npm - roslib-ts - Versions diffs - 1.0.0-beta.2 → 1.0.0-beta.4 - Mend

roslib-ts 1.0.0-beta.2 → 1.0.0-beta.4

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (10) hide show

package/dist/index.cjs.js +44 -17
package/dist/index.cjs.js.map +1 -1
package/dist/index.d.ts +21 -2
package/dist/index.esm.js +44 -17
package/dist/index.esm.js.map +1 -1
package/dist/types/EnhancedRos.d.ts +1 -1
package/dist/types/EnhancedRos.d.ts.map +1 -1
package/dist/types/RosManagers.d.ts +21 -2
package/dist/types/RosManagers.d.ts.map +1 -1
package/package.json +1 -1

package/dist/index.cjs.js CHANGED Viewed

@@ -836,9 +836,15 @@ class TopicManager {
         this.topics = new Map();
         this.ros = ros;
     }
+    /**
+     * 订阅指定主题
+     * @param name 主题名称
+     * @param messageType 消息类型
+     * @param callback 回调函数，当收到消息时调用
+     */
     subscribe(name, messageType, callback) {
         if (!this.ros) {
-            throw new Error('ros instance is not initialized');
+            throw new Error("ros instance is not initialized");
         }
         if (!this.ros.isConnected) {
             console.warn(`ROS not connected, cannot subscribe to ${name}, ${name} in messageQueue when ros reconnected`);
@@ -891,19 +897,35 @@ class TopicManager {
             });
         });
     }
-    publish(name, messageType, data) {
-        if (!this.ros) {
-            throw new Error('ros instance is not initialized');
-        }
-        if (!this.ros.isConnected) {
-            console.warn(`ROS not connected, cannot publish to ${name}, ${name} in messageQueue when ros reconnected`);
-        }
-        const chatter = new Topic({
-            ros: this.ros,
-            name,
-            messageType
+    /**
+     * 发布消息到指定主题
+     * @param name 主题名称
+     * @param messageType 消息类型
+     * @param data 要发布的数据
+     * @param queueWhenOffline 是否在 ROS 连接时队列消息（默认 false）
+     * @returns Promise，成功时解析为 undefined，失败时拒绝
+     */
+    publish(name, messageType, data, queueWhenOffline = false) {
+        return new Promise((resolve, reject) => {
+            if (!this.ros) {
+                reject(new Error("ros instance is not initialized"));
+                return;
+            }
+            if (!this.ros.isConnected) {
+                if (!queueWhenOffline) {
+                    reject(new Error(`ROS not connected, cannot publish to ${name}`));
+                    return;
+                }
+                console.warn(`ROS not connected, cannot publish to ${name}, ${name} in messageQueue when ros reconnected`);
+            }
+            const chatter = new Topic({
+                ros: this.ros,
+                name,
+                messageType,
+            });
+            chatter.publish({ data: data });
+            resolve(undefined);
         });
-        chatter.publish({ data: data });
     }
 }
 class ServiceManager {
@@ -914,11 +936,16 @@ class ServiceManager {
     }
     /**
      * 调用服务（每次直接创建 Service 实例，带统一超时）
+     * @param name 服务名称
+     * @param serviceType 服务类型
+     * @param request 服务请求数据（可选）
+     * @param timeout 超时时间（默认 10s）
+     * @returns Promise，成功时解析为服务响应，失败时拒绝
      */
     call(name, serviceType, request, timeout = this.defaultTimeout) {
         return new Promise((resolve, reject) => {
             if (!this.ros) {
-                return reject(new Error('ros instance is not initialized'));
+                return reject(new Error("ros instance is not initialized"));
             }
             if (!this.ros.isConnected) {
                 return reject(new Error(`ROS not connected, cannot call service ${name}`));
@@ -969,7 +996,7 @@ class ParamManager {
         return new Promise((resolve, reject) => {
             const ros = this.ros;
             if (!this.ros) {
-                return reject(new Error('ros instance is not initialized'));
+                return reject(new Error("ros instance is not initialized"));
             }
             if (!this.ros.isConnected) {
                 return reject(new Error(`ROS not connected, cannot get param ${name}`));
@@ -996,7 +1023,7 @@ class ParamManager {
         return new Promise((resolve, reject) => {
             const ros = this.ros;
             if (!this.ros) {
-                return reject(new Error('ros instance is not initialized'));
+                return reject(new Error("ros instance is not initialized"));
             }
             if (!this.ros.isConnected) {
                 return reject(new Error(`ROS not connected, cannot set param ${name}`));
@@ -1018,7 +1045,7 @@ class ParamManager {
         return new Promise((resolve, reject) => {
             const ros = this.ros;
             if (!this.ros) {
-                return reject(new Error('ros instance is not initialized'));
+                return reject(new Error("ros instance is not initialized"));
             }
             if (!this.ros.isConnected) {
                 return reject(new Error(`ROS not connected, cannot delete param ${name}`));

package/dist/index.cjs.js.map CHANGED Viewed

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

@@ -87,7 +87,7 @@ declare class EnhancedRos extends EventEmitter implements RosLike {
     /** 当前连接状态 */
     private _state;
     /** 当前/最近一次连接地址 */
-    private currentUrl;
+    currentUrl: string | null;
     /** 离线消息队列，连接成功后自动发送 */
     private messageQueue;
     /** 重连定时器句柄 */
@@ -269,11 +269,25 @@ declare class TopicManager {
     private topics;
     private ros;
     constructor(ros: EnhancedRos);
+    /**
+     * 订阅指定主题
+     * @param name 主题名称
+     * @param messageType 消息类型
+     * @param callback 回调函数，当收到消息时调用
+     */
     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;
+    /**
+     * 发布消息到指定主题
+     * @param name 主题名称
+     * @param messageType 消息类型
+     * @param data 要发布的数据
+     * @param queueWhenOffline 是否在 ROS 连接时队列消息（默认 false）
+     * @returns Promise，成功时解析为 undefined，失败时拒绝
+     */
+    publish(name: string, messageType: string, data: any, queueWhenOffline?: boolean): Promise<unknown>;
 }
 declare class ServiceManager {
     private ros;
@@ -281,6 +295,11 @@ declare class ServiceManager {
     constructor(ros: EnhancedRos, timeout?: number);
     /**
      * 调用服务（每次直接创建 Service 实例，带统一超时）
+     * @param name 服务名称
+     * @param serviceType 服务类型
+     * @param request 服务请求数据（可选）
+     * @param timeout 超时时间（默认 10s）
+     * @returns Promise，成功时解析为服务响应，失败时拒绝
      */
     call(name: string, serviceType: string, request?: any, timeout?: number): Promise<any>;
 }

package/dist/index.esm.js CHANGED Viewed

@@ -834,9 +834,15 @@ class TopicManager {
         this.topics = new Map();
         this.ros = ros;
     }
+    /**
+     * 订阅指定主题
+     * @param name 主题名称
+     * @param messageType 消息类型
+     * @param callback 回调函数，当收到消息时调用
+     */
     subscribe(name, messageType, callback) {
         if (!this.ros) {
-            throw new Error('ros instance is not initialized');
+            throw new Error("ros instance is not initialized");
         }
         if (!this.ros.isConnected) {
             console.warn(`ROS not connected, cannot subscribe to ${name}, ${name} in messageQueue when ros reconnected`);
@@ -889,19 +895,35 @@ class TopicManager {
             });
         });
     }
-    publish(name, messageType, data) {
-        if (!this.ros) {
-            throw new Error('ros instance is not initialized');
-        }
-        if (!this.ros.isConnected) {
-            console.warn(`ROS not connected, cannot publish to ${name}, ${name} in messageQueue when ros reconnected`);
-        }
-        const chatter = new Topic({
-            ros: this.ros,
-            name,
-            messageType
+    /**
+     * 发布消息到指定主题
+     * @param name 主题名称
+     * @param messageType 消息类型
+     * @param data 要发布的数据
+     * @param queueWhenOffline 是否在 ROS 连接时队列消息（默认 false）
+     * @returns Promise，成功时解析为 undefined，失败时拒绝
+     */
+    publish(name, messageType, data, queueWhenOffline = false) {
+        return new Promise((resolve, reject) => {
+            if (!this.ros) {
+                reject(new Error("ros instance is not initialized"));
+                return;
+            }
+            if (!this.ros.isConnected) {
+                if (!queueWhenOffline) {
+                    reject(new Error(`ROS not connected, cannot publish to ${name}`));
+                    return;
+                }
+                console.warn(`ROS not connected, cannot publish to ${name}, ${name} in messageQueue when ros reconnected`);
+            }
+            const chatter = new Topic({
+                ros: this.ros,
+                name,
+                messageType,
+            });
+            chatter.publish({ data: data });
+            resolve(undefined);
         });
-        chatter.publish({ data: data });
     }
 }
 class ServiceManager {
@@ -912,11 +934,16 @@ class ServiceManager {
     }
     /**
      * 调用服务（每次直接创建 Service 实例，带统一超时）
+     * @param name 服务名称
+     * @param serviceType 服务类型
+     * @param request 服务请求数据（可选）
+     * @param timeout 超时时间（默认 10s）
+     * @returns Promise，成功时解析为服务响应，失败时拒绝
      */
     call(name, serviceType, request, timeout = this.defaultTimeout) {
         return new Promise((resolve, reject) => {
             if (!this.ros) {
-                return reject(new Error('ros instance is not initialized'));
+                return reject(new Error("ros instance is not initialized"));
             }
             if (!this.ros.isConnected) {
                 return reject(new Error(`ROS not connected, cannot call service ${name}`));
@@ -967,7 +994,7 @@ class ParamManager {
         return new Promise((resolve, reject) => {
             const ros = this.ros;
             if (!this.ros) {
-                return reject(new Error('ros instance is not initialized'));
+                return reject(new Error("ros instance is not initialized"));
             }
             if (!this.ros.isConnected) {
                 return reject(new Error(`ROS not connected, cannot get param ${name}`));
@@ -994,7 +1021,7 @@ class ParamManager {
         return new Promise((resolve, reject) => {
             const ros = this.ros;
             if (!this.ros) {
-                return reject(new Error('ros instance is not initialized'));
+                return reject(new Error("ros instance is not initialized"));
             }
             if (!this.ros.isConnected) {
                 return reject(new Error(`ROS not connected, cannot set param ${name}`));
@@ -1016,7 +1043,7 @@ class ParamManager {
         return new Promise((resolve, reject) => {
             const ros = this.ros;
             if (!this.ros) {
-                return reject(new Error('ros instance is not initialized'));
+                return reject(new Error("ros instance is not initialized"));
             }
             if (!this.ros.isConnected) {
                 return reject(new Error(`ROS not connected, cannot delete param ${name}`));

package/dist/index.esm.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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package/dist/types/EnhancedRos.d.ts CHANGED Viewed

@@ -54,7 +54,7 @@ export default class EnhancedRos extends EventEmitter implements RosLike {
     /** 当前连接状态 */
     private _state;
     /** 当前/最近一次连接地址 */
-    private currentUrl;
+    currentUrl: string | null;
     /** 离线消息队列，连接成功后自动发送 */
     private messageQueue;
     /** 重连定时器句柄 */

package/dist/types/EnhancedRos.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
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package/dist/types/RosManagers.d.ts CHANGED Viewed

@@ -1,14 +1,28 @@
-import { default as EnhancedRos } from './EnhancedRos';
+import { default as EnhancedRos } from "./EnhancedRos";
 type Callback = (msg: any) => void;
 export declare class TopicManager {
     private topics;
     private ros;
     constructor(ros: EnhancedRos);
+    /**
+     * 订阅指定主题
+     * @param name 主题名称
+     * @param messageType 消息类型
+     * @param callback 回调函数，当收到消息时调用
+     */
     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;
+    /**
+     * 发布消息到指定主题
+     * @param name 主题名称
+     * @param messageType 消息类型
+     * @param data 要发布的数据
+     * @param queueWhenOffline 是否在 ROS 连接时队列消息（默认 false）
+     * @returns Promise，成功时解析为 undefined，失败时拒绝
+     */
+    publish(name: string, messageType: string, data: any, queueWhenOffline?: boolean): Promise<unknown>;
 }
 export declare class ServiceManager {
     private ros;
@@ -16,6 +30,11 @@ export declare class ServiceManager {
     constructor(ros: EnhancedRos, timeout?: number);
     /**
      * 调用服务（每次直接创建 Service 实例，带统一超时）
+     * @param name 服务名称
+     * @param serviceType 服务类型
+     * @param request 服务请求数据（可选）
+     * @param timeout 超时时间（默认 10s）
+     * @returns Promise，成功时解析为服务响应，失败时拒绝
      */
     call(name: string, serviceType: string, request?: any, timeout?: number): Promise<any>;
 }

package/dist/types/RosManagers.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
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package/package.json CHANGED Viewed

@@ -1,6 +1,6 @@
 {
   "name": "roslib-ts",
-  "version": "1.0.0-beta.2",
+  "version": "1.0.0-beta.4",
   "description": "Stable ROSLIB with EnhancedRos (Beta)",
   "author": "naviai",
   "license": "MIT",