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Emit dial events rather than logging them #563

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Closed
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Emit dial events rather than logging them #563

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3a8cc06
add events
micheal-parks May 21, 2025
27aed38
Merge branch 'main' into events-1
micheal-parks May 21, 2025
e535dca
more events
micheal-parks May 21, 2025
e5a8f9d
emit more events
micheal-parks May 21, 2025
d01560e
Cleanup
micheal-parks May 21, 2025
636500c
typecheck
micheal-parks May 21, 2025
462bb62
make once generic
micheal-parks May 21, 2025
7cebc3b
Merge branch 'main' of https://github.com/micheal-parks/viam-typescri…
micheal-parks Aug 1, 2025
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15 changes: 8 additions & 7 deletions src/events.ts
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
type Callback = (args: unknown) => void;
type Callback<T = unknown> = (args: T) => void;

/**
* MachineConnectionEvent events are emitted by a Client's EventDispatcher when
Expand All @@ -9,21 +9,22 @@ export enum MachineConnectionEvent {
CONNECTED = 'connected',
DISCONNECTING = 'disconnecting',
DISCONNECTED = 'disconnected',
DIAL_EVENT = 'dialing',
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Is DIALING different than CONNECTING?

}

export class EventDispatcher {
listeners: Partial<Record<string, Set<Callback>>> = {};

on(type: string, listener: Callback) {
on<T>(type: string, listener: Callback<T>) {
const { listeners } = this;
listeners[type] ??= new Set();
listeners[type]?.add(listener);
listeners[type]?.add(listener as Callback);
}

once(type: string, listener: Callback) {
const fn = (args: unknown) => {
once<T>(type: string, listener: Callback<T>) {
const fn = (args: T) => {
listener(args);
this.off(type, listener);
this.off(type, listener as Callback);
};
this.on(type, fn);
}
Expand All @@ -36,7 +37,7 @@ export class EventDispatcher {
this.listeners[type]?.delete(listener);
}

emit(type: string, args: unknown) {
emit<T = unknown>(type: string, args: T) {
for (const callback of this.listeners[type] ?? []) {
callback(args);
}
Expand Down
28 changes: 16 additions & 12 deletions src/robot/client.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -210,17 +210,18 @@ export class RobotClient extends EventDispatcher implements Robot {
return;
}

// eslint-disable-next-line no-console
console.debug('Connection closed, will try to reconnect');
this.emit(MachineConnectionEvent.DIAL_EVENT, {
message: 'Connection closed, attempting to reconnect',
});

const backOffOpts: Partial<IBackOffOptions> = {
retry: (error, attemptNumber) => {
retry: (error: Error, attemptNumber) => {
// TODO: This ought to check exceptional errors so as to not keep failing forever.

// eslint-disable-next-line no-console
console.debug(
`Failed to connect, attempt ${attemptNumber} with backoff`,
error
);
this.emit(MachineConnectionEvent.DIAL_EVENT, {
message: `Failed to connect, attempt ${attemptNumber} with backoff`,
error,
});

// Always retry the next attempt
return true;
Expand All @@ -234,12 +235,14 @@ export class RobotClient extends EventDispatcher implements Robot {
}
void backOff(async () => this.connect(), backOffOpts)
.then(() => {
// eslint-disable-next-line no-console
console.debug('Reconnected successfully!');
this.emit(MachineConnectionEvent.DIAL_EVENT, {
message: 'Reconnected successfully',
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Why is this a DIAL_EVENT and not CONNECTED?

});
})
.catch(() => {
// eslint-disable-next-line no-console
console.debug(`Reached max attempts: ${this.reconnectMaxAttempts}`);
this.emit(MachineConnectionEvent.DIAL_EVENT, {
message: `Reached max attempts: ${this.reconnectMaxAttempts}`,
});
});
}

Expand Down Expand Up @@ -502,6 +505,7 @@ export class RobotClient extends EventDispatcher implements Robot {
}

const webRTCConn = await dialWebRTC(
this,
this.webrtcOptions.signalingAddress || this.serviceHost,
this.webrtcOptions.host,
opts
Expand Down
93 changes: 56 additions & 37 deletions src/robot/dial.ts
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Original file line number Diff line number Diff line change
@@ -1,7 +1,11 @@
import { backOff, type IBackOffOptions } from 'exponential-backoff';
import { backOff } from 'exponential-backoff';
import { isCredential } from '../app/viam-transport';
import { DIAL_TIMEOUT } from '../constants';
import type { AccessToken, Credential } from '../main';
import {
MachineConnectionEvent,
type AccessToken,
type Credential,
} from '../main';
import { RobotClient } from './client';

/** Options required to dial a robot via gRPC. */
Expand All @@ -27,9 +31,6 @@ const isPosInt = (x: number): boolean => {
const isLocalConnection = (url: string) => url.includes('local');

const dialDirect = async (conf: DialDirectConf): Promise<RobotClient> => {
// eslint-disable-next-line no-console
console.debug('dialing via gRPC...');

if (!isLocalConnection(conf.host)) {
throw new Error(
`cannot dial "${conf.host}" directly, please use a local url instead.`
Expand All @@ -48,13 +49,18 @@ const dialDirect = async (conf: DialDirectConf): Promise<RobotClient> => {
}
const client = new RobotClient(conf.host, undefined, sessOpts, clientConf);

client.emit(MachineConnectionEvent.DIAL_EVENT, {
message: 'dialing via gRPC',
});

await client.connect({
creds: conf.credentials,
dialTimeout: conf.dialTimeout ?? DIAL_TIMEOUT,
});

// eslint-disable-next-line no-console
console.debug('connected via gRPC');
client.emit(MachineConnectionEvent.DIAL_EVENT, {
message: 'connected via gRPC',
});

return client;
};
Expand Down Expand Up @@ -92,9 +98,6 @@ export interface DialWebRTCConf {
}

const dialWebRTC = async (conf: DialWebRTCConf): Promise<RobotClient> => {
// eslint-disable-next-line no-console
console.debug('dialing via WebRTC...');

const impliedURL = conf.serviceHost ?? conf.host;
const { signalingAddress } = conf;
const iceServers = conf.iceServers ?? [];
Expand All @@ -115,14 +118,19 @@ const dialWebRTC = async (conf: DialWebRTCConf): Promise<RobotClient> => {
}
const client = new RobotClient(impliedURL, clientConf, sessOpts);

client.emit(MachineConnectionEvent.DIAL_EVENT, {
message: 'Dialing via WebRTC.',
});

await client.connect({
priority: conf.priority,
dialTimeout: conf.dialTimeout ?? DIAL_TIMEOUT,
creds: conf.credentials,
});

// eslint-disable-next-line no-console
console.debug('connected via WebRTC');
client.emit(MachineConnectionEvent.DIAL_EVENT, {
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Similarly, why is this a DIAL_EVENT and not CONNECTED?

message: 'Connected via WebRTC.',
});

return client;
};
Expand Down Expand Up @@ -160,33 +168,28 @@ export const createRobotClient = async (
): Promise<RobotClient> => {
validateDialConf(conf);

const backOffOpts: Partial<IBackOffOptions> = {
retry: (error, attemptNumber) => {
// TODO: This ought to check exceptional errors so as to not keep failing forever.

// eslint-disable-next-line no-console
console.debug(
`Failed to connect, attempt ${attemptNumber} with backoff`,
error
);

// Abort reconnects if the the caller specifies, otherwise retry
return !conf.reconnectAbortSignal?.abort;
},
};
if (conf.reconnectMaxWait !== undefined) {
backOffOpts.maxDelay = conf.reconnectMaxWait;
}
if (conf.reconnectMaxAttempts !== undefined) {
backOffOpts.numOfAttempts = conf.reconnectMaxAttempts;
}

// Try to dial via WebRTC first.
if (isDialWebRTCConf(conf) && !conf.reconnectAbortSignal?.abort) {
try {
return conf.noReconnect
const client = conf.noReconnect
? await dialWebRTC(conf)
: await backOff(async () => dialWebRTC(conf), backOffOpts);
: await backOff(async () => dialWebRTC(conf), {
maxDelay: conf.reconnectMaxWait,
numOfAttempts: conf.reconnectMaxAttempts,
retry: (error: Error, attemptNumber) => {
// TODO: This ought to check exceptional errors so as to not keep failing forever.

client.emit(MachineConnectionEvent.DIAL_EVENT, {
message: `Failed to connect via WebRTC, attempt ${attemptNumber} with backoff.`,
error,
});

// Abort reconnects if the the caller specifies, otherwise retry
return !conf.reconnectAbortSignal?.abort;
},
});

return client;
} catch {
// eslint-disable-next-line no-console
console.debug('Failed to connect via WebRTC');
Expand All @@ -195,9 +198,25 @@ export const createRobotClient = async (

if (!conf.reconnectAbortSignal?.abort) {
try {
return conf.noReconnect
const client = conf.noReconnect
? await dialDirect(conf)
: await backOff(async () => dialDirect(conf), backOffOpts);
: await backOff(async () => dialDirect(conf), {
maxDelay: conf.reconnectMaxWait,
numOfAttempts: conf.reconnectMaxAttempts,
retry: (error: Error, attemptNumber) => {
// TODO: This ought to check exceptional errors so as to not keep failing forever.

client.emit(MachineConnectionEvent.DIAL_EVENT, {
message: `Failed to connect via gRPC, attempt ${attemptNumber} with backoff.`,
error,
});

// Abort reconnects if the the caller specifies, otherwise retry
return !conf.reconnectAbortSignal?.abort;
},
});

return client;
} catch {
// eslint-disable-next-line no-console
console.debug('Failed to connect via gRPC');
Expand Down
14 changes: 13 additions & 1 deletion src/rpc/dial.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,8 @@ import { newPeerConnectionForClient } from './peer';
import { createGrpcWebTransport } from '@connectrpc/connect-web';
import { isCredential, type Credentials } from '../app/viam-transport';
import { SignalingExchange } from './signaling-exchange';
import type { RobotClient } from '../robot';
import { MachineConnectionEvent } from '../events';

export interface DialOptions {
credentials?: Credentials | undefined;
Expand Down Expand Up @@ -337,6 +339,7 @@ const getOptionalWebRTCConfig = async (
* to handle reconnect on connection termination
*/
export const dialWebRTC = async (
client: RobotClient,
signalingAddress: string,
host: string,
dialOpts?: DialOptions
Expand Down Expand Up @@ -397,6 +400,12 @@ export const dialWebRTC = async (
dc,
webrtcOpts
);

exchange.on<{ message: string; error?: Error }>(
MachineConnectionEvent.DIAL_EVENT,
(event) => client.emit(MachineConnectionEvent.DIAL_EVENT, event)
);

try {
// set timeout for dial attempt if a timeout is specified
if (dialOpts?.dialTimeout !== undefined) {
Expand Down Expand Up @@ -426,7 +435,10 @@ export const dialWebRTC = async (
dataChannel: dc,
};
} catch (error) {
console.error('error dialing', error); // eslint-disable-line no-console
client.emit(MachineConnectionEvent.DIAL_EVENT, {
message: 'Error dialing.',
error,
});
throw error;
} finally {
if (!successful) {
Expand Down
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