Real-Time Publish Subscribe (DDS-RTPS) protocol implementation with a pluggable transport layer. This is a subset of the complete specification optimized for ROS 2 (Robot Operating System) connections

amacneil

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@foxglove/rtps

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Object.defineProperty(exports, "__esModule", { value: true });

const rostime_1 = require("@foxglove/rostime");

const eventemitter3_1 = require("eventemitter3");

const ParticipantView_1 = require("./ParticipantView");

const discovery_1 = require("./discovery");

const messaging_1 = require("./messaging");

const submessages_1 = require("./messaging/submessages");

const transport_1 = require("./transport");

const builtinEndpoints = common_1.BuiltinEndpointSet.ParticipantAnnouncer |

    common_1.BuiltinEndpointSet.ParticipantDetector |

    common_1.BuiltinEndpointSet.PublicationAnnouncer |

    common_1.BuiltinEndpointSet.PublicationDetector |

    common_1.BuiltinEndpointSet.SubscriptionAnnouncer |

    common_1.BuiltinEndpointSet.SubscriptionDetector |

    common_1.BuiltinEndpointSet.ParticipantMessageDataWriter |

    common_1.BuiltinEndpointSet.ParticipantMessageDataReader;

class Participant extends eventemitter3_1.EventEmitter {

                this._log?.warn?.(`${this.toString()} error: ${err}`);

        this.handleUdpMessage = (data, rinfo) => {

            const message = new messaging_1.MessageView(data);

            const version = message.protocolVersion;

                const { major, minor } = version;

                this._log?.debug?.(`received message with unsupported protocol ${major}.${minor}`);

            if (message.guidPrefix === this.attributes.guidPrefix) {

                // This is our own message

            this._log?.debug?.(`received ${data.length} byte message from ${rinfo.address}:${rinfo.port}`);

            this._receivedBytes += data.length;

            const subMessages = message.subMessages();

            for (const msg of subMessages) {

                const dstGuidPrefix = msg.effectiveGuidPrefix;

                if (dstGuidPrefix != undefined && dstGuidPrefix !== this.attributes.guidPrefix) {

                    // This is not our message

                switch (msg.submessageId) {

                    case common_1.SubMessageId.HEARTBEAT:

                        this.handleHeartbeat(message.guidPrefix, msg);

                    case common_1.SubMessageId.ACKNACK:

                        this.handleAckNack(message.guidPrefix, msg);

                    case common_1.SubMessageId.DATA:

                        this.handleDataMsg(message.guidPrefix, msg);

                    case common_1.SubMessageId.GAP:

                        this.handleGap(message.guidPrefix, msg);

                    case common_1.SubMessageId.DATA_FRAG:

                        this.handleDataFrag(message.guidPrefix, msg);

                    case common_1.SubMessageId.HEARTBEAT_FRAG:

                        this.handleHeartbeatFrag(message.guidPrefix, msg);

                    case common_1.SubMessageId.NACK_FRAG:

                        this.handleNackFrag(message.guidPrefix, msg);

        this.handleHeartbeat = (guidPrefix, heartbeat) => {

            this._log?.debug?.(`  [SUBMSG] HEARTBEAT reader=${this.readerName(heartbeat.readerEntityId)} writer=${this.writerName(heartbeat.writerEntityId)} seq=${heartbeat.firstAvailableSeqNumber},${heartbeat.lastSeqNumber} (count=${heartbeat.count}, liveliness=${heartbeat.liveliness}, final=${heartbeat.final})`);

            const srcSocket = this._unicastSocket;

            if (srcSocket == undefined) {

            const participant = this._participants.get(guidPrefix);

            if (participant == undefined) {

                this._log?.warn?.(`received heartbeat from unknown participant ${guidPrefix}`);

            const writerView = participant.remoteWriters.get(heartbeat.writerEntityId);

            if (writerView != undefined) {

                writerView.firstAvailableSeqNum = heartbeat.firstAvailableSeqNumber;

                writerView.lastSeqNum = heartbeat.lastSeqNumber;

        parameters.typeName(opts.typeName);

        parameters.durability(opts.durability);

        parameters.reliability(opts.reliability);

        parameters.history(opts.history);

        parameters.protocolVersion(this.attributes.protocolVersion);

        parameters.vendorId(this.attributes.vendorId);

        parameters.endpointGuid(readerGuid);

        parameters.adlinkEntityFactory(1);

            timestamp: rostime_1.fromDate(new Date()),

            kind: common_1.ChangeKind.Alive,

            writerGuid: common_1.makeGuid(this.attributes.guidPrefix, common_1.EntityIdBuiltin.SubscriptionsWriter),

            sequenceNumber: writer.history.nextSequenceNum(),

        void this.sendMetatrafficChanges(writer);

        const writer = this._writers.get(common_1.EntityIdBuiltin.SubscriptionsWriter);

            throw new Error(`cannot unsubscribe without SubscriptionsWriter`);

        const opts = this._subscriptions.get(readerEntityId);

            this._log?.warn?.(`subscription not found for ${readerEntityId}`);

        const readerGuid = common_1.makeGuid(this.attributes.guidPrefix, readerEntityId);

        this._log?.info?.(`unsubscribing ${readerGuid} from ${opts.topicName} (${opts.typeName})`);

        // Remove the local copy of subscription options so new readers are not created

        this._subscriptions.delete(readerEntityId);

        // Remove any readers created for this subscription

        for (const participant of this._participants.values()) {

            participant.localReaders.delete(readerEntityId);

            const remoteWriterId = participant.localReaderIdToRemoteWriterId.get(readerEntityId);

            if (remoteWriterId != undefined) {

                participant.localReaderIdToRemoteWriterId.delete(readerEntityId);

                const readerIds = participant.remoteWriterIdToLocalReaderIds.get(remoteWriterId);

                const newReaderIds = readerIds?.filter((id) => id !== readerEntityId);

                if (newReaderIds == undefined || newReaderIds.length === 0) {

                    participant.remoteWriterIdToLocalReaderIds.delete(remoteWriterId);

                    participant.remoteWriterIdToLocalReaderIds.set(remoteWriterId, newReaderIds);

            kind: common_1.ChangeKind.NotAliveDisposed | common_1.ChangeKind.NotAliveUnregistered,

            data: routing_1.unregisterPayload(routing_1.UnregisterType.Endpoint, readerGuid),

    async advertiseParticipant(attributes) {

        const writer = this._writers.get(common_1.EntityIdBuiltin.ParticipantWriter);

		{
		"name": "@foxglove/rtps",
		"version": "1.2.4",
		"version": "1.2.5",
		"description": "Real-Time Publish Subscribe (DDS-RTPS) protocol implementation with a pluggable transport layer. This is a subset of the complete specification optimized for ROS 2 (Robot Operating System) connections",
		@@ -5,0 +5,0 @@ "license": "MIT",

		@@ -611,2 +611,3 @@ "use strict";
		parameters.typeName(opts.typeName);
		parameters.durability(opts.durability);
		parameters.reliability(opts.reliability);
		@@ -613,0 +614,0 @@ parameters.history(opts.history);

		@@ -445,2 +445,3 @@ import { CdrReader } from "@foxglove/cdr";
		parameters.typeName(opts.typeName);
		parameters.durability(opts.durability);
		parameters.reliability(opts.reliability);
		@@ -447,0 +448,0 @@ parameters.history(opts.history);

Improved metrics