@formant/data-sdk 1.39.0 → 1.41.0

package/dist/data-sdk.cjs.js

@@ -99,5 +99,5 @@ Found: ${s.toString().split(`
 
                 gl_FragColor = vec4(y, u, v, 1) * YUV2RGB;
             }
-        `,o=[1.16438,0,1.59603,-.87079,1.16438,-.39176,-.81297,.52959,1.16438,2.01723,0,-1.08139,0,0,0,1],s=t.createShader(t.VERTEX_SHADER);if(!s)throw new Error("Failed to create vertex shader");t.shaderSource(s,r),t.compileShader(s);const g=t.createShader(t.FRAGMENT_SHADER);if(!g)throw new Error("Failed to create fragment shader");t.shaderSource(g,n),t.compileShader(g);const l=t.createProgram();if(!l)throw new Error("Failed to create webgl program");t.attachShader(l,s),t.attachShader(l,g),t.linkProgram(l),t.useProgram(l);const u=t.getUniformLocation(l,"YUV2RGB");return t.uniformMatrix4fv(u,!1,o),l}initBuffers(){const{gl:t,program:r}=this,n=t.createBuffer();t.bindBuffer(t.ARRAY_BUFFER,n),t.bufferData(t.ARRAY_BUFFER,new Float32Array([1,1,-1,1,1,-1,-1,-1]),t.STATIC_DRAW);const o=t.getAttribLocation(r,"vertexPos");t.enableVertexAttribArray(o),t.vertexAttribPointer(o,2,t.FLOAT,!1,0,0);const s=t.createBuffer();if(!s)throw new Error("Failed to create WebGL buffer");t.bindBuffer(t.ARRAY_BUFFER,s),t.bufferData(t.ARRAY_BUFFER,new Float32Array([1,0,0,0,1,1,0,1]),t.STATIC_DRAW);const g=t.getAttribLocation(r,"texturePos");return t.enableVertexAttribArray(g),t.vertexAttribPointer(g,2,t.FLOAT,!1,0,0),{texturePosBuffer:s}}initTextures(){const{gl:t,program:r}=this,n=this.initTexture(),o=t.getUniformLocation(r,"yuvSampler");return t.uniform1i(o,0),{textureRef:n}}initTexture(){const{gl:t}=this,r=t.createTexture();if(!r)throw new Error("Failed to initialize texture");return t.bindTexture(t.TEXTURE_2D,r),t.texParameteri(t.TEXTURE_2D,t.TEXTURE_MAG_FILTER,t.NEAREST),t.texParameteri(t.TEXTURE_2D,t.TEXTURE_MIN_FILTER,t.NEAREST),t.texParameteri(t.TEXTURE_2D,t.TEXTURE_WRAP_S,t.CLAMP_TO_EDGE),t.texParameteri(t.TEXTURE_2D,t.TEXTURE_WRAP_T,t.CLAMP_TO_EDGE),t.bindTexture(t.TEXTURE_2D,null),r}}const decoderNotWorkingThreshold=duration$1.second*2.5,warnPerformanceThreshold=duration$1.second/3,noSignalThreshold=duration$1.second*2,maxQueueSize=5,maxDropRatio=30/25,numRetries=5,hardwareIncompatibleErrorCode=1282;class H264BytestreamCanvasDrawer{constructor(t,r,n,o,s){__publicField(this,"_waitingForDecoder",!0),__publicField(this,"_noSignal",!0),__publicField(this,"_lostSignal",!1),__publicField(this,"_overWaitingThreshold",!1),__publicField(this,"_retries",0),__publicField(this,"_webglYUVSupported"),__publicField(this,"lastDecodedFrameTime"),__publicField(this,"lastReceivedFrameTime"),__publicField(this,"lastNoSignalTime",new Date().getTime()),__publicField(this,"moduleStartTime",Date.now()),__publicField(this,"moduleCreateTime",Date.now()),__publicField(this,"timesRestarted",0),__publicField(this,"canvas"),__publicField(this,"decoder"),__publicField(this,"yuvCanvas"),__publicField(this,"webglContext"),__publicField(this,"frameQueue",[]),__publicField(this,"minFrameSize",1/0),__publicField(this,"maxFrameSize",0),__publicField(this,"decoderQueue",[]),__publicField(this,"decoderQueueLocked",!1),__publicField(this,"decodeNextFrameAttempted",!1),__publicField(this,"numFramesDecoded",0),__publicField(this,"numFramesReceived",0),__publicField(this,"hasReceivedKeyframe",!1),__publicField(this,"medianFrameSize",0),__publicField(this,"currentFrameIndex"),__publicField(this,"frameCheckpointMap",new Map),__publicField(this,"lastDrawnFrameTime"),__publicField(this,"minJitter"),__publicField(this,"maxJitter"),__publicField(this,"start",()=>{const{canvas:g}=this;if(!g)return;const l=g.getContext("webgl");this.webglContext=l||void 0,this.lastDecodedFrameTime=void 0,this.lastReceivedFrameTime=void 0,this.hasReceivedKeyframe=!1,this.currentFrameIndex=void 0,!(!this.canvas||!this.webglContext)&&(this.yuvCanvas||(this.yuvCanvas=new YUVCanvas(this.webglContext)),this.moduleStartTime=Date.now())}),__publicField(this,"stop",()=>{var g;(g=this.decoder)==null||g.release(),this.webglContext=void 0,this.decoderQueueLocked=!1}),__publicField(this,"reset",()=>{this.retries=0,this.restart()}),__publicField(this,"notifyWarningTextChanged",()=>{var g;(g=this.onWarningTextChanged)==null||g.call(this,this.getWarningText())}),__publicField(this,"restart",()=>{console.info("Restarting decoder"),console.info("BytestreamPlayer restarting",__spreadProps(__spreadValues({},this.trackInfo),{Restart:this.timesRestarted})),this.frameQueue=[],this.decoderQueue=[],this.stop(),this.decoder=new H264Decoder(this.workerFactory(),this.onReceiveDecodedFrame,this.onDecoderError),this.start(),this.retries++,this.timesRestarted++}),__publicField(this,"onTrackTick",()=>{if(this.numFramesDecoded===0){if(this.lastDecodedFrameTime===void 0){const p=Date.now();console.info("BytestreamPlayer waiting for video",__spreadProps(__spreadValues({},this.trackInfo),{"Time Waited":p-this.moduleCreateTime}))}return}this.numFramesReceived/this.numFramesDecoded>maxDropRatio&&this.warnPerformanceProblems(),this.numFramesReceived=0,this.numFramesDecoded=0;const l=Array.from(this.frameCheckpointMap.entries()).reduce((p,[v,_])=>{var y;return!this.currentFrameIndex||v>this.currentFrameIndex-60||_==="FrameDrawn"||(p[_]=((y=p[_])!=null?y:0)+1,this.frameCheckpointMap.delete(v)),p},{});Object.keys(l).map(p=>{console.info("BytestreamPlayer Frame Dropped",__spreadProps(__spreadValues({},this.trackInfo),{"Num Dropped":l[p],"Frame State":p}))});const{minJitter:u,maxJitter:c}=this;u&&c&&(console.info("BytestreamPlayer Jitter",__spreadProps(__spreadValues({},this.trackInfo),{minJitter:u,maxJitter:c})),this.minJitter=void 0,this.maxJitter=void 0)}),__publicField(this,"onTick",()=>{var g;const{lastReceivedFrameTime:l,lastDecodedFrameTime:u,moduleStartTime:c,noSignal:p,retries:v}=this,_=new Date().getTime();p&&(this.lastNoSignalTime=_),this.overWaitingThreshold=_-c>noSignalThreshold;const y=_-c>decoderNotWorkingThreshold;if(!u){l&&y&&v<numRetries&&(this.waitingForDecoder=!0,this.restart());return}if(l){const f=_-l,h=_-u;_-this.lastNoSignalTime>noSignalThreshold&&f<warnPerformanceThreshold&&h>warnPerformanceThreshold&&this.warnPerformanceProblems(),f>noSignalThreshold&&(this.lostSignal=!0)}this.overWaitingThreshold&&(this.waitingForDecoder||this.noSignal||this.lostSignal)&&((g=this.onCanvasDrawerWarning)==null||g.call(this,"ShouldDisableControl"))}),__publicField(this,"receiveEncodedFrame",g=>{if(!g)return;const l=g.index;if(l&&this.frameCheckpointMap.set(l,"FrameReceived"),!(!g||!this.canvas||!this.webglContext)){if(this.isKeyframe(g),!this.hasReceivedKeyframe)return console.info("Dropping frame because no keyframe detected"),!1;this.lastReceivedFrameTime===void 0&&console.debug("Received first frame on bytestream player",__spreadValues({},this.trackInfo)),this.checkOrder(g),this.numFramesReceived++,this.lastReceivedFrameTime=Date.now(),this.lostSignal&&this.restart(),this.noSignal=!1,this.lostSignal=!1,this.frameQueue.push(g),l&&this.frameCheckpointMap.set(l,"FrameQueued"),this.frameQueue.length>maxQueueSize&&(this.frameQueue=this.frameQueue.filter(u=>this.isKeyframe(u))),this.frameQueue.length>maxQueueSize&&(this.frameQueue=[],this.decoderQueue=[]),this.decodeNextFrame()}}),__publicField(this,"onDecoderError",g=>{this.frameQueue=[],this.decoderQueue=[],this.hasReceivedKeyframe=!1,console.info("BytestreamPlayer decode error",__spreadProps(__spreadValues({},this.trackInfo),{"Frame Index":g}))}),__publicField(this,"onReceiveDecodedFrame",g=>{var l,u;const{canvas:c,yuvCanvas:p,decoderQueue:v}=this,{timestamp:_,yuv:y,height:f,width:h,index:w}=g;this.frameCheckpointMap.set(w,"FrameDecoded"),this.numFramesDecoded++;const C=Date.now();if(this.lastDecodedFrameTime===void 0&&console.info("BytestreamPlayer started video",__spreadProps(__spreadValues({},this.trackInfo),{"Time Until Video":C-this.moduleCreateTime})),this.lastDecodedFrameTime=C,this.waitingForDecoder=!1,this.decoderQueue=v.filter(E=>C-E<duration$1.second*.5&&E!==_),!v.includes(_)||C-_>duration$1.second||!p||!c||f===0||h===0)return;f!==c.height&&(c.height=f,p.height=f),h!==c.width&&(c.width=h,p.width=h);const L=p.draw(y),T=Date.now();if(this.lastDrawnFrameTime){const E=T-this.lastDrawnFrameTime;this.minJitter=Math.min(E,(l=this.minJitter)!=null?l:Number.MAX_SAFE_INTEGER),this.maxJitter=Math.max(E,(u=this.maxJitter)!=null?u:0)}this.lastDrawnFrameTime=T,this.frameCheckpointMap.set(w,"FrameDrawn"),L===0&&(this.webglYUVSupported=!0),L===hardwareIncompatibleErrorCode&&(this.webglYUVSupported=!1),this.frameQueue.length>0&&this.decodeNextFrame()}),this.workerFactory=t,this.onWebglYUVSupportedChanged=r,this.onWarningTextChanged=n,this.onCanvasDrawerWarning=o,this.trackInfo=s,this.decoder=new H264Decoder(this.workerFactory(),this.onReceiveDecodedFrame,this.onDecoderError),setInterval(this.onTick,duration$1.millisecond*200),setInterval(this.onTrackTick,duration$1.second*5)}get waitingForDecoder(){return this._waitingForDecoder}set waitingForDecoder(t){this._waitingForDecoder=t,this.notifyWarningTextChanged()}get noSignal(){return this._noSignal}set noSignal(t){this._noSignal=t,this.notifyWarningTextChanged()}get lostSignal(){return this._lostSignal}set lostSignal(t){this._lostSignal=t,this.notifyWarningTextChanged()}get overWaitingThreshold(){return this._overWaitingThreshold}set overWaitingThreshold(t){this._overWaitingThreshold=t,this.notifyWarningTextChanged()}get retries(){return this._retries}set retries(t){this._retries=t,this.notifyWarningTextChanged()}get webglYUVSupported(){return this._webglYUVSupported}set webglYUVSupported(t){var r;this._webglYUVSupported=t,(r=this.onWebglYUVSupportedChanged)==null||r.call(this,t),this.notifyWarningTextChanged()}setCanvas(t){this.canvas=t}getWarningText(){var t;const{waitingForDecoder:r,noSignal:n,overWaitingThreshold:o,lostSignal:s,retries:g,webglYUVSupported:l}=this,u=l===!1,p=r?g===numRetries?"Decoder failed to start":"Starting decoder":void 0,v=u?"Hardware decoding not supported on this device":void 0,_=s?"Lost signal":n?o?"No signal":"Waiting for signal":void 0;return(t=v!=null?v:_)!=null?t:p}decodeNextFrame(){if(this.decoderQueueLocked&&(this.decodeNextFrameAttempted=!0),this.decoderQueueLocked=!0,this.decoderQueue.length>maxQueueSize){this.decoderQueueLocked=!1,this.decodeNextFrameAttempted=!1;return}const t=this.frameQueue.shift();if(!t){this.decoderQueueLocked=!1,this.decodeNextFrameAttempted=!1;return}const r=Date.now();this.frameCheckpointMap.set(t.index,"FrameSentToDecoder"),this.decoder.post(r,t.frame_data,t.flags,t.index),this.decoderQueue.push(r),this.decoderQueueLocked=!1,this.decodeNextFrameAttempted&&(this.decodeNextFrameAttempted=!1,this.decodeNextFrame())}warnPerformanceProblems(){var t;this.lastDecodedFrameTime&&this.overWaitingThreshold&&!this.lostSignal&&!this.noSignal&&((t=this.onCanvasDrawerWarning)==null||t.call(this,"ShouldDegradeVideo"))}checkOrder(t){if(this.currentFrameIndex!==void 0&&t.index<this.currentFrameIndex){console.info("Out of order frame detected"),console.info("Frame out of order",__spreadValues({},this.trackInfo));return}this.currentFrameIndex=t.index}isKeyframe(t){const{maxFrameSize:r,minFrameSize:n}=this;if(t.flags===3)return this.hasReceivedKeyframe||(this.frameCheckpointMap=new Map),this.hasReceivedKeyframe=!0,!0;const o=t.frame_data.length;return this.maxFrameSize=Math.max(o,r),this.minFrameSize=Math.min(o,n),this.medianFrameSize=(this.maxFrameSize+this.minFrameSize)/2,this.moduleStartTime+duration$1.second*2>Date.now()?!1:o>this.medianFrameSize?(this.hasReceivedKeyframe=!0,!0):!1}}const millisecond=1,second=1e3,minute=60*second,hour=60*minute,day=24*hour,week=7*day,month=30*day,year=365*day,duration={millisecond,second,minute,hour,day,week,month,year};function filterDataByType(e,t){return e.filter(r=>r.type===t)}function filterDataByTime(e,t,r){const n=t.getTime(),o=r.getTime();return e.map(s=>({...s,points:s.points.filter(([g])=>g>=n&&g<o)})).filter(({points:s})=>s.length>0)}function fork(e){}class StoreCache{constructor({capacity:t,timeout:r}={}){de(this,"entries",new Map);de(this,"metadata",new Map);de(this,"capacity");de(this,"timeout");this.capacity=t||1e4,this.timeout=r||duration.minute}get(t,r){const n=this.keyToCacheKey(t),o=this.entries.get(n),s=this.metadata.get(n);return(o===void 0||s&&(s==null?void 0:s.expiration.getTime())<Date.now())&&!(s!=null&&s.generating)&&r&&this.generate(t,r()),o===void 0&&s&&s.lastValue!==void 0?s.lastValue:o}set(t,r){const n=this.keyToCacheKey(t);this.metadata.set(n,{generating:!1,expiration:new Date(Date.now()+this.timeout),lastValue:r}),this.entries.set(n,r),this.metadata.size>this.capacity&&this.deleteOldestEntry()}clear(){this.entries.clear(),[...this.metadata.values()].forEach(t=>t.generating=!1)}clearKey(t){this.metadata.delete(t),this.entries.delete(t)}keyToCacheKey(t){return JSON.stringify(t)}deleteOldestEntry(){if(this.metadata.size<1)return;const[t]=[...this.metadata.entries()].reduce(([r,n],[o,s])=>s.expiration.getTime()<n.expiration.getTime()?[o,s]:[r,n]);this.clearKey(t)}generate(t,r){const n=this.keyToCacheKey(t),o=this.metadata.get(n)||{};this.metadata.set(n,{...o,generating:!0,expiration:new Date(Date.now()+this.timeout)}),setTimeout(()=>{r.then(s=>{const g=this.metadata.get(n);!(g!=null&&g.generating)||this.set(t,s)})},0)}}function roundToNearestSecond(e){return new Date(Math.round(e.getTime()/1e3)*1e3)}class QueryStore{constructor(){de(this,"queryStoreCache",new StoreCache({capacity:1e4,timeout:20*duration.second}));de(this,"liveQueryStoreCache",new StoreCache({capacity:1e4,timeout:1*duration.second}))}moduleQuery(t,r,n,o,s,g=!1){const l={...t,names:[r],types:[n],start:o.toISOString(),end:s.toISOString(),latestOnly:g},u=this.query(l);return u===void 0||u==="too much data"?u:filterDataByType(u,n)}query(t){const r=new Date(t.end)>addSeconds(new Date,-20),n=startOfMinute(new Date(t.start)).toISOString(),o=t.latestOnly?addSeconds(roundToNearestSecond(new Date(t.end)),5).toISOString():addMinutes(roundToNearestMinutes(new Date(t.end)),1).toISOString();let s;return r?s=this.liveQueryCache({...t,start:n,end:o}):s=this.queryCache({...t,start:n,end:o}),!s||s==="too much data"||t.latestOnly?s:filterDataByTime(s,new Date(t.start),new Date(t.end))}queryCache(t){return this.queryStoreCache.get(t,async()=>{try{return await Fleet.queryTelemetry(t)}catch(r){throw r}})}liveQueryCache(t){return this.liveQueryStoreCache.get(t,async()=>{try{return await Fleet.queryTelemetry(t)}catch(r){throw r}})}}const debug=new URLSearchParams(window.location.search).get("debug")==="true",PCD_WORKER_POOL_SIZE=5,DATA_FETCH_WORKER_POOL_SIZE=10;class BasicUniverseDataConnector{constructor(){de(this,"pcdWorkerPool",[]);de(this,"dataFetchWorkerPool",[]);de(this,"pcdWorkerPoolOccupancy",[!1,!1,!1,!1,!1]);de(this,"dataFetchWorkerPoolOccupancy",[!1,!1,!1,!1,!1,!1,!1,!1,!1,!1]);de(this,"subscriberSources",new Map);de(this,"subscriberLoaders",new Map);de(this,"subscriberDistributorsLoaders",new Map);de(this,"mapRealtimeConnections",new Map);de(this,"lastQueriedHistoricTime");de(this,"time");de(this,"timeChangeListeners",[]);de(this,"queryStore",new QueryStore);this.time="live";for(let r=0;r<PCD_WORKER_POOL_SIZE;r++){const n=new Worker(new URL("/assets/PcdLoaderWorker-eaac0b31.js",self.location));this.pcdWorkerPool.push(n)}for(let r=0;r<DATA_FETCH_WORKER_POOL_SIZE;r++){const n=new Worker(new URL("/assets/DataFetchWorker-0a168933.js",self.location));this.dataFetchWorkerPool.push(n)}const t=async()=>{if(Array.from(this.subscriberLoaders.keys()).length>0){const r=[],n=this.generateTelemetryFilter(),o=this.queryStore.query(n);if(!o||o==="too much data")return;o.forEach(u=>{r.push(u.deviceId)});const s=Array.from(new Set(r)),g=[];s.forEach(u=>{const c=this.subscriberLoaders.get(u);c&&c.forEach(p=>{g.push(p(o))})}),(await Promise.all(g)).forEach(u=>{if(u.data){const c=this.subscriberDistributorsLoaders.get(u.deviceId);if(c){const p=c.get(u.sourceId);p&&p.forEach(v=>{v(u.data)})}}})}setTimeout(()=>t(),0)};setTimeout(()=>t(),0)}setTime(t){t!=="live"&&(this.time=t),this.timeChangeListeners.forEach(r=>r(t))}getAvailablePCDWorker(){for(let t=0;t<PCD_WORKER_POOL_SIZE;t++)if(!this.pcdWorkerPoolOccupancy[t])return this.pcdWorkerPoolOccupancy[t]=!0,this.pcdWorkerPool[t]}getAvailableDataFetchWorker(){for(let t=0;t<DATA_FETCH_WORKER_POOL_SIZE;t++)if(!this.dataFetchWorkerPoolOccupancy[t])return this.dataFetchWorkerPoolOccupancy[t]=!0,this.dataFetchWorkerPool[t]}releasePCDWorker(t){const r=this.pcdWorkerPool.indexOf(t);this.pcdWorkerPoolOccupancy[r]=!1}releaseDataFetchWorker(t){const r=this.dataFetchWorkerPool.indexOf(t);this.dataFetchWorkerPoolOccupancy[r]=!1}clearWorkerPool(){for(let t=0;t<PCD_WORKER_POOL_SIZE;t++)this.pcdWorkerPoolOccupancy[t]=!1;for(let t=0;t<DATA_FETCH_WORKER_POOL_SIZE;t++)this.dataFetchWorkerPoolOccupancy[t]=!1}generateTelemetryFilter(){const t=Array.from(this.subscriberSources.keys()),r=[];return t.forEach(n=>{const o=this.subscriberSources.get(n);o&&Array.from(o==null?void 0:o.values()).forEach(s=>{s.sourceType==="telemetry"&&r.push(s.streamName)})}),{deviceIds:t,names:r,start:subDays(new Date,20).toISOString(),end:new Date().toISOString(),latestOnly:!0}}async sendRtcMessage(t,r){await this.createRealtimeConnection(t);const n=this.mapRealtimeConnections.get(t);n&&n!=="loading"&&n&&n.sendRealtimeMessage(r,{channelLabel:"stream.reliable"})}async createRealtimeConnection(t,r=signaling_pb.SessionType.TELEOP){const n=this.mapRealtimeConnections.get(t);if(n===void 0){this.mapRealtimeConnections.set(t,"loading");const o=t.startsWith("http");console.log("Creating {} realtime connection",o?"peer":"cloud");let s;o?s=new PeerDevice(t):s=await Fleet.getDevice(t),await s.startRealtimeConnection(r),debug&&s.addRealtimeListener((g,l)=>{console.log("received message from peer",g,l)}),this.mapRealtimeConnections.set(t,s)}else n==="loading"&&await new Promise(o=>{const s=setInterval(()=>{const g=this.mapRealtimeConnections.get(t);g&&g!=="loading"&&(clearInterval(s),o())},100)})}addRemovableTelemetrySubscription(t,r,n,o){let s=this.subscriberLoaders.get(t);s||(s=new Map,this.subscriberLoaders.set(t,s)),s.get(r.id)||s.set(r.id,n);let l=this.subscriberDistributorsLoaders.get(t);l||(l=new Map,this.subscriberDistributorsLoaders.set(t,l));const u=l.get(r.id);u?u.push(o):l.set(r.id,[o]);let c=this.subscriberSources.get(t);return c||(c=new Map,this.subscriberSources.set(t,c)),c.set(r.id,r),()=>{const p=this.subscriberLoaders.get(t);p&&p.delete(r.id);const v=this.subscriberDistributorsLoaders.get(t);if(v){const y=v.get(r.id);if(y){const f=y.indexOf(o);f>-1&&y.splice(f,1)}}const _=this.subscriberSources.get(t);_&&_.delete(r.id)}}createH264Drawer(){return new H264BytestreamCanvasDrawer(()=>new Worker("@formant/ui-sdk-realtime-player-core-worker/dist/ui-sdk-realtime-player-core-worker"),()=>{},()=>{})}async sendCommand(t,r,n){const o=this.mapRealtimeConnections.get(t);if(o==="loading"||o===void 0)throw new Error("Device is not ready or doesnt exist");await o.sendCommand(r,n)}async sendRealtimePose(t,r,n){const o=distExports.createRtcStreamMessage({entityId:t,streamName:r,streamType:"pose"},{pose:n},"vision");await this.sendRtcMessage(t,o)}async sendRealtimeBoolean(t,r,n){const o=distExports.createRtcStreamMessage({entityId:t,streamName:r,streamType:"boolean"},{boolean:n});await this.sendRtcMessage(t,o)}async sendRealtimeBitset(t,r,n){const o=distExports.createRtcStreamMessage({entityId:t,streamName:r,streamType:"bitset"},{bitset:{bits:n.keys.map((s,g)=>({key:s,value:n.values[g]}))}});await this.sendRtcMessage(t,o)}async getUrdfs(t){const n=await(await Fleet.getDevice(t)).getConfiguration();return!n.urdfFiles||n.urdfFiles.length===0?[]:[await Fleet.getFileUrl(n.urdfFiles[0])]}async getTelemetryStreams(t){throw new Error("Not implemented")}async getTeleopRosStreams(t){throw new Error("Not implemented")}async getHardwareStreams(t){throw new Error("Not implemented")}addInteraction(t){throw new Error("Method not implemented.")}removeInteraction(t){throw new Error("Method not implemented.")}getInteractions(){throw new Error("Method not implemented.")}addInteractionsChangedListener(t){throw new Error("Method not implemented.")}addInteractionListener(t){throw new Error("Method not implemented.")}getRealtimeButtons(t){throw new Error("Method not implemented.")}async getLatestTransformTrees(t){throw new Error("Not implemented")}async getLatestLocations(){return[{streamName:"spotLocation",location:{latitude:45.4661989,longitude:-122.5782375}}]}async getDeviceContexts(){return[]}async getDeviceContextName(t){throw new Error("Not implemented")}async getTelemetryStreamType(t,r){throw new Error("Not implemented")}async getStatistics(){return{rtcDevices:[]}}subscribeDataSourceStateChange(t,r,n){return()=>{}}async fetchImage(t){const r=new Image;return r.src=t,r.setAttribute("crossOrigin",""),await new Promise(n=>{r.onload=n}),r}}class LiveUniverseData extends BasicUniverseDataConnector{constructor(){super()}subscribeToPath(t,r,n){throw new Error("Method not implemented.")}subscribeToImage(t,r,n){throw new Error("Method not implemented.")}subcribeToVideo(t,r,n){throw new Error("Method not implemented.")}subscribeToBitset(t,r,n){if(r.sourceType==="realtime"){const o=(s,g)=>{if(g.payload.bitset){const l=g.payload.bitset,u={keys:[],values:[]};l.bits.forEach(c=>{u.keys.push(c.key),u.values.push(c.value)}),n(u)}};return this.subscribeToRealtimeMessages(t,r.rosTopicName,o),()=>{this.unsubscribeToRealtimeMessages(t,r.rosTopicName,o)}}throw new Error("Telemetry bitset not implemented")}subscribeToOdometry(t,r,n){if(r.sourceType==="realtime"){const o=(s,g)=>{if(g.payload.odometry){const l=g.payload.odometry;n({worldToLocal:l.worldToLocal,pose:{translation:{x:l.pose.translation.x,y:l.pose.translation.y,z:l.pose.translation.z},rotation:{x:l.pose.rotation.x,y:l.pose.rotation.y,z:l.pose.rotation.z,w:l.pose.rotation.w}},covariance:[]})}};return this.subscribeToRealtimeMessages(t,r.rosTopicName,o),()=>{this.unsubscribeToRealtimeMessages(t,r.rosTopicName,o)}}if(r.sourceType==="telemetry")return this.addRemovableTelemetrySubscription(t,r,async o=>{let s,g;for(let l=0;l<o.length;l+=1){const u=o[l];if(u.deviceId===t&&u.name===r.streamName&&u.type==="localization"){const[c,p]=u.points[u.points.length-1];s=p}}return s&&s.odometry&&(g={worldToLocal:s.odometry.worldToLocal,pose:{translation:{x:s.odometry.pose.translation.x,y:s.odometry.pose.translation.y,z:s.odometry.pose.translation.z},rotation:{x:s.odometry.pose.rotation.x,y:s.odometry.pose.rotation.y,z:s.odometry.pose.rotation.z,w:s.odometry.pose.rotation.w}},covariance:[]}),{deviceId:t,sourceId:r.id,data:g}},n);throw new Error("unexpected")}subscribeToPose(t,r,n){if(r.sourceType==="realtime"){const o=(s,g)=>{g.payload.pose&&n(g.payload.pose)};return this.subscribeToRealtimeMessages(t,r.rosTopicName,o),()=>{this.unsubscribeToRealtimeMessages(t,r.rosTopicName,o)}}throw new Error("unexpected")}subscribeToNumeric(t,r,n){if(r.sourceType==="realtime"){const o=async(s,g)=>{g.payload.numeric&&n([[Date.now(),g.payload.numeric.value]])};return this.subscribeToRealtimeMessages(t,r.rosTopicName,o),()=>{this.unsubscribeToRealtimeMessages(t,r.rosTopicName,o)}}return()=>{}}subscribeToNumericSet(t,r,n){if(r.sourceType==="telemetry"){let o;const s=setInterval(async()=>{o||(o=await Fleet.getDevice(t));const g=new Date,l=new Date(g.getTime()-15*1e3),u=await o.getTelemetry(r.streamName,l,g);if(u.length>0){const c=u[0].points;n(c)}},1e3);return()=>{clearInterval(s)}}return()=>{}}async subscribeToRealtimeMessages(t,r,n){await this.createRealtimeConnection(t,signaling_pb.SessionType.OBSERVE);const o=this.mapRealtimeConnections.get(t);o&&o!=="loading"&&(o.startListeningToRealtimeDataStream({name:r}),o.addRealtimeListener((s,g)=>{g.header.stream.streamName===r&&n(s,g)}))}async unsubscribeToRealtimeMessages(t,r,n){const o=this.mapRealtimeConnections.get(t);o&&o!=="loading"&&(o.stopListeningToRealtimeDataStream({name:r}),o.removeRealtimeListener(n))}subscribeToJson(t,r,n){if(r.sourceType==="telemetry")return this.addRemovableTelemetrySubscription(t,r,async o=>{let s,g;for(let l=0;l<o.length;l+=1){const u=o[l];if(u.deviceId===t&&u.name===r.streamName&&u.type==="json"){const[c,p]=u.points[u.points.length-1];s=p}}return s&&(g=await fetch(s).then(l=>l.json())),{deviceId:t,sourceId:r.id,data:g}},n);if(r.sourceType==="realtime"){const o=async(s,g)=>{g.payload.jsonString&&n(JSON.parse(g.payload.jsonString.value))};return this.subscribeToRealtimeMessages(t,r.rosTopicName,o),()=>{this.unsubscribeToRealtimeMessages(t,r.rosTopicName,o)}}return()=>{}}subscribeToText(t,r,n){return r.sourceType==="telemetry"?this.addRemovableTelemetrySubscription(t,r,async o=>{let s,g;for(let l=0;l<o.length;l+=1){const u=o[l];if(u.deviceId===t&&u.name===r.streamName&&u.type==="text"){const[c,p]=u.points[u.points.length-1];s=p}}return s&&(g=await fetch(s).then(l=>l.text())),{deviceId:t,sourceId:r.id,data:g}},n):()=>{}}subscribeToPointCloud(t,r,n){const o=this.getAvailablePCDWorker();if(!o)throw new Error("No available pointcloud worker");if(r.sourceType==="telemetry"&&r.streamType!=="localization")return this.addRemovableTelemetrySubscription(t,r,async s=>{let g,l;for(let u=0;u<s.length;u+=1){const c=s[u];if(c.deviceId===t&&c.name===r.streamName&&c.type==="point cloud"){const[p,v]=c.points[c.points.length-1];g=v;break}}if(g){const{url:u}=g;l=await new Promise(c=>{o.postMessage({url:u}),o.onmessage=p=>{p.data.url===u&&c(p.data.pcd)}})}return{deviceId:t,sourceId:r.id,data:{worldToLocal:g==null?void 0:g.worldToLocal,pcd:l}}},n);if(r.sourceType==="telemetry"&&r.streamType==="localization")return this.addRemovableTelemetrySubscription(t,r,async s=>{let g,l;for(let u=0;u<s.length;u+=1){const c=s[u];if(c.deviceId===t&&c.name===r.streamName&&c.type==="localization"){const[p,v]=c.points[c.points.length-1];g=v;break}}if(g&&g.pointClouds){const{url:u}=g.pointClouds[0];l=await new Promise(c=>{o.postMessage({url:u}),o.onmessage=p=>{p.data.url===u&&c(p.data.pcd)}})}return{deviceId:t,sourceId:r.id,data:{worldToLocal:g&&(g!=null&&g.pointClouds)&&(g!=null&&g.pointClouds[0])?g.pointClouds[0].worldToLocal:void 0,pcd:l}}},n);if(r.sourceType==="realtime"){const s=async(g,l)=>{var u;if(l.payload.pointCloud){const c=Math.random(),p=await new Promise(v=>{o.postMessage({id:c,pointCloud:defined(l.payload.pointCloud).data}),o.onmessage=_=>{_.data.id===c&&v(_.data.pcd)}});n({worldToLocal:(u=l.payload.pointCloud)==null?void 0:u.world_to_local,pcd:p})}};return this.subscribeToRealtimeMessages(t,r.rosTopicName,s),()=>{this.unsubscribeToRealtimeMessages(t,r.rosTopicName,s)}}return()=>{}}subscribeToGeometry(t,r,n){throw new Error("type error in realtime sdk")}subscribeToJointState(t,r,n){if(r.sourceType==="realtime"){const o=(s,g)=>{g.payload.jointState&&n(g.payload.jointState)};return this.subscribeToRealtimeMessages(t,r.rosTopicName,o),()=>{this.unsubscribeToRealtimeMessages(t,r.rosTopicName,o)}}return()=>{}}subscribeToGridMap(t,r,n){if(r.sourceType==="realtime"){const o=(s,g)=>{if(g.payload.jsonString){const l=JSON.parse(g.payload.jsonString.value);n({width:l.info.width,height:l.info.height,worldToLocal:{translation:{x:0,y:0,z:0},rotation:{x:0,y:0,z:0,w:1}},resolution:l.info.resolution,origin:{translation:l.info.origin.position,rotation:l.info.origin.orientation},data:l.data,canvas:void 0})}};return this.subscribeToRealtimeMessages(t,r.rosTopicName,o),()=>{this.unsubscribeToRealtimeMessages(t,r.rosTopicName,o)}}else if(r.sourceType==="telemetry"&&r.streamType==="localization")return this.addRemovableTelemetrySubscription(t,r,async o=>{let s,g;for(let l=0;l<o.length;l+=1){const u=o[l];if(u.deviceId===t&&u.name===r.streamName&&u.type==="localization"){const[c,p]=u.points[u.points.length-1];s=p}}if(s&&s.map){const l=document.createElement("canvas"),u=await this.fetchImage(s.map.url);l.width=u.width,l.height=u.height;const c=l.getContext("2d");c&&c.drawImage(u,0,0);const p=c==null?void 0:c.getImageData(0,0,u.width,u.height),v=[];if(p)for(let _=0;_<p.data.length;_+=4){const y=p.data[_];v.push(y)}g={width:s.map.width,height:s.map.height,worldToLocal:s.map.worldToLocal,resolution:s.map.resolution,origin:s.map.origin,canvas:l,data:v}}return{deviceId:t,sourceId:r.id,data:g}},n);throw new Error("Not implemented")}subscribeToVideo(t,r,n){const o=this.createH264Drawer(),s=document.createElement("CANVAS");if(s.width=0,s.height=0,o.setCanvas(s),o.start(),r.sourceType==="realtime"){const g=(l,u)=>{u.payload.h264VideoFrame&&(o.receiveEncodedFrame(u.payload.h264VideoFrame),o&&o.canvas&&o.canvas.width>0&&o.canvas.height>0&&n(o.canvas))};return this.subscribeToRealtimeMessages(t,r.rosTopicName,g),()=>{this.unsubscribeToRealtimeMessages(t,r.rosTopicName,g)}}if(r.sourceType==="hardware"){const g=(l,u)=>{u.payload.h264VideoFrame&&(o.receiveEncodedFrame(u.payload.h264VideoFrame),o&&o.canvas&&o.canvas.width>0&&o.canvas.height>0&&n(o.canvas))};return this.subscribeToRealtimeMessages(t,r.rtcStreamName,g),()=>{this.unsubscribeToRealtimeMessages(t,r.rtcStreamName,g)}}return()=>{o.stop()}}subscribeToTransformTree(t,r,n){if(r.sourceType==="telemetry")return this.addRemovableTelemetrySubscription(t,r,async o=>{let s;for(let g=0;g<o.length;g+=1){const l=o[g];if(l.deviceId===t&&l.name===r.streamName&&l.type==="transform tree"){const[u,c]=l.points[l.points.length-1];s=c}}return{deviceId:t,sourceId:r.id,data:s}},n);throw new Error("not implemented for this source type "+r.sourceType)}subscribeToLocation(t,r,n){throw new Error("Not implemented")}}const NoData=Symbol("no_data"),LoadingData=Symbol("loading_data"),FailedData=Symbol("failed_data");class TelemetryUniverseData extends BasicUniverseDataConnector{constructor(){super();de(this,"liveIntervalHandle");de(this,"timeFinders",[]);de(this,"videoCache",new StoreCache({capacity:50}));this.timeChangeListeners.push(this.onTimeChange.bind(this)),this.onTimeChange("live")}subscribeToBitset(r,n,o){throw new Error("Method not implemented for telemetry universe connector.")}subscribeToPath(r,n,o){if(n.sourceType!=="telemetry")throw new Error("Telemetry sources only supported");return this.subscribeTelemetry(r,n,"localization",async s=>{if(s==="too much data"||s===void 0){o(NoData);return}const g=s[s.length-1][1];let l=g;g.url&&(l=await(await fetch(g.url)).json()),l.path&&o({worldToLocal:l.path.worldToLocal,poses:l.path.poses})})}onTimeChange(r){r==="live"?this.liveIntervalHandle=setInterval(()=>{this.findDataForTime(new Date)},300):(this.liveIntervalHandle&&clearInterval(this.liveIntervalHandle),this.findDataForTime(r))}findDataForTime(r){this.timeFinders.forEach(n=>{n(r)})}addFinder(r,n,o,s,g){const l=u=>{let c;g?c=addYears(u,-1):c=addSeconds(u,-15);let p;g?p=u:p=addSeconds(u,5);let v=this.queryStore.moduleQuery({deviceIds:[n]},o,s,c,p,g);if(v===void 0)r(void 0);else if(v==="too much data")r("too much data");else if(v.length>0){const y=v[0].points;if(y.length>0){const f=y[y.length-1];if(g){let h=f[0],w=f[1];y.forEach(C=>{const L=C[0],T=C[1];Math.abs(L-u.getTime())<Math.abs(h-u.getTime())&&(h=L,w=T)}),r([[h,w]])}else r(y)}else r(void 0)}else r(void 0)};return this.timeFinders.push(l),l}removeFinder(r){this.timeFinders=this.timeFinders.filter(n=>n!==r)}subscribeTelemetry(r,n,o,s){if(n.sourceType!=="telemetry")throw new Error("Invalid source type");const g=this.addFinder(s,r,n.streamName,o,n.latestDataPoint||!1);return()=>{this.removeFinder(g)}}subscribeToPointCloud(r,n,o){if(n.sourceType!=="telemetry")throw new Error("Telemetry sources only supported");const s=this.getAvailablePCDWorker();if(!s)throw new Error("No available pointcloud worker");const g=async()=>new Promise(c=>{const p=f=>{_(),y(),c(f)},v={...n,latestDataPoint:!0},_=this.subscribeTelemetry(r,v,"point cloud",async f=>{f!==void 0&&typeof f!="symbol"&&p("pointcloud")}),y=this.subscribeTelemetry(r,v,"localization",async f=>{f!==void 0&&typeof f!="symbol"&&p("localization")})});let l=()=>{},u=()=>{};return g().then(c=>{c==="pointcloud"?l=this.subscribeTelemetry(r,n,"point cloud",async p=>{if(p==="too much data"||p===void 0){o(NoData);return}const v=p[p.length-1][1];if(typeof v=="string")o(JSON.parse(v));else{const{url:_}=v;s.postMessage({url:_}),s.onmessage=y=>{y.data.url===_&&o({worldToLocal:v.worldToLocal,pcd:y.data.pcd})}}}):c==="localization"&&(u=this.subscribeTelemetry(r,n,"localization",async p=>{if(p==="too much data"||p===void 0){o(NoData);return}let v=p[p.length-1][1];if(v.url&&(v=await(await fetch(v.url)).json()),v.pointClouds){const{url:_,worldToLocal:y}=v.pointClouds[0];s.postMessage({url:_}),s.onmessage=f=>{f.data.url===_&&o({worldToLocal:y,pcd:f.data.pcd})}}}))}),()=>{this.releasePCDWorker(s),l(),u()}}subscribeToOdometry(r,n,o){if(n.sourceType!=="telemetry")throw new Error("Telemetry sources only supported");const s=this.getAvailableDataFetchWorker();if(!s)throw new Error("No available data fetch worker");return this.subscribeTelemetry(r,n,"localization",async g=>{if(g==="too much data"||g===void 0){o(NoData);return}const l=g[g.length-1][1];let u=l;l.url&&(s.postMessage({url:l.url}),s.onmessage=c=>{u=c.data.response,u.odometry&&o({worldToLocal:u.odometry.worldToLocal,pose:{translation:{x:u.odometry.pose.translation.x,y:u.odometry.pose.translation.y,z:u.odometry.pose.translation.z},rotation:{x:u.odometry.pose.rotation.x,y:u.odometry.pose.rotation.y,z:u.odometry.pose.rotation.z,w:u.odometry.pose.rotation.w}},covariance:[]})})})}subscribeToPose(r,n,o){throw new Error("Method not implemented for telemetry universe connector.")}subscribeToGeometry(r,n,o){if(n.sourceType==="telemetry"){const s=this.getAvailableDataFetchWorker();if(!s)throw new Error("No available data fetch worker");return this.subscribeTelemetry(r,n,"json",async g=>{if(g==="too much data"||g===void 0){o(NoData);return}let l=g[g.length-1][1];l.startsWith("http")&&(s.postMessage({url:l}),s.onmessage=u=>{l=JSON.stringify(u.data.response),o(JSON.parse(l))})})}else throw new Error("Realtime geometry note supported")}subscribeToJointState(r,n,o){return this.subscribeToJson(r,n,o)}subscribeToGridMap(r,n,o){if(n.sourceType!=="telemetry")throw new Error("Telemetry sources only supported");const s=this.getAvailableDataFetchWorker();if(!s)throw new Error("No available data fetch worker");return this.subscribeTelemetry(r,n,"localization",async g=>{if(g==="too much data"||g===void 0){o(NoData);return}const l=g[g.length-1][1];let u=l;l.url&&(s.postMessage({url:l.url}),s.onmessage=async c=>{if(u=c.data.response,u.map){const p=document.createElement("canvas"),v=await this.fetchImage(u.map.url);p.width=v.width,p.height=v.height;const _=p.getContext("2d");_&&_.drawImage(v,0,0);const y=_==null?void 0:_.getImageData(0,0,v.width,v.height),f=[];if(y)for(let w=0;w<y.data.length;w+=4){const C=y.data[w];f.push(C)}const h={width:u.map.width,height:u.map.height,worldToLocal:u.map.worldToLocal,resolution:u.map.resolution,origin:u.map.origin,canvas:p,data:f};o(h)}})})}subscribeToVideo(r,n,o){if(n.sourceType!=="telemetry")throw new Error("Telemetry sources only supported");return this.subscribeTelemetry(r,n,"video",async s=>{if(s==="too much data"||s===void 0){o(NoData);return}const g=s[s.length-1][1],{url:l}=g,u=this.videoCache.get(l,async()=>new Promise(c=>{const p=document.createElement("video");p.src=l,p.onload=()=>{}}));if(u){const c=document.createElement("canvas");c.width=u.videoWidth,c.height=u.videoHeight;const p=c.getContext("2d");p&&p.drawImage(u,0,0),o(c)}})}subscribeToTransformTree(r,n,o){if(n.sourceType!=="telemetry")throw new Error("Telemetry sources only supported");return this.subscribeTelemetry(r,n,"transform tree",async s=>{if(s==="too much data"||s===void 0){o(NoData);return}o(s[s.length-1][1])})}subscribeToLocation(r,n,o){if(n.sourceType!=="telemetry")throw new Error("Telemetry sources only supported");const s=this.subscribeToJson(r,n,o),g=this.subscribeTelemetry(r,n,"location",async l=>{if(l==="too much data"||l===void 0){o(NoData);return}const u=l[l.length-1][1];o(u)});return()=>{s(),g()}}subscribeToJson(r,n,o){if(n.sourceType!=="telemetry")throw new Error("Telemetry sources only supported");return this.subscribeTelemetry(r,n,"json",async s=>{if(s==="too much data"||s===void 0){o(NoData);return}let g=s[s.length-1][1];g.startsWith("http")&&(g=await(await fetch(g)).text()),o(JSON.parse(g))})}subscribeToText(r,n,o){if(n.sourceType!=="telemetry")throw new Error("Telemetry sources only supported");return this.subscribeTelemetry(r,n,"text",async s=>{if(s==="too much data"||s===void 0){o(NoData);return}o(s[s.length-1][1])})}subscribeToNumeric(r,n,o){if(n.sourceType!=="telemetry")throw new Error("Telemetry sources only supported");return this.subscribeTelemetry(r,n,"numeric",async s=>{if(s==="too much data"||s===void 0){o(NoData);return}o(s)})}subscribeToNumericSet(r,n,o){if(n.sourceType!=="telemetry")throw new Error("Telemetry sources only supported");return this.subscribeTelemetry(r,n,"numeric set",async s=>{if(s==="too much data"||s===void 0){o(NoData);return}o(s)})}subscribeToImage(r,n,o){if(n.sourceType!=="telemetry")throw new Error("Telemetry sources only supported");return this.subscribeTelemetry(r,n,"image",async s=>{if(s==="too much data"||s===void 0){o(NoData);return}const g=s[s.length-1][1].url,l=new Image;l.src=g,l.onload=()=>{const u=document.createElement("canvas");u.width=l.width,u.height=l.height;const c=u.getContext("2d");c&&(c.drawImage(l,0,0),o(u))}})}}exports.Account=Account;exports.App=App;exports.AudioPlayer=AudioPlayer;exports.Authentication=Authentication;exports.BasicUniverseDataConnector=BasicUniverseDataConnector;exports.BinaryRequestDataChannel=BinaryRequestDataChannel;exports.CaptureStream=CaptureStream;exports.DataChannel=DataChannel;exports.Device=Device;exports.FailedData=FailedData;exports.Fleet=Fleet;exports.KeyValue=KeyValue;exports.LiveUniverseData=LiveUniverseData;exports.LoadingData=LoadingData;exports.Manipulator=Manipulator;exports.NoData=NoData;exports.PeerDevice=PeerDevice;exports.QueryStore=QueryStore;exports.Role=Role;exports.SessionType=SessionTypeConstants;exports.TelemetryUniverseData=TelemetryUniverseData;exports.TextRequestDataChannel=TextRequestDataChannel;exports.User=User;exports.accessLevels=accessLevels;exports.administrator=administrator;exports.aggregateByDateFunctions=aggregateByDateFunctions;exports.aggregateFunctionMap=aggregateFunctionMap;exports.aggregateFunctions=aggregateFunctions;exports.aggregateLevels=aggregateLevels;exports.annotationTypes=annotationTypes;exports.createRtcStreamMessage=distExports.createRtcStreamMessage;exports.defined=defined$1;exports.definedAndNotNull=definedAndNotNull;exports.eventTypes=eventTypes;exports.formatTimeFrameText=formatTimeFrameText;exports.getAverage=getAverage;exports.getCount=getCount;exports.getMax=getMax;exports.getMin=getMin;exports.getStandardDeviation=getStandardDeviation;exports.getSum=getSum;exports.getVariance=getVariance;exports.healthStatuses=healthStatuses;exports.interventionTypes=interventionTypes;exports.operator=operator;exports.severities=severities;exports.timeout=timeout;exports.vailableAggregationIntervals=vailableAggregationIntervals;exports.videoMimeTypes=videoMimeTypes;exports.viewer=viewer;
+        `,o=[1.16438,0,1.59603,-.87079,1.16438,-.39176,-.81297,.52959,1.16438,2.01723,0,-1.08139,0,0,0,1],s=t.createShader(t.VERTEX_SHADER);if(!s)throw new Error("Failed to create vertex shader");t.shaderSource(s,r),t.compileShader(s);const g=t.createShader(t.FRAGMENT_SHADER);if(!g)throw new Error("Failed to create fragment shader");t.shaderSource(g,n),t.compileShader(g);const l=t.createProgram();if(!l)throw new Error("Failed to create webgl program");t.attachShader(l,s),t.attachShader(l,g),t.linkProgram(l),t.useProgram(l);const u=t.getUniformLocation(l,"YUV2RGB");return t.uniformMatrix4fv(u,!1,o),l}initBuffers(){const{gl:t,program:r}=this,n=t.createBuffer();t.bindBuffer(t.ARRAY_BUFFER,n),t.bufferData(t.ARRAY_BUFFER,new Float32Array([1,1,-1,1,1,-1,-1,-1]),t.STATIC_DRAW);const o=t.getAttribLocation(r,"vertexPos");t.enableVertexAttribArray(o),t.vertexAttribPointer(o,2,t.FLOAT,!1,0,0);const s=t.createBuffer();if(!s)throw new Error("Failed to create WebGL buffer");t.bindBuffer(t.ARRAY_BUFFER,s),t.bufferData(t.ARRAY_BUFFER,new Float32Array([1,0,0,0,1,1,0,1]),t.STATIC_DRAW);const g=t.getAttribLocation(r,"texturePos");return t.enableVertexAttribArray(g),t.vertexAttribPointer(g,2,t.FLOAT,!1,0,0),{texturePosBuffer:s}}initTextures(){const{gl:t,program:r}=this,n=this.initTexture(),o=t.getUniformLocation(r,"yuvSampler");return t.uniform1i(o,0),{textureRef:n}}initTexture(){const{gl:t}=this,r=t.createTexture();if(!r)throw new Error("Failed to initialize texture");return t.bindTexture(t.TEXTURE_2D,r),t.texParameteri(t.TEXTURE_2D,t.TEXTURE_MAG_FILTER,t.NEAREST),t.texParameteri(t.TEXTURE_2D,t.TEXTURE_MIN_FILTER,t.NEAREST),t.texParameteri(t.TEXTURE_2D,t.TEXTURE_WRAP_S,t.CLAMP_TO_EDGE),t.texParameteri(t.TEXTURE_2D,t.TEXTURE_WRAP_T,t.CLAMP_TO_EDGE),t.bindTexture(t.TEXTURE_2D,null),r}}const decoderNotWorkingThreshold=duration$1.second*2.5,warnPerformanceThreshold=duration$1.second/3,noSignalThreshold=duration$1.second*2,maxQueueSize=5,maxDropRatio=30/25,numRetries=5,hardwareIncompatibleErrorCode=1282;class H264BytestreamCanvasDrawer{constructor(t,r,n,o,s){__publicField(this,"_waitingForDecoder",!0),__publicField(this,"_noSignal",!0),__publicField(this,"_lostSignal",!1),__publicField(this,"_overWaitingThreshold",!1),__publicField(this,"_retries",0),__publicField(this,"_webglYUVSupported"),__publicField(this,"lastDecodedFrameTime"),__publicField(this,"lastReceivedFrameTime"),__publicField(this,"lastNoSignalTime",new Date().getTime()),__publicField(this,"moduleStartTime",Date.now()),__publicField(this,"moduleCreateTime",Date.now()),__publicField(this,"timesRestarted",0),__publicField(this,"canvas"),__publicField(this,"decoder"),__publicField(this,"yuvCanvas"),__publicField(this,"webglContext"),__publicField(this,"frameQueue",[]),__publicField(this,"minFrameSize",1/0),__publicField(this,"maxFrameSize",0),__publicField(this,"decoderQueue",[]),__publicField(this,"decoderQueueLocked",!1),__publicField(this,"decodeNextFrameAttempted",!1),__publicField(this,"numFramesDecoded",0),__publicField(this,"numFramesReceived",0),__publicField(this,"hasReceivedKeyframe",!1),__publicField(this,"medianFrameSize",0),__publicField(this,"currentFrameIndex"),__publicField(this,"frameCheckpointMap",new Map),__publicField(this,"lastDrawnFrameTime"),__publicField(this,"minJitter"),__publicField(this,"maxJitter"),__publicField(this,"start",()=>{const{canvas:g}=this;if(!g)return;const l=g.getContext("webgl");this.webglContext=l||void 0,this.lastDecodedFrameTime=void 0,this.lastReceivedFrameTime=void 0,this.hasReceivedKeyframe=!1,this.currentFrameIndex=void 0,!(!this.canvas||!this.webglContext)&&(this.yuvCanvas||(this.yuvCanvas=new YUVCanvas(this.webglContext)),this.moduleStartTime=Date.now())}),__publicField(this,"stop",()=>{var g;(g=this.decoder)==null||g.release(),this.webglContext=void 0,this.decoderQueueLocked=!1}),__publicField(this,"reset",()=>{this.retries=0,this.restart()}),__publicField(this,"notifyWarningTextChanged",()=>{var g;(g=this.onWarningTextChanged)==null||g.call(this,this.getWarningText())}),__publicField(this,"restart",()=>{console.info("Restarting decoder"),console.info("BytestreamPlayer restarting",__spreadProps(__spreadValues({},this.trackInfo),{Restart:this.timesRestarted})),this.frameQueue=[],this.decoderQueue=[],this.stop(),this.decoder=new H264Decoder(this.workerFactory(),this.onReceiveDecodedFrame,this.onDecoderError),this.start(),this.retries++,this.timesRestarted++}),__publicField(this,"onTrackTick",()=>{if(this.numFramesDecoded===0){if(this.lastDecodedFrameTime===void 0){const p=Date.now();console.info("BytestreamPlayer waiting for video",__spreadProps(__spreadValues({},this.trackInfo),{"Time Waited":p-this.moduleCreateTime}))}return}this.numFramesReceived/this.numFramesDecoded>maxDropRatio&&this.warnPerformanceProblems(),this.numFramesReceived=0,this.numFramesDecoded=0;const l=Array.from(this.frameCheckpointMap.entries()).reduce((p,[v,_])=>{var y;return!this.currentFrameIndex||v>this.currentFrameIndex-60||_==="FrameDrawn"||(p[_]=((y=p[_])!=null?y:0)+1,this.frameCheckpointMap.delete(v)),p},{});Object.keys(l).map(p=>{console.info("BytestreamPlayer Frame Dropped",__spreadProps(__spreadValues({},this.trackInfo),{"Num Dropped":l[p],"Frame State":p}))});const{minJitter:u,maxJitter:c}=this;u&&c&&(console.info("BytestreamPlayer Jitter",__spreadProps(__spreadValues({},this.trackInfo),{minJitter:u,maxJitter:c})),this.minJitter=void 0,this.maxJitter=void 0)}),__publicField(this,"onTick",()=>{var g;const{lastReceivedFrameTime:l,lastDecodedFrameTime:u,moduleStartTime:c,noSignal:p,retries:v}=this,_=new Date().getTime();p&&(this.lastNoSignalTime=_),this.overWaitingThreshold=_-c>noSignalThreshold;const y=_-c>decoderNotWorkingThreshold;if(!u){l&&y&&v<numRetries&&(this.waitingForDecoder=!0,this.restart());return}if(l){const f=_-l,h=_-u;_-this.lastNoSignalTime>noSignalThreshold&&f<warnPerformanceThreshold&&h>warnPerformanceThreshold&&this.warnPerformanceProblems(),f>noSignalThreshold&&(this.lostSignal=!0)}this.overWaitingThreshold&&(this.waitingForDecoder||this.noSignal||this.lostSignal)&&((g=this.onCanvasDrawerWarning)==null||g.call(this,"ShouldDisableControl"))}),__publicField(this,"receiveEncodedFrame",g=>{if(!g)return;const l=g.index;if(l&&this.frameCheckpointMap.set(l,"FrameReceived"),!(!g||!this.canvas||!this.webglContext)){if(this.isKeyframe(g),!this.hasReceivedKeyframe)return console.info("Dropping frame because no keyframe detected"),!1;this.lastReceivedFrameTime===void 0&&console.debug("Received first frame on bytestream player",__spreadValues({},this.trackInfo)),this.checkOrder(g),this.numFramesReceived++,this.lastReceivedFrameTime=Date.now(),this.lostSignal&&this.restart(),this.noSignal=!1,this.lostSignal=!1,this.frameQueue.push(g),l&&this.frameCheckpointMap.set(l,"FrameQueued"),this.frameQueue.length>maxQueueSize&&(this.frameQueue=this.frameQueue.filter(u=>this.isKeyframe(u))),this.frameQueue.length>maxQueueSize&&(this.frameQueue=[],this.decoderQueue=[]),this.decodeNextFrame()}}),__publicField(this,"onDecoderError",g=>{this.frameQueue=[],this.decoderQueue=[],this.hasReceivedKeyframe=!1,console.info("BytestreamPlayer decode error",__spreadProps(__spreadValues({},this.trackInfo),{"Frame Index":g}))}),__publicField(this,"onReceiveDecodedFrame",g=>{var l,u;const{canvas:c,yuvCanvas:p,decoderQueue:v}=this,{timestamp:_,yuv:y,height:f,width:h,index:w}=g;this.frameCheckpointMap.set(w,"FrameDecoded"),this.numFramesDecoded++;const C=Date.now();if(this.lastDecodedFrameTime===void 0&&console.info("BytestreamPlayer started video",__spreadProps(__spreadValues({},this.trackInfo),{"Time Until Video":C-this.moduleCreateTime})),this.lastDecodedFrameTime=C,this.waitingForDecoder=!1,this.decoderQueue=v.filter(E=>C-E<duration$1.second*.5&&E!==_),!v.includes(_)||C-_>duration$1.second||!p||!c||f===0||h===0)return;f!==c.height&&(c.height=f,p.height=f),h!==c.width&&(c.width=h,p.width=h);const L=p.draw(y),T=Date.now();if(this.lastDrawnFrameTime){const E=T-this.lastDrawnFrameTime;this.minJitter=Math.min(E,(l=this.minJitter)!=null?l:Number.MAX_SAFE_INTEGER),this.maxJitter=Math.max(E,(u=this.maxJitter)!=null?u:0)}this.lastDrawnFrameTime=T,this.frameCheckpointMap.set(w,"FrameDrawn"),L===0&&(this.webglYUVSupported=!0),L===hardwareIncompatibleErrorCode&&(this.webglYUVSupported=!1),this.frameQueue.length>0&&this.decodeNextFrame()}),this.workerFactory=t,this.onWebglYUVSupportedChanged=r,this.onWarningTextChanged=n,this.onCanvasDrawerWarning=o,this.trackInfo=s,this.decoder=new H264Decoder(this.workerFactory(),this.onReceiveDecodedFrame,this.onDecoderError),setInterval(this.onTick,duration$1.millisecond*200),setInterval(this.onTrackTick,duration$1.second*5)}get waitingForDecoder(){return this._waitingForDecoder}set waitingForDecoder(t){this._waitingForDecoder=t,this.notifyWarningTextChanged()}get noSignal(){return this._noSignal}set noSignal(t){this._noSignal=t,this.notifyWarningTextChanged()}get lostSignal(){return this._lostSignal}set lostSignal(t){this._lostSignal=t,this.notifyWarningTextChanged()}get overWaitingThreshold(){return this._overWaitingThreshold}set overWaitingThreshold(t){this._overWaitingThreshold=t,this.notifyWarningTextChanged()}get retries(){return this._retries}set retries(t){this._retries=t,this.notifyWarningTextChanged()}get webglYUVSupported(){return this._webglYUVSupported}set webglYUVSupported(t){var r;this._webglYUVSupported=t,(r=this.onWebglYUVSupportedChanged)==null||r.call(this,t),this.notifyWarningTextChanged()}setCanvas(t){this.canvas=t}getWarningText(){var t;const{waitingForDecoder:r,noSignal:n,overWaitingThreshold:o,lostSignal:s,retries:g,webglYUVSupported:l}=this,u=l===!1,p=r?g===numRetries?"Decoder failed to start":"Starting decoder":void 0,v=u?"Hardware decoding not supported on this device":void 0,_=s?"Lost signal":n?o?"No signal":"Waiting for signal":void 0;return(t=v!=null?v:_)!=null?t:p}decodeNextFrame(){if(this.decoderQueueLocked&&(this.decodeNextFrameAttempted=!0),this.decoderQueueLocked=!0,this.decoderQueue.length>maxQueueSize){this.decoderQueueLocked=!1,this.decodeNextFrameAttempted=!1;return}const t=this.frameQueue.shift();if(!t){this.decoderQueueLocked=!1,this.decodeNextFrameAttempted=!1;return}const r=Date.now();this.frameCheckpointMap.set(t.index,"FrameSentToDecoder"),this.decoder.post(r,t.frame_data,t.flags,t.index),this.decoderQueue.push(r),this.decoderQueueLocked=!1,this.decodeNextFrameAttempted&&(this.decodeNextFrameAttempted=!1,this.decodeNextFrame())}warnPerformanceProblems(){var t;this.lastDecodedFrameTime&&this.overWaitingThreshold&&!this.lostSignal&&!this.noSignal&&((t=this.onCanvasDrawerWarning)==null||t.call(this,"ShouldDegradeVideo"))}checkOrder(t){if(this.currentFrameIndex!==void 0&&t.index<this.currentFrameIndex){console.info("Out of order frame detected"),console.info("Frame out of order",__spreadValues({},this.trackInfo));return}this.currentFrameIndex=t.index}isKeyframe(t){const{maxFrameSize:r,minFrameSize:n}=this;if(t.flags===3)return this.hasReceivedKeyframe||(this.frameCheckpointMap=new Map),this.hasReceivedKeyframe=!0,!0;const o=t.frame_data.length;return this.maxFrameSize=Math.max(o,r),this.minFrameSize=Math.min(o,n),this.medianFrameSize=(this.maxFrameSize+this.minFrameSize)/2,this.moduleStartTime+duration$1.second*2>Date.now()?!1:o>this.medianFrameSize?(this.hasReceivedKeyframe=!0,!0):!1}}const millisecond=1,second=1e3,minute=60*second,hour=60*minute,day=24*hour,week=7*day,month=30*day,year=365*day,duration={millisecond,second,minute,hour,day,week,month,year};function filterDataByType(e,t){return e.filter(r=>r.type===t)}function filterDataByTime(e,t,r){const n=t.getTime(),o=r.getTime();return e.map(s=>({...s,points:s.points.filter(([g])=>g>=n&&g<o)})).filter(({points:s})=>s.length>0)}function fork(e){}class StoreCache{constructor({capacity:t,timeout:r}={}){de(this,"entries",new Map);de(this,"metadata",new Map);de(this,"capacity");de(this,"timeout");this.capacity=t||1e4,this.timeout=r||duration.minute}get(t,r){const n=this.keyToCacheKey(t),o=this.entries.get(n),s=this.metadata.get(n);return(o===void 0||s&&(s==null?void 0:s.expiration.getTime())<Date.now())&&!(s!=null&&s.generating)&&r&&this.generate(t,r()),o===void 0&&s&&s.lastValue!==void 0?s.lastValue:o}set(t,r){const n=this.keyToCacheKey(t);this.metadata.set(n,{generating:!1,expiration:new Date(Date.now()+this.timeout),lastValue:r}),this.entries.set(n,r),this.metadata.size>this.capacity&&this.deleteOldestEntry()}clear(){this.entries.clear(),[...this.metadata.values()].forEach(t=>t.generating=!1)}clearKey(t){this.metadata.delete(t),this.entries.delete(t)}keyToCacheKey(t){return JSON.stringify(t)}deleteOldestEntry(){if(this.metadata.size<1)return;const[t]=[...this.metadata.entries()].reduce(([r,n],[o,s])=>s.expiration.getTime()<n.expiration.getTime()?[o,s]:[r,n]);this.clearKey(t)}generate(t,r){const n=this.keyToCacheKey(t),o=this.metadata.get(n)||{};this.metadata.set(n,{...o,generating:!0,expiration:new Date(Date.now()+this.timeout)}),setTimeout(()=>{r.then(s=>{const g=this.metadata.get(n);!(g!=null&&g.generating)||this.set(t,s)})},0)}}function roundToNearestSecond(e){return new Date(Math.round(e.getTime()/1e3)*1e3)}class QueryStore{constructor(){de(this,"queryStoreCache",new StoreCache({capacity:1e4,timeout:20*duration.second}));de(this,"liveQueryStoreCache",new StoreCache({capacity:1e4,timeout:1*duration.second}))}moduleQuery(t,r,n,o,s,g=!1){const l={...t,names:[r],types:[n],start:o.toISOString(),end:s.toISOString(),latestOnly:g},u=this.query(l);return u===void 0||u==="too much data"?u:filterDataByType(u,n)}query(t){const r=new Date(t.end)>addSeconds(new Date,-20),n=startOfMinute(new Date(t.start)).toISOString(),o=t.latestOnly?addSeconds(roundToNearestSecond(new Date(t.end)),5).toISOString():addMinutes(roundToNearestMinutes(new Date(t.end)),1).toISOString();let s;return r?s=this.liveQueryCache({...t,start:n,end:o}):s=this.queryCache({...t,start:n,end:o}),!s||s==="too much data"||t.latestOnly?s:filterDataByTime(s,new Date(n),new Date(o))}queryCache(t){return this.queryStoreCache.get(t,async()=>{try{return await Fleet.queryTelemetry(t)}catch(r){throw r}})}liveQueryCache(t){return this.liveQueryStoreCache.get(t,async()=>{try{return await Fleet.queryTelemetry(t)}catch(r){throw r}})}}const debug=new URLSearchParams(window.location.search).get("debug")==="true",PCD_WORKER_POOL_SIZE=5,DATA_FETCH_WORKER_POOL_SIZE=10;class BasicUniverseDataConnector{constructor(){de(this,"pcdWorkerPool",[]);de(this,"dataFetchWorkerPool",[]);de(this,"pcdWorkerPoolOccupancy",[!1,!1,!1,!1,!1]);de(this,"dataFetchWorkerPoolOccupancy",[!1,!1,!1,!1,!1,!1,!1,!1,!1,!1]);de(this,"subscriberSources",new Map);de(this,"subscriberLoaders",new Map);de(this,"subscriberDistributorsLoaders",new Map);de(this,"mapRealtimeConnections",new Map);de(this,"lastQueriedHistoricTime");de(this,"time");de(this,"timeChangeListeners",[]);de(this,"queryStore",new QueryStore);this.time="live";for(let r=0;r<PCD_WORKER_POOL_SIZE;r++){const n=new Worker(new URL("/assets/PcdLoaderWorker-eaac0b31.js",self.location));this.pcdWorkerPool.push(n)}for(let r=0;r<DATA_FETCH_WORKER_POOL_SIZE;r++){const n=new Worker(new URL("/assets/DataFetchWorker-0a168933.js",self.location));this.dataFetchWorkerPool.push(n)}const t=async()=>{if(Array.from(this.subscriberLoaders.keys()).length>0){const r=[],n=this.generateTelemetryFilter(),o=this.queryStore.query(n);if(!o||o==="too much data")return;o.forEach(u=>{r.push(u.deviceId)});const s=Array.from(new Set(r)),g=[];s.forEach(u=>{const c=this.subscriberLoaders.get(u);c&&c.forEach(p=>{g.push(p(o))})}),(await Promise.all(g)).forEach(u=>{if(u.data){const c=this.subscriberDistributorsLoaders.get(u.deviceId);if(c){const p=c.get(u.sourceId);p&&p.forEach(v=>{v(u.data)})}}})}setTimeout(()=>t(),0)};setTimeout(()=>t(),0)}setTime(t){t!=="live"&&(this.time=t),this.timeChangeListeners.forEach(r=>r(t))}getAvailablePCDWorker(){for(let t=0;t<PCD_WORKER_POOL_SIZE;t++)if(!this.pcdWorkerPoolOccupancy[t])return this.pcdWorkerPoolOccupancy[t]=!0,this.pcdWorkerPool[t]}getAvailableDataFetchWorker(){for(let t=0;t<DATA_FETCH_WORKER_POOL_SIZE;t++)if(!this.dataFetchWorkerPoolOccupancy[t])return this.dataFetchWorkerPoolOccupancy[t]=!0,this.dataFetchWorkerPool[t]}releasePCDWorker(t){const r=this.pcdWorkerPool.indexOf(t);this.pcdWorkerPoolOccupancy[r]=!1}releaseDataFetchWorker(t){const r=this.dataFetchWorkerPool.indexOf(t);this.dataFetchWorkerPoolOccupancy[r]=!1}clearWorkerPool(){for(let t=0;t<PCD_WORKER_POOL_SIZE;t++)this.pcdWorkerPoolOccupancy[t]=!1;for(let t=0;t<DATA_FETCH_WORKER_POOL_SIZE;t++)this.dataFetchWorkerPoolOccupancy[t]=!1}generateTelemetryFilter(){const t=Array.from(this.subscriberSources.keys()),r=[];return t.forEach(n=>{const o=this.subscriberSources.get(n);o&&Array.from(o==null?void 0:o.values()).forEach(s=>{s.sourceType==="telemetry"&&r.push(s.streamName)})}),{deviceIds:t,names:r,start:subDays(new Date,20).toISOString(),end:new Date().toISOString(),latestOnly:!0}}async sendRtcMessage(t,r){await this.createRealtimeConnection(t);const n=this.mapRealtimeConnections.get(t);n&&n!=="loading"&&n&&n.sendRealtimeMessage(r,{channelLabel:"stream.reliable"})}async createRealtimeConnection(t,r=signaling_pb.SessionType.TELEOP){const n=this.mapRealtimeConnections.get(t);if(n===void 0){this.mapRealtimeConnections.set(t,"loading");const o=t.startsWith("http");console.log("Creating {} realtime connection",o?"peer":"cloud");let s;o?s=new PeerDevice(t):s=await Fleet.getDevice(t),await s.startRealtimeConnection(r),debug&&s.addRealtimeListener((g,l)=>{console.log("received message from peer",g,l)}),this.mapRealtimeConnections.set(t,s)}else n==="loading"&&await new Promise(o=>{const s=setInterval(()=>{const g=this.mapRealtimeConnections.get(t);g&&g!=="loading"&&(clearInterval(s),o())},100)})}addRemovableTelemetrySubscription(t,r,n,o){let s=this.subscriberLoaders.get(t);s||(s=new Map,this.subscriberLoaders.set(t,s)),s.get(r.id)||s.set(r.id,n);let l=this.subscriberDistributorsLoaders.get(t);l||(l=new Map,this.subscriberDistributorsLoaders.set(t,l));const u=l.get(r.id);u?u.push(o):l.set(r.id,[o]);let c=this.subscriberSources.get(t);return c||(c=new Map,this.subscriberSources.set(t,c)),c.set(r.id,r),()=>{const p=this.subscriberLoaders.get(t);p&&p.delete(r.id);const v=this.subscriberDistributorsLoaders.get(t);if(v){const y=v.get(r.id);if(y){const f=y.indexOf(o);f>-1&&y.splice(f,1)}}const _=this.subscriberSources.get(t);_&&_.delete(r.id)}}createH264Drawer(){return new H264BytestreamCanvasDrawer(()=>new Worker("@formant/ui-sdk-realtime-player-core-worker/dist/ui-sdk-realtime-player-core-worker"),()=>{},()=>{})}async sendCommand(t,r,n){const o=this.mapRealtimeConnections.get(t);if(o==="loading"||o===void 0)throw new Error("Device is not ready or doesnt exist");await o.sendCommand(r,n)}async sendRealtimePose(t,r,n){const o=distExports.createRtcStreamMessage({entityId:t,streamName:r,streamType:"pose"},{pose:n},"vision");await this.sendRtcMessage(t,o)}async sendRealtimeBoolean(t,r,n){const o=distExports.createRtcStreamMessage({entityId:t,streamName:r,streamType:"boolean"},{boolean:n});await this.sendRtcMessage(t,o)}async sendRealtimeBitset(t,r,n){const o=distExports.createRtcStreamMessage({entityId:t,streamName:r,streamType:"bitset"},{bitset:{bits:n.keys.map((s,g)=>({key:s,value:n.values[g]}))}});await this.sendRtcMessage(t,o)}async getUrdfs(t){const n=await(await Fleet.getDevice(t)).getConfiguration();return!n.urdfFiles||n.urdfFiles.length===0?[]:[await Fleet.getFileUrl(n.urdfFiles[0])]}async getTelemetryStreams(t){throw new Error("Not implemented")}async getTeleopRosStreams(t){throw new Error("Not implemented")}async getHardwareStreams(t){throw new Error("Not implemented")}addInteraction(t){throw new Error("Method not implemented.")}removeInteraction(t){throw new Error("Method not implemented.")}getInteractions(){throw new Error("Method not implemented.")}addInteractionsChangedListener(t){throw new Error("Method not implemented.")}addInteractionListener(t){throw new Error("Method not implemented.")}getRealtimeButtons(t){throw new Error("Method not implemented.")}async getLatestTransformTrees(t){throw new Error("Not implemented")}async getLatestLocations(){return[{streamName:"spotLocation",location:{latitude:45.4661989,longitude:-122.5782375}}]}async getDeviceContexts(){return[]}async getDeviceContextName(t){throw new Error("Not implemented")}async getTelemetryStreamType(t,r){throw new Error("Not implemented")}async getStatistics(){return{rtcDevices:[]}}subscribeDataSourceStateChange(t,r,n){return()=>{}}async fetchImage(t){const r=new Image;return r.src=t,r.setAttribute("crossOrigin",""),await new Promise(n=>{r.onload=n}),r}}class LiveUniverseData extends BasicUniverseDataConnector{constructor(){super()}subscribeToPath(t,r,n){throw new Error("Method not implemented.")}subscribeToImage(t,r,n){throw new Error("Method not implemented.")}subcribeToVideo(t,r,n){throw new Error("Method not implemented.")}subscribeToBitset(t,r,n){if(r.sourceType==="realtime"){const o=(s,g)=>{if(g.payload.bitset){const l=g.payload.bitset,u={keys:[],values:[]};l.bits.forEach(c=>{u.keys.push(c.key),u.values.push(c.value)}),n(u)}};return this.subscribeToRealtimeMessages(t,r.rosTopicName,o),()=>{this.unsubscribeToRealtimeMessages(t,r.rosTopicName,o)}}throw new Error("Telemetry bitset not implemented")}subscribeToOdometry(t,r,n){if(r.sourceType==="realtime"){const o=(s,g)=>{if(g.payload.odometry){const l=g.payload.odometry;n({worldToLocal:l.worldToLocal,pose:{translation:{x:l.pose.translation.x,y:l.pose.translation.y,z:l.pose.translation.z},rotation:{x:l.pose.rotation.x,y:l.pose.rotation.y,z:l.pose.rotation.z,w:l.pose.rotation.w}},covariance:[]})}};return this.subscribeToRealtimeMessages(t,r.rosTopicName,o),()=>{this.unsubscribeToRealtimeMessages(t,r.rosTopicName,o)}}if(r.sourceType==="telemetry")return this.addRemovableTelemetrySubscription(t,r,async o=>{let s,g;for(let l=0;l<o.length;l+=1){const u=o[l];if(u.deviceId===t&&u.name===r.streamName&&u.type==="localization"){const[c,p]=u.points[u.points.length-1];s=p}}return s&&s.odometry&&(g={worldToLocal:s.odometry.worldToLocal,pose:{translation:{x:s.odometry.pose.translation.x,y:s.odometry.pose.translation.y,z:s.odometry.pose.translation.z},rotation:{x:s.odometry.pose.rotation.x,y:s.odometry.pose.rotation.y,z:s.odometry.pose.rotation.z,w:s.odometry.pose.rotation.w}},covariance:[]}),{deviceId:t,sourceId:r.id,data:g}},n);throw new Error("unexpected")}subscribeToPose(t,r,n){if(r.sourceType==="realtime"){const o=(s,g)=>{g.payload.pose&&n(g.payload.pose)};return this.subscribeToRealtimeMessages(t,r.rosTopicName,o),()=>{this.unsubscribeToRealtimeMessages(t,r.rosTopicName,o)}}throw new Error("unexpected")}subscribeToNumeric(t,r,n){if(r.sourceType==="realtime"){const o=async(s,g)=>{g.payload.numeric&&n([[Date.now(),g.payload.numeric.value]])};return this.subscribeToRealtimeMessages(t,r.rosTopicName,o),()=>{this.unsubscribeToRealtimeMessages(t,r.rosTopicName,o)}}return()=>{}}subscribeToNumericSet(t,r,n){if(r.sourceType==="telemetry"){let o;const s=setInterval(async()=>{o||(o=await Fleet.getDevice(t));const g=new Date,l=new Date(g.getTime()-15*1e3),u=await o.getTelemetry(r.streamName,l,g);if(u.length>0){const c=u[0].points;n(c)}},1e3);return()=>{clearInterval(s)}}return()=>{}}async subscribeToRealtimeMessages(t,r,n){await this.createRealtimeConnection(t,signaling_pb.SessionType.OBSERVE);const o=this.mapRealtimeConnections.get(t);o&&o!=="loading"&&(o.startListeningToRealtimeDataStream({name:r}),o.addRealtimeListener((s,g)=>{g.header.stream.streamName===r&&n(s,g)}))}async unsubscribeToRealtimeMessages(t,r,n){const o=this.mapRealtimeConnections.get(t);o&&o!=="loading"&&(o.stopListeningToRealtimeDataStream({name:r}),o.removeRealtimeListener(n))}subscribeToJson(t,r,n){if(r.sourceType==="telemetry")return this.addRemovableTelemetrySubscription(t,r,async o=>{let s,g;for(let l=0;l<o.length;l+=1){const u=o[l];if(u.deviceId===t&&u.name===r.streamName&&u.type==="json"){const[c,p]=u.points[u.points.length-1];s=p}}return s&&(g=await fetch(s).then(l=>l.json())),{deviceId:t,sourceId:r.id,data:g}},n);if(r.sourceType==="realtime"){const o=async(s,g)=>{g.payload.jsonString&&n(JSON.parse(g.payload.jsonString.value))};return this.subscribeToRealtimeMessages(t,r.rosTopicName,o),()=>{this.unsubscribeToRealtimeMessages(t,r.rosTopicName,o)}}return()=>{}}subscribeToText(t,r,n){return r.sourceType==="telemetry"?this.addRemovableTelemetrySubscription(t,r,async o=>{let s,g;for(let l=0;l<o.length;l+=1){const u=o[l];if(u.deviceId===t&&u.name===r.streamName&&u.type==="text"){const[c,p]=u.points[u.points.length-1];s=p}}return s&&(g=await fetch(s).then(l=>l.text())),{deviceId:t,sourceId:r.id,data:g}},n):()=>{}}subscribeToPointCloud(t,r,n){const o=this.getAvailablePCDWorker();if(!o)throw new Error("No available pointcloud worker");if(r.sourceType==="telemetry"&&r.streamType!=="localization")return this.addRemovableTelemetrySubscription(t,r,async s=>{let g,l;for(let u=0;u<s.length;u+=1){const c=s[u];if(c.deviceId===t&&c.name===r.streamName&&c.type==="point cloud"){const[p,v]=c.points[c.points.length-1];g=v;break}}if(g){const{url:u}=g;l=await new Promise(c=>{o.postMessage({url:u}),o.onmessage=p=>{p.data.url===u&&c(p.data.pcd)}})}return{deviceId:t,sourceId:r.id,data:{worldToLocal:g==null?void 0:g.worldToLocal,pcd:l}}},n);if(r.sourceType==="telemetry"&&r.streamType==="localization")return this.addRemovableTelemetrySubscription(t,r,async s=>{let g,l;for(let u=0;u<s.length;u+=1){const c=s[u];if(c.deviceId===t&&c.name===r.streamName&&c.type==="localization"){const[p,v]=c.points[c.points.length-1];g=v;break}}if(g&&g.pointClouds){const{url:u}=g.pointClouds[0];l=await new Promise(c=>{o.postMessage({url:u}),o.onmessage=p=>{p.data.url===u&&c(p.data.pcd)}})}return{deviceId:t,sourceId:r.id,data:{worldToLocal:g&&(g!=null&&g.pointClouds)&&(g!=null&&g.pointClouds[0])?g.pointClouds[0].worldToLocal:void 0,pcd:l}}},n);if(r.sourceType==="realtime"){const s=async(g,l)=>{var u;if(l.payload.pointCloud){const c=Math.random(),p=await new Promise(v=>{o.postMessage({id:c,pointCloud:defined(l.payload.pointCloud).data}),o.onmessage=_=>{_.data.id===c&&v(_.data.pcd)}});n({worldToLocal:(u=l.payload.pointCloud)==null?void 0:u.world_to_local,pcd:p})}};return this.subscribeToRealtimeMessages(t,r.rosTopicName,s),()=>{this.unsubscribeToRealtimeMessages(t,r.rosTopicName,s)}}return()=>{}}subscribeToGeometry(t,r,n){throw new Error("type error in realtime sdk")}subscribeToJointState(t,r,n){if(r.sourceType==="realtime"){const o=(s,g)=>{g.payload.jointState&&n(g.payload.jointState)};return this.subscribeToRealtimeMessages(t,r.rosTopicName,o),()=>{this.unsubscribeToRealtimeMessages(t,r.rosTopicName,o)}}return()=>{}}subscribeToGridMap(t,r,n){if(r.sourceType==="realtime"){const o=(s,g)=>{if(g.payload.jsonString){const l=JSON.parse(g.payload.jsonString.value);n({width:l.info.width,height:l.info.height,worldToLocal:{translation:{x:0,y:0,z:0},rotation:{x:0,y:0,z:0,w:1}},resolution:l.info.resolution,origin:{translation:l.info.origin.position,rotation:l.info.origin.orientation},data:l.data,alpha:l.data.map(()=>255)})}};return this.subscribeToRealtimeMessages(t,r.rosTopicName,o),()=>{this.unsubscribeToRealtimeMessages(t,r.rosTopicName,o)}}else if(r.sourceType==="telemetry"&&r.streamType==="localization")return this.addRemovableTelemetrySubscription(t,r,async o=>{let s,g;for(let l=0;l<o.length;l+=1){const u=o[l];if(u.deviceId===t&&u.name===r.streamName&&u.type==="localization"){const[c,p]=u.points[u.points.length-1];s=p}}if(s&&s.map){const l=document.createElement("canvas"),u=await this.fetchImage(s.map.url);l.width=u.width,l.height=u.height;const c=l.getContext("2d",{willReadFrequently:!0});c&&c.drawImage(u,0,0);const p=c==null?void 0:c.getImageData(0,0,u.width,u.height),v=[],_=[];if(p)for(let y=0;y<p.data.length;y+=4){const f=p.data[y],h=p.data[y+3];v.push(f),_.push(h)}g={width:s.map.width,height:s.map.height,worldToLocal:s.map.worldToLocal,resolution:s.map.resolution,origin:s.map.origin,alpha:_,data:v}}return{deviceId:t,sourceId:r.id,data:g}},n);throw new Error("Not implemented")}subscribeToVideo(t,r,n){const o=this.createH264Drawer(),s=document.createElement("CANVAS");if(s.width=0,s.height=0,o.setCanvas(s),o.start(),r.sourceType==="realtime"){const g=(l,u)=>{u.payload.h264VideoFrame&&(o.receiveEncodedFrame(u.payload.h264VideoFrame),o&&o.canvas&&o.canvas.width>0&&o.canvas.height>0&&n(o.canvas))};return this.subscribeToRealtimeMessages(t,r.rosTopicName,g),()=>{this.unsubscribeToRealtimeMessages(t,r.rosTopicName,g)}}if(r.sourceType==="hardware"){const g=(l,u)=>{u.payload.h264VideoFrame&&(o.receiveEncodedFrame(u.payload.h264VideoFrame),o&&o.canvas&&o.canvas.width>0&&o.canvas.height>0&&n(o.canvas))};return this.subscribeToRealtimeMessages(t,r.rtcStreamName,g),()=>{this.unsubscribeToRealtimeMessages(t,r.rtcStreamName,g)}}return()=>{o.stop()}}subscribeToTransformTree(t,r,n){if(r.sourceType==="telemetry")return this.addRemovableTelemetrySubscription(t,r,async o=>{let s;for(let g=0;g<o.length;g+=1){const l=o[g];if(l.deviceId===t&&l.name===r.streamName&&l.type==="transform tree"){const[u,c]=l.points[l.points.length-1];s=c}}return{deviceId:t,sourceId:r.id,data:s}},n);throw new Error("not implemented for this source type "+r.sourceType)}subscribeToLocation(t,r,n){throw new Error("Not implemented")}}const NoData=Symbol("no_data"),LoadingData=Symbol("loading_data"),FailedData=Symbol("failed_data");class TelemetryUniverseData extends BasicUniverseDataConnector{constructor(){super();de(this,"liveIntervalHandle");de(this,"timeFinders",[]);de(this,"videoCache",new StoreCache({capacity:50}));this.timeChangeListeners.push(this.onTimeChange.bind(this)),this.onTimeChange("live")}subscribeToBitset(r,n,o){throw new Error("Method not implemented for telemetry universe connector.")}subscribeToPath(r,n,o){if(n.sourceType!=="telemetry")throw new Error("Telemetry sources only supported");const s=this.getAvailableDataFetchWorker();if(!s)throw new Error("No available data fetch worker");const g=this.subscribeTelemetry(r,n,"localization",async l=>{if(l==="too much data"||l===void 0){o(NoData);return}const u=l[l.length-1][1];let c=u;u.url&&(s.postMessage({url:u.url}),s.onmessage=p=>{c=p.data.response,c.path&&o({worldToLocal:c.path.worldToLocal,poses:c.path.poses})})});return()=>{this.releaseDataFetchWorker(s),g()}}onTimeChange(r){r==="live"?this.liveIntervalHandle=setInterval(()=>{this.findDataForTime(new Date)},300):(this.liveIntervalHandle&&clearInterval(this.liveIntervalHandle),this.findDataForTime(r))}findDataForTime(r){this.timeFinders.forEach(n=>{n(r)})}addFinder(r,n,o,s,g){const l=u=>{let c;g?c=addYears(u,-1):c=addSeconds(u,-15);let p;g?p=u:p=addSeconds(u,5);let v=this.queryStore.moduleQuery({deviceIds:[n]},o,s,c,p,g);if(v===void 0)r(void 0);else if(v==="too much data")r("too much data");else if(v.length>0){const y=v[0].points;if(y.length>0){const f=y[y.length-1];if(g){let h=f[0],w=f[1];y.forEach(C=>{const L=C[0],T=C[1];Math.abs(L-u.getTime())<Math.abs(h-u.getTime())&&(h=L,w=T)}),r([[h,w]])}else r(y)}else r(void 0)}else r(void 0)};return this.timeFinders.push(l),l}removeFinder(r){this.timeFinders=this.timeFinders.filter(n=>n!==r)}subscribeTelemetry(r,n,o,s){if(n.sourceType!=="telemetry")throw new Error("Invalid source type");const g=this.addFinder(s,r,n.streamName,o,n.latestDataPoint||!1);return()=>{this.removeFinder(g)}}subscribeToPointCloud(r,n,o){if(n.sourceType!=="telemetry")throw new Error("Telemetry sources only supported");const s=this.getAvailablePCDWorker();if(!s)throw new Error("No available pointcloud worker");const g=this.getAvailableDataFetchWorker();if(!g)throw new Error("No available data fetch worker");let l=()=>{},u=()=>{};return n.streamType==="point cloud"?l=this.subscribeTelemetry(r,n,"point cloud",async c=>{if(c==="too much data"||c===void 0){o(NoData);return}const p=c[c.length-1][1];if(typeof p=="string")o(JSON.parse(p));else{const{url:v}=p;s.postMessage({url:v}),s.onmessage=_=>{_.data.url===v&&o({worldToLocal:p.worldToLocal,pcd:_.data.pcd})}}}):n.streamType==="localization"&&(u=this.subscribeTelemetry(r,n,"localization",async c=>{if(c==="too much data"||c===void 0){o(NoData);return}let p=c[c.length-1][1];p.url&&(g.postMessage({url:p.url}),g.onmessage=v=>{if(p=v.data.response,p.pointClouds){const{url:_,worldToLocal:y}=p.pointClouds[0];s.postMessage({url:_}),s.onmessage=f=>{f.data.url===_&&o({worldToLocal:y,pcd:f.data.pcd})}}})})),()=>{this.releasePCDWorker(s),this.releaseDataFetchWorker(g),l(),u()}}subscribeToOdometry(r,n,o){if(n.sourceType!=="telemetry")throw new Error("Telemetry sources only supported");const s=this.getAvailableDataFetchWorker();if(!s)throw new Error("No available data fetch worker");const g=this.subscribeTelemetry(r,n,"localization",async l=>{if(l==="too much data"||l===void 0){o(NoData);return}const u=l[l.length-1][1];let c=u;u.url&&(s.postMessage({url:u.url}),s.onmessage=p=>{c=p.data.response,c.odometry&&o({worldToLocal:c.odometry.worldToLocal,pose:{translation:{x:c.odometry.pose.translation.x,y:c.odometry.pose.translation.y,z:c.odometry.pose.translation.z},rotation:{x:c.odometry.pose.rotation.x,y:c.odometry.pose.rotation.y,z:c.odometry.pose.rotation.z,w:c.odometry.pose.rotation.w}},covariance:[]})})});return()=>{this.releaseDataFetchWorker(s),g()}}subscribeToPose(r,n,o){throw new Error("Method not implemented for telemetry universe connector.")}subscribeToGeometry(r,n,o){if(n.sourceType==="telemetry"){const s=this.getAvailableDataFetchWorker();if(!s)throw new Error("No available data fetch worker");const g=this.subscribeTelemetry(r,n,"json",async l=>{if(l==="too much data"||l===void 0){o(NoData);return}let u=l[l.length-1][1];u.startsWith("http")&&(s.postMessage({url:u}),s.onmessage=c=>{u=JSON.stringify(c.data),o(JSON.parse(u))})});return()=>{this.releaseDataFetchWorker(s),g()}}else throw new Error("Realtime geometry note supported")}subscribeToJointState(r,n,o){return this.subscribeToJson(r,n,o)}subscribeToGridMap(r,n,o){const s={};if(n.sourceType!=="telemetry")throw new Error("Telemetry sources only supported");const g=this.getAvailableDataFetchWorker();if(!g)throw new Error("No available data fetch worker");const l=this.subscribeTelemetry(r,n,"localization",async u=>{if(u==="too much data"||u===void 0){o(NoData);return}const c=u[u.length-1][1];if(c.url){if(s[c.url]){o(s[c.url]);return}g.postMessage({url:c.url}),g.onmessage=async p=>{const v=p.data.response.map;if(v){const _=document.createElement("canvas"),y=await this.fetchImage(v.url);_.width=y.width,_.height=y.height;const f=_.getContext("2d",{willReadFrequently:!0});f&&f.drawImage(y,0,0);const h=f==null?void 0:f.getImageData(0,0,y.width,y.height),w=[],C=[];if(h)for(let T=0;T<h.data.length;T+=4){const E=h.data[T],d=h.data[T+3];w.push(E),C.push(d)}const L={width:v.width,height:v.height,worldToLocal:v.worldToLocal,resolution:v.resolution,origin:v.origin,alpha:C,data:w};s[c.url]=JSON.parse(JSON.stringify(L)),o(L)}}}});return()=>{this.releaseDataFetchWorker(g),l()}}subscribeToVideo(r,n,o){if(n.sourceType!=="telemetry")throw new Error("Telemetry sources only supported");return this.subscribeTelemetry(r,n,"video",async s=>{if(s==="too much data"||s===void 0){o(NoData);return}const g=s[s.length-1][1],{url:l}=g,u=this.videoCache.get(l,async()=>new Promise(c=>{const p=document.createElement("video");p.src=l,p.onload=()=>{}}));if(u){const c=document.createElement("canvas");c.width=u.videoWidth,c.height=u.videoHeight;const p=c.getContext("2d");p&&p.drawImage(u,0,0),o(c)}})}subscribeToTransformTree(r,n,o){if(n.sourceType!=="telemetry")throw new Error("Telemetry sources only supported");return this.subscribeTelemetry(r,n,"transform tree",async s=>{if(s==="too much data"||s===void 0){o(NoData);return}o(s[s.length-1][1])})}subscribeToLocation(r,n,o){if(n.sourceType!=="telemetry")throw new Error("Telemetry sources only supported");const s=this.subscribeToJson(r,n,o),g=this.subscribeTelemetry(r,n,"location",async l=>{if(l==="too much data"||l===void 0){o(NoData);return}const u=l[l.length-1][1];o(u)});return()=>{s(),g()}}subscribeToJson(r,n,o){if(n.sourceType!=="telemetry")throw new Error("Telemetry sources only supported");return this.subscribeTelemetry(r,n,"json",async s=>{if(s==="too much data"||s===void 0){o(NoData);return}let g=s[s.length-1][1];g.startsWith("http")&&(g=await(await fetch(g)).text()),o(JSON.parse(g))})}subscribeToText(r,n,o){if(n.sourceType!=="telemetry")throw new Error("Telemetry sources only supported");return this.subscribeTelemetry(r,n,"text",async s=>{if(s==="too much data"||s===void 0){o(NoData);return}o(s[s.length-1][1])})}subscribeToNumeric(r,n,o){if(n.sourceType!=="telemetry")throw new Error("Telemetry sources only supported");return this.subscribeTelemetry(r,n,"numeric",async s=>{if(s==="too much data"||s===void 0){o(NoData);return}o(s)})}subscribeToNumericSet(r,n,o){if(n.sourceType!=="telemetry")throw new Error("Telemetry sources only supported");return this.subscribeTelemetry(r,n,"numeric set",async s=>{if(s==="too much data"||s===void 0){o(NoData);return}o(s)})}subscribeToImage(r,n,o){if(n.sourceType!=="telemetry")throw new Error("Telemetry sources only supported");return this.subscribeTelemetry(r,n,"image",async s=>{if(s==="too much data"||s===void 0){o(NoData);return}const g=s[s.length-1][1].url,l=new Image;l.src=g,l.onload=()=>{const u=document.createElement("canvas");u.width=l.width,u.height=l.height;const c=u.getContext("2d");c&&(c.drawImage(l,0,0),o(u))}})}}exports.Account=Account;exports.App=App;exports.AudioPlayer=AudioPlayer;exports.Authentication=Authentication;exports.BasicUniverseDataConnector=BasicUniverseDataConnector;exports.BinaryRequestDataChannel=BinaryRequestDataChannel;exports.CaptureStream=CaptureStream;exports.DataChannel=DataChannel;exports.Device=Device;exports.FailedData=FailedData;exports.Fleet=Fleet;exports.KeyValue=KeyValue;exports.LiveUniverseData=LiveUniverseData;exports.LoadingData=LoadingData;exports.Manipulator=Manipulator;exports.NoData=NoData;exports.PeerDevice=PeerDevice;exports.QueryStore=QueryStore;exports.Role=Role;exports.SessionType=SessionTypeConstants;exports.TelemetryUniverseData=TelemetryUniverseData;exports.TextRequestDataChannel=TextRequestDataChannel;exports.User=User;exports.accessLevels=accessLevels;exports.administrator=administrator;exports.aggregateByDateFunctions=aggregateByDateFunctions;exports.aggregateFunctionMap=aggregateFunctionMap;exports.aggregateFunctions=aggregateFunctions;exports.aggregateLevels=aggregateLevels;exports.annotationTypes=annotationTypes;exports.createRtcStreamMessage=distExports.createRtcStreamMessage;exports.defined=defined$1;exports.definedAndNotNull=definedAndNotNull;exports.eventTypes=eventTypes;exports.formatTimeFrameText=formatTimeFrameText;exports.getAverage=getAverage;exports.getCount=getCount;exports.getMax=getMax;exports.getMin=getMin;exports.getStandardDeviation=getStandardDeviation;exports.getSum=getSum;exports.getVariance=getVariance;exports.healthStatuses=healthStatuses;exports.interventionTypes=interventionTypes;exports.operator=operator;exports.severities=severities;exports.timeout=timeout;exports.vailableAggregationIntervals=vailableAggregationIntervals;exports.videoMimeTypes=videoMimeTypes;exports.viewer=viewer;
 //# sourceMappingURL=data-sdk.cjs.js.map