roslib-ts 1.0.0-beta.3 → 1.0.0-beta.5

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Files changed (10) hide show
  1. package/dist/index.cjs.js +90 -34
  2. package/dist/index.cjs.js.map +1 -1
  3. package/dist/index.d.ts +24 -1
  4. package/dist/index.esm.js +90 -34
  5. package/dist/index.esm.js.map +1 -1
  6. package/dist/types/RosManagers.d.ts +24 -2
  7. package/dist/types/RosManagers.d.ts.map +1 -1
  8. package/dist/types/Topic.d.ts +3 -2
  9. package/dist/types/Topic.d.ts.map +1 -1
  10. package/package.json +2 -1
package/dist/index.cjs.js CHANGED
@@ -530,13 +530,14 @@ class Topic extends EventEmitter {
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  /** 发送底层的订阅协议包 */
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  _sendSubscribe() {
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  this.isSubscribed = true;
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- 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 }));
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+ const subscribeMessage = Object.assign(Object.assign(Object.assign({ op: "subscribe", id: "subscribe:" + this.name + ":" + this.ros.getNextId(), 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 }));
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  this.ros.callOnConnection(subscribeMessage);
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  }
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  /** 发送底层的公告协议包 */
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  _sendAdvertise() {
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  this.isAdvertised = true;
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- 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 }));
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+ this.advertiseId = "advertise:" + this.name + ":" + this.ros.getNextId();
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+ const advertiseMessage = Object.assign(Object.assign({ op: "advertise", id: this.advertiseId, topic: this.name, type: this.messageType }, (this.latch && { latch: this.latch })), (this.queue_size && { queue_size: this.queue_size }));
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  this.ros.callOnConnection(advertiseMessage);
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  }
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  /**
@@ -547,16 +548,16 @@ class Topic extends EventEmitter {
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  if (this.isSubscribed)
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  return;
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  // 1. 先尝试移除已有的监听，防止重复挂载
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- this.ros.off('connection', this._reconnectHandler);
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- this.ros.off('close', this._handleClose);
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+ this.ros.off("connection", this._reconnectHandler);
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+ this.ros.off("close", this._handleClose);
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  // 2. 挂载监听
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- this.ros.on('connection', this._reconnectHandler);
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- this.ros.on('close', this._handleClose);
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+ this.ros.on("connection", this._reconnectHandler);
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+ this.ros.on("close", this._handleClose);
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  // 3. 执行物理订阅
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  this._sendSubscribe();
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  // 4. 监听来自 ROS 的消息分发
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  this.ros.on(this.name, (message) => {
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- this.emit('message', message);
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+ this.emit("message", message);
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  if (callback)
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  callback(message);
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  });
@@ -566,7 +567,7 @@ class Topic extends EventEmitter {
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  if (!this.isSubscribed)
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  return;
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  const unsubscribeMessage = {
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- op: 'unsubscribe',
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+ op: "unsubscribe",
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  topic: this.name,
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  };
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  this.ros.callOnConnection(unsubscribeMessage);
@@ -574,17 +575,17 @@ class Topic extends EventEmitter {
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  // 彻底清理：移除重连监听和消息监听
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  this.ros.off(this.name);
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  if (!this.isAdvertised) {
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- this.ros.off('connection', this._reconnectHandler);
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- this.ros.off('close', this._handleClose);
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+ this.ros.off("connection", this._reconnectHandler);
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+ this.ros.off("close", this._handleClose);
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  }
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  }
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  /** 公告话题（作为发布者） */
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  advertise() {
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  if (this.isAdvertised)
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  return;
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- this.ros.off('connection', this._reconnectHandler);
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- this.ros.on('connection', this._reconnectHandler);
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- this.ros.on('close', this._handleClose);
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+ this.ros.off("connection", this._reconnectHandler);
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+ this.ros.on("connection", this._reconnectHandler);
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+ this.ros.on("close", this._handleClose);
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  this._sendAdvertise();
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  }
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  /** 取消公告 */
@@ -592,15 +593,16 @@ class Topic extends EventEmitter {
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  if (!this.isAdvertised)
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  return;
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  const unadvertiseMessage = {
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- op: 'unadvertise',
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+ op: "unadvertise",
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+ id: this.advertiseId,
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  topic: this.name,
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  };
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  this.ros.callOnConnection(unadvertiseMessage);
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  this.isAdvertised = false;
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  // 如果当前也没有订阅，则可以安全移除重连处理器
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  if (!this.isSubscribed) {
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- this.ros.off('connection', this._reconnectHandler);
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- this.ros.off('close', this._handleClose);
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+ this.ros.off("connection", this._reconnectHandler);
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+ this.ros.off("close", this._handleClose);
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  }
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  }
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  /** 发布消息 */
@@ -609,9 +611,11 @@ class Topic extends EventEmitter {
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  this.advertise();
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  }
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  const publishMessage = {
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- op: 'publish',
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+ op: "publish",
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+ id: "publish:" + this.name + ":" + this.ros.getNextId(),
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  topic: this.name,
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  msg: message,
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+ latch: this.latch,
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  };
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  this.ros.callOnConnection(publishMessage);
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  }
@@ -834,11 +838,18 @@ class Param {
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  class TopicManager {
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  constructor(ros) {
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  this.topics = new Map();
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+ this.pubTopics = new Map();
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  this.ros = ros;
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  }
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+ /**
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+ * 订阅指定主题
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+ * @param name 主题名称
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+ * @param messageType 消息类型
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+ * @param callback 回调函数，当收到消息时调用
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+ */
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  subscribe(name, messageType, callback) {
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  if (!this.ros) {
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- throw new Error('ros instance is not initialized');
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+ throw new Error("ros instance is not initialized");
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  }
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  if (!this.ros.isConnected) {
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  console.warn(`ROS not connected, cannot subscribe to ${name}, ${name} in messageQueue when ros reconnected`);
@@ -891,19 +902,59 @@ class TopicManager {
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  });
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  });
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  }
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- publish(name, messageType, data) {
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- if (!this.ros) {
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- throw new Error('ros instance is not initialized');
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- }
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- if (!this.ros.isConnected) {
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- console.warn(`ROS not connected, cannot publish to ${name}, ${name} in messageQueue when ros reconnected`);
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- }
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- const chatter = new Topic({
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- ros: this.ros,
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- name,
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- messageType
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+ /**
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+ * 发布消息到指定主题
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+ * @param name 主题名称
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+ * @param messageType 消息类型
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+ * @param data 要发布的数据
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+ * @param queueWhenOffline 是否在 ROS 连接时队列消息（默认 false）
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+ * @returns Promise，成功时解析为 undefined，失败时拒绝
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+ */
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+ publish(name, messageType, data, queueWhenOffline = false) {
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+ return new Promise((resolve, reject) => {
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+ if (!this.ros) {
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+ reject(new Error("ros instance is not initialized"));
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+ return;
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+ }
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+ if (!this.ros.isConnected) {
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+ if (!queueWhenOffline) {
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+ reject(new Error(`ROS not connected, cannot publish to ${name}`));
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+ return;
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+ }
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+ console.warn(`ROS not connected, cannot publish to ${name}, ${name} in messageQueue when ros reconnected`);
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+ }
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+ // 已存在，添加回调即可
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+ if (this.pubTopics.has(name)) {
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+ const managed = this.pubTopics.get(name);
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+ managed.topic.publish(data);
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+ resolve(undefined);
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+ return;
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+ }
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+ const chatter = new Topic({
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+ ros: this.ros,
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+ name,
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+ messageType,
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+ });
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+ this.pubTopics.set(name, {
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+ topic: chatter,
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+ messageType,
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+ });
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+ chatter.publish(data);
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+ resolve(undefined);
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+ });
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+ }
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+ unadvertise(name) {
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+ const managed = this.pubTopics.get(name);
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+ if (!managed)
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+ return;
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+ managed.topic.unadvertise();
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+ this.pubTopics.delete(name);
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+ }
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+ unadvertiseAll() {
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+ this.pubTopics.forEach((managed) => {
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+ managed.topic.unadvertise();
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  });
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- chatter.publish({ data: data });
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+ this.pubTopics.clear();
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  }
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  }
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  class ServiceManager {
@@ -914,11 +965,16 @@ class ServiceManager {
914
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  }
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  /**
916
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  * 调用服务（每次直接创建 Service 实例，带统一超时）
968
+ * @param name 服务名称
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+ * @param serviceType 服务类型
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+ * @param request 服务请求数据（可选）
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+ * @param timeout 超时时间（默认 10s）
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+ * @returns Promise，成功时解析为服务响应，失败时拒绝
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  */
918
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  call(name, serviceType, request, timeout = this.defaultTimeout) {
919
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  return new Promise((resolve, reject) => {
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  if (!this.ros) {
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- return reject(new Error('ros instance is not initialized'));
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+ return reject(new Error("ros instance is not initialized"));
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  }
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  if (!this.ros.isConnected) {
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  return reject(new Error(`ROS not connected, cannot call service ${name}`));
@@ -969,7 +1025,7 @@ class ParamManager {
969
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  return new Promise((resolve, reject) => {
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  const ros = this.ros;
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  if (!this.ros) {
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- return reject(new Error('ros instance is not initialized'));
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+ return reject(new Error("ros instance is not initialized"));
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  }
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  if (!this.ros.isConnected) {
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  return reject(new Error(`ROS not connected, cannot get param ${name}`));
@@ -996,7 +1052,7 @@ class ParamManager {
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  return new Promise((resolve, reject) => {
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  const ros = this.ros;
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  if (!this.ros) {
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- return reject(new Error('ros instance is not initialized'));
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+ return reject(new Error("ros instance is not initialized"));
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  }
1001
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  if (!this.ros.isConnected) {
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  return reject(new Error(`ROS not connected, cannot set param ${name}`));
@@ -1018,7 +1074,7 @@ class ParamManager {
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  return new Promise((resolve, reject) => {
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  const ros = this.ros;
1020
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  if (!this.ros) {
1021
- return reject(new Error('ros instance is not initialized'));
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+ return reject(new Error("ros instance is not initialized"));
1022
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  }
1023
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  if (!this.ros.isConnected) {
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  return reject(new Error(`ROS not connected, cannot delete param ${name}`));
package/dist/index.cjs.js.map CHANGED
@@ -1 +1 @@
1
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package/dist/index.d.ts CHANGED
@@ -183,6 +183,7 @@ declare class Topic extends EventEmitter {
183
183
  readonly queue_length?: number;
184
184
  private isSubscribed;
185
185
  private isAdvertised;
186
+ private advertiseId?;
186
187
  /** 存储绑定的重连处理器，便于精准卸载 */
187
188
  private _reconnectHandler;
188
189
  constructor(options: TopicOptions);
@@ -267,13 +268,30 @@ declare class Param {
267
268
  type Callback = (msg: any) => void;
268
269
  declare class TopicManager {
269
270
  private topics;
271
+ private pubTopics;
270
272
  private ros;
271
273
  constructor(ros: EnhancedRos);
274
+ /**
275
+ * 订阅指定主题
276
+ * @param name 主题名称
277
+ * @param messageType 消息类型
278
+ * @param callback 回调函数，当收到消息时调用
279
+ */
272
280
  subscribe(name: string, messageType: string, callback: Callback): void;
273
281
  unsubscribe(name: string, callback?: Callback): void;
274
282
  clearAll(): void;
275
283
  resubscribeAll(ros: any): void;
276
- publish(name: string, messageType: string, data: any): void;
284
+ /**
285
+ * 发布消息到指定主题
286
+ * @param name 主题名称
287
+ * @param messageType 消息类型
288
+ * @param data 要发布的数据
289
+ * @param queueWhenOffline 是否在 ROS 连接时队列消息（默认 false）
290
+ * @returns Promise，成功时解析为 undefined，失败时拒绝
291
+ */
292
+ publish(name: string, messageType: string, data: any, queueWhenOffline?: boolean): Promise<unknown>;
293
+ unadvertise(name: string): void;
294
+ unadvertiseAll(): void;
277
295
  }
278
296
  declare class ServiceManager {
279
297
  private ros;
@@ -281,6 +299,11 @@ declare class ServiceManager {
281
299
  constructor(ros: EnhancedRos, timeout?: number);
282
300
  /**
283
301
  * 调用服务（每次直接创建 Service 实例，带统一超时）
302
+ * @param name 服务名称
303
+ * @param serviceType 服务类型
304
+ * @param request 服务请求数据（可选）
305
+ * @param timeout 超时时间（默认 10s）
306
+ * @returns Promise，成功时解析为服务响应，失败时拒绝
284
307
  */
285
308
  call(name: string, serviceType: string, request?: any, timeout?: number): Promise<any>;
286
309
  }
package/dist/index.esm.js CHANGED
@@ -528,13 +528,14 @@ class Topic extends EventEmitter {
528
528
  /** 发送底层的订阅协议包 */
529
529
  _sendSubscribe() {
530
530
  this.isSubscribed = true;
531
- 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 }));
531
+ const subscribeMessage = Object.assign(Object.assign(Object.assign({ op: "subscribe", id: "subscribe:" + this.name + ":" + this.ros.getNextId(), 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 }));
532
532
  this.ros.callOnConnection(subscribeMessage);
533
533
  }
534
534
  /** 发送底层的公告协议包 */
535
535
  _sendAdvertise() {
536
536
  this.isAdvertised = true;
537
- 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 }));
537
+ this.advertiseId = "advertise:" + this.name + ":" + this.ros.getNextId();
538
+ const advertiseMessage = Object.assign(Object.assign({ op: "advertise", id: this.advertiseId, topic: this.name, type: this.messageType }, (this.latch && { latch: this.latch })), (this.queue_size && { queue_size: this.queue_size }));
538
539
  this.ros.callOnConnection(advertiseMessage);
539
540
  }
540
541
  /**
@@ -545,16 +546,16 @@ class Topic extends EventEmitter {
545
546
  if (this.isSubscribed)
546
547
  return;
547
548
  // 1. 先尝试移除已有的监听，防止重复挂载
548
- this.ros.off('connection', this._reconnectHandler);
549
- this.ros.off('close', this._handleClose);
549
+ this.ros.off("connection", this._reconnectHandler);
550
+ this.ros.off("close", this._handleClose);
550
551
  // 2. 挂载监听
551
- this.ros.on('connection', this._reconnectHandler);
552
- this.ros.on('close', this._handleClose);
552
+ this.ros.on("connection", this._reconnectHandler);
553
+ this.ros.on("close", this._handleClose);
553
554
  // 3. 执行物理订阅
554
555
  this._sendSubscribe();
555
556
  // 4. 监听来自 ROS 的消息分发
556
557
  this.ros.on(this.name, (message) => {
557
- this.emit('message', message);
558
+ this.emit("message", message);
558
559
  if (callback)
559
560
  callback(message);
560
561
  });
@@ -564,7 +565,7 @@ class Topic extends EventEmitter {
564
565
  if (!this.isSubscribed)
565
566
  return;
566
567
  const unsubscribeMessage = {
567
- op: 'unsubscribe',
568
+ op: "unsubscribe",
568
569
  topic: this.name,
569
570
  };
570
571
  this.ros.callOnConnection(unsubscribeMessage);
@@ -572,17 +573,17 @@ class Topic extends EventEmitter {
572
573
  // 彻底清理：移除重连监听和消息监听
573
574
  this.ros.off(this.name);
574
575
  if (!this.isAdvertised) {
575
- this.ros.off('connection', this._reconnectHandler);
576
- this.ros.off('close', this._handleClose);
576
+ this.ros.off("connection", this._reconnectHandler);
577
+ this.ros.off("close", this._handleClose);
577
578
  }
578
579
  }
579
580
  /** 公告话题（作为发布者） */
580
581
  advertise() {
581
582
  if (this.isAdvertised)
582
583
  return;
583
- this.ros.off('connection', this._reconnectHandler);
584
- this.ros.on('connection', this._reconnectHandler);
585
- this.ros.on('close', this._handleClose);
584
+ this.ros.off("connection", this._reconnectHandler);
585
+ this.ros.on("connection", this._reconnectHandler);
586
+ this.ros.on("close", this._handleClose);
586
587
  this._sendAdvertise();
587
588
  }
588
589
  /** 取消公告 */
@@ -590,15 +591,16 @@ class Topic extends EventEmitter {
590
591
  if (!this.isAdvertised)
591
592
  return;
592
593
  const unadvertiseMessage = {
593
- op: 'unadvertise',
594
+ op: "unadvertise",
595
+ id: this.advertiseId,
594
596
  topic: this.name,
595
597
  };
596
598
  this.ros.callOnConnection(unadvertiseMessage);
597
599
  this.isAdvertised = false;
598
600
  // 如果当前也没有订阅，则可以安全移除重连处理器
599
601
  if (!this.isSubscribed) {
600
- this.ros.off('connection', this._reconnectHandler);
601
- this.ros.off('close', this._handleClose);
602
+ this.ros.off("connection", this._reconnectHandler);
603
+ this.ros.off("close", this._handleClose);
602
604
  }
603
605
  }
604
606
  /** 发布消息 */
@@ -607,9 +609,11 @@ class Topic extends EventEmitter {
607
609
  this.advertise();
608
610
  }
609
611
  const publishMessage = {
610
- op: 'publish',
612
+ op: "publish",
613
+ id: "publish:" + this.name + ":" + this.ros.getNextId(),
611
614
  topic: this.name,
612
615
  msg: message,
616
+ latch: this.latch,
613
617
  };
614
618
  this.ros.callOnConnection(publishMessage);
615
619
  }
@@ -832,11 +836,18 @@ class Param {
832
836
  class TopicManager {
833
837
  constructor(ros) {
834
838
  this.topics = new Map();
839
+ this.pubTopics = new Map();
835
840
  this.ros = ros;
836
841
  }
842
+ /**
843
+ * 订阅指定主题
844
+ * @param name 主题名称
845
+ * @param messageType 消息类型
846
+ * @param callback 回调函数，当收到消息时调用
847
+ */
837
848
  subscribe(name, messageType, callback) {
838
849
  if (!this.ros) {
839
- throw new Error('ros instance is not initialized');
850
+ throw new Error("ros instance is not initialized");
840
851
  }
841
852
  if (!this.ros.isConnected) {
842
853
  console.warn(`ROS not connected, cannot subscribe to ${name}, ${name} in messageQueue when ros reconnected`);
@@ -889,19 +900,59 @@ class TopicManager {
889
900
  });
890
901
  });
891
902
  }
892
- publish(name, messageType, data) {
893
- if (!this.ros) {
894
- throw new Error('ros instance is not initialized');
895
- }
896
- if (!this.ros.isConnected) {
897
- console.warn(`ROS not connected, cannot publish to ${name}, ${name} in messageQueue when ros reconnected`);
898
- }
899
- const chatter = new Topic({
900
- ros: this.ros,
901
- name,
902
- messageType
903
+ /**
904
+ * 发布消息到指定主题
905
+ * @param name 主题名称
906
+ * @param messageType 消息类型
907
+ * @param data 要发布的数据
908
+ * @param queueWhenOffline 是否在 ROS 连接时队列消息（默认 false）
909
+ * @returns Promise，成功时解析为 undefined，失败时拒绝
910
+ */
911
+ publish(name, messageType, data, queueWhenOffline = false) {
912
+ return new Promise((resolve, reject) => {
913
+ if (!this.ros) {
914
+ reject(new Error("ros instance is not initialized"));
915
+ return;
916
+ }
917
+ if (!this.ros.isConnected) {
918
+ if (!queueWhenOffline) {
919
+ reject(new Error(`ROS not connected, cannot publish to ${name}`));
920
+ return;
921
+ }
922
+ console.warn(`ROS not connected, cannot publish to ${name}, ${name} in messageQueue when ros reconnected`);
923
+ }
924
+ // 已存在，添加回调即可
925
+ if (this.pubTopics.has(name)) {
926
+ const managed = this.pubTopics.get(name);
927
+ managed.topic.publish(data);
928
+ resolve(undefined);
929
+ return;
930
+ }
931
+ const chatter = new Topic({
932
+ ros: this.ros,
933
+ name,
934
+ messageType,
935
+ });
936
+ this.pubTopics.set(name, {
937
+ topic: chatter,
938
+ messageType,
939
+ });
940
+ chatter.publish(data);
941
+ resolve(undefined);
942
+ });
943
+ }
944
+ unadvertise(name) {
945
+ const managed = this.pubTopics.get(name);
946
+ if (!managed)
947
+ return;
948
+ managed.topic.unadvertise();
949
+ this.pubTopics.delete(name);
950
+ }
951
+ unadvertiseAll() {
952
+ this.pubTopics.forEach((managed) => {
953
+ managed.topic.unadvertise();
903
954
  });
904
- chatter.publish({ data: data });
955
+ this.pubTopics.clear();
905
956
  }
906
957
  }
907
958
  class ServiceManager {
@@ -912,11 +963,16 @@ class ServiceManager {
912
963
  }
913
964
  /**
914
965
  * 调用服务（每次直接创建 Service 实例，带统一超时）
966
+ * @param name 服务名称
967
+ * @param serviceType 服务类型
968
+ * @param request 服务请求数据（可选）
969
+ * @param timeout 超时时间（默认 10s）
970
+ * @returns Promise，成功时解析为服务响应，失败时拒绝
915
971
  */
916
972
  call(name, serviceType, request, timeout = this.defaultTimeout) {
917
973
  return new Promise((resolve, reject) => {
918
974
  if (!this.ros) {
919
- return reject(new Error('ros instance is not initialized'));
975
+ return reject(new Error("ros instance is not initialized"));
920
976
  }
921
977
  if (!this.ros.isConnected) {
922
978
  return reject(new Error(`ROS not connected, cannot call service ${name}`));
@@ -967,7 +1023,7 @@ class ParamManager {
967
1023
  return new Promise((resolve, reject) => {
968
1024
  const ros = this.ros;
969
1025
  if (!this.ros) {
970
- return reject(new Error('ros instance is not initialized'));
1026
+ return reject(new Error("ros instance is not initialized"));
971
1027
  }
972
1028
  if (!this.ros.isConnected) {
973
1029
  return reject(new Error(`ROS not connected, cannot get param ${name}`));
@@ -994,7 +1050,7 @@ class ParamManager {
994
1050
  return new Promise((resolve, reject) => {
995
1051
  const ros = this.ros;
996
1052
  if (!this.ros) {
997
- return reject(new Error('ros instance is not initialized'));
1053
+ return reject(new Error("ros instance is not initialized"));
998
1054
  }
999
1055
  if (!this.ros.isConnected) {
1000
1056
  return reject(new Error(`ROS not connected, cannot set param ${name}`));
@@ -1016,7 +1072,7 @@ class ParamManager {
1016
1072
  return new Promise((resolve, reject) => {
1017
1073
  const ros = this.ros;
1018
1074
  if (!this.ros) {
1019
- return reject(new Error('ros instance is not initialized'));
1075
+ return reject(new Error("ros instance is not initialized"));
1020
1076
  }
1021
1077
  if (!this.ros.isConnected) {
1022
1078
  return reject(new Error(`ROS not connected, cannot delete param ${name}`));
package/dist/index.esm.js.map CHANGED
@@ -1 +1 @@
1
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package/dist/types/RosManagers.d.ts CHANGED
@@ -1,14 +1,31 @@
1
- import { default as EnhancedRos } from './EnhancedRos';
1
+ import { default as EnhancedRos } from "./EnhancedRos";
2
2
  type Callback = (msg: any) => void;
3
3
  export declare class TopicManager {
4
4
  private topics;
5
+ private pubTopics;
5
6
  private ros;
6
7
  constructor(ros: EnhancedRos);
8
+ /**
9
+ * 订阅指定主题
10
+ * @param name 主题名称
11
+ * @param messageType 消息类型
12
+ * @param callback 回调函数，当收到消息时调用
13
+ */
7
14
  subscribe(name: string, messageType: string, callback: Callback): void;
8
15
  unsubscribe(name: string, callback?: Callback): void;
9
16
  clearAll(): void;
10
17
  resubscribeAll(ros: any): void;
11
- publish(name: string, messageType: string, data: any): void;
18
+ /**
19
+ * 发布消息到指定主题
20
+ * @param name 主题名称
21
+ * @param messageType 消息类型
22
+ * @param data 要发布的数据
23
+ * @param queueWhenOffline 是否在 ROS 连接时队列消息（默认 false）
24
+ * @returns Promise，成功时解析为 undefined，失败时拒绝
25
+ */
26
+ publish(name: string, messageType: string, data: any, queueWhenOffline?: boolean): Promise<unknown>;
27
+ unadvertise(name: string): void;
28
+ unadvertiseAll(): void;
12
29
  }
13
30
  export declare class ServiceManager {
14
31
  private ros;
@@ -16,6 +33,11 @@ export declare class ServiceManager {
16
33
  constructor(ros: EnhancedRos, timeout?: number);
17
34
  /**
18
35
  * 调用服务（每次直接创建 Service 实例，带统一超时）
36
+ * @param name 服务名称
37
+ * @param serviceType 服务类型
38
+ * @param request 服务请求数据（可选）
39
+ * @param timeout 超时时间（默认 10s）
40
+ * @returns Promise，成功时解析为服务响应，失败时拒绝
19
41
  */
20
42
  call(name: string, serviceType: string, request?: any, timeout?: number): Promise<any>;
21
43
  }
package/dist/types/RosManagers.d.ts.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"RosManagers.d.ts","sourceRoot":"","sources":["../../src/RosManagers.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,OAAO,IAAI,WAAW,EAAoB,MAAM,eAAe,CAAC;AAOzE,KAAK,QAAQ,GAAG,CAAC,GAAG,EAAE,GAAG,KAAK,IAAI,CAAC;AAQnC,qBAAa,YAAY;IACvB,OAAO,CAAC,MAAM,CAAwC;IACtD,OAAO,CAAC,GAAG,CAAc;gBAEb,GAAG,EAAE,WAAW;IAI5B,SAAS,CAAC,IAAI,EAAE,MAAM,EAAE,WAAW,EAAE,MAAM,EAAE,QAAQ,EAAE,QAAQ;IA2B/D,WAAW,CAAC,IAAI,EAAE,MAAM,EAAE,QAAQ,CAAC,EAAE,QAAQ;IAkB7C,QAAQ;IAOR,cAAc,CAAC,GAAG,EAAE,GAAG;IAWvB,OAAO,CAAC,IAAI,EAAE,MAAM,EAAE,WAAW,EAAE,MAAM,EAAE,IAAI,EAAE,GAAG;CAcrD;AACD,qBAAa,cAAc;IACzB,OAAO,CAAC,GAAG,CAAc;IACzB,OAAO,CAAC,QAAQ,CAAC,cAAc,CAAiB;gBAEpC,GAAG,EAAE,WAAW,EAAE,OAAO,SAAQ;IAK7C;;OAEG;IACH,IAAI,CACF,IAAI,EAAE,MAAM,EACZ,WAAW,EAAE,MAAM,EACnB,OAAO,CAAC,EAAE,GAAG,EACb,OAAO,SAAsB,GAC5B,OAAO,CAAC,GAAG,CAAC;CAgDhB;AAED,qBAAa,YAAY;IACvB,OAAO,CAAC,GAAG,CAAc;IACzB,OAAO,CAAC,QAAQ,CAAC,cAAc,CAAiB;gBAEpC,GAAG,EAAE,WAAW,EAAE,OAAO,SAAQ;IAI7C;;OAEG;IACH,GAAG,CAAC,IAAI,EAAE,MAAM,EAAE,OAAO,GAAE,MAA4B,GAAG,OAAO,CAAC,GAAG,CAAC;IA6BtE;;OAEG;IACH,GAAG,CAAC,IAAI,EAAE,MAAM,EAAE,KAAK,EAAE,GAAG,GAAG,OAAO,CAAC,IAAI,CAAC;IAsB5C;;OAEG;IACH,MAAM,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;CAoBpC"}
1
+ {"version":3,"file":"RosManagers.d.ts","sourceRoot":"","sources":["../../src/RosManagers.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,OAAO,IAAI,WAAW,EAAoB,MAAM,eAAe,CAAC;AAMzE,KAAK,QAAQ,GAAG,CAAC,GAAG,EAAE,GAAG,KAAK,IAAI,CAAC;AAQnC,qBAAa,YAAY;IACvB,OAAO,CAAC,MAAM,CAAwC;IACtD,OAAO,CAAC,SAAS,CAA4D;IAC7E,OAAO,CAAC,GAAG,CAAc;gBAEb,GAAG,EAAE,WAAW;IAG5B;;;;;OAKG;IACH,SAAS,CAAC,IAAI,EAAE,MAAM,EAAE,WAAW,EAAE,MAAM,EAAE,QAAQ,EAAE,QAAQ;IA6B/D,WAAW,CAAC,IAAI,EAAE,MAAM,EAAE,QAAQ,CAAC,EAAE,QAAQ;IAkB7C,QAAQ;IAOR,cAAc,CAAC,GAAG,EAAE,GAAG;IAUvB;;;;;;;OAOG;IACH,OAAO,CACL,IAAI,EAAE,MAAM,EACZ,WAAW,EAAE,MAAM,EACnB,IAAI,EAAE,GAAG,EACT,gBAAgB,UAAQ;IAqC1B,WAAW,CAAC,IAAI,EAAE,MAAM;IAOxB,cAAc;CAMf;AACD,qBAAa,cAAc;IACzB,OAAO,CAAC,GAAG,CAAc;IACzB,OAAO,CAAC,QAAQ,CAAC,cAAc,CAAiB;gBAEpC,GAAG,EAAE,WAAW,EAAE,OAAO,SAAQ;IAK7C;;;;;;;OAOG;IACH,IAAI,CACF,IAAI,EAAE,MAAM,EACZ,WAAW,EAAE,MAAM,EACnB,OAAO,CAAC,EAAE,GAAG,EACb,OAAO,SAAsB,GAC5B,OAAO,CAAC,GAAG,CAAC;CAkDhB;AAED,qBAAa,YAAY;IACvB,OAAO,CAAC,GAAG,CAAc;IACzB,OAAO,CAAC,QAAQ,CAAC,cAAc,CAAiB;gBAEpC,GAAG,EAAE,WAAW,EAAE,OAAO,SAAQ;IAI7C;;OAEG;IACH,GAAG,CAAC,IAAI,EAAE,MAAM,EAAE,OAAO,GAAE,MAA4B,GAAG,OAAO,CAAC,GAAG,CAAC;IA6BtE;;OAEG;IACH,GAAG,CAAC,IAAI,EAAE,MAAM,EAAE,KAAK,EAAE,GAAG,GAAG,OAAO,CAAC,IAAI,CAAC;IAsB5C;;OAEG;IACH,MAAM,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,CAAC,IAAI,CAAC;CAsBpC"}
package/dist/types/Topic.d.ts CHANGED
@@ -1,5 +1,5 @@
1
- import EventEmitter from './EventEmitter';
2
- import { RosLike } from './Ros';
1
+ import EventEmitter from "./EventEmitter";
2
+ import { RosLike } from "./Ros";
3
3
  interface TopicOptions {
4
4
  ros: RosLike;
5
5
  name: string;
@@ -21,6 +21,7 @@ export default class Topic extends EventEmitter {
21
21
  readonly queue_length?: number;
22
22
  private isSubscribed;
23
23
  private isAdvertised;
24
+ private advertiseId?;
24
25
  /** 存储绑定的重连处理器，便于精准卸载 */
25
26
  private _reconnectHandler;
26
27
  constructor(options: TopicOptions);
package/dist/types/Topic.d.ts.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"Topic.d.ts","sourceRoot":"","sources":["../../src/Topic.ts"],"names":[],"mappings":"AAAA,OAAO,YAAY,MAAM,gBAAgB,CAAC;AAC1C,OAAO,EAAE,OAAO,EAAE,MAAM,OAAO,CAAC;AAEhC,UAAU,YAAY;IACpB,GAAG,EAAE,OAAO,CAAC;IACb,IAAI,EAAE,MAAM,CAAC;IACb,WAAW,EAAE,MAAM,CAAC;IACpB,WAAW,CAAC,EAAE,MAAM,CAAC;IACrB,aAAa,CAAC,EAAE,MAAM,CAAC;IACvB,UAAU,CAAC,EAAE,MAAM,CAAC;IACpB,KAAK,CAAC,EAAE,OAAO,CAAC;IAChB,YAAY,CAAC,EAAE,MAAM,CAAC;CACvB;AAED,MAAM,CAAC,OAAO,OAAO,KAAM,SAAQ,YAAY;IAC7C,SAAgB,GAAG,EAAE,OAAO,CAAC;IAC7B,SAAgB,IAAI,EAAE,MAAM,CAAC;IAC7B,SAAgB,WAAW,EAAE,MAAM,CAAC;IAEpC,SAAgB,WAAW,CAAC,EAAE,MAAM,CAAC;IAErC,SAAgB,aAAa,CAAC,EAAE,MAAM,CAAC;IAEvC,SAAgB,UAAU,CAAC,EAAE,MAAM,CAAC;IAEpC,SAAgB,KAAK,CAAC,EAAE,OAAO,CAAC;IAEhC,SAAgB,YAAY,CAAC,EAAE,MAAM,CAAC;IACtC,OAAO,CAAC,YAAY,CAAS;IAC7B,OAAO,CAAC,YAAY,CAAS;IAC/B,wBAAwB;IACtB,OAAO,CAAC,iBAAiB,CAAa;gBAE1B,OAAO,EAAE,YAAY;IAuBjC,iBAAiB;IACjB,OAAO,CAAC,cAAc;IAatB,iBAAiB;IACjB,OAAO,CAAC,cAAc;IAYtB;;;OAGG;IACH,SAAS,CAAC,QAAQ,CAAC,EAAE,CAAC,OAAO,EAAE,GAAG,KAAK,IAAI,GAAG,IAAI;IAqBlD,WAAW;IACX,WAAW,IAAI,IAAI;IAoBnB,kBAAkB;IAClB,SAAS,IAAI,IAAI;IAUjB,WAAW;IACX,WAAW,IAAI,IAAI;IAkBnB,WAAW;IACX,OAAO,CAAC,OAAO,EAAE,GAAG,GAAG,IAAI;IAc3B,wBAAwB;IACxB,OAAO,CAAC,YAAY,CAGlB;CACH"}
1
+ {"version":3,"file":"Topic.d.ts","sourceRoot":"","sources":["../../src/Topic.ts"],"names":[],"mappings":"AAAA,OAAO,YAAY,MAAM,gBAAgB,CAAC;AAC1C,OAAO,EAAE,OAAO,EAAE,MAAM,OAAO,CAAC;AAEhC,UAAU,YAAY;IACpB,GAAG,EAAE,OAAO,CAAC;IACb,IAAI,EAAE,MAAM,CAAC;IACb,WAAW,EAAE,MAAM,CAAC;IACpB,WAAW,CAAC,EAAE,MAAM,CAAC;IACrB,aAAa,CAAC,EAAE,MAAM,CAAC;IACvB,UAAU,CAAC,EAAE,MAAM,CAAC;IACpB,KAAK,CAAC,EAAE,OAAO,CAAC;IAChB,YAAY,CAAC,EAAE,MAAM,CAAC;CACvB;AAED,MAAM,CAAC,OAAO,OAAO,KAAM,SAAQ,YAAY;IAC7C,SAAgB,GAAG,EAAE,OAAO,CAAC;IAC7B,SAAgB,IAAI,EAAE,MAAM,CAAC;IAC7B,SAAgB,WAAW,EAAE,MAAM,CAAC;IAEpC,SAAgB,WAAW,CAAC,EAAE,MAAM,CAAC;IAErC,SAAgB,aAAa,CAAC,EAAE,MAAM,CAAC;IAEvC,SAAgB,UAAU,CAAC,EAAE,MAAM,CAAC;IAEpC,SAAgB,KAAK,CAAC,EAAE,OAAO,CAAC;IAEhC,SAAgB,YAAY,CAAC,EAAE,MAAM,CAAC;IACtC,OAAO,CAAC,YAAY,CAAS;IAC7B,OAAO,CAAC,YAAY,CAAS;IAC7B,OAAO,CAAC,WAAW,CAAC,CAAS;IAC7B,wBAAwB;IACxB,OAAO,CAAC,iBAAiB,CAAa;gBAE1B,OAAO,EAAE,YAAY;IAuBjC,iBAAiB;IACjB,OAAO,CAAC,cAAc;IActB,iBAAiB;IACjB,OAAO,CAAC,cAAc;IActB;;;OAGG;IACH,SAAS,CAAC,QAAQ,CAAC,EAAE,CAAC,OAAO,EAAE,GAAG,KAAK,IAAI,GAAG,IAAI;IAqBlD,WAAW;IACX,WAAW,IAAI,IAAI;IAoBnB,kBAAkB;IAClB,SAAS,IAAI,IAAI;IAUjB,WAAW;IACX,WAAW,IAAI,IAAI;IAmBnB,WAAW;IACX,OAAO,CAAC,OAAO,EAAE,GAAG,GAAG,IAAI;IAgB3B,wBAAwB;IACxB,OAAO,CAAC,YAAY,CAGlB;CACH"}
package/package.json CHANGED
@@ -1,6 +1,6 @@
1
1
  {
2
2
  "name": "roslib-ts",
3
- "version": "1.0.0-beta.3",
3
+ "version": "1.0.0-beta.5",
4
4
  "description": "Stable ROSLIB with EnhancedRos (Beta)",
5
5
  "author": "naviai",
6
6
  "license": "MIT",
@@ -36,6 +36,7 @@
36
36
  ],
37
37
  "scripts": {
38
38
  "build": "rollup -c",
39
+ "dev": "rollup -c -w",
39
40
  "prepublishOnly": "pnpm build"
40
41
  },
41
42
  "keywords": [