@ray-js/robot-data-stream 0.0.8 → 0.0.10-beta-1

package/lib/api/sweeperP2p.d.ts

@@ -15,12 +15,18 @@ declare const FILE_NAME_MAP: {
     readonly 'map.bin': {
         readonly type: 0;
     };
+    readonly 'map_structured.bin': {
+        readonly type: 6;
+    };
     readonly 'cleanPath.bin': {
         readonly type: 1;
     };
     readonly 'map.bin.stream': {
         readonly type: 0;
     };
+    readonly 'map_structured.bin.stream': {
+        readonly type: 6;
+    };
     readonly 'cleanPath.bin.stream': {
         readonly type: 1;
     };
@@ -46,6 +52,7 @@ export declare class SweeperP2p extends P2pApi {
     streamFilePath: string;
     dataFilePath: string;
     downloadType: number;
+    useStructuredMode: boolean;
     readingMap: boolean;
     readingClean: boolean;
     readingAI: boolean;
@@ -116,7 +123,7 @@ export declare class SweeperP2p extends P2pApi {
      * @param downloadType
      * 0: 下载断开 1: 持续下载
      */
-    startObserverSweeperDataByP2P: (downloadType: number, devId: string, onReceiveMapData: (data: string) => void, onReceivePathData: (data: string) => void, onReceiveAIPicData?: ((data: string) => void) | undefined, onReceiveAIPicHDData?: ((data: string) => void) | undefined) => Promise<void>;
+    startObserverSweeperDataByP2P: (downloadType: number, useStructuredMode: boolean, devId: string, onReceiveMapData: (data: string) => void, onReceivePathData: (data: string) => void, onReceiveAIPicData?: ((data: string) => void) | undefined, onReceiveAIPicHDData?: ((data: string) => void) | undefined) => Promise<void>;
     /**
      * 在下载过程中继续添加下载文件
      * @param files

package/lib/api/sweeperP2p.js

@@ -14,12 +14,18 @@ const FILE_NAME_MAP = {
   'map.bin': {
     type: 0
   },
+  'map_structured.bin': {
+    type: 6
+  },
   'cleanPath.bin': {
     type: 1
   },
   'map.bin.stream': {
     type: 0
   },
+  'map_structured.bin.stream': {
+    type: 6
+  },
   'cleanPath.bin.stream': {
     type: 1
   },
@@ -44,6 +50,7 @@ export class SweeperP2p extends P2pApi {
     super();
     this.file = undefined;
     this.downloadType = 1;
+    this.useStructuredMode = false;
     this.fileIndex = -1; // -1 表示所有文件下载完成
     this.albumName = 'ipc_sweeper_robot';
     this.cacheDir = ty.env.USER_DATA_PATH;
@@ -51,9 +58,9 @@ export class SweeperP2p extends P2pApi {
     this.readingClean = false;
     this.cacheData = {};
     this.exitFiles = [];
-    this.packetTotalMap = new Map([['map.bin', -1], ['cleanPath.bin', -1], ['ai.bin', -1], ['aiHD_XXXX_YYYY.bin', -1], ['map.bin.stream', -1], ['cleanPath.bin.stream', -1], ['ai.bin.stream', -1], ['aiHD_XXXX_YYYY.bin.stream', -1]]);
-    this.packetSerialNumberCacheMap = new Map([['map.bin', -1], ['cleanPath.bin', -1], ['ai.bin', -1], ['aiHD_XXXX_YYYY.bin', -1], ['map.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()], ['cleanPath.bin', new Map()], ['ai.bin', new Map()], ['aiHD_XXXX_YYYY.bin', new Map()], ['map.bin.stream', new Map()], ['cleanPath.bin.stream', new Map()], ['ai.bin.stream', new Map()], ['aiHD_XXXX_YYYY.bin.stream', new Map()]]);
+    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.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 = () => {
     // this.streamFilePath = this.cacheDir + `/${this.albumName}/${devId}/stream`;
@@ -153,7 +160,10 @@ export class SweeperP2p extends P2pApi {
    * @param filename
    */
   getFileType = filename => {
-    if (filename.indexOf('map') !== -1) {
+    if (filename.indexOf('map_structured') !== -1) {
+      return 6;
+    }
+    if (filename.indexOf('map.') !== -1) {
       return 0;
     }
     if (filename.indexOf('cleanPath') !== -1) {
@@ -183,7 +193,7 @@ export class SweeperP2p extends P2pApi {
         if (!this.isConnecting) {
           this.reconnectP2p(() => {
             // 重连之后重新开启文件下载, 这里的成功不需要注册断开事件
-            this.startObserverSweeperDataByP2P(this.downloadType, this.devId, this.onReceiveMapData, this.onReceivePathData, this.onReceiveAIPicData, this.onReceiveAIPicHDData);
+            this.startObserverSweeperDataByP2P(this.downloadType, this.useStructuredMode, this.devId, this.onReceiveMapData, this.onReceivePathData, this.onReceiveAIPicData, this.onReceiveAIPicHDData);
           });
         } else {
           log4js.warn('receive disconnect notice, but connectDevice is connecting');
@@ -197,7 +207,7 @@ export class SweeperP2p extends P2pApi {
    * @param downloadType
    * 0: 下载断开 1: 持续下载
    */
-  startObserverSweeperDataByP2P = async (downloadType, devId, onReceiveMapData, onReceivePathData, onReceiveAIPicData, onReceiveAIPicHDData) => {
+  startObserverSweeperDataByP2P = async (downloadType, useStructuredMode, devId, onReceiveMapData, onReceivePathData, onReceiveAIPicData, onReceiveAIPicHDData) => {
     var _this$file$items;
     if (![0, 1].some(item => item === downloadType)) {
       log4js.warn('download type must be 0 or 1');
@@ -212,6 +222,7 @@ export class SweeperP2p extends P2pApi {
       // do nothing
     });
     log4js.info('startObserverSweeperDataByP2P ==>');
+    this.useStructuredMode = useStructuredMode;
     this.downloadType = downloadType;
     this.setDataFilePath(devId);
     this.setStreamFilePath(devId);
@@ -394,7 +405,7 @@ export class SweeperP2p extends P2pApi {
           type
         } = FILE_NAME_MAP[fileName];
         if (this.cacheData[type] !== hexValue) {
-          if (type === 0) {
+          if (type === 0 || type === 6) {
             this.onReceiveMapData(hexValue);
           }
           if (type === 1) {
@@ -450,7 +461,7 @@ export class SweeperP2p extends P2pApi {
               log4js.warn('receive empty data');
               return;
             }
-            if (type === 0) {
+            if (type === 0 || type === 6) {
               this.onReceiveMapData(hexValue);
             }
             if (type === 1) {
@@ -476,7 +487,12 @@ export class SweeperP2p extends P2pApi {
     }
   };
   setReading = fileName => {
-    if (fileName.indexOf('map') !== -1) {
+    if (fileName.indexOf('map_structured') !== -1) {
+      if (this.readingMap === true) return false;
+      this.readingMap = true;
+      return true;
+    }
+    if (fileName.indexOf('map.') !== -1) {
       if (this.readingMap === true) return false;
       this.readingMap = true;
       return true;
@@ -499,7 +515,9 @@ export class SweeperP2p extends P2pApi {
     return true;
   };
   resetReading = fileName => {
-    if (fileName.indexOf('map') !== -1) {
+    if (fileName.indexOf('map_structured') !== -1) {
+      this.readingMap = false;
+    } else if (fileName.indexOf('map.') !== -1) {
       this.readingMap = false;
     } else if (fileName.indexOf('cleanPath') !== -1) {
       this.readingClean = false;
@@ -529,6 +547,10 @@ export class SweeperP2p extends P2pApi {
         }
       }
     });
+    // 如果是使用结构化的数据，则直接把map. 相关的文件过滤掉
+    if (this.useStructuredMode) {
+      return exitFiles.filter(item => item.indexOf('map.') === -1);
+    }
     return exitFiles;
   };
 

package/lib/index.d.ts

@@ -1,5 +1,6 @@
 declare const useP2PDataStream: (devId: string, onReceiveMapData: (data: string) => void, onReceivePathData: (data: string) => void, opt?: {
     logTag?: string | undefined;
+    useStructuredMode?: boolean | undefined;
     onReceiveAIPicData?: ((data: string) => void) | undefined;
     onReceiveAIPicHDData?: ((data: string) => void) | undefined;
 } | undefined) => {

package/lib/index.js

@@ -8,6 +8,7 @@ import { getSystemInfoSync } from '@ray-js/ray';
 const useP2PDataStream = (devId, onReceiveMapData, onReceivePathData, opt) => {
   const {
     logTag,
+    useStructuredMode = false,
     onReceiveAIPicData,
     onReceiveAIPicHDData
   } = opt || {};
@@ -20,10 +21,6 @@ const useP2PDataStream = (devId, onReceiveMapData, onReceivePathData, opt) => {
     if (logTag) {
       log4js.setTag(logTag);
     }
-    if (devId.startsWith('vdevo')) {
-      log4js.warn('virtual device cannot use p2p');
-      return;
-    }
     if (isIDE) {
       log4js.warn(`You are using the IDE environment. To perform P2P and map debugging, please ensure the 'Robot Vacuum Debugger' plugin is installed.`);
       SweeperP2pInstance.onReceiveMapData = onReceiveMapData;
@@ -33,6 +30,10 @@ const useP2PDataStream = (devId, onReceiveMapData, onReceivePathData, opt) => {
         SweeperP2pInstance.removeP2pDownloadEvent();
       };
     }
+    if (devId.startsWith('vdevo')) {
+      log4js.warn('virtual device cannot use p2p');
+      return;
+    }
     SweeperP2pInstance.initP2pSdk(devId).then(() => {
       connectP2p();
     });
@@ -53,12 +54,12 @@ const useP2PDataStream = (devId, onReceiveMapData, onReceivePathData, opt) => {
     SweeperP2pInstance.isConnecting = true;
     SweeperP2pInstance.connectDevice(() => {
       isInit.current = true;
-      SweeperP2pInstance.startObserverSweeperDataByP2P(1, devId, onReceiveMapData, onReceivePathData, onReceiveAIPicData, onReceiveAIPicHDData);
+      SweeperP2pInstance.startObserverSweeperDataByP2P(1, useStructuredMode, devId, onReceiveMapData, onReceivePathData, onReceiveAIPicData, onReceiveAIPicHDData);
       offSessionStatusChange.current = SweeperP2pInstance.onSessionStatusChange(SweeperP2pInstance.sessionStatusCallback);
     }, () => {
       SweeperP2pInstance.reconnectP2p(() => {
         isInit.current = true;
-        SweeperP2pInstance.startObserverSweeperDataByP2P(1, devId, onReceiveMapData, onReceivePathData, onReceiveAIPicData, onReceiveAIPicHDData);
+        SweeperP2pInstance.startObserverSweeperDataByP2P(1, useStructuredMode, devId, onReceiveMapData, onReceivePathData, onReceiveAIPicData, onReceiveAIPicHDData);
         // 这里失败重连需要注册断开重连的事件
         offSessionStatusChange.current = SweeperP2pInstance.onSessionStatusChange(SweeperP2pInstance.sessionStatusCallback);
       });

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@ray-js/robot-data-stream",
-  "version": "0.0.8",
+  "version": "0.0.10-beta-1",
   "description": "扫地机P2P数据流标准化组件",
   "main": "lib/index",
   "files": [