@formant/data-sdk 1.30.0 → 1.32.0

package/dist/data-sdk.es6.js

@@ -26813,10 +26813,11 @@ function WorkerWrapper() {
     e && (window.URL || window.webkitURL).revokeObjectURL(e);
   }
 }
-const debug = new URLSearchParams(window.location.search).get("debug") === "true";
+const debug = new URLSearchParams(window.location.search).get("debug") === "true", PCD_WORKER_POOL_SIZE = 5;
 class BasicUniverseDataConnector {
   constructor() {
-    Fe(this, "pcdWorker", new WorkerWrapper$1());
+    Fe(this, "pcdWorkerPool", []);
+    Fe(this, "pcdWorkerPoolOccupancy", [!1, !1, !1, !1, !1]);
     Fe(this, "subscriberSources", /* @__PURE__ */ new Map());
     Fe(this, "subscriberLoaders", /* @__PURE__ */ new Map());
     Fe(this, "subscriberDistributorsLoaders", /* @__PURE__ */ new Map());
@@ -26825,6 +26826,10 @@ class BasicUniverseDataConnector {
     Fe(this, "time");
     Fe(this, "timeChangeListeners", []);
     this.time = "live";
+    for (let n = 0; n < PCD_WORKER_POOL_SIZE; n++) {
+      const r = new WorkerWrapper$1();
+      this.pcdWorkerPool.push(r);
+    }
     const t = async () => {
       if (Array.from(this.subscriberLoaders.keys()).length > 0) {
         const n = [], r = await Fleet.queryTelemetry(this.generateTelemetryFilter());
@@ -26860,6 +26865,19 @@ class BasicUniverseDataConnector {
   setTime(t) {
     t !== "live" && (this.time = t), this.timeChangeListeners.forEach((n) => n(t));
   }
+  getAvailableWorker() {
+    for (let t = 0; t < PCD_WORKER_POOL_SIZE; t++)
+      if (!this.pcdWorkerPoolOccupancy[t])
+        return this.pcdWorkerPoolOccupancy[t] = !0, this.pcdWorkerPool[t];
+  }
+  releaseWorker(t) {
+    const n = this.pcdWorkerPool.indexOf(t);
+    this.pcdWorkerPoolOccupancy[n] = !1;
+  }
+  clearWorkerPool() {
+    for (let t = 0; t < PCD_WORKER_POOL_SIZE; t++)
+      this.pcdWorkerPoolOccupancy[t] = !1;
+  }
   generateTelemetryFilter() {
     const t = Array.from(this.subscriberSources.keys()), n = [];
     return t.forEach((r) => {
@@ -27291,25 +27309,28 @@ class LiveUniverseData extends BasicUniverseDataConnector {
     };
   }
   subscribeToPointCloud(t, n, r) {
+    const l = this.getAvailableWorker();
+    if (!l)
+      throw new Error("No available pointcloud worker");
     if (n.sourceType === "telemetry" && n.streamType !== "localization")
       return this.addRemovableTelemetrySubscription(
         t,
         n,
-        async (l) => {
-          let s, c;
-          for (let o = 0; o < l.length; o += 1) {
-            const d = l[o];
-            if (d.deviceId === t && d.name === n.streamName && d.type === "point cloud") {
-              const [u, U] = d.points[d.points.length - 1];
-              s = U;
+        async (s) => {
+          let c, o;
+          for (let d = 0; d < s.length; d += 1) {
+            const u = s[d];
+            if (u.deviceId === t && u.name === n.streamName && u.type === "point cloud") {
+              const [U, S] = u.points[u.points.length - 1];
+              c = S;
               break;
             }
           }
-          if (s) {
-            const { url: o } = s;
-            c = await new Promise((d) => {
-              this.pcdWorker.postMessage({ url: o }), this.pcdWorker.onmessage = (u) => {
-                u.data.url === o && d(u.data.pcd);
+          if (c) {
+            const { url: d } = c;
+            o = await new Promise((u) => {
+              l.postMessage({ url: d }), l.onmessage = (U) => {
+                U.data.url === d && u(U.data.pcd);
               };
             });
           }
@@ -27317,8 +27338,8 @@ class LiveUniverseData extends BasicUniverseDataConnector {
             deviceId: t,
             sourceId: n.id,
             data: {
-              worldToLocal: s == null ? void 0 : s.worldToLocal,
-              pcd: c
+              worldToLocal: c == null ? void 0 : c.worldToLocal,
+              pcd: o
             }
           };
         },
@@ -27328,21 +27349,21 @@ class LiveUniverseData extends BasicUniverseDataConnector {
       return this.addRemovableTelemetrySubscription(
         t,
         n,
-        async (l) => {
-          let s, c;
-          for (let o = 0; o < l.length; o += 1) {
-            const d = l[o];
-            if (d.deviceId === t && d.name === n.streamName && d.type === "localization") {
-              const [u, U] = d.points[d.points.length - 1];
-              s = U;
+        async (s) => {
+          let c, o;
+          for (let d = 0; d < s.length; d += 1) {
+            const u = s[d];
+            if (u.deviceId === t && u.name === n.streamName && u.type === "localization") {
+              const [U, S] = u.points[u.points.length - 1];
+              c = S;
               break;
             }
           }
-          if (s && s.pointClouds) {
-            const { url: o } = s.pointClouds[0];
-            c = await new Promise((d) => {
-              this.pcdWorker.postMessage({ url: o }), this.pcdWorker.onmessage = (u) => {
-                u.data.url === o && d(u.data.pcd);
+          if (c && c.pointClouds) {
+            const { url: d } = c.pointClouds[0];
+            o = await new Promise((u) => {
+              l.postMessage({ url: d }), l.onmessage = (U) => {
+                U.data.url === d && u(U.data.pcd);
               };
             });
           }
@@ -27350,36 +27371,36 @@ class LiveUniverseData extends BasicUniverseDataConnector {
             deviceId: t,
             sourceId: n.id,
             data: {
-              worldToLocal: s && (s != null && s.pointClouds) && (s != null && s.pointClouds[0]) ? s.pointClouds[0].worldToLocal : void 0,
-              pcd: c
+              worldToLocal: c && (c != null && c.pointClouds) && (c != null && c.pointClouds[0]) ? c.pointClouds[0].worldToLocal : void 0,
+              pcd: o
             }
           };
         },
         r
       );
     if (n.sourceType === "realtime") {
-      const l = async (s, c) => {
-        var o;
-        if (c.payload.pointCloud) {
-          const d = Math.random(), u = await new Promise((U) => {
-            this.pcdWorker.postMessage({
-              id: d,
-              pointCloud: defined(c.payload.pointCloud).data
-            }), this.pcdWorker.onmessage = (S) => {
-              S.data.id === d && U(S.data.pcd);
+      const s = async (c, o) => {
+        var d;
+        if (o.payload.pointCloud) {
+          const u = Math.random(), U = await new Promise((S) => {
+            l.postMessage({
+              id: u,
+              pointCloud: defined(o.payload.pointCloud).data
+            }), l.onmessage = (R) => {
+              R.data.id === u && S(R.data.pcd);
             };
           });
           r({
-            worldToLocal: (o = c.payload.pointCloud) == null ? void 0 : o.world_to_local,
-            pcd: u
+            worldToLocal: (d = o.payload.pointCloud) == null ? void 0 : d.world_to_local,
+            pcd: U
           });
         }
       };
-      return this.subscribeToRealtimeMessages(t, n.rosTopicName, l), () => {
+      return this.subscribeToRealtimeMessages(t, n.rosTopicName, s), () => {
         this.unsubscribeToRealtimeMessages(
           t,
           n.rosTopicName,
-          l
+          s
         );
       };
     }
@@ -27780,55 +27801,58 @@ class TelemetryUniverseData extends BasicUniverseDataConnector {
   subscribeToPointCloud(n, r, l) {
     if (r.sourceType !== "telemetry")
       throw new Error("Telemetry sources only supported");
-    const s = this.subscribeToJson(
+    const s = this.getAvailableWorker();
+    if (!s)
+      throw new Error("No available pointcloud worker");
+    const c = this.subscribeToJson(
       n,
       r,
       l
-    ), c = this.subscribeTelemetry(
+    ), o = this.subscribeTelemetry(
       n,
       r,
       "point cloud",
-      async (d) => {
-        if (d === "too much data" || d === void 0) {
+      async (u) => {
+        if (u === "too much data" || u === void 0) {
           l(NoData);
           return;
         }
-        const u = d[d.length - 1][1];
-        if (typeof u == "string")
-          l(JSON.parse(u));
+        const U = u[u.length - 1][1];
+        if (typeof U == "string")
+          l(JSON.parse(U));
         else {
-          const { url: U } = u;
-          this.pcdWorker.postMessage({ url: U }), this.pcdWorker.onmessage = (S) => {
-            S.data.url === U && l({
-              worldToLocal: u.worldToLocal,
-              pcd: S.data.pcd
+          const { url: S } = U;
+          s.postMessage({ url: S }), s.onmessage = (R) => {
+            R.data.url === S && l({
+              worldToLocal: U.worldToLocal,
+              pcd: R.data.pcd
             });
           };
         }
       }
-    ), o = this.subscribeTelemetry(
+    ), d = this.subscribeTelemetry(
       n,
       r,
       "localization",
-      async (d) => {
-        if (d === "too much data" || d === void 0) {
+      async (u) => {
+        if (u === "too much data" || u === void 0) {
           l(NoData);
           return;
         }
-        let u = d[d.length - 1][1];
-        if (u.url && (u = await (await fetch(u.url)).json()), u.pointClouds) {
-          const { url: U, worldToLocal: S } = u.pointClouds[0];
-          this.pcdWorker.postMessage({ url: U }), this.pcdWorker.onmessage = (R) => {
-            R.data.url === U && l({
-              worldToLocal: S,
-              pcd: R.data.pcd
+        let U = u[u.length - 1][1];
+        if (U.url && (U = await (await fetch(U.url)).json()), U.pointClouds) {
+          const { url: S, worldToLocal: R } = U.pointClouds[0];
+          s.postMessage({ url: S }), s.onmessage = (p) => {
+            p.data.url === S && l({
+              worldToLocal: R,
+              pcd: p.data.pcd
             });
           };
         }
       }
     );
     return () => {
-      s(), c(), o();
+      c(), o(), d();
     };
   }
   subscribeToOdometry(n, r, l) {