@dronedeploy/rocos-js-sdk 3.1.5 → 3.1.7

package/cjs/constants/api.d.ts

@@ -131,6 +131,7 @@ export declare const API_GRAPHS_MAP_METADATA_URL = "https://{url}/graphs/project
 export declare const API_GRAPHS_MAPS_COPY_URL = "https://{url}/graphs/projects/{projectId}/maps/{mapId}/copy";
 export declare const API_GRAPHS_MAPS_DEPLOY_URL = "https://{url}/graphs/projects/{projectId}/maps/{mapId}/deploy";
 export declare const API_GRAPHS_MAPS_GEOJSON_URL = "https://{url}/graphs/projects/{projectId}/maps/{mapId}/geojson";
+export declare const API_GRAPHS_PANORAMAS_URL = "https://{url}/graphs/projects/{projectId}/panoramas";
 export declare const API_GRAPHS_PANORAMA = "https://{url}/graphs/projects/{projectId}/panoramas/{panoramaId}";
 export declare const API_GRAPHS_PANORAMA_OBSERVATIONS_URL = "https://{url}/graphs/projects/{projectId}/panoramas/{panoramaId}/observations";
 export declare const API_GRAPHS_OBSERVATIONS_URL = "https://{url}/graphs/projects/{projectId}/observations";

package/cjs/constants/api.js

@@ -2,8 +2,8 @@
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.API_PROJECT_ROBOT_EVENT_URL = 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_ACCOUNT_ROBOT_URL = exports.API_PROJECT_ROBOT_URL = exports.API_PROJECT_MAPPED_ASSET_PATH_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_EXTERNAL_PROJECTS_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_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_OTP_AUTH_URL = exports.API_OTP_URL = exports.API_USER_TOKEN_URL = exports.API_USER_URL = exports.API_ADMIN_USER_INVITATION_URL = exports.API_APPLICATION_AUTH_URL = void 0;
 exports.API_PROJECT_STREAM_DATA_URL = exports.API_PROJECT_STREAM_ID_URL = exports.API_PROJECT_STREAM_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_ENVIRONMENT_URL = exports.API_PROJECT_DEFINITION_LIBRARY = exports.API_PROJECT_DEFINITION_IMPORT_LIBRARY = 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_CONFIGS_CONNECTION_URL = exports.API_PROJECT_ROBOT_CONFIGS_CONNECTIONS_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 = void 0;
-exports.API_PROJECT_ROBOT_DEPLOYED_WORKFLOW_URL = exports.API_PROJECT_PROFILE_DEPLOYED_WORKFLOW_URL = exports.API_PROJECT_ROBOT_NO_PROFILE_DEPLOYMENTS_URL = exports.API_PROJECT_PROFILE_DEPLOYMENTS_URL = exports.API_PROJECT_ROBOT_DEPLOYMENTS_URL = exports.API_PROJECT_WORKFLOW_ASSET_ID_URL = exports.API_PROJECT_WORKFLOW_ASSET_URL = exports.API_PROJECT_WORKFLOW_ID_URL = exports.API_PROJECT_WORKFLOW_URL = exports.API_GRAPHS_ASSETS_URL = exports.API_GRAPHS_ASSETS_UPLOAD_URL = exports.API_GRAPHS_TARGETS_URL = exports.API_GRAPHS_TARGET_UPLOAD_URL = exports.API_GRAPHS_OBSERVATION_KEYS_URL = exports.API_GRAPHS_OBSERVATIONS_URL = exports.API_GRAPHS_PANORAMA_OBSERVATIONS_URL = exports.API_GRAPHS_PANORAMA = exports.API_GRAPHS_MAPS_GEOJSON_URL = exports.API_GRAPHS_MAPS_DEPLOY_URL = exports.API_GRAPHS_MAPS_COPY_URL = exports.API_GRAPHS_MAP_METADATA_URL = exports.API_GRAPHS_MAP_CONTENT_URL = exports.API_GRAPHS_MAP_ID_URL = exports.API_GRAPHS_MAPS_MERGE_URL = exports.API_GRAPHS_MAPS_DEPLOYED_URL = exports.API_GRAPHS_MAPS_NEW_URL = exports.API_GRAPHS_MAPS_URL = exports.API_DD_INTEGRATION_LEVELS_URL = exports.API_DD_INTEGRATION_LOCATIONS_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 = exports.API_PROJECT_ROBOT_DASHBOARD_ID_URL = exports.API_PROJECT_ROBOT_DASHBOARD_URL = exports.API_PROJECT_STREAM_CALLSIGN_URL = void 0;
-exports.API_PROJECT_ROBOT_TAG_URL = exports.API_PROJECT_PROFILE_TAG_URL = exports.API_PROJECT_PROFILE_TAGS_URL = exports.API_PROJECT_TAG_ROBOTS_URL = exports.API_PROJECT_ROBOT_TAGS_URL = exports.API_DEVICE_CREDENTIALS_AUTH_URL = exports.API_DEVICE_CREDENTIALS_URL = exports.API_LINKED_PROJECT_URL = exports.API_PROJECT_WORKFLOW_IMPORT_URL = exports.API_PROJECT_WORKFLOW_EXPORT_URL = exports.API_PROJECT_WORKFLOW_AFFECTED_URL = void 0;
+exports.API_PROJECT_PROFILE_DEPLOYED_WORKFLOW_URL = exports.API_PROJECT_ROBOT_NO_PROFILE_DEPLOYMENTS_URL = exports.API_PROJECT_PROFILE_DEPLOYMENTS_URL = exports.API_PROJECT_ROBOT_DEPLOYMENTS_URL = exports.API_PROJECT_WORKFLOW_ASSET_ID_URL = exports.API_PROJECT_WORKFLOW_ASSET_URL = exports.API_PROJECT_WORKFLOW_ID_URL = exports.API_PROJECT_WORKFLOW_URL = exports.API_GRAPHS_ASSETS_URL = exports.API_GRAPHS_ASSETS_UPLOAD_URL = exports.API_GRAPHS_TARGETS_URL = exports.API_GRAPHS_TARGET_UPLOAD_URL = exports.API_GRAPHS_OBSERVATION_KEYS_URL = exports.API_GRAPHS_OBSERVATIONS_URL = exports.API_GRAPHS_PANORAMA_OBSERVATIONS_URL = exports.API_GRAPHS_PANORAMA = exports.API_GRAPHS_PANORAMAS_URL = exports.API_GRAPHS_MAPS_GEOJSON_URL = exports.API_GRAPHS_MAPS_DEPLOY_URL = exports.API_GRAPHS_MAPS_COPY_URL = exports.API_GRAPHS_MAP_METADATA_URL = exports.API_GRAPHS_MAP_CONTENT_URL = exports.API_GRAPHS_MAP_ID_URL = exports.API_GRAPHS_MAPS_MERGE_URL = exports.API_GRAPHS_MAPS_DEPLOYED_URL = exports.API_GRAPHS_MAPS_NEW_URL = exports.API_GRAPHS_MAPS_URL = exports.API_DD_INTEGRATION_LEVELS_URL = exports.API_DD_INTEGRATION_LOCATIONS_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 = exports.API_PROJECT_ROBOT_DASHBOARD_ID_URL = exports.API_PROJECT_ROBOT_DASHBOARD_URL = exports.API_PROJECT_STREAM_CALLSIGN_URL = void 0;
+exports.API_PROJECT_ROBOT_TAG_URL = exports.API_PROJECT_PROFILE_TAG_URL = exports.API_PROJECT_PROFILE_TAGS_URL = exports.API_PROJECT_TAG_ROBOTS_URL = exports.API_PROJECT_ROBOT_TAGS_URL = exports.API_DEVICE_CREDENTIALS_AUTH_URL = exports.API_DEVICE_CREDENTIALS_URL = exports.API_LINKED_PROJECT_URL = exports.API_PROJECT_WORKFLOW_IMPORT_URL = exports.API_PROJECT_WORKFLOW_EXPORT_URL = exports.API_PROJECT_WORKFLOW_AFFECTED_URL = exports.API_PROJECT_ROBOT_DEPLOYED_WORKFLOW_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';
@@ -137,6 +137,7 @@ exports.API_GRAPHS_MAP_METADATA_URL = 'https://{url}/graphs/projects/{projectId}
 exports.API_GRAPHS_MAPS_COPY_URL = 'https://{url}/graphs/projects/{projectId}/maps/{mapId}/copy';
 exports.API_GRAPHS_MAPS_DEPLOY_URL = 'https://{url}/graphs/projects/{projectId}/maps/{mapId}/deploy';
 exports.API_GRAPHS_MAPS_GEOJSON_URL = 'https://{url}/graphs/projects/{projectId}/maps/{mapId}/geojson';
+exports.API_GRAPHS_PANORAMAS_URL = 'https://{url}/graphs/projects/{projectId}/panoramas';
 exports.API_GRAPHS_PANORAMA = 'https://{url}/graphs/projects/{projectId}/panoramas/{panoramaId}';
 exports.API_GRAPHS_PANORAMA_OBSERVATIONS_URL = 'https://{url}/graphs/projects/{projectId}/panoramas/{panoramaId}/observations';
 exports.API_GRAPHS_OBSERVATIONS_URL = 'https://{url}/graphs/projects/{projectId}/observations';

package/cjs/helpers/getRobotStatusColour.d.ts

@@ -0,0 +1,25 @@
+import { RobotStatus, RobotStatusColour } from '../models/robot-status/RobotStatus';
+/**
+ * Derives the canonical status-indicator colour from a robot's status, as a
+ * pure function of its health, readiness, and connectivity.
+ *
+ * Connectivity gates first — reported health is not trusted when connectivity is
+ * impaired — then health, then readiness:
+ *
+ * | Condition                                | Colour              |
+ * | ---------------------------------------- | ------------------- |
+ * | connectivity `OFFLINE`                   | solid gray          |
+ * | connectivity `DEGRADED`                  | flashing red/gray   |
+ * | health `CRITICAL`                        | solid red           |
+ * | health `ABNORMAL`                        | solid yellow        |
+ * | health `UNKNOWN`                         | flashing green/gray |
+ * | health `NORMAL` + readiness `BUSY`       | solid blue          |
+ * | health `NORMAL` + readiness `IDLE`/unkn. | solid green         |
+ *
+ * Legacy robots (heartbeat-only) report `NORMAL`/`IDLE`, so they resolve to
+ * solid green and never reach the flashing-green/gray "health unknown" case.
+ *
+ * This is the single source of truth for indicator colour; it is surfaced as
+ * `RobotStatusService.colourFor()`.
+ */
+export declare const getRobotStatusColour: (status: Pick<RobotStatus, "health" | "readiness" | "connectivity">) => RobotStatusColour;

package/cjs/helpers/getRobotStatusColour.js

@@ -0,0 +1,54 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.getRobotStatusColour = void 0;
+const RobotStatusEnums_1 = require("../models/robot-status/RobotStatusEnums");
+const GRAY = { kind: 'solid', token: 'gray' };
+const RED = { kind: 'solid', token: 'red' };
+const YELLOW = { kind: 'solid', token: 'yellow' };
+const BLUE = { kind: 'solid', token: 'blue' };
+const GREEN = { kind: 'solid', token: 'green' };
+const FLASHING_RED_GRAY = { kind: 'flashing', tokens: ['red', 'gray'] };
+const FLASHING_GREEN_GRAY = { kind: 'flashing', tokens: ['green', 'gray'] };
+/**
+ * Derives the canonical status-indicator colour from a robot's status, as a
+ * pure function of its health, readiness, and connectivity.
+ *
+ * Connectivity gates first — reported health is not trusted when connectivity is
+ * impaired — then health, then readiness:
+ *
+ * | Condition                                | Colour              |
+ * | ---------------------------------------- | ------------------- |
+ * | connectivity `OFFLINE`                   | solid gray          |
+ * | connectivity `DEGRADED`                  | flashing red/gray   |
+ * | health `CRITICAL`                        | solid red           |
+ * | health `ABNORMAL`                        | solid yellow        |
+ * | health `UNKNOWN`                         | flashing green/gray |
+ * | health `NORMAL` + readiness `BUSY`       | solid blue          |
+ * | health `NORMAL` + readiness `IDLE`/unkn. | solid green         |
+ *
+ * Legacy robots (heartbeat-only) report `NORMAL`/`IDLE`, so they resolve to
+ * solid green and never reach the flashing-green/gray "health unknown" case.
+ *
+ * This is the single source of truth for indicator colour; it is surfaced as
+ * `RobotStatusService.colourFor()`.
+ */
+const getRobotStatusColour = (status) => {
+    const { health, readiness, connectivity } = status;
+    if (connectivity.overall === RobotStatusEnums_1.RobotConnectivity.OFFLINE)
+        return GRAY;
+    if (connectivity.overall === RobotStatusEnums_1.RobotConnectivity.DEGRADED)
+        return FLASHING_RED_GRAY;
+    // Connectivity is ONLINE: derive from reported health, then readiness.
+    switch (health) {
+        case RobotStatusEnums_1.RobotHealth.CRITICAL:
+            return RED;
+        case RobotStatusEnums_1.RobotHealth.ABNORMAL:
+            return YELLOW;
+        case RobotStatusEnums_1.RobotHealth.UNKNOWN:
+            return FLASHING_GREEN_GRAY;
+        case RobotStatusEnums_1.RobotHealth.NORMAL:
+        default:
+            return readiness === RobotStatusEnums_1.RobotReadiness.BUSY ? BLUE : GREEN;
+    }
+};
+exports.getRobotStatusColour = getRobotStatusColour;

package/cjs/helpers/index.d.ts

@@ -5,3 +5,4 @@ export * from './getURLSearchParams';
 export * from './websandbox';
 export * from './kscript';
 export * from './splitRobotTopic';
+export * from './getRobotStatusColour';

package/cjs/helpers/index.js

@@ -21,3 +21,4 @@ __exportStar(require("./getURLSearchParams"), exports);
 __exportStar(require("./websandbox"), exports);
 __exportStar(require("./kscript"), exports);
 __exportStar(require("./splitRobotTopic"), exports);
+__exportStar(require("./getRobotStatusColour"), exports);

package/cjs/models/index.d.ts

@@ -65,6 +65,8 @@ export * from './Robot';
 export * from './RobotConfig';
 export * from './RobotPlugin';
 export * from './RobotProfile';
+export * from './robot-status/RobotStatus';
+export * from './robot-status/RobotStatusEnums';
 export * from './RobotTemplate';
 export * from './RocosError';
 export * from './schedule/IScheduleAction';

package/cjs/models/index.js

@@ -81,6 +81,8 @@ __exportStar(require("./Robot"), exports);
 __exportStar(require("./RobotConfig"), exports);
 __exportStar(require("./RobotPlugin"), exports);
 __exportStar(require("./RobotProfile"), exports);
+__exportStar(require("./robot-status/RobotStatus"), exports);
+__exportStar(require("./robot-status/RobotStatusEnums"), exports);
 __exportStar(require("./RobotTemplate"), exports);
 __exportStar(require("./RocosError"), exports);
 __exportStar(require("./schedule/IScheduleAction"), exports);

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

@@ -24,4 +24,22 @@ export interface Panorama {
         path: string;
     };
 }
+/**
+ * Body for `PUT /graphs/projects/{projectId}/panoramas`. Same shape as {@link Panorama}, with
+ * an optional `map` field that accepts either a single map id or an array of map ids.
+ *
+ *   - The dronedeploy map is always written; values in `map` are added on top of it
+ *     (deduped). Each named map must already exist server-side; a typo is rejected with 400.
+ *   - `transform.id` may be left blank ('') to have the server generate a UUID; the returned
+ *     {@link AddPanoramaResponse.id} echoes whichever value the panorama was created under.
+ *   - `transform.parent` is created as a FRAME node when it doesn't already exist anywhere
+ *     in the project, so callers don't need to bootstrap the parent before posting.
+ */
+export interface AddPanoramaRequest extends Panorama {
+    map?: string | string[];
+}
+export interface AddPanoramaResponse {
+    /** Panorama node id — either the value the caller supplied, or the UUID the server generated. */
+    id: string;
+}
 export {};

package/cjs/models/robot-status/RobotStatus.d.ts

@@ -0,0 +1,43 @@
+import { RobotConnectivity, RobotHealth, RobotReadiness, ServiceConnection } from './RobotStatusEnums';
+/** The semantic colour tokens a status indicator can use. */
+export type RobotStatusColourToken = 'gray' | 'green' | 'blue' | 'yellow' | 'red';
+/**
+ * The canonical colour a status indicator should display, as a semantic token
+ * rather than a concrete colour — each consumer maps the token to its own theme.
+ *
+ * "Flashing" is structural rather than a single value: a degraded robot flashes
+ * red/gray, while an online robot whose health is explicitly unknown flashes
+ * green/gray.
+ */
+export type RobotStatusColour = {
+    kind: 'solid';
+    token: RobotStatusColourToken;
+} | {
+    kind: 'flashing';
+    tokens: ['red', 'gray'];
+} | {
+    kind: 'flashing';
+    tokens: ['green', 'gray'];
+};
+/**
+ * The robot's connectivity to the cloud platform: an aggregate verdict plus the
+ * per-service breakdown it was derived from. Only the *expected* services for a
+ * given robot are present in `services`.
+ */
+export interface RobotConnectivityStatus {
+    overall: RobotConnectivity;
+    /** Keyed by service id (e.g. `robot-configs`, `robot-services`, `telemetry-liveness`). */
+    services: Record<string, ServiceConnection>;
+}
+/**
+ * The combined, canonical status of a robot: what the robot reports about itself
+ * (health + readiness), its connectivity, and the resulting indicator colour.
+ *
+ * This is the object emitted by `RobotStatusService.getRobotStatusChanges()`.
+ */
+export interface RobotStatus {
+    health: RobotHealth;
+    readiness: RobotReadiness;
+    connectivity: RobotConnectivityStatus;
+    colour: RobotStatusColour;
+}

package/cjs/models/robot-status/RobotStatus.js

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

package/cjs/models/robot-status/RobotStatusEnums.d.ts

@@ -0,0 +1,54 @@
+/**
+ * The health of a robot, as reported by the agent's `robot/status` topic.
+ *
+ * The string values are the SDK-facing representation; the agent encodes these
+ * as integers on the wire (shown below). The {@link RobotStatusService} maps
+ * the integer wire values onto these enums on receipt.
+ */
+export declare enum RobotHealth {
+    /** `0` on the wire. Health has not been determined. */
+    UNKNOWN = "unknown",
+    /** `1` on the wire. The robot is healthy. */
+    NORMAL = "normal",
+    /** `2` on the wire. Something needs attention, but the robot is still functional. */
+    ABNORMAL = "abnormal",
+    /** `3` on the wire. The robot requires immediate attention. */
+    CRITICAL = "critical"
+}
+/**
+ * The readiness of a robot — whether it is available to take on work — as
+ * reported by the agent's `robot/status` topic.
+ *
+ * As with {@link RobotHealth}, the agent encodes these as integers on the wire.
+ */
+export declare enum RobotReadiness {
+    /** `0` on the wire. Readiness has not been determined. */
+    UNKNOWN = "unknown",
+    /** `1` on the wire. The robot is available. */
+    IDLE = "idle",
+    /** `2` on the wire. The robot is occupied and should not be interrupted. */
+    BUSY = "busy"
+}
+/**
+ * Whether the robot is connected to a single cloud service, as reported by that
+ * service's `connections` endpoint (or, for `telemetry-liveness`, derived from
+ * heartbeat freshness).
+ */
+export declare enum ServiceConnection {
+    CONNECTED = "connected",
+    DISCONNECTED = "disconnected",
+    /** The service's connectivity has not yet been determined (e.g. not polled). */
+    UNKNOWN = "unknown"
+}
+/**
+ * The robot's overall connectivity to the cloud platform, aggregated across all
+ * expected services.
+ */
+export declare enum RobotConnectivity {
+    /** Every expected service reports connected. */
+    ONLINE = "online",
+    /** Some, but not all, expected services report connected. */
+    DEGRADED = "degraded",
+    /** No expected service reports connected. */
+    OFFLINE = "offline"
+}

package/cjs/models/robot-status/RobotStatusEnums.js

@@ -0,0 +1,61 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.RobotConnectivity = exports.ServiceConnection = exports.RobotReadiness = exports.RobotHealth = void 0;
+/**
+ * The health of a robot, as reported by the agent's `robot/status` topic.
+ *
+ * The string values are the SDK-facing representation; the agent encodes these
+ * as integers on the wire (shown below). The {@link RobotStatusService} maps
+ * the integer wire values onto these enums on receipt.
+ */
+var RobotHealth;
+(function (RobotHealth) {
+    /** `0` on the wire. Health has not been determined. */
+    RobotHealth["UNKNOWN"] = "unknown";
+    /** `1` on the wire. The robot is healthy. */
+    RobotHealth["NORMAL"] = "normal";
+    /** `2` on the wire. Something needs attention, but the robot is still functional. */
+    RobotHealth["ABNORMAL"] = "abnormal";
+    /** `3` on the wire. The robot requires immediate attention. */
+    RobotHealth["CRITICAL"] = "critical";
+})(RobotHealth || (exports.RobotHealth = RobotHealth = {}));
+/**
+ * The readiness of a robot — whether it is available to take on work — as
+ * reported by the agent's `robot/status` topic.
+ *
+ * As with {@link RobotHealth}, the agent encodes these as integers on the wire.
+ */
+var RobotReadiness;
+(function (RobotReadiness) {
+    /** `0` on the wire. Readiness has not been determined. */
+    RobotReadiness["UNKNOWN"] = "unknown";
+    /** `1` on the wire. The robot is available. */
+    RobotReadiness["IDLE"] = "idle";
+    /** `2` on the wire. The robot is occupied and should not be interrupted. */
+    RobotReadiness["BUSY"] = "busy";
+})(RobotReadiness || (exports.RobotReadiness = RobotReadiness = {}));
+/**
+ * Whether the robot is connected to a single cloud service, as reported by that
+ * service's `connections` endpoint (or, for `telemetry-liveness`, derived from
+ * heartbeat freshness).
+ */
+var ServiceConnection;
+(function (ServiceConnection) {
+    ServiceConnection["CONNECTED"] = "connected";
+    ServiceConnection["DISCONNECTED"] = "disconnected";
+    /** The service's connectivity has not yet been determined (e.g. not polled). */
+    ServiceConnection["UNKNOWN"] = "unknown";
+})(ServiceConnection || (exports.ServiceConnection = ServiceConnection = {}));
+/**
+ * The robot's overall connectivity to the cloud platform, aggregated across all
+ * expected services.
+ */
+var RobotConnectivity;
+(function (RobotConnectivity) {
+    /** Every expected service reports connected. */
+    RobotConnectivity["ONLINE"] = "online";
+    /** Some, but not all, expected services report connected. */
+    RobotConnectivity["DEGRADED"] = "degraded";
+    /** No expected service reports connected. */
+    RobotConnectivity["OFFLINE"] = "offline";
+})(RobotConnectivity || (exports.RobotConnectivity = RobotConnectivity = {}));

package/cjs/services/CallerService.d.ts

@@ -43,6 +43,44 @@ export declare class CallerService extends BaseStreamService<ICallerStream> {
         ack$: Observable<IRocosCallerMessageResponseAck>;
         cancel: () => Promise<void>;
     };
+    /** Invoke a long-running action (ROS 2 action-server semantics) and expose its lifecycle safely.
+     *
+     * Use this instead of `call` when the request is *accepted* (ack) long before it
+     * *completes* (result) — e.g. a navigation goal or a mission. The semantics are:
+     * fire the request exactly once, hold the underlying stream open after the ack,
+     * and tear it down only when the action itself completes/errors.
+     *
+     * This differs from `call` in one crucial way: `call` builds `ack$`/`result$` on a
+     * refcounted shared source, so awaiting `ack$` (dropping the subscriber count to
+     * zero) and *then* subscribing to `result$` re-issues the goal. `callAction` pins the
+     * source with a single SDK-owned subscription for the action's lifetime, so:
+     *   - the request fires once and is never re-issued by subscriber churn,
+     *   - `ack` is a Promise (inherently replayable — await it in any order),
+     *   - `result$` replays the one-shot result, so a late or out-of-order subscriber
+     *     still receives it.
+     *
+     * Lifecycle:
+     *   - `ack`     resolves with the first acknowledgement; rejects if the action
+     *               errors (or completes) before any ack arrives.
+     *   - `result$` emits the single result and completes when the action ends. Replayed,
+     *               so subscription order relative to awaiting `ack` does not matter.
+     *   - `return$` streams live feedback/return payloads (decoded as `T`). Not replayed —
+     *               subscribe before the action emits feedback to avoid missing it.
+     *   - `cancel`  asks the server to cancel; the action then emits its result and closes.
+     *   - `close`   stops tracking the action locally *without* cancelling it on the robot,
+     *               releasing the underlying stream. For teardown paths (e.g. UI unmount)
+     *               where the action should keep running but the result is no longer needed.
+     *
+     * @see call
+     * @see callRaw
+     */
+    callAction<T = unknown>(params: ICallerCallParams): {
+        ack: Promise<IRocosCallerMessageResponseAck>;
+        result$: Observable<IRocosCallerMessageResponseResult>;
+        return$: Observable<T>;
+        cancel: () => Promise<void>;
+        close: () => void;
+    };
     protected createStream(): Promise<ICallerStream>;
     protected getStream(config: IStreamConfig): ICallerStream;
 }

package/cjs/services/CallerService.js

@@ -104,6 +104,62 @@ class CallerService extends BaseStreamService_1.BaseStreamService {
             cancel,
         };
     }
+    /** Invoke a long-running action (ROS 2 action-server semantics) and expose its lifecycle safely.
+     *
+     * Use this instead of `call` when the request is *accepted* (ack) long before it
+     * *completes* (result) — e.g. a navigation goal or a mission. The semantics are:
+     * fire the request exactly once, hold the underlying stream open after the ack,
+     * and tear it down only when the action itself completes/errors.
+     *
+     * This differs from `call` in one crucial way: `call` builds `ack$`/`result$` on a
+     * refcounted shared source, so awaiting `ack$` (dropping the subscriber count to
+     * zero) and *then* subscribing to `result$` re-issues the goal. `callAction` pins the
+     * source with a single SDK-owned subscription for the action's lifetime, so:
+     *   - the request fires once and is never re-issued by subscriber churn,
+     *   - `ack` is a Promise (inherently replayable — await it in any order),
+     *   - `result$` replays the one-shot result, so a late or out-of-order subscriber
+     *     still receives it.
+     *
+     * Lifecycle:
+     *   - `ack`     resolves with the first acknowledgement; rejects if the action
+     *               errors (or completes) before any ack arrives.
+     *   - `result$` emits the single result and completes when the action ends. Replayed,
+     *               so subscription order relative to awaiting `ack` does not matter.
+     *   - `return$` streams live feedback/return payloads (decoded as `T`). Not replayed —
+     *               subscribe before the action emits feedback to avoid missing it.
+     *   - `cancel`  asks the server to cancel; the action then emits its result and closes.
+     *   - `close`   stops tracking the action locally *without* cancelling it on the robot,
+     *               releasing the underlying stream. For teardown paths (e.g. UI unmount)
+     *               where the action should keep running but the result is no longer needed.
+     *
+     * @see call
+     * @see callRaw
+     */
+    callAction(params) {
+        const stream = this.call(params);
+        // Replay the one-shot result so subscription order never matters and a late
+        // subscriber still receives it.
+        const result = new rxjs_1.ReplaySubject(1);
+        // One SDK-owned subscription pins the shared source alive for the whole action.
+        // It fires the request once (first subscriber) and forwards the result into the
+        // replay subject, completing/erroring it when the action ends. Because this
+        // subscription outlives any `firstValueFrom(ack)` teardown, subscriber churn can
+        // never reset the source and re-issue the goal.
+        const pin = stream.result$.subscribe(result);
+        // `ack` rejects if the action errors or completes before any ack arrives. Since
+        // callAction is meant to be consumed via result$/return$ too, a caller may never
+        // touch `ack` — without a handler that rejection would surface as an unhandled
+        // promise rejection. Awaiting `action.ack` still rejects for callers who do care.
+        const ack = (0, rxjs_1.firstValueFrom)(stream.ack$);
+        ack.catch(() => { });
+        return {
+            ack,
+            result$: result.asObservable(),
+            return$: stream.return$,
+            cancel: stream.cancel,
+            close: () => pin.unsubscribe(),
+        };
+    }
     async createStream() {
         return (await this.createStreamFromConfig(identifier_1.IDENTIFIER_NAME_CALLER, {
             url: this.config.url,

package/cjs/services/MapService.d.ts

@@ -1,5 +1,5 @@
+import { AddPanoramaRequest, AddPanoramaResponse, CreateObservation, Observation } from '../models/maps/Panorama';
 import { Asset, IBaseService, IRocosSDKConfig, Map, MapContent, RocosError } from '../models';
-import { CreateObservation, Observation } from '../models/maps/Panorama';
 import { BaseServiceAbstract } from './BaseServiceAbstract';
 /**
  * Maps service for managing robot maps in the cloud and on robots
@@ -202,6 +202,25 @@ export declare class MapService extends BaseServiceAbstract implements IBaseServ
      * @returns A list of assets
      */
     getAssetsKeys(projectId: string): Promise<string[]>;
+    /**
+     * Adds a panorama to the project's dronedeploy map (and optionally other named maps).
+     *
+     * The dronedeploy map is always written. To also write the panorama into additional maps,
+     * pass their ids in `body.map` (single string or array). Each named map must already exist —
+     * unknown ids reject the whole call with 400. Entries are deduplicated against dronedeploy
+     * and each other.
+     *
+     * Two server-side conveniences:
+     *   - `body.transform.id` may be left blank ('') to have the server generate a UUID. The
+     *     created id is returned in the response so the caller can subsequently get/delete it.
+     *   - `body.transform.parent` is auto-created as a FRAME node when it doesn't already exist
+     *     anywhere in the project; no separate "create parent frame" call is required.
+     *
+     * @param projectId The ID of the project the panorama belongs to.
+     * @param body Panorama transform + data, with an optional `map` selector.
+     * @returns The panorama node id that was created (echoed when supplied, generated when blank).
+     */
+    addPanorama(projectId: string, body: AddPanoramaRequest): Promise<AddPanoramaResponse>;
     /**
      * Deletes a panorama by panoramaID.
      *

package/cjs/services/MapService.js

@@ -282,6 +282,27 @@ class MapService extends BaseServiceAbstract_1.BaseServiceAbstract {
     getAssetsKeys(projectId) {
         return this.callGet((0, formatServiceUrl_1.formatServiceUrl)(api_1.API_GRAPHS_OBSERVATION_KEYS_URL, { url: this.config.url, projectId }, this.config.insecure), 'Failed to get asset keys.');
     }
+    /**
+     * Adds a panorama to the project's dronedeploy map (and optionally other named maps).
+     *
+     * The dronedeploy map is always written. To also write the panorama into additional maps,
+     * pass their ids in `body.map` (single string or array). Each named map must already exist —
+     * unknown ids reject the whole call with 400. Entries are deduplicated against dronedeploy
+     * and each other.
+     *
+     * Two server-side conveniences:
+     *   - `body.transform.id` may be left blank ('') to have the server generate a UUID. The
+     *     created id is returned in the response so the caller can subsequently get/delete it.
+     *   - `body.transform.parent` is auto-created as a FRAME node when it doesn't already exist
+     *     anywhere in the project; no separate "create parent frame" call is required.
+     *
+     * @param projectId The ID of the project the panorama belongs to.
+     * @param body Panorama transform + data, with an optional `map` selector.
+     * @returns The panorama node id that was created (echoed when supplied, generated when blank).
+     */
+    addPanorama(projectId, body) {
+        return this.callPut((0, formatServiceUrl_1.formatServiceUrl)(api_1.API_GRAPHS_PANORAMAS_URL, { url: this.config.url, projectId }, this.config.insecure), body, 'Failed to add panorama.');
+    }
     /**
      * Deletes a panorama by panoramaID.
      *

package/esm/constants/api.d.ts

@@ -131,6 +131,7 @@ export declare const API_GRAPHS_MAP_METADATA_URL = "https://{url}/graphs/project
 export declare const API_GRAPHS_MAPS_COPY_URL = "https://{url}/graphs/projects/{projectId}/maps/{mapId}/copy";
 export declare const API_GRAPHS_MAPS_DEPLOY_URL = "https://{url}/graphs/projects/{projectId}/maps/{mapId}/deploy";
 export declare const API_GRAPHS_MAPS_GEOJSON_URL = "https://{url}/graphs/projects/{projectId}/maps/{mapId}/geojson";
+export declare const API_GRAPHS_PANORAMAS_URL = "https://{url}/graphs/projects/{projectId}/panoramas";
 export declare const API_GRAPHS_PANORAMA = "https://{url}/graphs/projects/{projectId}/panoramas/{panoramaId}";
 export declare const API_GRAPHS_PANORAMA_OBSERVATIONS_URL = "https://{url}/graphs/projects/{projectId}/panoramas/{panoramaId}/observations";
 export declare const API_GRAPHS_OBSERVATIONS_URL = "https://{url}/graphs/projects/{projectId}/observations";

package/esm/constants/api.js

@@ -131,6 +131,7 @@ export const API_GRAPHS_MAP_METADATA_URL = 'https://{url}/graphs/projects/{proje
 export const API_GRAPHS_MAPS_COPY_URL = 'https://{url}/graphs/projects/{projectId}/maps/{mapId}/copy';
 export const API_GRAPHS_MAPS_DEPLOY_URL = 'https://{url}/graphs/projects/{projectId}/maps/{mapId}/deploy';
 export const API_GRAPHS_MAPS_GEOJSON_URL = 'https://{url}/graphs/projects/{projectId}/maps/{mapId}/geojson';
+export const API_GRAPHS_PANORAMAS_URL = 'https://{url}/graphs/projects/{projectId}/panoramas';
 export const API_GRAPHS_PANORAMA = 'https://{url}/graphs/projects/{projectId}/panoramas/{panoramaId}';
 export const API_GRAPHS_PANORAMA_OBSERVATIONS_URL = 'https://{url}/graphs/projects/{projectId}/panoramas/{panoramaId}/observations';
 export const API_GRAPHS_OBSERVATIONS_URL = 'https://{url}/graphs/projects/{projectId}/observations';

package/esm/helpers/getRobotStatusColour.d.ts

@@ -0,0 +1,25 @@
+import { RobotStatus, RobotStatusColour } from '../models/robot-status/RobotStatus';
+/**
+ * Derives the canonical status-indicator colour from a robot's status, as a
+ * pure function of its health, readiness, and connectivity.
+ *
+ * Connectivity gates first — reported health is not trusted when connectivity is
+ * impaired — then health, then readiness:
+ *
+ * | Condition                                | Colour              |
+ * | ---------------------------------------- | ------------------- |
+ * | connectivity `OFFLINE`                   | solid gray          |
+ * | connectivity `DEGRADED`                  | flashing red/gray   |
+ * | health `CRITICAL`                        | solid red           |
+ * | health `ABNORMAL`                        | solid yellow        |
+ * | health `UNKNOWN`                         | flashing green/gray |
+ * | health `NORMAL` + readiness `BUSY`       | solid blue          |
+ * | health `NORMAL` + readiness `IDLE`/unkn. | solid green         |
+ *
+ * Legacy robots (heartbeat-only) report `NORMAL`/`IDLE`, so they resolve to
+ * solid green and never reach the flashing-green/gray "health unknown" case.
+ *
+ * This is the single source of truth for indicator colour; it is surfaced as
+ * `RobotStatusService.colourFor()`.
+ */
+export declare const getRobotStatusColour: (status: Pick<RobotStatus, "health" | "readiness" | "connectivity">) => RobotStatusColour;

package/esm/helpers/getRobotStatusColour.js

@@ -0,0 +1,50 @@
+import { RobotConnectivity, RobotHealth, RobotReadiness } from '../models/robot-status/RobotStatusEnums';
+const GRAY = { kind: 'solid', token: 'gray' };
+const RED = { kind: 'solid', token: 'red' };
+const YELLOW = { kind: 'solid', token: 'yellow' };
+const BLUE = { kind: 'solid', token: 'blue' };
+const GREEN = { kind: 'solid', token: 'green' };
+const FLASHING_RED_GRAY = { kind: 'flashing', tokens: ['red', 'gray'] };
+const FLASHING_GREEN_GRAY = { kind: 'flashing', tokens: ['green', 'gray'] };
+/**
+ * Derives the canonical status-indicator colour from a robot's status, as a
+ * pure function of its health, readiness, and connectivity.
+ *
+ * Connectivity gates first — reported health is not trusted when connectivity is
+ * impaired — then health, then readiness:
+ *
+ * | Condition                                | Colour              |
+ * | ---------------------------------------- | ------------------- |
+ * | connectivity `OFFLINE`                   | solid gray          |
+ * | connectivity `DEGRADED`                  | flashing red/gray   |
+ * | health `CRITICAL`                        | solid red           |
+ * | health `ABNORMAL`                        | solid yellow        |
+ * | health `UNKNOWN`                         | flashing green/gray |
+ * | health `NORMAL` + readiness `BUSY`       | solid blue          |
+ * | health `NORMAL` + readiness `IDLE`/unkn. | solid green         |
+ *
+ * Legacy robots (heartbeat-only) report `NORMAL`/`IDLE`, so they resolve to
+ * solid green and never reach the flashing-green/gray "health unknown" case.
+ *
+ * This is the single source of truth for indicator colour; it is surfaced as
+ * `RobotStatusService.colourFor()`.
+ */
+export const getRobotStatusColour = (status) => {
+    const { health, readiness, connectivity } = status;
+    if (connectivity.overall === RobotConnectivity.OFFLINE)
+        return GRAY;
+    if (connectivity.overall === RobotConnectivity.DEGRADED)
+        return FLASHING_RED_GRAY;
+    // Connectivity is ONLINE: derive from reported health, then readiness.
+    switch (health) {
+        case RobotHealth.CRITICAL:
+            return RED;
+        case RobotHealth.ABNORMAL:
+            return YELLOW;
+        case RobotHealth.UNKNOWN:
+            return FLASHING_GREEN_GRAY;
+        case RobotHealth.NORMAL:
+        default:
+            return readiness === RobotReadiness.BUSY ? BLUE : GREEN;
+    }
+};

package/esm/helpers/index.d.ts

@@ -5,3 +5,4 @@ export * from './getURLSearchParams';
 export * from './websandbox';
 export * from './kscript';
 export * from './splitRobotTopic';
+export * from './getRobotStatusColour';

package/esm/helpers/index.js

@@ -5,3 +5,4 @@ export * from './getURLSearchParams';
 export * from './websandbox';
 export * from './kscript';
 export * from './splitRobotTopic';
+export * from './getRobotStatusColour';

package/esm/models/index.d.ts

@@ -65,6 +65,8 @@ export * from './Robot';
 export * from './RobotConfig';
 export * from './RobotPlugin';
 export * from './RobotProfile';
+export * from './robot-status/RobotStatus';
+export * from './robot-status/RobotStatusEnums';
 export * from './RobotTemplate';
 export * from './RocosError';
 export * from './schedule/IScheduleAction';

package/esm/models/index.js

@@ -65,6 +65,8 @@ export * from './Robot';
 export * from './RobotConfig';
 export * from './RobotPlugin';
 export * from './RobotProfile';
+export * from './robot-status/RobotStatus';
+export * from './robot-status/RobotStatusEnums';
 export * from './RobotTemplate';
 export * from './RocosError';
 export * from './schedule/IScheduleAction';

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

@@ -24,4 +24,22 @@ export interface Panorama {
         path: string;
     };
 }
+/**
+ * Body for `PUT /graphs/projects/{projectId}/panoramas`. Same shape as {@link Panorama}, with
+ * an optional `map` field that accepts either a single map id or an array of map ids.
+ *
+ *   - The dronedeploy map is always written; values in `map` are added on top of it
+ *     (deduped). Each named map must already exist server-side; a typo is rejected with 400.
+ *   - `transform.id` may be left blank ('') to have the server generate a UUID; the returned
+ *     {@link AddPanoramaResponse.id} echoes whichever value the panorama was created under.
+ *   - `transform.parent` is created as a FRAME node when it doesn't already exist anywhere
+ *     in the project, so callers don't need to bootstrap the parent before posting.
+ */
+export interface AddPanoramaRequest extends Panorama {
+    map?: string | string[];
+}
+export interface AddPanoramaResponse {
+    /** Panorama node id — either the value the caller supplied, or the UUID the server generated. */
+    id: string;
+}
 export {};

package/esm/models/robot-status/RobotStatus.d.ts

@@ -0,0 +1,43 @@
+import { RobotConnectivity, RobotHealth, RobotReadiness, ServiceConnection } from './RobotStatusEnums';
+/** The semantic colour tokens a status indicator can use. */
+export type RobotStatusColourToken = 'gray' | 'green' | 'blue' | 'yellow' | 'red';
+/**
+ * The canonical colour a status indicator should display, as a semantic token
+ * rather than a concrete colour — each consumer maps the token to its own theme.
+ *
+ * "Flashing" is structural rather than a single value: a degraded robot flashes
+ * red/gray, while an online robot whose health is explicitly unknown flashes
+ * green/gray.
+ */
+export type RobotStatusColour = {
+    kind: 'solid';
+    token: RobotStatusColourToken;
+} | {
+    kind: 'flashing';
+    tokens: ['red', 'gray'];
+} | {
+    kind: 'flashing';
+    tokens: ['green', 'gray'];
+};
+/**
+ * The robot's connectivity to the cloud platform: an aggregate verdict plus the
+ * per-service breakdown it was derived from. Only the *expected* services for a
+ * given robot are present in `services`.
+ */
+export interface RobotConnectivityStatus {
+    overall: RobotConnectivity;
+    /** Keyed by service id (e.g. `robot-configs`, `robot-services`, `telemetry-liveness`). */
+    services: Record<string, ServiceConnection>;
+}
+/**
+ * The combined, canonical status of a robot: what the robot reports about itself
+ * (health + readiness), its connectivity, and the resulting indicator colour.
+ *
+ * This is the object emitted by `RobotStatusService.getRobotStatusChanges()`.
+ */
+export interface RobotStatus {
+    health: RobotHealth;
+    readiness: RobotReadiness;
+    connectivity: RobotConnectivityStatus;
+    colour: RobotStatusColour;
+}

package/esm/models/robot-status/RobotStatus.js

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

package/esm/models/robot-status/RobotStatusEnums.d.ts

@@ -0,0 +1,54 @@
+/**
+ * The health of a robot, as reported by the agent's `robot/status` topic.
+ *
+ * The string values are the SDK-facing representation; the agent encodes these
+ * as integers on the wire (shown below). The {@link RobotStatusService} maps
+ * the integer wire values onto these enums on receipt.
+ */
+export declare enum RobotHealth {
+    /** `0` on the wire. Health has not been determined. */
+    UNKNOWN = "unknown",
+    /** `1` on the wire. The robot is healthy. */
+    NORMAL = "normal",
+    /** `2` on the wire. Something needs attention, but the robot is still functional. */
+    ABNORMAL = "abnormal",
+    /** `3` on the wire. The robot requires immediate attention. */
+    CRITICAL = "critical"
+}
+/**
+ * The readiness of a robot — whether it is available to take on work — as
+ * reported by the agent's `robot/status` topic.
+ *
+ * As with {@link RobotHealth}, the agent encodes these as integers on the wire.
+ */
+export declare enum RobotReadiness {
+    /** `0` on the wire. Readiness has not been determined. */
+    UNKNOWN = "unknown",
+    /** `1` on the wire. The robot is available. */
+    IDLE = "idle",
+    /** `2` on the wire. The robot is occupied and should not be interrupted. */
+    BUSY = "busy"
+}
+/**
+ * Whether the robot is connected to a single cloud service, as reported by that
+ * service's `connections` endpoint (or, for `telemetry-liveness`, derived from
+ * heartbeat freshness).
+ */
+export declare enum ServiceConnection {
+    CONNECTED = "connected",
+    DISCONNECTED = "disconnected",
+    /** The service's connectivity has not yet been determined (e.g. not polled). */
+    UNKNOWN = "unknown"
+}
+/**
+ * The robot's overall connectivity to the cloud platform, aggregated across all
+ * expected services.
+ */
+export declare enum RobotConnectivity {
+    /** Every expected service reports connected. */
+    ONLINE = "online",
+    /** Some, but not all, expected services report connected. */
+    DEGRADED = "degraded",
+    /** No expected service reports connected. */
+    OFFLINE = "offline"
+}

package/esm/models/robot-status/RobotStatusEnums.js

@@ -0,0 +1,58 @@
+/**
+ * The health of a robot, as reported by the agent's `robot/status` topic.
+ *
+ * The string values are the SDK-facing representation; the agent encodes these
+ * as integers on the wire (shown below). The {@link RobotStatusService} maps
+ * the integer wire values onto these enums on receipt.
+ */
+export var RobotHealth;
+(function (RobotHealth) {
+    /** `0` on the wire. Health has not been determined. */
+    RobotHealth["UNKNOWN"] = "unknown";
+    /** `1` on the wire. The robot is healthy. */
+    RobotHealth["NORMAL"] = "normal";
+    /** `2` on the wire. Something needs attention, but the robot is still functional. */
+    RobotHealth["ABNORMAL"] = "abnormal";
+    /** `3` on the wire. The robot requires immediate attention. */
+    RobotHealth["CRITICAL"] = "critical";
+})(RobotHealth || (RobotHealth = {}));
+/**
+ * The readiness of a robot — whether it is available to take on work — as
+ * reported by the agent's `robot/status` topic.
+ *
+ * As with {@link RobotHealth}, the agent encodes these as integers on the wire.
+ */
+export var RobotReadiness;
+(function (RobotReadiness) {
+    /** `0` on the wire. Readiness has not been determined. */
+    RobotReadiness["UNKNOWN"] = "unknown";
+    /** `1` on the wire. The robot is available. */
+    RobotReadiness["IDLE"] = "idle";
+    /** `2` on the wire. The robot is occupied and should not be interrupted. */
+    RobotReadiness["BUSY"] = "busy";
+})(RobotReadiness || (RobotReadiness = {}));
+/**
+ * Whether the robot is connected to a single cloud service, as reported by that
+ * service's `connections` endpoint (or, for `telemetry-liveness`, derived from
+ * heartbeat freshness).
+ */
+export var ServiceConnection;
+(function (ServiceConnection) {
+    ServiceConnection["CONNECTED"] = "connected";
+    ServiceConnection["DISCONNECTED"] = "disconnected";
+    /** The service's connectivity has not yet been determined (e.g. not polled). */
+    ServiceConnection["UNKNOWN"] = "unknown";
+})(ServiceConnection || (ServiceConnection = {}));
+/**
+ * The robot's overall connectivity to the cloud platform, aggregated across all
+ * expected services.
+ */
+export var RobotConnectivity;
+(function (RobotConnectivity) {
+    /** Every expected service reports connected. */
+    RobotConnectivity["ONLINE"] = "online";
+    /** Some, but not all, expected services report connected. */
+    RobotConnectivity["DEGRADED"] = "degraded";
+    /** No expected service reports connected. */
+    RobotConnectivity["OFFLINE"] = "offline";
+})(RobotConnectivity || (RobotConnectivity = {}));

package/esm/services/CallerService.d.ts

@@ -43,6 +43,44 @@ export declare class CallerService extends BaseStreamService<ICallerStream> {
         ack$: Observable<IRocosCallerMessageResponseAck>;
         cancel: () => Promise<void>;
     };
+    /** Invoke a long-running action (ROS 2 action-server semantics) and expose its lifecycle safely.
+     *
+     * Use this instead of `call` when the request is *accepted* (ack) long before it
+     * *completes* (result) — e.g. a navigation goal or a mission. The semantics are:
+     * fire the request exactly once, hold the underlying stream open after the ack,
+     * and tear it down only when the action itself completes/errors.
+     *
+     * This differs from `call` in one crucial way: `call` builds `ack$`/`result$` on a
+     * refcounted shared source, so awaiting `ack$` (dropping the subscriber count to
+     * zero) and *then* subscribing to `result$` re-issues the goal. `callAction` pins the
+     * source with a single SDK-owned subscription for the action's lifetime, so:
+     *   - the request fires once and is never re-issued by subscriber churn,
+     *   - `ack` is a Promise (inherently replayable — await it in any order),
+     *   - `result$` replays the one-shot result, so a late or out-of-order subscriber
+     *     still receives it.
+     *
+     * Lifecycle:
+     *   - `ack`     resolves with the first acknowledgement; rejects if the action
+     *               errors (or completes) before any ack arrives.
+     *   - `result$` emits the single result and completes when the action ends. Replayed,
+     *               so subscription order relative to awaiting `ack` does not matter.
+     *   - `return$` streams live feedback/return payloads (decoded as `T`). Not replayed —
+     *               subscribe before the action emits feedback to avoid missing it.
+     *   - `cancel`  asks the server to cancel; the action then emits its result and closes.
+     *   - `close`   stops tracking the action locally *without* cancelling it on the robot,
+     *               releasing the underlying stream. For teardown paths (e.g. UI unmount)
+     *               where the action should keep running but the result is no longer needed.
+     *
+     * @see call
+     * @see callRaw
+     */
+    callAction<T = unknown>(params: ICallerCallParams): {
+        ack: Promise<IRocosCallerMessageResponseAck>;
+        result$: Observable<IRocosCallerMessageResponseResult>;
+        return$: Observable<T>;
+        cancel: () => Promise<void>;
+        close: () => void;
+    };
     protected createStream(): Promise<ICallerStream>;
     protected getStream(config: IStreamConfig): ICallerStream;
 }

package/esm/services/CallerService.js

@@ -1,5 +1,5 @@
 import { ResultStatus, RocosResponseLevel, } from '../models';
-import { from, lastValueFrom, map, mergeMap, share, switchMap, take, takeUntil, throwError } from 'rxjs';
+import { ReplaySubject, firstValueFrom, from, lastValueFrom, map, mergeMap, share, switchMap, take, takeUntil, throwError, } from 'rxjs';
 import { catchError, filter } from 'rxjs/operators';
 import { getResponses, handleChunkedMessages } from '../helpers/callerMessageHelpers';
 import { BaseStreamService } from './BaseStreamService';
@@ -101,6 +101,62 @@ export class CallerService extends BaseStreamService {
             cancel,
         };
     }
+    /** Invoke a long-running action (ROS 2 action-server semantics) and expose its lifecycle safely.
+     *
+     * Use this instead of `call` when the request is *accepted* (ack) long before it
+     * *completes* (result) — e.g. a navigation goal or a mission. The semantics are:
+     * fire the request exactly once, hold the underlying stream open after the ack,
+     * and tear it down only when the action itself completes/errors.
+     *
+     * This differs from `call` in one crucial way: `call` builds `ack$`/`result$` on a
+     * refcounted shared source, so awaiting `ack$` (dropping the subscriber count to
+     * zero) and *then* subscribing to `result$` re-issues the goal. `callAction` pins the
+     * source with a single SDK-owned subscription for the action's lifetime, so:
+     *   - the request fires once and is never re-issued by subscriber churn,
+     *   - `ack` is a Promise (inherently replayable — await it in any order),
+     *   - `result$` replays the one-shot result, so a late or out-of-order subscriber
+     *     still receives it.
+     *
+     * Lifecycle:
+     *   - `ack`     resolves with the first acknowledgement; rejects if the action
+     *               errors (or completes) before any ack arrives.
+     *   - `result$` emits the single result and completes when the action ends. Replayed,
+     *               so subscription order relative to awaiting `ack` does not matter.
+     *   - `return$` streams live feedback/return payloads (decoded as `T`). Not replayed —
+     *               subscribe before the action emits feedback to avoid missing it.
+     *   - `cancel`  asks the server to cancel; the action then emits its result and closes.
+     *   - `close`   stops tracking the action locally *without* cancelling it on the robot,
+     *               releasing the underlying stream. For teardown paths (e.g. UI unmount)
+     *               where the action should keep running but the result is no longer needed.
+     *
+     * @see call
+     * @see callRaw
+     */
+    callAction(params) {
+        const stream = this.call(params);
+        // Replay the one-shot result so subscription order never matters and a late
+        // subscriber still receives it.
+        const result = new ReplaySubject(1);
+        // One SDK-owned subscription pins the shared source alive for the whole action.
+        // It fires the request once (first subscriber) and forwards the result into the
+        // replay subject, completing/erroring it when the action ends. Because this
+        // subscription outlives any `firstValueFrom(ack)` teardown, subscriber churn can
+        // never reset the source and re-issue the goal.
+        const pin = stream.result$.subscribe(result);
+        // `ack` rejects if the action errors or completes before any ack arrives. Since
+        // callAction is meant to be consumed via result$/return$ too, a caller may never
+        // touch `ack` — without a handler that rejection would surface as an unhandled
+        // promise rejection. Awaiting `action.ack` still rejects for callers who do care.
+        const ack = firstValueFrom(stream.ack$);
+        ack.catch(() => { });
+        return {
+            ack,
+            result$: result.asObservable(),
+            return$: stream.return$,
+            cancel: stream.cancel,
+            close: () => pin.unsubscribe(),
+        };
+    }
     async createStream() {
         return (await this.createStreamFromConfig(IDENTIFIER_NAME_CALLER, {
             url: this.config.url,

package/esm/services/MapService.d.ts

@@ -1,5 +1,5 @@
+import { AddPanoramaRequest, AddPanoramaResponse, CreateObservation, Observation } from '../models/maps/Panorama';
 import { Asset, IBaseService, IRocosSDKConfig, Map, MapContent, RocosError } from '../models';
-import { CreateObservation, Observation } from '../models/maps/Panorama';
 import { BaseServiceAbstract } from './BaseServiceAbstract';
 /**
  * Maps service for managing robot maps in the cloud and on robots
@@ -202,6 +202,25 @@ export declare class MapService extends BaseServiceAbstract implements IBaseServ
      * @returns A list of assets
      */
     getAssetsKeys(projectId: string): Promise<string[]>;
+    /**
+     * Adds a panorama to the project's dronedeploy map (and optionally other named maps).
+     *
+     * The dronedeploy map is always written. To also write the panorama into additional maps,
+     * pass their ids in `body.map` (single string or array). Each named map must already exist —
+     * unknown ids reject the whole call with 400. Entries are deduplicated against dronedeploy
+     * and each other.
+     *
+     * Two server-side conveniences:
+     *   - `body.transform.id` may be left blank ('') to have the server generate a UUID. The
+     *     created id is returned in the response so the caller can subsequently get/delete it.
+     *   - `body.transform.parent` is auto-created as a FRAME node when it doesn't already exist
+     *     anywhere in the project; no separate "create parent frame" call is required.
+     *
+     * @param projectId The ID of the project the panorama belongs to.
+     * @param body Panorama transform + data, with an optional `map` selector.
+     * @returns The panorama node id that was created (echoed when supplied, generated when blank).
+     */
+    addPanorama(projectId: string, body: AddPanoramaRequest): Promise<AddPanoramaResponse>;
     /**
      * Deletes a panorama by panoramaID.
      *

package/esm/services/MapService.js

@@ -1,4 +1,4 @@
-import { API_GRAPHS_MAPS_COPY_URL, API_GRAPHS_MAPS_DEPLOYED_URL, API_GRAPHS_MAPS_DEPLOY_URL, API_GRAPHS_MAPS_GEOJSON_URL, API_GRAPHS_MAPS_MERGE_URL, API_GRAPHS_MAPS_NEW_URL, API_GRAPHS_MAPS_URL, API_GRAPHS_MAP_CONTENT_URL, API_GRAPHS_MAP_ID_URL, API_GRAPHS_MAP_METADATA_URL, API_GRAPHS_OBSERVATIONS_URL, API_GRAPHS_OBSERVATION_KEYS_URL, API_GRAPHS_PANORAMA, API_GRAPHS_PANORAMA_OBSERVATIONS_URL, } from '../constants/api';
+import { API_GRAPHS_MAPS_COPY_URL, API_GRAPHS_MAPS_DEPLOYED_URL, API_GRAPHS_MAPS_DEPLOY_URL, API_GRAPHS_MAPS_GEOJSON_URL, API_GRAPHS_MAPS_MERGE_URL, API_GRAPHS_MAPS_NEW_URL, API_GRAPHS_MAPS_URL, API_GRAPHS_MAP_CONTENT_URL, API_GRAPHS_MAP_ID_URL, API_GRAPHS_MAP_METADATA_URL, API_GRAPHS_OBSERVATIONS_URL, API_GRAPHS_OBSERVATION_KEYS_URL, API_GRAPHS_PANORAMA, API_GRAPHS_PANORAMAS_URL, API_GRAPHS_PANORAMA_OBSERVATIONS_URL, } from '../constants/api';
 import { RocosError, errorCodes } from '../models';
 import { BaseServiceAbstract } from './BaseServiceAbstract';
 import { RocosLogger } from '../logger/RocosLogger';
@@ -279,6 +279,27 @@ export class MapService extends BaseServiceAbstract {
     getAssetsKeys(projectId) {
         return this.callGet(formatServiceUrl(API_GRAPHS_OBSERVATION_KEYS_URL, { url: this.config.url, projectId }, this.config.insecure), 'Failed to get asset keys.');
     }
+    /**
+     * Adds a panorama to the project's dronedeploy map (and optionally other named maps).
+     *
+     * The dronedeploy map is always written. To also write the panorama into additional maps,
+     * pass their ids in `body.map` (single string or array). Each named map must already exist —
+     * unknown ids reject the whole call with 400. Entries are deduplicated against dronedeploy
+     * and each other.
+     *
+     * Two server-side conveniences:
+     *   - `body.transform.id` may be left blank ('') to have the server generate a UUID. The
+     *     created id is returned in the response so the caller can subsequently get/delete it.
+     *   - `body.transform.parent` is auto-created as a FRAME node when it doesn't already exist
+     *     anywhere in the project; no separate "create parent frame" call is required.
+     *
+     * @param projectId The ID of the project the panorama belongs to.
+     * @param body Panorama transform + data, with an optional `map` selector.
+     * @returns The panorama node id that was created (echoed when supplied, generated when blank).
+     */
+    addPanorama(projectId, body) {
+        return this.callPut(formatServiceUrl(API_GRAPHS_PANORAMAS_URL, { url: this.config.url, projectId }, this.config.insecure), body, 'Failed to add panorama.');
+    }
     /**
      * Deletes a panorama by panoramaID.
      *

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@dronedeploy/rocos-js-sdk",
-  "version": "3.1.5",
+  "version": "3.1.7",
   "description": "Javascript SDK for rocos",
   "main": "cjs/index.js",
   "module": "esm/index.js",