roslib-ts 0.1.0

package/README.md

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+# @naviai/roslib-ts
+
+TypeScript-first ROSLIB implementation.
+
+## ✨ Features
+
+✅ WebSocket transport (rosbridge)
+✅ Web / React Native compatible
+✅ TypeScript first
+✅ Event-driven API
+❌ No socket.io support
+❌ No WebRTC support
+
+## Install
+
+```bash
+pnpm add @naviai/roslib-ts
+```
+
+## Usage
+
+```typescript
+import { Ros, Topic } from '@naviai/roslib-ts'
+
+const ros = new Ros({
+  url: 'ws://localhost:9090'
+})
+
+ros.on('connection', () => {
+  console.log('Connected');
+});
+
+ros.on('close', () => {
+  console.log('Disconnected');
+});
+
+const cmdVel = new Topic({
+  ros,
+  name: '/cmd_vel',
+  messageType: 'geometry_msgs/Twist'
+})
+
+cmdVel.subscribe(msg => {
+  console.log(msg.linear.x)
+})
+```
+
+
+
+

package/dist/index.cjs.js

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+'use strict';
+
+// 简单的事件发射器实现
+class EventEmitter {
+    constructor() {
+        this.events = {};
+    }
+    on(event, listener) {
+        if (!this.events[event]) {
+            this.events[event] = [];
+        }
+        this.events[event].push(listener);
+        return this;
+    }
+    once(event, listener) {
+        const onceWrapper = (...args) => {
+            this.off(event, onceWrapper);
+            listener.apply(this, args);
+        };
+        this.on(event, onceWrapper);
+        return this;
+    }
+    off(event, listener) {
+        if (!this.events[event])
+            return this;
+        if (!listener) {
+            delete this.events[event];
+            return this;
+        }
+        const index = this.events[event].indexOf(listener);
+        if (index > -1) {
+            this.events[event].splice(index, 1);
+        }
+        return this;
+    }
+    emit(event, ...args) {
+        if (!this.events[event])
+            return false;
+        this.events[event].forEach(listener => {
+            try {
+                listener.apply(this, args);
+            }
+            catch (error) {
+                console.error('Error in event listener:', error);
+            }
+        });
+        return true;
+    }
+    removeAllListeners(event) {
+        if (event) {
+            delete this.events[event];
+        }
+        else {
+            this.events = {};
+        }
+        return this;
+    }
+    listenerCount(event) {
+        return this.events[event] ? this.events[event].length : 0;
+    }
+}
+
+class Ros extends EventEmitter {
+    // private reconnectDelay = 1000;
+    constructor(options = {}) {
+        super();
+        this.socket = null;
+        this._isConnected = false;
+        this.idCounter = 0;
+        this.reconnectTimer = null;
+        this.options = options;
+        if (options.url) {
+            this.connect(options.url);
+        }
+    }
+    get isConnected() {
+        return this._isConnected;
+    }
+    connect(url) {
+        var _a, _b;
+        if (this.socket && this.socket.readyState === WebSocket.OPEN && this.socket.url === url) {
+            return;
+        }
+        if (this.socket) {
+            this.close();
+        }
+        try {
+            const WS = (_b = (_a = this.options) === null || _a === void 0 ? void 0 : _a.WebSocket) !== null && _b !== void 0 ? _b : WebSocket;
+            this.socket = new WS(url);
+            this.socket.onopen = () => {
+                this._isConnected = true;
+                this.emit('connection');
+                // 清除重连定时器
+                if (this.reconnectTimer) {
+                    clearTimeout(this.reconnectTimer);
+                    this.reconnectTimer = null;
+                }
+            };
+            this.socket.onclose = () => {
+                this._isConnected = false;
+                this.emit('close');
+            };
+            this.socket.onerror = (error) => {
+                this.emit('error', error);
+            };
+            this.socket.onmessage = (event) => {
+                this.handleMessage(event.data);
+            };
+        }
+        catch (error) {
+            this.emit('error', error);
+        }
+    }
+    close() {
+        if (this.socket) {
+            this.socket.close();
+            this.socket = null;
+        }
+        this._isConnected = false;
+        if (this.reconnectTimer) {
+            clearTimeout(this.reconnectTimer);
+            this.reconnectTimer = null;
+        }
+    }
+    handleMessage(data) {
+        try {
+            const message = JSON.parse(data);
+            if (message.op === 'publish') {
+                // 发布消息到对应的 topic
+                this.emit(message.topic, message.msg);
+            }
+            else if (message.op === 'service_response') {
+                // 服务响应
+                this.emit(message.id, message);
+            }
+            else if (message.op === 'status') {
+                // 状态消息
+                if (message.id) {
+                    this.emit('status:' + message.id, message);
+                }
+                else {
+                    this.emit('status', message);
+                }
+            }
+        }
+        catch (error) {
+            console.error('Error parsing message:', error);
+        }
+    }
+    callOnConnection(message) {
+        const messageStr = JSON.stringify(message);
+        if (this._isConnected && this.socket) {
+            this.socket.send(messageStr);
+        }
+        else {
+            // 等待连接建立后发送
+            this.once('connection', () => {
+                if (this.socket) {
+                    this.socket.send(messageStr);
+                }
+            });
+        }
+    }
+    getNextId() {
+        return (++this.idCounter).toString();
+    }
+}
+
+class Topic extends EventEmitter {
+    constructor(options) {
+        super();
+        this.isSubscribed = false;
+        this.isAdvertised = false;
+        this.ros = options.ros;
+        this.name = options.name;
+        this.messageType = options.messageType;
+        this.compression = options.compression;
+        this.throttle_rate = options.throttle_rate;
+        this.queue_size = options.queue_size;
+        this.latch = options.latch;
+        this.queue_length = options.queue_length;
+    }
+    subscribe(callback) {
+        if (this.isSubscribed) {
+            return;
+        }
+        const subscribeMessage = Object.assign(Object.assign(Object.assign({ op: 'subscribe', topic: this.name, type: this.messageType }, (this.compression && { compression: this.compression })), (this.throttle_rate && { throttle_rate: this.throttle_rate })), (this.queue_length && { queue_length: this.queue_length }));
+        this.ros.callOnConnection(subscribeMessage);
+        this.isSubscribed = true;
+        // 监听来自 ROS 的消息
+        this.ros.on(this.name, (message) => {
+            this.emit('message', message);
+            if (callback) {
+                callback(message);
+            }
+        });
+        // 监听连接关闭事件，重新订阅
+        this.ros.on('close', () => {
+            this.isSubscribed = false;
+        });
+        this.ros.on('connection', () => {
+            if (!this.isSubscribed) {
+                this.subscribe(callback);
+            }
+        });
+    }
+    unsubscribe() {
+        if (!this.isSubscribed) {
+            return;
+        }
+        const unsubscribeMessage = {
+            op: 'unsubscribe',
+            topic: this.name
+        };
+        this.ros.callOnConnection(unsubscribeMessage);
+        this.isSubscribed = false;
+        // 移除事件监听器
+        this.ros.off(this.name);
+    }
+    advertise() {
+        if (this.isAdvertised) {
+            return;
+        }
+        const advertiseMessage = Object.assign(Object.assign({ op: 'advertise', topic: this.name, type: this.messageType }, (this.latch && { latch: this.latch })), (this.queue_size && { queue_size: this.queue_size }));
+        this.ros.callOnConnection(advertiseMessage);
+        this.isAdvertised = true;
+        // 监听连接关闭事件
+        this.ros.on('close', () => {
+            this.isAdvertised = false;
+        });
+        this.ros.on('connection', () => {
+            if (!this.isAdvertised) {
+                this.advertise();
+            }
+        });
+    }
+    unadvertise() {
+        if (!this.isAdvertised) {
+            return;
+        }
+        const unadvertiseMessage = {
+            op: 'unadvertise',
+            topic: this.name
+        };
+        this.ros.callOnConnection(unadvertiseMessage);
+        this.isAdvertised = false;
+    }
+    publish(message) {
+        if (!this.isAdvertised) {
+            this.advertise();
+        }
+        const publishMessage = {
+            op: 'publish',
+            topic: this.name,
+            msg: message
+        };
+        this.ros.callOnConnection(publishMessage);
+    }
+}
+
+class ServiceRequest {
+    constructor(values) {
+        if (values) {
+            Object.assign(this, values);
+        }
+    }
+}
+class ServiceResponse {
+    constructor(values) {
+        if (values) {
+            Object.assign(this, values);
+        }
+    }
+}
+
+class Service extends EventEmitter {
+    constructor(options) {
+        super();
+        this.isAdvertised = false;
+        this.ros = options.ros;
+        this.name = options.name;
+        this.serviceType = options.serviceType;
+    }
+    callService(request, callback, failedCallback) {
+        return new Promise((resolve, reject) => {
+            const serviceId = this.ros.getNextId();
+            const serviceMessage = {
+                op: 'call_service',
+                id: serviceId,
+                service: this.name,
+                type: this.serviceType,
+                args: request
+            };
+            // 监听服务响应
+            const responseHandler = (message) => {
+                var _a;
+                if (message.id === serviceId) {
+                    this.ros.off(serviceId, responseHandler);
+                    // rosbridge-level error
+                    if (message.result === false) {
+                        const error = new Error(message.error || `Service ${this.name} call failed`);
+                        failedCallback === null || failedCallback === void 0 ? void 0 : failedCallback(error);
+                        reject(error);
+                        return;
+                    }
+                    // protocol error
+                    if (message.result === undefined) {
+                        const error = new Error('Invalid service response');
+                        failedCallback === null || failedCallback === void 0 ? void 0 : failedCallback(error);
+                        reject(error);
+                        return;
+                    }
+                    // success
+                    const response = new ServiceResponse((_a = message.values) !== null && _a !== void 0 ? _a : {});
+                    callback === null || callback === void 0 ? void 0 : callback(response);
+                    resolve(response);
+                }
+            };
+            this.ros.on(serviceId, responseHandler);
+            this.ros.callOnConnection(serviceMessage);
+        });
+    }
+    advertise(callback) {
+        if (this.isAdvertised) {
+            return;
+        }
+        const advertiseMessage = {
+            op: 'advertise_service',
+            service: this.name,
+            type: this.serviceType
+        };
+        this.ros.callOnConnection(advertiseMessage);
+        this.isAdvertised = true;
+        // 监听服务请求
+        this.ros.on('service_request:' + this.name, (message) => {
+            const request = new ServiceRequest(message.args);
+            const response = new ServiceResponse();
+            try {
+                const result = callback(request, response);
+                const responseMessage = {
+                    op: 'service_response',
+                    service: this.name,
+                    id: message.id,
+                    values: response,
+                    result: result !== false
+                };
+                this.ros.callOnConnection(responseMessage);
+            }
+            catch (error) {
+                const errorMessage = {
+                    op: 'service_response',
+                    service: this.name,
+                    id: message.id,
+                    result: false,
+                    error: error instanceof Error ? error.message : 'Unknown error'
+                };
+                this.ros.callOnConnection(errorMessage);
+            }
+        });
+        // 监听连接关闭事件
+        this.ros.on('close', () => {
+            this.isAdvertised = false;
+        });
+        this.ros.on('connection', () => {
+            if (!this.isAdvertised) {
+                this.advertise(callback);
+            }
+        });
+    }
+    unadvertise() {
+        if (!this.isAdvertised) {
+            return;
+        }
+        const unadvertiseMessage = {
+            op: 'unadvertise_service',
+            service: this.name
+        };
+        this.ros.callOnConnection(unadvertiseMessage);
+        this.isAdvertised = false;
+        // 移除事件监听器
+        this.ros.off('service_request:' + this.name);
+    }
+}
+
+class Param {
+    constructor(options) {
+        this.ros = options.ros;
+        this.name = options.name;
+    }
+    get(callback) {
+        return new Promise((resolve, reject) => {
+            const service = new Service({
+                ros: this.ros,
+                name: '/rosapi/get_param',
+                serviceType: 'rosapi/GetParam'
+            });
+            const request = new ServiceRequest({
+                name: this.name,
+                default: ''
+            });
+            service.callService(request, (response) => {
+                if (callback)
+                    callback(response.value);
+                resolve(response.value);
+            }, (error) => {
+                reject(error);
+            });
+        });
+    }
+    set(value, callback) {
+        return new Promise((resolve, reject) => {
+            const service = new Service({
+                ros: this.ros,
+                name: '/rosapi/set_param',
+                serviceType: 'rosapi/SetParam'
+            });
+            const request = new ServiceRequest({
+                name: this.name,
+                value: JSON.stringify(value)
+            });
+            service.callService(request, () => {
+                if (callback)
+                    callback();
+                resolve();
+            }, (error) => {
+                reject(error);
+            });
+        });
+    }
+    delete(callback) {
+        return new Promise((resolve, reject) => {
+            const service = new Service({
+                ros: this.ros,
+                name: '/rosapi/delete_param',
+                serviceType: 'rosapi/DeleteParam'
+            });
+            const request = new ServiceRequest({
+                name: this.name
+            });
+            service.callService(request, () => {
+                if (callback)
+                    callback();
+                resolve();
+            }, (error) => {
+                reject(error);
+            });
+        });
+    }
+}
+
+exports.EventEmitter = EventEmitter;
+exports.Param = Param;
+exports.Ros = Ros;
+exports.Service = Service;
+exports.ServiceRequest = ServiceRequest;
+exports.ServiceResponse = ServiceResponse;
+exports.Topic = Topic;
+//# sourceMappingURL=index.cjs.js.map

package/dist/index.cjs.js.map

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package/dist/index.d.ts

@@ -0,0 +1,101 @@
+declare class EventEmitter {
+    private events;
+    on(event: string, listener: Function): this;
+    once(event: string, listener: Function): this;
+    off(event: string, listener?: Function): this;
+    emit(event: string, ...args: any[]): boolean;
+    removeAllListeners(event?: string): this;
+    listenerCount(event: string): number;
+}
+
+interface RosOptions {
+    url?: string;
+    WebSocket?: typeof WebSocket;
+}
+declare class Ros extends EventEmitter {
+    private socket;
+    private _isConnected;
+    private idCounter;
+    private reconnectTimer;
+    private options;
+    constructor(options?: RosOptions);
+    get isConnected(): boolean;
+    connect(url: string): void;
+    close(): void;
+    private handleMessage;
+    callOnConnection(message: any): void;
+    getNextId(): string;
+}
+
+interface TopicOptions {
+    ros: Ros;
+    name: string;
+    messageType: string;
+    compression?: string;
+    throttle_rate?: number;
+    queue_size?: number;
+    latch?: boolean;
+    queue_length?: number;
+}
+declare class Topic extends EventEmitter {
+    readonly ros: Ros;
+    readonly name: string;
+    readonly messageType: string;
+    readonly compression?: string;
+    readonly throttle_rate?: number;
+    readonly queue_size?: number;
+    readonly latch?: boolean;
+    readonly queue_length?: number;
+    private isSubscribed;
+    private isAdvertised;
+    constructor(options: TopicOptions);
+    subscribe(callback?: (message: any) => void): void;
+    unsubscribe(): void;
+    advertise(): void;
+    unadvertise(): void;
+    publish(message: any): void;
+}
+
+declare class ServiceRequest {
+    [key: string]: any;
+    constructor(values?: {
+        [key: string]: any;
+    });
+}
+declare class ServiceResponse {
+    [key: string]: any;
+    constructor(values?: {
+        [key: string]: any;
+    });
+}
+
+interface ServiceOptions {
+    ros: Ros;
+    name: string;
+    serviceType: string;
+}
+declare class Service extends EventEmitter {
+    private ros;
+    private name;
+    private serviceType;
+    private isAdvertised;
+    constructor(options: ServiceOptions);
+    callService(request: ServiceRequest, callback?: (response: ServiceResponse) => void, failedCallback?: (error: any) => void): Promise<ServiceResponse>;
+    advertise(callback: (request: ServiceRequest, response: ServiceResponse) => boolean | void): void;
+    unadvertise(): void;
+}
+
+interface ParamOptions {
+    ros: Ros;
+    name: string;
+}
+declare class Param {
+    private ros;
+    private name;
+    constructor(options: ParamOptions);
+    get(callback?: (value: any) => void): Promise<any>;
+    set(value: any, callback?: () => void): Promise<void>;
+    delete(callback?: () => void): Promise<void>;
+}
+
+export { EventEmitter, Param, Ros, Service, ServiceRequest, ServiceResponse, Topic };

package/dist/index.esm.js

@@ -0,0 +1,450 @@
+// 简单的事件发射器实现
+class EventEmitter {
+    constructor() {
+        this.events = {};
+    }
+    on(event, listener) {
+        if (!this.events[event]) {
+            this.events[event] = [];
+        }
+        this.events[event].push(listener);
+        return this;
+    }
+    once(event, listener) {
+        const onceWrapper = (...args) => {
+            this.off(event, onceWrapper);
+            listener.apply(this, args);
+        };
+        this.on(event, onceWrapper);
+        return this;
+    }
+    off(event, listener) {
+        if (!this.events[event])
+            return this;
+        if (!listener) {
+            delete this.events[event];
+            return this;
+        }
+        const index = this.events[event].indexOf(listener);
+        if (index > -1) {
+            this.events[event].splice(index, 1);
+        }
+        return this;
+    }
+    emit(event, ...args) {
+        if (!this.events[event])
+            return false;
+        this.events[event].forEach(listener => {
+            try {
+                listener.apply(this, args);
+            }
+            catch (error) {
+                console.error('Error in event listener:', error);
+            }
+        });
+        return true;
+    }
+    removeAllListeners(event) {
+        if (event) {
+            delete this.events[event];
+        }
+        else {
+            this.events = {};
+        }
+        return this;
+    }
+    listenerCount(event) {
+        return this.events[event] ? this.events[event].length : 0;
+    }
+}
+
+class Ros extends EventEmitter {
+    // private reconnectDelay = 1000;
+    constructor(options = {}) {
+        super();
+        this.socket = null;
+        this._isConnected = false;
+        this.idCounter = 0;
+        this.reconnectTimer = null;
+        this.options = options;
+        if (options.url) {
+            this.connect(options.url);
+        }
+    }
+    get isConnected() {
+        return this._isConnected;
+    }
+    connect(url) {
+        var _a, _b;
+        if (this.socket && this.socket.readyState === WebSocket.OPEN && this.socket.url === url) {
+            return;
+        }
+        if (this.socket) {
+            this.close();
+        }
+        try {
+            const WS = (_b = (_a = this.options) === null || _a === void 0 ? void 0 : _a.WebSocket) !== null && _b !== void 0 ? _b : WebSocket;
+            this.socket = new WS(url);
+            this.socket.onopen = () => {
+                this._isConnected = true;
+                this.emit('connection');
+                // 清除重连定时器
+                if (this.reconnectTimer) {
+                    clearTimeout(this.reconnectTimer);
+                    this.reconnectTimer = null;
+                }
+            };
+            this.socket.onclose = () => {
+                this._isConnected = false;
+                this.emit('close');
+            };
+            this.socket.onerror = (error) => {
+                this.emit('error', error);
+            };
+            this.socket.onmessage = (event) => {
+                this.handleMessage(event.data);
+            };
+        }
+        catch (error) {
+            this.emit('error', error);
+        }
+    }
+    close() {
+        if (this.socket) {
+            this.socket.close();
+            this.socket = null;
+        }
+        this._isConnected = false;
+        if (this.reconnectTimer) {
+            clearTimeout(this.reconnectTimer);
+            this.reconnectTimer = null;
+        }
+    }
+    handleMessage(data) {
+        try {
+            const message = JSON.parse(data);
+            if (message.op === 'publish') {
+                // 发布消息到对应的 topic
+                this.emit(message.topic, message.msg);
+            }
+            else if (message.op === 'service_response') {
+                // 服务响应
+                this.emit(message.id, message);
+            }
+            else if (message.op === 'status') {
+                // 状态消息
+                if (message.id) {
+                    this.emit('status:' + message.id, message);
+                }
+                else {
+                    this.emit('status', message);
+                }
+            }
+        }
+        catch (error) {
+            console.error('Error parsing message:', error);
+        }
+    }
+    callOnConnection(message) {
+        const messageStr = JSON.stringify(message);
+        if (this._isConnected && this.socket) {
+            this.socket.send(messageStr);
+        }
+        else {
+            // 等待连接建立后发送
+            this.once('connection', () => {
+                if (this.socket) {
+                    this.socket.send(messageStr);
+                }
+            });
+        }
+    }
+    getNextId() {
+        return (++this.idCounter).toString();
+    }
+}
+
+class Topic extends EventEmitter {
+    constructor(options) {
+        super();
+        this.isSubscribed = false;
+        this.isAdvertised = false;
+        this.ros = options.ros;
+        this.name = options.name;
+        this.messageType = options.messageType;
+        this.compression = options.compression;
+        this.throttle_rate = options.throttle_rate;
+        this.queue_size = options.queue_size;
+        this.latch = options.latch;
+        this.queue_length = options.queue_length;
+    }
+    subscribe(callback) {
+        if (this.isSubscribed) {
+            return;
+        }
+        const subscribeMessage = Object.assign(Object.assign(Object.assign({ op: 'subscribe', topic: this.name, type: this.messageType }, (this.compression && { compression: this.compression })), (this.throttle_rate && { throttle_rate: this.throttle_rate })), (this.queue_length && { queue_length: this.queue_length }));
+        this.ros.callOnConnection(subscribeMessage);
+        this.isSubscribed = true;
+        // 监听来自 ROS 的消息
+        this.ros.on(this.name, (message) => {
+            this.emit('message', message);
+            if (callback) {
+                callback(message);
+            }
+        });
+        // 监听连接关闭事件，重新订阅
+        this.ros.on('close', () => {
+            this.isSubscribed = false;
+        });
+        this.ros.on('connection', () => {
+            if (!this.isSubscribed) {
+                this.subscribe(callback);
+            }
+        });
+    }
+    unsubscribe() {
+        if (!this.isSubscribed) {
+            return;
+        }
+        const unsubscribeMessage = {
+            op: 'unsubscribe',
+            topic: this.name
+        };
+        this.ros.callOnConnection(unsubscribeMessage);
+        this.isSubscribed = false;
+        // 移除事件监听器
+        this.ros.off(this.name);
+    }
+    advertise() {
+        if (this.isAdvertised) {
+            return;
+        }
+        const advertiseMessage = Object.assign(Object.assign({ op: 'advertise', topic: this.name, type: this.messageType }, (this.latch && { latch: this.latch })), (this.queue_size && { queue_size: this.queue_size }));
+        this.ros.callOnConnection(advertiseMessage);
+        this.isAdvertised = true;
+        // 监听连接关闭事件
+        this.ros.on('close', () => {
+            this.isAdvertised = false;
+        });
+        this.ros.on('connection', () => {
+            if (!this.isAdvertised) {
+                this.advertise();
+            }
+        });
+    }
+    unadvertise() {
+        if (!this.isAdvertised) {
+            return;
+        }
+        const unadvertiseMessage = {
+            op: 'unadvertise',
+            topic: this.name
+        };
+        this.ros.callOnConnection(unadvertiseMessage);
+        this.isAdvertised = false;
+    }
+    publish(message) {
+        if (!this.isAdvertised) {
+            this.advertise();
+        }
+        const publishMessage = {
+            op: 'publish',
+            topic: this.name,
+            msg: message
+        };
+        this.ros.callOnConnection(publishMessage);
+    }
+}
+
+class ServiceRequest {
+    constructor(values) {
+        if (values) {
+            Object.assign(this, values);
+        }
+    }
+}
+class ServiceResponse {
+    constructor(values) {
+        if (values) {
+            Object.assign(this, values);
+        }
+    }
+}
+
+class Service extends EventEmitter {
+    constructor(options) {
+        super();
+        this.isAdvertised = false;
+        this.ros = options.ros;
+        this.name = options.name;
+        this.serviceType = options.serviceType;
+    }
+    callService(request, callback, failedCallback) {
+        return new Promise((resolve, reject) => {
+            const serviceId = this.ros.getNextId();
+            const serviceMessage = {
+                op: 'call_service',
+                id: serviceId,
+                service: this.name,
+                type: this.serviceType,
+                args: request
+            };
+            // 监听服务响应
+            const responseHandler = (message) => {
+                var _a;
+                if (message.id === serviceId) {
+                    this.ros.off(serviceId, responseHandler);
+                    // rosbridge-level error
+                    if (message.result === false) {
+                        const error = new Error(message.error || `Service ${this.name} call failed`);
+                        failedCallback === null || failedCallback === void 0 ? void 0 : failedCallback(error);
+                        reject(error);
+                        return;
+                    }
+                    // protocol error
+                    if (message.result === undefined) {
+                        const error = new Error('Invalid service response');
+                        failedCallback === null || failedCallback === void 0 ? void 0 : failedCallback(error);
+                        reject(error);
+                        return;
+                    }
+                    // success
+                    const response = new ServiceResponse((_a = message.values) !== null && _a !== void 0 ? _a : {});
+                    callback === null || callback === void 0 ? void 0 : callback(response);
+                    resolve(response);
+                }
+            };
+            this.ros.on(serviceId, responseHandler);
+            this.ros.callOnConnection(serviceMessage);
+        });
+    }
+    advertise(callback) {
+        if (this.isAdvertised) {
+            return;
+        }
+        const advertiseMessage = {
+            op: 'advertise_service',
+            service: this.name,
+            type: this.serviceType
+        };
+        this.ros.callOnConnection(advertiseMessage);
+        this.isAdvertised = true;
+        // 监听服务请求
+        this.ros.on('service_request:' + this.name, (message) => {
+            const request = new ServiceRequest(message.args);
+            const response = new ServiceResponse();
+            try {
+                const result = callback(request, response);
+                const responseMessage = {
+                    op: 'service_response',
+                    service: this.name,
+                    id: message.id,
+                    values: response,
+                    result: result !== false
+                };
+                this.ros.callOnConnection(responseMessage);
+            }
+            catch (error) {
+                const errorMessage = {
+                    op: 'service_response',
+                    service: this.name,
+                    id: message.id,
+                    result: false,
+                    error: error instanceof Error ? error.message : 'Unknown error'
+                };
+                this.ros.callOnConnection(errorMessage);
+            }
+        });
+        // 监听连接关闭事件
+        this.ros.on('close', () => {
+            this.isAdvertised = false;
+        });
+        this.ros.on('connection', () => {
+            if (!this.isAdvertised) {
+                this.advertise(callback);
+            }
+        });
+    }
+    unadvertise() {
+        if (!this.isAdvertised) {
+            return;
+        }
+        const unadvertiseMessage = {
+            op: 'unadvertise_service',
+            service: this.name
+        };
+        this.ros.callOnConnection(unadvertiseMessage);
+        this.isAdvertised = false;
+        // 移除事件监听器
+        this.ros.off('service_request:' + this.name);
+    }
+}
+
+class Param {
+    constructor(options) {
+        this.ros = options.ros;
+        this.name = options.name;
+    }
+    get(callback) {
+        return new Promise((resolve, reject) => {
+            const service = new Service({
+                ros: this.ros,
+                name: '/rosapi/get_param',
+                serviceType: 'rosapi/GetParam'
+            });
+            const request = new ServiceRequest({
+                name: this.name,
+                default: ''
+            });
+            service.callService(request, (response) => {
+                if (callback)
+                    callback(response.value);
+                resolve(response.value);
+            }, (error) => {
+                reject(error);
+            });
+        });
+    }
+    set(value, callback) {
+        return new Promise((resolve, reject) => {
+            const service = new Service({
+                ros: this.ros,
+                name: '/rosapi/set_param',
+                serviceType: 'rosapi/SetParam'
+            });
+            const request = new ServiceRequest({
+                name: this.name,
+                value: JSON.stringify(value)
+            });
+            service.callService(request, () => {
+                if (callback)
+                    callback();
+                resolve();
+            }, (error) => {
+                reject(error);
+            });
+        });
+    }
+    delete(callback) {
+        return new Promise((resolve, reject) => {
+            const service = new Service({
+                ros: this.ros,
+                name: '/rosapi/delete_param',
+                serviceType: 'rosapi/DeleteParam'
+            });
+            const request = new ServiceRequest({
+                name: this.name
+            });
+            service.callService(request, () => {
+                if (callback)
+                    callback();
+                resolve();
+            }, (error) => {
+                reject(error);
+            });
+        });
+    }
+}
+
+export { EventEmitter, Param, Ros, Service, ServiceRequest, ServiceResponse, Topic };
+//# sourceMappingURL=index.esm.js.map

package/dist/index.esm.js.map

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package/dist/types/EventEmitter.d.ts

@@ -0,0 +1,10 @@
+export default class EventEmitter {
+    private events;
+    on(event: string, listener: Function): this;
+    once(event: string, listener: Function): this;
+    off(event: string, listener?: Function): this;
+    emit(event: string, ...args: any[]): boolean;
+    removeAllListeners(event?: string): this;
+    listenerCount(event: string): number;
+}
+//# sourceMappingURL=EventEmitter.d.ts.map

package/dist/types/EventEmitter.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"EventEmitter.d.ts","sourceRoot":"","sources":["../../src/EventEmitter.ts"],"names":[],"mappings":"AACA,MAAM,CAAC,OAAO,OAAO,YAAY;IAC/B,OAAO,CAAC,MAAM,CAAqC;IAEnD,EAAE,CAAC,KAAK,EAAE,MAAM,EAAE,QAAQ,EAAE,QAAQ,GAAG,IAAI;IAQ3C,IAAI,CAAC,KAAK,EAAE,MAAM,EAAE,QAAQ,EAAE,QAAQ,GAAG,IAAI;IAS7C,GAAG,CAAC,KAAK,EAAE,MAAM,EAAE,QAAQ,CAAC,EAAE,QAAQ,GAAG,IAAI;IAe7C,IAAI,CAAC,KAAK,EAAE,MAAM,EAAE,GAAG,IAAI,EAAE,GAAG,EAAE,GAAG,OAAO;IAa5C,kBAAkB,CAAC,KAAK,CAAC,EAAE,MAAM,GAAG,IAAI;IASxC,aAAa,CAAC,KAAK,EAAE,MAAM,GAAG,MAAM;CAGrC"}

package/dist/types/Param.d.ts

@@ -0,0 +1,15 @@
+import Ros from './Ros';
+interface ParamOptions {
+    ros: Ros;
+    name: string;
+}
+export default class Param {
+    private ros;
+    private name;
+    constructor(options: ParamOptions);
+    get(callback?: (value: any) => void): Promise<any>;
+    set(value: any, callback?: () => void): Promise<void>;
+    delete(callback?: () => void): Promise<void>;
+}
+export {};
+//# sourceMappingURL=Param.d.ts.map

package/dist/types/Param.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"Param.d.ts","sourceRoot":"","sources":["../../src/Param.ts"],"names":[],"mappings":"AAAA,OAAO,GAAG,MAAM,OAAO,CAAC;AAIxB,UAAU,YAAY;IACpB,GAAG,EAAE,GAAG,CAAC;IACT,IAAI,EAAE,MAAM,CAAC;CACd;AAED,MAAM,CAAC,OAAO,OAAO,KAAK;IACxB,OAAO,CAAC,GAAG,CAAM;IACjB,OAAO,CAAC,IAAI,CAAS;gBAET,OAAO,EAAE,YAAY;IAKjC,GAAG,CAAC,QAAQ,CAAC,EAAE,CAAC,KAAK,EAAE,GAAG,KAAK,IAAI,GAAG,OAAO,CAAC,GAAG,CAAC;IAsBlD,GAAG,CAAC,KAAK,EAAE,GAAG,EAAE,QAAQ,CAAC,EAAE,MAAM,IAAI,GAAG,OAAO,CAAC,IAAI,CAAC;IAsBrD,MAAM,CAAC,QAAQ,CAAC,EAAE,MAAM,IAAI,GAAG,OAAO,CAAC,IAAI,CAAC;CAoB7C"}

package/dist/types/Ros.d.ts

@@ -0,0 +1,21 @@
+import EventEmitter from './EventEmitter';
+interface RosOptions {
+    url?: string;
+    WebSocket?: typeof WebSocket;
+}
+export default class Ros extends EventEmitter {
+    private socket;
+    private _isConnected;
+    private idCounter;
+    private reconnectTimer;
+    private options;
+    constructor(options?: RosOptions);
+    get isConnected(): boolean;
+    connect(url: string): void;
+    close(): void;
+    private handleMessage;
+    callOnConnection(message: any): void;
+    getNextId(): string;
+}
+export {};
+//# sourceMappingURL=Ros.d.ts.map

package/dist/types/Ros.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"Ros.d.ts","sourceRoot":"","sources":["../../src/Ros.ts"],"names":[],"mappings":"AAAA,OAAO,YAAY,MAAM,gBAAgB,CAAC;AAE1C,UAAU,UAAU;IAClB,GAAG,CAAC,EAAE,MAAM,CAAC;IACb,SAAS,CAAC,EAAE,OAAO,SAAS,CAAC;CAC9B;AAED,MAAM,CAAC,OAAO,OAAO,GAAI,SAAQ,YAAY;IAC3C,OAAO,CAAC,MAAM,CAA0B;IACxC,OAAO,CAAC,YAAY,CAAS;IAC7B,OAAO,CAAC,SAAS,CAAK;IACtB,OAAO,CAAC,cAAc,CAA8C;IACpE,OAAO,CAAC,OAAO,CAAa;gBAGhB,OAAO,GAAE,UAAe;IASpC,IAAI,WAAW,IAAI,OAAO,CAEzB;IAED,OAAO,CAAC,GAAG,EAAE,MAAM,GAAG,IAAI;IA0C1B,KAAK,IAAI,IAAI;IAab,OAAO,CAAC,aAAa;IAuBrB,gBAAgB,CAAC,OAAO,EAAE,GAAG,GAAG,IAAI;IAepC,SAAS,IAAI,MAAM;CAGpB"}

package/dist/types/Service.d.ts

@@ -0,0 +1,20 @@
+import EventEmitter from './EventEmitter';
+import Ros from './Ros';
+import ServiceRequest, { ServiceResponse } from './ServiceRequest';
+interface ServiceOptions {
+    ros: Ros;
+    name: string;
+    serviceType: string;
+}
+export default class Service extends EventEmitter {
+    private ros;
+    private name;
+    private serviceType;
+    private isAdvertised;
+    constructor(options: ServiceOptions);
+    callService(request: ServiceRequest, callback?: (response: ServiceResponse) => void, failedCallback?: (error: any) => void): Promise<ServiceResponse>;
+    advertise(callback: (request: ServiceRequest, response: ServiceResponse) => boolean | void): void;
+    unadvertise(): void;
+}
+export {};
+//# sourceMappingURL=Service.d.ts.map

package/dist/types/Service.d.ts.map

@@ -0,0 +1 @@
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package/dist/types/ServiceRequest.d.ts

@@ -0,0 +1,13 @@
+export default class ServiceRequest {
+    [key: string]: any;
+    constructor(values?: {
+        [key: string]: any;
+    });
+}
+export declare class ServiceResponse {
+    [key: string]: any;
+    constructor(values?: {
+        [key: string]: any;
+    });
+}
+//# sourceMappingURL=ServiceRequest.d.ts.map

package/dist/types/ServiceRequest.d.ts.map

@@ -0,0 +1 @@
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package/dist/types/Topic.d.ts

@@ -0,0 +1,32 @@
+import EventEmitter from './EventEmitter';
+import Ros from './Ros';
+interface TopicOptions {
+    ros: Ros;
+    name: string;
+    messageType: string;
+    compression?: string;
+    throttle_rate?: number;
+    queue_size?: number;
+    latch?: boolean;
+    queue_length?: number;
+}
+export default class Topic extends EventEmitter {
+    readonly ros: Ros;
+    readonly name: string;
+    readonly messageType: string;
+    readonly compression?: string;
+    readonly throttle_rate?: number;
+    readonly queue_size?: number;
+    readonly latch?: boolean;
+    readonly queue_length?: number;
+    private isSubscribed;
+    private isAdvertised;
+    constructor(options: TopicOptions);
+    subscribe(callback?: (message: any) => void): void;
+    unsubscribe(): void;
+    advertise(): void;
+    unadvertise(): void;
+    publish(message: any): void;
+}
+export {};
+//# sourceMappingURL=Topic.d.ts.map

package/dist/types/Topic.d.ts.map

@@ -0,0 +1 @@
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package/dist/types/index.d.ts

@@ -0,0 +1,7 @@
+export { default as Ros } from './Ros';
+export { default as Topic } from './Topic';
+export { default as Service } from './Service';
+export { default as ServiceRequest, ServiceResponse } from './ServiceRequest';
+export { default as Param } from './Param';
+export { default as EventEmitter } from './EventEmitter';
+//# sourceMappingURL=index.d.ts.map

package/dist/types/index.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../../src/index.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,OAAO,IAAI,GAAG,EAAE,MAAM,OAAO,CAAC;AACvC,OAAO,EAAE,OAAO,IAAI,KAAK,EAAE,MAAM,SAAS,CAAC;AAC3C,OAAO,EAAE,OAAO,IAAI,OAAO,EAAE,MAAM,WAAW,CAAC;AAC/C,OAAO,EAAE,OAAO,IAAI,cAAc,EAAE,eAAe,EAAE,MAAM,kBAAkB,CAAC;AAC9E,OAAO,EAAE,OAAO,IAAI,KAAK,EAAE,MAAM,SAAS,CAAC;AAC3C,OAAO,EAAE,OAAO,IAAI,YAAY,EAAE,MAAM,gBAAgB,CAAC"}

package/package.json

@@ -0,0 +1,47 @@
+{
+  "name": "roslib-ts",
+  "version": "0.1.0",
+  "description": "TypeScript-first ROSLIB implementation",
+  "author": "naviai",
+  "license": "MIT",
+  "main": "dist/index.cjs.js",
+  "module": "dist/index.esm.js",
+  "types": "dist/index.d.ts",
+  "exports": {
+    ".": {
+      "import": "./dist/index.esm.js",
+      "require": "./dist/index.cjs.js",
+      "types": "./dist/index.d.ts"
+    }
+  },
+  "files": [
+    "dist"
+  ],
+  "scripts": {
+    "build": "rollup -c",
+    "prepublishOnly": "pnpm build"
+  },
+  "keywords": [
+    "ros",
+    "roslib",
+    "robotics",
+    "typescript"
+  ],
+  "peerDependencies": {
+    "ws": "^8.0.0"
+  },
+  "packageManager": "pnpm@10.12.4",
+  "devDependencies": {
+    "@rollup/plugin-commonjs": "^29.0.0",
+    "@rollup/plugin-node-resolve": "^16.0.3",
+    "@rollup/plugin-typescript": "^12.3.0",
+    "rollup": "^4.54.0",
+    "rollup-plugin-dts": "^6.3.0",
+    "tslib": "^2.8.1",
+    "typescript": "^5.9.3"
+  },
+  "publishConfig": {
+    "registry": "https://registry.npmjs.org/",
+    "access": "public"
+  }
+}