@dronedeploy/rocos-js-sdk 4.4.1 → 4.4.3

package/cjs/api/StreamRegister.js

@@ -19,8 +19,10 @@ class StreamRegister {
     }
     addStream(stream) {
         try {
-            if (this.teleStreams.has(stream.identifier)) {
-                this.removeStream(stream);
+            // Stop any existing occupant of this key before overwriting it.
+            const existing = this.teleStreams.get(stream.identifier);
+            if (existing && existing !== stream) {
+                existing.stopStream();
             }
             this.teleStreams.set(stream.identifier, stream);
         }
@@ -40,7 +42,11 @@ class StreamRegister {
     removeStream(stream) {
         try {
             stream.stopStream();
-            this.teleStreams.delete(stream.identifier);
+            // Only clear the entry if this instance still owns the key: a replacement may already hold it,
+            // and evicting that would leave subscribers forking duplicate streams for the scope.
+            if (this.teleStreams.get(stream.identifier) === stream) {
+                this.teleStreams.delete(stream.identifier);
+            }
         }
         catch (e) {
             this.logger.error(`Failed to remove stream from list. identifier: ${stream.identifier}`, e);

package/cjs/models/ConfigGroupResponse.d.ts

@@ -0,0 +1,20 @@
+/** One stored item in a config group, scoped by whatever the group's `type` represents (e.g. one gamepad, one command). */
+export interface ConfigGroupItem<T> {
+    id: string;
+    value: T;
+    /** Robot-scoped response only: whether this robot's config overrides its robot definition's. */
+    _isOverridden?: boolean;
+    /** Robot-scoped response only: the robot definition's item this one overrides, when it does. */
+    _globalItem?: ConfigGroupItem<T>;
+}
+/** Response shape shared by RobotService/ProfileService config-group endpoints (gamepads, commands-v2, ...). */
+export interface ConfigGroupResponse<T> {
+    version?: string;
+    type: string;
+    items: Array<ConfigGroupItem<T>>;
+    /** Robot-scoped response only. */
+    robotDefinitionId?: string;
+    username?: string;
+    createdAt?: string;
+    updatedAt?: string;
+}

package/cjs/models/ConfigGroupResponse.js

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

package/cjs/models/command/CommandV2.d.ts

@@ -0,0 +1,28 @@
+import { ConfigGroupItem, ConfigGroupResponse } from '../ConfigGroupResponse';
+/** Declares one named parameter a command accepts. `default` is always a string, whatever `type` names. */
+export interface CommandV2ParameterDeclaration {
+    type: string;
+    default: string;
+}
+export interface CommandV2Settings {
+    target: string;
+    /** Stored as a number on newer configs, a numeric string on older ones. Absent on some legacy configs. */
+    timeoutMs?: number | string;
+    requiresClockSync: boolean;
+    payloadTemplate: string;
+    /** Should be an object, but a known editor round-trip bug can persist it as a raw JSON string. */
+    payloadMeta?: Record<string, unknown> | string | null;
+}
+export interface CommandV2 {
+    schemaVersion: number;
+    id: string;
+    name: string;
+    type: string;
+    /** Absent for commands declaring no parameters, not an empty object. */
+    parameters?: Record<string, CommandV2ParameterDeclaration>;
+    settings: CommandV2Settings;
+}
+/** One stored command, scoped to a specific command id (CommandV2.id). */
+export type CommandV2Item = ConfigGroupItem<CommandV2>;
+/** Response shape of RobotService/ProfileService getCommandsV2 — one item per declared command. */
+export type CommandV2Response = ConfigGroupResponse<CommandV2>;

package/cjs/models/command/CommandV2.js

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

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

@@ -1,4 +1,5 @@
 export * from '../ResponseLevelEnum';
+export * from './CommandV2';
 export * from './IRocosCommandMessageHeartbeat';
 export * from './IRocosCommandMessageResponse';
 export * from './RocosCommandResultStatus';

package/cjs/models/command/index.js

@@ -15,6 +15,7 @@ var __exportStar = (this && this.__exportStar) || function(m, exports) {
 };
 Object.defineProperty(exports, "__esModule", { value: true });
 __exportStar(require("../ResponseLevelEnum"), exports);
+__exportStar(require("./CommandV2"), exports);
 __exportStar(require("./IRocosCommandMessageHeartbeat"), exports);
 __exportStar(require("./IRocosCommandMessageResponse"), exports);
 __exportStar(require("./RocosCommandResultStatus"), exports);

package/cjs/models/gamepad/GamepadConfig.d.ts

@@ -1,3 +1,4 @@
+import { ConfigGroupItem, ConfigGroupResponse } from '../ConfigGroupResponse';
 export declare enum GamepadButtonType {
     UNKNOWN = 0,
     UP = 1,
@@ -81,20 +82,6 @@ export interface GamepadConfig {
     axisExpos?: GamepadAxisValueMap;
 }
 /** One stored gamepad config, scoped to a specific physical controller model (GamepadConfig.gamepad). */
-export interface GamepadConfigItem {
-    id: string;
-    value: GamepadConfig;
-    /** Robot-scoped response only: whether this robot's config overrides its robot definition's. */
-    _isOverridden?: boolean;
-}
+export type GamepadConfigItem = ConfigGroupItem<GamepadConfig>;
 /** Response shape of RobotService/ProfileService getGamepads — one item per registered controller model. */
-export interface GamepadConfigResponse {
-    version?: string;
-    type: string;
-    items: GamepadConfigItem[];
-    /** Robot-scoped response only. */
-    robotDefinitionId?: string;
-    username?: string;
-    createdAt?: string;
-    updatedAt?: string;
-}
+export type GamepadConfigResponse = ConfigGroupResponse<GamepadConfig>;

package/cjs/models/index.d.ts

@@ -6,6 +6,7 @@ export * from './callsigns/CallsignsLookup';
 export * from './callsigns/CallsignsQuery';
 export * from './callsigns/CallsignsQueryPredicate';
 export * from './command';
+export * from './ConfigGroupResponse';
 export * from './device-credentials/DeviceCredentials';
 export * from './Dashboard';
 export * from './ExportDataQuery';

package/cjs/models/index.js

@@ -22,6 +22,7 @@ __exportStar(require("./callsigns/CallsignsLookup"), exports);
 __exportStar(require("./callsigns/CallsignsQuery"), exports);
 __exportStar(require("./callsigns/CallsignsQueryPredicate"), exports);
 __exportStar(require("./command"), exports);
+__exportStar(require("./ConfigGroupResponse"), exports);
 __exportStar(require("./device-credentials/DeviceCredentials"), exports);
 __exportStar(require("./Dashboard"), exports);
 __exportStar(require("./ExportDataQuery"), exports);

package/cjs/services/BaseStreamService.d.ts

@@ -10,7 +10,7 @@ export declare abstract class BaseStreamService<T extends IBaseStream, C extends
     protected constructor(name: string, config: IRocosSDKConfig);
     getStatus(): boolean;
     protected initStream(stream: T): Promise<void>;
-    protected createStreamFromConfig(identifier: string, config: C): Promise<{
+    protected createStreamFromConfig(identifier: string, config: C, onAcquire?: (stream: T) => void): Promise<{
         stream: T;
         isNew: boolean;
     }>;

package/cjs/services/BaseStreamService.js

@@ -32,7 +32,7 @@ class BaseStreamService {
         }
         authService.startTokenRefreshChecker();
     }
-    async createStreamFromConfig(identifier, config) {
+    async createStreamFromConfig(identifier, config, onAcquire) {
         const identifierWithScope = StreamRegister_1.StreamRegister.getIdentifier(identifier, config.scope);
         const streamRegister = StreamRegister_1.StreamRegister.getInstance();
         let stream = streamRegister.getStream(identifierWithScope);
@@ -45,7 +45,26 @@ class BaseStreamService {
                 this.status$.next(msg);
             });
             streamRegister.addStream(stream);
-            await this.initStream(stream);
+        }
+        // Acquire synchronously with the lookup/registration above, before any await. A stream is
+        // stopped and deregistered the instant its refcount hits zero, so a deferred acquire can land on
+        // a dead instance — including a freshly-registered stream torn down during the init await below.
+        onAcquire?.(stream);
+        if (isNew) {
+            try {
+                await this.initStream(stream);
+            }
+            catch (e) {
+                // Evict eagerly, before the error reaches the subscriber, so a synchronous resubscribe
+                // can't re-acquire this uninitialised instance.
+                streamRegister.removeStream(stream);
+                throw e;
+            }
+            // If a concurrent teardown deregistered this stream during init, init() has opened a receiver
+            // on an instance nothing can reach; close it.
+            if (streamRegister.getStream(identifierWithScope) !== stream) {
+                stream.stopStream();
+            }
         }
         return { stream, isNew };
     }

package/cjs/services/ProfileService.d.ts

@@ -1,4 +1,5 @@
 import { AgentSettingsRequestItem, AgentSettingsResponse } from '../models/IRobotSettings';
+import { CommandV2Item, CommandV2Response } from '../models/command/CommandV2';
 import { CreateRobotDefinitionRequest, RobotProfile } from '../models/RobotProfile';
 import { GamepadConfigItem, GamepadConfigResponse } from '../models/gamepad/GamepadConfig';
 import { RocosError } from '../models/RocosError';
@@ -168,7 +169,7 @@ export declare class ProfileService extends BaseServiceAbstract implements IBase
      * @param definitionId - Robot definition Id
      * @description - Renamed from robotDefGetCommandsV2
      */
-    getCommandsV2(projectId: string, definitionId: string): Promise<any>;
+    getCommandsV2(projectId: string, definitionId: string): Promise<CommandV2Response>;
     /**
      * Update command V2 for a robot definition
      *
@@ -177,7 +178,7 @@ export declare class ProfileService extends BaseServiceAbstract implements IBase
      * @param model - Payload
      * @description - Renamed from robotDefUpdateCommandsV2
      */
-    updateCommandsV2(projectId: string, definitionId: string, model: any): Promise<any>;
+    updateCommandsV2(projectId: string, definitionId: string, model: CommandV2Item[]): Promise<void>;
     /**
      * Get command actions for a robot definition
      *

package/cjs/services/ProfileService.js

@@ -238,7 +238,6 @@ class ProfileService extends BaseServiceAbstract_1.BaseServiceAbstract {
      * @param definitionId - Robot definition Id
      * @description - Renamed from robotDefGetCommandsV2
      */
-    // TODO: map the response object
     async getCommandsV2(projectId, definitionId) {
         return this.callGet((0, formatServiceUrl_1.formatServiceUrl)(api_1.API_PROJECT_DEFINITION_COMMAND2_URL, { url: this.config.url, projectId, definitionId }, this.config.insecure), `Failed to get command list for ${projectId}, definitionId  ${definitionId}.`);
     }
@@ -250,9 +249,6 @@ class ProfileService extends BaseServiceAbstract_1.BaseServiceAbstract {
      * @param model - Payload
      * @description - Renamed from robotDefUpdateCommandsV2
      */
-    // TODO: map the request model
-    // TODO: map the response object
-    // eslint-disable-next-line @typescript-eslint/explicit-module-boundary-types
     async updateCommandsV2(projectId, definitionId, model) {
         return this.callPost((0, formatServiceUrl_1.formatServiceUrl)(api_1.API_PROJECT_DEFINITION_COMMAND2_URL, { url: this.config.url, projectId, definitionId }, this.config.insecure), model, `Failed to update command list for ${projectId}, definitionId  ${definitionId}.`);
     }

package/cjs/services/RobotService.d.ts

@@ -1,4 +1,4 @@
-import { AgentSettingsResponse, GamepadConfigItem, GamepadConfigResponse, IBaseService, IConnectedCallsign, IRobot, IRobotListItem, IRobotSettings, IRobotTemplate, IRocosSDKConfig, RocosError } from '../models';
+import { AgentSettingsResponse, CommandV2Item, CommandV2Response, GamepadConfigItem, GamepadConfigResponse, IBaseService, IConnectedCallsign, IRobot, IRobotListItem, IRobotSettings, IRobotTemplate, IRocosSDKConfig, RocosError } from '../models';
 import { BaseServiceAbstract } from './BaseServiceAbstract';
 export declare class RobotService extends BaseServiceAbstract implements IBaseService {
     constructor(config: IRocosSDKConfig);
@@ -227,7 +227,7 @@ export declare class RobotService extends BaseServiceAbstract implements IBaseSe
      * @param projectId - Project Id
      * @param callsign - Robot callsign
      */
-    getCommandsV2(projectId: string, callsign: string): Promise<any>;
+    getCommandsV2(projectId: string, callsign: string): Promise<CommandV2Response>;
     /**
      * Update command V2 for a robot
      *
@@ -235,7 +235,7 @@ export declare class RobotService extends BaseServiceAbstract implements IBaseSe
      * @param callsign - Robot callsign
      * @param model - Payload
      */
-    updateCommandsV2(projectId: string, callsign: string, model: any): Promise<any>;
+    updateCommandsV2(projectId: string, callsign: string, model: CommandV2Item[]): Promise<void>;
     /**
      * Get buttons for a robot
      *

package/cjs/services/RobotService.js

@@ -380,7 +380,6 @@ class RobotService extends BaseServiceAbstract_1.BaseServiceAbstract {
      * @param projectId - Project Id
      * @param callsign - Robot callsign
      */
-    // TODO: map the response object
     async getCommandsV2(projectId, callsign) {
         return this.callGet((0, formatServiceUrl_1.formatServiceUrl)(api_1.API_PROJECT_ROBOT_COMMAND2_URL, { url: this.config.url, projectId, callsign }, this.config.insecure), `Failed to get command list for ${projectId}, callsign  ${callsign}.`);
     }
@@ -391,9 +390,6 @@ class RobotService extends BaseServiceAbstract_1.BaseServiceAbstract {
      * @param callsign - Robot callsign
      * @param model - Payload
      */
-    // TODO: map the request model
-    // TODO: map the response object
-    // eslint-disable-next-line @typescript-eslint/explicit-module-boundary-types
     async updateCommandsV2(projectId, callsign, model) {
         return this.callPost((0, formatServiceUrl_1.formatServiceUrl)(api_1.API_PROJECT_ROBOT_COMMAND2_URL, { url: this.config.url, projectId, callsign }, this.config.insecure), model, `Failed to update commands for ${projectId}, callsign  ${callsign}.`);
     }

package/cjs/services/TelemetryService.js

@@ -61,19 +61,26 @@ class TelemetryService extends BaseStreamService_1.BaseStreamService {
             callsigns: callsignsLookup?.lookupType === models_1.CallsignsLookupType.List ? callsignsLookup.lookupValue : [],
             sources,
         };
-        const stream = this.createStream(params.projectId, callsignsLookup, sources, scope).then((stream) => {
-            stream.addSubscription(subscriptionParams);
-            if (!this.statusSubscription) {
-                this.statusSubscription = stream.statusStream$.subscribe((msg) => {
-                    this.status = msg === models_1.SubscriberStatusEnum.STOPPED || msg === models_1.SubscriberStatusEnum.ALIVE;
-                    this.status$.next(msg);
-                });
-            }
-            return (0, rxjs_1.from)(stream.messageStream$).pipe((0, operators_1.finalize)(() => stream?.removeSubscription(subscriptionParams, params.terminateReceiverGroupOnUnsubscribe)));
+        // `defer` acquires the stream only when subscribed; `finalize` releases it on unsubscribe, error
+        // and complete — so acquire and release stay balanced on every path.
+        return (0, rxjs_1.defer)(() => {
+            let acquired;
+            const stream$ = this.createStream(params.projectId, callsignsLookup, sources, scope, (stream) => {
+                acquired = stream;
+                stream.addSubscription(subscriptionParams);
+            }).then((stream) => {
+                if (!this.statusSubscription) {
+                    this.statusSubscription = stream.statusStream$.subscribe((msg) => {
+                        this.status = msg === models_1.SubscriberStatusEnum.STOPPED || msg === models_1.SubscriberStatusEnum.ALIVE;
+                        this.status$.next(msg);
+                    });
+                }
+                return (0, rxjs_1.from)(stream.messageStream$);
+            });
+            return (0, rxjs_1.from)(stream$).pipe((0, rxjs_1.mergeAll)(), (0, operators_1.filter)((message) => {
+                return callsigns.includes(message.callsign) && sources.includes(message.source);
+            }), (0, operators_1.finalize)(() => acquired?.removeSubscription(subscriptionParams, params.terminateReceiverGroupOnUnsubscribe)));
         });
-        return (0, rxjs_1.from)(stream).pipe((0, rxjs_1.mergeAll)(), (0, operators_1.filter)((message) => {
-            return callsigns.includes(message.callsign) && sources.includes(message.source);
-        }));
     }
     /**
      * A method to keep track of the current subscriptions
@@ -152,7 +159,7 @@ class TelemetryService extends BaseStreamService_1.BaseStreamService {
             return `${params.projectId}-default-${(0, flattenCallsignsLookup_1.flattenCallsignsLookup)(callsignsLookup).join()}`;
         return `${params.projectId}-default`;
     }
-    async createStream(projectId, callsignsLookup, sources, scope) {
+    async createStream(projectId, callsignsLookup, sources, scope, onAcquire) {
         const newStream = await this.createStreamFromConfig(identifier_1.IDENTIFIER_NAME_TELEMETRY, {
             url: this.config.url,
             projectId,
@@ -165,7 +172,7 @@ class TelemetryService extends BaseStreamService_1.BaseStreamService {
             insecure: this.config.insecure,
             transport: this.config.transport,
             fetch: this.config.fetch,
-        });
+        }, onAcquire);
         if (!newStream.isNew) {
             newStream.stream.statusStream$.subscribe((msg) => {
                 this.streamStatusSubject$.next({

package/esm/api/StreamRegister.js

@@ -16,8 +16,10 @@ export class StreamRegister {
     }
     addStream(stream) {
         try {
-            if (this.teleStreams.has(stream.identifier)) {
-                this.removeStream(stream);
+            // Stop any existing occupant of this key before overwriting it.
+            const existing = this.teleStreams.get(stream.identifier);
+            if (existing && existing !== stream) {
+                existing.stopStream();
             }
             this.teleStreams.set(stream.identifier, stream);
         }
@@ -37,7 +39,11 @@ export class StreamRegister {
     removeStream(stream) {
         try {
             stream.stopStream();
-            this.teleStreams.delete(stream.identifier);
+            // Only clear the entry if this instance still owns the key: a replacement may already hold it,
+            // and evicting that would leave subscribers forking duplicate streams for the scope.
+            if (this.teleStreams.get(stream.identifier) === stream) {
+                this.teleStreams.delete(stream.identifier);
+            }
         }
         catch (e) {
             this.logger.error(`Failed to remove stream from list. identifier: ${stream.identifier}`, e);

package/esm/models/ConfigGroupResponse.d.ts

@@ -0,0 +1,20 @@
+/** One stored item in a config group, scoped by whatever the group's `type` represents (e.g. one gamepad, one command). */
+export interface ConfigGroupItem<T> {
+    id: string;
+    value: T;
+    /** Robot-scoped response only: whether this robot's config overrides its robot definition's. */
+    _isOverridden?: boolean;
+    /** Robot-scoped response only: the robot definition's item this one overrides, when it does. */
+    _globalItem?: ConfigGroupItem<T>;
+}
+/** Response shape shared by RobotService/ProfileService config-group endpoints (gamepads, commands-v2, ...). */
+export interface ConfigGroupResponse<T> {
+    version?: string;
+    type: string;
+    items: Array<ConfigGroupItem<T>>;
+    /** Robot-scoped response only. */
+    robotDefinitionId?: string;
+    username?: string;
+    createdAt?: string;
+    updatedAt?: string;
+}

package/esm/models/ConfigGroupResponse.js

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

package/esm/models/command/CommandV2.d.ts

@@ -0,0 +1,28 @@
+import { ConfigGroupItem, ConfigGroupResponse } from '../ConfigGroupResponse';
+/** Declares one named parameter a command accepts. `default` is always a string, whatever `type` names. */
+export interface CommandV2ParameterDeclaration {
+    type: string;
+    default: string;
+}
+export interface CommandV2Settings {
+    target: string;
+    /** Stored as a number on newer configs, a numeric string on older ones. Absent on some legacy configs. */
+    timeoutMs?: number | string;
+    requiresClockSync: boolean;
+    payloadTemplate: string;
+    /** Should be an object, but a known editor round-trip bug can persist it as a raw JSON string. */
+    payloadMeta?: Record<string, unknown> | string | null;
+}
+export interface CommandV2 {
+    schemaVersion: number;
+    id: string;
+    name: string;
+    type: string;
+    /** Absent for commands declaring no parameters, not an empty object. */
+    parameters?: Record<string, CommandV2ParameterDeclaration>;
+    settings: CommandV2Settings;
+}
+/** One stored command, scoped to a specific command id (CommandV2.id). */
+export type CommandV2Item = ConfigGroupItem<CommandV2>;
+/** Response shape of RobotService/ProfileService getCommandsV2 — one item per declared command. */
+export type CommandV2Response = ConfigGroupResponse<CommandV2>;

package/esm/models/command/CommandV2.js

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

package/esm/models/command/index.d.ts

@@ -1,4 +1,5 @@
 export * from '../ResponseLevelEnum';
+export * from './CommandV2';
 export * from './IRocosCommandMessageHeartbeat';
 export * from './IRocosCommandMessageResponse';
 export * from './RocosCommandResultStatus';

package/esm/models/command/index.js

@@ -1,4 +1,5 @@
 export * from '../ResponseLevelEnum';
+export * from './CommandV2';
 export * from './IRocosCommandMessageHeartbeat';
 export * from './IRocosCommandMessageResponse';
 export * from './RocosCommandResultStatus';

package/esm/models/gamepad/GamepadConfig.d.ts

@@ -1,3 +1,4 @@
+import { ConfigGroupItem, ConfigGroupResponse } from '../ConfigGroupResponse';
 export declare enum GamepadButtonType {
     UNKNOWN = 0,
     UP = 1,
@@ -81,20 +82,6 @@ export interface GamepadConfig {
     axisExpos?: GamepadAxisValueMap;
 }
 /** One stored gamepad config, scoped to a specific physical controller model (GamepadConfig.gamepad). */
-export interface GamepadConfigItem {
-    id: string;
-    value: GamepadConfig;
-    /** Robot-scoped response only: whether this robot's config overrides its robot definition's. */
-    _isOverridden?: boolean;
-}
+export type GamepadConfigItem = ConfigGroupItem<GamepadConfig>;
 /** Response shape of RobotService/ProfileService getGamepads — one item per registered controller model. */
-export interface GamepadConfigResponse {
-    version?: string;
-    type: string;
-    items: GamepadConfigItem[];
-    /** Robot-scoped response only. */
-    robotDefinitionId?: string;
-    username?: string;
-    createdAt?: string;
-    updatedAt?: string;
-}
+export type GamepadConfigResponse = ConfigGroupResponse<GamepadConfig>;

package/esm/models/index.d.ts

@@ -6,6 +6,7 @@ export * from './callsigns/CallsignsLookup';
 export * from './callsigns/CallsignsQuery';
 export * from './callsigns/CallsignsQueryPredicate';
 export * from './command';
+export * from './ConfigGroupResponse';
 export * from './device-credentials/DeviceCredentials';
 export * from './Dashboard';
 export * from './ExportDataQuery';

package/esm/models/index.js

@@ -6,6 +6,7 @@ export * from './callsigns/CallsignsLookup';
 export * from './callsigns/CallsignsQuery';
 export * from './callsigns/CallsignsQueryPredicate';
 export * from './command';
+export * from './ConfigGroupResponse';
 export * from './device-credentials/DeviceCredentials';
 export * from './Dashboard';
 export * from './ExportDataQuery';

package/esm/services/BaseStreamService.d.ts

@@ -10,7 +10,7 @@ export declare abstract class BaseStreamService<T extends IBaseStream, C extends
     protected constructor(name: string, config: IRocosSDKConfig);
     getStatus(): boolean;
     protected initStream(stream: T): Promise<void>;
-    protected createStreamFromConfig(identifier: string, config: C): Promise<{
+    protected createStreamFromConfig(identifier: string, config: C, onAcquire?: (stream: T) => void): Promise<{
         stream: T;
         isNew: boolean;
     }>;

package/esm/services/BaseStreamService.js

@@ -29,7 +29,7 @@ export class BaseStreamService {
         }
         authService.startTokenRefreshChecker();
     }
-    async createStreamFromConfig(identifier, config) {
+    async createStreamFromConfig(identifier, config, onAcquire) {
         const identifierWithScope = StreamRegister.getIdentifier(identifier, config.scope);
         const streamRegister = StreamRegister.getInstance();
         let stream = streamRegister.getStream(identifierWithScope);
@@ -42,7 +42,26 @@ export class BaseStreamService {
                 this.status$.next(msg);
             });
             streamRegister.addStream(stream);
-            await this.initStream(stream);
+        }
+        // Acquire synchronously with the lookup/registration above, before any await. A stream is
+        // stopped and deregistered the instant its refcount hits zero, so a deferred acquire can land on
+        // a dead instance — including a freshly-registered stream torn down during the init await below.
+        onAcquire?.(stream);
+        if (isNew) {
+            try {
+                await this.initStream(stream);
+            }
+            catch (e) {
+                // Evict eagerly, before the error reaches the subscriber, so a synchronous resubscribe
+                // can't re-acquire this uninitialised instance.
+                streamRegister.removeStream(stream);
+                throw e;
+            }
+            // If a concurrent teardown deregistered this stream during init, init() has opened a receiver
+            // on an instance nothing can reach; close it.
+            if (streamRegister.getStream(identifierWithScope) !== stream) {
+                stream.stopStream();
+            }
         }
         return { stream, isNew };
     }

package/esm/services/ProfileService.d.ts

@@ -1,4 +1,5 @@
 import { AgentSettingsRequestItem, AgentSettingsResponse } from '../models/IRobotSettings';
+import { CommandV2Item, CommandV2Response } from '../models/command/CommandV2';
 import { CreateRobotDefinitionRequest, RobotProfile } from '../models/RobotProfile';
 import { GamepadConfigItem, GamepadConfigResponse } from '../models/gamepad/GamepadConfig';
 import { RocosError } from '../models/RocosError';
@@ -168,7 +169,7 @@ export declare class ProfileService extends BaseServiceAbstract implements IBase
      * @param definitionId - Robot definition Id
      * @description - Renamed from robotDefGetCommandsV2
      */
-    getCommandsV2(projectId: string, definitionId: string): Promise<any>;
+    getCommandsV2(projectId: string, definitionId: string): Promise<CommandV2Response>;
     /**
      * Update command V2 for a robot definition
      *
@@ -177,7 +178,7 @@ export declare class ProfileService extends BaseServiceAbstract implements IBase
      * @param model - Payload
      * @description - Renamed from robotDefUpdateCommandsV2
      */
-    updateCommandsV2(projectId: string, definitionId: string, model: any): Promise<any>;
+    updateCommandsV2(projectId: string, definitionId: string, model: CommandV2Item[]): Promise<void>;
     /**
      * Get command actions for a robot definition
      *

package/esm/services/ProfileService.js

@@ -235,7 +235,6 @@ export class ProfileService extends BaseServiceAbstract {
      * @param definitionId - Robot definition Id
      * @description - Renamed from robotDefGetCommandsV2
      */
-    // TODO: map the response object
     async getCommandsV2(projectId, definitionId) {
         return this.callGet(formatServiceUrl(API_PROJECT_DEFINITION_COMMAND2_URL, { url: this.config.url, projectId, definitionId }, this.config.insecure), `Failed to get command list for ${projectId}, definitionId  ${definitionId}.`);
     }
@@ -247,9 +246,6 @@ export class ProfileService extends BaseServiceAbstract {
      * @param model - Payload
      * @description - Renamed from robotDefUpdateCommandsV2
      */
-    // TODO: map the request model
-    // TODO: map the response object
-    // eslint-disable-next-line @typescript-eslint/explicit-module-boundary-types
     async updateCommandsV2(projectId, definitionId, model) {
         return this.callPost(formatServiceUrl(API_PROJECT_DEFINITION_COMMAND2_URL, { url: this.config.url, projectId, definitionId }, this.config.insecure), model, `Failed to update command list for ${projectId}, definitionId  ${definitionId}.`);
     }

package/esm/services/RobotService.d.ts

@@ -1,4 +1,4 @@
-import { AgentSettingsResponse, GamepadConfigItem, GamepadConfigResponse, IBaseService, IConnectedCallsign, IRobot, IRobotListItem, IRobotSettings, IRobotTemplate, IRocosSDKConfig, RocosError } from '../models';
+import { AgentSettingsResponse, CommandV2Item, CommandV2Response, GamepadConfigItem, GamepadConfigResponse, IBaseService, IConnectedCallsign, IRobot, IRobotListItem, IRobotSettings, IRobotTemplate, IRocosSDKConfig, RocosError } from '../models';
 import { BaseServiceAbstract } from './BaseServiceAbstract';
 export declare class RobotService extends BaseServiceAbstract implements IBaseService {
     constructor(config: IRocosSDKConfig);
@@ -227,7 +227,7 @@ export declare class RobotService extends BaseServiceAbstract implements IBaseSe
      * @param projectId - Project Id
      * @param callsign - Robot callsign
      */
-    getCommandsV2(projectId: string, callsign: string): Promise<any>;
+    getCommandsV2(projectId: string, callsign: string): Promise<CommandV2Response>;
     /**
      * Update command V2 for a robot
      *
@@ -235,7 +235,7 @@ export declare class RobotService extends BaseServiceAbstract implements IBaseSe
      * @param callsign - Robot callsign
      * @param model - Payload
      */
-    updateCommandsV2(projectId: string, callsign: string, model: any): Promise<any>;
+    updateCommandsV2(projectId: string, callsign: string, model: CommandV2Item[]): Promise<void>;
     /**
      * Get buttons for a robot
      *

package/esm/services/RobotService.js

@@ -377,7 +377,6 @@ export class RobotService extends BaseServiceAbstract {
      * @param projectId - Project Id
      * @param callsign - Robot callsign
      */
-    // TODO: map the response object
     async getCommandsV2(projectId, callsign) {
         return this.callGet(formatServiceUrl(API_PROJECT_ROBOT_COMMAND2_URL, { url: this.config.url, projectId, callsign }, this.config.insecure), `Failed to get command list for ${projectId}, callsign  ${callsign}.`);
     }
@@ -388,9 +387,6 @@ export class RobotService extends BaseServiceAbstract {
      * @param callsign - Robot callsign
      * @param model - Payload
      */
-    // TODO: map the request model
-    // TODO: map the response object
-    // eslint-disable-next-line @typescript-eslint/explicit-module-boundary-types
     async updateCommandsV2(projectId, callsign, model) {
         return this.callPost(formatServiceUrl(API_PROJECT_ROBOT_COMMAND2_URL, { url: this.config.url, projectId, callsign }, this.config.insecure), model, `Failed to update commands for ${projectId}, callsign  ${callsign}.`);
     }

package/esm/services/TelemetryService.js

@@ -1,4 +1,4 @@
-import { BehaviorSubject, catchError, combineLatest, distinctUntilChanged, from, interval, map, mergeAll, of, startWith, } from 'rxjs';
+import { BehaviorSubject, catchError, combineLatest, defer, distinctUntilChanged, from, interval, map, mergeAll, of, startWith, } from 'rxjs';
 import { CallsignStatus, CallsignsLookup, CallsignsLookupType, RocosError, SubscriberStatusEnum, TelemetryMonitorStatus, errorCodes, } from '../models';
 import { filter, finalize } from 'rxjs/operators';
 import { BaseStreamService } from './BaseStreamService';
@@ -58,19 +58,26 @@ export class TelemetryService extends BaseStreamService {
             callsigns: callsignsLookup?.lookupType === CallsignsLookupType.List ? callsignsLookup.lookupValue : [],
             sources,
         };
-        const stream = this.createStream(params.projectId, callsignsLookup, sources, scope).then((stream) => {
-            stream.addSubscription(subscriptionParams);
-            if (!this.statusSubscription) {
-                this.statusSubscription = stream.statusStream$.subscribe((msg) => {
-                    this.status = msg === SubscriberStatusEnum.STOPPED || msg === SubscriberStatusEnum.ALIVE;
-                    this.status$.next(msg);
-                });
-            }
-            return from(stream.messageStream$).pipe(finalize(() => stream?.removeSubscription(subscriptionParams, params.terminateReceiverGroupOnUnsubscribe)));
+        // `defer` acquires the stream only when subscribed; `finalize` releases it on unsubscribe, error
+        // and complete — so acquire and release stay balanced on every path.
+        return defer(() => {
+            let acquired;
+            const stream$ = this.createStream(params.projectId, callsignsLookup, sources, scope, (stream) => {
+                acquired = stream;
+                stream.addSubscription(subscriptionParams);
+            }).then((stream) => {
+                if (!this.statusSubscription) {
+                    this.statusSubscription = stream.statusStream$.subscribe((msg) => {
+                        this.status = msg === SubscriberStatusEnum.STOPPED || msg === SubscriberStatusEnum.ALIVE;
+                        this.status$.next(msg);
+                    });
+                }
+                return from(stream.messageStream$);
+            });
+            return from(stream$).pipe(mergeAll(), filter((message) => {
+                return callsigns.includes(message.callsign) && sources.includes(message.source);
+            }), finalize(() => acquired?.removeSubscription(subscriptionParams, params.terminateReceiverGroupOnUnsubscribe)));
         });
-        return from(stream).pipe(mergeAll(), filter((message) => {
-            return callsigns.includes(message.callsign) && sources.includes(message.source);
-        }));
     }
     /**
      * A method to keep track of the current subscriptions
@@ -149,7 +156,7 @@ export class TelemetryService extends BaseStreamService {
             return `${params.projectId}-default-${flattenCallsignsLookup(callsignsLookup).join()}`;
         return `${params.projectId}-default`;
     }
-    async createStream(projectId, callsignsLookup, sources, scope) {
+    async createStream(projectId, callsignsLookup, sources, scope, onAcquire) {
         const newStream = await this.createStreamFromConfig(IDENTIFIER_NAME_TELEMETRY, {
             url: this.config.url,
             projectId,
@@ -162,7 +169,7 @@ export class TelemetryService extends BaseStreamService {
             insecure: this.config.insecure,
             transport: this.config.transport,
             fetch: this.config.fetch,
-        });
+        }, onAcquire);
         if (!newStream.isNew) {
             newStream.stream.statusStream$.subscribe((msg) => {
                 this.streamStatusSubject$.next({

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@dronedeploy/rocos-js-sdk",
-  "version": "4.4.1",
+  "version": "4.4.3",
   "description": "Javascript SDK for rocos",
   "main": "cjs/index.js",
   "module": "esm/index.js",