@foxglove/ws-protocol-examples/dist/cjs/ws-protocol-examples/src/examples/publish-client.js

Foxglove WebSocket protocol examples

"use strict";
Object.defineProperty(exports, "__esModule", { value: true });
const tslib_1 = require("tslib");
const rosmsg_serialization_1 = require("@foxglove/rosmsg-serialization");
const rosmsg2_serialization_1 = require("@foxglove/rosmsg2-serialization");
const ws_protocol_1 = require("@foxglove/ws-protocol");
const commander_1 = require("commander");
const debug_1 = tslib_1.__importDefault(require("debug"));
const ws_1 = tslib_1.__importDefault(require("ws"));
const log = (0, debug_1.default)("foxglove:publish-client");
debug_1.default.enable("foxglove:*");
let running = true;
process.on("SIGINT", () => {
    running = false;
});
async function main(url, args) {
    const address = url.startsWith("ws://") || url.startsWith("wss://") ? url : `ws://${url}`;
    log(`Client connecting to ${address}`);
    const client = new ws_protocol_1.FoxgloveClient({
        ws: new ws_1.default(address, [ws_protocol_1.FoxgloveClient.SUPPORTED_SUBPROTOCOL]),
    });
    client.on("error", (error) => {
        log("Error", error);
        throw error;
    });
    client.on("open", () => {
        (async () => {
            if (args.encoding === "json") {
                await sendJsonMessages(client);
            }
            else if (args.encoding === "ros1") {
                await sendRos1Messages(client);
            }
            else {
                await sendRos2Messages(client);
            }
            client.close();
        })().catch((error) => {
            console.error(error);
        });
    });
}
async function sendJsonMessages(client) {
    const channelId = client.advertise({
        topic: "/chatter",
        encoding: "json",
        schemaName: "std_msgs/String",
    });
    while (running) {
        const data = `hello world ${Date.now()}`;
        const message = new Uint8Array(Buffer.from(JSON.stringify({ data })));
        client.sendMessage(channelId, message);
        await delay(1000);
    }
}
async function sendRos1Messages(client) {
    const channelId = client.advertise({
        topic: "/chatter",
        encoding: "ros1",
        schemaName: "std_msgs/String",
    });
    const writer = new rosmsg_serialization_1.MessageWriter([{ definitions: [{ name: "data", type: "string" }] }]);
    while (running) {
        const data = `hello world ${Date.now()}`;
        const message = writer.writeMessage({ data });
        client.sendMessage(channelId, message);
        await delay(1000);
    }
}
async function sendRos2Messages(client) {
    const channelId = client.advertise({
        topic: "/chatter",
        encoding: "cdr",
        schemaName: "std_msgs/msg/String",
    });
    const writer = new rosmsg2_serialization_1.MessageWriter([{ definitions: [{ name: "data", type: "string" }] }]);
    while (running) {
        const data = `hello world ${Date.now()}`;
        const message = writer.writeMessage({ data });
        client.sendMessage(channelId, message);
        await delay(1000);
    }
}
// eslint-disable-next-line @typescript-eslint/promise-function-async
function delay(durationMs) {
    return new Promise((resolve) => setTimeout(resolve, durationMs));
}
exports.default = new commander_1.Command("publish-client")
    .description("connect to a server, advertise a channel, and publish to it")
    .addOption(new commander_1.Option("-e, --encoding <encoding>", "message encoding")
    .choices(["json", "ros1", "cdr"])
    .default("json"))
    .argument("[url]", "ws(s)://host:port", "ws://localhost:8765")
    .action(main);
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