@eyr1n/ros-cdr-client 0.0.1

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Files changed (8) hide show
  1. package/LICENSE +21 -0
  2. package/dist/src/index.d.ts +19 -0
  3. package/dist/src/index.d.ts.map +1 -0
  4. package/dist/src/index.js +174 -0
  5. package/dist/src/index.js.map +1 -0
  6. package/dist/tsconfig.tsbuildinfo +1 -0
  7. package/package.json +28 -0
  8. package/src/index.ts +261 -0
package/LICENSE ADDED
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+ MIT License
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+
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+ Copyright (c) 2026 Rin Iwai
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+
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+ Permission is hereby granted, free of charge, to any person obtaining a copy
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+ of this software and associated documentation files (the "Software"), to deal
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+ in the Software without restriction, including without limitation the rights
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+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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+ copies of the Software, and to permit persons to whom the Software is
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+ furnished to do so, subject to the following conditions:
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+
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+ The above copyright notice and this permission notice shall be included in all
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+ copies or substantial portions of the Software.
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+
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+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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+ SOFTWARE.
package/dist/src/index.d.ts ADDED
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+ declare const brand: unique symbol;
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+ type Branded<T, Brand> = T & {
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+ [brand]: Brand;
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+ };
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+ export type PublisherId = Branded<number, 'PublisherId'>;
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+ export type SubscriptionId = Branded<number, 'SubscriptionId'>;
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+ export type ServiceClientId = Branded<number, 'ServiceClientId'>;
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+ export declare class RosCdrClient {
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+ #private;
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+ constructor(ws: WebSocket);
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+ createPublisher(name: string, type: string): Promise<PublisherId>;
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+ createSubscription(name: string, type: string, callback: (message: DataView) => void): Promise<SubscriptionId>;
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+ createServiceClient(name: string, type: string): Promise<ServiceClientId>;
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+ publish(id: PublisherId, message: Uint8Array): void;
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+ callService(id: ServiceClientId, callId: number, request: Uint8Array): Promise<DataView>;
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+ destroy(id: PublisherId | SubscriptionId | ServiceClientId): void;
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+ }
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+ export {};
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+ //# sourceMappingURL=index.d.ts.map
package/dist/src/index.d.ts.map ADDED
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+ {"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../../src/index.ts"],"names":[],"mappings":"AAAA,QAAA,MAAM,KAAK,eAAW,CAAC;AACvB,KAAK,OAAO,CAAC,CAAC,EAAE,KAAK,IAAI,CAAC,GAAG;IAAE,CAAC,KAAK,CAAC,EAAE,KAAK,CAAA;CAAE,CAAC;AAgBhD,MAAM,MAAM,WAAW,GAAG,OAAO,CAAC,MAAM,EAAE,aAAa,CAAC,CAAC;AACzD,MAAM,MAAM,cAAc,GAAG,OAAO,CAAC,MAAM,EAAE,gBAAgB,CAAC,CAAC;AAC/D,MAAM,MAAM,eAAe,GAAG,OAAO,CAAC,MAAM,EAAE,iBAAiB,CAAC,CAAC;AAwGjE,qBAAa,YAAY;;gBAUX,EAAE,EAAE,SAAS;IAMnB,eAAe,CAAC,IAAI,EAAE,MAAM,EAAE,IAAI,EAAE,MAAM,GAAG,OAAO,CAAC,WAAW,CAAC;IAKjE,kBAAkB,CACtB,IAAI,EAAE,MAAM,EACZ,IAAI,EAAE,MAAM,EACZ,QAAQ,EAAE,CAAC,OAAO,EAAE,QAAQ,KAAK,IAAI,GACpC,OAAO,CAAC,cAAc,CAAC;IASpB,mBAAmB,CACvB,IAAI,EAAE,MAAM,EACZ,IAAI,EAAE,MAAM,GACX,OAAO,CAAC,eAAe,CAAC;IAK3B,OAAO,CAAC,EAAE,EAAE,WAAW,EAAE,OAAO,EAAE,UAAU;IAS5C,WAAW,CACT,EAAE,EAAE,eAAe,EACnB,MAAM,EAAE,MAAM,EACd,OAAO,EAAE,UAAU,GAClB,OAAO,CAAC,QAAQ,CAAC;IAepB,OAAO,CAAC,EAAE,EAAE,WAAW,GAAG,cAAc,GAAG,eAAe;CAmE3D"}
package/dist/src/index.js ADDED
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+ const brand = Symbol();
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+ const OP_CREATE_SUBSCRIPTION = 'create_subscription';
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+ const OP_CREATE_PUBLISHER = 'create_publisher';
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+ const OP_CREATE_SERVICE_CLIENT = 'create_service_client';
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+ const OP_DESTROY = 'destroy';
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+ const OP_TOPIC = 1;
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+ const OP_SERVICE_REQUEST = 2;
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+ const OP_SERVICE_RESPONSE = 3;
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+ function isObject(value) {
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+ return value !== null && typeof value === 'object';
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+ }
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+ function isCreateOp(value) {
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+ return (value === OP_CREATE_PUBLISHER ||
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+ value === OP_CREATE_SUBSCRIPTION ||
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+ value === OP_CREATE_SERVICE_CLIENT);
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+ }
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+ function parseTextPayload(payload) {
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+ let response;
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+ try {
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+ response = JSON.parse(payload);
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+ }
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+ catch {
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+ return null;
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+ }
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+ if (!isObject(response)) {
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+ return null;
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+ }
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+ if (!('op' in response) || !isCreateOp(response.op)) {
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+ return null;
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+ }
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+ if (!('name' in response) || typeof response.name !== 'string') {
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+ return null;
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+ }
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+ if (!('id' in response) || typeof response.id !== 'number') {
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+ return null;
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+ }
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+ return { op: response.op, name: response.name, id: response.id };
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+ }
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+ function parseBinaryPayload(buffer) {
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+ const view = new DataView(buffer);
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+ if (view.byteLength < 5) {
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+ return null;
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+ }
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+ const opcode = view.getUint8(0);
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+ if (opcode === OP_TOPIC) {
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+ const id = view.getUint32(1, true);
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+ return { opcode: OP_TOPIC, id, message: new DataView(buffer, 5) };
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+ }
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+ if (opcode === OP_SERVICE_RESPONSE) {
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+ if (view.byteLength < 9) {
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+ return null;
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+ }
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+ const id = view.getUint32(1, true);
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+ const callId = view.getUint32(5, true);
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+ return {
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+ opcode: OP_SERVICE_RESPONSE,
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+ id,
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+ callId,
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+ message: new DataView(buffer, 9),
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+ };
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+ }
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+ return null;
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+ }
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+ function pendingCreateKey(op, name) {
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+ return `${op}:${name}`;
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+ }
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+ function serviceResponseKey(id, callId) {
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+ return `${id}:${callId}`;
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+ }
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+ export class RosCdrClient {
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+ #ws;
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+ #pendingCreates = new Map();
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+ #subscriptions = new Map();
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+ #serviceResponses = new Map();
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+ constructor(ws) {
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+ this.#ws = ws;
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+ this.#ws.binaryType = 'arraybuffer';
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+ this.#ws.onmessage = this.#onMessage.bind(this);
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+ }
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+ async createPublisher(name, type) {
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+ const request = { op: OP_CREATE_PUBLISHER, name, type };
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+ return this.#sendCreateRequest(request);
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+ }
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+ async createSubscription(name, type, callback) {
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+ const request = { op: OP_CREATE_SUBSCRIPTION, name, type };
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+ const id = await this.#sendCreateRequest(request);
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+ this.#subscriptions.set(id, callback);
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+ return id;
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+ }
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+ async createServiceClient(name, type) {
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+ const request = { op: OP_CREATE_SERVICE_CLIENT, name, type };
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+ return this.#sendCreateRequest(request);
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+ }
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+ publish(id, message) {
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+ const payload = new Uint8Array(1 + 4 + message.length);
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+ payload[0] = OP_TOPIC;
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+ const view = new DataView(payload.buffer);
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+ view.setUint32(1, id, true);
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+ payload.set(message, 5);
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+ this.#sendBinaryPayload(payload);
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+ }
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+ callService(id, callId, request) {
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+ const payload = new Uint8Array(1 + 4 + 4 + request.length);
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+ payload[0] = OP_SERVICE_REQUEST;
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+ const view = new DataView(payload.buffer);
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+ view.setUint32(1, id, true);
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+ view.setUint32(5, callId, true);
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+ payload.set(request, 9);
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+ const key = serviceResponseKey(id, callId);
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+ return new Promise((resolve) => {
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+ this.#serviceResponses.set(key, resolve);
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+ this.#sendBinaryPayload(payload);
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+ });
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+ }
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+ destroy(id) {
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+ const request = { op: OP_DESTROY, id };
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+ this.#sendTextPayload(request);
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+ this.#subscriptions.delete(id);
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+ }
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+ #sendCreateRequest(request) {
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+ return new Promise((resolve) => {
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+ this.#pendingCreates.set(pendingCreateKey(request.op, request.name), resolve);
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+ this.#sendTextPayload(request);
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+ });
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+ }
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+ #sendTextPayload(payload) {
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+ this.#ws.send(JSON.stringify(payload));
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+ }
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+ #sendBinaryPayload(payload) {
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+ this.#ws.send(payload);
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+ }
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+ #onMessage(event) {
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+ if (typeof event.data === 'string') {
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+ this.#onTextPayload(event.data);
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+ return;
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+ }
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+ if (event.data instanceof ArrayBuffer) {
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+ this.#onBinaryPayload(event.data);
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+ return;
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+ }
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+ }
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+ #onTextPayload(payload) {
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+ const response = parseTextPayload(payload);
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+ if (!response) {
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+ return;
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+ }
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+ const key = pendingCreateKey(response.op, response.name);
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+ const callback = this.#pendingCreates.get(key);
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+ if (callback) {
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+ this.#pendingCreates.delete(key);
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+ callback(response.id);
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+ }
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+ }
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+ #onBinaryPayload(payload) {
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+ const message = parseBinaryPayload(payload);
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+ if (!message) {
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+ return;
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+ }
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+ if (message.opcode === OP_TOPIC) {
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+ this.#subscriptions.get(message.id)?.(message.message);
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+ return;
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+ }
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+ if (message.opcode === OP_SERVICE_RESPONSE) {
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+ const key = serviceResponseKey(message.id, message.callId);
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+ const callback = this.#serviceResponses.get(key);
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+ if (callback) {
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+ this.#serviceResponses.delete(key);
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+ callback(message.message);
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+ }
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+ return;
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+ }
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+ }
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+ }
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+ //# sourceMappingURL=index.js.map
package/dist/src/index.js.map ADDED
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package/package.json ADDED
@@ -0,0 +1,28 @@
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+ {
2
+ "name": "@eyr1n/ros-cdr-client",
3
+ "version": "0.0.1",
4
+ "type": "module",
5
+ "main": "dist/src/index.js",
6
+ "types": "dist/src/index.d.ts",
7
+ "exports": {
8
+ ".": {
9
+ "types": "./dist/src/index.d.ts",
10
+ "import": "./dist/src/index.js"
11
+ }
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+ },
13
+ "files": [
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+ "dist",
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+ "src"
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+ ],
17
+ "license": "MIT",
18
+ "publishConfig": {
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+ "registry": "https://registry.npmjs.org",
20
+ "access": "public"
21
+ },
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+ "devDependencies": {
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+ "typescript": "^5.9.3"
24
+ },
25
+ "scripts": {
26
+ "build": "tsc --build"
27
+ }
28
+ }
package/src/index.ts ADDED
@@ -0,0 +1,261 @@
1
+ const brand = Symbol();
2
+ type Branded<T, Brand> = T & { [brand]: Brand };
3
+
4
+ const OP_CREATE_SUBSCRIPTION = 'create_subscription' as const;
5
+ const OP_CREATE_PUBLISHER = 'create_publisher' as const;
6
+ const OP_CREATE_SERVICE_CLIENT = 'create_service_client' as const;
7
+ const OP_DESTROY = 'destroy' as const;
8
+
9
+ const OP_TOPIC = 1 as const;
10
+ const OP_SERVICE_REQUEST = 2 as const;
11
+ const OP_SERVICE_RESPONSE = 3 as const;
12
+
13
+ type CreateOp =
14
+ | typeof OP_CREATE_PUBLISHER
15
+ | typeof OP_CREATE_SUBSCRIPTION
16
+ | typeof OP_CREATE_SERVICE_CLIENT;
17
+
18
+ export type PublisherId = Branded<number, 'PublisherId'>;
19
+ export type SubscriptionId = Branded<number, 'SubscriptionId'>;
20
+ export type ServiceClientId = Branded<number, 'ServiceClientId'>;
21
+
22
+ interface CreateRequest {
23
+ op: CreateOp;
24
+ name: string;
25
+ type: string;
26
+ }
27
+
28
+ interface CreateResponse {
29
+ op: CreateOp;
30
+ name: string;
31
+ id: number;
32
+ }
33
+
34
+ interface DestroyRequest {
35
+ op: typeof OP_DESTROY;
36
+ id: PublisherId | SubscriptionId | ServiceClientId;
37
+ }
38
+
39
+ interface SubscriptionMessage {
40
+ opcode: typeof OP_TOPIC;
41
+ id: number;
42
+ message: DataView;
43
+ }
44
+
45
+ interface ServiceClientResponse {
46
+ opcode: typeof OP_SERVICE_RESPONSE;
47
+ id: number;
48
+ callId: number;
49
+ message: DataView;
50
+ }
51
+
52
+ function isObject(value: unknown): value is object {
53
+ return value !== null && typeof value === 'object';
54
+ }
55
+
56
+ function isCreateOp(value: unknown): value is CreateOp {
57
+ return (
58
+ value === OP_CREATE_PUBLISHER ||
59
+ value === OP_CREATE_SUBSCRIPTION ||
60
+ value === OP_CREATE_SERVICE_CLIENT
61
+ );
62
+ }
63
+
64
+ function parseTextPayload(payload: string): CreateResponse | null {
65
+ let response: unknown;
66
+ try {
67
+ response = JSON.parse(payload);
68
+ } catch {
69
+ return null;
70
+ }
71
+ if (!isObject(response)) {
72
+ return null;
73
+ }
74
+ if (!('op' in response) || !isCreateOp(response.op)) {
75
+ return null;
76
+ }
77
+ if (!('name' in response) || typeof response.name !== 'string') {
78
+ return null;
79
+ }
80
+ if (!('id' in response) || typeof response.id !== 'number') {
81
+ return null;
82
+ }
83
+ return { op: response.op, name: response.name, id: response.id };
84
+ }
85
+
86
+ function parseBinaryPayload(
87
+ buffer: ArrayBuffer,
88
+ ): SubscriptionMessage | ServiceClientResponse | null {
89
+ const view = new DataView(buffer);
90
+ if (view.byteLength < 5) {
91
+ return null;
92
+ }
93
+
94
+ const opcode = view.getUint8(0);
95
+
96
+ if (opcode === OP_TOPIC) {
97
+ const id = view.getUint32(1, true);
98
+ return { opcode: OP_TOPIC, id, message: new DataView(buffer, 5) };
99
+ }
100
+ if (opcode === OP_SERVICE_RESPONSE) {
101
+ if (view.byteLength < 9) {
102
+ return null;
103
+ }
104
+ const id = view.getUint32(1, true);
105
+ const callId = view.getUint32(5, true);
106
+ return {
107
+ opcode: OP_SERVICE_RESPONSE,
108
+ id,
109
+ callId,
110
+ message: new DataView(buffer, 9),
111
+ };
112
+ }
113
+ return null;
114
+ }
115
+
116
+ function pendingCreateKey(op: CreateOp, name: string): string {
117
+ return `${op}:${name}`;
118
+ }
119
+
120
+ function serviceResponseKey(id: number, callId: number): string {
121
+ return `${id}:${callId}`;
122
+ }
123
+
124
+ export class RosCdrClient {
125
+ readonly #ws: WebSocket;
126
+
127
+ readonly #pendingCreates = new Map<string, (id: number) => void>();
128
+ readonly #subscriptions = new Map<
129
+ SubscriptionId,
130
+ (message: DataView) => void
131
+ >();
132
+ readonly #serviceResponses = new Map<string, (response: DataView) => void>();
133
+
134
+ constructor(ws: WebSocket) {
135
+ this.#ws = ws;
136
+ this.#ws.binaryType = 'arraybuffer';
137
+ this.#ws.onmessage = this.#onMessage.bind(this);
138
+ }
139
+
140
+ async createPublisher(name: string, type: string): Promise<PublisherId> {
141
+ const request: CreateRequest = { op: OP_CREATE_PUBLISHER, name, type };
142
+ return this.#sendCreateRequest(request) as Promise<PublisherId>;
143
+ }
144
+
145
+ async createSubscription(
146
+ name: string,
147
+ type: string,
148
+ callback: (message: DataView) => void,
149
+ ): Promise<SubscriptionId> {
150
+ const request: CreateRequest = { op: OP_CREATE_SUBSCRIPTION, name, type };
151
+ const id = await (this.#sendCreateRequest(
152
+ request,
153
+ ) as Promise<SubscriptionId>);
154
+ this.#subscriptions.set(id, callback);
155
+ return id;
156
+ }
157
+
158
+ async createServiceClient(
159
+ name: string,
160
+ type: string,
161
+ ): Promise<ServiceClientId> {
162
+ const request: CreateRequest = { op: OP_CREATE_SERVICE_CLIENT, name, type };
163
+ return this.#sendCreateRequest(request) as Promise<ServiceClientId>;
164
+ }
165
+
166
+ publish(id: PublisherId, message: Uint8Array) {
167
+ const payload = new Uint8Array(1 + 4 + message.length);
168
+ payload[0] = OP_TOPIC;
169
+ const view = new DataView(payload.buffer);
170
+ view.setUint32(1, id, true);
171
+ payload.set(message, 5);
172
+ this.#sendBinaryPayload(payload);
173
+ }
174
+
175
+ callService(
176
+ id: ServiceClientId,
177
+ callId: number,
178
+ request: Uint8Array,
179
+ ): Promise<DataView> {
180
+ const payload = new Uint8Array(1 + 4 + 4 + request.length);
181
+ payload[0] = OP_SERVICE_REQUEST;
182
+ const view = new DataView(payload.buffer);
183
+ view.setUint32(1, id, true);
184
+ view.setUint32(5, callId, true);
185
+ payload.set(request, 9);
186
+
187
+ const key = serviceResponseKey(id, callId);
188
+ return new Promise((resolve) => {
189
+ this.#serviceResponses.set(key, resolve);
190
+ this.#sendBinaryPayload(payload);
191
+ });
192
+ }
193
+
194
+ destroy(id: PublisherId | SubscriptionId | ServiceClientId) {
195
+ const request: DestroyRequest = { op: OP_DESTROY, id };
196
+ this.#sendTextPayload(request);
197
+ this.#subscriptions.delete(id as SubscriptionId);
198
+ }
199
+
200
+ #sendCreateRequest(request: CreateRequest): Promise<number> {
201
+ return new Promise((resolve) => {
202
+ this.#pendingCreates.set(
203
+ pendingCreateKey(request.op, request.name),
204
+ resolve,
205
+ );
206
+ this.#sendTextPayload(request);
207
+ });
208
+ }
209
+
210
+ #sendTextPayload(payload: CreateRequest | DestroyRequest) {
211
+ this.#ws.send(JSON.stringify(payload));
212
+ }
213
+
214
+ #sendBinaryPayload(payload: Uint8Array) {
215
+ this.#ws.send(payload);
216
+ }
217
+
218
+ #onMessage(event: MessageEvent) {
219
+ if (typeof event.data === 'string') {
220
+ this.#onTextPayload(event.data);
221
+ return;
222
+ }
223
+ if (event.data instanceof ArrayBuffer) {
224
+ this.#onBinaryPayload(event.data);
225
+ return;
226
+ }
227
+ }
228
+
229
+ #onTextPayload(payload: string) {
230
+ const response = parseTextPayload(payload);
231
+ if (!response) {
232
+ return;
233
+ }
234
+ const key = pendingCreateKey(response.op, response.name);
235
+ const callback = this.#pendingCreates.get(key);
236
+ if (callback) {
237
+ this.#pendingCreates.delete(key);
238
+ callback(response.id);
239
+ }
240
+ }
241
+
242
+ #onBinaryPayload(payload: ArrayBuffer) {
243
+ const message = parseBinaryPayload(payload);
244
+ if (!message) {
245
+ return;
246
+ }
247
+ if (message.opcode === OP_TOPIC) {
248
+ this.#subscriptions.get(message.id as SubscriptionId)?.(message.message);
249
+ return;
250
+ }
251
+ if (message.opcode === OP_SERVICE_RESPONSE) {
252
+ const key = serviceResponseKey(message.id, message.callId);
253
+ const callback = this.#serviceResponses.get(key);
254
+ if (callback) {
255
+ this.#serviceResponses.delete(key);
256
+ callback(message.message);
257
+ }
258
+ return;
259
+ }
260
+ }
261
+ }