🎨 Moving project to use event bus
This commit is contained in:
Rune Harlyk
+3
-1
@@ -59,7 +59,9 @@
|
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"three": "^0.162.0",
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"urdf-loader": "^0.12.1",
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"uzip": "^0.20201231.0",
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"xacro-parser": "^0.3.9"
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"xacro-parser": "^0.3.9",
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"@types/msgpack-lite": "^0.1.11",
|
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"msgpack-lite": "^0.1.26"
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},
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"packageManager": "pnpm@9.3.0"
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}
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|
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Generated
+91
-32
@@ -13,10 +13,13 @@ importers:
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'@tailwindcss/vite':
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'@types/msgpack-lite':
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version: 0.1.11
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chart.js:
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@@ -32,6 +35,9 @@ importers:
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nipplejs:
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@@ -65,13 +71,13 @@ importers:
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'@sveltejs/kit':
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specifier: ^2.5.27
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'@types/eslint':
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specifier: ^8.56.0
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version: 8.56.0
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@@ -128,10 +134,10 @@ importers:
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vite:
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specifier: ^6.2.1
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version: 6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)
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vitest:
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specifier: ^1.2.0
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packages:
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@@ -760,6 +766,12 @@ packages:
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@@ -1190,6 +1202,9 @@ packages:
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engines: {node: '>=0.10.0'}
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event-lite@0.1.3:
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engines: {node: '>=10'}
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@@ -1335,6 +1350,9 @@ packages:
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@@ -1356,6 +1374,9 @@ packages:
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engines: {node: '>=8'}
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@@ -1394,6 +1415,9 @@ packages:
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@@ -1592,6 +1616,10 @@ packages:
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engines: {node: ^10 || ^12 || ^13.7 || ^14 || >=15.0.1}
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@@ -2019,6 +2047,9 @@ packages:
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engines: {node: '>= 4.0.0'}
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@@ -2613,18 +2644,18 @@ snapshots:
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'@sinclair/typebox@0.27.8': {}
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||||
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||||
dependencies:
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import-meta-resolve: 4.1.0
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||||
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dependencies:
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||||
|
||||
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||||
'@sveltejs/kit@2.17.3(@sveltejs/vite-plugin-svelte@5.0.3(svelte@5.20.4)(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)))(svelte@5.20.4)(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))':
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dependencies:
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'@types/cookie': 0.6.0
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@@ -2637,27 +2668,27 @@ snapshots:
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|
||||
'@sveltejs/vite-plugin-svelte-inspector': 4.0.1(@sveltejs/vite-plugin-svelte@5.0.3(svelte@5.20.4)(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)))(svelte@5.20.4)(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))
|
||||
debug: 4.4.0
|
||||
deepmerge: 4.3.1
|
||||
kleur: 4.1.5
|
||||
magic-string: 0.30.17
|
||||
svelte: 5.20.4
|
||||
vite: 6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)
|
||||
vitefu: 1.0.6(vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))
|
||||
vite: 6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)
|
||||
vitefu: 1.0.6(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))
|
||||
transitivePeerDependencies:
|
||||
- supports-color
|
||||
|
||||
@@ -2714,13 +2745,13 @@ snapshots:
|
||||
'@tailwindcss/oxide-win32-arm64-msvc': 4.0.12
|
||||
'@tailwindcss/oxide-win32-x64-msvc': 4.0.12
|
||||
|
||||
'@tailwindcss/vite@4.0.12(vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))':
|
||||
'@tailwindcss/vite@4.0.12(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2))':
|
||||
dependencies:
|
||||
'@tailwindcss/node': 4.0.12
|
||||
'@tailwindcss/oxide': 4.0.12
|
||||
lightningcss: 1.29.2
|
||||
tailwindcss: 4.0.12
|
||||
vite: 6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)
|
||||
vite: 6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)
|
||||
|
||||
'@tweenjs/tween.js@23.1.2': {}
|
||||
|
||||
@@ -2737,6 +2768,14 @@ snapshots:
|
||||
|
||||
'@types/json-schema@7.0.15': {}
|
||||
|
||||
'@types/msgpack-lite@0.1.11':
|
||||
dependencies:
|
||||
'@types/node': 24.0.10
|
||||
|
||||
'@types/node@24.0.10':
|
||||
dependencies:
|
||||
undici-types: 7.8.0
|
||||
|
||||
'@types/semver@7.5.8': {}
|
||||
|
||||
'@types/stats.js@0.17.3': {}
|
||||
@@ -3259,6 +3298,8 @@ snapshots:
|
||||
|
||||
esutils@2.0.3: {}
|
||||
|
||||
event-lite@0.1.3: {}
|
||||
|
||||
execa@5.1.1:
|
||||
dependencies:
|
||||
cross-spawn: 7.0.3
|
||||
@@ -3414,6 +3455,8 @@ snapshots:
|
||||
dependencies:
|
||||
safer-buffer: 2.1.2
|
||||
|
||||
ieee754@1.2.1: {}
|
||||
|
||||
ignore@5.3.1: {}
|
||||
|
||||
import-fresh@3.3.0:
|
||||
@@ -3432,6 +3475,8 @@ snapshots:
|
||||
|
||||
inherits@2.0.4: {}
|
||||
|
||||
int64-buffer@0.1.10: {}
|
||||
|
||||
is-binary-path@2.1.0:
|
||||
dependencies:
|
||||
binary-extensions: 2.3.0
|
||||
@@ -3458,6 +3503,8 @@ snapshots:
|
||||
|
||||
is-stream@3.0.0: {}
|
||||
|
||||
isarray@1.0.0: {}
|
||||
|
||||
isexe@2.0.0: {}
|
||||
|
||||
jiti@2.4.2: {}
|
||||
@@ -3635,6 +3682,13 @@ snapshots:
|
||||
|
||||
ms@2.1.3: {}
|
||||
|
||||
msgpack-lite@0.1.26:
|
||||
dependencies:
|
||||
event-lite: 0.1.3
|
||||
ieee754: 1.2.1
|
||||
int64-buffer: 0.1.10
|
||||
isarray: 1.0.0
|
||||
|
||||
nanoid@3.3.7: {}
|
||||
|
||||
nanoid@3.3.8: {}
|
||||
@@ -4010,6 +4064,8 @@ snapshots:
|
||||
|
||||
ufo@1.5.3: {}
|
||||
|
||||
undici-types@7.8.0: {}
|
||||
|
||||
universalify@0.2.0: {}
|
||||
|
||||
unplugin-icons@0.18.5:
|
||||
@@ -4054,13 +4110,13 @@ snapshots:
|
||||
|
||||
uzip@0.20201231.0: {}
|
||||
|
||||
vite-node@1.2.0(lightningcss@1.29.2):
|
||||
vite-node@1.2.0(@types/node@24.0.10)(lightningcss@1.29.2):
|
||||
dependencies:
|
||||
cac: 6.7.14
|
||||
debug: 4.4.0
|
||||
pathe: 1.1.2
|
||||
picocolors: 1.0.1
|
||||
vite: 5.4.14(lightningcss@1.29.2)
|
||||
vite: 5.4.14(@types/node@24.0.10)(lightningcss@1.29.2)
|
||||
transitivePeerDependencies:
|
||||
- '@types/node'
|
||||
- less
|
||||
@@ -4072,31 +4128,33 @@ snapshots:
|
||||
- supports-color
|
||||
- terser
|
||||
|
||||
vite@5.4.14(lightningcss@1.29.2):
|
||||
vite@5.4.14(@types/node@24.0.10)(lightningcss@1.29.2):
|
||||
dependencies:
|
||||
esbuild: 0.21.5
|
||||
postcss: 8.5.3
|
||||
rollup: 4.34.8
|
||||
optionalDependencies:
|
||||
'@types/node': 24.0.10
|
||||
fsevents: 2.3.3
|
||||
lightningcss: 1.29.2
|
||||
|
||||
vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2):
|
||||
vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2):
|
||||
dependencies:
|
||||
esbuild: 0.25.0
|
||||
postcss: 8.5.3
|
||||
rollup: 4.34.8
|
||||
optionalDependencies:
|
||||
'@types/node': 24.0.10
|
||||
fsevents: 2.3.3
|
||||
jiti: 2.4.2
|
||||
lightningcss: 1.29.2
|
||||
yaml: 2.4.2
|
||||
|
||||
vitefu@1.0.6(vite@6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)):
|
||||
vitefu@1.0.6(vite@6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)):
|
||||
optionalDependencies:
|
||||
vite: 6.2.1(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)
|
||||
vite: 6.2.1(@types/node@24.0.10)(jiti@2.4.2)(lightningcss@1.29.2)(yaml@2.4.2)
|
||||
|
||||
vitest@1.2.0(jsdom@24.0.0)(lightningcss@1.29.2):
|
||||
vitest@1.2.0(@types/node@24.0.10)(jsdom@24.0.0)(lightningcss@1.29.2):
|
||||
dependencies:
|
||||
'@vitest/expect': 1.2.0
|
||||
'@vitest/runner': 1.2.0
|
||||
@@ -4116,10 +4174,11 @@ snapshots:
|
||||
strip-literal: 1.3.0
|
||||
tinybench: 2.8.0
|
||||
tinypool: 0.8.4
|
||||
vite: 5.4.14(lightningcss@1.29.2)
|
||||
vite-node: 1.2.0(lightningcss@1.29.2)
|
||||
vite: 5.4.14(@types/node@24.0.10)(lightningcss@1.29.2)
|
||||
vite-node: 1.2.0(@types/node@24.0.10)(lightningcss@1.29.2)
|
||||
why-is-node-running: 2.2.2
|
||||
optionalDependencies:
|
||||
'@types/node': 24.0.10
|
||||
jsdom: 24.0.0
|
||||
transitivePeerDependencies:
|
||||
- less
|
||||
|
||||
+128
-118
@@ -1,122 +1,132 @@
|
||||
import { writable } from 'svelte/store';
|
||||
import { writable } from 'svelte/store'
|
||||
|
||||
const socketEvents = ['open', 'close', 'error', 'message', 'unresponsive'] as const;
|
||||
type SocketEvent = (typeof socketEvents)[number];
|
||||
const socketEvents = ['open', 'close', 'error', 'message', 'unresponsive'] as const
|
||||
type SocketEvent = (typeof socketEvents)[number]
|
||||
|
||||
function createWebSocket() {
|
||||
let listeners = new Map<string, Set<(data?: unknown) => void>>();
|
||||
const { subscribe, set } = writable(false);
|
||||
const reconnectTimeoutTime = 5000;
|
||||
let unresponsiveTimeoutId: number;
|
||||
let reconnectTimeoutId: number;
|
||||
let ws: WebSocket;
|
||||
let socketUrl: string | URL;
|
||||
|
||||
function init(url: string | URL) {
|
||||
socketUrl = url;
|
||||
connect();
|
||||
}
|
||||
|
||||
function disconnect(reason: SocketEvent, event?: Event) {
|
||||
ws.close();
|
||||
set(false);
|
||||
clearTimeout(unresponsiveTimeoutId);
|
||||
clearTimeout(reconnectTimeoutId);
|
||||
listeners.get(reason)?.forEach((listener) => listener(event));
|
||||
reconnectTimeoutId = setTimeout(connect, reconnectTimeoutTime);
|
||||
}
|
||||
|
||||
function connect() {
|
||||
ws = new WebSocket(socketUrl);
|
||||
ws.onopen = (ev) => {
|
||||
set(true);
|
||||
clearTimeout(reconnectTimeoutId);
|
||||
listeners.get('open')?.forEach((listener) => listener(ev));
|
||||
for (const event of listeners.keys()) {
|
||||
if (socketEvents.includes(event as SocketEvent)) continue;
|
||||
subscribeToEvent(event);
|
||||
}
|
||||
};
|
||||
ws.onmessage = (message) => {
|
||||
resetUnresponsiveCheck();
|
||||
let data = message.data;
|
||||
if (data instanceof ArrayBuffer) {
|
||||
listeners.get('binary')?.forEach((listener) => listener(data));
|
||||
return;
|
||||
}
|
||||
data = data.substring(1);
|
||||
|
||||
if (!data) return;
|
||||
|
||||
let event = data.substring(data.indexOf('/') + 1, data.indexOf('['));
|
||||
let payload = data.substring(data.indexOf('[') + 1, data.lastIndexOf(']'));
|
||||
|
||||
try {
|
||||
payload = JSON.parse(payload);
|
||||
} catch (error) {}
|
||||
if (event) listeners.get(event)?.forEach((listener) => listener(payload));
|
||||
};
|
||||
ws.onerror = (ev) => disconnect('error', ev);
|
||||
ws.onclose = (ev) => disconnect('close', ev);
|
||||
}
|
||||
|
||||
function unsubscribe(event: string, listener?: (data: any) => void) {
|
||||
let eventListeners = listeners.get(event);
|
||||
if (!eventListeners) return;
|
||||
|
||||
if (!eventListeners.size) {
|
||||
unsubscribeToEvent(event);
|
||||
}
|
||||
if (listener) {
|
||||
eventListeners?.delete(listener);
|
||||
} else {
|
||||
listeners.delete(event);
|
||||
}
|
||||
}
|
||||
|
||||
function resetUnresponsiveCheck() {
|
||||
clearTimeout(unresponsiveTimeoutId);
|
||||
unresponsiveTimeoutId = setTimeout(() => disconnect('unresponsive'), reconnectTimeoutTime);
|
||||
}
|
||||
|
||||
function sendEvent(event: string, data: unknown) {
|
||||
if (!ws || ws.readyState !== WebSocket.OPEN) return;
|
||||
ws.send(`2/${event}[${JSON.stringify(data)}]`);
|
||||
}
|
||||
|
||||
function unsubscribeToEvent(event: string) {
|
||||
if (!ws || ws.readyState !== WebSocket.OPEN) return;
|
||||
ws.send('1/' + event);
|
||||
}
|
||||
|
||||
function subscribeToEvent(event: string) {
|
||||
if (!ws || ws.readyState !== WebSocket.OPEN) return;
|
||||
ws.send('0/' + event);
|
||||
}
|
||||
|
||||
return {
|
||||
subscribe,
|
||||
sendEvent,
|
||||
init,
|
||||
on: <T>(event: string, listener: (data: T) => void): (() => void) => {
|
||||
let eventListeners = listeners.get(event);
|
||||
if (!eventListeners) {
|
||||
if (!socketEvents.includes(event as SocketEvent)) {
|
||||
subscribeToEvent(event);
|
||||
}
|
||||
eventListeners = new Set();
|
||||
listeners.set(event, eventListeners);
|
||||
}
|
||||
eventListeners.add(listener as (data: any) => void);
|
||||
|
||||
return () => {
|
||||
unsubscribe(event, listener);
|
||||
};
|
||||
},
|
||||
off: (event: string, listener?: (data: any) => void) => {
|
||||
unsubscribe(event, listener);
|
||||
}
|
||||
};
|
||||
export enum Topics {
|
||||
imu = 0,
|
||||
mode = 1,
|
||||
command = 2,
|
||||
servo = 3,
|
||||
input = 4,
|
||||
angles = 5,
|
||||
position = 6
|
||||
}
|
||||
|
||||
export const socket = createWebSocket();
|
||||
function createWebSocket() {
|
||||
let listeners = new Map<string | Topics, Set<(data?: unknown) => void>>()
|
||||
const { subscribe, set } = writable(false)
|
||||
const reconnectTimeoutTime = 5000
|
||||
let unresponsiveTimeoutId: number
|
||||
let reconnectTimeoutId: number
|
||||
let ws: WebSocket
|
||||
let socketUrl: string | URL
|
||||
|
||||
function init(url: string | URL) {
|
||||
socketUrl = url
|
||||
connect()
|
||||
}
|
||||
|
||||
function disconnect(reason: SocketEvent, event?: Event) {
|
||||
ws.close()
|
||||
set(false)
|
||||
clearTimeout(unresponsiveTimeoutId)
|
||||
clearTimeout(reconnectTimeoutId)
|
||||
listeners.get(reason)?.forEach(listener => listener(event))
|
||||
reconnectTimeoutId = setTimeout(connect, reconnectTimeoutTime)
|
||||
}
|
||||
|
||||
function connect() {
|
||||
ws = new WebSocket(socketUrl)
|
||||
ws.onopen = ev => {
|
||||
set(true)
|
||||
clearTimeout(reconnectTimeoutId)
|
||||
listeners.get('open')?.forEach(listener => listener(ev))
|
||||
for (const event of listeners.keys()) {
|
||||
if (socketEvents.includes(event as SocketEvent)) continue
|
||||
subscribeToEvent(event as unknown as Topics)
|
||||
}
|
||||
}
|
||||
ws.onmessage = message => {
|
||||
resetUnresponsiveCheck()
|
||||
let data = message.data
|
||||
if (data instanceof ArrayBuffer) {
|
||||
listeners.get('binary')?.forEach(listener => listener(data))
|
||||
return
|
||||
}
|
||||
data = data.substring(1)
|
||||
|
||||
if (!data) return
|
||||
|
||||
let event = data.substring(data.indexOf('/') + 1, data.indexOf('['))
|
||||
let payload = data.substring(data.indexOf('[') + 1, data.lastIndexOf(']'))
|
||||
|
||||
try {
|
||||
payload = JSON.parse(payload)
|
||||
} catch (error) {}
|
||||
if (event) listeners.get(event)?.forEach(listener => listener(payload))
|
||||
}
|
||||
ws.onerror = ev => disconnect('error', ev)
|
||||
ws.onclose = ev => disconnect('close', ev)
|
||||
}
|
||||
|
||||
function unsubscribe(event: Topics, listener?: (data: any) => void) {
|
||||
let eventListeners = listeners.get(event)
|
||||
if (!eventListeners) return
|
||||
|
||||
if (!eventListeners.size) {
|
||||
unsubscribeToEvent(event)
|
||||
}
|
||||
if (listener) {
|
||||
eventListeners?.delete(listener)
|
||||
} else {
|
||||
listeners.delete(event)
|
||||
}
|
||||
}
|
||||
|
||||
function resetUnresponsiveCheck() {
|
||||
clearTimeout(unresponsiveTimeoutId)
|
||||
unresponsiveTimeoutId = setTimeout(() => disconnect('unresponsive'), reconnectTimeoutTime)
|
||||
}
|
||||
|
||||
function sendEvent(event: Topics, data: unknown) {
|
||||
if (!ws || ws.readyState !== WebSocket.OPEN) return
|
||||
ws.send(JSON.stringify([2, event, data]))
|
||||
}
|
||||
|
||||
function unsubscribeToEvent(event: Topics) {
|
||||
if (!ws || ws.readyState !== WebSocket.OPEN) return
|
||||
ws.send(`[1,${event}]`)
|
||||
}
|
||||
|
||||
function subscribeToEvent(event: Topics) {
|
||||
if (!ws || ws.readyState !== WebSocket.OPEN) return
|
||||
ws.send(`[0,${event}]`)
|
||||
}
|
||||
|
||||
return {
|
||||
subscribe,
|
||||
sendEvent,
|
||||
init,
|
||||
on: <T>(event: Topics | SocketEvent, listener: (data: T) => void): (() => void) => {
|
||||
let eventListeners = listeners.get(event)
|
||||
if (!eventListeners) {
|
||||
if (!socketEvents.includes(event)) {
|
||||
subscribeToEvent(event)
|
||||
}
|
||||
eventListeners = new Set()
|
||||
listeners.set(event, eventListeners)
|
||||
}
|
||||
eventListeners.add(listener as (data: any) => void)
|
||||
|
||||
return () => {
|
||||
unsubscribe(event, listener)
|
||||
}
|
||||
},
|
||||
off: (event: Topics, listener?: (data: any) => void) => {
|
||||
unsubscribe(event, listener)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
export const socket = createWebSocket()
|
||||
|
||||
Reference in New Issue
Block a user