@foxglove/ros1/src/RosFollowerClient.ts

Standalone TypeScript implementation of the ROS 1 (Robot Operating System) protocol with a pluggable transport layer

import { XmlRpcValue } from "@foxglove/xmlrpc";

import { RosXmlRpcClient } from "./RosXmlRpcClient";
import { RosXmlRpcResponse } from "./XmlRpcTypes";

export type ProtocolParams = [string, ...XmlRpcValue[]];

export class RosFollowerClient extends RosXmlRpcClient {
  async getBusStats(callerId: string): Promise<RosXmlRpcResponse> {
    return await this._methodCall("getBusStats", [callerId]);
  }

  async getBusInfo(callerId: string): Promise<RosXmlRpcResponse> {
    return await this._methodCall("getBusInfo", [callerId]);
  }

  async shutdown(callerId: string, msg = ""): Promise<RosXmlRpcResponse> {
    return await this._methodCall("shutdown", [callerId, msg]);
  }

  async getPid(callerId: string): Promise<RosXmlRpcResponse> {
    return await this._methodCall("getPid", [callerId]);
  }

  async getSubscriptions(callerId: string): Promise<RosXmlRpcResponse> {
    return await this._methodCall("getSubscriptions", [callerId]);
  }

  async getPublications(callerId: string): Promise<RosXmlRpcResponse> {
    return await this._methodCall("getPublications", [callerId]);
  }

  async paramUpdate(
    callerId: string,
    parameterKey: string,
    parameterValue: XmlRpcValue,
  ): Promise<RosXmlRpcResponse> {
    return await this._methodCall("paramUpdate", [callerId, parameterKey, parameterValue]);
  }

  async publisherUpdate(
    callerId: string,
    topic: string,
    publishers: string[],
  ): Promise<RosXmlRpcResponse> {
    return await this._methodCall("publisherUpdate", [callerId, topic, publishers]);
  }

  async requestTopic(
    callerId: string,
    topic: string,
    protocols: ProtocolParams[],
  ): Promise<RosXmlRpcResponse> {
    return await this._methodCall("requestTopic", [callerId, topic, protocols]);
  }
}