pubo-node 1.0.156 → 1.0.158

package/es/index.js

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

package/es/ros/topic.js

@@ -2,122 +2,79 @@ import { exec, spawn } from 'child_process';
 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;
-    this.messageType = void 0;
-    this.emitter = new Emitter();
-    this.subscribed = false;
-    this.dog = new WatchDog({
-      limit: 10,
-      onTimeout: this.onTimeout.bind(this)
-    });
-    this.strSplit = new StringSplit('---');
-    this.subscribeChildProcess = void 0;
-    this.topic = topic;
-    this.messageType = messageType;
-    this.subscribed = false;
-    this.emitter = new Emitter();
-  }
-  var _proto = RosTopic.prototype;
-  _proto.onTimeout = function onTimeout() {
-    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);
+export class RosTopic {
+    topic;
+    messageType;
+    emitter = new Emitter();
+    subscribed = false;
+    dog = new WatchDog({ limit: 10, onTimeout: this.onTimeout.bind(this) });
+    strSplit = new StringSplit('---');
+    subscribeChildProcess;
+    constructor(topic, messageType) {
+        this.topic = topic;
+        this.messageType = messageType;
+        this.subscribed = false;
+        this.emitter = new Emitter();
     }
-  };
-  _proto.onData = function onData(data) {
-    var tmp = this.strSplit.split(data.toString()).slice(-1)[0];
-    if (!tmp) {
-      return;
+    async onTimeout() {
+        if (!this.subscribed) {
+            return;
+        }
+        await this.unsubscribe();
+        await sleep(1000);
+        await this.subscribe();
     }
-    this.dog.feed();
-    var res = YAML.parse(tmp);
-    this.emitter.emit('message', res);
-  };
-  _proto.subscribe = function subscribe() {
-    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);
+    onData(data) {
+        const tmp = this.strSplit.split(data.toString()).slice(-1)[0];
+        if (!tmp) {
+            return;
+        }
+        this.dog.feed();
+        const res = YAML.parse(tmp);
+        this.emitter.emit('message', res);
     }
-  };
-  _proto.unsubscribe = function unsubscribe() {
-    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);
+    async subscribe() {
+        if (this.subscribeChildProcess) {
+            return;
+        }
+        this.subscribed = true;
+        this.dog.init();
+        this.subscribeChildProcess = spawn(`rostopic`, ['echo', this.topic]);
+        this.subscribeChildProcess.stdout.on('data', this.onData.bind(this));
+        this.subscribeChildProcess.stderr.on('data', (buf) => console.log(buf.toString()));
     }
-  };
-  _proto.publish = function publish(payload) {
-    var _this4 = this;
-    var data = YAML.stringify(payload);
-    return new Promise(function (resolve, reject) {
-      exec("rostopic pub -1 " + _this4.topic + " " + _this4.messageType + " \"" + data + "\"", function (err, stdout) {
-        if (err) {
-          reject(err);
-        } else {
-          resolve(stdout);
+    async unsubscribe() {
+        if (!this.subscribeChildProcess) {
+            return;
         }
-      });
-    });
-  };
-  return RosTopic;
-}();
-export var RosTopicManager = {
-  cache: [],
-  getTopic: function getTopic(topic, messageType) {
-    var tmp = this.cache.find(function (item) {
-      return item.topic === topic;
-    });
-    if (tmp) {
-      return tmp;
+        this.dog.stop();
+        this.subscribed = false;
+        await SIGKILL(this.subscribeChildProcess.pid);
+        this.subscribeChildProcess = null;
+    }
+    publish(payload) {
+        const data = YAML.stringify(payload);
+        return new Promise((resolve, reject) => {
+            exec(`rostopic pub -1 ${this.topic} ${this.messageType} "${data}"`, (err, stdout) => {
+                if (err) {
+                    reject(err);
+                }
+                else {
+                    resolve(stdout);
+                }
+            });
+        });
     }
-    var instance = new RosTopic(topic, messageType);
-    this.cache.push(instance);
-    return instance;
-  }
-};
+}
+export const RosTopicManager = {
+    cache: [],
+    getTopic: function (topic, messageType) {
+        const tmp = this.cache.find((item) => item.topic === topic);
+        if (tmp) {
+            return tmp;
+        }
+        const instance = new RosTopic(topic, messageType);
+        this.cache.push(instance);
+        return instance;
+    },
+};