pubo-node 1.0.152 → 1.0.154

package/es/child-process/index.js

@@ -313,8 +313,8 @@ export var getProcessTree = _async(function (pid, tree) {
       children: []
     };
   }
-  return _await(getProcessByPpid(pid), function (pids) {
-    return _continue(_forOf(pids, function (id) {
+  return _await(getProcessByPpid(pid), function (pidList) {
+    return _continue(_forOf(pidList, function (id) {
       var item = {
         pid: id,
         children: []
@@ -327,6 +327,7 @@ export var getProcessTree = _async(function (pid, tree) {
         return tree;
       } else {
         tree = null;
+        return null;
       }
     });
   });

package/es/file-system/index.d.ts

@@ -18,6 +18,8 @@ interface PuboFileSystemInterface {
     } | null) => Promise<string[]>;
     open: (path: fs.PathLike, flags?: fs.OpenMode, mode?: fs.Mode | null) => Promise<number>;
     close: (fd: number) => Promise<void>;
+    mkdir: (path: fs.PathLike, options?: fs.MakeDirectoryOptions) => Promise<void>;
+    rm: (path: fs.PathLike) => Promise<void>;
     write: <TBuffer extends NodeJS.ArrayBufferView>(fd: number, buffer: TBuffer, offset?: number | null, length?: number | null, position?: number | null) => Promise<void>;
 }
 export declare const PuboFileSystem: PuboFileSystemInterface;

package/es/file-system/index.js

@@ -1,5 +1,5 @@
 import * as fs from 'fs';
-var callbackToPromise = function callbackToPromise(fn) {
+var callback2promise = function callback2promise(fn) {
   return function () {
     for (var _len = arguments.length, args = new Array(_len), _key = 0; _key < _len; _key++) {
       args[_key] = arguments[_key];
@@ -22,12 +22,14 @@ var callbackToPromise = function callbackToPromise(fn) {
   };
 };
 export var PuboFileSystem = {
-  read: callbackToPromise(fs.read),
-  readFile: callbackToPromise(fs.readFile),
-  writeFile: callbackToPromise(fs.writeFile),
-  readdir: callbackToPromise(fs.readdir),
-  open: callbackToPromise(fs.open),
-  close: callbackToPromise(fs.close),
-  write: callbackToPromise(fs.write),
-  stat: callbackToPromise(fs.stat)
+  read: callback2promise(fs.read),
+  readFile: callback2promise(fs.readFile),
+  writeFile: callback2promise(fs.writeFile),
+  readdir: callback2promise(fs.readdir),
+  open: callback2promise(fs.open),
+  close: callback2promise(fs.close),
+  write: callback2promise(fs.write),
+  stat: callback2promise(fs.stat),
+  mkdir: callback2promise(fs.mkdir),
+  rm: callback2promise(fs.rm)
 };

package/es/grpc/index.d.ts

@@ -14,7 +14,6 @@ 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<Buffer>;
     _request({ service, method, data }: {
@@ -22,7 +21,6 @@ declare class GrpcClient {
         method: any;
         data: any;
     }): Promise<Buffer>;
-    restart(): Promise<void>;
     close(): void;
 }
 export declare const GrpcList: GrpcClient[];

package/es/grpc/index.js

@@ -1,9 +1,3 @@
-function _empty() {}
-function _awaitIgnored(value, direct) {
-  if (!direct) {
-    return value && value.then ? value.then(_empty) : Promise.resolve();
-  }
-}
 function _await(value, then, direct) {
   if (direct) {
     return then ? then(value) : value;
@@ -27,30 +21,10 @@ function _catch(body, recover) {
 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) {
-      return Promise.reject(e);
-    }
-  };
-}
 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); }
-import { sleep, waitFor } from 'pubo-utils';
-function passThrough(argument) {
+var passThrough = function passThrough(argument) {
   return argument;
-}
+};
 var GrpcClient = /*#__PURE__*/function () {
   function GrpcClient(_ref) {
     var _this$options$timeout;
@@ -66,7 +40,6 @@ var GrpcClient = /*#__PURE__*/function () {
     this.client = void 0;
     this._timeout = void 0;
     this.connections = 0;
-    this.closing = false;
     var opt = _extends({
       'grpc.max_send_message_length': -1,
       'grpc.max_receive_message_length': -1
@@ -76,58 +49,58 @@ var GrpcClient = /*#__PURE__*/function () {
     this.Grpc = Grpc;
     this.credentials = credentials;
     this.options = opt;
-    this.options.timeout = (_this$options$timeout = this.options.timeout) != null ? _this$options$timeout : 60000;
+    this.options.timeout = (_this$options$timeout = this.options.timeout) != null ? _this$options$timeout : 10000;
+    Grpc = null;
+    options = null;
+    cert = null;
   }
   var _proto = GrpcClient.prototype;
   _proto.request = function request(service, method, data) {
     try {
       var _this = this;
-      return _await(_invoke(function () {
-        if (_this.closing) {
-          return _awaitIgnored(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);
+      if (_this._timeout) {
+        clearTimeout(_this._timeout);
+        _this._timeout = null;
+      }
+      _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 _await(_continue(_catch(function () {
+        return _await(_this._request({
+          service: service,
+          method: method,
+          data: data
+        }), function (_this$_request) {
+          result = _this$_request;
+        });
+      }, function (err) {
+        error = err;
+      }), function () {
+        service = null;
+        method = null;
+        data = null;
+        _this.connections -= 1;
+        if (_this.connections < 0) {
+          _this.connections = 0;
         }
-        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.');
+        if (_this.connections < 1) {
+          if (_this._timeout) {
+            clearTimeout(_this._timeout);
+            _this._timeout = null;
           }
-          return result;
-        });
+          _this._timeout = setTimeout(function () {
+            return _this.close();
+          }, 60000);
+        }
+        if (error) {
+          console.log(error);
+          _this.close();
+          throw new Error('grpc connection error.');
+        }
+        return result;
       }));
     } catch (e) {
       return Promise.reject(e);
@@ -142,11 +115,11 @@ var GrpcClient = /*#__PURE__*/function () {
       var _ended = false;
       var _timeout = setTimeout(function () {
         _ended = true;
-        _this2.restart();
+        _this2.close();
         console.log('rpc request timeout');
         reject(new Error('timeout'));
       }, _this2.options.timeout);
-      var _onResponse = function onResponse(err, res) {
+      var onResponse = function onResponse(err, res) {
         if (_ended) {
           return;
         } else {
@@ -157,29 +130,16 @@ var GrpcClient = /*#__PURE__*/function () {
         } else {
           resolve(res);
         }
-        _onResponse = null;
       };
-      _this2.client.makeUnaryRequest("/" + service + "/" + method, passThrough, passThrough, data, _onResponse);
+      _this2.client.makeUnaryRequest("/" + service + "/" + method, passThrough, passThrough, data ? Buffer.from(data) : Buffer.alloc(0), onResponse);
     });
   };
-  _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(sleep(2000), function () {
-        _this3.closing = false;
-      });
-    } catch (e) {
-      return Promise.reject(e);
-    }
-  };
   _proto.close = function close() {
     var _this$client;
+    if (this._timeout) {
+      clearTimeout(this._timeout);
+      delete this._timeout;
+    }
     (_this$client = this.client) == null ? void 0 : _this$client.close();
     this.client = null;
     delete this.client;
@@ -201,6 +161,8 @@ export function createRpcClient(_ref3) {
     cert: cert
   });
   GrpcList.push(client);
+  Grpc = null;
+  options = null;
   return new ServiceImp({
     request: client.request.bind(client)
   });

package/es/index.d.ts

@@ -1,9 +1,8 @@
 export { JsonStorage } from './storage/json';
 export { FtpClient, FtpClientPool, FtpConnectOptions, FtpFile } from './ftp-client';
-export { createRpcClient } from './grpc';
+export { createRpcClient, GrpcList } from './grpc';
 export { PuboFileSystem } from './file-system';
 export { SIGKILL, isProcessDied, getProcessName, getProcessTree, getProcessByPpid, getProcessCpuUseByPid, getProcessCommandByPid, heartbeat, } from './child-process';
 export { isPortAvailable } from './utils';
-export { pitch } from './pitch';
 export { getWifiName, getNetworks } from './utils/network';
 export { RosTopicManager, RosTopic } from './ros/topic';

package/es/index.js

@@ -1,9 +1,8 @@
 export { JsonStorage } from './storage/json';
 export { FtpClient, FtpClientPool } from './ftp-client';
-export { createRpcClient } from './grpc';
+export { createRpcClient, GrpcList } from './grpc';
 export { PuboFileSystem } from './file-system';
 export { SIGKILL, isProcessDied, getProcessName, getProcessTree, getProcessByPpid, getProcessCpuUseByPid, getProcessCommandByPid, heartbeat } from './child-process';
 export { isPortAvailable } from './utils';
-export { pitch } from './pitch';
 export { getWifiName, getNetworks } from './utils/network';
 export { RosTopicManager, RosTopic } from './ros/topic';

package/es/ros/topic.d.ts

@@ -10,8 +10,8 @@ export declare class RosTopic {
     constructor(topic: any, messageType: any);
     private onTimeout;
     private onData;
-    subscribe(): void;
-    unsubscribe(): void;
+    subscribe(): Promise<void>;
+    unsubscribe(): Promise<void>;
     publish(payload: any): Promise<unknown>;
 }
 export declare const RosTopicManager: {

package/es/ros/topic.js

@@ -1,7 +1,22 @@
 import { exec, spawn } from 'child_process';
-import { Emitter, WatchDog, StringSplit } from 'pubo-utils';
+import { Emitter, WatchDog, StringSplit, sleep } from 'pubo-utils';
 import * as YAML from 'yaml';
 import { SIGKILL } from '../child-process';
+function _empty() {}
+function _awaitIgnored(value, direct) {
+  if (!direct) {
+    return value && value.then ? value.then(_empty) : Promise.resolve();
+  }
+}
+function _await(value, then, direct) {
+  if (direct) {
+    return then ? then(value) : value;
+  }
+  if (!value || !value.then) {
+    value = Promise.resolve(value);
+  }
+  return then ? value.then(then) : value;
+}
 export var RosTopic = /*#__PURE__*/function () {
   function RosTopic(topic, messageType) {
     this.topic = void 0;
@@ -9,7 +24,7 @@ export var RosTopic = /*#__PURE__*/function () {
     this.emitter = new Emitter();
     this.subscribed = false;
     this.dog = new WatchDog({
-      limit: 60,
+      limit: 10,
       onTimeout: this.onTimeout.bind(this)
     });
     this.strSplit = new StringSplit('---');
@@ -21,43 +36,67 @@ export var RosTopic = /*#__PURE__*/function () {
   }
   var _proto = RosTopic.prototype;
   _proto.onTimeout = function onTimeout() {
-    if (!this.subscribed) {
-      return;
+    try {
+      var _this = this;
+      if (!_this.subscribed) {
+        return _await();
+      }
+      return _await(_this.unsubscribe(), function () {
+        return _await(sleep(1000), function () {
+          return _awaitIgnored(_this.subscribe());
+        });
+      });
+    } catch (e) {
+      return Promise.reject(e);
     }
-    this.unsubscribe();
-    this.subscribe();
   };
   _proto.onData = function onData(data) {
     var tmp = this.strSplit.split(data.toString()).slice(-1)[0];
     if (!tmp) {
       return;
     }
+    this.dog.feed();
     var res = YAML.parse(tmp);
     this.emitter.emit('message', res);
   };
   _proto.subscribe = function subscribe() {
-    if (this.subscribeChildProcess) {
-      return;
+    try {
+      var _this2 = this;
+      if (_this2.subscribeChildProcess) {
+        return _await();
+      }
+      _this2.subscribed = true;
+      _this2.dog.init();
+      _this2.subscribeChildProcess = spawn("rostopic", ['echo', _this2.topic]);
+      _this2.subscribeChildProcess.stdout.on('data', _this2.onData.bind(_this2));
+      _this2.subscribeChildProcess.stderr.on('data', function (buf) {
+        return console.log(buf.toString());
+      });
+      return _await();
+    } catch (e) {
+      return Promise.reject(e);
     }
-    this.subscribed = true;
-    this.subscribeChildProcess = spawn("rostopic", ['echo', this.topic]);
-    this.subscribeChildProcess.stdout.on('data', this.onData.bind(this));
-    this.dog.init();
   };
   _proto.unsubscribe = function unsubscribe() {
-    if (this.subscribeChildProcess) {
-      return;
+    try {
+      var _this3 = this;
+      if (!_this3.subscribeChildProcess) {
+        return _await();
+      }
+      _this3.dog.stop();
+      _this3.subscribed = false;
+      return _await(SIGKILL(_this3.subscribeChildProcess.pid), function () {
+        _this3.subscribeChildProcess = null;
+      });
+    } catch (e) {
+      return Promise.reject(e);
     }
-    this.dog.stop();
-    this.subscribed = false;
-    SIGKILL(this.subscribeChildProcess.pid);
-    this.subscribeChildProcess = null;
   };
   _proto.publish = function publish(payload) {
-    var _this = this;
+    var _this4 = this;
     var data = YAML.stringify(payload);
     return new Promise(function (resolve, reject) {
-      exec("rostopic pub -1 " + _this.topic + " " + _this.messageType + " \"" + data + "\"", function (err, stdout) {
+      exec("rostopic pub -1 " + _this4.topic + " " + _this4.messageType + " \"" + data + "\"", function (err, stdout) {
         if (err) {
           reject(err);
         } else {

package/es/storage/json.d.ts

@@ -4,6 +4,7 @@ export interface JsonStorageOptions {
 }
 export declare class JsonStorage {
     private readonly instance;
+    private readonly queue;
     constructor(path: string, options?: JsonStorageOptions);
     private getState;
     private setState;

package/es/storage/json.js

@@ -1,19 +1,17 @@
-import { readFileSync, writeFile, mkdirSync } from 'fs';
+import { readFileSync, writeFile, mkdirSync, writeFileSync } from 'fs';
 import { SyncQueue } from 'pubo-utils';
 import { v4 as uuid } from 'uuid';
-function _await(value, then, direct) {
-  if (direct) {
-    return then ? then(value) : value;
-  }
-  if (!value || !value.then) {
-    value = Promise.resolve(value);
-  }
-  return then ? value.then(then) : value;
-}
+// eslint-disable-next-line @typescript-eslint/no-var-requires
+
+function _empty() {}
 var cluster = require('cluster');
 // 主线程的实现
 
-function _empty() {}
+function _awaitIgnored(value, direct) {
+  if (!direct) {
+    return value && value.then ? value.then(_empty) : Promise.resolve();
+  }
+}
 var Manager = /*#__PURE__*/function () {
   function Manager(path, defaultState) {
     var _this = this;
@@ -36,31 +34,51 @@ var Manager = /*#__PURE__*/function () {
       worker = null;
     });
     this.restore();
+    if (global.GlobalEmitter) {
+      global.GlobalEmitter.on('SIGINT', this.kill.bind(this));
+    } else {
+      process.on('SIGINT', function () {
+        _this.kill().then(function () {
+          return process.exit(0);
+        });
+      });
+    }
   }
+  // 进程退出时,同步文件
   var _proto = Manager.prototype;
-  _proto.onMessage = function onMessage(message, worker) {
+  _proto.kill = function kill() {
     try {
       var _this2 = this;
-      if (message.key !== _this2.key) {
+      return _await(_awaitIgnored(_this2.queue.push(function () {
+        return _this2.syncFile();
+      })));
+    } catch (e) {
+      return Promise.reject(e);
+    }
+  };
+  _proto.onMessage = function onMessage(message, worker) {
+    try {
+      var _this3 = this;
+      if (message.key !== _this3.key) {
         return _await();
       }
       var payload;
       return _await(_invoke(function () {
         if (message.type === 'get') {
-          return _await(_this2.getState(), function (_this2$getState) {
-            payload = _this2$getState;
+          return _await(_this3.getState(), function (_this3$getState) {
+            payload = _this3$getState;
           });
         } else return _invokeIgnored(function () {
           if (message.type === 'set') {
-            return _await(_this2.setState(message.payload), function (_this2$setState) {
-              payload = _this2$setState;
+            return _await(_this3.setState(message.payload), function (_this3$setState) {
+              payload = _this3$setState;
             });
           }
         });
       }, function () {
         worker.send({
           uid: message.uid,
-          key: _this2.key,
+          key: _this3.key,
           payload: payload
         });
         message = null;
@@ -71,16 +89,18 @@ var Manager = /*#__PURE__*/function () {
     }
   };
   _proto.sync = function sync() {
-    try {
-      var _this3 = this;
-      if (_this3.queue.length > 0) {
-        return _await();
-      }
-      return _await(_awaitIgnored(_this3.queue.push(_this3._syncFile.bind(_this3))));
-    } catch (e) {
-      return Promise.reject(e);
+    if (this.queue.length > 0) {
+      return;
     }
-  };
+    this.queue.push(this._syncFile.bind(this));
+  }
+  // 同步文件备份
+  ;
+  _proto.syncFile = function syncFile() {
+    writeFileSync(this.path, JSON.stringify(this._state));
+  }
+  // 异步文件备份
+  ;
   _proto._syncFile = function _syncFile() {
     try {
       var _this4 = this;
@@ -89,7 +109,7 @@ var Manager = /*#__PURE__*/function () {
           if (err) {
             reject(err);
           } else {
-            resolve('');
+            setTimeout(resolve, 100);
           }
         });
       }));
@@ -124,18 +144,22 @@ var Manager = /*#__PURE__*/function () {
     try {
       var _this6 = this;
       _this6._state = values;
-      return _await(_awaitIgnored(_this6.sync()));
+      _this6.sync();
+      return _await();
     } catch (e) {
       return Promise.reject(e);
     }
   };
   return Manager;
 }(); // work 线程的实现
-function _invokeIgnored(body) {
-  var result = body();
-  if (result && result.then) {
-    return result.then(_empty);
+function _await(value, then, direct) {
+  if (direct) {
+    return then ? then(value) : value;
   }
+  if (!value || !value.then) {
+    value = Promise.resolve(value);
+  }
+  return then ? value.then(then) : value;
 }
 var Worker = /*#__PURE__*/function () {
   function Worker(path) {
@@ -165,7 +189,7 @@ var Worker = /*#__PURE__*/function () {
         _this7.callback[uid] = function (data) {
           return resolve(data);
         };
-        // @ts-ignore
+        //@ts-ignore
         process.send({
           uid: uid,
           type: type,
@@ -203,6 +227,12 @@ var Worker = /*#__PURE__*/function () {
   };
   return Worker;
 }();
+function _invokeIgnored(body) {
+  var result = body();
+  if (result && result.then) {
+    return result.then(_empty);
+  }
+}
 function _invoke(body, then) {
   var result = body();
   if (result && result.then) {
@@ -210,11 +240,6 @@ function _invoke(body, then) {
   }
   return then(result);
 }
-function _awaitIgnored(value, direct) {
-  if (!direct) {
-    return value && value.then ? value.then(_empty) : Promise.resolve();
-  }
-}
 export var JsonStorage = /*#__PURE__*/function () {
   function JsonStorage(path, options) {
     var _options;
@@ -222,6 +247,7 @@ export var JsonStorage = /*#__PURE__*/function () {
       options = {};
     }
     this.instance = void 0;
+    this.queue = new SyncQueue();
     if (cluster.isPrimary) {
       this.instance = new Manager(path, options.defaultState);
     } else {
@@ -235,7 +261,7 @@ export var JsonStorage = /*#__PURE__*/function () {
   _proto3.getState = function getState() {
     try {
       var _this10 = this;
-      return _await(_this10.instance.getState());
+      return _await(_this10.queue.push(_this10.instance.getState.bind(_this10.instance)));
     } catch (e) {
       return Promise.reject(e);
     }
@@ -243,7 +269,9 @@ export var JsonStorage = /*#__PURE__*/function () {
   _proto3.setState = function setState(state) {
     try {
       var _this11 = this;
-      return _await(_this11.instance.setState(state));
+      return _await(_this11.queue.push(function () {
+        return _this11.instance.setState(state);
+      }));
     } catch (e) {
       return Promise.reject(e);
     }

package/lib/child-process/index.js

@@ -75,8 +75,8 @@ const getProcessTree = async (pid, tree) => {
         isRoot = true;
         tree = { pid, children: [] };
     }
-    const pids = await getProcessByPpid(pid);
-    for (const id of pids) {
+    const pidList = await getProcessByPpid(pid);
+    for (const id of pidList) {
         const item = { pid: id, children: [] };
         await (0, exports.getProcessTree)(id, item);
         tree.children.push(item);
@@ -86,6 +86,7 @@ const getProcessTree = async (pid, tree) => {
     }
     else {
         tree = null;
+        return null;
     }
 };
 exports.getProcessTree = getProcessTree;