@ray-js/robot-data-stream 0.0.13-beta-1 → 0.0.13-beta-3

package/lib/api/sweeperP2p.d.ts

@@ -62,6 +62,7 @@ export declare class SweeperP2p extends P2pApi {
     exitFiles: Array<string>;
     packetDataCacheMap: Map<keyof typeof FILE_NAME_MAP, Map<number, string>>;
     packetSerialNumberCacheMap: Map<keyof typeof FILE_NAME_MAP, number>;
+    fileLengthCacheMap: Map<keyof typeof FILE_NAME_MAP, number>;
     packetTotalMap: Map<keyof typeof FILE_NAME_MAP, number>;
     firstPackageTime: number;
     onReceiveMapData: (data: string) => void;

package/lib/api/sweeperP2p.js

@@ -63,6 +63,7 @@ export class SweeperP2p extends P2pApi {
     this.firstPackageTime = Date.now();
     this.packetTotalMap = new Map([['map.bin', -1], ['map_structured.bin', -1], ['cleanPath.bin', -1], ['ai.bin', -1], ['aiHD_XXXX_YYYY.bin', -1], ['map.bin.stream', -1], ['map_structured.bin.stream', -1], ['cleanPath.bin.stream', -1], ['ai.bin.stream', -1], ['aiHD_XXXX_YYYY.bin.stream', -1]]);
     this.packetSerialNumberCacheMap = new Map([['map.bin', -1], ['map_structured.bin', -1], ['cleanPath.bin', -1], ['ai.bin', -1], ['aiHD_XXXX_YYYY.bin', -1], ['map.bin.stream', -1], ['map_structured.bin.stream', -1], ['cleanPath.bin.stream', -1], ['ai.bin.stream', -1], ['aiHD_XXXX_YYYY.bin.stream', -1]]);
+    this.fileLengthCacheMap = new Map([['map.bin', -1], ['map_structured.bin', -1], ['cleanPath.bin', -1], ['ai.bin', -1], ['aiHD_XXXX_YYYY.bin', -1], ['map.bin.stream', -1], ['map_structured.bin.stream', -1], ['cleanPath.bin.stream', -1], ['ai.bin.stream', -1], ['aiHD_XXXX_YYYY.bin.stream', -1]]);
     this.packetDataCacheMap = new Map([['map.bin', new Map()], ['map_structured.bin', new Map()], ['cleanPath.bin', new Map()], ['ai.bin', new Map()], ['aiHD_XXXX_YYYY.bin', new Map()], ['map.bin.stream', new Map()], ['map_structured.bin.stream', new Map()], ['cleanPath.bin.stream', new Map()], ['ai.bin.stream', new Map()], ['aiHD_XXXX_YYYY.bin.stream', new Map()]]);
   }
   setStreamFilePath = () => {
@@ -386,6 +387,9 @@ export class SweeperP2p extends P2pApi {
       [...this.packetSerialNumberCacheMap.keys()].forEach(key => {
         this.packetSerialNumberCacheMap.set(key, -1);
       });
+      [...this.fileLengthCacheMap.keys()].forEach(key => {
+        this.fileLengthCacheMap.set(key, -1);
+      });
       [...this.packetTotalMap.keys()].forEach(key => {
         this.packetTotalMap.set(key, -1);
       });
@@ -431,6 +435,7 @@ export class SweeperP2p extends P2pApi {
   p2pStreamPacketReceiveCallback = data => {
     const {
       packetData,
+      fileLength,
       fileSerialNumber,
       packetIndex,
       packetType
@@ -465,6 +470,7 @@ export class SweeperP2p extends P2pApi {
     // 说明收到了新的整包数据
     if (fileSerialNumber > cacheSerialNumber) {
       this.packetSerialNumberCacheMap.set(fileName, fileSerialNumber);
+      this.fileLengthCacheMap.set(fileName, fileLength);
       this.packetTotalMap.set(fileName, -1);
       cachePacketMap.clear();
     }
@@ -485,6 +491,13 @@ export class SweeperP2p extends P2pApi {
           let [index, data] = _ref;
           return data;
         }).join('');
+        const cacheFileLength = this.fileLengthCacheMap.get(fileName);
+        if (cacheFileLength > 0 && hexValue.length !== cacheFileLength * 2) {
+          logger('warn', {
+            msg: `p2pStreamPacketReceiveCallback: fileName : ${fileName} length mismatch, expected: ${cacheFileLength * 2}, received: ${hexValue.length}`
+          }, this.onLogger);
+          return;
+        }
         if (this.firstPackageTime > 0 && fileName.indexOf('map') !== -1) {
           const packageTime = Date.now() - this.firstPackageTime;
           logger('info', {
@@ -502,12 +515,14 @@ export class SweeperP2p extends P2pApi {
         if (this.cacheData[type] !== hexValue) {
           if (type === 0 || type === 6) {
             this.onReceiveMapData(hexValue);
+            this.cacheData[type] = hexValue;
           }
           if (type === 1) {
             logger('info', {
               msg: `push new path data`
             }, this.onLogger);
             this.onReceivePathData(hexValue);
+            this.cacheData[type] = hexValue;
           }
           if (type === 4) {
             this.onReceiveAIPicData(hexValue);
@@ -515,7 +530,6 @@ export class SweeperP2p extends P2pApi {
           if (type === 5) {
             this.onReceiveAIPicHDData(hexValue);
           }
-          this.cacheData[type] = hexValue;
         }
       }
     }

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@ray-js/robot-data-stream",
-  "version": "0.0.13-beta-1",
+  "version": "0.0.13-beta-3",
   "description": "扫地机P2P数据流标准化组件",
   "main": "lib/index",
   "files": [