@robotical/ricjs/dist/RICMsgHandler.d.ts

Javascript/TS library for Robotical RIC

import RICCommsStats from './RICCommsStats';
import { ROSSerialIMU, ROSSerialSmartServos, ROSSerialPowerStatus, ROSSerialAddOnStatusList, ROSSerialRobotStatus, ROSSerialMagneto } from './RICROSSerial';
import RICAddOnManager from './RICAddOnManager';
import { RICReportMsg } from './RICTypes';
export declare enum RICRESTElemCode {
    RICREST_ELEM_CODE_URL = 0,
    RICREST_ELEM_CODE_CMDRESPJSON = 1,
    RICREST_ELEM_CODE_BODY = 2,
    RICREST_ELEM_CODE_COMMAND_FRAME = 3,
    RICREST_ELEM_CODE_FILEBLOCK = 4
}
export declare enum RICCommsMsgTypeCode {
    MSG_TYPE_COMMAND = 0,
    MSG_TYPE_RESPONSE = 1,
    MSG_TYPE_PUBLISH = 2,
    MSG_TYPE_REPORT = 3
}
export declare enum RICCommsMsgProtocol {
    MSG_PROTOCOL_ROSSERIAL = 0,
    MSG_PROTOCOL_RESERVED_1 = 1,
    MSG_PROTOCOL_RICREST = 2
}
export declare enum RICMsgResultCode {
    MESSAGE_RESULT_TIMEOUT = 0,
    MESSAGE_RESULT_OK = 1,
    MESSAGE_RESULT_FAIL = 2,
    MESSAGE_RESULT_UNKNOWN = 3
}
export interface RICMessageResult {
    onRxReply(msgHandle: number, msgRsltCode: RICMsgResultCode, msgRsltJsonObj: object | null): void;
    onRxUnnumberedMsg(msgRsltJsonObj: object): void;
    onRxSmartServo(smartServos: ROSSerialSmartServos): void;
    onRxIMU(imuData: ROSSerialIMU): void;
    onRxMagneto(magnetoData: ROSSerialMagneto): void;
    onRxPowerStatus(powerStatus: ROSSerialPowerStatus): void;
    onRxAddOnPub(addOnInfo: ROSSerialAddOnStatusList): void;
    onRobotStatus(robotStatus: ROSSerialRobotStatus): void;
    onRxOtherROSSerialMsg(topicID: number, payload: Uint8Array): void;
}
export interface RICMessageSender {
    sendTxMsg(msg: Uint8Array, sendWithResponse: boolean): Promise<boolean>;
    sendTxMsgNoAwait(msg: Uint8Array, sendWithResponse: boolean): Promise<boolean>;
}
export default class RICMsgHandler {
    private _currentMsgNumber;
    private _currentMsgHandle;
    private _msgTrackInfos;
    private _msgTrackTimerMs;
    private _msgTrackLastCheckIdx;
    private _reportMsgCallbacks;
    private _msgResultHandler;
    private _msgSender;
    private _commsStats;
    private _miniHDLC;
    private _addOnManager;
    constructor(commsStats: RICCommsStats, addOnManager: RICAddOnManager);
    registerForResults(msgResultHandler: RICMessageResult): void;
    registerMsgSender(RICMessageSender: RICMessageSender): void;
    handleNewRxMsg(rxMsg: Uint8Array): void;
    reportMsgCallbacksSet(callbackName: string, callback: (report: RICReportMsg) => void): void;
    reportMsgCallbacksDelete(callbackName: string): void;
    _onHDLCFrameDecode(rxMsg: Uint8Array): void;
    _handleResponseMessages(restStr: string, rxMsgNum: number): void;
    _handleReportMessages(restStr: string): void;
    sendRICRESTURL<T>(cmdStr: string, msgTimeoutMs?: number | undefined): Promise<T>;
    sendRICRESTCmdFrame<T>(cmdStr: string, msgTimeoutMs?: number | undefined): Promise<T>;
    sendRICREST<T>(cmdStr: string, ricRESTElemCode: RICRESTElemCode, msgTimeoutMs?: number | undefined): Promise<T>;
    sendRICRESTBytes<T>(cmdBytes: Uint8Array, ricRESTElemCode: RICRESTElemCode, withResponse: boolean, msgTimeoutMs?: number | undefined): Promise<T>;
    sendMsgAndWaitForReply<T>(msgPayload: Uint8Array, msgDirection: RICCommsMsgTypeCode, msgProtocol: RICCommsMsgProtocol, withResponse: boolean, msgTimeoutMs: number | undefined): Promise<T>;
    frameCommsMsg(msgPayload: Uint8Array, msgDirection: RICCommsMsgTypeCode, msgProtocol: RICCommsMsgProtocol, isNumbered: boolean): Uint8Array;
    msgTrackingTxCmdMsg<T>(msgFrame: Uint8Array, withResponse: boolean, msgTimeoutMs: number | undefined, resolve: (arg: T) => void, reject: (reason: Error) => void): void;
    msgTrackingRxRespMsg(msgNum: number, msgRsltCode: RICMsgResultCode, msgRsltJsonObj: object): void;
    _msgCompleted(msgNum: number, msgRsltCode: RICMsgResultCode, msgRsltObj: object | null): void;
    _onMsgTrackTimer(chainRecall: boolean): Promise<void>;
    encodeFileStreamBlock(blockContents: Uint8Array, blockStart: number, streamID: number): Uint8Array;
    sendFileBlock(blockContents: Uint8Array, blockStart: number): Promise<boolean>;
    sendStreamBlock(blockContents: Uint8Array, blockStart: number, streamID: number): Promise<boolean>;
}