diff --git a/.github/dependabot.yml b/.github/dependabot.yml deleted file mode 100644 index db9ba41..0000000 --- a/.github/dependabot.yml +++ /dev/null @@ -1,6 +0,0 @@ -version: 2 -updates: - - package-ecosystem: 'npm' - directory: '/' - schedule: - interval: 'weekly' diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 1f41c15..79ed0f7 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -14,15 +14,22 @@ jobs: with: fetch-depth: 0 # Cache node_modules - - uses: actions/setup-node@v3 + - uses: actions/setup-node@v4 with: node-version: 20 cache: 'npm' - run: npm ci - - uses: nrwl/nx-set-shas@v3 + - uses: nrwl/nx-set-shas@v4 # This line is needed for nx affected to work when CI is running on a PR - run: git branch --track main origin/main - run: npx nx format:check - - run: npx nx affected -t build - - run: npx nx affected -t lint,test --parallel=3 + - run: npx nx run-many -t build + - run: npx nx run-many -t lint + - run: npx nx run-many -t test --coverage + + - name: Upload coverage reports to Codecov + uses: codecov/codecov-action@v4 + env: + CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }} + flags: unittests diff --git a/.gitignore b/.gitignore index 2ddb185..78997af 100644 --- a/.gitignore +++ b/.gitignore @@ -37,4 +37,5 @@ testem.log .DS_Store Thumbs.db -.nx/cache \ No newline at end of file +.nx/cache +.nx/workspace-data \ No newline at end of file diff --git a/.husky/commit-msg b/.husky/commit-msg index c160a77..0398b7a 100755 --- a/.husky/commit-msg +++ b/.husky/commit-msg @@ -1,4 +1 @@ -#!/usr/bin/env sh -. "$(dirname -- "$0")/_/husky.sh" - npx --no -- commitlint --edit ${1} diff --git a/.husky/pre-commit b/.husky/pre-commit index d24fdfc..2312dc5 100755 --- a/.husky/pre-commit +++ b/.husky/pre-commit @@ -1,4 +1 @@ -#!/usr/bin/env sh -. "$(dirname -- "$0")/_/husky.sh" - npx lint-staged diff --git a/.prettierignore b/.prettierignore index f89a49f..5b1bfa7 100644 --- a/.prettierignore +++ b/.prettierignore @@ -5,4 +5,5 @@ /package-lock.json /docs -/.nx/cache \ No newline at end of file +/.nx/cache +/.nx/workspace-data \ No newline at end of file diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..dd48183 --- /dev/null +++ b/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2024 Chris Lawson + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/README.md b/README.md index 0f6f9b9..1ac4b30 100644 --- a/README.md +++ b/README.md @@ -83,19 +83,19 @@ createTopic(name: string, typeInfo: NetworkTablesT Once a topic has been created, it can be used as a subscriber: ```typescript - subscribe( - callback: (_: T | null) => void, - immediateNotify = false, - options: SubscribeOptions = {}, - id?: number, - save = true - ) +subscribe( + callback: (_: T | null) => void, + immediateNotify = false, + options: SubscribeOptions = {}, + id?: number, + save = true +) ``` and/or a publisher: ```typescript -publish(properties: TopicProperties = {}, id?: number) +await publish(properties: TopicProperties = {}, id?: number) ``` For example, here's a subscription for a Gyro: @@ -127,7 +127,7 @@ const ntcore = NetworkTables.getInstanceByTeam(973); const autoModeTopic = ntcore.createTopic('/MyTable/autoMode', NetworkTablesTypeInfos.kString, 'No Auto'); // Make us the publisher -autoModeTopic.publish(); +await autoModeTopic.publish(); // Set a new value, this will error if we aren't the publisher! autoModeTopic.setValue('25 Ball Auto and Climb'); diff --git a/docs/assets/icons.js b/docs/assets/icons.js new file mode 100644 index 0000000..3dfbd32 --- /dev/null +++ b/docs/assets/icons.js @@ -0,0 +1,18 @@ +(function() { + addIcons(); + function addIcons() { + if (document.readyState === "loading") return document.addEventListener("DOMContentLoaded", addIcons); + const svg = document.body.appendChild(document.createElementNS("http://www.w3.org/2000/svg", "svg")); + svg.innerHTML = `MMNEPVFCICPMFPCPTTAAATR`; + svg.style.display = "none"; + if (location.protocol === "file:") updateUseElements(); + } + + function updateUseElements() { + document.querySelectorAll("use").forEach(el => { + if (el.getAttribute("href").includes("#icon-")) { + el.setAttribute("href", el.getAttribute("href").replace(/.*#/, "#")); + } + }); + } +})() \ No newline at end of file diff --git a/docs/assets/icons.svg b/docs/assets/icons.svg new file mode 100644 index 0000000..a19417d --- /dev/null +++ b/docs/assets/icons.svg @@ -0,0 +1 @@ +MMNEPVFCICPMFPCPTTAAATR \ No newline at end of file diff --git a/docs/assets/main.js b/docs/assets/main.js index d0aa8d5..99097a0 100644 --- a/docs/assets/main.js +++ b/docs/assets/main.js @@ -1,8 +1,9 @@ "use strict"; -"use strict";(()=>{var Pe=Object.create;var ne=Object.defineProperty;var Ie=Object.getOwnPropertyDescriptor;var Oe=Object.getOwnPropertyNames;var _e=Object.getPrototypeOf,Re=Object.prototype.hasOwnProperty;var Me=(t,e)=>()=>(e||t((e={exports:{}}).exports,e),e.exports);var Fe=(t,e,n,r)=>{if(e&&typeof e=="object"||typeof e=="function")for(let i of Oe(e))!Re.call(t,i)&&i!==n&&ne(t,i,{get:()=>e[i],enumerable:!(r=Ie(e,i))||r.enumerable});return t};var De=(t,e,n)=>(n=t!=null?Pe(_e(t)):{},Fe(e||!t||!t.__esModule?ne(n,"default",{value:t,enumerable:!0}):n,t));var ae=Me((se,oe)=>{(function(){var t=function(e){var n=new t.Builder;return n.pipeline.add(t.trimmer,t.stopWordFilter,t.stemmer),n.searchPipeline.add(t.stemmer),e.call(n,n),n.build()};t.version="2.3.9";t.utils={},t.utils.warn=function(e){return function(n){e.console&&console.warn&&console.warn(n)}}(this),t.utils.asString=function(e){return e==null?"":e.toString()},t.utils.clone=function(e){if(e==null)return e;for(var n=Object.create(null),r=Object.keys(e),i=0;i0){var d=t.utils.clone(n)||{};d.position=[a,u],d.index=s.length,s.push(new t.Token(r.slice(a,o),d))}a=o+1}}return s},t.tokenizer.separator=/[\s\-]+/;t.Pipeline=function(){this._stack=[]},t.Pipeline.registeredFunctions=Object.create(null),t.Pipeline.registerFunction=function(e,n){n in this.registeredFunctions&&t.utils.warn("Overwriting existing registered function: "+n),e.label=n,t.Pipeline.registeredFunctions[e.label]=e},t.Pipeline.warnIfFunctionNotRegistered=function(e){var n=e.label&&e.label in this.registeredFunctions;n||t.utils.warn(`Function is not registered with pipeline. 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\ No newline at end of file diff --git a/docs/assets/style.css b/docs/assets/style.css index 108428c..178bfb0 100644 --- a/docs/assets/style.css +++ b/docs/assets/style.css @@ -4,13 +4,21 @@ --light-color-background-secondary: #eff0f1; --light-color-warning-text: #222; --light-color-background-warning: #e6e600; - --light-color-icon-background: var(--light-color-background); --light-color-accent: #c5c7c9; --light-color-active-menu-item: var(--light-color-accent); --light-color-text: #222; --light-color-text-aside: #6e6e6e; + + --light-color-icon-background: var(--light-color-background); + --light-color-icon-text: var(--light-color-text); + + --light-color-comment-tag-text: var(--light-color-text); + --light-color-comment-tag: var(--light-color-background); + --light-color-link: #1f70c2; + --light-color-focus-outline: #3584e4; + --light-color-ts-keyword: #056bd6; --light-color-ts-project: #b111c9; --light-color-ts-module: var(--light-color-ts-project); --light-color-ts-namespace: var(--light-color-ts-project); @@ -20,20 +28,22 @@ --light-color-ts-function: #572be7; --light-color-ts-class: #1f70c2; --light-color-ts-interface: #108024; - --light-color-ts-constructor: var(--light-color-ts-class); - --light-color-ts-property: var(--light-color-ts-variable); - --light-color-ts-method: var(--light-color-ts-function); + --light-color-ts-constructor: #4d7fff; + --light-color-ts-property: #ff984d; + --light-color-ts-method: #ff4db8; + --light-color-ts-reference: #ff4d82; --light-color-ts-call-signature: var(--light-color-ts-method); --light-color-ts-index-signature: var(--light-color-ts-property); --light-color-ts-constructor-signature: var(--light-color-ts-constructor); --light-color-ts-parameter: var(--light-color-ts-variable); /* type literal not included as links will never be generated to it */ - --light-color-ts-type-parameter: var(--light-color-ts-type-alias); - --light-color-ts-accessor: var(--light-color-ts-property); + --light-color-ts-type-parameter: #a55c0e; + --light-color-ts-accessor: #ff4d4d; --light-color-ts-get-signature: var(--light-color-ts-accessor); --light-color-ts-set-signature: var(--light-color-ts-accessor); --light-color-ts-type-alias: #d51270; /* reference not included as links will be colored with the kind that it points to */ + --light-color-document: #000000; --light-external-icon: url("data:image/svg+xml;utf8,"); --light-color-scheme: light; @@ -43,13 +53,21 @@ --dark-color-background-secondary: #1e2024; --dark-color-background-warning: #bebe00; --dark-color-warning-text: #222; - --dark-color-icon-background: var(--dark-color-background-secondary); --dark-color-accent: #9096a2; --dark-color-active-menu-item: #5d5d6a; --dark-color-text: #f5f5f5; --dark-color-text-aside: #dddddd; + + --dark-color-icon-background: var(--dark-color-background-secondary); + --dark-color-icon-text: var(--dark-color-text); + + --dark-color-comment-tag-text: var(--dark-color-text); + --dark-color-comment-tag: var(--dark-color-background); + --dark-color-link: #00aff4; + --dark-color-focus-outline: #4c97f2; + --dark-color-ts-keyword: #3399ff; --dark-color-ts-project: #e358ff; --dark-color-ts-module: var(--dark-color-ts-project); --dark-color-ts-namespace: var(--dark-color-ts-project); @@ -59,20 +77,22 @@ --dark-color-ts-function: #a280ff; --dark-color-ts-class: #8ac4ff; --dark-color-ts-interface: #6cff87; - --dark-color-ts-constructor: var(--dark-color-ts-class); - --dark-color-ts-property: var(--dark-color-ts-variable); - --dark-color-ts-method: var(--dark-color-ts-function); + --dark-color-ts-constructor: #4d7fff; + --dark-color-ts-property: #ff984d; + --dark-color-ts-method: #ff4db8; + --dark-color-ts-reference: #ff4d82; --dark-color-ts-call-signature: var(--dark-color-ts-method); --dark-color-ts-index-signature: var(--dark-color-ts-property); --dark-color-ts-constructor-signature: var(--dark-color-ts-constructor); --dark-color-ts-parameter: var(--dark-color-ts-variable); /* type literal not included as links will never be generated to it */ - --dark-color-ts-type-parameter: var(--dark-color-ts-type-alias); - --dark-color-ts-accessor: var(--dark-color-ts-property); + --dark-color-ts-type-parameter: #e07d13; + --dark-color-ts-accessor: #ff4d4d; --dark-color-ts-get-signature: var(--dark-color-ts-accessor); --dark-color-ts-set-signature: var(--dark-color-ts-accessor); --dark-color-ts-type-alias: #ff6492; /* reference not included as links will be colored with the kind that it points to */ + --dark-color-document: #ffffff; --dark-external-icon: url("data:image/svg+xml;utf8,"); --dark-color-scheme: dark; @@ -84,13 +104,22 @@ --color-background-secondary: var(--light-color-background-secondary); --color-background-warning: var(--light-color-background-warning); --color-warning-text: var(--light-color-warning-text); - --color-icon-background: var(--light-color-icon-background); --color-accent: var(--light-color-accent); --color-active-menu-item: var(--light-color-active-menu-item); --color-text: var(--light-color-text); --color-text-aside: var(--light-color-text-aside); + + --color-icon-background: var(--light-color-icon-background); + --color-icon-text: var(--light-color-icon-text); + + --color-comment-tag-text: var(--light-color-text); + --color-comment-tag: var(--light-color-background); + --color-link: var(--light-color-link); + --color-focus-outline: var(--light-color-focus-outline); + --color-ts-keyword: var(--light-color-ts-keyword); + --color-ts-project: var(--light-color-ts-project); --color-ts-module: var(--light-color-ts-module); --color-ts-namespace: var(--light-color-ts-namespace); --color-ts-enum: var(--light-color-ts-enum); @@ -102,6 +131,7 @@ --color-ts-constructor: var(--light-color-ts-constructor); --color-ts-property: var(--light-color-ts-property); --color-ts-method: var(--light-color-ts-method); + --color-ts-reference: var(--light-color-ts-reference); --color-ts-call-signature: var(--light-color-ts-call-signature); --color-ts-index-signature: var(--light-color-ts-index-signature); --color-ts-constructor-signature: var( @@ -113,6 +143,7 @@ --color-ts-get-signature: var(--light-color-ts-get-signature); --color-ts-set-signature: var(--light-color-ts-set-signature); --color-ts-type-alias: var(--light-color-ts-type-alias); + --color-document: var(--light-color-document); --external-icon: var(--light-external-icon); --color-scheme: var(--light-color-scheme); @@ -125,13 +156,22 @@ --color-background-secondary: var(--dark-color-background-secondary); --color-background-warning: var(--dark-color-background-warning); --color-warning-text: var(--dark-color-warning-text); - --color-icon-background: var(--dark-color-icon-background); --color-accent: var(--dark-color-accent); --color-active-menu-item: var(--dark-color-active-menu-item); --color-text: var(--dark-color-text); --color-text-aside: var(--dark-color-text-aside); + + --color-icon-background: var(--dark-color-icon-background); + --color-icon-text: var(--dark-color-icon-text); + + --color-comment-tag-text: var(--dark-color-text); + --color-comment-tag: var(--dark-color-background); + --color-link: var(--dark-color-link); + --color-focus-outline: var(--dark-color-focus-outline); + --color-ts-keyword: var(--dark-color-ts-keyword); + --color-ts-project: var(--dark-color-ts-project); --color-ts-module: var(--dark-color-ts-module); --color-ts-namespace: var(--dark-color-ts-namespace); --color-ts-enum: var(--dark-color-ts-enum); @@ -143,6 +183,7 @@ --color-ts-constructor: var(--dark-color-ts-constructor); --color-ts-property: var(--dark-color-ts-property); --color-ts-method: var(--dark-color-ts-method); + --color-ts-reference: var(--dark-color-ts-reference); --color-ts-call-signature: var(--dark-color-ts-call-signature); --color-ts-index-signature: var(--dark-color-ts-index-signature); --color-ts-constructor-signature: var( @@ -154,6 +195,7 @@ --color-ts-get-signature: var(--dark-color-ts-get-signature); --color-ts-set-signature: var(--dark-color-ts-set-signature); --color-ts-type-alias: var(--dark-color-ts-type-alias); + --color-document: var(--dark-color-document); --external-icon: var(--dark-external-icon); --color-scheme: var(--dark-color-scheme); @@ -178,8 +220,16 @@ body { --color-active-menu-item: var(--light-color-active-menu-item); --color-text: var(--light-color-text); --color-text-aside: var(--light-color-text-aside); + --color-icon-text: var(--light-color-icon-text); + + --color-comment-tag-text: var(--light-color-text); + --color-comment-tag: var(--light-color-background); + --color-link: var(--light-color-link); + --color-focus-outline: var(--light-color-focus-outline); + --color-ts-keyword: var(--light-color-ts-keyword); + --color-ts-project: var(--light-color-ts-project); --color-ts-module: var(--light-color-ts-module); --color-ts-namespace: var(--light-color-ts-namespace); --color-ts-enum: var(--light-color-ts-enum); @@ -191,6 +241,7 @@ body { --color-ts-constructor: var(--light-color-ts-constructor); --color-ts-property: var(--light-color-ts-property); --color-ts-method: var(--light-color-ts-method); + --color-ts-reference: var(--light-color-ts-reference); --color-ts-call-signature: var(--light-color-ts-call-signature); --color-ts-index-signature: var(--light-color-ts-index-signature); --color-ts-constructor-signature: var( @@ -202,6 +253,7 @@ body { --color-ts-get-signature: var(--light-color-ts-get-signature); --color-ts-set-signature: var(--light-color-ts-set-signature); --color-ts-type-alias: var(--light-color-ts-type-alias); + --color-document: var(--light-color-document); --external-icon: var(--light-external-icon); --color-scheme: var(--light-color-scheme); @@ -217,8 +269,16 @@ body { --color-active-menu-item: var(--dark-color-active-menu-item); --color-text: var(--dark-color-text); --color-text-aside: var(--dark-color-text-aside); + --color-icon-text: var(--dark-color-icon-text); + + --color-comment-tag-text: var(--dark-color-text); + --color-comment-tag: var(--dark-color-background); + --color-link: var(--dark-color-link); + --color-focus-outline: var(--dark-color-focus-outline); + --color-ts-keyword: var(--dark-color-ts-keyword); + --color-ts-project: var(--dark-color-ts-project); --color-ts-module: var(--dark-color-ts-module); --color-ts-namespace: var(--dark-color-ts-namespace); --color-ts-enum: var(--dark-color-ts-enum); @@ -230,6 +290,7 @@ body { --color-ts-constructor: var(--dark-color-ts-constructor); --color-ts-property: var(--dark-color-ts-property); --color-ts-method: var(--dark-color-ts-method); + --color-ts-reference: var(--dark-color-ts-reference); --color-ts-call-signature: var(--dark-color-ts-call-signature); --color-ts-index-signature: var(--dark-color-ts-index-signature); --color-ts-constructor-signature: var( @@ -241,11 +302,17 @@ body { --color-ts-get-signature: var(--dark-color-ts-get-signature); --color-ts-set-signature: var(--dark-color-ts-set-signature); --color-ts-type-alias: var(--dark-color-ts-type-alias); + --color-document: var(--dark-color-document); --external-icon: var(--dark-external-icon); --color-scheme: var(--dark-color-scheme); } +*:focus-visible, +.tsd-accordion-summary:focus-visible svg { + outline: 2px solid var(--color-focus-outline); +} + .always-visible, .always-visible .tsd-signatures { display: inherit !important; @@ -260,16 +327,6 @@ h6 { line-height: 1.2; } -h1 > a, -h2 > a, -h3 > a, -h4 > a, -h5 > a, -h6 > a { - text-decoration: none; - color: var(--color-text); -} - h1 { font-size: 1.875rem; margin: 0.67rem 0; @@ -300,10 +357,6 @@ h6 { margin: 2.33rem 0; } -.uppercase { - text-transform: uppercase; -} - dl, menu, ol, @@ -321,17 +374,14 @@ dd { } /* Footer */ -.tsd-generator { +footer { border-top: 1px solid var(--color-accent); padding-top: 1rem; padding-bottom: 1rem; max-height: 3.5rem; } - -.tsd-generator > p { - margin-top: 0; - margin-bottom: 0; - padding: 0 1rem; +footer > p { + margin: 0 1em; } .container-main { @@ -399,7 +449,8 @@ dd { } body { background: var(--color-background); - font-family: "Segoe UI", sans-serif; + font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", "Noto Sans", + Helvetica, Arial, sans-serif, "Apple Color Emoji", "Segoe UI Emoji"; font-size: 16px; color: var(--color-text); } @@ -417,6 +468,9 @@ a.external[target="_blank"] { background-repeat: no-repeat; padding-right: 13px; } +a.tsd-anchor-link { + color: var(--color-text); +} code, pre { @@ -429,7 +483,6 @@ pre { pre { position: relative; - white-space: pre; white-space: pre-wrap; word-wrap: break-word; padding: 10px; @@ -576,13 +629,13 @@ dl.tsd-comment-tag-group p { } .tsd-filter-input { display: flex; - width: fit-content; width: -moz-fit-content; + width: fit-content; align-items: center; - user-select: none; -webkit-user-select: none; -moz-user-select: none; -ms-user-select: none; + user-select: none; cursor: pointer; } .tsd-filter-input input[type="checkbox"] { @@ -605,11 +658,8 @@ dl.tsd-comment-tag-group p { Don't remove unless you know what you're doing. */ opacity: 0.99; } -.tsd-filter-input input[type="checkbox"]:focus + svg { - transform: scale(0.95); -} -.tsd-filter-input input[type="checkbox"]:focus:not(:focus-visible) + svg { - transform: scale(1); +.tsd-filter-input input[type="checkbox"]:focus-visible + svg { + outline: 2px solid var(--color-focus-outline); } .tsd-checkbox-background { fill: var(--color-accent); @@ -626,13 +676,18 @@ input[type="checkbox"]:checked ~ svg .tsd-checkbox-checkmark { stroke: var(--color-accent); } -.tsd-theme-toggle { - padding-top: 0.75rem; +.settings-label { + font-weight: bold; + text-transform: uppercase; + display: inline-block; } -.tsd-theme-toggle > h4 { - display: inline; - vertical-align: middle; - margin-right: 0.75rem; + +.tsd-filter-visibility .settings-label { + margin: 0.75rem 0 0.5rem 0; +} + +.tsd-theme-toggle .settings-label { + margin: 0.75rem 0.75rem 0 0; } .tsd-hierarchy { @@ -643,6 +698,28 @@ input[type="checkbox"]:checked ~ svg .tsd-checkbox-checkmark { font-weight: bold; } +.tsd-full-hierarchy:not(:last-child) { + margin-bottom: 1em; + padding-bottom: 1em; + border-bottom: 1px solid var(--color-accent); +} +.tsd-full-hierarchy, +.tsd-full-hierarchy ul { + list-style: none; + margin: 0; + padding: 0; +} +.tsd-full-hierarchy ul { + padding-left: 1.5rem; +} +.tsd-full-hierarchy a { + padding: 0.25rem 0 !important; + font-size: 1rem; + display: inline-flex; + align-items: center; + color: var(--color-text); +} + .tsd-panel-group.tsd-index-group { margin-bottom: 0; } @@ -708,12 +785,15 @@ input[type="checkbox"]:checked ~ svg .tsd-checkbox-checkmark { } .tsd-navigation > a, .tsd-navigation .tsd-accordion-summary { - width: calc(100% - 0.5rem); + width: calc(100% - 0.25rem); + display: flex; + align-items: center; } .tsd-navigation a, .tsd-navigation summary > span, .tsd-page-navigation a { - display: inline-flex; + display: flex; + width: calc(100% - 0.25rem); align-items: center; padding: 0.25rem; color: var(--color-text); @@ -740,6 +820,9 @@ input[type="checkbox"]:checked ~ svg .tsd-checkbox-checkmark { padding: 0; max-width: 100%; } +.tsd-navigation .tsd-nav-link { + display: none; +} .tsd-nested-navigation { margin-left: 3rem; } @@ -753,11 +836,15 @@ input[type="checkbox"]:checked ~ svg .tsd-checkbox-checkmark { margin-left: -1.5rem; } -.tsd-nested-navigation > li > a, -.tsd-nested-navigation > li > span { - width: calc(100% - 1.75rem - 0.5rem); +.tsd-page-navigation-section { + margin-left: 10px; +} +.tsd-page-navigation-section > summary { + padding: 0.25rem; +} +.tsd-page-navigation-section > div { + margin-left: 20px; } - .tsd-page-navigation ul { padding-left: 1.75rem; } @@ -788,10 +875,10 @@ a.tsd-index-link { } .tsd-accordion-summary, .tsd-accordion-summary a { - user-select: none; -moz-user-select: none; -webkit-user-select: none; -ms-user-select: none; + user-select: none; cursor: pointer; } @@ -804,8 +891,9 @@ a.tsd-index-link { padding-top: 0; padding-bottom: 0; } -.tsd-index-accordion .tsd-accordion-summary > svg { +.tsd-accordion .tsd-accordion-summary > svg { margin-left: 0.25rem; + vertical-align: text-top; } .tsd-index-content > :not(:first-child) { margin-top: 0.75rem; @@ -815,6 +903,12 @@ a.tsd-index-link { margin-bottom: 0.75rem; } +.tsd-no-select { + -webkit-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + user-select: none; +} .tsd-kind-icon { margin-right: 0.5rem; width: 1.25rem; @@ -822,10 +916,6 @@ a.tsd-index-link { min-width: 1.25rem; min-height: 1.25rem; } -.tsd-kind-icon path { - transform-origin: center; - transform: scale(1.1); -} .tsd-signature > .tsd-kind-icon { margin-right: 0.8rem; } @@ -853,7 +943,7 @@ a.tsd-index-link { } .tsd-panel-group { - margin: 4rem 0; + margin: 2rem 0; } .tsd-panel-group.tsd-index-group { margin: 2rem 0; @@ -861,6 +951,9 @@ a.tsd-index-link { .tsd-panel-group.tsd-index-group details { margin: 2rem 0; } +.tsd-panel-group > .tsd-accordion-summary { + margin-bottom: 1rem; +} #tsd-search { transition: background-color 0.2s; @@ -984,6 +1077,11 @@ a.tsd-index-link { overflow-x: auto; } +.tsd-signature-keyword { + color: var(--color-ts-keyword); + font-weight: normal; +} + .tsd-signature-symbol { color: var(--color-text-aside); font-weight: normal; @@ -1005,6 +1103,12 @@ a.tsd-index-link { border-width: 1px 0; transition: background-color 0.1s; } +.tsd-signatures .tsd-index-signature:not(:last-child) { + margin-bottom: 1em; +} +.tsd-signatures .tsd-index-signature .tsd-signature { + border-width: 1px; +} .tsd-description .tsd-signatures .tsd-signature { border-width: 1px; } @@ -1183,6 +1287,9 @@ img { .tsd-kind-method { color: var(--color-ts-method); } +.tsd-kind-reference { + color: var(--color-ts-reference); +} .tsd-kind-call-signature { color: var(--color-ts-call-signature); } @@ -1195,9 +1302,6 @@ img { .tsd-kind-parameter { color: var(--color-ts-parameter); } -.tsd-kind-type-literal { - color: var(--color-ts-type-literal); -} .tsd-kind-type-parameter { color: var(--color-ts-type-parameter); } @@ -1318,6 +1422,12 @@ img { .has-menu .tsd-navigation { max-height: 100%; } + #tsd-toolbar-links { + display: none; + } + .tsd-navigation .tsd-nav-link { + display: flex; + } } /* one sidebar */ @@ -1370,7 +1480,7 @@ img { } .site-menu { - margin-top: 1rem 0; + margin-top: 1rem; } .page-menu, diff --git a/docs/classes/NetworkTableTypeInfos.html b/docs/classes/NetworkTableTypeInfos.html deleted file mode 100644 index 3a9ae78..0000000 --- a/docs/classes/NetworkTableTypeInfos.html +++ /dev/null @@ -1,12 +0,0 @@ -NetworkTableTypeInfos | ntcore-ts-client

Class NetworkTableTypeInfos

Deprecated

Use NetworkTablesTypeInfos instead.

-

Hierarchy

  • NetworkTableTypeInfos

Constructors

constructor -

Properties

kArrayBuffer -kBoolean -kBooleanArray -kDouble -kDoubleArray -kInteger -kIntegerArray -kString -kStringArray -

Constructors

constructor

Properties

Static Readonly kArrayBuffer

kArrayBuffer: NetworkTablesTypeInfo = NetworkTablesTypeInfos.kArrayBuffer

Static Readonly kBoolean

kBoolean: NetworkTablesTypeInfo = NetworkTablesTypeInfos.kBoolean

Static Readonly kBooleanArray

kBooleanArray: NetworkTablesTypeInfo = NetworkTablesTypeInfos.kBooleanArray

Static Readonly kDouble

kDouble: NetworkTablesTypeInfo = NetworkTablesTypeInfos.kDouble

Static Readonly kDoubleArray

kDoubleArray: NetworkTablesTypeInfo = NetworkTablesTypeInfos.kDoubleArray

Static Readonly kInteger

kInteger: NetworkTablesTypeInfo = NetworkTablesTypeInfos.kInteger

Static Readonly kIntegerArray

kIntegerArray: NetworkTablesTypeInfo = NetworkTablesTypeInfos.kIntegerArray

Static Readonly kString

kString: NetworkTablesTypeInfo = NetworkTablesTypeInfos.kString

Static Readonly kStringArray

kStringArray: NetworkTablesTypeInfo = NetworkTablesTypeInfos.kStringArray

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\ No newline at end of file diff --git a/docs/classes/NetworkTables.html b/docs/classes/NetworkTables.html index 5b00405..8be92fb 100644 --- a/docs/classes/NetworkTables.html +++ b/docs/classes/NetworkTables.html @@ -1,66 +1,41 @@ -NetworkTables | ntcore-ts-client

Class NetworkTables

NetworkTables class for interacting with NetworkTables over a WebSocket connection.

-

Hierarchy

  • NetworkTables

Constructors

constructor -

Properties

_client -port -uri -_instances -

Accessors

client -

Methods

addRobotConnectionListener -changeURI -createTopic -getPort -getURI -isRobotConnected -isRobotConnecting -createInstanceByTeam -createInstanceByURI -getInstanceByTeam -getInstanceByURI -

Constructors

Private constructor

Properties

Private _client

_client: PubSubClient

The PubSubClient instance used to establish and manage the connection to the robot.

-

Private port

port: number

Private uri

uri: string

The URI of the server.

-

Static Private _instances

_instances: Map<string, NetworkTables> = ...

The instance of the NetworkTables class.

-

Accessors

client

Methods

addRobotConnectionListener

  • Adds a listener for robot connection status updates.

    -

    Parameters

    • callback: ((_) => void)

      The callback to call when the connection status changes.

      -
        • (_): void

        • Parameters

          • _: boolean

          Returns void

    • Optional immediateNotify: boolean

      Whether to immediately notify the callback of the current connection status.

      -

    Returns (() => boolean)

    A function to remove the listener.

    -
      • (): boolean

      • Returns boolean

changeURI

createTopic

getPort

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Accessors
Methods
diff --git a/docs/classes/NetworkTablesTopic.html b/docs/classes/NetworkTablesTopic.html index 23af1e6..4a2d3cb 100644 --- a/docs/classes/NetworkTablesTopic.html +++ b/docs/classes/NetworkTablesTopic.html @@ -1,89 +1,81 @@ -NetworkTablesTopic | ntcore-ts-client

Class NetworkTablesTopic<T>

Type Parameters

Hierarchy

  • NetworkTablesTopic

Constructors

constructor -

Properties

_announced -_id? -_lastChangedTime? -_name -_publisher -_pubuid? -_subscribers -_typeInfo -client -value -

Accessors

announced -id -lastChangedTime -name -publisher -pubuid -subscribers -typeInfo -

Methods

announce -getValue -notifySubscribers -publish -republish -resubscribeAll -setProperties -setValue -subscribe -unannounce -unpublish -unsubscribe -unsubscribeAll -updateValue -

Constructors

constructor

  • Creates a new topic. This should only be done after the +NetworkTablesTopic | ntcore-ts-client

    Class NetworkTablesTopic<T>

    Type Parameters

    Constructors

    constructor +

    Accessors

    announced +id +lastChangedTime +name +publisher +pubuid +subscribers +typeInfo +

    Methods

    announce +getValue +publish +republish +resubscribeAll +setProperties +setValue +subscribe +unannounce +unpublish +unsubscribe +unsubscribeAll +updateValue +

    Constructors

    constructor

    • new NetworkTablesTopic<T>(client, name, typeInfo, defaultValue?): NetworkTablesTopic<T>

    • Creates a new topic. This should only be done after the base NTCore client has been initialized.

      -

      Type Parameters

      • T extends string | number | boolean | string[] | ArrayBuffer | boolean[] | number[]

      Parameters

      • client: PubSubClient

        The client that owns the topic.

        -
      • name: string

        The name of the topic.

        -
      • typeInfo: NetworkTablesTypeInfo

        The type info for the topic.

        -
      • Optional defaultValue: T

        The default value for the topic.

        -

      Returns NetworkTablesTopic<T>

    Properties

    Private _announced

    _announced: boolean

    Private Optional _id

    _id?: number

    Private Optional _lastChangedTime

    _lastChangedTime?: number

    Private Readonly _name

    _name: string

    Private _publisher

    _publisher: boolean

    Private Optional _pubuid

    _pubuid?: number

    Private _subscribers

    _subscribers: Map<number, {
        callback: ((_) => void);
        immediateNotify: boolean;
        options: {
            all?: boolean;
            periodic?: number;
            prefix?: boolean;
            topicsonly?: boolean;
        };
    }>

    Type declaration

    • callback: ((_) => void)
        • (_): void

        • Parameters

          • _: null | T

          Returns void

    • immediateNotify: boolean
    • options: {
          all?: boolean;
          periodic?: number;
          prefix?: boolean;
          topicsonly?: boolean;
      }
      • Optional all?: boolean
      • Optional periodic?: number
      • Optional prefix?: boolean
      • Optional topicsonly?: boolean

    Private Readonly _typeInfo

    _typeInfo: NetworkTablesTypeInfo

    Private client

    client: PubSubClient

    Private value

    value: null | T

    Accessors

    announced

    • get announced(): boolean

    • Whether the topic has been announced.

      +

      Type Parameters

      • T extends
            | string
            | number
            | boolean
            | string[]
            | ArrayBuffer
            | boolean[]
            | number[]

      Parameters

      • client: PubSubClient

        The client that owns the topic.

        +
      • name: string

        The name of the topic.

        +
      • typeInfo: NetworkTablesTypeInfo

        The type info for the topic.

        +
      • OptionaldefaultValue: T

        The default value for the topic.

        +

      Returns NetworkTablesTopic<T>

    Accessors

    announced

    id

    id

    lastChangedTime

    lastChangedTime

    name

    name

    publisher

    publisher

    pubuid

    pubuid

    subscribers

    • get subscribers(): Map<number, {
          callback: ((_) => void);
          immediateNotify: boolean;
          options: {
              all?: boolean;
              periodic?: number;
              prefix?: boolean;
              topicsonly?: boolean;
          };
      }>

    • Gets the subscribers to the topic.

      -

      Returns Map<number, {
          callback: ((_) => void);
          immediateNotify: boolean;
          options: {
              all?: boolean;
              periodic?: number;
              prefix?: boolean;
              topicsonly?: boolean;
          };
      }>

      The subscribers to the topic.

      -

    typeInfo

    subscribers

    • get subscribers(): Map<number, {
          callback: ((_: null | T) => void);
          immediateNotify: boolean;
          options: {
              all?: boolean;
              periodic?: number;
              prefix?: boolean;
              topicsonly?: boolean;
          };
      }>

    • Gets the subscribers to the topic.

      +

      Returns Map<number, {
          callback: ((_: null | T) => void);
          immediateNotify: boolean;
          options: {
              all?: boolean;
              periodic?: number;
              prefix?: boolean;
              topicsonly?: boolean;
          };
      }>

      The subscribers to the topic.

      +

    typeInfo

    Methods

    announce

    getValue

    Private notifySubscribers

    publish

    • Publishes the topic.

      -

      Parameters

      • properties: {
            persistent?: boolean;
            retained?: boolean;
        } = {}

        The properties to publish the topic with.

        -
        • Optional persistent?: boolean
        • Optional retained?: boolean
      • Optional id: number

        The UID of the publisher.

        -

      Returns void

    republish

    resubscribeAll

    setProperties

    • Sets the properties of the topic.

      -

      Parameters

      • Optional persistent: boolean

        If true, the last set value will be periodically saved to persistent storage on the server and be restored during server startup. Topics with this property set to true will not be deleted by the server when the last publisher stops publishing.

        -
      • Optional retained: boolean

        Topics with this property set to true will not be deleted by the server when the last publisher stops publishing.

        -

      Returns void

    setValue

    Methods

    announce

    • announce(id, pubuid?): void

    • Marks the topic as announced. This should only be called by the PubSubClient.

      +

      Parameters

      • id: number

        The ID of the topic.

        +
      • Optionalpubuid: number

        The UID of the publisher.

        +

      Returns void

    getValue

    publish

    • publish(properties?, id?): Promise<void | {
          method: "announce";
          params: {
              id: number;
              name: string;
              properties: {
                  cached?: boolean;
                  persistent?: boolean;
                  retained?: boolean;
              };
              pubuid?: number;
              type:
                  | "string"
                  | "boolean"
                  | "float"
                  | "double"
                  | "int"
                  | "json"
                  | "raw"
                  | "rpc"
                  | "msgpack"
                  | "protobuf"
                  | "boolean[]"
                  | "double[]"
                  | "int[]"
                  | "float[]"
                  | "string[]";
          };
      }>

    • Publishes the topic.

      +

      Parameters

      • properties: {
            cached?: boolean;
            persistent?: boolean;
            retained?: boolean;
        } = {}

        The properties to publish the topic with.

        +
        • Optionalcached?: boolean
        • Optionalpersistent?: boolean
        • Optionalretained?: boolean
      • Optionalid: number

        The UID of the publisher.

        +

      Returns Promise<void | {
          method: "announce";
          params: {
              id: number;
              name: string;
              properties: {
                  cached?: boolean;
                  persistent?: boolean;
                  retained?: boolean;
              };
              pubuid?: number;
              type:
                  | "string"
                  | "boolean"
                  | "float"
                  | "double"
                  | "int"
                  | "json"
                  | "raw"
                  | "rpc"
                  | "msgpack"
                  | "protobuf"
                  | "boolean[]"
                  | "double[]"
                  | "int[]"
                  | "float[]"
                  | "string[]";
          };
      }>

      A promise that resolves when the topic is published.

      +

    republish

    • republish(client): Promise<void | {
          method: "announce";
          params: {
              id: number;
              name: string;
              properties: {
                  cached?: boolean;
                  persistent?: boolean;
                  retained?: boolean;
              };
              pubuid?: number;
              type:
                  | "string"
                  | "boolean"
                  | "float"
                  | "double"
                  | "int"
                  | "json"
                  | "raw"
                  | "rpc"
                  | "msgpack"
                  | "protobuf"
                  | "boolean[]"
                  | "double[]"
                  | "int[]"
                  | "float[]"
                  | "string[]";
          };
      }>

    • Republishes the topic.

      +

      Parameters

      • client: PubSubClient

        The client to republish with.

        +

      Returns Promise<void | {
          method: "announce";
          params: {
              id: number;
              name: string;
              properties: {
                  cached?: boolean;
                  persistent?: boolean;
                  retained?: boolean;
              };
              pubuid?: number;
              type:
                  | "string"
                  | "boolean"
                  | "float"
                  | "double"
                  | "int"
                  | "json"
                  | "raw"
                  | "rpc"
                  | "msgpack"
                  | "protobuf"
                  | "boolean[]"
                  | "double[]"
                  | "int[]"
                  | "float[]"
                  | "string[]";
          };
      }>

      A promise that resolves when the topic is republished.

      +

    resubscribeAll

    setProperties

    • setProperties(persistent?, retained?): Promise<{
          method: "properties";
          params: {
              ack: boolean;
              name: string;
          };
      }>

    • Sets the properties of the topic.

      +

      Parameters

      • Optionalpersistent: boolean

        If true, the last set value will be periodically saved to persistent storage on the server and be restored during server startup. Topics with this property set to true will not be deleted by the server when the last publisher stops publishing.

        +
      • Optionalretained: boolean

        Topics with this property set to true will not be deleted by the server when the last publisher stops publishing.

        +

      Returns Promise<{
          method: "properties";
          params: {
              ack: boolean;
              name: string;
          };
      }>

      The server's response.

      +

    setValue

    subscribe

    • Creates a new subscriber. This should only be called by the PubSubClient.

      -

      Parameters

      • callback: ((_) => void)

        The callback to call when the topic value changes.

        -
          • (_): void

          • Parameters

            • _: null | T

            Returns void

      • immediateNotify: boolean = false

        Whether to immediately notify the subscriber of the current value.

        -
      • options: {
            all?: boolean;
            periodic?: number;
            prefix?: boolean;
            topicsonly?: boolean;
        } = {}

        The options for the subscriber.

        -
        • Optional all?: boolean
        • Optional periodic?: number
        • Optional prefix?: boolean
        • Optional topicsonly?: boolean
      • Optional id: number

        The UID of the subscriber.

        -
      • save: boolean = true

        Whether to save the subscriber.

        +

        Parameters

        • value: T

          The value to set.

          +

        Returns void

    subscribe

    • subscribe(callback, immediateNotify?, options?, id?, save?): number

    • Creates a new subscriber. This should only be called by the PubSubClient.

      +

      Parameters

      • callback: ((_: null | T) => void)

        The callback to call when the topic value changes.

        +
          • (_): void

          • Parameters

            • _: null | T

            Returns void

      • immediateNotify: boolean = false

        Whether to immediately notify the subscriber of the current value.

        +
      • options: {
            all?: boolean;
            periodic?: number;
            prefix?: boolean;
            topicsonly?: boolean;
        } = {}

        The options for the subscriber.

        +
        • Optionalall?: boolean
        • Optionalperiodic?: number
        • Optionalprefix?: boolean
        • Optionaltopicsonly?: boolean
      • Optionalid: number

        The UID of the subscriber.

        +
      • save: boolean = true

        Whether to save the subscriber.

      Returns number

      The UID of the subscriber.

      -

    unannounce

    unpublish

    unsubscribe

    • Removes a subscriber

      -

      Parameters

      • subuid: number

        The UID of the subscriber.

        -
      • removeCallback: boolean = true

        Whether to remove the callback. Leave this as true unless you know what you're doing.

        -

      Returns void

    unsubscribeAll

    updateValue

    unannounce

    unpublish

    unsubscribe

    • unsubscribe(subuid, removeCallback?): void

    • Removes a subscriber

      +

      Parameters

      • subuid: number

        The UID of the subscriber.

        +
      • removeCallback: boolean = true

        Whether to remove the callback. Leave this as true unless you know what you're doing.

        +

      Returns void

    unsubscribeAll

    updateValue

    • updateValue(value, lastChangedTime): void

    • Updates the value of the topic. This should only be called by the PubSubClient.

      -

      Parameters

      • value: T

        The value to update.

        -
      • lastChangedTime: number

        The server time of the last value change.

        -

      Returns void

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    Parameters

    • value: T

      The value to update.

      +
    • lastChangedTime: number

      The server time of the last value change.

      +

    Returns void

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Accessors
Methods
diff --git a/docs/classes/NetworkTablesTypeInfos.html b/docs/classes/NetworkTablesTypeInfos.html index e43b91a..4de2ffa 100644 --- a/docs/classes/NetworkTablesTypeInfos.html +++ b/docs/classes/NetworkTablesTypeInfos.html @@ -1,11 +1,11 @@ -NetworkTablesTypeInfos | ntcore-ts-client

Class NetworkTablesTypeInfos

Hierarchy

  • NetworkTablesTypeInfos

Constructors

constructor -

Properties

kArrayBuffer -kBoolean -kBooleanArray -kDouble -kDoubleArray -kInteger -kIntegerArray -kString -kStringArray -

Constructors

constructor

Properties

Static Readonly kArrayBuffer

kArrayBuffer: NetworkTablesTypeInfo = ...

Static Readonly kBoolean

kBoolean: NetworkTablesTypeInfo = ...

Static Readonly kBooleanArray

kBooleanArray: NetworkTablesTypeInfo = ...

Static Readonly kDouble

kDouble: NetworkTablesTypeInfo = ...

Static Readonly kDoubleArray

kDoubleArray: NetworkTablesTypeInfo = ...

Static Readonly kInteger

kInteger: NetworkTablesTypeInfo = ...

Static Readonly kIntegerArray

kIntegerArray: NetworkTablesTypeInfo = ...

Static Readonly kString

kString: NetworkTablesTypeInfo = ...

Static Readonly kStringArray

kStringArray: NetworkTablesTypeInfo = ...

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Class NetworkTablesTypeInfos

Constructors

constructor +

Properties

kArrayBuffer +kBoolean +kBooleanArray +kDouble +kDoubleArray +kInteger +kIntegerArray +kString +kStringArray +

Constructors

constructor

Properties

Static ReadonlykArrayBuffer

kArrayBuffer: NetworkTablesTypeInfo = ...

Static ReadonlykBoolean

kBoolean: NetworkTablesTypeInfo = ...

Static ReadonlykBooleanArray

kBooleanArray: NetworkTablesTypeInfo = ...

Static ReadonlykDouble

kDouble: NetworkTablesTypeInfo = ...

Static ReadonlykDoubleArray

kDoubleArray: NetworkTablesTypeInfo = ...

Static ReadonlykInteger

kInteger: NetworkTablesTypeInfo = ...

Static ReadonlykIntegerArray

kIntegerArray: NetworkTablesTypeInfo = ...

Static ReadonlykString

kString: NetworkTablesTypeInfo = ...

Static ReadonlykStringArray

kStringArray: NetworkTablesTypeInfo = ...

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diff --git a/docs/index.html b/docs/index.html index de9eda2..2fe097d 100644 --- a/docs/index.html +++ b/docs/index.html @@ -1,30 +1,29 @@ -ntcore-ts-client

ntcore-ts-client

Index

Classes

NetworkTableTypeInfos -NetworkTables -NetworkTablesTopic -NetworkTablesTypeInfos -

Interfaces

BinaryMessageData -

Type Aliases

AnnounceMessage -AnnounceMessageParams -BinaryMessage -Message -NetworkTablesTypeInfo -NetworkTablesTypes -PropertiesMessage -PropertiesMessageParams -PublishMessage -PublishMessageParams -SetPropertiesMessage -SetPropertiesMessageParams -SubscribeMessage -SubscribeMessageParams -SubscribeOptions -TopicProperties -TypeNum -TypeString -UnannounceMessage -UnannounceMessageParams -UnpublishMessage -UnpublishMessageParams -UnsubscribeMessage -UnsubscribeMessageParams -

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ntcore-ts-client

Index

Classes

NetworkTables +NetworkTablesTopic +NetworkTablesTypeInfos +

Interfaces

BinaryMessageData +

Type Aliases

AnnounceMessage +AnnounceMessageParams +BinaryMessage +Message +NetworkTablesTypeInfo +NetworkTablesTypes +PropertiesMessage +PropertiesMessageParams +PublishMessage +PublishMessageParams +SetPropertiesMessage +SetPropertiesMessageParams +SubscribeMessage +SubscribeMessageParams +SubscribeOptions +TopicProperties +TypeNum +TypeString +UnannounceMessage +UnannounceMessageParams +UnpublishMessage +UnpublishMessageParams +UnsubscribeMessage +UnsubscribeMessageParams +

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diff --git a/docs/interfaces/BinaryMessageData.html b/docs/interfaces/BinaryMessageData.html index ae79b05..14931b1 100644 --- a/docs/interfaces/BinaryMessageData.html +++ b/docs/interfaces/BinaryMessageData.html @@ -1,5 +1,5 @@ -BinaryMessageData | ntcore-ts-client

Interface BinaryMessageData

Hierarchy

  • BinaryMessageData

Properties

serverTime -topicId -typeInfo -value -

Properties

serverTime

serverTime: number

topicId

topicId: number

typeInfo

typeInfo: NetworkTablesTypeInfos

value

value: string | number | boolean | string[] | ArrayBuffer | boolean[] | number[]

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Interface BinaryMessageData

interface BinaryMessageData {
    serverTime: number;
    topicId: number;
    typeInfo: NetworkTablesTypeInfos;
    value:
        | string
        | number
        | boolean
        | string[]
        | ArrayBuffer
        | boolean[]
        | number[];
}

Properties

serverTime +topicId +typeInfo +value +

Properties

serverTime

serverTime: number

topicId

topicId: number

typeInfo

typeInfo: NetworkTablesTypeInfos

value

value:
    | string
    | number
    | boolean
    | string[]
    | ArrayBuffer
    | boolean[]
    | number[]

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diff --git a/docs/types/AnnounceMessage.html b/docs/types/AnnounceMessage.html index aa33878..21d8eee 100644 --- a/docs/types/AnnounceMessage.html +++ b/docs/types/AnnounceMessage.html @@ -1 +1 @@ -AnnounceMessage | ntcore-ts-client

Type alias AnnounceMessage

AnnounceMessage: z.infer<typeof announceMessageSchema>

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Type Alias AnnounceMessage

AnnounceMessage: z.infer<typeof announceMessageSchema>

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diff --git a/docs/types/AnnounceMessageParams.html b/docs/types/AnnounceMessageParams.html index 631baa6..8751549 100644 --- a/docs/types/AnnounceMessageParams.html +++ b/docs/types/AnnounceMessageParams.html @@ -1 +1 @@ -AnnounceMessageParams | ntcore-ts-client

Type alias AnnounceMessageParams

AnnounceMessageParams: AnnounceMessage["params"]

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Type Alias AnnounceMessageParams

AnnounceMessageParams: AnnounceMessage["params"]

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diff --git a/docs/types/BinaryMessage.html b/docs/types/BinaryMessage.html index f641414..a1dd521 100644 --- a/docs/types/BinaryMessage.html +++ b/docs/types/BinaryMessage.html @@ -1 +1 @@ -BinaryMessage | ntcore-ts-client

Type alias BinaryMessage

BinaryMessage: z.infer<typeof msgPackSchema>

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Type Alias BinaryMessage

BinaryMessage: z.infer<typeof msgPackSchema>

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diff --git a/docs/types/Message.html b/docs/types/Message.html index b2daccd..f680f78 100644 --- a/docs/types/Message.html +++ b/docs/types/Message.html @@ -1 +1 @@ -Message | ntcore-ts-client

Type alias Message

Message: PublishMessage | UnpublishMessage | SetPropertiesMessage | SubscribeMessage | UnsubscribeMessage | AnnounceMessage | UnannounceMessage | PropertiesMessage

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Type Alias Message

Message:
    | PublishMessage
    | UnpublishMessage
    | SetPropertiesMessage
    | SubscribeMessage
    | UnsubscribeMessage
    | AnnounceMessage
    | UnannounceMessage
    | PropertiesMessage

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diff --git a/docs/types/NetworkTablesTypeInfo.html b/docs/types/NetworkTablesTypeInfo.html index c24e0c8..26aa233 100644 --- a/docs/types/NetworkTablesTypeInfo.html +++ b/docs/types/NetworkTablesTypeInfo.html @@ -1 +1 @@ -NetworkTablesTypeInfo | ntcore-ts-client

Type alias NetworkTablesTypeInfo

NetworkTablesTypeInfo: [TypeNum, TypeString]

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Type Alias NetworkTablesTypeInfo

NetworkTablesTypeInfo: [TypeNum, TypeString]

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diff --git a/docs/types/NetworkTablesTypes.html b/docs/types/NetworkTablesTypes.html index 3fc9102..ba5528e 100644 --- a/docs/types/NetworkTablesTypes.html +++ b/docs/types/NetworkTablesTypes.html @@ -1 +1 @@ -NetworkTablesTypes | ntcore-ts-client

Type alias NetworkTablesTypes

NetworkTablesTypes: z.infer<typeof msgPackValueSchema>

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Type Alias NetworkTablesTypes

NetworkTablesTypes: z.infer<typeof msgPackValueSchema>

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diff --git a/docs/types/PropertiesMessage.html b/docs/types/PropertiesMessage.html index 81c5d39..0ea191a 100644 --- a/docs/types/PropertiesMessage.html +++ b/docs/types/PropertiesMessage.html @@ -1 +1 @@ -PropertiesMessage | ntcore-ts-client

Type alias PropertiesMessage

PropertiesMessage: z.infer<typeof propertiesMessageSchema>

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Type Alias PropertiesMessage

PropertiesMessage: z.infer<typeof propertiesMessageSchema>

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diff --git a/docs/types/PropertiesMessageParams.html b/docs/types/PropertiesMessageParams.html index 3bb30e1..4c1b01b 100644 --- a/docs/types/PropertiesMessageParams.html +++ b/docs/types/PropertiesMessageParams.html @@ -1 +1 @@ -PropertiesMessageParams | ntcore-ts-client

Type alias PropertiesMessageParams

PropertiesMessageParams: PropertiesMessage["params"]

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Type Alias PropertiesMessageParams

PropertiesMessageParams: PropertiesMessage["params"]

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diff --git a/docs/types/PublishMessage.html b/docs/types/PublishMessage.html index 8ebe89f..d222376 100644 --- a/docs/types/PublishMessage.html +++ b/docs/types/PublishMessage.html @@ -1 +1 @@ -PublishMessage | ntcore-ts-client

Type alias PublishMessage

PublishMessage: z.infer<typeof publishMessageSchema>

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Type Alias PublishMessage

PublishMessage: z.infer<typeof publishMessageSchema>

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diff --git a/docs/types/PublishMessageParams.html b/docs/types/PublishMessageParams.html index 6aff4a9..1e5e387 100644 --- a/docs/types/PublishMessageParams.html +++ b/docs/types/PublishMessageParams.html @@ -1 +1 @@ -PublishMessageParams | ntcore-ts-client

Type alias PublishMessageParams

PublishMessageParams: PublishMessage["params"]

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Type Alias PublishMessageParams

PublishMessageParams: PublishMessage["params"]

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diff --git a/docs/types/SetPropertiesMessage.html b/docs/types/SetPropertiesMessage.html index c968743..30ba922 100644 --- a/docs/types/SetPropertiesMessage.html +++ b/docs/types/SetPropertiesMessage.html @@ -1 +1 @@ -SetPropertiesMessage | ntcore-ts-client

Type alias SetPropertiesMessage

SetPropertiesMessage: z.infer<typeof setPropertiesMessageSchema>

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Type Alias SetPropertiesMessage

SetPropertiesMessage: z.infer<typeof setPropertiesMessageSchema>

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diff --git a/docs/types/SetPropertiesMessageParams.html b/docs/types/SetPropertiesMessageParams.html index 56dbf21..5dfc2ea 100644 --- a/docs/types/SetPropertiesMessageParams.html +++ b/docs/types/SetPropertiesMessageParams.html @@ -1 +1 @@ -SetPropertiesMessageParams | ntcore-ts-client

Type alias SetPropertiesMessageParams

SetPropertiesMessageParams: SetPropertiesMessage["params"]

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Type Alias SetPropertiesMessageParams

SetPropertiesMessageParams: SetPropertiesMessage["params"]

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diff --git a/docs/types/SubscribeMessage.html b/docs/types/SubscribeMessage.html index e3dfd74..53d805d 100644 --- a/docs/types/SubscribeMessage.html +++ b/docs/types/SubscribeMessage.html @@ -1 +1 @@ -SubscribeMessage | ntcore-ts-client

Type alias SubscribeMessage

SubscribeMessage: z.infer<typeof subscribeMessageSchema>

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Type Alias SubscribeMessage

SubscribeMessage: z.infer<typeof subscribeMessageSchema>

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diff --git a/docs/types/SubscribeMessageParams.html b/docs/types/SubscribeMessageParams.html index 94ae798..a3d0fa0 100644 --- a/docs/types/SubscribeMessageParams.html +++ b/docs/types/SubscribeMessageParams.html @@ -1 +1 @@ -SubscribeMessageParams | ntcore-ts-client

Type alias SubscribeMessageParams

SubscribeMessageParams: SubscribeMessage["params"]

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Type Alias SubscribeMessageParams

SubscribeMessageParams: SubscribeMessage["params"]

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diff --git a/docs/types/SubscribeOptions.html b/docs/types/SubscribeOptions.html index 46a3ae2..e8ac2dc 100644 --- a/docs/types/SubscribeOptions.html +++ b/docs/types/SubscribeOptions.html @@ -1 +1 @@ -SubscribeOptions | ntcore-ts-client

Type alias SubscribeOptions

SubscribeOptions: z.infer<typeof subscriptionOptionsSchema>

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Type Alias SubscribeOptions

SubscribeOptions: z.infer<typeof subscriptionOptionsSchema>

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diff --git a/docs/types/TopicProperties.html b/docs/types/TopicProperties.html index 920f97f..0c0ef38 100644 --- a/docs/types/TopicProperties.html +++ b/docs/types/TopicProperties.html @@ -1 +1 @@ -TopicProperties | ntcore-ts-client

Type alias TopicProperties

TopicProperties: z.infer<typeof topicPropertiesSchema>

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Type Alias TopicProperties

TopicProperties: z.infer<typeof topicPropertiesSchema>

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diff --git a/docs/types/TypeNum.html b/docs/types/TypeNum.html index 0e0abc8..ab157d8 100644 --- a/docs/types/TypeNum.html +++ b/docs/types/TypeNum.html @@ -1 +1 @@ -TypeNum | ntcore-ts-client

Type alias TypeNum

TypeNum: z.infer<typeof typeNumSchema>

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Type Alias TypeNum

TypeNum: z.infer<typeof typeNumSchema>

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diff --git a/docs/types/TypeString.html b/docs/types/TypeString.html index 6fa1186..a9d243e 100644 --- a/docs/types/TypeString.html +++ b/docs/types/TypeString.html @@ -1 +1 @@ -TypeString | ntcore-ts-client

Type alias TypeString

TypeString: z.infer<typeof typeStringSchema>

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Type Alias TypeString

TypeString: z.infer<typeof typeStringSchema>

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diff --git a/docs/types/UnannounceMessage.html b/docs/types/UnannounceMessage.html index 1fb0781..46db603 100644 --- a/docs/types/UnannounceMessage.html +++ b/docs/types/UnannounceMessage.html @@ -1 +1 @@ -UnannounceMessage | ntcore-ts-client

Type alias UnannounceMessage

UnannounceMessage: z.infer<typeof unannounceMessageSchema>

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Type Alias UnannounceMessage

UnannounceMessage: z.infer<typeof unannounceMessageSchema>

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diff --git a/docs/types/UnannounceMessageParams.html b/docs/types/UnannounceMessageParams.html index ea93f9b..24f9a8b 100644 --- a/docs/types/UnannounceMessageParams.html +++ b/docs/types/UnannounceMessageParams.html @@ -1 +1 @@ -UnannounceMessageParams | ntcore-ts-client

Type alias UnannounceMessageParams

UnannounceMessageParams: UnannounceMessage["params"]

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Type Alias UnannounceMessageParams

UnannounceMessageParams: UnannounceMessage["params"]

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diff --git a/docs/types/UnpublishMessage.html b/docs/types/UnpublishMessage.html index 36b8943..be8f0f9 100644 --- a/docs/types/UnpublishMessage.html +++ b/docs/types/UnpublishMessage.html @@ -1 +1 @@ -UnpublishMessage | ntcore-ts-client

Type alias UnpublishMessage

UnpublishMessage: z.infer<typeof unpublishMessageSchema>

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Type Alias UnpublishMessage

UnpublishMessage: z.infer<typeof unpublishMessageSchema>

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diff --git a/docs/types/UnpublishMessageParams.html b/docs/types/UnpublishMessageParams.html index c7861b7..074e6f6 100644 --- a/docs/types/UnpublishMessageParams.html +++ b/docs/types/UnpublishMessageParams.html @@ -1 +1 @@ -UnpublishMessageParams | ntcore-ts-client

Type alias UnpublishMessageParams

UnpublishMessageParams: UnpublishMessage["params"]

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Type Alias UnpublishMessageParams

UnpublishMessageParams: UnpublishMessage["params"]

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diff --git a/docs/types/UnsubscribeMessage.html b/docs/types/UnsubscribeMessage.html index f784b15..e182f89 100644 --- a/docs/types/UnsubscribeMessage.html +++ b/docs/types/UnsubscribeMessage.html @@ -1 +1 @@ -UnsubscribeMessage | ntcore-ts-client

Type alias UnsubscribeMessage

UnsubscribeMessage: z.infer<typeof unsubscribeMessageSchema>

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Type Alias UnsubscribeMessage

UnsubscribeMessage: z.infer<typeof unsubscribeMessageSchema>

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diff --git a/docs/types/UnsubscribeMessageParams.html b/docs/types/UnsubscribeMessageParams.html index 109412e..b8cd70a 100644 --- a/docs/types/UnsubscribeMessageParams.html +++ b/docs/types/UnsubscribeMessageParams.html @@ -1 +1 @@ -UnsubscribeMessageParams | ntcore-ts-client

Type alias UnsubscribeMessageParams

UnsubscribeMessageParams: UnsubscribeMessage["params"]

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Type Alias UnsubscribeMessageParams

UnsubscribeMessageParams: UnsubscribeMessage["params"]

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diff --git a/jest.config.ts b/jest.config.ts index d0dbd1b..6b3f2d6 100644 --- a/jest.config.ts +++ b/jest.config.ts @@ -1,5 +1,5 @@ -import { getJestProjects } from '@nx/jest'; +import { getJestProjectsAsync } from '@nx/jest'; -export default { - projects: getJestProjects(), -}; +export default async () => ({ + projects: await getJestProjectsAsync(), +}); diff --git a/jest.preset.js b/jest.preset.js index c1c3c4c..4217160 100644 --- a/jest.preset.js +++ b/jest.preset.js @@ -2,6 +2,7 @@ const nxPreset = require('@nx/jest/preset').default; module.exports = { ...nxPreset, + coverageReporters: ['json', 'lcov', 'html'], /* TODO: Update to latest Jest snapshotFormat * By default Nx has kept the older style of Jest Snapshot formats * to prevent breaking of any existing tests with snapshots. diff --git a/migrations.json b/migrations.json deleted file mode 100644 index f97f9ef..0000000 --- a/migrations.json +++ /dev/null @@ -1,56 +0,0 @@ -{ - "migrations": [ - { - "cli": "nx", - "version": "17.0.0-beta.1", - "description": "Updates the default cache directory to .nx/cache", - "implementation": "./src/migrations/update-17-0-0/move-cache-directory", - "package": "nx", - "name": "17.0.0-move-cache-directory" - }, - { - "cli": "nx", - "version": "17.0.0-beta.3", - "description": "Use minimal config for tasksRunnerOptions", - "implementation": "./src/migrations/update-17-0-0/use-minimal-config-for-tasks-runner-options", - "package": "nx", - "name": "17.0.0-use-minimal-config-for-tasks-runner-options" - }, - { - "version": "17.0.0-rc.1", - "description": "Migration for v17.0.0-rc.1", - "implementation": "./src/migrations/update-17-0-0/rm-default-collection-npm-scope", - "package": "nx", - "name": "rm-default-collection-npm-scope" - }, - { - "cli": "nx", - "version": "17.0.2", - "description": "Remove deprecated build options", - "implementation": "./src/migrations/update-17-0-0/remove-deprecated-build-options", - "package": "@nx/js", - "name": "update-17-0-0-remove-deprecated-build-options" - }, - { - "version": "17.1.0-beta.2", - "description": "Move jest executor options to nx.json targetDefaults", - "implementation": "./src/migrations/update-17-1-0/move-options-to-target-defaults", - "package": "@nx/jest", - "name": "move-options-to-target-defaults" - }, - { - "version": "17.0.0-beta.7", - "description": "update-17-0-0-rename-to-eslint", - "implementation": "./src/migrations/update-17-0-0-rename-to-eslint/update-17-0-0-rename-to-eslint", - "package": "@nx/eslint", - "name": "update-17-0-0-rename-to-eslint" - }, - { - "version": "17.1.0-beta.1", - "description": "Updates for @typescript-utils/utils v6.9.1+", - "implementation": "./src/migrations/update-17-1-0/update-typescript-eslint", - "package": "@nx/eslint", - "name": "update-typescript-eslint" - } - ] -} diff --git a/nx.json b/nx.json index 917390d..6f9118b 100644 --- a/nx.json +++ b/nx.json @@ -11,10 +11,6 @@ "inputs": ["production", "^production"], "cache": true }, - "lint": { - "inputs": ["default", "{workspaceRoot}/.eslintrc.json"], - "cache": true - }, "@nx/jest:jest": { "inputs": ["default", "^production", "{workspaceRoot}/jest.preset.js"], "cache": true, @@ -27,6 +23,10 @@ "codeCoverage": true } } + }, + "@nx/eslint:lint": { + "cache": true, + "inputs": ["default", "{workspaceRoot}/.eslintrc.json", "{workspaceRoot}/tools/eslint-rules/**/*"] } }, "namedInputs": { @@ -44,5 +44,6 @@ "workspaceLayout": { "appsDir": "packages", "libsDir": "packages" - } + }, + "useInferencePlugins": false } diff --git a/package-lock.json b/package-lock.json index 592f27b..cd586d0 100644 --- a/package-lock.json +++ b/package-lock.json @@ -7,184 +7,109 @@ "": { "name": "ntcore-ts-client-monorepo", "version": "0.0.0", - "license": "ISC", + "license": "MIT", "dependencies": { "@msgpack/msgpack": "^2.8.0", "isomorphic-ws": "^5.0.0", - "tslib": "^2.6.2", - "uuid": "^9.0.1", - "ws": "^8.14.2", - "zod": "^3.22.4" + "tslib": "^2.8.0", + "uuid": "^11.0.2", + "ws": "^8.18.0", + "zod": "^3.23.8" }, "devDependencies": { - "@commitlint/cli": "^18.4.2", - "@commitlint/config-conventional": "^18.4.2", - "@nx/devkit": "17.1.2", - "@nx/eslint": "17.1.2", - "@nx/eslint-plugin": "17.1.2", - "@nx/jest": "17.1.2", - "@nx/js": "17.1.2", - "@nx/node": "17.1.2", - "@nx/workspace": "17.1.2", - "@types/jest": "^29.5.8", - "@types/node": "^20.9.0", - "@types/uuid": "^9.0.7", - "@types/ws": "^8.5.9", - "@typescript-eslint/eslint-plugin": "6.11.0", - "@typescript-eslint/parser": "6.11.0", - "eslint": "^8.54.0", - "eslint-config-prettier": "^9.0.0", - "eslint-import-resolver-typescript": "^3.6.1", - "eslint-plugin-import": "^2.29.0", - "eslint-plugin-jest": "^27.6.0", - "eslint-plugin-jsdoc": "^46.9.0", + "@commitlint/cli": "^19.5.0", + "@commitlint/config-conventional": "^19.5.0", + "@nx/devkit": "20.0.6", + "@nx/eslint": "20.0.6", + "@nx/eslint-plugin": "20.0.6", + "@nx/jest": "20.0.6", + "@nx/js": "20.0.6", + "@nx/node": "20.0.6", + "@nx/workspace": "20.0.6", + "@types/jest": "29.5.14", + "@types/node": "18.19.9", + "@types/uuid": "^10.0.0", + "@types/ws": "^8.5.12", + "@typescript-eslint/eslint-plugin": "7.18.0", + "@typescript-eslint/parser": "7.18.0", + "eslint": "8.57.1", + "eslint-config-prettier": "^9.1.0", + "eslint-import-resolver-typescript": "^3.6.3", + "eslint-plugin-import": "^2.31.0", + "eslint-plugin-jest": "^28.8.3", + "eslint-plugin-jsdoc": "^48.11.0", "eslint-plugin-json": "^3.1.0", "eslint-plugin-tsdoc": "^0.2.17", - "husky": "^8.0.3", - "jest": "^29.7.0", - "jest-environment-jsdom": "^29.7.0", + "husky": "^9.1.6", + "jest": "29.7.0", + "jest-environment-jsdom": "29.7.0", "jest-websocket-mock": "^2.5.0", - "lint-staged": "^15.1.0", - "nx": "17.1.2", - "prettier": "^3.1.0", - "ts-jest": "29.1.1", - "ts-node": "10.9.1", - "typedoc": "^0.25.3", - "typedoc-plugin-missing-exports": "^2.1.0", - "typescript": "5.2.2" - } - }, - "node_modules/@aashutoshrathi/word-wrap": { - "version": "1.2.6", - "resolved": 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"node_modules/wrap-ansi/node_modules/ansi-regex": { - "version": "6.0.1", - "resolved": "https://registry.npmjs.org/ansi-regex/-/ansi-regex-6.0.1.tgz", - "integrity": "sha512-n5M855fKb2SsfMIiFFoVrABHJC8QtHwVx+mHWP3QcEqBHYienj5dHSgjbxtC0WEZXYt4wcD6zrQElDPhFuZgfA==", + "version": "6.1.0", + "resolved": "https://registry.npmjs.org/ansi-regex/-/ansi-regex-6.1.0.tgz", + "integrity": "sha512-7HSX4QQb4CspciLpVFwyRe79O3xsIZDDLER21kERQ71oaPodF8jL725AgJMFAYbooIqolJoRLuM81SpeUkpkvA==", "dev": true, + "license": "MIT", "engines": { "node": ">=12" }, @@ -12398,6 +13331,7 @@ "resolved": "https://registry.npmjs.org/ansi-styles/-/ansi-styles-6.2.1.tgz", "integrity": "sha512-bN798gFfQX+viw3R7yrGWRqnrN2oRkEkUjjl4JNn4E8GxxbjtG3FbrEIIY3l8/hrwUwIeCZvi4QuOTP4MErVug==", "dev": true, + "license": "MIT", "engines": { "node": ">=12" }, @@ -12410,6 +13344,7 @@ "resolved": "https://registry.npmjs.org/strip-ansi/-/strip-ansi-7.1.0.tgz", "integrity": 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"https://registry.npmjs.org/y18n/-/y18n-5.0.8.tgz", "integrity": "sha512-0pfFzegeDWJHJIAmTLRP2DwHjdF5s7jo9tuztdQxAhINCdvS+3nGINqPd00AphqJR/0LhANUS6/+7SCb98YOfA==", "dev": true, + "license": "ISC", "engines": { "node": ">=10" } @@ -12487,13 +13428,18 @@ "version": "3.1.1", "resolved": "https://registry.npmjs.org/yallist/-/yallist-3.1.1.tgz", "integrity": "sha512-a4UGQaWPH59mOXUYnAG2ewncQS4i4F43Tv3JoAM+s2VDAmS9NsK8GpDMLrCHPksFT7h3K6TOoUNn2pb7RoXx4g==", - "dev": true + "dev": true, + "license": "ISC" }, "node_modules/yaml": { - "version": "2.3.4", - "resolved": "https://registry.npmjs.org/yaml/-/yaml-2.3.4.tgz", - "integrity": "sha512-8aAvwVUSHpfEqTQ4w/KMlf3HcRdt50E5ODIQJBw1fQ5RL34xabzxtUlzTXVqc4rkZsPbvrXKWnABCD7kWSmocA==", + "version": "2.5.1", + "resolved": "https://registry.npmjs.org/yaml/-/yaml-2.5.1.tgz", + "integrity": "sha512-bLQOjaX/ADgQ20isPJRvF0iRUHIxVhYvr53Of7wGcWlO2jvtUlH5m87DsmulFVxRpNLOnI4tB6p/oh8D7kpn9Q==", "dev": true, + "license": "ISC", + "bin": { + "yaml": "bin.mjs" + }, "engines": { "node": ">= 14" } @@ -12503,6 +13449,7 @@ "resolved": "https://registry.npmjs.org/yargs/-/yargs-17.7.2.tgz", "integrity": "sha512-7dSzzRQ++CKnNI/krKnYRV7JKKPUXMEh61soaHKg9mrWEhzFWhFnxPxGl+69cD1Ou63C13NUPCnmIcrvqCuM6w==", "dev": true, + "license": "MIT", "dependencies": { "cliui": "^8.0.1", "escalade": "^3.1.1", @@ -12521,6 +13468,7 @@ "resolved": "https://registry.npmjs.org/yargs-parser/-/yargs-parser-21.1.1.tgz", "integrity": "sha512-tVpsJW7DdjecAiFpbIB1e3qxIQsE6NoPc5/eTdrbbIC4h0LVsWhnoa3g+m2HclBIujHzsxZ4VJVA+GUuc2/LBw==", "dev": true, + "license": "ISC", "engines": { "node": ">=12" } @@ -12529,13 +13477,15 @@ "version": "8.0.0", "resolved": "https://registry.npmjs.org/emoji-regex/-/emoji-regex-8.0.0.tgz", "integrity": "sha512-MSjYzcWNOA0ewAHpz0MxpYFvwg6yjy1NG3xteoqz644VCo/RPgnr1/GGt+ic3iJTzQ8Eu3TdM14SawnVUmGE6A==", - "dev": true + "dev": true, + "license": "MIT" }, "node_modules/yargs/node_modules/is-fullwidth-code-point": { "version": "3.0.0", "resolved": "https://registry.npmjs.org/is-fullwidth-code-point/-/is-fullwidth-code-point-3.0.0.tgz", "integrity": "sha512-zymm5+u+sCsSWyD9qNaejV3DFvhCKclKdizYaJUuHA83RLjb7nSuGnddCHGv0hk+KY7BMAlsWeK4Ueg6EV6XQg==", "dev": true, + "license": "MIT", "engines": { "node": ">=8" } @@ -12545,6 +13495,7 @@ "resolved": "https://registry.npmjs.org/string-width/-/string-width-4.2.3.tgz", "integrity": "sha512-wKyQRQpjJ0sIp62ErSZdGsjMJWsap5oRNihHhu6G7JVO/9jIB6UyevL+tXuOqrng8j/cxKTWyWUwvSTriiZz/g==", "dev": true, + "license": "MIT", "dependencies": { "emoji-regex": "^8.0.0", "is-fullwidth-code-point": "^3.0.0", @@ -12559,6 +13510,7 @@ "resolved": "https://registry.npmjs.org/yn/-/yn-3.1.1.tgz", "integrity": "sha512-Ux4ygGWsu2c7isFWe8Yu1YluJmqVhxqK2cLXNQA5AcC3QfbGNpM7fu0Y8b/z16pXLnFxZYvWhd3fhBY9DLmC6Q==", "dev": true, + "license": "MIT", "engines": { "node": ">=6" } @@ -12568,6 +13520,7 @@ "resolved": "https://registry.npmjs.org/yocto-queue/-/yocto-queue-0.1.0.tgz", "integrity": "sha512-rVksvsnNCdJ/ohGc6xgPwyN8eheCxsiLM8mxuE/t/mOVqJewPuO1miLpTHQiRgTKCLexL4MeAFVagts7HmNZ2Q==", "dev": true, + "license": "MIT", "engines": { "node": ">=10" }, @@ -12576,12 +13529,24 @@ } }, "node_modules/zod": { - "version": "3.22.4", - "resolved": "https://registry.npmjs.org/zod/-/zod-3.22.4.tgz", - "integrity": "sha512-iC+8Io04lddc+mVqQ9AZ7OQ2MrUKGN+oIQyq1vemgt46jwCwLfhq7/pwnBnNXXXZb8VTVLKwp9EDkx+ryxIWmg==", + "version": "3.23.8", + "resolved": "https://registry.npmjs.org/zod/-/zod-3.23.8.tgz", + "integrity": "sha512-XBx9AXhXktjUqnepgTiE5flcKIYWi/rme0Eaj+5Y0lftuGBq+jyRu/md4WnuxqgP1ubdpNCsYEYPxrzVHD8d6g==", + "license": "MIT", "funding": { "url": "https://github.com/sponsors/colinhacks" } + }, + "node_modules/zwitch": { + "version": "2.0.4", + "resolved": "https://registry.npmjs.org/zwitch/-/zwitch-2.0.4.tgz", + "integrity": "sha512-bXE4cR/kVZhKZX/RjPEflHaKVhUVl85noU3v6b8apfQEc1x4A+zBxjZ4lN8LqGd6WZ3dl98pY4o717VFmoPp+A==", + "dev": true, + "license": "MIT", + "funding": { + "type": "github", + "url": "https://github.com/sponsors/wooorm" + } } } } diff --git a/package.json b/package.json index 3167da5..e21dc1c 100644 --- a/package.json +++ b/package.json @@ -1,9 +1,9 @@ { "name": "ntcore-ts-client-monorepo", "version": "0.0.0", - "license": "ISC", + "license": "MIT", "scripts": { - "prepare": "husky install", + "prepare": "husky", "test": "npx nx run ntcore-ts-client:test" }, "private": true, @@ -19,46 +19,46 @@ "dependencies": { "@msgpack/msgpack": "^2.8.0", "isomorphic-ws": "^5.0.0", - "tslib": "^2.6.2", - "uuid": "^9.0.1", - "ws": "^8.14.2", - "zod": "^3.22.4" + "tslib": "^2.8.0", + "uuid": "^11.0.2", + "ws": "^8.18.0", + "zod": "^3.23.8" }, "devDependencies": { - "@commitlint/cli": "^18.4.2", - "@commitlint/config-conventional": "^18.4.2", - "@nx/devkit": "17.1.2", - "@nx/eslint-plugin": "17.1.2", - "@nx/jest": "17.1.2", - "@nx/js": "17.1.2", - "@nx/node": "17.1.2", - "@nx/workspace": "17.1.2", - "@types/jest": "^29.5.8", - "@types/node": "^20.9.0", - "@types/uuid": "^9.0.7", - "@types/ws": "^8.5.9", - "@typescript-eslint/eslint-plugin": "6.11.0", - "@typescript-eslint/parser": "6.11.0", - "eslint": "^8.54.0", - "eslint-config-prettier": "^9.0.0", - "eslint-import-resolver-typescript": "^3.6.1", - "eslint-plugin-import": "^2.29.0", - "eslint-plugin-jest": "^27.6.0", - "eslint-plugin-jsdoc": "^46.9.0", + "@commitlint/cli": "^19.5.0", + "@commitlint/config-conventional": "^19.5.0", + "@nx/devkit": "20.0.6", + "@nx/eslint": "20.0.6", + "@nx/eslint-plugin": "20.0.6", + "@nx/jest": "20.0.6", + "@nx/js": "20.0.6", + "@nx/node": "20.0.6", + "@nx/workspace": "20.0.6", + "@types/jest": "29.5.14", + "@types/node": "18.19.9", + "@types/uuid": "^10.0.0", + "@types/ws": "^8.5.12", + "@typescript-eslint/eslint-plugin": "7.18.0", + "@typescript-eslint/parser": "7.18.0", + "eslint": "8.57.1", + "eslint-config-prettier": "^9.1.0", + "eslint-import-resolver-typescript": "^3.6.3", + "eslint-plugin-import": "^2.31.0", + "eslint-plugin-jest": "^28.8.3", + "eslint-plugin-jsdoc": "^48.11.0", "eslint-plugin-json": "^3.1.0", "eslint-plugin-tsdoc": "^0.2.17", - "husky": "^8.0.3", - "jest": "^29.7.0", - "jest-environment-jsdom": "^29.7.0", + "husky": "^9.1.6", + "jest": "29.7.0", + "jest-environment-jsdom": "29.7.0", "jest-websocket-mock": "^2.5.0", - "lint-staged": "^15.1.0", - "nx": "17.1.2", - "prettier": "^3.1.0", - "ts-jest": "29.1.1", - "ts-node": "10.9.1", - "typedoc": "^0.25.3", - "typedoc-plugin-missing-exports": "^2.1.0", - "typescript": "5.2.2", - "@nx/eslint": "17.1.2" + "lint-staged": "^15.2.10", + "nx": "20.0.6", + "prettier": "^3.3.3", + "ts-jest": "^29.2.5", + "ts-node": "^10.9.2", + "typedoc": "^0.26.10", + "typedoc-plugin-missing-exports": "^3.0.0", + "typescript": "5.6.3" } } diff --git a/packages/eslint-config/project.json b/packages/eslint-config/project.json index 249de7e..1034705 100644 --- a/packages/eslint-config/project.json +++ b/packages/eslint-config/project.json @@ -3,6 +3,7 @@ "$schema": "../../node_modules/nx/schemas/project-schema.json", "sourceRoot": "packages/eslint-config/src", "projectType": "library", + "tags": [], "targets": { "build": { "executor": "@nx/js:tsc", @@ -16,21 +17,14 @@ }, "lint": { "executor": "@nx/eslint:lint", - "outputs": ["{options.outputFile}"], - "dependsOn": ["build"], - "options": { - "lintFilePatterns": ["packages/eslint-config/**/*.ts"] - } + "dependsOn": ["build"] }, "lint:fix": { "executor": "@nx/eslint:lint", - "outputs": ["{options.outputFile}"], "dependsOn": ["build"], "options": { - "fix": true, - "lintFilePatterns": ["packages/eslint-config/**/*.ts"] + "fix": true } } - }, - "tags": [] + } } diff --git a/packages/ntcore-ts-client/CHANGELOG.md b/packages/ntcore-ts-client/CHANGELOG.md index ee9250a..9a0190c 100644 --- a/packages/ntcore-ts-client/CHANGELOG.md +++ b/packages/ntcore-ts-client/CHANGELOG.md @@ -2,6 +2,39 @@ Note: there may be breaking changes between each beta version, but if a breaking change is introduced out of beta, it will be a major version change +## 2.0.0 + +### Breaking Changes + +- **BREAKING CHANGE: Drop support for v4.0** + - The API now requires NT v4.1 to function +- **BRAKING CHANGE: publish and setProperties are now asynchronous** + - Please await these calls to know when the changes take effect + - After awaiting publish, it is safe to set new values to the topic + +### Changes + +- Add support for v4.1 + - No support for PING/PONG messages - Node/JS limitation + - No support added yet for cached messages +- Updated dependencies + +## 1.0.0 + +### Breaking Changes + +- **BREAKING CHANGE: removed NetworkTables.createInstance\*()** + - Please use NetworkTables.getInstanceByTeam() and NetworkTables.getInstanceByURI() +- **BREAKING CHANGE: removed NetworkTableTypeInfos** + - Fixed typo: now called `NetworkTablesTypeInfos` (NetworkTables plural! With **S**!) + +## 0.2.2 + +### Changes + +- Updated dependencies +- Existing topics are type checked better + ## 0.2.1 ### Changes @@ -34,23 +67,23 @@ Note: there may be breaking changes between each beta version, but if a breaking - chore: bump version -* chore: update deps -* style: prepend nt client id with `ntcore-ts-` -* chore: update deps -* chore: bump version to 0.2.0 +- chore: update deps +- style: prepend nt client id with `ntcore-ts-` +- chore: update deps +- chore: bump version to 0.2.0 ### Non-library changes - Improve docs by @Pokesi in -* fix(ci): temporarily disable linting through CI by @cjlawson02 in -* chore: upgrade tslib and dev deps by @cjlawson02 in -* feat(dev): add commitlint for conventional commits enforcement by @cjlawson02 in -* build(deps-dev): bump @typescript-eslint/eslint-plugin from 5.48.2 to 5.49.0 by @dependabot in -* build(deps-dev): bump @typescript-eslint/parser from 5.48.2 to 5.49.0 by @dependabot in -* build(deps-dev): bump eslint-plugin-jsdoc from 39.6.7 to 40.0.0 by @dependabot in -* build(deps): bump tslib from 2.4.1 to 2.5.0 by @dependabot in -* build(deps-dev): bump jest and @types/jest by @dependabot in +- fix(ci): temporarily disable linting through CI by @cjlawson02 in +- chore: upgrade tslib and dev deps by @cjlawson02 in +- feat(dev): add commitlint for conventional commits enforcement by @cjlawson02 in +- build(deps-dev): bump @typescript-eslint/eslint-plugin from 5.48.2 to 5.49.0 by @dependabot in +- build(deps-dev): bump @typescript-eslint/parser from 5.48.2 to 5.49.0 by @dependabot in +- build(deps-dev): bump eslint-plugin-jsdoc from 39.6.7 to 40.0.0 by @dependabot in +- build(deps): bump tslib from 2.4.1 to 2.5.0 by @dependabot in +- build(deps-dev): bump jest and @types/jest by @dependabot in ## 0.0.1-beta.5 diff --git a/packages/ntcore-ts-client/package.json b/packages/ntcore-ts-client/package.json index 119643c..a54c7f0 100644 --- a/packages/ntcore-ts-client/package.json +++ b/packages/ntcore-ts-client/package.json @@ -1,7 +1,7 @@ { "name": "ntcore-ts-client", - "version": "0.2.2", - "license": "ISC", + "version": "2.0.0", + "license": "MIT", "keywords": [ "ntcore", "networktables", diff --git a/packages/ntcore-ts-client/project.json b/packages/ntcore-ts-client/project.json index 6d82856..4041d3c 100644 --- a/packages/ntcore-ts-client/project.json +++ b/packages/ntcore-ts-client/project.json @@ -3,6 +3,7 @@ "$schema": "../../node_modules/nx/schemas/project-schema.json", "sourceRoot": "packages/ntcore-ts-client/src", "projectType": "library", + "tags": [], "targets": { "build": { "executor": "@nx/js:tsc", @@ -11,7 +12,9 @@ "outputPath": "dist/packages/ntcore-ts-client", "main": "packages/ntcore-ts-client/src/index.ts", "tsConfig": "packages/ntcore-ts-client/tsconfig.lib.json", - "assets": ["packages/ntcore-ts-client/*.md"] + "assets": ["packages/ntcore-ts-client/*.md"], + "updateBuildableProjectDepsInPackageJson": true, + "buildableProjectDepsInPackageJsonType": "dependencies" } }, "publish": { @@ -22,18 +25,12 @@ "dependsOn": ["build"] }, "lint": { - "executor": "@nx/eslint:lint", - "outputs": ["{options.outputFile}"], - "options": { - "lintFilePatterns": ["packages/ntcore-ts-client/**/*.ts"] - } + "executor": "@nx/eslint:lint" }, "lint:fix": { "executor": "@nx/eslint:lint", - "outputs": ["{options.outputFile}"], "options": { - "fix": true, - "lintFilePatterns": ["packages/ntcore-ts-client/**/*.ts"] + "fix": true } }, "test": { @@ -49,6 +46,5 @@ "command": "npx typedoc packages/ntcore-ts-client/src/index.ts --tsconfig packages/ntcore-ts-client/tsconfig.lib.json --excludeExternals true --readme none && git add docs/" } } - }, - "tags": [] + } } diff --git a/packages/ntcore-ts-client/src/lib/ntcore-ts-client.spec.ts b/packages/ntcore-ts-client/src/lib/ntcore-ts-client.spec.ts index 605124f..85eb2de 100644 --- a/packages/ntcore-ts-client/src/lib/ntcore-ts-client.spec.ts +++ b/packages/ntcore-ts-client/src/lib/ntcore-ts-client.spec.ts @@ -2,47 +2,65 @@ import { NetworkTables } from './ntcore-ts-client'; import { NetworkTablesTypeInfos } from './types/types'; describe('NetworkTables', () => { - let networkTables: NetworkTables; - beforeEach(() => { - networkTables = NetworkTables.getInstanceByTeam(973); + NetworkTables['_instances'].clear(); }); it('gets the client', () => { + const networkTables = NetworkTables.getInstanceByTeam(973); expect(networkTables.client).toBe(NetworkTables.getInstanceByTeam(973).client); const anotherClient = NetworkTables.getInstanceByTeam(9973).client; expect(anotherClient).not.toBe(networkTables.client); }); it('creates a new NetworkTables instance with the correct port number', () => { + const networkTables = NetworkTables.getInstanceByTeam(973); expect(networkTables.getPort()).toBe(5810); }); it('creates a new NetworkTables instance with the correct robot address', () => { + const networkTables = NetworkTables.getInstanceByTeam(973); expect(networkTables.getURI()).toBe('roborio-973-frc.local'); }); + it('returns the same instance when calling getInstance multiple times', () => { + const instance1 = NetworkTables.getInstanceByTeam(973); + const instance2 = NetworkTables.getInstanceByTeam(973); + expect(instance1).toBe(instance2); + }); + + it('returns the same instance when calling getInstanceByURI multiple times', () => { + const instance1 = NetworkTables.getInstanceByURI('roborio-973-frc.local'); + const instance2 = NetworkTables.getInstanceByURI('roborio-973-frc.local'); + expect(instance1).toBe(instance2); + }); + it('lets you change the URI', () => { + const networkTables = NetworkTables.getInstanceByTeam(973); networkTables.changeURI('roborio-9973-frc.local'); expect(networkTables.getURI()).toBe('roborio-9973-frc.local'); }); it('returns the correct value for isRobotConnected', () => { + const networkTables = NetworkTables.getInstanceByTeam(973); expect(networkTables.isRobotConnected()).toBe(false); }); it('returns the correct value for isRobotConnecting', () => { + const networkTables = NetworkTables.getInstanceByTeam(973); expect(networkTables.isRobotConnecting()).toBe(true); }); it('allows adding and removing robot connection listeners', () => { const spy = jest.fn(); + const networkTables = NetworkTables.getInstanceByTeam(973); const removeListener = networkTables.addRobotConnectionListener(spy, true); expect(spy).toHaveBeenCalledWith(false); removeListener(); }); it('creates a topic', () => { + const networkTables = NetworkTables.getInstanceByTeam(973); const topic = networkTables.createTopic('/foo', NetworkTablesTypeInfos.kDouble, 1.0); expect(topic).toBeDefined(); }); diff --git a/packages/ntcore-ts-client/src/lib/ntcore-ts-client.ts b/packages/ntcore-ts-client/src/lib/ntcore-ts-client.ts index b06ad30..e16d2cb 100644 --- a/packages/ntcore-ts-client/src/lib/ntcore-ts-client.ts +++ b/packages/ntcore-ts-client/src/lib/ntcore-ts-client.ts @@ -56,18 +56,6 @@ export class NetworkTables { this._client = PubSubClient.getInstance(Util.createServerUrl(this.uri, this.port)); } - /** - * DEPRECATED: Creates a new NetworkTables instance if it does not exist. - * @deprecated Use {@link NetworkTables#getInstanceByTeam} instead. - * @param team - The team number of the robot. - * @param port - The port to connect to the robot on. Defaults to 5810. - * @returns The NetworkTables instance. - * @throws Error if the team number is not provided. - */ - static createInstanceByTeam(team: number, port = 5810) { - return this.getInstanceByTeam(team, port); - } - /** * Creates a new NetworkTables instance if it does not exist. * @param team - The team number of the robot. @@ -83,18 +71,6 @@ export class NetworkTables { return instance; } - /** - * DEPRECATED: Creates a new NetworkTables instance if it does not exist. - * @deprecated Use {@link NetworkTables#getInstanceByURI} instead. - * @param uri - The URI of the robot. - * @param port - The port to connect to the robot on. Defaults to 5810. - * @returns The NetworkTables instance. - * @throws Error if the URI is not provided. - */ - static createInstanceByURI(uri: string, port = 5810) { - return this.getInstanceByURI(uri, port); - } - /** * Creates a new NetworkTables instance if it does not exist. * @param uri - The URI of the robot. diff --git a/packages/ntcore-ts-client/src/lib/pubsub/pubsub.spec.ts b/packages/ntcore-ts-client/src/lib/pubsub/pubsub.spec.ts index d10e561..f4a9eb8 100644 --- a/packages/ntcore-ts-client/src/lib/pubsub/pubsub.spec.ts +++ b/packages/ntcore-ts-client/src/lib/pubsub/pubsub.spec.ts @@ -47,7 +47,7 @@ describe('PubSubClient', () => { const topic = { name: 'test', announce: jest.fn() }; client.registerTopic(topic as never); client['onTopicAnnounce']({ id: 123, name: 'test' } as never); - expect(topic.announce).toHaveBeenCalledWith(123); + expect(topic.announce).toHaveBeenCalledWith(123, undefined); }); it('handles unannouncements for a topic', () => { @@ -57,4 +57,28 @@ describe('PubSubClient', () => { client['onTopicUnannounce']({ name: 'test' } as never); expect(topic.unannounce).toHaveBeenCalled(); }); + + it('reinstantates topics', () => { + const topic = { + name: 'test', + publisher: true, + announce: jest.fn(), + resubscribeAll: jest.fn(), + republish: jest.fn(), + }; + const topic2 = { + name: 'test2', + publisher: true, + announce: jest.fn(), + resubscribeAll: jest.fn(), + republish: jest.fn(), + }; + client.registerTopic(topic as never); + client.registerTopic(topic2 as never); + client.reinstantiate('ws://localhost:5810'); + expect(topic.resubscribeAll).toHaveBeenCalled(); + expect(topic2.resubscribeAll).toHaveBeenCalled(); + expect(topic.republish).toHaveBeenCalled(); + expect(topic2.republish).toHaveBeenCalled(); + }); }); diff --git a/packages/ntcore-ts-client/src/lib/pubsub/pubsub.ts b/packages/ntcore-ts-client/src/lib/pubsub/pubsub.ts index 0884e40..724c42e 100644 --- a/packages/ntcore-ts-client/src/lib/pubsub/pubsub.ts +++ b/packages/ntcore-ts-client/src/lib/pubsub/pubsub.ts @@ -5,6 +5,7 @@ import type { AnnounceMessageParams, BinaryMessageData, NetworkTablesTypes, + PropertiesMessageParams, UnannounceMessageParams, } from '../types/types'; @@ -24,7 +25,8 @@ export class PubSubClient { serverUrl, this.onTopicUpdate, this.onTopicAnnounce, - this.onTopicUnannounce + this.onTopicUnannounce, + this.onTopicProperties ); this.topics = new Map(); @@ -58,6 +60,10 @@ export class PubSubClient { */ reinstantiate(url: string) { this._messenger.reinstantiate(url); + this.topics.forEach((topic) => { + topic.resubscribeAll(this); + if (topic.publisher) topic.republish(this); + }); } /** @@ -81,7 +87,7 @@ export class PubSubClient { console.warn('Received message for unknown topic', message); return; } - this.updateTopic(topic.name, message.value, message.serverTime); + topic.updateValue(message.value, message.serverTime); }; /** @@ -91,10 +97,10 @@ export class PubSubClient { private onTopicAnnounce = (params: AnnounceMessageParams) => { const topic = this.topics.get(params.name); if (!topic) { - console.warn('Received announce for unknown topic', params); + console.warn(`Topic ${params.name} was announced, but does not exist`); return; } - this.announce(params.id, params.name); + topic.announce(params.id, params.pubuid); }; /** @@ -104,53 +110,25 @@ export class PubSubClient { private onTopicUnannounce = (params: UnannounceMessageParams) => { const topic = this.topics.get(params.name); if (!topic) { - console.warn('Received unannounce for unknown topic', params); - return; - } - this.unannounce(params.name); - }; - - /** - * Marks a topic as announced - * @param topicId - The ID of the topic to announce - * @param topicName - The name of the topic to announce - */ - private announce(topicId: number, topicName: string) { - const topic = this.topics.get(topicName); - if (!topic) { - console.warn(`Topic ${topicName} was announced, but does not exist`); - return; - } - topic.announce(topicId); - } - - /** - * Marks a topic as unannounced - * @param topicName - The name of the topic to unannounce - */ - private unannounce(topicName: string) { - const topic = this.topics.get(topicName); - if (!topic) { - console.warn(`Topic ${topicName} was unannounced, but does not exist`); + console.warn(`Topic ${params.name} was unannounced, but does not exist`); return; } topic.unannounce(); - } + }; /** - * Updates a topic with a new value - * @param topicName - The name of the topic to update - * @param value - The new value of the topic - * @param lastChangedTime - The server time the topic was last changed + * Called by the messenger when a topic's properties are updated. + * @param params - The properties message parameters. */ - private updateTopic(topicName: string, value: NetworkTablesTypes, lastChangedTime: number) { - const topic = this.topics.get(topicName); - if (!topic) { - console.warn(`Topic ${topicName} was updated, but does not exist`); - return; + private onTopicProperties = (params: PropertiesMessageParams) => { + const topic = this.topics.get(params.name); + if (params.ack) { + if (!topic) { + console.warn(`Topic ${params.name} properties were updated, but does not exist`); + return; + } } - topic.updateValue(value, lastChangedTime); - } + }; /** * Updates the value of a topic on the server. diff --git a/packages/ntcore-ts-client/src/lib/pubsub/topic.spec.ts b/packages/ntcore-ts-client/src/lib/pubsub/topic.spec.ts index 0027cce..1f532dc 100644 --- a/packages/ntcore-ts-client/src/lib/pubsub/topic.spec.ts +++ b/packages/ntcore-ts-client/src/lib/pubsub/topic.spec.ts @@ -1,22 +1,34 @@ +import WSMock from 'jest-websocket-mock'; + import { NetworkTablesTypeInfos } from '../types/types'; import { PubSubClient } from './pubsub'; import { NetworkTablesTopic } from './topic'; -import type { SubscribeMessageParams } from '../types/types'; +import type { AnnounceMessage, SubscribeMessageParams } from '../types/types'; describe('Topic', () => { let topic: NetworkTablesTopic; - beforeEach(() => { - const serverUrl = 'ws://localhost:5810/nt/1234'; - const client = PubSubClient.getInstance(serverUrl); + let server: WSMock; + let client: PubSubClient; + const serverUrl = 'ws://localhost:5810/nt/1234'; + + beforeAll(async () => { + server = new WSMock(serverUrl); + client = PubSubClient.getInstance(serverUrl); + await server.connected; + }); + + beforeEach(() => { topic = new NetworkTablesTopic(client, 'test', NetworkTablesTypeInfos.kString, 'default'); }); afterEach(() => { topic['client']['topics'].clear(); topic.subscribers.clear(); + topic['_publisher'] = false; + topic['_pubuid'] = undefined; }); describe('constructor', () => { @@ -51,12 +63,24 @@ describe('Topic', () => { describe('setValue', () => { it('throws an error if the client is not the publisher', () => { - expect(() => topic.setValue('new value')).toThrowError('Cannot set value on topic without being the publisher'); + expect(() => topic.setValue('new value')).toThrow('Cannot set value on topic without being the publisher'); }); - it('allows the value to be set if the client is the publisher', () => { - topic.publish(); - topic.announce(1); + it('allows the value to be set if the client is the publisher', async () => { + setTimeout(() => { + const announceMessage: AnnounceMessage = { + method: 'announce', + params: { + name: 'test', + id: 1, + pubuid: 1234, + type: 'string', + properties: {}, + }, + }; + server.send(JSON.stringify([announceMessage])); + }, 100); + await topic.publish({}, 1234); topic.setValue('new value'); expect(topic.getValue()).toEqual('new value'); }); @@ -146,12 +170,12 @@ describe('Topic', () => { const options = {}; topic.subscribe(callback, true, options); expect(topic.subscribers.size).toBe(1); - topic.unsubscribe(topic.subscribers.keys().next().value, true); + topic.unsubscribe(topic.subscribers.keys().next().value!, true); expect(topic.subscribers.size).toBe(0); }); it('does nothing if the callback is not a subscriber', () => { expect(topic.subscribers.size).toBe(0); - topic.unsubscribe(topic.subscribers.keys().next().value); + topic.unsubscribe(topic.subscribers.keys().next().value!); expect(topic.subscribers.size).toBe(0); }); }); @@ -193,44 +217,81 @@ describe('Topic', () => { }); describe('publish', () => { - it('sets the publisher to the client', () => { - topic.publish(); + it('sets the publisher to the client', async () => { + setTimeout(() => { + const announceMessage: AnnounceMessage = { + method: 'announce', + params: { + name: 'test', + id: 1, + pubuid: 1000, + type: 'string', + properties: {}, + }, + }; + server.send(JSON.stringify([announceMessage])); + }, 100); + await topic.publish({}, 1000); expect(topic.publisher).toBe(true); expect(topic.pubuid).toBeDefined(); }); - it('does not set the publisher if the client is already the publisher', () => { - topic.publish(); + it('does not set the publisher if the client is already the publisher', async () => { + setTimeout(() => { + const announceMessage: AnnounceMessage = { + method: 'announce', + params: { + name: 'test', + id: 1, + pubuid: 1111, + type: 'string', + properties: {}, + }, + }; + server.send(JSON.stringify([announceMessage])); + }, 100); + await topic.publish({}, 1111); const id = topic.pubuid; - topic.publish(); + + await topic.publish(); expect(id).toEqual(topic.pubuid); }); + + it('should throw an error if the topic is not announced', async () => { + try { + topic = new NetworkTablesTopic(client, 'test2', NetworkTablesTypeInfos.kString, 'default'); + await topic.publish({}, 1); + fail('Topic should have not been announced'); + } catch (e) { + expect(e).toEqual(new Error(`Topic ${topic.name} was not announced within 3 seconds`)); + } + }); }); describe('unpublish', () => { - it('sets the publisher to false', () => { - topic.publish(); + it('sets the publisher to false', async () => { + setTimeout(() => { + const announceMessage: AnnounceMessage = { + method: 'announce', + params: { + name: 'test', + id: 1, + pubuid: 1001, + type: 'string', + properties: {}, + }, + }; + server.send(JSON.stringify([announceMessage])); + }, 100); + await topic.publish({}, 1001); + expect(topic.publisher).toBe(true); topic.unpublish(); expect(topic.publisher).toBe(false); expect(topic.pubuid).toBeUndefined(); }); it('should throw an error if the client is not the publisher', () => { - expect(() => topic.unpublish()).toThrowError('Cannot unpublish topic without being the publisher'); - }); - }); - - describe('republish', () => { - it('should republish', () => { - topic.publish(); - topic['publish'] = jest.fn(); - topic.republish(topic['client']); - expect(topic['publish']).toHaveBeenCalledWith({}, topic.pubuid); - expect(topic.publisher).toBe(true); - }); - - it('should throw error if the client is not the publisher', () => { - expect(() => topic.republish(topic['client'])).toThrowError('Cannot republish topic without being the publisher'); + expect(() => topic.unpublish()).toThrow('Cannot unpublish topic without being the publisher'); }); }); diff --git a/packages/ntcore-ts-client/src/lib/pubsub/topic.ts b/packages/ntcore-ts-client/src/lib/pubsub/topic.ts index c73ed7f..69ddb7a 100644 --- a/packages/ntcore-ts-client/src/lib/pubsub/topic.ts +++ b/packages/ntcore-ts-client/src/lib/pubsub/topic.ts @@ -2,8 +2,10 @@ import { Util } from '../util/util'; import type { PubSubClient } from './pubsub'; import type { + AnnounceMessage, NetworkTablesTypeInfo, NetworkTablesTypes, + PropertiesMessage, PublishMessageParams, SetPropertiesMessageParams, SubscribeMessageParams, @@ -21,6 +23,7 @@ export class NetworkTablesTopic { private _announced: boolean; private _publisher: boolean; private _pubuid?: number; + private _publishProperties?: TopicProperties; private _subscribers: Map< number, { @@ -160,10 +163,14 @@ export class NetworkTablesTopic { /** * Marks the topic as announced. This should only be called by the PubSubClient. * @param id - The ID of the topic. + * @param pubuid - The UID of the publisher. */ - announce(id: number) { + announce(id: number, pubuid?: number) { this._announced = true; this._id = id; + if (pubuid === this._pubuid) { + this._publisher = true; + } } /** Marks the topic as unannounced. This should only be called by the PubSubClient. */ @@ -251,11 +258,13 @@ export class NetworkTablesTopic { * Publishes the topic. * @param properties - The properties to publish the topic with. * @param id - The UID of the publisher. + * @returns A promise that resolves when the topic is published. */ - publish(properties: TopicProperties = {}, id?: number) { + async publish(properties: TopicProperties = {}, id?: number): Promise { if (this.publisher) return; - this._publisher = true; + this._pubuid = id ?? Util.generateUid(); + this._publishProperties = properties; const publishParams: PublishMessageParams = { type: this.typeInfo[1], @@ -264,7 +273,7 @@ export class NetworkTablesTopic { properties, }; - this.client.messenger.publish(publishParams); + return await this.client.messenger.publish(publishParams); } /** @@ -284,22 +293,26 @@ export class NetworkTablesTopic { /** * Republishes the topic. * @param client - The client to republish with. + * @returns A promise that resolves when the topic is republished. */ - republish(client: PubSubClient) { + async republish(client: PubSubClient) { this.client = client; if (!this.publisher || !this._pubuid) { throw new Error('Cannot republish topic without being the publisher'); } - this.publish({}, this._pubuid); + this._publisher = false; + + return await this.publish(this._publishProperties, this._pubuid); } /** * Sets the properties of the topic. * @param persistent - If true, the last set value will be periodically saved to persistent storage on the server and be restored during server startup. Topics with this property set to true will not be deleted by the server when the last publisher stops publishing. * @param retained - Topics with this property set to true will not be deleted by the server when the last publisher stops publishing. + * @returns The server's response. */ - setProperties(persistent?: boolean, retained?: boolean) { + async setProperties(persistent?: boolean, retained?: boolean): Promise { const setPropertiesParams: SetPropertiesMessageParams = { name: this.name, update: { @@ -308,6 +321,7 @@ export class NetworkTablesTopic { }, }; - this.client.messenger.setProperties(setPropertiesParams); + // Send the set properties request + return await this.client.messenger.setProperties(setPropertiesParams); } } diff --git a/packages/ntcore-ts-client/src/lib/socket/messenger.ts b/packages/ntcore-ts-client/src/lib/socket/messenger.ts index af888b8..ccea568 100644 --- a/packages/ntcore-ts-client/src/lib/socket/messenger.ts +++ b/packages/ntcore-ts-client/src/lib/socket/messenger.ts @@ -1,3 +1,5 @@ +import { messageSchema } from '../types/schemas'; + import { NetworkTablesSocket } from './socket'; import type { NetworkTablesTopic } from '../pubsub/topic'; @@ -14,7 +16,11 @@ import type { BinaryMessageData, AnnounceMessageParams, UnannounceMessageParams, + PropertiesMessageParams, + AnnounceMessage, + PropertiesMessage, } from '../types/types'; +import type { MessageEvent as WS_MessageEvent } from 'ws'; /** NetworkTables client. */ export class Messenger { @@ -37,12 +43,14 @@ export class Messenger { * @param onTopicUpdate - Called when a topic is updated. * @param onAnnounce - Called when a topic is announced. * @param onUnannounce - Called when a topic is unannounced. + * @param onTopicProperties - Called when a topic's properties are updated. */ private constructor( serverUrl: string, onTopicUpdate: (_: BinaryMessageData) => void, onAnnounce: (_: AnnounceMessageParams) => void, - onUnannounce: (_: UnannounceMessageParams) => void + onUnannounce: (_: UnannounceMessageParams) => void, + onTopicProperties: (_: PropertiesMessageParams) => void ) { this._socket = NetworkTablesSocket.getInstance( serverUrl, @@ -50,7 +58,8 @@ export class Messenger { this.onSocketClose, onTopicUpdate, onAnnounce, - onUnannounce + onUnannounce, + onTopicProperties ); } @@ -60,17 +69,19 @@ export class Messenger { * @param onTopicUpdate - Called when a topic is updated. * @param onAnnounce - Called when a topic is announced. * @param onUnannounce - Called when a topic is unannounced. + * @param onTopicProperties - Called when a topic's properties are updated. * @returns The instance of the NetworkTables client. */ static getInstance( serverUrl: string, onTopicUpdate: (_: BinaryMessageData) => void, onAnnounce: (_: AnnounceMessageParams) => void, - onUnannounce: (_: UnannounceMessageParams) => void + onUnannounce: (_: UnannounceMessageParams) => void, + onTopicProperties: (_: PropertiesMessageParams) => void ): Messenger { let instance = this._instances.get(serverUrl); if (!instance) { - instance = new this(serverUrl, onTopicUpdate, onAnnounce, onUnannounce); + instance = new this(serverUrl, onTopicUpdate, onAnnounce, onUnannounce, onTopicProperties); this._instances.set(serverUrl, instance); } return instance; @@ -123,25 +134,68 @@ export class Messenger { // eslint-disable-next-line @typescript-eslint/no-empty-function onSocketClose = () => {}; + private parseAndFilterMessage( + event: MessageEvent | WS_MessageEvent, + method: Message['method'] + ): T | null { + if (!(event.data instanceof ArrayBuffer) && !(event.data instanceof Uint8Array)) { + const messageData = JSON.parse(event.data); + const messages = messageSchema.parse(messageData); + for (const message of messages) { + if (message.method === method) { + return message as T; + } + } + } + + return null; + } + /** * Publishes a topic to the server. * @param params - The publication parameters. * @param force - Whether to force the publication. + * @returns The announcement parameters. */ - publish(params: PublishMessageParams, force?: boolean) { - // Check if the topic is already published - if (this.publications.has(params.pubuid) && !force) return; - - // Add the topic to the list of published topics - this.publications.set(params.pubuid, params); - + async publish(params: PublishMessageParams, force?: boolean): Promise { // Send the message to the server const message: PublishMessage = { method: 'publish', params, }; - this._socket.sendTextFrame(message); + return new Promise((resolve, reject) => { + // Check if the topic is already published + if (this.publications.has(params.pubuid) && !force) reject(new Error('Topic is already published')); + + // Listen for the announcement + const resolver = (message: AnnounceMessage) => { + this.socket.websocket.removeEventListener('message', wsHandler); + // Add the topic to the list of published topics + this.publications.set(params.pubuid, params); + + resolve(message); + }; + + const wsHandler = (event: MessageEvent | WS_MessageEvent) => { + const message = this.parseAndFilterMessage(event, 'announce'); + if (message && message.params.name === params.name) { + resolver(message); + } + }; + + this.socket.websocket.addEventListener('message', wsHandler); + + // Send the message to the server + this._socket.sendTextFrame(message); + + // Reject the promise if the topic is not announced within 3 seconds + setTimeout(() => { + if (this.socket.isConnected()) { + reject(new Error(`Topic ${params.name} was not announced within 3 seconds`)); + } + }, 3000); + }); } /** @@ -208,16 +262,42 @@ export class Messenger { /** * Sets the properties of a topic. * @param params - The parameters to set + * @returns The new properties of the topic. */ - setProperties(params: SetPropertiesMessageParams) { + async setProperties(params: SetPropertiesMessageParams): Promise { // Create the message to send to the server const message: SetPropertiesMessage = { method: 'setproperties', params, }; - // Send the message to the server - this._socket.sendTextFrame(message); + return new Promise((resolve, reject) => { + const resolver = (message: PropertiesMessage) => { + this._socket.websocket.removeEventListener('message', wsHandler); + clearInterval(responseCheck); + resolve(message); + }; + + const wsHandler = (event: MessageEvent | WS_MessageEvent) => { + const message = this.parseAndFilterMessage(event, 'announce'); + if (message?.params.ack) { + resolver(message); + } + }; + + this._socket.websocket.addEventListener('message', wsHandler); + + // Send the message to the server + this._socket.sendTextFrame(message); + + // Reject the promise if the topic is not announced within 3 seconds + + const responseCheck = setInterval(() => { + if (this.socket.isConnected()) { + reject(new Error(`Topic ${params.name} was not announced within 3 seconds`)); + } + }, 3000); + }); } /** diff --git a/packages/ntcore-ts-client/src/lib/socket/socket.spec.ts b/packages/ntcore-ts-client/src/lib/socket/socket.spec.ts index a1b71af..95a2291 100644 --- a/packages/ntcore-ts-client/src/lib/socket/socket.spec.ts +++ b/packages/ntcore-ts-client/src/lib/socket/socket.spec.ts @@ -1,28 +1,33 @@ +import { encode } from '@msgpack/msgpack'; import WebSocket from 'isomorphic-ws'; import WSMock from 'jest-websocket-mock'; +import { Util } from '../util/util'; + import { NetworkTablesSocket } from './socket'; -jest.mock('ws'); +import type { + AnnounceMessage, + AnnounceMessageParams, + BinaryMessage, + PropertiesMessage, + PropertiesMessageParams, + UnannounceMessage, + UnannounceMessageParams, +} from '../types/types'; describe('NetworkTablesSocket', () => { let socket: NetworkTablesSocket; const serverUrl = 'ws://localhost:5810/nt/1234'; let server: WSMock; - let onSocketOpen: jest.Mock; - let onSocketClose: jest.Mock; - let onTopicUpdate: jest.Mock; - let onAnnounce: jest.Mock; - let onUnannounce: jest.Mock; + const onSocketOpen = jest.fn(); + const onSocketClose = jest.fn(); + const onTopicUpdate = jest.fn(); + const onAnnounce = jest.fn(); + const onUnannounce = jest.fn(); + const onProperties = jest.fn(); beforeEach(async () => { - // Create mock event handlers - onSocketOpen = jest.fn(); - onSocketClose = jest.fn(); - onTopicUpdate = jest.fn(); - onAnnounce = jest.fn(); - onUnannounce = jest.fn(); - server = new WSMock(serverUrl); // Create an instance of the NetworkTablesSocket class @@ -32,7 +37,8 @@ describe('NetworkTablesSocket', () => { onSocketClose, onTopicUpdate, onAnnounce, - onUnannounce + onUnannounce, + onProperties ); await server.connected; @@ -40,6 +46,11 @@ describe('NetworkTablesSocket', () => { afterEach(() => { WSMock.clean(); + onSocketOpen.mockClear(); + onSocketClose.mockClear(); + onTopicUpdate.mockClear(); + onAnnounce.mockClear(); + onUnannounce.mockClear(); }); describe('constructor', () => { @@ -169,60 +180,69 @@ describe('NetworkTablesSocket', () => { }); }); - // describe('onmessage', () => { - // it('should call the binary frame handler for a binary message', () => { - // const message: BinaryMessage = [0, 0, 1, 1.0]; - - // // Trigger the onmessage event - // socket['onMessage']({ - // data: encode(message) as ArrayBuffer, - // } as MessageEvent); - - // expect(onTopicUpdate).toHaveBeenCalledWith({ - // topicId: message[0], - // serverTime: message[1], - // typeInfo: Util.getNetworkTablesTypeFromTypeNum(message[2]), - // value: message[3], - // }); - // }); - - // it('should call the onAnnounce handler for an announce message', () => { - // const params: AnnounceMessageParams = { - // type: 'boolean', - // name: 'foo', - // id: 0, - // properties: {}, - // }; - // const message: AnnounceMessage = { - // method: 'announce', - // params, - // }; - - // // Trigger the onmessage event - // socket['onMessage']({ - // data: JSON.stringify([message]), - // } as MessageEvent); - - // expect(onAnnounce).toHaveBeenCalledWith(params); - // }); - - // it('should call the onUnannounce handler for an unannounce message', () => { - // const params: UnannounceMessageParams = { - // name: 'foo', - // id: 0, - // }; - - // const message: UnannounceMessage = { - // method: 'unannounce', - // params, - // }; - - // // Trigger the onmessage event - // socket['onMessage']({ - // data: JSON.stringify([message]), - // } as MessageEvent); - - // expect(onUnannounce).toHaveBeenCalledWith(params); - // }); - // }); + describe('onmessage', () => { + // eslint-disable-next-line jest/no-disabled-tests + it.skip('should call the binary frame handler for a binary message', () => { + const message: BinaryMessage = [0, 0, 1, 1.0]; + + // Trigger the onmessage event + server.send(encode(message)); + + expect(onTopicUpdate).toHaveBeenCalledWith({ + topicId: message[0], + serverTime: message[1], + typeInfo: Util.getNetworkTablesTypeFromTypeNum(message[2]), + value: message[3], + }); + }); + + it('should call the onAnnounce handler for an announce message', () => { + const params: AnnounceMessageParams = { + type: 'boolean', + name: 'foo', + id: 0, + properties: {}, + }; + const message: AnnounceMessage = { + method: 'announce', + params, + }; + + server.send(JSON.stringify([message])); + + expect(onAnnounce).toHaveBeenCalledWith(params); + }); + + it('should call the onUnannounce handler for an unannounce message', () => { + const params: UnannounceMessageParams = { + name: 'foo', + id: 0, + }; + + const message: UnannounceMessage = { + method: 'unannounce', + params, + }; + + server.send(JSON.stringify([message])); + + expect(onUnannounce).toHaveBeenCalledWith(params); + }); + }); + + it('should call the onProperties handler for an properties message', () => { + const params: PropertiesMessageParams = { + name: 'foo', + ack: true, + }; + + const message: PropertiesMessage = { + method: 'properties', + params, + }; + + server.send(JSON.stringify([message])); + + expect(onProperties).toHaveBeenCalledWith(params); + }); }); diff --git a/packages/ntcore-ts-client/src/lib/socket/socket.ts b/packages/ntcore-ts-client/src/lib/socket/socket.ts index ba0be01..bfbb0cd 100644 --- a/packages/ntcore-ts-client/src/lib/socket/socket.ts +++ b/packages/ntcore-ts-client/src/lib/socket/socket.ts @@ -17,14 +17,24 @@ import type { } from '../types/types'; import type { CloseEvent as WS_CloseEvent, MessageEvent as WS_MessageEvent, ErrorEvent as WS_ErrorEvent } from 'ws'; -/** Socket for NetworkTables 4.0 */ +/** Socket for NetworkTables 4.1 */ export class NetworkTablesSocket { private static instances = new Map(); + private static readonly PROTOCOL_V4_0 = 'networktables.first.wpi.edu'; + private static readonly PROTOCOL_V4_1 = 'v4.1.networktables.first.wpi.edu'; + private static readonly RTT_PROTOCOL = 'rtt.networktables.first.wpi.edu'; + private static readonly RECONNECT_TIMEOUT = 1000; + private static readonly RTT_PERIOD_V4_0 = 1000; + private static readonly RTT_PERIOD_V4_1 = 250; + private static readonly TIMEOUT_V4_1 = 1000; + private readonly connectionListeners = new Set<(_: boolean) => void>(); private lastHeartbeatDate = 0; private offset = 0; private bestRtt = -1; + private _rttWebsocket: WebSocket | null = null; + private _websocket: WebSocket; get websocket() { return this._websocket; @@ -33,6 +43,9 @@ export class NetworkTablesSocket { set websocket(websocket: WebSocket) { this._websocket = websocket; } + + private _disconnectTimout: NodeJS.Timeout | null = null; + private serverUrl: string; private readonly onSocketOpen: () => void; @@ -40,6 +53,7 @@ export class NetworkTablesSocket { private readonly onTopicUpdate: (_: BinaryMessageData) => void; private readonly onAnnounce: (_: AnnounceMessageParams) => void; private readonly onUnannounce: (_: UnannounceMessageParams) => void; + private readonly onProperties: (_: PropertiesMessageParams) => void; private autoConnect = true; private messageQueue: (string | ArrayBuffer)[] = []; @@ -52,6 +66,7 @@ export class NetworkTablesSocket { * @param onTopicUpdate - Called when a topic is updated. * @param onAnnounce - Called when a topic is announced. * @param onUnannounce - Called when a topic is unannounced. + * @param onProperties - Called when a topic's properties are updated. * @param autoConnect - Whether to automatically connect to the server. */ private constructor( @@ -61,16 +76,19 @@ export class NetworkTablesSocket { onTopicUpdate: (_: BinaryMessageData) => void, onAnnounce: (_: AnnounceMessageParams) => void, onUnannounce: (_: UnannounceMessageParams) => void, + onProperties: (_: PropertiesMessageParams) => void, autoConnect: boolean ) { // Connect to the server using the provided URL - this._websocket = new WebSocket(serverUrl, 'networktables.first.wpi.edu'); + this._websocket = new WebSocket(serverUrl, [NetworkTablesSocket.PROTOCOL_V4_1, NetworkTablesSocket.PROTOCOL_V4_0]); + this._rttWebsocket = new WebSocket(serverUrl, NetworkTablesSocket.RTT_PROTOCOL); this.serverUrl = serverUrl; this.onSocketOpen = onSocketOpen; this.onSocketClose = onSocketClose; this.onTopicUpdate = onTopicUpdate; this.onAnnounce = onAnnounce; this.onUnannounce = onUnannounce; + this.onProperties = onProperties; this.autoConnect = autoConnect; @@ -85,6 +103,7 @@ export class NetworkTablesSocket { * @param onTopicUpdate - Called when a topic is updated. * @param onAnnounce - Called when a topic is announced. * @param onUnannounce - Called when a topic is unannounced. + * @param onProperties - Called when a topic's properties are updated. * @param autoConnect - Whether to automatically connect to the server. * @returns The instance of the NetworkTables socket. */ @@ -95,11 +114,21 @@ export class NetworkTablesSocket { onTopicUpdate: (_: BinaryMessageData) => void, onAnnounce: (_: AnnounceMessageParams) => void, onUnannounce: (_: UnannounceMessageParams) => void, + onProperties: (_: PropertiesMessageParams) => void, autoConnect = true ): NetworkTablesSocket { let instance = this.instances.get(serverUrl); if (!instance) { - instance = new this(serverUrl, onSocketOpen, onSocketClose, onTopicUpdate, onAnnounce, onUnannounce, autoConnect); + instance = new this( + serverUrl, + onSocketOpen, + onSocketClose, + onTopicUpdate, + onAnnounce, + onUnannounce, + onProperties, + autoConnect + ); this.instances.set(serverUrl, instance); } @@ -121,14 +150,34 @@ export class NetworkTablesSocket { // eslint-disable-next-line no-console console.info('Robot Connected!'); this.sendQueuedMessages(); + }; + + if (this._websocket.protocol === 'v4.1.networktables.first.wpi.edu') { + // eslint-disable-next-line no-console + console.info('Connected on NT 4.1'); + this.initializeRTTWebsocket(); + } else { + // eslint-disable-next-line no-console + console.info('Connected on NT 4.0'); + } + // If running NT 4.1, start websocket heartbeat for RTT + if (this._rttWebsocket !== null) { + this._rttWebsocket.onopen = () => { + // Start heartbeat + heartbeatInterval = setInterval(() => { + this.heartbeat(); + }, NetworkTablesSocket.RTT_PERIOD_V4_1); + }; + } else { // Start heartbeat + // Only send heartbeat at this rate if we are on NT 4.0 heartbeatInterval = setInterval(() => { if (this.isConnected()) { this.heartbeat(); } - }, 1000); - }; + }, NetworkTablesSocket.RTT_PERIOD_V4_0); + } // Close handler this._websocket.onclose = (e: CloseEvent | WS_CloseEvent) => { @@ -142,19 +191,61 @@ export class NetworkTablesSocket { // Attempt to reconnect if (this.autoConnect) { - console.warn('Reconnect will be attempted in 1 second.'); + console.warn(`Reconnect will be attempted in ${NetworkTablesSocket.RECONNECT_TIMEOUT} milliseconds.`); setTimeout(() => { - this._websocket = new WebSocket(this.serverUrl, 'networktables.first.wpi.edu'); + this._websocket = new WebSocket(this.serverUrl, [ + NetworkTablesSocket.PROTOCOL_V4_1, + NetworkTablesSocket.PROTOCOL_V4_0, + ]); + this._rttWebsocket = new WebSocket(this.serverUrl, NetworkTablesSocket.RTT_PROTOCOL); this.init(); - }, 1000); + }, NetworkTablesSocket.RECONNECT_TIMEOUT); } }; this._websocket.binaryType = 'arraybuffer'; + if (this._rttWebsocket !== null) { + this._rttWebsocket.binaryType = 'arraybuffer'; + } + // Set up event listeners for messages and errors this._websocket.onmessage = (event: MessageEvent | WS_MessageEvent) => this.onMessage(event); this._websocket.onerror = (event: Event | WS_ErrorEvent) => this.onError(event); + + if (this._rttWebsocket !== null) { + this._rttWebsocket.onmessage = (event: MessageEvent | WS_MessageEvent) => this.onRTTMessage(event); + this._rttWebsocket.onerror = (event: Event | WS_ErrorEvent) => this.onError(event); + } + } + } + + private initializeRTTWebsocket() { + if (this._rttWebsocket === null) { + this._rttWebsocket = new WebSocket(this.serverUrl, NetworkTablesSocket.RTT_PROTOCOL); + this._rttWebsocket.binaryType = 'arraybuffer'; + this.resetTimeout(); + this._rttWebsocket.onmessage = (event: MessageEvent | WS_MessageEvent) => this.onMessage(event); + this._rttWebsocket.onerror = (event: Event | WS_ErrorEvent) => this.onError(event); + } + } + + /** + * Handle resetting the timeout for auto disconnect if no heartbeat is received in a certain amount of time. + * + * This will only be used for NT 4.1 currently to preserve old behavior. + */ + private resetTimeout() { + if (this._disconnectTimout !== null) { + clearTimeout(this._disconnectTimout); + } + if (this._rttWebsocket !== null) { + this._disconnectTimout = setTimeout(() => { + // eslint-disable-next-line no-console + console.error(`No NT heartbeat received in ${NetworkTablesSocket.TIMEOUT_V4_1} ms. Closing...`); + this._websocket.close(); + this._rttWebsocket?.close(); + }, NetworkTablesSocket.TIMEOUT_V4_1); } } @@ -165,7 +256,10 @@ export class NetworkTablesSocket { reinstantiate(serverUrl: string) { this.close(); this.serverUrl = serverUrl; - this._websocket = new WebSocket(this.serverUrl, 'networktables.first.wpi.edu'); + this._websocket = new WebSocket(this.serverUrl, [ + NetworkTablesSocket.PROTOCOL_V4_1, + NetworkTablesSocket.PROTOCOL_V4_0, + ]); this.init(); } @@ -201,6 +295,26 @@ export class NetworkTablesSocket { return this._websocket.readyState === WebSocket.CLOSED; } + /** + * Wait for the socket to connect. + * @returns A promise that resolves when the socket is connected. + */ + waitForConnection() { + return new Promise((resolve) => { + if (this.isConnected()) { + resolve(); + } else { + const listener = () => { + if (this.isConnected()) { + this.removeConnectionListener(listener); + resolve(); + } + }; + this.addConnectionListener(listener); + } + }); + } + /** * Create a connection listener. * @param callback - Called when the connection state changes. @@ -214,7 +328,15 @@ export class NetworkTablesSocket { callback(this.isConnected()); } - return () => this.connectionListeners.delete(callback); + return () => this.removeConnectionListener(callback); + } + + /** + * Remove a connection listener. + * @param callback - The callback to remove. + */ + removeConnectionListener(callback: (_: boolean) => void) { + this.connectionListeners.delete(callback); } /** @@ -243,6 +365,7 @@ export class NetworkTablesSocket { * @param event - The message event. */ private onMessage(event: MessageEvent | WS_MessageEvent) { + this.resetTimeout(); this.connectionListeners?.forEach((f) => f(this.isConnected())); if (event.data instanceof ArrayBuffer || event.data instanceof Uint8Array) { @@ -252,6 +375,12 @@ export class NetworkTablesSocket { } } + private onRTTMessage(event: MessageEvent | WS_MessageEvent) { + if (event.data instanceof ArrayBuffer || event.data instanceof Uint8Array) { + this.handleBinaryFrame(event.data); + } + } + /** * Handle an error from the websocket. * @param event - The error event. @@ -280,10 +409,7 @@ export class NetworkTablesSocket { // Heartbeat message if (messageData.topicId === -1) { this.handleRTT(messageData.serverTime); - } - - // Normal message - else { + } else { this.onTopicUpdate(messageData); } } @@ -337,11 +463,7 @@ export class NetworkTablesSocket { * @param params - The message params. */ private handlePropertiesParams(params: PropertiesMessageParams) { - // Extract the topic ID and properties from the params - // eslint-disable-next-line @typescript-eslint/no-unused-vars, no-unused-vars - const { name, ack } = params; - - // TODO: Do we need to do something with this? + this.onProperties(params); } /** @@ -446,6 +568,7 @@ export class NetworkTablesSocket { */ close() { this._websocket.close(); + this._rttWebsocket?.close(); } } diff --git a/packages/ntcore-ts-client/src/lib/types/schemas.spec.ts b/packages/ntcore-ts-client/src/lib/types/schemas.spec.ts index fb1c26b..8773811 100644 --- a/packages/ntcore-ts-client/src/lib/types/schemas.spec.ts +++ b/packages/ntcore-ts-client/src/lib/types/schemas.spec.ts @@ -27,10 +27,6 @@ describe('schema', () => { expect(typeStringSchema.safeParse('boolean').success).toBe(true); expect(typeStringSchema.safeParse('string').success).toBe(true); }); - - it('rejects invalid type strings', () => { - expect(typeStringSchema.safeParse('invalidType').success).toBe(false); - }); }); describe('typeNumSchema', () => { @@ -49,10 +45,6 @@ describe('schema', () => { expect(topicPropertiesSchema.safeParse({ persistent: true, retained: true }).success).toBe(true); expect(topicPropertiesSchema.safeParse({}).success).toBe(true); }); - - it('rejects objects with invalid properties', () => { - expect(topicPropertiesSchema.safeParse({ invalidProperty: true }).success).toBe(false); - }); }); describe('subscriptionOptionsSchema', () => { @@ -67,10 +59,6 @@ describe('schema', () => { ).toBe(true); expect(subscriptionOptionsSchema.safeParse({}).success).toBe(true); }); - - it('rejects objects with invalid properties', () => { - expect(subscriptionOptionsSchema.safeParse({ invalidProperty: true }).success).toBe(false); - }); }); describe('publishMessageParamsSchema', () => { diff --git a/packages/ntcore-ts-client/src/lib/types/schemas.ts b/packages/ntcore-ts-client/src/lib/types/schemas.ts index fa0fd32..8803052 100644 --- a/packages/ntcore-ts-client/src/lib/types/schemas.ts +++ b/packages/ntcore-ts-client/src/lib/types/schemas.ts @@ -42,19 +42,17 @@ export const topicPropertiesSchema = z .object({ persistent: z.boolean(), retained: z.boolean(), + cached: z.boolean(), }) - .partial() - .strict(); + .partial(); /** Schema for a topic in the NT protocol. */ -export const topicSchema = z - .object({ - name: z.string(), - id: z.number(), - type: typeStringSchema, - properties: topicPropertiesSchema, - }) - .strict(); +export const topicSchema = z.object({ + name: z.string(), + id: z.number(), + type: typeStringSchema, + properties: topicPropertiesSchema, +}); /** Schema for subscription options in the NT protocol. */ export const subscriptionOptionsSchema = z @@ -64,136 +62,103 @@ export const subscriptionOptionsSchema = z topicsonly: z.boolean(), prefix: z.boolean(), }) - .partial() - .strict(); + .partial(); /** Schema for the publish message in the NT protocol. */ -export const publishMessageParamsSchema = z - .object({ - name: z.string(), - pubuid: z.number(), - type: typeStringSchema, - properties: topicPropertiesSchema, - }) - .strict(); +export const publishMessageParamsSchema = z.object({ + name: z.string(), + pubuid: z.number(), + type: typeStringSchema, + properties: topicPropertiesSchema, +}); /** Schema for the unpublish message params in the NT protocol. */ -export const unpublishMessageParamsSchema = z - .object({ - pubuid: z.number(), - }) - .strict(); +export const unpublishMessageParamsSchema = z.object({ + pubuid: z.number(), +}); /** Schema for the set properties message params in the NT protocol. */ -export const setPropertiesMessageParamsSchema = z - .object({ - name: z.string(), - update: topicPropertiesSchema, - }) - .strict(); +export const setPropertiesMessageParamsSchema = z.object({ + name: z.string(), + update: topicPropertiesSchema, +}); /** Schema for the subscribe message params in the NT protocol. */ -export const subscribeMessageParamsSchema = z - .object({ - topics: z.array(z.string()), - subuid: z.number(), - options: subscriptionOptionsSchema, - }) - .strict(); +export const subscribeMessageParamsSchema = z.object({ + topics: z.array(z.string()), + subuid: z.number(), + options: subscriptionOptionsSchema, +}); /** Schema for the unsubscribe message params in the NT protocol. */ -export const unsubscribeMessageParamsSchema = z - .object({ - subuid: z.number(), - }) - .strict(); +export const unsubscribeMessageParamsSchema = z.object({ + subuid: z.number(), +}); /** Schema for the announce message params in the NT protocol. */ -export const announceMessageParamsSchema = topicSchema - .extend({ - pubuid: z.number().optional(), - }) - .strict(); +export const announceMessageParamsSchema = topicSchema.extend({ + pubuid: z.number().optional(), +}); /** Schema for the unannounce message params in the NT protocol. */ -export const unannounceMessageParamsSchema = z - .object({ - name: z.string(), - id: z.number(), - }) - .strict(); +export const unannounceMessageParamsSchema = z.object({ + name: z.string(), + id: z.number(), +}); /** Schema for the properties message params in the NT protocol. */ -export const propertiesMessageParamsSchema = z - .object({ - name: z.string(), - ack: z.boolean(), - }) - .strict(); +export const propertiesMessageParamsSchema = z.object({ + name: z.string(), + ack: z.boolean(), +}); /** Schema for a publish message in the NT protocol. */ -export const publishMessageSchema = z - .object({ - method: z.literal('publish'), - params: publishMessageParamsSchema, - }) - .strict(); +export const publishMessageSchema = z.object({ + method: z.literal('publish'), + params: publishMessageParamsSchema, +}); /** Schema for an unpublish message in the NT protocol. */ -export const unpublishMessageSchema = z - .object({ - method: z.literal('unpublish'), - params: unpublishMessageParamsSchema, - }) - .strict(); +export const unpublishMessageSchema = z.object({ + method: z.literal('unpublish'), + params: unpublishMessageParamsSchema, +}); /** Schema for a setproperties message in the NT protocol. */ -export const setPropertiesMessageSchema = z - .object({ - method: z.literal('setproperties'), - params: setPropertiesMessageParamsSchema, - }) - .strict(); +export const setPropertiesMessageSchema = z.object({ + method: z.literal('setproperties'), + params: setPropertiesMessageParamsSchema, +}); /** Schema for a subscribe message in the NT protocol. */ -export const subscribeMessageSchema = z - .object({ - method: z.literal('subscribe'), - params: subscribeMessageParamsSchema, - }) - .strict(); +export const subscribeMessageSchema = z.object({ + method: z.literal('subscribe'), + params: subscribeMessageParamsSchema, +}); /** Schema for an unsubscribe message in the NT protocol. */ -export const unsubscribeMessageSchema = z - .object({ - method: z.literal('unsubscribe'), - params: unsubscribeMessageParamsSchema, - }) - .strict(); +export const unsubscribeMessageSchema = z.object({ + method: z.literal('unsubscribe'), + params: unsubscribeMessageParamsSchema, +}); /** Schema for an announce message in the NT protocol. */ -export const announceMessageSchema = z - .object({ - method: z.literal('announce'), - params: announceMessageParamsSchema, - }) - .strict(); +export const announceMessageSchema = z.object({ + method: z.literal('announce'), + params: announceMessageParamsSchema, +}); /** Schema for an unannounce message in the NT protocol. */ -export const unannounceMessageSchema = z - .object({ - method: z.literal('unannounce'), - params: unannounceMessageParamsSchema, - }) - .strict(); +export const unannounceMessageSchema = z.object({ + method: z.literal('unannounce'), + params: unannounceMessageParamsSchema, +}); /** Schema for a properties message in the NT protocol. */ -export const propertiesMessageSchema = z - .object({ - method: z.literal('properties'), - params: propertiesMessageParamsSchema, - }) - .strict(); +export const propertiesMessageSchema = z.object({ + method: z.literal('properties'), + params: propertiesMessageParamsSchema, +}); /** Schema for a text frame message in the NT protocol. */ export const messageSchema = z.array( diff --git a/packages/ntcore-ts-client/src/lib/types/types.ts b/packages/ntcore-ts-client/src/lib/types/types.ts index ceb63bb..78bb63d 100644 --- a/packages/ntcore-ts-client/src/lib/types/types.ts +++ b/packages/ntcore-ts-client/src/lib/types/types.ts @@ -64,20 +64,6 @@ export class NetworkTablesTypeInfos { static readonly kIntegerArray: NetworkTablesTypeInfo = [18, 'int[]']; static readonly kStringArray: NetworkTablesTypeInfo = [20, 'string[]']; } -/** - * @deprecated Use {@link NetworkTablesTypeInfos} instead. - */ -export class NetworkTableTypeInfos { - static readonly kBoolean = NetworkTablesTypeInfos.kBoolean; - static readonly kDouble = NetworkTablesTypeInfos.kDouble; - static readonly kInteger = NetworkTablesTypeInfos.kInteger; - static readonly kString = NetworkTablesTypeInfos.kString; - static readonly kArrayBuffer = NetworkTablesTypeInfos.kArrayBuffer; - static readonly kBooleanArray = NetworkTablesTypeInfos.kBooleanArray; - static readonly kDoubleArray = NetworkTablesTypeInfos.kDoubleArray; - static readonly kIntegerArray = NetworkTablesTypeInfos.kIntegerArray; - static readonly kStringArray = NetworkTablesTypeInfos.kStringArray; -} export interface BinaryMessageData { topicId: number;