@formant/data-sdk 1.47.0 → 1.48.0

package/dist/data-sdk.es6.js

@@ -31642,6 +31642,12 @@ class BasicUniverseDataConnector {
   setTime(t) {
     t !== "live" && (this.time = t), this.timeChangeListeners.forEach((n) => n(t));
   }
+  getTime() {
+    return this.time;
+  }
+  getTimeMs() {
+    return this.time === "live" ? (/* @__PURE__ */ new Date()).getTime() : this.time.getTime();
+  }
   getAvailablePCDWorker() {
     for (let t = 0; t < PCD_WORKER_POOL_SIZE; t++)
       if (!this.pcdWorkerPoolOccupancy[t])
@@ -31895,35 +31901,35 @@ class LiveUniverseData extends BasicUniverseDataConnector {
     }
     throw new Error("Telemetry bitset not implemented");
   }
-  subscribeToOdometry(t, n, r) {
+  subscribeToOdometry(t, n, r, o) {
     if (n.sourceType === "realtime") {
-      const o = (s, g) => {
-        if (g.payload.odometry) {
-          const l = g.payload.odometry;
+      const s = (g, l) => {
+        if (l.payload.odometry) {
+          const u = l.payload.odometry;
           r({
-            worldToLocal: l.worldToLocal,
+            worldToLocal: u.worldToLocal,
             pose: {
               translation: {
-                x: l.pose.translation.x,
-                y: l.pose.translation.y,
-                z: l.pose.translation.z
+                x: u.pose.translation.x,
+                y: u.pose.translation.y,
+                z: u.pose.translation.z
               },
               rotation: {
-                x: l.pose.rotation.x,
-                y: l.pose.rotation.y,
-                z: l.pose.rotation.z,
-                w: l.pose.rotation.w
+                x: u.pose.rotation.x,
+                y: u.pose.rotation.y,
+                z: u.pose.rotation.z,
+                w: u.pose.rotation.w
               }
             },
             covariance: []
           });
         }
       };
-      return this.subscribeToRealtimeMessages(t, n.rosTopicName, o), () => {
+      return this.subscribeToRealtimeMessages(t, n.rosTopicName, s), () => {
         this.unsubscribeToRealtimeMessages(
           t,
           n.rosTopicName,
-          o
+          s
         );
       };
     }
@@ -31931,35 +31937,35 @@ class LiveUniverseData extends BasicUniverseDataConnector {
       return this.addRemovableTelemetrySubscription(
         t,
         n,
-        async (o) => {
-          let s, g;
-          for (let l = 0; l < o.length; l += 1) {
-            const u = o[l];
-            if (u.deviceId === t && u.name === n.streamName && u.type === "localization") {
-              const [c, d] = u.points[u.points.length - 1];
-              s = d;
+        async (s) => {
+          let g, l;
+          for (let u = 0; u < s.length; u += 1) {
+            const c = s[u];
+            if (c.deviceId === t && c.name === n.streamName && c.type === "localization") {
+              const [d, B] = c.points[c.points.length - 1];
+              g = B;
             }
           }
-          return s && s.odometry && (g = {
-            worldToLocal: s.odometry.worldToLocal,
+          return g && g.odometry && (l = {
+            worldToLocal: g.odometry.worldToLocal,
             pose: {
               translation: {
-                x: s.odometry.pose.translation.x,
-                y: s.odometry.pose.translation.y,
-                z: s.odometry.pose.translation.z
+                x: g.odometry.pose.translation.x,
+                y: g.odometry.pose.translation.y,
+                z: g.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
+                x: g.odometry.pose.rotation.x,
+                y: g.odometry.pose.rotation.y,
+                z: g.odometry.pose.rotation.z,
+                w: g.odometry.pose.rotation.w
               }
             },
             covariance: []
           }), {
             deviceId: t,
             sourceId: n.id,
-            data: g
+            data: l
           };
         },
         r
@@ -32387,14 +32393,17 @@ class TelemetryUniverseData extends BasicUniverseDataConnector {
           o(NoData);
           return;
         }
-        const u = l[l.length - 1][1];
-        let c = u;
-        u.url && (s.postMessage({ url: u.url }), s.onmessage = (d) => {
-          c = d.data.response, c.path && o({
-            worldToLocal: c.path.worldToLocal,
-            poses: c.path.poses
-          });
-        });
+        const u = this.getNearestPoint(l)[1];
+        if (u.url) {
+          const c = await fetch(u.url).then(
+            (d) => d.json()
+          );
+          c.path && o(c.path);
+          return;
+        } else if (u.path) {
+          o(u.path);
+          return;
+        }
       }
     );
     return () => {
@@ -32413,44 +32422,50 @@ class TelemetryUniverseData extends BasicUniverseDataConnector {
   }
   addFinder(n, r, o, s, g) {
     const l = (u) => {
-      let c;
-      g ? c = addYears(u, -1) : c = addSeconds(u, -15);
-      let d;
-      g ? d = u : d = addSeconds(u, 5);
-      let B = this.queryStore.moduleQuery(
-        {
-          deviceIds: [r]
-        },
+      const c = g ? addYears(u, -1) : addSeconds(u, -60), d = g ? addMilliseconds(u, 1) : addSeconds(u, 5), B = this.queryStore.moduleQuery(
+        { deviceIds: [r] },
         o,
         s,
         c,
         d,
         g
       );
-      if (B === void 0)
+      if (B === void 0) {
         n(void 0);
-      else if (B === "too much data")
+        return;
+      }
+      if (B === "too much data") {
         n("too much data");
-      else if (B.length > 0) {
-        const f = B[0].points;
-        if (f.length > 0) {
-          const p = f[f.length - 1];
-          if (g)
-            n(f);
-          else {
-            let U = p[0], y = p[1];
-            f.forEach((w) => {
-              const D = w[0], m = w[1];
-              Math.abs(D - u.getTime()) < Math.abs(U - u.getTime()) && (U = D, y = m);
-            }), n([[U, y]]);
-          }
-        } else
-          n(void 0);
-      } else
+        return;
+      }
+      if (B.length === 0) {
+        n(void 0);
+        return;
+      }
+      const R = B.reduce((f, p) => f.concat(p.points), []);
+      if (!R || R.length === 0) {
         n(void 0);
+        return;
+      }
+      if (g) {
+        const p = R[R.length - 1][0], U = R.filter(
+          (y) => y[0] > addSeconds(p, -15).getTime()
+        );
+        n(U);
+        return;
+      }
+      n(R);
     };
     return this.timeFinders.push(l), l;
   }
+  getNearestPoint(n, r = this.time) {
+    const o = r === "live" ? addMilliseconds(/* @__PURE__ */ new Date(), 1) : this.time;
+    let s = n[0][0], g = n[0][1];
+    return n.forEach((l) => {
+      const u = l[0], c = l[1];
+      Math.abs(u - o.getTime()) < Math.abs(s - o.getTime()) && (s = u, g = c);
+    }), [s, g];
+  }
   removeFinder(n) {
     this.timeFinders = this.timeFinders.filter((r) => r !== n);
   }
@@ -32489,7 +32504,7 @@ class TelemetryUniverseData extends BasicUniverseDataConnector {
           o(NoData);
           return;
         }
-        const d = c[c.length - 1][1];
+        const d = this.getNearestPoint(c)[1];
         if (typeof d == "string")
           o(JSON.parse(d));
         else {
@@ -32511,7 +32526,7 @@ class TelemetryUniverseData extends BasicUniverseDataConnector {
           o(NoData);
           return;
         }
-        let d = c[c.length - 1][1];
+        let d = this.getNearestPoint(c)[1];
         d.url && (g.postMessage({ url: d.url }), g.onmessage = (B) => {
           if (d = B.data.response, d.pointClouds) {
             const { url: R, worldToLocal: f } = d.pointClouds[0];
@@ -32528,46 +32543,69 @@ class TelemetryUniverseData extends BasicUniverseDataConnector {
       this.releasePCDWorker(s), this.releaseDataFetchWorker(g), l(), u();
     };
   }
-  subscribeToOdometry(n, r, o) {
+  subscribeToOdometry(n, r, o, s = 0) {
     if (r.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");
-    const g = this.subscribeTelemetry(
+    const l = this.subscribeTelemetry(
       n,
       r,
       "localization",
-      async (l) => {
-        if (l === "too much data" || l === void 0) {
+      async (u) => {
+        if (u === "too much data" || u === void 0) {
           o(NoData);
           return;
         }
-        const u = l[l.length - 1][1];
-        let c = u;
-        u.url && (s.postMessage({ url: u.url }), s.onmessage = (d) => {
-          c = d.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
+        const c = this.getNearestPoint(
+          u
+        );
+        let d;
+        if (c[1].url)
+          try {
+            d = (await (await fetch(c[1].url)).json()).odometry;
+          } catch (B) {
+            throw console.error("Failed to fetch odometry data:", B), B;
+          }
+        else
+          d = c[1].odometry;
+        if (s) {
+          const R = u.filter(
+            (f) => f[0] <= c[0] && f[0] >= c[0] - s * 1e3
+          ).map(async (f) => {
+            var p, U;
+            if (f[1].url)
+              try {
+                const w = await (await fetch(f[1].url)).json();
+                return [f[0], (p = w.odometry) == null ? void 0 : p.pose];
+              } catch (y) {
+                throw console.error("Failed to fetch trail odometry data:", y), y;
               }
-            },
-            covariance: []
+            return [f[0], (U = f[1].odometry) == null ? void 0 : U.pose];
           });
+          try {
+            const f = await Promise.all(R);
+            o({
+              worldToLocal: d.worldToLocal,
+              pose: d.pose,
+              trail: f,
+              covariance: []
+            });
+            return;
+          } catch (f) {
+            throw console.error("Failed to process trail data:", f), f;
+          }
+        }
+        o({
+          worldToLocal: d.worldToLocal,
+          pose: d.pose,
+          covariance: []
         });
       }
     );
     return () => {
-      this.releaseDataFetchWorker(s), g();
+      this.releaseDataFetchWorker(g), l();
     };
   }
   subscribeToPose(n, r, o) {
@@ -32587,7 +32625,7 @@ class TelemetryUniverseData extends BasicUniverseDataConnector {
             o(NoData);
             return;
           }
-          let u = l[l.length - 1][1];
+          let u = this.getNearestPoint(l)[1];
           u.startsWith("http") ? (s.postMessage({ url: u }), s.onmessage = (c) => {
             u = JSON.stringify(c.data.response), o(JSON.parse(u));
           }) : o(JSON.parse(u));
@@ -32618,7 +32656,7 @@ class TelemetryUniverseData extends BasicUniverseDataConnector {
           o(NoData);
           return;
         }
-        const c = u[u.length - 1][1];
+        const c = this.getNearestPoint(u)[1];
         if (c.url) {
           if (s[c.url]) {
             o(s[c.url]);
@@ -32655,7 +32693,7 @@ class TelemetryUniverseData extends BasicUniverseDataConnector {
         o(NoData);
         return;
       }
-      const g = s[s.length - 1][1], { url: l } = g, u = this.videoCache.get(l, async () => new Promise((c) => {
+      const g = this.getNearestPoint(s)[1], { url: l } = g, u = this.videoCache.get(l, async () => new Promise((c) => {
         const d = document.createElement("video");
         d.src = l, d.onload = () => {
         };
@@ -32680,7 +32718,7 @@ class TelemetryUniverseData extends BasicUniverseDataConnector {
           o(NoData);
           return;
         }
-        o(s[s.length - 1][1]);
+        o(this.getNearestPoint(s)[1]);
       }
     );
   }
@@ -32700,7 +32738,7 @@ class TelemetryUniverseData extends BasicUniverseDataConnector {
           o(NoData);
           return;
         }
-        const u = l[l.length - 1][1];
+        const u = this.getNearestPoint(l)[1];
         o(u);
       }
     );
@@ -32716,7 +32754,7 @@ class TelemetryUniverseData extends BasicUniverseDataConnector {
         o(NoData);
         return;
       }
-      let g = s[s.length - 1][1];
+      let g = this.getNearestPoint(s)[1];
       g.startsWith("http") && (g = await (await fetch(g)).text()), o(JSON.parse(g));
     });
   }
@@ -32728,7 +32766,7 @@ class TelemetryUniverseData extends BasicUniverseDataConnector {
         o(NoData);
         return;
       }
-      o(s[s.length - 1][1]);
+      o(this.getNearestPoint(s)[1]);
     });
   }
   subscribeToNumeric(n, r, o) {
@@ -32766,7 +32804,7 @@ class TelemetryUniverseData extends BasicUniverseDataConnector {
         o(NoData);
         return;
       }
-      const g = s[s.length - 1][1].url, l = new Image();
+      const g = this.getNearestPoint(s)[1].url, l = new Image();
       l.src = g, l.onload = () => {
         const u = document.createElement("canvas");
         u.width = l.width, u.height = l.height;