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[geometry] Fix Meshcat browser console error messages #20791

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Merged
SeanCurtis-TRI merged 1 commit into from
Jan 18, 2024
Merged

[geometry] Fix Meshcat browser console error messages #20791

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10 changes: 10 additions & 0 deletions geometry/meshcat.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -50,6 +50,14 @@ namespace {
using math::RigidTransformd;
using math::RotationMatrixd;

// TODO(jwnimmer-tri) Use the C++ built-in ends_with when we drop C++17.
bool EndsWith(std::string_view str, std::string_view suffix) {
if (str.size() < suffix.size()) {
return false;
}
return str.substr(str.size() - suffix.size()) == suffix;
}

template <typename Mapping>
[[noreturn]] void ThrowThingNotFound(std::string_view thing,
std::string_view name, Mapping thing_map) {
Expand Down Expand Up @@ -1922,6 +1930,8 @@ class Meshcat::Impl {
internal::GetMeshcatStaticResource(url_path)) {
if (content->substr(0, 15) == "<!DOCTYPE html>") {
response->writeHeader("Content-Type", "text/html; charset=utf-8");
} else if (EndsWith(url_path, ".js")) {
response->writeHeader("Content-Type", "text/javascript; charset=utf-8");
}
response->end(*content);
return;
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3 changes: 3 additions & 0 deletions geometry/meshcat.h
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Original file line number Diff line number Diff line change
Expand Up @@ -162,6 +162,9 @@ for
or
[Firefox](https://addons.mozilla.org/en-US/firefox/addon/webxr-api-emulator/)).

The AR/VR mode is not currently supported in offline mode (i.e., when saving as
StaticHtml()).

@section network_access Network access

See MeshcatParams for options to control the hostname and port to bind to.
Expand Down
9 changes: 6 additions & 3 deletions geometry/meshcat.html
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Original file line number Diff line number Diff line change
Expand Up @@ -215,7 +215,11 @@
url = url.replace("/index.html", "/")
url = url.replace("/meshcat.html", "/")
make_connection(url, reconnect_ms);
<!-- CONNECTION BLOCK END -->

// Per our meshcat.h docs, using XR when offline is not supported. Adding
// offline support might be possible by moving the 'webxr' and 'controller'
// handling outside of the CONNECTION BLOCK comment region and adding
// meshcat_manual_test coverage.

const webxrMode = urlParams.get('webxr');
if (webxrMode) {
Expand All @@ -231,8 +235,7 @@
type: "visualize_vr_controller"
});
}


<!-- CONNECTION BLOCK END -->

</script>

Expand Down
24 changes: 22 additions & 2 deletions geometry/test/meshcat_manual_test.cc
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Expand Up @@ -203,6 +203,23 @@ int do_main() {
}
}

std::cout << R"""(
Open the developer tools of your browser (F12) and within that panel switch to
the "Console" tab.

Keep that panel visible throughout the entire testing process. Any errors or
warnings displayed in that Console most likely indicate a bug in our code and
should be fixed. (If you are running this test as part of a pull request code
review, be sure to post the message as a Reviewable discussion.)

Less severe Console messages (info, debug, etc.) are not bugs and can be
ignored.

Caveat: At the moment, you might see Console warnings related to deprecations.
Ignore those for now; we'll need to circle back and fix them later.
)""";
MaybePauseForUser();

std::cout << R"""(
- The background should be grey.
- From left to right along the x axis, you should see:
Expand Down Expand Up @@ -456,8 +473,11 @@ int do_main() {
"- the camera is focused on the contact point between the robot and "
"table,\n"
"- the iiwa is visible,\n"
"- the animation plays, and\n"
"- the environment map is present.\n";
"- the animation plays,\n"
"- the environment map is present, and\n"
"- the browser Console has no warnings nor errors\n"
" (use F12 to open the panel with the Console).\n\n";
std::cout << "When you're done, close the browser tab.\n";

MaybePauseForUser();

Expand Down