameObjectUrl = nextUrl;
-    if (cameraPreview) cameraPreview.src = nextUrl;
-    if (previousUrl) URL.revokeObjectURL(previousUrl);
-  } catch (_) {
-    if (!controller.signal.aborted) cameraFrameRetryAt = Date.now() + 5000;
-    setCameraPreviewAvailable(false);
-  } finally {
-    window.clearTimeout(timeout);
-    cameraFrameAbortController = null;
-    cameraFrameRequestInFlight = false;
-  }
-}
 
 function setCameraPreviewEnabled(enabled) {
   cameraPreviewEnabled = ENABLE_CAMERA_PREVIEW && enabled;
   cameraToggleButton.classList.toggle('active', cameraPreviewEnabled);
   cameraToggleButton.setAttribute('aria-pressed', String(cameraPreviewEnabled));
-  if (cameraFrameRefreshTimer) window.clearInterval(cameraFrameRefreshTimer);
+  cameraPreviewController.setEnabled(cameraPreviewEnabled);
-  cameraFrameRefreshTimer = null;
   if (!cameraPreviewEnabled) {
-    cameraFrameAbortController?.abort();
-    setCameraPreviewAvailable(false);
     return;
   }
-  cameraFrameRetryAt = 0;
   cameraPreviewWrap.classList.remove('is-collapsed');
   cameraPreviewToggle.setAttribute('aria-expanded', 'true');
   cameraPreviewToggle.setAttribute('aria-label', t('카메라 화면 접기'));
-  void refreshCameraFrame();
-  cameraFrameRefreshTimer = window.setInterval(() => void refreshCameraFrame(), 200);
 }
 
 cameraToggleButton.addEventListener('click', () => setCameraPreviewEnabled(!cameraPreviewEnabled));
-cameraPreview?.addEventListener('load', () => setCameraPreviewAvailable(hasLiveCameraState()));
-cameraPreview?.addEventListener('error', () => setCameraPreviewAvailable(false));
 
 function drawMiniMap(state) {
   pendingMiniMapState = state;
@@ -3299,9 +3253,7 @@ window.addEventListener('beforeunload', () => {
   if (pointCloudRefreshTimer) window.clearInterval(pointCloudRefreshTimer);
   if (sensorPointCloudRefreshTimer) window.clearInterval(sensorPointCloudRefreshTimer);
   if (miniMapRenderTimer) window.clearTimeout(miniMapRenderTimer);
-  if (cameraFrameRefreshTimer) window.clearInterval(cameraFrameRefreshTimer);
+  cameraPreviewController.dispose();
-  cameraFrameAbortController?.abort();
-  if (cameraFrameObjectUrl) URL.revokeObjectURL(cameraFrameObjectUrl);
 });
 
 function connectControlSocket() {

src/renderer/src/App.tsx

@@ -3690,7 +3690,7 @@ function LocalPcWorkspaceMockup({
     }
   }
   const openWorkspaceAgentCodeReference = async (reference: AgentCodeReference, conversationCurrent: () => boolean): Promise<void> => {
-    if (agentActionControllerRef.current || agentApplying) throw new Error('진행 중인 에이전트 작업이 끝난 뒤 열어주세요.')
+    if (agentApplying) throw new Error('진행 중인 에이전트 작업이 끝난 뒤 열어주세요.')
     validateCodeReference(reference)
     const scope = agentNavigationScope
     const isCurrent = (): boolean => conversationCurrent() && agentNavigationRef.current.scope === scope && agentNavigationRef.current.visible

src/renderer/src/features/workspace/WorkspaceQaPanel.tsx

@@ -429,6 +429,8 @@ function AgentMessages({
     )
   }
 
+  const codeNavigationBusy = messages.some(message => message.applyState === 'applying')
+
   return (
     <div className="grid gap-3">
       {messages.map((message, index) => message.role === 'user' ? (
@@ -447,7 +449,7 @@ function AgentMessages({
             <ProgressiveChatResponse message={message} dark={dark} collapseOnSignal={index < messages.length - 1} collapseSignal={messages.length} footerAction={<MessageCopyButton content={agentMessageCopyText(message)} dark={dark} />}>
             {message.plan && (
               <>
-                {!!message.plan.codeReferences?.length && <AgentCodeReferences references={message.plan.codeReferences} states={message.codeReferenceStates} dark={dark} busy={busy} onOpen={onOpenCodeReference ? id => onOpenCodeReference(message.id, id) : undefined} />}
+                {!!message.plan.codeReferences?.length && <AgentCodeReferences references={message.plan.codeReferences} states={message.codeReferenceStates} dark={dark} busy={codeNavigationBusy} onOpen={onOpenCodeReference ? id => onOpenCodeReference(message.id, id) : undefined} />}
                 {!!message.plan.evidence?.length && (
                   <details className={['border-t pt-2 text-[11px]', dark ? 'border-white/10 text-white/55' : 'border-[#ddd6fe] text-[#64748b]'].join(' ')}>
                     <summary className="cursor-pointer select-none">{t("조회 근거")} · {message.plan.evidence.length}</summary>

src/renderer/src/features/workspace/useAiAgent.ts

@@ -460,11 +460,11 @@ export function useAiAgent({ accessToken, studentEmail, courseId, weekNumber, ap
   }
 
   const openCodeReference = async (messageId: string, referenceId: string, open: (reference: AgentCodeReference, isCurrent: () => boolean) => Promise<void>): Promise<void> => {
-    if (navigatingRef.current || applyingRef.current || abortControllerRef.current || messageStateRef.current.session !== session) return
+    if (navigatingRef.current || applyingRef.current || messageStateRef.current.session !== session) return
     const message = messageStateRef.current.messages.find(message => message.id === messageId)
     const reference = message?.plan?.codeReferences?.find(reference => reference.id === referenceId)
     if (!reference) return
-    const latestMessageId = messageStateRef.current.messages.at(-1)?.id
+    const latestUserMessageId = messageStateRef.current.messages.findLast(message => message.role === 'user')?.id
     const isCurrent = (): boolean => messageStateRef.current.session === session && messageStateRef.current.messages.some(message => message.id === messageId)
     const update = (state: AgentCodeReferenceState): void => {
       if (isCurrent()) updateMessages(current => current.map(message => message.id === messageId ? { ...message, codeReferenceStates: { ...message.codeReferenceStates, [referenceId]: state } } : message))
@@ -472,7 +472,7 @@ export function useAiAgent({ accessToken, studentEmail, courseId, weekNumber, ap
     navigatingRef.current = true
     update({ status: 'opening' })
     try {
-      await open(reference, () => isCurrent() && messageStateRef.current.messages.at(-1)?.id === latestMessageId && !abortControllerRef.current)
+      await open(reference, () => isCurrent() && messageStateRef.current.messages.findLast(message => message.role === 'user')?.id === latestUserMessageId && !applyingRef.current)
       update({ status: 'opened' })
     } catch (error) {
       update({ status: 'error', error: error instanceof Error ? error.message : '코드 위치를 열지 못했습니다. 다시 분석을 요청해주세요.' })

tests/camera-bridge-deployment.cjs

@@ -0,0 +1,55 @@
+const {test} = require('node:test')
+const assert = require('node:assert/strict')
+const fs = require('node:fs/promises')
+const path = require('node:path')
+const os = require('node:os')
+const vm = require('node:vm')
+const ts = require('typescript')
+const {createHash} = require('node:crypto')
+const {spawnSync} = require('node:child_process')
+
+test('remote visualization stages the bundled bridge over stdin and mounts that revision read-only', async () => {
+  const source = ts.createSourceFile('index.ts', await fs.readFile(path.join(__dirname, '../src/main/index.ts'), 'utf8'), ts.ScriptTarget.Latest, true)
+  const fn = source.statements.find(node => ts.isFunctionDeclaration(node) && node.name?.text === 'startRemoteVisualizationBridge')
+  assert.ok(fn)
+  const dir = await fs.mkdtemp(path.join(os.tmpdir(), 'lms-camera-bridge-'))
+  const resource = path.resolve(__dirname, '../resources/slam-ros-bridge')
+  const quote = value => "'" + value.replaceAll("'", "'\\''") + "'"
+  let launch, transfers = 0
+  const context = {
+    normalizeVisualizationStack: () => 'slam3d', normalizeRemoteTarget: target => target,
+    prepareRemoteRosNetworkConfig: async () => null, visualizationBridgeContainerName: () => 'slam-ros-bridge',
+    resolveVisualizationBridgeImage: () => 'fixture:arm64', bridgeArtifact: () => null,
+    slamRosBridgeImage: 'slam:local',
+    bridgeContainerCommand: () => 'python3 /app/bridge.py', resolveResourceContextPath: () => resource,
+    readFile: fs.readFile, join: path.join, createHash, quoteShellSingle: quote,
+    expandRemotePathVar: () => [], reportVisualizationProgress() {},
+    runUnqueuedSshOutput: async (_target, command, timeout, input) => {
+      transfers++
+      assert.equal(timeout, 30000)
+      assert.ok(input.length > 1000)
+      const {spawn} = require('node:child_process')
+      await new Promise((resolve, reject) => {
+        const child = spawn('bash', ['-c', command], {env: {...process.env, HOME: dir}, stdio:['pipe','ignore','pipe']})
+        let error = ''
+        child.stderr.on('data', data => {error += data})
+        child.on('error', reject)
+        child.on('close', code => code === 0 ? resolve() : reject(Error(error)))
+        child.stdin.end(input)
+      })
+      return ''
+    },
+    runSsh: async (_target, command) => { launch = command }
+  }
+  vm.runInNewContext(ts.transpileModule(fn.getText(source), {compilerOptions:{target:ts.ScriptTarget.ES2022}}).outputText, context)
+  try {
+    await context.startRemoteVisualizationBridge({workspaceRoot:'/workspace'}, 'slam3d', '77')
+    assert.equal(transfers, 1)
+    assert.match(launch, /-v "\$HOME\/\.autonomy-studio\/runtime\/bridges\/[a-f0-9]{64}:\/app:ro"/)
+    const roots = await fs.readdir(path.join(dir, '.autonomy-studio/runtime/bridges'))
+    for (const name of ['bridge.py','requirements.txt']) assert.equal(await fs.readFile(path.join(dir,'.autonomy-studio/runtime/bridges',roots[0],name),'utf8'), await fs.readFile(path.join(resource,name),'utf8'))
+    const syntax = spawnSync('bash', ['-n'], {input:launch,encoding:'utf8'})
+    assert.equal(syntax.status, 0, syntax.stderr)
+    assert.ok(launch.includes('docker run'))
+  } finally {await fs.rm(dir,{recursive:true,force:true})}
+})

tests/camera-module-runtime.cjs

@@ -35,7 +35,10 @@ for (const script of [run, build]) {
 }
 assert.match(run, /lms-nav2-camera-test\*\) PACKAGE=camera_test_pkg; LAUNCH=camera.launch.py/);
 assert.match(build, /lms-nav2-camera-test\*\) TARGET=camera_test_pkg/);
-assert.match(run, /--device "\$CAMERA_DEVICE:\$CAMERA_DEVICE"/);
+assert.match(run, /--device "\$camera_device:\$camera_device"/);
+assert.match(run, /CAMERA_DEVICE" = \/dev/);
+assert.match(run, /mapfile -t CAMERA_DEVICES/);
+assert.doesNotMatch(run, /-v \/dev:\/dev/);
 assert.match(run, /for capture_device in \/dev\/capture-vi-channel\*/);
 assert.match(run, /--device "\$capture_device:\$capture_device"/);
 assert.match(run, /FASTDDS_DEFAULT_PROFILES_FILE/);

tests/camera-preview-polling.cjs

@@ -1,70 +1,103 @@
-const assert = require('node:assert/strict');
+const { test } = require('node:test')
-const fs = require('node:fs');
+const assert = require('node:assert/strict')
-const path = require('node:path');
+const fs = require('node:fs')
-const vm = require('node:vm');
+const vm = require('node:vm')
+const ts = require('typescript')
 
-const html = fs.readFileSync(path.join(__dirname, '../src/renderer/public/slam-viewer/index.html'), 'utf8');
+function harness() {
-const source = html.slice(html.indexOf('function hasLiveCameraState()'), html.indexOf("cameraPreview?.addEventListener('load'"));
+  const exports = {}, requests = [], revoked = [], pending = new Map()
-let now = 10000;
+  let now = 10000, state = null, receivedAt = now, visible = false, enabledFetch = true
-let requests = 0;
+  let sequence = 0
-let ok = true;
+  function element() {
-let visible = false;
+    return { children: [], dataset: {}, src: '', append(...children) { this.children.push(...children); children.forEach(child => { child.parent = this }) }, remove() { this.parent.children = this.parent.children.filter(child => child !== this) }, removeAttribute() { this.src = '' }, addEventListener() {} }
-let afterBlob = () => {};
+  }
-const context = vm.createContext({
+  const root = element(), document = { hidden: false, createElement: element, addEventListener() {}, removeEventListener() {} }
-  ENABLE_CAMERA_PREVIEW: true,
+  const globals = { exports, document, AbortController, Date: { now: () => now },
-  cameraFrameRequestInFlight: false,
+    window: { setTimeout: () => 1, clearTimeout() {}, setInterval: () => 1, clearInterval() {} },
-  cameraFrameRetryAt: 0,
+    URL: { createObjectURL: () => `blob:${++sequence}`, revokeObjectURL: url => revoked.push(url) },
-  cameraFrameObjectUrl: null,
+    fetch: async (url, options) => {
-  cameraPreview: {},
+      requests.push({ url, signal: options.signal })
-  latestSlamState: null,
+      if (pending.has(url)) await pending.get(url)
-  latestSlamStateReceivedAt: now,
+      return { ok: enabledFetch, blob: async () => ({}) }
-  document: { hidden: false },
+    }
-  Date: { now: () => now },
+  }
-  BACKEND_URL: 'http://localhost:8765',
+  vm.runInNewContext(ts.transpileModule(fs.readFileSync(require.resolve('../src/renderer/public/slam-viewer/camera-preview.js'), 'utf8'), { compilerOptions: { module: ts.ModuleKind.CommonJS, target: ts.ScriptTarget.ES2022 } }).outputText, globals)
-  AbortSignal,
+  const controller = exports.createCameraPreview({ root, baseUrl: 'http://camera.test', getState: () => ({ state, receivedAt }), onAvailable: value => { visible = value } })
-  URL: { createObjectURL: () => 'blob:frame', revokeObjectURL() {} },
+  return { root, requests, revoked, pending, document, controller,
-  setCameraPreviewAvailable(value) { visible = value; },
+    state(value) { state = value; receivedAt = now }, advance(ms) { now += ms }, fail(value) { enabledFetch = !value }, visible: () => visible,
-  async fetch() {
+    settle: () => new Promise(resolve => setImmediate(resolve)) }
-    requests++;
+}
-    return { ok, async blob() { afterBlob(); return {}; } };
-  },
-});
-vm.runInContext(source, context);
-const refresh = () => context.refreshCameraFrame();
-const available = (value) => {
-  context.latestSlamState = { topic_status: { camera_image: { available: value } } };
-  context.latestSlamStateReceivedAt = now;
-};
 
-(async () => {
+test('legacy camera polling stays compatible and skips absent, hidden and stale cameras', async () => {
-  await refresh();
+  const h = harness()
-  available(false);
+  h.controller.setEnabled(true)
-  await refresh();
+  assert.equal(h.requests.length, 0)
-  assert.equal(requests, 0, 'Absent camera must not fetch frames');
+  h.state({ topic_status: { camera_image: { available: true } } })
-  available(true);
+  h.controller.refresh(); await h.settle()
-  await refresh();
+  assert.equal(h.requests[0].url, 'http://camera.test/camera-frame')
-  assert.equal(requests, 1);
+  assert.equal(h.root.children[0].children[1].src, 'blob:1')
-  assert.equal(context.cameraPreview.src, 'blob:frame');
+  h.document.hidden = true
-  now += 3001;
+  h.controller.refresh(); await h.settle()
-  await refresh();
+  assert.equal(h.requests.length, 1)
-  assert.equal(requests, 1, 'Stale websocket state must stop polling');
+  h.advance(3001)
-  assert.equal(visible, false);
+  h.controller.refresh()
-  available(true);
+  assert.equal(h.visible(), false)
-  ok = false;
+  assert.equal(h.root.children.length, 0)
-  await refresh();
+  assert.deepEqual(h.revoked, ['blob:1'])
-  await refresh();
+})
-  assert.equal(requests, 2, 'HTTP errors must back off');
+
-  now += 5000;
+test('multiple camera frames are isolated and one unavailable camera cannot hide another', async () => {
-  available(true);
+  const h = harness()
-  ok = true;
+  h.state({ cameras: [{ id: 'video0', name: '/dev/video0', available: true }, { id: 'video2', name: '/dev/video2', available: true }] })
-  afterBlob = () => available(false);
+  h.controller.setEnabled(true); await h.settle()
-  context.cameraPreview.src = '';
+  assert.equal(h.root.children.length, 2)
-  await refresh();
+  assert.equal(h.requests.length, 2)
-  assert.equal(context.cameraPreview.src, '', 'Late responses must not revive a disconnected camera');
+  assert.deepEqual(h.requests.map(request => request.url), ['http://camera.test/camera-frame?camera_id=video0', 'http://camera.test/camera-frame?camera_id=video2'])
-  assert.equal(context.cameraFrameRequestInFlight, false);
+  const first = h.root.children[0].children[1].src
-  afterBlob = () => {};
+  h.state({ cameras: [{ id: 'video2', name: '/dev/video2', available: true }] })
-  available(true);
+  h.controller.refresh(); await h.settle()
-  await refresh();
+  assert.equal(h.root.children.length, 1)
-  assert.equal(context.cameraPreview.src, 'blob:frame', 'Camera reconnect must resume frames');
+  assert.equal(h.root.children[0].dataset.cameraId, 'video2')
-  console.log('camera preview polling tests passed');
+  assert.ok(h.revoked.includes(first))
-})().catch((error) => { console.error(error); process.exitCode = 1; });
+  assert.equal(h.visible(), true)
+  h.controller.dispose()
+  assert.equal(h.root.children.length, 0)
+  assert.equal(h.visible(), false)
+})
+
+test('in-flight requests are bounded and late frames cannot resurrect a removed or disabled camera', async () => {
+  const h = harness()
+  let release
+  h.pending.set('http://camera.test/camera-frame?camera_id=video0', new Promise(resolve => { release = resolve }))
+  h.state({ cameras: [{ id: 'video0', available: true }] })
+  h.controller.setEnabled(true)
+  h.controller.refresh()
+  assert.equal(h.requests.length, 1)
+  h.controller.setEnabled(false)
+  assert.equal(h.requests[0].signal.aborted, true)
+  release(); await h.settle()
+  assert.equal(h.root.children.length, 0)
+  assert.equal(h.visible(), false)
+})
+
+test('HTTP failures back off per camera and reconnecting restores frames', async () => {
+  const h = harness()
+  h.state({ cameras: [{ id: 'video0', available: true }] })
+  h.fail(true)
+  h.controller.setEnabled(true); await h.settle()
+  h.controller.refresh(); await h.settle()
+  assert.equal(h.requests.length, 1)
+  h.advance(5000); h.state({ cameras: [{ id: 'video0', available: true }] }); h.fail(false)
+  h.controller.refresh(); await h.settle()
+  assert.equal(h.requests.length, 2)
+  assert.ok(h.root.children[0].children[1].src.startsWith('blob:'))
+})
+
+test('camera identifiers are validated, deduplicated and limited without executing names as markup', async () => {
+  const h = harness()
+  h.state({ cameras: [{ id: '../etc', available: true }, ...Array.from({ length: 12 }, (_, i) => ({ id: `video${i}`, available: true, name: '<script>unsafe</script>' })), { id: 'video0', available: true }] })
+  h.controller.setEnabled(true); await h.settle()
+  assert.equal(h.requests.length, 8)
+  assert.equal(h.root.children.length, 8)
+  assert.equal(h.root.children[0].children[0].textContent, '<script>unsafe</script>')
+})