@dronedeploy/rocos-js-sdk 3.0.1-alpha.3 → 3.0.1-alpha.30

package/esm/helpers/kscript/nodes/expressions/LogicalExpression.js

@@ -0,0 +1,41 @@
+import Node from '../Node';
+import { construct } from '../../utils';
+export default class BinaryExpressionNode extends Node {
+    constructor(node, context) {
+        super(node, context, 'LogicalExpression');
+    }
+    run() {
+        const left = construct(this.node.left, this.context).run();
+        const shortCircuit = this.shortCircuit(left);
+        if (shortCircuit !== null) {
+            return shortCircuit;
+        }
+        const right = construct(this.node.right, this.context).run();
+        return this.operate(left, right);
+    }
+    /** Try and skip evaluating the right operand */
+    shortCircuit(left) {
+        if (this.node.operator === '&&' && !left) {
+            return false;
+        }
+        if (this.node.operator === '||' && left) {
+            return true;
+        }
+        if (this.node.operator === '??' && left !== null && left !== undefined) {
+            return left;
+        }
+        return null;
+    }
+    operate(left, right) {
+        switch (this.node.operator) {
+            case '||':
+                return left || right;
+            case '&&':
+                return left && right;
+            case '??':
+                return left ?? right;
+            default:
+                throw new Error(`Unsupported operator: ${this.node.operator}`);
+        }
+    }
+}

package/esm/helpers/kscript/nodes/expressions/MemberExpression.d.ts

@@ -0,0 +1,44 @@
+import { AnyNode, MemberExpression } from 'acorn';
+import Context from '../../Context';
+import Node from '../Node';
+/**
+ * A member expression is an expression that accesses a property of an object.
+ *
+ * Examples of member expressions are:
+ *  - `a.b`
+ *  - `a['b']`
+ *  - `a[0]`
+ *  - `a?.b`
+ *  - `a?.['b']`
+ *  - `a?.[0]`
+ *
+ *  A member access in the sandbox is considered secure if the following conditions are met:
+ *    - The property is not named 'constructor'
+ *    - Either:
+ *      * The property is owned by the object and is *not* on the whitelist.
+ *      * The prototype is whitelisted and the property list is null or contains the property.
+ *
+ *  @see Context.isPrototypeAllowed
+ */
+export default class MemberExpressionNode extends Node<MemberExpression> {
+    constructor(node: AnyNode, context: Context);
+    run(): unknown;
+    /** Returns the name of the property being accessed.
+     *
+     * Handles both computed and non-computed properties.
+     */
+    private getPropertyIdentifier;
+    /** Checks if the property can be accessed on the object.
+     *
+     * @throws {Error} If the property is not allowed to be accessed.
+     */
+    private checkPropertyAccess;
+    /** Searches the prototype chain of the object for the prototype that defines the property. */
+    private getPropertyPrototype;
+    /**
+     * Returns true if the property exists on the object.
+     *
+     * i.e. the property is defined somewhere on the prototype chain.
+     */
+    private propertyExists;
+}

package/esm/helpers/kscript/nodes/expressions/MemberExpression.js

@@ -0,0 +1,92 @@
+import Node from '../Node';
+import { construct } from '../../utils';
+/**
+ * A member expression is an expression that accesses a property of an object.
+ *
+ * Examples of member expressions are:
+ *  - `a.b`
+ *  - `a['b']`
+ *  - `a[0]`
+ *  - `a?.b`
+ *  - `a?.['b']`
+ *  - `a?.[0]`
+ *
+ *  A member access in the sandbox is considered secure if the following conditions are met:
+ *    - The property is not named 'constructor'
+ *    - Either:
+ *      * The property is owned by the object and is *not* on the whitelist.
+ *      * The prototype is whitelisted and the property list is null or contains the property.
+ *
+ *  @see Context.isPrototypeAllowed
+ */
+export default class MemberExpressionNode extends Node {
+    constructor(node, context) {
+        super(node, context, 'MemberExpression');
+    }
+    run() {
+        const object = construct(this.node.object, this.context).run();
+        if (object === null || object === undefined) {
+            if (this.node.optional)
+                return undefined;
+            throw new Error(`Cannot read property of ${object}`);
+        }
+        const propertyIdentifier = this.getPropertyIdentifier();
+        if (!this.propertyExists(object, propertyIdentifier)) {
+            return undefined;
+        }
+        this.checkPropertyAccess(object, propertyIdentifier);
+        return object[propertyIdentifier];
+    }
+    /** Returns the name of the property being accessed.
+     *
+     * Handles both computed and non-computed properties.
+     */
+    getPropertyIdentifier() {
+        if (this.node.computed) {
+            const name = construct(this.node.property, this.context).run();
+            if (typeof name !== 'string' && typeof name !== 'number') {
+                throw new Error('Only string or number computed properties are supported');
+            }
+            return name;
+        }
+        if (this.node.property.type !== 'Identifier') {
+            throw new Error('Only identifiers are supported for non-computed member expression properties');
+        }
+        return this.node.property.name;
+    }
+    /** Checks if the property can be accessed on the object.
+     *
+     * @throws {Error} If the property is not allowed to be accessed.
+     */
+    checkPropertyAccess(object, propertyIdentifier) {
+        if (typeof propertyIdentifier === 'number')
+            return;
+        if (propertyIdentifier === 'constructor') {
+            throw new Error('Cannot access constructor property');
+        }
+        const definingProto = this.getPropertyPrototype(object, propertyIdentifier);
+        const ownProperty = Object.prototype.hasOwnProperty.call(object, propertyIdentifier);
+        if (!this.context.isPrototypeAllowed(definingProto, propertyIdentifier, ownProperty)) {
+            throw new Error(`SecurityError: Access to property '${propertyIdentifier}' is not allowed`);
+        }
+    }
+    /** Searches the prototype chain of the object for the prototype that defines the property. */
+    getPropertyPrototype(object, propertyIdentifier) {
+        let proto = object;
+        while (proto !== null) {
+            if (Object.prototype.hasOwnProperty.call(proto, propertyIdentifier)) {
+                return proto;
+            }
+            proto = Object.getPrototypeOf(proto);
+        }
+        return null;
+    }
+    /**
+     * Returns true if the property exists on the object.
+     *
+     * i.e. the property is defined somewhere on the prototype chain.
+     */
+    propertyExists(object, propertyIdentifier) {
+        return this.getPropertyPrototype(object, propertyIdentifier) !== null;
+    }
+}

package/esm/helpers/kscript/nodes/expressions/ObjectExpression.d.ts

@@ -0,0 +1,11 @@
+import { AnyNode, ObjectExpression } from 'acorn';
+import type Context from '../../Context';
+import Node from '../Node';
+export default class ObjectExpressionNode extends Node<ObjectExpression> {
+    constructor(node: AnyNode, context: Context);
+    run(): unknown;
+    private addProperty;
+    private spreadProperty;
+    private getKey;
+    private getStaticKey;
+}

package/esm/helpers/kscript/nodes/expressions/ObjectExpression.js

@@ -0,0 +1,53 @@
+import Node from '../Node';
+import { construct } from '../../utils';
+export default class ObjectExpressionNode extends Node {
+    constructor(node, context) {
+        super(node, context, 'ObjectExpression');
+    }
+    run() {
+        const object = {};
+        for (const property of this.node.properties) {
+            if (property.type === 'SpreadElement') {
+                this.spreadProperty(property, object);
+                continue;
+            }
+            this.addProperty(property, object);
+        }
+        return object;
+    }
+    addProperty(property, object) {
+        if (property.kind !== 'init')
+            throw new Error('Only init properties are supported');
+        const key = this.getKey(property);
+        object[key] = construct(property.value, this.context).run();
+    }
+    spreadProperty(property, object) {
+        const value = construct(property.argument, this.context).run();
+        if (!(typeof value === 'object' && value !== null)) {
+            throw new Error('Spread argument must be an object');
+        }
+        Object.assign(object, value);
+    }
+    getKey(property) {
+        let key;
+        if (property.computed) {
+            key = construct(property.key, this.context).run();
+        }
+        else {
+            key = this.getStaticKey(property.key);
+        }
+        if (key === null || key === undefined)
+            throw new Error('Key cannot be null or undefined');
+        if (typeof key !== 'string' && typeof key !== 'number' && typeof key !== 'symbol') {
+            throw new Error(`Unsupported key type: ${typeof key}`);
+        }
+        return key;
+    }
+    getStaticKey(key) {
+        if (key.type === 'Identifier')
+            return key.name;
+        if (key.type === 'Literal')
+            return key.value;
+        throw new Error('Only identifier and literal keys are supported');
+    }
+}

package/esm/helpers/kscript/nodes/expressions/UnaryExpression.d.ts

@@ -0,0 +1,12 @@
+import { AnyNode, UnaryExpression } from 'acorn';
+import Context from '../../Context';
+import Node from '../Node';
+/** A unary expression is an expression that consists of a single operand and an operator
+ *
+ * e.g. `+1`, `-2`, `!true`, `typeof x`
+ */
+export default class UnaryExpressionNode extends Node<UnaryExpression> {
+    constructor(node: AnyNode, context: Context);
+    run(): unknown;
+    private arithmetic;
+}

package/esm/helpers/kscript/nodes/expressions/UnaryExpression.js

@@ -0,0 +1,38 @@
+import Node from '../Node';
+import { construct } from '../../utils';
+/** A unary expression is an expression that consists of a single operand and an operator
+ *
+ * e.g. `+1`, `-2`, `!true`, `typeof x`
+ */
+export default class UnaryExpressionNode extends Node {
+    constructor(node, context) {
+        super(node, context, 'UnaryExpression');
+    }
+    run() {
+        const argument = construct(this.node.argument, this.context).run();
+        switch (this.node.operator) {
+            case '+':
+            case '-':
+                return this.arithmetic(this.node.operator, argument);
+            case '!':
+                return !argument;
+            case 'typeof':
+                return typeof argument;
+            default:
+                throw new Error(`Unsupported operator: ${this.node.operator}`);
+        }
+    }
+    arithmetic(operator, argument) {
+        if (typeof argument !== 'number') {
+            throw new Error('Unary arithmetic operators are only supported for numbers');
+        }
+        switch (operator) {
+            case '+':
+                return +argument;
+            case '-':
+                return -argument;
+            default:
+                throw new Error(`Unsupported operator: ${operator}`);
+        }
+    }
+}

package/esm/helpers/kscript/nodes/expressions/index.d.ts

@@ -0,0 +1,11 @@
+export { default as ExpressionStatement } from './ExpressionStatement';
+export { default as ArrayExpression } from './ArrayExpression';
+export { default as ObjectExpression } from './ObjectExpression';
+export { default as BinaryExpression } from './BinaryExpression';
+export { default as UnaryExpression } from './UnaryExpression';
+export { default as LogicalExpression } from './LogicalExpression';
+export { default as ConditionalExpression } from './ConditionalExpression';
+export { default as CallExpression } from './CallExpression';
+export { default as ArrowFunctionExpression } from './ArrowFunctionExpression';
+export { default as MemberExpression } from './MemberExpression';
+export { default as ChainExpression } from './ChainExpression';

package/esm/helpers/kscript/nodes/expressions/index.js

@@ -0,0 +1,11 @@
+export { default as ExpressionStatement } from './ExpressionStatement';
+export { default as ArrayExpression } from './ArrayExpression';
+export { default as ObjectExpression } from './ObjectExpression';
+export { default as BinaryExpression } from './BinaryExpression';
+export { default as UnaryExpression } from './UnaryExpression';
+export { default as LogicalExpression } from './LogicalExpression';
+export { default as ConditionalExpression } from './ConditionalExpression';
+export { default as CallExpression } from './CallExpression';
+export { default as ArrowFunctionExpression } from './ArrowFunctionExpression';
+export { default as MemberExpression } from './MemberExpression';
+export { default as ChainExpression } from './ChainExpression';

package/esm/helpers/kscript/nodes/index.d.ts

@@ -0,0 +1,4 @@
+import { NodeType, default as nodes } from './nodeTypes';
+import Context from '../Context';
+import Node from './Node';
+export { type Node, type NodeType, nodes, Context };

package/esm/helpers/kscript/nodes/index.js

@@ -0,0 +1,3 @@
+import { default as nodes } from './nodeTypes';
+import Context from '../Context';
+export { nodes, Context };

package/esm/helpers/kscript/nodes/nodeTypes.d.ts

@@ -0,0 +1,33 @@
+import { ArrayExpression, ArrowFunctionExpression, BinaryExpression, CallExpression, ChainExpression, ConditionalExpression, ExpressionStatement, LogicalExpression, MemberExpression, ObjectExpression, UnaryExpression } from './expressions';
+import { AnyNode } from 'acorn';
+import type Context from '../Context';
+import Identifier from './Identifier';
+import Literal from './Literal';
+import Node from './Node';
+import Program from './Program';
+import TemplateLiteral from './TemplateLiteral';
+type NodeConstructor = {
+    new (node: AnyNode, scope: Context): Node<AnyNode>;
+};
+export type NodeMap = Map<AnyNode['type'], NodeConstructor>;
+declare const nodes: {
+    readonly Program: typeof Program;
+    readonly Literal: typeof Literal;
+    readonly ExpressionStatement: typeof ExpressionStatement;
+    readonly ArrayExpression: typeof ArrayExpression;
+    readonly ObjectExpression: typeof ObjectExpression;
+    readonly Identifier: typeof Identifier;
+    readonly BinaryExpression: typeof BinaryExpression;
+    readonly UnaryExpression: typeof UnaryExpression;
+    readonly LogicalExpression: typeof LogicalExpression;
+    readonly ConditionalExpression: typeof ConditionalExpression;
+    readonly IfStatement: typeof ConditionalExpression;
+    readonly TemplateLiteral: typeof TemplateLiteral;
+    readonly ArrowFunctionExpression: typeof ArrowFunctionExpression;
+    readonly CallExpression: typeof CallExpression;
+    readonly MemberExpression: typeof MemberExpression;
+    readonly ChainExpression: typeof ChainExpression;
+};
+export type NodeType = keyof typeof nodes;
+declare const _default: NodeMap;
+export default _default;

package/esm/helpers/kscript/nodes/nodeTypes.js

@@ -0,0 +1,24 @@
+import { ArrayExpression, ArrowFunctionExpression, BinaryExpression, CallExpression, ChainExpression, ConditionalExpression, ExpressionStatement, LogicalExpression, MemberExpression, ObjectExpression, UnaryExpression, } from './expressions';
+import Identifier from './Identifier';
+import Literal from './Literal';
+import Program from './Program';
+import TemplateLiteral from './TemplateLiteral';
+const nodes = {
+    Program,
+    Literal,
+    ExpressionStatement,
+    ArrayExpression,
+    ObjectExpression,
+    Identifier,
+    BinaryExpression,
+    UnaryExpression,
+    LogicalExpression,
+    ConditionalExpression,
+    IfStatement: ConditionalExpression,
+    TemplateLiteral,
+    ArrowFunctionExpression,
+    CallExpression,
+    MemberExpression,
+    ChainExpression,
+};
+export default new Map(Object.entries(nodes));

package/esm/helpers/kscript/utils.d.ts

@@ -0,0 +1,4 @@
+import { Node } from './nodes';
+import { AnyNode } from 'acorn';
+import Context from './Context';
+export declare function construct(node: AnyNode, context: Context): Node<AnyNode>;

package/esm/helpers/kscript/utils.js

@@ -0,0 +1,11 @@
+import { nodes } from './nodes';
+export function construct(node, context) {
+    if (!context.isNodeAllowed(node.type)) {
+        throw new Error(`Blacklisted Operation: ${node.type}`);
+    }
+    const nodeClass = nodes.get(node.type);
+    if (!nodeClass) {
+        throw new Error(`Unknown node type: ${node.type}`);
+    }
+    return Reflect.construct(nodeClass, [node, context]);
+}

package/esm/helpers/nanosecondToMillisecond.d.ts

@@ -0,0 +1 @@
+export declare const nanosecondToMillisecond: (nano: number | string) => number;

package/esm/helpers/randomString.d.ts

@@ -0,0 +1 @@
+export declare const randomString: () => string;

package/esm/helpers/splitRobotTopic.d.ts

@@ -0,0 +1,9 @@
+export interface RobotPath {
+    component: string;
+    topic: string;
+}
+/** Splits a robot path string into component and topic.
+ *
+ * @example splitRobotTopic('/component/topic/a') => { component: 'component', topic: 'topic/a' }
+ */
+export declare function splitRobotTopic(path: string): RobotPath;

package/esm/helpers/splitRobotTopic.js

@@ -0,0 +1,12 @@
+/** Splits a robot path string into component and topic.
+ *
+ * @example splitRobotTopic('/component/topic/a') => { component: 'component', topic: 'topic/a' }
+ */
+export function splitRobotTopic(path) {
+    const [component, ...topicItems] = path.replace(/^\/+/, '').split('/');
+    const topic = topicItems.join('/');
+    return {
+        component,
+        topic,
+    };
+}

package/esm/helpers/standardDeviation.d.ts

@@ -0,0 +1 @@
+export declare const standardDeviation: (numbers: number[]) => number;

package/esm/helpers/stringToUint8Array.d.ts

@@ -0,0 +1 @@
+export declare const stringToUint8Array: (input: string) => Uint8Array;

package/esm/helpers/uint8ArrayToString.d.ts

@@ -0,0 +1 @@
+export declare const uint8ArrayToString: (arr: Uint8Array | any) => string;

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

@@ -0,0 +1,68 @@
+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]>>;
+    /** Log a message if debug mode is enabled */
+    log(...args: unknown[]): void;
+    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;
+}
+export {};

package/esm/helpers/websandbox/connection.js

@@ -0,0 +1,134 @@
+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,
+            });
+        });
+    }
+    /** 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;
+        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);
+    }
+}

package/esm/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;