@robotical/raftjs 2.1.2 → 2.1.4

package/dist/web/RaftConnector.js

@@ -68,6 +68,9 @@ class RaftConnector {
         this._onEventFn = null;
         // Update manager
         this._raftUpdateManager = null;
+        // Open-ended RT stream callbacks keyed by streamID
+        this._rtStreamCallbacks = new Map();
+        this._fallbackRtStreamCallback = null;
         // Get system type callback
         this._getSystemTypeCB = getSystemTypeCB;
         // Debug
@@ -156,6 +159,20 @@ class RaftConnector {
     getCommsStats() {
         return this._commsStats;
     }
+    /**
+     * getOperationQueueDepth
+     * @returns number of high-level device operations queued or running
+     */
+    getOperationQueueDepth() {
+        return 0;
+    }
+    /**
+     * isOperationBusy
+     * @returns true when a high-level device operation is queued or running
+     */
+    isOperationBusy() {
+        return false;
+    }
     /**
      * Get Raft message handler (to allow message sending and receiving)
      * @returns RaftMsgHandler - Raft message handler
@@ -354,6 +371,9 @@ class RaftConnector {
      *
      */
     async sendRICRESTMsg(commandName, params, bridgeID = undefined) {
+        return this._sendRICRESTMsg(commandName, params, bridgeID);
+    }
+    async _sendRICRESTMsg(commandName, params, bridgeID = undefined) {
         try {
             // Format the paramList as query string
             const paramEntries = Object.entries(params);
@@ -361,12 +381,13 @@ class RaftConnector {
             for (const param of paramEntries) {
                 if (paramQueryStr.length > 0)
                     paramQueryStr += '&';
-                paramQueryStr += param[0] + '=' + param[1];
+                paramQueryStr += `${encodeURIComponent(param[0])}=${encodeURIComponent(String(param[1]))}`;
             }
             // Format the url to send
             if (paramQueryStr.length > 0)
                 commandName += '?' + paramQueryStr;
-            return await this._raftMsgHandler.sendRICRESTURL(commandName, bridgeID);
+            const response = await this._raftMsgHandler.sendRICRESTURL(commandName, bridgeID);
+            return response !== null && response !== void 0 ? response : { rslt: 'fail' };
         }
         catch (error) {
             RaftLog_1.default.warn(`sendRICRESTMsg failed ${error}`);
@@ -404,6 +425,13 @@ class RaftConnector {
      */
     onRxFileBlock(filePos, fileBlockData) {
         // RaftLog.info(`onRxFileBlock filePos ${filePos} fileBlockData ${RaftUtils.bufferToHex(fileBlockData)}`);
+        const streamID = (filePos >>> 24) & 0xff;
+        const streamFilePos = filePos & 0x00ffffff;
+        const streamCallback = this._rtStreamCallbacks.get(streamID);
+        if (streamID !== 0 && streamCallback) {
+            streamCallback(fileBlockData, streamFilePos, streamID);
+            return;
+        }
         this._raftFileHandler.onFileBlock(filePos, fileBlockData);
     }
     // Mark: Handling of other message types -----------------------------------------------------------------------------------------
@@ -446,6 +474,78 @@ class RaftConnector {
         }
         return false;
     }
+    /**
+     * openRtStream - open an indefinite bidirectional RT stream.
+     * The returned handle can send byte blocks and closes with ufEnd.
+     */
+    async openRtStream(options) {
+        var _a;
+        const cmdMsg = JSON.stringify({
+            cmdName: "ufStart",
+            reqStr: "ufStart",
+            fileType: "rtstream",
+            fileName: options.fileName,
+            endpoint: options.endpoint,
+            fileLen: 0,
+        });
+        const startResp = await this._raftMsgHandler.sendRICRESTCmdFrame(cmdMsg);
+        if (!startResp || startResp.rslt !== "ok" || startResp.streamID === undefined) {
+            throw new Error(`openRtStream failed ${(_a = startResp === null || startResp === void 0 ? void 0 : startResp.rslt) !== null && _a !== void 0 ? _a : "no response"}`);
+        }
+        const streamID = startResp.streamID;
+        const maxBlockSize = startResp.maxBlockSize || this._raftStreamHandler.maxBlockSize;
+        let txFilePos = 0;
+        let sendQueue = Promise.resolve();
+        this._rtStreamCallbacks.set(streamID, options.onData);
+        this._fallbackRtStreamCallback = { streamID, callback: options.onData };
+        const sendBytes = async (bytes) => {
+            let sentOk = false;
+            sendQueue = sendQueue
+                .catch(() => {
+                // Keep later terminal input flowing even if an earlier block failed.
+            })
+                .then(async () => {
+                sentOk = await this._raftMsgHandler.sendStreamBlock(bytes, txFilePos, streamID);
+                if (sentOk) {
+                    txFilePos = (txFilePos + bytes.length) & 0x00ffffff;
+                }
+            });
+            await sendQueue;
+            return sentOk;
+        };
+        const close = async () => {
+            var _a;
+            this._rtStreamCallbacks.delete(streamID);
+            if (((_a = this._fallbackRtStreamCallback) === null || _a === void 0 ? void 0 : _a.streamID) === streamID) {
+                this._fallbackRtStreamCallback = null;
+            }
+            const endMsg = JSON.stringify({
+                cmdName: "ufEnd",
+                reqStr: "ufEnd",
+                streamID,
+            });
+            try {
+                const endResp = await this._raftMsgHandler.sendRICRESTCmdFrame(endMsg);
+                return (endResp === null || endResp === void 0 ? void 0 : endResp.rslt) === "ok";
+            }
+            catch (error) {
+                RaftLog_1.default.warn(`closeRtStream failed ${streamID}: ${error}`);
+                return false;
+            }
+        };
+        // Some endpoints use an initial empty block as an attach signal.
+        // Keep this opt-in because older endpoints reject zero-length ufBlock frames.
+        if (options.sendInitialEmptyBlock) {
+            await sendBytes(new Uint8Array());
+        }
+        return {
+            streamID,
+            maxBlockSize,
+            sendBytes,
+            sendText: (text) => sendBytes(new TextEncoder().encode(text)),
+            close,
+        };
+    }
     /**
      * streamAudio - stream audio
      * @param streamContents audio data

package/dist/web/RaftConnector.js.map

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package/dist/web/RaftDeviceInfo.d.ts

@@ -75,6 +75,7 @@ export interface DeviceTypeInfo {
     desc: string;
     manu: string;
     type: string;
+    role?: string;
     resp?: DeviceTypePollRespMetadata;
     clas?: Array<string>;
     actions?: DeviceTypeAction[];
@@ -85,5 +86,8 @@ export interface DeviceTypeInfoRecs {
 export type RaftDevTypeInfoResponse = {
     req: string;
     rslt: string;
-    devinfo: DeviceTypeInfo;
+    devinfo?: DeviceTypeInfo;
+    dtIdx?: number;
+    name?: string;
+    role?: string;
 };

package/dist/web/RaftDeviceManager.js

@@ -153,7 +153,7 @@ class DeviceManager {
     ////////////////////////////////////////////////////////////////////////////
     async handleClientMsgBinary(rxMsg) {
         // console.log(`DeviceManager client1 msg ${RaftUtils.bufferToHex(rxMsg)}`);
-        var _a;
+        var _a, _b, _c;
         // DevBIN message format
         //
         // The rxMsg passed to this function has a 2-byte message type prefix (e.g. 0x0080)
@@ -321,8 +321,12 @@ class DeviceManager {
             }
             // Check if a device state already exists
             if (!(deviceKey in this._devicesState) || (this._devicesState[deviceKey].deviceTypeInfo === undefined)) {
-                // Get the device type info
-                const deviceTypeInfo = resolvedDeviceTypeInfo !== null && resolvedDeviceTypeInfo !== void 0 ? resolvedDeviceTypeInfo : await this.getDeviceTypeInfo(busNum.toString(), devTypeIdx.toString());
+                // Merge rationale: upstream's deviceid lookup carries
+                // per-instance name/role fields, while Robotical's simulator
+                // and older firmware still expose bus/type lookup. Try the
+                // richer endpoint first and fall back to the type record that
+                // was already loaded for payload-format detection.
+                const deviceTypeInfo = (_c = (_b = await this.getDeviceTypeInfo(deviceKey)) !== null && _b !== void 0 ? _b : resolvedDeviceTypeInfo) !== null && _c !== void 0 ? _c : await this.getDeviceTypeInfo(busNum.toString(), devTypeIdx.toString());
                 // Debug
                 // console.log(`DevMan.handleClientMsgBinary debugIdx ${debugMsgIndex} pollDataPos ${pollDataPos} busNum ${busNum} devAddr 0x${devAddr.toString(16)} devTypeIdx ${devTypeIdx} deviceTypeInfo ${JSON.stringify(deviceTypeInfo)}`);
                 // Handle case where device type info is not available
@@ -391,7 +395,16 @@ class DeviceManager {
                         }
                         const sampleStartPos = pollDataPos;
                         const sampleEndPos = pollDataPos + sampleLen;
-                        const newMsgBufIdx = this._attributeHandler.processMsgAttrGroup(rxMsg, sampleStartPos, deviceState.deviceTimeline, pollRespMetadata, deviceState.deviceAttributes, this._maxDatapointsToStore, sampleEndPos);
+                        // Merge rationale: keep Robotical's explicit sample
+                        // boundary and add upstream diagnostics so malformed
+                        // samples can be skipped with useful context.
+                        const newMsgBufIdx = this._attributeHandler.processMsgAttrGroup(rxMsg, sampleStartPos, deviceState.deviceTimeline, pollRespMetadata, deviceState.deviceAttributes, this._maxDatapointsToStore, sampleEndPos, {
+                            deviceKey,
+                            deviceType: deviceState.deviceType,
+                            debugMsgIndex,
+                            sampleStartIdx: sampleStartPos,
+                            sampleEndIdx: sampleEndPos,
+                        });
                         if (newMsgBufIdx < 0) {
                             this.warnMalformedSample(`${deviceKey}:${devTypeIdx}:lengthPrefixed`, `DevMan.handleClientMsgBinary debugIdx ${debugMsgIndex} skipped malformed sample ` +
                                 `device=${deviceKey} devTypeIdx=${devTypeIdx} sampleLen=${sampleLen} respBytes=${pollRespMetadata.b}`);
@@ -413,7 +426,16 @@ class DeviceManager {
                         while (pollDataPos + legacySampleLen <= samplesEndPos) {
                             const sampleStartPos = pollDataPos;
                             const sampleEndPos = pollDataPos + legacySampleLen;
-                            const newMsgBufIdx = this._attributeHandler.processMsgAttrGroup(rxMsg, sampleStartPos, deviceState.deviceTimeline, pollRespMetadata, deviceState.deviceAttributes, this._maxDatapointsToStore, sampleEndPos);
+                            // Legacy raw records are not length-prefixed, but
+                            // the fixed sample span gives the same bound and
+                            // diagnostic context to the attribute handler.
+                            const newMsgBufIdx = this._attributeHandler.processMsgAttrGroup(rxMsg, sampleStartPos, deviceState.deviceTimeline, pollRespMetadata, deviceState.deviceAttributes, this._maxDatapointsToStore, sampleEndPos, {
+                                deviceKey,
+                                deviceType: deviceState.deviceType,
+                                debugMsgIndex,
+                                sampleStartIdx: sampleStartPos,
+                                sampleEndIdx: sampleEndPos,
+                            });
                             if (newMsgBufIdx < 0) {
                                 this.warnMalformedSample(`${deviceKey}:${devTypeIdx}:legacyRaw`, `DevMan.handleClientMsgBinary debugIdx ${debugMsgIndex} skipped malformed legacy sample ` +
                                     `device=${deviceKey} devTypeIdx=${devTypeIdx} sampleLen=${legacySampleLen} respBytes=${pollRespMetadata.b}`);
@@ -474,7 +496,7 @@ class DeviceManager {
             }
             // Iterate over the devices
             Object.entries(devices).forEach(async ([devAddr, attrGroups]) => {
-                var _a;
+                var _a, _b;
                 // Check for non-device info (starts with _)
                 if (devAddr.startsWith("_")) {
                     return;
@@ -499,8 +521,10 @@ class DeviceManager {
                 this._deviceLastUpdateTime[deviceKey] = Date.now();
                 // Check if a device state already exists
                 if (!(deviceKey in this._devicesState) || (this._devicesState[deviceKey].deviceTypeInfo === undefined)) {
-                    // Get the device type info
-                    const deviceTypeInfo = await this.getDeviceTypeInfo(busName, deviceTypeName);
+                    // Prefer upstream's per-instance deviceid endpoint, but
+                    // keep Robotical's bus/type fallback for simulated and
+                    // older JSON publishers.
+                    const deviceTypeInfo = (_b = await this.getDeviceTypeInfo(deviceKey)) !== null && _b !== void 0 ? _b : await this.getDeviceTypeInfo(busName, deviceTypeName);
                     // Check if device record exists
                     if (deviceKey in this._devicesState) {
                         if (deviceTypeInfo !== undefined) {
@@ -636,66 +660,78 @@ class DeviceManager {
         delete this._deviceLastUpdateTime[deviceKey];
         delete this._deviceStats[deviceKey];
     }
-    ////////////////////////////////////////////////////////////////////////////
-    // Get device type info
-    ////////////////////////////////////////////////////////////////////////////
-    async getDeviceTypeInfo(busName, deviceType) {
+    async getDeviceTypeInfo(deviceKeyOrBusName, deviceType) {
+        const cacheKey = deviceType === undefined ? deviceKeyOrBusName : deviceType;
+        const requestLabel = deviceType === undefined ? `deviceKey ${deviceKeyOrBusName}` : `deviceType ${deviceType}`;
         // Check if already in cache
-        if (deviceType in this._cachedDeviceTypeRecs) {
-            return this._cachedDeviceTypeRecs[deviceType];
+        if (cacheKey in this._cachedDeviceTypeRecs) {
+            return this._cachedDeviceTypeRecs[cacheKey];
         }
-        // Check if there's already a pending request for this device type
-        if (deviceType in this._pendingDeviceTypeRequests) {
-            // console.log(`DevMan.getDeviceTypeInfo joining existing request queue for deviceType ${deviceType}`);
+        // Check if there's already a pending request for this device/type
+        if (cacheKey in this._pendingDeviceTypeRequests) {
             // Add this request to the waiting queue
             return new Promise((resolve, reject) => {
-                this._pendingDeviceTypeRequests[deviceType].waitingQueue.push({ resolve, reject });
+                this._pendingDeviceTypeRequests[cacheKey].waitingQueue.push({ resolve, reject });
             });
         }
         // Check rate limiting for new requests
-        if (deviceType in this._cachedDeviceTypePreviousAttemptTimes) {
-            const timeSinceLastAttempt = Date.now() - this._cachedDeviceTypePreviousAttemptTimes[deviceType];
+        if (cacheKey in this._cachedDeviceTypePreviousAttemptTimes) {
+            const timeSinceLastAttempt = Date.now() - this._cachedDeviceTypePreviousAttemptTimes[cacheKey];
             if (timeSinceLastAttempt < this._minTimeBetweenDeviceTypeInfoRetrievalMs) {
-                console.log(`DevMan.getDeviceTypeInfo rate limited for deviceType ${deviceType}`);
+                console.log(`DevMan.getDeviceTypeInfo rate limited for ${requestLabel}`);
                 return undefined;
             }
         }
         // Create and cache the promise with an empty waiting queue
-        const requestPromise = this.executeDeviceTypeInfoRequest(busName, deviceType);
-        this._pendingDeviceTypeRequests[deviceType] = {
+        const requestPromise = this.executeDeviceTypeInfoRequest(deviceKeyOrBusName, deviceType);
+        this._pendingDeviceTypeRequests[cacheKey] = {
             promise: requestPromise,
             waitingQueue: []
         };
         try {
             const result = await requestPromise;
             // Resolve all waiting requests with the same result
-            const waitingQueue = this._pendingDeviceTypeRequests[deviceType].waitingQueue;
+            const waitingQueue = this._pendingDeviceTypeRequests[cacheKey].waitingQueue;
             waitingQueue.forEach(({ resolve }) => resolve(result));
             return result;
         }
         catch (error) {
             // Reject all waiting requests with the same error
-            const waitingQueue = this._pendingDeviceTypeRequests[deviceType].waitingQueue;
+            const waitingQueue = this._pendingDeviceTypeRequests[cacheKey].waitingQueue;
             waitingQueue.forEach(({ reject }) => reject(error));
-            console.warn(`DevMan.getDeviceTypeInfo failed for ${deviceType}: ${error}`);
+            console.warn(`DevMan.getDeviceTypeInfo failed for ${requestLabel}: ${error}`);
             return undefined;
         }
         finally {
             // Clean up the pending request
-            delete this._pendingDeviceTypeRequests[deviceType];
+            delete this._pendingDeviceTypeRequests[cacheKey];
         }
     }
-    async executeDeviceTypeInfoRequest(busName, deviceType) {
+    async executeDeviceTypeInfoRequest(deviceKeyOrBusName, deviceType) {
         var _a;
-        this._cachedDeviceTypePreviousAttemptTimes[deviceType] = Date.now();
+        const cacheKey = deviceType === undefined ? deviceKeyOrBusName : deviceType;
+        this._cachedDeviceTypePreviousAttemptTimes[cacheKey] = Date.now();
         try {
-            const cmd = "devman/typeinfo?bus=" + busName + "&type=" + deviceType;
+            // Merge rationale: support both upstream's per-device endpoint and
+            // Robotical's older bus/type endpoint. The deviceid response may
+            // include instance-specific name/role; the bus/type response keeps
+            // simulators and older firmware working.
+            const cmd = deviceType === undefined
+                ? "devman/typeinfo?deviceid=" + deviceKeyOrBusName
+                : "devman/typeinfo?bus=" + deviceKeyOrBusName + "&type=" + deviceType;
             const msgHandler = (_a = this._systemUtils) === null || _a === void 0 ? void 0 : _a.getMsgHandler();
             if (msgHandler) {
                 const msgRslt = await msgHandler.sendRICRESTURL(cmd);
                 if (msgRslt && msgRslt.rslt === "ok") {
-                    this._cachedDeviceTypeRecs[deviceType] = msgRslt.devinfo;
-                    return msgRslt.devinfo;
+                    // Merge devinfo (type-level) with top-level per-instance overrides (name, role)
+                    const base = msgRslt.devinfo
+                        ? Object.assign({}, msgRslt.devinfo) : { name: "", desc: "", manu: "", type: "" };
+                    if (msgRslt.name !== undefined)
+                        base.name = msgRslt.name;
+                    if (msgRslt.role !== undefined)
+                        base.role = msgRslt.role;
+                    this._cachedDeviceTypeRecs[cacheKey] = base;
+                    return base;
                 }
             }
             return undefined;
@@ -781,10 +817,14 @@ class DeviceManager {
             return pollRespMetadata.b;
         }
         let attrPayloadLen = 0;
+        let usesAbsolutePositions = false;
         for (const attrDef of pollRespMetadata.a) {
             if (!attrDef.t) {
                 return pollRespMetadata.b;
             }
+            if (attrDef.at !== undefined) {
+                usesAbsolutePositions = true;
+            }
             try {
                 attrPayloadLen += (0, RaftStruct_1.structSizeOf)(attrDef.t);
             }
@@ -792,6 +832,9 @@ class DeviceManager {
                 return pollRespMetadata.b;
             }
         }
+        if (usesAbsolutePositions && pollRespMetadata.b > 0) {
+            return pollRespMetadata.b;
+        }
         // Cog v1.9.5 light metadata reports the direct-sensor payload size doubled,
         // but the legacy raw record contains one fixed payload matching the attribute schema.
         if ((attrPayloadLen > 0) && (pollRespMetadata.b > 0) && (attrPayloadLen <= pollRespMetadata.b)) {