npm - roslib-ts - Versions diffs - 1.0.0-beta.4 → 1.0.0-beta.6 - Mend

roslib-ts 1.0.0-beta.4 → 1.0.0-beta.6

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 +54 -26
package/dist/index.cjs.js.map +1 -1
package/dist/index.d.ts +9 -2
package/dist/index.esm.js +54 -26
package/dist/index.esm.js.map +1 -1
package/dist/types/RosManagers.d.ts +9 -2
package/dist/types/RosManagers.d.ts.map +1 -1
package/dist/types/Topic.d.ts +4 -4
package/dist/types/Topic.d.ts.map +1 -1
package/package.json +2 -1

package/dist/index.cjs.js CHANGED Viewed

@@ -530,13 +530,14 @@ class Topic extends EventEmitter {
     /** 发送底层的订阅协议包 */
     _sendSubscribe() {
         this.isSubscribed = true;
-        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 }));
+        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 }));
         this.ros.callOnConnection(subscribeMessage);
     }
     /** 发送底层的公告协议包 */
     _sendAdvertise() {
         this.isAdvertised = true;
-        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.advertiseId = "advertise:" + this.name + ":" + this.ros.getNextId();
+        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 }));
         this.ros.callOnConnection(advertiseMessage);
     }
     /**
@@ -547,16 +548,16 @@ class Topic extends EventEmitter {
         if (this.isSubscribed)
             return;
         // 1. 先尝试移除已有的监听，防止重复挂载
-        this.ros.off('connection', this._reconnectHandler);
-        this.ros.off('close', this._handleClose);
+        this.ros.off("connection", this._reconnectHandler);
+        this.ros.off("close", this._handleClose);
         // 2. 挂载监听
-        this.ros.on('connection', this._reconnectHandler);
-        this.ros.on('close', this._handleClose);
+        this.ros.on("connection", this._reconnectHandler);
+        this.ros.on("close", this._handleClose);
         // 3. 执行物理订阅
         this._sendSubscribe();
         // 4. 监听来自 ROS 的消息分发
         this.ros.on(this.name, (message) => {
-            this.emit('message', message);
+            this.emit("message", message);
             if (callback)
                 callback(message);
         });
@@ -566,7 +567,7 @@ class Topic extends EventEmitter {
         if (!this.isSubscribed)
             return;
         const unsubscribeMessage = {
-            op: 'unsubscribe',
+            op: "unsubscribe",
             topic: this.name,
         };
         this.ros.callOnConnection(unsubscribeMessage);
@@ -574,17 +575,17 @@ class Topic extends EventEmitter {
         // 彻底清理：移除重连监听和消息监听
         this.ros.off(this.name);
         if (!this.isAdvertised) {
-            this.ros.off('connection', this._reconnectHandler);
-            this.ros.off('close', this._handleClose);
+            this.ros.off("connection", this._reconnectHandler);
+            this.ros.off("close", this._handleClose);
         }
     }
     /** 公告话题（作为发布者） */
     advertise() {
         if (this.isAdvertised)
             return;
-        this.ros.off('connection', this._reconnectHandler);
-        this.ros.on('connection', this._reconnectHandler);
-        this.ros.on('close', this._handleClose);
+        this.ros.off("connection", this._reconnectHandler);
+        this.ros.on("connection", this._reconnectHandler);
+        this.ros.on("close", this._handleClose);
         this._sendAdvertise();
     }
     /** 取消公告 */
@@ -592,15 +593,16 @@ class Topic extends EventEmitter {
         if (!this.isAdvertised)
             return;
         const unadvertiseMessage = {
-            op: 'unadvertise',
+            op: "unadvertise",
+            id: this.advertiseId,
             topic: this.name,
         };
         this.ros.callOnConnection(unadvertiseMessage);
         this.isAdvertised = false;
         // 如果当前也没有订阅，则可以安全移除重连处理器
         if (!this.isSubscribed) {
-            this.ros.off('connection', this._reconnectHandler);
-            this.ros.off('close', this._handleClose);
+            this.ros.off("connection", this._reconnectHandler);
+            this.ros.off("close", this._handleClose);
         }
     }
     /** 发布消息 */
@@ -609,9 +611,11 @@ class Topic extends EventEmitter {
             this.advertise();
         }
         const publishMessage = {
-            op: 'publish',
+            op: "publish",
+            id: "publish:" + this.name + ":" + this.ros.getNextId(),
             topic: this.name,
             msg: message,
+            latch: this.latch,
         };
         this.ros.callOnConnection(publishMessage);
     }
@@ -834,6 +838,7 @@ class Param {
 class TopicManager {
     constructor(ros) {
         this.topics = new Map();
+        this.pubTopics = new Map();
         this.ros = ros;
     }
     /**
@@ -841,8 +846,9 @@ class TopicManager {
      * @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
+     * @param config 订阅配置选项（可选）
      */
-    subscribe(name, messageType, callback) {
+    subscribe(name, messageType, callback, config) {
         if (!this.ros) {
             throw new Error("ros instance is not initialized");
         }
@@ -856,13 +862,13 @@ class TopicManager {
             return;
         }
         // 创建新 topic
-        const topic = new Topic({ ros: this.ros, name, messageType });
+        const topic = new Topic(Object.assign({ ros: this.ros, name, messageType }, config));
         const callbacks = new Set();
         callbacks.add(callback);
         topic.subscribe((msg) => {
             callbacks.forEach((cb) => cb(msg));
         });
-        this.topics.set(name, { topic, callbacks, messageType });
+        this.topics.set(name, { topic, callbacks, messageType, config });
     }
     unsubscribe(name, callback) {
         const managed = this.topics.get(name);
@@ -890,7 +896,7 @@ class TopicManager {
     }
     resubscribeAll(ros) {
         this.topics.forEach((managed, name) => {
-            const topic = new Topic({ ros, name, messageType: managed.messageType });
+            const topic = new Topic(Object.assign({ ros, name, messageType: managed.messageType }, managed.config));
             managed.topic = topic;
             topic.subscribe((msg) => {
                 managed.callbacks.forEach((cb) => cb(msg));
@@ -902,10 +908,11 @@ class TopicManager {
      * @param name 主题名称
      * @param messageType 消息类型
      * @param data 要发布的数据
+     * @param config 发布配置选项（可选）
      * @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) {
+    publish(name, messageType, data, config, queueWhenOffline = false) {
         return new Promise((resolve, reject) => {
             if (!this.ros) {
                 reject(new Error("ros instance is not initialized"));
@@ -918,15 +925,36 @@ class TopicManager {
                 }
                 console.warn(`ROS not connected, cannot publish to ${name}, ${name} in messageQueue when ros reconnected`);
             }
-            const chatter = new Topic({
-                ros: this.ros,
-                name,
+            // 已存在，添加回调即可
+            if (this.pubTopics.has(name)) {
+                const managed = this.pubTopics.get(name);
+                managed.topic.publish(data);
+                resolve(undefined);
+                return;
+            }
+            const chatter = new Topic(Object.assign({ ros: this.ros, name,
+                messageType }, config));
+            this.pubTopics.set(name, {
+                topic: chatter,
                 messageType,
             });
-            chatter.publish({ data: data });
+            chatter.publish(data);
             resolve(undefined);
         });
     }
+    unadvertise(name) {
+        const managed = this.pubTopics.get(name);
+        if (!managed)
+            return;
+        managed.topic.unadvertise();
+        this.pubTopics.delete(name);
+    }
+    unadvertiseAll() {
+        this.pubTopics.forEach((managed) => {
+            managed.topic.unadvertise();
+        });
+        this.pubTopics.clear();
+    }
 }
 class ServiceManager {
     constructor(ros, timeout = 10000) {

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

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

@@ -183,6 +183,7 @@ declare class Topic extends EventEmitter {
     readonly queue_length?: number;
     private isSubscribed;
     private isAdvertised;
+    private advertiseId?;
     /** 存储绑定的重连处理器，便于精准卸载 */
     private _reconnectHandler;
     constructor(options: TopicOptions);
@@ -265,8 +266,10 @@ declare class Param {
 }
 type Callback = (msg: any) => void;
+type TopicConfigOptions = Omit<TopicOptions, 'ros' | 'name' | 'messageType'>;
 declare class TopicManager {
     private topics;
+    private pubTopics;
     private ros;
     constructor(ros: EnhancedRos);
     /**
@@ -274,8 +277,9 @@ declare class TopicManager {
      * @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
+     * @param config 订阅配置选项（可选）
      */
-    subscribe(name: string, messageType: string, callback: Callback): void;
+    subscribe(name: string, messageType: string, callback: Callback, config?: TopicConfigOptions): void;
     unsubscribe(name: string, callback?: Callback): void;
     clearAll(): void;
     resubscribeAll(ros: any): void;
@@ -284,10 +288,13 @@ declare class TopicManager {
      * @param name 主题名称
      * @param messageType 消息类型
      * @param data 要发布的数据
+     * @param config 发布配置选项（可选）
      * @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>;
+    publish(name: string, messageType: string, data: any, config?: TopicConfigOptions, queueWhenOffline?: boolean): Promise<unknown>;
+    unadvertise(name: string): void;
+    unadvertiseAll(): void;
 }
 declare class ServiceManager {
     private ros;

package/dist/index.esm.js CHANGED Viewed

@@ -528,13 +528,14 @@ class Topic extends EventEmitter {
     /** 发送底层的订阅协议包 */
     _sendSubscribe() {
         this.isSubscribed = true;
-        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 }));
+        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 }));
         this.ros.callOnConnection(subscribeMessage);
     }
     /** 发送底层的公告协议包 */
     _sendAdvertise() {
         this.isAdvertised = true;
-        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.advertiseId = "advertise:" + this.name + ":" + this.ros.getNextId();
+        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 }));
         this.ros.callOnConnection(advertiseMessage);
     }
     /**
@@ -545,16 +546,16 @@ class Topic extends EventEmitter {
         if (this.isSubscribed)
             return;
         // 1. 先尝试移除已有的监听，防止重复挂载
-        this.ros.off('connection', this._reconnectHandler);
-        this.ros.off('close', this._handleClose);
+        this.ros.off("connection", this._reconnectHandler);
+        this.ros.off("close", this._handleClose);
         // 2. 挂载监听
-        this.ros.on('connection', this._reconnectHandler);
-        this.ros.on('close', this._handleClose);
+        this.ros.on("connection", this._reconnectHandler);
+        this.ros.on("close", this._handleClose);
         // 3. 执行物理订阅
         this._sendSubscribe();
         // 4. 监听来自 ROS 的消息分发
         this.ros.on(this.name, (message) => {
-            this.emit('message', message);
+            this.emit("message", message);
             if (callback)
                 callback(message);
         });
@@ -564,7 +565,7 @@ class Topic extends EventEmitter {
         if (!this.isSubscribed)
             return;
         const unsubscribeMessage = {
-            op: 'unsubscribe',
+            op: "unsubscribe",
             topic: this.name,
         };
         this.ros.callOnConnection(unsubscribeMessage);
@@ -572,17 +573,17 @@ class Topic extends EventEmitter {
         // 彻底清理：移除重连监听和消息监听
         this.ros.off(this.name);
         if (!this.isAdvertised) {
-            this.ros.off('connection', this._reconnectHandler);
-            this.ros.off('close', this._handleClose);
+            this.ros.off("connection", this._reconnectHandler);
+            this.ros.off("close", this._handleClose);
         }
     }
     /** 公告话题（作为发布者） */
     advertise() {
         if (this.isAdvertised)
             return;
-        this.ros.off('connection', this._reconnectHandler);
-        this.ros.on('connection', this._reconnectHandler);
-        this.ros.on('close', this._handleClose);
+        this.ros.off("connection", this._reconnectHandler);
+        this.ros.on("connection", this._reconnectHandler);
+        this.ros.on("close", this._handleClose);
         this._sendAdvertise();
     }
     /** 取消公告 */
@@ -590,15 +591,16 @@ class Topic extends EventEmitter {
         if (!this.isAdvertised)
             return;
         const unadvertiseMessage = {
-            op: 'unadvertise',
+            op: "unadvertise",
+            id: this.advertiseId,
             topic: this.name,
         };
         this.ros.callOnConnection(unadvertiseMessage);
         this.isAdvertised = false;
         // 如果当前也没有订阅，则可以安全移除重连处理器
         if (!this.isSubscribed) {
-            this.ros.off('connection', this._reconnectHandler);
-            this.ros.off('close', this._handleClose);
+            this.ros.off("connection", this._reconnectHandler);
+            this.ros.off("close", this._handleClose);
         }
     }
     /** 发布消息 */
@@ -607,9 +609,11 @@ class Topic extends EventEmitter {
             this.advertise();
         }
         const publishMessage = {
-            op: 'publish',
+            op: "publish",
+            id: "publish:" + this.name + ":" + this.ros.getNextId(),
             topic: this.name,
             msg: message,
+            latch: this.latch,
         };
         this.ros.callOnConnection(publishMessage);
     }
@@ -832,6 +836,7 @@ class Param {
 class TopicManager {
     constructor(ros) {
         this.topics = new Map();
+        this.pubTopics = new Map();
         this.ros = ros;
     }
     /**
@@ -839,8 +844,9 @@ class TopicManager {
      * @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
+     * @param config 订阅配置选项（可选）
      */
-    subscribe(name, messageType, callback) {
+    subscribe(name, messageType, callback, config) {
         if (!this.ros) {
             throw new Error("ros instance is not initialized");
         }
@@ -854,13 +860,13 @@ class TopicManager {
             return;
         }
         // 创建新 topic
-        const topic = new Topic({ ros: this.ros, name, messageType });
+        const topic = new Topic(Object.assign({ ros: this.ros, name, messageType }, config));
         const callbacks = new Set();
         callbacks.add(callback);
         topic.subscribe((msg) => {
             callbacks.forEach((cb) => cb(msg));
         });
-        this.topics.set(name, { topic, callbacks, messageType });
+        this.topics.set(name, { topic, callbacks, messageType, config });
     }
     unsubscribe(name, callback) {
         const managed = this.topics.get(name);
@@ -888,7 +894,7 @@ class TopicManager {
     }
     resubscribeAll(ros) {
         this.topics.forEach((managed, name) => {
-            const topic = new Topic({ ros, name, messageType: managed.messageType });
+            const topic = new Topic(Object.assign({ ros, name, messageType: managed.messageType }, managed.config));
             managed.topic = topic;
             topic.subscribe((msg) => {
                 managed.callbacks.forEach((cb) => cb(msg));
@@ -900,10 +906,11 @@ class TopicManager {
      * @param name 主题名称
      * @param messageType 消息类型
      * @param data 要发布的数据
+     * @param config 发布配置选项（可选）
      * @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) {
+    publish(name, messageType, data, config, queueWhenOffline = false) {
         return new Promise((resolve, reject) => {
             if (!this.ros) {
                 reject(new Error("ros instance is not initialized"));
@@ -916,15 +923,36 @@ class TopicManager {
                 }
                 console.warn(`ROS not connected, cannot publish to ${name}, ${name} in messageQueue when ros reconnected`);
             }
-            const chatter = new Topic({
-                ros: this.ros,
-                name,
+            // 已存在，添加回调即可
+            if (this.pubTopics.has(name)) {
+                const managed = this.pubTopics.get(name);
+                managed.topic.publish(data);
+                resolve(undefined);
+                return;
+            }
+            const chatter = new Topic(Object.assign({ ros: this.ros, name,
+                messageType }, config));
+            this.pubTopics.set(name, {
+                topic: chatter,
                 messageType,
             });
-            chatter.publish({ data: data });
+            chatter.publish(data);
             resolve(undefined);
         });
     }
+    unadvertise(name) {
+        const managed = this.pubTopics.get(name);
+        if (!managed)
+            return;
+        managed.topic.unadvertise();
+        this.pubTopics.delete(name);
+    }
+    unadvertiseAll() {
+        this.pubTopics.forEach((managed) => {
+            managed.topic.unadvertise();
+        });
+        this.pubTopics.clear();
+    }
 }
 class ServiceManager {
     constructor(ros, timeout = 10000) {

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

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

@@ -1,7 +1,10 @@
 import { default as EnhancedRos } from "./EnhancedRos";
+import { TopicOptions } from "./Topic";
 type Callback = (msg: any) => void;
+type TopicConfigOptions = Omit<TopicOptions, 'ros' | 'name' | 'messageType'>;
 export declare class TopicManager {
     private topics;
+    private pubTopics;
     private ros;
     constructor(ros: EnhancedRos);
     /**
@@ -9,8 +12,9 @@ export declare class TopicManager {
      * @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
+     * @param config 订阅配置选项（可选）
      */
-    subscribe(name: string, messageType: string, callback: Callback): void;
+    subscribe(name: string, messageType: string, callback: Callback, config?: TopicConfigOptions): void;
     unsubscribe(name: string, callback?: Callback): void;
     clearAll(): void;
     resubscribeAll(ros: any): void;
@@ -19,10 +23,13 @@ export declare class TopicManager {
      * @param name 主题名称
      * @param messageType 消息类型
      * @param data 要发布的数据
+     * @param config 发布配置选项（可选）
      * @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>;
+    publish(name: string, messageType: string, data: any, config?: TopicConfigOptions, queueWhenOffline?: boolean): Promise<unknown>;
+    unadvertise(name: string): void;
+    unadvertiseAll(): void;
 }
 export declare class ServiceManager {
     private ros;

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

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

@@ -1,6 +1,6 @@
-import EventEmitter from './EventEmitter';
-import { RosLike } from './Ros';
-interface TopicOptions {
+import EventEmitter from "./EventEmitter";
+import { RosLike } from "./Ros";
+export interface TopicOptions {
     ros: RosLike;
     name: string;
     messageType: string;
@@ -21,6 +21,7 @@ export default class Topic extends EventEmitter {
     readonly queue_length?: number;
     private isSubscribed;
     private isAdvertised;
+    private advertiseId?;
     /** 存储绑定的重连处理器，便于精准卸载 */
     private _reconnectHandler;
     constructor(options: TopicOptions);
@@ -44,5 +45,4 @@ export default class Topic extends EventEmitter {
     /** 内部状态处理：连接关闭时重置标志位 */
     private _handleClose;
 }
-export {};
 //# sourceMappingURL=Topic.d.ts.map

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

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package/package.json CHANGED Viewed

@@ -1,6 +1,6 @@
 {
   "name": "roslib-ts",
-  "version": "1.0.0-beta.4",
+  "version": "1.0.0-beta.6",
   "description": "Stable ROSLIB with EnhancedRos (Beta)",
   "author": "naviai",
   "license": "MIT",
@@ -36,6 +36,7 @@
   ],
   "scripts": {
     "build": "rollup -c",
+    "dev": "rollup -c -w",
     "prepublishOnly": "pnpm build"
   },
   "keywords": [