foxglove/studio/gh-2718

README.md

yarn
yarn start

index.ts

import { FoxgloveServer } from "@foxglove/ws-protocol";
import Debug from "debug";
import { WebSocketServer } from "ws";
import { promises as fs } from "fs";

const log = Debug("foxglove:sysmon");
Debug.enable("foxglove:*");

// eslint-disable-next-line @typescript-eslint/promise-function-async
function delay(durationSec: number) {
  return new Promise((resolve) => setTimeout(resolve, durationSec * 1000));
}

type Marker = {
  header: {
    frame_id: string;
    stamp: { sec: number; nsec: number };
  };
  action: 0;
  ns: string;
  id: number;
  type: 9;
  scale: { x: number; y: number; z: number };
  pose: {
    position: { x: number; y: number; z: number };
    orientation: { x: number; y: number; z: number; w: number };
  };
  lifetime: { sec: number; nsec: number };
  text: string;
};

async function main() {
  // read ws-dump file
  const content = await fs.readFile("./ws-dump", "utf-8");

  const lines = content.split("\n");

  const messages: {
    subscriptionId: number;
    timestamp: bigint;
    payload: Uint8Array;
  }[] = [];

  const subIdToChannelId = new Map<number, number>();
  let channels = [];
  for (const line of lines) {
    if (line[0] === "{") {
      const parsed = JSON.parse(line);
      if (parsed.op === "advertise") {
        channels = parsed.channels;
      } else if (parsed.op === "subscribe") {
        for (const subscription of parsed.subscriptions) {
          subIdToChannelId.set(subscription.id, subscription.channelId);
        }
      }
    } else if (line && line[0] !== "#") {
      const buffer = new Uint8Array(Buffer.from(line, "base64"));

      const view = new DataView(
        buffer.buffer,
        buffer.byteOffset,
        buffer.byteLength
      );
      const opcode = view.getUint8(0);
      const subscriptionId = view.getUint32(1, true);
      const timestamp = view.getBigUint64(5, true);
      const payload = buffer.slice(13);

      console.log(opcode, subscriptionId, timestamp, payload);
      messages.push({
        subscriptionId,
        timestamp,
        payload,
      });
    }
  }

  const server = new FoxgloveServer({ name: "marker" });
  const port = 8765;
  const ws = new WebSocketServer({
    port,
    handleProtocols: (protocols) => server.handleProtocols(protocols),
  });
  ws.on("listening", () => {
    console.log(`📡 Server listening on localhost:${port}`);
  });
  ws.on("connection", (conn, req) => {
    const name = `${req.socket.remoteAddress!}:${req.socket.remotePort!}`;
    server.handleConnection(conn, name);
  });

  const origToNewMap = new Map<number, number>();

  for (const channel of channels) {
    const id = server.addChannel({
      topic: channel.topic,
      encoding: channel.encoding,
      schemaName: channel.schemaName,
      schema: channel.schema,
    });
    origToNewMap.set(channel.id, id);
    console.log(`${channel.topic} ${channel.id} -> ${id}`);
  }

  const textEncoder = new TextEncoder();
  const INTERVAL_SEC = 2;
  let controller: AbortController | undefined;

  const nowSeconds = Math.floor(Date.now() / 1000);

  server.on("subscribe", (_chanId) => {
    if (controller) {
      console.log("already running");
      return;
    }

    controller = new AbortController();
    void (async function (signal) {
      await delay(INTERVAL_SEC);

      let count = 0;
      for (const message of messages) {
        if (signal.aborted) {
          console.log("aborted");
          break;
        }
        console.log(message);

        const origChannelId = subIdToChannelId.get(message.subscriptionId);
        if (!origChannelId) {
          console.log(`no channel for sub: ${message.subscriptionId}`);
          await delay(INTERVAL_SEC);
          continue;
        }
        const actualId = origToNewMap.get(origChannelId);
        if (!actualId) {
          console.log(`no new channel for ${origChannelId}`);
          await delay(INTERVAL_SEC);
          continue;
        }

        if (actualId === 2) {
          continue;
        }

        console.log(count);
        if (count > 3) {
          break;
        }

        console.log(`sending to ${actualId}`);
        server.sendMessage(actualId, message.timestamp, message.payload);
        count++;
        await delay(INTERVAL_SEC);
      }
    })(controller.signal);
  });

  server.on("unsubscribe", (_chanId) => {
    log("stopping");
    controller?.abort();
    controller = undefined;
  });
  server.on("error", (err) => {
    log("server error: %o", err);
  });
}

void main();

package.json

{
  "name": "@foxglove/ws-protocol-examples",
  "version": "0.0.0",
  "description": "Foxglove WebSocket protocol examples",
  "license": "MIT",
  "repository": {
    "type": "git",
    "url": "https://github.com/foxglove/ws-protocol.git"
  },
  "author": {
    "name": "Foxglove Technologies",
    "email": "support@foxglove.dev"
  },
  "homepage": "https://foxglove.dev/",
  "files": [
    "dist",
    "src"
  ],
  "scripts": {
    "start": "tsc -b ../*/tsconfig*.json && ts-node --project tsconfig.cjs.json --files index.ts"
  },
  "devDependencies": {
    "@foxglove/tsconfig": "1.1.0",
    "@types/debug": "4.1.7",
    "@types/node": "16.11.12",
    "@types/ws": "8.2.0",
    "ts-node": "10.4.0",
    "typescript": "4.4.4"
  },
  "dependencies": {
    "@foxglove/ws-protocol": "^0.0.8",
    "debug": "^4",
    "tslib": "^2",
    "ws": "8.2.3"
  }
}

tsconfig.cjs.json

{
  "extends": "./tsconfig.json",
  "compilerOptions": {
    "outDir": "./dist/cjs",
    "module": "commonjs"
  }
}

tsconfig.json

{
  "extends": "@foxglove/tsconfig/base",
  "include": ["./**/*"],
  "compilerOptions": {
    "rootDir": "..",
    "outDir": "./dist/esm",
    "lib": ["es2020", "dom"],
    "noUnusedLocals": false,
    "paths": {
      "@foxglove/ws-protocol": ["../ws-protocol/src"]
    }
  }
}

yarn.lock

# THIS IS AN AUTOGENERATED FILE. DO NOT EDIT THIS FILE DIRECTLY.
# yarn lockfile v1


"@cspotcode/source-map-consumer@0.8.0":
  version "0.8.0"
  resolved "https://registry.yarnpkg.com/@cspotcode/source-map-consumer/-/source-map-consumer-0.8.0.tgz#33bf4b7b39c178821606f669bbc447a6a629786b"
  integrity sha512-41qniHzTU8yAGbCp04ohlmSrZf8bkf/iJsl3V0dRGsQN/5GFfx+LbCSsCpp2gqrqjTVg/K6O8ycoV35JIwAzAg==

"@cspotcode/source-map-support@0.7.0":
  version "0.7.0"
  resolved "https://registry.yarnpkg.com/@cspotcode/source-map-support/-/source-map-support-0.7.0.tgz#4789840aa859e46d2f3173727ab707c66bf344f5"
  integrity sha512-X4xqRHqN8ACt2aHVe51OxeA2HjbcL4MqFqXkrmQszJ1NOUuUu5u6Vqx/0lZSVNku7velL5FC/s5uEAj1lsBMhA==
  dependencies:
    "@cspotcode/source-map-consumer" "0.8.0"

"@foxglove/tsconfig@1.1.0":
  version "1.1.0"
  resolved "https://registry.yarnpkg.com/@foxglove/tsconfig/-/tsconfig-1.1.0.tgz#48c37fffd6f349c3ee08a60fc62ccf636f3b59a6"
  integrity sha512-qZU4MtXVgPhDBFazSEx7yDEuEg8cPHXFQVhBaUABZkCBdcnEE9sxlgEt0gSikF4fRtY6COGIJPVRflnPJXjJKA==

"@foxglove/ws-protocol@^0.0.8":
  version "0.0.8"
  resolved "https://registry.yarnpkg.com/@foxglove/ws-protocol/-/ws-protocol-0.0.8.tgz#c18aefa06746bb5df894e64778fc6d171c3ee1cd"
  integrity sha512-wIME1ejWAAP/2TFOER+fMc8tdU9Ubph/TifO7FxFWxN5iDrj4ZyteEYFVpRpTz3SDGSZGLbhIcVROxAvR9EvPA==
  dependencies:
    debug "^4"
    eventemitter3 "^4.0.7"
    tslib "^2"

"@tsconfig/node10@^1.0.7":
  version "1.0.8"
  resolved "https://registry.yarnpkg.com/@tsconfig/node10/-/node10-1.0.8.tgz#c1e4e80d6f964fbecb3359c43bd48b40f7cadad9"
  integrity sha512-6XFfSQmMgq0CFLY1MslA/CPUfhIL919M1rMsa5lP2P097N2Wd1sSX0tx1u4olM16fLNhtHZpRhedZJphNJqmZg==

"@tsconfig/node12@^1.0.7":
  version "1.0.9"
  resolved "https://registry.yarnpkg.com/@tsconfig/node12/-/node12-1.0.9.tgz#62c1f6dee2ebd9aead80dc3afa56810e58e1a04c"
  integrity sha512-/yBMcem+fbvhSREH+s14YJi18sp7J9jpuhYByADT2rypfajMZZN4WQ6zBGgBKp53NKmqI36wFYDb3yaMPurITw==

"@tsconfig/node14@^1.0.0":
  version "1.0.1"
  resolved "https://registry.yarnpkg.com/@tsconfig/node14/-/node14-1.0.1.tgz#95f2d167ffb9b8d2068b0b235302fafd4df711f2"
  integrity sha512-509r2+yARFfHHE7T6Puu2jjkoycftovhXRqW328PDXTVGKihlb1P8Z9mMZH04ebyajfRY7dedfGynlrFHJUQCg==

"@tsconfig/node16@^1.0.2":
  version "1.0.2"
  resolved "https://registry.yarnpkg.com/@tsconfig/node16/-/node16-1.0.2.tgz#423c77877d0569db20e1fc80885ac4118314010e"
  integrity sha512-eZxlbI8GZscaGS7kkc/trHTT5xgrjH3/1n2JDwusC9iahPKWMRvRjJSAN5mCXviuTGQ/lHnhvv8Q1YTpnfz9gA==

"@types/debug@4.1.7":
  version "4.1.7"
  resolved "https://registry.yarnpkg.com/@types/debug/-/debug-4.1.7.tgz#7cc0ea761509124709b8b2d1090d8f6c17aadb82"
  integrity sha512-9AonUzyTjXXhEOa0DnqpzZi6VHlqKMswga9EXjpXnnqxwLtdvPPtlO8evrI5D9S6asFRCQ6v+wpiUKbw+vKqyg==
  dependencies:
    "@types/ms" "*"

"@types/ms@*":
  version "0.7.31"
  resolved "https://registry.yarnpkg.com/@types/ms/-/ms-0.7.31.tgz#31b7ca6407128a3d2bbc27fe2d21b345397f6197"
  integrity sha512-iiUgKzV9AuaEkZqkOLDIvlQiL6ltuZd9tGcW3gwpnX8JbuiuhFlEGmmFXEXkN50Cvq7Os88IY2v0dkDqXYWVgA==

"@types/node@*":
  version "17.0.10"
  resolved "https://registry.yarnpkg.com/@types/node/-/node-17.0.10.tgz#616f16e9d3a2a3d618136b1be244315d95bd7cab"
  integrity sha512-S/3xB4KzyFxYGCppyDt68yzBU9ysL88lSdIah4D6cptdcltc4NCPCAMc0+PCpg/lLIyC7IPvj2Z52OJWeIUkog==

"@types/node@16.11.12":
  version "16.11.12"
  resolved "https://registry.yarnpkg.com/@types/node/-/node-16.11.12.tgz#ac7fb693ac587ee182c3780c26eb65546a1a3c10"
  integrity sha512-+2Iggwg7PxoO5Kyhvsq9VarmPbIelXP070HMImEpbtGCoyWNINQj4wzjbQCXzdHTRXnqufutJb5KAURZANNBAw==

"@types/ws@8.2.0":
  version "8.2.0"
  resolved "https://registry.yarnpkg.com/@types/ws/-/ws-8.2.0.tgz#75faefbe2328f3b833cb8dc640658328990d04f3"
  integrity sha512-cyeefcUCgJlEk+hk2h3N+MqKKsPViQgF5boi9TTHSK+PoR9KWBb/C5ccPcDyAqgsbAYHTwulch725DV84+pSpg==
  dependencies:
    "@types/node" "*"

acorn-walk@^8.1.1:
  version "8.2.0"
  resolved "https://registry.yarnpkg.com/acorn-walk/-/acorn-walk-8.2.0.tgz#741210f2e2426454508853a2f44d0ab83b7f69c1"
  integrity sha512-k+iyHEuPgSw6SbuDpGQM+06HQUa04DZ3o+F6CSzXMvvI5KMvnaEqXe+YVe555R9nn6GPt404fos4wcgpw12SDA==

acorn@^8.4.1:
  version "8.7.0"
  resolved "https://registry.yarnpkg.com/acorn/-/acorn-8.7.0.tgz#90951fde0f8f09df93549481e5fc141445b791cf"
  integrity sha512-V/LGr1APy+PXIwKebEWrkZPwoeoF+w1jiOBUmuxuiUIaOHtob8Qc9BTrYo7VuI5fR8tqsy+buA2WFooR5olqvQ==

arg@^4.1.0:
  version "4.1.3"
  resolved "https://registry.yarnpkg.com/arg/-/arg-4.1.3.tgz#269fc7ad5b8e42cb63c896d5666017261c144089"
  integrity sha512-58S9QDqG0Xx27YwPSt9fJxivjYl432YCwfDMfZ+71RAqUrZef7LrKQZ3LHLOwCS4FLNBplP533Zx895SeOCHvA==

create-require@^1.1.0:
  version "1.1.1"
  resolved "https://registry.yarnpkg.com/create-require/-/create-require-1.1.1.tgz#c1d7e8f1e5f6cfc9ff65f9cd352d37348756c333"
  integrity sha512-dcKFX3jn0MpIaXjisoRvexIJVEKzaq7z2rZKxf+MSr9TkdmHmsU4m2lcLojrj/FHl8mk5VxMmYA+ftRkP/3oKQ==

debug@^4:
  version "4.3.3"
  resolved "https://registry.yarnpkg.com/debug/-/debug-4.3.3.tgz#04266e0b70a98d4462e6e288e38259213332b664"
  integrity sha512-/zxw5+vh1Tfv+4Qn7a5nsbcJKPaSvCDhojn6FEl9vupwK2VCSDtEiEtqr8DFtzYFOdz63LBkxec7DYuc2jon6Q==
  dependencies:
    ms "2.1.2"

diff@^4.0.1:
  version "4.0.2"
  resolved "https://registry.yarnpkg.com/diff/-/diff-4.0.2.tgz#60f3aecb89d5fae520c11aa19efc2bb982aade7d"
  integrity sha512-58lmxKSA4BNyLz+HHMUzlOEpg09FV+ev6ZMe3vJihgdxzgcwZ8VoEEPmALCZG9LmqfVoNMMKpttIYTVG6uDY7A==

eventemitter3@^4.0.7:
  version "4.0.7"
  resolved "https://registry.yarnpkg.com/eventemitter3/-/eventemitter3-4.0.7.tgz#2de9b68f6528d5644ef5c59526a1b4a07306169f"
  integrity sha512-8guHBZCwKnFhYdHr2ysuRWErTwhoN2X8XELRlrRwpmfeY2jjuUN4taQMsULKUVo1K4DvZl+0pgfyoysHxvmvEw==

make-error@^1.1.1:
  version "1.3.6"
  resolved "https://registry.yarnpkg.com/make-error/-/make-error-1.3.6.tgz#2eb2e37ea9b67c4891f684a1394799af484cf7a2"
  integrity sha512-s8UhlNe7vPKomQhC1qFelMokr/Sc3AgNbso3n74mVPA5LTZwkB9NlXf4XPamLxJE8h0gh73rM94xvwRT2CVInw==

ms@2.1.2:
  version "2.1.2"
  resolved "https://registry.yarnpkg.com/ms/-/ms-2.1.2.tgz#d09d1f357b443f493382a8eb3ccd183872ae6009"
  integrity sha512-sGkPx+VjMtmA6MX27oA4FBFELFCZZ4S4XqeGOXCv68tT+jb3vk/RyaKWP0PTKyWtmLSM0b+adUTEvbs1PEaH2w==

ts-node@10.4.0:
  version "10.4.0"
  resolved "https://registry.yarnpkg.com/ts-node/-/ts-node-10.4.0.tgz#680f88945885f4e6cf450e7f0d6223dd404895f7"
  integrity sha512-g0FlPvvCXSIO1JDF6S232P5jPYqBkRL9qly81ZgAOSU7rwI0stphCgd2kLiCrU9DjQCrJMWEqcNSjQL02s6d8A==
  dependencies:
    "@cspotcode/source-map-support" "0.7.0"
    "@tsconfig/node10" "^1.0.7"
    "@tsconfig/node12" "^1.0.7"
    "@tsconfig/node14" "^1.0.0"
    "@tsconfig/node16" "^1.0.2"
    acorn "^8.4.1"
    acorn-walk "^8.1.1"
    arg "^4.1.0"
    create-require "^1.1.0"
    diff "^4.0.1"
    make-error "^1.1.1"
    yn "3.1.1"

tslib@^2:
  version "2.3.1"
  resolved "https://registry.yarnpkg.com/tslib/-/tslib-2.3.1.tgz#e8a335add5ceae51aa261d32a490158ef042ef01"
  integrity sha512-77EbyPPpMz+FRFRuAFlWMtmgUWGe9UOG2Z25NqCwiIjRhOf5iKGuzSe5P2w1laq+FkRy4p+PCuVkJSGkzTEKVw==

typescript@4.4.4:
  version "4.4.4"
  resolved "https://registry.yarnpkg.com/typescript/-/typescript-4.4.4.tgz#2cd01a1a1f160704d3101fd5a58ff0f9fcb8030c"
  integrity sha512-DqGhF5IKoBl8WNf8C1gu8q0xZSInh9j1kJJMqT3a94w1JzVaBU4EXOSMrz9yDqMT0xt3selp83fuFMQ0uzv6qA==

ws@8.2.3:
  version "8.2.3"
  resolved "https://registry.yarnpkg.com/ws/-/ws-8.2.3.tgz#63a56456db1b04367d0b721a0b80cae6d8becbba"
  integrity sha512-wBuoj1BDpC6ZQ1B7DWQBYVLphPWkm8i9Y0/3YdHjHKHiohOJ1ws+3OccDWtH+PoC9DZD5WOTrJvNbWvjS6JWaA==

yn@3.1.1:
  version "3.1.1"
  resolved "https://registry.yarnpkg.com/yn/-/yn-3.1.1.tgz#1e87401a09d767c1d5eab26a6e4c185182d2eb50"
  integrity sha512-Ux4ygGWsu2c7isFWe8Yu1YluJmqVhxqK2cLXNQA5AcC3QfbGNpM7fu0Y8b/z16pXLnFxZYvWhd3fhBY9DLmC6Q==