@dronedeploy/rocos-js-sdk 0.0.1 → 2.6.1

package/api/streams/telemetry/TelemetryStreamAbstract.d.ts

@@ -0,0 +1,62 @@
+import { BehaviorSubject, Subject } from 'rxjs';
+import { ITelemetryParams } from '../../../models/params/ITelemetryParams';
+import { TelemetryAckStatusMap, TelemetryQueryRequest, TelemetryRequest } from '../../../grpc/teletubby/teletubby_pb';
+import { IRocosTelemetryMessage } from '../../../models/message/IRocosTelemetryMessage';
+import { ITelemetryStream } from '../../../models/stream/ITelemetryStream';
+import { ITelemetryStreamConfig } from '../../../models/ITelemetryStreamConfig';
+import { Logger } from 'loglevel';
+import { StreamHeartbeat } from '../../atoms/StreamHeartbeat';
+import { SubscriberStatusEnum } from '../../../models/SubscriberStatusEnum';
+export declare abstract class TelemetryStreamAbstract implements ITelemetryStream {
+    messageStream$: Subject<IRocosTelemetryMessage>;
+    identifier: string;
+    statusStream$: BehaviorSubject<SubscriberStatusEnum>;
+    protected subscriberId?: string;
+    protected projectId: string;
+    private callsignsLookup;
+    private sources;
+    protected token: string;
+    private scope;
+    protected url: string;
+    private timerIntervalInSec;
+    protected subscriberStatus: SubscriberStatusEnum;
+    private checkerStartedAt?;
+    private lastRobotMessageReceived?;
+    private messagesTimer;
+    private lastMessageReceived?;
+    private retryTimes;
+    private options;
+    protected receivedMessagesCount: number;
+    protected logger: Logger;
+    protected heartbeat: StreamHeartbeat;
+    private sendHeartbeatTime;
+    private receivedDataStats;
+    private subscriptions;
+    constructor(config: ITelemetryStreamConfig);
+    protected abstract stopInternal(): void;
+    protected abstract registerReceiver(): () => void;
+    protected abstract requestTelemetryQuery(req: TelemetryQueryRequest): Promise<void>;
+    protected abstract requestTelemetry(req: TelemetryRequest): Promise<void>;
+    protected abstract sendAcknowledgmentInternal(uid: string, status: TelemetryAckStatusMap[keyof TelemetryAckStatusMap], noRetry: boolean): boolean;
+    protected abstract sendHeartbeat(): void;
+    setToken(token: string): void;
+    init(): void;
+    stopStream(): void;
+    addSubscription(params: ITelemetryParams): void;
+    removeSubscription(params: ITelemetryParams, terminateReceiverGroup?: boolean): Promise<void>;
+    sendAcknowledgment(uid: string, status: TelemetryAckStatusMap[keyof TelemetryAckStatusMap], noRetry: boolean): boolean;
+    private getSubscriptions;
+    protected onData(message: IRocosTelemetryMessage): void;
+    private takeTelemetryAction;
+    protected listenMessagesAndRenew(): void;
+    private addTerminateToAction;
+    private messageTimeoutTryAgain;
+    /**
+     * Auto resubscribe to reduce CPU usage.
+     */
+    private autoResubscribe;
+    private isFoundCallsign;
+    private isFoundSource;
+    private isRegisteredMessage;
+    private updateReceviedDataStatsWithMessage;
+}

package/api/streams/telemetry/TelemetryStreamAbstract.js

@@ -0,0 +1,421 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.TelemetryStreamAbstract = void 0;
+const rxjs_1 = require("rxjs");
+const grpc_1 = require("../../../constants/grpc");
+const teletubby_pb_1 = require("../../../grpc/teletubby/teletubby_pb");
+const CallsignsLookup_1 = require("../../../models/callsigns/CallsignsLookup");
+const CallsignsEnums_1 = require("../../../models/callsigns/CallsignsEnums");
+const identifier_1 = require("../../../constants/identifier");
+const RocosStore_1 = require("../../../store/RocosStore");
+const RocosTelemetryMessage_1 = require("../../../models/message/RocosTelemetryMessage");
+const StreamHeartbeat_1 = require("../../atoms/StreamHeartbeat");
+const StreamOptions_1 = require("../../../models/StreamOptions");
+const StreamRegister_1 = require("../../StreamRegister");
+const SubscriberStatusEnum_1 = require("../../../models/SubscriberStatusEnum");
+const arrayUnique_1 = require("../../../helpers/arrayUnique");
+const operators_1 = require("rxjs/operators");
+const getSubscriptionsDifference_1 = require("../../../helpers/getSubscriptionsDifference");
+class TelemetryStreamAbstract {
+    constructor(config) {
+        // /////////////////
+        // Subscriber Check
+        this.timerIntervalInSec = 1;
+        this.subscriberStatus = SubscriberStatusEnum_1.SubscriberStatusEnum.STOPPED;
+        this.retryTimes = 0;
+        this.receivedMessagesCount = 0;
+        // send heartbeat timeout is set to 5 seconds 5000
+        this.sendHeartbeatTime = 5000;
+        this.receivedDataStats = {};
+        this.subscriptions = new Map();
+        this.identifier = StreamRegister_1.StreamRegister.getIdentifier(identifier_1.IDENTIFIER_NAME_TELEMETRY, config.scope);
+        this.projectId = config.projectId;
+        this.callsignsLookup = config.callsignsLookup;
+        this.token = config.token;
+        this.scope = config.scope;
+        this.url = config.url;
+        // make sure sources are unique for later comparison
+        this.sources = arrayUnique_1.arrayUnique(config.sources);
+        this.options = StreamOptions_1.StreamOptions.fromModel(config.options);
+        this.messageStream$ = new rxjs_1.Subject();
+        this.statusStream$ = new rxjs_1.BehaviorSubject(SubscriberStatusEnum_1.SubscriberStatusEnum.STOPPED);
+        this.heartbeat = new StreamHeartbeat_1.StreamHeartbeat(this.identifier);
+        // autoResubscribeEnabled = false
+        // // Resubscribe when received messages above this limit.
+        // autoResubscribeMessageLimit = 100
+        // // In seconds
+        // autoResubscribeMinimumTime = 10
+        // messageTimeoutInSec = 10
+        // TODO: implement receive heartbeat handler
+        // this.heartbeat
+        //   .setHealthTimeout(6000)
+        //   .setHealthMaxTimeout(10)
+        //   .setHealthMaxMisses(5)
+        //   .setHealthCheckStatusCallback(async (status) => {
+        //     console.log('heartbeat status', status)
+        //   })
+        //   .setHealthCheckErrorCallback(async () => {
+        //     console.log('heartbeat error')
+        //   })
+        RocosStore_1.RocosStore.getChangeSubject()
+            .pipe(operators_1.filter((message) => {
+            return message.type === 'token' && message.url === this.url;
+        }))
+            .subscribe((msg) => {
+            this.token = msg.data;
+        });
+    }
+    setToken(token) {
+        this.token = token;
+    }
+    init() {
+        this.logger.info('Creating new stream instance');
+        // Register Receiver
+        this.registerReceiver();
+    }
+    stopStream() {
+        var _a;
+        (_a = this.heartbeat) === null || _a === void 0 ? void 0 : _a.stop();
+        this.stopInternal();
+        if (this.messagesTimer) {
+            clearInterval(this.messagesTimer);
+        }
+        this.subscriberStatus = SubscriberStatusEnum_1.SubscriberStatusEnum.STOPPED;
+        this.statusStream$.next(this.subscriberStatus);
+    }
+    addSubscription(params) {
+        this.logger.info('Adding subscriptions from stream', params.uniqueId);
+        if (!this.subscriptions.has(params.uniqueId)) {
+            // get subscriptions before change
+            const before = this.getSubscriptions();
+            this.subscriptions.set(params.uniqueId, Object.assign(Object.assign({}, params), { count: 1 }));
+            // get subscriptions after change
+            const after = this.getSubscriptions();
+            // assign the current values from state after change
+            this.callsignsLookup = new CallsignsLookup_1.CallsignsLookup(Object.keys(after));
+            this.sources = arrayUnique_1.arrayUnique(Object.values(after).reduce((a, v) => a.concat(v), []));
+            // compare before and after subscriptions and only add the difference
+            const { toAdd } = getSubscriptionsDifference_1.getSubscriptionsDifference(before, after);
+            // only subscribe if the subscriberId exists, otherwise the messages will be subscribed on lazy load
+            if (toAdd.callsigns.length && toAdd.sources.length) {
+                this.logger.debug('New subscriptions added, we need to refresh sources', { toAdd });
+                void this.takeTelemetryAction('subscribe', new CallsignsLookup_1.CallsignsLookup(toAdd.callsigns), toAdd.sources);
+            }
+        }
+        else {
+            const subs = this.subscriptions.get(params.uniqueId);
+            subs.count++;
+            this.subscriptions.set(params.uniqueId, subs);
+            this.logger.info('Stream subscriptions already exists, increasing count', params.uniqueId, subs.count);
+        }
+        RocosStore_1.RocosStore.getChangeSubject().next({ type: 'telemetry-subscription', url: this.url, data: this.subscriptions });
+    }
+    async removeSubscription(params, terminateReceiverGroup = false) {
+        this.logger.info('Removing subscriptions from stream', params.uniqueId);
+        if (!this.subscriptions.has(params.uniqueId))
+            return;
+        const subs = this.subscriptions.get(params.uniqueId);
+        subs.count--;
+        if (subs.count)
+            return;
+        this.logger.info('Removing subscriptions from stream registry', params.uniqueId);
+        const before = this.getSubscriptions();
+        this.subscriptions.delete(params.uniqueId);
+        const after = this.getSubscriptions();
+        // assign the current values from state after change
+        this.callsignsLookup = new CallsignsLookup_1.CallsignsLookup(Object.keys(after));
+        this.sources = arrayUnique_1.arrayUnique(Object.values(after).reduce((a, v) => a.concat(v), []));
+        const { toRemove } = getSubscriptionsDifference_1.getSubscriptionsDifference(before, after);
+        if (toRemove.callsigns.length && toRemove.sources.length) {
+            this.logger.debug('Subscriptions removed, we need to refresh sources', { toRemove });
+            try {
+                await this.takeTelemetryAction('unsubscribe', new CallsignsLookup_1.CallsignsLookup(toRemove.callsigns), toRemove.sources, terminateReceiverGroup);
+            }
+            catch (err) {
+                this.logger.error(`Failed to unsubscribe: ${err}`);
+            }
+        }
+        if (!this.subscriptions.size) {
+            this.logger.info('No subscriptions remaining closing stream', params.uniqueId);
+            this.stopStream();
+            // self remove when no subscriptions a re left
+            void StreamRegister_1.StreamRegister.getInstance().removeStream(this);
+            this.logger.info('Stream closed');
+        }
+    }
+    sendAcknowledgment(uid, status, noRetry) {
+        return this.sendAcknowledgmentInternal(uid, status, noRetry);
+    }
+    getSubscriptions() {
+        const subs = {};
+        this.subscriptions.forEach((data) => {
+            if (data.callsigns) {
+                data.callsigns.forEach((item) => {
+                    if (!subs[item]) {
+                        subs[item] = arrayUnique_1.arrayUnique([...data.sources]);
+                    }
+                    else {
+                        subs[item] = arrayUnique_1.arrayUnique([...subs[item], ...data.sources]);
+                    }
+                });
+            }
+        });
+        return subs;
+    }
+    onData(message) {
+        // Increase the counter
+        this.receivedMessagesCount++;
+        const { source } = message;
+        const { callsign } = message;
+        let isRobotMessage = true;
+        const now = new Date();
+        // Update last message received time
+        this.lastMessageReceived = now;
+        // Update the message's project id
+        message.projectId = this.projectId;
+        message.type = 'json';
+        message.subId = this.scope;
+        message.subscriberId = this.subscriberId;
+        message.receivedAt = new Date();
+        switch (source) {
+            // Subscribe message
+            case grpc_1.GRPC_SOURCE_SUBSCRIBED:
+                // eslint-disable-next-line no-case-declarations
+                const json = RocosTelemetryMessage_1.RocosTelemetryMessage.getPayloadAsJSON(message);
+                // eslint-disable-next-line no-case-declarations
+                const { subscriberId } = json;
+                if (this.subscriberId && subscriberId) {
+                    this.logger.warn(`Replacing old subscriberId (${this.subscriberId}) with a new one (${subscriberId})`);
+                }
+                // Update the subscriberId
+                this.subscriberId = subscriberId;
+                message.subscriberId = this.subscriberId;
+                this.logger.info('onData', `subscriberId has been updated - ${subscriberId}`, { subscriberId });
+                void this.takeTelemetryAction('subscribe');
+                this.heartbeat.start(this.sendHeartbeat, this.sendHeartbeatTime);
+                isRobotMessage = false;
+                break;
+            // Server heartbeat message
+            case grpc_1.GRPC_SOURCE_NOOP:
+                // this.logger.debug('onData', 'received noop message');
+                isRobotMessage = false;
+                break;
+            default:
+                isRobotMessage = true;
+                break;
+        }
+        if (!source) {
+            isRobotMessage = false;
+        }
+        // Update robot last message timestamp
+        if (isRobotMessage) {
+            this.lastRobotMessageReceived = now;
+        }
+        message.payload = RocosTelemetryMessage_1.RocosTelemetryMessage.getPayloadByType(message);
+        // Update stats
+        this.updateReceviedDataStatsWithMessage(message);
+        // Send message to subscribers
+        if (this.isRegisteredMessage(callsign, source) && this.messageStream$) {
+            this.messageStream$.next(message);
+            if (message.isackable && this.options.autoAcknowledgmentEnabled) {
+                this.sendAcknowledgment(message.uid, teletubby_pb_1.TelemetryAckStatus.OK, false);
+            }
+        }
+        else if (isRobotMessage) {
+            // acknowledge any way, as the user never receives this message
+            if (message.isackable) {
+                this.sendAcknowledgment(message.uid, teletubby_pb_1.TelemetryAckStatus.REJECT, true);
+            }
+            // All messages received should be subscribed.
+            this.logger.debug('onData', 'received unsubscribed message', {
+                callsign,
+                source,
+                callsigns: this.callsignsLookup,
+                sources: this.sources,
+            });
+        }
+    }
+    async takeTelemetryAction(actionType, callsignsLookup, sources, terminate) {
+        this.logger.debug('takeTelemetryAction', actionType);
+        if (!this.subscriberId || !this.projectId) {
+            this.logger.debug('takeTelemetryAction', actionType, `${actionType} without subscriberId or projectId - message will not send out`, {
+                subscriberId: this.subscriberId,
+                projectId: this.projectId,
+            });
+            return Promise.resolve();
+        }
+        const actionSources = sources !== null && sources !== void 0 ? sources : this.sources;
+        const actionCallsigns = callsignsLookup !== null && callsignsLookup !== void 0 ? callsignsLookup : this.callsignsLookup;
+        if (this.callsignsLookup.lookupType === CallsignsEnums_1.CallsignsLookupType.List) {
+            // Compose the request message
+            const req = new teletubby_pb_1.TelemetryRequest();
+            const actions = [];
+            const action = new teletubby_pb_1.TelemetryAction();
+            action.setOperation(actionType);
+            action.setCallsignsList(actionCallsigns.lookupValue);
+            action.setSourcesList(actionSources);
+            if (actionType === 'unsubscribe' && terminate) {
+                this.addTerminateToAction(action);
+            }
+            actions.push(action);
+            req.setRequestedactionsList(actions);
+            req.setSubscriberid(this.subscriberId);
+            this.logger.debug('takeTelemetryAction', actionType, 'client.requestTelemetry', this.subscriberId);
+            // Send the message to back-end.
+            return this.requestTelemetry(req);
+        }
+        else if (actionCallsigns.lookupType === CallsignsEnums_1.CallsignsLookupType.Query) {
+            const lookupValue = actionCallsigns.lookupValue;
+            // Compose the request message
+            const req = new teletubby_pb_1.TelemetryQueryRequest();
+            req.setSubscriberid(this.subscriberId);
+            req.setSourcesList(actionSources);
+            req.setOperation(actionType);
+            const telemetryQuery = new teletubby_pb_1.Query();
+            telemetryQuery.setOperation(lookupValue.operation);
+            // We don't support nested query at the moment
+            const queryOrPredicatesList = [];
+            // Loop through user provided predicates to construct a telemetry query request
+            lookupValue.predicates.forEach((callsignsPredicate) => {
+                const queryOrPredicate = new teletubby_pb_1.QueryOrPredicate();
+                const predicate = new teletubby_pb_1.Predicate();
+                // Map user provided predicate value to proto object
+                predicate.setAttribute(callsignsPredicate.attribute);
+                predicate.setOperation(callsignsPredicate.operation);
+                predicate.setValue(callsignsPredicate.value);
+                queryOrPredicate.setPredicate(predicate);
+                queryOrPredicatesList.push(queryOrPredicate);
+            });
+            telemetryQuery.setQueryorpredicatesList(queryOrPredicatesList);
+            req.setCallsignquery(telemetryQuery);
+            this.logger.debug('takeTelemetryAction', actionType, 'client.requestTelemetry', this.subscriberId);
+            // Send the telemetry query request to back-end.
+            return this.requestTelemetryQuery(req);
+        }
+        return Promise.reject('Unsupported lookupType');
+    }
+    listenMessagesAndRenew() {
+        const timer = this.messagesTimer;
+        this.checkerStartedAt = new Date();
+        // Clear the previous timer first.
+        if (timer) {
+            clearInterval(timer);
+        }
+        this.messagesTimer = setInterval(() => {
+            var _a;
+            const now = new Date();
+            const latest = this.lastMessageReceived;
+            const latestRobot = this.lastRobotMessageReceived;
+            const startedAt = (_a = this.checkerStartedAt) !== null && _a !== void 0 ? _a : new Date();
+            const timeout = this.options.messageTimeoutInSec;
+            let shouldRetry = false;
+            let shouldAutoResubscribe = false;
+            if (latest && (now.getTime() - latest.getTime()) / 1000 > timeout) {
+                // If we received message before, we should retry after timeout.
+                shouldRetry = true;
+            }
+            else if (!latest && startedAt && (now.getTime() - startedAt.getTime()) / 1000 > timeout) {
+                // If we have not received message before, we should also retry after timeout.
+                shouldRetry = true;
+            }
+            if (latestRobot) {
+                // If we get robot messages at least once.
+                if ((now.getTime() - latestRobot.getTime()) / 1000 > timeout) {
+                    // Offline
+                    this.subscriberStatus = SubscriberStatusEnum_1.SubscriberStatusEnum.DEAD;
+                }
+                else {
+                    // Online
+                    this.subscriberStatus = SubscriberStatusEnum_1.SubscriberStatusEnum.ALIVE;
+                }
+            }
+            else if ((now.getTime() - startedAt.getTime()) / 1000 > timeout) {
+                // If there is no robot messages received, then we compare with startedAt time.
+                // Timeout
+                this.subscriberStatus = SubscriberStatusEnum_1.SubscriberStatusEnum.DEAD;
+            }
+            else if (this.retryTimes <= 0) {
+                // Still trying, status unknown.
+                this.subscriberStatus = SubscriberStatusEnum_1.SubscriberStatusEnum.STOPPED;
+            }
+            else {
+                // Tried multiple times. dead already.
+                this.subscriberStatus = SubscriberStatusEnum_1.SubscriberStatusEnum.DEAD;
+            }
+            if (this.options.autoResubscribeEnabled &&
+                this.receivedMessagesCount > this.options.autoResubscribeMessageLimit &&
+                (now.getTime() - startedAt.getTime()) / 1000 > this.options.autoResubscribeMinimumTime) {
+                // If received messages above the limit of resubscribing, we need to resubscribe.
+                shouldAutoResubscribe = true;
+            }
+            if (shouldRetry) {
+                this.logger.debug('listenMessagesAndRenew', { shouldRetry: true });
+                // Retry
+                this.messageTimeoutTryAgain();
+            }
+            else if (shouldAutoResubscribe) {
+                this.logger.debug('listenMessagesAndRenew', {
+                    shouldAutoResubscribe: true,
+                });
+                // Resubscribe
+                this.autoResubscribe();
+            }
+            // Update subscriber status.
+            this.statusStream$.next(this.subscriberStatus);
+            // Debug stats
+            this.logger.debug('listenMessagesAndRenew', 'Message stats', this.receivedDataStats);
+        }, this.timerIntervalInSec * 1000);
+    }
+    addTerminateToAction(telemetryAction) {
+        const unsubscribeOperation = new teletubby_pb_1.UnsubscribeOperation();
+        const unsubscribeOption = new teletubby_pb_1.UnsubscribeOption();
+        const receiverGroupUnsubscribeOption = new teletubby_pb_1.ReceiverGroupUnsubscribeOption();
+        receiverGroupUnsubscribeOption.setTerminate(true);
+        unsubscribeOption.setReceivergroupunsubscribeoption(receiverGroupUnsubscribeOption);
+        unsubscribeOperation.addOptions(unsubscribeOption);
+        telemetryAction.setUnsubscribeoperation(unsubscribeOperation);
+    }
+    messageTimeoutTryAgain() {
+        // Increase retry times.
+        this.retryTimes++;
+        // Remove the received call anyway.
+        this.stopInternal();
+        this.lastMessageReceived = undefined;
+        this.lastRobotMessageReceived = undefined;
+        this.registerReceiver();
+    }
+    /**
+     * Auto resubscribe to reduce CPU usage.
+     */
+    autoResubscribe() {
+        // Reset
+        this.retryTimes = 0;
+        // Remove the received call anyway.
+        this.stopInternal();
+        this.lastMessageReceived = undefined;
+        this.lastRobotMessageReceived = undefined;
+        this.registerReceiver();
+    }
+    isFoundCallsign(callsign) {
+        return this.callsignsLookup.lookupType === CallsignsEnums_1.CallsignsLookupType.List
+            ? this.callsignsLookup.lookupValue.indexOf(callsign) !== -1
+            : true; // If callsigns lookup option is query, we always return true
+    }
+    isFoundSource(source) {
+        return this.sources.indexOf(source) !== -1;
+    }
+    isRegisteredMessage(callsign, source) {
+        return this.isFoundCallsign(callsign) && this.isFoundSource(source);
+    }
+    updateReceviedDataStatsWithMessage(msg) {
+        const { source } = msg;
+        const { callsign } = msg;
+        const id = `${callsign}-${source}`;
+        if (!this.receivedDataStats) {
+            this.receivedDataStats = {};
+        }
+        const count = this.receivedDataStats[id] ? this.receivedDataStats[id] : 0;
+        this.receivedDataStats[id] = count + 1;
+    }
+}
+exports.TelemetryStreamAbstract = TelemetryStreamAbstract;

package/api/streams/telemetry/TelemetryStreamNode.d.ts

@@ -0,0 +1,21 @@
+import { TelemetryAckStatusMap, TelemetryQueryRequest, TelemetryRequest } from '../../../grpc/teletubby/teletubby_pb';
+import { ITelemetryStreamConfig } from '../../../models/ITelemetryStreamConfig';
+import { TelemetryStreamAbstract } from './TelemetryStreamAbstract';
+export declare class TelemetryStreamNode extends TelemetryStreamAbstract {
+    private client?;
+    private stream?;
+    private port;
+    private credentials;
+    constructor(config: ITelemetryStreamConfig);
+    protected stopInternal(): void;
+    protected registerReceiver(): () => void;
+    private getCredentials;
+    private registerStream;
+    private onError;
+    private onEnd;
+    private getMetaData;
+    protected requestTelemetry(req: TelemetryRequest): Promise<void>;
+    protected requestTelemetryQuery(req: TelemetryQueryRequest): Promise<void>;
+    protected sendAcknowledgmentInternal(uid: string, status: TelemetryAckStatusMap[keyof TelemetryAckStatusMap], noRetry: boolean): boolean;
+    protected sendHeartbeat(): void;
+}