nep-cli 0.1.6 → 0.1.7

package/bin/index.js

@@ -267,7 +267,7 @@ program
 
 program
   .command('ip')
-  .description('Display current Wi-Fi and Ethernet IP addresses')
+  .description('Display current Wi-Fi and Ethernet IP addresses of this computer')
   .action(() => {
     const interfaces = os.networkInterfaces();
 
@@ -324,7 +324,7 @@ program
 
 program
   .command('open [programName]')
-  .description('Open NEP+ GUI')
+  .description('Open a NEP+ GUI')
   .action(async (programName) => {
     const programs = ['cameras', 'hxri'];
 
@@ -366,10 +366,9 @@ program
 
 
 
-
 program
   .command('master')
-  .description('Start NEP master in Local host')
+  .description('Start NEP master in localhost')
   .action(async () => {
     try {
       var node = new nep.Node("nep-cli");
@@ -386,22 +385,40 @@ program
   });
 
 program
-  .command('master-ip <ip>')
-  .description('Start NEP master in some specific IP')
-  .action(async (ip) => {
+  .command('master-wifi')
+  .description('Start NEP master in Wi-Fi network')
+  .action(async () => {
 
+    const interfaces = os.networkInterfaces();
 
-    console.log(`IP Address: ${ip}`);
-    var node = new nep.Node("nep-cli");
-    nep_configuration["IP"] = ip;
-    var master = new MasterLocal(IP = ip);
-    var info = new nep.MasterInfoServer(IP = ip, topics = topic_register);
+    // Find Wi-Fi interface
+    const wifiInterface = interfaces['Wi-Fi'] || interfaces['Wi-Fi 2'] || interfaces['wlan0'] || interfaces['wlo1'];
+    if (wifiInterface) {
+      const wifiIPv4 = wifiInterface.find(iface => iface.family === 'IPv4');
+      if (wifiIPv4) {
+        console.log(`Wi-Fi IP Address: ${wifiIPv4.address}`);
+        try {
+          var node = new nep.Node("nep-cli");
+          nep_configuration["IP"] = wifiIPv4.address;
+          var master = new MasterLocal(IP = wifiIPv4.address);
+          var info = new nep.MasterInfoServer(IP = wifiIPv4.address, topics = topic_register);
+        } catch (error) {
+          if (error.message.includes('EADDRINUSE')) {
+            console.error("Error: Address already in use. Another instance of NEP master might be running.");
+          } else {
+            console.error("An error occurred:", error.message);
+          }
+        }
 
+      } else {
+        console.log('No Wi-Fi IPv4 address found.');
+      }
+    } else {
+      console.log('Wi-Fi interface not found.');
+    }
   });
-
-
 program
-  .command('eth')
+  .command('master-eth')
   .description('Start NEP master in Ethernet network')
   .action(async () => {
 
@@ -426,39 +443,20 @@ program
 
 
 program
-  .command('wifi')
-  .description('Start NEP master in Wi-Fi network')
-  .action(async () => {
+  .command('master-ip <ip>')
+  .description('Start NEP master in some specific IP')
+  .action(async (ip) => {
 
-    const interfaces = os.networkInterfaces();
 
-    // Find Wi-Fi interface
-    const wifiInterface = interfaces['Wi-Fi'] || interfaces['Wi-Fi 2'] || interfaces['wlan0'] || interfaces['wlo1'];
-    if (wifiInterface) {
-      const wifiIPv4 = wifiInterface.find(iface => iface.family === 'IPv4');
-      if (wifiIPv4) {
-        console.log(`Wi-Fi IP Address: ${wifiIPv4.address}`);
-        try {
-          var node = new nep.Node("nep-cli");
-          nep_configuration["IP"] = wifiIPv4.address;
-          var master = new MasterLocal(IP = wifiIPv4.address);
-          var info = new nep.MasterInfoServer(IP = wifiIPv4.address, topics = topic_register);
-        } catch (error) {
-          if (error.message.includes('EADDRINUSE')) {
-            console.error("Error: Address already in use. Another instance of NEP master might be running.");
-          } else {
-            console.error("An error occurred:", error.message);
-          }
-        }
+    console.log(`IP Address: ${ip}`);
+    var node = new nep.Node("nep-cli");
+    nep_configuration["IP"] = ip;
+    var master = new MasterLocal(IP = ip);
+    var info = new nep.MasterInfoServer(IP = ip, topics = topic_register);
 
-      } else {
-        console.log('No Wi-Fi IPv4 address found.');
-      }
-    } else {
-      console.log('Wi-Fi interface not found.');
-    }
   });
 
+
 program
   .command('topics')
   .description('Get list of NEP+ topics')
@@ -513,7 +511,7 @@ program
   });
 
 program
-  .command('eth-topics')
+  .command('topics-eth')
   .description('Get list of NEP+ topics over Ethernet')
   .action(async () => {
     const interfaces = os.networkInterfaces();
@@ -536,7 +534,7 @@ program
 
 
 program
-  .command('wifi-topics')
+  .command('topics-wifi')
   .description('Get list of NEP+ topics over Wi-Fi')
   .action(async () => {
     const interfaces = os.networkInterfaces();
@@ -601,104 +599,102 @@ program
 
 
 program
-  .command('publish <topic> <message>')
-  .description('Publish a message to a NEP+ topic')
-  .action((topic, message) => {
-
-    var openpub = function (master_ip = "127.0.0.1") {
-
-      var pubFunction = function () {
-
-        var msg = message.replace(/'/g, '"')
-        console.log(JSON.parse(msg))
-        pub.publish(JSON.parse(msg))
-        console.log("Message published")
+  .command('listen <topic>')
+  .description('Subscribe to a NEP+ topic and display JSON messages')
+  .action(async (topic) => {
+    const interfaces = os.networkInterfaces();
 
-        process.exit(1)
-      }
+    var opensub = function (master_ip = "127.0.0.1") {
+      var callback = function (msg) {
+        var date = new Date();
+        var dateString = date.toISOString();
+        console.log(dateString);
 
+        if (msg.length > 10000) {
+          console.log("the message is too long to be displayed");
+        } else {
+          console.log(msg);
+        }
+      };
 
-      var node = new nep.Node("nep-cli-pub")
-      var pub = node.new_pub(topic, "json")
-      setTimeout(pubFunction, 1000)
-    }
+      var node = new nep.Node("nep-cli-sub");
+      var conf = node.hybrid(master_ip);
+      sub = node.new_sub(topic, "json", callback, conf);
+    };
 
+    var master_ip = "127.0.0.1";
     async function run() {
-      var requester = new zmq.Request;
-      var master_ip = "127.0.0.1"
-
+      var requester = new zmq.Request();
       requester.connect("tcp://" + master_ip + ":" + PORT_MASTER_INFO);
 
-      let msg = { "input": "topics" }
+      let msg = { "input": "topics" };
       var message = JSON.stringify(msg);
-      await requester.send(message)
-      const [result] = await requester.receive()
-      var results = JSON.parse(result.toString())
-      //console.log(results);
-      if (results["input"].includes(topic)) {
-        console.log("")
-        openpub(master_ip)
-      }
-      else {
+      await requester.send(message);
+      const [result] = await requester.receive();
+      var results = JSON.parse(result.toString());
+
+      if (results["state"] === "failure") {
         console.log("Topic is not registered");
+      } else {
+        console.log("");
+        if (results["input"].includes(topic)) {
+          opensub(master_ip);
+        } else {
+          console.log("Topic is not registered");
+        }
       }
     }
-    run()
-  });
-
 
+    run();
+  });
 
 program
-  .command('eth-publish <topic> <message>')
-  .description('Publish a message to a NEP+ topic over Ethernet')
-  .action((topic, message) => {
-
+  .command('listen-eth <topic>')
+  .description('Subscribe to a NEP+ topic over Ethernet and display JSON messages')
+  .action(async (topic) => {
     const interfaces = os.networkInterfaces();
 
-    var openpub = function (master_ip = "127.0.0.1") {
-
-      var pubFunction = function () {
-
-        var msg = message.replace(/'/g, '"')
-        console.log(JSON.parse(msg))
-        pub.publish(JSON.parse(msg))
-        console.log("Message published")
-
-        process.exit(1)
-      }
+    var opensub = function (master_ip = "127.0.0.1") {
+      var callback = function (msg) {
+        var date = new Date();
+        var dateString = date.toISOString();
+        console.log(dateString);
 
+        if (msg.length > 10000) {
+          console.log("the message is too long to be displayed");
+        } else {
+          console.log(msg);
+        }
+      };
 
-      var node = new nep.Node("nep-cli-pub")
-      var pub = node.new_pub(topic, "json")
-      setTimeout(pubFunction, 1000)
-    }
+      var node = new nep.Node("nep-cli-sub");
+      var conf = node.hybrid(master_ip);
+      sub = node.new_sub(topic, "json", callback, conf);
+    };
 
     async function run(master_ip) {
       var requester = new zmq.Request();
-      requester.connect(`tcp://${master_ip}:${PORT_MASTER_INFO}`);
+      requester.connect("tcp://" + master_ip + ":" + PORT_MASTER_INFO);
 
       let msg = { "input": "topics" };
       var message = JSON.stringify(msg);
+      await requester.send(message);
+      const [result] = await requester.receive();
+      var results = JSON.parse(result.toString());
 
-
-      try {
-        await requester.send(message);
-        const [result] = await Promise.race([requester.receive(), timeoutPromise(5000)]); // Timeout of 5 seconds
-        var results = JSON.parse(result.toString());
-
+      if (results["state"] === "failure") {
+        console.log("Topic is not registered");
+      } else {
+        console.log("");
         if (results["input"].includes(topic)) {
-          console.log("");
-          openpub(master_ip);
+          opensub(master_ip);
         } else {
           console.log("Topic is not registered");
         }
-      } catch (error) {
-        console.error("Error:", error.message);
-      } finally {
-        process.exit(1)
       }
     }
 
+    // Find Ethernet interface
     const ethernetInterface = interfaces['Ethernet'] || interfaces['Ethernet 2'] || interfaces['eth0'] || interfaces['イーサネット'] || interfaces['enp0s10'];
     if (ethernetInterface) {
       const ethernetIPv4 = ethernetInterface.find(iface => iface.family === 'IPv4');
@@ -714,61 +710,56 @@ program
   });
 
 program
-  .command('wifi-publish <topic> <message>')
-  .description('Publish a message to a NEP+ topic over Wi-Fi')
-  .action((topic, message) => {
-
+  .command('listen-wifi <topic>')
+  .description('Subscribe to a NEP+ topic over Wi-Fi and display JSON messages')
+  .action(async (topic) => {
     const interfaces = os.networkInterfaces();
 
-    var openpub = function (master_ip = "127.0.0.1") {
-
-      var pubFunction = function () {
-
-        var msg = message.replace(/'/g, '"')
-        console.log(JSON.parse(msg))
-        pub.publish(JSON.parse(msg))
-        console.log("Message published")
-
-        process.exit(1)
-      }
+    var opensub = function (master_ip = "127.0.0.1") {
+      var callback = function (msg) {
+        var date = new Date();
+        var dateString = date.toISOString();
+        console.log(dateString);
 
+        if (msg.length > 10000) {
+          console.log("the message is too long to be displayed");
+        } else {
+          console.log(msg);
+        }
+      };
 
-      var node = new nep.Node("nep-cli-pub")
-      var pub = node.new_pub(topic, "json")
-      setTimeout(pubFunction, 1000)
-    }
+      var node = new nep.Node("nep-cli-sub");
+      var conf = node.hybrid(master_ip);
+      sub = node.new_sub(topic, "json", callback, conf);
+    };
 
     async function run(master_ip) {
       var requester = new zmq.Request();
-      requester.connect(`tcp://${master_ip}:${PORT_MASTER_INFO}`);
+      requester.connect("tcp://" + master_ip + ":" + PORT_MASTER_INFO);
 
       let msg = { "input": "topics" };
       var message = JSON.stringify(msg);
+      await requester.send(message);
+      const [result] = await requester.receive();
+      var results = JSON.parse(result.toString());
 
-
-      try {
-        await requester.send(message);
-        const [result] = await Promise.race([requester.receive(), timeoutPromise(5000)]); // Timeout of 5 seconds
-        var results = JSON.parse(result.toString());
-
+      if (results["state"] === "failure") {
+        console.log("Topic is not registered");
+      } else {
+        console.log("");
         if (results["input"].includes(topic)) {
-          console.log("");
-          openpub(master_ip);
+          opensub(master_ip);
         } else {
           console.log("Topic is not registered");
         }
-      } catch (error) {
-        console.error("Error:", error.message);
-      } finally {
-        process.exit(1)
       }
     }
+
     const wifiInterface = interfaces['Wi-Fi'] || interfaces['Wi-Fi 2'] || interfaces['wlan0'] || interfaces['wlo1'];
     if (wifiInterface) {
       const wifiIPv4 = wifiInterface.find(iface => iface.family === 'IPv4');
       if (wifiIPv4) {
-        console.log(`Wi-Fi IP Address: ${wifiIPv4.address}`);
-        run(wifiIPv4.address)
+        run(wifiIPv4.address);
       } else {
         console.log('No Wi-Fi IPv4 address found.');
       }
@@ -779,8 +770,8 @@ program
 
 
 program
-  .command('listen <topic>')
-  .description('Subscribe to a NEP+ topic')
+  .command('echo <topic>')
+  .description('Subscribe to a NEP+ topic and display raw string messages')
   .action(async (topic) => {
     const interfaces = os.networkInterfaces();
 
@@ -799,28 +790,421 @@ program
 
       var node = new nep.Node("nep-cli-sub");
       var conf = node.hybrid(master_ip);
-      sub = node.new_sub(topic, "json", callback, conf);
+      sub = node.new_sub(topic, "string", callback, conf);
+    };
+
+    var master_ip = "127.0.0.1";
+    async function run() {
+      var requester = new zmq.Request();
+      requester.connect("tcp://" + master_ip + ":" + PORT_MASTER_INFO);
+
+      let msg = { "input": "topics" };
+      var message = JSON.stringify(msg);
+      await requester.send(message);
+      const [result] = await requester.receive();
+      var results = JSON.parse(result.toString());
+
+      if (results["state"] === "failure") {
+        console.log("Topic is not registered");
+      } else {
+        console.log("");
+        if (results["input"].includes(topic)) {
+          opensub(master_ip);
+        } else {
+          console.log("Topic is not registered");
+        }
+      }
+    }
+
+    run();
+  });
+
+program
+  .command('echo-eth <topic>')
+  .description('Subscribe to a NEP+ topic over Ethernet and display raw string messages')
+  .action(async (topic) => {
+    const interfaces = os.networkInterfaces();
+
+    var opensub = function (master_ip = "127.0.0.1") {
+      var callback = function (msg) {
+        var date = new Date();
+        var dateString = date.toISOString();
+        console.log(dateString);
+
+        if (msg.length > 10000) {
+          console.log("the message is too long to be displayed");
+        } else {
+          console.log(msg);
+        }
+      };
+
+      var node = new nep.Node("nep-cli-sub");
+      var conf = node.hybrid(master_ip);
+      sub = node.new_sub(topic, "string", callback, conf);
+    };
+
+    async function run(master_ip) {
+      var requester = new zmq.Request();
+      requester.connect("tcp://" + master_ip + ":" + PORT_MASTER_INFO);
+
+      let msg = { "input": "topics" };
+      var message = JSON.stringify(msg);
+      await requester.send(message);
+      const [result] = await requester.receive();
+      var results = JSON.parse(result.toString());
+
+      if (results["state"] === "failure") {
+        console.log("Topic is not registered");
+      } else {
+        console.log("");
+        if (results["input"].includes(topic)) {
+          opensub(master_ip);
+        } else {
+          console.log("Topic is not registered");
+        }
+      }
+    }
+
+    // Find Ethernet interface
+    const ethernetInterface = interfaces['Ethernet'] || interfaces['Ethernet 2'] || interfaces['eth0'] || interfaces['イーサネット'] || interfaces['enp0s10'];
+    if (ethernetInterface) {
+      const ethernetIPv4 = ethernetInterface.find(iface => iface.family === 'IPv4');
+      if (ethernetIPv4) {
+        console.log(`Ethernet IP Address: ${ethernetIPv4.address}`);
+        run(ethernetIPv4.address)
+      } else {
+        console.log('No Ethernet IPv4 address found.');
+      }
+    } else {
+      console.log('Ethernet interface not found.');
+    }
+  });
+
+program
+  .command('echo-wifi <topic>')
+  .description('Subscribe to a NEP+ topic over Wi-Fi and display raw string messages')
+  .action(async (topic) => {
+    const interfaces = os.networkInterfaces();
+
+    var opensub = function (master_ip = "127.0.0.1") {
+      var callback = function (msg) {
+        var date = new Date();
+        var dateString = date.toISOString();
+        console.log(dateString);
+
+        if (msg.length > 10000) {
+          console.log("the message is too long to be displayed");
+        } else {
+          console.log(msg);
+        }
+      };
+
+      var node = new nep.Node("nep-cli-sub");
+      var conf = node.hybrid(master_ip);
+      sub = node.new_sub(topic, "string", callback, conf);
+    };
+
+    async function run(master_ip) {
+      var requester = new zmq.Request();
+      requester.connect("tcp://" + master_ip + ":" + PORT_MASTER_INFO);
+
+      let msg = { "input": "topics" };
+      var message = JSON.stringify(msg);
+      await requester.send(message);
+      const [result] = await requester.receive();
+      var results = JSON.parse(result.toString());
+
+      if (results["state"] === "failure") {
+        console.log("Topic is not registered");
+      } else {
+        console.log("");
+        if (results["input"].includes(topic)) {
+          opensub(master_ip);
+        } else {
+          console.log("Topic is not registered");
+        }
+      }
+    }
+
+    const wifiInterface = interfaces['Wi-Fi'] || interfaces['Wi-Fi 2'] || interfaces['wlan0'] || interfaces['wlo1'];
+    if (wifiInterface) {
+      const wifiIPv4 = wifiInterface.find(iface => iface.family === 'IPv4');
+      if (wifiIPv4) {
+        run(wifiIPv4.address);
+      } else {
+        console.log('No Wi-Fi IPv4 address found.');
+      }
+    } else {
+      console.log('Wi-Fi interface not found.');
+    }
+  });
+
+program
+  .command('publish <topic> <message>')
+  .description('Publish a message to a NEP+ topic')
+  .action((topic, message) => {
+
+    var openpub = function (master_ip = "127.0.0.1") {
+
+      var pubFunction = function () {
+
+        var msg = message.replace(/'/g, '"')
+        console.log(JSON.parse(msg))
+        pub.publish(JSON.parse(msg))
+        console.log("Message published")
+
+        process.exit(1)
+      }
+
+
+      var node = new nep.Node("nep-cli-pub")
+      var pub = node.new_pub(topic, "json")
+      setTimeout(pubFunction, 1000)
+    }
+
+    async function run() {
+      var requester = new zmq.Request;
+      var master_ip = "127.0.0.1"
+
+      requester.connect("tcp://" + master_ip + ":" + PORT_MASTER_INFO);
+
+      let msg = { "input": "topics" }
+      var message = JSON.stringify(msg);
+      await requester.send(message)
+      const [result] = await requester.receive()
+      var results = JSON.parse(result.toString())
+      //console.log(results);
+      if (results["input"].includes(topic)) {
+        console.log("")
+        openpub(master_ip)
+      }
+      else {
+        console.log("Topic is not registered");
+      }
+    }
+    run()
+  });
+
+program
+  .command('publish-eth <topic> <message>')
+  .description('Publish a JSON message to a NEP+ topic over Ethernet')
+  .action((topic, message) => {
+
+    const interfaces = os.networkInterfaces();
+
+    var openpub = function (master_ip = "127.0.0.1") {
+
+      var pubFunction = function () {
+
+        var msg = message.replace(/'/g, '"')
+        console.log(JSON.parse(msg))
+        pub.publish(JSON.parse(msg))
+        console.log("Message published")
+
+        process.exit(1)
+      }
+
+
+      var node = new nep.Node("nep-cli-pub")
+      var pub = node.new_pub(topic, "json")
+      setTimeout(pubFunction, 1000)
+    }
+
+    async function run(master_ip) {
+      var requester = new zmq.Request();
+      requester.connect(`tcp://${master_ip}:${PORT_MASTER_INFO}`);
+
+      let msg = { "input": "topics" };
+      var message = JSON.stringify(msg);
+
+
+      try {
+        await requester.send(message);
+        const [result] = await Promise.race([requester.receive(), timeoutPromise(5000)]); // Timeout of 5 seconds
+        var results = JSON.parse(result.toString());
+
+        if (results["input"].includes(topic)) {
+          console.log("");
+          openpub(master_ip);
+        } else {
+          console.log("Topic is not registered");
+        }
+      } catch (error) {
+        console.error("Error:", error.message);
+      } finally {
+        process.exit(1)
+      }
+    }
+
+    const ethernetInterface = interfaces['Ethernet'] || interfaces['Ethernet 2'] || interfaces['eth0'] || interfaces['イーサネット'] || interfaces['enp0s10'];
+    if (ethernetInterface) {
+      const ethernetIPv4 = ethernetInterface.find(iface => iface.family === 'IPv4');
+      if (ethernetIPv4) {
+        console.log(`Ethernet IP Address: ${ethernetIPv4.address}`);
+        run(ethernetIPv4.address)
+      } else {
+        console.log('No Ethernet IPv4 address found.');
+      }
+    } else {
+      console.log('Ethernet interface not found.');
+    }
+  });
+
+program
+  .command('publish-wifi <topic> <message>')
+  .description('Publish a JSON message to a NEP+ topic over Wi-Fi')
+  .action((topic, message) => {
+
+    const interfaces = os.networkInterfaces();
+
+    var openpub = function (master_ip = "127.0.0.1") {
+
+      var pubFunction = function () {
+
+        var msg = message.replace(/'/g, '"')
+        console.log(JSON.parse(msg))
+        pub.publish(JSON.parse(msg))
+        console.log("Message published")
+
+        process.exit(1)
+      }
+
+
+      var node = new nep.Node("nep-cli-pub")
+      var pub = node.new_pub(topic, "json")
+      setTimeout(pubFunction, 1000)
+    }
+
+    async function run(master_ip) {
+      var requester = new zmq.Request();
+      requester.connect(`tcp://${master_ip}:${PORT_MASTER_INFO}`);
+
+      let msg = { "input": "topics" };
+      var message = JSON.stringify(msg);
+
+
+      try {
+        await requester.send(message);
+        const [result] = await Promise.race([requester.receive(), timeoutPromise(5000)]); // Timeout of 5 seconds
+        var results = JSON.parse(result.toString());
+
+        if (results["input"].includes(topic)) {
+          console.log("");
+          openpub(master_ip);
+        } else {
+          console.log("Topic is not registered");
+        }
+      } catch (error) {
+        console.error("Error:", error.message);
+      } finally {
+        process.exit(1)
+      }
+    }
+    const wifiInterface = interfaces['Wi-Fi'] || interfaces['Wi-Fi 2'] || interfaces['wlan0'] || interfaces['wlo1'];
+    if (wifiInterface) {
+      const wifiIPv4 = wifiInterface.find(iface => iface.family === 'IPv4');
+      if (wifiIPv4) {
+        console.log(`Wi-Fi IP Address: ${wifiIPv4.address}`);
+        run(wifiIPv4.address)
+      } else {
+        console.log('No Wi-Fi IPv4 address found.');
+      }
+    } else {
+      console.log('Wi-Fi interface not found.');
+    }
+  });
+
+
+program
+  .command('hz <topic>')
+  .description('Monitor the publishing rate of a NEP+ topic in localhost')
+  .action(async (topic) => {
+    const interfaces = os.networkInterfaces();
+    const master_ip = "127.0.0.1"; // Change to the appropriate master IP
+
+    const opensub = function () {
+      const timestamps = []; // To store message timestamps
+
+      const callback = function (msg) {
+        const date = new Date();
+        const timestamp = date.getTime();
+
+        timestamps.push(timestamp);
+
+        // Remove timestamps older than ten seconds
+        const tenSecondsAgo = timestamp - 10000;
+        while (timestamps[0] < tenSecondsAgo) {
+          timestamps.shift();
+        }
+      };
+
+      const messageFormat = topic.endsWith("/image") ? "string" : "string";
+      const node = new nep.Node("nep-cli-sub");
+      const conf = node.hybrid(master_ip);
+      const sub = node.new_sub(topic, messageFormat, callback, conf);
+
+      setInterval(() => {
+        // Calculate statistics for the last 10 seconds
+        const now = Date.now();
+        const tenSecondsAgo = now - 10000;
+        const recentTimestamps = timestamps.filter((ts) => ts > tenSecondsAgo);
+        const rate = recentTimestamps.length / 10; // Messages per second for a 10-second window
+
+        console.log("Average rate:", rate.toFixed(2), "Hz");
+        console.log("Min:", (10 / Math.max(rate, 0.1)).toFixed(2), "s");
+        console.log("Max:", (10 / Math.min(rate, 10)).toFixed(2), "s");
+        console.log("Std dev:", calculateStdDev(recentTimestamps, now).toFixed(2), "s");
+        console.log("Window:", recentTimestamps.length);
+        console.log("");
+      }, 1000);
+    };
+
+    const calculateStdDev = (timestamps) => {
+      if (timestamps.length < 2) {
+        return 0; // Standard deviation is not meaningful with less than two timestamps
+      }
+
+      // Calculate the time intervals between consecutive timestamps
+      const timeIntervals = [];
+      for (let i = 1; i < timestamps.length; i++) {
+        const interval = timestamps[i] - timestamps[i - 1];
+        timeIntervals.push(interval);
+      }
+
+      // Calculate the mean (average) of the time intervals
+      const mean = timeIntervals.reduce((acc, val) => acc + val, 0) / timeIntervals.length;
+
+      // Calculate the squared differences from the mean
+      const squaredDifferences = timeIntervals.map((interval) => Math.pow(interval - mean, 2));
+
+      // Calculate the mean of the squared differences
+      const meanSquaredDifference = squaredDifferences.reduce((acc, val) => acc + val, 0) / squaredDifferences.length;
+
+      // Calculate the square root of the mean squared difference
+      const stdDeviation = Math.sqrt(meanSquaredDifference);
+
+      return stdDeviation;
     };
 
-    var master_ip = "127.0.0.1";
+
     async function run() {
-      var requester = new zmq.Request();
-      requester.connect("tcp://" + master_ip + ":" + PORT_MASTER_INFO);
+      const requester = new zmq.Request();
+      requester.connect(`tcp://${master_ip}:${PORT_MASTER_INFO}`);
 
-      let msg = { "input": "topics" };
-      var message = JSON.stringify(msg);
+      const msg = { "input": "topics" };
+      const message = JSON.stringify(msg);
       await requester.send(message);
       const [result] = await requester.receive();
-      var results = JSON.parse(result.toString());
+      const results = JSON.parse(result.toString());
 
       if (results["state"] === "failure") {
-        console.log("Topic is not registered");
+        console.log("Topic is not registered, use *nep topics* to see the list of avaliable topics");
       } else {
         console.log("");
         if (results["input"].includes(topic)) {
-          opensub(master_ip);
+          opensub();
         } else {
-          console.log("Topic is not registered");
+          console.log("Topic is not registered, use *nep topics* to see the list of avaliable topics");
         }
       }
     }
@@ -828,14 +1212,15 @@ program
     run();
   });
 
-  program
-  .command('monitor <topic>')
-  .description('Monitor the publishing rate of NEP+ topic in local host')
+
+program
+  .command('hz-wifi <topic>')
+  .description('Monitor the publishing rate of a NEP+ topic over Wi-Fi')
   .action(async (topic) => {
     const interfaces = os.networkInterfaces();
-    const master_ip = "127.0.0.1"; // Change to the appropriate master IP
 
-    const opensub = function () {
+
+    const opensub = function (master_ip) {
       const timestamps = []; // To store message timestamps
 
       const callback = function (msg) {
@@ -876,31 +1261,31 @@ program
       if (timestamps.length < 2) {
         return 0; // Standard deviation is not meaningful with less than two timestamps
       }
-    
+
       // Calculate the time intervals between consecutive timestamps
       const timeIntervals = [];
       for (let i = 1; i < timestamps.length; i++) {
         const interval = timestamps[i] - timestamps[i - 1];
         timeIntervals.push(interval);
       }
-    
+
       // Calculate the mean (average) of the time intervals
       const mean = timeIntervals.reduce((acc, val) => acc + val, 0) / timeIntervals.length;
-    
+
       // Calculate the squared differences from the mean
       const squaredDifferences = timeIntervals.map((interval) => Math.pow(interval - mean, 2));
-    
+
       // Calculate the mean of the squared differences
       const meanSquaredDifference = squaredDifferences.reduce((acc, val) => acc + val, 0) / squaredDifferences.length;
-    
+
       // Calculate the square root of the mean squared difference
       const stdDeviation = Math.sqrt(meanSquaredDifference);
-    
+
       return stdDeviation;
     };
-    
 
-    async function run() {
+
+    async function run(master_ip) {
       const requester = new zmq.Request();
       requester.connect(`tcp://${master_ip}:${PORT_MASTER_INFO}`);
 
@@ -915,136 +1300,136 @@ program
       } else {
         console.log("");
         if (results["input"].includes(topic)) {
-          opensub();
+          opensub(master_ip);
         } else {
           console.log("Topic is not registered, use *nep topics* to see the list of avaliable topics");
         }
       }
     }
 
-    run();
+    const wifiInterface = interfaces['Wi-Fi'] || interfaces['Wi-Fi 2'] || interfaces['wlan0'] || interfaces['wlo1'];
+    if (wifiInterface) {
+      const wifiIPv4 = wifiInterface.find(iface => iface.family === 'IPv4');
+      if (wifiIPv4) {
+        console.log(`Wi-Fi IP Address: ${wifiIPv4.address}`);
+        run(wifiIPv4.address)
+      } else {
+        console.log('No Wi-Fi IPv4 address found.');
+      }
+    } else {
+      console.log('Wi-Fi interface not found.');
+    }
   });
 
 program
-  .command('eth-listen <topic>')
-  .description('Subscribe to a NEP+ topic over Ethernet')
+  .command('hz-eth <topic>')
+  .description('Monitor the publishing rate of a NEP+ topic over Ethernet')
   .action(async (topic) => {
     const interfaces = os.networkInterfaces();
 
-    var opensub = function (master_ip = "127.0.0.1") {
-      var callback = function (msg) {
-        var date = new Date();
-        var dateString = date.toISOString();
-        console.log(dateString);
 
-        if (msg.length > 10000) {
-          console.log("the message is too long to be displayed");
-        } else {
-          console.log(msg);
+    const opensub = function (master_ip) {
+      const timestamps = []; // To store message timestamps
+
+      const callback = function (msg) {
+        const date = new Date();
+        const timestamp = date.getTime();
+
+        timestamps.push(timestamp);
+
+        // Remove timestamps older than ten seconds
+        const tenSecondsAgo = timestamp - 10000;
+        while (timestamps[0] < tenSecondsAgo) {
+          timestamps.shift();
         }
       };
 
-      var node = new nep.Node("nep-cli-sub");
-      var conf = node.hybrid(master_ip);
-      sub = node.new_sub(topic, "json", callback, conf);
-    };
-
-    async function run(master_ip) {
-      var requester = new zmq.Request();
-      requester.connect("tcp://" + master_ip + ":" + PORT_MASTER_INFO);
+      const messageFormat = topic.endsWith("/image") ? "string" : "string";
+      const node = new nep.Node("nep-cli-sub");
+      const conf = node.hybrid(master_ip);
+      const sub = node.new_sub(topic, messageFormat, callback, conf);
 
-      let msg = { "input": "topics" };
-      var message = JSON.stringify(msg);
-      await requester.send(message);
-      const [result] = await requester.receive();
-      var results = JSON.parse(result.toString());
+      setInterval(() => {
+        // Calculate statistics for the last 10 seconds
+        const now = Date.now();
+        const tenSecondsAgo = now - 10000;
+        const recentTimestamps = timestamps.filter((ts) => ts > tenSecondsAgo);
+        const rate = recentTimestamps.length / 10; // Messages per second for a 10-second window
 
-      if (results["state"] === "failure") {
-        console.log("Topic is not registered");
-      } else {
+        console.log("Average rate:", rate.toFixed(2), "Hz");
+        console.log("Min:", (10 / Math.max(rate, 0.1)).toFixed(2), "s");
+        console.log("Max:", (10 / Math.min(rate, 10)).toFixed(2), "s");
+        console.log("Std dev:", calculateStdDev(recentTimestamps, now).toFixed(2), "s");
+        console.log("Window:", recentTimestamps.length);
         console.log("");
-        if (results["input"].includes(topic)) {
-          opensub(master_ip);
-        } else {
-          console.log("Topic is not registered");
-        }
+      }, 1000);
+    };
+
+    const calculateStdDev = (timestamps) => {
+      if (timestamps.length < 2) {
+        return 0; // Standard deviation is not meaningful with less than two timestamps
       }
-    }
 
-    // Find Ethernet interface
-    const ethernetInterface = interfaces['Ethernet'] || interfaces['Ethernet 2'] || interfaces['eth0'] || interfaces['イーサネット'] || interfaces['enp0s10'];
-    if (ethernetInterface) {
-      const ethernetIPv4 = ethernetInterface.find(iface => iface.family === 'IPv4');
-      if (ethernetIPv4) {
-        console.log(`Ethernet IP Address: ${ethernetIPv4.address}`);
-        run(ethernetIPv4.address)
-      } else {
-        console.log('No Ethernet IPv4 address found.');
+      // Calculate the time intervals between consecutive timestamps
+      const timeIntervals = [];
+      for (let i = 1; i < timestamps.length; i++) {
+        const interval = timestamps[i] - timestamps[i - 1];
+        timeIntervals.push(interval);
       }
-    } else {
-      console.log('Ethernet interface not found.');
-    }
-  });
 
-program
-  .command('wifi-listen <topic>')
-  .description('Subscribe to a NEP+ topic over Wi-Fi')
-  .action(async (topic) => {
-    const interfaces = os.networkInterfaces();
+      // Calculate the mean (average) of the time intervals
+      const mean = timeIntervals.reduce((acc, val) => acc + val, 0) / timeIntervals.length;
 
-    var opensub = function (master_ip = "127.0.0.1") {
-      var callback = function (msg) {
-        var date = new Date();
-        var dateString = date.toISOString();
-        console.log(dateString);
+      // Calculate the squared differences from the mean
+      const squaredDifferences = timeIntervals.map((interval) => Math.pow(interval - mean, 2));
 
-        if (msg.length > 10000) {
-          console.log("the message is too long to be displayed");
-        } else {
-          console.log(msg);
-        }
-      };
+      // Calculate the mean of the squared differences
+      const meanSquaredDifference = squaredDifferences.reduce((acc, val) => acc + val, 0) / squaredDifferences.length;
 
-      var node = new nep.Node("nep-cli-sub");
-      var conf = node.hybrid(master_ip);
-      sub = node.new_sub(topic, "json", callback, conf);
+      // Calculate the square root of the mean squared difference
+      const stdDeviation = Math.sqrt(meanSquaredDifference);
+
+      return stdDeviation;
     };
 
+
     async function run(master_ip) {
-      var requester = new zmq.Request();
-      requester.connect("tcp://" + master_ip + ":" + PORT_MASTER_INFO);
+      const requester = new zmq.Request();
+      requester.connect(`tcp://${master_ip}:${PORT_MASTER_INFO}`);
 
-      let msg = { "input": "topics" };
-      var message = JSON.stringify(msg);
+      const msg = { "input": "topics" };
+      const message = JSON.stringify(msg);
       await requester.send(message);
       const [result] = await requester.receive();
-      var results = JSON.parse(result.toString());
+      const results = JSON.parse(result.toString());
 
       if (results["state"] === "failure") {
-        console.log("Topic is not registered");
+        console.log("Topic is not registered, use *nep topics* to see the list of avaliable topics");
       } else {
         console.log("");
         if (results["input"].includes(topic)) {
           opensub(master_ip);
         } else {
-          console.log("Topic is not registered");
+          console.log("Topic is not registered, use *nep topics* to see the list of avaliable topics");
         }
       }
     }
 
-    const wifiInterface = interfaces['Wi-Fi'] || interfaces['Wi-Fi 2'] || interfaces['wlan0'] || interfaces['wlo1'];
-    if (wifiInterface) {
-      const wifiIPv4 = wifiInterface.find(iface => iface.family === 'IPv4');
-      if (wifiIPv4) {
-        run(wifiIPv4.address);
+    const ethernetInterface = interfaces['Ethernet'] || interfaces['Ethernet 2'] || interfaces['eth0'] || interfaces['イーサネット'] || interfaces['enp0s10'];
+    if (ethernetInterface) {
+      const ethernetIPv4 = ethernetInterface.find(iface => iface.family === 'IPv4');
+      if (ethernetIPv4) {
+        console.log(`Ethernet IP Address: ${ethernetIPv4.address}`);
+        run(ethernetIPv4.address)
       } else {
-        console.log('No Wi-Fi IPv4 address found.');
+        console.log('No Ethernet IPv4 address found.');
       }
     } else {
-      console.log('Wi-Fi interface not found.');
+      console.log('Ethernet interface not found.');
     }
   });
 
+
 program
   .command('docs')
   .description('Open the NEP+ documentation in the default browser')
@@ -1067,6 +1452,14 @@ function timeoutPromise(ms) {
   });
 }
 
+function timeoutPromise(ms) {
+  return new Promise((resolve, reject) => {
+    setTimeout(() => {
+      reject(new Error("Request timed out"));
+    }, ms);
+  });
+}
+
 async function getAndDisplayTopics(master_ip) {
   const TIMEOUT_DURATION = 5000;
 
@@ -1086,7 +1479,7 @@ async function getAndDisplayTopics(master_ip) {
 
     const timeoutPromise = new Promise((resolve, reject) => {
       setTimeout(() => {
-        reject(new Error("Timed out, NEP master over Ethernet was not found"));
+        reject(new Error("Timed out, NEP master over Wi-Fi was not found"));
       }, TIMEOUT_DURATION);
     });
 
@@ -1108,84 +1501,51 @@ async function getAndDisplayTopics(master_ip) {
   }
 }
 
-program
-  .command('image <topic>')
-  .description('Start image server')
-  .action((topic, options) => {
-    async function run() {
-      var requester = new zmq.Request;
-      var master_ip = "127.0.0.1"
-      var port = PORT_IMAGE
-
 
 
-      requester.connect("tcp://" + master_ip + ":" + PORT_MASTER_INFO);
 
-      let msg = { "input": "topics" }
-      var message = JSON.stringify(msg);
-      await requester.send(message)
-      const [result] = await requester.receive()
-      var results = JSON.parse(result.toString())
-      //console.log(results);
+async function getAndDisplayTopics(master_ip) {
+  const TIMEOUT_DURATION = 5000;
 
+  var requester = new zmq.Request();
+  requester.connect(`tcp://${master_ip}:${PORT_MASTER_INFO}`);
 
-      const programs = results["input"];
-      const filteredList = programs.filter(value => value.includes("image"));
+  let msg = { "input": "topics" };
+  var message = JSON.stringify(msg);
 
-      if (!topic) {
-        const autoComplete = new AutoComplete({
-          name: 'program',
-          message: 'Select a program:',
-          choices: filteredList,
-        });
-        topic = await autoComplete.run();
-      } else if (!filteredList.includes(topic)) {
-        const autoComplete = new AutoComplete({
-          name: 'program',
-          message: 'Invalid program name. Select a valid program:',
-          choices: filteredList,
-        });
-        topic = await autoComplete.run();
-      }
+  try {
+    const responsePromise = new Promise(async (resolve, reject) => {
+      await requester.send(message);
+      const [result] = await requester.receive();
+      var results = JSON.parse(result.toString());
+      resolve(results);
+    });
 
+    const timeoutPromise = new Promise((resolve, reject) => {
+      setTimeout(() => {
+        reject(new Error("Timed out, NEP master over Ethernet was not found"));
+      }, TIMEOUT_DURATION);
+    });
 
-      startServer(port, topic);
-      open(`http://localhost:${port}`);
+    const results = await Promise.race([responsePromise, timeoutPromise]);
 
+    if (results["state"] === "success") {
+      availableTopics = results["input"];
+      console.log("");
+      results["input"].forEach(element => {
+        console.log(element);
+      });
+    } else {
+      console.log("No topics yet");
     }
-    run()
-
-  });
-
-// Function to start the server
-function startServer(port, topic) {
-  const app = express();
-  const server = http.createServer(app);
-  const io = socketIo(server);
-
-  var node = new nep.Node("nep-cli");
-
-  function getImage(msg) {
-    // Send the received image data as-is to connected clients
-    io.sockets.emit('image', { image: msg });
+  } catch (error) {
+    console.error("Error:", error.message);
+  } finally {
+    process.exit();
   }
-
-  var sub = node.new_sub(topic, "image", getImage);
-
-  app.get('/', (req, res) => {
-    res.sendFile(__dirname + '/image.html'); // Serve your HTML file
-  });
-
-  server.listen(port, () => {
-    console.log(`Server is running on http://localhost:${port}`);
-  });
-
-  io.on('connection', (socket) => {
-    const frameRate = 30; // Desired frame rate
-    const interval = 1000 / frameRate; // Interval between frames
-  });
 }
 
+
 program.parse(process.argv);