Merge pull request #32 from chfritz/unify_interface_further

Unify interface further, expose action client

Author: chris-smith

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.
@@ -7,18 +7,7 @@
 'use strict';
 
 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 +19,11 @@ 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 +41,17 @@ 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 +74,57 @@ 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 = rosnodejs.getActionClient({
+          type: "turtle_actionlib/ShapeAction",
+          actionServer: "/turtle_shape"
+        });
+      ac.sendGoal(new shapeActionGoal({
+            goal: {
+              edges: 3,
+              radius: 1
+            }
+          }));
+      setTimeout(function() {
+          ac.cancel();
+      }, 1000);
+    }, 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

@@ -29,6 +29,7 @@ const LogFormatter = require('./utils/log/LogFormatter.js');
 const RosNode = require('./lib/RosNode.js');
 const NodeHandle = require('./lib/NodeHandle.js');
 const Logging = require('./lib/Logging.js');
+const ActionClient = require('./lib/ActionClient.js');
 
 msgUtils.findMessageFiles();
 
@@ -133,15 +134,19 @@ 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 +193,6 @@ 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
    */
@@ -274,6 +217,29 @@ let Rosnodejs = {
       console: ConsoleLogStream,
       ros:     RosLogStream
     }
+  },
+
+
+  //------------------------------------------------------------------
+  // ActionLib
+  //------------------------------------------------------------------
+
+  /**
+    Get an action client for a given type and action server.
+
+    Example:
+      let ac = rosNode.getActionClient({
+        type: "turtle_actionlib/ShapeAction",
+        actionServer: "/turtle_shape"
+      });
+      let shapeActionGoal =
+        rosnodejs.require('turtle_actionlib').msg.ShapeActionGoal;
+      ac.sendGoal(new shapeActionGoal({
+        goal: { edges: 3,  radius: 1 } }));
+   */
+  getActionClient(options) {
+    options.rosnodejs = Rosnodejs;
+    return new ActionClient(options);
   }
 }
 

lib/ActionClient.js

@@ -17,7 +17,6 @@
 
 'use strict';
 
-const rosnodejs = require('../index.js');
 const timeUtils = require('../utils/time_utils.js');
 let EventEmitter = require('events');
 
@@ -29,28 +28,29 @@ class ActionClient extends EventEmitter {
 
     this._actionServer = options.actionServer;
 
-    const nh = rosnodejs.nh;
+    this._rosnodejs = options.rosnodejs;
+    const nh = this._rosnodejs.getNodeHandle();
 
     // FIXME: support user options for these parameters
-    this._goalPub = nh.advertise(this._actionServer + '/goal', 
+    this._goalPub = nh.advertise(this._actionServer + '/goal',
                                  this._actionType + 'Goal',
                                  { queueSize: 1, latching: true });
 
-    this._cancelPub = nh.advertise(this._actionServer + '/cancel', 
+    this._cancelPub = nh.advertise(this._actionServer + '/cancel',
                                    'actionlib_msgs/GoalID',
                                    { queueSize: 1, latching: true });
 
-    this._statusSub = nh.subscribe(this._actionServer + '/status', 
+    this._statusSub = nh.subscribe(this._actionServer + '/status',
                                    'actionlib_msgs/GoalStatusArray',
                                    (msg) => { this._handleStatus(msg); },
                                    { queueSize: 1 } );
 
-    this._feedbackSub = nh.subscribe(this._actionServer + '/feedback', 
+    this._feedbackSub = nh.subscribe(this._actionServer + '/feedback',
                                      this._actionType + 'Feedback',
                                      (msg) => { this._handleFeedback(msg); },
                                      { queueSize: 1 } );
 
-    this._statusSub = nh.subscribe(this._actionServer + '/result', 
+    this._statusSub = nh.subscribe(this._actionServer + '/result',
                                    this._actionType + 'Result',
                                    (msg) => { this._handleResult(msg); },
                                    { queueSize: 1 } );
@@ -97,6 +97,19 @@ class ActionClient extends EventEmitter {
     this._goals[goalId] = goal;
 
     this._goalPub.publish(goal);
+    return goal;
+  }
+
+  /** Cancel the given goal. If none is given, send an empty goal message,
+  i.e. cancel all goals. See 
+  http://wiki.ros.org/actionlib/DetailedDescription#The_Messages
+  */
+  cancel(goal) {
+    if (!goal) {
+      let GoalID = this._rosnodejs.require('actionlib_msgs').msg.GoalID;
+      goal = new GoalID();
+    }
+    this._cancelPub.publish(goal);
   }
 
   _generateGoalId() {

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"
   }
 }