@formant/data-sdk 0.0.86 → 0.0.89

package/dist/data-sdk.es.js

@@ -17700,7 +17700,7 @@ Found: ${e2.toString().split("\n")[0]}
             for (const e3 of c2)
               e3.credentialType = void 0;
             const f2 = JSON.stringify(c2), p2 = new N.Signal();
-            return p2.setPayload(JSON.stringify(o2.localDescription)), p2.setSenderId(this.config.baseConfig.localPeerId), p2.setReceiverId(this.config.baseConfig.remotePeerId), p2.setIceServers(f2), p2.setIceTransportPolicy((r2 = this.peerConnection.getConfiguration().iceTransportPolicy) !== null && r2 !== void 0 ? r2 : "all"), p2.setSessionType(this.config.baseConfig.sessionType || N.SessionType.TELEOP), w.a.debug("Sending offer signal with description", { description: p2.getPayload() }), p2;
+            return p2.setPayload(JSON.stringify(o2.localDescription)), p2.setSenderId(this.config.baseConfig.localPeerId), p2.setReceiverId(this.config.baseConfig.remotePeerId), p2.setIceServers(f2), p2.setIceTransportPolicy((r2 = this.peerConnection.getConfiguration().iceTransportPolicy) !== null && r2 !== void 0 ? r2 : "all"), this.config.baseConfig.sessionType !== void 0 ? p2.setSessionType(this.config.baseConfig.sessionType) : p2.setSessionType(N.SessionType.TELEOP), w.a.debug("Sending offer signal with description", { description: p2.getPayload() }), p2;
           });
         }
         getLanOffer() {
@@ -18954,7 +18954,7 @@ class Device {
       throw new Error(`Realtime connection hasn't been started for ${this.id}`);
     }
   }
-  async startRealtimeConnection() {
+  async startRealtimeConnection(sessionType) {
     if (!this.rtcClient) {
       const rtcClient = new dist.exports.RtcClient({
         signalingClient: new dist.exports.SignalingPromiseClient(FORMANT_API_URL, null, null),
@@ -18972,7 +18972,9 @@ class Device {
         throw new Error("Cannot find peer, is the robot offline?");
       }
       this.remoteDevicePeerId = devicePeer.id;
-      await rtcClient.connect(this.remoteDevicePeerId, void 0);
+      await rtcClient.connect(this.remoteDevicePeerId, {
+        sessionType: sessionType === void 0 ? 1 : sessionType
+      });
       while (rtcClient.getConnectionStatus(this.remoteDevicePeerId) !== "connected") {
         await delay(100);
       }

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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$(function(we){we(ge)})).then(me,ye)}de((te=te.apply(pe,q||[])).next())})};function R(pe){return T(this,void 0,void 0,function*(){return(yield Promise.all(pe.map(q=>q.catch($=>$)))).filter(q=>q instanceof Error)})}function d(pe){if(pe!==void 0)return pe;throw new Error("Value is undefined")}var I=r(0),Q=function(pe,q,$,te){return new($||($=Promise))(function(le,ae){function me(ce){try{de(te.next(ce))}catch(ge){ae(ge)}}function ye(ce){try{de(te.throw(ce))}catch(ge){ae(ge)}}function de(ce){var ge;ce.done?le(ce.value):(ge=ce.value,ge instanceof $?ge:new $(function(we){we(ge)})).then(me,ye)}de((te=te.apply(pe,q||[])).next())})};function Z({func:pe,delay:q,immediate:$}){let te=!1,le=setTimeout(function me(){return Q(this,void 0,void 0,function*(){if(te)return;const ye=new Date().getTime();try{ae=pe(),yield ae}finally{if(!te){const de=new Date().getTime();le=setTimeout(me,Math.max(q-(de-ye),0))}}})},$?0:q),ae=Promise.resolve();return{stop(){return Q(this,void 0,void 0,function*(){te=!0,clearTimeout(le),yield ae})}}}function h(pe,q){return Object.keys(pe).reduce(($,te)=>Object.assign(Object.assign({},$),{[te]:q(pe[te])}),{})}var p=function(pe,q,$,te){return new($||($=Promise))(function(le,ae){function me(ce){try{de(te.next(ce))}catch(ge){ae(ge)}}function ye(ce){try{de(te.throw(ce))}catch(ge){ae(ge)}}function de(ce){var ge;ce.done?le(ce.value):(ge=ce.value,ge instanceof $?ge:new $(function(we){we(ge)})).then(me,ye)}de((te=te.apply(pe,q||[])).next())})};class C{constructor(q){this.message=q}send(q){return p(this,void 0,void 0,function*(){I.a.info(this.message,h(q,$=>{const{sum:te,count:le}=$,ae=te/le;return Object.assign(Object.assign({},$),{average:ae})}))})}}var m=function(pe,q,$,te){return new($||($=Promise))(function(le,ae){function me(ce){try{de(te.next(ce))}catch(ge){ae(ge)}}function ye(ce){try{de(te.throw(ce))}catch(ge){ae(ge)}}function de(ce){var ge;ce.done?le(ce.value):(ge=ce.value,ge instanceof $?ge:new $(function(we){we(ge)})).then(me,ye)}de((te=te.apply(pe,q||[])).next())})};const x=r(222);var F=r(6);const D=!!F.c,O=new class{constructor(pe=60){this.buffer={},this.metrics={},this.reporters=[],this.flushInterval=Z({func:()=>this.flushStats(),delay:pe*g.a.second})}shutdown(){return m(this,void 0,void 0,function*(){yield this.flushInterval.stop(),yield this.flushStats(),yield Object(u.a)(2*g.a.second)})}aggregate(pe,q){if(this.buffer[pe]){const{min:$,max:te,sum:le,count:ae}=this.buffer[pe];this.buffer[pe]={min:Math.min($,q),max:Math.max(te,q),sum:le+q,count:ae+1}}else this.buffer[pe]={min:q,max:q,sum:q,count:1}}increment(pe){this.aggregate(pe,1)}timer(pe,q){return m(this,void 0,void 0,function*(){const $=x(),te=yield q(),le=x();return this.aggregate(pe,le-$),te})}metric(pe,q){this.metrics[pe]=q}registerStatsReporter(pe){this.reporters.push(pe)}write(pe){return m(this,void 0,void 0,function*(){if(Object.values(pe).length===0)return;const q=yield R(this.reporters.map($=>$.send(pe)));for(const $ of q)I.a.warn("Failed to write stats",{error:$})})}flushStats(){return m(this,void 0,void 0,function*(){const pe=Object.assign(Object.assign({},this.buffer),h(this.metrics,q=>{const $=q();return{min:$,max:$,sum:$,count:1}}));Object.keys(pe).length>0&&(yield this.write(pe),this.buffer={})})}};D||["local","on-prem"].includes(F.i)||O.registerStatsReporter(new C("stats"));var L=r(8),k=r(21),E=r(103),c=r(36),U=function(pe,q,$,te){return new($||($=Promise))(function(le,ae){function me(ce){try{de(te.next(ce))}catch(ge){ae(ge)}}function ye(ce){try{de(te.throw(ce))}catch(ge){ae(ge)}}function de(ce){var ge;ce.done?le(ce.value):(ge=ce.value,ge instanceof $?ge:new $(function(we){we(ge)})).then(me,ye)}de((te=te.apply(pe,q||[])).next())})};class B extends c.a{constructor(q){super(q)}postLanRtcOffer(q){return U(this,void 0,void 0,function*(){return yield this.fetch("v1/lan-rtc-offer",{method:"POST",body:JSON.stringify(q)})})}}var G=r(55);const Y={ordered:!1,maxPacketLifeTime:300*g.a.millisecond},K={ordered:!0},H={ordered:!0},V={ordered:!1,maxRetransmits:0},y={ordered:!1,maxRetransmits:0};function j({entityId:pe,streamName:q,streamType:$}){return`${pe}.${q}.${$}`}var W=function(pe,q,$,te){return new($||($=Promise))(function(le,ae){function me(ce){try{de(te.next(ce))}catch(ge){ae(ge)}}function ye(ce){try{de(te.throw(ce))}catch(ge){ae(ge)}}function de(ce){var ge;ce.done?le(ce.value):(ge=ce.value,ge instanceof $?ge:new $(function(we){we(ge)})).then(me,ye)}de((te=te.apply(pe,q||[])).next())})};class ee{constructor(q,$){this.sessionId=q,this.connection=$,this.counts={localSent:new Map,localReceived:new Map,remoteSent:new Map,remoteReceived:new Map},this.sessionId=q,this.connection=$}updateRemoteMessagesCounts(q){if(q.payload.streamsInfo){this.counts.remoteSent=new Map,this.counts.remoteReceived=new Map;for(const $ of q.payload.streamsInfo.items)this.counts.remoteSent.set($.streamId,$.sentCount),this.counts.remoteReceived.set($.streamId,$.receivedCount)}}getLocalStreamsInfo(q){const{localSent:$,localReceived:te}=this.counts;return{items:[...new Set([...$.keys(),...te.keys()])].map(le=>{var ae,me;return{streamId:le,sentCount:(ae=$.get(le))!==null&&ae!==void 0?ae:0,receivedCount:(me=te.get(le))!==null&&me!==void 0?me:0}}),timestamp:q}}incrementLocalSent(q){const{localSent:$}=this.counts,te=j(q.header.stream);$.set(te,($.get(te)||0)+1)}incrementLocalReceived(q){const{localReceived:$}=this.counts,te=j(q.header.stream),le=$.get(te)||0;if(le===0){const{streamName:ae,streamType:me}=q.header.stream;I.a.debug("RTC client received first message for stream",{streamName:ae,streamType:me})}$.set(te,le+1)}uploadMetrics(){return W(this,void 0,void 0,function*(){const{sessionId:q}=this,$=yield this.connection.peerConnection.getStats(),te={};$.forEach(ce=>te[ce.id]=ce),I.a.debug("rtc-stats",Object.assign(Object.assign({},te),{sessionId:q}));const{localSent:le,localReceived:ae,remoteSent:me,remoteReceived:ye}=this.counts,de=[...new Set([...le.keys(),...ae.keys()])].reduce((ce,ge)=>{const we=le.get(ge),Ee=ae.get(ge),Me=me.get(ge),xe=ye.get(ge);return Object.assign(Object.assign({},ce),{[`local-${ge}-sent`]:we,[`local-${ge}-received`]:Ee,[`remote-${ge}-sent`]:Me,[`remote-${ge}-received`]:xe})},{sessionId:q});I.a.debug("rtc-message-report",Object.assign({deviceId:this.connection.getRemoteDeviceId()},de))})}}function X(pe){return new Set(["disconnected","failed","closed"]).has(pe.iceConnectionState)}var re=function(pe,q,$,te){return new($||($=Promise))(function(le,ae){function me(ce){try{de(te.next(ce))}catch(ge){ae(ge)}}function ye(ce){try{de(te.throw(ce))}catch(ge){ae(ge)}}function de(ce){var ge;ce.done?le(ce.value):(ge=ce.value,ge instanceof $?ge:new $(function(we){we(ge)})).then(me,ye)}de((te=te.apply(pe,q||[])).next())})};class ie{constructor(q,$,te){this.peerConnection=q,this.config=$,this.dataChannelNotifier=te,this.connectTimeoutMs=20*g.a.second,this.iceGatheringTimeoutMs=15*g.a.second,this.pingUpdateTimeoutMs=1*g.a.second,this.streamsInfoUpdateTimeoutMs=2*g.a.second,this.reassemblyTimeoutMs=500*g.a.millisecond,this.reassemblyTableCleanupMs=1*g.a.second,this.heartbeatTimeoutMs=20*g.a.millisecond,this.streamLatestTimestamp=new Map,this.reassemblyTable=new Map,this.reassemblyTableLastTimestamp=new Map,this.closeCalled=!1,this.gotOffer=!1,this.hasIceCandidate=!1;const{isOffer:le}=$.baseConfig;le?this.initializeChannels(q):q.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((me,ye,de)=>{ae>ye+this.reassemblyTimeoutMs&&this.reassemblyTable.delete(me)})},this.reassemblyTableCleanupMs),this.heartbeatTimeout=setInterval(()=>{const{heartbeatChannel:ae}=this;ae&&ae.readyState==="open"&&ae.send(new Uint8Array([1]))},this.heartbeatTimeoutMs)}handleSignal(q){return re(this,void 0,void 0,function*(){const{peerConnection:$}=this,{track:te}=this.config.baseConfig,le=(()=>{try{return JSON.parse(q.getPayload())}catch{return}})();if(!le)return void I.a.error("Received unparseable signal.");I.a.debug("Handling signal",{description:le});const{sdp:ae,type:me}=le;if(!ae||!me)return void I.a.warn("Received non-SDP signal");const{signalingState:ye,connectionState:de}=$;if(ye!=="stable"||de!=="connected")if($.remoteDescription)I.a.warn(`Received SDP after remote description was set: ${ae}`);else{if(me==="offer"){if(ye!=="stable")return void I.a.warn("Received offer SDP when signaling is ongoing.");yield $.setRemoteDescription(le);const ce=yield $.createAnswer();yield $.setLocalDescription(ce);const ge=q.clone();return te==null||te("Answer Received",ge),ge.setPayload(JSON.stringify(ce)),ge.setReceiverId(q.getSenderId()),ge.setSenderId(q.getReceiverId()),ge}if(me==="answer"){if(ye==="stable")return void I.a.warn("Received answer SDP when signaling hasn't started.");yield $.setRemoteDescription(le)}}else I.a.warn(`Received SDP when already connected: ${ae}`)})}send(q,$){const te=this.getChannelFromLabel($.channelLabel);te?this.sendOnChannel(te,q):I.a.warn("Send called with unexpected channel label",{channelLabel:$.channelLabel})}controlRemoteStream(q){this.sendSystemMessage(d(this.reliableStreamChannel),{type:"stream-control",streamControl:q})}isActive(){return new Set(["new","checking","connected","completed"]).has(this.peerConnection.iceConnectionState)||this.isReady()}isReady(){const{reliableStreamChannel:q,latestTtlStreamChannel:$,latestTryOnceStreamChannel:te,latestReliableStreamChannel:le}=this;return(q==null?void 0:q.readyState)==="open"&&($==null?void 0:$.readyState)==="open"&&(te==null?void 0:te.readyState)==="open"&&(le==null?void 0:le.readyState)==="open"}close(){return re(this,void 0,void 0,function*(){if(this.closeCalled)return;this.closeCalled=!0,this.sessionMetrics&&(yield this.sessionMetrics.uploadMetrics()),this.pingUpdateTimeout&&clearInterval(this.pingUpdateTimeout),this.reassemblyTableCleanupTimeout&&clearInterval(this.reassemblyTableCleanupTimeout),this.streamsInfoUpdateTimeout&&clearInterval(this.streamsInfoUpdateTimeout),this.heartbeatTimeout&&clearInterval(this.heartbeatTimeout);const{peerConnection:q,reliableStreamChannel:$,latestTtlStreamChannel:te,latestTryOnceStreamChannel:le,latestReliableStreamChannel:ae}=this;q.close(),$==null||$.close(),te==null||te.close(),le==null||le.close(),ae==null||ae.close()})}getPing(){return this.pingTimeMs}getLastMessageTimestamp(){return this.lastMessageTimestamp}getSessionCreatedTimestamp(){var q;return(q=this.config.remoteConfig)===null||q===void 0?void 0:q.sessionCreatedTimestamp}setSessionCreatedTimestamp(q){this.config.remoteConfig&&(this.config.remoteConfig.sessionCreatedTimestamp=q)}getSessionId(){var q;return(q=this.config.remoteConfig)===null||q===void 0?void 0:q.sessionId}setSessionId(q){this.config.remoteConfig&&(this.config.remoteConfig.sessionId=q,this.sessionMetrics=new ee(q,this))}getRemotePeerId(){return this.config.baseConfig.remotePeerId}getRemoteDeviceId(){var q;return(q=this.config.baseConfig)===null||q===void 0?void 0:q.remoteDeviceId}setRemoteDeviceId(q){this.config.baseConfig.remoteDeviceId=q}getSessionMetricsMessageCounts(){var q;return(q=this.sessionMetrics)===null||q===void 0?void 0:q.counts}getConnectionStatsInfo(){return re(this,void 0,void 0,function*(){const{peerConnection:q}=this;if(!q)return;const $=yield q.getStats(null),te=[];$.forEach(de=>{te.push(de)});const le=te.find(de=>de.type==="transport");if(!le)return;const ae=te.find(de=>(de.type==="candidate-pair"||de.type==="candidatepair")&&de.id===le.selectedCandidatePairId);if(!ae)return;const me=te.find(de=>de.id===ae.localCandidateId),ye=te.find(de=>de.id===ae.remoteCandidateId);return me&&ye&&(me.address=me.address||me.ip,ye.address=ye.address||ye.ip,me.address!==void 0&&ye.address!==void 0)?{transport:le,localCandidate:me,remoteCandidate:ye}:void 0})}initializeChannels(q){this.heartbeatChannel=q.createDataChannel("heartbeat",y),this.heartbeatChannel.binaryType="arraybuffer",this.latestTtlStreamChannel=q.createDataChannel("stream.latest-ttl",Y),this.latestTtlStreamChannel.binaryType="arraybuffer",this.reliableStreamChannel=q.createDataChannel("stream.reliable",K),this.reliableStreamChannel.binaryType="arraybuffer",this.latestReliableStreamChannel=q.createDataChannel("stream.latest-reliable",H),this.latestReliableStreamChannel.binaryType="arraybuffer",this.latestTryOnceStreamChannel=q.createDataChannel("stream.latest-try-once",V),this.latestTryOnceStreamChannel.binaryType="arraybuffer",this.setupChannel(this.latestTtlStreamChannel),this.setupChannel(this.reliableStreamChannel),this.setupChannel(this.latestReliableStreamChannel),this.setupChannel(this.latestTryOnceStreamChannel)}getOffer(){var q,$,te;return re(this,void 0,void 0,function*(){const{gotOffer:le}=this,{peerConnection:ae,config:me}=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 ye=(q=this.config.remoteConfig)===null||q===void 0?void 0:q.sessionId;if(le)return void I.a.debug("Failed to generate offer because gotOffer was already called.");if(this.gotOffer=!0,X(this.peerConnection))return void I.a.debug("Failed to generate offer because the peer connection was inactive.");const de=me.baseConfig.track;ae.onicecandidate=()=>{this.hasIceCandidate=!0},ae.oniceconnectionstatechange=()=>re(this,void 0,void 0,function*(){const Me=ae.iceConnectionState;if(Me==="connected"||Me==="completed"){const xe=yield this.getConnectionStatsInfo(),Fe=xe?function(Be){const De=Be.localCandidate.candidateType,Ue=Be.remoteCandidate.candidateType;return De==="host"&&Ue==="host"?"local":De==="relay"||Ue==="relay"?"TURN":"STUN"}(xe):void 0;I.a.info(`ICE connection state changed to ${Me}`,{sessionId:ye,connectionStatsInfo:xe,iceMode:Fe}),de==null||de("ICE connection state change",{iceConnectionState:Me,sessionId:ye,connectionStatsInfo:xe,iceMode:Fe})}}),yield ae.setLocalDescription(yield ae.createOffer());const ce=new Date().getTime();for(;;){const Me=new Date().getTime()-ce;if(Me>this.connectTimeoutMs)return void I.a.debug("Failed to generate offer because ICE gathering timed out.");if(Me>this.iceGatheringTimeoutMs&&this.hasIceCandidate){I.a.debug("ICE gathering partially completed; proceeding",{iceTransportPolicy:ae.getConfiguration().iceTransportPolicy,waitTime:Me}),de==null||de("ICE gathering partially completed",{sessionId:ye,iceTransportPolicy:ae.getConfiguration().iceTransportPolicy,waitTime:Me});break}if(ae.iceGatheringState==="complete"){I.a.debug("ICE gathering complete",{iceTransportPolicy:ae.getConfiguration().iceTransportPolicy,waitTime:Me}),de==null||de("ICE gathering completed",{sessionId:ye,iceTransportPolicy:ae.getConfiguration().iceTransportPolicy,waitTime:Me});break}yield Object(u.a)(.1*g.a.second)}const ge=($=this.peerConnection.getConfiguration().iceServers)!==null&&$!==void 0?$:[];for(const Me of ge)Me.credentialType=void 0;const we=JSON.stringify(ge),Ee=new L.Signal;return Ee.setPayload(JSON.stringify(ae.localDescription)),Ee.setSenderId(this.config.baseConfig.localPeerId),Ee.setReceiverId(this.config.baseConfig.remotePeerId),Ee.setIceServers(we),Ee.setIceTransportPolicy((te=this.peerConnection.getConfiguration().iceTransportPolicy)!==null&&te!==void 0?te:"all"),Ee.setSessionType(this.config.baseConfig.sessionType||L.SessionType.TELEOP),I.a.debug("Sending offer signal with description",{description:Ee.getPayload()}),Ee})}getLanOffer(){return re(this,void 0,void 0,function*(){const{peerConnection:q,gotOffer:$}=this;if(!this.config.baseConfig.isLan)throw new Error('"getLanOffer" method can only be used with LAN connections. Internet connections should call the "getOffer" method.');if($)return void I.a.debug("Failed to generate offer because gotOffer was already called.");if(this.gotOffer=!0,X(this.peerConnection))return void I.a.debug("Failed to generate offer because the peer connection was inactive.");yield q.setLocalDescription(yield q.createOffer());const te=new Date().getTime();for(;;){if(new Date().getTime()-te>this.iceGatheringTimeoutMs)return void I.a.debug("Failed to generate offer because ICE gathering timed out.");if(q.iceGatheringState==="complete")break;yield Object(u.a)(.1*g.a.second)}const le=q.localDescription;if(le)return I.a.debug("Sending LAN offer signal with description",{description:le}),le;I.a.error("Failed to generate LAN offer description")})}handleLanAnswer(q){return re(this,void 0,void 0,function*(){const{peerConnection:$}=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 $.setRemoteDescription(q)})}getChannelFromLabel(q){switch(q){case"stream.latest-ttl":return this.latestTtlStreamChannel;case"stream.reliable":return this.reliableStreamChannel;case"stream.latest-reliable":return this.latestReliableStreamChannel;case"stream.latest-try-once":return this.latestTryOnceStreamChannel}}sendOnChannel(q,$){let te;try{te=Object(G.encode)(JSON.stringify($))}catch(le){return void I.a.warn("Failed to encode RTC message",{error:le})}try{q.send(te),this.sessionMetrics&&this.sessionMetrics.incrementLocalSent($)}catch(le){I.a.warn("Failed to send message to channel",{error:le,channel:q.label})}}channelNotRecognized(q){return q!==this.latestTtlStreamChannel&&q!==this.latestReliableStreamChannel&&q!==this.latestTryOnceStreamChannel&&q!==this.reliableStreamChannel}setupChannel(q){q.onmessage=$=>{if(this.channelNotRecognized(q))return void I.a.warn("Received message on unrecognized data channel.");let te;try{te=JSON.parse(Object(G.decode)($.data))}catch(le){return void I.a.warn("Received unparseable message on RTC stream data channel",{error:le,channel:q.label})}te.communicationType==="message-chunk"?this.receiveChannelMessageChunk(q,te):this.receiveChannelMessage(q,te)},q.onerror=$=>{I.a.warn(`Channel error: ${$.error}`,{error:$.error,sessionId:this.getSessionId(),channelLabel:q.label})},q.onopen=()=>{I.a.debug("Channel opened",{sessionId:this.getSessionId(),channelLabel:q.label})},q.onclose=()=>{const $={bufferedAmount:q.bufferedAmount,sessionId:this.getSessionId(),channelLabel:q.label};this.closeCalled===!1?I.a.debug("Unexpected channel closed",$):I.a.debug("Channel closed",$)}}receiveChannelMessage(q,$){const{config:te}=this,{remotePeerId:le}=this.config.baseConfig;this.lastMessageTimestamp=new Date().getTime(),$=function(ae){switch(ae.header.stream.streamType){case"twist":{const{twist:me}=ae.payload;if(!me)throw Error("twist not in payload of RTC message with type twist");return{header:ae.header,payload:{twist:{linear:Object.assign({x:0,y:0,z:0},me.linear),angular:Object.assign({x:0,y:0,z:0},me.angular)}}}}case"pose":{const{pose:me}=ae.payload;if(!me)throw Error("pose not in payload of RTC message with type pose");return{header:ae.header,payload:{pose:{translation:Object.assign({x:0,y:0,z:0},me.translation),rotation:Object.assign({x:0,y:0,z:0,w:0},me.rotation)}}}}case"pose-with-covariance":{const{poseWithCovariance:me}=ae.payload;if(!me)throw Error("poseWithCovariance not in payload of RTC message with type pose-with-covariance");const ye=new Array(36).fill(0);return me.covariance.forEach((de,ce)=>{if(ce>=36)throw Error("covariance contains more than 36 elements");ye[ce]=de}),{header:ae.header,payload:{poseWithCovariance:{pose:{translation:Object.assign({x:0,y:0,z:0},me.pose.translation),rotation:Object.assign({x:0,y:0,z:0,w:0},me.pose.rotation)},covariance:ye}}}}case"point":{const{point:me}=ae.payload;if(!me)throw Error("point not in payload of RTC message with type point");return{header:ae.header,payload:{point:Object.assign({x:0,y:0,z:0},me)}}}default:return ae}}($),this.sessionMetrics&&this.sessionMetrics.incrementLocalReceived($),this.handleSystemMessage(q,$)||(q===this.latestTryOnceStreamChannel||q===this.latestTtlStreamChannel||q===this.latestReliableStreamChannel)&&!this.isLatestMessage($)||te.baseConfig.receive(le,$)}receiveChannelMessageChunk(q,$){const te=this.reassemblyTable.get($.id)||[];if(te.push($),te.length===$.total){const le=function(ae){const me=ae.sort((ye,de)=>ye.seq<de.seq?-1:1).map(ye=>ye.part).reduce((ye,de)=>ye+de);try{return JSON.parse(me)}catch{return void I.a.warn("Could not reassemble RTC message chunks")}}(te);return le&&this.receiveChannelMessage(q,le),void this.reassemblyTable.delete($.id)}this.reassemblyTable.set($.id,te),this.reassemblyTableLastTimestamp.set($.id,new Date().getTime())}handleSystemMessage(q,$){var te,le;const{config:ae}=this,{baseConfig:me}=ae,{remotePeerId:ye}=me;switch($.header.stream.streamType){case"ping":return this.sendSystemMessage(q,{type:"pong",timestamp:d($.payload.ping)}),!0;case"pong":{const de=new Date().getTime()-d($.payload.pong);return this.pingTimeMs=de,O.aggregate("rtc-ping-time",de),!0}case"streams-info":{const{sessionMetrics:de}=this,ce=(te=$.payload.streamsInfo)===null||te===void 0?void 0:te.timestamp;return!!ce&&(de==null||de.updateRemoteMessagesCounts($),(le=me.onStreamsInfoUpdate)===null||le===void 0||le.call(me,ye,ce),!0)}case"stream-control":return!0;default:return!1}}sendSystemMessage(q,$){var te;const{localUserId:le,localPeerId:ae}=this.config.baseConfig;if(q.readyState!=="open")return;const me={entityId:le!=null?le:ae,streamName:`$.${$.type}`,streamType:$.type};let ye;switch($.type){case"ping":ye={ping:new Date().getTime()};break;case"pong":ye={pong:$.timestamp};break;case"stream-control":ye={streamControl:$.streamControl};break;case"streams-info":ye={streamsInfo:(te=this.sessionMetrics)===null||te===void 0?void 0:te.getLocalStreamsInfo(new Date().getTime())}}this.sendOnChannel(q,function(de,ce){return{header:{stream:de,created:Date.now(),frameId:""},payload:ce}}(me,ye))}isLatestMessage(q){const $=j(q.header.stream),te=(this.streamLatestTimestamp.get($)||0)<=q.header.created;return te&&this.streamLatestTimestamp.set($,q.header.created),te}}function he(pe){var q,$;return{userId:(q=pe.getUserId())===null||q===void 0?void 0:q.getValue(),deviceId:($=pe.getDeviceId())===null||$===void 0?void 0:$.getValue(),organizationId:pe.getOrganizationId(),id:pe.getPeerId(),capabilities:[],capabilitySet:{}}}var be=function(pe,q,$,te){return new($||($=Promise))(function(le,ae){function me(ce){try{de(te.next(ce))}catch(ge){ae(ge)}}function ye(ce){try{de(te.throw(ce))}catch(ge){ae(ge)}}function de(ce){var ge;ce.done?le(ce.value):(ge=ce.value,ge instanceof $?ge:new $(function(we){we(ge)})).then(me,ye)}de((te=te.apply(pe,q||[])).next())})};class Oe{constructor(q){this.config=q,this.grpcCallDeadline=5*g.a.second,this.refreshIntervalDelayMs=2*g.a.second,this.iceServersTtl=30*g.a.minute,this.connections=[],this.localConnections=[],this.isConnectionInitiator=new Map,this.isOutgoingConnection=new Map,this.peerDataChannelListeners=[];const{refreshIntervalDelayMs:$}=this;this.refreshInterval=Z({func:()=>be(this,void 0,void 0,function*(){try{yield this.update()}catch(te){I.a.warn("RTC refresh failed",{error:te})}}),delay:$,immediate:!0})}send(q,$,te){const le=this.getActiveConnection(q);le?le.isReady()?le.send($,te):I.a.warn("Send called with unready connection."):I.a.warn("Send called with no connection.")}controlRemoteStream(q,$){const te=this.getActiveConnection(q);te?te.isReady()?te.controlRemoteStream($):I.a.warn("controlRemoteStream called with unready connection."):I.a.warn("controlRemoteStream called with no connection.")}getLocalPeer(){return be(this,void 0,void 0,function*(){for(;!this.localPeer;)yield Object(u.a)(.1*g.a.second);return he(this.localPeer)})}connect(q,$){var te,le,ae;return be(this,void 0,void 0,function*(){if(this.config.lanOnlyMode===!0)throw new Error("connect method called in local only mode.");const{track:me,signalingClient:ye}=this.config,{localPeer:de,receiveSignalStream:ce,iceServers:ge}=this;if(!de||!ce||!ge)return void I.a.warn("Connect called prior to local peer, receiveSignalStream, and ICE servers ready");if(this.getActiveConnection(q))return void I.a.warn("Connect called for peer with existing connection.");if(this.isOutgoingConnection.get(q))return void I.a.warn("Connect called for peer with an existing outgoing connection offer.");this.isOutgoingConnection.set(q,!0);const we=new ie(yield this.createRTCPeerConnection(ge,$),{baseConfig:{isOffer:!0,isLan:!1,receive:(De,Ue)=>this.config.receive(De,Ue),onStreamsInfoUpdate:this.config.onStreamsInfoUpdate?(De,Ue)=>{var ke,We;return(We=(ke=this.config).onStreamsInfoUpdate)===null||We===void 0?void 0:We.call(ke,De,Ue)}:void 0,track:this.config.lanOnlyMode?void 0:this.config.track,localUserId:(te=de.getUserId())===null||te===void 0?void 0:te.getValue(),localPeerId:de.getPeerId(),remotePeerId:q,sessionType:$==null?void 0:$.sessionType},remoteConfig:{}},De=>this.onCustomDataChannel(q,De)),Ee=yield we.getOffer();if(!Ee)return I.a.error("Failed to generate offer."),void this.isOutgoingConnection.delete(q);I.a.debug("Sending offer."),me==null||me("Sending offer",Ee);const Me=new L.SendSignalRequest;Me.setSignal(Ee);const xe=yield(()=>be(this,void 0,void 0,function*(){try{return yield ye.sendSignal(Me,yield this.getMetadata({}))}catch(De){I.a.warn("Error when sending signal",{error:De})}}))();if(!this.isOutgoingConnection.get(q))return void I.a.debug("No offer set after receiving offer signal response.");I.a.debug("Offer sent.");const Fe=(le=xe==null?void 0:xe.getSessionId())===null||le===void 0?void 0:le.getValue(),Be=(ae=xe==null?void 0:xe.getSessionCreatedTimestamp())===null||ae===void 0?void 0:ae.getValue();return Fe&&Be?(we.setSessionId(Fe),we.setSessionCreatedTimestamp(Be),this.isOutgoingConnection.delete(q),this.connections.push(we),this.isConnectionInitiator.set(we,!0),this.setupHandlers(we),Fe):(I.a.warn("No session ID or no session created timestamp on send signal response."),void this.isOutgoingConnection.delete(q))})}connectLan(q){var $,te;return be(this,void 0,void 0,function*(){const le=new B(q),ae=new ie(yield this.createRTCPeerConnection([]),{baseConfig:{isOffer:!0,isLan:!0,receive:(ce,ge)=>this.config.receive(ce,ge),onStreamsInfoUpdate:this.config.onStreamsInfoUpdate?(ce,ge)=>{var we,Ee;return(Ee=(we=this.config).onStreamsInfoUpdate)===null||Ee===void 0?void 0:Ee.call(we,ce,ge)}:void 0,track:this.config.lanOnlyMode?void 0:this.config.track,localUserId:(te=($=this.localPeer)===null||$===void 0?void 0:$.getUserId())===null||te===void 0?void 0:te.getValue(),localPeerId:"lan_client",remotePeerId:q}},ce=>this.onCustomDataChannel(q,ce)),me=yield ae.getLanOffer();if(!me)return I.a.warn("Could not generate LAN offer"),!1;const ye=yield le.postLanRtcOffer({offer:JSON.stringify(me)}),de=new RTCSessionDescription(JSON.parse(ye.answer));return yield ae.handleLanAnswer(de),this.localConnections.push(ae),this.isConnectionInitiator.set(ae,!0),Object(E.v4)()})}getConnections(){return[...this.connections,...this.localConnections]}createCustomDataChannel(q,$,te,le,ae){const me=this.getActiveConnection(q);if(me&&this.isConnectionInitiator.has(me)){const de=me.peerConnection.createDataChannel("custom."+$,te);return le&&(de.binaryType="arraybuffer"),ae(q,de),()=>{}}const ye=(de,ce)=>{q===de&&ce.label==="custom."+$&&ae(q,ce)};return this.peerDataChannelListeners.push(ye),()=>{this.peerDataChannelListeners=this.peerDataChannelListeners.filter(de=>de!==ye)}}onCustomDataChannel(q,$){this.peerDataChannelListeners.forEach(te=>te(q,$))}getConnectionStatus(q){if(this.isOutgoingConnection.get(q))return"connecting";const $=this.getActiveConnection(q);return $?$.isReady()?"connected":"connecting":"disconnected"}getConnectionStatsInfo(q){return be(this,void 0,void 0,function*(){const $=this.getActiveConnection(q);if($)return yield $.getConnectionStatsInfo()})}disconnect(q){return be(this,void 0,void 0,function*(){const $=this.getActiveConnection(q);$&&(yield $.close())})}getPeers(){return be(this,void 0,void 0,function*(){if(this.config.lanOnlyMode)throw new Error("getPeers method cannot be used in local-only mode.");const{signalingClient:q}=this.config,$=yield(()=>be(this,void 0,void 0,function*(){try{return yield q.getPeers(new L.GetPeersRequest,yield this.getMetadata({}))}catch(ae){I.a.warn("Error when getting peers",{error:ae})}}))();if(!$)return[];const te=$.getPeersList();if(!te)return[];const le=ae=>{var me,ye;return(ye=(me=ae.getPeerCreatedTimestamp())===null||me===void 0?void 0:me.getValue())!==null&&ye!==void 0?ye:0};return te.sort((ae,me)=>le(me)-le(ae)).map(ae=>he(ae))})}getSessions(){return be(this,void 0,void 0,function*(){if(this.config.lanOnlyMode)throw new Error("getPeers method cannot be used in local-only mode.");const{signalingClient:q}=this.config,$=yield(()=>be(this,void 0,void 0,function*(){try{return yield q.getPeers(new L.GetPeersRequest,yield this.getMetadata({}))}catch(ae){I.a.warn("Error when getting peers",{error:ae})}}))();if(!$)return{};const te=$.getPeersList(),le={};for(const ae of te)le[ae.getPeerId()]=ae.getSessionIdsList();return le})}getPing(q){const $=this.getActiveConnection(q);if($)return $.getPing();I.a.warn("Attempted to get ping time from inactive peer.")}getLastMessageTimestamp(q){const $=this.getActiveConnection(q);if($)return $.getLastMessageTimestamp();I.a.warn("Attempted to get last message time from inactive peer.")}getSessionMetricsMessageCounts(q){const $=this.getActiveConnection(q);if($)return $.getSessionMetricsMessageCounts();I.a.warn("Attempted to get session metrics counts from inactive peer.")}isReady(){if(this.config.lanOnlyMode)return!0;const{localPeer:q,receiveSignalStream:$,iceServers:te}=this;return!!(q&&$&&te)}shutdown(){return be(this,void 0,void 0,function*(){I.a.info("Shutdown called on RTC client"),yield this.refreshInterval.stop(),this.receiveSignalStream&&this.receiveSignalStream.cancel();const q=this.connections;this.connections=[],yield this.closeConnections(q);const{localPeer:$}=this;if(!$||this.config.lanOnlyMode)return;const{signalingClient:te}=this.config;yield(()=>be(this,void 0,void 0,function*(){try{const le=new L.DeletePeerRequest;le.setPeerId($.getPeerId()),yield te.deletePeer(le,yield this.getMetadata({}))}catch(le){return void I.a.warn("Error deleting local peer",{error:le})}}))()})}createPeer(){return be(this,void 0,void 0,function*(){if(this.config.lanOnlyMode)throw new Error("createPeer method cannot be used in local-only mode.");const{signalingClient:q}=this.config,$=yield(()=>be(this,void 0,void 0,function*(){try{return yield q.createPeer(new L.CreatePeerRequest,yield this.getMetadata({}))}catch(le){throw new Error(`Was not able to create peer: ${JSON.stringify(le)}`)}}))(),te=$==null?void 0:$.getPeer();if(!te)throw new Error("Response did not provide peer.");return this.localPeer=te})}createReceiveSignalStream(){return be(this,void 0,void 0,function*(){if(this.config.lanOnlyMode)throw new Error("createReceiveSignalStream method cannot be used in local-only mode.");const{signalingClient:q}=this.config,{localPeer:$,iceServers:te}=this;if(!$||!te)return;const{receiveSignalStream:le}=this;le&&le.cancel();const ae=new L.ReceiveSignalStreamRequest;ae.setPeerId($.getPeerId());const me=yield(()=>be(this,void 0,void 0,function*(){try{return q.receiveSignalStream(ae,yield this.getMetadata({hasDeadline:!1}))}catch(ye){throw new Error(`Unable to create receive signal stream: ${JSON.stringify(ye)}`)}}))();if(!me)throw new Error("Response did not provide stream.");return me.on("data",ye=>be(this,void 0,void 0,function*(){var de,ce,ge,we;const Ee=ye.getSignal(),Me=(de=Ee==null?void 0:Ee.getSessionId())===null||de===void 0?void 0:de.getValue(),xe=Ee==null?void 0:Ee.getSenderId(),Fe=Ee==null?void 0:Ee.getReceiverId(),Be=(ce=Ee==null?void 0:Ee.getSessionCreatedTimestamp())===null||ce===void 0?void 0:ce.getValue();if(!(Ee&&Me&&xe&&Fe&&Be))return void I.a.warn("Received signal with missing information.");const De=this.getActiveConnection(xe);if(De)if(De.getSessionId()!==Me){if(I.a.debug("Received signal: different session for a peer we're already connected to."),(De.getSessionCreatedTimestamp()||0)>Be)return;const Ue=new ie(yield this.createRTCPeerConnection(te),{baseConfig:{isOffer:!1,isLan:!1,receive:(ke,We)=>this.config.receive(ke,We),onStreamsInfoUpdate:this.config.onStreamsInfoUpdate?(ke,We)=>{var Ye,ze;return(ze=(Ye=this.config).onStreamsInfoUpdate)===null||ze===void 0?void 0:ze.call(Ye,ke,We)}:void 0,track:this.config.lanOnlyMode?void 0:this.config.track,localPeerId:$.getPeerId(),localUserId:(we=$.getUserId())===null||we===void 0?void 0:we.getValue(),remotePeerId:xe},remoteConfig:{sessionId:Me,sessionCreatedTimestamp:Be}},ke=>this.onCustomDataChannel(xe,ke));yield Ue.handleSignal(Ee),this.connections.push(Ue)}else I.a.debug("Received signal: for an existing connection."),yield De.handleSignal(Ee);else{I.a.debug("Received signal: new connection.");const Ue=new ie(yield this.createRTCPeerConnection(te),{baseConfig:{isOffer:!1,isLan:!1,receive:(ke,We)=>this.config.receive(ke,We),onStreamsInfoUpdate:this.config.onStreamsInfoUpdate?(ke,We)=>{var Ye,ze;return(ze=(Ye=this.config).onStreamsInfoUpdate)===null||ze===void 0?void 0:ze.call(Ye,ke,We)}:void 0,track:this.config.lanOnlyMode?void 0:this.config.track,localPeerId:$.getPeerId(),localUserId:(ge=$.getUserId())===null||ge===void 0?void 0:ge.getValue(),remotePeerId:xe},remoteConfig:{sessionId:Me,sessionCreatedTimestamp:Be}},ke=>this.onCustomDataChannel(xe,ke));yield Ue.handleSignal(Ee),this.connections.push(Ue)}})),me.on("end",()=>{me.cancel(),this.receiveSignalStream=void 0}),me.on("error",ye=>{switch(ye.code){case k.StatusCode.CANCELLED:case k.StatusCode.UNAVAILABLE:case k.StatusCode.UNKNOWN:I.a.debug("Receive signal stream error",{error:ye});break;case k.StatusCode.UNAUTHENTICATED:I.a.warn("Receive signal stream error",{error:ye});break;default:I.a.error("Receive signal stream error",{error:ye})}me.cancel(),this.receiveSignalStream=void 0}),this.receiveSignalStream=me})}createRTCPeerConnection(q,$){var te;return be(this,void 0,void 0,function*(){const le=$==null?void 0:$.rtcIceTransportPolicies,ae=$!=null&&$.rtcIceServerProtocol?[$==null?void 0:$.rtcIceServerProtocol]:void 0,me=q.map(de=>Object.assign(Object.assign({},de),{urls:typeof de.urls=="string"?[de.urls]:de.urls})).map(de=>Object.assign(Object.assign({},de),{urls:de.urls.filter(ce=>{const ge=(le===void 0||le.some(we=>((Ee,Me)=>{switch(Me){case"stun":return/^stuns?:/.test(Ee);case"turn":return/^turns?:/.test(Ee)}})(ce,we)))&&(ae===void 0||ae.some(we=>((Ee,Me)=>Ee.endsWith(`transport=${Me}`))(ce,we)));return ge||I.a.debug(`Ignoring ICE server: ${ce}`),ge})})).filter(({urls:de})=>de.filter(ce=>ce).length>0),ye=(te=this.config.alternateRTCPeerConnection)!==null&&te!==void 0?te:window.RTCPeerConnection;if(!ye)throw new Error("RTCPeerConnection class not found. WebRTC must be enabled.");return new ye(Object.assign({iceServers:me,iceTransportPolicy:(le==null?void 0:le.length)===1&&le[0]==="turn"?"relay":"all"},$))})}closeConnections(q){return be(this,void 0,void 0,function*(){const $=yield R(q.map(te=>be(this,void 0,void 0,function*(){yield te.close()})));for(const te of $)I.a.warn("Request to close session failed",{error:te})})}getActiveConnection(q){return this.getConnections().find($=>$.getRemotePeerId()===q&&$.isActive())}update(){var q;return be(this,void 0,void 0,function*(){if(this.localConnections=this.localConnections.filter(ye=>ye.isActive()),this.config.lanOnlyMode)return;const{signalingClient:$}=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(ye=>!ye.isActive())),this.connections=this.connections.filter(ye=>ye.isActive());const{localPeer:te}=this,le=this.connections.filter(ye=>ye.getSessionId).map(ye=>d(ye.getSessionId()));te.setSessionIdsList(le);const ae=new L.RefreshPeerRequest;ae.setPeer(te);try{yield $.refreshPeer(ae,yield this.getMetadata({}))}catch(ye){ye.code===k.StatusCode.NOT_FOUND?(I.a.warn("Peer expired, creating new peer",{peerId:te.getPeerId()}),yield this.reset()):I.a.warn("Error calling RefreshPeer",{error:ye})}const me=yield this.getPeers();for(const ye of this.connections)ye.setRemoteDeviceId((q=me.find(de=>de.id===ye.getRemotePeerId()))===null||q===void 0?void 0:q.deviceId)})}reset(){return be(this,void 0,void 0,function*(){yield this.closeConnections(this.connections),this.connections=[],this.isOutgoingConnection=new Map,yield this.createPeer(),yield this.createReceiveSignalStream()})}updateIceServers(){return be(this,void 0,void 0,function*(){if(this.config.lanOnlyMode)return;const{iceServersLastUpdate:q,iceServersTtl:$}=this,te=new Date().getTime();if(!q||te-q>$)try{const le=(yield this.config.signalingClient.getIceServers(new L.GetIceServersRequest,yield this.getMetadata({}))).getIceServers();this.iceServers=JSON.parse(le),this.iceServersLastUpdate=te}catch(le){I.a.warn("Error in updateIceServers",{error:le})}})}setupHandlers(q){const{peerConnection:$}=q,te=q.getSessionCreatedTimestamp();$.onconnectionstatechange=()=>be(this,void 0,void 0,function*(){const le=$.connectionState;if(te)switch(le){case"connected":O.aggregate("rtc-connect-time",new Date().getTime()-te);break;case"failed":O.increment("rtc-connect-failed")}})}getMetadata(q){return be(this,void 0,void 0,function*(){if(this.config.lanOnlyMode)throw new Error("getMetadata method cannot be called in local-only mode");const{getToken:$}=this.config,{grpcCallDeadline:te}=this,{hasDeadline:le}=q,ae=le===!1?void 0:new Date().getTime()+te;return{authorization:yield $(),deadline:ae}})}}},,function(e,t,r){r.r(t),r.d(t,"LogClient",function(){return l});var n=r(25),o=function(s,i,g,u){return new(g||(g=Promise))(function(b,A){function _(S){try{f(u.next(S))}catch(w){A(w)}}function v(S){try{f(u.throw(S))}catch(w){A(w)}}function f(S){var w;S.done?b(S.value):(w=S.value,w instanceof g?w:new g(function(P){P(w)})).then(_,v)}f((u=u.apply(s,i||[])).next())})};class l extends n.a{log(i){return o(this,void 0,void 0,function*(){yield this.fetch("logs",{method:"POST",body:JSON.stringify({logs:i}),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 envDev=urlParams$1.get("formant_dev");envDev&&(FORMANT_API_URL="https://api-dev.formant.io");const envStage=urlParams$1.get("formant_stage");envStage&&(FORMANT_API_URL="https://api-stage.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 goToDevice(t){this.sendAppMessage({type:"go_to_device",deviceId:t})}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 sendChannelData(t,r){const n=this.getCurrentModuleContext();if(!n)throw new Error("No module context");this.sendAppMessage({type:"send_channel_data",source:n,channel:t,data:r})}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})})}static addChannelDataListener(t,r){window.addEventListener("message",n=>{const o=n.data;o.type==="channel_data"&&o.channel===t&&r({source:o.source,data:o.data})})}}const Re=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"}}),o=await n.json();if(n.status!==200)throw new Error(o.message);return await Re.loginWithToken(o.authentication.accessToken,o.authentication.refreshToken),o.authentication}catch(n){return Re.waitingForAuth.forEach(o=>o(!1)),Re.waitingForAuth=[],Promise.reject(n)}}static async loginWithToken(t,r){const n=JSON.parse(atob(t.split(".")[1]));try{let o;if(Re.isShareToken=n["formant:claims"]&&n["formant:claims"].type=="share",n["formant:claims"]&&(Re.currentOrganization=n["formant:claims"].organizationId),n["custom:organization_id"]&&(Re.currentOrganization=n["custom:organization_id"]),Re.isShareToken||(o=n.sub),n["formant:claims"]&&n["formant:claims"].userId&&(o=n["formant:claims"].userId),o){const l=await fetch(`${FORMANT_API_URL}/v1/admin/users/${o}`,{method:"GET",headers:{"Content-Type":"application/json",Authorization:"Bearer "+t}}),s=await l.json();if(l.status!==200)throw new Error(s.message);Re.currentUser=s}Re.token=t,Re.waitingForAuth.forEach(l=>l(!0))}catch(o){console.error(o),Re.waitingForAuth.forEach(l=>l(!1))}Re.waitingForAuth=[],r&&(Re.refreshToken=r,setInterval(async()=>{if(Re.refreshToken){const l=await(await fetch(`${FORMANT_API_URL}/v1/admin/auth/refresh`,{method:"POST",headers:{"Content-Type":"application/json"},body:JSON.stringify({refreshToken:Re.refreshToken})})).json();Re.token=l.authentication.accessToken}},1e3*60*60))}static isAuthenticated(){return Re.token!==void 0}static getCurrentUser(){return Re.currentUser}static async waitTilAuthenticated(){return Re.token!==void 0?!0:new Promise(t=>{Re.waitingForAuth.push(function(r){t(r)})})}static async listenForRefresh(){App.addAccessTokenRefreshListener(t=>{this.loginWithToken(t)}),setInterval(async()=>{App.refreshAuthToken()},1e3*60*60)}};let Authentication=Re;je(Authentication,"token"),je(Authentication,"refreshToken"),je(Authentication,"currentUser"),je(Authentication,"currentOrganization"),je(Authentication,"isShareToken",!1),je(Authentication,"defaultDeviceId"),je(Authentication,"waitingForAuth",[]);class DataChannel{constructor(t){je(this,"ready",!1);je(this,"listeners",[]);je(this,"binaryListeners",[]);je(this,"error");je(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 o=new Uint8Array(r.data),l=this.decoder.decode(o);n(l)}),this.binaryListeners.forEach(n=>{n(new Uint8Array(r.data))})}}async waitTilReady(){return this.ready?!0:new Promise((r,n)=>{let o=window.setInterval(()=>{this.ready&&(window.clearInterval(o),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){je(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){je(this,"currentListeners",[]);je(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){je(this,"channel");je(this,"requestIdToResponseMap",new Map);this.device=t,this.channel_name=r,this.timeout=n}}class BinaryRequestDataChannel extends RequestDataChannel{constructor(){super(...arguments);je(this,"RESPONSE_SUCCESS_BYTE",0);je(this,"decoder",new TextDecoder)}generateBinaryId(){const r=new Uint8Array(16);for(let n=0;n<r.length;n++)r[n]=Math.floor(Math.random()*256);return r}async initialize(){this.channel=await this.device.createCustomDataChannel(this.channel_name),this.channel.addBinaryListener(r=>{const o=r.slice(0,16).toString();if(o.length===0)throw new Error("Invalid response");const l=r.slice(16);if(l.length===0)throw new Error("Invalid response");this.requestIdToResponseMap.has(o)&&this.requestIdToResponseMap.set(o,l)})}async request(r){if(this.channel||await this.initialize(),!this.channel)throw new Error("Failed to create channel");const{channel:n,requestIdToResponseMap:o,timeout:l}=this;await n.waitTilReady();const s=this.generateBinaryId(),i=s.toString();o.set(i,!0),n.sendBinary(new Uint8Array([...s,...r]));const g=new Date().getTime();for(;new Date().getTime()<g+l;)if(await delay(50),o.has(i)){const u=o.get(i);if(u!==!0){o.delete(i);const b=u[0]===this.RESPONSE_SUCCESS_BYTE,A=u.slice(1);if(b)return A;throw{name:"AdapterError",message:this.decoder.decode(A)}}}throw o.delete(i),{name:"TimeoutError",message:`Request timed out after ${l/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:o,error:l}=r;if(!n)throw new Error("Invalid response");if(!o&&!l)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:o}=this;await r.waitTilReady();const l=this.generateTextId();n.set(l,!0),r.send(JSON.stringify({id:l,data:t}));const s=new Date().getTime();for(;new Date().getTime()<s+o;)if(await delay(50),n.has(l)){const i=n.get(l);if(i!==!0){n.delete(l);const{data:g,error:u}=i;if(g)return g;if(u)throw{name:"AdapterError",message:u}}}throw n.delete(l),{name:"TimeoutError",message:`Request timed out after ${o/1e3} seconds`}}}var SessionType=(e=>(e[e.Teleop=1]="Teleop",e[e.Observe=3]="Observe",e))(SessionType||{});class Device{constructor(t,r,n){je(this,"rtcClient");je(this,"remoteDevicePeerId");je(this,"realtimeListeners",[]);je(this,"handleMessage",(t,r)=>{this.realtimeListeners.forEach(n=>n(t,r))});this.id=t,this.name=r,this.organizationId=n}async getLatestTelemetry(){return(await(await fetch(`${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}getRealtimeStatus(){if(this.rtcClient&&this.remoteDevicePeerId)return this.rtcClient.getConnectionStatus(this.remoteDevicePeerId);throw new Error(`Realtime connection hasn't been started for ${this.id}`)}getRealtimePing(){if(this.rtcClient&&this.remoteDevicePeerId)return this.rtcClient.getPing(this.remoteDevicePeerId);throw new Error(`Realtime connection hasn't been started for ${this.id}`)}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(o=>o.deviceId===this.id);if(!n)throw new Error("Cannot find peer, is the robot offline?");for(this.remoteDevicePeerId=n.id,await t.connect(this.remoteDevicePeerId,void 0);t.getConnectionStatus(this.remoteDevicePeerId)!=="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,o,l;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(o=t.teleop.rosStreams)!=null?o:[])s.topicType=="formant/H264VideoFrame"&&r.push({name:s.topicName});for(const s of(l=t.teleop.customStreams)!=null?l:[])s.rtcStreamType==="h264-video-frame"&&r.push({name:s.name});return r}async getRealtimeManipulators(){var n;const t=await this.getConfiguration(),r=[];for(const o of(n=t.teleop.rosStreams)!=null?n:[])o.topicType=="sensor_msgs/JointState"&&r.push(new Manipulator(this,{currentJointStateStream:{name:o.topicName},plannedJointStateStream:o.plannedTopic?{name:o.plannedTopic}:void 0,planValidStream:o.planValidTopic?{name:o.planValidTopic}:void 0,endEffectorStream:o.endEffectorTopic?{name:o.endEffectorTopic}:void 0,endEffectorLinkName:o.endEffectorLinkName,baseReferenceFrame:o.baseReferenceFrame,localFrame:o.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 ${this.id}`)}async isInRealtimeSession(){let t=await Fleet.getPeers(),r=await Fleet.getRealtimeSessions(),n=t.find(o=>o.deviceId===this.id);return n?r[n.id].length>0:!1}async getAvailableCommands(){return(await(await fetch(`${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,o){var A;const s=(await this.getAvailableCommands()).find(_=>_.name===t);if(!s)throw new Error(`Could not find command with name "${t}"`);let i;if(r===void 0)if(s.parameterEnabled&&s.parameterValue)i=s.parameterValue;else throw new Error("Command has no default parameter value, you must provide one");else i=r;let g={value:i,scrubberTime:(n||new Date).toISOString(),meta:it(it({},s.parameterMeta),o)};return(await(await fetch(`${FORMANT_API_URL}/v1/admin/commands`,{method:"POST",body:JSON.stringify({commandTemplateId:s.id,organizationId:this.organizationId,deviceId:this.id,command:s.command,parameter:g,userId:(A=Authentication.currentUser)==null?void 0:A.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"),o=await this.getRemotePeer(),l=await new Promise(s=>{n.createCustomDataChannel(defined(o).id,t,it({ordered:!0},r),!1,(i,g)=>{const u=new DataChannel(g);s(u)})});return await l.waitTilReady(),l}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(`${FORMANT_API_URL}/v1/admin/capture-sessions`,{method:"POST",body:JSON.stringify({deviceId:this.id,streamName:t,tags:{}}),headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json();return new CaptureStream(n)}async getTelemetry(t,r,n,o){return await Fleet.getTelemetry(this.id,t,r,n,o)}async getTelemetryStreams(){var i,g;const t=await this.getConfiguration(),r=await fetch(`${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=[],o=[];return(g=(i=t.telemetry)==null?void 0:i.streams)==null||g.forEach(u=>{u.disabled!==!0&&n.push(u.name),u.onDemand===!0&&o.push(u.name)}),console.log(o),(await r.json()).items.filter(u=>!n.includes(u)).map(u=>({name:u,onDemand:o.includes(u)}))}async createInterventionRequest(t,r,n,o){return await(await fetch(`${FORMANT_API_URL}/v1/admin/intervention-requests`,{method:"POST",body:JSON.stringify({message:t,interventionType:r,time:new Date().toISOString(),deviceId:this.id,tags:o,data:n}),headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json()}async addInterventionResponse(t,r,n){return await(await fetch(`${FORMANT_API_URL}/v1/admin/intervention-responses`,{method:"POST",body:JSON.stringify({interventionId:t,interventionType:r,data:n}),headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json()}}class PeerDevice{constructor(t){je(this,"rtcClient");je(this,"remoteDevicePeerId");je(this,"realtimeListeners",[]);je(this,"id");je(this,"handleMessage",(t,r)=>{this.realtimeListeners.forEach(n=>n(t,r))});this.peerUrl=t}async getLatestTelemetry(){const r=await(await fetch(`${this.peerUrl}/telemetry`)).json();return Object.entries(r).map(([o,l])=>({deviceId:this.id,streamName:o,streamType:"json",currentValue:l,currentValueTime:l.timestamp,tags:{}}))}async getDeviceId(){return(await(await fetch(`${this.peerUrl}/configuration`)).json()).agent_config.id}async getConfiguration(){return(await(await fetch(`${this.peerUrl}/configuration`)).json()).agent_config.document}getRealtimeStatus(){if(this.rtcClient&&this.remoteDevicePeerId)return this.rtcClient.getConnectionStatus(this.remoteDevicePeerId);throw new Error("Realtime connection hasn't been started")}getRealtimePing(){if(this.rtcClient&&this.remoteDevicePeerId)return this.rtcClient.getPing(this.remoteDevicePeerId);throw new Error("Realtime connection hasn't been started")}async startRealtimeConnection(t){if(this.rtcClient)throw new Error(`Already created realtime connection to device ${this.id}`);{const r=new dist.exports.RtcClient({lanOnlyMode:!0,receive:this.handleMessage});for(await r.connectLan(this.peerUrl);r.getConnectionStatus(this.peerUrl)!=="connected";)await delay(100);this.rtcClient=r}}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,o,l;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(o=t.teleop.rosStreams)!=null?o:[])s.topicType=="formant/H264VideoFrame"&&r.push({name:s.topicName});for(const s of(l=t.teleop.customStreams)!=null?l:[])s.rtcStreamType==="h264-video-frame"&&r.push({name:s.name});return r}async getRealtimeManipulators(){var n;const t=await this.getConfiguration(),r=[];for(const o of(n=t.teleop.rosStreams)!=null?n:[])o.topicType=="sensor_msgs/JointState"&&r.push(new Manipulator(this,{currentJointStateStream:{name:o.topicName},plannedJointStateStream:o.plannedTopic?{name:o.plannedTopic}:void 0,planValidStream:o.planValidTopic?{name:o.planValidTopic}:void 0,endEffectorStream:o.endEffectorTopic?{name:o.endEffectorTopic}:void 0,endEffectorLinkName:o.endEffectorLinkName,baseReferenceFrame:o.baseReferenceFrame,localFrame:o.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(){return{id:this.peerUrl,organizationId:"",deviceId:this.id,capabilities:[],capabilitySet:{}}}async stopRealtimeConnection(){if(this.rtcClient)await this.rtcClient.disconnect(this.id);else throw new Error(`Realtime connection hasn't been started for ${this.id}`)}async createCustomDataChannel(t,r){const n=defined(this.rtcClient,"Realtime connection has not been started"),o=await this.getRemotePeer(),l=await new Promise(s=>{n.createCustomDataChannel(defined(o).id,t,it({ordered:!0},r),!1,(i,g)=>{const u=new DataChannel(g);s(u)})});return await l.waitTilReady(),l}createCustomRequestDataChannel(t,r=3e3){return new TextRequestDataChannel(this,t,r)}createCustomBinaryRequestDataChannel(t,r=3e3){return new BinaryRequestDataChannel(this,t,r)}}const Ce=class{static async setDefaultDevice(t){Ce.defaultDeviceId=t}static async getCurrentDevice(){if(!Authentication.token)throw new Error("Not authenticated");if(!Ce.defaultDeviceId)throw new Error("No known default device");const o=(await(await fetch(`${FORMANT_API_URL}/v1/admin/device-details/query`,{method:"POST",headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json()).items.find(s=>s.id===Ce.defaultDeviceId).name,l=new Device(Ce.defaultDeviceId,o,defined(Authentication.currentOrganization));return Ce.knownContext.push(new WeakRef(l)),l}static async getPeerDevice(t){const r=new PeerDevice(t);return r.id=await r.getDeviceId(),r}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(),o=n.name,l=new Device(t,o,n.organizationId);return Ce.knownContext.push(new WeakRef(l)),l}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 Ce.getDevices()).filter(l=>n.includes(l.id))}static async getPeers(){if(!Authentication.token)throw new Error("Not authenticated");return await 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:()=>{}}).getPeers()}static async getRealtimeSessions(){if(!Authentication.token)throw new Error("Not authenticated");return await 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:()=>{}}).getSessions()}static async getRealtimeDevices(){if(!Authentication.token)throw new Error("Not authenticated");const n=(await(await fetch(`${FORMANT_API_URL}/v1/signaling/peers`,{method:"GET",headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json()).items.map(l=>l.deviceId);return(await Ce.getDevices()).filter(l=>n.includes(l.id))}static async getLatestTelemetry(t){let r=t;return t&&!Array.isArray(t)&&(t=[t]),(await(await fetch(`${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,o,l){let s=t;Array.isArray(t)||(s=[t]);let i=r;return Array.isArray(r)||(i=[r]),(await(await fetch(`${FORMANT_API_URL}/v1/queries/queries`,{method:"POST",body:JSON.stringify({deviceIds:s,end:o.toISOString(),names:i,start:n.toISOString(),tags:l}),headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json()).items}static async getFileUrl(t){const n=await(await fetch(`${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]}static async queryTelemetry(t){if(!Authentication.token)throw new Error("Not authenticated");return(await(await fetch(`${FORMANT_API_URL}/v1/queries/queries`,{method:"POST",body:JSON.stringify(t),headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json()).items}static async queryEvents(t){if(!Authentication.token)throw new Error("Not authenticated");return(await(await fetch(`${FORMANT_API_URL}/v1/admin/events/query`,{method:"POST",body:JSON.stringify(t),headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json()).items}static async getInterventions(){if(!Authentication.token)throw new Error("Not authenticated");return(await(await fetch(`${FORMANT_API_URL}/v1/admin/intervention-requests`,{method:"GET",headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json()).items}};let Fleet=Ce;je(Fleet,"defaultDeviceId"),je(Fleet,"knownContext",[]);class KeyValue{static async set(t,r){try{const n=await fetch(FORMANT_API_URL+"/v1/admin/key-value",{method:"POST",body:JSON.stringify({organizationId:defined(Authentication.currentUser).organizationId,key:t,value:r}),headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}}),o=await n.json();if(n.status!==200)throw new Error(o.message)}catch(n){throw n}}static async get(t){try{const r=await fetch(FORMANT_API_URL+`/v1/admin/key-value/${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}}}const accessLevels=["viewer","operator","administrator"],viewer="viewer",operator="operator",administrator="administrator",aggregateLevels=["year","month","week","day","hour","minute"],annotationTypes=["tag","sheet","user"],eventTypes=["triggered-event","intervention-request","teleop-session-record","port-forwarding-session-record","command-request","command-response","command-delivery","custom","comment","system","annotation"],healthStatuses=["unknown","operational","offline","error"],interventionTypes=["selection","labeling","teleop"],severities=["info","warning","error","critical"],videoMimeTypes=["video/mp4"];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 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$(function(we){we(ge)})).then(me,ye)}de((te=te.apply(pe,q||[])).next())})};function R(pe){return T(this,void 0,void 0,function*(){return(yield Promise.all(pe.map(q=>q.catch($=>$)))).filter(q=>q instanceof Error)})}function d(pe){if(pe!==void 0)return pe;throw new Error("Value is undefined")}var I=r(0),Q=function(pe,q,$,te){return new($||($=Promise))(function(le,ae){function me(ce){try{de(te.next(ce))}catch(ge){ae(ge)}}function ye(ce){try{de(te.throw(ce))}catch(ge){ae(ge)}}function de(ce){var ge;ce.done?le(ce.value):(ge=ce.value,ge instanceof $?ge:new $(function(we){we(ge)})).then(me,ye)}de((te=te.apply(pe,q||[])).next())})};function Z({func:pe,delay:q,immediate:$}){let te=!1,le=setTimeout(function me(){return Q(this,void 0,void 0,function*(){if(te)return;const ye=new Date().getTime();try{ae=pe(),yield ae}finally{if(!te){const de=new Date().getTime();le=setTimeout(me,Math.max(q-(de-ye),0))}}})},$?0:q),ae=Promise.resolve();return{stop(){return Q(this,void 0,void 0,function*(){te=!0,clearTimeout(le),yield ae})}}}function h(pe,q){return Object.keys(pe).reduce(($,te)=>Object.assign(Object.assign({},$),{[te]:q(pe[te])}),{})}var p=function(pe,q,$,te){return new($||($=Promise))(function(le,ae){function me(ce){try{de(te.next(ce))}catch(ge){ae(ge)}}function ye(ce){try{de(te.throw(ce))}catch(ge){ae(ge)}}function de(ce){var ge;ce.done?le(ce.value):(ge=ce.value,ge instanceof $?ge:new $(function(we){we(ge)})).then(me,ye)}de((te=te.apply(pe,q||[])).next())})};class C{constructor(q){this.message=q}send(q){return p(this,void 0,void 0,function*(){I.a.info(this.message,h(q,$=>{const{sum:te,count:le}=$,ae=te/le;return Object.assign(Object.assign({},$),{average:ae})}))})}}var m=function(pe,q,$,te){return new($||($=Promise))(function(le,ae){function me(ce){try{de(te.next(ce))}catch(ge){ae(ge)}}function ye(ce){try{de(te.throw(ce))}catch(ge){ae(ge)}}function de(ce){var ge;ce.done?le(ce.value):(ge=ce.value,ge instanceof $?ge:new $(function(we){we(ge)})).then(me,ye)}de((te=te.apply(pe,q||[])).next())})};const x=r(222);var F=r(6);const D=!!F.c,O=new class{constructor(pe=60){this.buffer={},this.metrics={},this.reporters=[],this.flushInterval=Z({func:()=>this.flushStats(),delay:pe*g.a.second})}shutdown(){return m(this,void 0,void 0,function*(){yield this.flushInterval.stop(),yield this.flushStats(),yield Object(u.a)(2*g.a.second)})}aggregate(pe,q){if(this.buffer[pe]){const{min:$,max:te,sum:le,count:ae}=this.buffer[pe];this.buffer[pe]={min:Math.min($,q),max:Math.max(te,q),sum:le+q,count:ae+1}}else this.buffer[pe]={min:q,max:q,sum:q,count:1}}increment(pe){this.aggregate(pe,1)}timer(pe,q){return m(this,void 0,void 0,function*(){const $=x(),te=yield q(),le=x();return this.aggregate(pe,le-$),te})}metric(pe,q){this.metrics[pe]=q}registerStatsReporter(pe){this.reporters.push(pe)}write(pe){return m(this,void 0,void 0,function*(){if(Object.values(pe).length===0)return;const q=yield R(this.reporters.map($=>$.send(pe)));for(const $ of q)I.a.warn("Failed to write stats",{error:$})})}flushStats(){return m(this,void 0,void 0,function*(){const pe=Object.assign(Object.assign({},this.buffer),h(this.metrics,q=>{const $=q();return{min:$,max:$,sum:$,count:1}}));Object.keys(pe).length>0&&(yield this.write(pe),this.buffer={})})}};D||["local","on-prem"].includes(F.i)||O.registerStatsReporter(new C("stats"));var L=r(8),k=r(21),E=r(103),c=r(36),U=function(pe,q,$,te){return new($||($=Promise))(function(le,ae){function me(ce){try{de(te.next(ce))}catch(ge){ae(ge)}}function ye(ce){try{de(te.throw(ce))}catch(ge){ae(ge)}}function de(ce){var ge;ce.done?le(ce.value):(ge=ce.value,ge instanceof $?ge:new $(function(we){we(ge)})).then(me,ye)}de((te=te.apply(pe,q||[])).next())})};class B extends c.a{constructor(q){super(q)}postLanRtcOffer(q){return U(this,void 0,void 0,function*(){return yield this.fetch("v1/lan-rtc-offer",{method:"POST",body:JSON.stringify(q)})})}}var G=r(55);const Y={ordered:!1,maxPacketLifeTime:300*g.a.millisecond},K={ordered:!0},H={ordered:!0},V={ordered:!1,maxRetransmits:0},y={ordered:!1,maxRetransmits:0};function j({entityId:pe,streamName:q,streamType:$}){return`${pe}.${q}.${$}`}var W=function(pe,q,$,te){return new($||($=Promise))(function(le,ae){function me(ce){try{de(te.next(ce))}catch(ge){ae(ge)}}function ye(ce){try{de(te.throw(ce))}catch(ge){ae(ge)}}function de(ce){var ge;ce.done?le(ce.value):(ge=ce.value,ge instanceof $?ge:new $(function(we){we(ge)})).then(me,ye)}de((te=te.apply(pe,q||[])).next())})};class ee{constructor(q,$){this.sessionId=q,this.connection=$,this.counts={localSent:new Map,localReceived:new Map,remoteSent:new Map,remoteReceived:new Map},this.sessionId=q,this.connection=$}updateRemoteMessagesCounts(q){if(q.payload.streamsInfo){this.counts.remoteSent=new Map,this.counts.remoteReceived=new Map;for(const $ of q.payload.streamsInfo.items)this.counts.remoteSent.set($.streamId,$.sentCount),this.counts.remoteReceived.set($.streamId,$.receivedCount)}}getLocalStreamsInfo(q){const{localSent:$,localReceived:te}=this.counts;return{items:[...new Set([...$.keys(),...te.keys()])].map(le=>{var ae,me;return{streamId:le,sentCount:(ae=$.get(le))!==null&&ae!==void 0?ae:0,receivedCount:(me=te.get(le))!==null&&me!==void 0?me:0}}),timestamp:q}}incrementLocalSent(q){const{localSent:$}=this.counts,te=j(q.header.stream);$.set(te,($.get(te)||0)+1)}incrementLocalReceived(q){const{localReceived:$}=this.counts,te=j(q.header.stream),le=$.get(te)||0;if(le===0){const{streamName:ae,streamType:me}=q.header.stream;I.a.debug("RTC client received first message for stream",{streamName:ae,streamType:me})}$.set(te,le+1)}uploadMetrics(){return W(this,void 0,void 0,function*(){const{sessionId:q}=this,$=yield this.connection.peerConnection.getStats(),te={};$.forEach(ce=>te[ce.id]=ce),I.a.debug("rtc-stats",Object.assign(Object.assign({},te),{sessionId:q}));const{localSent:le,localReceived:ae,remoteSent:me,remoteReceived:ye}=this.counts,de=[...new Set([...le.keys(),...ae.keys()])].reduce((ce,ge)=>{const we=le.get(ge),Ee=ae.get(ge),Me=me.get(ge),xe=ye.get(ge);return Object.assign(Object.assign({},ce),{[`local-${ge}-sent`]:we,[`local-${ge}-received`]:Ee,[`remote-${ge}-sent`]:Me,[`remote-${ge}-received`]:xe})},{sessionId:q});I.a.debug("rtc-message-report",Object.assign({deviceId:this.connection.getRemoteDeviceId()},de))})}}function X(pe){return new Set(["disconnected","failed","closed"]).has(pe.iceConnectionState)}var re=function(pe,q,$,te){return new($||($=Promise))(function(le,ae){function me(ce){try{de(te.next(ce))}catch(ge){ae(ge)}}function ye(ce){try{de(te.throw(ce))}catch(ge){ae(ge)}}function de(ce){var ge;ce.done?le(ce.value):(ge=ce.value,ge instanceof $?ge:new $(function(we){we(ge)})).then(me,ye)}de((te=te.apply(pe,q||[])).next())})};class ie{constructor(q,$,te){this.peerConnection=q,this.config=$,this.dataChannelNotifier=te,this.connectTimeoutMs=20*g.a.second,this.iceGatheringTimeoutMs=15*g.a.second,this.pingUpdateTimeoutMs=1*g.a.second,this.streamsInfoUpdateTimeoutMs=2*g.a.second,this.reassemblyTimeoutMs=500*g.a.millisecond,this.reassemblyTableCleanupMs=1*g.a.second,this.heartbeatTimeoutMs=20*g.a.millisecond,this.streamLatestTimestamp=new Map,this.reassemblyTable=new Map,this.reassemblyTableLastTimestamp=new Map,this.closeCalled=!1,this.gotOffer=!1,this.hasIceCandidate=!1;const{isOffer:le}=$.baseConfig;le?this.initializeChannels(q):q.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((me,ye,de)=>{ae>ye+this.reassemblyTimeoutMs&&this.reassemblyTable.delete(me)})},this.reassemblyTableCleanupMs),this.heartbeatTimeout=setInterval(()=>{const{heartbeatChannel:ae}=this;ae&&ae.readyState==="open"&&ae.send(new Uint8Array([1]))},this.heartbeatTimeoutMs)}handleSignal(q){return re(this,void 0,void 0,function*(){const{peerConnection:$}=this,{track:te}=this.config.baseConfig,le=(()=>{try{return JSON.parse(q.getPayload())}catch{return}})();if(!le)return void I.a.error("Received unparseable signal.");I.a.debug("Handling signal",{description:le});const{sdp:ae,type:me}=le;if(!ae||!me)return void I.a.warn("Received non-SDP signal");const{signalingState:ye,connectionState:de}=$;if(ye!=="stable"||de!=="connected")if($.remoteDescription)I.a.warn(`Received SDP after remote description was set: ${ae}`);else{if(me==="offer"){if(ye!=="stable")return void I.a.warn("Received offer SDP when signaling is ongoing.");yield $.setRemoteDescription(le);const ce=yield $.createAnswer();yield $.setLocalDescription(ce);const ge=q.clone();return te==null||te("Answer Received",ge),ge.setPayload(JSON.stringify(ce)),ge.setReceiverId(q.getSenderId()),ge.setSenderId(q.getReceiverId()),ge}if(me==="answer"){if(ye==="stable")return void I.a.warn("Received answer SDP when signaling hasn't started.");yield $.setRemoteDescription(le)}}else I.a.warn(`Received SDP when already connected: ${ae}`)})}send(q,$){const te=this.getChannelFromLabel($.channelLabel);te?this.sendOnChannel(te,q):I.a.warn("Send called with unexpected channel label",{channelLabel:$.channelLabel})}controlRemoteStream(q){this.sendSystemMessage(d(this.reliableStreamChannel),{type:"stream-control",streamControl:q})}isActive(){return new Set(["new","checking","connected","completed"]).has(this.peerConnection.iceConnectionState)||this.isReady()}isReady(){const{reliableStreamChannel:q,latestTtlStreamChannel:$,latestTryOnceStreamChannel:te,latestReliableStreamChannel:le}=this;return(q==null?void 0:q.readyState)==="open"&&($==null?void 0:$.readyState)==="open"&&(te==null?void 0:te.readyState)==="open"&&(le==null?void 0:le.readyState)==="open"}close(){return re(this,void 0,void 0,function*(){if(this.closeCalled)return;this.closeCalled=!0,this.sessionMetrics&&(yield this.sessionMetrics.uploadMetrics()),this.pingUpdateTimeout&&clearInterval(this.pingUpdateTimeout),this.reassemblyTableCleanupTimeout&&clearInterval(this.reassemblyTableCleanupTimeout),this.streamsInfoUpdateTimeout&&clearInterval(this.streamsInfoUpdateTimeout),this.heartbeatTimeout&&clearInterval(this.heartbeatTimeout);const{peerConnection:q,reliableStreamChannel:$,latestTtlStreamChannel:te,latestTryOnceStreamChannel:le,latestReliableStreamChannel:ae}=this;q.close(),$==null||$.close(),te==null||te.close(),le==null||le.close(),ae==null||ae.close()})}getPing(){return this.pingTimeMs}getLastMessageTimestamp(){return this.lastMessageTimestamp}getSessionCreatedTimestamp(){var q;return(q=this.config.remoteConfig)===null||q===void 0?void 0:q.sessionCreatedTimestamp}setSessionCreatedTimestamp(q){this.config.remoteConfig&&(this.config.remoteConfig.sessionCreatedTimestamp=q)}getSessionId(){var q;return(q=this.config.remoteConfig)===null||q===void 0?void 0:q.sessionId}setSessionId(q){this.config.remoteConfig&&(this.config.remoteConfig.sessionId=q,this.sessionMetrics=new ee(q,this))}getRemotePeerId(){return this.config.baseConfig.remotePeerId}getRemoteDeviceId(){var q;return(q=this.config.baseConfig)===null||q===void 0?void 0:q.remoteDeviceId}setRemoteDeviceId(q){this.config.baseConfig.remoteDeviceId=q}getSessionMetricsMessageCounts(){var q;return(q=this.sessionMetrics)===null||q===void 0?void 0:q.counts}getConnectionStatsInfo(){return re(this,void 0,void 0,function*(){const{peerConnection:q}=this;if(!q)return;const $=yield q.getStats(null),te=[];$.forEach(de=>{te.push(de)});const le=te.find(de=>de.type==="transport");if(!le)return;const ae=te.find(de=>(de.type==="candidate-pair"||de.type==="candidatepair")&&de.id===le.selectedCandidatePairId);if(!ae)return;const me=te.find(de=>de.id===ae.localCandidateId),ye=te.find(de=>de.id===ae.remoteCandidateId);return me&&ye&&(me.address=me.address||me.ip,ye.address=ye.address||ye.ip,me.address!==void 0&&ye.address!==void 0)?{transport:le,localCandidate:me,remoteCandidate:ye}:void 0})}initializeChannels(q){this.heartbeatChannel=q.createDataChannel("heartbeat",y),this.heartbeatChannel.binaryType="arraybuffer",this.latestTtlStreamChannel=q.createDataChannel("stream.latest-ttl",Y),this.latestTtlStreamChannel.binaryType="arraybuffer",this.reliableStreamChannel=q.createDataChannel("stream.reliable",K),this.reliableStreamChannel.binaryType="arraybuffer",this.latestReliableStreamChannel=q.createDataChannel("stream.latest-reliable",H),this.latestReliableStreamChannel.binaryType="arraybuffer",this.latestTryOnceStreamChannel=q.createDataChannel("stream.latest-try-once",V),this.latestTryOnceStreamChannel.binaryType="arraybuffer",this.setupChannel(this.latestTtlStreamChannel),this.setupChannel(this.reliableStreamChannel),this.setupChannel(this.latestReliableStreamChannel),this.setupChannel(this.latestTryOnceStreamChannel)}getOffer(){var q,$,te;return re(this,void 0,void 0,function*(){const{gotOffer:le}=this,{peerConnection:ae,config:me}=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 ye=(q=this.config.remoteConfig)===null||q===void 0?void 0:q.sessionId;if(le)return void I.a.debug("Failed to generate offer because gotOffer was already called.");if(this.gotOffer=!0,X(this.peerConnection))return void I.a.debug("Failed to generate offer because the peer connection was inactive.");const de=me.baseConfig.track;ae.onicecandidate=()=>{this.hasIceCandidate=!0},ae.oniceconnectionstatechange=()=>re(this,void 0,void 0,function*(){const Me=ae.iceConnectionState;if(Me==="connected"||Me==="completed"){const xe=yield this.getConnectionStatsInfo(),Fe=xe?function(Be){const De=Be.localCandidate.candidateType,Ue=Be.remoteCandidate.candidateType;return De==="host"&&Ue==="host"?"local":De==="relay"||Ue==="relay"?"TURN":"STUN"}(xe):void 0;I.a.info(`ICE connection state changed to ${Me}`,{sessionId:ye,connectionStatsInfo:xe,iceMode:Fe}),de==null||de("ICE connection state change",{iceConnectionState:Me,sessionId:ye,connectionStatsInfo:xe,iceMode:Fe})}}),yield ae.setLocalDescription(yield ae.createOffer());const ce=new Date().getTime();for(;;){const Me=new Date().getTime()-ce;if(Me>this.connectTimeoutMs)return void I.a.debug("Failed to generate offer because ICE gathering timed out.");if(Me>this.iceGatheringTimeoutMs&&this.hasIceCandidate){I.a.debug("ICE gathering partially completed; proceeding",{iceTransportPolicy:ae.getConfiguration().iceTransportPolicy,waitTime:Me}),de==null||de("ICE gathering partially completed",{sessionId:ye,iceTransportPolicy:ae.getConfiguration().iceTransportPolicy,waitTime:Me});break}if(ae.iceGatheringState==="complete"){I.a.debug("ICE gathering complete",{iceTransportPolicy:ae.getConfiguration().iceTransportPolicy,waitTime:Me}),de==null||de("ICE gathering completed",{sessionId:ye,iceTransportPolicy:ae.getConfiguration().iceTransportPolicy,waitTime:Me});break}yield Object(u.a)(.1*g.a.second)}const ge=($=this.peerConnection.getConfiguration().iceServers)!==null&&$!==void 0?$:[];for(const Me of ge)Me.credentialType=void 0;const we=JSON.stringify(ge),Ee=new L.Signal;return Ee.setPayload(JSON.stringify(ae.localDescription)),Ee.setSenderId(this.config.baseConfig.localPeerId),Ee.setReceiverId(this.config.baseConfig.remotePeerId),Ee.setIceServers(we),Ee.setIceTransportPolicy((te=this.peerConnection.getConfiguration().iceTransportPolicy)!==null&&te!==void 0?te:"all"),this.config.baseConfig.sessionType!==void 0?Ee.setSessionType(this.config.baseConfig.sessionType):Ee.setSessionType(L.SessionType.TELEOP),I.a.debug("Sending offer signal with description",{description:Ee.getPayload()}),Ee})}getLanOffer(){return re(this,void 0,void 0,function*(){const{peerConnection:q,gotOffer:$}=this;if(!this.config.baseConfig.isLan)throw new Error('"getLanOffer" method can only be used with LAN connections. Internet connections should call the "getOffer" method.');if($)return void I.a.debug("Failed to generate offer because gotOffer was already called.");if(this.gotOffer=!0,X(this.peerConnection))return void I.a.debug("Failed to generate offer because the peer connection was inactive.");yield q.setLocalDescription(yield q.createOffer());const te=new Date().getTime();for(;;){if(new Date().getTime()-te>this.iceGatheringTimeoutMs)return void I.a.debug("Failed to generate offer because ICE gathering timed out.");if(q.iceGatheringState==="complete")break;yield Object(u.a)(.1*g.a.second)}const le=q.localDescription;if(le)return I.a.debug("Sending LAN offer signal with description",{description:le}),le;I.a.error("Failed to generate LAN offer description")})}handleLanAnswer(q){return re(this,void 0,void 0,function*(){const{peerConnection:$}=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 $.setRemoteDescription(q)})}getChannelFromLabel(q){switch(q){case"stream.latest-ttl":return this.latestTtlStreamChannel;case"stream.reliable":return this.reliableStreamChannel;case"stream.latest-reliable":return this.latestReliableStreamChannel;case"stream.latest-try-once":return this.latestTryOnceStreamChannel}}sendOnChannel(q,$){let te;try{te=Object(G.encode)(JSON.stringify($))}catch(le){return void I.a.warn("Failed to encode RTC message",{error:le})}try{q.send(te),this.sessionMetrics&&this.sessionMetrics.incrementLocalSent($)}catch(le){I.a.warn("Failed to send message to channel",{error:le,channel:q.label})}}channelNotRecognized(q){return q!==this.latestTtlStreamChannel&&q!==this.latestReliableStreamChannel&&q!==this.latestTryOnceStreamChannel&&q!==this.reliableStreamChannel}setupChannel(q){q.onmessage=$=>{if(this.channelNotRecognized(q))return void I.a.warn("Received message on unrecognized data channel.");let te;try{te=JSON.parse(Object(G.decode)($.data))}catch(le){return void I.a.warn("Received unparseable message on RTC stream data channel",{error:le,channel:q.label})}te.communicationType==="message-chunk"?this.receiveChannelMessageChunk(q,te):this.receiveChannelMessage(q,te)},q.onerror=$=>{I.a.warn(`Channel error: ${$.error}`,{error:$.error,sessionId:this.getSessionId(),channelLabel:q.label})},q.onopen=()=>{I.a.debug("Channel opened",{sessionId:this.getSessionId(),channelLabel:q.label})},q.onclose=()=>{const $={bufferedAmount:q.bufferedAmount,sessionId:this.getSessionId(),channelLabel:q.label};this.closeCalled===!1?I.a.debug("Unexpected channel closed",$):I.a.debug("Channel closed",$)}}receiveChannelMessage(q,$){const{config:te}=this,{remotePeerId:le}=this.config.baseConfig;this.lastMessageTimestamp=new Date().getTime(),$=function(ae){switch(ae.header.stream.streamType){case"twist":{const{twist:me}=ae.payload;if(!me)throw Error("twist not in payload of RTC message with type twist");return{header:ae.header,payload:{twist:{linear:Object.assign({x:0,y:0,z:0},me.linear),angular:Object.assign({x:0,y:0,z:0},me.angular)}}}}case"pose":{const{pose:me}=ae.payload;if(!me)throw Error("pose not in payload of RTC message with type pose");return{header:ae.header,payload:{pose:{translation:Object.assign({x:0,y:0,z:0},me.translation),rotation:Object.assign({x:0,y:0,z:0,w:0},me.rotation)}}}}case"pose-with-covariance":{const{poseWithCovariance:me}=ae.payload;if(!me)throw Error("poseWithCovariance not in payload of RTC message with type pose-with-covariance");const ye=new Array(36).fill(0);return me.covariance.forEach((de,ce)=>{if(ce>=36)throw Error("covariance contains more than 36 elements");ye[ce]=de}),{header:ae.header,payload:{poseWithCovariance:{pose:{translation:Object.assign({x:0,y:0,z:0},me.pose.translation),rotation:Object.assign({x:0,y:0,z:0,w:0},me.pose.rotation)},covariance:ye}}}}case"point":{const{point:me}=ae.payload;if(!me)throw Error("point not in payload of RTC message with type point");return{header:ae.header,payload:{point:Object.assign({x:0,y:0,z:0},me)}}}default:return ae}}($),this.sessionMetrics&&this.sessionMetrics.incrementLocalReceived($),this.handleSystemMessage(q,$)||(q===this.latestTryOnceStreamChannel||q===this.latestTtlStreamChannel||q===this.latestReliableStreamChannel)&&!this.isLatestMessage($)||te.baseConfig.receive(le,$)}receiveChannelMessageChunk(q,$){const te=this.reassemblyTable.get($.id)||[];if(te.push($),te.length===$.total){const le=function(ae){const me=ae.sort((ye,de)=>ye.seq<de.seq?-1:1).map(ye=>ye.part).reduce((ye,de)=>ye+de);try{return JSON.parse(me)}catch{return void I.a.warn("Could not reassemble RTC message chunks")}}(te);return le&&this.receiveChannelMessage(q,le),void this.reassemblyTable.delete($.id)}this.reassemblyTable.set($.id,te),this.reassemblyTableLastTimestamp.set($.id,new Date().getTime())}handleSystemMessage(q,$){var te,le;const{config:ae}=this,{baseConfig:me}=ae,{remotePeerId:ye}=me;switch($.header.stream.streamType){case"ping":return this.sendSystemMessage(q,{type:"pong",timestamp:d($.payload.ping)}),!0;case"pong":{const de=new Date().getTime()-d($.payload.pong);return this.pingTimeMs=de,O.aggregate("rtc-ping-time",de),!0}case"streams-info":{const{sessionMetrics:de}=this,ce=(te=$.payload.streamsInfo)===null||te===void 0?void 0:te.timestamp;return!!ce&&(de==null||de.updateRemoteMessagesCounts($),(le=me.onStreamsInfoUpdate)===null||le===void 0||le.call(me,ye,ce),!0)}case"stream-control":return!0;default:return!1}}sendSystemMessage(q,$){var te;const{localUserId:le,localPeerId:ae}=this.config.baseConfig;if(q.readyState!=="open")return;const me={entityId:le!=null?le:ae,streamName:`$.${$.type}`,streamType:$.type};let ye;switch($.type){case"ping":ye={ping:new Date().getTime()};break;case"pong":ye={pong:$.timestamp};break;case"stream-control":ye={streamControl:$.streamControl};break;case"streams-info":ye={streamsInfo:(te=this.sessionMetrics)===null||te===void 0?void 0:te.getLocalStreamsInfo(new Date().getTime())}}this.sendOnChannel(q,function(de,ce){return{header:{stream:de,created:Date.now(),frameId:""},payload:ce}}(me,ye))}isLatestMessage(q){const $=j(q.header.stream),te=(this.streamLatestTimestamp.get($)||0)<=q.header.created;return te&&this.streamLatestTimestamp.set($,q.header.created),te}}function he(pe){var q,$;return{userId:(q=pe.getUserId())===null||q===void 0?void 0:q.getValue(),deviceId:($=pe.getDeviceId())===null||$===void 0?void 0:$.getValue(),organizationId:pe.getOrganizationId(),id:pe.getPeerId(),capabilities:[],capabilitySet:{}}}var be=function(pe,q,$,te){return new($||($=Promise))(function(le,ae){function me(ce){try{de(te.next(ce))}catch(ge){ae(ge)}}function ye(ce){try{de(te.throw(ce))}catch(ge){ae(ge)}}function de(ce){var ge;ce.done?le(ce.value):(ge=ce.value,ge instanceof $?ge:new $(function(we){we(ge)})).then(me,ye)}de((te=te.apply(pe,q||[])).next())})};class Oe{constructor(q){this.config=q,this.grpcCallDeadline=5*g.a.second,this.refreshIntervalDelayMs=2*g.a.second,this.iceServersTtl=30*g.a.minute,this.connections=[],this.localConnections=[],this.isConnectionInitiator=new Map,this.isOutgoingConnection=new Map,this.peerDataChannelListeners=[];const{refreshIntervalDelayMs:$}=this;this.refreshInterval=Z({func:()=>be(this,void 0,void 0,function*(){try{yield this.update()}catch(te){I.a.warn("RTC refresh failed",{error:te})}}),delay:$,immediate:!0})}send(q,$,te){const le=this.getActiveConnection(q);le?le.isReady()?le.send($,te):I.a.warn("Send called with unready connection."):I.a.warn("Send called with no connection.")}controlRemoteStream(q,$){const te=this.getActiveConnection(q);te?te.isReady()?te.controlRemoteStream($):I.a.warn("controlRemoteStream called with unready connection."):I.a.warn("controlRemoteStream called with no connection.")}getLocalPeer(){return be(this,void 0,void 0,function*(){for(;!this.localPeer;)yield Object(u.a)(.1*g.a.second);return he(this.localPeer)})}connect(q,$){var te,le,ae;return be(this,void 0,void 0,function*(){if(this.config.lanOnlyMode===!0)throw new Error("connect method called in local only mode.");const{track:me,signalingClient:ye}=this.config,{localPeer:de,receiveSignalStream:ce,iceServers:ge}=this;if(!de||!ce||!ge)return void I.a.warn("Connect called prior to local peer, receiveSignalStream, and ICE servers ready");if(this.getActiveConnection(q))return void I.a.warn("Connect called for peer with existing connection.");if(this.isOutgoingConnection.get(q))return void I.a.warn("Connect called for peer with an existing outgoing connection offer.");this.isOutgoingConnection.set(q,!0);const we=new ie(yield this.createRTCPeerConnection(ge,$),{baseConfig:{isOffer:!0,isLan:!1,receive:(De,Ue)=>this.config.receive(De,Ue),onStreamsInfoUpdate:this.config.onStreamsInfoUpdate?(De,Ue)=>{var ke,We;return(We=(ke=this.config).onStreamsInfoUpdate)===null||We===void 0?void 0:We.call(ke,De,Ue)}:void 0,track:this.config.lanOnlyMode?void 0:this.config.track,localUserId:(te=de.getUserId())===null||te===void 0?void 0:te.getValue(),localPeerId:de.getPeerId(),remotePeerId:q,sessionType:$==null?void 0:$.sessionType},remoteConfig:{}},De=>this.onCustomDataChannel(q,De)),Ee=yield we.getOffer();if(!Ee)return I.a.error("Failed to generate offer."),void this.isOutgoingConnection.delete(q);I.a.debug("Sending offer."),me==null||me("Sending offer",Ee);const Me=new L.SendSignalRequest;Me.setSignal(Ee);const xe=yield(()=>be(this,void 0,void 0,function*(){try{return yield ye.sendSignal(Me,yield this.getMetadata({}))}catch(De){I.a.warn("Error when sending signal",{error:De})}}))();if(!this.isOutgoingConnection.get(q))return void I.a.debug("No offer set after receiving offer signal response.");I.a.debug("Offer sent.");const Fe=(le=xe==null?void 0:xe.getSessionId())===null||le===void 0?void 0:le.getValue(),Be=(ae=xe==null?void 0:xe.getSessionCreatedTimestamp())===null||ae===void 0?void 0:ae.getValue();return Fe&&Be?(we.setSessionId(Fe),we.setSessionCreatedTimestamp(Be),this.isOutgoingConnection.delete(q),this.connections.push(we),this.isConnectionInitiator.set(we,!0),this.setupHandlers(we),Fe):(I.a.warn("No session ID or no session created timestamp on send signal response."),void this.isOutgoingConnection.delete(q))})}connectLan(q){var $,te;return be(this,void 0,void 0,function*(){const le=new B(q),ae=new ie(yield this.createRTCPeerConnection([]),{baseConfig:{isOffer:!0,isLan:!0,receive:(ce,ge)=>this.config.receive(ce,ge),onStreamsInfoUpdate:this.config.onStreamsInfoUpdate?(ce,ge)=>{var we,Ee;return(Ee=(we=this.config).onStreamsInfoUpdate)===null||Ee===void 0?void 0:Ee.call(we,ce,ge)}:void 0,track:this.config.lanOnlyMode?void 0:this.config.track,localUserId:(te=($=this.localPeer)===null||$===void 0?void 0:$.getUserId())===null||te===void 0?void 0:te.getValue(),localPeerId:"lan_client",remotePeerId:q}},ce=>this.onCustomDataChannel(q,ce)),me=yield ae.getLanOffer();if(!me)return I.a.warn("Could not generate LAN offer"),!1;const ye=yield le.postLanRtcOffer({offer:JSON.stringify(me)}),de=new RTCSessionDescription(JSON.parse(ye.answer));return yield ae.handleLanAnswer(de),this.localConnections.push(ae),this.isConnectionInitiator.set(ae,!0),Object(E.v4)()})}getConnections(){return[...this.connections,...this.localConnections]}createCustomDataChannel(q,$,te,le,ae){const me=this.getActiveConnection(q);if(me&&this.isConnectionInitiator.has(me)){const de=me.peerConnection.createDataChannel("custom."+$,te);return le&&(de.binaryType="arraybuffer"),ae(q,de),()=>{}}const ye=(de,ce)=>{q===de&&ce.label==="custom."+$&&ae(q,ce)};return this.peerDataChannelListeners.push(ye),()=>{this.peerDataChannelListeners=this.peerDataChannelListeners.filter(de=>de!==ye)}}onCustomDataChannel(q,$){this.peerDataChannelListeners.forEach(te=>te(q,$))}getConnectionStatus(q){if(this.isOutgoingConnection.get(q))return"connecting";const $=this.getActiveConnection(q);return $?$.isReady()?"connected":"connecting":"disconnected"}getConnectionStatsInfo(q){return be(this,void 0,void 0,function*(){const $=this.getActiveConnection(q);if($)return yield $.getConnectionStatsInfo()})}disconnect(q){return be(this,void 0,void 0,function*(){const $=this.getActiveConnection(q);$&&(yield $.close())})}getPeers(){return be(this,void 0,void 0,function*(){if(this.config.lanOnlyMode)throw new Error("getPeers method cannot be used in local-only mode.");const{signalingClient:q}=this.config,$=yield(()=>be(this,void 0,void 0,function*(){try{return yield q.getPeers(new L.GetPeersRequest,yield this.getMetadata({}))}catch(ae){I.a.warn("Error when getting peers",{error:ae})}}))();if(!$)return[];const te=$.getPeersList();if(!te)return[];const le=ae=>{var me,ye;return(ye=(me=ae.getPeerCreatedTimestamp())===null||me===void 0?void 0:me.getValue())!==null&&ye!==void 0?ye:0};return te.sort((ae,me)=>le(me)-le(ae)).map(ae=>he(ae))})}getSessions(){return be(this,void 0,void 0,function*(){if(this.config.lanOnlyMode)throw new Error("getPeers method cannot be used in local-only mode.");const{signalingClient:q}=this.config,$=yield(()=>be(this,void 0,void 0,function*(){try{return yield q.getPeers(new L.GetPeersRequest,yield this.getMetadata({}))}catch(ae){I.a.warn("Error when getting peers",{error:ae})}}))();if(!$)return{};const te=$.getPeersList(),le={};for(const ae of te)le[ae.getPeerId()]=ae.getSessionIdsList();return le})}getPing(q){const $=this.getActiveConnection(q);if($)return $.getPing();I.a.warn("Attempted to get ping time from inactive peer.")}getLastMessageTimestamp(q){const $=this.getActiveConnection(q);if($)return $.getLastMessageTimestamp();I.a.warn("Attempted to get last message time from inactive peer.")}getSessionMetricsMessageCounts(q){const $=this.getActiveConnection(q);if($)return $.getSessionMetricsMessageCounts();I.a.warn("Attempted to get session metrics counts from inactive peer.")}isReady(){if(this.config.lanOnlyMode)return!0;const{localPeer:q,receiveSignalStream:$,iceServers:te}=this;return!!(q&&$&&te)}shutdown(){return be(this,void 0,void 0,function*(){I.a.info("Shutdown called on RTC client"),yield this.refreshInterval.stop(),this.receiveSignalStream&&this.receiveSignalStream.cancel();const q=this.connections;this.connections=[],yield this.closeConnections(q);const{localPeer:$}=this;if(!$||this.config.lanOnlyMode)return;const{signalingClient:te}=this.config;yield(()=>be(this,void 0,void 0,function*(){try{const le=new L.DeletePeerRequest;le.setPeerId($.getPeerId()),yield te.deletePeer(le,yield this.getMetadata({}))}catch(le){return void I.a.warn("Error deleting local peer",{error:le})}}))()})}createPeer(){return be(this,void 0,void 0,function*(){if(this.config.lanOnlyMode)throw new Error("createPeer method cannot be used in local-only mode.");const{signalingClient:q}=this.config,$=yield(()=>be(this,void 0,void 0,function*(){try{return yield q.createPeer(new L.CreatePeerRequest,yield this.getMetadata({}))}catch(le){throw new Error(`Was not able to create peer: ${JSON.stringify(le)}`)}}))(),te=$==null?void 0:$.getPeer();if(!te)throw new Error("Response did not provide peer.");return this.localPeer=te})}createReceiveSignalStream(){return be(this,void 0,void 0,function*(){if(this.config.lanOnlyMode)throw new Error("createReceiveSignalStream method cannot be used in local-only mode.");const{signalingClient:q}=this.config,{localPeer:$,iceServers:te}=this;if(!$||!te)return;const{receiveSignalStream:le}=this;le&&le.cancel();const ae=new L.ReceiveSignalStreamRequest;ae.setPeerId($.getPeerId());const me=yield(()=>be(this,void 0,void 0,function*(){try{return q.receiveSignalStream(ae,yield this.getMetadata({hasDeadline:!1}))}catch(ye){throw new Error(`Unable to create receive signal stream: ${JSON.stringify(ye)}`)}}))();if(!me)throw new Error("Response did not provide stream.");return me.on("data",ye=>be(this,void 0,void 0,function*(){var de,ce,ge,we;const Ee=ye.getSignal(),Me=(de=Ee==null?void 0:Ee.getSessionId())===null||de===void 0?void 0:de.getValue(),xe=Ee==null?void 0:Ee.getSenderId(),Fe=Ee==null?void 0:Ee.getReceiverId(),Be=(ce=Ee==null?void 0:Ee.getSessionCreatedTimestamp())===null||ce===void 0?void 0:ce.getValue();if(!(Ee&&Me&&xe&&Fe&&Be))return void I.a.warn("Received signal with missing information.");const De=this.getActiveConnection(xe);if(De)if(De.getSessionId()!==Me){if(I.a.debug("Received signal: different session for a peer we're already connected to."),(De.getSessionCreatedTimestamp()||0)>Be)return;const Ue=new ie(yield this.createRTCPeerConnection(te),{baseConfig:{isOffer:!1,isLan:!1,receive:(ke,We)=>this.config.receive(ke,We),onStreamsInfoUpdate:this.config.onStreamsInfoUpdate?(ke,We)=>{var Ye,ze;return(ze=(Ye=this.config).onStreamsInfoUpdate)===null||ze===void 0?void 0:ze.call(Ye,ke,We)}:void 0,track:this.config.lanOnlyMode?void 0:this.config.track,localPeerId:$.getPeerId(),localUserId:(we=$.getUserId())===null||we===void 0?void 0:we.getValue(),remotePeerId:xe},remoteConfig:{sessionId:Me,sessionCreatedTimestamp:Be}},ke=>this.onCustomDataChannel(xe,ke));yield Ue.handleSignal(Ee),this.connections.push(Ue)}else I.a.debug("Received signal: for an existing connection."),yield De.handleSignal(Ee);else{I.a.debug("Received signal: new connection.");const Ue=new ie(yield this.createRTCPeerConnection(te),{baseConfig:{isOffer:!1,isLan:!1,receive:(ke,We)=>this.config.receive(ke,We),onStreamsInfoUpdate:this.config.onStreamsInfoUpdate?(ke,We)=>{var Ye,ze;return(ze=(Ye=this.config).onStreamsInfoUpdate)===null||ze===void 0?void 0:ze.call(Ye,ke,We)}:void 0,track:this.config.lanOnlyMode?void 0:this.config.track,localPeerId:$.getPeerId(),localUserId:(ge=$.getUserId())===null||ge===void 0?void 0:ge.getValue(),remotePeerId:xe},remoteConfig:{sessionId:Me,sessionCreatedTimestamp:Be}},ke=>this.onCustomDataChannel(xe,ke));yield Ue.handleSignal(Ee),this.connections.push(Ue)}})),me.on("end",()=>{me.cancel(),this.receiveSignalStream=void 0}),me.on("error",ye=>{switch(ye.code){case k.StatusCode.CANCELLED:case k.StatusCode.UNAVAILABLE:case k.StatusCode.UNKNOWN:I.a.debug("Receive signal stream error",{error:ye});break;case k.StatusCode.UNAUTHENTICATED:I.a.warn("Receive signal stream error",{error:ye});break;default:I.a.error("Receive signal stream error",{error:ye})}me.cancel(),this.receiveSignalStream=void 0}),this.receiveSignalStream=me})}createRTCPeerConnection(q,$){var te;return be(this,void 0,void 0,function*(){const le=$==null?void 0:$.rtcIceTransportPolicies,ae=$!=null&&$.rtcIceServerProtocol?[$==null?void 0:$.rtcIceServerProtocol]:void 0,me=q.map(de=>Object.assign(Object.assign({},de),{urls:typeof de.urls=="string"?[de.urls]:de.urls})).map(de=>Object.assign(Object.assign({},de),{urls:de.urls.filter(ce=>{const ge=(le===void 0||le.some(we=>((Ee,Me)=>{switch(Me){case"stun":return/^stuns?:/.test(Ee);case"turn":return/^turns?:/.test(Ee)}})(ce,we)))&&(ae===void 0||ae.some(we=>((Ee,Me)=>Ee.endsWith(`transport=${Me}`))(ce,we)));return ge||I.a.debug(`Ignoring ICE server: ${ce}`),ge})})).filter(({urls:de})=>de.filter(ce=>ce).length>0),ye=(te=this.config.alternateRTCPeerConnection)!==null&&te!==void 0?te:window.RTCPeerConnection;if(!ye)throw new Error("RTCPeerConnection class not found. WebRTC must be enabled.");return new ye(Object.assign({iceServers:me,iceTransportPolicy:(le==null?void 0:le.length)===1&&le[0]==="turn"?"relay":"all"},$))})}closeConnections(q){return be(this,void 0,void 0,function*(){const $=yield R(q.map(te=>be(this,void 0,void 0,function*(){yield te.close()})));for(const te of $)I.a.warn("Request to close session failed",{error:te})})}getActiveConnection(q){return this.getConnections().find($=>$.getRemotePeerId()===q&&$.isActive())}update(){var q;return be(this,void 0,void 0,function*(){if(this.localConnections=this.localConnections.filter(ye=>ye.isActive()),this.config.lanOnlyMode)return;const{signalingClient:$}=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(ye=>!ye.isActive())),this.connections=this.connections.filter(ye=>ye.isActive());const{localPeer:te}=this,le=this.connections.filter(ye=>ye.getSessionId).map(ye=>d(ye.getSessionId()));te.setSessionIdsList(le);const ae=new L.RefreshPeerRequest;ae.setPeer(te);try{yield $.refreshPeer(ae,yield this.getMetadata({}))}catch(ye){ye.code===k.StatusCode.NOT_FOUND?(I.a.warn("Peer expired, creating new peer",{peerId:te.getPeerId()}),yield this.reset()):I.a.warn("Error calling RefreshPeer",{error:ye})}const me=yield this.getPeers();for(const ye of this.connections)ye.setRemoteDeviceId((q=me.find(de=>de.id===ye.getRemotePeerId()))===null||q===void 0?void 0:q.deviceId)})}reset(){return be(this,void 0,void 0,function*(){yield this.closeConnections(this.connections),this.connections=[],this.isOutgoingConnection=new Map,yield this.createPeer(),yield this.createReceiveSignalStream()})}updateIceServers(){return be(this,void 0,void 0,function*(){if(this.config.lanOnlyMode)return;const{iceServersLastUpdate:q,iceServersTtl:$}=this,te=new Date().getTime();if(!q||te-q>$)try{const le=(yield this.config.signalingClient.getIceServers(new L.GetIceServersRequest,yield this.getMetadata({}))).getIceServers();this.iceServers=JSON.parse(le),this.iceServersLastUpdate=te}catch(le){I.a.warn("Error in updateIceServers",{error:le})}})}setupHandlers(q){const{peerConnection:$}=q,te=q.getSessionCreatedTimestamp();$.onconnectionstatechange=()=>be(this,void 0,void 0,function*(){const le=$.connectionState;if(te)switch(le){case"connected":O.aggregate("rtc-connect-time",new Date().getTime()-te);break;case"failed":O.increment("rtc-connect-failed")}})}getMetadata(q){return be(this,void 0,void 0,function*(){if(this.config.lanOnlyMode)throw new Error("getMetadata method cannot be called in local-only mode");const{getToken:$}=this.config,{grpcCallDeadline:te}=this,{hasDeadline:le}=q,ae=le===!1?void 0:new Date().getTime()+te;return{authorization:yield $(),deadline:ae}})}}},,function(e,t,r){r.r(t),r.d(t,"LogClient",function(){return l});var n=r(25),o=function(s,i,g,u){return new(g||(g=Promise))(function(b,A){function _(S){try{f(u.next(S))}catch(w){A(w)}}function v(S){try{f(u.throw(S))}catch(w){A(w)}}function f(S){var w;S.done?b(S.value):(w=S.value,w instanceof g?w:new g(function(P){P(w)})).then(_,v)}f((u=u.apply(s,i||[])).next())})};class l extends n.a{log(i){return o(this,void 0,void 0,function*(){yield this.fetch("logs",{method:"POST",body:JSON.stringify({logs:i}),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 envDev=urlParams$1.get("formant_dev");envDev&&(FORMANT_API_URL="https://api-dev.formant.io");const envStage=urlParams$1.get("formant_stage");envStage&&(FORMANT_API_URL="https://api-stage.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 goToDevice(t){this.sendAppMessage({type:"go_to_device",deviceId:t})}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 sendChannelData(t,r){const n=this.getCurrentModuleContext();if(!n)throw new Error("No module context");this.sendAppMessage({type:"send_channel_data",source:n,channel:t,data:r})}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})})}static addChannelDataListener(t,r){window.addEventListener("message",n=>{const o=n.data;o.type==="channel_data"&&o.channel===t&&r({source:o.source,data:o.data})})}}const Re=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"}}),o=await n.json();if(n.status!==200)throw new Error(o.message);return await Re.loginWithToken(o.authentication.accessToken,o.authentication.refreshToken),o.authentication}catch(n){return Re.waitingForAuth.forEach(o=>o(!1)),Re.waitingForAuth=[],Promise.reject(n)}}static async loginWithToken(t,r){const n=JSON.parse(atob(t.split(".")[1]));try{let o;if(Re.isShareToken=n["formant:claims"]&&n["formant:claims"].type=="share",n["formant:claims"]&&(Re.currentOrganization=n["formant:claims"].organizationId),n["custom:organization_id"]&&(Re.currentOrganization=n["custom:organization_id"]),Re.isShareToken||(o=n.sub),n["formant:claims"]&&n["formant:claims"].userId&&(o=n["formant:claims"].userId),o){const l=await fetch(`${FORMANT_API_URL}/v1/admin/users/${o}`,{method:"GET",headers:{"Content-Type":"application/json",Authorization:"Bearer "+t}}),s=await l.json();if(l.status!==200)throw new Error(s.message);Re.currentUser=s}Re.token=t,Re.waitingForAuth.forEach(l=>l(!0))}catch(o){console.error(o),Re.waitingForAuth.forEach(l=>l(!1))}Re.waitingForAuth=[],r&&(Re.refreshToken=r,setInterval(async()=>{if(Re.refreshToken){const l=await(await fetch(`${FORMANT_API_URL}/v1/admin/auth/refresh`,{method:"POST",headers:{"Content-Type":"application/json"},body:JSON.stringify({refreshToken:Re.refreshToken})})).json();Re.token=l.authentication.accessToken}},1e3*60*60))}static isAuthenticated(){return Re.token!==void 0}static getCurrentUser(){return Re.currentUser}static async waitTilAuthenticated(){return Re.token!==void 0?!0:new Promise(t=>{Re.waitingForAuth.push(function(r){t(r)})})}static async listenForRefresh(){App.addAccessTokenRefreshListener(t=>{this.loginWithToken(t)}),setInterval(async()=>{App.refreshAuthToken()},1e3*60*60)}};let Authentication=Re;je(Authentication,"token"),je(Authentication,"refreshToken"),je(Authentication,"currentUser"),je(Authentication,"currentOrganization"),je(Authentication,"isShareToken",!1),je(Authentication,"defaultDeviceId"),je(Authentication,"waitingForAuth",[]);class DataChannel{constructor(t){je(this,"ready",!1);je(this,"listeners",[]);je(this,"binaryListeners",[]);je(this,"error");je(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 o=new Uint8Array(r.data),l=this.decoder.decode(o);n(l)}),this.binaryListeners.forEach(n=>{n(new Uint8Array(r.data))})}}async waitTilReady(){return this.ready?!0:new Promise((r,n)=>{let o=window.setInterval(()=>{this.ready&&(window.clearInterval(o),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){je(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){je(this,"currentListeners",[]);je(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){je(this,"channel");je(this,"requestIdToResponseMap",new Map);this.device=t,this.channel_name=r,this.timeout=n}}class BinaryRequestDataChannel extends RequestDataChannel{constructor(){super(...arguments);je(this,"RESPONSE_SUCCESS_BYTE",0);je(this,"decoder",new TextDecoder)}generateBinaryId(){const r=new Uint8Array(16);for(let n=0;n<r.length;n++)r[n]=Math.floor(Math.random()*256);return r}async initialize(){this.channel=await this.device.createCustomDataChannel(this.channel_name),this.channel.addBinaryListener(r=>{const o=r.slice(0,16).toString();if(o.length===0)throw new Error("Invalid response");const l=r.slice(16);if(l.length===0)throw new Error("Invalid response");this.requestIdToResponseMap.has(o)&&this.requestIdToResponseMap.set(o,l)})}async request(r){if(this.channel||await this.initialize(),!this.channel)throw new Error("Failed to create channel");const{channel:n,requestIdToResponseMap:o,timeout:l}=this;await n.waitTilReady();const s=this.generateBinaryId(),i=s.toString();o.set(i,!0),n.sendBinary(new Uint8Array([...s,...r]));const g=new Date().getTime();for(;new Date().getTime()<g+l;)if(await delay(50),o.has(i)){const u=o.get(i);if(u!==!0){o.delete(i);const b=u[0]===this.RESPONSE_SUCCESS_BYTE,A=u.slice(1);if(b)return A;throw{name:"AdapterError",message:this.decoder.decode(A)}}}throw o.delete(i),{name:"TimeoutError",message:`Request timed out after ${l/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:o,error:l}=r;if(!n)throw new Error("Invalid response");if(!o&&!l)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:o}=this;await r.waitTilReady();const l=this.generateTextId();n.set(l,!0),r.send(JSON.stringify({id:l,data:t}));const s=new Date().getTime();for(;new Date().getTime()<s+o;)if(await delay(50),n.has(l)){const i=n.get(l);if(i!==!0){n.delete(l);const{data:g,error:u}=i;if(g)return g;if(u)throw{name:"AdapterError",message:u}}}throw n.delete(l),{name:"TimeoutError",message:`Request timed out after ${o/1e3} seconds`}}}var SessionType=(e=>(e[e.Teleop=1]="Teleop",e[e.Observe=3]="Observe",e))(SessionType||{});class Device{constructor(t,r,n){je(this,"rtcClient");je(this,"remoteDevicePeerId");je(this,"realtimeListeners",[]);je(this,"handleMessage",(t,r)=>{this.realtimeListeners.forEach(n=>n(t,r))});this.id=t,this.name=r,this.organizationId=n}async getLatestTelemetry(){return(await(await fetch(`${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}getRealtimeStatus(){if(this.rtcClient&&this.remoteDevicePeerId)return this.rtcClient.getConnectionStatus(this.remoteDevicePeerId);throw new Error(`Realtime connection hasn't been started for ${this.id}`)}getRealtimePing(){if(this.rtcClient&&this.remoteDevicePeerId)return this.rtcClient.getPing(this.remoteDevicePeerId);throw new Error(`Realtime connection hasn't been started for ${this.id}`)}async startRealtimeConnection(t){if(this.rtcClient)throw new Error(`Already created realtime connection to device ${this.id}`);{const r=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(;!r.isReady();)await delay(100);const o=(await r.getPeers()).find(l=>l.deviceId===this.id);if(!o)throw new Error("Cannot find peer, is the robot offline?");for(this.remoteDevicePeerId=o.id,await r.connect(this.remoteDevicePeerId,{sessionType:t===void 0?1:t});r.getConnectionStatus(this.remoteDevicePeerId)!=="connected";)await delay(100);this.rtcClient=r}}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,o,l;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(o=t.teleop.rosStreams)!=null?o:[])s.topicType=="formant/H264VideoFrame"&&r.push({name:s.topicName});for(const s of(l=t.teleop.customStreams)!=null?l:[])s.rtcStreamType==="h264-video-frame"&&r.push({name:s.name});return r}async getRealtimeManipulators(){var n;const t=await this.getConfiguration(),r=[];for(const o of(n=t.teleop.rosStreams)!=null?n:[])o.topicType=="sensor_msgs/JointState"&&r.push(new Manipulator(this,{currentJointStateStream:{name:o.topicName},plannedJointStateStream:o.plannedTopic?{name:o.plannedTopic}:void 0,planValidStream:o.planValidTopic?{name:o.planValidTopic}:void 0,endEffectorStream:o.endEffectorTopic?{name:o.endEffectorTopic}:void 0,endEffectorLinkName:o.endEffectorLinkName,baseReferenceFrame:o.baseReferenceFrame,localFrame:o.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 ${this.id}`)}async isInRealtimeSession(){let t=await Fleet.getPeers(),r=await Fleet.getRealtimeSessions(),n=t.find(o=>o.deviceId===this.id);return n?r[n.id].length>0:!1}async getAvailableCommands(){return(await(await fetch(`${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,o){var A;const s=(await this.getAvailableCommands()).find(_=>_.name===t);if(!s)throw new Error(`Could not find command with name "${t}"`);let i;if(r===void 0)if(s.parameterEnabled&&s.parameterValue)i=s.parameterValue;else throw new Error("Command has no default parameter value, you must provide one");else i=r;let g={value:i,scrubberTime:(n||new Date).toISOString(),meta:it(it({},s.parameterMeta),o)};return(await(await fetch(`${FORMANT_API_URL}/v1/admin/commands`,{method:"POST",body:JSON.stringify({commandTemplateId:s.id,organizationId:this.organizationId,deviceId:this.id,command:s.command,parameter:g,userId:(A=Authentication.currentUser)==null?void 0:A.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"),o=await this.getRemotePeer(),l=await new Promise(s=>{n.createCustomDataChannel(defined(o).id,t,it({ordered:!0},r),!1,(i,g)=>{const u=new DataChannel(g);s(u)})});return await l.waitTilReady(),l}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(`${FORMANT_API_URL}/v1/admin/capture-sessions`,{method:"POST",body:JSON.stringify({deviceId:this.id,streamName:t,tags:{}}),headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json();return new CaptureStream(n)}async getTelemetry(t,r,n,o){return await Fleet.getTelemetry(this.id,t,r,n,o)}async getTelemetryStreams(){var i,g;const t=await this.getConfiguration(),r=await fetch(`${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=[],o=[];return(g=(i=t.telemetry)==null?void 0:i.streams)==null||g.forEach(u=>{u.disabled!==!0&&n.push(u.name),u.onDemand===!0&&o.push(u.name)}),console.log(o),(await r.json()).items.filter(u=>!n.includes(u)).map(u=>({name:u,onDemand:o.includes(u)}))}async createInterventionRequest(t,r,n,o){return await(await fetch(`${FORMANT_API_URL}/v1/admin/intervention-requests`,{method:"POST",body:JSON.stringify({message:t,interventionType:r,time:new Date().toISOString(),deviceId:this.id,tags:o,data:n}),headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json()}async addInterventionResponse(t,r,n){return await(await fetch(`${FORMANT_API_URL}/v1/admin/intervention-responses`,{method:"POST",body:JSON.stringify({interventionId:t,interventionType:r,data:n}),headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json()}}class PeerDevice{constructor(t){je(this,"rtcClient");je(this,"remoteDevicePeerId");je(this,"realtimeListeners",[]);je(this,"id");je(this,"handleMessage",(t,r)=>{this.realtimeListeners.forEach(n=>n(t,r))});this.peerUrl=t}async getLatestTelemetry(){const r=await(await fetch(`${this.peerUrl}/telemetry`)).json();return Object.entries(r).map(([o,l])=>({deviceId:this.id,streamName:o,streamType:"json",currentValue:l,currentValueTime:l.timestamp,tags:{}}))}async getDeviceId(){return(await(await fetch(`${this.peerUrl}/configuration`)).json()).agent_config.id}async getConfiguration(){return(await(await fetch(`${this.peerUrl}/configuration`)).json()).agent_config.document}getRealtimeStatus(){if(this.rtcClient&&this.remoteDevicePeerId)return this.rtcClient.getConnectionStatus(this.remoteDevicePeerId);throw new Error("Realtime connection hasn't been started")}getRealtimePing(){if(this.rtcClient&&this.remoteDevicePeerId)return this.rtcClient.getPing(this.remoteDevicePeerId);throw new Error("Realtime connection hasn't been started")}async startRealtimeConnection(t){if(this.rtcClient)throw new Error(`Already created realtime connection to device ${this.id}`);{const r=new dist.exports.RtcClient({lanOnlyMode:!0,receive:this.handleMessage});for(await r.connectLan(this.peerUrl);r.getConnectionStatus(this.peerUrl)!=="connected";)await delay(100);this.rtcClient=r}}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,o,l;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(o=t.teleop.rosStreams)!=null?o:[])s.topicType=="formant/H264VideoFrame"&&r.push({name:s.topicName});for(const s of(l=t.teleop.customStreams)!=null?l:[])s.rtcStreamType==="h264-video-frame"&&r.push({name:s.name});return r}async getRealtimeManipulators(){var n;const t=await this.getConfiguration(),r=[];for(const o of(n=t.teleop.rosStreams)!=null?n:[])o.topicType=="sensor_msgs/JointState"&&r.push(new Manipulator(this,{currentJointStateStream:{name:o.topicName},plannedJointStateStream:o.plannedTopic?{name:o.plannedTopic}:void 0,planValidStream:o.planValidTopic?{name:o.planValidTopic}:void 0,endEffectorStream:o.endEffectorTopic?{name:o.endEffectorTopic}:void 0,endEffectorLinkName:o.endEffectorLinkName,baseReferenceFrame:o.baseReferenceFrame,localFrame:o.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(){return{id:this.peerUrl,organizationId:"",deviceId:this.id,capabilities:[],capabilitySet:{}}}async stopRealtimeConnection(){if(this.rtcClient)await this.rtcClient.disconnect(this.id);else throw new Error(`Realtime connection hasn't been started for ${this.id}`)}async createCustomDataChannel(t,r){const n=defined(this.rtcClient,"Realtime connection has not been started"),o=await this.getRemotePeer(),l=await new Promise(s=>{n.createCustomDataChannel(defined(o).id,t,it({ordered:!0},r),!1,(i,g)=>{const u=new DataChannel(g);s(u)})});return await l.waitTilReady(),l}createCustomRequestDataChannel(t,r=3e3){return new TextRequestDataChannel(this,t,r)}createCustomBinaryRequestDataChannel(t,r=3e3){return new BinaryRequestDataChannel(this,t,r)}}const Ce=class{static async setDefaultDevice(t){Ce.defaultDeviceId=t}static async getCurrentDevice(){if(!Authentication.token)throw new Error("Not authenticated");if(!Ce.defaultDeviceId)throw new Error("No known default device");const o=(await(await fetch(`${FORMANT_API_URL}/v1/admin/device-details/query`,{method:"POST",headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json()).items.find(s=>s.id===Ce.defaultDeviceId).name,l=new Device(Ce.defaultDeviceId,o,defined(Authentication.currentOrganization));return Ce.knownContext.push(new WeakRef(l)),l}static async getPeerDevice(t){const r=new PeerDevice(t);return r.id=await r.getDeviceId(),r}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(),o=n.name,l=new Device(t,o,n.organizationId);return Ce.knownContext.push(new WeakRef(l)),l}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 Ce.getDevices()).filter(l=>n.includes(l.id))}static async getPeers(){if(!Authentication.token)throw new Error("Not authenticated");return await 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:()=>{}}).getPeers()}static async getRealtimeSessions(){if(!Authentication.token)throw new Error("Not authenticated");return await 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:()=>{}}).getSessions()}static async getRealtimeDevices(){if(!Authentication.token)throw new Error("Not authenticated");const n=(await(await fetch(`${FORMANT_API_URL}/v1/signaling/peers`,{method:"GET",headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json()).items.map(l=>l.deviceId);return(await Ce.getDevices()).filter(l=>n.includes(l.id))}static async getLatestTelemetry(t){let r=t;return t&&!Array.isArray(t)&&(t=[t]),(await(await fetch(`${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,o,l){let s=t;Array.isArray(t)||(s=[t]);let i=r;return Array.isArray(r)||(i=[r]),(await(await fetch(`${FORMANT_API_URL}/v1/queries/queries`,{method:"POST",body:JSON.stringify({deviceIds:s,end:o.toISOString(),names:i,start:n.toISOString(),tags:l}),headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json()).items}static async getFileUrl(t){const n=await(await fetch(`${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]}static async queryTelemetry(t){if(!Authentication.token)throw new Error("Not authenticated");return(await(await fetch(`${FORMANT_API_URL}/v1/queries/queries`,{method:"POST",body:JSON.stringify(t),headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json()).items}static async queryEvents(t){if(!Authentication.token)throw new Error("Not authenticated");return(await(await fetch(`${FORMANT_API_URL}/v1/admin/events/query`,{method:"POST",body:JSON.stringify(t),headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json()).items}static async getInterventions(){if(!Authentication.token)throw new Error("Not authenticated");return(await(await fetch(`${FORMANT_API_URL}/v1/admin/intervention-requests`,{method:"GET",headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}})).json()).items}};let Fleet=Ce;je(Fleet,"defaultDeviceId"),je(Fleet,"knownContext",[]);class KeyValue{static async set(t,r){try{const n=await fetch(FORMANT_API_URL+"/v1/admin/key-value",{method:"POST",body:JSON.stringify({organizationId:defined(Authentication.currentUser).organizationId,key:t,value:r}),headers:{"Content-Type":"application/json",Authorization:"Bearer "+Authentication.token}}),o=await n.json();if(n.status!==200)throw new Error(o.message)}catch(n){throw n}}static async get(t){try{const r=await fetch(FORMANT_API_URL+`/v1/admin/key-value/${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}}}const accessLevels=["viewer","operator","administrator"],viewer="viewer",operator="operator",administrator="administrator",aggregateLevels=["year","month","week","day","hour","minute"],annotationTypes=["tag","sheet","user"],eventTypes=["triggered-event","intervention-request","teleop-session-record","port-forwarding-session-record","command-request","command-response","command-delivery","custom","comment","system","annotation"],healthStatuses=["unknown","operational","offline","error"],interventionTypes=["selection","labeling","teleop"],severities=["info","warning","error","critical"],videoMimeTypes=["video/mp4"];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.PeerDevice=PeerDevice,exports.SessionType=SessionType,exports.TextRequestDataChannel=TextRequestDataChannel,exports.accessLevels=accessLevels,exports.administrator=administrator,exports.aggregateLevels=aggregateLevels,exports.annotationTypes=annotationTypes,exports.eventTypes=eventTypes,exports.healthStatuses=healthStatuses,exports.interventionTypes=interventionTypes,exports.operator=operator,exports.severities=severities,exports.videoMimeTypes=videoMimeTypes,exports.viewer=viewer,Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}})});

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

@@ -81,7 +81,7 @@ export declare class Device implements IRealtimeDevice {
     private handleMessage;
     getRealtimeStatus(): "disconnected" | "connecting" | "connected";
     getRealtimePing(): number | undefined;
-    startRealtimeConnection(): Promise<void>;
+    startRealtimeConnection(sessionType?: SessionType): Promise<void>;
     addRealtimeListener(listener: RealtimeListener): void;
     removeRealtimeListener(listener: RealtimeListener): void;
     getRealtimeVideoStreams(): Promise<RealtimeVideoStream[]>;

package/package.json

@@ -18,7 +18,7 @@
       "require": "./dist/data-sdk.umd.js"
     }
   },
-  "version": "0.0.86",
+  "version": "0.0.89",
   "scripts": {
     "dev": "vite --port 9146",
     "build": "tsc && vite build",
@@ -32,7 +32,7 @@
   },
   "types": "./dist/types/data-sdk/src/main.d.ts",
   "dependencies": {
-    "@formant/realtime-sdk": "0.0.11",
+    "@formant/realtime-sdk": "0.0.12",
     "@types/google-protobuf": "^3.15.5",
     "typedoc": "^0.22.13"
   }