@dronedeploy/rocos-js-sdk 3.0.1-alpha.2 → 3.0.1-alpha.20

package/esm/api/streams/caller/CallerStream.js

@@ -0,0 +1,81 @@
+import { RocosCallerMessage, SubscriberStatusEnum, } from '../../../models';
+import { Observable } from 'rxjs';
+import { CallerStreamAbstract } from './CallerStreamAbstract';
+import { GrpcWebFetchTransport } from '@protobuf-ts/grpcweb-transport';
+import { RocosLogger } from '../../../logger/RocosLogger';
+import { WebServiceCallerClient } from '../../../grpc/serviette.v1_pb.client';
+import { stringToUint8Array } from '../../../helpers/stringToUint8Array';
+export class CallerStream extends CallerStreamAbstract {
+    constructor(config) {
+        super(config);
+        this.logger = RocosLogger.getInstance(`CallerStream(${this.identifier})`);
+        const protocol = config.insecure ? 'http' : 'https';
+        const port = config.port ? `:${config.port}` : '';
+        const transport = new GrpcWebFetchTransport({
+            baseUrl: `${protocol}://${this.url}${port}`,
+        });
+        this.client = new WebServiceCallerClient(transport);
+    }
+    callService(request, params) {
+        const meta = this.getMetadata(params.projectId, params.callsign, params.subSystem);
+        const stream = this.client.callService(request, { meta });
+        return this.handleStream(stream, params, 'invoke');
+    }
+    cancelService(request, params) {
+        const meta = this.getMetadata(params.projectId, params.callsign, params.subSystem);
+        const stream = this.client.cancelService(request, { meta });
+        return this.handleStream(stream, params, 'cancel');
+    }
+    handleStream(stream, params, requestType) {
+        return new Observable((emitter) => {
+            this.subscriberStatus = SubscriberStatusEnum.ALIVE;
+            this.statusStream$.next(this.subscriberStatus);
+            stream.responses.onMessage((message) => {
+                const msg = RocosCallerMessage.fromModel(message);
+                emitter.next(msg);
+                this.logger.debug(`${requestType}Request - on(data)`, {
+                    message,
+                    projectId: params.projectId,
+                    callsign: params.callsign,
+                    component: params.component,
+                    topic: params.topic,
+                });
+            });
+            stream.responses.onError((error) => {
+                this.logger.debug(`${requestType}Request - on(error)`, {
+                    error,
+                    projectId: params.projectId,
+                    callsign: params.callsign,
+                    component: params.component,
+                    topic: params.topic,
+                });
+                emitter.error(error);
+            });
+            stream.responses.onComplete(() => {
+                this.subscriberStatus = SubscriberStatusEnum.STOPPED;
+                this.statusStream$.next(this.subscriberStatus);
+                this.logger.debug(`${requestType}Request - on(end)`, {
+                    projectId: params.projectId,
+                    callsign: params.callsign,
+                    component: params.component,
+                    topic: params.topic,
+                });
+                emitter.complete();
+            });
+        });
+    }
+    getPayload(payload) {
+        return stringToUint8Array(payload);
+    }
+    getMetadata(projectId, callsign, subsystem) {
+        const meta = {
+            'r-p': projectId,
+            'r-cs': callsign,
+            'r-s': subsystem ?? '',
+        };
+        if (this.token) {
+            meta.authorization = this.token;
+        }
+        return meta;
+    }
+}

package/esm/api/streams/caller/CallerStreamAbstract.d.ts

@@ -0,0 +1,23 @@
+import { BehaviorSubject, Observable } from 'rxjs';
+import { ICallerInvokeParams, ICallerParams, ICallerStream, IRocosCallerMessage, IStreamConfig, SubscriberStatusEnum } from '../../../models';
+import { RequestCancellation } from '../../../grpc/serviette.v1_pb';
+import { Logger } from 'loglevel';
+export declare abstract class CallerStreamAbstract implements ICallerStream {
+    identifier: string;
+    statusStream$: BehaviorSubject<SubscriberStatusEnum>;
+    protected token: string;
+    private scope;
+    protected url: string;
+    protected subscriberStatus: SubscriberStatusEnum;
+    protected logger: Logger;
+    protected constructor(config: IStreamConfig);
+    protected abstract cancelService(request: RequestCancellation, params: ICallerParams): Observable<IRocosCallerMessage>;
+    protected abstract callService(request: RequestCancellation, params: ICallerParams): Observable<IRocosCallerMessage>;
+    protected abstract getPayload(payload: string): Uint8Array;
+    setToken(token: string): void;
+    stopStream(): void;
+    invokeRequest(params: ICallerInvokeParams): Observable<IRocosCallerMessage>;
+    cancelRequest(params: ICallerParams): Observable<IRocosCallerMessage>;
+    private createCancellationRequest;
+    private createServiceRequest;
+}

package/esm/api/streams/caller/CallerStreamNode.d.ts

@@ -0,0 +1,13 @@
+import { ICallerParams, IRocosCallerMessage, IStreamConfig } from '../../../models';
+import { Observable } from 'rxjs';
+import { RequestCancellation, ServiceRequest } from '../../../grpc/serviette.v1_pb';
+import { CallerStreamAbstract } from './CallerStreamAbstract';
+export declare class CallerStreamNode extends CallerStreamAbstract {
+    private client;
+    constructor(config: IStreamConfig);
+    protected cancelService(request: RequestCancellation, params: ICallerParams): Observable<IRocosCallerMessage>;
+    protected callService(request: ServiceRequest, params: ICallerParams): Observable<IRocosCallerMessage>;
+    private callStream;
+    protected getPayload(payload: string): Uint8Array;
+    private getMetadata;
+}

package/esm/api/streams/caller/CallerStreamNode.js

@@ -0,0 +1,116 @@
+import * as grpc from '@grpc/grpc-js';
+import { RocosCallerMessage, SubscriberStatusEnum, } from '../../../models';
+import { Observable } from 'rxjs';
+import { RequestChannelMessage, } from '../../../grpc/serviette.v1_pb';
+import { CallerStreamAbstract } from './CallerStreamAbstract';
+import { RocosLogger } from '../../../logger/RocosLogger';
+import { ServiceCallerClient } from '../../../grpc/serviette.v1_pb.grpc-client';
+export class CallerStreamNode extends CallerStreamAbstract {
+    constructor(config) {
+        super(config);
+        this.logger = RocosLogger.getInstance(`CallerStreamNode(${this.identifier})`);
+        const port = config.port ?? 443;
+        const credentials = config.insecure ? grpc.credentials.createInsecure() : grpc.credentials.createSsl();
+        this.client = new ServiceCallerClient(`${this.url}:${port}`, credentials);
+    }
+    cancelService(request, params) {
+        return this.callStream(RequestChannelMessage.create({
+            content: {
+                oneofKind: 'cancellations',
+                cancellations: {
+                    cancellations: [request],
+                },
+            },
+        }), params, 'cancel');
+    }
+    callService(request, params) {
+        return this.callStream(RequestChannelMessage.create({
+            content: {
+                oneofKind: 'requests',
+                requests: {
+                    requests: [request],
+                },
+            },
+        }), params, 'invoke');
+    }
+    callStream(request, params, requestType) {
+        const metadata = this.getMetadata(params.projectId, params.callsign, params.subSystem);
+        let call;
+        return new Observable((emitter) => {
+            call = this.client.callServices(metadata);
+            this.logger.info(`${requestType}Request - call`);
+            this.subscriberStatus = SubscriberStatusEnum.ALIVE;
+            this.statusStream$.next(this.subscriberStatus);
+            call.write(request, () => {
+                if (this.logger.getLevel().valueOf() <= 2) {
+                    this.logger.info(`${requestType}Request write completed for - ${JSON.stringify(request, (_, v) => {
+                        return typeof v === 'bigint' ? `${v.toString()}n` : v;
+                    })}`);
+                }
+            });
+            call.on('data', (update) => {
+                const message = RocosCallerMessage.fromModel(update);
+                emitter.next(message);
+                this.logger.debug(`${requestType}Request - on(data)`, {
+                    message,
+                    projectId: params.projectId,
+                    callsign: params.callsign,
+                    component: params.component,
+                    topic: params.topic,
+                });
+            });
+            call.on('finish', () => {
+                this.logger.info(`${requestType}Request - on(finish) all writes are now complete`);
+                call.end();
+            });
+            call.on('end', () => {
+                this.subscriberStatus = SubscriberStatusEnum.STOPPED;
+                this.statusStream$.next(this.subscriberStatus);
+                this.logger.debug(`${requestType}Request - on(end)`, {
+                    projectId: params.projectId,
+                    callsign: params.callsign,
+                    component: params.component,
+                    topic: params.topic,
+                });
+                call.pause();
+                call.destroy();
+                this.client.close();
+                emitter.complete();
+            });
+            call.on('close', () => {
+                this.subscriberStatus = SubscriberStatusEnum.STOPPED;
+                this.statusStream$.next(this.subscriberStatus);
+                this.logger.debug(`${requestType}Request - on(close)`);
+            });
+            call.on('error', (error) => {
+                this.subscriberStatus = SubscriberStatusEnum.ERROR;
+                this.statusStream$.next(this.subscriberStatus);
+                if (/10 ABORTED: heartbeat watchdog strike/.exec(error.stack)) {
+                    this.logger.debug(`${requestType}Request grpc Error heartbeat error`, error);
+                    call.end();
+                    emitter.complete();
+                }
+                else {
+                    this.logger.error(`${requestType}Request - on(error)`, error);
+                    emitter.error(error);
+                }
+            });
+            return () => {
+                this.logger.debug('unsubscribing callStream');
+                call.cancel();
+            };
+        });
+    }
+    getPayload(payload) {
+        return Buffer.from(payload);
+    }
+    getMetadata(projectId, callsign, subsystem) {
+        const meta = new grpc.Metadata();
+        meta.add('r-p', projectId);
+        meta.add('r-cs', callsign);
+        meta.add('r-s', subsystem ?? '');
+        if (this.token)
+            meta.add('authorization', this.token);
+        return meta;
+    }
+}

package/esm/api/streams/command/CommandStream.d.ts

@@ -0,0 +1,10 @@
+import { ICommandParams, IRocosCommandMessage, IStreamConfig } from '../../../models';
+import { Observable } from 'rxjs';
+import { CommandRequest } from '../../../grpc/rambo.v1_pb';
+import { CommandStreamAbstract } from './CommandStreamAbstract';
+export declare class CommandStream extends CommandStreamAbstract {
+    private client;
+    constructor(config: IStreamConfig);
+    protected callStream(request: CommandRequest, params: ICommandParams): Observable<IRocosCommandMessage>;
+    private getMetadata;
+}

package/esm/api/streams/command/CommandStream.js

@@ -0,0 +1,70 @@
+import { RocosCommandMessage, SubscriberStatusEnum, } from '../../../models';
+import { Observable } from 'rxjs';
+import { CommandClient } from '../../../grpc/rambo.v1_pb.client';
+import { CommandStreamAbstract } from './CommandStreamAbstract';
+import { GrpcWebFetchTransport } from '@protobuf-ts/grpcweb-transport';
+import { RocosLogger } from '../../../logger/RocosLogger';
+export class CommandStream extends CommandStreamAbstract {
+    constructor(config) {
+        super(config);
+        this.logger = RocosLogger.getInstance(`CommandStream(${this.identifier})`);
+        const protocol = config.insecure ? 'http' : 'https';
+        const port = config.port ? `:${config.port}` : '';
+        const transport = new GrpcWebFetchTransport({
+            baseUrl: `${protocol}://${this.url}${port}`,
+        });
+        this.client = new CommandClient(transport);
+    }
+    callStream(request, params) {
+        const metadata = this.getMetadata(params.projectId, params.callsign);
+        const abortController = new AbortController();
+        return new Observable((emitter) => {
+            const call = this.client.callCommand(request, { meta: metadata, abort: abortController.signal });
+            this.subscriberStatus = SubscriberStatusEnum.ALIVE;
+            this.statusStream$.next(this.subscriberStatus);
+            call.responses.onMessage((update) => {
+                const message = RocosCommandMessage.fromModel(update);
+                emitter.next(message);
+                this.logger.debug('invokeRequest - on(data)', {
+                    message,
+                    projectId: params.projectId,
+                    callsign: params.callsign,
+                    commandId: params.commandId,
+                });
+            });
+            call.responses.onError((error) => {
+                this.logger.debug('invokeRequest - on(error)', {
+                    error,
+                    projectId: params.projectId,
+                    callsign: params.callsign,
+                    commandId: params.commandId,
+                });
+                emitter.error(error);
+            });
+            call.responses.onComplete(() => {
+                this.subscriberStatus = SubscriberStatusEnum.STOPPED;
+                this.statusStream$.next(this.subscriberStatus);
+                this.logger.debug('invokeRequest - on(end)', {
+                    projectId: params.projectId,
+                    callsign: params.callsign,
+                    commandId: params.commandId,
+                });
+                emitter.complete();
+            });
+            return () => {
+                this.logger.debug('unsubscribing commandStream');
+                abortController.abort();
+            };
+        });
+    }
+    getMetadata(projectId, callsign) {
+        const meta = {
+            'r-p': projectId,
+            'r-cs': callsign,
+        };
+        if (this.token) {
+            meta.authorization = this.token;
+        }
+        return meta;
+    }
+}

package/esm/api/streams/command/CommandStreamAbstract.d.ts

@@ -0,0 +1,20 @@
+import { BehaviorSubject, Observable } from 'rxjs';
+import { ICommandParams, ICommandStream, IRocosCommandMessage, IStreamConfig, SubscriberStatusEnum } from '../../../models';
+import { CommandRequest } from '../../../grpc/rambo.v1_pb';
+import { Logger } from 'loglevel';
+export declare abstract class CommandStreamAbstract implements ICommandStream {
+    identifier: string;
+    statusStream$: BehaviorSubject<SubscriberStatusEnum>;
+    protected token: string;
+    private readonly scope;
+    protected url: string;
+    protected subscriberStatus: SubscriberStatusEnum;
+    protected logger: Logger;
+    protected constructor(config: IStreamConfig);
+    protected abstract callStream(request: CommandRequest, params: ICommandParams): Observable<IRocosCommandMessage>;
+    setToken(token: string): void;
+    stopStream(): void;
+    invokeRequest(params: ICommandParams): Observable<IRocosCommandMessage>;
+    private createCommandRequest;
+    private createRocosUriPath;
+}

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

@@ -0,0 +1,10 @@
+import { CommandRequest } from '../../../grpc/rambo.v1_pb';
+import { ICommandParams, IRocosCommandMessage, IStreamConfig } from '../../../models';
+import { Observable } from 'rxjs';
+import { CommandStreamAbstract } from './CommandStreamAbstract';
+export declare class CommandStreamNode extends CommandStreamAbstract {
+    private client;
+    constructor(config: IStreamConfig);
+    protected callStream(request: CommandRequest, params: ICommandParams): Observable<IRocosCommandMessage>;
+    private getMetadata;
+}

package/esm/api/streams/command/CommandStreamNode.js

@@ -0,0 +1,70 @@
+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.getInstance(`CommandStreamNode(${this.identifier})`);
+        const port = config.port ?? 443;
+        const credentials = config.insecure ? grpc.credentials.createInsecure() : grpc.credentials.createSsl();
+        this.client = new CommandClient(`${this.url}:${port}`, credentials);
+    }
+    callStream(request, params) {
+        const metadata = this.getMetadata(params.projectId, params.callsign);
+        let call;
+        return new Observable((emitter) => {
+            call = this.client.callCommand(request, metadata);
+            this.subscriberStatus = SubscriberStatusEnum.ALIVE;
+            this.statusStream$.next(this.subscriberStatus);
+            call.on('data', (update) => {
+                const message = RocosCommandMessage.fromModel(update);
+                emitter.next(message);
+                this.logger.debug('invokeRequest - on(data)', {
+                    message,
+                    projectId: params.projectId,
+                    callsign: params.callsign,
+                    commandId: params.commandId,
+                });
+            });
+            call.on('end', () => {
+                this.subscriberStatus = SubscriberStatusEnum.STOPPED;
+                this.statusStream$.next(this.subscriberStatus);
+                this.logger.debug('invokeRequest - on(end)', {
+                    projectId: params.projectId,
+                    callsign: params.callsign,
+                    commandId: params.commandId,
+                });
+                emitter.complete();
+            });
+            call.on('close', () => {
+                this.subscriberStatus = SubscriberStatusEnum.STOPPED;
+                this.statusStream$.next(this.subscriberStatus);
+                this.logger.debug('invokeRequest - on(close)');
+            });
+            call.on('error', (error) => {
+                this.subscriberStatus = SubscriberStatusEnum.ERROR;
+                this.statusStream$.next(this.subscriberStatus);
+                this.logger.debug('invokeRequest - on(error)', error);
+                emitter.error(error);
+            });
+            return () => {
+                this.logger.debug('unsubscribing commandStream');
+                call.cancel();
+            };
+        });
+    }
+    getMetadata(projectId, callsign, subsystem) {
+        const meta = new grpc.Metadata();
+        meta.add('r-p', projectId);
+        meta.add('r-cs', callsign);
+        if (subsystem) {
+            meta.add('r-s', subsystem);
+        }
+        if (this.token)
+            meta.add('authorization', this.token);
+        return meta;
+    }
+}

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

@@ -0,0 +1,12 @@
+import { ControlMessage } from '../../../grpc/conker_pb';
+import { IControlParams, IRocosControlMessage, IStreamConfig } from '../../../models';
+import { Observable } from 'rxjs';
+import { ControlStreamAbstract } from './ControlStreamAbstract';
+export declare class ControlStream extends ControlStreamAbstract {
+    private client;
+    constructor(config: IStreamConfig);
+    protected controlRobotCall(request: ControlMessage, params: IControlParams): Promise<void>;
+    protected controlRobotCallWithAckStream(request: ControlMessage, params: IControlParams): Observable<IRocosControlMessage>;
+    protected getPayload(payload: string): Uint8Array;
+    private getMetadata;
+}

package/esm/api/streams/control/ControlStream.js

@@ -0,0 +1,79 @@
+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.getInstance(`ControlStream(${this.identifier})`);
+        const protocol = config.insecure ? 'http' : 'https';
+        const port = config.port ? `:${config.port}` : '';
+        const transport = new GrpcWebFetchTransport({
+            baseUrl: `${protocol}://${this.url}${port}`,
+        });
+        this.client = new RobotControlClient(transport);
+    }
+    async controlRobotCall(request, params) {
+        const metadata = this.getMetadata(params.projectId, params.callsign);
+        await this.client.controlRobotCall(request, { meta: metadata });
+    }
+    controlRobotCallWithAckStream(request, params) {
+        const metadata = this.getMetadata(params.projectId, params.callsign);
+        const abortController = new AbortController();
+        return new Observable((emitter) => {
+            // Send the message to back-end.
+            const call = this.client.controlRobotCallWithAckStream(request, { meta: metadata, abort: abortController.signal });
+            this.subscriberStatus = SubscriberStatusEnum.ALIVE;
+            this.statusStream$.next(this.subscriberStatus);
+            call.responses.onMessage((update) => {
+                const message = RocosControlMessage.fromMessage(update);
+                emitter.next(message);
+                this.logger.debug('controlRobotCallWithAckStream - on(data)', {
+                    message,
+                    projectId: params.projectId,
+                    callsign: params.callsign,
+                    destination: params.destination,
+                });
+            });
+            call.responses.onComplete(() => {
+                this.subscriberStatus = SubscriberStatusEnum.STOPPED;
+                this.statusStream$.next(this.subscriberStatus);
+                this.logger.debug('controlRobotCallWithAckStream - on(end)', {
+                    projectId: params.projectId,
+                    callsign: params.callsign,
+                    destination: params.destination,
+                });
+                emitter.complete();
+            });
+            call.responses.onError((error) => {
+                this.logger.debug('controlRobotCallWithAckStream- on(error)', {
+                    error,
+                    projectId: params.projectId,
+                    callsign: params.callsign,
+                    destination: params.destination,
+                });
+                emitter.error(error);
+            });
+            return () => {
+                this.logger.debug('unsubscribing controlRobotCallWithAckStream');
+                abortController.abort();
+            };
+        });
+    }
+    getPayload(payload) {
+        return stringToUint8Array(payload);
+    }
+    getMetadata(projectId, callsign) {
+        const meta = {
+            'r-p': projectId,
+            'r-cs': callsign,
+        };
+        if (this.token) {
+            meta.authorization = this.token;
+        }
+        return meta;
+    }
+}

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

@@ -0,0 +1,25 @@
+import { BehaviorSubject, Observable } from 'rxjs';
+import { ControlActionType, IControlParams, IControlStream, IRocosControlMessage, IStreamConfig, SubscriberStatusEnum } from '../../../models';
+import { ControlMessage } from '../../../grpc/conker_pb';
+import { Logger } from 'loglevel';
+export declare abstract class ControlStreamAbstract implements IControlStream {
+    identifier: string;
+    statusStream$: BehaviorSubject<SubscriberStatusEnum>;
+    protected token?: string;
+    private readonly scope;
+    protected url: string;
+    protected subscriberStatus: SubscriberStatusEnum;
+    protected logger: Logger;
+    protected constructor(config: IStreamConfig);
+    protected abstract controlRobotCall(request: ControlMessage, params: IControlParams): void;
+    protected abstract controlRobotCallWithAckStream(request: ControlMessage, params: IControlParams): Observable<IRocosControlMessage>;
+    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;
+    private setRequestMeta;
+}

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

@@ -0,0 +1,12 @@
+import { ControlMessage } from '../../../grpc/conker_pb';
+import { IControlParams, IRocosControlMessage, IStreamConfig } from '../../../models';
+import { Observable } from 'rxjs';
+import { ControlStreamAbstract } from './ControlStreamAbstract';
+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 getPayload(payload: string): Uint8Array;
+    private getMetadata;
+}

package/esm/api/streams/control/ControlStreamNode.js

@@ -0,0 +1,74 @@
+import * as grpc from '@grpc/grpc-js';
+import { RocosControlMessage, SubscriberStatusEnum, } from '../../../models';
+import { Observable } from 'rxjs';
+import { ControlStreamAbstract } from './ControlStreamAbstract';
+import { RobotControlClient } from '../../../grpc/conker_pb.grpc-client';
+import { RocosLogger } from '../../../logger/RocosLogger';
+export class ControlStreamNode extends ControlStreamAbstract {
+    constructor(config) {
+        super(config);
+        this.logger = RocosLogger.getInstance(`ControlStreamNode(${this.identifier})`);
+        const port = config.port || 443;
+        const credentials = config.insecure ? grpc.credentials.createInsecure() : grpc.credentials.createSsl();
+        this.client = new RobotControlClient(`${this.url}:${port}`, credentials);
+    }
+    controlRobotCall(request, params) {
+        const metadata = this.getMetadata(params.projectId, params.callsign);
+        this.client.controlRobotCall(request, metadata);
+    }
+    controlRobotCallWithAckStream(request, params) {
+        const metadata = this.getMetadata(params.projectId, params.callsign);
+        let call;
+        return new Observable((emitter) => {
+            call = this.client.controlRobotCallWithAckStream(request, metadata);
+            this.subscriberStatus = SubscriberStatusEnum.ALIVE;
+            this.statusStream$.next(this.subscriberStatus);
+            call.on('data', (update) => {
+                const message = RocosControlMessage.fromMessage(update);
+                emitter.next(message);
+                this.logger.debug('controlRobotCallWithAckStream - on(data)', {
+                    projectId: params.projectId,
+                    callsign: params.callsign,
+                    destination: params.destination,
+                });
+            });
+            call.on('end', () => {
+                this.subscriberStatus = SubscriberStatusEnum.STOPPED;
+                this.statusStream$.next(this.subscriberStatus);
+                this.logger.debug('controlRobotCallWithAckStream - on(end)', {
+                    projectId: params.projectId,
+                    callsign: params.callsign,
+                    destination: params.destination,
+                });
+                emitter.complete();
+            });
+            call.on('close', () => {
+                this.subscriberStatus = SubscriberStatusEnum.STOPPED;
+                this.statusStream$.next(this.subscriberStatus);
+                this.logger.debug('controlRobotCallWithAckStream - on(close)');
+            });
+            call.on('error', (error) => {
+                this.subscriberStatus = SubscriberStatusEnum.ERROR;
+                this.statusStream$.next(this.subscriberStatus);
+                this.logger.debug('controlRobotCallWithAckStream - on(error)', error);
+                emitter.error(error);
+            });
+            return () => {
+                this.logger.debug('unsubscribing controlRobotCallWithAckStream');
+                call.cancel();
+            };
+        });
+    }
+    getPayload(payload) {
+        const buffer = Buffer.from(payload);
+        return Uint8Array.from(buffer);
+    }
+    getMetadata(projectId, callsign) {
+        const meta = new grpc.Metadata();
+        meta.add('r-p', projectId);
+        meta.add('r-cs', callsign);
+        if (this.token)
+            meta.add('authorization', this.token);
+        return meta;
+    }
+}

package/esm/api/streams/fileAccessor/FileAccessorStream.d.ts

@@ -0,0 +1,8 @@
+import { IFileAccessorReqOpParams, IRocosOpResultMessage, IStreamConfig } from '../../../models';
+import { FileAccessorStreamAbstract } from './FileAccessorStreamAbstract';
+export declare class FileAccessorStream extends FileAccessorStreamAbstract {
+    private client;
+    constructor(config: IStreamConfig);
+    protected serverReqOpInternal(params: IFileAccessorReqOpParams): Promise<IRocosOpResultMessage[]>;
+    private getMetadata;
+}