Fix broken on the fly code (#37)

Author: chris-smith

examples/on_the_fly.js

@@ -2,10 +2,8 @@
 
 let rosnodejs = require('../index.js');
 
-rosnodejs.initNode('/my_node', {
-  messages: ['std_msgs/String'],
-  services: ['std_srvs/SetBool']
-}).then((rosNode) => {
+rosnodejs.initNode('/my_node', { onTheFly: true})
+.then((rosNode) => {
 
   const std_msgs = rosnodejs.require('std_msgs').msg;
   const msg = new std_msgs.String();

lib/ActionClient.js

@@ -19,13 +19,17 @@
 
 const timeUtils = require('../utils/time_utils.js');
 const msgUtils = require('../utils/message_utils.js');
-const GoalID = msgUtils.requireMsgPackage('actionlib_msgs').msg.GoalID;
 const EventEmitter = require('events');
+let GoalID = null;
 
 class ActionClient extends EventEmitter {
   constructor(options) {
     super();
 
+    if (GoalID === null) {
+      GoalID = msgUtils.requireMsgPackage('actionlib_msgs').msg.GoalID;
+    }
+
     this._actionType = options.type;
 
     this._actionServer = options.actionServer;

utils/messageGeneration/messages.js

@@ -204,6 +204,8 @@ function getMessageFromFile(messageType, filePath, type, callback) {
           response = buildMessageClass(details.response);
           setMessageInRegistry(messageType, request, type, "Request");
           setMessageInRegistry(messageType, response, type, "Response");
+          setMessageInRegistry(messageType, () => {return request.md5sum(); }, type, 'md5sum');
+          setMessageInRegistry(messageType, () => { return messageType; }, type, 'datatype');
           callback();
           // ^ no value needed for services, since they cannot appear nested
           // still pretty hacky
@@ -534,19 +536,26 @@ function buildMessageClass(details) {
     return this.md5;
   };
   Message.Constants = Message.constants
-    = Message.prototype.constants   = details.constants;
+    = Message.prototype.constants   = (() => {
+      const ret = {};
+      details.constants.forEach((constant) => {
+        ret[constant.name] = constant.value;
+      });
+    return ret;
+  })();
   Message.fields      = Message.prototype.fields      = details.fields;
   Message.serialize   = Message.prototype.serialize   =
-    function(obj, buffer) {
-      serializeInnerMessage(message, buffer, 0);
-    }
+    function(obj, buffer, offset) {
+      serializeInnerMessage(obj, buffer, offset);
+    };
   Message.deserialize = Message.prototype.deserialize = function(buffer) {
     var message = new Message();
 
     message = deserializeInnerMessage(message, buffer, 0);
 
     return message;
-  }
+  };
+  Message.getMessageSize = function(msg) { return fieldsUtil.getMessageSize(msg); };
   Message.prototype.validate    = buildValidator(details);
 
   return Message;

utils/messageGeneration/packages.js

@@ -1,9 +1,11 @@
 'use strict';
-var fs          = require('fs')
-  , path        = require('path')
-  , walker      = require('walker');
+const fs          = require('fs')
+    , path        = require('path')
+    , walker      = require('walker')
+    , async       = require('async');
 
 let packageCache = {};
+const cache = {};
 
 function packageWalk(directory, symlinks, findMessages) {
   var noSubDirs = new Set();
@@ -91,7 +93,7 @@ function packageWalk(directory, symlinks, findMessages) {
 
 function findPackageInDirectory(directory, packageName, callback) {
   var found = false;
-  return walk(directory)
+  return packageWalk(directory)
     .on('package', function(name, dir) {
       if (name === packageName) {
         this.emit('stop');
@@ -191,11 +193,20 @@ function findPackagesInDirectoryChain(directories) {
 // See http://ros.org/doc/api/rospkg/html/rospack.html
 // packages = {};
 exports.findPackage = function(packageName, callback) {
+  var directory = cache[packageName.toLowerCase()];
+  if (directory) {
+    callback(null, directory);
+    return;
+  }
   var rosRoot = process.env.ROS_ROOT;
-  var packagePath = process.env.ROS_PACKAGE_PATH;
-  var rosPackagePaths = packagePath.split(':');
+  var packagePath = process.env.ROS_PACKAGE_PATH
+  var rosPackagePaths = packagePath.split(':')
   var directories = [rosRoot].concat(rosPackagePaths);
-  return findPackageInDirectoryChain(directories, packageName, callback);
+  return findPackageInDirectoryChain(directories, packageName,
+    function(err, directory) {
+      cache[packageName.toLowerCase()] = directory;
+      callback(err, directory);
+    });
 };
 
 exports.findMessagePackages = function() {
@@ -211,7 +222,7 @@ exports.getPackageCache = function() {
 function forEachPackageInDirectory(directory, list, onEnd) {
   fs.access(directory, fs.R_OK, (err) => {
       if (!err) {
-        walk(directory)
+        packageWalk(directory)
           .on('package', function(name, dir) {
             list.push(dir);
           })
@@ -235,7 +246,7 @@ exports.getAllPackages = function(done) {
   }, function(err, directories) {
     directories.forEach(function(directory) {
       var packageName = path.basename(directory);
-      cache[packageName] = directory;
+      cache[packageName.toLowerCase()] = directory;
     });
     done(err, directories);
   });

utils/message_utils.js

@@ -207,7 +207,7 @@ let MessageUtils = {
   getHandlerForMsgType(rosDataType, loadIfMissing=false) {
     let type = messages.getFromRegistry(rosDataType, ["msg"]);
     if (type) {
-      return new type();
+      return type;
     } else {
       const [msgPackage, type] = rosDataType.split('/');
       let messagePackage = this.getPackage(msgPackage);
@@ -232,7 +232,9 @@ let MessageUtils = {
     if (request && response) {
       return {
         Request: request,
-        Response: response
+        Response: response,
+        md5sum: () => { return request.md5sum(); },
+        datatype: () => { return rosDataType; }
       };
     } else {
       const [msgPackage, type] = rosDataType.split('/');