From 22f6044b97999ded4de1b4233d271a715dcc3d8c Mon Sep 17 00:00:00 2001
From: Nathaniel Hargrave <va7nfh@gmail.com>
Date: Mon, 6 Feb 2023 18:15:49 -0800
Subject: [PATCH 1/8] update packages

---
 package.json | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)
diff --git a/package.json b/package.json
index b034f6b..d206cd0 100644
--- a/package.json
+++ b/package.json
@@ -6,8 +6,7 @@
         "start": "node src/servers/server.js",
         "ros-system-test": "node test/ros-system-test.js",
         "ros-system-collection-test": "node test/ros-system-collection-test.js",
-        "realtime-server-test": "node test/realtime-server-test.js",
-        "postinstall": "cd node_modules/openmct && npm install"
+        "realtime-server-test": "node test/realtime-server-test.js"
     },
     "repository": {
         "type": "git",
@@ -26,7 +25,7 @@
     "dependencies": {
         "express": "^4.16.2",
         "express-ws": "^3.0.0",
-        "openmct": "nasa/openmct",
+        "openmct": "latest",
         "q": "^1.5.1",
         "roslib": "^0.19.0",
         "ws": "^3.3.2"

From b6b55de062eaf2bb141cf23402f9a7c01163efbc Mon Sep 17 00:00:00 2001
From: Nathaniel Hargrave <va7nfh@gmail.com>
Date: Mon, 6 Feb 2023 18:16:27 -0800
Subject: [PATCH 2/8] remove whitespace

---
 index.html                     |  2 +-
 src/plugin/rosmctPlugin.js     | 32 ++++++++------------------------
 src/ros/ros-system.js          |  8 ++++----
 src/servers/realtime-server.js |  9 +++------
 src/utils/dictionaryUtils.js   |  5 ++---
 5 files changed, 18 insertions(+), 38 deletions(-)

diff --git a/index.html b/index.html
index 87617d9..64a2beb 100644
--- a/index.html
+++ b/index.html
@@ -5,7 +5,7 @@
     <script src="node_modules/openmct/dist/openmct.js"></script>
     <script src="lib/http.js"></script>
     <script src="node_modules/q/q.js"></script>
-    <script src="src/plugin/rosmctPlugin.js"></script> 
+    <script src="src/plugin/rosmctPlugin.js"></script>
   </head>
   <body>
     <script>
diff --git a/src/plugin/rosmctPlugin.js b/src/plugin/rosmctPlugin.js
index 7540126..bdae9e4 100644
--- a/src/plugin/rosmctPlugin.js
+++ b/src/plugin/rosmctPlugin.js
@@ -1,6 +1,6 @@
 /**
  * Plugin to interface with a realtime server that is connecte to a set of ros systems
- * Provides ability to subscribe to ros topics 
+ * Provides ability to subscribe to ros topics
  */
 /* global define */
 (function(def){
@@ -21,14 +21,13 @@
 
                 /**
                  * Handles local dictionary requests
-                 * @returns {object} dictionary promise 
+                 * @returns {object} dictionary promise
                  */
                 function getDictionary(){
                     return deferredDictionary.promise
                 }
 
                 // set up websocket and telemetry handling
-                
                 /**
                  * Telemetry websocket to realtime server
                  */
@@ -42,7 +41,7 @@
                 /**
                  * Handlers for telemetry mesages
                  */
-                var handlers = { 
+                var handlers = {
                     dictionary: function(dict) { /**< Resolves dictionary promise upon receipt of dictionary*/
                         deferredDictionary.resolve(dict);
                     },
@@ -162,7 +161,6 @@
                         return dictionary.Systems.map(function(sys){
                             let namespace = sys.name
 
-                            
                             /**
                              * constructs objects in the 'system name' namespace
                              * @param {object} identifier
@@ -186,14 +184,14 @@
                              identifier: identifier,
                              name: topic.name,
                              type: 'folder',
-                             location: namespace + ':ros.system' 
+                             location: namespace + ':ros.system'
                              }
                              console.log('returning topic', t)
                              return t
                              }
                              }
                              }*/
-                            
+
                             /**
                              * constructs objects in the 'system name' namespace
                              * @param {object} identifier
@@ -225,11 +223,11 @@
                                             telemetry: {
                                                 values: topic.values
                                             },
-                                            location: namespace + ':ros.system' 
+                                            location: namespace + ':ros.system'
                                         }
                                         deferred.resolve(t)
                                     } /*else{ //must be a topic value at this point
-                                        
+
                                         var topicName = ''
                                         var topicValue = sys.topics.map(function(topic){
                                             var val = topic.values.filter(function(value) {
@@ -240,7 +238,7 @@
                                                 return val[0]
                                             }
                                         }).filter(function(v){
-                                            return v != null 
+                                            return v != null
                                         })
                                         topicValue = topicValue[0]
                                         var v = {
@@ -370,9 +368,6 @@
                         })
                     })
                 }
-                
-
-
 
                 // install all providers into openmct object
 
@@ -390,8 +385,6 @@
                  openmct.composition.addProvider(testCompositionProvider);
                  */
 
-                
-                
                 //add system providers
                 systemProviderFactory().then(function(sys){
                     sys.map(function(providers){
@@ -402,8 +395,6 @@
                         openmct.telemetry.addProvider(providers.telemetryProvider)
                     })
                 })
-                
-                
 
                 openmct.types.addType('ros.topic.telemetry', {
                     name: 'Ros Topic Telemetry Point',
@@ -412,13 +403,6 @@
                 })
 
                 //openmct.telemetry.addProvider(telemetryProvider)
-
-                
-
-                
-
-                
-                
             };
         };
 
diff --git a/src/ros/ros-system.js b/src/ros/ros-system.js
index 4ef1e32..e1933fd 100644
--- a/src/ros/ros-system.js
+++ b/src/ros/ros-system.js
@@ -113,9 +113,9 @@ RosSystem.prototype.generateDictionary = function () {
              topics: [],
              types: []
              }
-             
+
              to
-             
+
              {
              topic1: type1,
              topic2: type2,
@@ -166,7 +166,7 @@ RosSystem.prototype.getDictionary = function () {
 RosSystem.prototype.updateSubscribers = function () {
     var self = this
     self.subscribers = []
-    
+
     self.dictionary.topics.forEach(function (topic) {
         let s = new ROSLIB.Topic({
             ros: self.ros,
@@ -200,7 +200,7 @@ RosSystem.prototype.updateSubscribers = function () {
             state.id = self.info.name + '.'+ s.name
             console.log('Notifying topic: ', state)
             self.notify(state)
-        })        
+        })
         self.subscribers.push(s)
     })
 }
diff --git a/src/servers/realtime-server.js b/src/servers/realtime-server.js
index 7ab1e06..09fb630 100644
--- a/src/servers/realtime-server.js
+++ b/src/servers/realtime-server.js
@@ -24,7 +24,6 @@ function RealtimeServer() {
      * @param {object} ws websocket
      */
     router.ws('/notify', function(ws){
-        
         ws.on('message', function(message){
             console.log('Notification Message: ', JSON.stringify(message, null, 2))
             var msg = JSON.parse(message);
@@ -38,7 +37,7 @@ function RealtimeServer() {
             }
         })
     })
-    
+
     /**
      * Client websocket setup
      * @param {object} ws websocket
@@ -47,10 +46,10 @@ function RealtimeServer() {
         var unlisten = rossystems.listen(notifySubscribers);
 
         // Active subscriptions for this connection
-        var subscribed = {}; 
+        var subscribed = {};
 
         // Handlers for specific requests
-        var handlers = { 
+        var handlers = {
             /**
              * subscribe handler
              * @param {string} id telemetry datum id
@@ -78,7 +77,6 @@ function RealtimeServer() {
                         }));
                     });
             }
-                       
         };
 
         /**
@@ -117,7 +115,6 @@ function RealtimeServer() {
         // Stop sending telemetry updates for this connection when closed
         ws.on('close', unlisten);
     });
-    
 
     return router;
 };
diff --git a/src/utils/dictionaryUtils.js b/src/utils/dictionaryUtils.js
index f148c09..e75dc49 100644
--- a/src/utils/dictionaryUtils.js
+++ b/src/utils/dictionaryUtils.js
@@ -62,7 +62,6 @@ function parseDetails(topicDetails){
             value.name = parentName + "." + value.name
         })
         return parsedSubDetail
-        
     }
 
     function parseDetail(detail){
@@ -88,7 +87,7 @@ function parseDetails(topicDetails){
         }
         return parsedDetail
     }
-    
+
     parsedDetails = parsedDetails.concat(parseDetail(topicDetails[0]))
 
     var timeval = {
@@ -101,7 +100,7 @@ function parseDetails(topicDetails){
         }
     };
     parsedDetails.push(timeval);
-    return parsedDetails;    
+    return parsedDetails;
 }
 
 /**

From 970bec821303a41e6eb93a4a1cf52b964ec8e312 Mon Sep 17 00:00:00 2001
From: Nathaniel Hargrave <va7nfh@gmail.com>
Date: Sat, 11 Feb 2023 00:20:01 -0800
Subject: [PATCH 3/8] complete topic realtime telemetry

---
 src/plugin/rosmctPlugin.js | 77 ++++++++++++++++++--------------------
 src/ros/ros-system.js      |  7 +++-
 2 files changed, 42 insertions(+), 42 deletions(-)

diff --git a/src/plugin/rosmctPlugin.js b/src/plugin/rosmctPlugin.js
index bdae9e4..9b3c541 100644
--- a/src/plugin/rosmctPlugin.js
+++ b/src/plugin/rosmctPlugin.js
@@ -46,12 +46,11 @@
                         deferredDictionary.resolve(dict);
                     },
                     point: function(point) { /**< Calls listener callback for each topic value  upon receipt of topic telemetry*/
-                        console.log('Recieved Telemetry point: ', point)
-                        if(listener[point.id]){
-                            console.log('And it has a listener!')
-                            listener[point.id](point)
+                        if (listener[point.id]) {
+                            for (i of listener[point.id]) {
+                                i(point)
+                            }
                         }
-
                     }
                 }
 
@@ -61,9 +60,6 @@
                  */
                 telemetrysocket.onmessage = function (event) {
                     var message = JSON.parse(event.data);
-                    console.log('Received telemetry message of type: ' + message.type);
-                    console.log('Message contents: ');
-                    console.log(message.value);
 
                     if(message.type){
                         var handler = handlers[message.type];
@@ -192,6 +188,9 @@
                              }
                              }*/
 
+                            // NOTE: replacing '/' with '.' in topic names is necessary due to the way openmct handles object identifiers
+                            // openmct/src/ui/router/Browse.js:64
+
                             /**
                              * constructs objects in the 'system name' namespace
                              * @param {object} identifier
@@ -200,7 +199,6 @@
                              */
                             let systemObjectProvider = {
                                 get: function(identifier){
-                                    //console.log(identifier)
                                     var deferred = Q.defer()
                                     if(identifier.key === 'ros.system'){
                                         deferred.resolve({
@@ -209,32 +207,28 @@
                                             type: 'folder',
                                             location: 'rosmct:rsCollection'
                                         })
-                                    } /*else if(sys.topics.filter(function(topic){
-                                        return identifier.key === topic.name
-                                       }).length){*/
-                                    else{
+                                    } else if(sys.topics.filter(function(topic){
+                                        return identifier.key === topic.name.replaceAll('/', '.')
+                                       }).length){
                                         var topic = sys.topics.filter(function(m){
-                                            return m.name == identifier.key
+                                            return m.name.replaceAll('/', '.') == identifier.key
                                         })[0]
                                         var t =  {
                                             identifier: identifier,
-                                            name: topic.name,
-                                            type: 'ros.topic.telemetry',
-                                            telemetry: {
-                                                values: topic.values
-                                            },
+                                            name: topic.name.replaceAll('/', '.'),
+                                            type: 'folder',
                                             location: namespace + ':ros.system'
                                         }
                                         deferred.resolve(t)
-                                    } /*else{ //must be a topic value at this point
+                                    } else{ //must be a topic value at this point
 
-                                        var topicName = ''
+                                        var baseTopic;
                                         var topicValue = sys.topics.map(function(topic){
                                             var val = topic.values.filter(function(value) {
-                                                return identifier.key === topic.name + '.' + value.name
+                                                return identifier.key === topic.name.replaceAll('/', '.') + '.' + value.name
                                             })
                                             if(val.length){
-                                                topicName = topic.name
+                                                baseTopic = topic
                                                 return val[0]
                                             }
                                         }).filter(function(v){
@@ -245,14 +239,14 @@
                                             identifier: identifier,
                                             name: topicValue.name,
                                             type: 'ros.topic.telemetry',
-                                            parent: topicName,
-                                            location: namespace + ':' + topicName,
+                                            parent: baseTopic.name.replaceAll('/', '.'),
+                                            location: namespace + ':' + baseTopic.name.replaceAll('/', '.'),
                                             telemetry: {
-                                                values: topicValue
+                                                values: [topicValue, baseTopic.values.find(o => o.key === "utc")]
                                             }
                                         }
                                         deferred.resolve(v)
-                                    }*/
+                                    }
                                     return deferred.promise
                                 }
                             }
@@ -284,7 +278,7 @@
                                     var children =  sys.topics.map(function(topic){
                                         return {
                                             namespace: namespace,
-                                            key: topic.name
+                                            key: topic.name.replaceAll('/', '.')
                                         }
                                     })
                                     deferred.resolve(children)
@@ -313,18 +307,18 @@
                                 appliesTo: function(domainObject){
                                     return domainObject.identifier.namespace === namespace &&
                                         sys.topics.filter(function(topic) {
-                                            return domainObject.identifier.key === topic.name
+                                            return domainObject.identifier.key === topic.name.replaceAll('/', '.')
                                         }).length > 0
                                 },
                                 load: function(domainObject){
                                     var deferred = Q.defer()
                                     var topic = sys.topics.filter(function(topic){
-                                        return domainObject.identifier.key === topic.name
+                                        return domainObject.identifier.key === topic.name.replaceAll('/', '.')
                                     })[0]
                                     var children =  topic.values.map(function(val){
                                         return {
                                             namespace: namespace,
-                                            key: topic.name + '.'+ val.name
+                                            key: topic.name.replaceAll('/', '.') + '.' + val.name
                                         }
                                     })
                                     deferred.resolve(children)
@@ -340,18 +334,22 @@
                                     return false;
                                 },
                                 supportsSubscribe: function(domainObject){
-                                    console.log('supportSubscribe called for: ', domainObject)
-                                    console.log('supports? : ', domainObject.type === 'ros.topic.telemetry' && domainObject.identifier.namespace === namespace)
                                     return domainObject.type === 'ros.topic.telemetry' && domainObject.identifier.namespace === namespace
                                 },
                                 subscribe: function(domainObject, callback){
-                                    console.log('Subscrbie called for: ', domainObject)
-                                    var key = domainObject.identifier.namespace + '.' + domainObject.identifier.key
-                                    console.log('ID: ', key)
-                                    listener[key] = callback
+                                    var topic = sys.topics.filter((t) => {
+                                        return domainObject.identifier.key.includes(t.name.replaceAll('/', '.'))
+                                    })[0]
+                                    var key = domainObject.identifier.namespace + '.' + topic.name
+
+                                    if (listener[key] == undefined) {
+                                      listener[key] = []
+                                    }
+
+                                    listener[key].push(callback)
                                     telemetrysocket.send('subscribe ' + key)
                                     return function unsubscribe() {
-                                        delete listener[key]
+                                        listener[key].splice(listener[key].indexOf(callback), 1)
                                         telemetrysocket.send('unsubscribe ' + key)
                                     }
                                 }
@@ -388,10 +386,9 @@
                 //add system providers
                 systemProviderFactory().then(function(sys){
                     sys.map(function(providers){
-                        console.log('Providers', providers)
                         openmct.objects.addProvider(providers.namespace, providers.objectProvider)
                         openmct.composition.addProvider(providers.systemCompositionProvider)
-//                        openmct.composition.addProvider(providers.topicCompositionProvider)
+                        openmct.composition.addProvider(providers.topicCompositionProvider)
                         openmct.telemetry.addProvider(providers.telemetryProvider)
                     })
                 })
diff --git a/src/ros/ros-system.js b/src/ros/ros-system.js
index e1933fd..11a914e 100644
--- a/src/ros/ros-system.js
+++ b/src/ros/ros-system.js
@@ -184,7 +184,11 @@ RosSystem.prototype.updateSubscribers = function () {
                     var path = val.name.split('.')
                     var tmp = message
                     for(let i = 0; i < path.length; i++){
-                        tmp = tmp[path[i]]
+		        if (Array.isArray(tmp)) {
+//			    console.log(tmp)
+		        }else {
+                            tmp = tmp[path[i]]
+		        }
                     }
                     values[val.name] = tmp
                 }
@@ -198,7 +202,6 @@ RosSystem.prototype.updateSubscribers = function () {
             var state = s.parse(message)
             state.timestamp = timestamp
             state.id = self.info.name + '.'+ s.name
-            console.log('Notifying topic: ', state)
             self.notify(state)
         })
         self.subscribers.push(s)

From 9d302ca81646a346c9395fe15075d617b1277966 Mon Sep 17 00:00:00 2001
From: Nathaniel Hargrave <va7nfh@gmail.com>
Date: Sat, 11 Feb 2023 11:54:35 -0800
Subject: [PATCH 4/8] add default plugins

---
 index.html | 121 ++++++++++++++++++++++++++++++++++++++++++++++++++++-
 1 file changed, 119 insertions(+), 2 deletions(-)

diff --git a/index.html b/index.html
index 64a2beb..3b4cd42 100644
--- a/index.html
+++ b/index.html
@@ -9,13 +9,130 @@
   </head>
   <body>
     <script>
+      const THIRTY_SECONDS = 30 * 1000;
+      const ONE_MINUTE = THIRTY_SECONDS * 2;
+      const FIVE_MINUTES = ONE_MINUTE * 5;
+      const FIFTEEN_MINUTES = FIVE_MINUTES * 3;
+      const THIRTY_MINUTES = FIFTEEN_MINUTES * 2;
+      const ONE_HOUR = THIRTY_MINUTES * 2;
+      const TWO_HOURS = ONE_HOUR * 2;
+      const ONE_DAY = ONE_HOUR * 24;
+
       openmct.setAssetPath('node_modules/openmct/dist');
       openmct.install(openmct.plugins.LocalStorage());
       openmct.install(openmct.plugins.MyItems());
+      openmct.install(openmct.plugins.PlanLayout());
+      openmct.install(openmct.plugins.Timeline());
+      openmct.install(openmct.plugins.Hyperlink());
       openmct.install(openmct.plugins.UTCTimeSystem());
-      openmct.time.clock('local', {start: -15 * 60 * 1000, end: 0});
-      openmct.time.timeSystem('utc');
       openmct.install(openmct.plugins.Espresso());
+      openmct.install(openmct.plugins.AutoflowView({
+          type: "telemetry.panel"
+      }));
+      openmct.install(openmct.plugins.DisplayLayout({
+          showAsView: ['summary-widget', 'example.imagery']
+      }));
+
+      openmct.install(openmct.plugins.Conductor({
+          menuOptions: [
+              {
+                  name: "Fixed",
+                  timeSystem: 'utc',
+                  bounds: {
+                      start: Date.now() - THIRTY_MINUTES,
+                      end: Date.now()
+                  },
+                  // commonly used bounds can be stored in history
+                  // bounds (start and end) can accept either a milliseconds number
+                  // or a callback function returning a milliseconds number
+                  // a function is useful for invoking Date.now() at exact moment of preset selection
+                  presets: [
+                      {
+                          label: 'Last Day',
+                          bounds: {
+                              start: () => Date.now() - ONE_DAY,
+                              end: () => Date.now()
+                          }
+                      },
+                      {
+                          label: 'Last 2 hours',
+                          bounds: {
+                              start: () => Date.now() - TWO_HOURS,
+                              end: () => Date.now()
+                          }
+                      },
+                      {
+                          label: 'Last hour',
+                          bounds: {
+                              start: () => Date.now() - ONE_HOUR,
+                              end: () => Date.now()
+                          }
+                      }
+                  ],
+                  // maximum recent bounds to retain in conductor history
+                  records: 10
+                  // maximum duration between start and end bounds
+                  // for utc-based time systems this is in milliseconds
+                  // limit: ONE_DAY
+              },
+              {
+                  name: "Realtime",
+                  timeSystem: 'utc',
+                  clock: 'local',
+                  clockOffsets: {
+                      start: - THIRTY_MINUTES,
+                      end: THIRTY_SECONDS
+                  },
+                  presets: [
+                      {
+                          label: '1 Hour',
+                          bounds: {
+                              start: - ONE_HOUR,
+                              end: THIRTY_SECONDS
+                          }
+                      },
+                      {
+                          label: '30 Minutes',
+                          bounds: {
+                              start: - THIRTY_MINUTES,
+                              end: THIRTY_SECONDS
+                          }
+                      },
+                      {
+                          label: '15 Minutes',
+                          bounds: {
+                              start: - FIFTEEN_MINUTES,
+                              end: THIRTY_SECONDS
+                          }
+                      },
+                      {
+                          label: '5 Minutes',
+                          bounds: {
+                              start: - FIVE_MINUTES,
+                              end: THIRTY_SECONDS
+                          }
+                      },
+                      {
+                          label: '1 Minute',
+                          bounds: {
+                              start: - ONE_MINUTE,
+                              end: THIRTY_SECONDS
+                          }
+                      }
+                  ]
+              }
+          ]
+      }));
+      openmct.install(openmct.plugins.SummaryWidget());
+      openmct.install(openmct.plugins.Notebook());
+      openmct.install(openmct.plugins.LADTable());
+      openmct.install(openmct.plugins.Filters(['table', 'telemetry.plot.overlay']));
+      openmct.install(openmct.plugins.ObjectMigration());
+      openmct.install(openmct.plugins.Clock({ enableClockIndicator: true }));
+      openmct.install(openmct.plugins.Timer());
+      openmct.install(openmct.plugins.Timelist());
+      openmct.install(openmct.plugins.BarChart());
+      openmct.install(openmct.plugins.ScatterPlot());
 
       openmct.install(rosmctPlugin());
 

From 1fc080278bbece25f47cd9980f3f5352c5a0051b Mon Sep 17 00:00:00 2001
From: Nathaniel Hargrave <va7nfh@gmail.com>
Date: Fri, 17 Mar 2023 21:42:58 -0700
Subject: [PATCH 5/8] QuestDB datalogging

---
 package.json                   |  5 +-
 src/plugin/rosmctPlugin.js     | 44 +++++++++++++++--
 src/servers/realtime-server.js | 87 ++++++++++++++++++++++++----------
 3 files changed, 107 insertions(+), 29 deletions(-)

diff --git a/package.json b/package.json
index d206cd0..b86b134 100644
--- a/package.json
+++ b/package.json
@@ -24,10 +24,11 @@
     "homepage": "https://github.com/rosmod/rosmct#readme",
     "dependencies": {
         "express": "^4.16.2",
-        "express-ws": "^3.0.0",
+        "express-ws": "^5.0.2",
         "openmct": "latest",
+        "pg": "^8.10.0",
         "q": "^1.5.1",
-        "roslib": "^0.19.0",
+        "roslib": "^1.3.0",
         "ws": "^3.3.2"
     }
 }
diff --git a/src/plugin/rosmctPlugin.js b/src/plugin/rosmctPlugin.js
index 9b3c541..f9bf777 100644
--- a/src/plugin/rosmctPlugin.js
+++ b/src/plugin/rosmctPlugin.js
@@ -38,6 +38,11 @@
                  */
                 var listener = {}
 
+                /**
+                 * Promises list for historical data
+                 */
+                var historical = {}
+
                 /**
                  * Handlers for telemetry mesages
                  */
@@ -51,6 +56,24 @@
                                 i(point)
                             }
                         }
+                    },
+                    history: function(data) {
+                        if (data == []) return
+                        var id = data[0].id
+                        var points = []
+                        for (point of data) {
+                            points.push({
+                                ...JSON.parse(point.data),
+                                timestamp: new Date(point.ts).getTime(),
+                                id: point.id
+                            })
+                        }
+                        if (historical[id]) {
+                          for (i of historical[id]) {
+                                i.resolve(points)
+                                historical[id].splice(historical[id].indexOf(i), 1)
+                            }
+                        }
                     }
                 }
 
@@ -103,7 +126,6 @@
                      * @param {object} identifier.key
                      */
                     get: function(identifier){
-
                         return getDictionary().then(function(dictionary){
                             if (identifier.key === 'rsCollection'){
                                 return {
@@ -330,8 +352,8 @@
                              * Telemetry Provider
                              */
                             let telemetryProvider = {
-                                supportRequest: function(domainObject){
-                                    return false;
+                                supportsRequest: function(domainObject){
+                                    return domainObject.type === 'ros.topic.telemetry' && domainObject.identifier.namespace === namespace;
                                 },
                                 supportsSubscribe: function(domainObject){
                                     return domainObject.type === 'ros.topic.telemetry' && domainObject.identifier.namespace === namespace
@@ -352,6 +374,22 @@
                                         listener[key].splice(listener[key].indexOf(callback), 1)
                                         telemetrysocket.send('unsubscribe ' + key)
                                     }
+                                },
+                                request: function(domainObject, options){
+                                    var topic = sys.topics.filter((t) => {
+                                        return domainObject.identifier.key.includes(t.name.replaceAll('/', '.'))
+                                    })[0]
+                                    var key = domainObject.identifier.namespace + '.' + topic.name
+
+                                    telemetrysocket.send('request ' + key + ' ' + options.start + ' ' + options.end)
+
+                                    var deferred = Q.defer()
+                                    if (historical[key] == undefined) {
+                                        historical[key] = []
+                                    }
+                                    historical[key].push(deferred)
+
+                                    return deferred.promise
                                 }
                             }
 
diff --git a/src/servers/realtime-server.js b/src/servers/realtime-server.js
index 09fb630..a0c193b 100644
--- a/src/servers/realtime-server.js
+++ b/src/servers/realtime-server.js
@@ -6,6 +6,7 @@
 
 var express = require('express');
 var RosSystemCollection = require('../ros/ros-system-collection');
+var { Client } = require("pg")
 
 /**
 * Sets up handling of web socket connections
@@ -19,25 +20,22 @@ function RealtimeServer() {
         key: "rsCollection"
     });
 
-    /**
-     * Rosbridge notification websocket setup
-     * @param {object} ws websocket
-     */
-    router.ws('/notify', function(ws){
-        ws.on('message', function(message){
-            console.log('Notification Message: ', JSON.stringify(message, null, 2))
-            var msg = JSON.parse(message);
-            if(msg.status === 'OPEN'){
-                rossystems.addSystem(msg.rosbridgeurl, msg.rosbridgeport, {
-                    name: msg.name,
-                    key: 'ros.system'
-                })
-            } else if (msg.status === 'CLOSE'){
-                rossystems.removeSystem(msg.rosbridgeurl, msg.rosbridgeport)
-            }
-        })
+    const client = new Client({
+        database: "qdb",
+        host: "127.0.0.1",
+        password: "quest",
+        port: 8812,
+        user: "admin",
+    })
+
+    client.connect()
+
+    client.on('error', (err) => {
+        console.error('something bad has happened!', err.stack)
     })
 
+    client.on('end', () => {client.connect()}) // do it again
+
     /**
      * Client websocket setup
      * @param {object} ws websocket
@@ -69,13 +67,54 @@ function RealtimeServer() {
              * Sends dictionary request over websocket
              */
             dictionary: function() {
-                rossystems.getDictionary()
-                    .then(function(dict){
+                client.query("SELECT dictionary FROM dictionaries").then((res) => {
+                    if (res.rowCount > 0) {
                         ws.send(JSON.stringify({
                             type: "dictionary",
-                            value: dict
-                        }));
-                    });
+                            value: JSON.parse(res.rows[0].dictionary)
+                        }))
+                    }
+                    rossystems.getDictionary()
+                        .then(function(dict){
+                            if (dict.Systems == []) return
+                            if (res.rowCount > 0) {
+                                client.query("UPDATE dictionaries SET dictionary = '" + JSON.stringify(dict) + "'").then(() => client.query("COMMIT"))
+			    }else {
+                                client.query("INSERT INTO dictionaries (dictionary) VALUES ('" + JSON.stringify(dict) + "')").then(() => client.query("COMMIT"))
+                                ws.send(JSON.stringify({
+                                    type: "dictionary",
+                                    value: dict
+                                }));
+                             }
+                        });
+                })
+            },
+            /**
+             * Returns historical telemetry values
+             */
+            request: function(options) {
+                options = options.split(' ')
+                client.query("SELECT to_timezone(ts, '" + Intl.DateTimeFormat().resolvedOptions().timeZone + "') AS ts, id, data FROM " + options[0].split('.')[0] + " WHERE id = '" + options[0] + "' AND ts > " + Math.round(parseFloat(options[1])*1000).toString() + " AND ts < " + Math.round(parseFloat(options[2])*1000).toString()).then((res) => {
+                    ws.send(JSON.stringify({
+                        type: "history",
+                        value: res.rows
+                    }))
+                })
+            },
+
+            OPEN: function(msg) {
+                msg = JSON.parse(msg)
+                rossystems.addSystem(msg.rosbridgeurl, msg.rosbridgeport, {
+                    name: msg.name,
+                    key: 'ros.system'
+                }).then(() => {
+                    unlisten = rossystems.listen(notifySubscribers)
+                })
+            },
+
+            CLOSE: function(msg) {
+                msg = JSON.parse(msg)
+                rossystems.removeSystem(msg.rosbridgeurl, msg.rosbridgeport)
             }
         };
 
@@ -88,8 +127,9 @@ function RealtimeServer() {
          * @param {object} topic.data telemetry data
          */
         function notifySubscribers(point) {
-            if (subscribed[point.id]) {
+            client.query("INSERT INTO "+point.id.split('.')[0]+"(ts, id, data) VALUES ($1, $2, $3);", [point.timestamp.toString() + "000", point.id, JSON.stringify(point)]).then(() => client.query("COMMIT"))
 
+            if (subscribed[point.id]) {
                 ws.send(JSON.stringify({
                     type: "point",
                     value: point
@@ -99,7 +139,6 @@ function RealtimeServer() {
 
         //Assign a callback for execution on incoming message
         ws.on('message', function (message) {
-            console.log('Received message: ', message)
             var parts = message.split(' '),
                 handler = handlers[parts[0]];
             if (handler) {

From 4f6179f85a45b8d6677431acfcadaad99f84fb38 Mon Sep 17 00:00:00 2001
From: Nathaniel Hargrave <va7nfh@gmail.com>
Date: Thu, 23 Mar 2023 14:47:34 -0700
Subject: [PATCH 6/8] Connection fixes

---
 src/servers/realtime-server.js | 40 +++++++++++++++++++---------------
 1 file changed, 23 insertions(+), 17 deletions(-)

diff --git a/src/servers/realtime-server.js b/src/servers/realtime-server.js
index a0c193b..bf55a5d 100644
--- a/src/servers/realtime-server.js
+++ b/src/servers/realtime-server.js
@@ -20,21 +20,27 @@ function RealtimeServer() {
         key: "rsCollection"
     });
 
-    const client = new Client({
-        database: "qdb",
-        host: "127.0.0.1",
-        password: "quest",
-        port: 8812,
-        user: "admin",
-    })
+    var client;
 
-    client.connect()
+    function connect() {
+        client = new Client({
+            database: "qdb",
+            host: "127.0.0.1",
+            password: "quest",
+            port: 8812,
+            user: "admin",
+        })
 
-    client.on('error', (err) => {
-        console.error('something bad has happened!', err.stack)
-    })
+        client.connect()
 
-    client.on('end', () => {client.connect()}) // do it again
+        client.on('error', (err) => {
+            console.error(err.stack)
+        })
+
+        client.on('end', () => connect()) // do it again
+    }
+
+    connect()
 
     /**
      * Client websocket setup
@@ -76,15 +82,15 @@ function RealtimeServer() {
                     }
                     rossystems.getDictionary()
                         .then(function(dict){
-                            if (dict.Systems == []) return
+                            if (dict.Systems.length === 0) return
+                            ws.send(JSON.stringify({
+                                type: "dictionary",
+                                value: dict
+                            }));
                             if (res.rowCount > 0) {
                                 client.query("UPDATE dictionaries SET dictionary = '" + JSON.stringify(dict) + "'").then(() => client.query("COMMIT"))
 			    }else {
                                 client.query("INSERT INTO dictionaries (dictionary) VALUES ('" + JSON.stringify(dict) + "')").then(() => client.query("COMMIT"))
-                                ws.send(JSON.stringify({
-                                    type: "dictionary",
-                                    value: dict
-                                }));
                              }
                         });
                 })

From 22a29dbf90a1ea0a4e57f13b0184896312e99b6c Mon Sep 17 00:00:00 2001
From: Nathaniel Hargrave <va7nfh@gmail.com>
Date: Wed, 29 Mar 2023 21:06:01 -0700
Subject: [PATCH 7/8] QuestDB setup instructions

---
 README.md | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)

diff --git a/README.md b/README.md
index 5a9ae86..40240f0 100644
--- a/README.md
+++ b/README.md
@@ -32,6 +32,24 @@ Rosbridge runs on the local ros system and acts a a websocket server to translat
 
 `TODO: configuring the server-side connection between the realtime server and rosbridge (order of deployment, url/port, etc)`
 
+## QuestDB setup
+
+Recording historical telemetry requires setting up a QuestDB instance. This can be disabled with the `DISABLE_QUESTDB` environment variable.
+
+The schema is as follow:
+
+```sql
+CREATE TABLE <rossystemname> (
+  ts timestamp,
+  id symbol,
+  data string
+) timestamp(ts);
+
+CREATE TABLE dictionaries (
+  dictionary string
+);
+```
+
 ## Roslibjs
 
 `todo`

From 20e4a0752b6a3469c3206d1ae95cd16cf8cf3c27 Mon Sep 17 00:00:00 2001
From: Nathaniel Hargrave <va7nfh@gmail.com>
Date: Wed, 29 Mar 2023 21:06:27 -0700
Subject: [PATCH 8/8] DISABLE_QUESTDB env var

---
 src/servers/realtime-server.js | 49 +++++++++++++++++++++-------------
 1 file changed, 31 insertions(+), 18 deletions(-)

diff --git a/src/servers/realtime-server.js b/src/servers/realtime-server.js
index bf55a5d..196de9e 100644
--- a/src/servers/realtime-server.js
+++ b/src/servers/realtime-server.js
@@ -40,7 +40,9 @@ function RealtimeServer() {
         client.on('end', () => connect()) // do it again
     }
 
-    connect()
+    if (!process.env.DISABLE_QUESTDB) {
+      connect()
+    }
 
     /**
      * Client websocket setup
@@ -73,32 +75,43 @@ function RealtimeServer() {
              * Sends dictionary request over websocket
              */
             dictionary: function() {
-                client.query("SELECT dictionary FROM dictionaries").then((res) => {
-                    if (res.rowCount > 0) {
-                        ws.send(JSON.stringify({
-                            type: "dictionary",
-                            value: JSON.parse(res.rows[0].dictionary)
-                        }))
-                    }
+                if (process.env.DISABLE_QUESTDB) {
                     rossystems.getDictionary()
                         .then(function(dict){
-                            if (dict.Systems.length === 0) return
+                            ws.send(JSON.stringify({
+                               type: "dictionary",
+                               value: dict
+                            }))
+                        })
+                }else {
+                    client.query("SELECT dictionary FROM dictionaries").then((res) => {
+                        if (res.rowCount > 0) {
                             ws.send(JSON.stringify({
                                 type: "dictionary",
-                                value: dict
-                            }));
-                            if (res.rowCount > 0) {
-                                client.query("UPDATE dictionaries SET dictionary = '" + JSON.stringify(dict) + "'").then(() => client.query("COMMIT"))
-			    }else {
-                                client.query("INSERT INTO dictionaries (dictionary) VALUES ('" + JSON.stringify(dict) + "')").then(() => client.query("COMMIT"))
-                             }
-                        });
-                })
+                                value: JSON.parse(res.rows[0].dictionary)
+                            }))
+                        }
+                        rossystems.getDictionary()
+                            .then(function(dict){
+                                if (dict.Systems.length === 0) return
+                                ws.send(JSON.stringify({
+                                    type: "dictionary",
+                                    value: dict
+                                }));
+                                if (res.rowCount > 0) {
+                                    client.query("UPDATE dictionaries SET dictionary = '" + JSON.stringify(dict) + "'").then(() => client.query("COMMIT"))
+		                      	    }else {
+                                    client.query("INSERT INTO dictionaries (dictionary) VALUES ('" + JSON.stringify(dict) + "')").then(() => client.query("COMMIT"))
+                                }
+                            });
+                    })
+                }
             },
             /**
              * Returns historical telemetry values
              */
             request: function(options) {
+                if (process.env.DISABLE_QUESTDB) return
                 options = options.split(' ')
                 client.query("SELECT to_timezone(ts, '" + Intl.DateTimeFormat().resolvedOptions().timeZone + "') AS ts, id, data FROM " + options[0].split('.')[0] + " WHERE id = '" + options[0] + "' AND ts > " + Math.round(parseFloat(options[1])*1000).toString() + " AND ts < " + Math.round(parseFloat(options[2])*1000).toString()).then((res) => {
                     ws.send(JSON.stringify({
