pubo-node 1.0.140 → 1.0.142

package/lib/grpc/index.d.ts

@@ -14,13 +14,15 @@ declare class GrpcClient {
     private client;
     private _timeout;
     connections: number;
+    private closing;
     constructor({ url, options, Grpc, cert }: any);
-    request(service: any, method: any, data: any): Promise<any>;
+    request(service: any, method: any, data: any): Promise<Buffer>;
     _request({ service, method, data }: {
         service: any;
         method: any;
         data: any;
-    }): Promise<unknown>;
+    }): Promise<Buffer>;
+    restart(): Promise<void>;
     close(): void;
 }
 export declare const GrpcList: GrpcClient[];

package/lib/grpc/index.js

@@ -1,147 +1,79 @@
 "use strict";
 
-var __assign = this && this.__assign || function () {
-  __assign = Object.assign || function (t) {
-    for (var s, i = 1, n = arguments.length; i < n; i++) {
-      s = arguments[i];
-      for (var p in s) if (Object.prototype.hasOwnProperty.call(s, p)) t[p] = s[p];
-    }
-    return t;
-  };
-  return __assign.apply(this, arguments);
-};
-var __awaiter = this && this.__awaiter || function (thisArg, _arguments, P, generator) {
-  function adopt(value) {
-    return value instanceof P ? value : new P(function (resolve) {
-      resolve(value);
-    });
+function _empty() {}
+function _awaitIgnored(value, direct) {
+  if (!direct) {
+    return value && value.then ? value.then(_empty) : Promise.resolve();
   }
-  return new (P || (P = Promise))(function (resolve, reject) {
-    function fulfilled(value) {
-      try {
-        step(generator.next(value));
-      } catch (e) {
-        reject(e);
-      }
-    }
-    function rejected(value) {
-      try {
-        step(generator["throw"](value));
-      } catch (e) {
-        reject(e);
-      }
-    }
-    function step(result) {
-      result.done ? resolve(result.value) : adopt(result.value).then(fulfilled, rejected);
-    }
-    step((generator = generator.apply(thisArg, _arguments || [])).next());
-  });
-};
-var __generator = this && this.__generator || function (thisArg, body) {
-  var _ = {
-      label: 0,
-      sent: function sent() {
-        if (t[0] & 1) throw t[1];
-        return t[1];
-      },
-      trys: [],
-      ops: []
-    },
-    f,
-    y,
-    t,
-    g;
-  return g = {
-    next: verb(0),
-    "throw": verb(1),
-    "return": verb(2)
-  }, typeof Symbol === "function" && (g[Symbol.iterator] = function () {
-    return this;
-  }), g;
-  function verb(n) {
-    return function (v) {
-      return step([n, v]);
-    };
+}
+function _await(value, then, direct) {
+  if (direct) {
+    return then ? then(value) : value;
   }
-  function step(op) {
-    if (f) throw new TypeError("Generator is already executing.");
-    while (g && (g = 0, op[0] && (_ = 0)), _) try {
-      if (f = 1, y && (t = op[0] & 2 ? y["return"] : op[0] ? y["throw"] || ((t = y["return"]) && t.call(y), 0) : y.next) && !(t = t.call(y, op[1])).done) return t;
-      if (y = 0, t) op = [op[0] & 2, t.value];
-      switch (op[0]) {
-        case 0:
-        case 1:
-          t = op;
-          break;
-        case 4:
-          _.label++;
-          return {
-            value: op[1],
-            done: false
-          };
-        case 5:
-          _.label++;
-          y = op[1];
-          op = [0];
-          continue;
-        case 7:
-          op = _.ops.pop();
-          _.trys.pop();
-          continue;
-        default:
-          if (!(t = _.trys, t = t.length > 0 && t[t.length - 1]) && (op[0] === 6 || op[0] === 2)) {
-            _ = 0;
-            continue;
-          }
-          if (op[0] === 3 && (!t || op[1] > t[0] && op[1] < t[3])) {
-            _.label = op[1];
-            break;
-          }
-          if (op[0] === 6 && _.label < t[1]) {
-            _.label = t[1];
-            t = op;
-            break;
-          }
-          if (t && _.label < t[2]) {
-            _.label = t[2];
-            _.ops.push(op);
-            break;
-          }
-          if (t[2]) _.ops.pop();
-          _.trys.pop();
-          continue;
-      }
-      op = body.call(thisArg, _);
+  if (!value || !value.then) {
+    value = Promise.resolve(value);
+  }
+  return then ? value.then(then) : value;
+}
+function _catch(body, recover) {
+  try {
+    var result = body();
+  } catch (e) {
+    return recover(e);
+  }
+  if (result && result.then) {
+    return result.then(void 0, recover);
+  }
+  return result;
+}
+function _continue(value, then) {
+  return value && value.then ? value.then(then) : then(value);
+}
+function _invoke(body, then) {
+  var result = body();
+  if (result && result.then) {
+    return result.then(then);
+  }
+  return then(result);
+}
+function _async(f) {
+  return function () {
+    for (var args = [], i = 0; i < arguments.length; i++) {
+      args[i] = arguments[i];
+    }
+    try {
+      return Promise.resolve(f.apply(this, args));
     } catch (e) {
-      op = [6, e];
-      y = 0;
-    } finally {
-      f = t = 0;
+      return Promise.reject(e);
     }
-    if (op[0] & 5) throw op[1];
-    return {
-      value: op[0] ? op[1] : void 0,
-      done: true
-    };
-  }
-};
+  };
+}
+function _extends() { _extends = Object.assign ? Object.assign.bind() : function (target) { for (var i = 1; i < arguments.length; i++) { var source = arguments[i]; for (var key in source) { if (Object.prototype.hasOwnProperty.call(source, key)) { target[key] = source[key]; } } } return target; }; return _extends.apply(this, arguments); }
 Object.defineProperty(exports, "__esModule", {
   value: true
 });
 exports.createRpcClient = exports.GrpcList = void 0;
+var pubo_utils_1 = require("pubo-utils");
 function passThrough(argument) {
   return argument;
 }
-var GrpcClient = /** @class */function () {
-  function GrpcClient(_a) {
-    var url = _a.url,
-      _b = _a.options,
-      options = _b === void 0 ? {} : _b,
-      Grpc = _a.Grpc,
-      cert = _a.cert;
-    var _c;
+var GrpcClient = /*#__PURE__*/function () {
+  function GrpcClient(_ref) {
+    var _this$options$timeout;
+    var url = _ref.url,
+      _ref$options = _ref.options,
+      options = _ref$options === void 0 ? {} : _ref$options,
+      Grpc = _ref.Grpc,
+      cert = _ref.cert;
+    this.url = void 0;
+    this.options = void 0;
+    this.Grpc = void 0;
+    this.credentials = void 0;
+    this.client = void 0;
+    this._timeout = void 0;
     this.connections = 0;
-    var opt = __assign({
+    this.closing = false;
+    var opt = _extends({
       'grpc.max_send_message_length': -1,
       'grpc.max_receive_message_length': -1
     }, options);
@@ -150,70 +82,76 @@ var GrpcClient = /** @class */function () {
     this.Grpc = Grpc;
     this.credentials = credentials;
     this.options = opt;
-    this.options.timeout = (_c = this.options.timeout) !== null && _c !== void 0 ? _c : 60000;
+    this.options.timeout = (_this$options$timeout = this.options.timeout) != null ? _this$options$timeout : 60000;
   }
-  GrpcClient.prototype.request = function (service, method, data) {
-    return __awaiter(this, void 0, void 0, function () {
-      var error, result, err_1;
+  var _proto = GrpcClient.prototype;
+  _proto.request = function request(service, method, data) {
+    try {
       var _this = this;
-      return __generator(this, function (_a) {
-        switch (_a.label) {
-          case 0:
-            this.connections += 1;
-            if (!this.client) {
-              this.client = new this.Grpc.Client(this.url, this.credentials, this.options);
-            }
-            _a.label = 1;
-          case 1:
-            _a.trys.push([1, 3,, 4]);
-            return [4 /*yield*/, this._request({
-              service: service,
-              method: method,
-              data: data
-            })];
-          case 2:
-            result = _a.sent();
-            return [3 /*break*/, 4];
-          case 3:
-            err_1 = _a.sent();
-            error = err_1;
-            return [3 /*break*/, 4];
-          case 4:
-            this.connections -= 1;
-            if (this.connections < 0) {
-              this.connections = 0;
-            }
-            if (this.connections < 1) {
-              if (this._timeout) {
-                clearTimeout(this._timeout);
-                this._timeout = null;
-              }
-              this._timeout = setTimeout(function () {
-                return _this.close();
-              }, 60000);
-            }
-            if (error) {
-              this.close();
-              throw new Error('grpc connection error.');
-            }
-            return [2 /*return*/, result];
+      return _await(_invoke(function () {
+        if (_this.closing) {
+          return _awaitIgnored((0, pubo_utils_1.waitFor)(_async(function () {
+            return !_this.closing;
+          }), {
+            checkTime: 100,
+            timeout: 20000
+          }));
         }
-      });
-    });
+      }, function () {
+        _this.connections += 1;
+        if (!_this.client) {
+          _this.client = new _this.Grpc.Client(_this.url, _this.credentials, _this.options);
+        }
+        var error;
+        var result = Buffer.alloc(0);
+        return _continue(_catch(function () {
+          return _await(_this._request({
+            service: service,
+            method: method,
+            data: data
+          }), function (_this$_request) {
+            result = _this$_request;
+          });
+        }, function (err) {
+          error = err;
+        }), function () {
+          _this.connections -= 1;
+          if (_this.connections < 0) {
+            _this.connections = 0;
+          }
+          if (_this.connections < 1) {
+            if (_this._timeout) {
+              clearTimeout(_this._timeout);
+              _this._timeout = null;
+            }
+            _this._timeout = setTimeout(function () {
+              return _this.close();
+            }, 60000);
+          }
+          if (error) {
+            _this.restart();
+            throw new Error('grpc connection error.');
+          }
+          return result;
+        });
+      }));
+    } catch (e) {
+      return Promise.reject(e);
+    }
   };
-  GrpcClient.prototype._request = function (_a) {
-    var _this = this;
-    var service = _a.service,
-      method = _a.method,
-      data = _a.data;
+  _proto._request = function _request(_ref2) {
+    var _this2 = this;
+    var service = _ref2.service,
+      method = _ref2.method,
+      data = _ref2.data;
     return new Promise(function (resolve, reject) {
       var _ended = false;
       var _timeout = setTimeout(function () {
         _ended = true;
-        _this.close();
+        _this2.restart();
         console.log('rpc request timeout');
         reject(new Error('timeout'));
-      }, _this.options.timeout);
+      }, _this2.options.timeout);
       var _onResponse = function onResponse(err, res) {
         if (_ended) {
           return;
@@ -227,25 +165,41 @@ var GrpcClient = /** @class */function () {
         }
         _onResponse = null;
       };
-      _this.client.makeUnaryRequest("/".concat(service, "/").concat(method), passThrough, passThrough, data, _onResponse);
+      _this2.client.makeUnaryRequest("/" + service + "/" + method, passThrough, passThrough, data, _onResponse);
     });
   };
-  GrpcClient.prototype.close = function () {
-    var _a;
-    (_a = this.client) === null || _a === void 0 ? void 0 : _a.close();
+  _proto.restart = function restart() {
+    try {
+      var _this3 = this;
+      if (_this3.closing) {
+        return _await();
+      }
+      console.log('rpc client restarting.');
+      _this3.closing = true;
+      _this3.close();
+      return _await((0, pubo_utils_1.sleep)(2000), function () {
+        _this3.closing = false;
+      });
+    } catch (e) {
+      return Promise.reject(e);
+    }
+  };
+  _proto.close = function close() {
+    var _this$client;
+    (_this$client = this.client) == null ? void 0 : _this$client.close();
     this.client = null;
     delete this.client;
   };
   return GrpcClient;
 }();
 exports.GrpcList = [];
-function createRpcClient(_a) {
-  var url = _a.url,
-    _b = _a.options,
-    options = _b === void 0 ? {} : _b,
-    ServiceImp = _a.ServiceImp,
-    Grpc = _a.Grpc,
-    cert = _a.cert;
+function createRpcClient(_ref3) {
+  var url = _ref3.url,
+    _ref3$options = _ref3.options,
+    options = _ref3$options === void 0 ? {} : _ref3$options,
+    ServiceImp = _ref3.ServiceImp,
+    Grpc = _ref3.Grpc,
+    cert = _ref3.cert;
   var client = new GrpcClient({
     url: url,
     options: options,

package/lib/ros/topic.js

@@ -39,8 +39,10 @@ var child_process_1 = require("child_process");
 var pubo_utils_1 = require("pubo-utils");
 var YAML = __importStar(require("yaml"));
 var child_process_2 = require("../child-process");
-var RosTopic = /** @class */function () {
+var RosTopic = /*#__PURE__*/function () {
   function RosTopic(topic, messageType) {
+    this.topic = void 0;
+    this.messageType = void 0;
     this.emitter = new pubo_utils_1.Emitter();
     this.subscribed = false;
     this.dog = new pubo_utils_1.WatchDog({
@@ -48,19 +50,21 @@ var RosTopic = /** @class */function () {
       onTimeout: this.onTimeout.bind(this)
     });
     this.strSplit = new pubo_utils_1.StringSplit('---');
+    this.subscribeChildProcess = void 0;
     this.topic = topic;
     this.messageType = messageType;
     this.subscribed = false;
     this.emitter = new pubo_utils_1.Emitter();
   }
-  RosTopic.prototype.onTimeout = function () {
+  var _proto = RosTopic.prototype;
+  _proto.onTimeout = function onTimeout() {
     if (!this.subscribed) {
       return;
     }
     this.unsubscribe();
     this.subscribe();
   };
-  RosTopic.prototype.onData = function (data) {
+  _proto.onData = function onData(data) {
     var tmp = this.strSplit.split(data.toString()).slice(-1)[0];
     if (!tmp) {
       return;
@@ -68,7 +72,7 @@ var RosTopic = /** @class */function () {
     var res = YAML.parse(tmp);
     this.emitter.emit('message', res);
   };
-  RosTopic.prototype.subscribe = function () {
+  _proto.subscribe = function subscribe() {
     if (this.subscribeChildProcess) {
       return;
     }
@@ -77,7 +81,7 @@ var RosTopic = /** @class */function () {
     this.subscribeChildProcess.stdout.on('data', this.onData.bind(this));
     this.dog.init();
   };
-  RosTopic.prototype.unsubscribe = function () {
+  _proto.unsubscribe = function unsubscribe() {
     if (this.subscribeChildProcess) {
       return;
     }
@@ -86,11 +90,11 @@ var RosTopic = /** @class */function () {
     (0, child_process_2.SIGKILL)(this.subscribeChildProcess.pid);
     this.subscribeChildProcess = null;
   };
-  RosTopic.prototype.publish = function (payload) {
+  _proto.publish = function publish(payload) {
     var _this = this;
     var data = YAML.stringify(payload);
     return new Promise(function (resolve, reject) {
-      (0, child_process_1.exec)("rostopic pub -1 ".concat(_this.topic, " ").concat(_this.messageType, " \"").concat(data, "\""), function (err, stdout) {
+      (0, child_process_1.exec)("rostopic pub -1 " + _this.topic + " " + _this.messageType + " \"" + data + "\"", function (err, stdout) {
         if (err) {
           reject(err);
         } else {