@formant/data-sdk 0.0.53 → 0.0.57

package/dist/data-sdk.es.js

@@ -18228,6 +18228,14 @@ let FORMANT_API_URL = "https://api.formant.io";
 if (typeof window !== "undefined") {
   FORMANT_API_URL = window.FORMANT_API_URL || FORMANT_API_URL;
 }
+let urlParams$1 = new URLSearchParams("");
+if (typeof window !== "undefined") {
+  urlParams$1 = new URLSearchParams(window.location.search);
+}
+const moduleName$1 = urlParams$1.get("formant_dev");
+if (moduleName$1) {
+  FORMANT_API_URL = "https://api-dev.formant.io";
+}
 function delay(ms) {
   return new Promise((resolve) => setTimeout(resolve, ms));
 }
@@ -18548,15 +18556,26 @@ class CaptureStream {
 }
 class Manipulator {
   constructor(device, config) {
+    __publicField(this, "currentListeners", []);
+    __publicField(this, "onRealtimeMessage", (_peerId, message) => {
+      if (message.payload.jointState) {
+        this.currentListeners.forEach((listener) => listener(message.payload.jointState));
+      }
+    });
     this.device = device;
     this.config = config;
   }
   async synchronize() {
-    this.device.addRealtimeListener((_peer, message) => {
-      console.log(message);
-    });
+    this.device.addRealtimeListener(this.onRealtimeMessage);
     this.device.startListeningToRealtimeDataStream(this.config.currentJointStateStream);
   }
+  async desynchronize() {
+    this.device.removeRealtimeListener(this.onRealtimeMessage);
+    this.device.stopListeningToRealtimeDataStream(this.config.currentJointStateStream);
+  }
+  async addCurrentJointStateListener(listener) {
+    this.currentListeners.push(listener);
+  }
 }
 class RequestDataChannel {
   constructor(device, channel_name, timeout) {
@@ -18828,10 +18847,10 @@ class Device {
   async getRealtimeManipulators() {
     var _a;
     const document2 = await this.getConfiguration();
-    const streams = [];
+    const manipulators = [];
     for (const _ of (_a = document2.teleop.rosStreams) != null ? _a : []) {
       if (_.topicType == "sensor_msgs/JointState") {
-        streams.push(new Manipulator(this, {
+        manipulators.push(new Manipulator(this, {
           currentJointStateStream: { name: _.topicName },
           plannedJointStateStream: _.plannedTopic ? { name: _.plannedTopic } : void 0,
           planValidStream: _.planValidTopic ? { name: _.planValidTopic } : void 0,
@@ -18842,7 +18861,7 @@ class Device {
         }));
       }
     }
-    return streams;
+    return manipulators;
   }
   async startListeningToRealtimeVideo(stream) {
     const client = defined(this.rtcClient, "Realtime connection has not been started");
@@ -19169,10 +19188,72 @@ const _Fleet = class {
     const telemetry = await data.json();
     return telemetry.items;
   }
+  static async getFileUrl(uuid) {
+    const data = await fetch(`${FORMANT_API_URL}/v1/admin/files/query`, {
+      method: "POST",
+      body: JSON.stringify({
+        fileIds: [uuid]
+      }),
+      headers: {
+        "Content-Type": "application/json",
+        Authorization: "Bearer " + Authentication.token
+      }
+    });
+    const result = await data.json();
+    if (result.fileUrls.length === 0) {
+      throw new Error("File not found");
+    }
+    return result.fileUrls[0];
+  }
 };
 let Fleet = _Fleet;
 __publicField(Fleet, "defaultDeviceId");
 __publicField(Fleet, "knownContext", []);
+class KeyValue {
+  static async set(key, value) {
+    try {
+      const result = await fetch(FORMANT_API_URL + "/v1/admin/key-value", {
+        method: "POST",
+        body: JSON.stringify({
+          organizationId: defined(Authentication.currentUser).organizationId,
+          key,
+          value
+        }),
+        headers: {
+          "Content-Type": "application/json",
+          Authorization: "Bearer " + Authentication.token
+        }
+      });
+      const keyValue = await result.json();
+      if (result.status !== 200) {
+        throw new Error(keyValue.message);
+      }
+    } catch (e) {
+      throw e;
+    }
+  }
+  static async get(key) {
+    try {
+      const result = await fetch(FORMANT_API_URL + `/v1/admin/key-value/${key}`, {
+        method: "GET",
+        body: JSON.stringify({
+          organizationId: defined(Authentication.currentUser).organizationId
+        }),
+        headers: {
+          "Content-Type": "application/json",
+          Authorization: "Bearer " + Authentication.token
+        }
+      });
+      const keyValue = await result.json();
+      if (result.status !== 200) {
+        throw new Error(keyValue.message);
+      }
+      return keyValue.value;
+    } catch (e) {
+      throw e;
+    }
+  }
+}
 let urlParams = new URLSearchParams("");
 if (typeof window !== "undefined") {
   urlParams = new URLSearchParams(window.location.search);
@@ -19189,4 +19270,4 @@ const moduleName = urlParams.get("module");
 if (moduleName) {
   Authentication.listenForRefresh();
 }
-export { App, Authentication, BinaryRequestDataChannel, CaptureStream, DataChannel, Device, Fleet, Manipulator, TextRequestDataChannel };
+export { App, Authentication, BinaryRequestDataChannel, CaptureStream, DataChannel, Device, Fleet, KeyValue, Manipulator, TextRequestDataChannel };

package/dist/data-sdk.umd.js

@@ -41,4 +41,4 @@ In order to be iterable, non-array objects must have a [Symbol.iterator]() metho
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Set(["new","checking","connected","completed"]).has(this.peerConnection.iceConnectionState)||this.isReady()}isReady(){const{reliableStreamChannel:z,latestTtlStreamChannel:Z,latestTryOnceStreamChannel:te,latestReliableStreamChannel:ce}=this;return(z==null?void 0:z.readyState)==="open"&&(Z==null?void 0:Z.readyState)==="open"&&(te==null?void 0:te.readyState)==="open"&&(ce==null?void 0:ce.readyState)==="open"}close(){return W(this,void 0,void 0,function*(){if(this.closeCalled)return;this.closeCalled=!0,this.sessionMetrics&&(yield this.sessionMetrics.uploadMetrics()),this.pingUpdateTimeout&&clearInterval(this.pingUpdateTimeout),this.reassemblyTableCleanupTimeout&&clearInterval(this.reassemblyTableCleanupTimeout),this.streamsInfoUpdateTimeout&&clearInterval(this.streamsInfoUpdateTimeout),this.heartbeatTimeout&&clearInterval(this.heartbeatTimeout);const{peerConnection:z,reliableStreamChannel:Z,latestTtlStreamChannel:te,latestTryOnceStreamChannel:ce,latestReliableStreamChannel:ae}=this;z.close(),Z==null||Z.close(),te==null||te.close(),ce==null||ce.close(),ae==null||ae.close()})}getPing(){return this.pingTimeMs}getLastMessageTimestamp(){return this.lastMessageTimestamp}getSessionCreatedTimestamp(){var z;return(z=this.config.remoteConfig)===null||z===void 0?void 0:z.sessionCreatedTimestamp}setSessionCreatedTimestamp(z){this.config.remoteConfig&&(this.config.remoteConfig.sessionCreatedTimestamp=z)}getSessionId(){var z;return(z=this.config.remoteConfig)===null||z===void 0?void 0:z.sessionId}setSessionId(z){this.config.remoteConfig&&(this.config.remoteConfig.sessionId=z,this.sessionMetrics=new v(z,this))}getRemotePeerId(){return this.config.baseConfig.remotePeerId}getRemoteDeviceId(){var z;return(z=this.config.baseConfig)===null||z===void 0?void 0:z.remoteDeviceId}setRemoteDeviceId(z){this.config.baseConfig.remoteDeviceId=z}getSessionMetricsMessageCounts(){var z;return(z=this.sessionMetrics)===null||z===void 0?void 0:z.counts}getConnectionStatsInfo(){return W(this,void 0,void 0,function*(){const{peerConnection:z}=this;if(!z)return;const Z=yield z.getStats(null),te=[];Z.forEach(me=>{te.push(me)});const ce=te.find(me=>me.type==="transport");if(!ce)return;const ae=te.find(me=>(me.type==="candidate-pair"||me.type==="candidatepair")&&me.id===ce.selectedCandidatePairId);if(!ae)return;const he=te.find(me=>me.id===ae.localCandidateId),de=te.find(me=>me.id===ae.remoteCandidateId);return he&&de&&(he.address=he.address||he.ip,de.address=de.address||de.ip,he.address!==void 0&&de.address!==void 0)?{transport:ce,localCandidate:he,remoteCandidate:de}:void 0})}initializeChannels(z){this.heartbeatChannel=z.createDataChannel("heartbeat",Q),this.heartbeatChannel.binaryType="arraybuffer",this.latestTtlStreamChannel=z.createDataChannel("stream.latest-ttl",B),this.latestTtlStreamChannel.binaryType="arraybuffer",this.reliableStreamChannel=z.createDataChannel("stream.reliable",k),this.reliableStreamChannel.binaryType="arraybuffer",this.latestReliableStreamChannel=z.createDataChannel("stream.latest-reliable",Y),this.latestReliableStreamChannel.binaryType="arraybuffer",this.latestTryOnceStreamChannel=z.createDataChannel("stream.latest-try-once",K),this.latestTryOnceStreamChannel.binaryType="arraybuffer",this.setupChannel(this.latestTtlStreamChannel),this.setupChannel(this.reliableStreamChannel),this.setupChannel(this.latestReliableStreamChannel),this.setupChannel(this.latestTryOnceStreamChannel)}getOffer(){var z,Z,te;return W(this,void 0,void 0,function*(){const{gotOffer:ce}=this,{peerConnection:ae,config:he}=this;if(this.config.baseConfig.isLan)throw new Error('"getOffer" method can only be called with internet connections. LAN connections should call the "getLanOffer" method.');const de=(z=this.config.remoteConfig)===null||z===void 0?void 0:z.sessionId;if(ce)return void A.a.debug("Failed to generate offer because gotOffer was already called.");if(this.gotOffer=!0,j(this.peerConnection))return void A.a.debug("Failed to generate offer because the peer connection was inactive.");const me=he.baseConfig.track;ae.onicecandidate=()=>{this.hasIceCandidate=!0},ae.oniceconnectionstatechange=()=>W(this,void 0,void 0,function*(){const Oe=ae.iceConnectionState;if(Oe==="connected"||Oe==="completed"){const Pe=yield this.getConnectionStatsInfo(),Fe=Pe?function(De){const Le=De.localCandidate.candidateType,xe=De.remoteCandidate.candidateType;return Le==="host"&&xe==="host"?"local":Le==="relay"||xe==="relay"?"TURN":"STUN"}(Pe):void 0;A.a.info(`ICE connection state changed to ${Oe}`,{sessionId:de,connectionStatsInfo:Pe,iceMode:Fe}),me==null||me("ICE connection state change",{iceConnectionState:Oe,sessionId:de,connectionStatsInfo:Pe,iceMode:Fe})}}),yield ae.setLocalDescription(yield ae.createOffer());const fe=new Date().getTime();for(;;){const Oe=new Date().getTime()-fe;if(Oe>this.connectTimeoutMs)return void A.a.debug("Failed to generate offer because ICE gathering timed out.");if(Oe>this.iceGatheringTimeoutMs&&this.hasIceCandidate){A.a.debug("ICE gathering partially completed; proceeding",{iceTransportPolicy:ae.getConfiguration().iceTransportPolicy,waitTime:Oe}),me==null||me("ICE gathering partially completed",{sessionId:de,iceTransportPolicy:ae.getConfiguration().iceTransportPolicy,waitTime:Oe});break}if(ae.iceGatheringState==="complete"){A.a.debug("ICE gathering complete",{iceTransportPolicy:ae.getConfiguration().iceTransportPolicy,waitTime:Oe}),me==null||me("ICE gathering completed",{sessionId:de,iceTransportPolicy:ae.getConfiguration().iceTransportPolicy,waitTime:Oe});break}yield Object(u.a)(.1*l.a.second)}const ge=(Z=this.peerConnection.getConfiguration().iceServers)!==null&&Z!==void 0?Z:[];for(const Oe of ge)Oe.credentialType=void 0;const _e=JSON.stringify(ge),Se=new D.Signal;return Se.setPayload(JSON.stringify(ae.localDescription)),Se.setSenderId(this.config.baseConfig.localPeerId),Se.setReceiverId(this.config.baseConfig.remotePeerId),Se.setIceServers(_e),Se.setIceTransportPolicy((te=this.peerConnection.getConfiguration().iceTransportPolicy)!==null&&te!==void 0?te:"all"),A.a.debug("Sending offer signal with description",{description:Se.getPayload()}),Se})}getLanOffer(){return W(this,void 0,void 0,function*(){const{peerConnection:z,gotOffer:Z}=this;if(!this.config.baseConfig.isLan)throw new Error('"getLanOffer" method can only be used with LAN connections. Internet connections should call the "getOffer" method.');if(Z)return void A.a.debug("Failed to generate offer because gotOffer was already called.");if(this.gotOffer=!0,j(this.peerConnection))return void A.a.debug("Failed to generate offer because the peer connection was inactive.");yield z.setLocalDescription(yield z.createOffer());const te=new Date().getTime();for(;;){if(new Date().getTime()-te>this.iceGatheringTimeoutMs)return void A.a.debug("Failed to generate offer because ICE gathering timed out.");if(z.iceGatheringState==="complete")break;yield Object(u.a)(.1*l.a.second)}const ce=z.localDescription;if(ce)return A.a.debug("Sending LAN offer signal with description",{description:ce}),ce;A.a.error("Failed to generate LAN offer description")})}handleLanAnswer(z){return W(this,void 0,void 0,function*(){const{peerConnection:Z}=this;if(!this.config.baseConfig.isLan)throw new Error('"handleLanAnswer" method can only be used with LAN connections. Internet connections should call the "handleSignal" method.');yield Z.setRemoteDescription(z)})}getChannelFromLabel(z){switch(z){case"stream.latest-ttl":return this.latestTtlStreamChannel;case"stream.reliable":return this.reliableStreamChannel;case"stream.latest-reliable":return this.latestReliableStreamChannel;case"stream.latest-try-once":return this.latestTryOnceStreamChannel}}sendOnChannel(z,Z){let te;try{te=Object(f.encode)(JSON.stringify(Z))}catch(ce){return void A.a.warn("Failed to encode RTC message",{error:ce})}try{z.send(te),this.sessionMetrics&&this.sessionMetrics.incrementLocalSent(Z)}catch(ce){A.a.warn("Failed to send message to channel",{error:ce,channel:z.label})}}channelNotRecognized(z){return z!==this.latestTtlStreamChannel&&z!==this.latestReliableStreamChannel&&z!==this.latestTryOnceStreamChannel&&z!==this.reliableStreamChannel}setupChannel(z){z.onmessage=Z=>{if(this.channelNotRecognized(z))return void A.a.warn("Received message on unrecognized data channel.");let te;try{te=JSON.parse(Object(f.decode)(Z.data))}catch(ce){return void A.a.warn("Received unparseable message on RTC stream data channel",{error:ce,channel:z.label})}te.communicationType==="message-chunk"?this.receiveChannelMessageChunk(z,te):this.receiveChannelMessage(z,te)},z.onerror=Z=>{A.a.warn(`Channel error: ${Z.error}`,{error:Z.error,sessionId:this.getSessionId(),channelLabel:z.label})},z.onopen=()=>{A.a.debug("Channel opened",{sessionId:this.getSessionId(),channelLabel:z.label})},z.onclose=()=>{const Z={bufferedAmount:z.bufferedAmount,sessionId:this.getSessionId(),channelLabel:z.label};this.closeCalled===!1?A.a.debug("Unexpected channel closed",Z):A.a.debug("Channel closed",Z)}}receiveChannelMessage(z,Z){const{config:te}=this,{remotePeerId:ce}=this.config.baseConfig;this.lastMessageTimestamp=new Date().getTime(),Z=function(ae){switch(ae.header.stream.streamType){case"twist":const{twist:he}=ae.payload;if(!he)throw Error("twist not in payload of RTC message with type twist");return{header:ae.header,payload:{twist:{linear:Object.assign({x:0,y:0,z:0},he.linear),angular:Object.assign({x:0,y:0,z:0},he.angular)}}};case"pose":const{pose:de}=ae.payload;if(!de)throw Error("pose not in payload of RTC message with type pose");return{header:ae.header,payload:{pose:{translation:Object.assign({x:0,y:0,z:0},de.translation),rotation:Object.assign({x:0,y:0,z:0,w:0},de.rotation)}}};case"pose-with-covariance":const{poseWithCovariance:me}=ae.payload;if(!me)throw Error("poseWithCovariance not in payload of RTC message with type pose-with-covariance");const fe=new Array(36).fill(0);return me.covariance.forEach((_e,Se)=>{if(Se>=36)throw Error("covariance contains more than 36 elements");fe[Se]=_e}),{header:ae.header,payload:{poseWithCovariance:{pose:{translation:Object.assign({x:0,y:0,z:0},me.pose.translation),rotation:Object.assign({x:0,y:0,z:0,w:0},me.pose.rotation)},covariance:fe}}};case"point":const{point:ge}=ae.payload;if(!ge)throw Error("point not in payload of RTC message with type point");return{header:ae.header,payload:{point:Object.assign({x:0,y:0,z:0},ge)}};default:return ae}}(Z),this.sessionMetrics&&this.sessionMetrics.incrementLocalReceived(Z),this.handleSystemMessage(z,Z)||(z===this.latestTryOnceStreamChannel||z===this.latestTtlStreamChannel||z===this.latestReliableStreamChannel)&&!this.isLatestMessage(Z)||te.baseConfig.receive(ce,Z)}receiveChannelMessageChunk(z,Z){const te=this.reassemblyTable.get(Z.id)||[];if(te.push(Z),te.length===Z.total){const ce=function(ae){const he=ae.sort((de,me)=>de.seq<me.seq?-1:1).map(de=>de.part).reduce((de,me)=>de+me);try{return JSON.parse(he)}catch{return void A.a.warn("Could not reassemble RTC message chunks")}}(te);return ce&&this.receiveChannelMessage(z,ce),void this.reassemblyTable.delete(Z.id)}this.reassemblyTable.set(Z.id,te),this.reassemblyTableLastTimestamp.set(Z.id,new Date().getTime())}handleSystemMessage(z,Z){var te,ce;const{config:ae}=this,{baseConfig:he}=ae,{remotePeerId:de}=he;switch(Z.header.stream.streamType){case"ping":return this.sendSystemMessage(z,{type:"pong",timestamp:M(Z.payload.ping)}),!0;case"pong":const me=new Date().getTime()-M(Z.payload.pong);return this.pingTimeMs=me,x.aggregate("rtc-ping-time",me),!0;case"streams-info":const{sessionMetrics:fe}=this,ge=(te=Z.payload.streamsInfo)===null||te===void 0?void 0:te.timestamp;return!!ge&&(fe==null||fe.updateRemoteMessagesCounts(Z),(ce=he.onStreamsInfoUpdate)===null||ce===void 0||ce.call(he,de,ge),!0);case"stream-control":return!0;default:return!1}}sendSystemMessage(z,Z){var te;const{localUserId:ce,localPeerId:ae}=this.config.baseConfig;if(z.readyState!=="open")return;const he={entityId:ce!=null?ce:ae,streamName:`$.${Z.type}`,streamType:Z.type};let de;switch(Z.type){case"ping":de={ping:new Date().getTime()};break;case"pong":de={pong:Z.timestamp};break;case"stream-control":de={streamControl:Z.streamControl};break;case"streams-info":de={streamsInfo:(te=this.sessionMetrics)===null||te===void 0?void 0:te.getLocalStreamsInfo(new Date().getTime())}}this.sendOnChannel(z,function(me,fe){return{header:{stream:me,created:Date.now(),frameId:""},payload:fe}}(he,de))}isLatestMessage(z){const Z=G(z.header.stream),te=(this.streamLatestTimestamp.get(Z)||0)<=z.header.created;return te&&this.streamLatestTimestamp.set(Z,z.header.created),te}}function J(oe){var z,Z;return{userId:(z=oe.getUserId())===null||z===void 0?void 0:z.getValue(),deviceId:(Z=oe.getDeviceId())===null||Z===void 0?void 0:Z.getValue(),organizationId:oe.getOrganizationId(),id:oe.getPeerId(),capabilities:[],capabilitySet:{}}}var re=function(oe,z,Z,te){return new(Z||(Z=Promise))(function(ce,ae){function he(fe){try{me(te.next(fe))}catch(ge){ae(ge)}}function de(fe){try{me(te.throw(fe))}catch(ge){ae(ge)}}function me(fe){var ge;fe.done?ce(fe.value):(ge=fe.value,ge instanceof Z?ge:new Z(function(_e){_e(ge)})).then(he,de)}me((te=te.apply(oe,z||[])).next())})};class se{constructor(z){this.config=z,this.grpcCallDeadline=5*l.a.second,this.refreshIntervalDelayMs=2*l.a.second,this.iceServersTtl=30*l.a.minute,this.connections=[],this.localConnections=[],this.isConnectionInitiator=new Map,this.isOutgoingConnection=new Map,this.peerDataChannelListeners=[];const{refreshIntervalDelayMs:Z}=this;this.refreshInterval=N({func:()=>re(this,void 0,void 0,function*(){try{yield this.update()}catch(te){A.a.warn("RTC refresh failed",{error:te})}}),delay:Z,immediate:!0})}send(z,Z,te){const ce=this.getActiveConnection(z);ce?ce.isReady()?ce.send(Z,te):A.a.warn("Send called with unready connection."):A.a.warn("Send called with no connection.")}controlRemoteStream(z,Z){const te=this.getActiveConnection(z);te?te.isReady()?te.controlRemoteStream(Z):A.a.warn("controlRemoteStream called with unready connection."):A.a.warn("controlRemoteStream called with no connection.")}getLocalPeer(){return re(this,void 0,void 0,function*(){for(;!this.localPeer;)yield Object(u.a)(.1*l.a.second);return J(this.localPeer)})}connect(z,Z){var te,ce,ae;return re(this,void 0,void 0,function*(){if(this.config.lanOnlyMode===!0)throw new Error("connect method called in local only mode.");const{track:he,signalingClient:de}=this.config,{localPeer:me,receiveSignalStream:fe,iceServers:ge}=this;if(!me||!fe||!ge)return void A.a.warn("Connect called prior to local peer, receiveSignalStream, and ICE servers ready");if(this.getActiveConnection(z))return void A.a.warn("Connect called for peer with existing connection.");if(this.isOutgoingConnection.get(z))return void A.a.warn("Connect called for peer with an existing outgoing connection offer.");this.isOutgoingConnection.set(z,!0);const _e=new ee(yield this.createRTCPeerConnection(ge,Z),{baseConfig:{isOffer:!0,isLan:!1,receive:(Le,xe)=>this.config.receive(Le,xe),onStreamsInfoUpdate:this.config.onStreamsInfoUpdate?(Le,xe)=>{var Ne,Ue;return(Ue=(Ne=this.config).onStreamsInfoUpdate)===null||Ue===void 0?void 0:Ue.call(Ne,Le,xe)}:void 0,track:this.config.lanOnlyMode?void 0:this.config.track,localUserId:(te=me.getUserId())===null||te===void 0?void 0:te.getValue(),localPeerId:me.getPeerId(),remotePeerId:z},remoteConfig:{}},Le=>this.onCustomDataChannel(z,Le)),Se=yield _e.getOffer();if(!Se)return A.a.error("Failed to generate offer."),void this.isOutgoingConnection.delete(z);A.a.debug("Sending offer."),he==null||he("Sending offer",Se);const Oe=new D.SendSignalRequest;Oe.setSignal(Se);const Pe=yield(()=>re(this,void 0,void 0,function*(){try{return yield de.sendSignal(Oe,yield this.getMetadata({}))}catch(Le){A.a.warn("Error when sending signal",{error:Le})}}))();if(!this.isOutgoingConnection.get(z))return void A.a.debug("No offer set after receiving offer signal response.");A.a.debug("Offer sent.");const Fe=(ce=Pe==null?void 0:Pe.getSessionId())===null||ce===void 0?void 0:ce.getValue(),De=(ae=Pe==null?void 0:Pe.getSessionCreatedTimestamp())===null||ae===void 0?void 0:ae.getValue();return Fe&&De?(_e.setSessionId(Fe),_e.setSessionCreatedTimestamp(De),this.isOutgoingConnection.delete(z),this.connections.push(_e),this.isConnectionInitiator.set(_e,!0),this.setupHandlers(_e),Fe):(A.a.warn("No session ID or no session created timestamp on send signal response."),void this.isOutgoingConnection.delete(z))})}connectLan(z){var Z,te;return re(this,void 0,void 0,function*(){const ce=new b(z),ae=new ee(yield this.createRTCPeerConnection([]),{baseConfig:{isOffer:!0,isLan:!0,receive:(fe,ge)=>this.config.receive(fe,ge),onStreamsInfoUpdate:this.config.onStreamsInfoUpdate?(fe,ge)=>{var _e,Se;return(Se=(_e=this.config).onStreamsInfoUpdate)===null||Se===void 0?void 0:Se.call(_e,fe,ge)}:void 0,track:this.config.lanOnlyMode?void 0:this.config.track,localUserId:(te=(Z=this.localPeer)===null||Z===void 0?void 0:Z.getUserId())===null||te===void 0?void 0:te.getValue(),localPeerId:"lan_client",remotePeerId:z}},fe=>this.onCustomDataChannel(z,fe)),he=yield ae.getLanOffer();if(!he)return A.a.warn("Could not generate LAN offer"),!1;const de=yield ce.postLanRtcOffer({offer:JSON.stringify(he)}),me=new RTCSessionDescription(JSON.parse(de.answer));return yield ae.handleLanAnswer(me),this.localConnections.push(ae),Object(T.v4)()})}getConnections(){return[...this.connections,...this.localConnections]}createCustomDataChannel(z,Z,te,ce,ae){const he=this.getActiveConnection(z);if(he&&this.isConnectionInitiator.has(he)){const me=he.peerConnection.createDataChannel("custom."+Z,te);return ce&&(me.binaryType="arraybuffer"),ae(z,me),()=>{}}const de=(me,fe)=>{z===me&&fe.label==="custom."+Z&&ae(z,fe)};return this.peerDataChannelListeners.push(de),()=>{this.peerDataChannelListeners=this.peerDataChannelListeners.filter(me=>me!==de)}}onCustomDataChannel(z,Z){this.peerDataChannelListeners.forEach(te=>te(z,Z))}getConnectionStatus(z){if(this.isOutgoingConnection.get(z))return"connecting";const Z=this.getActiveConnection(z);return Z?Z.isReady()?"connected":"connecting":"disconnected"}getConnectionStatsInfo(z){return re(this,void 0,void 0,function*(){const Z=this.getActiveConnection(z);if(Z)return yield Z.getConnectionStatsInfo()})}disconnect(z){return re(this,void 0,void 0,function*(){const Z=this.getActiveConnection(z);Z&&(yield Z.close())})}getPeers(){return re(this,void 0,void 0,function*(){if(this.config.lanOnlyMode)throw new Error("getPeers method cannot be used in local-only mode.");const{signalingClient:z}=this.config,Z=yield(()=>re(this,void 0,void 0,function*(){try{return yield z.getPeers(new D.GetPeersRequest,yield this.getMetadata({}))}catch(ae){A.a.warn("Error when getting peers",{error:ae})}}))();if(!Z)return[];const te=Z.getPeersList();if(!te)return[];const ce=ae=>{var he,de;return(de=(he=ae.getPeerCreatedTimestamp())===null||he===void 0?void 0:he.getValue())!==null&&de!==void 0?de:0};return te.sort((ae,he)=>ce(he)-ce(ae)).map(ae=>J(ae))})}getPing(z){const Z=this.getActiveConnection(z);if(Z)return Z.getPing();A.a.warn("Attempted to get ping time from inactive peer.")}getLastMessageTimestamp(z){const Z=this.getActiveConnection(z);if(Z)return Z.getLastMessageTimestamp();A.a.warn("Attempted to get last message time from inactive peer.")}getSessionMetricsMessageCounts(z){const Z=this.getActiveConnection(z);if(Z)return Z.getSessionMetricsMessageCounts();A.a.warn("Attempted to get session metrics counts from inactive peer.")}isReady(){if(this.config.lanOnlyMode)return!0;const{localPeer:z,receiveSignalStream:Z,iceServers:te}=this;return!!(z&&Z&&te)}shutdown(){return re(this,void 0,void 0,function*(){A.a.info("Shutdown called on RTC client"),yield this.refreshInterval.stop(),this.receiveSignalStream&&this.receiveSignalStream.cancel();const z=this.connections;this.connections=[],yield this.closeConnections(z);const{localPeer:Z}=this;if(!Z||this.config.lanOnlyMode)return;const{signalingClient:te}=this.config;yield(()=>re(this,void 0,void 0,function*(){try{const ce=new D.DeletePeerRequest;ce.setPeerId(Z.getPeerId()),yield te.deletePeer(ce,yield this.getMetadata({}))}catch(ce){return void A.a.warn("Error deleting local peer",{error:ce})}}))()})}createPeer(){return re(this,void 0,void 0,function*(){if(this.config.lanOnlyMode)throw new Error("createPeer method cannot be used in local-only mode.");const{signalingClient:z}=this.config,Z=yield(()=>re(this,void 0,void 0,function*(){try{return yield z.createPeer(new D.CreatePeerRequest,yield this.getMetadata({}))}catch(ce){throw new Error(`Was not able to create peer: ${ce}`)}}))(),te=Z==null?void 0:Z.getPeer();if(!te)throw new Error("Response did not provide peer.");return this.localPeer=te})}createReceiveSignalStream(){return re(this,void 0,void 0,function*(){if(this.config.lanOnlyMode)throw new Error("createReceiveSignalStream method cannot be used in local-only mode.");const{signalingClient:z}=this.config,{localPeer:Z,iceServers:te}=this;if(!Z||!te)return;const{receiveSignalStream:ce}=this;ce&&ce.cancel();const ae=new D.ReceiveSignalStreamRequest;ae.setPeerId(Z.getPeerId());const he=yield(()=>re(this,void 0,void 0,function*(){try{return z.receiveSignalStream(ae,yield this.getMetadata({hasDeadline:!1}))}catch(de){throw new Error(`Unable to create receive signal stream: ${de}`)}}))();if(!he)throw new Error("Response did not provide stream.");return he.on("data",de=>re(this,void 0,void 0,function*(){var me,fe,ge,_e;const Se=de.getSignal(),Oe=(me=Se==null?void 0:Se.getSessionId())===null||me===void 0?void 0:me.getValue(),Pe=Se==null?void 0:Se.getSenderId(),Fe=Se==null?void 0:Se.getReceiverId(),De=(fe=Se==null?void 0:Se.getSessionCreatedTimestamp())===null||fe===void 0?void 0:fe.getValue();if(!(Se&&Oe&&Pe&&Fe&&De))return void A.a.warn("Received signal with missing information.");const Le=this.getActiveConnection(Pe);if(Le)if(Le.getSessionId()!==Oe){if(A.a.debug("Received signal: different session for a peer we're already connected to."),(Le.getSessionCreatedTimestamp()||0)>De)return;const xe=new ee(yield this.createRTCPeerConnection(te),{baseConfig:{isOffer:!1,isLan:!1,receive:(Ne,Ue)=>this.config.receive(Ne,Ue),onStreamsInfoUpdate:this.config.onStreamsInfoUpdate?(Ne,Ue)=>{var We,ze;return(ze=(We=this.config).onStreamsInfoUpdate)===null||ze===void 0?void 0:ze.call(We,Ne,Ue)}:void 0,track:this.config.lanOnlyMode?void 0:this.config.track,localPeerId:Z.getPeerId(),localUserId:(_e=Z.getUserId())===null||_e===void 0?void 0:_e.getValue(),remotePeerId:Pe},remoteConfig:{sessionId:Oe,sessionCreatedTimestamp:De}},Ne=>this.onCustomDataChannel(Pe,Ne));yield xe.handleSignal(Se),this.connections.push(xe)}else A.a.debug("Received signal: for an existing connection."),yield Le.handleSignal(Se);else{A.a.debug("Received signal: new connection.");const xe=new ee(yield this.createRTCPeerConnection(te),{baseConfig:{isOffer:!1,isLan:!1,receive:(Ne,Ue)=>this.config.receive(Ne,Ue),onStreamsInfoUpdate:this.config.onStreamsInfoUpdate?(Ne,Ue)=>{var We,ze;return(ze=(We=this.config).onStreamsInfoUpdate)===null||ze===void 0?void 0:ze.call(We,Ne,Ue)}:void 0,track:this.config.lanOnlyMode?void 0:this.config.track,localPeerId:Z.getPeerId(),localUserId:(ge=Z.getUserId())===null||ge===void 0?void 0:ge.getValue(),remotePeerId:Pe},remoteConfig:{sessionId:Oe,sessionCreatedTimestamp:De}},Ne=>this.onCustomDataChannel(Pe,Ne));yield xe.handleSignal(Se),this.connections.push(xe)}})),he.on("end",()=>{he.cancel(),this.receiveSignalStream=void 0}),he.on("error",de=>{switch(de.code){case L.StatusCode.CANCELLED:case L.StatusCode.UNAVAILABLE:case L.StatusCode.UNKNOWN:A.a.debug("Receive signal stream error",{error:de});break;case L.StatusCode.UNAUTHENTICATED:A.a.warn("Receive signal stream error",{error:de});break;default:A.a.error("Receive signal stream error",{error:de})}he.cancel(),this.receiveSignalStream=void 0}),this.receiveSignalStream=he})}createRTCPeerConnection(z,Z){var te;return re(this,void 0,void 0,function*(){const ce=Z==null?void 0:Z.rtcIceTransportPolicy,ae=(te=this.config.alternateRTCPeerConnection)!==null&&te!==void 0?te:window.RTCPeerConnection;if(!ae)throw new Error("RTCPeerConnection class not found. WebRTC must be enabled.");return new ae(Object.assign({iceServers:z,iceTransportPolicy:ce},Z))})}closeConnections(z){return re(this,void 0,void 0,function*(){const Z=yield F(z.map(te=>re(this,void 0,void 0,function*(){yield te.close()})));for(const te of Z)A.a.warn("Request to close session failed",{error:te})})}getActiveConnection(z){return this.getConnections().find(Z=>Z.getRemotePeerId()===z&&Z.isActive())}update(){var z;return re(this,void 0,void 0,function*(){if(this.localConnections=this.localConnections.filter(de=>de.isActive()),this.config.lanOnlyMode)return;const{signalingClient:Z}=this.config;if(!this.localPeer||!this.receiveSignalStream||!this.iceServers)return this.localPeer||(yield this.createPeer()),this.iceServers||(yield this.updateIceServers()),void(this.receiveSignalStream||(yield this.createReceiveSignalStream()));yield this.closeConnections(this.connections.filter(de=>!de.isActive())),this.connections=this.connections.filter(de=>de.isActive());const{localPeer:te}=this,ce=this.connections.filter(de=>de.getSessionId).map(de=>M(de.getSessionId()));te.setSessionIdsList(ce);const ae=new D.RefreshPeerRequest;ae.setPeer(te);try{yield Z.refreshPeer(ae,yield this.getMetadata({}))}catch(de){de.code===L.StatusCode.NOT_FOUND?(A.a.warn("Peer expired, creating new peer",{peerId:te.getPeerId()}),yield this.reset()):A.a.warn("Error calling RefreshPeer",{error:de})}const he=yield this.getPeers();for(const de of this.connections)de.setRemoteDeviceId((z=he.find(me=>me.id===de.getRemotePeerId()))===null||z===void 0?void 0:z.deviceId)})}reset(){return re(this,void 0,void 0,function*(){yield this.closeConnections(this.connections),this.connections=[],this.isOutgoingConnection=new Map,yield this.createPeer(),yield this.createReceiveSignalStream()})}updateIceServers(){return re(this,void 0,void 0,function*(){if(this.config.lanOnlyMode)return;const{iceServersLastUpdate:z,iceServersTtl:Z}=this,te=new Date().getTime();if(!z||te-z>Z)try{const ce=(yield this.config.signalingClient.getIceServers(new D.GetIceServersRequest,yield this.getMetadata({}))).getIceServers();this.iceServers=JSON.parse(ce),this.iceServersLastUpdate=te}catch(ce){A.a.warn("Error in updateIceServers",{error:ce})}})}setupHandlers(z){const{peerConnection:Z}=z,te=z.getSessionCreatedTimestamp();Z.onconnectionstatechange=()=>re(this,void 0,void 0,function*(){const ce=Z.connectionState;if(te)switch(ce){case"connected":x.aggregate("rtc-connect-time",new Date().getTime()-te);break;case"failed":x.increment("rtc-connect-failed")}})}getMetadata(z){return re(this,void 0,void 0,function*(){if(this.config.lanOnlyMode)throw new Error("getMetadata method cannot be called in local-only mode");const{getToken:Z}=this.config,{grpcCallDeadline:te}=this,{hasDeadline:ce}=z,ae=ce===!1?void 0:new Date().getTime()+te;return{authorization:yield Z(),deadline:ae}})}}},,function(e,t,r){r.r(t),r.d(t,"LogClient",function(){return g});var n=r(26),i=function(s,o,l,u){return new(l||(l=Promise))(function(m,R){function y(w){try{c(u.next(w))}catch(E){R(E)}}function S(w){try{c(u.throw(w))}catch(E){R(E)}}function c(w){var E;w.done?m(w.value):(E=w.value,E instanceof l?E:new l(function(P){P(E)})).then(y,S)}c((u=u.apply(s,o||[])).next())})};class g extends n.a{log(o){return i(this,void 0,void 0,function*(){yield this.fetch("logs",{method:"POST",body:JSON.stringify({logs:o}),allowUnsafeRetries:!0})})}}}])})})(dist);let FORMANT_API_URL="https://api.formant.io";typeof window!="undefined"&&(FORMANT_API_URL=window.FORMANT_API_URL||FORMANT_API_URL);function delay(e){return new Promise(t=>setTimeout(t,e))}function defined(e,t){if(e!==void 0)return e;throw new Error(t||"Value is undefined")}class App{static sendAppMessage(t){window.parent.postMessage(t,"*")}static getCurrentModuleContext(){let t=new URLSearchParams("");return typeof window!="undefined"&&(t=new URLSearchParams(window.location.search)),t.get("module")}static isModule(){return this.getCurrentModuleContext()!==null}static goToTime(t){this.sendAppMessage({type:"go_to_time",time:t.getTime()})}static showMessage(t){this.sendAppMessage({type:"show_message",message:t})}static requestModuleData(){const t=this.getCurrentModuleContext();if(!t)throw new Error("No module context");this.sendAppMessage({type:"request_module_data",module:t})}static setModuleDateTimeRange(t,r){const n=this.getCurrentModuleContext();if(!n)throw new Error("No module context");this.sendAppMessage({type:"set_module_data_time_range",module:n,before:t,after:r||0})}static refreshAuthToken(){const t=this.getCurrentModuleContext();if(!t)throw new Error("No module context");this.sendAppMessage({type:"refresh_auth_token",module:t})}static setupModuleMenus(t){const r=this.getCurrentModuleContext();if(!r)throw new Error("No module context");this.sendAppMessage({type:"setup_module_menus",module:r,menus:t})}static addMenuListener(t){window.addEventListener("message",r=>{const n=r.data;n.type==="module_menu_item_clicked"&&t(n.menu)})}static addAccessTokenRefreshListener(t){window.addEventListener("message",r=>{const n=r.data;n.type==="auth_token"&&t(n.token)})}static addModuleDataListener(t){window.addEventListener("message",r=>{const n=r.data;n.type==="module_data"&&t({streams:n.streams,time:n.time,queryRange:n.queryRange})})}}const Te=class{static async login(t,r){try{const n=await fetch(`${FORMANT_API_URL}/v1/admin/auth/login`,{method:"POST",body:JSON.stringify({email:t,password:r}),headers:{"Content-Type":"application/json"}}),i=await n.json();if(n.status!==200)throw new Error(i.message);return await Te.loginWithToken(i.authentication.accessToken,i.authentication.refreshToken),i.authentication}catch(n){return Te.waitingForAuth.forEach(i=>i(!1)),Te.waitingForAuth=[],Promise.reject(n)}}static async loginWithToken(t,r){const n=JSON.parse(atob(t.split(".")[1]));try{let i=n.sub;n["formant:claims"]&&n["formant:claims"].userId&&(i=n["formant:claims"].userId);const g=await fetch(`${FORMANT_API_URL}/v1/admin/users/${i}`,{method:"GET",headers:{"Content-Type":"application/json",Authorization:"Bearer "+t}}),s=await g.json();if(g.status!==200)throw new Error(s.message);Te.currentUser=s,Te.token=t,Te.waitingForAuth.forEach(o=>o(!0))}catch(i){console.error(i),Te.waitingForAuth.forEach(g=>g(!1))}Te.waitingForAuth=[],r&&(Te.refreshToken=r,setInterval(async()=>{if(Te.refreshToken){const g=await(await fetch(`${FORMANT_API_URL}/v1/admin/auth/refresh`,{method:"POST",headers:{"Content-Type":"application/json"},body:JSON.stringify({refreshToken:Te.refreshToken})})).json();Te.token=g.authentication.accessToken}},1e3*60*60))}static isAuthenticated(){return Te.token!==void 0}static getCurrentUser(){return Te.currentUser}static async waitTilAuthenticated(){return Te.token!==void 0?!0:new Promise(t=>{Te.waitingForAuth.push(function(r){t(r)})})}static async listenForRefresh(){App.addAccessTokenRefreshListener(t=>{this.loginWithToken(t)}),setInterval(async()=>{App.refreshAuthToken()},1e3*60*60)}};let Authentication=Te;Me(Authentication,"token"),Me(Authentication,"refreshToken"),Me(Authentication,"currentUser"),Me(Authentication,"defaultDeviceId"),Me(Authentication,"waitingForAuth",[]);class DataChannel{constructor(t){Me(this,"ready",!1);Me(this,"listeners",[]);Me(this,"binaryListeners",[]);Me(this,"error");Me(this,"decoder",new TextDecoder);this.dataChannel=t,this.dataChannel.binaryType="arraybuffer",this.dataChannel.onopen=()=>{this.ready=!0},this.dataChannel.onclose=()=>{this.ready=!1},this.dataChannel.onerror=r=>{console.error(r),this.error="An error occurred in DataChannel"},this.dataChannel.onmessage=r=>{this.listeners.forEach(n=>{const i=new Uint8Array(r.data),g=this.decoder.decode(i);n(g)}),this.binaryListeners.forEach(n=>{n(new Uint8Array(r.data))})}}async waitTilReady(){return this.ready?!0:new Promise((r,n)=>{let i=window.setInterval(()=>{this.ready&&(window.clearInterval(i),r(!0)),this.error&&n(this.error)},10)})}send(t){if(!this.ready)throw new Error("Connection has been closed");this.dataChannel.send(t)}sendBinary(t){if(!this.ready)throw new Error("Connection has been closed");this.dataChannel.send(t)}addListener(t){this.listeners.push(t)}removeListener(t){const r=this.listeners.indexOf(t);if(r===-1)throw new Error("Could not find data channel listener to remove");if(this.error)throw new Error(this.error);this.listeners.splice(r,1)}addBinaryListener(t){this.binaryListeners.push(t)}removeBinaryListener(t){const r=this.binaryListeners.indexOf(t);if(r===-1)throw new Error("Could not find data channel listener to remove");if(this.error)throw new Error(this.error);this.binaryListeners.splice(r,1)}}class CaptureStream{constructor(t){Me(this,"token");this.captureSession=t}async ingestJSON(t){if(!this.token){const n=await(await fetch(`${FORMANT_API_URL}/v1/admin/capture-sessions/${this.captureSession.code}/authenticate`,{method:"POST"})).json();this.token=n.token}await fetch(`${FORMANT_API_URL}/v1/ingest`,{method:"POST",body:JSON.stringify({deviceId:this.captureSession.deviceId,name:this.captureSession.streamName,type:"json",points:[[Date.now(),JSON.stringify(t)]]}),headers:{"Content-Type":"application/json",Authorization:"Bearer "+this.token}})}}class Manipulator{constructor(t,r){this.device=t,this.config=r}async synchronize(){this.device.addRealtimeListener((t,r)=>{console.log(r)}),this.device.startListeningToRealtimeDataStream(this.config.currentJointStateStream)}}class RequestDataChannel{constructor(t,r,n){Me(this,"channel");Me(this,"requestIdToResponseMap",new Map);this.device=t,this.channel_name=r,this.timeout=n}}class BinaryRequestDataChannel extends RequestDataChannel{constructor(){super(...arguments);Me(this,"RESPONSE_SUCCESS_BYTE",0);Me(this,"decoder",new TextDecoder)}generateBinaryId(){const t=new Uint8Array(16);for(let r=0;r<t.length;r++)t[r]=Math.floor(Math.random()*256);return t}async initialize(){this.channel=await this.device.createCustomDataChannel(this.channel_name),this.channel.addBinaryListener(t=>{const n=t.slice(0,16).toString();if(n.length===0)throw new Error("Invalid response");const i=t.slice(16);if(i.length===0)throw new Error("Invalid response");this.requestIdToResponseMap.has(n)&&this.requestIdToResponseMap.set(n,i)})}async request(t){if(this.channel||await this.initialize(),!this.channel)throw new Error("Failed to create channel");const{channel:r,requestIdToResponseMap:n,timeout:i}=this;await r.waitTilReady();const g=this.generateBinaryId(),s=g.toString();n.set(s,!0),r.sendBinary(new Uint8Array([...g,...t]));const o=new Date().getTime();for(;new Date().getTime()<o+i;)if(await delay(50),n.has(s)){const l=n.get(s);if(l!==!0){n.delete(s);const u=l[0]===this.RESPONSE_SUCCESS_BYTE,m=l.slice(1);if(u)return m;throw{name:"AdapterError",message:this.decoder.decode(m)}}}throw n.delete(s),{name:"TimeoutError",message:`Request timed out after ${i/1e3} seconds`}}}class TextRequestDataChannel extends RequestDataChannel{generateTextId(){return Math.random().toString(36).substring(2)+"-"+Math.random().toString(36).substring(2)}async initialize(){this.channel=await this.device.createCustomDataChannel(this.channel_name),this.channel.addListener(t=>{const r=JSON.parse(t),{id:n,data:i,error:g}=r;if(!n)throw new Error("Invalid response");if(!i&&!g)throw new Error("Invalid response");this.requestIdToResponseMap.has(n)&&this.requestIdToResponseMap.set(n,r)})}async request(t){if(this.channel||await this.initialize(),!this.channel)throw new Error("Failed to create channel");const{channel:r,requestIdToResponseMap:n,timeout:i}=this;await r.waitTilReady();const g=this.generateTextId();n.set(g,!0),r.send(JSON.stringify({id:g,data:t}));const s=new Date().getTime();for(;new Date().getTime()<s+i;)if(await delay(50),n.has(g)){const o=n.get(g);if(o!==!0){n.delete(g);const{data:l,error:u}=o;if(l)return l;if(u)throw{name:"AdapterError",message:u}}}throw n.delete(g),{name:"TimeoutError",message:`Request timed out after ${i/1e3} seconds`}}}class Device{constructor(t,r,n){Me(this,"rtcClient");Me(this,"realtimeListeners",[]);Me(this,"handleMessage",(t,r)=>{this.realtimeListeners.forEach(n=>n(t,r))});this.id=t,this.name=r,this.organizationId=n}async getLatestTelemetry(){return(await(await fetch(`${FORMANT_API_URL}/v1/queries/stream-current-value`,{method:"POST",body:JSON.stringify({deviceIds:[this.id]}),headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json()).items}async getConfiguration(){let t=await fetch(`${FORMANT_API_URL}/v1/admin/devices/${this.id}`,{method:"GET",headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}});const r=await t.json();if(!r.state.reportedConfiguration)throw new Error("Device has no configuration, has it ever been turned on?");const n=r.state.reportedConfiguration.version;return t=await fetch(`${FORMANT_API_URL}/v1/admin/devices/${this.id}/configurations/${n}`,{method:"GET",headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}}),(await t.json()).document}async getFileUrl(t){return(await(await fetch(`${FORMANT_API_URL}/v1/admin/files/query`,{method:"POST",body:JSON.stringify({fileId:[t]}),headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json()).fileUrls}async startRealtimeConnection(){if(this.rtcClient)throw new Error(`Already created realtime connection to device ${this.id}`);{const t=new dist.exports.RtcClient({signalingClient:new dist.exports.SignalingPromiseClient(FORMANT_API_URL,null,null),getToken:async()=>defined(Authentication.token,"Realtime when user isn't authorized"),receive:this.handleMessage});for(;!t.isReady();)await delay(100);const n=(await t.getPeers()).find(g=>g.deviceId===this.id);if(!n)throw new Error("Cannot find peer, is the robot offline?");const i=n.id;for(await t.connect(i);t.getConnectionStatus(i)!=="connected";)await delay(100);this.rtcClient=t}}addRealtimeListener(t){this.realtimeListeners.push(t)}removeRealtimeListener(t){const r=this.realtimeListeners.indexOf(t);if(r===-1)throw new Error("Could not find realtime listener to remove");this.realtimeListeners.splice(r,1)}async getRealtimeVideoStreams(){var n,i,g;const t=await this.getConfiguration(),r=[];for(const s of(n=t.teleop.hardwareStreams)!=null?n:[])s.rtcStreamType==="h264-video-frame"&&r.push({name:s.name});for(const s of(i=t.teleop.rosStreams)!=null?i:[])s.topicType=="formant/H264VideoFrame"&&r.push({name:s.topicName});for(const s of(g=t.teleop.customStreams)!=null?g:[])s.rtcStreamType==="h264-video-frame"&&r.push({name:s.name});return r}async getRealtimeManipulators(){var n;const t=await this.getConfiguration(),r=[];for(const i of(n=t.teleop.rosStreams)!=null?n:[])i.topicType=="sensor_msgs/JointState"&&r.push(new Manipulator(this,{currentJointStateStream:{name:i.topicName},plannedJointStateStream:i.plannedTopic?{name:i.plannedTopic}:void 0,planValidStream:i.planValidTopic?{name:i.planValidTopic}:void 0,endEffectorStream:i.endEffectorTopic?{name:i.endEffectorTopic}:void 0,endEffectorLinkName:i.endEffectorLinkName,baseReferenceFrame:i.baseReferenceFrame,localFrame:i.localFrame}));return r}async startListeningToRealtimeVideo(t){const r=defined(this.rtcClient,"Realtime connection has not been started"),n=await this.getRemotePeer();r.controlRemoteStream(defined(n).id,{streamName:t.name,enable:!0,pipeline:"rtc"})}async stopListeningToRealtimeVideo(t){const r=defined(this.rtcClient,"Realtime connection has not been started"),n=await this.getRemotePeer();r.controlRemoteStream(defined(n).id,{streamName:t.name,enable:!1,pipeline:"rtc"})}async startListeningToRealtimeDataStream(t){const r=defined(this.rtcClient,"Realtime connection has not been started"),n=await this.getRemotePeer();r.controlRemoteStream(defined(n).id,{streamName:t.name,enable:!0,pipeline:"rtc"})}async stopListeningToRealtimeDataStream(t){const r=defined(this.rtcClient,"Realtime connection has not been started"),n=await this.getRemotePeer();r.controlRemoteStream(defined(n).id,{streamName:t.name,enable:!1,pipeline:"rtc"})}async enableRealtimeTelemetryPriorityIngestion(t){const r=defined(this.rtcClient,"Realtime connection has not been started"),n=await this.getRemotePeer();r.controlRemoteStream(defined(n).id,{streamName:t,enablePriorityUpload:!0,pipeline:"telemetry"})}async disableRealtimeTelemetryPriorityIngestion(t){const r=defined(this.rtcClient,"Realtime connection has not been started"),n=await this.getRemotePeer();r.controlRemoteStream(defined(n).id,{streamName:t,enablePriorityUpload:!1,pipeline:"telemetry"})}async getRemotePeer(){const r=(await defined(this.rtcClient,"Realtime connection has not been started").getPeers()).find(n=>n.deviceId===this.id);return defined(r,"Could not find remote peer for device "+this.id)}async stopRealtimeConnection(){if(this.rtcClient)await this.rtcClient.disconnect(this.id);else throw new Error(`Realtime connection hasn't been started for ${this.id}`)}async getAvailableCommands(){return(await(await fetch(`${FORMANT_API_URL}/v1/admin/command-templates/`,{method:"GET",headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json()).items.map(n=>({name:n.name,id:n.id,command:n.command,description:n.description,parameterEnabled:n.parameterEnabled,parameterValue:n.parameterValue,parameterMeta:n.parameterMeta}))}async sendCommand(t,r,n,i){var R;const s=(await this.getAvailableCommands()).find(y=>y.name===t);if(!s)throw new Error(`Could not find command with name "${t}"`);let o;if(r===void 0)if(s.parameterEnabled&&s.parameterValue)o=s.parameterValue;else throw new Error("Command has no default parameter value, you must provide one");else o=r;let l={value:o,scrubberTime:(n||new Date).toISOString(),meta:st(st({},s.parameterMeta),i)};return(await(await fetch(`${FORMANT_API_URL}/v1/admin/commands`,{method:"POST",body:JSON.stringify({commandTemplateId:s.id,organizationId:this.organizationId,deviceId:this.id,command:s.command,parameter:l,userId:(R=Authentication.currentUser)==null?void 0:R.id}),headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json()).fileUrls}async createCustomDataChannel(t,r){const n=defined(this.rtcClient,"Realtime connection has not been started"),i=await this.getRemotePeer();return new Promise(s=>{n.createCustomDataChannel(defined(i).id,t,st({ordered:!0},r),!1,(o,l)=>{const u=new DataChannel(l);s(u)})})}createCustomRequestDataChannel(t,r=3e3){return new TextRequestDataChannel(this,t,r)}createCustomBinaryRequestDataChannel(t,r=3e3){return new BinaryRequestDataChannel(this,t,r)}async createCaptureStream(t){const n=await(await fetch(`${FORMANT_API_URL}/v1/admin/capture-sessions`,{method:"POST",body:JSON.stringify({deviceId:this.id,streamName:t,tags:{}}),headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json();return new CaptureStream(n)}async getTelemetry(t,r,n,i){return await Fleet.getTelemetry(this.id,t,r,n,i)}async getTelemetryStreams(){var o,l;const t=await this.getConfiguration(),r=await fetch(`${FORMANT_API_URL}/v1/queries/metadata/stream-names`,{method:"POST",body:JSON.stringify({deviceIds:[this.id]}),headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}}),n=[],i=[];return(l=(o=t.telemetry)==null?void 0:o.streams)==null||l.forEach(u=>{u.disabled!==!0&&n.push(u.name),u.onDemand===!0&&i.push(u.name)}),console.log(i),(await r.json()).items.filter(u=>!n.includes(u)).map(u=>({name:u,onDemand:i.includes(u)}))}}const Ae=class{static async setDefaultDevice(t){Ae.defaultDeviceId=t}static async getCurrentDevice(){if(!Authentication.token)throw new Error("Not authenticated");if(!Ae.defaultDeviceId)throw new Error("No known default device");const r=await(await fetch(`${FORMANT_API_URL}/v1/admin/devices/${Ae.defaultDeviceId}`,{method:"GET",headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json(),n=r.name,i=new Device(Ae.defaultDeviceId,n,r.organizationId);return Ae.knownContext.push(new WeakRef(i)),i}static async getDevice(t){if(!Authentication.token)throw new Error("Not authenticated");const n=await(await fetch(`${FORMANT_API_URL}/v1/admin/devices/${t}`,{method:"GET",headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json(),i=n.name,g=new Device(t,i,n.organizationId);return Ae.knownContext.push(new WeakRef(g)),g}static async getDevices(){if(!Authentication.token)throw new Error("Not authenticated");const r=await(await fetch(`${FORMANT_API_URL}/v1/admin/device-details/query`,{method:"POST",body:JSON.stringify({enabled:!0,type:"default"}),headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json();return r.items,r.items.map(n=>new Device(n.id,n.name,n.organizationId))}static async getOnlineDevices(){if(!Authentication.token)throw new Error("Not authenticated");const n=(await(await fetch(`${FORMANT_API_URL}/v1/queries/online-devices`,{method:"GET",headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json()).items;return(await Ae.getDevices()).filter(g=>n.includes(g.id))}static async getRealtimeDevices(){if(!Authentication.token)throw new Error("Not authenticated");const n=(await(await fetch(`${FORMANT_API_URL}/v1/signaling/peers`,{method:"GET",headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json()).items.map(g=>g.deviceId);return(await Ae.getDevices()).filter(g=>n.includes(g.id))}static async getLatestTelemetry(t){let r=t;return t&&!Array.isArray(t)&&(t=[t]),(await(await fetch(`${FORMANT_API_URL}/v1/queries/stream-current-value`,{method:"POST",body:JSON.stringify({deviceIds:r}),headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json()).items}static async getTelemetry(t,r,n,i,g){let s=t;Array.isArray(t)||(s=[t]);let o=r;return Array.isArray(r)||(o=[r]),(await(await fetch(`${FORMANT_API_URL}/v1/queries/queries`,{method:"POST",body:JSON.stringify({deviceIds:s,end:i.toISOString(),names:o,start:n.toISOString(),tags:g}),headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json()).items}};let Fleet=Ae;Me(Fleet,"defaultDeviceId"),Me(Fleet,"knownContext",[]);let urlParams=new URLSearchParams("");typeof window!="undefined"&&(urlParams=new URLSearchParams(window.location.search));const urlDevice=urlParams.get("device");urlDevice&&Fleet.setDefaultDevice(urlDevice);const urlAuth=urlParams.get("auth");urlAuth&&Authentication.loginWithToken(urlAuth);const moduleName=urlParams.get("module");moduleName&&Authentication.listenForRefresh(),exports.App=App,exports.Authentication=Authentication,exports.BinaryRequestDataChannel=BinaryRequestDataChannel,exports.CaptureStream=CaptureStream,exports.DataChannel=DataChannel,exports.Device=Device,exports.Fleet=Fleet,exports.Manipulator=Manipulator,exports.TextRequestDataChannel=TextRequestDataChannel,Object.defineProperty(exports,"__esModule",{value:!0}),exports[Symbol.toStringTag]="Module"});
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Map,this.closeCalled=!1,this.gotOffer=!1,this.hasIceCandidate=!1;const{isOffer:ce}=Z.baseConfig;ce?this.initializeChannels(z):z.ondatachannel=ae=>{switch(ae.channel.label){case"stream.latest-ttl":this.latestTtlStreamChannel=ae.channel;break;case"stream.reliable":this.reliableStreamChannel=ae.channel;break;case"stream.latest-reliable":this.latestReliableStreamChannel=ae.channel;break;case"stream.latest-try-once":this.latestTryOnceStreamChannel=ae.channel;break;case"heartbeat":return void(this.heartbeatChannel=ae.channel);default:return void this.dataChannelNotifier(ae.channel)}this.setupChannel(ae.channel)},this.pingUpdateTimeout=setInterval(()=>{const{reliableStreamChannel:ae}=this;ae&&this.sendSystemMessage(ae,{type:"ping"})},this.pingUpdateTimeoutMs),this.streamsInfoUpdateTimeout=setInterval(()=>{const{latestTtlStreamChannel:ae}=this;ae&&this.sendSystemMessage(ae,{type:"streams-info"})},this.streamsInfoUpdateTimeoutMs),this.reassemblyTableCleanupTimeout=setInterval(()=>{const ae=new Date().getTime();this.reassemblyTableLastTimestamp.forEach((he,de,me)=>{ae>de+this.reassemblyTimeoutMs&&this.reassemblyTable.delete(he)})},this.reassemblyTableCleanupMs),this.heartbeatTimeout=setInterval(()=>{const{heartbeatChannel:ae}=this;ae&&ae.readyState==="open"&&ae.send(new Uint8Array([1]))},this.heartbeatTimeoutMs)}handleSignal(z){return W(this,void 0,void 0,function*(){const{peerConnection:Z}=this,{track:te}=this.config.baseConfig,ce=(()=>{try{return JSON.parse(z.getPayload())}catch{return}})();if(!ce)return void A.a.error("Received unparseable signal.");A.a.debug("Handling signal",{description:ce});const{sdp:ae,type:he}=ce;if(!ae||!he)return void A.a.warn("Received non-SDP signal");const{signalingState:de,connectionState:me}=Z;if(de!=="stable"||me!=="connected")if(Z.remoteDescription)A.a.warn(`Received SDP after remote description was set: ${ae}`);else{if(he==="offer"){if(de!=="stable")return void A.a.warn("Received offer SDP when signaling is ongoing.");yield Z.setRemoteDescription(ce);const fe=yield Z.createAnswer();yield Z.setLocalDescription(fe);const ge=z.clone();return te==null||te("Answer Received",ge),ge.setPayload(JSON.stringify(fe)),ge.setReceiverId(z.getSenderId()),ge.setSenderId(z.getReceiverId()),ge}if(he==="answer"){if(de==="stable")return void A.a.warn("Received answer SDP when signaling hasn't started.");yield Z.setRemoteDescription(ce)}}else A.a.warn(`Received SDP when already connected: ${ae}`)})}send(z,Z){const te=this.getChannelFromLabel(Z.channelLabel);te?this.sendOnChannel(te,z):A.a.warn("Send called with unexpected channel label",{channelLabel:Z.channelLabel})}controlRemoteStream(z){this.sendSystemMessage(M(this.reliableStreamChannel),{type:"stream-control",streamControl:z})}isActive(){return new Set(["new","checking","connected","completed"]).has(this.peerConnection.iceConnectionState)||this.isReady()}isReady(){const{reliableStreamChannel:z,latestTtlStreamChannel:Z,latestTryOnceStreamChannel:te,latestReliableStreamChannel:ce}=this;return(z==null?void 0:z.readyState)==="open"&&(Z==null?void 0:Z.readyState)==="open"&&(te==null?void 0:te.readyState)==="open"&&(ce==null?void 0:ce.readyState)==="open"}close(){return W(this,void 0,void 0,function*(){if(this.closeCalled)return;this.closeCalled=!0,this.sessionMetrics&&(yield this.sessionMetrics.uploadMetrics()),this.pingUpdateTimeout&&clearInterval(this.pingUpdateTimeout),this.reassemblyTableCleanupTimeout&&clearInterval(this.reassemblyTableCleanupTimeout),this.streamsInfoUpdateTimeout&&clearInterval(this.streamsInfoUpdateTimeout),this.heartbeatTimeout&&clearInterval(this.heartbeatTimeout);const{peerConnection:z,reliableStreamChannel:Z,latestTtlStreamChannel:te,latestTryOnceStreamChannel:ce,latestReliableStreamChannel:ae}=this;z.close(),Z==null||Z.close(),te==null||te.close(),ce==null||ce.close(),ae==null||ae.close()})}getPing(){return this.pingTimeMs}getLastMessageTimestamp(){return this.lastMessageTimestamp}getSessionCreatedTimestamp(){var z;return(z=this.config.remoteConfig)===null||z===void 0?void 0:z.sessionCreatedTimestamp}setSessionCreatedTimestamp(z){this.config.remoteConfig&&(this.config.remoteConfig.sessionCreatedTimestamp=z)}getSessionId(){var z;return(z=this.config.remoteConfig)===null||z===void 0?void 0:z.sessionId}setSessionId(z){this.config.remoteConfig&&(this.config.remoteConfig.sessionId=z,this.sessionMetrics=new v(z,this))}getRemotePeerId(){return this.config.baseConfig.remotePeerId}getRemoteDeviceId(){var z;return(z=this.config.baseConfig)===null||z===void 0?void 0:z.remoteDeviceId}setRemoteDeviceId(z){this.config.baseConfig.remoteDeviceId=z}getSessionMetricsMessageCounts(){var z;return(z=this.sessionMetrics)===null||z===void 0?void 0:z.counts}getConnectionStatsInfo(){return W(this,void 0,void 0,function*(){const{peerConnection:z}=this;if(!z)return;const Z=yield z.getStats(null),te=[];Z.forEach(me=>{te.push(me)});const ce=te.find(me=>me.type==="transport");if(!ce)return;const ae=te.find(me=>(me.type==="candidate-pair"||me.type==="candidatepair")&&me.id===ce.selectedCandidatePairId);if(!ae)return;const he=te.find(me=>me.id===ae.localCandidateId),de=te.find(me=>me.id===ae.remoteCandidateId);return he&&de&&(he.address=he.address||he.ip,de.address=de.address||de.ip,he.address!==void 0&&de.address!==void 0)?{transport:ce,localCandidate:he,remoteCandidate:de}:void 0})}initializeChannels(z){this.heartbeatChannel=z.createDataChannel("heartbeat",Q),this.heartbeatChannel.binaryType="arraybuffer",this.latestTtlStreamChannel=z.createDataChannel("stream.latest-ttl",B),this.latestTtlStreamChannel.binaryType="arraybuffer",this.reliableStreamChannel=z.createDataChannel("stream.reliable",k),this.reliableStreamChannel.binaryType="arraybuffer",this.latestReliableStreamChannel=z.createDataChannel("stream.latest-reliable",Y),this.latestReliableStreamChannel.binaryType="arraybuffer",this.latestTryOnceStreamChannel=z.createDataChannel("stream.latest-try-once",K),this.latestTryOnceStreamChannel.binaryType="arraybuffer",this.setupChannel(this.latestTtlStreamChannel),this.setupChannel(this.reliableStreamChannel),this.setupChannel(this.latestReliableStreamChannel),this.setupChannel(this.latestTryOnceStreamChannel)}getOffer(){var z,Z,te;return W(this,void 0,void 0,function*(){const{gotOffer:ce}=this,{peerConnection:ae,config:he}=this;if(this.config.baseConfig.isLan)throw new Error('"getOffer" method can only be called with internet connections. LAN connections should call the "getLanOffer" method.');const de=(z=this.config.remoteConfig)===null||z===void 0?void 0:z.sessionId;if(ce)return void A.a.debug("Failed to generate offer because gotOffer was already called.");if(this.gotOffer=!0,j(this.peerConnection))return void A.a.debug("Failed to generate offer because the peer connection was inactive.");const me=he.baseConfig.track;ae.onicecandidate=()=>{this.hasIceCandidate=!0},ae.oniceconnectionstatechange=()=>W(this,void 0,void 0,function*(){const Oe=ae.iceConnectionState;if(Oe==="connected"||Oe==="completed"){const Pe=yield this.getConnectionStatsInfo(),Fe=Pe?function(De){const Le=De.localCandidate.candidateType,xe=De.remoteCandidate.candidateType;return Le==="host"&&xe==="host"?"local":Le==="relay"||xe==="relay"?"TURN":"STUN"}(Pe):void 0;A.a.info(`ICE connection state changed to ${Oe}`,{sessionId:de,connectionStatsInfo:Pe,iceMode:Fe}),me==null||me("ICE connection state change",{iceConnectionState:Oe,sessionId:de,connectionStatsInfo:Pe,iceMode:Fe})}}),yield ae.setLocalDescription(yield ae.createOffer());const fe=new Date().getTime();for(;;){const Oe=new Date().getTime()-fe;if(Oe>this.connectTimeoutMs)return void A.a.debug("Failed to generate offer because ICE gathering timed out.");if(Oe>this.iceGatheringTimeoutMs&&this.hasIceCandidate){A.a.debug("ICE gathering partially completed; proceeding",{iceTransportPolicy:ae.getConfiguration().iceTransportPolicy,waitTime:Oe}),me==null||me("ICE gathering partially completed",{sessionId:de,iceTransportPolicy:ae.getConfiguration().iceTransportPolicy,waitTime:Oe});break}if(ae.iceGatheringState==="complete"){A.a.debug("ICE gathering complete",{iceTransportPolicy:ae.getConfiguration().iceTransportPolicy,waitTime:Oe}),me==null||me("ICE gathering completed",{sessionId:de,iceTransportPolicy:ae.getConfiguration().iceTransportPolicy,waitTime:Oe});break}yield Object(u.a)(.1*l.a.second)}const ge=(Z=this.peerConnection.getConfiguration().iceServers)!==null&&Z!==void 0?Z:[];for(const Oe of ge)Oe.credentialType=void 0;const _e=JSON.stringify(ge),Se=new D.Signal;return Se.setPayload(JSON.stringify(ae.localDescription)),Se.setSenderId(this.config.baseConfig.localPeerId),Se.setReceiverId(this.config.baseConfig.remotePeerId),Se.setIceServers(_e),Se.setIceTransportPolicy((te=this.peerConnection.getConfiguration().iceTransportPolicy)!==null&&te!==void 0?te:"all"),A.a.debug("Sending offer signal with description",{description:Se.getPayload()}),Se})}getLanOffer(){return W(this,void 0,void 0,function*(){const{peerConnection:z,gotOffer:Z}=this;if(!this.config.baseConfig.isLan)throw new Error('"getLanOffer" method can only be used with LAN connections. Internet connections should call the "getOffer" method.');if(Z)return void A.a.debug("Failed to generate offer because gotOffer was already called.");if(this.gotOffer=!0,j(this.peerConnection))return void A.a.debug("Failed to generate offer because the peer connection was inactive.");yield z.setLocalDescription(yield z.createOffer());const te=new Date().getTime();for(;;){if(new Date().getTime()-te>this.iceGatheringTimeoutMs)return void A.a.debug("Failed to generate offer because ICE gathering timed out.");if(z.iceGatheringState==="complete")break;yield Object(u.a)(.1*l.a.second)}const ce=z.localDescription;if(ce)return A.a.debug("Sending LAN offer signal with description",{description:ce}),ce;A.a.error("Failed to generate LAN offer description")})}handleLanAnswer(z){return W(this,void 0,void 0,function*(){const{peerConnection:Z}=this;if(!this.config.baseConfig.isLan)throw new Error('"handleLanAnswer" method can only be used with LAN connections. Internet connections should call the "handleSignal" method.');yield Z.setRemoteDescription(z)})}getChannelFromLabel(z){switch(z){case"stream.latest-ttl":return this.latestTtlStreamChannel;case"stream.reliable":return this.reliableStreamChannel;case"stream.latest-reliable":return this.latestReliableStreamChannel;case"stream.latest-try-once":return this.latestTryOnceStreamChannel}}sendOnChannel(z,Z){let te;try{te=Object(f.encode)(JSON.stringify(Z))}catch(ce){return void A.a.warn("Failed to encode RTC message",{error:ce})}try{z.send(te),this.sessionMetrics&&this.sessionMetrics.incrementLocalSent(Z)}catch(ce){A.a.warn("Failed to send message to channel",{error:ce,channel:z.label})}}channelNotRecognized(z){return z!==this.latestTtlStreamChannel&&z!==this.latestReliableStreamChannel&&z!==this.latestTryOnceStreamChannel&&z!==this.reliableStreamChannel}setupChannel(z){z.onmessage=Z=>{if(this.channelNotRecognized(z))return void A.a.warn("Received message on unrecognized data channel.");let te;try{te=JSON.parse(Object(f.decode)(Z.data))}catch(ce){return void A.a.warn("Received unparseable message on RTC stream data channel",{error:ce,channel:z.label})}te.communicationType==="message-chunk"?this.receiveChannelMessageChunk(z,te):this.receiveChannelMessage(z,te)},z.onerror=Z=>{A.a.warn(`Channel error: ${Z.error}`,{error:Z.error,sessionId:this.getSessionId(),channelLabel:z.label})},z.onopen=()=>{A.a.debug("Channel opened",{sessionId:this.getSessionId(),channelLabel:z.label})},z.onclose=()=>{const Z={bufferedAmount:z.bufferedAmount,sessionId:this.getSessionId(),channelLabel:z.label};this.closeCalled===!1?A.a.debug("Unexpected channel closed",Z):A.a.debug("Channel closed",Z)}}receiveChannelMessage(z,Z){const{config:te}=this,{remotePeerId:ce}=this.config.baseConfig;this.lastMessageTimestamp=new Date().getTime(),Z=function(ae){switch(ae.header.stream.streamType){case"twist":const{twist:he}=ae.payload;if(!he)throw Error("twist not in payload of RTC message with type twist");return{header:ae.header,payload:{twist:{linear:Object.assign({x:0,y:0,z:0},he.linear),angular:Object.assign({x:0,y:0,z:0},he.angular)}}};case"pose":const{pose:de}=ae.payload;if(!de)throw Error("pose not in payload of RTC message with type pose");return{header:ae.header,payload:{pose:{translation:Object.assign({x:0,y:0,z:0},de.translation),rotation:Object.assign({x:0,y:0,z:0,w:0},de.rotation)}}};case"pose-with-covariance":const{poseWithCovariance:me}=ae.payload;if(!me)throw Error("poseWithCovariance not in payload of RTC message with type pose-with-covariance");const fe=new Array(36).fill(0);return me.covariance.forEach((_e,Se)=>{if(Se>=36)throw Error("covariance contains more than 36 elements");fe[Se]=_e}),{header:ae.header,payload:{poseWithCovariance:{pose:{translation:Object.assign({x:0,y:0,z:0},me.pose.translation),rotation:Object.assign({x:0,y:0,z:0,w:0},me.pose.rotation)},covariance:fe}}};case"point":const{point:ge}=ae.payload;if(!ge)throw Error("point not in payload of RTC message with type point");return{header:ae.header,payload:{point:Object.assign({x:0,y:0,z:0},ge)}};default:return ae}}(Z),this.sessionMetrics&&this.sessionMetrics.incrementLocalReceived(Z),this.handleSystemMessage(z,Z)||(z===this.latestTryOnceStreamChannel||z===this.latestTtlStreamChannel||z===this.latestReliableStreamChannel)&&!this.isLatestMessage(Z)||te.baseConfig.receive(ce,Z)}receiveChannelMessageChunk(z,Z){const te=this.reassemblyTable.get(Z.id)||[];if(te.push(Z),te.length===Z.total){const ce=function(ae){const he=ae.sort((de,me)=>de.seq<me.seq?-1:1).map(de=>de.part).reduce((de,me)=>de+me);try{return JSON.parse(he)}catch{return void A.a.warn("Could not reassemble RTC message chunks")}}(te);return ce&&this.receiveChannelMessage(z,ce),void this.reassemblyTable.delete(Z.id)}this.reassemblyTable.set(Z.id,te),this.reassemblyTableLastTimestamp.set(Z.id,new Date().getTime())}handleSystemMessage(z,Z){var te,ce;const{config:ae}=this,{baseConfig:he}=ae,{remotePeerId:de}=he;switch(Z.header.stream.streamType){case"ping":return this.sendSystemMessage(z,{type:"pong",timestamp:M(Z.payload.ping)}),!0;case"pong":const me=new Date().getTime()-M(Z.payload.pong);return this.pingTimeMs=me,x.aggregate("rtc-ping-time",me),!0;case"streams-info":const{sessionMetrics:fe}=this,ge=(te=Z.payload.streamsInfo)===null||te===void 0?void 0:te.timestamp;return!!ge&&(fe==null||fe.updateRemoteMessagesCounts(Z),(ce=he.onStreamsInfoUpdate)===null||ce===void 0||ce.call(he,de,ge),!0);case"stream-control":return!0;default:return!1}}sendSystemMessage(z,Z){var te;const{localUserId:ce,localPeerId:ae}=this.config.baseConfig;if(z.readyState!=="open")return;const he={entityId:ce!=null?ce:ae,streamName:`$.${Z.type}`,streamType:Z.type};let de;switch(Z.type){case"ping":de={ping:new Date().getTime()};break;case"pong":de={pong:Z.timestamp};break;case"stream-control":de={streamControl:Z.streamControl};break;case"streams-info":de={streamsInfo:(te=this.sessionMetrics)===null||te===void 0?void 0:te.getLocalStreamsInfo(new Date().getTime())}}this.sendOnChannel(z,function(me,fe){return{header:{stream:me,created:Date.now(),frameId:""},payload:fe}}(he,de))}isLatestMessage(z){const Z=G(z.header.stream),te=(this.streamLatestTimestamp.get(Z)||0)<=z.header.created;return te&&this.streamLatestTimestamp.set(Z,z.header.created),te}}function J(oe){var z,Z;return{userId:(z=oe.getUserId())===null||z===void 0?void 0:z.getValue(),deviceId:(Z=oe.getDeviceId())===null||Z===void 0?void 0:Z.getValue(),organizationId:oe.getOrganizationId(),id:oe.getPeerId(),capabilities:[],capabilitySet:{}}}var re=function(oe,z,Z,te){return new(Z||(Z=Promise))(function(ce,ae){function he(fe){try{me(te.next(fe))}catch(ge){ae(ge)}}function de(fe){try{me(te.throw(fe))}catch(ge){ae(ge)}}function me(fe){var ge;fe.done?ce(fe.value):(ge=fe.value,ge instanceof Z?ge:new Z(function(_e){_e(ge)})).then(he,de)}me((te=te.apply(oe,z||[])).next())})};class se{constructor(z){this.config=z,this.grpcCallDeadline=5*l.a.second,this.refreshIntervalDelayMs=2*l.a.second,this.iceServersTtl=30*l.a.minute,this.connections=[],this.localConnections=[],this.isConnectionInitiator=new Map,this.isOutgoingConnection=new Map,this.peerDataChannelListeners=[];const{refreshIntervalDelayMs:Z}=this;this.refreshInterval=N({func:()=>re(this,void 0,void 0,function*(){try{yield this.update()}catch(te){A.a.warn("RTC refresh failed",{error:te})}}),delay:Z,immediate:!0})}send(z,Z,te){const ce=this.getActiveConnection(z);ce?ce.isReady()?ce.send(Z,te):A.a.warn("Send called with unready connection."):A.a.warn("Send called with no connection.")}controlRemoteStream(z,Z){const te=this.getActiveConnection(z);te?te.isReady()?te.controlRemoteStream(Z):A.a.warn("controlRemoteStream called with unready connection."):A.a.warn("controlRemoteStream called with no connection.")}getLocalPeer(){return re(this,void 0,void 0,function*(){for(;!this.localPeer;)yield Object(u.a)(.1*l.a.second);return J(this.localPeer)})}connect(z,Z){var te,ce,ae;return re(this,void 0,void 0,function*(){if(this.config.lanOnlyMode===!0)throw new Error("connect method called in local only mode.");const{track:he,signalingClient:de}=this.config,{localPeer:me,receiveSignalStream:fe,iceServers:ge}=this;if(!me||!fe||!ge)return void A.a.warn("Connect called prior to local peer, receiveSignalStream, and ICE servers ready");if(this.getActiveConnection(z))return void A.a.warn("Connect called for peer with existing connection.");if(this.isOutgoingConnection.get(z))return void A.a.warn("Connect called for peer with an existing outgoing connection offer.");this.isOutgoingConnection.set(z,!0);const _e=new ee(yield this.createRTCPeerConnection(ge,Z),{baseConfig:{isOffer:!0,isLan:!1,receive:(Le,xe)=>this.config.receive(Le,xe),onStreamsInfoUpdate:this.config.onStreamsInfoUpdate?(Le,xe)=>{var Ne,Ue;return(Ue=(Ne=this.config).onStreamsInfoUpdate)===null||Ue===void 0?void 0:Ue.call(Ne,Le,xe)}:void 0,track:this.config.lanOnlyMode?void 0:this.config.track,localUserId:(te=me.getUserId())===null||te===void 0?void 0:te.getValue(),localPeerId:me.getPeerId(),remotePeerId:z},remoteConfig:{}},Le=>this.onCustomDataChannel(z,Le)),Se=yield _e.getOffer();if(!Se)return A.a.error("Failed to generate offer."),void this.isOutgoingConnection.delete(z);A.a.debug("Sending offer."),he==null||he("Sending offer",Se);const Oe=new D.SendSignalRequest;Oe.setSignal(Se);const Pe=yield(()=>re(this,void 0,void 0,function*(){try{return yield de.sendSignal(Oe,yield this.getMetadata({}))}catch(Le){A.a.warn("Error when sending signal",{error:Le})}}))();if(!this.isOutgoingConnection.get(z))return void A.a.debug("No offer set after receiving offer signal response.");A.a.debug("Offer sent.");const Fe=(ce=Pe==null?void 0:Pe.getSessionId())===null||ce===void 0?void 0:ce.getValue(),De=(ae=Pe==null?void 0:Pe.getSessionCreatedTimestamp())===null||ae===void 0?void 0:ae.getValue();return Fe&&De?(_e.setSessionId(Fe),_e.setSessionCreatedTimestamp(De),this.isOutgoingConnection.delete(z),this.connections.push(_e),this.isConnectionInitiator.set(_e,!0),this.setupHandlers(_e),Fe):(A.a.warn("No session ID or no session created timestamp on send signal response."),void this.isOutgoingConnection.delete(z))})}connectLan(z){var Z,te;return re(this,void 0,void 0,function*(){const ce=new b(z),ae=new ee(yield this.createRTCPeerConnection([]),{baseConfig:{isOffer:!0,isLan:!0,receive:(fe,ge)=>this.config.receive(fe,ge),onStreamsInfoUpdate:this.config.onStreamsInfoUpdate?(fe,ge)=>{var _e,Se;return(Se=(_e=this.config).onStreamsInfoUpdate)===null||Se===void 0?void 0:Se.call(_e,fe,ge)}:void 0,track:this.config.lanOnlyMode?void 0:this.config.track,localUserId:(te=(Z=this.localPeer)===null||Z===void 0?void 0:Z.getUserId())===null||te===void 0?void 0:te.getValue(),localPeerId:"lan_client",remotePeerId:z}},fe=>this.onCustomDataChannel(z,fe)),he=yield ae.getLanOffer();if(!he)return A.a.warn("Could not generate LAN offer"),!1;const de=yield ce.postLanRtcOffer({offer:JSON.stringify(he)}),me=new RTCSessionDescription(JSON.parse(de.answer));return yield ae.handleLanAnswer(me),this.localConnections.push(ae),Object(T.v4)()})}getConnections(){return[...this.connections,...this.localConnections]}createCustomDataChannel(z,Z,te,ce,ae){const he=this.getActiveConnection(z);if(he&&this.isConnectionInitiator.has(he)){const me=he.peerConnection.createDataChannel("custom."+Z,te);return ce&&(me.binaryType="arraybuffer"),ae(z,me),()=>{}}const de=(me,fe)=>{z===me&&fe.label==="custom."+Z&&ae(z,fe)};return this.peerDataChannelListeners.push(de),()=>{this.peerDataChannelListeners=this.peerDataChannelListeners.filter(me=>me!==de)}}onCustomDataChannel(z,Z){this.peerDataChannelListeners.forEach(te=>te(z,Z))}getConnectionStatus(z){if(this.isOutgoingConnection.get(z))return"connecting";const Z=this.getActiveConnection(z);return Z?Z.isReady()?"connected":"connecting":"disconnected"}getConnectionStatsInfo(z){return re(this,void 0,void 0,function*(){const Z=this.getActiveConnection(z);if(Z)return yield Z.getConnectionStatsInfo()})}disconnect(z){return re(this,void 0,void 0,function*(){const Z=this.getActiveConnection(z);Z&&(yield Z.close())})}getPeers(){return re(this,void 0,void 0,function*(){if(this.config.lanOnlyMode)throw new Error("getPeers method cannot be used in local-only mode.");const{signalingClient:z}=this.config,Z=yield(()=>re(this,void 0,void 0,function*(){try{return yield z.getPeers(new D.GetPeersRequest,yield this.getMetadata({}))}catch(ae){A.a.warn("Error when getting peers",{error:ae})}}))();if(!Z)return[];const te=Z.getPeersList();if(!te)return[];const ce=ae=>{var he,de;return(de=(he=ae.getPeerCreatedTimestamp())===null||he===void 0?void 0:he.getValue())!==null&&de!==void 0?de:0};return te.sort((ae,he)=>ce(he)-ce(ae)).map(ae=>J(ae))})}getPing(z){const Z=this.getActiveConnection(z);if(Z)return Z.getPing();A.a.warn("Attempted to get ping time from inactive peer.")}getLastMessageTimestamp(z){const Z=this.getActiveConnection(z);if(Z)return Z.getLastMessageTimestamp();A.a.warn("Attempted to get last message time from inactive peer.")}getSessionMetricsMessageCounts(z){const Z=this.getActiveConnection(z);if(Z)return Z.getSessionMetricsMessageCounts();A.a.warn("Attempted to get session metrics counts from inactive peer.")}isReady(){if(this.config.lanOnlyMode)return!0;const{localPeer:z,receiveSignalStream:Z,iceServers:te}=this;return!!(z&&Z&&te)}shutdown(){return re(this,void 0,void 0,function*(){A.a.info("Shutdown called on RTC client"),yield this.refreshInterval.stop(),this.receiveSignalStream&&this.receiveSignalStream.cancel();const z=this.connections;this.connections=[],yield this.closeConnections(z);const{localPeer:Z}=this;if(!Z||this.config.lanOnlyMode)return;const{signalingClient:te}=this.config;yield(()=>re(this,void 0,void 0,function*(){try{const ce=new D.DeletePeerRequest;ce.setPeerId(Z.getPeerId()),yield te.deletePeer(ce,yield this.getMetadata({}))}catch(ce){return void A.a.warn("Error deleting local peer",{error:ce})}}))()})}createPeer(){return re(this,void 0,void 0,function*(){if(this.config.lanOnlyMode)throw new Error("createPeer method cannot be used in local-only mode.");const{signalingClient:z}=this.config,Z=yield(()=>re(this,void 0,void 0,function*(){try{return yield z.createPeer(new D.CreatePeerRequest,yield this.getMetadata({}))}catch(ce){throw new Error(`Was not able to create peer: ${ce}`)}}))(),te=Z==null?void 0:Z.getPeer();if(!te)throw new Error("Response did not provide peer.");return this.localPeer=te})}createReceiveSignalStream(){return re(this,void 0,void 0,function*(){if(this.config.lanOnlyMode)throw new Error("createReceiveSignalStream method cannot be used in local-only mode.");const{signalingClient:z}=this.config,{localPeer:Z,iceServers:te}=this;if(!Z||!te)return;const{receiveSignalStream:ce}=this;ce&&ce.cancel();const ae=new D.ReceiveSignalStreamRequest;ae.setPeerId(Z.getPeerId());const he=yield(()=>re(this,void 0,void 0,function*(){try{return z.receiveSignalStream(ae,yield this.getMetadata({hasDeadline:!1}))}catch(de){throw new Error(`Unable to create receive signal stream: ${de}`)}}))();if(!he)throw new Error("Response did not provide stream.");return he.on("data",de=>re(this,void 0,void 0,function*(){var me,fe,ge,_e;const Se=de.getSignal(),Oe=(me=Se==null?void 0:Se.getSessionId())===null||me===void 0?void 0:me.getValue(),Pe=Se==null?void 0:Se.getSenderId(),Fe=Se==null?void 0:Se.getReceiverId(),De=(fe=Se==null?void 0:Se.getSessionCreatedTimestamp())===null||fe===void 0?void 0:fe.getValue();if(!(Se&&Oe&&Pe&&Fe&&De))return void A.a.warn("Received signal with missing information.");const Le=this.getActiveConnection(Pe);if(Le)if(Le.getSessionId()!==Oe){if(A.a.debug("Received signal: different session for a peer we're already connected to."),(Le.getSessionCreatedTimestamp()||0)>De)return;const xe=new ee(yield this.createRTCPeerConnection(te),{baseConfig:{isOffer:!1,isLan:!1,receive:(Ne,Ue)=>this.config.receive(Ne,Ue),onStreamsInfoUpdate:this.config.onStreamsInfoUpdate?(Ne,Ue)=>{var We,ze;return(ze=(We=this.config).onStreamsInfoUpdate)===null||ze===void 0?void 0:ze.call(We,Ne,Ue)}:void 0,track:this.config.lanOnlyMode?void 0:this.config.track,localPeerId:Z.getPeerId(),localUserId:(_e=Z.getUserId())===null||_e===void 0?void 0:_e.getValue(),remotePeerId:Pe},remoteConfig:{sessionId:Oe,sessionCreatedTimestamp:De}},Ne=>this.onCustomDataChannel(Pe,Ne));yield xe.handleSignal(Se),this.connections.push(xe)}else A.a.debug("Received signal: for an existing connection."),yield Le.handleSignal(Se);else{A.a.debug("Received signal: new connection.");const xe=new ee(yield this.createRTCPeerConnection(te),{baseConfig:{isOffer:!1,isLan:!1,receive:(Ne,Ue)=>this.config.receive(Ne,Ue),onStreamsInfoUpdate:this.config.onStreamsInfoUpdate?(Ne,Ue)=>{var We,ze;return(ze=(We=this.config).onStreamsInfoUpdate)===null||ze===void 0?void 0:ze.call(We,Ne,Ue)}:void 0,track:this.config.lanOnlyMode?void 0:this.config.track,localPeerId:Z.getPeerId(),localUserId:(ge=Z.getUserId())===null||ge===void 0?void 0:ge.getValue(),remotePeerId:Pe},remoteConfig:{sessionId:Oe,sessionCreatedTimestamp:De}},Ne=>this.onCustomDataChannel(Pe,Ne));yield xe.handleSignal(Se),this.connections.push(xe)}})),he.on("end",()=>{he.cancel(),this.receiveSignalStream=void 0}),he.on("error",de=>{switch(de.code){case L.StatusCode.CANCELLED:case L.StatusCode.UNAVAILABLE:case L.StatusCode.UNKNOWN:A.a.debug("Receive signal stream error",{error:de});break;case L.StatusCode.UNAUTHENTICATED:A.a.warn("Receive signal stream error",{error:de});break;default:A.a.error("Receive signal stream error",{error:de})}he.cancel(),this.receiveSignalStream=void 0}),this.receiveSignalStream=he})}createRTCPeerConnection(z,Z){var te;return re(this,void 0,void 0,function*(){const ce=Z==null?void 0:Z.rtcIceTransportPolicy,ae=(te=this.config.alternateRTCPeerConnection)!==null&&te!==void 0?te:window.RTCPeerConnection;if(!ae)throw new Error("RTCPeerConnection class not found. WebRTC must be enabled.");return new ae(Object.assign({iceServers:z,iceTransportPolicy:ce},Z))})}closeConnections(z){return re(this,void 0,void 0,function*(){const Z=yield F(z.map(te=>re(this,void 0,void 0,function*(){yield te.close()})));for(const te of Z)A.a.warn("Request to close session failed",{error:te})})}getActiveConnection(z){return this.getConnections().find(Z=>Z.getRemotePeerId()===z&&Z.isActive())}update(){var z;return re(this,void 0,void 0,function*(){if(this.localConnections=this.localConnections.filter(de=>de.isActive()),this.config.lanOnlyMode)return;const{signalingClient:Z}=this.config;if(!this.localPeer||!this.receiveSignalStream||!this.iceServers)return this.localPeer||(yield this.createPeer()),this.iceServers||(yield this.updateIceServers()),void(this.receiveSignalStream||(yield this.createReceiveSignalStream()));yield this.closeConnections(this.connections.filter(de=>!de.isActive())),this.connections=this.connections.filter(de=>de.isActive());const{localPeer:te}=this,ce=this.connections.filter(de=>de.getSessionId).map(de=>M(de.getSessionId()));te.setSessionIdsList(ce);const ae=new D.RefreshPeerRequest;ae.setPeer(te);try{yield Z.refreshPeer(ae,yield this.getMetadata({}))}catch(de){de.code===L.StatusCode.NOT_FOUND?(A.a.warn("Peer expired, creating new peer",{peerId:te.getPeerId()}),yield this.reset()):A.a.warn("Error calling RefreshPeer",{error:de})}const he=yield this.getPeers();for(const de of this.connections)de.setRemoteDeviceId((z=he.find(me=>me.id===de.getRemotePeerId()))===null||z===void 0?void 0:z.deviceId)})}reset(){return re(this,void 0,void 0,function*(){yield this.closeConnections(this.connections),this.connections=[],this.isOutgoingConnection=new Map,yield this.createPeer(),yield this.createReceiveSignalStream()})}updateIceServers(){return re(this,void 0,void 0,function*(){if(this.config.lanOnlyMode)return;const{iceServersLastUpdate:z,iceServersTtl:Z}=this,te=new Date().getTime();if(!z||te-z>Z)try{const ce=(yield this.config.signalingClient.getIceServers(new D.GetIceServersRequest,yield this.getMetadata({}))).getIceServers();this.iceServers=JSON.parse(ce),this.iceServersLastUpdate=te}catch(ce){A.a.warn("Error in updateIceServers",{error:ce})}})}setupHandlers(z){const{peerConnection:Z}=z,te=z.getSessionCreatedTimestamp();Z.onconnectionstatechange=()=>re(this,void 0,void 0,function*(){const ce=Z.connectionState;if(te)switch(ce){case"connected":x.aggregate("rtc-connect-time",new Date().getTime()-te);break;case"failed":x.increment("rtc-connect-failed")}})}getMetadata(z){return re(this,void 0,void 0,function*(){if(this.config.lanOnlyMode)throw new Error("getMetadata method cannot be called in local-only mode");const{getToken:Z}=this.config,{grpcCallDeadline:te}=this,{hasDeadline:ce}=z,ae=ce===!1?void 0:new Date().getTime()+te;return{authorization:yield Z(),deadline:ae}})}}},,function(e,t,r){r.r(t),r.d(t,"LogClient",function(){return g});var n=r(26),i=function(s,o,l,u){return new(l||(l=Promise))(function(m,R){function y(w){try{c(u.next(w))}catch(E){R(E)}}function S(w){try{c(u.throw(w))}catch(E){R(E)}}function c(w){var E;w.done?m(w.value):(E=w.value,E instanceof l?E:new l(function(P){P(E)})).then(y,S)}c((u=u.apply(s,o||[])).next())})};class g extends n.a{log(o){return i(this,void 0,void 0,function*(){yield this.fetch("logs",{method:"POST",body:JSON.stringify({logs:o}),allowUnsafeRetries:!0})})}}}])})})(dist);let FORMANT_API_URL="https://api.formant.io";typeof window!="undefined"&&(FORMANT_API_URL=window.FORMANT_API_URL||FORMANT_API_URL);let urlParams$1=new URLSearchParams("");typeof window!="undefined"&&(urlParams$1=new URLSearchParams(window.location.search));const moduleName$1=urlParams$1.get("formant_dev");moduleName$1&&(FORMANT_API_URL="https://api-dev.formant.io");function delay(e){return new Promise(t=>setTimeout(t,e))}function defined(e,t){if(e!==void 0)return e;throw new Error(t||"Value is undefined")}class App{static sendAppMessage(t){window.parent.postMessage(t,"*")}static getCurrentModuleContext(){let t=new URLSearchParams("");return typeof window!="undefined"&&(t=new URLSearchParams(window.location.search)),t.get("module")}static isModule(){return this.getCurrentModuleContext()!==null}static goToTime(t){this.sendAppMessage({type:"go_to_time",time:t.getTime()})}static showMessage(t){this.sendAppMessage({type:"show_message",message:t})}static requestModuleData(){const t=this.getCurrentModuleContext();if(!t)throw new Error("No module context");this.sendAppMessage({type:"request_module_data",module:t})}static setModuleDateTimeRange(t,r){const n=this.getCurrentModuleContext();if(!n)throw new Error("No module context");this.sendAppMessage({type:"set_module_data_time_range",module:n,before:t,after:r||0})}static refreshAuthToken(){const t=this.getCurrentModuleContext();if(!t)throw new Error("No module context");this.sendAppMessage({type:"refresh_auth_token",module:t})}static setupModuleMenus(t){const r=this.getCurrentModuleContext();if(!r)throw new Error("No module context");this.sendAppMessage({type:"setup_module_menus",module:r,menus:t})}static addMenuListener(t){window.addEventListener("message",r=>{const n=r.data;n.type==="module_menu_item_clicked"&&t(n.menu)})}static addAccessTokenRefreshListener(t){window.addEventListener("message",r=>{const n=r.data;n.type==="auth_token"&&t(n.token)})}static addModuleDataListener(t){window.addEventListener("message",r=>{const n=r.data;n.type==="module_data"&&t({streams:n.streams,time:n.time,queryRange:n.queryRange})})}}const Te=class{static async login(t,r){try{const n=await fetch(`${FORMANT_API_URL}/v1/admin/auth/login`,{method:"POST",body:JSON.stringify({email:t,password:r}),headers:{"Content-Type":"application/json"}}),i=await n.json();if(n.status!==200)throw new Error(i.message);return await Te.loginWithToken(i.authentication.accessToken,i.authentication.refreshToken),i.authentication}catch(n){return Te.waitingForAuth.forEach(i=>i(!1)),Te.waitingForAuth=[],Promise.reject(n)}}static async loginWithToken(t,r){const n=JSON.parse(atob(t.split(".")[1]));try{let i=n.sub;n["formant:claims"]&&n["formant:claims"].userId&&(i=n["formant:claims"].userId);const g=await fetch(`${FORMANT_API_URL}/v1/admin/users/${i}`,{method:"GET",headers:{"Content-Type":"application/json",Authorization:"Bearer "+t}}),s=await g.json();if(g.status!==200)throw new Error(s.message);Te.currentUser=s,Te.token=t,Te.waitingForAuth.forEach(o=>o(!0))}catch(i){console.error(i),Te.waitingForAuth.forEach(g=>g(!1))}Te.waitingForAuth=[],r&&(Te.refreshToken=r,setInterval(async()=>{if(Te.refreshToken){const g=await(await fetch(`${FORMANT_API_URL}/v1/admin/auth/refresh`,{method:"POST",headers:{"Content-Type":"application/json"},body:JSON.stringify({refreshToken:Te.refreshToken})})).json();Te.token=g.authentication.accessToken}},1e3*60*60))}static isAuthenticated(){return Te.token!==void 0}static getCurrentUser(){return Te.currentUser}static async waitTilAuthenticated(){return Te.token!==void 0?!0:new Promise(t=>{Te.waitingForAuth.push(function(r){t(r)})})}static async listenForRefresh(){App.addAccessTokenRefreshListener(t=>{this.loginWithToken(t)}),setInterval(async()=>{App.refreshAuthToken()},1e3*60*60)}};let Authentication=Te;Me(Authentication,"token"),Me(Authentication,"refreshToken"),Me(Authentication,"currentUser"),Me(Authentication,"defaultDeviceId"),Me(Authentication,"waitingForAuth",[]);class DataChannel{constructor(t){Me(this,"ready",!1);Me(this,"listeners",[]);Me(this,"binaryListeners",[]);Me(this,"error");Me(this,"decoder",new TextDecoder);this.dataChannel=t,this.dataChannel.binaryType="arraybuffer",this.dataChannel.onopen=()=>{this.ready=!0},this.dataChannel.onclose=()=>{this.ready=!1},this.dataChannel.onerror=r=>{console.error(r),this.error="An error occurred in DataChannel"},this.dataChannel.onmessage=r=>{this.listeners.forEach(n=>{const i=new Uint8Array(r.data),g=this.decoder.decode(i);n(g)}),this.binaryListeners.forEach(n=>{n(new Uint8Array(r.data))})}}async waitTilReady(){return this.ready?!0:new Promise((r,n)=>{let i=window.setInterval(()=>{this.ready&&(window.clearInterval(i),r(!0)),this.error&&n(this.error)},10)})}send(t){if(!this.ready)throw new Error("Connection has been closed");this.dataChannel.send(t)}sendBinary(t){if(!this.ready)throw new Error("Connection has been closed");this.dataChannel.send(t)}addListener(t){this.listeners.push(t)}removeListener(t){const r=this.listeners.indexOf(t);if(r===-1)throw new Error("Could not find data channel listener to remove");if(this.error)throw new Error(this.error);this.listeners.splice(r,1)}addBinaryListener(t){this.binaryListeners.push(t)}removeBinaryListener(t){const r=this.binaryListeners.indexOf(t);if(r===-1)throw new Error("Could not find data channel listener to remove");if(this.error)throw new Error(this.error);this.binaryListeners.splice(r,1)}}class CaptureStream{constructor(t){Me(this,"token");this.captureSession=t}async ingestJSON(t){if(!this.token){const n=await(await fetch(`${FORMANT_API_URL}/v1/admin/capture-sessions/${this.captureSession.code}/authenticate`,{method:"POST"})).json();this.token=n.token}await fetch(`${FORMANT_API_URL}/v1/ingest`,{method:"POST",body:JSON.stringify({deviceId:this.captureSession.deviceId,name:this.captureSession.streamName,type:"json",points:[[Date.now(),JSON.stringify(t)]]}),headers:{"Content-Type":"application/json",Authorization:"Bearer "+this.token}})}}class Manipulator{constructor(t,r){Me(this,"currentListeners",[]);Me(this,"onRealtimeMessage",(t,r)=>{r.payload.jointState&&this.currentListeners.forEach(n=>n(r.payload.jointState))});this.device=t,this.config=r}async synchronize(){this.device.addRealtimeListener(this.onRealtimeMessage),this.device.startListeningToRealtimeDataStream(this.config.currentJointStateStream)}async desynchronize(){this.device.removeRealtimeListener(this.onRealtimeMessage),this.device.stopListeningToRealtimeDataStream(this.config.currentJointStateStream)}async addCurrentJointStateListener(t){this.currentListeners.push(t)}}class RequestDataChannel{constructor(t,r,n){Me(this,"channel");Me(this,"requestIdToResponseMap",new Map);this.device=t,this.channel_name=r,this.timeout=n}}class BinaryRequestDataChannel extends RequestDataChannel{constructor(){super(...arguments);Me(this,"RESPONSE_SUCCESS_BYTE",0);Me(this,"decoder",new TextDecoder)}generateBinaryId(){const t=new Uint8Array(16);for(let r=0;r<t.length;r++)t[r]=Math.floor(Math.random()*256);return t}async initialize(){this.channel=await this.device.createCustomDataChannel(this.channel_name),this.channel.addBinaryListener(t=>{const n=t.slice(0,16).toString();if(n.length===0)throw new Error("Invalid response");const i=t.slice(16);if(i.length===0)throw new Error("Invalid response");this.requestIdToResponseMap.has(n)&&this.requestIdToResponseMap.set(n,i)})}async request(t){if(this.channel||await this.initialize(),!this.channel)throw new Error("Failed to create channel");const{channel:r,requestIdToResponseMap:n,timeout:i}=this;await r.waitTilReady();const g=this.generateBinaryId(),s=g.toString();n.set(s,!0),r.sendBinary(new Uint8Array([...g,...t]));const o=new Date().getTime();for(;new Date().getTime()<o+i;)if(await delay(50),n.has(s)){const l=n.get(s);if(l!==!0){n.delete(s);const u=l[0]===this.RESPONSE_SUCCESS_BYTE,m=l.slice(1);if(u)return m;throw{name:"AdapterError",message:this.decoder.decode(m)}}}throw n.delete(s),{name:"TimeoutError",message:`Request timed out after ${i/1e3} seconds`}}}class TextRequestDataChannel extends RequestDataChannel{generateTextId(){return Math.random().toString(36).substring(2)+"-"+Math.random().toString(36).substring(2)}async initialize(){this.channel=await this.device.createCustomDataChannel(this.channel_name),this.channel.addListener(t=>{const r=JSON.parse(t),{id:n,data:i,error:g}=r;if(!n)throw new Error("Invalid response");if(!i&&!g)throw new Error("Invalid response");this.requestIdToResponseMap.has(n)&&this.requestIdToResponseMap.set(n,r)})}async request(t){if(this.channel||await this.initialize(),!this.channel)throw new Error("Failed to create channel");const{channel:r,requestIdToResponseMap:n,timeout:i}=this;await r.waitTilReady();const g=this.generateTextId();n.set(g,!0),r.send(JSON.stringify({id:g,data:t}));const s=new Date().getTime();for(;new Date().getTime()<s+i;)if(await delay(50),n.has(g)){const o=n.get(g);if(o!==!0){n.delete(g);const{data:l,error:u}=o;if(l)return l;if(u)throw{name:"AdapterError",message:u}}}throw n.delete(g),{name:"TimeoutError",message:`Request timed out after ${i/1e3} seconds`}}}class Device{constructor(t,r,n){Me(this,"rtcClient");Me(this,"realtimeListeners",[]);Me(this,"handleMessage",(t,r)=>{this.realtimeListeners.forEach(n=>n(t,r))});this.id=t,this.name=r,this.organizationId=n}async getLatestTelemetry(){return(await(await fetch(`${FORMANT_API_URL}/v1/queries/stream-current-value`,{method:"POST",body:JSON.stringify({deviceIds:[this.id]}),headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json()).items}async getConfiguration(){let t=await fetch(`${FORMANT_API_URL}/v1/admin/devices/${this.id}`,{method:"GET",headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}});const r=await t.json();if(!r.state.reportedConfiguration)throw new Error("Device has no configuration, has it ever been turned on?");const n=r.state.reportedConfiguration.version;return t=await fetch(`${FORMANT_API_URL}/v1/admin/devices/${this.id}/configurations/${n}`,{method:"GET",headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}}),(await t.json()).document}async getFileUrl(t){return(await(await fetch(`${FORMANT_API_URL}/v1/admin/files/query`,{method:"POST",body:JSON.stringify({fileId:[t]}),headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json()).fileUrls}async startRealtimeConnection(){if(this.rtcClient)throw new Error(`Already created realtime connection to device ${this.id}`);{const t=new dist.exports.RtcClient({signalingClient:new dist.exports.SignalingPromiseClient(FORMANT_API_URL,null,null),getToken:async()=>defined(Authentication.token,"Realtime when user isn't authorized"),receive:this.handleMessage});for(;!t.isReady();)await delay(100);const n=(await t.getPeers()).find(g=>g.deviceId===this.id);if(!n)throw new Error("Cannot find peer, is the robot offline?");const i=n.id;for(await t.connect(i);t.getConnectionStatus(i)!=="connected";)await delay(100);this.rtcClient=t}}addRealtimeListener(t){this.realtimeListeners.push(t)}removeRealtimeListener(t){const r=this.realtimeListeners.indexOf(t);if(r===-1)throw new Error("Could not find realtime listener to remove");this.realtimeListeners.splice(r,1)}async getRealtimeVideoStreams(){var n,i,g;const t=await this.getConfiguration(),r=[];for(const s of(n=t.teleop.hardwareStreams)!=null?n:[])s.rtcStreamType==="h264-video-frame"&&r.push({name:s.name});for(const s of(i=t.teleop.rosStreams)!=null?i:[])s.topicType=="formant/H264VideoFrame"&&r.push({name:s.topicName});for(const s of(g=t.teleop.customStreams)!=null?g:[])s.rtcStreamType==="h264-video-frame"&&r.push({name:s.name});return r}async getRealtimeManipulators(){var n;const t=await this.getConfiguration(),r=[];for(const i of(n=t.teleop.rosStreams)!=null?n:[])i.topicType=="sensor_msgs/JointState"&&r.push(new Manipulator(this,{currentJointStateStream:{name:i.topicName},plannedJointStateStream:i.plannedTopic?{name:i.plannedTopic}:void 0,planValidStream:i.planValidTopic?{name:i.planValidTopic}:void 0,endEffectorStream:i.endEffectorTopic?{name:i.endEffectorTopic}:void 0,endEffectorLinkName:i.endEffectorLinkName,baseReferenceFrame:i.baseReferenceFrame,localFrame:i.localFrame}));return r}async startListeningToRealtimeVideo(t){const r=defined(this.rtcClient,"Realtime connection has not been started"),n=await this.getRemotePeer();r.controlRemoteStream(defined(n).id,{streamName:t.name,enable:!0,pipeline:"rtc"})}async stopListeningToRealtimeVideo(t){const r=defined(this.rtcClient,"Realtime connection has not been started"),n=await this.getRemotePeer();r.controlRemoteStream(defined(n).id,{streamName:t.name,enable:!1,pipeline:"rtc"})}async startListeningToRealtimeDataStream(t){const r=defined(this.rtcClient,"Realtime connection has not been started"),n=await this.getRemotePeer();r.controlRemoteStream(defined(n).id,{streamName:t.name,enable:!0,pipeline:"rtc"})}async stopListeningToRealtimeDataStream(t){const r=defined(this.rtcClient,"Realtime connection has not been started"),n=await this.getRemotePeer();r.controlRemoteStream(defined(n).id,{streamName:t.name,enable:!1,pipeline:"rtc"})}async enableRealtimeTelemetryPriorityIngestion(t){const r=defined(this.rtcClient,"Realtime connection has not been started"),n=await this.getRemotePeer();r.controlRemoteStream(defined(n).id,{streamName:t,enablePriorityUpload:!0,pipeline:"telemetry"})}async disableRealtimeTelemetryPriorityIngestion(t){const r=defined(this.rtcClient,"Realtime connection has not been started"),n=await this.getRemotePeer();r.controlRemoteStream(defined(n).id,{streamName:t,enablePriorityUpload:!1,pipeline:"telemetry"})}async getRemotePeer(){const r=(await defined(this.rtcClient,"Realtime connection has not been started").getPeers()).find(n=>n.deviceId===this.id);return defined(r,"Could not find remote peer for device "+this.id)}async stopRealtimeConnection(){if(this.rtcClient)await this.rtcClient.disconnect(this.id);else throw new Error(`Realtime connection hasn't been started for ${this.id}`)}async getAvailableCommands(){return(await(await fetch(`${FORMANT_API_URL}/v1/admin/command-templates/`,{method:"GET",headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json()).items.map(n=>({name:n.name,id:n.id,command:n.command,description:n.description,parameterEnabled:n.parameterEnabled,parameterValue:n.parameterValue,parameterMeta:n.parameterMeta}))}async sendCommand(t,r,n,i){var R;const s=(await this.getAvailableCommands()).find(y=>y.name===t);if(!s)throw new Error(`Could not find command with name "${t}"`);let o;if(r===void 0)if(s.parameterEnabled&&s.parameterValue)o=s.parameterValue;else throw new Error("Command has no default parameter value, you must provide one");else o=r;let l={value:o,scrubberTime:(n||new Date).toISOString(),meta:st(st({},s.parameterMeta),i)};return(await(await fetch(`${FORMANT_API_URL}/v1/admin/commands`,{method:"POST",body:JSON.stringify({commandTemplateId:s.id,organizationId:this.organizationId,deviceId:this.id,command:s.command,parameter:l,userId:(R=Authentication.currentUser)==null?void 0:R.id}),headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json()).fileUrls}async createCustomDataChannel(t,r){const n=defined(this.rtcClient,"Realtime connection has not been started"),i=await this.getRemotePeer();return new Promise(s=>{n.createCustomDataChannel(defined(i).id,t,st({ordered:!0},r),!1,(o,l)=>{const u=new DataChannel(l);s(u)})})}createCustomRequestDataChannel(t,r=3e3){return new TextRequestDataChannel(this,t,r)}createCustomBinaryRequestDataChannel(t,r=3e3){return new BinaryRequestDataChannel(this,t,r)}async createCaptureStream(t){const n=await(await fetch(`${FORMANT_API_URL}/v1/admin/capture-sessions`,{method:"POST",body:JSON.stringify({deviceId:this.id,streamName:t,tags:{}}),headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json();return new CaptureStream(n)}async getTelemetry(t,r,n,i){return await Fleet.getTelemetry(this.id,t,r,n,i)}async getTelemetryStreams(){var o,l;const t=await this.getConfiguration(),r=await fetch(`${FORMANT_API_URL}/v1/queries/metadata/stream-names`,{method:"POST",body:JSON.stringify({deviceIds:[this.id]}),headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}}),n=[],i=[];return(l=(o=t.telemetry)==null?void 0:o.streams)==null||l.forEach(u=>{u.disabled!==!0&&n.push(u.name),u.onDemand===!0&&i.push(u.name)}),console.log(i),(await r.json()).items.filter(u=>!n.includes(u)).map(u=>({name:u,onDemand:i.includes(u)}))}}const Ae=class{static async setDefaultDevice(t){Ae.defaultDeviceId=t}static async getCurrentDevice(){if(!Authentication.token)throw new Error("Not authenticated");if(!Ae.defaultDeviceId)throw new Error("No known default device");const r=await(await fetch(`${FORMANT_API_URL}/v1/admin/devices/${Ae.defaultDeviceId}`,{method:"GET",headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json(),n=r.name,i=new Device(Ae.defaultDeviceId,n,r.organizationId);return Ae.knownContext.push(new WeakRef(i)),i}static async getDevice(t){if(!Authentication.token)throw new Error("Not authenticated");const n=await(await fetch(`${FORMANT_API_URL}/v1/admin/devices/${t}`,{method:"GET",headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json(),i=n.name,g=new Device(t,i,n.organizationId);return Ae.knownContext.push(new WeakRef(g)),g}static async getDevices(){if(!Authentication.token)throw new Error("Not authenticated");const r=await(await fetch(`${FORMANT_API_URL}/v1/admin/device-details/query`,{method:"POST",body:JSON.stringify({enabled:!0,type:"default"}),headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json();return r.items,r.items.map(n=>new Device(n.id,n.name,n.organizationId))}static async getOnlineDevices(){if(!Authentication.token)throw new Error("Not authenticated");const n=(await(await fetch(`${FORMANT_API_URL}/v1/queries/online-devices`,{method:"GET",headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json()).items;return(await Ae.getDevices()).filter(g=>n.includes(g.id))}static async getRealtimeDevices(){if(!Authentication.token)throw new Error("Not authenticated");const n=(await(await fetch(`${FORMANT_API_URL}/v1/signaling/peers`,{method:"GET",headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json()).items.map(g=>g.deviceId);return(await Ae.getDevices()).filter(g=>n.includes(g.id))}static async getLatestTelemetry(t){let r=t;return t&&!Array.isArray(t)&&(t=[t]),(await(await fetch(`${FORMANT_API_URL}/v1/queries/stream-current-value`,{method:"POST",body:JSON.stringify({deviceIds:r}),headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json()).items}static async getTelemetry(t,r,n,i,g){let s=t;Array.isArray(t)||(s=[t]);let o=r;return Array.isArray(r)||(o=[r]),(await(await fetch(`${FORMANT_API_URL}/v1/queries/queries`,{method:"POST",body:JSON.stringify({deviceIds:s,end:i.toISOString(),names:o,start:n.toISOString(),tags:g}),headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json()).items}static async getFileUrl(t){const n=await(await fetch(`${FORMANT_API_URL}/v1/admin/files/query`,{method:"POST",body:JSON.stringify({fileIds:[t]}),headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json();if(n.fileUrls.length===0)throw new Error("File not found");return n.fileUrls[0]}};let Fleet=Ae;Me(Fleet,"defaultDeviceId"),Me(Fleet,"knownContext",[]);class KeyValue{static async set(t,r){try{const n=await fetch(FORMANT_API_URL+"/v1/admin/key-value",{method:"POST",body:JSON.stringify({organizationId:defined(Authentication.currentUser).organizationId,key:t,value:r}),headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}}),i=await n.json();if(n.status!==200)throw new Error(i.message)}catch(n){throw n}}static async get(t){try{const r=await fetch(FORMANT_API_URL+`/v1/admin/key-value/${t}`,{method:"GET",body:JSON.stringify({organizationId:defined(Authentication.currentUser).organizationId}),headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}}),n=await r.json();if(r.status!==200)throw new Error(n.message);return n.value}catch(r){throw r}}}let urlParams=new URLSearchParams("");typeof window!="undefined"&&(urlParams=new URLSearchParams(window.location.search));const urlDevice=urlParams.get("device");urlDevice&&Fleet.setDefaultDevice(urlDevice);const urlAuth=urlParams.get("auth");urlAuth&&Authentication.loginWithToken(urlAuth);const moduleName=urlParams.get("module");moduleName&&Authentication.listenForRefresh(),exports.App=App,exports.Authentication=Authentication,exports.BinaryRequestDataChannel=BinaryRequestDataChannel,exports.CaptureStream=CaptureStream,exports.DataChannel=DataChannel,exports.Device=Device,exports.Fleet=Fleet,exports.KeyValue=KeyValue,exports.Manipulator=Manipulator,exports.TextRequestDataChannel=TextRequestDataChannel,Object.defineProperty(exports,"__esModule",{value:!0}),exports[Symbol.toStringTag]="Module"});

package/dist/types/data-sdk/src/Device.d.ts

@@ -24,11 +24,17 @@ export interface Command {
         topic?: string;
     };
 }
+export interface IJointState {
+    name: string[];
+    position: number[];
+    velocity?: number[];
+    effort?: number[];
+}
 export interface TelemetryStream {
     name: string;
     onDemand: boolean;
 }
-export declare type RealtimeListener = (peerId: string, message: {
+export declare type RealtimeMessage = {
     header: {
         created: number;
         stream: {
@@ -38,7 +44,8 @@ export declare type RealtimeListener = (peerId: string, message: {
         };
     };
     payload: any;
-}) => void;
+};
+export declare type RealtimeListener = (peerId: string, message: RealtimeMessage) => void;
 export declare type RealtimeVideoStream = {
     name: string;
 };

package/dist/types/data-sdk/src/Fleet.d.ts

@@ -28,4 +28,5 @@ export declare class Fleet {
     static getTelemetry(deviceIdOrDeviceIds: string | string[], streamNameOrStreamNames: string | string[], start: Date, end: Date, tags?: {
         [key in string]: string[];
     }): Promise<TelemetryResult[]>;
+    static getFileUrl(uuid: string): Promise<string>;
 }

package/dist/types/data-sdk/src/Manipulator.d.ts

@@ -1,4 +1,4 @@
-import { Device, RealtimeDataStream } from "./Device";
+import { Device, RealtimeDataStream, IJointState, RealtimeMessage } from "./Device";
 export declare type RealtimeManipulatorConfig = {
     currentJointStateStream: RealtimeDataStream;
     plannedJointStateStream?: RealtimeDataStream;
@@ -11,6 +11,10 @@ export declare type RealtimeManipulatorConfig = {
 export declare class Manipulator {
     private device;
     private config;
+    currentListeners: ((js: IJointState) => void)[];
     constructor(device: Device, config: RealtimeManipulatorConfig);
     synchronize(): Promise<void>;
+    desynchronize(): Promise<void>;
+    onRealtimeMessage: (_peerId: string, message: RealtimeMessage) => void;
+    addCurrentJointStateListener(listener: (js: IJointState) => void): Promise<void>;
 }

package/dist/types/data-sdk/src/main.d.ts

@@ -6,3 +6,4 @@ export * from "./CaptureStream";
 export * from "./Manipulator";
 export * from "./RequestDataChannel";
 export * from "./App";
+export * from "./KeyValue";

package/package.json

@@ -18,7 +18,7 @@
       "require": "./dist/data-sdk.umd.js"
     }
   },
-  "version": "0.0.53",
+  "version": "0.0.57",
   "scripts": {
     "dev": "vite --port 9146",
     "build": "tsc && vite build",