@foxglove/ros1/dist/Publication.js

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

"use strict";
Object.defineProperty(exports, "__esModule", { value: true });
exports.Publication = void 0;
const SubscriberLink_1 = require("./SubscriberLink");
class Publication {
    constructor(name, md5sum, dataType, 
    // eslint-disable-next-line @foxglove/no-boolean-parameters
    latching, messageDefinition, messageDefinitionText, messageWriter) {
        this._latched = new Map();
        this._subscribers = new Map();
        this.name = name;
        this.md5sum = md5sum;
        this.dataType = dataType;
        this.latching = latching;
        this.messageDefinition = messageDefinition;
        this.messageDefinitionText = messageDefinitionText;
        this.messageWriter = messageWriter;
    }
    subscribers() {
        return this._subscribers;
    }
    addSubscriber(connectionId, destinationCallerId, client) {
        const subscriber = new SubscriberLink_1.SubscriberLink(connectionId, destinationCallerId, client);
        this._subscribers.set(connectionId, subscriber);
        client.on("close", () => {
            this._subscribers.delete(connectionId);
        });
    }
    async write(transportType, data) {
        if (this.latching) {
            this._latched.set(transportType, data);
        }
        const tasks = [];
        for (const sub of this._subscribers.values()) {
            if (sub.client.transportType() === transportType) {
                // A defensive copy of the data is needed here. The
                // source data array gets "detached".
                tasks.push(sub.client.write(new Uint8Array(data)));
            }
        }
        await Promise.allSettled(tasks);
    }
    close() {
        for (const sub of this._subscribers.values()) {
            sub.client.close();
        }
        this._subscribers.clear();
    }
    latchedMessage(transportType) {
        return this._latched.get(transportType);
    }
    getInfo() {
        return Array.from(this._subscribers.values()).map((sub) => {
            return [
                sub.connectionId,
                sub.destinationCallerId,
                "o",
                sub.client.transportType(),
                this.name,
                1,
                sub.client.getTransportInfo(),
            ];
        });
    }
    getStats() {
        const subStats = Array.from(this._subscribers.values()).map((sub) => {
            const stats = sub.client.stats();
            return [sub.connectionId, stats.bytesSent, stats.bytesSent, stats.messagesSent, 0];
        });
        return [this.name, subStats];
    }
}
exports.Publication = Publication;
//# sourceMappingURL=Publication.js.map