@dronedeploy/rocos-js-sdk 3.0.1-alpha.19 → 3.0.1-alpha.20

package/cjs/IRocosSDK.d.ts

@@ -1,6 +1,5 @@
-import { AssetStorageService, AuthService, CallerService, CommandService, ConfigGroupService, ControlService, DashboardService, DeviceCredentialsService, EvaluatorService, EventService, FileAccessorService, IntegrationService, MapService, ProfileService, ProjectService, RobotService, SearchService, SpotProvisioningService, SpotProvisioningServiceNode, StreamService, TelemetryService, TimeSyncerService, UserService, WebRTCSignallingService, WorkflowService } from './services';
+import { AssetStorageService, AuthService, CallerService, CommandService, ConfigGroupService, ControlService, DashboardService, DeviceCredentialsService, EvaluatorService, EventService, FileAccessorService, IntegrationService, MapService, ProfileService, ProjectService, RTPWebRTCService, RobotService, SearchService, SpotProvisioningService, SpotProvisioningServiceNode, StreamService, TargetService, TelemetryService, TimeSyncerService, UserService, WebRTCSignallingService, WorkflowService } from './services';
 import { IBaseService, IDebugLevel, ServiceEnum } from './models';
-import { RTPWebRTCService } from './services/RTPWebRTCService';
 export declare abstract class IRocosSDK {
     abstract getService<T extends IBaseService>(name: ServiceEnum): T;
     abstract getAuthService(): AuthService;
@@ -28,6 +27,7 @@ export declare abstract class IRocosSDK {
     abstract getIntegrationService(): IntegrationService;
     abstract getEvaluatorService(): EvaluatorService;
     abstract getDeviceCredentialsService(): DeviceCredentialsService;
+    abstract getTargetService(): TargetService;
     abstract cleanup(): Promise<boolean>;
     abstract enableDebugMode(on: boolean): void;
     abstract setDebugLevel(level: IDebugLevel): void;

package/cjs/RocosSDK.d.ts

@@ -1,4 +1,4 @@
-import { AssetStorageService, AuthService, CallerService, CommandService, ConfigGroupService, ControlService, DashboardService, DeviceCredentialsService, EvaluatorService, EventService, FileAccessorService, IntegrationService, MapService, ProfileService, ProjectService, RTPWebRTCService, RobotService, ScheduleService, SearchService, SpotProvisioningService, StreamService, TelemetryService, TimeSyncerService, UserService, WebRTCSignallingService, WorkflowService } from './services';
+import { AssetStorageService, AuthService, CallerService, CommandService, ConfigGroupService, ControlService, DashboardService, DeviceCredentialsService, EvaluatorService, EventService, FileAccessorService, IntegrationService, MapService, ProfileService, ProjectService, RTPWebRTCService, RobotService, ScheduleService, SearchService, SpotProvisioningService, StreamService, TargetService, TelemetryService, TimeSyncerService, UserService, WebRTCSignallingService, WorkflowService } from './services';
 import { AuthorisedConfig, IBaseService, IDebugLevel, IRocosSDKConfig, ServiceEnum } from './models';
 import { IRocosSDK } from './IRocosSDK';
 import { Logger } from 'loglevel';
@@ -131,6 +131,11 @@ export declare class RocosSDK implements IRocosSDK {
      * @returns DeviceCredentialsService
      */
     getDeviceCredentialsService(): DeviceCredentialsService;
+    /**
+     * Gets the asset service.
+     * @returns AssetService
+     */
+    getTargetService(): TargetService;
     get platformTimeOffset(): number;
     get platformTime(): number;
     /**

package/cjs/RocosSDK.js

@@ -107,6 +107,9 @@ class RocosSDK {
                 case models_1.ServiceEnum.DEVICE_CREDENTIALS:
                     this.services[name] = new services_1.DeviceCredentialsService(config);
                     break;
+                case models_1.ServiceEnum.TARGET:
+                    this.services[name] = new services_1.TargetService(config);
+                    break;
             }
         }
         this.logger.debug(`Found service ${name}.`);
@@ -277,6 +280,13 @@ class RocosSDK {
     getDeviceCredentialsService() {
         return this.getService(models_1.ServiceEnum.DEVICE_CREDENTIALS);
     }
+    /**
+     * Gets the asset service.
+     * @returns AssetService
+     */
+    getTargetService() {
+        return this.getService(models_1.ServiceEnum.TARGET);
+    }
     get platformTimeOffset() {
         return services_1.PlatFormTimeService.getInstance(this.getTimeSyncerService())?.platformTimeOffset;
     }

package/cjs/constants/api.d.ts

@@ -133,3 +133,4 @@ export declare const API_PROJECT_DEPLOYED_WORKFLOW_URL = "https://{url}/projects
 export declare const API_LINKED_PROJECT_URL = "https://{url}/linked-projects/{linkedProjectId}";
 export declare const API_DEVICE_CREDENTIALS_URL = "https://{url}/projects/{projectId}/callsigns/{callsign}/device-credentials";
 export declare const API_DEVICE_CREDENTIALS_AUTH_URL = "https://{url}/device-credentials/auth";
+export declare const API_TARGETS_URL = "https://{url}/projects/{projectId}/targets";

package/cjs/constants/api.js

@@ -2,7 +2,7 @@
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.API_PROJECT_ROBOT_REGISTER_URL = exports.API_PROJECT_ROBOT_DEFINITION_URL = exports.API_PROJECT_ROBOT_ATTRIBUTES_URL = exports.API_PROJECT_ROBOT_ID_URL = exports.API_PROJECT_ROBOT_URL = exports.API_PROJECT_MAPPED_ASSETS_PATH_URL = exports.API_PROJECT_MISSION_ASSET_PATH_URL = exports.API_PROJECT_MISSION_ASSETS_PATH_URL = exports.API_PROJECT_FLOW_ASSET_PATH_URL = exports.API_PROJECT_ROBOT_ASSET_PATH_URL = exports.API_PROJECT_ASSET_INTEGRATION_PATH_URL = exports.API_PROJECT_ASSET_INTEGRATIONS_PATH_URL = exports.API_PROJECT_ASSET_INTEGRATION_PROVIDERS_PATH_URL = exports.API_PROJECT_ASSET_PROFILES_SYNC_DEFINITION_PATH_URL = exports.API_PROJECT_ASSET_ROBOTS_SYNC_DEFINITION_PATH_URL = exports.API_PROJECT_ASSET_PATH_URL = exports.API_PROJECT_ASSET_URL = exports.API_PROJECT_USERS_URL = exports.API_PROJECT_ID_URL = exports.API_PROJECT_URL = exports.API_ACCOUNT_PROJECT_APPLICATION_ID_URL = exports.API_ACCOUNT_PROJECT_APPLICATION_URL = exports.API_ACCOUNT_PROJECT_USER_ID_URL = exports.API_ACCOUNT_PROJECT_USER_URL = exports.API_ACCOUNT_PROJECT_ID_URL = exports.API_ACCOUNT_PROJECT_URL = exports.API_SERVER_TIME_URL = exports.API_ACCOUNT_INTEGRATION_TYPE_URL = exports.API_ACCOUNT_INTEGRATION_URL = exports.API_ACCOUNT_SETTINGS_URL = exports.API_AUTH_USER_ACCOUNT_USER_ID_URL = exports.API_AUTH_USER_ACCOUNT_USER_URL = exports.API_ACCOUNT_ACTIVATE_URL = exports.API_ACCOUNT_ID_URL = exports.API_ACCOUNT_URL = exports.API_USER_PAT_TOKEN_URL = exports.API_USER_PAT_URL = exports.API_USER_VERIFY_EMAIL_URL = exports.API_USER_INVITATION_CHECK_URL = exports.API_USER_INVITATION_ACCEPT_URL = exports.API_USER_INVITATION_URL = exports.API_USER_PASSWORD_FORGOT_URL = exports.API_USER_PASSWORD_RESET_URL = exports.API_OTP_AUTH_URL = exports.API_OTP_URL = exports.API_USER_TOKEN_URL = exports.API_USER_AUTH_URL = exports.API_USER_URL = exports.API_ADMIN_USER_INVITATION_URL = exports.API_APPLICATION_AUTH_URL = void 0;
 exports.API_PROJECT_ROBOT_DASHBOARD_ID_URL = exports.API_PROJECT_ROBOT_DASHBOARD_URL = exports.API_PROJECT_STREAM_CALLSIGN_URL = exports.API_PROJECT_STREAM_DATA_URL = exports.API_PROJECT_STREAM_ID_URL = exports.API_PROJECT_STREAM_URL = exports.API_PROJECT_EXPORT_URL = exports.API_PROJECT_GROUP_TYPE_OWNER_OVERRIDE_URL = exports.API_PROJECT_GROUP_TYPE_OWNER_ID_URL = exports.API_PROJECT_GROUP_TYPE_VERSION_URL = exports.API_PROJECT_GROUP_TYPE_CONFIG_URL = exports.API_PROJECT_GROUP_TYPE_PUBLISH_URL = exports.API_PROJECT_GROUP_TYPE_ID_URL = exports.API_PROJECT_GROUP_TYPE_URL = exports.API_PROJECT_DEFINITION_IMPORT = exports.API_PROJECT_DEFINITION_EXPORT = exports.API_PROJECT_DEFINITION_GAMEPAD_URL = exports.API_PROJECT_DEFINITION_TRIGGER_URL = exports.API_PROJECT_DEFINITION_BUTTON_URL = exports.API_PROJECT_DEFINITION_ACTION_URL = exports.API_PROJECT_DEFINITION_EVENT_URL = exports.API_PROJECT_DEFINITION_COMMAND2_URL = exports.API_PROJECT_DEFINITION_COMMAND_URL = exports.API_PROJECT_DEFINITION_AGENT_URL = exports.API_PROJECT_DEFINITION_SETTING_URL = exports.API_PROJECT_DEFINITION_BLOB_URL = exports.API_PROJECT_DEFINITION_DASHBOARD_URL = exports.API_PROJECT_DEFINITION_COPY_URL = exports.API_PROJECT_DEFINITION_STREAM_URL = exports.API_PROJECT_DEFINITION_ID_URL = exports.API_PROJECT_DEFINITION_URL = exports.API_PROJECT_VROBOT_DEPLOY_URL = exports.API_PROJECT_VROBOT_DETAILS_URL = exports.API_PROJECT_COLLECTION_DOCS_URL = exports.API_PROJECT_COLLECTION_ID_URL = exports.API_PROJECT_DASHBOARD_CUSTOM_WIDGET_URL = exports.API_PROJECT_DASHBOARD_WIDGET_URL = exports.API_PROJECT_DASHBOARD_ID_URL = exports.API_PROJECT_DASHBOARD_URL = exports.API_PROJECT_OPERATION_ID_URL = exports.API_PROJECT_OPERATION_URL = exports.API_PROJECT_ROBOT_GAMEPAD_URL = exports.API_PROJECT_ROBOT_TRIGGER_URL = exports.API_PROJECT_ROBOT_BUTTON_URL = exports.API_PROJECT_ROBOT_COMMAND2_URL = exports.API_PROJECT_ROBOT_COMMAND_URL = exports.API_PROJECT_ROBOT_AGENT_URL = exports.API_PROJECT_ROBOT_SETTING_URL = exports.API_PROJECT_ROBOT_EVENT_HISTORY_URL = exports.API_PROJECT_ROBOT_EVENT_URL = void 0;
-exports.API_DEVICE_CREDENTIALS_AUTH_URL = exports.API_DEVICE_CREDENTIALS_URL = exports.API_LINKED_PROJECT_URL = exports.API_PROJECT_DEPLOYED_WORKFLOW_URL = exports.API_PROJECT_WORKFLOW_ASSET_URL = exports.API_PROJECT_WORKFLOW_ID_URL = exports.API_PROJECT_WORKFLOW_URL = exports.API_OBSERVATION_KEYS_URL = exports.API_OBSERVATIONS_URL = exports.API_MAPS_PANORAMA_OBSERVATIONS_URL = exports.API_MAPS_GEOJSON_URL = exports.API_MAPS_DEPLOY_URL = exports.API_MAPS_COPY_URL = exports.API_MAP_ID_URL = exports.API_MAPS_MERGE_URL = exports.API_MAPS_DEPLOYED_URL = exports.API_MAPS_URL = exports.API_DD_INTEGRATION_ISSUES_URL = exports.API_DD_INTEGRATION_OVERLAYS_URL = exports.API_DD_INTEGRATION_PLAN_BY_ID_URL = exports.API_DD_INTEGRATION_PLANS_URL = exports.API_SPOTTY_URL = exports.API_PROJECT_SCHEDULES_URL = exports.API_SOURCE_ID_URL = exports.API_SOURCE_URL = exports.API_SOURCE_SCHEMA_URL = exports.API_TEMPLATE_EXPORTER_URL = exports.API_TEMPLATE_PROVISION_ID_URL = exports.API_TEMPLATE_PROVISION_URL = exports.API_TEMPLATE_DEPLOY_URL = exports.API_PROJECT_PROFILE_DASHBOARD_CUSTOM_WIDGET_URL = exports.API_PROJECT_PROFILE_DASHBOARD_ID_URL = exports.API_PROJECT_PROFILE_DASHBOARD_URL = exports.API_PROJECT_CALLSIGN_STREAM_URL = exports.API_PROJECT_ROBOT_DASHBOARD_CUSTOM_WIDGET_URL = void 0;
+exports.API_TARGETS_URL = exports.API_DEVICE_CREDENTIALS_AUTH_URL = exports.API_DEVICE_CREDENTIALS_URL = exports.API_LINKED_PROJECT_URL = exports.API_PROJECT_DEPLOYED_WORKFLOW_URL = exports.API_PROJECT_WORKFLOW_ASSET_URL = exports.API_PROJECT_WORKFLOW_ID_URL = exports.API_PROJECT_WORKFLOW_URL = exports.API_OBSERVATION_KEYS_URL = exports.API_OBSERVATIONS_URL = exports.API_MAPS_PANORAMA_OBSERVATIONS_URL = exports.API_MAPS_GEOJSON_URL = exports.API_MAPS_DEPLOY_URL = exports.API_MAPS_COPY_URL = exports.API_MAP_ID_URL = exports.API_MAPS_MERGE_URL = exports.API_MAPS_DEPLOYED_URL = exports.API_MAPS_URL = exports.API_DD_INTEGRATION_ISSUES_URL = exports.API_DD_INTEGRATION_OVERLAYS_URL = exports.API_DD_INTEGRATION_PLAN_BY_ID_URL = exports.API_DD_INTEGRATION_PLANS_URL = exports.API_SPOTTY_URL = exports.API_PROJECT_SCHEDULES_URL = exports.API_SOURCE_ID_URL = exports.API_SOURCE_URL = exports.API_SOURCE_SCHEMA_URL = exports.API_TEMPLATE_EXPORTER_URL = exports.API_TEMPLATE_PROVISION_ID_URL = exports.API_TEMPLATE_PROVISION_URL = exports.API_TEMPLATE_DEPLOY_URL = exports.API_PROJECT_PROFILE_DASHBOARD_CUSTOM_WIDGET_URL = exports.API_PROJECT_PROFILE_DASHBOARD_ID_URL = exports.API_PROJECT_PROFILE_DASHBOARD_URL = exports.API_PROJECT_CALLSIGN_STREAM_URL = exports.API_PROJECT_ROBOT_DASHBOARD_CUSTOM_WIDGET_URL = void 0;
 exports.API_APPLICATION_AUTH_URL = 'https://{url}/applications/auth';
 exports.API_ADMIN_USER_INVITATION_URL = 'https://{url}/admin/users/invitations';
 exports.API_USER_URL = 'https://{url}/users';
@@ -138,3 +138,4 @@ exports.API_PROJECT_DEPLOYED_WORKFLOW_URL = 'https://{url}/projects/{projectId}/
 exports.API_LINKED_PROJECT_URL = 'https://{url}/linked-projects/{linkedProjectId}';
 exports.API_DEVICE_CREDENTIALS_URL = 'https://{url}/projects/{projectId}/callsigns/{callsign}/device-credentials';
 exports.API_DEVICE_CREDENTIALS_AUTH_URL = 'https://{url}/device-credentials/auth';
+exports.API_TARGETS_URL = 'https://{url}/projects/{projectId}/targets';

package/cjs/helpers/websandbox/connection.d.ts

@@ -39,6 +39,8 @@ export default class Connection<Local extends APIDeclaration<Local>, Remote exte
      * @param args - arguments to pass to remote method
      */
     callRemoteMethod<Method extends keyof Remote>(name: Method, ...args: Parameters<Remote[Method]>): Promise<ReturnType<Remote[Method]>>;
+    /** Log a message if debug mode is enabled */
+    log(...args: unknown[]): void;
     private onMessageListener;
     private callLocalMethod;
     /** Respond to remote call
@@ -62,6 +64,5 @@ export default class Connection<Local extends APIDeclaration<Local>, Remote exte
      */
     private popCallback;
     private postMessage;
-    private log;
 }
 export {};

package/cjs/helpers/websandbox/connection.js

@@ -45,6 +45,12 @@ class Connection {
             });
         });
     }
+    /** Log a message if debug mode is enabled */
+    log(...args) {
+        if (this.options.debugMode) {
+            console.debug(`[${this.name}]`, ...args);
+        }
+    }
     onMessageListener(e) {
         this.log('Received message', e);
         const { data } = e;
@@ -127,10 +133,5 @@ class Connection {
         this.log('sending message', { data, targetOrigin });
         this.postMessageInternal(data, targetOrigin);
     }
-    log(...args) {
-        if (this.options.debugMode) {
-            console.debug(`[${this.name}]`, ...args);
-        }
-    }
 }
 exports.default = Connection;

package/cjs/helpers/websandbox/frame/frame.js

@@ -17,7 +17,10 @@ class Frame {
             debugMode: isDebugMode,
         });
         void this.connection.callRemoteMethod('iframeInitialised');
-        this.workerManager = new worker_1.default();
+        // use roughly half the number of logical cores available clamped between 1 and 6
+        const workers = Math.min(Math.max(Math.ceil(navigator.hardwareConcurrency / 2), 1), 6);
+        this.connection.log(`Creating ${workers} workers`);
+        this.workerManager = new worker_1.default(workers);
     }
     async runCode(task) {
         return this.workerManager.execute(task);

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

@@ -6,5 +6,5 @@ var __importDefault = (this && this.__importDefault) || function (mod) {
 };
 Object.defineProperty(exports, "__esModule", { value: true });
 const worker_source_1 = __importDefault(require("./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.messageListeners=new Map,this.worker=this.createWorker()}async execute(e){const t={...e,contextVariable:e.contextVariable??"ctx"},s=this.runTask(t),r=new Promise(((t,s)=>{const r=AbortSignal.timeout(e.timeout);r.addEventListener("abort",(()=>{s(r.reason)}))}));return Promise.race([s,r]).catch((e=>{throw"TimeoutError"===e.name&&this.terminate(),e})).finally((()=>{this.removeMessageListener(e.id)}))}terminate(){for(const e of this.messageListeners.values())this.worker.removeEventListener("message",e);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&&(i.success?t(i.result):s(i.result))};this.messageListeners.set(e.id,r),this.worker.addEventListener("message",r),this.worker.postMessage(e)}))}createWorker(){const e=URL.createObjectURL(new Blob(["${worker_source_1.default.replace(/(['`"$])/g, '\\$1')}"],{type:"application/javascript"}));return new Worker(e)}removeMessageListener(e){const t=this.messageListeners.get(e);t&&this.worker.removeEventListener("message",t)}}}},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)})();`;
+const source = `(()=>{"use strict";var e;!function(e){e.RESPONSE="response",e.MESSAGE="message"}(e||(e={}));const s={allowedSenderOrigin:void 0,debugMode:!1};class t{constructor(e,t,r,n,o={}){this.callbacks=new Map,this.serviceMethods=new Map,this.name=e,this.options={...s,...o},this.log("Created connection w/ allowedOrigin:",this.options.allowedSenderOrigin),this.serviceMethods=new Map(Object.entries(r));const[i]=crypto.getRandomValues(new Uint32Array(1));this.incrementalID=i,this.postMessageInternal=t,n((e=>this.onMessageListener(e)))}callRemoteMethod(s,...t){return this.log("Calling Remote Method",{name:s,args:t}),new Promise(((r,n)=>{const o=this.registerCallback(r,n);this.postMessage({callId:o,type:e.MESSAGE,methodName:s,arguments:t})}))}log(...e){this.options.debugMode&&console.debug(\`[\${this.name}]\`,...e)}onMessageListener(s){this.log("Received message",s);const{data:t}=s,{allowedSenderOrigin:r}=this.options;switch(r&&s.origin!==r&&console.warn(\`Received message from invalid origin: \${s.origin}\`),t.type){case e.RESPONSE:return void this.popCallback(t.callId,t.success,t.result);case e.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,s){this.log("calling local method",e,s);const t=this.serviceMethods.get(e);if(!t)throw new Error(\`service method \${e} not found\`);return t(...s)}responseOtherSide(s,t,r=!0){this.log("responding to remote call",{id:s,result:t,success:r});const n=t=>{this.postMessage({callId:s,type:e.RESPONSE,success:r,result:t})};try{n(t)}catch(e){e instanceof DOMException&&n(JSON.parse(JSON.stringify(t)))}}registerCallback(e,s){const t=(++this.incrementalID).toString();return this.log("registering callback for id",t),this.callbacks.set(t,{success:e,failure:s}),t}popCallback(e,s,t){this.log("calling callback for id",e,{success:s,result:t});const r=this.callbacks.get(e);s?r?.success(t):r?.failure(t),this.callbacks.delete(e)}postMessage(e,s="*"){this.log("sending message",{data:e,targetOrigin:s}),this.postMessageInternal(e,s)}}new class{constructor(){const e=!!window?.debugMode;this.connection=new t("FRAME",window.parent.postMessage.bind(window.parent),{startTask:this.runCode.bind(this)},(e=>{window.addEventListener("message",e)}),{debugMode:e}),this.connection.callRemoteMethod("iframeInitialised");const s=Math.max(Math.ceil(navigator.hardwareConcurrency/2),1);this.connection.log(\`Creating \${s} workers\`),this.workerManager=new class{constructor(e=1){this.messageListeners=new Map,this.requestedWorkers=e,this.workers=Array.from({length:e},(()=>this.createWorker())),this.nextWorkerGenerator=this.nextWorker()}async execute(e){const s=this.nextWorkerGenerator.next().value,t={...e,contextVariable:e.contextVariable??"ctx"},r=this.runTask(s,t),n=new Promise(((s,t)=>{const r=AbortSignal.timeout(e.timeout);r.addEventListener("abort",(()=>{t(r.reason)}))}));return Promise.race([r,n]).catch((e=>{if("TimeoutError"===e.name)throw this.terminate(s),new DOMException("soft timeout reached","TimeoutError");throw e})).finally((()=>{this.removeMessageListener(e.id)}))}terminate(e){for(const s of this.messageListeners.values())e.removeEventListener("message",s);e.terminate(),this.rebuildWorkers()}runTask(e,s){return new Promise(((t,r)=>{const n=e=>{const{data:n}=e;n.id===s.id&&(n.success?t(n.result):r(n.result))};this.messageListeners.set(s.id,n),e.addEventListener("message",n),e.postMessage(s)}))}createWorker(){const e=URL.createObjectURL(new Blob(["${worker_source_1.default.replace(/(['`"$])/g, '\\$1')}"],{type:"application/javascript"}));return new Worker(e)}rebuildWorkers(){const e=this.requestedWorkers-this.workers.length;if(e<0)throw new Error("Cannot have less than 0 workers");if(e<=0)return;const s=Array.from({length:e},(()=>this.createWorker()));this.workers.push(...s)}*nextWorker(){let e=0;for(;;)e=(e+1)%this.workers.length,yield this.workers[e]}removeMessageListener(e){const s=this.messageListeners.get(e);s&&(this.workers.forEach((e=>e.removeEventListener("message",s))),this.messageListeners.delete(e))}}(s)}async runCode(e){return this.workerManager.execute(e)}}})();`;
 exports.default = source;

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

@@ -1,11 +1,15 @@
 import { Task } from '../../types';
 export default class Manager {
-    private worker;
-    private messageListeners;
-    constructor();
+    private readonly requestedWorkers;
+    private readonly workers;
+    private nextWorkerIndex;
+    private readonly messageListeners;
+    constructor(workers?: number);
     execute(task: Task): Promise<unknown>;
-    terminate(): void;
+    private terminate;
     private runTask;
     private createWorker;
+    private rebuildWorkers;
+    private getWorker;
     private removeMessageListener;
 }

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

@@ -3,16 +3,19 @@ Object.defineProperty(exports, "__esModule", { value: true });
 // this token (__WORKER_SOURCE__) is replaced by webpack with the source of the worker
 const WORKER_SOURCE = '__WORKER_SOURCE__';
 class Manager {
-    constructor() {
+    constructor(workers = 1) {
+        this.nextWorkerIndex = 0;
         this.messageListeners = new Map();
-        this.worker = this.createWorker();
+        this.requestedWorkers = workers;
+        this.workers = Array.from({ length: workers }, () => this.createWorker());
     }
     async execute(task) {
+        const worker = this.getWorker();
         const workerTask = {
             ...task,
             contextVariable: task.contextVariable ?? 'ctx',
         };
-        const result = this.runTask(workerTask);
+        const result = this.runTask(worker, workerTask);
         const timeout = new Promise((_, reject) => {
             const signal = AbortSignal.timeout(task.timeout);
             signal.addEventListener('abort', () => {
@@ -22,7 +25,8 @@ class Manager {
         return Promise.race([result, timeout])
             .catch((e) => {
             if (e.name === 'TimeoutError') {
-                this.terminate();
+                this.terminate(worker);
+                throw new DOMException('soft timeout reached', 'TimeoutError');
             }
             throw e;
         })
@@ -30,14 +34,14 @@ class Manager {
             this.removeMessageListener(task.id);
         });
     }
-    terminate() {
+    terminate(worker) {
         for (const listener of this.messageListeners.values()) {
-            this.worker.removeEventListener('message', listener);
+            worker.removeEventListener('message', listener);
         }
-        this.worker.terminate();
-        this.worker = this.createWorker();
+        worker.terminate();
+        this.rebuildWorkers();
     }
-    runTask(task) {
+    runTask(worker, task) {
         return new Promise((resolve, reject) => {
             const listener = (event) => {
                 const { data } = event;
@@ -51,20 +55,34 @@ class Manager {
                 }
             };
             this.messageListeners.set(task.id, listener);
-            this.worker.addEventListener('message', listener);
-            this.worker.postMessage(task);
+            worker.addEventListener('message', listener);
+            worker.postMessage(task);
         });
     }
     createWorker() {
         const blob = URL.createObjectURL(new Blob([WORKER_SOURCE], { type: 'application/javascript' }));
         return new Worker(blob);
     }
+    rebuildWorkers() {
+        const needed = this.requestedWorkers - this.workers.length;
+        if (needed < 0)
+            throw new Error('Cannot have less than 0 workers');
+        if (needed <= 0)
+            return;
+        const newWorkers = Array.from({ length: needed }, () => this.createWorker());
+        this.workers.push(...newWorkers);
+    }
+    getWorker() {
+        const worker = this.workers[this.nextWorkerIndex];
+        this.nextWorkerIndex = (this.nextWorkerIndex + 1) % this.workers.length;
+        return worker;
+    }
     removeMessageListener(id) {
         const listener = this.messageListeners.get(id);
-        if (!listener) {
+        if (!listener)
             return;
-        }
-        this.worker.removeEventListener('message', listener);
+        this.workers.forEach((worker) => worker.removeEventListener('message', listener));
+        this.messageListeners.delete(id);
     }
 }
 exports.default = Manager;

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

@@ -2,5 +2,5 @@
 // Auto-generated file
 /* eslint-disable */
 Object.defineProperty(exports, "__esModule", { value: true });
-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)}})()})();`;
+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)}})();`;
 exports.default = source;

package/cjs/helpers/websandbox/sandbox.d.ts

@@ -44,7 +44,7 @@ export default class WebSandbox {
      *
      * This will remove the iframe from the DOM and remove the message listener.
      */
-    destroy(): void;
+    destroy(reason?: unknown): void;
     private initialise;
     private validateOptions;
     private destroyAndRebuild;

package/cjs/helpers/websandbox/sandbox.js

@@ -35,8 +35,8 @@ class WebSandbox {
         this.initialised = this.initialise();
         this.frameAbortController = new AbortController();
         if (options.abortSignal) {
-            this.promisifyAbortSignal(options.abortSignal).catch(() => {
-                void this.destroyAndRebuild(this.frame.id);
+            this.promisifyAbortSignal(options.abortSignal).catch((reason) => {
+                void this.destroyAndRebuild(this.frame.id, reason);
             });
         }
     }
@@ -51,8 +51,8 @@ class WebSandbox {
      *
      * This will remove the iframe from the DOM and remove the message listener.
      */
-    destroy() {
-        this.frameAbortController.abort();
+    destroy(reason) {
+        this.frameAbortController.abort(reason);
         this.frame.remove();
         this.removeMessageListener();
     }
@@ -85,11 +85,11 @@ class WebSandbox {
             throw new Error('maximum timeout must be less than or equal to 5000ms');
         }
     }
-    async destroyAndRebuild(frameId) {
+    async destroyAndRebuild(frameId, reason) {
         if (this.frame.id !== frameId) {
             return;
         }
-        this.destroy();
+        this.destroy(reason);
         this.frame = this.createFrame();
         this.frameAbortController = new AbortController();
         await this.initialise();
@@ -123,7 +123,7 @@ class WebSandbox {
         const signals = [task, timeout, frameAbortedSignal, userAbortedSignal].filter((i) => i !== null);
         return Promise.race(signals).catch(async (e) => {
             if (e.name === 'TimeoutError') {
-                await this.destroyAndRebuild(frameId);
+                await this.destroyAndRebuild(frameId, 'task timed out');
             }
             throw e;
         });

package/cjs/models/RocosError.d.ts

@@ -25,6 +25,7 @@ export declare const errorCodes: {
     EVALUATOR_SERVICE_ERROR: string;
     WEBRTC_SERVICE_ERROR: string;
     DEVICE_CREDENTIALS_SERVICE_ERROR: string;
+    TARGET_SERVICE_ERROR: string;
 };
 export declare class RocosError extends Error {
     code?: string;

package/cjs/models/RocosError.js

@@ -28,6 +28,7 @@ exports.errorCodes = {
     EVALUATOR_SERVICE_ERROR: 'EVALUATOR_SERVICE_ERROR',
     WEBRTC_SERVICE_ERROR: 'WEBRTC_SERVICE_ERROR',
     DEVICE_CREDENTIALS_SERVICE_ERROR: 'DEVICE_CREDENTIALS_SERVICE_ERROR',
+    TARGET_SERVICE_ERROR: 'TARGET_SERVICE_ERROR',
 };
 class RocosError extends Error {
     constructor(err, code, statusCode) {

package/cjs/models/ServiceEnum.d.ts

@@ -1,29 +1,30 @@
 export declare enum ServiceEnum {
+    ASSET_STORAGE = "asset_storage",
     AUTH = "auth",
-    TELEMETRY = "telemetry",
-    ROBOT = "robot",
-    EVENT = "event",
-    PROJECT = "project",
     CALLER = "caller",
     COMMAND = "command",
-    CONTROL = "control",
-    SEARCH = "search",
     CONFIG_GROUP = "config_group",
+    CONTROL = "control",
     DASHBOARD = "dashboard",
-    FUNCTION = "function",
-    STREAM = "stream",
-    USER = "user",
-    TIME_SYNCER = "time_syncer",
-    WORKFLOW = "workflow",
-    ASSET_STORAGE = "asset_storage",
-    PROFILE = "profile",
-    WEBRTC_SIGNALLING = "webrtc_signalling",
+    DEVICE_CREDENTIALS = "device_credentials",
+    EVENT = "event",
+    EVALUATOR = "evaluator",
     FILE_ACCESSOR = "file_accessor",
-    SCHEDULE = "schedule",
-    SPOT_PROVISIONER = "spot_provisioner",
+    FUNCTION = "function",
     INTEGRATION = "integration",
     MAP = "map",
-    EVALUATOR = "evaluator",
+    PROJECT = "project",
+    PROFILE = "profile",
+    ROBOT = "robot",
     RTP_WEBRTC = "rtp_webrtc",
-    DEVICE_CREDENTIALS = "device_credentials"
+    SCHEDULE = "schedule",
+    SEARCH = "search",
+    SPOT_PROVISIONER = "spot_provisioner",
+    STREAM = "stream",
+    TARGET = "target",
+    TELEMETRY = "telemetry",
+    TIME_SYNCER = "time_syncer",
+    USER = "user",
+    WEBRTC_SIGNALLING = "webrtc_signalling",
+    WORKFLOW = "workflow"
 }

package/cjs/models/ServiceEnum.js

@@ -3,31 +3,32 @@ Object.defineProperty(exports, "__esModule", { value: true });
 exports.ServiceEnum = void 0;
 var ServiceEnum;
 (function (ServiceEnum) {
+    ServiceEnum["ASSET_STORAGE"] = "asset_storage";
     ServiceEnum["AUTH"] = "auth";
-    ServiceEnum["TELEMETRY"] = "telemetry";
-    ServiceEnum["ROBOT"] = "robot";
-    ServiceEnum["EVENT"] = "event";
-    ServiceEnum["PROJECT"] = "project";
     ServiceEnum["CALLER"] = "caller";
     ServiceEnum["COMMAND"] = "command";
-    ServiceEnum["CONTROL"] = "control";
-    ServiceEnum["SEARCH"] = "search";
     ServiceEnum["CONFIG_GROUP"] = "config_group";
+    ServiceEnum["CONTROL"] = "control";
     ServiceEnum["DASHBOARD"] = "dashboard";
-    ServiceEnum["FUNCTION"] = "function";
-    ServiceEnum["STREAM"] = "stream";
-    ServiceEnum["USER"] = "user";
-    ServiceEnum["TIME_SYNCER"] = "time_syncer";
-    ServiceEnum["WORKFLOW"] = "workflow";
-    ServiceEnum["ASSET_STORAGE"] = "asset_storage";
-    ServiceEnum["PROFILE"] = "profile";
-    ServiceEnum["WEBRTC_SIGNALLING"] = "webrtc_signalling";
+    ServiceEnum["DEVICE_CREDENTIALS"] = "device_credentials";
+    ServiceEnum["EVENT"] = "event";
+    ServiceEnum["EVALUATOR"] = "evaluator";
     ServiceEnum["FILE_ACCESSOR"] = "file_accessor";
-    ServiceEnum["SCHEDULE"] = "schedule";
-    ServiceEnum["SPOT_PROVISIONER"] = "spot_provisioner";
+    ServiceEnum["FUNCTION"] = "function";
     ServiceEnum["INTEGRATION"] = "integration";
     ServiceEnum["MAP"] = "map";
-    ServiceEnum["EVALUATOR"] = "evaluator";
+    ServiceEnum["PROJECT"] = "project";
+    ServiceEnum["PROFILE"] = "profile";
+    ServiceEnum["ROBOT"] = "robot";
     ServiceEnum["RTP_WEBRTC"] = "rtp_webrtc";
-    ServiceEnum["DEVICE_CREDENTIALS"] = "device_credentials";
+    ServiceEnum["SCHEDULE"] = "schedule";
+    ServiceEnum["SEARCH"] = "search";
+    ServiceEnum["SPOT_PROVISIONER"] = "spot_provisioner";
+    ServiceEnum["STREAM"] = "stream";
+    ServiceEnum["TARGET"] = "target";
+    ServiceEnum["TELEMETRY"] = "telemetry";
+    ServiceEnum["TIME_SYNCER"] = "time_syncer";
+    ServiceEnum["USER"] = "user";
+    ServiceEnum["WEBRTC_SIGNALLING"] = "webrtc_signalling";
+    ServiceEnum["WORKFLOW"] = "workflow";
 })(ServiceEnum || (exports.ServiceEnum = ServiceEnum = {}));

package/cjs/models/graph/Position.d.ts

@@ -0,0 +1,6 @@
+export interface Position {
+    pitch: number;
+    yaw: number;
+    x?: number;
+    y?: number;
+}

package/cjs/models/graph/Position.js

@@ -0,0 +1,2 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });

package/cjs/models/graph/Quaternion.d.ts

@@ -0,0 +1,6 @@
+export interface Quaternion {
+    x: number;
+    y: number;
+    z: number;
+    w: number;
+}

package/cjs/models/graph/Quaternion.js

@@ -0,0 +1,2 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });

package/cjs/models/graph/Vector3.d.ts

@@ -0,0 +1,5 @@
+export interface Vector3 {
+    x: number;
+    y: number;
+    z: number;
+}

package/cjs/models/graph/Vector3.js

@@ -0,0 +1,2 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });

package/cjs/models/graph/index.d.ts

@@ -0,0 +1,3 @@
+export * from './Position';
+export * from './Quaternion';
+export * from './Vector3';

package/cjs/models/graph/index.js

@@ -0,0 +1,19 @@
+"use strict";
+var __createBinding = (this && this.__createBinding) || (Object.create ? (function(o, m, k, k2) {
+    if (k2 === undefined) k2 = k;
+    var desc = Object.getOwnPropertyDescriptor(m, k);
+    if (!desc || ("get" in desc ? !m.__esModule : desc.writable || desc.configurable)) {
+      desc = { enumerable: true, get: function() { return m[k]; } };
+    }
+    Object.defineProperty(o, k2, desc);
+}) : (function(o, m, k, k2) {
+    if (k2 === undefined) k2 = k;
+    o[k2] = m[k];
+}));
+var __exportStar = (this && this.__exportStar) || function(m, exports) {
+    for (var p in m) if (p !== "default" && !Object.prototype.hasOwnProperty.call(exports, p)) __createBinding(exports, m, p);
+};
+Object.defineProperty(exports, "__esModule", { value: true });
+__exportStar(require("./Position"), exports);
+__exportStar(require("./Quaternion"), exports);
+__exportStar(require("./Vector3"), exports);

package/cjs/models/index.d.ts

@@ -33,6 +33,7 @@ export * from './integrations/Plan';
 export * from './maps/Map';
 export * from './maps/Panorama';
 export * from './projects/ProjectUser';
+export * from './target/Target';
 export * from './ExportDataQuery';
 export * from './HttpError';
 export * from './IBaseService';

package/cjs/models/index.js

@@ -49,6 +49,7 @@ __exportStar(require("./integrations/Plan"), exports);
 __exportStar(require("./maps/Map"), exports);
 __exportStar(require("./maps/Panorama"), exports);
 __exportStar(require("./projects/ProjectUser"), exports);
+__exportStar(require("./target/Target"), exports);
 __exportStar(require("./ExportDataQuery"), exports);
 __exportStar(require("./HttpError"), exports);
 __exportStar(require("./IBaseService"), exports);

package/cjs/models/maps/Panorama.d.ts

@@ -1,20 +1,4 @@
-export interface Position {
-    pitch: number;
-    yaw: number;
-    x?: number;
-    y?: number;
-}
-export interface Quaternion {
-    x: number;
-    y: number;
-    z: number;
-    w: number;
-}
-export interface Vector3 {
-    x: number;
-    y: number;
-    z: number;
-}
+import { Position, Quaternion, Vector3 } from '../graph';
 export interface Observation {
     panoramaID: string;
     id?: string;

package/cjs/models/target/Target.d.ts

@@ -0,0 +1,27 @@
+import { Quaternion } from '../graph/Quaternion';
+import { Vector3 } from '../graph/Vector3';
+/**
+ * Observation target model (such as an asset, a point of interest, a puddle, etc.)
+ */
+export interface Target {
+    /**
+     * Unique identifier of the target
+     */
+    id: string;
+    /**
+     * Name of the target
+     */
+    name: string;
+    /**
+     * Metadata associated with the target (key-value pairs) such as name, type, asset-id, etc.
+     */
+    data: Record<string, string>;
+    /**
+     * Position of the target in the 3D space
+     */
+    translation: Vector3;
+    /**
+     * Rotation of the target in the 3D space
+     */
+    rotation: Quaternion;
+}

package/cjs/models/target/Target.js

@@ -0,0 +1,2 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });