spot-sdk-js/bosdyn-client/token_manager.js

Develop applications and payloads for Spot using the unofficial Boston Dynamics Spot Node.js SDK.

const {InvalidTokenError} = require('./auth');
const {ResponseError, RpcError} = require('./exceptions');
const {WriteFailedError} = require('./token_cache');

function sleep(period) {
	return new Promise(resolve => {
		setTimeout(() => {
			resolve();
		}, period);
	});
}

/**
* Refreshes the user token in the robot object.
* The refresh policy assumes the token is minted and then the manager is launched.
* @class TokenManager
*/
class TokenManager {

	/**
    * Create an instance of TokenManager's class.
    * @param {object} robot Robot object.
    * @param {number} [timestamp=null] The date in timestamp to use.
    */
	constructor(robot, timestamp = null){
		this.robot = robot;
		this._last_timestamp = timestamp || Date.now(); 
		this.loopStart = true;
		// this._exit_thread /!\ peut etre pas utile pour Node.js
		// this._exit_thread.clear()

	}

	is_alive(){
		return this.loopStart;
	}

	stop(){
		this.loopStart = false;
	}

	/**
	* Refresh the user token as needed.
	*/
	async update(){
		const USER_TOKEN_REFRESH_TIME_DELTA = 3_600_000;
		const USER_TOKEN_RETRY_INTERVAL_START = 1_000;

		let retry_interval = USER_TOKEN_RETRY_INTERVAL_START;
		while(this.loopStart){
			let elapsed_time = Date.now() - this._last_timestamp;
			if(elapsed_time >= USER_TOKEN_REFRESH_TIME_DELTA){
				try{
					await this.robot.authenticate_with_token(this.robot.user_token);
				}catch(e){
					if(e instanceof WriteFailedError){
						console.error('[TokenManager] Failed to save the token to the cache. Continuing without caching.');
					}

					if(e instanceof InvalidTokenError || e instanceof ResponseError || e instanceof RpcError){
						console.error(`[TokenManager] Error refreshing the token. Retry in ${retry_interval}`);
						await sleep(retry_interval);
						retry_interval = Math.min(2 * retry_interval, USER_TOKEN_REFRESH_TIME_DELTA);
						continue;
					}
				}

				retry_interval = USER_TOKEN_RETRY_INTERVAL_START;
				this._last_timestamp = Date.now();
				elapsed_time = USER_TOKEN_REFRESH_TIME_DELTA;
			}
			await sleep(elapsed_time);
		}
		console.debug(`[TokenManager] Shutting down monitoring of token belonging to robot ${this.robot.address}`);
	}
};

module.exports = {
	TokenManager
};