@dronedeploy/rocos-js-sdk 3.0.0-alpha.8 → 3.0.1-alpha.1

package/IRocosSDK.d.ts

@@ -1,29 +1,5 @@
-import { MapService, SpotProvisioningServiceNode } from './services';
-import { AssetStorageService } from './services/AssetStorageService';
-import { AuthService } from './services/AuthService';
-import { CallerService } from './services/CallerService';
-import { CommandService } from './services/CommandService';
-import { ConfigGroupService } from './services/ConfigGroupService';
-import { ControlService } from './services/ControlService';
-import { DashboardService } from './services/DashboardService';
-import { EventService } from './services/EventService';
-import { FileAccessorService } from './services/FileAccessorService';
-import { FunctionService } from './services/FunctionService';
-import { IBaseService } from './models/IBaseService';
-import { IDebugLevel } from './models/IDebugLevel';
-import { IntegrationService } from './services/IntegrationService';
-import { ProfileService } from './services/ProfileService';
-import { ProjectService } from './services/ProjectService';
-import { RobotService } from './services/RobotService';
-import { SearchService } from './services/SearchService';
-import { ServiceEnum } from './models/ServiceEnum';
-import { SpotProvisioningService } from './services/SpotProvisioningService';
-import { StreamService } from './services/StreamService';
-import { TelemetryService } from './services/TelemetryService';
-import { TimeSyncerService } from './services/TimeSyncerService';
-import { UserService } from './services/UserService';
-import { WebRTCSignallingService } from './services/WebRTCSignallingService';
-import { WorkflowService } from './services/WorkflowService';
+import { AssetStorageService, AuthService, CallerService, CommandService, ConfigGroupService, ControlService, DashboardService, EvaluatorService, EventService, FileAccessorService, FunctionService, IntegrationService, MapService, ProfileService, ProjectService, RobotService, SearchService, SpotProvisioningService, SpotProvisioningServiceNode, StreamService, TelemetryService, TimeSyncerService, UserService, WebRTCSignallingService, WorkflowService } from './services';
+import { IBaseService, IDebugLevel, ServiceEnum } from './models';
 export declare abstract class IRocosSDK {
     abstract getService<T extends IBaseService>(name: ServiceEnum): T;
     abstract getAuthService(): AuthService;
@@ -49,6 +25,7 @@ export declare abstract class IRocosSDK {
     abstract getFileAccessorService(): FileAccessorService;
     abstract getSpotProvisionerService(): SpotProvisioningService | SpotProvisioningServiceNode;
     abstract getIntegrationService(): IntegrationService;
+    abstract getEvaluatorService(): EvaluatorService;
     abstract cleanup(): Promise<boolean>;
     abstract enableDebugMode(on: boolean): void;
     abstract setDebugLevel(level: IDebugLevel): void;

package/RocosSDK.d.ts

@@ -1,4 +1,4 @@
-import { AssetStorageService, AuthService, CallerService, CommandService, ConfigGroupService, ControlService, DashboardService, EventService, FileAccessorService, FunctionService, IntegrationService, MapService, ProfileService, ProjectService, RobotService, ScheduleService, SearchService, SpotProvisioningService, StreamService, TelemetryService, TimeSyncerService, UserService, WebRTCSignallingService, WorkflowService } from './services';
+import { AssetStorageService, AuthService, CallerService, CommandService, ConfigGroupService, ControlService, DashboardService, EvaluatorService, EventService, FileAccessorService, FunctionService, IntegrationService, MapService, ProfileService, ProjectService, RobotService, ScheduleService, SearchService, SpotProvisioningService, StreamService, TelemetryService, TimeSyncerService, UserService, WebRTCSignallingService, WorkflowService } from './services';
 import { IBaseService, IDebugLevel, IRocosSDKConfig, ServiceEnum } from './models';
 import { IRocosSDK } from './IRocosSDK';
 import { Logger } from 'loglevel';
@@ -120,6 +120,11 @@ export declare class RocosSDK implements IRocosSDK {
      * @returns MapService
      */
     getMapService(): MapService;
+    /**
+     * Gets the evaluator service
+     * @returns EvaluatorService
+     */
+    getEvaluatorService(): EvaluatorService;
     get platformTimeOffset(): number;
     get platformTime(): number;
     /**

package/RocosSDK.js

@@ -1,4 +1,4 @@
-import { AssetStorageService, AuthService, CallerService, CommandService, ConfigGroupService, ControlService, DashboardService, EventService, FileAccessorService, FunctionService, IntegrationService, MapService, PlatFormTimeService, ProfileService, ProjectService, RobotService, ScheduleService, SearchService, SpotProvisioningService, StreamService, TelemetryService, TimeSyncerService, UserService, WebRTCSignallingService, WorkflowService, } from './services';
+import { AssetStorageService, AuthService, CallerService, CommandService, ConfigGroupService, ControlService, DashboardService, EvaluatorService, EventService, FileAccessorService, FunctionService, IntegrationService, MapService, PlatFormTimeService, ProfileService, ProjectService, RobotService, ScheduleService, SearchService, SpotProvisioningService, StreamService, TelemetryService, TimeSyncerService, UserService, WebRTCSignallingService, WorkflowService, } from './services';
 import { ServiceEnum } from './models';
 import { RocosLogger } from './logger/RocosLogger';
 import { RocosStore } from './store/RocosStore';
@@ -97,6 +97,9 @@ export class RocosSDK {
                 case ServiceEnum.MAP:
                     this.services[name] = new MapService(this.config);
                     break;
+                case ServiceEnum.EVALUATOR:
+                    this.services[name] = new EvaluatorService(this.config);
+                    break;
             }
         }
         this.logger.debug(`Found service ${name}.`);
@@ -252,6 +255,13 @@ export class RocosSDK {
     getMapService() {
         return this.getService(ServiceEnum.MAP);
     }
+    /**
+     * Gets the evaluator service
+     * @returns EvaluatorService
+     */
+    getEvaluatorService() {
+        return this.getService(ServiceEnum.EVALUATOR);
+    }
     get platformTimeOffset() {
         return PlatFormTimeService.getInstance(this.getTimeSyncerService())?.platformTimeOffset;
     }

package/helpers/getURLSearchParams.d.ts

@@ -0,0 +1,2 @@
+export type QueryParams = Record<string, string | number | boolean> | URLSearchParams;
+export declare const getURLSearchParams: (params: QueryParams) => URLSearchParams;

package/helpers/getURLSearchParams.js

@@ -0,0 +1,9 @@
+export const getURLSearchParams = (params) => {
+    if (params instanceof URLSearchParams)
+        return params;
+    const stringParams = Object.entries(params ?? {}).reduce((acc, [key, value]) => {
+        acc[key] = value.toString();
+        return acc;
+    }, {});
+    return new URLSearchParams(stringParams);
+};

package/helpers/getURLSearchParams.spec.d.ts

@@ -0,0 +1 @@
+export {};

package/helpers/getURLSearchParams.spec.js

@@ -0,0 +1,19 @@
+import { getURLSearchParams } from './getURLSearchParams';
+describe('getURLSearchParams', () => {
+    it('Should return the original param if URLSearchParams', () => {
+        const param = new URLSearchParams();
+        const searchParam = getURLSearchParams(param);
+        expect(searchParam).toBe(param);
+    });
+    it('Should a new URLSearchParams ', () => {
+        const param = {
+            foo: 'bar',
+            bar: true,
+            foobar: 123,
+        };
+        const searchParam = getURLSearchParams(param);
+        expect(searchParam.get('foo')).toBe('bar');
+        expect(searchParam.get('bar')).toBe('true');
+        expect(searchParam.get('foobar')).toBe('123');
+    });
+});

package/helpers/index.d.ts

@@ -1,3 +1,5 @@
 export * from './average';
 export * from './standardDeviation';
 export * from './generateUUID';
+export * from './getURLSearchParams';
+export * from './websandbox';

package/helpers/index.js

@@ -1,3 +1,5 @@
 export * from './average';
 export * from './standardDeviation';
 export * from './generateUUID';
+export * from './getURLSearchParams';
+export * from './websandbox';

package/helpers/websandbox/connection.d.ts

@@ -0,0 +1,67 @@
+import { APIDeclaration } from './types';
+export interface ConnectionOptions {
+    allowedSenderOrigin?: string;
+    debugMode: boolean;
+}
+type ListenerCallback = (e: MessageEvent<Message>) => void;
+declare enum MessageType {
+    RESPONSE = "response",
+    MESSAGE = "message"
+}
+interface BaseMessageData {
+    type: MessageType;
+    callId: string;
+}
+interface ResponseData extends BaseMessageData {
+    type: MessageType.RESPONSE;
+    success: boolean;
+    result: unknown;
+}
+interface MessageData extends BaseMessageData {
+    type: MessageType.MESSAGE;
+    methodName: string;
+    arguments: unknown[];
+}
+type Message = MessageData | ResponseData;
+export default class Connection<Local extends APIDeclaration<Local>, Remote extends APIDeclaration<Remote>> {
+    private readonly name;
+    private incrementalID;
+    private readonly options;
+    private readonly postMessageInternal;
+    private callbacks;
+    private serviceMethods;
+    constructor(name: string, postMessage: typeof window.postMessage, methods: Local, registerOnMessageListener: (listener: ListenerCallback) => void, options?: Partial<ConnectionOptions>);
+    /** Call a remote method
+     *
+     * returns a promise that resolves when the remote responds
+     *
+     * @param name - name of remote method to call
+     * @param args - arguments to pass to remote method
+     */
+    callRemoteMethod<Method extends keyof Remote>(name: Method, ...args: Parameters<Remote[Method]>): Promise<ReturnType<Remote[Method]>>;
+    private onMessageListener;
+    private callLocalMethod;
+    /** Respond to remote call
+     *
+     * @param id - remote call ID
+     * @param result - result to pass to calling function
+     * @param success - whether the call was successful
+     */
+    private responseOtherSide;
+    /** Store a callback to be called when the remote responds
+     *
+     * @param success - callback to be called on success
+     * @param failure - callback to be called on failure
+     */
+    private registerCallback;
+    /** Calls and deletes stored callback
+     *
+     * @param callId - ID of callback to call
+     * @param success - whether the call was successful
+     * @param result - result of remote call
+     */
+    private popCallback;
+    private postMessage;
+    private log;
+}
+export {};

package/helpers/websandbox/connection.js

@@ -0,0 +1,133 @@
+var MessageType;
+(function (MessageType) {
+    MessageType["RESPONSE"] = "response";
+    MessageType["MESSAGE"] = "message";
+})(MessageType || (MessageType = {}));
+const defaultOptions = {
+    allowedSenderOrigin: undefined,
+    debugMode: false,
+};
+export default class Connection {
+    constructor(name, postMessage, methods, registerOnMessageListener, options = {}) {
+        this.callbacks = new Map();
+        this.serviceMethods = new Map();
+        this.name = name;
+        this.options = { ...defaultOptions, ...options };
+        this.log('Created connection w/ allowedOrigin:', this.options.allowedSenderOrigin);
+        this.serviceMethods = new Map(Object.entries(methods));
+        // Assign a random starting ID to this connection
+        const [id] = crypto.getRandomValues(new Uint32Array(1));
+        this.incrementalID = id;
+        this.postMessageInternal = postMessage;
+        registerOnMessageListener((e) => this.onMessageListener(e));
+    }
+    /** Call a remote method
+     *
+     * returns a promise that resolves when the remote responds
+     *
+     * @param name - name of remote method to call
+     * @param args - arguments to pass to remote method
+     */
+    callRemoteMethod(name, ...args) {
+        this.log('Calling Remote Method', {
+            name,
+            args,
+        });
+        return new Promise((resolve, reject) => {
+            const id = this.registerCallback(resolve, reject);
+            this.postMessage({
+                callId: id,
+                type: MessageType.MESSAGE,
+                methodName: name,
+                arguments: args,
+            });
+        });
+    }
+    onMessageListener(e) {
+        this.log('Received message', e);
+        const { data } = e;
+        const { allowedSenderOrigin } = this.options;
+        if (allowedSenderOrigin && e.origin !== allowedSenderOrigin) {
+            console.warn(`Received message from invalid origin: ${e.origin}`);
+        }
+        switch (data.type) {
+            case MessageType.RESPONSE:
+                this.popCallback(data.callId, data.success, data.result);
+                return;
+            case MessageType.MESSAGE:
+                this.callLocalMethod(data.methodName, data.arguments)
+                    .then((res) => this.responseOtherSide(data.callId, res))
+                    .catch((err) => this.responseOtherSide(data.callId, err, false));
+        }
+    }
+    async callLocalMethod(methodName, args) {
+        this.log('calling local method', methodName, args);
+        const method = this.serviceMethods.get(methodName);
+        if (!method) {
+            throw new Error(`service method ${methodName} not found`);
+        }
+        return method(...args);
+    }
+    /** Respond to remote call
+     *
+     * @param id - remote call ID
+     * @param result - result to pass to calling function
+     * @param success - whether the call was successful
+     */
+    responseOtherSide(id, result, success = true) {
+        this.log('responding to remote call', { id, result, success });
+        const doPost = (result) => {
+            this.postMessage({
+                callId: id,
+                type: MessageType.RESPONSE,
+                success,
+                result,
+            });
+        };
+        try {
+            doPost(result);
+        }
+        catch (err) {
+            if (err instanceof DOMException) {
+                doPost(JSON.parse(JSON.stringify(result)));
+            }
+        }
+    }
+    /** Store a callback to be called when the remote responds
+     *
+     * @param success - callback to be called on success
+     * @param failure - callback to be called on failure
+     */
+    registerCallback(success, failure) {
+        const id = (++this.incrementalID).toString();
+        this.log('registering callback for id', id);
+        this.callbacks.set(id, { success, failure });
+        return id;
+    }
+    /** Calls and deletes stored callback
+     *
+     * @param callId - ID of callback to call
+     * @param success - whether the call was successful
+     * @param result - result of remote call
+     */
+    popCallback(callId, success, result) {
+        this.log('calling callback for id', callId, { success, result });
+        const callbacks = this.callbacks.get(callId);
+        if (success) {
+            callbacks?.success(result);
+        }
+        else {
+            callbacks?.failure(result);
+        }
+        this.callbacks.delete(callId);
+    }
+    postMessage(data, targetOrigin = '*') {
+        this.log('sending message', { data, targetOrigin });
+        this.postMessageInternal(data, targetOrigin);
+    }
+    log(...args) {
+        if (this.options.debugMode) {
+            console.debug(`[${this.name}]`, ...args);
+        }
+    }
+}

package/helpers/websandbox/frame/frame.d.ts

@@ -0,0 +1,12 @@
+import { Task } from '../types';
+export interface FrameMethods {
+    startTask: (task: Task) => unknown;
+}
+declare class Frame {
+    private connection;
+    private workerManager;
+    constructor();
+    private runCode;
+}
+declare const frame: Frame;
+export default frame;

package/helpers/websandbox/frame/frame.js

@@ -0,0 +1,22 @@
+// this file is bundled via webpack and included in the iframe source
+import Connection from '../connection';
+import WorkerManager from './worker';
+class Frame {
+    constructor() {
+        const isDebugMode = !!window?.debugMode;
+        this.connection = new Connection('FRAME', window.parent.postMessage.bind(window.parent), {
+            startTask: this.runCode.bind(this),
+        }, (listener) => {
+            window.addEventListener('message', listener);
+        }, {
+            debugMode: isDebugMode,
+        });
+        void this.connection.callRemoteMethod('iframeInitialised');
+        this.workerManager = new WorkerManager();
+    }
+    async runCode(task) {
+        return this.workerManager.execute(task);
+    }
+}
+const frame = new Frame();
+export default frame;

package/helpers/websandbox/frame/frame.source.d.ts

@@ -0,0 +1,2 @@
+declare const source: string;
+export default source;

package/helpers/websandbox/frame/frame.source.js

@@ -0,0 +1,5 @@
+// Auto-generated file
+/* eslint-disable */
+import __WORKER_SOURCE__ from './worker/worker.source';
+const source = `(()=>{"use strict";var e={880:(e,t)=>{var s;Object.defineProperty(t,"__esModule",{value:!0}),function(e){e.RESPONSE="response",e.MESSAGE="message"}(s||(s={}));const r={allowedSenderOrigin:void 0,debugMode:!1};t.default=class{constructor(e,t,s,i,o={}){this.callbacks=new Map,this.serviceMethods=new Map,this.name=e,this.options={...r,...o},this.log("Created connection w/ allowedOrigin:",this.options.allowedSenderOrigin),this.serviceMethods=new Map(Object.entries(s));const[n]=crypto.getRandomValues(new Uint32Array(1));this.incrementalID=n,this.postMessageInternal=t,i((e=>this.onMessageListener(e)))}callRemoteMethod(e,...t){return this.log("Calling Remote Method",{name:e,args:t}),new Promise(((r,i)=>{const o=this.registerCallback(r,i);this.postMessage({callId:o,type:s.MESSAGE,methodName:e,arguments:t})}))}onMessageListener(e){this.log("Received message",e);const{data:t}=e,{allowedSenderOrigin:r}=this.options;switch(r&&e.origin!==r&&console.warn(\`Received message from invalid origin: \${e.origin}\`),t.type){case s.RESPONSE:return void this.popCallback(t.callId,t.success,t.result);case s.MESSAGE:this.callLocalMethod(t.methodName,t.arguments).then((e=>this.responseOtherSide(t.callId,e))).catch((e=>this.responseOtherSide(t.callId,e,!1)))}}async callLocalMethod(e,t){this.log("calling local method",e,t);const s=this.serviceMethods.get(e);if(!s)throw new Error(\`service method \${e} not found\`);return s(...t)}responseOtherSide(e,t,r=!0){this.log("responding to remote call",{id:e,result:t,success:r});const i=t=>{this.postMessage({callId:e,type:s.RESPONSE,success:r,result:t})};try{i(t)}catch(e){e instanceof DOMException&&i(JSON.parse(JSON.stringify(t)))}}registerCallback(e,t){const s=(++this.incrementalID).toString();return this.log("registering callback for id",s),this.callbacks.set(s,{success:e,failure:t}),s}popCallback(e,t,s){this.log("calling callback for id",e,{success:t,result:s});const r=this.callbacks.get(e);t?r?.success(s):r?.failure(s),this.callbacks.delete(e)}postMessage(e,t="*"){this.log("sending message",{data:e,targetOrigin:t}),this.postMessageInternal(e,t)}log(...e){this.options.debugMode&&console.debug(\`[\${this.name}]\`,...e)}}},306:function(e,t,s){var r=this&&this.__importDefault||function(e){return e&&e.__esModule?e:{default:e}};Object.defineProperty(t,"__esModule",{value:!0});const i=r(s(880)),o=r(s(54)),n=new class{constructor(){const e=!!window?.debugMode;this.connection=new i.default("FRAME",window.parent.postMessage.bind(window.parent),{startTask:this.runCode.bind(this)},(e=>{window.addEventListener("message",e)}),{debugMode:e}),this.connection.callRemoteMethod("iframeInitialised"),this.workerManager=new o.default}async runCode(e){return this.workerManager.execute(e)}};t.default=n},54:function(e,t,s){var r=this&&this.__importDefault||function(e){return e&&e.__esModule?e:{default:e}};Object.defineProperty(t,"__esModule",{value:!0});const i=r(s(420));t.default=i.default},420:(e,t)=>{Object.defineProperty(t,"__esModule",{value:!0}),t.default=class{constructor(){this.worker=this.createWorker()}async execute(e){const t={...e,contextVariable:e.contextVariable??"ctx"},s=this.runTask(t),r=this.timeout(e.timeout??1e3);return Promise.race([s,r]).finally((()=>{this.removeMessageListener()}))}terminate(){this.removeMessageListener(),this.worker.terminate(),this.worker=this.createWorker()}runTask(e){return new Promise(((t,s)=>{const r=r=>{const{data:i}=r;i.id===e.id&&(this.stopTimer(),i.success?t(i.result):s(i.result))};this.worker.addEventListener("message",r),this.removeMessageListener=()=>this.worker.removeEventListener("message",r),this.worker.postMessage(e)}))}timeout(e){return new Promise(((t,s)=>{this.timerId=window.setTimeout((()=>{this.terminate(),s(new Error("maximum execution time exceeded"))}),e)}))}stopTimer(){clearTimeout(this.timerId)}createWorker(){const e=URL.createObjectURL(new Blob(["${__WORKER_SOURCE__.replace(/(['`"$])/g, '\\$1')}"],{type:"application/javascript"}));return new Worker(e)}removeMessageListener(){}}}},t={};!function s(r){var i=t[r];if(void 0!==i)return i.exports;var o=t[r]={exports:{}};return e[r].call(o.exports,o,o.exports,s),o.exports}(306)})();`;
+export default source;

package/helpers/websandbox/frame/index.d.ts

@@ -0,0 +1,2 @@
+import source from './frame.source';
+export default source;

package/helpers/websandbox/frame/index.js

@@ -0,0 +1,2 @@
+import source from './frame.source';
+export default source;

package/helpers/websandbox/frame/worker/index.d.ts

@@ -0,0 +1,2 @@
+import Manager from './manager';
+export default Manager;

package/helpers/websandbox/frame/worker/index.js

@@ -0,0 +1,2 @@
+import Manager from './manager';
+export default Manager;

package/helpers/websandbox/frame/worker/manager.d.ts

@@ -0,0 +1,13 @@
+import { Task } from '../../types';
+export default class Manager {
+    private worker;
+    private timerId?;
+    constructor();
+    execute(task: Task): Promise<unknown>;
+    terminate(): void;
+    private runTask;
+    private timeout;
+    private stopTimer;
+    private createWorker;
+    private removeMessageListener;
+}

package/helpers/websandbox/frame/worker/manager.js

@@ -0,0 +1,60 @@
+// this token (__WORKER_SOURCE__) is replaced by webpack with the source of the worker
+const WORKER_SOURCE = '__WORKER_SOURCE__';
+export default class Manager {
+    constructor() {
+        this.worker = this.createWorker();
+    }
+    async execute(task) {
+        const workerTask = {
+            ...task,
+            contextVariable: task.contextVariable ?? 'ctx',
+        };
+        const result = this.runTask(workerTask);
+        const timeout = this.timeout(task.timeout ?? 1000);
+        return Promise.race([result, timeout]).finally(() => {
+            this.removeMessageListener();
+        });
+    }
+    terminate() {
+        this.removeMessageListener();
+        this.worker.terminate();
+        this.worker = this.createWorker();
+    }
+    runTask(task) {
+        return new Promise((resolve, reject) => {
+            const listener = (event) => {
+                const { data } = event;
+                if (data.id === task.id) {
+                    this.stopTimer();
+                    if (data.success) {
+                        resolve(data.result);
+                    }
+                    else {
+                        reject(data.result);
+                    }
+                }
+            };
+            this.worker.addEventListener('message', listener);
+            this.removeMessageListener = () => this.worker.removeEventListener('message', listener);
+            this.worker.postMessage(task);
+        });
+    }
+    timeout(timeoutMs) {
+        return new Promise((_, reject) => {
+            this.timerId = window.setTimeout(() => {
+                this.terminate();
+                reject(new Error('maximum execution time exceeded'));
+            }, timeoutMs);
+        });
+    }
+    stopTimer() {
+        clearTimeout(this.timerId);
+    }
+    createWorker() {
+        const blob = URL.createObjectURL(new Blob([WORKER_SOURCE], { type: 'application/javascript' }));
+        return new Worker(blob);
+    }
+    removeMessageListener() {
+        // replaced by constructor
+    }
+}

package/helpers/websandbox/frame/worker/types.d.ts

@@ -0,0 +1,11 @@
+export interface WorkerResult {
+    id: string;
+    result: unknown;
+    success: boolean;
+}
+export interface WorkerTask {
+    id: string;
+    code: string;
+    contextVariable: string;
+    context?: unknown;
+}

package/helpers/websandbox/frame/worker/types.js

@@ -0,0 +1 @@
+export {};

package/helpers/websandbox/frame/worker/worker.d.ts

@@ -0,0 +1 @@
+export {};

package/helpers/websandbox/frame/worker/worker.js

@@ -0,0 +1,74 @@
+const WHITELIST = [
+    'TEMPORARY',
+    'PERSISTENT',
+    'console',
+    'self',
+    'onmessage',
+    'postMessage',
+    'global',
+    'allowed',
+    'Array',
+    'Boolean',
+    'Date',
+    'Function',
+    'Number',
+    'Object',
+    'RegExp',
+    'String',
+    'Error',
+    'EvalError',
+    'RangeError',
+    'ReferenceError',
+    'SyntaxError',
+    'TypeError',
+    'URIError',
+    'decodeURI',
+    'decodeURIComponent',
+    'encodeURI',
+    'encodeURIComponent',
+    'isFinite',
+    'isNaN',
+    'parseFloat',
+    'parseInt',
+    'Infinity',
+    'JSON',
+    'Math',
+    'NaN',
+    'undefined',
+];
+const windowProps = Object.getOwnPropertyNames(self);
+const protoProps = Object.getOwnPropertyNames(self.__proto__);
+const props = [...windowProps, ...protoProps];
+props.forEach((prop) => {
+    if (!WHITELIST.includes(prop)) {
+        Object.defineProperty(self, prop, {
+            get: () => {
+                throw new Error(`Security Exception: cannot access ${prop}`);
+            },
+            set: () => {
+                throw new Error(`Security Exception: cannot set ${prop}`);
+            },
+            configurable: false,
+        });
+    }
+});
+// Parses and calls function string with args
+onmessage = (event) => {
+    let result;
+    let success = true;
+    try {
+        const fn = Function(event.data.contextVariable, `"use strict";return (${event.data.code});`);
+        result = fn(event.data.context);
+    }
+    catch (e) {
+        result = e;
+        success = false;
+    }
+    const message = {
+        id: event.data.id,
+        result,
+        success,
+    };
+    postMessage(message);
+};
+export {};

package/helpers/websandbox/frame/worker/worker.source.d.ts

@@ -0,0 +1,2 @@
+declare const source: string;
+export default source;

package/helpers/websandbox/frame/worker/worker.source.js

@@ -0,0 +1,4 @@
+// Auto-generated file
+/* eslint-disable */
+const source = `(()=>{"use strict";(()=>{const e=["TEMPORARY","PERSISTENT","console","self","onmessage","postMessage","global","allowed","Array","Boolean","Date","Function","Number","Object","RegExp","String","Error","EvalError","RangeError","ReferenceError","SyntaxError","TypeError","URIError","decodeURI","decodeURIComponent","encodeURI","encodeURIComponent","isFinite","isNaN","parseFloat","parseInt","Infinity","JSON","Math","NaN","undefined"];[...Object.getOwnPropertyNames(self),...Object.getOwnPropertyNames(self.__proto__)].forEach((r=>{e.includes(r)||Object.defineProperty(self,r,{get:()=>{throw new Error(\`Security Exception: cannot access \${r}\`)},set:()=>{throw new Error(\`Security Exception: cannot set \${r}\`)},configurable:!1})})),onmessage=e=>{let r,t=!0;try{r=Function(e.data.contextVariable,\`"use strict";return (\${e.data.code});\`)(e.data.context)}catch(e){r=e,t=!1}const o={id:e.data.id,result:r,success:t};postMessage(o)}})()})();`;
+export default source;

package/helpers/websandbox/index.d.ts

@@ -0,0 +1,2 @@
+import WebSandbox from './sandbox';
+export { WebSandbox };

package/helpers/websandbox/index.js

@@ -0,0 +1,2 @@
+import WebSandbox from './sandbox';
+export { WebSandbox };

package/helpers/websandbox/sandbox.d.ts

@@ -0,0 +1,54 @@
+export interface SandboxOptions extends Required<RunCodeOptions> {
+    /** The selector or element to append the iframe to */
+    frameContainer: string | Element;
+    /** Whether to enable verbose logging */
+    debugMode: boolean;
+}
+export interface RunCodeOptions {
+    /** The name of the variable to use for the context object */
+    contextVariable?: string;
+    timeout?: {
+        /** The minimum time to wait for a task to complete
+         *
+         * The worker will attempt to kill the task after this time.
+         */
+        minimumMs: number;
+        /** The maximum time to wait for a task to complete
+         *
+         * The sandbox will be destroyed and rebuilt after this time.
+         */
+        maximumMs: number;
+    };
+}
+export declare const BaseOptions: SandboxOptions;
+export interface SandboxMethods {
+    iframeInitialised: () => void;
+}
+/** A sandbox for running untrusted code in an iframe & embedded web worker.
+ *
+ * This is a wrapper around the iframe and web worker that provides a simple API for running code in the sandbox.
+ * It also provides a context object that can be used to pass data into the sandbox.
+ */
+export default class WebSandbox {
+    private readonly options;
+    private frame;
+    private connection?;
+    private initialised;
+    static new(options?: Partial<SandboxOptions>): Promise<WebSandbox>;
+    private constructor();
+    /** Runs code in the sandbox. Can be either a string or a function */
+    run<T = unknown>(code: string | (() => T), context?: unknown, options?: RunCodeOptions): Promise<T>;
+    /** Destroys the sandbox.
+     *
+     * This will remove the iframe from the DOM and remove the message listener.
+     */
+    destroy(): void;
+    private initialise;
+    private validateOptions;
+    private destroyAndRebuild;
+    private removeMessageListener;
+    private runFunction;
+    private runCode;
+    private createFrame;
+    private prepareFrameContent;
+}

package/helpers/websandbox/sandbox.js

@@ -0,0 +1,146 @@
+import Connection from './connection';
+import frameSource from './frame';
+import { generateUUID } from '../generateUUID';
+export const BaseOptions = {
+    frameContainer: 'body',
+    debugMode: false,
+    contextVariable: 'ctx',
+    timeout: {
+        minimumMs: 1000,
+        maximumMs: 1500,
+    },
+};
+/** A sandbox for running untrusted code in an iframe & embedded web worker.
+ *
+ * This is a wrapper around the iframe and web worker that provides a simple API for running code in the sandbox.
+ * It also provides a context object that can be used to pass data into the sandbox.
+ */
+export default class WebSandbox {
+    static async new(options = {}) {
+        const sandbox = new WebSandbox(options);
+        await sandbox.initialised;
+        return sandbox;
+    }
+    constructor(options) {
+        this.options = { ...BaseOptions, ...options };
+        this.frame = this.createFrame();
+        this.validateOptions(this.options);
+        this.initialised = this.initialise();
+    }
+    /** Runs code in the sandbox. Can be either a string or a function */
+    async run(code, context, options) {
+        if (typeof code === 'function') {
+            return this.runFunction(code, context);
+        }
+        return this.runCode(code, context, options);
+    }
+    /** Destroys the sandbox.
+     *
+     * This will remove the iframe from the DOM and remove the message listener.
+     */
+    destroy() {
+        this.frame.remove();
+        this.removeMessageListener();
+    }
+    initialise() {
+        return new Promise((resolve) => {
+            this.connection = new Connection('SANDBOX', this.frame.contentWindow.postMessage.bind(this.frame.contentWindow), {
+                iframeInitialised: () => resolve(),
+            }, (listener) => {
+                const sourceCheckListener = (event) => {
+                    if (event.source !== this.frame.contentWindow) {
+                        return;
+                    }
+                    return listener(event);
+                };
+                window.addEventListener('message', sourceCheckListener);
+                this.removeMessageListener = () => window.removeEventListener('message', sourceCheckListener);
+            }, { allowedSenderOrigin: 'null', debugMode: this.options.debugMode });
+        });
+    }
+    validateOptions(options) {
+        const minimumTimeout = options.timeout.minimumMs;
+        const maximumTimeout = options.timeout.maximumMs;
+        if (maximumTimeout < minimumTimeout) {
+            throw new Error(`maximum timeout (${maximumTimeout}ms) must be greater than or equal to minimum timeout (${minimumTimeout}ms)`);
+        }
+        if (minimumTimeout <= 0 || maximumTimeout <= 0) {
+            throw new Error('timeout values must be greater than 0');
+        }
+        if (maximumTimeout > 5000) {
+            throw new Error('maximum timeout must be less than or equal to 5000ms');
+        }
+    }
+    async destroyAndRebuild() {
+        this.destroy();
+        this.frame = this.createFrame();
+        await this.initialise();
+    }
+    removeMessageListener() {
+        // replaced by constructor
+    }
+    async runFunction(fn, context, options) {
+        return this.runCode(`(${fn.toString()})()`, context, options);
+    }
+    async runCode(code, context, options) {
+        if (!this.connection) {
+            throw new Error('sandbox not initialised');
+        }
+        this.validateOptions({
+            ...this.options,
+            ...options,
+        });
+        let timerId;
+        const timeout = new Promise((_, reject) => {
+            timerId = setTimeout(() => {
+                this.destroyAndRebuild().finally(() => reject(new Error('sandbox timed out')));
+            }, options?.timeout?.maximumMs ?? this.options.timeout.maximumMs);
+        });
+        const taskId = generateUUID();
+        const task = await this.connection.callRemoteMethod('startTask', {
+            id: taskId,
+            code,
+            context,
+            timeout: this.options.timeout.minimumMs,
+            contextVariable: options?.contextVariable ?? this.options.contextVariable,
+        });
+        return Promise.race([task, timeout]).finally(() => {
+            clearTimeout(timerId);
+        });
+    }
+    createFrame() {
+        const containerSelector = this.options.frameContainer;
+        const container = typeof containerSelector === 'string' ? document.querySelector(containerSelector) : containerSelector;
+        if (!container) {
+            throw new Error('unable to find container for sandbox');
+        }
+        const iframe = document.createElement('iframe');
+        if (iframe.sandbox) {
+            iframe.sandbox.add('allow-scripts');
+        }
+        else {
+            iframe.setAttribute('sandbox', 'allow-scripts');
+        }
+        iframe.srcdoc = this.prepareFrameContent();
+        iframe.style.display = 'none';
+        container.appendChild(iframe);
+        return iframe;
+    }
+    prepareFrameContent() {
+        let script = frameSource;
+        if (this.options.debugMode) {
+            script = `window.debugMode=true;${script}`;
+        }
+        return `
+      <!DOCTYPE html>
+      <html>
+        <head>
+          <meta charset="UTF-8">
+          <script>
+            ${script}
+          </script>
+        </head>
+      </html>
+    `;
+    }
+}

package/helpers/websandbox/types.d.ts

@@ -0,0 +1,13 @@
+type APIMethod = (...args: any[]) => unknown;
+export type API = Map<string, APIMethod>;
+export type APIDeclaration<T> = {
+    [K in keyof T]: T[K] extends APIMethod ? T[K] : never;
+};
+export interface Task {
+    id: string;
+    code: string;
+    context?: unknown;
+    timeout: number;
+    contextVariable?: string;
+}
+export {};

package/helpers/websandbox/types.js

@@ -0,0 +1 @@
+export {};

package/models/RocosError.d.ts

@@ -22,6 +22,7 @@ export declare const errorCodes: {
     SCHEDULE_SERVICE_ERROR: string;
     INTEGRATIONS_SERVICE_ERROR: string;
     MAPS_SERVICE_ERROR: string;
+    EVALUATOR_SERVICE_ERROR: string;
 };
 export declare class RocosError extends Error {
     code?: string;

package/models/RocosError.js

@@ -22,6 +22,7 @@ export const errorCodes = {
     SCHEDULE_SERVICE_ERROR: 'SCHEDULE_SERVICE_ERROR',
     INTEGRATIONS_SERVICE_ERROR: 'INTEGRATIONS_SERVICE_ERROR',
     MAPS_SERVICE_ERROR: 'MAPS_SERVICE_ERROR',
+    EVALUATOR_SERVICE_ERROR: 'EVALUATOR_SERVICE_ERROR',
 };
 export class RocosError extends Error {
     constructor(err, code, statusCode) {

package/models/ServiceEnum.d.ts

@@ -22,5 +22,6 @@ export declare enum ServiceEnum {
     SCHEDULE = "schedule",
     SPOT_PROVISIONER = "spot_provisioner",
     INTEGRATION = "integration",
-    MAP = "map"
+    MAP = "map",
+    EVALUATOR = "evaluator"
 }

package/models/ServiceEnum.js

@@ -24,4 +24,5 @@ export var ServiceEnum;
     ServiceEnum["SPOT_PROVISIONER"] = "spot_provisioner";
     ServiceEnum["INTEGRATION"] = "integration";
     ServiceEnum["MAP"] = "map";
+    ServiceEnum["EVALUATOR"] = "evaluator";
 })(ServiceEnum || (ServiceEnum = {}));

package/node/RocosSDKNode.d.ts

@@ -1,4 +1,4 @@
-import { ScheduleService } from '../services';
+import { EvaluatorService, ScheduleService } from '../services';
 import { CallerServiceNode } from '../services/CallerServiceNode';
 import { CommandServiceNode } from '../services/CommandServiceNode';
 import { ControlServiceNode } from '../services/ControlServiceNode';
@@ -39,4 +39,9 @@ export declare class RocosSDKNode extends RocosSDK {
      * @returns FileAccessorServiceNode
      */
     getFileAccessorService(): FileAccessorServiceNode;
+    /**
+     * Gets the evaluator service
+     * @returns EvaluatorServiceNode
+     */
+    getEvaluatorService(): EvaluatorService;
 }

package/node/RocosSDKNode.js

@@ -140,4 +140,11 @@ export class RocosSDKNode extends RocosSDK {
     getFileAccessorService() {
         return this.getService(ServiceEnum.FILE_ACCESSOR);
     }
+    /**
+     * Gets the evaluator service
+     * @returns EvaluatorServiceNode
+     */
+    getEvaluatorService() {
+        throw new Error('Evaluator service is not supported in NodeJS');
+    }
 }

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@dronedeploy/rocos-js-sdk",
-  "version": "3.0.0-alpha.8",
+  "version": "3.0.1-alpha.1",
   "description": "Javascript SDK for rocos",
   "main": "index.js",
   "types": "index.d.ts",

package/services/AssetStorageService.js

@@ -110,7 +110,7 @@ export class AssetStorageService extends BaseServiceAbstract {
      */
     async listMissionAssets(projectId, assetIdList) {
         const searchParams = new URLSearchParams();
-        assetIdList.forEach((assetId) => searchParams.append('assetId', assetId));
+        assetIdList.forEach((assetId) => searchParams.append('assetID', assetId));
         return this.callGet(formatServiceUrl(API_PROJECT_MISSION_ASSETS_PATH_URL, { url: this.config.url, projectId }, this.config.insecure), `Failed to get asset for ${projectId}, assetIdList ${assetIdList}.`, searchParams);
     }
     /**

package/services/BaseServiceAbstract.d.ts

@@ -1,6 +1,6 @@
 import { IRocosSDKConfig, RocosError } from '../models';
+import { QueryParams } from '../helpers';
 import { Logger } from 'loglevel';
-type QueryParams = Record<string, string | number | boolean> | URLSearchParams;
 type ResponseType = 'json' | 'blob' | 'stream' | 'text' | 'raw';
 interface RequestConfig {
     /**

package/services/BaseServiceAbstract.js

@@ -1,4 +1,5 @@
 import { RocosError } from '../models';
+import { getURLSearchParams } from '../helpers';
 import { RocosStore } from '../store/RocosStore';
 class HttpError extends Error {
     constructor(response) {
@@ -26,12 +27,7 @@ export class BaseServiceAbstract {
     async call(url, method, options) {
         const { errorMessage, config, payload, params } = options;
         try {
-            // change all params to string
-            const stringParams = Object.entries(params ?? {}).reduce((acc, [key, value]) => {
-                acc[key] = value.toString();
-                return acc;
-            }, {});
-            const formattedUrl = params ? `${url}?${new URLSearchParams(stringParams)}` : url;
+            const formattedUrl = params ? `${url}?${getURLSearchParams(params)}` : url;
             const defaultHeaders = {};
             if (!config?.public) {
                 const token = await RocosStore.getSDKInstance(this.config).getAuthService().getToken();

package/services/EvaluatorService.d.ts

@@ -0,0 +1,11 @@
+import { IBaseService, IRocosSDKConfig, RocosError } from '../models';
+import { BaseServiceAbstract } from './BaseServiceAbstract';
+import { RunCodeOptions } from '../helpers/websandbox/sandbox';
+export declare class EvaluatorService extends BaseServiceAbstract implements IBaseService {
+    private readonly sandbox;
+    constructor(config: IRocosSDKConfig);
+    protected getError(e: Error): RocosError;
+    getStatus(): boolean;
+    teardown(): Promise<void>;
+    execute<T = unknown>(code: string | (() => T), context?: unknown, options?: RunCodeOptions): Promise<T>;
+}

package/services/EvaluatorService.js

@@ -0,0 +1,28 @@
+import { RocosError, errorCodes } from '../models';
+import { BaseServiceAbstract } from './BaseServiceAbstract';
+import { RocosLogger } from '../logger/RocosLogger';
+import { WebSandbox } from '../helpers';
+export class EvaluatorService extends BaseServiceAbstract {
+    constructor(config) {
+        super(config);
+        this.logger = RocosLogger.getInstance(`EvaluatorService(${this.config.url})`);
+        this.sandbox = WebSandbox.new().catch((e) => {
+            this.logger.error('Failed to create WebSandbox', e);
+            throw e;
+        });
+    }
+    getError(e) {
+        return new RocosError(e, errorCodes.EVALUATOR_SERVICE_ERROR);
+    }
+    getStatus() {
+        return true;
+    }
+    async teardown() {
+        const sandbox = await this.sandbox;
+        sandbox.destroy();
+    }
+    async execute(code, context, options) {
+        const sandbox = await this.sandbox;
+        return sandbox.run(code, context, options);
+    }
+}

package/services/MapService.d.ts

@@ -102,6 +102,7 @@ export declare class MapService extends BaseServiceAbstract implements IBaseServ
      *
      * @param projectId Project ID
      * @param mapId Map ID
+     * @param frameId Frame ID (optional)
      */
-    getGeoJSON(projectId: string, mapId: string): Promise<unknown>;
+    getGeoJSON(projectId: string, mapId: string, frameId?: string): Promise<unknown>;
 }

package/services/MapService.js

@@ -138,12 +138,14 @@ export class MapService extends BaseServiceAbstract {
      *
      * @param projectId Project ID
      * @param mapId Map ID
+     * @param frameId Frame ID (optional)
      */
-    async getGeoJSON(projectId, mapId) {
-        return this.callGet(formatServiceUrl(API_MAPS_GEOJSON_URL, {
+    async getGeoJSON(projectId, mapId, frameId) {
+        const params = {
             url: this.config.url,
             projectId,
             mapId,
-        }, this.config.insecure), 'Failed to get map GeoJSON.');
+        };
+        return this.callGet(formatServiceUrl(API_MAPS_GEOJSON_URL, params, this.config.insecure), 'Failed to get map GeoJSON.', frameId ? { frameID: frameId } : undefined);
     }
 }

package/services/TelemetryService.spec.js

@@ -1,6 +1,6 @@
-import { TelemetryService } from './TelemetryService';
-import { delay, from, lastValueFrom, NEVER, take, throwError } from 'rxjs';
 import { CallsignStatus } from '../models';
+import { NEVER, delay, from, lastValueFrom, take, throwError } from 'rxjs';
+import { TelemetryService } from './TelemetryService';
 describe('TelemetryService', () => {
     describe('getRobotStatusChanges', () => {
         it('should emit unknown to begin with', async () => {

package/services/index.d.ts

@@ -24,3 +24,4 @@ export * from './PlatformTimeService';
 export * from './SpotProvisioningService';
 export * from './SpotProvisioningServiceNode';
 export * from './MapService';
+export * from './EvaluatorService';

package/services/index.js

@@ -24,3 +24,4 @@ export * from './PlatformTimeService';
 export * from './SpotProvisioningService';
 export * from './SpotProvisioningServiceNode';
 export * from './MapService';
+export * from './EvaluatorService';