@dronedeploy/rocos-js-sdk 2.6.1 → 3.0.0-alpha.20

package/api/streams/command/CommandStreamAbstract.js

@@ -1,27 +1,23 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-exports.CommandStreamAbstract = void 0;
-const rxjs_1 = require("rxjs");
-const uri_v1_pb_1 = require("../../../grpc/rambo/uri.v1_pb");
-const rambo_v1_pb_1 = require("../../../grpc/rambo/rambo.v1_pb");
-const identifier_1 = require("../../../constants/identifier");
-const ResponseLevelEnum_1 = require("../../../models/ResponseLevelEnum");
-const RocosStore_1 = require("../../../store/RocosStore");
-const StreamRegister_1 = require("../../StreamRegister");
-const SubscriberStatusEnum_1 = require("../../../models/SubscriberStatusEnum");
-const operators_1 = require("rxjs/operators");
-const getUnixTimeMs_1 = require("../../../helpers/getUnixTimeMs");
-const randomString_1 = require("../../../helpers/randomString");
-class CommandStreamAbstract {
+import { BehaviorSubject } from 'rxjs';
+import { ResponseLevelEnum, SubscriberStatusEnum, } from '../../../models';
+import { RocosUriPath, RocosUriScheme } from '../../../grpc/rambo.uri.v1_pb';
+import { CommandRequest } from '../../../grpc/rambo.v1_pb';
+import { IDENTIFIER_NAME_COMMAND } from '../../../constants/identifier';
+import { RocosStore } from '../../../store/RocosStore';
+import { StreamRegister } from '../../StreamRegister';
+import { filter } from 'rxjs/operators';
+import { getUnixTimeMs } from '../../../helpers/getUnixTimeMs';
+import { randomString } from '../../../helpers/randomString';
+export class CommandStreamAbstract {
     constructor(config) {
-        this.subscriberStatus = SubscriberStatusEnum_1.SubscriberStatusEnum.STOPPED;
+        this.subscriberStatus = SubscriberStatusEnum.STOPPED;
         this.scope = config.scope;
-        this.identifier = StreamRegister_1.StreamRegister.getIdentifier(identifier_1.IDENTIFIER_NAME_COMMAND, this.scope);
+        this.identifier = StreamRegister.getIdentifier(IDENTIFIER_NAME_COMMAND, this.scope);
         this.token = config.token;
         this.url = config.url;
-        this.statusStream$ = new rxjs_1.BehaviorSubject(SubscriberStatusEnum_1.SubscriberStatusEnum.STOPPED);
-        RocosStore_1.RocosStore.getChangeSubject()
-            .pipe(operators_1.filter((message) => {
+        this.statusStream$ = new BehaviorSubject(SubscriberStatusEnum.STOPPED);
+        RocosStore.getChangeSubject()
+            .pipe(filter((message) => {
             return message.type === 'token' && message.url === this.url;
         }))
             .subscribe((msg) => {
@@ -43,30 +39,25 @@ class CommandStreamAbstract {
         return this.callStream(request, params);
     }
     createCommandRequest(projectId, callsign, commandId, parameters, timeoutMs = 30 * 1000, // Default 30 seconds.
-    responseLevel = ResponseLevelEnum_1.ResponseLevelEnum.ALL) {
+    responseLevel = ResponseLevelEnum.ALL) {
         const path = this.createRocosUriPath(projectId, callsign, commandId);
-        const uri = new uri_v1_pb_1.RocosUri();
-        uri.setPath(path);
-        uri.setScheme(uri_v1_pb_1.RocosUriScheme.GRPC);
-        const request = new rambo_v1_pb_1.CommandRequest();
-        request.setTxid(randomString_1.randomString());
-        request.setUri(uri);
-        request.setReslevel(responseLevel);
-        if (parameters) {
-            Object.keys(parameters).forEach((key) => {
-                request.getParametersMap().set(key, parameters[key]);
-            });
-        }
-        request.setDeadlinems(getUnixTimeMs_1.getUnixTimeMs(timeoutMs));
-        return request;
+        return CommandRequest.create({
+            txid: randomString(),
+            uri: {
+                path,
+                scheme: RocosUriScheme.GRPC,
+            },
+            resLevel: responseLevel.valueOf(),
+            deadlineMs: getUnixTimeMs(timeoutMs).toString(),
+            parameters,
+        });
     }
     createRocosUriPath(projectId, callsign, commandId) {
-        const path = new uri_v1_pb_1.RocosUriPath();
-        path.setProject(projectId);
-        path.setCallsign(callsign);
-        path.setTopic(commandId);
-        path.setComponent('command-executor');
-        return path;
+        return RocosUriPath.create({
+            callsign,
+            project: projectId,
+            component: 'command-executor',
+            topic: commandId,
+        });
     }
 }
-exports.CommandStreamAbstract = CommandStreamAbstract;

package/api/streams/command/CommandStreamNode.d.ts

@@ -1,9 +1,7 @@
-import { CommandRequest } from '../../../grpc/rambo/rambo.v1_pb';
+import { CommandRequest } from '../../../grpc/rambo.v1_pb';
+import { ICommandParams, IRocosCommandMessage, IStreamConfig } from '../../../models';
 import { Observable } from 'rxjs';
 import { CommandStreamAbstract } from './CommandStreamAbstract';
-import { ICommandParams } from '../../../models/params/ICommandParams';
-import { IRocosCommandMessage } from '../../../models/message/IRocosCommandMessage';
-import { IStreamConfig } from '../../../models/IStreamConfig';
 export declare class CommandStreamNode extends CommandStreamAbstract {
     private client;
     constructor(config: IStreamConfig);

package/api/streams/command/CommandStreamNode.js

@@ -1,49 +1,26 @@
-"use strict";
-var __createBinding = (this && this.__createBinding) || (Object.create ? (function(o, m, k, k2) {
-    if (k2 === undefined) k2 = k;
-    Object.defineProperty(o, k2, { enumerable: true, get: function() { return m[k]; } });
-}) : (function(o, m, k, k2) {
-    if (k2 === undefined) k2 = k;
-    o[k2] = m[k];
-}));
-var __setModuleDefault = (this && this.__setModuleDefault) || (Object.create ? (function(o, v) {
-    Object.defineProperty(o, "default", { enumerable: true, value: v });
-}) : function(o, v) {
-    o["default"] = v;
-});
-var __importStar = (this && this.__importStar) || function (mod) {
-    if (mod && mod.__esModule) return mod;
-    var result = {};
-    if (mod != null) for (var k in mod) if (k !== "default" && Object.prototype.hasOwnProperty.call(mod, k)) __createBinding(result, mod, k);
-    __setModuleDefault(result, mod);
-    return result;
-};
-Object.defineProperty(exports, "__esModule", { value: true });
-exports.CommandStreamNode = void 0;
-const grpc = __importStar(require("@grpc/grpc-js"));
-const rxjs_1 = require("rxjs");
-const rambo_v1_grpc_pb_1 = require("../../../grpc/rambo/rambo.v1_grpc_pb");
-const CommandStreamAbstract_1 = require("./CommandStreamAbstract");
-const RocosCommandMessage_1 = require("../../../models/message/RocosCommandMessage");
-const RocosLogger_1 = require("../../../logger/RocosLogger");
-const SubscriberStatusEnum_1 = require("../../../models/SubscriberStatusEnum");
-class CommandStreamNode extends CommandStreamAbstract_1.CommandStreamAbstract {
+import * as grpc from '@grpc/grpc-js';
+import { RocosCommandMessage, SubscriberStatusEnum, } from '../../../models';
+import { Observable } from 'rxjs';
+import { CommandClient } from '../../../grpc/rambo.v1_pb.grpc-client';
+import { CommandStreamAbstract } from './CommandStreamAbstract';
+import { RocosLogger } from '../../../logger/RocosLogger';
+export class CommandStreamNode extends CommandStreamAbstract {
     constructor(config) {
         super(config);
-        this.logger = RocosLogger_1.RocosLogger.getInstance(`CommandStreamNode(${this.identifier})`);
-        const port = config.port || 443;
+        this.logger = RocosLogger.getInstance(`CommandStreamNode(${this.identifier})`);
+        const port = config.port ?? 443;
         const credentials = config.insecure ? grpc.credentials.createInsecure() : grpc.credentials.createSsl();
-        this.client = new rambo_v1_grpc_pb_1.CommandClient(`${this.url}:${port}`, credentials);
+        this.client = new CommandClient(`${this.url}:${port}`, credentials);
     }
     callStream(request, params) {
         const metadata = this.getMetadata(params.projectId, params.callsign);
         let call;
-        return new rxjs_1.Observable((emitter) => {
+        return new Observable((emitter) => {
             call = this.client.callCommand(request, metadata);
-            this.subscriberStatus = SubscriberStatusEnum_1.SubscriberStatusEnum.ALIVE;
+            this.subscriberStatus = SubscriberStatusEnum.ALIVE;
             this.statusStream$.next(this.subscriberStatus);
             call.on('data', (update) => {
-                const message = RocosCommandMessage_1.RocosCommandMessage.fromModel(update);
+                const message = RocosCommandMessage.fromModel(update);
                 emitter.next(message);
                 this.logger.debug('invokeRequest - on(data)', {
                     message,
@@ -53,7 +30,7 @@ class CommandStreamNode extends CommandStreamAbstract_1.CommandStreamAbstract {
                 });
             });
             call.on('end', () => {
-                this.subscriberStatus = SubscriberStatusEnum_1.SubscriberStatusEnum.STOPPED;
+                this.subscriberStatus = SubscriberStatusEnum.STOPPED;
                 this.statusStream$.next(this.subscriberStatus);
                 this.logger.debug('invokeRequest - on(end)', {
                     projectId: params.projectId,
@@ -63,12 +40,12 @@ class CommandStreamNode extends CommandStreamAbstract_1.CommandStreamAbstract {
                 emitter.complete();
             });
             call.on('close', () => {
-                this.subscriberStatus = SubscriberStatusEnum_1.SubscriberStatusEnum.STOPPED;
+                this.subscriberStatus = SubscriberStatusEnum.STOPPED;
                 this.statusStream$.next(this.subscriberStatus);
                 this.logger.debug('invokeRequest - on(close)');
             });
             call.on('error', (error) => {
-                this.subscriberStatus = SubscriberStatusEnum_1.SubscriberStatusEnum.ERROR;
+                this.subscriberStatus = SubscriberStatusEnum.ERROR;
                 this.statusStream$.next(this.subscriberStatus);
                 this.logger.debug('invokeRequest - on(error)', error);
                 emitter.error(error);
@@ -90,4 +67,3 @@ class CommandStreamNode extends CommandStreamAbstract_1.CommandStreamAbstract {
         return meta;
     }
 }
-exports.CommandStreamNode = CommandStreamNode;

package/api/streams/control/ControlStream.d.ts

@@ -1,14 +1,12 @@
-import { ControlMessage } from '../../../grpc/robot-control/conker_pb';
+import { ControlMessage } from '../../../grpc/conker_pb';
+import { IControlParams, IRocosControlMessage, IStreamConfig } from '../../../models';
 import { Observable } from 'rxjs';
 import { ControlStreamAbstract } from './ControlStreamAbstract';
-import { IControlParams } from '../../../models/params/IControlParams';
-import { IRocosControlMessage } from '../../../models/message/IRocosControlMessage';
-import { IStreamConfig } from '../../../models/IStreamConfig';
 export declare class ControlStream extends ControlStreamAbstract {
     private client;
     constructor(config: IStreamConfig);
-    protected controlRobotCall(request: ControlMessage, params: IControlParams): void;
+    protected controlRobotCall(request: ControlMessage, params: IControlParams): Promise<void>;
     protected controlRobotCallWithAckStream(request: ControlMessage, params: IControlParams): Observable<IRocosControlMessage>;
-    protected setPayload(request: ControlMessage, payload: string): void;
+    protected getPayload(payload: string): Uint8Array;
     private getMetadata;
 }

package/api/streams/control/ControlStream.js

@@ -1,37 +1,34 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-exports.ControlStream = void 0;
-const rxjs_1 = require("rxjs");
-const conker_pb_service_1 = require("../../../grpc/robot-control/conker_pb_service");
-const ControlStreamAbstract_1 = require("./ControlStreamAbstract");
-const RocosControlMessage_1 = require("../../../models/message/RocosControlMessage");
-const RocosLogger_1 = require("../../../logger/RocosLogger");
-const SubscriberStatusEnum_1 = require("../../../models/SubscriberStatusEnum");
-const grpc_web_1 = require("@improbable-eng/grpc-web");
-const stringToUint8Array_1 = require("../../../helpers/stringToUint8Array");
-class ControlStream extends ControlStreamAbstract_1.ControlStreamAbstract {
+import { RocosControlMessage, SubscriberStatusEnum, } from '../../../models';
+import { Observable } from 'rxjs';
+import { ControlStreamAbstract } from './ControlStreamAbstract';
+import { GrpcWebFetchTransport } from '@protobuf-ts/grpcweb-transport';
+import { RobotControlClient } from '../../../grpc/conker_pb.client';
+import { RocosLogger } from '../../../logger/RocosLogger';
+import { stringToUint8Array } from '../../../helpers/stringToUint8Array';
+export class ControlStream extends ControlStreamAbstract {
     constructor(config) {
         super(config);
-        this.logger = RocosLogger_1.RocosLogger.getInstance(`ControlStream(${this.identifier})`);
+        this.logger = RocosLogger.getInstance(`ControlStream(${this.identifier})`);
         const protocol = config.insecure ? 'http' : 'https';
-        this.client = new conker_pb_service_1.RobotControlClient(`${protocol}://${this.url}`);
+        const transport = new GrpcWebFetchTransport({
+            baseUrl: `${protocol}://${this.url}`,
+        });
+        this.client = new RobotControlClient(transport);
     }
-    controlRobotCall(request, params) {
+    async controlRobotCall(request, params) {
         const metadata = this.getMetadata(params.projectId, params.callsign);
-        this.client.controlRobotCall(request, metadata, (err, ack) => {
-            return null;
-        });
+        await this.client.controlRobotCall(request, { meta: metadata });
     }
     controlRobotCallWithAckStream(request, params) {
         const metadata = this.getMetadata(params.projectId, params.callsign);
-        let call;
-        return new rxjs_1.Observable((emitter) => {
+        const abortController = new AbortController();
+        return new Observable((emitter) => {
             // Send the message to back-end.
-            call = this.client.controlRobotCallWithAckStream(request, metadata);
-            this.subscriberStatus = SubscriberStatusEnum_1.SubscriberStatusEnum.ALIVE;
+            const call = this.client.controlRobotCallWithAckStream(request, { meta: metadata, abort: abortController.signal });
+            this.subscriberStatus = SubscriberStatusEnum.ALIVE;
             this.statusStream$.next(this.subscriberStatus);
-            call.on('data', (update) => {
-                const message = RocosControlMessage_1.RocosControlMessage.fromMessage(update);
+            call.responses.onMessage((update) => {
+                const message = RocosControlMessage.fromMessage(update);
                 emitter.next(message);
                 this.logger.debug('controlRobotCallWithAckStream - on(data)', {
                     message,
@@ -40,8 +37,8 @@ class ControlStream extends ControlStreamAbstract_1.ControlStreamAbstract {
                     destination: params.destination,
                 });
             });
-            call.on('end', () => {
-                this.subscriberStatus = SubscriberStatusEnum_1.SubscriberStatusEnum.STOPPED;
+            call.responses.onComplete(() => {
+                this.subscriberStatus = SubscriberStatusEnum.STOPPED;
                 this.statusStream$.next(this.subscriberStatus);
                 this.logger.debug('controlRobotCallWithAckStream - on(end)', {
                     projectId: params.projectId,
@@ -50,25 +47,23 @@ class ControlStream extends ControlStreamAbstract_1.ControlStreamAbstract {
                 });
                 emitter.complete();
             });
-            call.on('status', (status) => {
-                this.logger.debug('controlRobotCallWithAckStream- on(status)', {
-                    status,
+            call.responses.onError((error) => {
+                this.logger.debug('controlRobotCallWithAckStream- on(error)', {
+                    error,
                     projectId: params.projectId,
                     callsign: params.callsign,
                     destination: params.destination,
                 });
-                if (status.code !== grpc_web_1.grpc.Code.OK) {
-                    emitter.error({ details: status.details, code: status.code });
-                }
+                emitter.error(error);
             });
             return () => {
                 this.logger.debug('unsubscribing controlRobotCallWithAckStream');
-                call.cancel();
+                abortController.abort();
             };
         });
     }
-    setPayload(request, payload) {
-        request.setPayload(stringToUint8Array_1.stringToUint8Array(payload));
+    getPayload(payload) {
+        return stringToUint8Array(payload);
     }
     getMetadata(projectId, callsign) {
         return {
@@ -78,4 +73,3 @@ class ControlStream extends ControlStreamAbstract_1.ControlStreamAbstract {
         };
     }
 }
-exports.ControlStream = ControlStream;

package/api/streams/control/ControlStreamAbstract.d.ts

@@ -1,26 +1,23 @@
 import { BehaviorSubject, Observable } from 'rxjs';
-import { ControlActionType, IControlParams } from '../../../models/params/IControlParams';
-import { ControlMessage } from '../../../grpc/robot-control/conker_pb';
-import { IControlStream } from '../../../models/stream/IControlStream';
-import { IRocosControlMessage } from '../../../models/message/IRocosControlMessage';
-import { IStreamConfig } from '../../../models/IStreamConfig';
+import { ControlActionType, IControlParams, IControlStream, IRocosControlMessage, IStreamConfig, SubscriberStatusEnum } from '../../../models';
+import { ControlMessage } from '../../../grpc/conker_pb';
 import { Logger } from 'loglevel';
-import { SubscriberStatusEnum } from '../../../models/SubscriberStatusEnum';
 export declare abstract class ControlStreamAbstract implements IControlStream {
     identifier: string;
     statusStream$: BehaviorSubject<SubscriberStatusEnum>;
     protected token: string;
-    private scope;
+    private readonly scope;
     protected url: string;
     protected subscriberStatus: SubscriberStatusEnum;
     protected logger: Logger;
-    constructor(config: IStreamConfig);
+    protected constructor(config: IStreamConfig);
     protected abstract controlRobotCall(request: ControlMessage, params: IControlParams): void;
     protected abstract controlRobotCallWithAckStream(request: ControlMessage, params: IControlParams): Observable<IRocosControlMessage>;
-    protected abstract setPayload(request: ControlMessage, payload: string): void;
+    protected abstract getPayload(payload: string): Uint8Array | undefined;
     setToken(token: string): void;
     stopStream(): void;
     takeActionWithAck(action: ControlActionType, params: IControlParams, ackTimeoutInSeconds?: number): Observable<string>;
+    private rosbridgeControl;
     sendCommand(params: IControlParams): void;
     sendCommandWithAck(params: IControlParams): Observable<IRocosControlMessage>;
     private sendCommandToRobot;

package/api/streams/control/ControlStreamAbstract.js

@@ -1,23 +1,20 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-exports.ControlStreamAbstract = void 0;
-const rxjs_1 = require("rxjs");
-const conker_pb_1 = require("../../../grpc/robot-control/conker_pb");
-const identifier_1 = require("../../../constants/identifier");
-const RocosStore_1 = require("../../../store/RocosStore");
-const StreamRegister_1 = require("../../StreamRegister");
-const SubscriberStatusEnum_1 = require("../../../models/SubscriberStatusEnum");
-const operators_1 = require("rxjs/operators");
-class ControlStreamAbstract {
+import { BehaviorSubject, Observable } from 'rxjs';
+import { SubscriberStatusEnum, } from '../../../models';
+import { ControlMessage } from '../../../grpc/conker_pb';
+import { IDENTIFIER_NAME_CONTROL } from '../../../constants/identifier';
+import { RocosStore } from '../../../store/RocosStore';
+import { StreamRegister } from '../../StreamRegister';
+import { filter } from 'rxjs/operators';
+export class ControlStreamAbstract {
     constructor(config) {
-        this.subscriberStatus = SubscriberStatusEnum_1.SubscriberStatusEnum.STOPPED;
+        this.subscriberStatus = SubscriberStatusEnum.STOPPED;
         this.scope = config.scope;
-        this.identifier = StreamRegister_1.StreamRegister.getIdentifier(identifier_1.IDENTIFIER_NAME_CONTROL, this.scope);
+        this.identifier = StreamRegister.getIdentifier(IDENTIFIER_NAME_CONTROL, this.scope);
         this.token = config.token;
         this.url = config.url;
-        this.statusStream$ = new rxjs_1.BehaviorSubject(SubscriberStatusEnum_1.SubscriberStatusEnum.STOPPED);
-        RocosStore_1.RocosStore.getChangeSubject()
-            .pipe(operators_1.filter((message) => {
+        this.statusStream$ = new BehaviorSubject(SubscriberStatusEnum.STOPPED);
+        RocosStore.getChangeSubject()
+            .pipe(filter((message) => {
             return message.type === 'token' && message.url === this.url;
         }))
             .subscribe((msg) => {
@@ -31,38 +28,11 @@ class ControlStreamAbstract {
         // do nothing for now
     }
     takeActionWithAck(action, params, ackTimeoutInSeconds = 15) {
-        return new rxjs_1.Observable((emitter) => {
+        return new Observable((emitter) => {
             if (action && params) {
                 switch (action) {
                     case 'rosbridge-control':
-                        if (!params.projectId || !params.callsign) {
-                            emitter.error(new Error('Cannot find the type or metadata.'));
-                            emitter.complete();
-                        }
-                        else {
-                            const timer = setTimeout(() => {
-                                emitter.error(new Error(`Timeout (${ackTimeoutInSeconds} seconds).`));
-                                emitter.complete();
-                                clearTimeout(timer);
-                            }, ackTimeoutInSeconds * 1000);
-                            this.sendCommandWithAck(params).subscribe((msg) => {
-                                const { message } = msg;
-                                if (msg.stage === 'final') {
-                                    if (msg.success) {
-                                        emitter.next(`${message}`);
-                                        emitter.complete();
-                                    }
-                                    else {
-                                        emitter.error(new Error('Failed!'));
-                                        emitter.complete();
-                                    }
-                                }
-                                clearTimeout(timer);
-                            }, (err) => {
-                                emitter.error(err);
-                                emitter.complete();
-                            });
-                        }
+                        this.rosbridgeControl(params, emitter, ackTimeoutInSeconds);
                         break;
                     default:
                         emitter.error(new Error(`Cannot handle this type: ${action}.`));
@@ -76,21 +46,55 @@ class ControlStreamAbstract {
             }
         });
     }
+    rosbridgeControl(params, emitter, ackTimeoutInSeconds) {
+        if (!params.projectId || !params.callsign) {
+            emitter.error(new Error('Cannot find the type or metadata.'));
+            emitter.complete();
+            return;
+        }
+        const timer = setTimeout(() => {
+            emitter.error(new Error(`Timeout (${ackTimeoutInSeconds} seconds).`));
+            emitter.complete();
+            clearTimeout(timer);
+        }, ackTimeoutInSeconds * 1000);
+        this.sendCommandWithAck(params).subscribe({
+            next: (msg) => {
+                const { message } = msg;
+                if (msg.stage === 'final') {
+                    if (msg.success) {
+                        emitter.next(`${message}`);
+                        emitter.complete();
+                    }
+                    else {
+                        emitter.error(new Error('Failed!'));
+                        emitter.complete();
+                    }
+                }
+                clearTimeout(timer);
+            },
+            error: (err) => {
+                emitter.error(err);
+                emitter.complete();
+            },
+        });
+    }
     sendCommand(params) {
         this.sendCommandToRobot(params);
     }
     sendCommandWithAck(params) {
-        const request = new conker_pb_1.ControlMessage();
-        this.setPayload(request, params.payload);
-        request.setDestination(params.destination);
+        const request = ControlMessage.create({
+            payload: this.getPayload(params.payload),
+            destination: params.destination,
+        });
         this.setRequestMeta(request, params.meta);
         return this.controlRobotCallWithAckStream(request, params);
     }
     sendCommandToRobot(params) {
         // Compose the request message
-        const request = new conker_pb_1.ControlMessage();
-        request.setDestination(params.destination);
-        this.setPayload(request, params.payload);
+        const request = ControlMessage.create({
+            destination: params.destination,
+            payload: this.getPayload(params.payload),
+        });
         this.setRequestMeta(request, params.meta);
         // Send the message to back-end.
         this.controlRobotCall(request, params);
@@ -98,11 +102,10 @@ class ControlStreamAbstract {
     setRequestMeta(request, meta) {
         if (meta) {
             Object.keys(meta).forEach((item) => {
-                if ((meta === null || meta === void 0 ? void 0 : meta[item]) !== undefined) {
-                    request.getMetaMap().set(item, meta[item]);
+                if (meta?.[item] !== undefined) {
+                    request.meta[item] = meta[item];
                 }
             });
         }
     }
 }
-exports.ControlStreamAbstract = ControlStreamAbstract;

package/api/streams/control/ControlStreamNode.d.ts

@@ -1,14 +1,12 @@
-import { ControlMessage } from '../../../grpc/robot-control/conker_pb';
+import { ControlMessage } from '../../../grpc/conker_pb';
+import { IControlParams, IRocosControlMessage, IStreamConfig } from '../../../models';
 import { Observable } from 'rxjs';
 import { ControlStreamAbstract } from './ControlStreamAbstract';
-import { IControlParams } from '../../../models/params/IControlParams';
-import { IRocosControlMessage } from '../../../models/message/IRocosControlMessage';
-import { IStreamConfig } from '../../../models/IStreamConfig';
 export declare class ControlStreamNode extends ControlStreamAbstract {
     private client;
     constructor(config: IStreamConfig);
     protected controlRobotCall(request: ControlMessage, params: IControlParams): void;
     protected controlRobotCallWithAckStream(request: ControlMessage, params: IControlParams): Observable<IRocosControlMessage>;
-    protected setPayload(request: ControlMessage, payload: string): void;
+    protected getPayload(payload: string): Uint8Array;
     private getMetadata;
 }