@foxglove/ws-protocol-examples/dist/esm/ws-protocol/src/types.d.ts

Foxglove WebSocket protocol examples

export declare enum BinaryOpcode {
    MESSAGE_DATA = 1,
    TIME = 2,
    SERVICE_CALL_RESPONSE = 3,
    FETCH_ASSET_RESPONSE = 4
}
export declare enum ClientBinaryOpcode {
    MESSAGE_DATA = 1,
    SERVICE_CALL_REQUEST = 2
}
export declare enum StatusLevel {
    INFO = 0,
    WARNING = 1,
    ERROR = 2
}
export declare enum ServerCapability {
    clientPublish = "clientPublish",
    time = "time",
    parameters = "parameters",
    parametersSubscribe = "parametersSubscribe",
    services = "services",
    connectionGraph = "connectionGraph",
    assets = "assets"
}
export declare enum FetchAssetStatus {
    SUCCESS = 0,
    ERROR = 1
}
export type ChannelId = number;
export type ClientChannelId = number;
export type SubscriptionId = number;
export type ServiceId = number;
export type Channel = {
    id: ChannelId;
    topic: string;
    encoding: string;
    schemaName: string;
    schema: string;
    schemaEncoding?: string;
};
type ServiceRequestDefinition = {
    encoding: string;
    schemaName: string;
    schemaEncoding: string;
    schema: string;
};
type ServiceResponseDefinition = ServiceRequestDefinition;
export type Service = {
    id: number;
    name: string;
    type: string;
    request?: ServiceRequestDefinition;
    response?: ServiceResponseDefinition;
    /**
     * Must be given if request is not given.
     * @deprecated Use request instead.
     */
    requestSchema?: string;
    /**
     * Must be given if response is not given.
     * @deprecated Use response instead.
     */
    responseSchema?: string;
};
export type Subscribe = {
    op: "subscribe";
    subscriptions: Array<{
        id: SubscriptionId;
        channelId: ChannelId;
    }>;
};
export type Unsubscribe = {
    op: "unsubscribe";
    subscriptionIds: SubscriptionId[];
};
type ClientChannelSchemaInfo = {
    schema: string;
    schemaEncoding: string;
} | {
    schema?: undefined;
    schemaEncoding?: undefined;
};
type ClientChannelBase = {
    id: ClientChannelId;
    topic: string;
    encoding: string;
    schemaName: string;
};
export type ClientChannel = ClientChannelBase & ClientChannelSchemaInfo;
export type ClientChannelWithoutId = Omit<ClientChannelBase, "id"> & ClientChannelSchemaInfo;
export type ClientAdvertise = {
    op: "advertise";
    channels: ClientChannel[];
};
export type ClientUnadvertise = {
    op: "unadvertise";
    channelIds: ClientChannelId[];
};
export type ClientMessageData = {
    op: ClientBinaryOpcode.MESSAGE_DATA;
    channelId: ClientChannelId;
    data: ArrayBufferView;
};
export type ServiceCallPayload = {
    serviceId: ServiceId;
    callId: number;
    encoding: string;
    data: ArrayBufferView;
};
export type ServiceCallRequest = ServiceCallPayload & {
    op: ClientBinaryOpcode.SERVICE_CALL_REQUEST;
};
export type ClientMessage = Subscribe | Unsubscribe | ClientAdvertise | ClientUnadvertise | GetParameters | SetParameters | SubscribeParameterUpdates | UnsubscribeParameterUpdates | ClientMessageData | ServiceCallRequest | SubscribeConnectionGraph | UnsubscribeConnectionGraph | FetchAsset;
export type ServerInfo = {
    op: "serverInfo";
    name: string;
    capabilities: string[];
    supportedEncodings?: string[];
    metadata?: Record<string, string>;
    sessionId?: string;
};
export type StatusMessage = {
    op: "status";
    level: StatusLevel;
    message: string;
    id?: string;
};
export type RemoveStatusMessages = {
    op: "removeStatus";
    statusIds: string[];
};
export type Advertise = {
    op: "advertise";
    channels: Channel[];
};
export type Unadvertise = {
    op: "unadvertise";
    channelIds: ChannelId[];
};
export type ParameterValues = {
    op: "parameterValues";
    parameters: Parameter[];
    id?: string;
};
export type GetParameters = {
    op: "getParameters";
    parameterNames: string[];
    id?: string;
};
export type SetParameters = {
    op: "setParameters";
    parameters: Parameter[];
    id?: string;
};
export type SubscribeParameterUpdates = {
    op: "subscribeParameterUpdates";
    parameterNames: string[];
};
export type UnsubscribeParameterUpdates = {
    op: "unsubscribeParameterUpdates";
    parameterNames: string[];
};
export type AdvertiseServices = {
    op: "advertiseServices";
    services: Service[];
};
export type UnadvertiseServices = {
    op: "unadvertiseServices";
    serviceIds: ServiceId[];
};
export type SubscribeConnectionGraph = {
    op: "subscribeConnectionGraph";
};
export type UnsubscribeConnectionGraph = {
    op: "unsubscribeConnectionGraph";
};
export type FetchAsset = {
    op: "fetchAsset";
    uri: string;
    requestId: number;
};
export type ConnectionGraphUpdate = {
    op: "connectionGraphUpdate";
    publishedTopics: {
        name: string;
        publisherIds: string[];
    }[];
    subscribedTopics: {
        name: string;
        subscriberIds: string[];
    }[];
    advertisedServices: {
        name: string;
        providerIds: string[];
    }[];
    removedTopics: string[];
    removedServices: string[];
};
export type MessageData = {
    op: BinaryOpcode.MESSAGE_DATA;
    subscriptionId: SubscriptionId;
    timestamp: bigint;
    data: ArrayBufferView;
};
export type Time = {
    op: BinaryOpcode.TIME;
    timestamp: bigint;
};
export type ServiceCallResponse = ServiceCallPayload & {
    op: BinaryOpcode.SERVICE_CALL_RESPONSE;
};
export type FetchAssetSuccessResponse = {
    op: BinaryOpcode.FETCH_ASSET_RESPONSE;
    requestId: number;
    status: FetchAssetStatus.SUCCESS;
    data: ArrayBufferView;
};
export type FetchAssetErrorResponse = {
    op: BinaryOpcode.FETCH_ASSET_RESPONSE;
    requestId: number;
    status: FetchAssetStatus.ERROR;
    error: string;
};
export type FetchAssetResponse = FetchAssetSuccessResponse | FetchAssetErrorResponse;
export type ServiceCallFailure = {
    op: "serviceCallFailure";
    serviceId: number;
    callId: number;
    message: string;
};
export type ClientPublish = {
    channel: ClientChannel;
    data: ArrayBufferView;
};
export type ParameterValue = undefined | number | boolean | string | {
    [key: string]: ParameterValue;
} | ParameterValue[];
export type Parameter = {
    name: string;
    value: ParameterValue;
    type?: "byte_array" | "float64" | "float64_array";
};
export type ServerMessage = ServerInfo | StatusMessage | RemoveStatusMessages | Advertise | Unadvertise | AdvertiseServices | UnadvertiseServices | MessageData | Time | ServiceCallResponse | ParameterValues | ConnectionGraphUpdate | FetchAssetResponse | ServiceCallFailure;
/**
 * Abstraction that supports both browser and Node WebSocket clients.
 */
export interface IWebSocket {
    binaryType: string;
    protocol: string;
    onerror: ((event: any) => void) | null | undefined;
    onopen: ((event: any) => void) | null | undefined;
    onclose: ((event: any) => void) | null | undefined;
    onmessage: ((event: any) => void) | null | undefined;
    close(): void;
    send(data: string | ArrayBuffer | ArrayBufferView, 
    /** Options available in Node "ws" library */
    options?: {
        fin?: boolean;
    }): void;
}
export {};
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