@blueyerobotics/blueye-ts 3.11.0 → 3.13.0

package/dist/src/client.d.ts

@@ -60,6 +60,7 @@ export declare class BlueyeClient extends Emitter<Events> {
     disconnect(): void;
     sendRequest<T extends Req>(req: T, opts?: CreateArgs<T>): Promise<DecodedOutput<T> | null>;
     getTelemetry<T extends Tel>(type: T): Promise<DecodedTelOutput<T>>;
+    waitForTelemetry<T extends Tel>(type: T, timeout?: number | null): Promise<DecodedTelOutput<T>>;
     sendControl<T extends Ctrl>(ctrl: T, opts?: CreateArgs<T>): Promise<void>;
 }
 export {};

package/dist/src/client.js

@@ -105,23 +105,8 @@ class BlueyeClient extends strict_event_emitter_1.Emitter {
         this.sonarSub.on("message", (topic, msg) => {
             this.handleTelemetryMessage("sonar", topic, msg);
         });
-        this.once("DroneInfoTel", (msg) => {
-            const version = msg.droneInfo?.blunuxVersion;
-            if (!hasSonarEndpoint(version ?? "")) {
-                this.logger.warn(`[sonar] incompatible Blunux version detected in DroneInfoTel: ${version}; sonar telemetry may not be available`);
-                return;
-            }
-            const devices = [
-                ...(msg.droneInfo?.gp?.gp1?.deviceList?.devices ?? []),
-                ...(msg.droneInfo?.gp?.gp2?.deviceList?.devices ?? []),
-                ...(msg.droneInfo?.gp?.gp3?.deviceList?.devices ?? []),
-            ].map((device) => device.deviceId);
-            if (devices.some((deviceId) => exports.MULTIBEAM_DEVICE_IDS.includes(deviceId))) {
-                this.logger.info("[sonar] multibeam device detected in DroneInfoTel:", devices);
-                this.isSonarDetected = true;
-                this.sonarSub.connect(this.sonarUrl);
-            }
-        });
+        this.emit(this.state);
+        this.logger.info(`[client] ${this.state}`);
         if (autoConnect) {
             this.connect();
         }
@@ -142,11 +127,15 @@ class BlueyeClient extends strict_event_emitter_1.Emitter {
         if (this.socketState[name] === newState) {
             return;
         }
+        const oldState = this.state;
         this.socketState[name] = newState;
         this.logger.info(`[${name}] ${newState}`);
         this.emit(`${name}-${newState}`);
         // If all sockets are connected, emit "connected"
         this.emit(this.state);
+        if (oldState !== this.state) {
+            this.logger.info(`[client] ${this.state}`);
+        }
     }
     handleTelemetryMessage(socketName, topic, msg) {
         const { key, data } = schema_1.responseSchema.parse({ key: topic, data: msg });
@@ -172,7 +161,7 @@ class BlueyeClient extends strict_event_emitter_1.Emitter {
         });
     }
     ensureConnected(operation) {
-        if (this.state !== "connected") {
+        if (this.socketState[operation] !== "connected") {
             throw new Error(`[client] cannot send ${operation} while ${this.state}; call connect() and wait for "connected"`);
         }
     }
@@ -181,14 +170,34 @@ class BlueyeClient extends strict_event_emitter_1.Emitter {
             this.logger.warn("[client] already connecting or connected");
             return;
         }
+        this.once("connected", async () => {
+            const msg = await this.waitForTelemetry("DroneInfoTel");
+            const version = msg.droneInfo?.blunuxVersion;
+            if (!hasSonarEndpoint(version ?? "")) {
+                this.logger.warn(`[sonar] incompatible Blunux version detected in DroneInfoTel: ${version}; sonar telemetry may not be available`);
+                return;
+            }
+            const devices = [
+                ...(msg.droneInfo?.gp?.gp1?.deviceList?.devices ?? []),
+                ...(msg.droneInfo?.gp?.gp2?.deviceList?.devices ?? []),
+                ...(msg.droneInfo?.gp?.gp3?.deviceList?.devices ?? []),
+            ].map((device) => device.deviceId);
+            if (devices.some((deviceId) => exports.MULTIBEAM_DEVICE_IDS.includes(deviceId))) {
+                this.logger.info("[sonar] multibeam device detected in DroneInfoTel");
+                this.isSonarDetected = true;
+                this.sonarSub.connect(this.sonarUrl);
+            }
+        });
         this.sub.options.reconnectInterval = this.reconnectInterval;
         this.rpc.options.reconnectInterval = this.reconnectInterval;
         this.pub.options.reconnectInterval = this.reconnectInterval;
         this.sonarSub.options.reconnectInterval = this.reconnectInterval;
         this.shouldBeConnected = true;
-        for (const name of ["sub", "rpc", "pub", "sonar"]) {
+        for (const name of ["sub", "rpc", "pub"]) {
             this.updateSocketState(name, "connecting");
         }
+        this.logger.info(`[client] ${this.state}`);
+        this.emit(this.state);
         this.sub.subscribe("");
         this.sub.connect(this.subUrl);
         this.rpc.connect(this.rpcUrl);
@@ -212,7 +221,7 @@ class BlueyeClient extends strict_event_emitter_1.Emitter {
         }
     }
     async sendRequest(req, opts = {}) {
-        this.ensureConnected("request");
+        this.ensureConnected("rpc");
         if (!(0, exports.isInProtocol)(req) || !req.endsWith("Req")) {
             throw new Error(`[rpc] unknown protocol: ${req}`);
         }
@@ -260,8 +269,33 @@ class BlueyeClient extends strict_event_emitter_1.Emitter {
         this.logger.debug("[rpc] result:", result);
         return result;
     }
+    async waitForTelemetry(type, timeout = null) {
+        // Tries to get the latest telemetry via RPC first, in case we already have it cached in Blunux
+        try {
+            return await this.getTelemetry(type);
+        }
+        catch (error) {
+            this.logger.trace(`[client] failed to get latest ${type} via RPC:`, error);
+        }
+        // If that fails, wait for the next telemetry message to arrive via SUB
+        return new Promise((resolve, reject) => {
+            const listener = (...data) => {
+                this.off(type, listener);
+                if (timer)
+                    clearTimeout(timer);
+                resolve(data[0]);
+            };
+            const timer = timeout
+                ? setTimeout(() => {
+                    this.off(type, listener);
+                    reject(new Error(`[client] timed out waiting for ${type} telemetry`));
+                }, timeout)
+                : null;
+            this.on(type, listener);
+        });
+    }
     async sendControl(ctrl, opts = {}) {
-        this.ensureConnected("control");
+        this.ensureConnected("pub");
         if (!(0, exports.isInProtocol)(ctrl) || !ctrl.endsWith("Ctrl")) {
             throw new Error(`[pub] unknown protocol: ${ctrl}`);
         }

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@blueyerobotics/blueye-ts",
-  "version": "3.11.0",
+  "version": "3.13.0",
   "description": "A TypeScript client for interacting with Blueye underwater drones.",
   "repository": {
     "type": "git",
@@ -16,7 +16,7 @@
   "license": "LGPL-3.0-only",
   "dependencies": {
     "@blueyerobotics/jszmq": "^0.2.0",
-    "@blueyerobotics/protocol-definitions": "3.2.0-98aafe92",
+    "@blueyerobotics/protocol-definitions": "3.2.0-a57cd215",
     "@bufbuild/protobuf": "^2.11.0",
     "buffer": "^6.0.3",
     "consola": "^3.4.2",
@@ -35,7 +35,7 @@
     "start": "pnpm build && node dist/example.js",
     "start:sonar": "pnpm build && node dist/sonar-example.js",
     "build": "tsc",
-    "test": "pnpm build && node --test --test-concurrency=1 test/**/*.test.js",
+    "test": "pnpm build && node --test --experimental-test-isolation=none --test-concurrency=1 test/**/*.test.js",
     "test:one": "node --test --test-concurrency=1"
   }
 }