@eyr1n/ros-cdr-client 0.0.2 → 0.0.3

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (7) hide show
  1. package/dist/src/index.d.ts +11 -43
  2. package/dist/src/index.d.ts.map +1 -1
  3. package/dist/src/index.js +24 -65
  4. package/dist/src/index.js.map +1 -1
  5. package/dist/tsconfig.tsbuildinfo +1 -1
  6. package/package.json +1 -1
  7. package/src/index.ts +68 -104
package/dist/src/index.d.ts CHANGED
@@ -5,58 +5,26 @@ type Branded<T, Brand> = T & {
5
5
  export type PublisherId = Branded<number, 'PublisherId'>;
6
6
  export type SubscriptionId = Branded<number, 'SubscriptionId'>;
7
7
  export type ServiceClientId = Branded<number, 'ServiceClientId'>;
8
- export declare const QosBaseProfile: {
9
- readonly SENSOR_DATA: "SENSOR_DATA";
10
- readonly PARAMETERS: "PARAMETERS";
11
- readonly DEFAULT: "DEFAULT";
12
- readonly SERVICES_DEFAULT: "SERVICES_DEFAULT";
13
- readonly PARAMETER_EVENTS: "PARAMETER_EVENTS";
14
- readonly SYSTEM_DEFAULT: "SYSTEM_DEFAULT";
15
- readonly BEST_AVAILABLE: "BEST_AVAILABLE";
16
- };
17
- export type QosBaseProfile = (typeof QosBaseProfile)[keyof typeof QosBaseProfile];
18
- export declare const QosHistoryPolicy: {
19
- readonly SYSTEM_DEFAULT: "SYSTEM_DEFAULT";
20
- readonly KEEP_LAST: "KEEP_LAST";
21
- readonly KEEP_ALL: "KEEP_ALL";
22
- };
23
- export type QosHistoryPolicy = (typeof QosHistoryPolicy)[keyof typeof QosHistoryPolicy];
24
- export declare const QosReliabilityPolicy: {
25
- readonly SYSTEM_DEFAULT: "SYSTEM_DEFAULT";
26
- readonly RELIABLE: "RELIABLE";
27
- readonly BEST_EFFORT: "BEST_EFFORT";
28
- readonly BEST_AVAILABLE: "BEST_AVAILABLE";
29
- };
30
- export type QosReliabilityPolicy = (typeof QosReliabilityPolicy)[keyof typeof QosReliabilityPolicy];
31
- export declare const QosDurabilityPolicy: {
32
- readonly SYSTEM_DEFAULT: "SYSTEM_DEFAULT";
33
- readonly TRANSIENT_LOCAL: "TRANSIENT_LOCAL";
34
- readonly VOLATILE: "VOLATILE";
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- readonly BEST_AVAILABLE: "BEST_AVAILABLE";
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- };
37
- export type QosDurabilityPolicy = (typeof QosDurabilityPolicy)[keyof typeof QosDurabilityPolicy];
38
- export declare const QosLivelinessPolicy: {
39
- readonly SYSTEM_DEFAULT: "SYSTEM_DEFAULT";
40
- readonly AUTOMATIC: "AUTOMATIC";
41
- readonly MANUAL_BY_TOPIC: "MANUAL_BY_TOPIC";
42
- readonly BEST_AVAILABLE: "BEST_AVAILABLE";
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- };
44
- export type QosLivelinessPolicy = (typeof QosLivelinessPolicy)[keyof typeof QosLivelinessPolicy];
45
- export interface RmwTime {
8
+ export type QosBaseProfile = 'sensor_data' | 'parameters' | 'default' | 'services_default' | 'parameter_events' | 'system_default' | 'best_available';
9
+ export type QosHistoryPolicy = 'system_default' | 'keep_last' | 'keep_all';
10
+ export type QosReliabilityPolicy = 'system_default' | 'reliable' | 'best_effort' | 'best_available';
11
+ export type QosDurabilityPolicy = 'system_default' | 'transient_local' | 'volatile' | 'best_available';
12
+ export type QosLivelinessPolicy = 'system_default' | 'automatic' | 'manual_by_topic' | 'best_available';
13
+ export type QosDuration = {
46
14
  sec: number;
47
15
  nsec: number;
48
- }
16
+ } | 'infinite';
49
17
  export interface QosProfile {
50
18
  profile?: QosBaseProfile;
51
19
  history?: QosHistoryPolicy;
52
20
  depth?: number;
53
21
  reliability?: QosReliabilityPolicy;
54
22
  durability?: QosDurabilityPolicy;
55
- deadline?: RmwTime;
56
- lifespan?: RmwTime;
23
+ deadline?: QosDuration;
24
+ lifespan?: QosDuration;
57
25
  liveliness?: QosLivelinessPolicy;
58
- livelinessLeaseDuration?: RmwTime;
59
- avoidRosNamespaceConventions?: boolean;
26
+ liveliness_lease_duration?: QosDuration;
27
+ avoid_ros_namespace_conventions?: boolean;
60
28
  }
61
29
  export declare class RosCdrClient {
62
30
  #private;
package/dist/src/index.d.ts.map CHANGED
@@ -1 +1 @@
1
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1
+ {"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;AAWhD,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;AAEjE,MAAM,MAAM,cAAc,GACtB,aAAa,GACb,YAAY,GACZ,SAAS,GACT,kBAAkB,GAClB,kBAAkB,GAClB,gBAAgB,GAChB,gBAAgB,CAAC;AAErB,MAAM,MAAM,gBAAgB,GAAG,gBAAgB,GAAG,WAAW,GAAG,UAAU,CAAC;AAE3E,MAAM,MAAM,oBAAoB,GAC5B,gBAAgB,GAChB,UAAU,GACV,aAAa,GACb,gBAAgB,CAAC;AAErB,MAAM,MAAM,mBAAmB,GAC3B,gBAAgB,GAChB,iBAAiB,GACjB,UAAU,GACV,gBAAgB,CAAC;AAErB,MAAM,MAAM,mBAAmB,GAC3B,gBAAgB,GAChB,WAAW,GACX,iBAAiB,GACjB,gBAAgB,CAAC;AAIrB,MAAM,MAAM,WAAW,GAAG;IACxB,GAAG,EAAE,MAAM,CAAC;IACZ,IAAI,EAAE,MAAM,CAAC;CACd,GAAG,UAAU,CAAC;AAEf,MAAM,WAAW,UAAU;IACzB,OAAO,CAAC,EAAE,cAAc,CAAC;IACzB,OAAO,CAAC,EAAE,gBAAgB,CAAC;IAC3B,KAAK,CAAC,EAAE,MAAM,CAAC;IACf,WAAW,CAAC,EAAE,oBAAoB,CAAC;IACnC,UAAU,CAAC,EAAE,mBAAmB,CAAC;IACjC,QAAQ,CAAC,EAAE,WAAW,CAAC;IACvB,QAAQ,CAAC,EAAE,WAAW,CAAC;IACvB,UAAU,CAAC,EAAE,mBAAmB,CAAC;IACjC,yBAAyB,CAAC,EAAE,WAAW,CAAC;IACxC,+BAA+B,CAAC,EAAE,OAAO,CAAC;CAC3C;AA+ED,qBAAa,YAAY;;gBAWX,EAAE,EAAE,SAAS;IAMnB,eAAe,CACnB,IAAI,EAAE,MAAM,EACZ,IAAI,EAAE,MAAM,EACZ,GAAG,EAAE,UAAU,GACd,OAAO,CAAC,WAAW,CAAC;IAWjB,kBAAkB,CACtB,IAAI,EAAE,MAAM,EACZ,IAAI,EAAE,MAAM,EACZ,GAAG,EAAE,UAAU,EACf,QAAQ,EAAE,CAAC,OAAO,EAAE,QAAQ,KAAK,IAAI,GACpC,OAAO,CAAC,cAAc,CAAC;IAepB,mBAAmB,CACvB,IAAI,EAAE,MAAM,EACZ,IAAI,EAAE,MAAM,EACZ,GAAG,EAAE,UAAU,GACd,OAAO,CAAC,eAAe,CAAC;IAW3B,OAAO,CAAC,EAAE,EAAE,WAAW,EAAE,OAAO,EAAE,UAAU;IAS5C,WAAW,CAAC,EAAE,EAAE,eAAe,EAAE,OAAO,EAAE,UAAU,GAAG,OAAO,CAAC,QAAQ,CAAC;IAexE,OAAO,CAAC,EAAE,EAAE,WAAW,GAAG,cAAc,GAAG,eAAe;CA8D3D"}
package/dist/src/index.js CHANGED
@@ -1,43 +1,7 @@
1
1
  const brand = Symbol();
2
- const OP_CREATE_SUBSCRIPTION = 'create_subscription';
3
- const OP_CREATE_PUBLISHER = 'create_publisher';
4
- const OP_CREATE_SERVICE_CLIENT = 'create_service_client';
5
- const OP_DESTROY = 'destroy';
6
- const OP_TOPIC = 1;
7
- const OP_SERVICE_REQUEST = 2;
8
- const OP_SERVICE_RESPONSE = 3;
9
- export const QosBaseProfile = {
10
- SENSOR_DATA: 'SENSOR_DATA',
11
- PARAMETERS: 'PARAMETERS',
12
- DEFAULT: 'DEFAULT',
13
- SERVICES_DEFAULT: 'SERVICES_DEFAULT',
14
- PARAMETER_EVENTS: 'PARAMETER_EVENTS',
15
- SYSTEM_DEFAULT: 'SYSTEM_DEFAULT',
16
- BEST_AVAILABLE: 'BEST_AVAILABLE',
17
- };
18
- export const QosHistoryPolicy = {
19
- SYSTEM_DEFAULT: 'SYSTEM_DEFAULT',
20
- KEEP_LAST: 'KEEP_LAST',
21
- KEEP_ALL: 'KEEP_ALL',
22
- };
23
- export const QosReliabilityPolicy = {
24
- SYSTEM_DEFAULT: 'SYSTEM_DEFAULT',
25
- RELIABLE: 'RELIABLE',
26
- BEST_EFFORT: 'BEST_EFFORT',
27
- BEST_AVAILABLE: 'BEST_AVAILABLE',
28
- };
29
- export const QosDurabilityPolicy = {
30
- SYSTEM_DEFAULT: 'SYSTEM_DEFAULT',
31
- TRANSIENT_LOCAL: 'TRANSIENT_LOCAL',
32
- VOLATILE: 'VOLATILE',
33
- BEST_AVAILABLE: 'BEST_AVAILABLE',
34
- };
35
- export const QosLivelinessPolicy = {
36
- SYSTEM_DEFAULT: 'SYSTEM_DEFAULT',
37
- AUTOMATIC: 'AUTOMATIC',
38
- MANUAL_BY_TOPIC: 'MANUAL_BY_TOPIC',
39
- BEST_AVAILABLE: 'BEST_AVAILABLE',
40
- };
2
+ const OP_TOPIC = 0;
3
+ const OP_SERVICE_REQUEST = 1;
4
+ const OP_SERVICE_RESPONSE = 2;
41
5
  function parseTextPayload(payload) {
42
6
  let response;
43
7
  try {
@@ -52,12 +16,12 @@ function parseTextPayload(payload) {
52
16
  if (!('id' in response) || typeof response.id !== 'number') {
53
17
  return null;
54
18
  }
55
- if (!('callId' in response) || typeof response.callId !== 'number') {
19
+ if (!('call_id' in response) || typeof response.call_id !== 'number') {
56
20
  return null;
57
21
  }
58
22
  return {
59
23
  id: response.id,
60
- callId: response.callId,
24
+ call_id: response.call_id,
61
25
  };
62
26
  }
63
27
  function parseBinaryPayload(buffer) {
@@ -71,16 +35,11 @@ function parseBinaryPayload(buffer) {
71
35
  return { opcode: OP_TOPIC, id, message: new DataView(buffer, 5) };
72
36
  }
73
37
  if (opcode === OP_SERVICE_RESPONSE) {
74
- if (view.byteLength < 9) {
75
- return null;
76
- }
77
- const id = view.getUint32(1, true);
78
- const callId = view.getUint32(5, true);
38
+ const call_id = view.getUint32(1, true);
79
39
  return {
80
40
  opcode: OP_SERVICE_RESPONSE,
81
- id,
82
- callId,
83
- message: new DataView(buffer, 9),
41
+ call_id,
42
+ message: new DataView(buffer, 5),
84
43
  };
85
44
  }
86
45
  return null;
@@ -90,7 +49,7 @@ export class RosCdrClient {
90
49
  #pendingCreates = new Map();
91
50
  #subscriptions = new Map();
92
51
  #serviceResponses = new Map();
93
- #callId = 0;
52
+ #nextCallId = 0;
94
53
  constructor(ws) {
95
54
  this.#ws = ws;
96
55
  this.#ws.binaryType = 'arraybuffer';
@@ -98,8 +57,8 @@ export class RosCdrClient {
98
57
  }
99
58
  async createPublisher(name, type, qos) {
100
59
  const request = {
101
- callId: this.#callId++,
102
- op: OP_CREATE_PUBLISHER,
60
+ call_id: this.#nextCallId++,
61
+ op: 'create_publisher',
103
62
  name,
104
63
  type,
105
64
  qos,
@@ -108,8 +67,8 @@ export class RosCdrClient {
108
67
  }
109
68
  async createSubscription(name, type, qos, callback) {
110
69
  const request = {
111
- callId: this.#callId++,
112
- op: OP_CREATE_SUBSCRIPTION,
70
+ call_id: this.#nextCallId++,
71
+ op: 'create_subscription',
113
72
  name,
114
73
  type,
115
74
  qos,
@@ -120,8 +79,8 @@ export class RosCdrClient {
120
79
  }
121
80
  async createServiceClient(name, type, qos) {
122
81
  const request = {
123
- callId: this.#callId++,
124
- op: OP_CREATE_SERVICE_CLIENT,
82
+ call_id: this.#nextCallId++,
83
+ op: 'create_service_client',
125
84
  name,
126
85
  type,
127
86
  qos,
@@ -137,26 +96,26 @@ export class RosCdrClient {
137
96
  this.#sendBinaryPayload(payload);
138
97
  }
139
98
  callService(id, request) {
140
- const callId = this.#callId++;
99
+ const call_id = this.#nextCallId++;
141
100
  const payload = new Uint8Array(1 + 4 + 4 + request.length);
142
101
  payload[0] = OP_SERVICE_REQUEST;
143
102
  const view = new DataView(payload.buffer);
144
103
  view.setUint32(1, id, true);
145
- view.setUint32(5, callId, true);
104
+ view.setUint32(5, call_id, true);
146
105
  payload.set(request, 9);
147
106
  return new Promise((resolve) => {
148
- this.#serviceResponses.set(callId, resolve);
107
+ this.#serviceResponses.set(call_id, resolve);
149
108
  this.#sendBinaryPayload(payload);
150
109
  });
151
110
  }
152
111
  destroy(id) {
153
- const request = { op: OP_DESTROY, id };
112
+ const request = { op: 'destroy', id };
154
113
  this.#sendTextPayload(request);
155
114
  this.#subscriptions.delete(id);
156
115
  }
157
116
  #sendCreateRequest(request) {
158
117
  return new Promise((resolve) => {
159
- this.#pendingCreates.set(request.callId, resolve);
118
+ this.#pendingCreates.set(request.call_id, resolve);
160
119
  this.#sendTextPayload(request);
161
120
  });
162
121
  }
@@ -181,9 +140,9 @@ export class RosCdrClient {
181
140
  if (!response) {
182
141
  return;
183
142
  }
184
- const callback = this.#pendingCreates.get(response.callId);
143
+ const callback = this.#pendingCreates.get(response.call_id);
185
144
  if (callback) {
186
- this.#pendingCreates.delete(response.callId);
145
+ this.#pendingCreates.delete(response.call_id);
187
146
  callback(response.id);
188
147
  }
189
148
  }
@@ -197,9 +156,9 @@ export class RosCdrClient {
197
156
  return;
198
157
  }
199
158
  if (message.opcode === OP_SERVICE_RESPONSE) {
200
- const callback = this.#serviceResponses.get(message.callId);
159
+ const callback = this.#serviceResponses.get(message.call_id);
201
160
  if (callback) {
202
- this.#serviceResponses.delete(message.callId);
161
+ this.#serviceResponses.delete(message.call_id);
203
162
  callback(message.message);
204
163
  }
205
164
  return;
package/dist/src/index.js.map CHANGED
@@ -1 +1 @@
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package/package.json CHANGED
@@ -1,6 +1,6 @@
1
1
  {
2
2
  "name": "@eyr1n/ros-cdr-client",
3
- "version": "0.0.2",
3
+ "version": "0.0.3",
4
4
  "type": "module",
5
5
  "main": "dist/src/index.js",
6
6
  "types": "dist/src/index.d.ts",
package/src/index.ts CHANGED
@@ -1,75 +1,49 @@
1
1
  const brand = Symbol();
2
2
  type Branded<T, Brand> = T & { [brand]: Brand };
3
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;
4
+ const OP_TOPIC = 0 as const;
5
+ const OP_SERVICE_REQUEST = 1 as const;
6
+ const OP_SERVICE_RESPONSE = 2 as const;
17
7
 
18
8
  export type PublisherId = Branded<number, 'PublisherId'>;
19
9
  export type SubscriptionId = Branded<number, 'SubscriptionId'>;
20
10
  export type ServiceClientId = Branded<number, 'ServiceClientId'>;
21
11
 
22
- export const QosBaseProfile = {
23
- SENSOR_DATA: 'SENSOR_DATA',
24
- PARAMETERS: 'PARAMETERS',
25
- DEFAULT: 'DEFAULT',
26
- SERVICES_DEFAULT: 'SERVICES_DEFAULT',
27
- PARAMETER_EVENTS: 'PARAMETER_EVENTS',
28
- SYSTEM_DEFAULT: 'SYSTEM_DEFAULT',
29
- BEST_AVAILABLE: 'BEST_AVAILABLE',
30
- } as const;
31
12
  export type QosBaseProfile =
32
- (typeof QosBaseProfile)[keyof typeof QosBaseProfile];
33
-
34
- export const QosHistoryPolicy = {
35
- SYSTEM_DEFAULT: 'SYSTEM_DEFAULT',
36
- KEEP_LAST: 'KEEP_LAST',
37
- KEEP_ALL: 'KEEP_ALL',
38
- } as const;
39
- export type QosHistoryPolicy =
40
- (typeof QosHistoryPolicy)[keyof typeof QosHistoryPolicy];
41
-
42
- export const QosReliabilityPolicy = {
43
- SYSTEM_DEFAULT: 'SYSTEM_DEFAULT',
44
- RELIABLE: 'RELIABLE',
45
- BEST_EFFORT: 'BEST_EFFORT',
46
- BEST_AVAILABLE: 'BEST_AVAILABLE',
47
- } as const;
13
+ | 'sensor_data'
14
+ | 'parameters'
15
+ | 'default'
16
+ | 'services_default'
17
+ | 'parameter_events'
18
+ | 'system_default'
19
+ | 'best_available';
20
+
21
+ export type QosHistoryPolicy = 'system_default' | 'keep_last' | 'keep_all';
22
+
48
23
  export type QosReliabilityPolicy =
49
- (typeof QosReliabilityPolicy)[keyof typeof QosReliabilityPolicy];
50
-
51
- export const QosDurabilityPolicy = {
52
- SYSTEM_DEFAULT: 'SYSTEM_DEFAULT',
53
- TRANSIENT_LOCAL: 'TRANSIENT_LOCAL',
54
- VOLATILE: 'VOLATILE',
55
- BEST_AVAILABLE: 'BEST_AVAILABLE',
56
- } as const;
24
+ | 'system_default'
25
+ | 'reliable'
26
+ | 'best_effort'
27
+ | 'best_available';
28
+
57
29
  export type QosDurabilityPolicy =
58
- (typeof QosDurabilityPolicy)[keyof typeof QosDurabilityPolicy];
59
-
60
- export const QosLivelinessPolicy = {
61
- SYSTEM_DEFAULT: 'SYSTEM_DEFAULT',
62
- AUTOMATIC: 'AUTOMATIC',
63
- MANUAL_BY_TOPIC: 'MANUAL_BY_TOPIC',
64
- BEST_AVAILABLE: 'BEST_AVAILABLE',
65
- } as const;
66
- export type QosLivelinessPolicy =
67
- (typeof QosLivelinessPolicy)[keyof typeof QosLivelinessPolicy];
30
+ | 'system_default'
31
+ | 'transient_local'
32
+ | 'volatile'
33
+ | 'best_available';
68
34
 
69
- export interface RmwTime {
70
- sec: number;
71
- nsec: number;
72
- }
35
+ export type QosLivelinessPolicy =
36
+ | 'system_default'
37
+ | 'automatic'
38
+ | 'manual_by_topic'
39
+ | 'best_available';
40
+
41
+ export type QosDuration =
42
+ | {
43
+ sec: number;
44
+ nsec: number;
45
+ }
46
+ | 'infinite';
73
47
 
74
48
  export interface QosProfile {
75
49
  profile?: QosBaseProfile;
@@ -77,16 +51,16 @@ export interface QosProfile {
77
51
  depth?: number;
78
52
  reliability?: QosReliabilityPolicy;
79
53
  durability?: QosDurabilityPolicy;
80
- deadline?: RmwTime;
81
- lifespan?: RmwTime;
54
+ deadline?: QosDuration;
55
+ lifespan?: QosDuration;
82
56
  liveliness?: QosLivelinessPolicy;
83
- livelinessLeaseDuration?: RmwTime;
84
- avoidRosNamespaceConventions?: boolean;
57
+ liveliness_lease_duration?: QosDuration;
58
+ avoid_ros_namespace_conventions?: boolean;
85
59
  }
86
60
 
87
61
  interface CreateRequest {
88
- callId: number;
89
- op: CreateOp;
62
+ call_id: number;
63
+ op: 'create_publisher' | 'create_subscription' | 'create_service_client';
90
64
  name: string;
91
65
  type: string;
92
66
  qos: QosProfile;
@@ -94,11 +68,11 @@ interface CreateRequest {
94
68
 
95
69
  interface CreateResponse {
96
70
  id: number;
97
- callId: number;
71
+ call_id: number;
98
72
  }
99
73
 
100
74
  interface DestroyRequest {
101
- op: typeof OP_DESTROY;
75
+ op: 'destroy';
102
76
  id: PublisherId | SubscriptionId | ServiceClientId;
103
77
  }
104
78
 
@@ -110,8 +84,7 @@ interface SubscriptionMessage {
110
84
 
111
85
  interface ServiceClientResponse {
112
86
  opcode: typeof OP_SERVICE_RESPONSE;
113
- id: number;
114
- callId: number;
87
+ call_id: number;
115
88
  message: DataView;
116
89
  }
117
90
 
@@ -128,12 +101,12 @@ function parseTextPayload(payload: string): CreateResponse | null {
128
101
  if (!('id' in response) || typeof response.id !== 'number') {
129
102
  return null;
130
103
  }
131
- if (!('callId' in response) || typeof response.callId !== 'number') {
104
+ if (!('call_id' in response) || typeof response.call_id !== 'number') {
132
105
  return null;
133
106
  }
134
107
  return {
135
108
  id: response.id,
136
- callId: response.callId,
109
+ call_id: response.call_id,
137
110
  };
138
111
  }
139
112
 
@@ -152,31 +125,22 @@ function parseBinaryPayload(
152
125
  return { opcode: OP_TOPIC, id, message: new DataView(buffer, 5) };
153
126
  }
154
127
  if (opcode === OP_SERVICE_RESPONSE) {
155
- if (view.byteLength < 9) {
156
- return null;
157
- }
158
- const id = view.getUint32(1, true);
159
- const callId = view.getUint32(5, true);
128
+ const call_id = view.getUint32(1, true);
160
129
  return {
161
130
  opcode: OP_SERVICE_RESPONSE,
162
- id,
163
- callId,
164
- message: new DataView(buffer, 9),
131
+ call_id,
132
+ message: new DataView(buffer, 5),
165
133
  };
166
134
  }
167
135
  return null;
168
136
  }
169
137
 
170
138
  export class RosCdrClient {
171
- readonly #ws: WebSocket;
172
-
173
- readonly #pendingCreates = new Map<number, (id: number) => void>();
174
- readonly #subscriptions = new Map<
175
- SubscriptionId,
176
- (message: DataView) => void
177
- >();
178
- readonly #serviceResponses = new Map<number, (response: DataView) => void>();
179
- #callId = 0;
139
+ #ws: WebSocket;
140
+ #pendingCreates = new Map<number, (id: number) => void>();
141
+ #subscriptions = new Map<SubscriptionId, (message: DataView) => void>();
142
+ #serviceResponses = new Map<number, (response: DataView) => void>();
143
+ #nextCallId = 0;
180
144
 
181
145
  constructor(ws: WebSocket) {
182
146
  this.#ws = ws;
@@ -190,8 +154,8 @@ export class RosCdrClient {
190
154
  qos: QosProfile,
191
155
  ): Promise<PublisherId> {
192
156
  const request: CreateRequest = {
193
- callId: this.#callId++,
194
- op: OP_CREATE_PUBLISHER,
157
+ call_id: this.#nextCallId++,
158
+ op: 'create_publisher',
195
159
  name,
196
160
  type,
197
161
  qos,
@@ -206,8 +170,8 @@ export class RosCdrClient {
206
170
  callback: (message: DataView) => void,
207
171
  ): Promise<SubscriptionId> {
208
172
  const request: CreateRequest = {
209
- callId: this.#callId++,
210
- op: OP_CREATE_SUBSCRIPTION,
173
+ call_id: this.#nextCallId++,
174
+ op: 'create_subscription',
211
175
  name,
212
176
  type,
213
177
  qos,
@@ -225,8 +189,8 @@ export class RosCdrClient {
225
189
  qos: QosProfile,
226
190
  ): Promise<ServiceClientId> {
227
191
  const request: CreateRequest = {
228
- callId: this.#callId++,
229
- op: OP_CREATE_SERVICE_CLIENT,
192
+ call_id: this.#nextCallId++,
193
+ op: 'create_service_client',
230
194
  name,
231
195
  type,
232
196
  qos,
@@ -244,29 +208,29 @@ export class RosCdrClient {
244
208
  }
245
209
 
246
210
  callService(id: ServiceClientId, request: Uint8Array): Promise<DataView> {
247
- const callId = this.#callId++;
211
+ const call_id = this.#nextCallId++;
248
212
  const payload = new Uint8Array(1 + 4 + 4 + request.length);
249
213
  payload[0] = OP_SERVICE_REQUEST;
250
214
  const view = new DataView(payload.buffer);
251
215
  view.setUint32(1, id, true);
252
- view.setUint32(5, callId, true);
216
+ view.setUint32(5, call_id, true);
253
217
  payload.set(request, 9);
254
218
 
255
219
  return new Promise((resolve) => {
256
- this.#serviceResponses.set(callId, resolve);
220
+ this.#serviceResponses.set(call_id, resolve);
257
221
  this.#sendBinaryPayload(payload);
258
222
  });
259
223
  }
260
224
 
261
225
  destroy(id: PublisherId | SubscriptionId | ServiceClientId) {
262
- const request: DestroyRequest = { op: OP_DESTROY, id };
226
+ const request: DestroyRequest = { op: 'destroy', id };
263
227
  this.#sendTextPayload(request);
264
228
  this.#subscriptions.delete(id as SubscriptionId);
265
229
  }
266
230
 
267
231
  #sendCreateRequest(request: CreateRequest): Promise<number> {
268
232
  return new Promise((resolve) => {
269
- this.#pendingCreates.set(request.callId, resolve);
233
+ this.#pendingCreates.set(request.call_id, resolve);
270
234
  this.#sendTextPayload(request);
271
235
  });
272
236
  }
@@ -295,9 +259,9 @@ export class RosCdrClient {
295
259
  if (!response) {
296
260
  return;
297
261
  }
298
- const callback = this.#pendingCreates.get(response.callId);
262
+ const callback = this.#pendingCreates.get(response.call_id);
299
263
  if (callback) {
300
- this.#pendingCreates.delete(response.callId);
264
+ this.#pendingCreates.delete(response.call_id);
301
265
  callback(response.id);
302
266
  }
303
267
  }
@@ -312,9 +276,9 @@ export class RosCdrClient {
312
276
  return;
313
277
  }
314
278
  if (message.opcode === OP_SERVICE_RESPONSE) {
315
- const callback = this.#serviceResponses.get(message.callId);
279
+ const callback = this.#serviceResponses.get(message.call_id);
316
280
  if (callback) {
317
- this.#serviceResponses.delete(message.callId);
281
+ this.#serviceResponses.delete(message.call_id);
318
282
  callback(message.message);
319
283
  }
320
284
  return;