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\ No newline at end of file diff --git a/docs/classes/NetworkTables.html b/docs/classes/NetworkTables.html index 415183e..02e8e61 100644 --- a/docs/classes/NetworkTables.html +++ b/docs/classes/NetworkTables.html @@ -1,5 +1,5 @@ NetworkTables | ntcore-ts-client

Class NetworkTables

NetworkTables class for interacting with NetworkTables over a WebSocket connection.

-

Hierarchy

  • NetworkTables

Constructors

constructor +

Hierarchy

  • NetworkTables

Constructors

constructor

Properties

_client port uri @@ -17,36 +17,36 @@

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

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

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

  • Creates a new topic.

    +

Returns (() => void)

A function to remove the listener.

+
    • (): void

    • Returns void

changeURI

createTopic

getPort

getPort

getURI

getURI

isRobotConnected

isRobotConnected

isRobotConnecting

isRobotConnecting

Static getInstanceByTeam

Static getInstanceByTeam

Static getInstanceByURI

Static getInstanceByURI

Settings

Member Visibility

Theme

On This Page

Generated using TypeDoc

\ No newline at end of file +

Settings

Member Visibility

Theme

On This Page

Generated using TypeDoc

\ No newline at end of file diff --git a/docs/classes/NetworkTablesTopic.html b/docs/classes/NetworkTablesTopic.html index f3bd342..b39fa3e 100644 --- a/docs/classes/NetworkTablesTopic.html +++ b/docs/classes/NetworkTablesTopic.html @@ -1,8 +1,9 @@ -NetworkTablesTopic | ntcore-ts-client

Class NetworkTablesTopic<T>

Type Parameters

Hierarchy

  • NetworkTablesTopic

Constructors

constructor +NetworkTablesTopic | ntcore-ts-client

Class NetworkTablesTopic<T>

Type Parameters

Hierarchy

  • NetworkTablesTopic

Constructors

constructor

Properties

_announced _id? _lastChangedTime? _name +_propertyPromise? _publishPromise? _publishProperties? _publisher @@ -19,7 +20,8 @@ pubuid subscribers typeInfo -

Methods

announce +

Methods

ackProperties +announce getValue notifySubscribers publish @@ -39,55 +41,56 @@
  • 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 Optional _publishPromise

    _publishPromise?: ((value?) => void)

    Type declaration

      • (value?): void

      • Parameters

        • Optional value: void | PromiseLike<void>

        Returns void

    Private Optional _publishProperties

    _publishProperties?: {
        persistent?: boolean;
        retained?: boolean;
    }

    Type declaration

    • Optional persistent?: boolean
    • Optional retained?: boolean

    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.

      +

    Returns NetworkTablesTopic<T>

    Properties

    Private _announced

    _announced: boolean

    Private Optional _id

    _id?: number

    Private Optional _lastChangedTime

    _lastChangedTime?: number

    Private Readonly _name

    _name: string

    Private Optional _propertyPromise

    _propertyPromise?: ((value?) => void)

    Type declaration

      • (value?): void

      • Parameters

        • Optional value: void | PromiseLike<void>

        Returns void

    Private Optional _publishPromise

    _publishPromise?: ((value?) => void)

    Type declaration

      • (value?): void

      • Parameters

        • Optional value: void | PromiseLike<void>

        Returns void

    Private Optional _publishProperties

    _publishProperties?: {
        persistent?: boolean;
        retained?: boolean;
    }

    Type declaration

    • Optional persistent?: boolean
    • Optional retained?: boolean

    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

    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.

      +

    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

    typeInfo

    Methods

    announce

    Methods

    ackProperties

    announce

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

      Parameters

      • id: number

        The ID of the topic.

      • Optional pubuid: number

        The UID of the publisher.

        -

      Returns void

    getValue

    Private notifySubscribers

    publish

    • Publishes the topic.

      +

    Returns void

    getValue

    Private notifySubscribers

    publish

    republish

    republish

    resubscribeAll

    Returns void

    resubscribeAll

    setProperties

    Returns void

    setProperties

    setValue

    Returns Promise<void>

    setValue

    subscribe

    Returns void

    subscribe

    unannounce

    unpublish

    unsubscribe

    unannounce

    unpublish

    unsubscribe

    unsubscribeAll

    updateValue

    Returns void

    unsubscribeAll

    updateValue

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    \ No newline at end of file +

    Returns void

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    \ No newline at end of file diff --git a/docs/classes/NetworkTablesTypeInfos.html b/docs/classes/NetworkTablesTypeInfos.html index 1d3b21b..52aa50e 100644 --- a/docs/classes/NetworkTablesTypeInfos.html +++ b/docs/classes/NetworkTablesTypeInfos.html @@ -1,4 +1,4 @@ -NetworkTablesTypeInfos | ntcore-ts-client

    Class NetworkTablesTypeInfos

    Hierarchy

    • NetworkTablesTypeInfos

    Constructors

    constructor +NetworkTablesTypeInfos | ntcore-ts-client

    Class NetworkTablesTypeInfos

    Hierarchy

    • NetworkTablesTypeInfos

    Constructors

    constructor

    Properties

    kArrayBuffer kBoolean kBooleanArray @@ -8,4 +8,4 @@ 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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    \ No newline at end of file +

    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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    \ No newline at end of file diff --git a/docs/interfaces/BinaryMessageData.html b/docs/interfaces/BinaryMessageData.html index cf91eab..c3e32f4 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 +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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    \ No newline at end of file +

    Properties

    serverTime

    serverTime: number

    topicId

    topicId: number

    typeInfo

    typeInfo: NetworkTablesTypeInfos

    value

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

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    \ No newline at end of file diff --git a/docs/types/AnnounceMessage.html b/docs/types/AnnounceMessage.html index 506d3c6..2d4d5c4 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

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    \ No newline at end of file diff --git a/docs/types/AnnounceMessageParams.html b/docs/types/AnnounceMessageParams.html index 26fd4b1..150385f 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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    \ No newline at end of file diff --git a/docs/types/BinaryMessage.html b/docs/types/BinaryMessage.html index 409f0ab..4f620f5 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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    \ No newline at end of file diff --git a/docs/types/Message.html b/docs/types/Message.html index f2d291c..d344922 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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    \ No newline at end of file +Message | ntcore-ts-client

    Type alias Message

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

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    \ No newline at end of file diff --git a/docs/types/NetworkTablesTypeInfo.html b/docs/types/NetworkTablesTypeInfo.html index 822f42e..56a19ed 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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    \ No newline at end of file diff --git a/docs/types/NetworkTablesTypes.html b/docs/types/NetworkTablesTypes.html index f507c4a..e7f4fb2 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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    \ No newline at end of file diff --git a/docs/types/PropertiesMessage.html b/docs/types/PropertiesMessage.html index a17d907..fc977bc 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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    \ No newline at end of file diff --git a/docs/types/PropertiesMessageParams.html b/docs/types/PropertiesMessageParams.html index 2c29a7d..006482d 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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    \ No newline at end of file diff --git a/docs/types/PublishMessage.html b/docs/types/PublishMessage.html index 34f5ef1..7296b84 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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    \ No newline at end of file diff --git a/docs/types/PublishMessageParams.html b/docs/types/PublishMessageParams.html index 68f2938..2f0c195 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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    \ No newline at end of file diff --git a/docs/types/SetPropertiesMessage.html b/docs/types/SetPropertiesMessage.html index 44bf0b1..901fe2d 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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    \ No newline at end of file diff --git a/docs/types/SetPropertiesMessageParams.html b/docs/types/SetPropertiesMessageParams.html index 39d497a..e8301d2 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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    \ No newline at end of file diff --git a/docs/types/SubscribeMessage.html b/docs/types/SubscribeMessage.html index 5e6fdf8..82ff1e9 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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    \ No newline at end of file diff --git a/docs/types/SubscribeMessageParams.html b/docs/types/SubscribeMessageParams.html index a719488..22fc7b8 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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    \ No newline at end of file diff --git a/docs/types/SubscribeOptions.html b/docs/types/SubscribeOptions.html index 53f74d7..c1a9cb9 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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    \ No newline at end of file diff --git a/docs/types/TopicProperties.html b/docs/types/TopicProperties.html index 8548bb9..81e1eee 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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    \ No newline at end of file diff --git a/docs/types/TypeNum.html b/docs/types/TypeNum.html index 7379142..55c31ec 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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    \ No newline at end of file diff --git a/docs/types/TypeString.html b/docs/types/TypeString.html index a7663a8..7d9dd93 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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    \ No newline at end of file diff --git a/docs/types/UnannounceMessage.html b/docs/types/UnannounceMessage.html index 57db67a..8e0167d 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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    \ No newline at end of file diff --git a/docs/types/UnannounceMessageParams.html b/docs/types/UnannounceMessageParams.html index c3e33fa..c12ae99 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

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    \ No newline at end of file diff --git a/docs/types/UnpublishMessage.html b/docs/types/UnpublishMessage.html index 150ce6d..87f0810 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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    \ No newline at end of file diff --git a/docs/types/UnpublishMessageParams.html b/docs/types/UnpublishMessageParams.html index 4ebc9a6..1302859 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

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    \ No newline at end of file diff --git a/docs/types/UnsubscribeMessage.html b/docs/types/UnsubscribeMessage.html index 3a6dff4..2b5171c 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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    \ No newline at end of file diff --git a/docs/types/UnsubscribeMessageParams.html b/docs/types/UnsubscribeMessageParams.html index b66808c..ce729fd 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

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    \ No newline at end of file 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/pubsub/pubsub.spec.ts b/packages/ntcore-ts-client/src/lib/pubsub/pubsub.spec.ts index d10e561..b056479 100644 --- a/packages/ntcore-ts-client/src/lib/pubsub/pubsub.spec.ts +++ b/packages/ntcore-ts-client/src/lib/pubsub/pubsub.spec.ts @@ -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 55dc5b7..3b264e9 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(); @@ -114,6 +116,22 @@ export class PubSubClient { topic.unannounce(); }; + /** + * Called by the messenger when a topic's properties are updated. + * @param params - The properties message parameters. + */ + 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.ackProperties(); + } + }; + /** * Updates the value of a topic on the server. * @param topic - The topic to update. 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 2191994..daca8e2 100644 --- a/packages/ntcore-ts-client/src/lib/pubsub/topic.spec.ts +++ b/packages/ntcore-ts-client/src/lib/pubsub/topic.spec.ts @@ -1,3 +1,5 @@ +import WSMock from 'jest-websocket-mock'; + import { NetworkTablesTypeInfos } from '../types/types'; import { PubSubClient } from './pubsub'; @@ -7,9 +9,11 @@ import type { SubscribeMessageParams } from '../types/types'; describe('Topic', () => { let topic: NetworkTablesTopic; + let client: PubSubClient; + const serverUrl = 'ws://localhost:5810/nt/1234'; beforeEach(() => { - const serverUrl = 'ws://localhost:5810/nt/1234'; - const client = PubSubClient.getInstance(serverUrl); + client = PubSubClient.getInstance(serverUrl); + client.messenger.socket.stopAutoConnect(); topic = new NetworkTablesTopic(client, 'test', NetworkTablesTypeInfos.kString, 'default'); }); @@ -17,6 +21,8 @@ describe('Topic', () => { afterEach(() => { topic['client']['topics'].clear(); topic.subscribers.clear(); + topic['_publisher'] = false; + topic['_pubuid'] = undefined; }); describe('constructor', () => { @@ -54,11 +60,13 @@ describe('Topic', () => { 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().then(() => { - topic.setValue('new value'); - expect(topic.getValue()).toEqual('new value'); - }); + it('allows the value to be set if the client is the publisher', async () => { + setTimeout(() => { + topic.announce(1, 1); + }, 100); + await topic.publish({}, 1); + topic.setValue('new value'); + expect(topic.getValue()).toEqual('new value'); topic.announce(1); }); }); @@ -194,45 +202,54 @@ describe('Topic', () => { }); describe('publish', () => { - it('sets the publisher to the client', () => { - topic.publish().then(() => { - expect(topic.publisher).toBe(true); - expect(topic.pubuid).toBeDefined(); - }); - - topic.announce(1); + it('sets the publisher to the client', async () => { + setTimeout(() => { + topic.announce(1, 1); + }, 100); + await topic.publish({}, 1); + expect(topic.publisher).toBe(true); + expect(topic.pubuid).toBeDefined(); }); - it('does not set the publisher if the client is already the publisher', () => { - topic.publish().then(() => { - const id = topic.pubuid; - topic.publish().then(() => { - expect(id).toEqual(topic.pubuid); - }); - }); + it('does not set the publisher if the client is already the publisher', async () => { + setTimeout(() => { + topic.announce(1, 1); + }, 100); + await topic.publish({}, 1); + const id = topic.pubuid; + + await topic.publish(); + expect(id).toEqual(topic.pubuid); }); - it('should throw an error if the topic is not announced', () => { - topic - .publish() - .then(() => fail('Topic should have not been announced')) - .catch((e) => { - expect(e).toEqual(new Error(`Topic ${topic.name} was not announced within 5 seconds`)); - }); + it('should throw an error if the topic is not announced', async () => { + try { + topic = new NetworkTablesTopic(client, 'test2', NetworkTablesTypeInfos.kString, 'default'); + client.messenger.reinstantiate(serverUrl + '1'); + new WSMock(serverUrl + '1'); + await client.messenger.socket.waitForConnection(); + 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().then(() => { - topic.unpublish(); - expect(topic.publisher).toBe(false); - expect(topic.pubuid).toBeUndefined(); - }); + it('sets the publisher to false', async () => { + setTimeout(() => { + topic.announce(1, 1); + }, 100); + await topic.publish({}, 1); + 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'); + 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 b2646ac..154dae7 100644 --- a/packages/ntcore-ts-client/src/lib/pubsub/topic.ts +++ b/packages/ntcore-ts-client/src/lib/pubsub/topic.ts @@ -23,6 +23,7 @@ export class NetworkTablesTopic { private _pubuid?: number; private _publishProperties?: TopicProperties; private _publishPromise?: (value?: void | PromiseLike | undefined) => void; + private _propertyPromise?: (value?: void | PromiseLike | undefined) => void; private _subscribers: Map< number, { @@ -179,6 +180,11 @@ export class NetworkTablesTopic { this._id = undefined; } + /** Called after a setProperties message is ack by the server */ + ackProperties() { + this._propertyPromise?.(); + } + /** */ /* SUBSCRIBING */ /** */ @@ -284,9 +290,9 @@ export class NetworkTablesTopic { if (this.client.messenger.socket.isConnected()) { setTimeout(() => { if (!this.announced) { - reject(new Error(`Topic ${this.name} was not announced within 5 seconds`)); + reject(new Error(`Topic ${this.name} was not announced within 3 seconds`)); } - }, 5000); + }, 3000); } }); } @@ -334,6 +340,21 @@ export class NetworkTablesTopic { }, }; - this.client.messenger.setProperties(setPropertiesParams); + return new Promise((resolve, reject) => { + // Register the promise resolver + this._propertyPromise = resolve; + + // Send the set properties request + this.client.messenger.setProperties(setPropertiesParams); + + // Set a timeout to reject the promise if the topic is not announced + if (this.client.messenger.socket.isConnected()) { + setTimeout(() => { + if (!this.announced) { + reject(new Error(`Topic ${this.name} property change was not acknowledged within 3 seconds`)); + } + }, 3000); + } + }); } } diff --git a/packages/ntcore-ts-client/src/lib/socket/messenger.ts b/packages/ntcore-ts-client/src/lib/socket/messenger.ts index af888b8..a48278c 100644 --- a/packages/ntcore-ts-client/src/lib/socket/messenger.ts +++ b/packages/ntcore-ts-client/src/lib/socket/messenger.ts @@ -14,6 +14,7 @@ import type { BinaryMessageData, AnnounceMessageParams, UnannounceMessageParams, + PropertiesMessageParams, } from '../types/types'; /** NetworkTables client. */ @@ -37,12 +38,14 @@ 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 +53,8 @@ export class Messenger { this.onSocketClose, onTopicUpdate, onAnnounce, - onUnannounce + onUnannounce, + onTopicProperties ); } @@ -60,17 +64,19 @@ 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; 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 02bfeb4..95a2291 100644 --- a/packages/ntcore-ts-client/src/lib/socket/socket.spec.ts +++ b/packages/ntcore-ts-client/src/lib/socket/socket.spec.ts @@ -10,6 +10,8 @@ import type { AnnounceMessage, AnnounceMessageParams, BinaryMessage, + PropertiesMessage, + PropertiesMessageParams, UnannounceMessage, UnannounceMessageParams, } from '../types/types'; @@ -23,6 +25,7 @@ describe('NetworkTablesSocket', () => { const onTopicUpdate = jest.fn(); const onAnnounce = jest.fn(); const onUnannounce = jest.fn(); + const onProperties = jest.fn(); beforeEach(async () => { server = new WSMock(serverUrl); @@ -34,7 +37,8 @@ describe('NetworkTablesSocket', () => { onSocketClose, onTopicUpdate, onAnnounce, - onUnannounce + onUnannounce, + onProperties ); await server.connected; @@ -225,4 +229,20 @@ describe('NetworkTablesSocket', () => { 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..948b0c3 100644 --- a/packages/ntcore-ts-client/src/lib/socket/socket.ts +++ b/packages/ntcore-ts-client/src/lib/socket/socket.ts @@ -40,6 +40,7 @@ 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 +53,7 @@ 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( @@ -61,6 +63,7 @@ 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 @@ -71,6 +74,7 @@ export class NetworkTablesSocket { this.onTopicUpdate = onTopicUpdate; this.onAnnounce = onAnnounce; this.onUnannounce = onUnannounce; + this.onProperties = onProperties; this.autoConnect = autoConnect; @@ -85,6 +89,7 @@ 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 +100,21 @@ 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); } @@ -201,6 +216,26 @@ 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 +249,15 @@ 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); } /** @@ -337,11 +380,7 @@ 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); } /**