Further unifying the interfaces

Implemented uint64 and int64 support

Now generating all messages and services on the fly on start (if requested)

- message.getAll works and is very fast (takes less than a second)

- Fixes #14.

Corrected implemention for [U]Int64 in on-the-fly approach

Using bignum for [u]int64 if available, otherwise usual javascript
numbers are used but a warning is printed if numbers are sent or
received that are outside of the precise range of JS for integers (>=
1e15).

Author: chfritz

example_turtle.js

@@ -1,4 +1,4 @@
-/** 
+/**
     An example of using rosnodejs with turtlesim, incl. services,
     pub/sub, and actionlib. This example uses the on-demand generated
     messages.
@@ -9,16 +9,7 @@
 let rosnodejs = require('./index.js');
 const ActionClient = require('./lib/ActionClient.js');
 
-rosnodejs.initNode('/my_node', {
-  messages: [
-    'turtlesim/Pose',
-    'turtle_actionlib/ShapeActionGoal',
-    'turtle_actionlib/ShapeActionFeedback',
-    'turtle_actionlib/ShapeActionResult',
-    'geometry_msgs/Twist',
-  ],
-  services: ["turtlesim/TeleportRelative"]
-}).then((rosNode) => {
+rosnodejs.initNode('/my_node', {onTheFly: true}).then((rosNode) => {
 
   // get list of existing publishers, subscribers, and services
   rosNode._node._masterApi.getSystemState("/my_node").then((data) => {
@@ -30,11 +21,11 @@ rosnodejs.initNode('/my_node', {
 
   const TeleportRelative = rosnodejs.require('turtlesim').srv.TeleportRelative;
   const teleport_request = new TeleportRelative.Request({
-    linear: -1, 
+    linear: -1,
     angular: 0.0
   });
 
-  let serviceClient = rosNode.serviceClient("/turtle1/teleport_relative", 
+  let serviceClient = rosNode.serviceClient("/turtle1/teleport_relative",
                                              "turtlesim/TeleportRelative");
 
   rosNode.waitForService(serviceClient.getService(), 2000)
@@ -52,17 +43,17 @@ rosnodejs.initNode('/my_node', {
   // ---------------------------------------------------------
   // Subscribe
   rosNode.subscribe(
-    '/turtle1/pose', 
+    '/turtle1/pose',
     'turtlesim/Pose',
     (data) => {
       console.log('pose', data);
     },
     {queueSize: 1,
-     throttleMs: 1000});
+      throttleMs: 1000});
 
   // ---------------------------------------------------------
   // Publish
-  // equivalent to: 
+  // equivalent to:
   //   rostopic pub /turtle1/cmd_vel geometry_msgs/Twist '[1, 0, 0]' '[0, 0, 0]'
   let cmd_vel = rosNode.advertise('/turtle1/cmd_vel','geometry_msgs/Twist', {
     queueSize: 1,
@@ -85,17 +76,54 @@ rosnodejs.initNode('/my_node', {
 
   // wait two seconds for previous example to complete
   setTimeout(function() {
-    let shapeActionGoal = rosnodejs.require('turtle_actionlib').msg.ShapeActionGoal;
-    let ac = new ActionClient({
-      type: "turtle_actionlib/ShapeAction",
-      actionServer: "/turtle_shape"
+      let shapeActionGoal = rosnodejs.require('turtle_actionlib').msg.ShapeActionGoal;
+      let ac = new ActionClient({
+          type: "turtle_actionlib/ShapeAction",
+          actionServer: "/turtle_shape"
+        });
+      ac.sendGoal(new shapeActionGoal({
+            goal: {
+              edges: 3,
+              radius: 1
+            }
+          }));
+    }, 2000);
+
+  // ---------------------------------------------------------
+  // test int64 + uint64
+
+  rosNode.subscribe(
+    '/int64',
+    'std_msgs/Int64',
+    (data) => {
+      console.log('int64', data);
+    },
+    {queueSize: 1,
+      throttleMs: 1000});
+
+  let int64pub = rosNode.advertise('/int64','std_msgs/Int64', {
+      queueSize: 1,
+      latching: true,
+      throttleMs: 9
     });
-    ac.sendGoal(new shapeActionGoal({
-      goal: {
-        edges: 3,
-        radius: 1
-      }
-    }));
-  }, 2000);
+  const Int64 = rosnodejs.require('std_msgs').msg.Int64;
+  int64pub.publish(new Int64({   data: "429496729456789012" }));
+
+  rosNode.subscribe(
+    '/uint64',
+    'std_msgs/UInt64',
+    (data) => {
+      console.log('uint64', data);
+    },
+    {queueSize: 1,
+      throttleMs: 1000});
+
+  let uint64pub = rosNode.advertise('/uint64','std_msgs/UInt64', {
+      queueSize: 1,
+      latching: true,
+      throttleMs: 9
+    });
+  const UInt64 = rosnodejs.require('std_msgs').msg.UInt64;
+  uint64pub.publish(new UInt64({ data: "9223372036854775807" }));
 
 });

index.js

@@ -133,15 +133,19 @@ let Rosnodejs = {
     rosNode = new RosNode(nodeName, rosMasterUri);
 
     return new Promise((resolve, reject) => {
-      this.use(options.messages, options.services).then(() => {
-
-        const connectedToMasterCallback = () => {
-          Logging.initializeOptions(this, options.logging);
-          resolve(this.getNodeHandle());
-        };
-
+      const connectedToMasterCallback = () => {
+        Logging.initializeOptions(this, options.logging);
+        resolve(this.getNodeHandle());
+      };
+
+      if (options.onTheFly) {
+        // generate definitions for all messages and services
+        messages.getAll(function() {
+            _checkMasterHelper(connectedToMasterCallback, 0);
+          });
+      } else {
         _checkMasterHelper(connectedToMasterCallback, 0);
-      });
+      }
     })
     .catch((err) => {
       log.error('Error: ' + err);
@@ -188,68 +192,6 @@ let Rosnodejs = {
     return rtv;
   },
 
-  /** create message classes and services classes for all the given
-   * types before calling callback */
-  use(messages, services) {
-    const self = this;
-    return new Promise((resolve, reject) => {
-      self._useMessages(messages)
-        .then(() => { return self._useServices(services); })
-        .then(() => { resolve(); });
-    });
-  },
-
-  /** create message classes for all the given types */
-  _useMessages(types) {
-    const self = this;
-
-    // make sure required types are available
-    [
-      // for action lib:
-      'actionlib_msgs/GoalStatusArray',
-      'actionlib_msgs/GoalID',
-      // for logging:
-      'rosgraph_msgs/Log',
-    ].forEach(function(type) {
-      if (!self.checkMessage(type)) {
-        // required message definition not available yet, load it
-        // on-demand
-        types.unshift(type);
-      }
-    });
-
-    if (!types || types.length == 0) {
-      return Promise.resolve();
-    }
-    var count = types.length;
-    return new Promise((resolve, reject) => {
-      types.forEach(function(type) {
-        messages.getMessage(type, function(error, Message) {
-          if (--count == 0) {
-            resolve();
-          }
-        });
-      });
-    });
-  },
-
-  /** create service classes for all the given types */
-  _useServices(types) {
-    if (!types || types.length == 0) {
-      return Promise.resolve();
-    }
-    var count = types.length;
-    return new Promise((resolve, reject) => {
-      types.forEach(function(type) {
-        messages.getService(type, function() {
-          if (--count == 0) {
-            resolve();
-          }
-        });
-      });
-    });
-  },
-
   /**
    * @return {NodeHandle} for initialized node
    */

package.json

@@ -27,7 +27,7 @@
     "xmlrpc": "chfritz/node-xmlrpc",
     "walker"        : "1.0.7",
     "md5"           : "2.1.0",
-    "async"         : "0.1.22",
+    "async"         : "2.0.1",
     "bunyan": "1.8.1"
   }
 }