@formant/data-sdk 1.39.0 → 1.41.0

package/dist/data-sdk.es.js

@@ -31507,7 +31507,7 @@ class QueryStore {
       ...t,
       start: n,
       end: o
-    }), !s || s === "too much data" || t.latestOnly ? s : filterDataByTime(s, new Date(t.start), new Date(t.end));
+    }), !s || s === "too much data" || t.latestOnly ? s : filterDataByTime(s, new Date(n), new Date(o));
   }
   queryCache(t) {
     return this.queryStoreCache.get(t, async () => {
@@ -32196,7 +32196,7 @@ class LiveUniverseData extends BasicUniverseDataConnector {
               rotation: l.info.origin.orientation
             },
             data: l.data,
-            canvas: void 0
+            alpha: l.data.map(() => 255)
           });
         }
       };
@@ -32223,18 +32223,20 @@ class LiveUniverseData extends BasicUniverseDataConnector {
           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");
+            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 = [];
+            ), v = [], _ = [];
             if (p)
-              for (let _ = 0; _ < p.data.length; _ += 4) {
-                const y = p.data[_];
-                v.push(y);
+              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,
@@ -32242,7 +32244,7 @@ class LiveUniverseData extends BasicUniverseDataConnector {
               worldToLocal: s.map.worldToLocal,
               resolution: s.map.resolution,
               origin: s.map.origin,
-              canvas: l,
+              alpha: _,
               data: v
             };
           }
@@ -32337,23 +32339,31 @@ class TelemetryUniverseData extends BasicUniverseDataConnector {
   subscribeToPath(r, n, o) {
     if (n.sourceType !== "telemetry")
       throw new Error("Telemetry sources only supported");
-    return this.subscribeTelemetry(
+    const s = this.getAvailableDataFetchWorker();
+    if (!s)
+      throw new Error("No available data fetch worker");
+    const g = this.subscribeTelemetry(
       r,
       n,
       "localization",
-      async (s) => {
-        if (s === "too much data" || s === void 0) {
+      async (l) => {
+        if (l === "too much data" || l === 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
+        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(() => {
@@ -32427,66 +32437,47 @@ class TelemetryUniverseData extends BasicUniverseDataConnector {
     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");
-        }
-      );
-    });
+    const g = this.getAvailableDataFetchWorker();
+    if (!g)
+      throw new Error("No available data fetch worker");
     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
-              });
-            };
-          }
+    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;
         }
-      ) : 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];
+        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,
@@ -32494,10 +32485,10 @@ class TelemetryUniverseData extends BasicUniverseDataConnector {
               });
             };
           }
-        }
-      ));
-    }), () => {
-      this.releasePCDWorker(s), l(), u();
+        });
+      }
+    )), () => {
+      this.releasePCDWorker(s), this.releaseDataFetchWorker(g), l(), u();
     };
   }
   subscribeToOdometry(r, n, o) {
@@ -32506,31 +32497,31 @@ class TelemetryUniverseData extends BasicUniverseDataConnector {
     const s = this.getAvailableDataFetchWorker();
     if (!s)
       throw new Error("No available data fetch worker");
-    return this.subscribeTelemetry(
+    const g = this.subscribeTelemetry(
       r,
       n,
       "localization",
-      async (g) => {
-        if (g === "too much data" || g === void 0) {
+      async (l) => {
+        if (l === "too much data" || l === 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,
+        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: u.odometry.pose.translation.x,
-                y: u.odometry.pose.translation.y,
-                z: u.odometry.pose.translation.z
+                x: c.odometry.pose.translation.x,
+                y: c.odometry.pose.translation.y,
+                z: c.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
+                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: []
@@ -32538,6 +32529,9 @@ class TelemetryUniverseData extends BasicUniverseDataConnector {
         });
       }
     );
+    return () => {
+      this.releaseDataFetchWorker(s), g();
+    };
   }
   subscribeToPose(r, n, o) {
     throw new Error("Method not implemented for telemetry universe connector.");
@@ -32547,16 +32541,24 @@ class TelemetryUniverseData extends BasicUniverseDataConnector {
       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;
+      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));
+          });
         }
-        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));
-        });
-      });
+      );
+      return () => {
+        this.releaseDataFetchWorker(s), g();
+      };
     } else
       throw new Error("Realtime geometry note supported");
   }
@@ -32564,53 +32566,65 @@ class TelemetryUniverseData extends BasicUniverseDataConnector {
     return this.subscribeToJson(r, n, o);
   }
   subscribeToGridMap(r, n, o) {
+    const s = {};
     if (n.sourceType !== "telemetry")
       throw new Error("Telemetry sources only supported");
-    const s = this.getAvailableDataFetchWorker();
-    if (!s)
+    const g = this.getAvailableDataFetchWorker();
+    if (!g)
       throw new Error("No available data fetch worker");
-    return this.subscribeTelemetry(
+    const l = this.subscribeTelemetry(
       r,
       n,
       "localization",
-      async (g) => {
-        if (g === "too much data" || g === void 0) {
+      async (u) => {
+        if (u === "too much data" || u === 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);
+        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 E = 0; E < h.data.length; E += 4) {
+                  const T = h.data[E], d = h.data[E + 3];
+                  w.push(T), C.push(d);
+                }
+              const x = {
+                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(x)), o(x);
+            }
+          };
+        }
       }
     );
+    return () => {
+      this.releaseDataFetchWorker(g), l();
+    };
   }
   subscribeToVideo(r, n, o) {
     if (n.sourceType !== "telemetry")