@dronedeploy/rocos-js-sdk 3.1.8 → 4.1.0

package/README.md

@@ -19,6 +19,11 @@ yarn add @dronedeploy/rocos-js-sdk rxjs@^7
 
 ## What's new
 
+### 4.0.0
+
+* **BREAKING:** The default telemetry `transport` is now `'connect'` (the Connect protocol) instead of `'grpc-web'`. Consumers that do not set `transport` explicitly will switch to Connect automatically. If your backend or proxy only supports gRPC-web, restore the previous behaviour with `transport: 'grpc-web'`.
+* The `'grpc-web'` telemetry transport is deprecated and will be removed in a future release. Selecting it now logs a one-time deprecation warning.
+
 ### 3.1.2
 
 * Use the optional `fetch` implementation for the gRPC-web transport too, so a custom `fetch` can be supplied consistently across transports.

package/cjs/api/streams/telemetry/TelemetryStreamConnect.d.ts

@@ -3,7 +3,7 @@ import { TelemetryAckStatus, TelemetryQueryRequest, TelemetryRequest } from '../
 import { TelemetryStreamAbstract } from './TelemetryStreamAbstract';
 /**
  * Connect-protocol telemetry receive stream. Mirrors TelemetryStream (grpc-web) but uses
- * @connectrpc/connect. Selected when config.transport === 'connect'.
+ * @connectrpc/connect. The default transport, selected unless config.transport === 'grpc-web'.
  *
  * The shared TelemetryStreamAbstract is typed with the protobuf-ts message types, while the
  * Connect client uses @bufbuild/protobuf types. Both serialise to identical protobuf wire

package/cjs/api/streams/telemetry/TelemetryStreamConnect.js

@@ -11,7 +11,7 @@ const TelemetryStreamAbstract_1 = require("./TelemetryStreamAbstract");
 const connect_web_1 = require("@connectrpc/connect-web");
 /**
  * Connect-protocol telemetry receive stream. Mirrors TelemetryStream (grpc-web) but uses
- * @connectrpc/connect. Selected when config.transport === 'connect'.
+ * @connectrpc/connect. The default transport, selected unless config.transport === 'grpc-web'.
  *
  * The shared TelemetryStreamAbstract is typed with the protobuf-ts message types, while the
  * Connect client uses @bufbuild/protobuf types. Both serialise to identical protobuf wire

package/cjs/constants/api.d.ts

@@ -128,6 +128,12 @@ export declare const API_GRAPHS_MAPS_MERGE_URL = "https://{url}/graphs/projects/
 export declare const API_GRAPHS_MAP_ID_URL = "https://{url}/graphs/projects/{projectId}/maps/{mapId}";
 export declare const API_GRAPHS_MAP_CONTENT_URL = "https://{url}/graphs/projects/{projectId}/maps/{mapId}/content";
 export declare const API_GRAPHS_MAP_METADATA_URL = "https://{url}/graphs/projects/{projectId}/maps/{mapId}/metadata";
+export declare const API_GRAPHS_MAP_NODES_ADD_URL = "https://{url}/graphs/projects/{projectId}/maps/{mapId}/nodes/add";
+export declare const API_GRAPHS_MAP_NODES_ADD_TRANSFORMABLE_URL = "https://{url}/graphs/projects/{projectId}/maps/{mapId}/nodes/add/transformable";
+export declare const API_GRAPHS_MAP_NODE_URL = "https://{url}/graphs/projects/{projectId}/maps/{mapId}/nodes/{nodeId}";
+export declare const API_GRAPHS_MAP_EDGES_ADD_URL = "https://{url}/graphs/projects/{projectId}/maps/{mapId}/edges/add";
+export declare const API_GRAPHS_MAP_EDGES_ADD_TRANSFORM_URL = "https://{url}/graphs/projects/{projectId}/maps/{mapId}/edges/add/transform";
+export declare const API_GRAPHS_MAP_EDGE_URL = "https://{url}/graphs/projects/{projectId}/maps/{mapId}/edges/{edgeId}";
 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";

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_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_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_EDGE_URL = exports.API_GRAPHS_MAP_EDGES_ADD_TRANSFORM_URL = exports.API_GRAPHS_MAP_EDGES_ADD_URL = exports.API_GRAPHS_MAP_NODE_URL = exports.API_GRAPHS_MAP_NODES_ADD_TRANSFORMABLE_URL = exports.API_GRAPHS_MAP_NODES_ADD_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 = 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 = 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';
@@ -134,6 +134,12 @@ exports.API_GRAPHS_MAPS_MERGE_URL = 'https://{url}/graphs/projects/{projectId}/m
 exports.API_GRAPHS_MAP_ID_URL = 'https://{url}/graphs/projects/{projectId}/maps/{mapId}';
 exports.API_GRAPHS_MAP_CONTENT_URL = 'https://{url}/graphs/projects/{projectId}/maps/{mapId}/content';
 exports.API_GRAPHS_MAP_METADATA_URL = 'https://{url}/graphs/projects/{projectId}/maps/{mapId}/metadata';
+exports.API_GRAPHS_MAP_NODES_ADD_URL = 'https://{url}/graphs/projects/{projectId}/maps/{mapId}/nodes/add';
+exports.API_GRAPHS_MAP_NODES_ADD_TRANSFORMABLE_URL = 'https://{url}/graphs/projects/{projectId}/maps/{mapId}/nodes/add/transformable';
+exports.API_GRAPHS_MAP_NODE_URL = 'https://{url}/graphs/projects/{projectId}/maps/{mapId}/nodes/{nodeId}';
+exports.API_GRAPHS_MAP_EDGES_ADD_URL = 'https://{url}/graphs/projects/{projectId}/maps/{mapId}/edges/add';
+exports.API_GRAPHS_MAP_EDGES_ADD_TRANSFORM_URL = 'https://{url}/graphs/projects/{projectId}/maps/{mapId}/edges/add/transform';
+exports.API_GRAPHS_MAP_EDGE_URL = 'https://{url}/graphs/projects/{projectId}/maps/{mapId}/edges/{edgeId}';
 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';

package/cjs/models/IStreamConfig.d.ts

@@ -1,5 +1,5 @@
 import { IStreamOptions } from './IStreamOptions';
-export type TelemetryTransport = 'grpc-web' | 'connect';
+export type TelemetryTransport = 'connect' | 'grpc-web';
 export interface IStreamConfig {
     url: string;
     token: string;

package/cjs/models/index.d.ts

@@ -49,6 +49,8 @@ export * from './IWidget';
 export * from './IWidgetLineGroup';
 export * from './maps/Map';
 export * from './maps/MapContent';
+export * from './maps/MapEdge';
+export * from './maps/MapNode';
 export * from './maps/Panorama';
 export * from './message';
 export * from './params/ICallerParams';

package/cjs/models/index.js

@@ -65,6 +65,8 @@ __exportStar(require("./IWidget"), exports);
 __exportStar(require("./IWidgetLineGroup"), exports);
 __exportStar(require("./maps/Map"), exports);
 __exportStar(require("./maps/MapContent"), exports);
+__exportStar(require("./maps/MapEdge"), exports);
+__exportStar(require("./maps/MapNode"), exports);
 __exportStar(require("./maps/Panorama"), exports);
 __exportStar(require("./message"), exports);
 __exportStar(require("./params/ICallerParams"), exports);

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

@@ -0,0 +1,47 @@
+import { Quaternion, Vector3 } from '../graph';
+/**
+ * Body of `POST /graphs/projects/{projectId}/maps/{mapId}/edges/add`. Adds a single edge
+ * between two existing nodes in the map. `id` is optional — when omitted the server derives
+ * it from `(from, to, type)`.
+ *
+ * Create-only: a colliding edge id in the target map is rejected with 409 rather than being
+ * upserted. Reserved edge types (`ALIAS`, `DEPLOYED`) and edges touching server-managed
+ * nodes are refused with 400, and both endpoint nodes must already exist (400 otherwise).
+ *
+ * A `TRANSFORM` edge may be added through this endpoint, but it must carry a valid 16-element
+ * row-major matrix under `data.TransformMatrix`; use {@link AddTransformEdgeRequest} /
+ * `MapService.addTransformEdge` to have the SDK build that matrix from a rotation + position.
+ */
+export interface AddEdgeRequest {
+    from: string;
+    to: string;
+    type: string;
+    id?: string;
+    data?: Record<string, unknown>;
+}
+/**
+ * Caller-facing body for `POST /graphs/projects/{projectId}/maps/{mapId}/edges/add/transform`.
+ * Adds a `TRANSFORM` edge from `from` to `to`, positioning `to` relative to `from` by the
+ * supplied rotation + position. `id` is optional (derived from `(from, to, TRANSFORM)` when
+ * omitted). The `rot`/`pos` naming matches the panorama and node transforms.
+ *
+ * Wire-shape note: the server receives the transform as `{ rotation, translation }` nested
+ * under `transform`. `MapService.addTransformEdge` marshals `rot`/`pos` onto that shape
+ * before POSTing; callers only ever see the `rot`/`pos` form.
+ */
+export interface AddTransformEdgeRequest {
+    from: string;
+    to: string;
+    id?: string;
+    transform: {
+        rot: Quaternion;
+        pos: Vector3;
+    };
+}
+/**
+ * Body returned by both edge-add endpoints. `id` echoes the value the caller supplied, or
+ * the id the server derived from `(from, to, type)` when none was given.
+ */
+export interface AddEdgeResponse {
+    id: string;
+}

package/cjs/models/maps/MapEdge.js

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

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

@@ -0,0 +1,48 @@
+import { Quaternion, Vector3 } from '../graph';
+/**
+ * A rigid-body affine transform (rotation + position) expressed relative to a named parent
+ * frame. The parent is part of the type so an `AffineTransform` value is well-formed on its
+ * own — a rotation+position without a parent frame is meaningless because there's nothing to
+ * measure it against. Field naming matches the {@link Panorama} transform (`pos`/`rot`).
+ */
+export interface AffineTransform {
+    /** Id of the frame node the transform is measured relative to. */
+    parent: string;
+    rot: Quaternion;
+    pos: Vector3;
+}
+/**
+ * Body of `POST /graphs/projects/{projectId}/maps/{mapId}/nodes/add`. Adds a single node to
+ * an existing map without a parent-transform edge — the node lands "loose" in the map's
+ * graph. Use {@link AddTransformableNodeRequest} when you also need to position the node
+ * under an existing frame.
+ *
+ * Create-only: a duplicate `id` in the target map is rejected with 409 rather than being
+ * upserted. Server-managed types (`SUMMARY`, `CALLSIGN`, `GeoScene`, `MAP_INFO`) are refused
+ * with 400.
+ */
+export interface AddNodeRequest {
+    id: string;
+    type: string;
+    data?: Record<string, unknown>;
+}
+/**
+ * Body of `POST /graphs/projects/{projectId}/maps/{mapId}/nodes/add/transformable`. Same
+ * as {@link AddNodeRequest} plus an {@link AffineTransform} that positions the new node
+ * under an existing frame in the map via a `TRANSFORM` edge.
+ *
+ * The frame node must already exist in the target map — a missing frame is rejected with
+ * 400, and a frame that disappears between the pre-check and the write returns 409.
+ *
+ * Note on wire format: the server currently receives `frame` and `transform` as sibling
+ * fields, with `transform.translation` instead of `pos`. `MapService.addTransformableNode`
+ * translates this shape onto the wire before POSTing; callers only ever see the
+ * {@link AffineTransform} form.
+ */
+export interface AddTransformableNodeRequest extends AddNodeRequest {
+    transform: AffineTransform;
+}
+/** Body returned by both add endpoints. `id` echoes the value the caller supplied. */
+export interface AddNodeResponse {
+    id: string;
+}

package/cjs/models/maps/MapNode.js

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

package/cjs/services/MapService.d.ts

@@ -1,3 +1,5 @@
+import { AddEdgeRequest, AddEdgeResponse, AddTransformEdgeRequest } from '../models/maps/MapEdge';
+import { AddNodeRequest, AddNodeResponse, AddTransformableNodeRequest } from '../models/maps/MapNode';
 import { AddPanoramaRequest, AddPanoramaResponse, CreateObservation, Observation } from '../models/maps/Panorama';
 import { Asset, IBaseService, IRocosSDKConfig, Map, MapContent, RocosError } from '../models';
 import { BaseServiceAbstract } from './BaseServiceAbstract';
@@ -229,4 +231,107 @@ export declare class MapService extends BaseServiceAbstract implements IBaseServ
      * @returns A Promise.
      */
     deletePanorama(projectId: string, panoramaId: string): Promise<void>;
+    /**
+     * Add a single node to an existing map. A low-impact, targeted alternative to replacing the
+     * whole map via {@link create} — same access surface (permitted on the reserved dronedeploy
+     * map and on normal maps; the environment map remains off-limits).
+     *
+     * Create-only: a duplicate id in the target map is rejected with 409 rather than being
+     * silently upserted, to keep the blast radius small on the shared dronedeploy map.
+     * Server-managed types (`SUMMARY`, `CALLSIGN`, `GeoScene`, `MAP_INFO`) are refused with
+     * 400. Adding to a map that doesn't exist returns 404.
+     *
+     * @param projectId The ID of the project the map belongs to.
+     * @param mapId The ID of the map to add the node to.
+     * @param body The node to add.
+     * @returns The id of the created node (echoes `body.id`).
+     */
+    addNode(projectId: string, mapId: string, body: AddNodeRequest): Promise<AddNodeResponse>;
+    /**
+     * Add a single node **and** a `TRANSFORM` edge that positions it under an existing frame
+     * node in the same map, by the supplied rotation + position. Same access rules and
+     * create-only semantics as {@link addNode}.
+     *
+     * The parent frame node (`body.transform.parent`) must already exist in the target map —
+     * a missing frame is rejected with 400, and a frame that vanishes between the pre-check
+     * and the write returns 409 (the transaction rolls back so no orphan node is created).
+     *
+     * Wire-shape note: the server currently receives `frame` as a top-level field alongside
+     * `transform`, and expects the position under the wire name `translation`. This method
+     * marshals the caller-facing {@link AddTransformableNodeRequest} (which carries `parent`
+     * inline in `transform` and uses `pos`/`rot` to match the panorama transform) onto that
+     * shape before POSTing.
+     *
+     * @param projectId The ID of the project the map belongs to.
+     * @param mapId The ID of the map to add the node to.
+     * @param body The node to add plus the transform that positions it under a parent frame.
+     * @returns The id of the created node (echoes `body.id`).
+     */
+    addTransformableNode(projectId: string, mapId: string, body: AddTransformableNodeRequest): Promise<AddNodeResponse>;
+    /**
+     * Delete a single node (and any edges attached to it) from a map. Idempotent — a missing
+     * node still returns success. Refuses server-managed types (`SUMMARY`, `CALLSIGN`,
+     * `GeoScene`, `MAP_INFO`) with 400.
+     *
+     * Access rules differ from the add endpoints because deleting has a larger blast radius:
+     * the environment map is always off-limits; the dronedeploy map is deletable only by
+     * admin users (server enforces via 401/403); normal maps are deletable by any caller with
+     * project access.
+     *
+     * @param projectId The ID of the project the map belongs to.
+     * @param mapId The ID of the map to delete the node from.
+     * @param nodeId The ID of the node to delete.
+     */
+    deleteNode(projectId: string, mapId: string, nodeId: string): Promise<void>;
+    /**
+     * Add a single edge between two existing nodes in a map. The edge-side counterpart of
+     * {@link addNode}: a low-impact, targeted alternative to replacing the whole map — same
+     * access surface (permitted on the reserved dronedeploy map and on normal maps; the
+     * environment map remains off-limits).
+     *
+     * Create-only: a colliding edge id is rejected with 409 rather than upserted. Reserved
+     * edge types (`ALIAS`, `DEPLOYED`) and edges touching server-managed nodes are refused
+     * with 400, both endpoint nodes must already exist (400 otherwise), and a `TRANSFORM`
+     * edge must carry a valid `data.TransformMatrix` (use {@link addTransformEdge} to build
+     * one from a rotation + position). Adding to a map that doesn't exist returns 404.
+     *
+     * @param projectId The ID of the project the map belongs to.
+     * @param mapId The ID of the map to add the edge to.
+     * @param body The edge to add. `id` is optional; when omitted the server derives it.
+     * @returns The id of the created edge (echoes `body.id`, or the server-derived id).
+     */
+    addEdge(projectId: string, mapId: string, body: AddEdgeRequest): Promise<AddEdgeResponse>;
+    /**
+     * Add a single `TRANSFORM` edge from one existing node to another, positioning the `to`
+     * node relative to the `from` node by the supplied rotation + position. A specialisation
+     * of {@link addEdge} with the type fixed to `TRANSFORM` and the matrix built server-side;
+     * same access rules and create-only semantics.
+     *
+     * Both endpoint nodes must already exist in the target map (400 otherwise).
+     *
+     * Wire-shape note: the server receives the transform as `{ rotation, translation }` nested
+     * under `transform`. This method marshals the caller-facing `rot`/`pos` (matching the
+     * panorama/node transform naming) onto that shape before POSTing.
+     *
+     * @param projectId The ID of the project the map belongs to.
+     * @param mapId The ID of the map to add the edge to.
+     * @param body The transform edge to add. `id` is optional; when omitted the server derives it.
+     * @returns The id of the created edge (echoes `body.id`, or the server-derived id).
+     */
+    addTransformEdge(projectId: string, mapId: string, body: AddTransformEdgeRequest): Promise<AddEdgeResponse>;
+    /**
+     * Delete a single edge by id from a map. Idempotent — a missing edge still returns
+     * success. Reserved/server-managed edge types and edges touching server-managed nodes are
+     * refused with 400.
+     *
+     * Access rules match {@link deleteNode} (deleting has a larger blast radius than adding):
+     * the environment map is always off-limits; the dronedeploy map is deletable only by admin
+     * users (server enforces via 401/403); normal maps are deletable by any caller with project
+     * access.
+     *
+     * @param projectId The ID of the project the map belongs to.
+     * @param mapId The ID of the map to delete the edge from.
+     * @param edgeId The ID of the edge to delete.
+     */
+    deleteEdge(projectId: string, mapId: string, edgeId: string): Promise<void>;
 }

package/cjs/services/MapService.js

@@ -313,5 +313,146 @@ class MapService extends BaseServiceAbstract_1.BaseServiceAbstract {
     deletePanorama(projectId, panoramaId) {
         return this.callDelete((0, formatServiceUrl_1.formatServiceUrl)(api_1.API_GRAPHS_PANORAMA, { url: this.config.url, projectId, panoramaId }, this.config.insecure), 'Failed to delete panorama.');
     }
+    /**
+     * Add a single node to an existing map. A low-impact, targeted alternative to replacing the
+     * whole map via {@link create} — same access surface (permitted on the reserved dronedeploy
+     * map and on normal maps; the environment map remains off-limits).
+     *
+     * Create-only: a duplicate id in the target map is rejected with 409 rather than being
+     * silently upserted, to keep the blast radius small on the shared dronedeploy map.
+     * Server-managed types (`SUMMARY`, `CALLSIGN`, `GeoScene`, `MAP_INFO`) are refused with
+     * 400. Adding to a map that doesn't exist returns 404.
+     *
+     * @param projectId The ID of the project the map belongs to.
+     * @param mapId The ID of the map to add the node to.
+     * @param body The node to add.
+     * @returns The id of the created node (echoes `body.id`).
+     */
+    addNode(projectId, mapId, body) {
+        return this.callPost((0, formatServiceUrl_1.formatServiceUrl)(api_1.API_GRAPHS_MAP_NODES_ADD_URL, { url: this.config.url, projectId, mapId }, this.config.insecure), body, 'Failed to add node.');
+    }
+    /**
+     * Add a single node **and** a `TRANSFORM` edge that positions it under an existing frame
+     * node in the same map, by the supplied rotation + position. Same access rules and
+     * create-only semantics as {@link addNode}.
+     *
+     * The parent frame node (`body.transform.parent`) must already exist in the target map —
+     * a missing frame is rejected with 400, and a frame that vanishes between the pre-check
+     * and the write returns 409 (the transaction rolls back so no orphan node is created).
+     *
+     * Wire-shape note: the server currently receives `frame` as a top-level field alongside
+     * `transform`, and expects the position under the wire name `translation`. This method
+     * marshals the caller-facing {@link AddTransformableNodeRequest} (which carries `parent`
+     * inline in `transform` and uses `pos`/`rot` to match the panorama transform) onto that
+     * shape before POSTing.
+     *
+     * @param projectId The ID of the project the map belongs to.
+     * @param mapId The ID of the map to add the node to.
+     * @param body The node to add plus the transform that positions it under a parent frame.
+     * @returns The id of the created node (echoes `body.id`).
+     */
+    addTransformableNode(projectId, mapId, body) {
+        // Translate the caller-facing shape (parent inline in `transform`, `pos`/`rot`) onto the
+        // server's wire shape (`frame` at the top level, `translation`/`rotation` inside
+        // `transform`). Rationale for the divergence: the SDK type keeps `AffineTransform` well
+        // formed in isolation and mirrors the `Panorama.transform` naming (`pos`/`rot`); the
+        // server predates this convention and hasn't been migrated yet.
+        const wireBody = {
+            id: body.id,
+            type: body.type,
+            data: body.data,
+            frame: body.transform.parent,
+            transform: {
+                rotation: body.transform.rot,
+                translation: body.transform.pos,
+            },
+        };
+        return this.callPost((0, formatServiceUrl_1.formatServiceUrl)(api_1.API_GRAPHS_MAP_NODES_ADD_TRANSFORMABLE_URL, { url: this.config.url, projectId, mapId }, this.config.insecure), wireBody, 'Failed to add transformable node.');
+    }
+    /**
+     * Delete a single node (and any edges attached to it) from a map. Idempotent — a missing
+     * node still returns success. Refuses server-managed types (`SUMMARY`, `CALLSIGN`,
+     * `GeoScene`, `MAP_INFO`) with 400.
+     *
+     * Access rules differ from the add endpoints because deleting has a larger blast radius:
+     * the environment map is always off-limits; the dronedeploy map is deletable only by
+     * admin users (server enforces via 401/403); normal maps are deletable by any caller with
+     * project access.
+     *
+     * @param projectId The ID of the project the map belongs to.
+     * @param mapId The ID of the map to delete the node from.
+     * @param nodeId The ID of the node to delete.
+     */
+    deleteNode(projectId, mapId, nodeId) {
+        return this.callDelete((0, formatServiceUrl_1.formatServiceUrl)(api_1.API_GRAPHS_MAP_NODE_URL, { url: this.config.url, projectId, mapId, nodeId }, this.config.insecure), 'Failed to delete node.');
+    }
+    /**
+     * Add a single edge between two existing nodes in a map. The edge-side counterpart of
+     * {@link addNode}: a low-impact, targeted alternative to replacing the whole map — same
+     * access surface (permitted on the reserved dronedeploy map and on normal maps; the
+     * environment map remains off-limits).
+     *
+     * Create-only: a colliding edge id is rejected with 409 rather than upserted. Reserved
+     * edge types (`ALIAS`, `DEPLOYED`) and edges touching server-managed nodes are refused
+     * with 400, both endpoint nodes must already exist (400 otherwise), and a `TRANSFORM`
+     * edge must carry a valid `data.TransformMatrix` (use {@link addTransformEdge} to build
+     * one from a rotation + position). Adding to a map that doesn't exist returns 404.
+     *
+     * @param projectId The ID of the project the map belongs to.
+     * @param mapId The ID of the map to add the edge to.
+     * @param body The edge to add. `id` is optional; when omitted the server derives it.
+     * @returns The id of the created edge (echoes `body.id`, or the server-derived id).
+     */
+    addEdge(projectId, mapId, body) {
+        return this.callPost((0, formatServiceUrl_1.formatServiceUrl)(api_1.API_GRAPHS_MAP_EDGES_ADD_URL, { url: this.config.url, projectId, mapId }, this.config.insecure), body, 'Failed to add edge.');
+    }
+    /**
+     * Add a single `TRANSFORM` edge from one existing node to another, positioning the `to`
+     * node relative to the `from` node by the supplied rotation + position. A specialisation
+     * of {@link addEdge} with the type fixed to `TRANSFORM` and the matrix built server-side;
+     * same access rules and create-only semantics.
+     *
+     * Both endpoint nodes must already exist in the target map (400 otherwise).
+     *
+     * Wire-shape note: the server receives the transform as `{ rotation, translation }` nested
+     * under `transform`. This method marshals the caller-facing `rot`/`pos` (matching the
+     * panorama/node transform naming) onto that shape before POSTing.
+     *
+     * @param projectId The ID of the project the map belongs to.
+     * @param mapId The ID of the map to add the edge to.
+     * @param body The transform edge to add. `id` is optional; when omitted the server derives it.
+     * @returns The id of the created edge (echoes `body.id`, or the server-derived id).
+     */
+    addTransformEdge(projectId, mapId, body) {
+        // Translate the caller-facing `rot`/`pos` onto the server's wire shape
+        // (`transform.rotation`/`transform.translation`), mirroring addTransformableNode.
+        const wireBody = {
+            id: body.id,
+            from: body.from,
+            to: body.to,
+            transform: {
+                rotation: body.transform.rot,
+                translation: body.transform.pos,
+            },
+        };
+        return this.callPost((0, formatServiceUrl_1.formatServiceUrl)(api_1.API_GRAPHS_MAP_EDGES_ADD_TRANSFORM_URL, { url: this.config.url, projectId, mapId }, this.config.insecure), wireBody, 'Failed to add transform edge.');
+    }
+    /**
+     * Delete a single edge by id from a map. Idempotent — a missing edge still returns
+     * success. Reserved/server-managed edge types and edges touching server-managed nodes are
+     * refused with 400.
+     *
+     * Access rules match {@link deleteNode} (deleting has a larger blast radius than adding):
+     * the environment map is always off-limits; the dronedeploy map is deletable only by admin
+     * users (server enforces via 401/403); normal maps are deletable by any caller with project
+     * access.
+     *
+     * @param projectId The ID of the project the map belongs to.
+     * @param mapId The ID of the map to delete the edge from.
+     * @param edgeId The ID of the edge to delete.
+     */
+    deleteEdge(projectId, mapId, edgeId) {
+        return this.callDelete((0, formatServiceUrl_1.formatServiceUrl)(api_1.API_GRAPHS_MAP_EDGE_URL, { url: this.config.url, projectId, mapId, edgeId }, this.config.insecure), 'Failed to delete edge.');
+    }
 }
 exports.MapService = MapService;

package/cjs/services/TelemetryService.d.ts

@@ -2,6 +2,7 @@ import { Observable } from 'rxjs';
 import { CallsignStatus, IRocosSDKConfig, IRocosTelemetryMessage, IStreamStatusMessage, ITelemetryStream, ITelemetryStreamConfig, ITelemetrySubscriptionParams, ITelemetrySubscriptions, TelemetryMonitorStatus } from '../models';
 import { BaseStreamService } from './BaseStreamService';
 export declare class TelemetryService extends BaseStreamService<ITelemetryStream, ITelemetryStreamConfig> {
+    private static grpcWebDeprecationWarned;
     private statusSubscription;
     private changeStream$;
     private streamStatusSubject$;

package/cjs/services/TelemetryService.js

@@ -177,10 +177,16 @@ class TelemetryService extends BaseStreamService_1.BaseStreamService {
         return newStream.stream;
     }
     getStream(config) {
-        if (config.transport === 'connect') {
-            return new TelemetryStreamConnect_1.TelemetryStreamConnect(config);
+        if (config.transport === 'grpc-web') {
+            if (!TelemetryService.grpcWebDeprecationWarned) {
+                TelemetryService.grpcWebDeprecationWarned = true;
+                this.logger.warn('The grpc-web telemetry transport is deprecated and will be removed in a future release. ' +
+                    'Switch to the Connect protocol by setting transport to "connect" (now the default).');
+            }
+            return new TelemetryStream_1.TelemetryStream(config);
         }
-        return new TelemetryStream_1.TelemetryStream(config);
+        return new TelemetryStreamConnect_1.TelemetryStreamConnect(config);
     }
 }
 exports.TelemetryService = TelemetryService;
+TelemetryService.grpcWebDeprecationWarned = false;

package/esm/api/streams/telemetry/TelemetryStreamConnect.d.ts

@@ -3,7 +3,7 @@ import { TelemetryAckStatus, TelemetryQueryRequest, TelemetryRequest } from '../
 import { TelemetryStreamAbstract } from './TelemetryStreamAbstract';
 /**
  * Connect-protocol telemetry receive stream. Mirrors TelemetryStream (grpc-web) but uses
- * @connectrpc/connect. Selected when config.transport === 'connect'.
+ * @connectrpc/connect. The default transport, selected unless config.transport === 'grpc-web'.
  *
  * The shared TelemetryStreamAbstract is typed with the protobuf-ts message types, while the
  * Connect client uses @bufbuild/protobuf types. Both serialise to identical protobuf wire

package/esm/api/streams/telemetry/TelemetryStreamConnect.js

@@ -8,7 +8,7 @@ import { TelemetryStreamAbstract } from './TelemetryStreamAbstract';
 import { createConnectTransport } from '@connectrpc/connect-web';
 /**
  * Connect-protocol telemetry receive stream. Mirrors TelemetryStream (grpc-web) but uses
- * @connectrpc/connect. Selected when config.transport === 'connect'.
+ * @connectrpc/connect. The default transport, selected unless config.transport === 'grpc-web'.
  *
  * The shared TelemetryStreamAbstract is typed with the protobuf-ts message types, while the
  * Connect client uses @bufbuild/protobuf types. Both serialise to identical protobuf wire

package/esm/constants/api.d.ts

@@ -128,6 +128,12 @@ export declare const API_GRAPHS_MAPS_MERGE_URL = "https://{url}/graphs/projects/
 export declare const API_GRAPHS_MAP_ID_URL = "https://{url}/graphs/projects/{projectId}/maps/{mapId}";
 export declare const API_GRAPHS_MAP_CONTENT_URL = "https://{url}/graphs/projects/{projectId}/maps/{mapId}/content";
 export declare const API_GRAPHS_MAP_METADATA_URL = "https://{url}/graphs/projects/{projectId}/maps/{mapId}/metadata";
+export declare const API_GRAPHS_MAP_NODES_ADD_URL = "https://{url}/graphs/projects/{projectId}/maps/{mapId}/nodes/add";
+export declare const API_GRAPHS_MAP_NODES_ADD_TRANSFORMABLE_URL = "https://{url}/graphs/projects/{projectId}/maps/{mapId}/nodes/add/transformable";
+export declare const API_GRAPHS_MAP_NODE_URL = "https://{url}/graphs/projects/{projectId}/maps/{mapId}/nodes/{nodeId}";
+export declare const API_GRAPHS_MAP_EDGES_ADD_URL = "https://{url}/graphs/projects/{projectId}/maps/{mapId}/edges/add";
+export declare const API_GRAPHS_MAP_EDGES_ADD_TRANSFORM_URL = "https://{url}/graphs/projects/{projectId}/maps/{mapId}/edges/add/transform";
+export declare const API_GRAPHS_MAP_EDGE_URL = "https://{url}/graphs/projects/{projectId}/maps/{mapId}/edges/{edgeId}";
 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";

package/esm/constants/api.js

@@ -128,6 +128,12 @@ export const API_GRAPHS_MAPS_MERGE_URL = 'https://{url}/graphs/projects/{project
 export const API_GRAPHS_MAP_ID_URL = 'https://{url}/graphs/projects/{projectId}/maps/{mapId}';
 export const API_GRAPHS_MAP_CONTENT_URL = 'https://{url}/graphs/projects/{projectId}/maps/{mapId}/content';
 export const API_GRAPHS_MAP_METADATA_URL = 'https://{url}/graphs/projects/{projectId}/maps/{mapId}/metadata';
+export const API_GRAPHS_MAP_NODES_ADD_URL = 'https://{url}/graphs/projects/{projectId}/maps/{mapId}/nodes/add';
+export const API_GRAPHS_MAP_NODES_ADD_TRANSFORMABLE_URL = 'https://{url}/graphs/projects/{projectId}/maps/{mapId}/nodes/add/transformable';
+export const API_GRAPHS_MAP_NODE_URL = 'https://{url}/graphs/projects/{projectId}/maps/{mapId}/nodes/{nodeId}';
+export const API_GRAPHS_MAP_EDGES_ADD_URL = 'https://{url}/graphs/projects/{projectId}/maps/{mapId}/edges/add';
+export const API_GRAPHS_MAP_EDGES_ADD_TRANSFORM_URL = 'https://{url}/graphs/projects/{projectId}/maps/{mapId}/edges/add/transform';
+export const API_GRAPHS_MAP_EDGE_URL = 'https://{url}/graphs/projects/{projectId}/maps/{mapId}/edges/{edgeId}';
 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';

package/esm/models/IStreamConfig.d.ts

@@ -1,5 +1,5 @@
 import { IStreamOptions } from './IStreamOptions';
-export type TelemetryTransport = 'grpc-web' | 'connect';
+export type TelemetryTransport = 'connect' | 'grpc-web';
 export interface IStreamConfig {
     url: string;
     token: string;

package/esm/models/index.d.ts

@@ -49,6 +49,8 @@ export * from './IWidget';
 export * from './IWidgetLineGroup';
 export * from './maps/Map';
 export * from './maps/MapContent';
+export * from './maps/MapEdge';
+export * from './maps/MapNode';
 export * from './maps/Panorama';
 export * from './message';
 export * from './params/ICallerParams';

package/esm/models/index.js

@@ -49,6 +49,8 @@ export * from './IWidget';
 export * from './IWidgetLineGroup';
 export * from './maps/Map';
 export * from './maps/MapContent';
+export * from './maps/MapEdge';
+export * from './maps/MapNode';
 export * from './maps/Panorama';
 export * from './message';
 export * from './params/ICallerParams';

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

@@ -0,0 +1,47 @@
+import { Quaternion, Vector3 } from '../graph';
+/**
+ * Body of `POST /graphs/projects/{projectId}/maps/{mapId}/edges/add`. Adds a single edge
+ * between two existing nodes in the map. `id` is optional — when omitted the server derives
+ * it from `(from, to, type)`.
+ *
+ * Create-only: a colliding edge id in the target map is rejected with 409 rather than being
+ * upserted. Reserved edge types (`ALIAS`, `DEPLOYED`) and edges touching server-managed
+ * nodes are refused with 400, and both endpoint nodes must already exist (400 otherwise).
+ *
+ * A `TRANSFORM` edge may be added through this endpoint, but it must carry a valid 16-element
+ * row-major matrix under `data.TransformMatrix`; use {@link AddTransformEdgeRequest} /
+ * `MapService.addTransformEdge` to have the SDK build that matrix from a rotation + position.
+ */
+export interface AddEdgeRequest {
+    from: string;
+    to: string;
+    type: string;
+    id?: string;
+    data?: Record<string, unknown>;
+}
+/**
+ * Caller-facing body for `POST /graphs/projects/{projectId}/maps/{mapId}/edges/add/transform`.
+ * Adds a `TRANSFORM` edge from `from` to `to`, positioning `to` relative to `from` by the
+ * supplied rotation + position. `id` is optional (derived from `(from, to, TRANSFORM)` when
+ * omitted). The `rot`/`pos` naming matches the panorama and node transforms.
+ *
+ * Wire-shape note: the server receives the transform as `{ rotation, translation }` nested
+ * under `transform`. `MapService.addTransformEdge` marshals `rot`/`pos` onto that shape
+ * before POSTing; callers only ever see the `rot`/`pos` form.
+ */
+export interface AddTransformEdgeRequest {
+    from: string;
+    to: string;
+    id?: string;
+    transform: {
+        rot: Quaternion;
+        pos: Vector3;
+    };
+}
+/**
+ * Body returned by both edge-add endpoints. `id` echoes the value the caller supplied, or
+ * the id the server derived from `(from, to, type)` when none was given.
+ */
+export interface AddEdgeResponse {
+    id: string;
+}

package/esm/models/maps/MapEdge.js

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

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

@@ -0,0 +1,48 @@
+import { Quaternion, Vector3 } from '../graph';
+/**
+ * A rigid-body affine transform (rotation + position) expressed relative to a named parent
+ * frame. The parent is part of the type so an `AffineTransform` value is well-formed on its
+ * own — a rotation+position without a parent frame is meaningless because there's nothing to
+ * measure it against. Field naming matches the {@link Panorama} transform (`pos`/`rot`).
+ */
+export interface AffineTransform {
+    /** Id of the frame node the transform is measured relative to. */
+    parent: string;
+    rot: Quaternion;
+    pos: Vector3;
+}
+/**
+ * Body of `POST /graphs/projects/{projectId}/maps/{mapId}/nodes/add`. Adds a single node to
+ * an existing map without a parent-transform edge — the node lands "loose" in the map's
+ * graph. Use {@link AddTransformableNodeRequest} when you also need to position the node
+ * under an existing frame.
+ *
+ * Create-only: a duplicate `id` in the target map is rejected with 409 rather than being
+ * upserted. Server-managed types (`SUMMARY`, `CALLSIGN`, `GeoScene`, `MAP_INFO`) are refused
+ * with 400.
+ */
+export interface AddNodeRequest {
+    id: string;
+    type: string;
+    data?: Record<string, unknown>;
+}
+/**
+ * Body of `POST /graphs/projects/{projectId}/maps/{mapId}/nodes/add/transformable`. Same
+ * as {@link AddNodeRequest} plus an {@link AffineTransform} that positions the new node
+ * under an existing frame in the map via a `TRANSFORM` edge.
+ *
+ * The frame node must already exist in the target map — a missing frame is rejected with
+ * 400, and a frame that disappears between the pre-check and the write returns 409.
+ *
+ * Note on wire format: the server currently receives `frame` and `transform` as sibling
+ * fields, with `transform.translation` instead of `pos`. `MapService.addTransformableNode`
+ * translates this shape onto the wire before POSTing; callers only ever see the
+ * {@link AffineTransform} form.
+ */
+export interface AddTransformableNodeRequest extends AddNodeRequest {
+    transform: AffineTransform;
+}
+/** Body returned by both add endpoints. `id` echoes the value the caller supplied. */
+export interface AddNodeResponse {
+    id: string;
+}

package/esm/models/maps/MapNode.js

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

package/esm/services/MapService.d.ts

@@ -1,3 +1,5 @@
+import { AddEdgeRequest, AddEdgeResponse, AddTransformEdgeRequest } from '../models/maps/MapEdge';
+import { AddNodeRequest, AddNodeResponse, AddTransformableNodeRequest } from '../models/maps/MapNode';
 import { AddPanoramaRequest, AddPanoramaResponse, CreateObservation, Observation } from '../models/maps/Panorama';
 import { Asset, IBaseService, IRocosSDKConfig, Map, MapContent, RocosError } from '../models';
 import { BaseServiceAbstract } from './BaseServiceAbstract';
@@ -229,4 +231,107 @@ export declare class MapService extends BaseServiceAbstract implements IBaseServ
      * @returns A Promise.
      */
     deletePanorama(projectId: string, panoramaId: string): Promise<void>;
+    /**
+     * Add a single node to an existing map. A low-impact, targeted alternative to replacing the
+     * whole map via {@link create} — same access surface (permitted on the reserved dronedeploy
+     * map and on normal maps; the environment map remains off-limits).
+     *
+     * Create-only: a duplicate id in the target map is rejected with 409 rather than being
+     * silently upserted, to keep the blast radius small on the shared dronedeploy map.
+     * Server-managed types (`SUMMARY`, `CALLSIGN`, `GeoScene`, `MAP_INFO`) are refused with
+     * 400. Adding to a map that doesn't exist returns 404.
+     *
+     * @param projectId The ID of the project the map belongs to.
+     * @param mapId The ID of the map to add the node to.
+     * @param body The node to add.
+     * @returns The id of the created node (echoes `body.id`).
+     */
+    addNode(projectId: string, mapId: string, body: AddNodeRequest): Promise<AddNodeResponse>;
+    /**
+     * Add a single node **and** a `TRANSFORM` edge that positions it under an existing frame
+     * node in the same map, by the supplied rotation + position. Same access rules and
+     * create-only semantics as {@link addNode}.
+     *
+     * The parent frame node (`body.transform.parent`) must already exist in the target map —
+     * a missing frame is rejected with 400, and a frame that vanishes between the pre-check
+     * and the write returns 409 (the transaction rolls back so no orphan node is created).
+     *
+     * Wire-shape note: the server currently receives `frame` as a top-level field alongside
+     * `transform`, and expects the position under the wire name `translation`. This method
+     * marshals the caller-facing {@link AddTransformableNodeRequest} (which carries `parent`
+     * inline in `transform` and uses `pos`/`rot` to match the panorama transform) onto that
+     * shape before POSTing.
+     *
+     * @param projectId The ID of the project the map belongs to.
+     * @param mapId The ID of the map to add the node to.
+     * @param body The node to add plus the transform that positions it under a parent frame.
+     * @returns The id of the created node (echoes `body.id`).
+     */
+    addTransformableNode(projectId: string, mapId: string, body: AddTransformableNodeRequest): Promise<AddNodeResponse>;
+    /**
+     * Delete a single node (and any edges attached to it) from a map. Idempotent — a missing
+     * node still returns success. Refuses server-managed types (`SUMMARY`, `CALLSIGN`,
+     * `GeoScene`, `MAP_INFO`) with 400.
+     *
+     * Access rules differ from the add endpoints because deleting has a larger blast radius:
+     * the environment map is always off-limits; the dronedeploy map is deletable only by
+     * admin users (server enforces via 401/403); normal maps are deletable by any caller with
+     * project access.
+     *
+     * @param projectId The ID of the project the map belongs to.
+     * @param mapId The ID of the map to delete the node from.
+     * @param nodeId The ID of the node to delete.
+     */
+    deleteNode(projectId: string, mapId: string, nodeId: string): Promise<void>;
+    /**
+     * Add a single edge between two existing nodes in a map. The edge-side counterpart of
+     * {@link addNode}: a low-impact, targeted alternative to replacing the whole map — same
+     * access surface (permitted on the reserved dronedeploy map and on normal maps; the
+     * environment map remains off-limits).
+     *
+     * Create-only: a colliding edge id is rejected with 409 rather than upserted. Reserved
+     * edge types (`ALIAS`, `DEPLOYED`) and edges touching server-managed nodes are refused
+     * with 400, both endpoint nodes must already exist (400 otherwise), and a `TRANSFORM`
+     * edge must carry a valid `data.TransformMatrix` (use {@link addTransformEdge} to build
+     * one from a rotation + position). Adding to a map that doesn't exist returns 404.
+     *
+     * @param projectId The ID of the project the map belongs to.
+     * @param mapId The ID of the map to add the edge to.
+     * @param body The edge to add. `id` is optional; when omitted the server derives it.
+     * @returns The id of the created edge (echoes `body.id`, or the server-derived id).
+     */
+    addEdge(projectId: string, mapId: string, body: AddEdgeRequest): Promise<AddEdgeResponse>;
+    /**
+     * Add a single `TRANSFORM` edge from one existing node to another, positioning the `to`
+     * node relative to the `from` node by the supplied rotation + position. A specialisation
+     * of {@link addEdge} with the type fixed to `TRANSFORM` and the matrix built server-side;
+     * same access rules and create-only semantics.
+     *
+     * Both endpoint nodes must already exist in the target map (400 otherwise).
+     *
+     * Wire-shape note: the server receives the transform as `{ rotation, translation }` nested
+     * under `transform`. This method marshals the caller-facing `rot`/`pos` (matching the
+     * panorama/node transform naming) onto that shape before POSTing.
+     *
+     * @param projectId The ID of the project the map belongs to.
+     * @param mapId The ID of the map to add the edge to.
+     * @param body The transform edge to add. `id` is optional; when omitted the server derives it.
+     * @returns The id of the created edge (echoes `body.id`, or the server-derived id).
+     */
+    addTransformEdge(projectId: string, mapId: string, body: AddTransformEdgeRequest): Promise<AddEdgeResponse>;
+    /**
+     * Delete a single edge by id from a map. Idempotent — a missing edge still returns
+     * success. Reserved/server-managed edge types and edges touching server-managed nodes are
+     * refused with 400.
+     *
+     * Access rules match {@link deleteNode} (deleting has a larger blast radius than adding):
+     * the environment map is always off-limits; the dronedeploy map is deletable only by admin
+     * users (server enforces via 401/403); normal maps are deletable by any caller with project
+     * access.
+     *
+     * @param projectId The ID of the project the map belongs to.
+     * @param mapId The ID of the map to delete the edge from.
+     * @param edgeId The ID of the edge to delete.
+     */
+    deleteEdge(projectId: string, mapId: string, edgeId: string): Promise<void>;
 }

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_PANORAMAS_URL, 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_EDGES_ADD_TRANSFORM_URL, API_GRAPHS_MAP_EDGES_ADD_URL, API_GRAPHS_MAP_EDGE_URL, API_GRAPHS_MAP_ID_URL, API_GRAPHS_MAP_METADATA_URL, API_GRAPHS_MAP_NODES_ADD_TRANSFORMABLE_URL, API_GRAPHS_MAP_NODES_ADD_URL, API_GRAPHS_MAP_NODE_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';
@@ -310,4 +310,145 @@ export class MapService extends BaseServiceAbstract {
     deletePanorama(projectId, panoramaId) {
         return this.callDelete(formatServiceUrl(API_GRAPHS_PANORAMA, { url: this.config.url, projectId, panoramaId }, this.config.insecure), 'Failed to delete panorama.');
     }
+    /**
+     * Add a single node to an existing map. A low-impact, targeted alternative to replacing the
+     * whole map via {@link create} — same access surface (permitted on the reserved dronedeploy
+     * map and on normal maps; the environment map remains off-limits).
+     *
+     * Create-only: a duplicate id in the target map is rejected with 409 rather than being
+     * silently upserted, to keep the blast radius small on the shared dronedeploy map.
+     * Server-managed types (`SUMMARY`, `CALLSIGN`, `GeoScene`, `MAP_INFO`) are refused with
+     * 400. Adding to a map that doesn't exist returns 404.
+     *
+     * @param projectId The ID of the project the map belongs to.
+     * @param mapId The ID of the map to add the node to.
+     * @param body The node to add.
+     * @returns The id of the created node (echoes `body.id`).
+     */
+    addNode(projectId, mapId, body) {
+        return this.callPost(formatServiceUrl(API_GRAPHS_MAP_NODES_ADD_URL, { url: this.config.url, projectId, mapId }, this.config.insecure), body, 'Failed to add node.');
+    }
+    /**
+     * Add a single node **and** a `TRANSFORM` edge that positions it under an existing frame
+     * node in the same map, by the supplied rotation + position. Same access rules and
+     * create-only semantics as {@link addNode}.
+     *
+     * The parent frame node (`body.transform.parent`) must already exist in the target map —
+     * a missing frame is rejected with 400, and a frame that vanishes between the pre-check
+     * and the write returns 409 (the transaction rolls back so no orphan node is created).
+     *
+     * Wire-shape note: the server currently receives `frame` as a top-level field alongside
+     * `transform`, and expects the position under the wire name `translation`. This method
+     * marshals the caller-facing {@link AddTransformableNodeRequest} (which carries `parent`
+     * inline in `transform` and uses `pos`/`rot` to match the panorama transform) onto that
+     * shape before POSTing.
+     *
+     * @param projectId The ID of the project the map belongs to.
+     * @param mapId The ID of the map to add the node to.
+     * @param body The node to add plus the transform that positions it under a parent frame.
+     * @returns The id of the created node (echoes `body.id`).
+     */
+    addTransformableNode(projectId, mapId, body) {
+        // Translate the caller-facing shape (parent inline in `transform`, `pos`/`rot`) onto the
+        // server's wire shape (`frame` at the top level, `translation`/`rotation` inside
+        // `transform`). Rationale for the divergence: the SDK type keeps `AffineTransform` well
+        // formed in isolation and mirrors the `Panorama.transform` naming (`pos`/`rot`); the
+        // server predates this convention and hasn't been migrated yet.
+        const wireBody = {
+            id: body.id,
+            type: body.type,
+            data: body.data,
+            frame: body.transform.parent,
+            transform: {
+                rotation: body.transform.rot,
+                translation: body.transform.pos,
+            },
+        };
+        return this.callPost(formatServiceUrl(API_GRAPHS_MAP_NODES_ADD_TRANSFORMABLE_URL, { url: this.config.url, projectId, mapId }, this.config.insecure), wireBody, 'Failed to add transformable node.');
+    }
+    /**
+     * Delete a single node (and any edges attached to it) from a map. Idempotent — a missing
+     * node still returns success. Refuses server-managed types (`SUMMARY`, `CALLSIGN`,
+     * `GeoScene`, `MAP_INFO`) with 400.
+     *
+     * Access rules differ from the add endpoints because deleting has a larger blast radius:
+     * the environment map is always off-limits; the dronedeploy map is deletable only by
+     * admin users (server enforces via 401/403); normal maps are deletable by any caller with
+     * project access.
+     *
+     * @param projectId The ID of the project the map belongs to.
+     * @param mapId The ID of the map to delete the node from.
+     * @param nodeId The ID of the node to delete.
+     */
+    deleteNode(projectId, mapId, nodeId) {
+        return this.callDelete(formatServiceUrl(API_GRAPHS_MAP_NODE_URL, { url: this.config.url, projectId, mapId, nodeId }, this.config.insecure), 'Failed to delete node.');
+    }
+    /**
+     * Add a single edge between two existing nodes in a map. The edge-side counterpart of
+     * {@link addNode}: a low-impact, targeted alternative to replacing the whole map — same
+     * access surface (permitted on the reserved dronedeploy map and on normal maps; the
+     * environment map remains off-limits).
+     *
+     * Create-only: a colliding edge id is rejected with 409 rather than upserted. Reserved
+     * edge types (`ALIAS`, `DEPLOYED`) and edges touching server-managed nodes are refused
+     * with 400, both endpoint nodes must already exist (400 otherwise), and a `TRANSFORM`
+     * edge must carry a valid `data.TransformMatrix` (use {@link addTransformEdge} to build
+     * one from a rotation + position). Adding to a map that doesn't exist returns 404.
+     *
+     * @param projectId The ID of the project the map belongs to.
+     * @param mapId The ID of the map to add the edge to.
+     * @param body The edge to add. `id` is optional; when omitted the server derives it.
+     * @returns The id of the created edge (echoes `body.id`, or the server-derived id).
+     */
+    addEdge(projectId, mapId, body) {
+        return this.callPost(formatServiceUrl(API_GRAPHS_MAP_EDGES_ADD_URL, { url: this.config.url, projectId, mapId }, this.config.insecure), body, 'Failed to add edge.');
+    }
+    /**
+     * Add a single `TRANSFORM` edge from one existing node to another, positioning the `to`
+     * node relative to the `from` node by the supplied rotation + position. A specialisation
+     * of {@link addEdge} with the type fixed to `TRANSFORM` and the matrix built server-side;
+     * same access rules and create-only semantics.
+     *
+     * Both endpoint nodes must already exist in the target map (400 otherwise).
+     *
+     * Wire-shape note: the server receives the transform as `{ rotation, translation }` nested
+     * under `transform`. This method marshals the caller-facing `rot`/`pos` (matching the
+     * panorama/node transform naming) onto that shape before POSTing.
+     *
+     * @param projectId The ID of the project the map belongs to.
+     * @param mapId The ID of the map to add the edge to.
+     * @param body The transform edge to add. `id` is optional; when omitted the server derives it.
+     * @returns The id of the created edge (echoes `body.id`, or the server-derived id).
+     */
+    addTransformEdge(projectId, mapId, body) {
+        // Translate the caller-facing `rot`/`pos` onto the server's wire shape
+        // (`transform.rotation`/`transform.translation`), mirroring addTransformableNode.
+        const wireBody = {
+            id: body.id,
+            from: body.from,
+            to: body.to,
+            transform: {
+                rotation: body.transform.rot,
+                translation: body.transform.pos,
+            },
+        };
+        return this.callPost(formatServiceUrl(API_GRAPHS_MAP_EDGES_ADD_TRANSFORM_URL, { url: this.config.url, projectId, mapId }, this.config.insecure), wireBody, 'Failed to add transform edge.');
+    }
+    /**
+     * Delete a single edge by id from a map. Idempotent — a missing edge still returns
+     * success. Reserved/server-managed edge types and edges touching server-managed nodes are
+     * refused with 400.
+     *
+     * Access rules match {@link deleteNode} (deleting has a larger blast radius than adding):
+     * the environment map is always off-limits; the dronedeploy map is deletable only by admin
+     * users (server enforces via 401/403); normal maps are deletable by any caller with project
+     * access.
+     *
+     * @param projectId The ID of the project the map belongs to.
+     * @param mapId The ID of the map to delete the edge from.
+     * @param edgeId The ID of the edge to delete.
+     */
+    deleteEdge(projectId, mapId, edgeId) {
+        return this.callDelete(formatServiceUrl(API_GRAPHS_MAP_EDGE_URL, { url: this.config.url, projectId, mapId, edgeId }, this.config.insecure), 'Failed to delete edge.');
+    }
 }

package/esm/services/TelemetryService.d.ts

@@ -2,6 +2,7 @@ import { Observable } from 'rxjs';
 import { CallsignStatus, IRocosSDKConfig, IRocosTelemetryMessage, IStreamStatusMessage, ITelemetryStream, ITelemetryStreamConfig, ITelemetrySubscriptionParams, ITelemetrySubscriptions, TelemetryMonitorStatus } from '../models';
 import { BaseStreamService } from './BaseStreamService';
 export declare class TelemetryService extends BaseStreamService<ITelemetryStream, ITelemetryStreamConfig> {
+    private static grpcWebDeprecationWarned;
     private statusSubscription;
     private changeStream$;
     private streamStatusSubject$;

package/esm/services/TelemetryService.js

@@ -174,9 +174,15 @@ export class TelemetryService extends BaseStreamService {
         return newStream.stream;
     }
     getStream(config) {
-        if (config.transport === 'connect') {
-            return new TelemetryStreamConnect(config);
+        if (config.transport === 'grpc-web') {
+            if (!TelemetryService.grpcWebDeprecationWarned) {
+                TelemetryService.grpcWebDeprecationWarned = true;
+                this.logger.warn('The grpc-web telemetry transport is deprecated and will be removed in a future release. ' +
+                    'Switch to the Connect protocol by setting transport to "connect" (now the default).');
+            }
+            return new TelemetryStream(config);
         }
-        return new TelemetryStream(config);
+        return new TelemetryStreamConnect(config);
     }
 }
+TelemetryService.grpcWebDeprecationWarned = false;

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@dronedeploy/rocos-js-sdk",
-  "version": "3.1.8",
+  "version": "4.1.0",
   "description": "Javascript SDK for rocos",
   "main": "cjs/index.js",
   "module": "esm/index.js",