@foxglove/ros1/dist/Subscription.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.Subscription = void 0;
const eventemitter3_1 = require("eventemitter3");
const PublisherLink_1 = require("./PublisherLink");
class Subscription extends eventemitter3_1.EventEmitter {
    constructor({ name, md5sum, dataType, tcpNoDelay }) {
        super();
        this._publishers = new Map();
        this.name = name;
        this.md5sum = md5sum;
        this.dataType = dataType;
        this.tcpNoDelay = tcpNoDelay;
    }
    close() {
        this.removeAllListeners();
        for (const pub of this._publishers.values()) {
            pub.connection.close();
        }
        this._publishers.clear();
    }
    publishers() {
        return this._publishers;
    }
    addPublisher(connectionId, rosFollowerClient, connection) {
        const publisher = new PublisherLink_1.PublisherLink(connectionId, this, rosFollowerClient, connection);
        this._publishers.set(connectionId, publisher);
        connection.on("header", (header, def, reader) => this.emit("header", header, def, reader));
        connection.on("message", (msg, data) => this.emit("message", msg, data, publisher));
        connection.on("error", (err) => this.emit("error", err));
    }
    removePublisher(connectionId) {
        this._publishers.get(connectionId)?.connection.close();
        return this._publishers.delete(connectionId);
    }
    getInfo() {
        return Array.from(this._publishers.values()).map((pub) => {
            return [
                pub.connectionId,
                pub.publisherXmlRpcUrl().toString(),
                "i",
                pub.connection.transportType(),
                this.name,
                1,
                pub.connection.getTransportInfo(),
            ];
        });
    }
    getStats() {
        const pubStats = Array.from(this._publishers.values()).map((pub) => {
            const stats = pub.connection.stats();
            return [pub.connectionId, stats.bytesReceived, stats.messagesReceived, stats.dropEstimate, 0];
        });
        return [this.name, pubStats];
    }
    receivedBytes() {
        let bytes = 0;
        for (const pub of this._publishers.values()) {
            bytes += pub.connection.stats().bytesReceived;
        }
        return bytes;
    }
}
exports.Subscription = Subscription;
//# sourceMappingURL=Subscription.js.map