roslib-ts 0.1.1 → 1.0.0-beta.1

package/dist/index.cjs.js.map

@@ -1 +1 @@
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package/dist/index.d.ts

@@ -12,11 +12,19 @@ interface RosOptions {
     url?: string;
     WebSocket?: typeof WebSocket;
 }
-declare class Ros extends EventEmitter {
+interface RosLike {
+    on(event: string, listener: Function): this;
+    once(event: string, listener: Function): this;
+    off(event: string, listener?: Function): this;
+    emit(event: string, ...args: any[]): boolean;
+    callOnConnection(message: any): void;
+    getNextId(): string;
+    readonly isConnected: boolean;
+}
+declare class Ros extends EventEmitter implements RosLike {
     private socket;
     private _isConnected;
     private idCounter;
-    private reconnectTimer;
     private options;
     constructor(options?: RosOptions);
     get isConnected(): boolean;
@@ -27,8 +35,135 @@ declare class Ros extends EventEmitter {
     getNextId(): string;
 }
 
+/**
+ * 事件发射器，用于内部实现
+ */
+
+/**
+ * 连接状态枚举
+ */
+declare enum EnhancedRosState {
+    /** 空闲/初始状态 */
+    IDLE = "IDLE",
+    /** 正在连接 */
+    CONNECTING = "CONNECTING",
+    /** 已连接 */
+    CONNECTED = "CONNECTED",
+    /** 正在重连 */
+    RECONNECTING = "RECONNECTING",
+    /** 已手动关闭 */
+    CLOSED = "CLOSED",
+    /** 发生错误 */
+    ERROR = "ERROR"
+}
+/**
+ * 构造参数
+ */
+interface EnhancedRosOptions {
+    /** 默认连接地址 */
+    url?: string;
+    /** 自定义 WebSocket 实现（用于测试或特殊环境） */
+    WebSocket?: typeof WebSocket;
+    /** 首次重连延迟（毫秒） */
+    reconnect_min_delay?: number;
+    /** 最大重连延迟（毫秒） */
+    reconnect_max_delay?: number;
+    /** 心跳间隔（毫秒，≤0 则关闭心跳） */
+    heartbeat_interval_ms?: number;
+    /** 心跳函数（默认发送 ping 消息） */
+    heartbeat_fn?: () => void;
+}
+/**
+ * 增强版 ROS 连接封装
+ * 支持自动重连、心跳保活、消息队列、状态管理
+ */
+declare class EnhancedRos extends EventEmitter implements RosLike {
+    /** WebSocket 实例 */
+    private socket;
+    /** 自增 ID 计数器，用于请求-响应匹配 */
+    private idCounter;
+    /** 用户配置副本 */
+    private options;
+    /** 当前连接状态 */
+    private _state;
+    /** 当前/最近一次连接地址 */
+    private currentUrl;
+    /** 离线消息队列，连接成功后自动发送 */
+    private messageQueue;
+    /** 重连定时器句柄 */
+    private reconnectTimer;
+    /** 本次重连等待时长（动态退避） */
+    private reconnectDelayMs;
+    /** 最小重连延迟（配置值,默认1s） */
+    private readonly reconnectMinDelayMs;
+    /** 最大重连延迟（配置值,默认30s） */
+    private readonly reconnectMaxDelayMs;
+    /** 心跳定时器句柄 */
+    private heartbeatTimer;
+    /** 心跳间隔（配置值,默认0s不启用） */
+    private readonly heartbeatIntervalMs;
+    /** 心跳函数（默认发送 ping 消息） */
+    private readonly heartbeatFn?;
+    /** 最近一次收到服务端消息的时间戳 */
+    private lastServerMessageAtMs;
+    /** 标记是否为用户主动关闭（影响重连策略） */
+    private manualClose;
+    /** 连接代际，用于丢弃过期的重连任务 */
+    private connectGeneration;
+    /**
+     * 构造函数
+     * @param options 配置项
+     */
+    constructor(options?: EnhancedRosOptions);
+    /** 获取当前状态 */
+    get state(): EnhancedRosState;
+    /** 是否已连接 */
+    get isConnected(): boolean;
+    /**
+     * 建立连接（如已连接相同地址则忽略）
+     * @param url WebSocket 地址，例如 ws://localhost:9090
+     */
+    connect(url: string): void;
+    /**
+     * 手动关闭连接（不会触发自动重连）
+     */
+    close(): void;
+    /**
+     * 发送消息（离线时自动入队）
+     * @param message 任意 JSON 兼容对象
+     */
+    callOnConnection(message: any): void;
+    /**
+     * 获取下一个自增 ID（字符串形式）
+     */
+    getNextId(): string;
+    /** 状态变更并对外广播 */
+    private setState;
+    /** 连接前清理资源 */
+    private cleanupForConnect;
+    /** 清除重连定时器 */
+    private clearReconnectTimer;
+    /** 创建并绑定 WebSocket 事件 */
+    private openSocket;
+    /** 安全关闭 WebSocket */
+    private closeSocket;
+    /** 调度下一次重连（退避策略，达到最大后固定） */
+    private scheduleReconnect;
+    /** 启动心跳定时器 */
+    private startHeartbeat;
+    /** 停止心跳定时器 */
+    private stopHeartbeat;
+    /** 将离线队列全部发出 */
+    private flushQueue;
+    /** 真正发送 JSON 字符串 */
+    private send;
+    cast(message: any): void;
+    /** 解析并分发服务端消息 */
+    private handleMessage;
+}
+
 interface TopicOptions {
-    ros: Ros;
+    ros: RosLike;
     name: string;
     messageType: string;
     compression?: string;
@@ -38,7 +173,7 @@ interface TopicOptions {
     queue_length?: number;
 }
 declare class Topic extends EventEmitter {
-    readonly ros: Ros;
+    readonly ros: RosLike;
     readonly name: string;
     readonly messageType: string;
     readonly compression?: string;
@@ -48,12 +183,28 @@ declare class Topic extends EventEmitter {
     readonly queue_length?: number;
     private isSubscribed;
     private isAdvertised;
+    /** 存储绑定的重连处理器，便于精准卸载 */
+    private _reconnectHandler;
     constructor(options: TopicOptions);
+    /** 发送底层的订阅协议包 */
+    private _sendSubscribe;
+    /** 发送底层的公告协议包 */
+    private _sendAdvertise;
+    /**
+     * 订阅话题
+     * @param callback 接收消息的回调函数
+     */
     subscribe(callback?: (message: any) => void): void;
+    /** 取消订阅 */
     unsubscribe(): void;
+    /** 公告话题（作为发布者） */
     advertise(): void;
+    /** 取消公告 */
     unadvertise(): void;
+    /** 发布消息 */
     publish(message: any): void;
+    /** 内部状态处理：连接关闭时重置标志位 */
+    private _handleClose;
 }
 
 declare class ServiceRequest {
@@ -70,7 +221,7 @@ declare class ServiceResponse {
 }
 
 interface ServiceOptions {
-    ros: Ros;
+    ros: RosLike;
     name: string;
     serviceType: string;
 }
@@ -79,14 +230,29 @@ declare class Service extends EventEmitter {
     private name;
     private serviceType;
     private isAdvertised;
+    /** 存储绑定的重连处理器 */
+    private _reconnectHandler;
+    /** 存储服务请求处理函数，便于卸载 */
+    private _currentServiceCallback;
     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;
+    /** 发送底层的服务公告协议 */
+    private _sendAdvertise;
+    /**
+     * 公告服务（服务端模式）
+     * @param callback 处理请求并返回结果的回调
+     */
+    advertise(callback: (request: ServiceRequest, response: ServiceResponse) => any): void;
+    /**
+     * 取消服务公告
+     */
     unadvertise(): void;
+    /** 内部状态处理：连接关闭时重置标志位 */
+    private _handleClose;
 }
 
 interface ParamOptions {
-    ros: Ros;
+    ros: RosLike;
     name: string;
 }
 declare class Param {
@@ -98,4 +264,42 @@ declare class Param {
     delete(callback?: () => void): Promise<void>;
 }
 
-export { EventEmitter, Param, Ros, Service, ServiceRequest, ServiceResponse, Topic };
+type Callback = (msg: any) => void;
+declare class TopicManager {
+    private topics;
+    private ros;
+    constructor(ros: EnhancedRos);
+    subscribe(name: string, messageType: string, callback: Callback): void;
+    unsubscribe(name: string, callback?: Callback): void;
+    clearAll(): void;
+    resubscribeAll(ros: any): void;
+    publish(name: string, messageType: string, data: any): void;
+}
+declare class ServiceManager {
+    private ros;
+    private readonly defaultTimeout;
+    constructor(ros: EnhancedRos, timeout?: number);
+    /**
+     * 调用服务（每次直接创建 Service 实例，带统一超时）
+     */
+    call(name: string, serviceType: string, request?: any, timeout?: number): Promise<any>;
+}
+declare class ParamManager {
+    private ros;
+    private readonly defaultTimeout;
+    constructor(ros: EnhancedRos, timeout?: number);
+    /**
+     * 获取参数值
+     */
+    get(name: string, timeout?: number): Promise<any>;
+    /**
+     * 设置参数值
+     */
+    set(name: string, value: any): Promise<void>;
+    /**
+     * 删除参数
+     */
+    delete(name: string): Promise<void>;
+}
+
+export { EnhancedRos, EnhancedRosState, EventEmitter, Param, ParamManager, Ros, Service, ServiceManager, ServiceRequest, ServiceResponse, Topic, TopicManager };