npm - @2702rebels/ntcore - Versions diffs - 1.0.1 → 1.0.2 - Mend

@2702rebels/ntcore 1.0.1 → 1.0.2

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1	- {"version":3,"file":"index.mjs","names":[],"sources":["../src/NT4Spec.ts","../src/NT4Subscription.ts","../src/NT4Topic.ts","../src/NT4WebSocketAsync.ts","../src/NT4Client.ts"],"sourcesContent":["import type { SubscriptionOptions, TopicProperties } from \"./NT4Types\";\n\n/*\n Network constants.\n /\nexport const NetworkSpecs = {\n /* NT4 port for unsecure (ws://) connections /\n portUnsecure: 5810,\n\n /* NT4 port for secure (wss://) connections /\n portSecure: 5811,\n\n /* Subprotocol v4.1 /\n protocol41: \"v4.1.networktables.first.wpi.edu\",\n\n /* Subprotocol v4.0 /\n protocol40: \"networktables.first.wpi.edu\",\n\n /* Subprotocol RTT /\n protocolRTT: \"rtt.networktables.first.wpi.edu\",\n\n /* v4.0 ping period in milliseconds /\n pingPeriod40: 1000,\n\n /* v4.0 ping timeout in milliseconds /\n pingTimeout40: 3000,\n\n /* v4.1 ping period in milliseconds /\n pingPeriod41: 250,\n\n /* v4.1 ping timeout in milliseconds /\n pingTimeout41: 1000,\n};\n\n/\n Supported data types mapped to protocol identifiers.\n \n https://github.com/wpilibsuite/allwpilib/blob/main/ntcore/doc/networktables4.adoc#supported-data-types\n /\nexport const DataTypeCodes = {\n boolean: 0,\n double: 1,\n int: 2,\n float: 3,\n string: 4,\n json: 4,\n raw: 5,\n rpc: 5,\n msgpack: 5,\n protobuf: 5,\n \"boolean[]\": 16,\n \"double[]\": 17,\n \"int[]\": 18,\n \"float[]\": 19,\n \"string[]\": 20,\n} as const;\n\nexport type DataType = keyof typeof DataTypeCodes;\n\n/\n Publish Request Message (`publish`)\n \n https://github.com/wpilibsuite/allwpilib/blob/main/ntcore/doc/networktables4.adoc#publish-request-message-publish\n /\nexport type PublishRequestMessage = {\n /\n Publish name\n \n The topic name being published.\n /\n name: string;\n\n /\n Published UID\n \n A client-generated unique identifier for this publisher. Use the same UID later to unpublish.\n * This is also the identifier that the client will use in MessagePack messages for this topic.\n /\n pubuid: number;\n\n /\n Type of data\n \n The requested data type (as a string).\n * If the topic is newly created (e.g. there are no other publishers) this sets the value type.\n * If the topic was previously published, this is ignored.\n /\n type: string;\n\n /\n Properties\n \n Initial topic properties.\n * If the topic is newly created (e.g. there are no other publishers) this sets the topic properties.\n * If the topic was previously published, this is ignored.\n /\n properties: TopicProperties;\n};\n\n/\n Publish Release Message (`unpublish`)\n \n https://github.com/wpilibsuite/allwpilib/blob/main/ntcore/doc/networktables4.adoc#publish-release-message-unpublish\n /\nexport type PublishReleaseMessage = {\n /\n Publisher UID\n \n The same unique identifier passed to the `publish` message.\n /\n pubuid: number;\n};\n\n/\n Set Properties Message (`setproperties`)\n \n https://github.com/wpilibsuite/allwpilib/blob/main/ntcore/doc/networktables4.adoc#set-properties-message-setproperties\n /\nexport type SetPropertiesMessage = {\n /\n Topic name\n /\n name: string;\n\n /\n Properties to update\n /\n update: TopicProperties;\n};\n\n/\n Subscribe Message (`subscribe`)\n \n https://github.com/wpilibsuite/allwpilib/blob/main/ntcore/doc/networktables4.adoc#subscribe-message-subscribe\n /\nexport type SubscribeMessage = {\n /\n Array of topic names or prefixes\n \n One or more topic names or prefixes (if the `prefix` option is true) to start receiving messages for.\n /\n topics: Array<string>;\n\n /\n Subscription UID\n \n A client-generated unique identifier for this subscription. Use the same UID later to unsubscribe.\n /\n subuid: number;\n\n /\n Options\n /\n options: SubscriptionOptions;\n};\n\n/\n Unsubscribe Message (`unsubscribe`)\n \n https://github.com/wpilibsuite/allwpilib/blob/main/ntcore/doc/networktables4.adoc#unsubscribe-message-unsubscribe\n /\nexport type UnsubscribeMessage = {\n /\n Subscription UID\n \n The same unique identifier passed to the `subscribe` message.\n /\n subuid: number;\n};\n\n/\n Topic Announcement Message (`announce`)\n \n https://github.com/wpilibsuite/allwpilib/blob/main/ntcore/doc/networktables4.adoc#topic-announcement-message-announce\n /\nexport type TopicAnnouncementMessage = {\n /\n Topic name\n /\n name: string;\n\n /\n Topic ID\n \n The identifier that the server will use in MessagePack messages for this topic.\n /\n id: number;\n\n /\n Data type\n \n The data type for the topic (as a string).\n /\n type: string;\n\n /\n Publisher UID\n \n If this message was sent in response to a publish message,\n * the Publisher UID provided in that message. Otherwise absent.\n /\n pubuid?: number;\n\n /\n Properties\n /\n properties: TopicProperties;\n};\n\n/\n Topic Removed Message (`unannounce`)\n \n https://github.com/wpilibsuite/allwpilib/blob/main/ntcore/doc/networktables4.adoc#topic-removed-message-unannounce\n /\nexport type TopicRemovedMessage = {\n /\n Topic name\n /\n name: string;\n\n /\n Topic ID\n \n The identifier that the server was using for value updates.\n /\n id: number;\n};\n\n/\n Properties Update Message (`properties`)\n \n https://github.com/wpilibsuite/allwpilib/blob/main/ntcore/doc/networktables4.adoc#properties-update-message-properties\n /\nexport type PropertiesUpdateMessage = {\n /\n Topic name\n /\n name: string;\n\n /\n Acknowledgement\n \n `True` if this message is in response to a `setproperties` message from the same client.\n * Otherwise absent.\n /\n ack: boolean;\n\n /\n Properties to set\n /\n update: TopicProperties;\n};\n\n/\n Supported text data frames.\n \n https://github.com/wpilibsuite/allwpilib/blob/main/ntcore/doc/networktables4.adoc#text-data-frames\n /\nexport type TextDataFrame =\n \| {\n method: \"publish\";\n params: PublishRequestMessage;\n }\n \| {\n method: \"unpublish\";\n params: PublishReleaseMessage;\n }\n \| {\n method: \"setproperties\";\n params: SetPropertiesMessage;\n }\n \| {\n method: \"subscribe\";\n params: SubscribeMessage;\n }\n \| {\n method: \"unsubscribe\";\n params: UnsubscribeMessage;\n }\n \| {\n method: \"announce\";\n params: TopicAnnouncementMessage;\n }\n \| {\n method: \"unannounce\";\n params: TopicRemovedMessage;\n }\n \| {\n method: \"properties\";\n params: PropertiesUpdateMessage;\n };\n","import type { SubscriptionOptions } from \"./NT4Types\";\n\n/* Contains information about NT4 subscription. /\nexport class NT4Subscription {\n /* Subscription UID. /\n public readonly uid: number;\n\n /* Subscription options. /\n public readonly options: SubscriptionOptions;\n\n /* Subscribed topic names or prefixes. /\n public readonly topics: Set<string>;\n\n constructor(uid: number, topics: Iterable<string>, options?: SubscriptionOptions) {\n this.uid = uid;\n this.topics = new Set(typeof topics === \"string\" ? [topics] : topics);\n this.options = options ?? {};\n }\n}\n","import { DataTypeCodes } from \"./NT4Spec\";\n\nimport type { DataType } from \"./NT4Spec\";\nimport type { TopicProperties } from \"./NT4Types\";\n\n/* Contains information about NT4 topic. /\nexport class NT4Topic {\n /* Topic UID. /\n public readonly uid: number;\n\n /* Topic name. /\n public readonly name: string;\n\n /* Topic data type. /\n public readonly type: string;\n\n /* Topic properties. /\n public readonly properties: TopicProperties;\n\n /* Publisher UID. /\n public pubuid?: number;\n\n /* Last retained value. /\n public retainedValue?: unknown;\n\n /* Timestamp of {@link retainedValue}. /\n public retainedTimestamp?: number;\n\n constructor(uid: number, name: string, type: string, properties?: TopicProperties, pubuid?: number) {\n this.uid = uid;\n this.name = name;\n this.type = type;\n this.properties = properties ?? {};\n this.pubuid = pubuid;\n this.typeCode = DataTypeCodes[type as DataType] ?? 5; // defaults to binary\n }\n\n /* Merges properties with this topic. /\n public mergeProperties(properties: TopicProperties) {\n Object.entries(properties).forEach(([key, value]) => {\n if (value === null) {\n delete this.properties[key];\n } else {\n this.properties[key] = value;\n }\n });\n }\n\n /* Updates retained value if the incoming timestamp is newer (greater-than or equal-to). /\n public updateRetainedValue(value: unknown, timestamp: number) {\n if (this.retainedTimestamp == null \|\| timestamp >= this.retainedTimestamp) {\n this.retainedValue = value;\n this.retainedTimestamp = timestamp;\n }\n }\n\n /* Removes retained value except for \"weak\" default value. /\n public removeRetainedValue() {\n if (this.retainedTimestamp != 0) {\n this.retainedValue = undefined;\n this.retainedTimestamp = undefined;\n }\n }\n\n /* Resets retained value timestamp except for \"weak\" default value. /\n public resetRetainedTimestamp() {\n if (this.retainedTimestamp != null && this.retainedTimestamp > 1) {\n this.retainedTimestamp = 1;\n }\n }\n\n /* Determines whether topic can accept the specified value. /\n public canAccept(value: unknown) {\n switch (this.typeCode) {\n // primitives\n case DataTypeCodes.boolean:\n return typeof value === \"boolean\";\n case DataTypeCodes.double:\n case DataTypeCodes.float:\n return typeof value === \"number\";\n case DataTypeCodes.int:\n return typeof value === \"number\" && Number.isInteger(value);\n case DataTypeCodes.string:\n return typeof value === \"string\";\n\n // arrays of primitives\n case DataTypeCodes[\"boolean[]\"]:\n return Array.isArray(value) && value.every((v) => typeof v === \"boolean\");\n case DataTypeCodes[\"double[]\"]:\n case DataTypeCodes[\"float[]\"]:\n return Array.isArray(value) && value.every((v) => typeof v === \"number\");\n case DataTypeCodes[\"int[]\"]:\n return Array.isArray(value) && value.every((v) => typeof v === \"number\" && Number.isInteger(v));\n case DataTypeCodes[\"string[]\"]:\n return Array.isArray(value) && value.every((v) => typeof v === \"string\");\n\n case DataTypeCodes.json:\n return value !== null && (typeof value === \"object\" \|\| typeof value === \"string\");\n\n default:\n return true;\n }\n }\n\n /* Topic type code. For internal use only. /\n public readonly typeCode: number;\n}\n","import { NetworkSpecs } from \"./NT4Spec\";\n\nimport type { TextDataFrame } from \"./NT4Spec\";\n\n// version 4.1 -- v4.1.networktables.first.wpi.edu\n// version 4.0 -- networktables.first.wpi.edu\nconst PROTOCOL_DATA = [NetworkSpecs.protocol41, NetworkSpecs.protocol40];\n\n// https://github.com/wpilibsuite/allwpilib/blob/main/ntcore/doc/networktables4.adoc#rtt-subprotocol\nconst PROTOCOL_RTT = [NetworkSpecs.protocolRTT];\n\n/\n A wrapper for `WebSocket` that implements async `connect` and `close` methods.\n \n This class manages the lifecycle of the raw websocket internally, creating and\n * destroying the websocket as necessary when establishing and closing the connection.\n /\nexport class NT4WebSocketAsync {\n private url: string;\n private rtt: boolean;\n private socket: WebSocket \| null = null;\n private onMessage?: (_: MessageEvent) => void;\n private onClose?: (_: CloseEvent) => void;\n\n /\n Creates a `WebSocket` wrapper to be used for NT4 communication channel.\n * This constructor does not initiate the connection, see `connect`.\n \n @param address server network address\n * @param port sever port\n * @param clientId client identifier\n * @param options connection options\n /\n constructor(\n address: string,\n port: number,\n clientId: string,\n options: {\n /* Callback invoked when socket receives message. /\n onMessage?: (ev: MessageEvent) => void;\n /* Callback invoked when socket closes. /\n onClose?: (ev: CloseEvent) => void;\n /* `true` to use secure protocol/port; `false` to use unsecure protocol/port (default). /\n secure?: boolean;\n /* `true` to create RTT subprotocol channel; `false` to create default data channel (default). /\n rtt?: boolean;\n }\n ) {\n const schema = options.secure ? \"wss\" : \"ws\";\n\n this.url = `${schema}://${address}:${port}/nt/${clientId}`;\n this.rtt = options.rtt ?? false;\n this.onMessage = options.onMessage;\n this.onClose = options.onClose;\n }\n\n private onMessageLocal(ev: MessageEvent, source: WebSocket) {\n if (this.onMessage && this.socket === source) {\n this.onMessage(ev);\n }\n }\n\n private onCloseLocal(ev: CloseEvent, source: WebSocket) {\n if (this.onClose && this.socket === source) {\n this.onClose(ev);\n }\n }\n\n /* Returns `true` if the socket is in the connected state. /\n public get connected() {\n return this.socket != null && this.socket.readyState === WebSocket.OPEN;\n }\n\n /* Returns `true` if the socket is in the connecting state. /\n public get connecting() {\n return this.socket != null && this.socket.readyState === WebSocket.CONNECTING;\n }\n\n /* Returns the subprotocol negotiated with the server. /\n public get protocol() {\n return this.socket?.protocol;\n }\n\n /* Sends text data frame (JSON serialized). /\n public sendText(data: TextDataFrame \| Array<TextDataFrame>) {\n if (this.socket && this.socket.readyState === WebSocket.OPEN) {\n this.socket.send(JSON.stringify(Array.isArray(data) ? data : [data]));\n }\n }\n\n /* Sends binary data frame. /\n public sendBinary(data: Uint8Array) {\n if (this.socket && this.socket.readyState === WebSocket.OPEN) {\n this.socket.send(data);\n }\n }\n\n /\n Asynchronously terminates the connection.\n \n @param code optional code\n * @param reason optional reason\n /\n public async close(code?: number, reason?: string): Promise<void> {\n if (this.socket) {\n const socket = this.socket;\n this.socket = null;\n\n // websocket is closing asynchronously, we need to wait\n // for the corresponding onclose to fire:\n // attach another listener here and promisify\n return new Promise((resolve) => {\n socket.addEventListener(\"close\", () => {\n resolve();\n });\n\n socket.close(code, reason);\n });\n }\n\n return Promise.resolve();\n }\n\n /* Asynchronously initiates the connection. /\n public async connect(): Promise<void> {\n return new Promise((resolve, reject) => {\n const socket = new WebSocket(this.url, this.rtt ? PROTOCOL_RTT : PROTOCOL_DATA);\n\n socket.binaryType = \"arraybuffer\";\n\n this.socket = socket;\n\n socket.addEventListener(\"message\", (_) => this.onMessageLocal(_, socket));\n socket.addEventListener(\"close\", (_) => this.onCloseLocal(_, socket));\n\n socket.onopen = () => {\n resolve();\n };\n\n socket.onerror = (event) => {\n reject(event);\n };\n });\n }\n}\n","import { Decoder, Encoder } from \"@msgpack/msgpack\";\n\nimport { Logger } from \"@2702rebels/logger\";\n\nimport { DataTypeCodes, NetworkSpecs } from \"./NT4Spec\";\nimport { NT4Subscription } from \"./NT4Subscription\";\nimport { NT4Topic } from \"./NT4Topic\";\nimport { NT4WebSocketAsync } from \"./NT4WebSocketAsync\";\n\nimport type { DataType, TextDataFrame } from \"./NT4Spec\";\nimport type { SubscriptionOptions, TopicProperties } from \"./NT4Types\";\n\nexport type NT4ClientConnectionState = \"disconnected\" \| \"connecting\" \| \"connected\";\n\nexport type NT4ClientOptions = {\n /* Indicates that secure channel should be used. /\n secure?: boolean;\n\n /\n Invoked when the client connects.\n /\n onConnect?: () => void;\n\n /\n Invoked when the client disconnects.\n /\n onDisconnect?: () => void;\n\n /\n Invoked when new topic is announced by the server.\n \n @param topic topic announced\n /\n onTopicAnnounced?: (topic: NT4Topic) => void;\n\n /\n Invoked when a topic is removed by the server.\n \n @param topic topic removed\n /\n onTopicRemoved?: (topic: NT4Topic) => void;\n\n /\n Invoked when a topic properties are updated by the server.\n \n @param topic topic updated\n /\n onTopicUpdated?: (topic: NT4Topic) => void;\n\n /\n Invoked when the topic receives new data.\n \n @param topic topic receiving data\n * @param value value received\n * @param timestamp server timestamp in microseconds\n /\n onDataReceived?: (topic: NT4Topic, value: unknown, timestamp: number) => void;\n\n /\n Retry policy that accepts the current number of connection attempts\n * and returns the timeout in milliseconds or -1 to abort.\n \n @param attempts number of subsequent connection attempts\n * @returns timeout in milliseconds or -1 to abort\n /\n retryPolicy?: (attempts: number) => number;\n\n /\n Overrides default timeout for ping-pong packets.\n \n Defaults:\n * - NT 4.0: 3000 milliseconds\n * - NT 4.1: 1000 milliseconds\n /\n pingTimeoutMilliseconds?: number;\n};\n\n/* Determines whether the specified predicate callback returns true for any element of a map. /\nfunction some<K, V>(map: Map<K, V>, predicate: (entry: V) => boolean) {\n for (const v of map.values()) {\n if (predicate(v)) {\n return true;\n }\n }\n return false;\n}\n\n/\n Implements a NetworkTable4 client that is responsible for establishing and maintaining a connection.\n /\nexport class NT4Client {\n private readonly port: number;\n private readonly clientId: string;\n private readonly dataChannel: NT4WebSocketAsync;\n private readonly rttChannel: NT4WebSocketAsync;\n private readonly decoder = new Decoder();\n private readonly encoder = new Encoder();\n private readonly onConnect?: NT4ClientOptions[\"onConnect\"];\n private readonly onDisconnect?: NT4ClientOptions[\"onDisconnect\"];\n private readonly onTopicAnnounced?: NT4ClientOptions[\"onTopicAnnounced\"];\n private readonly onTopicRemoved?: NT4ClientOptions[\"onTopicRemoved\"];\n private readonly onTopicUpdated?: NT4ClientOptions[\"onTopicUpdated\"];\n private readonly onDataReceived?: NT4ClientOptions[\"onDataReceived\"];\n private readonly retryPolicy: Required<NT4ClientOptions>[\"retryPolicy\"];\n private pingTimeoutOverride_ms?: NT4ClientOptions[\"pingTimeoutMilliseconds\"];\n\n private subscriptions = new Map<number, NT4Subscription>();\n private publishedTopics = new Map<string, NT4Topic>();\n private announcedTopics = new Map<string, NT4Topic>();\n private announcedTopicsIndex = new Map<number, NT4Topic>();\n\n private connectionEstablished = false;\n private connectionInitiated = false;\n private connectionAttempts = 0;\n private connectionState: NT4ClientConnectionState = \"disconnected\";\n private networkLatency_μs: number \| null = null;\n private serverTimeOffset_μs: number \| null = null;\n private pingTimeout_ms = 0;\n private pongTimestamp_μs = 0;\n private pingIntervalId: ReturnType<typeof setInterval> \| null = null;\n private pongIntervalId: ReturnType<typeof setInterval> \| null = null;\n\n /* Truncated at 15 seconds exponential backoff retry policy starting at 1 second. /\n public static defaultRetryPolicy(attempts: number) {\n return Math.round(Math.min(15, Math.max(1, 1.2 * Math.min(15, attempts))) * 1000);\n }\n\n /** Cleans up closed data channel. /\n private cleanup() {\n Logger.Default.debug(`[NT4Client] cleaning up`);\n\n if (this.pingIntervalId) {\n clearInterval(this.pingIntervalId);\n this.pingIntervalId = null;\n }\n\n if (this.pongIntervalId) {\n clearInterval(this.pongIntervalId);\n this.pongIntervalId = null;\n }\n\n this.rttChannel.close();\n\n if (this.connectionEstablished && this.onDisconnect) {\n this.onDisconnect();\n }\n\n this.connectionEstablished = false;\n this.connectionState = \"disconnected\";\n\n this.announcedTopics.clear();\n this.announcedTopicsIndex.clear();\n\n for (const topic of this.publishedTopics.values()) {\n topic.resetRetainedTimestamp();\n }\n\n this.pongTimestamp_μs = 0;\n this.serverTimeOffset_μs = null;\n this.networkLatency_μs = null;\n }\n\n /* Attempts to establish a connection, continuously retrying using policy. /\n private async connectWithRetry() {\n this.connectionState = \"connecting\";\n\n // check for cancellation after each await, since disconnect could have been called\n // while we were awaiting and therefore we should abort here or below\n if (!this.connectionInitiated) {\n Logger.Default.debug(`[NT4Client] pending cancellation, aborting...`);\n return;\n }\n\n // probe remote endpoint status (liveness check)\n let response: Response \| null = null;\n try {\n response = await fetch(`http://${this.serverAddress}:${this.port}`, {\n signal: AbortSignal.timeout(250),\n });\n } catch {\n // swallow exception here; we are checking for response status below\n }\n\n if (!this.connectionInitiated) {\n Logger.Default.debug(`[NT4Client] pending cancellation, aborting...`);\n return;\n }\n\n // if endpoint seems to be alive try to establish websocket connection,\n // otherwise, wait and retry again\n if (response && response.ok) {\n try {\n Logger.Default.debug(`[NT4Client] opening channel to ${this.serverAddress}:${this.port}`);\n await this.dataChannel.connect();\n\n // reset connection attempts once the data channel is successfully connected\n this.connectionAttempts = 0;\n\n if (!this.connectionInitiated) {\n Logger.Default.debug(`[NT4Client] pending cancellation, aborting...`);\n return;\n }\n\n this.connectionEstablished = true;\n this.connectionState = \"connected\";\n\n Logger.Default.debug(\n `[NT4Client] connected to ${this.serverAddress}:${this.port}, subprotocol = ${this.dataChannel.protocol}`\n );\n\n let pingPeriod_ms = NetworkSpecs.pingPeriod40;\n this.pingTimeout_ms = this.pingTimeoutOverride_ms ?? NetworkSpecs.pingTimeout40;\n\n if (this.dataChannel.protocol === NetworkSpecs.protocol41) {\n Logger.Default.debug(`[NT4Client] server speaks v4.1, creating separate RTT channel`);\n await this.rttChannel.connect();\n\n if (!this.connectionInitiated) {\n Logger.Default.debug(`[NT4Client] pending cancellation, aborting...`);\n return;\n }\n\n pingPeriod_ms = NetworkSpecs.pingPeriod41;\n this.pingTimeout_ms = this.pingTimeoutOverride_ms ?? NetworkSpecs.pingTimeout41;\n }\n\n Logger.Default.debug(`[NT4Client] sending timestamp and re-establishing subscriptions`);\n\n // send timestamp to establish RTT\n this.sendRTT();\n\n // and start periodic ping\n this.pongTimestamp_μs = 0;\n this.pingIntervalId = setInterval(() => this.sendRTT(), pingPeriod_ms);\n this.pongIntervalId = setInterval(() => this.checkTimeout(), pingPeriod_ms);\n\n // restore client subscriptions\n for (const subscription of this.subscriptions.values()) {\n this.subscribeCore(subscription);\n }\n\n // restore client publishers\n // retained values won't be sent until clock is synchronized\n for (const topic of this.publishedTopics.values()) {\n this.publishCore(topic);\n }\n\n if (this.onConnect) {\n this.onConnect();\n }\n\n return;\n } catch (exception) {\n Logger.Default.error(`[NT4Client] failed to open channel`, exception);\n\n await this.rttChannel.close();\n await this.dataChannel.close();\n }\n }\n\n // retry logic\n this.connectionAttempts++;\n const timeout = this.retryPolicy(this.connectionAttempts);\n\n if (timeout < 0) {\n Logger.Default.debug(`[NT4Client] aborting per retry policy after ${this.connectionAttempts} attempts`);\n this.disconnect();\n return;\n }\n\n Logger.Default.debug(`[NT4Client] retrying connection in ${timeout.toFixed(0)}ms`);\n setTimeout(() => this.connectWithRetry(), timeout);\n }\n\n /* Invoked once the client-server clock is synchronized. /\n private onClockSynchronized() {\n Logger.Default.debug(`[NT4Client] clock synchronized, offset = ${this.serverTimeOffset_μs}`);\n\n for (const topic of this.publishedTopics.values()) {\n if (topic.retainedTimestamp != null && topic.retainedValue != null) {\n this.sendValueCore(\n topic,\n topic.retainedValue,\n topic.retainedTimestamp === 1 ? (this.serverTimeMicroseconds() ?? 1) : topic.retainedTimestamp\n );\n }\n }\n }\n\n /* Consumes received data frame. /\n private processDataFrame(data: string \| BufferSource) {\n if (typeof data === \"string\") {\n let array: Array<TextDataFrame> \| undefined;\n try {\n array = JSON.parse(data);\n if (!Array.isArray(array)) {\n Logger.Default.error(`[NT4Client] unexpected text frame, JSON must be an array, frame ignored`);\n return;\n }\n } catch (exception) {\n Logger.Default.error(`[NT4Client] unexpected text frame, JSON is malformed, frame ignored`, exception);\n return;\n }\n\n array.forEach((d) => {\n if (typeof d !== \"object\" \|\| !(\"method\" in d) \|\| !(\"params\" in d)) {\n Logger.Default.error(`[NT4Client] malformed message in text frame, message ignored`);\n return;\n }\n\n const { method, params } = d;\n if (typeof method !== \"string\" \|\| typeof params !== \"object\") {\n Logger.Default.error(`[NT4Client] malformed message in text frame, message ignored`);\n return;\n }\n\n switch (method) {\n case \"announce\": {\n const topic = new NT4Topic(params.id, params.name, params.type, params.properties, params.pubuid);\n this.announcedTopics.set(topic.name, topic);\n this.announcedTopicsIndex.set(topic.uid, topic);\n\n if (this.onTopicAnnounced) {\n this.onTopicAnnounced(topic);\n }\n return;\n }\n\n case \"unannounce\": {\n const topic = this.announcedTopics.get(params.name);\n\n // ignore topics that we haven't seen being announced\n if (topic) {\n this.publishedTopics.get(topic.name)?.removeRetainedValue();\n this.announcedTopics.delete(topic.name);\n this.announcedTopicsIndex.delete(topic.uid);\n\n if (this.onTopicRemoved) {\n this.onTopicRemoved(topic);\n }\n }\n return;\n }\n\n case \"properties\": {\n const topic = this.announcedTopics.get(params.name);\n // ignore topics that we haven't seen being announced\n if (topic) {\n // https://github.com/wpilibsuite/allwpilib/blob/main/ntcore/doc/networktables4.adoc#properties-update-message-properties\n // The client shall handle the update value as follows.\n // If a property is not included in the update map, its value is not changed.\n // If a property is provided in the update map with a value of null, the property is deleted.\n topic.mergeProperties(params.update);\n\n if (this.onTopicUpdated) {\n this.onTopicUpdated(topic);\n }\n }\n return;\n }\n\n default:\n Logger.Default.error(`[NT4Client] unexpected method '${method}' in text frame message, message ignored`);\n return;\n }\n });\n } else {\n for (const d of this.decoder.decodeMulti(data)) {\n const [topicId, timestamp, typeCode, value] = d as [number, number, number, unknown];\n\n // sanity checks\n if (typeof topicId !== \"number\") {\n Logger.Default.error(`[NT4Client] unexpected non-numeric topic identifier, frame ignored`);\n return;\n }\n\n if (typeof timestamp !== \"number\") {\n Logger.Default.error(`[NT4Client] unexpected non-numeric timestamp, frame ignored`);\n return;\n }\n\n if (typeof typeCode !== \"number\") {\n Logger.Default.error(`[NT4Client] unexpected non-numeric typeCode, frame ignored`);\n return;\n }\n\n if (topicId === -1) {\n // RTT measurement\n if (typeof value !== \"number\") {\n Logger.Default.error(`[NT4Client] unexpected non-numeric value in RTT frame, message ignored`);\n continue;\n }\n\n const clientTime_μs = this.getClientTimestamp_μs();\n const latency_μs = (clientTime_μs - value) / 2.0; // network latency is estimated as half of RTT\n\n // if the RTT is less than that from previous measurements, the client shall use\n // the timestamp in the message plus ½ the RTT as the server time equivalent to\n // the current local time\n if (this.networkLatency_μs == null \|\| latency_μs < this.networkLatency_μs) {\n const clockSynchronized = this.serverTimeOffset_μs == null;\n\n // server timestamp is in microseconds\n this.serverTimeOffset_μs = Math.round(timestamp + latency_μs - clientTime_μs);\n\n if (clockSynchronized) {\n this.onClockSynchronized();\n }\n }\n\n this.networkLatency_μs = latency_μs;\n\n // update pong timestamp (used for checking timeouts)\n this.pongTimestamp_μs = clientTime_μs;\n } else if (topicId > 0) {\n const topic = this.announcedTopicsIndex.get(topicId);\n if (topic == null) {\n Logger.Default.error(`[NT4Client] unexpected topic identifier ${topicId}, message ignored`);\n continue;\n } else if (this.onDataReceived) {\n // update locally retained value on topics published by the client\n this.publishedTopics.get(topic.name)?.updateRetainedValue(value, timestamp);\n this.onDataReceived(topic, value, timestamp);\n }\n } else {\n Logger.Default.error(`[NT4Client] invalid topic identifier ${topicId}, message ignored`);\n continue;\n }\n }\n }\n }\n\n /* Handles general data frame received. /\n private onChannelMessage = (ev: MessageEvent) => {\n this.processDataFrame(ev.data);\n };\n\n /* Handles RTT data frame received. /\n private onChannelMessageRTT = (ev: MessageEvent) => {\n if (typeof ev.data === \"string\") {\n Logger.Default.debug(`[NT4Client] unexpected text data frame on RTT channel, frame ignored`);\n return;\n }\n\n this.processDataFrame(ev.data);\n };\n\n /* Handles channel closing for whatever reason. /\n private onChannelClose = (ev: CloseEvent) => {\n Logger.Default.debug(`[NT4Client] channel closed`, ev);\n\n this.cleanup();\n this.connectWithRetry();\n };\n\n /* Returns current timestamp in microseconds. This is NOT wall clock time. /\n private getClientTimestamp_μs() {\n // monotonically increasing, microsecond precision\n return Math.round(performance.now() 1000);\n }\n\n /** Sends data frame to publish the topic. /\n private publishCore(topic: NT4Topic) {\n this.dataChannel.sendText({\n method: \"publish\",\n params: {\n pubuid: topic.uid,\n name: topic.name,\n type: topic.type,\n properties: topic.properties,\n },\n });\n }\n\n /* Sends data frame to unpublish the topic. /\n private unpublishCore(topic: NT4Topic) {\n this.dataChannel.sendText({\n method: \"unpublish\",\n params: {\n pubuid: topic.uid,\n },\n });\n }\n\n /* Sends data frame to set topic properties. /\n private setPropertiesCore(name: string, properties: TopicProperties) {\n this.dataChannel.sendText({\n method: \"setproperties\",\n params: {\n name: name,\n update: properties,\n },\n });\n }\n\n /* Sends data frame to subscribe the subscription. /\n private subscribeCore(subscription: NT4Subscription) {\n this.dataChannel.sendText({\n method: \"subscribe\",\n params: {\n subuid: subscription.uid,\n topics: Array.from(subscription.topics),\n options: subscription.options,\n },\n });\n }\n\n /* Sends data frame to unsubscribe the subscription. /\n private unsubscribeCore(subscription: NT4Subscription) {\n this.dataChannel.sendText({\n method: \"unsubscribe\",\n params: {\n subuid: subscription.uid,\n },\n });\n }\n\n /* Sends data frame to update topic value. /\n private sendValueCore(topic: NT4Topic, value: unknown, timestamp: number) {\n const frame = this.encoder.encode([topic.uid, timestamp, topic.typeCode, value]);\n this.dataChannel.sendBinary(frame);\n }\n\n /\n Sends RTT measurement binary frame.\n * Uses RTT channel if available, falls back to data channel in NT4.0.\n /\n private sendRTT() {\n // https://github.com/wpilibsuite/allwpilib/blob/main/ntcore/doc/networktables4.adoc#timestamps\n // The topic ID of -1 is reserved for timestamp communication.\n // Clients shall periodically (e.g. every few seconds) send, in a manner that\n // minimizes transmission delays, a MessagePack message with ID of -1, a timestamp of 0,\n // and an implementation-selected type and data value (typically int or float 64)\n // containing its (the client’s) current local time\n const timestamp = this.getClientTimestamp_μs();\n const frame = this.encoder.encode([-1, 0, DataTypeCodes.double, timestamp]);\n (this.rttChannel ?? this.dataChannel).sendBinary(frame);\n }\n\n /\n Determines whether connection times out if no message has been received\n * within the timeout interval since the last pong.\n /\n private async checkTimeout() {\n if (!this.connectionEstablished \|\| this.pongTimestamp_μs === 0) {\n return;\n }\n\n const delta_μs = this.getClientTimestamp_μs() - this.pongTimestamp_μs;\n if (delta_μs > this.pingTimeout_ms 1000) {\n Logger.Default.debug(\n `[NT4Client] no data received in the last ${(delta_μs / 1000).toFixed(0)}ms, connection timed out`\n );\n\n await this.dataChannel.close(4001, \"timeout\");\n this.cleanup();\n this.connectWithRetry();\n }\n }\n\n /** Generates random UID. /\n private generateUID() {\n return Math.floor(Math.random() 0x7fffffff);\n }\n\n /** Generates random safe UID avoiding possible clashes. /\n private generateSafeUID(has: (id: number) => boolean) {\n let uid: number;\n for (uid = this.generateUID(); has(uid); uid = this.generateUID());\n return uid;\n }\n\n /* Determines whether published topic with the specified identifier exists. /\n private readonly hasPublishedTopicWithId = (id: number) => some(this.publishedTopics, (_) => _.uid === id);\n\n /* Determines whether subscription with the specified identifier exists. /\n private readonly hasSubscriptionWithId = (id: number) => this.subscriptions.has(id);\n\n /\n Constructs an instance of NT4Client without initiating a connection.\n \n @param serverAddress NT4 server network address\n * @param clientId this client identifier (cannot contain '@')\n * @param options options\n /\n constructor(serverAddress: string, clientId: string, options: NT4ClientOptions) {\n // https://github.com/wpilibsuite/allwpilib/blob/main/ntcore/doc/networktables4.adoc#websockets-protocol-configuration\n // ...\n // The client name does not need to be unique; multiple connections to the same name are allowed;\n // the server shall ensure the name is unique (for the purposes of meta-topics) by appending a '@'\n // and a unique number (if necessary). To support this, the name provided by the client should not\n // contain an embedded '@'. Clients should provide a way to specify the resource name (in particular,\n // the client name portion).\n if (clientId.includes(\"@\")) {\n throw new Error(\"Client identifier must not contain '@' character\");\n }\n\n this.serverAddress = serverAddress;\n this.port = options.secure ? NetworkSpecs.portSecure : NetworkSpecs.portUnsecure;\n this.clientId = clientId;\n this.onConnect = options.onConnect;\n this.onDisconnect = options.onDisconnect;\n this.onTopicAnnounced = options.onTopicAnnounced;\n this.onTopicRemoved = options.onTopicRemoved;\n this.onTopicUpdated = options.onTopicUpdated;\n this.onDataReceived = options.onDataReceived;\n this.retryPolicy = options.retryPolicy ?? NT4Client.defaultRetryPolicy;\n this.pingTimeoutOverride_ms = options.pingTimeoutMilliseconds;\n\n // data messages channel\n this.dataChannel = new NT4WebSocketAsync(this.serverAddress, this.port, this.clientId, {\n secure: options.secure,\n onMessage: this.onChannelMessage,\n onClose: this.onChannelClose,\n });\n\n // RTT messages channel (only used in NT4.1)\n this.rttChannel = new NT4WebSocketAsync(this.serverAddress, this.port, this.clientId, {\n rtt: true,\n secure: options.secure,\n onMessage: this.onChannelMessageRTT,\n });\n }\n\n /\n Returns NT4 server network address the client is using.\n /\n public readonly serverAddress: string;\n\n /\n Returns current connection state.\n /\n public get state() {\n return this.connectionState;\n }\n\n /\n Returns current network latency in microseconds if known.\n /\n public get networkLatencyMicroseconds() {\n return this.networkLatency_μs;\n }\n\n /\n Returns server time in microseconds that is current or\n * based on the specified client (local) time.\n \n Returns `null` if the server time offset is not established.\n /\n public serverTimeMicroseconds(clientTimeMicroseconds?: number) {\n return this.serverTimeOffset_μs != null\n ? Math.round(\n (clientTimeMicroseconds != null ? clientTimeMicroseconds : this.getClientTimestamp_μs()) +\n this.serverTimeOffset_μs\n )\n : null;\n }\n\n /\n Initiates the connection.\n * Once established the connection will be automatically kept alive by reconnecting.\n /\n public connect() {\n if (this.connectionInitiated) {\n return;\n }\n\n Logger.Default.debug(`[NT4Client] connection initiated`);\n this.connectionInitiated = true;\n this.connectWithRetry();\n }\n\n /\n Terminates the connection.\n * The client can be reconnected manually by calling {@link connect} again.\n /\n public disconnect() {\n if (!this.connectionInitiated) {\n return;\n }\n\n Logger.Default.debug(`[NT4Client] connection cancelled`);\n this.connectionInitiated = false;\n this.dataChannel.close();\n this.rttChannel.close();\n }\n\n /\n Creates a new subscription.\n \n The subscription can be created regardless of connectivity state.\n * All client subscriptions are automatically restored once connection\n * has been established. This is also true for reconnects following\n * loss of connectivity or deliberate disconnects.\n \n Caller can {@link unsubscribe} by passing the return value of this call or\n * invoke {@link unsubscribeAll} to remove all existing client subscriptions.\n \n @param topics topics or prefixes to include in the subscription\n * @param options subscription options\n * @returns A subscription instance\n /\n public subscribe(topics: Iterable<string>, options: SubscriptionOptions) {\n const uid = this.generateSafeUID(this.hasSubscriptionWithId);\n const subscription = new NT4Subscription(uid, topics, options);\n this.subscriptions.set(subscription.uid, subscription);\n\n if (this.connectionEstablished) {\n this.subscribeCore(subscription);\n }\n\n return subscription;\n }\n\n /\n Unsubscribes an existing subscription.\n \n @param arg subscription or subscription identifier\n * @returns `true` if the subscription was successfully unsubscribed, `false` if the subscription was not found\n /\n public unsubscribe(arg: NT4Subscription \| number) {\n const subscription = typeof arg === \"number\" ? this.subscriptions.get(arg) : arg;\n if (!subscription) {\n return false;\n }\n\n this.subscriptions.delete(subscription.uid);\n if (this.connectionEstablished) {\n this.unsubscribeCore(subscription);\n }\n\n return true;\n }\n\n /\n Unsubscribes all existing subscriptions.\n /\n public unsubscribeAll() {\n for (const subscription of this.subscriptions.values()) {\n this.unsubscribe(subscription);\n }\n }\n\n /\n Publishes a topic with the specified name and type.\n \n This method registers this client as a publisher for the topic.\n * It should be called before {@link setValue} or {@link setValueAt}\n * can be used.\n \n Publishing a topic on a disconnected client is allowed.\n * Client will automatically register such publishers once the connection\n * has been established and send default or retained value as appropriate.\n \n @param topic topic name\n * @param type data type\n * @param properties properties\n /\n public publishTopic(topic: string, type: DataType \| string, properties?: TopicProperties) {\n let publishedTopic = this.publishedTopics.get(topic);\n if (publishedTopic) {\n return publishedTopic;\n }\n\n const uid = this.generateSafeUID(this.hasPublishedTopicWithId);\n publishedTopic = new NT4Topic(uid, topic, type, properties, uid);\n this.publishedTopics.set(publishedTopic.name, publishedTopic);\n\n if (this.connectionEstablished) {\n this.publishCore(publishedTopic);\n }\n\n return publishedTopic;\n }\n\n /\n Un-publishes previously published topic.\n \n @param topic topic name\n * @returns `true` if the topic was successfully unpublished, `false` if the topic was not published\n /\n public unpublishTopic(topic: string) {\n const publishedTopic = this.publishedTopics.get(topic);\n if (!publishedTopic) {\n return false;\n }\n\n this.publishedTopics.delete(publishedTopic.name);\n if (this.connectionEstablished) {\n this.unpublishCore(publishedTopic);\n }\n\n return true;\n }\n\n /\n Determines whether client already publishes the topic.\n \n @param topic topic name\n /\n public isTopicPublished(topic: string) {\n return this.publishedTopics.has(topic);\n }\n\n /\n Sets properties for the specified topic.\n \n @param topic topic name\n * @param properties new properties\n /\n public setTopicProperties(topic: string, properties: TopicProperties) {\n const publishedTopic = this.publishedTopics.get(topic);\n if (publishedTopic) {\n publishedTopic.mergeProperties(properties);\n }\n\n const announcedTopic = this.announcedTopics.get(topic);\n if (announcedTopic) {\n announcedTopic.mergeProperties(properties);\n }\n\n if (this.connectionEstablished) {\n this.setPropertiesCore(topic, properties);\n }\n }\n\n /\n Sets persistent flag for the topic.\n \n @param topic topic name\n * @param value value to set\n /\n public setTopicPersistent(topic: string, value: boolean) {\n this.setTopicProperties(topic, { persistent: value });\n }\n\n /\n Sets retained flag for the topic.\n \n @param topic topic name\n * @param value value to set\n /\n public setTopicRetained(topic: string, value: boolean) {\n this.setTopicProperties(topic, { retained: value });\n }\n\n /\n Sends a value to the published topic using the current time.\n \n This client must publish the topic with {@link publishTopic} first.\n \n @param topic topic name\n * @param value value to send\n /\n public setValue(topic: string, value: unknown) {\n this.setValueAt(topic, value, this.serverTimeMicroseconds() ?? 1);\n }\n\n /\n Sends a default (\"weak\") value to the published topic.\n \n This client must publish the topic with {@link publishTopic} first.\n \n @param topic topic name\n * @param value value to send\n /\n public setDefaultValue(topic: string, value: unknown) {\n this.setValueAt(topic, value, 0);\n }\n\n /\n Sends a value to the published topic using the specified timestamp.\n \n This client must publish the topic with {@link publishTopic} first.\n \n @param topic topic name\n * @param value value to send\n * @param timestamp timestamp\n /\n public setValueAt(topic: string, value: unknown, timestamp: number) {\n const publishedTopic = this.publishedTopics.get(topic);\n if (!publishedTopic) {\n throw new Error(\"Topic must be published first\");\n }\n\n if (!publishedTopic.canAccept(value)) {\n throw new Error(\"Value is not compatible with topic underlying type\");\n }\n\n // timestamps in messages always use the server time base,\n // if the offset has not been established, the client retains\n // the last value and will send it once connection is restored\n publishedTopic.updateRetainedValue(value, timestamp);\n\n // update locally for announced topics\n if (this.onDataReceived) {\n const announcedTopic = this.announcedTopics.get(topic);\n if (announcedTopic) {\n this.onDataReceived(announcedTopic, value, timestamp);\n }\n }\n\n if (this.connectionEstablished && this.serverTimeOffset_μs != null) {\n this.sendValueCore(publishedTopic, value, timestamp);\n }\n }\n\n /\n Returns current ping timeout.\n \n @returns A value in milliseconds or 0 if the timeout has not been set yet.\n /\n public get pingTimeoutMilliseconds() {\n return this.pingTimeout_ms;\n }\n\n /\n Sets ping timeout.\n \n @param value Timeout in milliseconds or `undefined` to use default protocol timeout value.\n */\n public setPingTimeoutMilliseconds(value: number \| undefined) {\n Logger.Default.debug(\n value != null\n ? `[NT4Client] ping timeout is set to ${value.toFixed(0)}ms`\n : `[NT4Client] ping timeout is reset to protocol-based default`\n );\n\n this.pingTimeoutOverride_ms = value;\n\n // update actual timeout value\n if (value != null) {\n this.pingTimeout_ms = value;\n } else {\n this.pingTimeout_ms =\n this.dataChannel.protocol === NetworkSpecs.protocol41 ? NetworkSpecs.pingTimeout41 : NetworkSpecs.pingPeriod40;\n }\n 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1	+ {"version":3,"file":"index.mjs","names":[],"sources":["../src/NT4Spec.ts","../src/NT4Subscription.ts","../src/NT4Topic.ts","../src/NT4WebSocketAsync.ts","../src/NT4Client.ts"],"sourcesContent":["import type { SubscriptionOptions, TopicProperties } from \"./NT4Types\";\n\n/*\n Network constants.\n /\nexport const NetworkSpecs = {\n /* NT4 port for unsecure (ws://) connections /\n portUnsecure: 5810,\n\n /* NT4 port for secure (wss://) connections /\n portSecure: 5811,\n\n /* Subprotocol v4.1 /\n protocol41: \"v4.1.networktables.first.wpi.edu\",\n\n /* Subprotocol v4.0 /\n protocol40: \"networktables.first.wpi.edu\",\n\n /* Subprotocol RTT /\n protocolRTT: \"rtt.networktables.first.wpi.edu\",\n\n /* v4.0 ping period in milliseconds /\n pingPeriod40: 1000,\n\n /* v4.0 ping timeout in milliseconds /\n pingTimeout40: 3000,\n\n /* v4.1 ping period in milliseconds /\n pingPeriod41: 250,\n\n /* v4.1 ping timeout in milliseconds /\n pingTimeout41: 1000,\n};\n\n/\n Supported data types mapped to protocol identifiers.\n \n https://github.com/wpilibsuite/allwpilib/blob/main/ntcore/doc/networktables4.adoc#supported-data-types\n /\nexport const DataTypeCodes = {\n boolean: 0,\n double: 1,\n int: 2,\n float: 3,\n string: 4,\n json: 4,\n raw: 5,\n rpc: 5,\n msgpack: 5,\n protobuf: 5,\n \"boolean[]\": 16,\n \"double[]\": 17,\n \"int[]\": 18,\n \"float[]\": 19,\n \"string[]\": 20,\n} as const;\n\nexport type DataType = keyof typeof DataTypeCodes;\n\n/\n Publish Request Message (`publish`)\n \n https://github.com/wpilibsuite/allwpilib/blob/main/ntcore/doc/networktables4.adoc#publish-request-message-publish\n /\nexport type PublishRequestMessage = {\n /\n Publish name\n \n The topic name being published.\n /\n name: string;\n\n /\n Published UID\n \n A client-generated unique identifier for this publisher. Use the same UID later to unpublish.\n * This is also the identifier that the client will use in MessagePack messages for this topic.\n /\n pubuid: number;\n\n /\n Type of data\n \n The requested data type (as a string).\n * If the topic is newly created (e.g. there are no other publishers) this sets the value type.\n * If the topic was previously published, this is ignored.\n /\n type: string;\n\n /\n Properties\n \n Initial topic properties.\n * If the topic is newly created (e.g. there are no other publishers) this sets the topic properties.\n * If the topic was previously published, this is ignored.\n /\n properties: TopicProperties;\n};\n\n/\n Publish Release Message (`unpublish`)\n \n https://github.com/wpilibsuite/allwpilib/blob/main/ntcore/doc/networktables4.adoc#publish-release-message-unpublish\n /\nexport type PublishReleaseMessage = {\n /\n Publisher UID\n \n The same unique identifier passed to the `publish` message.\n /\n pubuid: number;\n};\n\n/\n Set Properties Message (`setproperties`)\n \n https://github.com/wpilibsuite/allwpilib/blob/main/ntcore/doc/networktables4.adoc#set-properties-message-setproperties\n /\nexport type SetPropertiesMessage = {\n /\n Topic name\n /\n name: string;\n\n /\n Properties to update\n /\n update: TopicProperties;\n};\n\n/\n Subscribe Message (`subscribe`)\n \n https://github.com/wpilibsuite/allwpilib/blob/main/ntcore/doc/networktables4.adoc#subscribe-message-subscribe\n /\nexport type SubscribeMessage = {\n /\n Array of topic names or prefixes\n \n One or more topic names or prefixes (if the `prefix` option is true) to start receiving messages for.\n /\n topics: Array<string>;\n\n /\n Subscription UID\n \n A client-generated unique identifier for this subscription. Use the same UID later to unsubscribe.\n /\n subuid: number;\n\n /\n Options\n /\n options: SubscriptionOptions;\n};\n\n/\n Unsubscribe Message (`unsubscribe`)\n \n https://github.com/wpilibsuite/allwpilib/blob/main/ntcore/doc/networktables4.adoc#unsubscribe-message-unsubscribe\n /\nexport type UnsubscribeMessage = {\n /\n Subscription UID\n \n The same unique identifier passed to the `subscribe` message.\n /\n subuid: number;\n};\n\n/\n Topic Announcement Message (`announce`)\n \n https://github.com/wpilibsuite/allwpilib/blob/main/ntcore/doc/networktables4.adoc#topic-announcement-message-announce\n /\nexport type TopicAnnouncementMessage = {\n /\n Topic name\n /\n name: string;\n\n /\n Topic ID\n \n The identifier that the server will use in MessagePack messages for this topic.\n /\n id: number;\n\n /\n Data type\n \n The data type for the topic (as a string).\n /\n type: string;\n\n /\n Publisher UID\n \n If this message was sent in response to a publish message,\n * the Publisher UID provided in that message. Otherwise absent.\n /\n pubuid?: number;\n\n /\n Properties\n /\n properties: TopicProperties;\n};\n\n/\n Topic Removed Message (`unannounce`)\n \n https://github.com/wpilibsuite/allwpilib/blob/main/ntcore/doc/networktables4.adoc#topic-removed-message-unannounce\n /\nexport type TopicRemovedMessage = {\n /\n Topic name\n /\n name: string;\n\n /\n Topic ID\n \n The identifier that the server was using for value updates.\n /\n id: number;\n};\n\n/\n Properties Update Message (`properties`)\n \n https://github.com/wpilibsuite/allwpilib/blob/main/ntcore/doc/networktables4.adoc#properties-update-message-properties\n /\nexport type PropertiesUpdateMessage = {\n /\n Topic name\n /\n name: string;\n\n /\n Acknowledgement\n \n `True` if this message is in response to a `setproperties` message from the same client.\n * Otherwise absent.\n /\n ack: boolean;\n\n /\n Properties to set\n /\n update: TopicProperties;\n};\n\n/\n Supported text data frames.\n \n https://github.com/wpilibsuite/allwpilib/blob/main/ntcore/doc/networktables4.adoc#text-data-frames\n /\nexport type TextDataFrame =\n \| {\n method: \"publish\";\n params: PublishRequestMessage;\n }\n \| {\n method: \"unpublish\";\n params: PublishReleaseMessage;\n }\n \| {\n method: \"setproperties\";\n params: SetPropertiesMessage;\n }\n \| {\n method: \"subscribe\";\n params: SubscribeMessage;\n }\n \| {\n method: \"unsubscribe\";\n params: UnsubscribeMessage;\n }\n \| {\n method: \"announce\";\n params: TopicAnnouncementMessage;\n }\n \| {\n method: \"unannounce\";\n params: TopicRemovedMessage;\n }\n \| {\n method: \"properties\";\n params: PropertiesUpdateMessage;\n };\n","import type { SubscriptionOptions } from \"./NT4Types\";\n\n/* Contains information about NT4 subscription. /\nexport class NT4Subscription {\n /* Subscription UID. /\n public readonly uid: number;\n\n /* Subscription options. /\n public readonly options: SubscriptionOptions;\n\n /* Subscribed topic names or prefixes. /\n public readonly topics: Set<string>;\n\n constructor(uid: number, topics: Iterable<string>, options?: SubscriptionOptions) {\n this.uid = uid;\n this.topics = new Set(typeof topics === \"string\" ? [topics] : topics);\n this.options = options ?? {};\n }\n}\n","import { DataTypeCodes } from \"./NT4Spec\";\n\nimport type { DataType } from \"./NT4Spec\";\nimport type { TopicProperties } from \"./NT4Types\";\n\n/* Contains information about NT4 topic. /\nexport class NT4Topic {\n /* Topic UID. /\n public readonly uid: number;\n\n /* Topic name. /\n public readonly name: string;\n\n /* Topic data type. /\n public readonly type: string;\n\n /* Topic properties. /\n public readonly properties: TopicProperties;\n\n /* Publisher UID. /\n public pubuid?: number;\n\n /* Last retained value. /\n public retainedValue?: unknown;\n\n /* Timestamp of {@link retainedValue}. /\n public retainedTimestamp?: number;\n\n constructor(uid: number, name: string, type: string, properties?: TopicProperties, pubuid?: number) {\n this.uid = uid;\n this.name = name;\n this.type = type;\n this.properties = properties ?? {};\n this.pubuid = pubuid;\n this.typeCode = DataTypeCodes[type as DataType] ?? 5; // defaults to binary\n }\n\n /* Merges properties with this topic. /\n public mergeProperties(properties: TopicProperties) {\n Object.entries(properties).forEach(([key, value]) => {\n if (value === null) {\n delete this.properties[key];\n } else {\n this.properties[key] = value;\n }\n });\n }\n\n /* Updates retained value if the incoming timestamp is newer (greater-than or equal-to). /\n public updateRetainedValue(value: unknown, timestamp: number) {\n if (this.retainedTimestamp == null \|\| timestamp >= this.retainedTimestamp) {\n this.retainedValue = value;\n this.retainedTimestamp = timestamp;\n }\n }\n\n /* Removes retained value except for \"weak\" default value. /\n public removeRetainedValue() {\n if (this.retainedTimestamp != 0) {\n this.retainedValue = undefined;\n this.retainedTimestamp = undefined;\n }\n }\n\n /* Resets retained value timestamp except for \"weak\" default value. /\n public resetRetainedTimestamp() {\n if (this.retainedTimestamp != null && this.retainedTimestamp > 1) {\n this.retainedTimestamp = 1;\n }\n }\n\n /* Determines whether topic can accept the specified value. /\n public canAccept(value: unknown) {\n switch (this.typeCode) {\n // primitives\n case DataTypeCodes.boolean:\n return typeof value === \"boolean\";\n case DataTypeCodes.double:\n case DataTypeCodes.float:\n return typeof value === \"number\";\n case DataTypeCodes.int:\n return typeof value === \"number\" && Number.isInteger(value);\n case DataTypeCodes.string:\n return typeof value === \"string\";\n\n // arrays of primitives\n case DataTypeCodes[\"boolean[]\"]:\n return Array.isArray(value) && value.every((v) => typeof v === \"boolean\");\n case DataTypeCodes[\"double[]\"]:\n case DataTypeCodes[\"float[]\"]:\n return Array.isArray(value) && value.every((v) => typeof v === \"number\");\n case DataTypeCodes[\"int[]\"]:\n return Array.isArray(value) && value.every((v) => typeof v === \"number\" && Number.isInteger(v));\n case DataTypeCodes[\"string[]\"]:\n return Array.isArray(value) && value.every((v) => typeof v === \"string\");\n\n case DataTypeCodes.json:\n return value !== null && (typeof value === \"object\" \|\| typeof value === \"string\");\n\n default:\n return true;\n }\n }\n\n /* Topic type code. For internal use only. /\n public readonly typeCode: number;\n}\n","import { NetworkSpecs } from \"./NT4Spec\";\n\nimport type { TextDataFrame } from \"./NT4Spec\";\n\n// version 4.1 -- v4.1.networktables.first.wpi.edu\n// version 4.0 -- networktables.first.wpi.edu\nconst PROTOCOL_DATA = [NetworkSpecs.protocol41, NetworkSpecs.protocol40];\n\n// https://github.com/wpilibsuite/allwpilib/blob/main/ntcore/doc/networktables4.adoc#rtt-subprotocol\nconst PROTOCOL_RTT = [NetworkSpecs.protocolRTT];\n\n/\n A wrapper for `WebSocket` that implements async `connect` and `close` methods.\n \n This class manages the lifecycle of the raw websocket internally, creating and\n * destroying the websocket as necessary when establishing and closing the connection.\n /\nexport class NT4WebSocketAsync {\n private url: string;\n private rtt: boolean;\n private socket: WebSocket \| null = null;\n private onMessage?: (_: MessageEvent) => void;\n private onClose?: (_: CloseEvent) => void;\n\n /\n Creates a `WebSocket` wrapper to be used for NT4 communication channel.\n * This constructor does not initiate the connection, see `connect`.\n \n @param address server network address\n * @param port sever port\n * @param clientId client identifier\n * @param options connection options\n /\n constructor(\n address: string,\n port: number,\n clientId: string,\n options: {\n /* Callback invoked when socket receives message. /\n onMessage?: (ev: MessageEvent) => void;\n /* Callback invoked when socket closes. /\n onClose?: (ev: CloseEvent) => void;\n /* `true` to use secure protocol/port; `false` to use unsecure protocol/port (default). /\n secure?: boolean;\n /* `true` to create RTT subprotocol channel; `false` to create default data channel (default). /\n rtt?: boolean;\n }\n ) {\n const schema = options.secure ? \"wss\" : \"ws\";\n\n this.url = `${schema}://${address}:${port}/nt/${clientId}`;\n this.rtt = options.rtt ?? false;\n this.onMessage = options.onMessage;\n this.onClose = options.onClose;\n }\n\n private onMessageLocal(ev: MessageEvent, source: WebSocket) {\n if (this.onMessage && this.socket === source) {\n this.onMessage(ev);\n }\n }\n\n private onCloseLocal(ev: CloseEvent, source: WebSocket) {\n if (this.onClose && this.socket === source) {\n this.onClose(ev);\n }\n }\n\n /* Returns `true` if the socket is in the connected state. /\n public get connected() {\n return this.socket != null && this.socket.readyState === WebSocket.OPEN;\n }\n\n /* Returns `true` if the socket is in the connecting state. /\n public get connecting() {\n return this.socket != null && this.socket.readyState === WebSocket.CONNECTING;\n }\n\n /* Returns the subprotocol negotiated with the server. /\n public get protocol() {\n return this.socket?.protocol;\n }\n\n /* Sends text data frame (JSON serialized). /\n public sendText(data: TextDataFrame \| Array<TextDataFrame>) {\n if (this.socket && this.socket.readyState === WebSocket.OPEN) {\n this.socket.send(JSON.stringify(Array.isArray(data) ? data : [data]));\n }\n }\n\n /* Sends binary data frame. /\n public sendBinary(data: Uint8Array) {\n if (this.socket && this.socket.readyState === WebSocket.OPEN) {\n this.socket.send(data);\n }\n }\n\n /\n Asynchronously terminates the connection.\n \n @param code optional code\n * @param reason optional reason\n /\n public async close(code?: number, reason?: string): Promise<void> {\n if (this.socket) {\n const socket = this.socket;\n this.socket = null;\n\n // websocket is closing asynchronously, we need to wait\n // for the corresponding onclose to fire:\n // attach another listener here and promisify\n return new Promise((resolve) => {\n socket.addEventListener(\"close\", () => {\n resolve();\n });\n\n socket.close(code, reason);\n });\n }\n\n return Promise.resolve();\n }\n\n /* Asynchronously initiates the connection. /\n public async connect(): Promise<void> {\n return new Promise((resolve, reject) => {\n const socket = new WebSocket(this.url, this.rtt ? PROTOCOL_RTT : PROTOCOL_DATA);\n\n socket.binaryType = \"arraybuffer\";\n\n this.socket = socket;\n\n socket.addEventListener(\"message\", (_) => this.onMessageLocal(_, socket));\n socket.addEventListener(\"close\", (_) => this.onCloseLocal(_, socket));\n\n socket.onopen = () => {\n resolve();\n };\n\n socket.onerror = (event) => {\n reject(event);\n };\n });\n }\n}\n","import { Decoder, Encoder } from \"@msgpack/msgpack\";\n\nimport { Logger } from \"@2702rebels/logger\";\n\nimport { DataTypeCodes, NetworkSpecs } from \"./NT4Spec\";\nimport { NT4Subscription } from \"./NT4Subscription\";\nimport { NT4Topic } from \"./NT4Topic\";\nimport { NT4WebSocketAsync } from \"./NT4WebSocketAsync\";\n\nimport type { DataType, TextDataFrame } from \"./NT4Spec\";\nimport type { SubscriptionOptions, TopicProperties } from \"./NT4Types\";\n\nexport type NT4ClientConnectionState = \"disconnected\" \| \"connecting\" \| \"connected\";\n\nexport type NT4ClientOptions = {\n /* Indicates that secure channel should be used. /\n secure?: boolean;\n\n /\n Invoked when the client connects.\n /\n onConnect?: () => void;\n\n /\n Invoked when the client disconnects.\n /\n onDisconnect?: () => void;\n\n /\n Invoked when new topic is announced by the server.\n \n @param topic topic announced\n /\n onTopicAnnounced?: (topic: NT4Topic) => void;\n\n /\n Invoked when a topic is removed by the server.\n \n @param topic topic removed\n /\n onTopicRemoved?: (topic: NT4Topic) => void;\n\n /\n Invoked when a topic properties are updated by the server.\n \n @param topic topic updated\n /\n onTopicUpdated?: (topic: NT4Topic) => void;\n\n /\n Invoked when the topic receives new data.\n \n @param topic topic receiving data\n * @param value value received\n * @param timestamp server timestamp in microseconds\n /\n onDataReceived?: (topic: NT4Topic, value: unknown, timestamp: number) => void;\n\n /\n Retry policy that accepts the current number of connection attempts\n * and returns the timeout in milliseconds or -1 to abort.\n \n @param attempts number of subsequent connection attempts\n * @returns timeout in milliseconds or -1 to abort\n /\n retryPolicy?: (attempts: number) => number;\n\n /\n Overrides default timeout for ping-pong packets.\n \n Defaults:\n * - NT 4.0: 3000 milliseconds\n * - NT 4.1: 1000 milliseconds\n /\n pingTimeoutMilliseconds?: number;\n};\n\n/* Determines whether the specified predicate callback returns true for any element of a map. /\nfunction some<K, V>(map: Map<K, V>, predicate: (entry: V) => boolean) {\n for (const v of map.values()) {\n if (predicate(v)) {\n return true;\n }\n }\n return false;\n}\n\n/\n Implements a NetworkTable4 client that is responsible for establishing and maintaining a connection.\n /\nexport class NT4Client {\n private readonly port: number;\n private readonly clientId: string;\n private readonly dataChannel: NT4WebSocketAsync;\n private readonly rttChannel: NT4WebSocketAsync;\n private readonly decoder = new Decoder();\n private readonly encoder = new Encoder();\n private readonly onConnect?: NT4ClientOptions[\"onConnect\"];\n private readonly onDisconnect?: NT4ClientOptions[\"onDisconnect\"];\n private readonly onTopicAnnounced?: NT4ClientOptions[\"onTopicAnnounced\"];\n private readonly onTopicRemoved?: NT4ClientOptions[\"onTopicRemoved\"];\n private readonly onTopicUpdated?: NT4ClientOptions[\"onTopicUpdated\"];\n private readonly onDataReceived?: NT4ClientOptions[\"onDataReceived\"];\n private readonly retryPolicy: Required<NT4ClientOptions>[\"retryPolicy\"];\n private pingTimeoutOverride_ms?: NT4ClientOptions[\"pingTimeoutMilliseconds\"];\n\n private subscriptions = new Map<number, NT4Subscription>();\n private publishedTopics = new Map<string, NT4Topic>();\n private announcedTopics = new Map<string, NT4Topic>();\n private announcedTopicsIndex = new Map<number, NT4Topic>();\n\n private connectionEstablished = false;\n private connectionInitiated = false;\n private connectionAttempts = 0;\n private connectionState: NT4ClientConnectionState = \"disconnected\";\n private networkLatency_μs: number \| null = null;\n private serverTimeOffset_μs: number \| null = null;\n private pingTimeout_ms = 0;\n private pongTimestamp_μs = 0;\n private pingIntervalId: ReturnType<typeof setInterval> \| null = null;\n private pongIntervalId: ReturnType<typeof setInterval> \| null = null;\n\n /* Truncated at 15 seconds exponential backoff retry policy starting at 1 second. /\n public static defaultRetryPolicy(attempts: number) {\n return Math.round(Math.min(15, Math.max(1, 1.2 * Math.min(15, attempts))) * 1000);\n }\n\n /** Cleans up closed data channel. /\n private cleanup() {\n Logger.Default.debug(`[NT4Client] cleaning up`);\n\n if (this.pingIntervalId) {\n clearInterval(this.pingIntervalId);\n this.pingIntervalId = null;\n }\n\n if (this.pongIntervalId) {\n clearInterval(this.pongIntervalId);\n this.pongIntervalId = null;\n }\n\n this.rttChannel.close();\n\n if (this.connectionEstablished && this.onDisconnect) {\n this.onDisconnect();\n }\n\n this.connectionEstablished = false;\n this.connectionState = \"disconnected\";\n\n this.announcedTopics.clear();\n this.announcedTopicsIndex.clear();\n\n for (const topic of this.publishedTopics.values()) {\n topic.resetRetainedTimestamp();\n }\n\n this.pongTimestamp_μs = 0;\n this.serverTimeOffset_μs = null;\n this.networkLatency_μs = null;\n }\n\n /* Attempts to establish a connection, continuously retrying using policy. /\n private async connectWithRetry() {\n this.connectionState = \"connecting\";\n\n // check for cancellation after each await, since disconnect could have been called\n // while we were awaiting and therefore we should abort here or below\n if (!this.connectionInitiated) {\n Logger.Default.debug(`[NT4Client] pending cancellation, aborting...`);\n return;\n }\n\n // probe remote endpoint status (liveness check)\n let response: Response \| null = null;\n try {\n response = await fetch(`http://${this.serverAddress}:${this.port}`, {\n signal: AbortSignal.timeout(250),\n });\n } catch {\n // swallow exception here; we are checking for response status below\n }\n\n if (!this.connectionInitiated) {\n Logger.Default.debug(`[NT4Client] pending cancellation, aborting...`);\n return;\n }\n\n // if endpoint seems to be alive try to establish websocket connection,\n // otherwise, wait and retry again\n if (response && response.ok) {\n try {\n Logger.Default.debug(`[NT4Client] opening channel to ${this.serverAddress}:${this.port}`);\n await this.dataChannel.connect();\n\n // reset connection attempts once the data channel is successfully connected\n this.connectionAttempts = 0;\n\n if (!this.connectionInitiated) {\n Logger.Default.debug(`[NT4Client] pending cancellation, aborting...`);\n return;\n }\n\n this.connectionEstablished = true;\n this.connectionState = \"connected\";\n\n Logger.Default.debug(\n `[NT4Client] connected to ${this.serverAddress}:${this.port}, subprotocol = ${this.dataChannel.protocol}`\n );\n\n let pingPeriod_ms = NetworkSpecs.pingPeriod40;\n this.pingTimeout_ms = this.pingTimeoutOverride_ms ?? NetworkSpecs.pingTimeout40;\n\n if (this.dataChannel.protocol === NetworkSpecs.protocol41) {\n Logger.Default.debug(`[NT4Client] server speaks v4.1, creating separate RTT channel`);\n await this.rttChannel.connect();\n\n if (!this.connectionInitiated) {\n Logger.Default.debug(`[NT4Client] pending cancellation, aborting...`);\n return;\n }\n\n pingPeriod_ms = NetworkSpecs.pingPeriod41;\n this.pingTimeout_ms = this.pingTimeoutOverride_ms ?? NetworkSpecs.pingTimeout41;\n }\n\n Logger.Default.debug(`[NT4Client] sending timestamp and re-establishing subscriptions`);\n\n // send timestamp to establish RTT\n this.sendRTT();\n\n // and start periodic ping\n this.pongTimestamp_μs = 0;\n this.pingIntervalId = setInterval(() => this.sendRTT(), pingPeriod_ms);\n this.pongIntervalId = setInterval(() => this.checkTimeout(), pingPeriod_ms);\n\n // restore client subscriptions\n for (const subscription of this.subscriptions.values()) {\n this.subscribeCore(subscription);\n }\n\n // restore client publishers\n // retained values won't be sent until clock is synchronized\n for (const topic of this.publishedTopics.values()) {\n this.publishCore(topic);\n }\n\n if (this.onConnect) {\n this.onConnect();\n }\n\n return;\n } catch (exception) {\n Logger.Default.error(`[NT4Client] failed to open channel`, exception);\n\n await this.rttChannel.close();\n await this.dataChannel.close();\n }\n }\n\n // retry logic\n this.connectionAttempts++;\n const timeout = this.retryPolicy(this.connectionAttempts);\n\n if (timeout < 0) {\n Logger.Default.debug(`[NT4Client] aborting per retry policy after ${this.connectionAttempts} attempts`);\n this.disconnect();\n return;\n }\n\n Logger.Default.debug(`[NT4Client] retrying connection in ${timeout.toFixed(0)}ms`);\n setTimeout(() => this.connectWithRetry(), timeout);\n }\n\n /* Invoked once the client-server clock is synchronized. /\n private onClockSynchronized() {\n Logger.Default.debug(`[NT4Client] clock synchronized, offset = ${this.serverTimeOffset_μs}`);\n\n for (const topic of this.publishedTopics.values()) {\n if (topic.retainedTimestamp != null && topic.retainedValue != null) {\n this.sendValueCore(\n topic,\n topic.retainedValue,\n topic.retainedTimestamp === 1 ? (this.serverTimeMicroseconds() ?? 1) : topic.retainedTimestamp\n );\n }\n }\n }\n\n /* Consumes received data frame. /\n private processDataFrame(data: string \| BufferSource) {\n if (typeof data === \"string\") {\n let array: Array<TextDataFrame> \| undefined;\n try {\n array = JSON.parse(data);\n if (!Array.isArray(array)) {\n Logger.Default.error(`[NT4Client] unexpected text frame, JSON must be an array, frame ignored`);\n return;\n }\n } catch (exception) {\n Logger.Default.error(`[NT4Client] unexpected text frame, JSON is malformed, frame ignored`, exception);\n return;\n }\n\n array.forEach((d) => {\n if (typeof d !== \"object\" \|\| !(\"method\" in d) \|\| !(\"params\" in d)) {\n Logger.Default.error(`[NT4Client] malformed message in text frame, message ignored`);\n return;\n }\n\n const { method, params } = d;\n if (typeof method !== \"string\" \|\| typeof params !== \"object\") {\n Logger.Default.error(`[NT4Client] malformed message in text frame, message ignored`);\n return;\n }\n\n switch (method) {\n case \"announce\": {\n const topic = new NT4Topic(params.id, params.name, params.type, params.properties, params.pubuid);\n this.announcedTopics.set(topic.name, topic);\n this.announcedTopicsIndex.set(topic.uid, topic);\n\n if (this.onTopicAnnounced) {\n this.onTopicAnnounced(topic);\n }\n return;\n }\n\n case \"unannounce\": {\n const topic = this.announcedTopics.get(params.name);\n\n // ignore topics that we haven't seen being announced\n if (topic) {\n this.publishedTopics.get(topic.name)?.removeRetainedValue();\n this.announcedTopics.delete(topic.name);\n this.announcedTopicsIndex.delete(topic.uid);\n\n if (this.onTopicRemoved) {\n this.onTopicRemoved(topic);\n }\n }\n return;\n }\n\n case \"properties\": {\n const topic = this.announcedTopics.get(params.name);\n // ignore topics that we haven't seen being announced\n if (topic) {\n // https://github.com/wpilibsuite/allwpilib/blob/main/ntcore/doc/networktables4.adoc#properties-update-message-properties\n // The client shall handle the update value as follows.\n // If a property is not included in the update map, its value is not changed.\n // If a property is provided in the update map with a value of null, the property is deleted.\n topic.mergeProperties(params.update);\n\n if (this.onTopicUpdated) {\n this.onTopicUpdated(topic);\n }\n }\n return;\n }\n\n default:\n Logger.Default.error(`[NT4Client] unexpected method '${method}' in text frame message, message ignored`);\n return;\n }\n });\n } else {\n for (const d of this.decoder.decodeMulti(data)) {\n const [topicId, timestamp, typeCode, value] = d as [number, number, number, unknown];\n\n // sanity checks\n if (typeof topicId !== \"number\") {\n Logger.Default.error(`[NT4Client] unexpected non-numeric topic identifier, frame ignored`);\n return;\n }\n\n if (typeof timestamp !== \"number\") {\n Logger.Default.error(`[NT4Client] unexpected non-numeric timestamp, frame ignored`);\n return;\n }\n\n if (typeof typeCode !== \"number\") {\n Logger.Default.error(`[NT4Client] unexpected non-numeric typeCode, frame ignored`);\n return;\n }\n\n if (topicId === -1) {\n // RTT measurement\n if (typeof value !== \"number\") {\n Logger.Default.error(`[NT4Client] unexpected non-numeric value in RTT frame, message ignored`);\n continue;\n }\n\n const clientTime_μs = this.getClientTimestamp_μs();\n const latency_μs = (clientTime_μs - value) / 2.0; // network latency is estimated as half of RTT\n\n // if the RTT is less than that from previous measurements, the client shall use\n // the timestamp in the message plus ½ the RTT as the server time equivalent to\n // the current local time\n if (this.networkLatency_μs == null \|\| latency_μs < this.networkLatency_μs) {\n const clockSynchronized = this.serverTimeOffset_μs == null;\n\n // server timestamp is in microseconds\n this.serverTimeOffset_μs = Math.round(timestamp + latency_μs - clientTime_μs);\n\n if (clockSynchronized) {\n this.onClockSynchronized();\n }\n }\n\n this.networkLatency_μs = latency_μs;\n\n // update pong timestamp (used for checking timeouts)\n this.pongTimestamp_μs = clientTime_μs;\n } else if (topicId > 0) {\n const topic = this.announcedTopicsIndex.get(topicId);\n if (topic == null) {\n Logger.Default.error(`[NT4Client] unexpected topic identifier ${topicId}, message ignored`);\n continue;\n } else if (this.onDataReceived) {\n // update locally retained value on topics published by the client\n this.publishedTopics.get(topic.name)?.updateRetainedValue(value, timestamp);\n this.onDataReceived(topic, value, timestamp);\n }\n } else {\n Logger.Default.error(`[NT4Client] invalid topic identifier ${topicId}, message ignored`);\n continue;\n }\n }\n }\n }\n\n /* Handles general data frame received. /\n private onChannelMessage = (ev: MessageEvent) => {\n this.processDataFrame(ev.data);\n };\n\n /* Handles RTT data frame received. /\n private onChannelMessageRTT = (ev: MessageEvent) => {\n if (typeof ev.data === \"string\") {\n Logger.Default.debug(`[NT4Client] unexpected text data frame on RTT channel, frame ignored`);\n return;\n }\n\n this.processDataFrame(ev.data);\n };\n\n /* Handles channel closing for whatever reason. /\n private onChannelClose = (ev: CloseEvent) => {\n Logger.Default.debug(`[NT4Client] channel closed`, ev);\n\n this.cleanup();\n this.connectWithRetry();\n };\n\n /* Returns current timestamp in microseconds. This is NOT wall clock time. /\n private getClientTimestamp_μs() {\n // monotonically increasing, microsecond precision\n return Math.round(performance.now() 1000);\n }\n\n /** Sends data frame to publish the topic. /\n private publishCore(topic: NT4Topic) {\n this.dataChannel.sendText({\n method: \"publish\",\n params: {\n pubuid: topic.uid,\n name: topic.name,\n type: topic.type,\n properties: topic.properties,\n },\n });\n }\n\n /* Sends data frame to unpublish the topic. /\n private unpublishCore(topic: NT4Topic) {\n this.dataChannel.sendText({\n method: \"unpublish\",\n params: {\n pubuid: topic.uid,\n },\n });\n }\n\n /* Sends data frame to set topic properties. /\n private setPropertiesCore(name: string, properties: TopicProperties) {\n this.dataChannel.sendText({\n method: \"setproperties\",\n params: {\n name: name,\n update: properties,\n },\n });\n }\n\n /* Sends data frame to subscribe the subscription. /\n private subscribeCore(subscription: NT4Subscription) {\n this.dataChannel.sendText({\n method: \"subscribe\",\n params: {\n subuid: subscription.uid,\n topics: Array.from(subscription.topics),\n options: subscription.options,\n },\n });\n }\n\n /* Sends data frame to unsubscribe the subscription. /\n private unsubscribeCore(subscription: NT4Subscription) {\n this.dataChannel.sendText({\n method: \"unsubscribe\",\n params: {\n subuid: subscription.uid,\n },\n });\n }\n\n /* Sends data frame to update topic value. /\n private sendValueCore(topic: NT4Topic, value: unknown, timestamp: number) {\n const frame = this.encoder.encode([topic.uid, timestamp, topic.typeCode, value]);\n this.dataChannel.sendBinary(frame);\n }\n\n /\n Sends RTT measurement binary frame.\n * Uses RTT channel if available, falls back to data channel in NT4.0.\n /\n private sendRTT() {\n // https://github.com/wpilibsuite/allwpilib/blob/main/ntcore/doc/networktables4.adoc#timestamps\n // The topic ID of -1 is reserved for timestamp communication.\n // Clients shall periodically (e.g. every few seconds) send, in a manner that\n // minimizes transmission delays, a MessagePack message with ID of -1, a timestamp of 0,\n // and an implementation-selected type and data value (typically int or float 64)\n // containing its (the client’s) current local time\n const timestamp = this.getClientTimestamp_μs();\n const frame = this.encoder.encode([-1, 0, DataTypeCodes.double, timestamp]);\n (this.rttChannel ?? this.dataChannel).sendBinary(frame);\n }\n\n /\n Determines whether connection times out if no message has been received\n * within the timeout interval since the last pong.\n /\n private async checkTimeout() {\n if (!this.connectionEstablished \|\| this.pongTimestamp_μs === 0) {\n return;\n }\n\n const delta_μs = this.getClientTimestamp_μs() - this.pongTimestamp_μs;\n if (delta_μs > this.pingTimeout_ms 1000) {\n Logger.Default.debug(\n `[NT4Client] no data received in the last ${(delta_μs / 1000).toFixed(0)}ms, connection timed out`\n );\n\n await this.dataChannel.close(4001, \"timeout\");\n this.cleanup();\n this.connectWithRetry();\n }\n }\n\n /** Generates random UID. /\n private generateUID() {\n return Math.floor(Math.random() 0x7fffffff);\n }\n\n /** Generates random safe UID avoiding possible clashes. /\n private generateSafeUID(has: (id: number) => boolean) {\n let uid: number;\n for (uid = this.generateUID(); has(uid); uid = this.generateUID());\n return uid;\n }\n\n /* Determines whether published topic with the specified identifier exists. /\n private readonly hasPublishedTopicWithId = (id: number) => some(this.publishedTopics, (_) => _.uid === id);\n\n /* Determines whether subscription with the specified identifier exists. /\n private readonly hasSubscriptionWithId = (id: number) => this.subscriptions.has(id);\n\n /\n Constructs an instance of NT4Client without initiating a connection.\n \n @param serverAddress NT4 server network address\n * @param clientId this client identifier (cannot contain '@')\n * @param options options\n /\n constructor(serverAddress: string, clientId: string, options: NT4ClientOptions) {\n // https://github.com/wpilibsuite/allwpilib/blob/main/ntcore/doc/networktables4.adoc#websockets-protocol-configuration\n // ...\n // The client name does not need to be unique; multiple connections to the same name are allowed;\n // the server shall ensure the name is unique (for the purposes of meta-topics) by appending a '@'\n // and a unique number (if necessary). To support this, the name provided by the client should not\n // contain an embedded '@'. Clients should provide a way to specify the resource name (in particular,\n // the client name portion).\n if (clientId.includes(\"@\")) {\n throw new Error(\"Client identifier must not contain '@' character\");\n }\n\n this.serverAddress = serverAddress;\n this.port = options.secure ? NetworkSpecs.portSecure : NetworkSpecs.portUnsecure;\n this.clientId = clientId;\n this.onConnect = options.onConnect;\n this.onDisconnect = options.onDisconnect;\n this.onTopicAnnounced = options.onTopicAnnounced;\n this.onTopicRemoved = options.onTopicRemoved;\n this.onTopicUpdated = options.onTopicUpdated;\n this.onDataReceived = options.onDataReceived;\n this.retryPolicy = options.retryPolicy ?? NT4Client.defaultRetryPolicy;\n this.pingTimeoutOverride_ms = options.pingTimeoutMilliseconds;\n\n // data messages channel\n this.dataChannel = new NT4WebSocketAsync(this.serverAddress, this.port, this.clientId, {\n secure: options.secure,\n onMessage: this.onChannelMessage,\n onClose: this.onChannelClose,\n });\n\n // RTT messages channel (only used in NT4.1)\n this.rttChannel = new NT4WebSocketAsync(this.serverAddress, this.port, this.clientId, {\n rtt: true,\n secure: options.secure,\n onMessage: this.onChannelMessageRTT,\n });\n }\n\n /\n Returns NT4 server network address the client is using.\n /\n public readonly serverAddress: string;\n\n /\n Returns current connection state.\n /\n public get state() {\n return this.connectionState;\n }\n\n /\n Returns current network latency in microseconds if known.\n /\n public get networkLatencyMicroseconds() {\n return this.networkLatency_μs;\n }\n\n /\n Returns server time in microseconds that is current or\n * based on the specified client (local) time.\n \n Returns `null` if the server time offset is not established.\n /\n public serverTimeMicroseconds(clientTimeMicroseconds?: number) {\n return this.serverTimeOffset_μs != null\n ? Math.round(\n (clientTimeMicroseconds != null ? clientTimeMicroseconds : this.getClientTimestamp_μs()) +\n this.serverTimeOffset_μs\n )\n : null;\n }\n\n /\n Initiates the connection.\n * Once established the connection will be automatically kept alive by reconnecting.\n /\n public connect() {\n if (this.connectionInitiated) {\n return;\n }\n\n Logger.Default.debug(`[NT4Client] connection initiated`);\n this.connectionInitiated = true;\n this.connectWithRetry();\n }\n\n /\n Terminates the connection.\n * The client can be reconnected manually by calling {@link connect} again.\n /\n public disconnect() {\n if (!this.connectionInitiated) {\n return;\n }\n\n Logger.Default.debug(`[NT4Client] connection cancelled`);\n this.connectionInitiated = false;\n this.dataChannel.close();\n this.rttChannel.close();\n }\n\n /\n Creates a new subscription.\n \n The subscription can be created regardless of connectivity state.\n * All client subscriptions are automatically restored once connection\n * has been established. This is also true for reconnects following\n * loss of connectivity or deliberate disconnects.\n \n Caller can {@link unsubscribe} by passing the return value of this call or\n * invoke {@link unsubscribeAll} to remove all existing client subscriptions.\n \n @param topics topics or prefixes to include in the subscription\n * @param options subscription options\n * @returns A subscription instance\n /\n public subscribe(topics: Iterable<string>, options: SubscriptionOptions) {\n const uid = this.generateSafeUID(this.hasSubscriptionWithId);\n const subscription = new NT4Subscription(uid, topics, options);\n this.subscriptions.set(subscription.uid, subscription);\n\n if (this.connectionEstablished) {\n this.subscribeCore(subscription);\n }\n\n return subscription;\n }\n\n /\n Unsubscribes an existing subscription.\n \n @param arg subscription or subscription identifier\n * @returns `true` if the subscription was successfully unsubscribed, `false` if the subscription was not found\n /\n public unsubscribe(arg: NT4Subscription \| number) {\n const subscription = typeof arg === \"number\" ? this.subscriptions.get(arg) : arg;\n if (!subscription) {\n return false;\n }\n\n this.subscriptions.delete(subscription.uid);\n if (this.connectionEstablished) {\n this.unsubscribeCore(subscription);\n }\n\n return true;\n }\n\n /\n Unsubscribes all existing subscriptions.\n /\n public unsubscribeAll() {\n for (const subscription of this.subscriptions.values()) {\n this.unsubscribe(subscription);\n }\n }\n\n /\n Publishes a topic with the specified name and type.\n \n This method registers this client as a publisher for the topic.\n * It should be called before {@link setValue} or {@link setValueAt}\n * can be used.\n \n Publishing a topic on a disconnected client is allowed.\n * Client will automatically register such publishers once the connection\n * has been established and send default or retained value as appropriate.\n \n @param topic topic name\n * @param type data type\n * @param properties properties\n /\n public publishTopic(topic: string, type: DataType \| string, properties?: TopicProperties) {\n let publishedTopic = this.publishedTopics.get(topic);\n if (publishedTopic) {\n return publishedTopic;\n }\n\n const uid = this.generateSafeUID(this.hasPublishedTopicWithId);\n publishedTopic = new NT4Topic(uid, topic, type, properties, uid);\n this.publishedTopics.set(publishedTopic.name, publishedTopic);\n\n if (this.connectionEstablished) {\n this.publishCore(publishedTopic);\n }\n\n return publishedTopic;\n }\n\n /\n Un-publishes previously published topic.\n \n @param topic topic name\n * @returns `true` if the topic was successfully unpublished, `false` if the topic was not published\n /\n public unpublishTopic(topic: string) {\n const publishedTopic = this.publishedTopics.get(topic);\n if (!publishedTopic) {\n return false;\n }\n\n this.publishedTopics.delete(publishedTopic.name);\n if (this.connectionEstablished) {\n this.unpublishCore(publishedTopic);\n }\n\n return true;\n }\n\n /\n Determines whether client already publishes the topic.\n \n @param topic topic name\n /\n public isTopicPublished(topic: string) {\n return this.publishedTopics.has(topic);\n }\n\n /\n Sets properties for the specified topic.\n \n @param topic topic name\n * @param properties new properties\n /\n public setTopicProperties(topic: string, properties: TopicProperties) {\n const publishedTopic = this.publishedTopics.get(topic);\n if (publishedTopic) {\n publishedTopic.mergeProperties(properties);\n }\n\n const announcedTopic = this.announcedTopics.get(topic);\n if (announcedTopic) {\n announcedTopic.mergeProperties(properties);\n }\n\n if (this.connectionEstablished) {\n this.setPropertiesCore(topic, properties);\n }\n }\n\n /\n Sets persistent flag for the topic.\n \n @param topic topic name\n * @param value value to set\n /\n public setTopicPersistent(topic: string, value: boolean) {\n this.setTopicProperties(topic, { persistent: value });\n }\n\n /\n Sets retained flag for the topic.\n \n @param topic topic name\n * @param value value to set\n /\n public setTopicRetained(topic: string, value: boolean) {\n this.setTopicProperties(topic, { retained: value });\n }\n\n /\n Sends a value to the published topic using the current time.\n \n This client must publish the topic with {@link publishTopic} first.\n \n @param topic topic name\n * @param value value to send\n /\n public setValue(topic: string, value: unknown) {\n this.setValueAt(topic, value, this.serverTimeMicroseconds() ?? 1);\n }\n\n /\n Sends a default (\"weak\") value to the published topic.\n \n This client must publish the topic with {@link publishTopic} first.\n \n @param topic topic name\n * @param value value to send\n /\n public setDefaultValue(topic: string, value: unknown) {\n this.setValueAt(topic, value, 0);\n }\n\n /\n Sends a value to the published topic using the specified timestamp.\n \n This client must publish the topic with {@link publishTopic} first.\n \n @param topic topic name\n * @param value value to send\n * @param timestamp timestamp\n /\n public setValueAt(topic: string, value: unknown, timestamp: number) {\n const publishedTopic = this.publishedTopics.get(topic);\n if (!publishedTopic) {\n throw new Error(\"Topic must be published first\");\n }\n\n if (!publishedTopic.canAccept(value)) {\n throw new Error(\"Value is not compatible with topic underlying type\");\n }\n\n // timestamps in messages always use the server time base,\n // if the offset has not been established, the client retains\n // the last value and will send it once connection is restored\n publishedTopic.updateRetainedValue(value, timestamp);\n\n // update locally for announced topics\n if (this.onDataReceived) {\n const announcedTopic = this.announcedTopics.get(topic);\n if (announcedTopic) {\n this.onDataReceived(announcedTopic, value, timestamp);\n }\n }\n\n if (this.connectionEstablished && this.serverTimeOffset_μs != null) {\n this.sendValueCore(publishedTopic, value, timestamp);\n }\n }\n\n /\n Returns current ping timeout.\n \n @returns A value in milliseconds or 0 if the timeout has not been set yet.\n /\n public get pingTimeoutMilliseconds() {\n return this.pingTimeout_ms;\n }\n\n /\n Sets ping timeout.\n \n @param value Timeout in milliseconds or `undefined` to use default protocol timeout value.\n */\n public setPingTimeoutMilliseconds(value: number \| undefined) {\n Logger.Default.debug(\n value != null\n ? `[NT4Client] ping timeout is set to ${value.toFixed(0)}ms`\n : `[NT4Client] ping timeout is reset to protocol-based default`\n );\n\n this.pingTimeoutOverride_ms = value;\n\n // update actual timeout value\n if (value != null) {\n this.pingTimeout_ms = value;\n } else {\n this.pingTimeout_ms =\n this.dataChannel.protocol === NetworkSpecs.protocol41 ? NetworkSpecs.pingTimeout41 : NetworkSpecs.pingPeriod40;\n }\n 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package/package.json CHANGED Viewed

@@ -1,7 +1,7 @@
 {
   "name": "@2702rebels/ntcore",
   "description": "Typescript implementation of NetworkTables protocol",
-  "version": "1.0.1",
+  "version": "1.0.2",
   "license": "BSD-3-Clause",
   "type": "module",
   "exports": {
@@ -37,9 +37,9 @@
     "@2702rebels/logger": "1.0.0"
   },
   "devDependencies": {
-    "@types/node": "^25.0.9",
-    "@2702rebels/eslint-config": "1.0.0",
-    "@2702rebels/typescript-config": "1.0.0"
+    "@types/node": "26.6.2",
+    "@2702rebels/typescript-config": "2.0.0",
+    "@2702rebels/eslint-config": "2.0.0"
   },
   "scripts": {
     "clean": "rimraf .turbo && rimraf node_modules && rimraf dist",

package/src/index.ts CHANGED Viewed

@@ -1,4 +1,4 @@
-export * from "./NT4Types";
 export * from "./NT4Client";
-export * from "./NT4Topic";
 export * from "./NT4Subscription";
+export * from "./NT4Topic";
+export * from "./NT4Types";