@dronedeploy/rocos-js-sdk 4.4.2 → 4.4.4

package/cjs/api/StreamRegister.js

@@ -19,8 +19,10 @@ class StreamRegister {
     }
     addStream(stream) {
         try {
-            if (this.teleStreams.has(stream.identifier)) {
-                this.removeStream(stream);
+            // Stop any existing occupant of this key before overwriting it.
+            const existing = this.teleStreams.get(stream.identifier);
+            if (existing && existing !== stream) {
+                existing.stopStream();
             }
             this.teleStreams.set(stream.identifier, stream);
         }
@@ -40,7 +42,11 @@ class StreamRegister {
     removeStream(stream) {
         try {
             stream.stopStream();
-            this.teleStreams.delete(stream.identifier);
+            // Only clear the entry if this instance still owns the key: a replacement may already hold it,
+            // and evicting that would leave subscribers forking duplicate streams for the scope.
+            if (this.teleStreams.get(stream.identifier) === stream) {
+                this.teleStreams.delete(stream.identifier);
+            }
         }
         catch (e) {
             this.logger.error(`Failed to remove stream from list. identifier: ${stream.identifier}`, e);

package/cjs/models/gamepad/GamepadConfig.d.ts

@@ -31,6 +31,18 @@ export declare enum GamepadButtonType {
 }
 /** Per-axis tuning keyed by GamepadButtonType. Absent entirely on configs saved before axis tuning existed. */
 export type GamepadAxisValueMap = Partial<Record<GamepadButtonType, number>>;
+/** Same shape as GamepadAxisValueMap, keyed by any input — a modifier is usually a bumper or trigger, not an axis. */
+export type GamepadInputValueMap = Partial<Record<GamepadButtonType, number>>;
+/**
+ * Engage point for an input with no GamepadConfig.modifierThresholds entry. Exported so editor and
+ * interpreter agree: a modifier held at 0.5 in one and 0.75 in the other works on screen, not on the robot.
+ */
+export declare const DEFAULT_MODIFIER_THRESHOLD = 0.5;
+/**
+ * Release point as a fraction of the engage threshold. Releasing at the engage value flaps the layer at
+ * frame rate while a trigger rests on the threshold. Exported for the same reason as the threshold.
+ */
+export declare const MODIFIER_RELEASE_FRACTION = 0.7;
 export declare enum GamepadTriggerType {
     ONCE = "once",
     CONTINUOUSLY = "continuously"
@@ -54,6 +66,15 @@ export interface GamepadAction {
     triggerType: GamepadTriggerType;
     /** Milliseconds between repeats. Only meaningful for `continuously`. */
     frequency: number;
+    /**
+     * Inputs that must be held for this action to fire. A set: unordered, and absent or empty is the base
+     * layer, eligible whatever is held — which is what leaves pre-modifier configs unaffected.
+     *
+     * Matched on `type` alone, since `text` is a display label and the same input reaches us as "LB" from
+     * one author and "L1" from another. Must not contain the action's own `source`, which the triggering
+     * press would satisfy on its own.
+     */
+    modifiers?: GamepadButtonRef[];
 }
 export interface GamepadVariable {
     name: string;
@@ -80,6 +101,11 @@ export interface GamepadConfig {
     variables: GamepadVariable[];
     axisDeadzones?: GamepadAxisValueMap;
     axisExpos?: GamepadAxisValueMap;
+    /**
+     * Engage point per modifier input. Profile-level rather than per-action so one trigger cannot engage at
+     * two values. Absent entries use DEFAULT_MODIFIER_THRESHOLD.
+     */
+    modifierThresholds?: GamepadInputValueMap;
 }
 /** One stored gamepad config, scoped to a specific physical controller model (GamepadConfig.gamepad). */
 export type GamepadConfigItem = ConfigGroupItem<GamepadConfig>;

package/cjs/models/gamepad/GamepadConfig.js

@@ -1,6 +1,6 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.GamepadCommandVersion = exports.GamepadTriggerType = exports.GamepadButtonType = void 0;
+exports.GamepadCommandVersion = exports.GamepadTriggerType = exports.MODIFIER_RELEASE_FRACTION = exports.DEFAULT_MODIFIER_THRESHOLD = exports.GamepadButtonType = void 0;
 // Ref: https://github.com/alaingilbert/GamepadJs
 var GamepadButtonType;
 (function (GamepadButtonType) {
@@ -33,6 +33,16 @@ var GamepadButtonType;
     GamepadButtonType[GamepadButtonType["SQUARE"] = 26] = "SQUARE";
     GamepadButtonType[GamepadButtonType["TRIANGLE"] = 27] = "TRIANGLE";
 })(GamepadButtonType || (exports.GamepadButtonType = GamepadButtonType = {}));
+/**
+ * Engage point for an input with no GamepadConfig.modifierThresholds entry. Exported so editor and
+ * interpreter agree: a modifier held at 0.5 in one and 0.75 in the other works on screen, not on the robot.
+ */
+exports.DEFAULT_MODIFIER_THRESHOLD = 0.5;
+/**
+ * Release point as a fraction of the engage threshold. Releasing at the engage value flaps the layer at
+ * frame rate while a trigger rests on the threshold. Exported for the same reason as the threshold.
+ */
+exports.MODIFIER_RELEASE_FRACTION = 0.7;
 var GamepadTriggerType;
 (function (GamepadTriggerType) {
     GamepadTriggerType["ONCE"] = "once";

package/cjs/services/BaseStreamService.d.ts

@@ -10,7 +10,7 @@ export declare abstract class BaseStreamService<T extends IBaseStream, C extends
     protected constructor(name: string, config: IRocosSDKConfig);
     getStatus(): boolean;
     protected initStream(stream: T): Promise<void>;
-    protected createStreamFromConfig(identifier: string, config: C): Promise<{
+    protected createStreamFromConfig(identifier: string, config: C, onAcquire?: (stream: T) => void): Promise<{
         stream: T;
         isNew: boolean;
     }>;

package/cjs/services/BaseStreamService.js

@@ -32,7 +32,7 @@ class BaseStreamService {
         }
         authService.startTokenRefreshChecker();
     }
-    async createStreamFromConfig(identifier, config) {
+    async createStreamFromConfig(identifier, config, onAcquire) {
         const identifierWithScope = StreamRegister_1.StreamRegister.getIdentifier(identifier, config.scope);
         const streamRegister = StreamRegister_1.StreamRegister.getInstance();
         let stream = streamRegister.getStream(identifierWithScope);
@@ -45,7 +45,26 @@ class BaseStreamService {
                 this.status$.next(msg);
             });
             streamRegister.addStream(stream);
-            await this.initStream(stream);
+        }
+        // Acquire synchronously with the lookup/registration above, before any await. A stream is
+        // stopped and deregistered the instant its refcount hits zero, so a deferred acquire can land on
+        // a dead instance — including a freshly-registered stream torn down during the init await below.
+        onAcquire?.(stream);
+        if (isNew) {
+            try {
+                await this.initStream(stream);
+            }
+            catch (e) {
+                // Evict eagerly, before the error reaches the subscriber, so a synchronous resubscribe
+                // can't re-acquire this uninitialised instance.
+                streamRegister.removeStream(stream);
+                throw e;
+            }
+            // If a concurrent teardown deregistered this stream during init, init() has opened a receiver
+            // on an instance nothing can reach; close it.
+            if (streamRegister.getStream(identifierWithScope) !== stream) {
+                stream.stopStream();
+            }
         }
         return { stream, isNew };
     }

package/cjs/services/TelemetryService.js

@@ -61,19 +61,26 @@ class TelemetryService extends BaseStreamService_1.BaseStreamService {
             callsigns: callsignsLookup?.lookupType === models_1.CallsignsLookupType.List ? callsignsLookup.lookupValue : [],
             sources,
         };
-        const stream = this.createStream(params.projectId, callsignsLookup, sources, scope).then((stream) => {
-            stream.addSubscription(subscriptionParams);
-            if (!this.statusSubscription) {
-                this.statusSubscription = stream.statusStream$.subscribe((msg) => {
-                    this.status = msg === models_1.SubscriberStatusEnum.STOPPED || msg === models_1.SubscriberStatusEnum.ALIVE;
-                    this.status$.next(msg);
-                });
-            }
-            return (0, rxjs_1.from)(stream.messageStream$).pipe((0, operators_1.finalize)(() => stream?.removeSubscription(subscriptionParams, params.terminateReceiverGroupOnUnsubscribe)));
+        // `defer` acquires the stream only when subscribed; `finalize` releases it on unsubscribe, error
+        // and complete — so acquire and release stay balanced on every path.
+        return (0, rxjs_1.defer)(() => {
+            let acquired;
+            const stream$ = this.createStream(params.projectId, callsignsLookup, sources, scope, (stream) => {
+                acquired = stream;
+                stream.addSubscription(subscriptionParams);
+            }).then((stream) => {
+                if (!this.statusSubscription) {
+                    this.statusSubscription = stream.statusStream$.subscribe((msg) => {
+                        this.status = msg === models_1.SubscriberStatusEnum.STOPPED || msg === models_1.SubscriberStatusEnum.ALIVE;
+                        this.status$.next(msg);
+                    });
+                }
+                return (0, rxjs_1.from)(stream.messageStream$);
+            });
+            return (0, rxjs_1.from)(stream$).pipe((0, rxjs_1.mergeAll)(), (0, operators_1.filter)((message) => {
+                return callsigns.includes(message.callsign) && sources.includes(message.source);
+            }), (0, operators_1.finalize)(() => acquired?.removeSubscription(subscriptionParams, params.terminateReceiverGroupOnUnsubscribe)));
         });
-        return (0, rxjs_1.from)(stream).pipe((0, rxjs_1.mergeAll)(), (0, operators_1.filter)((message) => {
-            return callsigns.includes(message.callsign) && sources.includes(message.source);
-        }));
     }
     /**
      * A method to keep track of the current subscriptions
@@ -152,7 +159,7 @@ class TelemetryService extends BaseStreamService_1.BaseStreamService {
             return `${params.projectId}-default-${(0, flattenCallsignsLookup_1.flattenCallsignsLookup)(callsignsLookup).join()}`;
         return `${params.projectId}-default`;
     }
-    async createStream(projectId, callsignsLookup, sources, scope) {
+    async createStream(projectId, callsignsLookup, sources, scope, onAcquire) {
         const newStream = await this.createStreamFromConfig(identifier_1.IDENTIFIER_NAME_TELEMETRY, {
             url: this.config.url,
             projectId,
@@ -165,7 +172,7 @@ class TelemetryService extends BaseStreamService_1.BaseStreamService {
             insecure: this.config.insecure,
             transport: this.config.transport,
             fetch: this.config.fetch,
-        });
+        }, onAcquire);
         if (!newStream.isNew) {
             newStream.stream.statusStream$.subscribe((msg) => {
                 this.streamStatusSubject$.next({

package/esm/api/StreamRegister.js

@@ -16,8 +16,10 @@ export class StreamRegister {
     }
     addStream(stream) {
         try {
-            if (this.teleStreams.has(stream.identifier)) {
-                this.removeStream(stream);
+            // Stop any existing occupant of this key before overwriting it.
+            const existing = this.teleStreams.get(stream.identifier);
+            if (existing && existing !== stream) {
+                existing.stopStream();
             }
             this.teleStreams.set(stream.identifier, stream);
         }
@@ -37,7 +39,11 @@ export class StreamRegister {
     removeStream(stream) {
         try {
             stream.stopStream();
-            this.teleStreams.delete(stream.identifier);
+            // Only clear the entry if this instance still owns the key: a replacement may already hold it,
+            // and evicting that would leave subscribers forking duplicate streams for the scope.
+            if (this.teleStreams.get(stream.identifier) === stream) {
+                this.teleStreams.delete(stream.identifier);
+            }
         }
         catch (e) {
             this.logger.error(`Failed to remove stream from list. identifier: ${stream.identifier}`, e);

package/esm/models/gamepad/GamepadConfig.d.ts

@@ -31,6 +31,18 @@ export declare enum GamepadButtonType {
 }
 /** Per-axis tuning keyed by GamepadButtonType. Absent entirely on configs saved before axis tuning existed. */
 export type GamepadAxisValueMap = Partial<Record<GamepadButtonType, number>>;
+/** Same shape as GamepadAxisValueMap, keyed by any input — a modifier is usually a bumper or trigger, not an axis. */
+export type GamepadInputValueMap = Partial<Record<GamepadButtonType, number>>;
+/**
+ * Engage point for an input with no GamepadConfig.modifierThresholds entry. Exported so editor and
+ * interpreter agree: a modifier held at 0.5 in one and 0.75 in the other works on screen, not on the robot.
+ */
+export declare const DEFAULT_MODIFIER_THRESHOLD = 0.5;
+/**
+ * Release point as a fraction of the engage threshold. Releasing at the engage value flaps the layer at
+ * frame rate while a trigger rests on the threshold. Exported for the same reason as the threshold.
+ */
+export declare const MODIFIER_RELEASE_FRACTION = 0.7;
 export declare enum GamepadTriggerType {
     ONCE = "once",
     CONTINUOUSLY = "continuously"
@@ -54,6 +66,15 @@ export interface GamepadAction {
     triggerType: GamepadTriggerType;
     /** Milliseconds between repeats. Only meaningful for `continuously`. */
     frequency: number;
+    /**
+     * Inputs that must be held for this action to fire. A set: unordered, and absent or empty is the base
+     * layer, eligible whatever is held — which is what leaves pre-modifier configs unaffected.
+     *
+     * Matched on `type` alone, since `text` is a display label and the same input reaches us as "LB" from
+     * one author and "L1" from another. Must not contain the action's own `source`, which the triggering
+     * press would satisfy on its own.
+     */
+    modifiers?: GamepadButtonRef[];
 }
 export interface GamepadVariable {
     name: string;
@@ -80,6 +101,11 @@ export interface GamepadConfig {
     variables: GamepadVariable[];
     axisDeadzones?: GamepadAxisValueMap;
     axisExpos?: GamepadAxisValueMap;
+    /**
+     * Engage point per modifier input. Profile-level rather than per-action so one trigger cannot engage at
+     * two values. Absent entries use DEFAULT_MODIFIER_THRESHOLD.
+     */
+    modifierThresholds?: GamepadInputValueMap;
 }
 /** One stored gamepad config, scoped to a specific physical controller model (GamepadConfig.gamepad). */
 export type GamepadConfigItem = ConfigGroupItem<GamepadConfig>;

package/esm/models/gamepad/GamepadConfig.js

@@ -30,6 +30,16 @@ export var GamepadButtonType;
     GamepadButtonType[GamepadButtonType["SQUARE"] = 26] = "SQUARE";
     GamepadButtonType[GamepadButtonType["TRIANGLE"] = 27] = "TRIANGLE";
 })(GamepadButtonType || (GamepadButtonType = {}));
+/**
+ * Engage point for an input with no GamepadConfig.modifierThresholds entry. Exported so editor and
+ * interpreter agree: a modifier held at 0.5 in one and 0.75 in the other works on screen, not on the robot.
+ */
+export const DEFAULT_MODIFIER_THRESHOLD = 0.5;
+/**
+ * Release point as a fraction of the engage threshold. Releasing at the engage value flaps the layer at
+ * frame rate while a trigger rests on the threshold. Exported for the same reason as the threshold.
+ */
+export const MODIFIER_RELEASE_FRACTION = 0.7;
 export var GamepadTriggerType;
 (function (GamepadTriggerType) {
     GamepadTriggerType["ONCE"] = "once";

package/esm/services/BaseStreamService.d.ts

@@ -10,7 +10,7 @@ export declare abstract class BaseStreamService<T extends IBaseStream, C extends
     protected constructor(name: string, config: IRocosSDKConfig);
     getStatus(): boolean;
     protected initStream(stream: T): Promise<void>;
-    protected createStreamFromConfig(identifier: string, config: C): Promise<{
+    protected createStreamFromConfig(identifier: string, config: C, onAcquire?: (stream: T) => void): Promise<{
         stream: T;
         isNew: boolean;
     }>;

package/esm/services/BaseStreamService.js

@@ -29,7 +29,7 @@ export class BaseStreamService {
         }
         authService.startTokenRefreshChecker();
     }
-    async createStreamFromConfig(identifier, config) {
+    async createStreamFromConfig(identifier, config, onAcquire) {
         const identifierWithScope = StreamRegister.getIdentifier(identifier, config.scope);
         const streamRegister = StreamRegister.getInstance();
         let stream = streamRegister.getStream(identifierWithScope);
@@ -42,7 +42,26 @@ export class BaseStreamService {
                 this.status$.next(msg);
             });
             streamRegister.addStream(stream);
-            await this.initStream(stream);
+        }
+        // Acquire synchronously with the lookup/registration above, before any await. A stream is
+        // stopped and deregistered the instant its refcount hits zero, so a deferred acquire can land on
+        // a dead instance — including a freshly-registered stream torn down during the init await below.
+        onAcquire?.(stream);
+        if (isNew) {
+            try {
+                await this.initStream(stream);
+            }
+            catch (e) {
+                // Evict eagerly, before the error reaches the subscriber, so a synchronous resubscribe
+                // can't re-acquire this uninitialised instance.
+                streamRegister.removeStream(stream);
+                throw e;
+            }
+            // If a concurrent teardown deregistered this stream during init, init() has opened a receiver
+            // on an instance nothing can reach; close it.
+            if (streamRegister.getStream(identifierWithScope) !== stream) {
+                stream.stopStream();
+            }
         }
         return { stream, isNew };
     }

package/esm/services/TelemetryService.js

@@ -1,4 +1,4 @@
-import { BehaviorSubject, catchError, combineLatest, distinctUntilChanged, from, interval, map, mergeAll, of, startWith, } from 'rxjs';
+import { BehaviorSubject, catchError, combineLatest, defer, distinctUntilChanged, from, interval, map, mergeAll, of, startWith, } from 'rxjs';
 import { CallsignStatus, CallsignsLookup, CallsignsLookupType, RocosError, SubscriberStatusEnum, TelemetryMonitorStatus, errorCodes, } from '../models';
 import { filter, finalize } from 'rxjs/operators';
 import { BaseStreamService } from './BaseStreamService';
@@ -58,19 +58,26 @@ export class TelemetryService extends BaseStreamService {
             callsigns: callsignsLookup?.lookupType === CallsignsLookupType.List ? callsignsLookup.lookupValue : [],
             sources,
         };
-        const stream = this.createStream(params.projectId, callsignsLookup, sources, scope).then((stream) => {
-            stream.addSubscription(subscriptionParams);
-            if (!this.statusSubscription) {
-                this.statusSubscription = stream.statusStream$.subscribe((msg) => {
-                    this.status = msg === SubscriberStatusEnum.STOPPED || msg === SubscriberStatusEnum.ALIVE;
-                    this.status$.next(msg);
-                });
-            }
-            return from(stream.messageStream$).pipe(finalize(() => stream?.removeSubscription(subscriptionParams, params.terminateReceiverGroupOnUnsubscribe)));
+        // `defer` acquires the stream only when subscribed; `finalize` releases it on unsubscribe, error
+        // and complete — so acquire and release stay balanced on every path.
+        return defer(() => {
+            let acquired;
+            const stream$ = this.createStream(params.projectId, callsignsLookup, sources, scope, (stream) => {
+                acquired = stream;
+                stream.addSubscription(subscriptionParams);
+            }).then((stream) => {
+                if (!this.statusSubscription) {
+                    this.statusSubscription = stream.statusStream$.subscribe((msg) => {
+                        this.status = msg === SubscriberStatusEnum.STOPPED || msg === SubscriberStatusEnum.ALIVE;
+                        this.status$.next(msg);
+                    });
+                }
+                return from(stream.messageStream$);
+            });
+            return from(stream$).pipe(mergeAll(), filter((message) => {
+                return callsigns.includes(message.callsign) && sources.includes(message.source);
+            }), finalize(() => acquired?.removeSubscription(subscriptionParams, params.terminateReceiverGroupOnUnsubscribe)));
         });
-        return from(stream).pipe(mergeAll(), filter((message) => {
-            return callsigns.includes(message.callsign) && sources.includes(message.source);
-        }));
     }
     /**
      * A method to keep track of the current subscriptions
@@ -149,7 +156,7 @@ export class TelemetryService extends BaseStreamService {
             return `${params.projectId}-default-${flattenCallsignsLookup(callsignsLookup).join()}`;
         return `${params.projectId}-default`;
     }
-    async createStream(projectId, callsignsLookup, sources, scope) {
+    async createStream(projectId, callsignsLookup, sources, scope, onAcquire) {
         const newStream = await this.createStreamFromConfig(IDENTIFIER_NAME_TELEMETRY, {
             url: this.config.url,
             projectId,
@@ -162,7 +169,7 @@ export class TelemetryService extends BaseStreamService {
             insecure: this.config.insecure,
             transport: this.config.transport,
             fetch: this.config.fetch,
-        });
+        }, onAcquire);
         if (!newStream.isNew) {
             newStream.stream.statusStream$.subscribe((msg) => {
                 this.streamStatusSubject$.next({

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@dronedeploy/rocos-js-sdk",
-  "version": "4.4.2",
+  "version": "4.4.4",
   "description": "Javascript SDK for rocos",
   "main": "cjs/index.js",
   "module": "esm/index.js",
@@ -28,12 +28,19 @@
     "@grpc/grpc-js": "^1.7.1",
     "@protobuf-ts/grpcweb-transport": "^2.9.1",
     "@protobuf-ts/runtime": "^2.9.1",
+    "@protobuf-ts/runtime-rpc": "^2.9.1",
     "acorn": "^8.11.3",
     "loglevel": "^1.7.1"
   },
   "peerDependencies": {
+    "@types/node": "*",
     "rxjs": "^6.6.6 || ^7.0.0"
   },
+  "peerDependenciesMeta": {
+    "@types/node": {
+      "optional": true
+    }
+  },
   "repository": {},
   "private": false
 }