cleanup example, update + cleanup examples, spelling receive

examples/ros2_teleop/package.json

@@ -18,6 +18,6 @@
     "bytebuffer": "^5.0.1",
     "jscdr": "^0.0.3",
     "tslog": "^4.9.3",
-    "zenoh": "file:../../esm/"
+    "@ZettaScaleLabs/zenoh-ts": "file:../../"
   }
 }

examples/ros2_teleop/src/main.ts

@@ -1,6 +1,7 @@
 import { CDRReader, CDRWriter } from "jscdr";
 // import { ByteBuffer } from "bytebuffer";
-import { Session, Config, Sample } from "zenoh";
+import { Session, Config, Sample } from "@ZettaScaleLabs/zenoh-ts";
+
 
 import { BatteryState, LaserScan, Log, Twist, Vector3 } from "./ros2_types";
 import ByteBuffer from "bytebuffer";
@@ -120,22 +121,6 @@ const battery_subscriber = async function (sample: Sample): Promise<void> {
 console.log("battery Topic:", key_expr);
 await session.declare_subscriber(key_expr, battery_subscriber);
 console.log("After Subscriber:");
-//////////////////////////////////////////////////////////////////
-//  Camera subscription (as motion-JPEG via WebService plugin)  //
-//////////////////////////////////////////////////////////////////
-
-// If your robot has a camera and zcapture installed (from zenoh-demos/computer-vision/zcam/):
-// the zcapture must be started with "-k <scope>/camera", and the zenoh router must have the WebServer plugin running
-// if (document.getElementById("camera_img") != null) {
-//   // update Camera label
-//   let elem = document.getElementById("camera_label");
-//   elem.innerHTML = "Camera ( " + sub_scope + "camera )";
-
-//   // Set "camera_img" element's src to the same URL host, but with port 8080 (WebServer plugin)
-//   // and with path: "<scope>/camera?_method=SUB"
-//   img_url = remote_api.replace(":8000", ":8080") + sub_scope + "camera?_method=SUB";
-//   document.getElementById("camera_img").src = img_url;
-// }
 
 ///////////////////////////////
 //    Lidar subscription     //
@@ -270,31 +255,3 @@ const logs_callback = async function (sample: Sample): Promise<void> {
 };
 console.log("Lidar Sub:", key_expr);
 session.declare_subscriber(key_expr, logs_callback);
-
-//////////////////////////////////
-//    Logs subscription (MQTT)  //
-//////////////////////////////////
-// var mqtt_logs_source = null;
-
-// // Test if Server-Source Event is supported
-// if (typeof (EventSource) !== "undefined") {
-//     // the key expression to subscribe (no scope used by MQTT bridge as only 1)
-//     var key_expr = TOPIC_MQTT;
-
-//     console.log("Subscribe to EventSource: " + remote_api + key_expr);
-//     ros2_logs_source = new EventSource(remote_api + key_expr);
-//     ros2_logs_source.addEventListener("PUT", function (e) {
-//         console.log("Received sample: " + e.data);
-//         // The zenoh REST API sends JSON objects
-//         // that includes "key", "value", "encoding" and "time" (same than a result to GET)
-//         let sample = JSON.parse(e.data)
-//         // Add it to "rosout_logs" HTML element
-//         let elem = document.getElementById("rosout_logs");
-//         elem.innerHTML += "MQTT: on " + sample.key + " : " + JSON.stringify(sample.value) + "<br>";
-//         // Auto-scroll to the bottom
-//         elem.scrollTop = elem.scrollHeight;
-//     }, false);
-
-// } else {
-//     document.getElementById("rosout_logs").innerHTML = "Sorry, your browser does not support server-sent events...";
-// }

examples/ros2_teleop/yarn.lock

@@ -47,6 +47,20 @@
   resolved "https://registry.npmjs.org/@types/uuid/-/uuid-10.0.0.tgz"
   integrity sha512-7gqG38EyHgyP1S+7+xomFtL+ZNHcKv6DwNaCZmJmo1vgMugyF3TCnXVg4t1uk89mLNwnLtnY3TpOpCOyp1/xHQ==
 
+"@ZettaScaleLabs/zenoh-ts@file:../../":
+  version "0.0.2"
+  resolved "file:../.."
+  dependencies:
+    channel-ts "^0.1.2"
+    cpx "^1.5.0"
+    fp-ts "^2.16.5"
+    object-inspect "^1.13.1"
+    request "^2.79.0"
+    text-encoding "^0.7.0"
+    ts-log "^2.2.5"
+    tslog "^4.9.3"
+    uuid "^10.0.0"
+
 bytebuffer@^5.0.1, [email protected]:
   version "5.0.1"
   resolved "https://registry.npmjs.org/bytebuffer/-/bytebuffer-5.0.1.tgz"
@@ -175,6 +189,3 @@ vite@^5.2.12:
     rollup "^4.13.0"
   optionalDependencies:
     fsevents "~2.3.3"
-
-"zenoh@file:../../esm/":
-  resolved "file:../../esm"

examples/zenoh-ts/src/main.ts

@@ -1,104 +1,24 @@
 import "./style.css";
 import "./webpage.ts";
 import {main_thr} from  "./z_sub_thr.ts";
+import {main_get} from  "./z_get.ts";
+import { main_ping } from "./z_ping.ts";
+import { main_pong } from "./z_pong.ts";
+import { main_sub } from "./z_sub.ts";
+import { main_pub } from "./z_pub.ts";
+import { main_queryable } from "./z_queryable.ts";
 
-import {
-  Session,
-  Config,
-  Query,
-  Sample,
-  KeyExpr,
-  Publisher,
-  Subscriber,
-  Receiver,
-  RecvErr,
-  Queryable,
-} from "@ZettaScaleLabs/zenoh-ts";;
-
-async function queryable_callback(query: Query) {
-  console.log("  Query Receieved in Callback", query);
-  query.reply(query.key_expr(), [65, 66, 67, 50]);
-  console.log("  ");
-}
 
 async function main() {
-  main_thr();
-
-  // const subscriber_callback = async function (sample: Sample): Promise<void> {
-  //   console.log("    cb demo 1 :  Key_expr ", sample.keyexpr());
-  //   console.log("    cb demo 1 :  Value    ", sample.payload());
-  // };
-
-  // const session = await Session.open(Config.new("ws/127.0.0.1:10000"));
-  // KeyExpr
-  // let key_exp = KeyExpr.new("demo/put");
-
-  // Session put / del / get
-  // await session.put("demo/put", [65, 66, 67, 49]);
-  // await session.put(key_exp, [65, 66, 67, 50]);
-  // await session.delete("demo/delete");
-
-  // console.log("Issue Get");
-  // let receiver: Receiver = await session.get("test/queryable/**?p1=s1;p2=s2");
-  // let stop = false;
-  // while (!stop) {
-  //   let reply = await receiver.receive();
-
-  //   if (reply == RecvErr.Disconnected) {
-  //     console.log("All Replies Receved");
-  //     stop = true;
-  //   } else if (reply == RecvErr.MalformedReply) {
-  //     console.log("MalformedReply");
-  //   } else {
-  //     console.log("Reply Value ", reply.result());
-  //   };
-  // }
 
-  // // subscribers
-  // let callback_subscriber: Subscriber = await session.declare_subscriber("demo/pub", subscriber_callback);
-  // await sleep(1000 * 3);
-  // callback_subscriber.undeclare()
-  // console.log("undeclare callback_subscriber");
+  // main_thr();
+  // main_ping();
+  // main_pong();
+  // main_sub();
+  // main_pub();
+  // main_queryable();
+  main_get();
 
-  // let poll_subscriber: Subscriber = await session.declare_subscriber("demo/pub");
-  // let value = await poll_subscriber.receive();
-  // console.log("poll_subscriber", value);
-  // console.log(await poll_subscriber.receive());
-  // poll_subscriber.undeclare()
-
-  // // // publisher
-  // let publisher: Publisher = await session.declare_publisher("demo/pub/1");
-  // await publisher.put("This is typescript string");
-  // await publisher.put(new String("This is typescript String ()"));
-  // await publisher.put([65, 66, 67, 49]);
-  // With encoding and attachment
-  // await publisher.put(
-  //   [65, 66, 67, 49],
-  //   Encoding.APPLICATION_JSON(),
-  //   [12, 234, 5],
-  // );
-  // await publisher.undeclare();
-
-  // queryable
-  // console.log("declare queryable");
-  // let queryable: Queryable = await session.declare_queryable(
-  //   "demo/test/queryable",
-  //   true,
-  // );
-  // let query = await queryable.receive();
-  // if (query instanceof Query) {
-  //   console.log(query.selector())
-  //   console.log(query.selector().parameters())
-  //   query.reply("demo/test/queryable", "Demo Test 1234")
-  //   // query.reply_err("Demo Test 1234")
-  //   // query.reply_del("test/queryable");
-  // }
-  // console.log("declare queryableend ");
-
-  // Declare a Queryable with a Callback, this will continue to run until the queryable falls out of scope
-  // let queryable_with_callback: Queryable = await session.declare_queryable("demo/test/queryable", true, queryable_callback);
-
-  // Loop to spin and keep alive
   var count = 0;
   while (true) {
     var seconds = 100;
@@ -115,10 +35,9 @@ main()
     throw e;
   });
 
-function executeAsync(func: any) {
-  setTimeout(func, 0);
-}
 
 function sleep(ms: number) {
   return new Promise((resolve) => setTimeout(resolve, ms));
 }
+
+

examples/zenoh-ts/src/z_delete.ts

@@ -3,15 +3,8 @@ import "./webpage.ts";
 
 import { Config, Session } from "@ZettaScaleLabs/zenoh-ts";
 
-async function main() {
+export async function main_delete() {
   const session = await Session.open(Config.new("ws/127.0.0.1:10000"));
   await session.delete("demo/delete");
   await session.close();
 }
-
-main()
-  .then(() => console.log("Done"))
-  .catch((e) => {
-    console.log(e);
-    throw e;
-  });

examples/zenoh-ts/src/z_get.ts

@@ -1,12 +1,21 @@
+import { Result } from "../../../dist/session";
 import "./style.css";
 import "./webpage.ts";
 
 import { Config, Receiver, RecvErr, Session } from "@ZettaScaleLabs/zenoh-ts";
 
-async function main() {
+export async function main_get() {
   const session = await Session.open(Config.new("ws/127.0.0.1:10000"));
   console.log("Issue Get");
-  let receiver: Receiver = await session.get("test/queryable/**");
+  let res_receiver: Result<Receiver, String> = await session.get("test/queryable/**");
+
+  let receiver: Receiver;
+  if (res_receiver instanceof Receiver) {
+    receiver = res_receiver;
+  } else {
+    console.log(res_receiver)
+    return;
+  }
 
   let stop = false;
 
@@ -23,10 +32,3 @@ async function main() {
     }
   }
 }
-
-main()
-  .then(() => console.log("Done"))
-  .catch((e) => {
-    console.log(e);
-    throw e;
-  });

examples/zenoh-ts/src/z_ping.ts

@@ -3,7 +3,7 @@ import "./webpage.ts";
 
 import { Encoding, CongestionControl, Config, Session } from "@ZettaScaleLabs/zenoh-ts";
 
-export async function main() {
+export async function main_ping() {
   const session = await Session.open(Config.new("ws/127.0.0.1:10000"));
 
   let sub = await session.declare_subscriber("test/pong");
@@ -64,9 +64,3 @@ function elapsed_ms(startTime: Date) {
   return timeDiff;
 }
 
-main()
-  .then(() => console.log("Done"))
-  .catch((e) => {
-    console.log(e);
-    throw e;
-  });

examples/zenoh-ts/src/z_pong.ts

@@ -3,7 +3,7 @@ import "./webpage.ts";
 
 import { Encoding, CongestionControl, Sample, Config, Session } from "@ZettaScaleLabs/zenoh-ts";
 
-export async function main() {
+export async function main_pong() {
   const session = await Session.open(Config.new("ws/127.0.0.1:10000"));
 
   let pub = await session.declare_publisher(
@@ -30,9 +30,3 @@ function sleep(ms: number) {
   return new Promise((resolve) => setTimeout(resolve, ms));
 }
 
-main()
-  .then(() => console.log("Done"))
-  .catch((e) => {
-    console.log(e);
-    throw e;
-  });

examples/zenoh-ts/src/z_pub.ts

@@ -3,7 +3,7 @@ import "./webpage.ts";
 
 import { Encoding, CongestionControl, Config, KeyExpr, Publisher, Session } from "@ZettaScaleLabs/zenoh-ts";
 
-export async function main() {
+export async function main_pub() {
   const session = await Session.open(Config.new("ws/127.0.0.1:10000"));
 
   let key_expr = KeyExpr.new("demo/ping");
@@ -28,10 +28,3 @@ export async function main() {
 function sleep(ms: number) {
   return new Promise((resolve) => setTimeout(resolve, ms));
 }
-
-main()
-  .then(() => console.log("Done"))
-  .catch((e) => {
-    console.log(e);
-    throw e;
-  });

examples/zenoh-ts/src/z_queryable.ts

@@ -5,7 +5,7 @@ import { Config, KeyExpr, Query, Queryable, Session, ZBytes } from "@ZettaScaleL
 
 type Option<T> = T | null;
 
-export async function main() {
+export async function main_queryable() {
   const session = await Session.open(Config.new("ws/127.0.0.1:10000"));
 
   let key_expr = KeyExpr.new("demo/test/queryable");
@@ -33,10 +33,3 @@ export async function main() {
     query = await queryable.receive();
   }
 }
-
-main()
-  .then(() => console.log("Done"))
-  .catch((e) => {
-    console.log(e);
-    throw e;
-  });

examples/zenoh-ts/src/z_sub.ts

@@ -3,7 +3,7 @@ import "./webpage.ts";
 
 import { Sample, Config, Subscriber, Session } from "@ZettaScaleLabs/zenoh-ts";
 
-export async function main() {
+export async function main_sub() {
   const session = await Session.open(Config.new("ws/127.0.0.1:10000"));
 
   const subscriber_callback = async function (sample: Sample): Promise<void> {
@@ -34,10 +34,3 @@ export async function main() {
 function sleep(ms: number) {
   return new Promise((resolve) => setTimeout(resolve, ms));
 }
-
-main()
-  .then(() => console.log("Done"))
-  .catch((e) => {
-    console.log(e);
-    throw e;
-  });