Merge pull request #147 from minggangw/fix-issue-63

Minggang Wang · web-flow · commit 5acfd2c6834f · 2017-10-20T10:02:19.000+08:00
[validator]Implement the validator
diff --git a/binding.gyp b/binding.gyp
@@ -33,6 +33,7 @@
       'libraries': [
         '-lrcl',
         '-lrcutils',
+        '-lrmw',
       ],
       'conditions': [
         [
diff --git a/docs/Client.html b/docs/Client.html
@@ -334,7 +334,7 @@ <h2><a href="index.html">Home</a></h2><h3>Modules</h3><ul><li><a href="module-rc
 <br class="clear">
 
 <footer>
-    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.5.5</a> on Wed Sep 27 2017 14:03:03 GMT+0800 (CST)
+    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.5.5</a> on Thu Oct 19 2017 17:17:51 GMT+0800 (CST)
 </footer>
 
 <script> prettyPrint(); </script>
diff --git a/docs/Node.html b/docs/Node.html
@@ -282,7 +282,7 @@ <h5>Parameters:</h5>
     
     <dt class="tag-source">Source:</dt>
     <dd class="tag-source"><ul class="dummy"><li>
-        <a href="lib_node.js.html">lib/node.js</a>, <a href="lib_node.js.html#line161">line 161</a>
+        <a href="lib_node.js.html">lib/node.js</a>, <a href="lib_node.js.html#line163">line 163</a>
     </li></ul></dd>
     
 
@@ -485,7 +485,7 @@ <h5>Parameters:</h5>
     
     <dt class="tag-source">Source:</dt>
     <dd class="tag-source"><ul class="dummy"><li>
-        <a href="lib_node.js.html">lib/node.js</a>, <a href="lib_node.js.html#line113">line 113</a>
+        <a href="lib_node.js.html">lib/node.js</a>, <a href="lib_node.js.html#line115">line 115</a>
     </li></ul></dd>
     
 
@@ -711,7 +711,7 @@ <h5>Parameters:</h5>
     
     <dt class="tag-source">Source:</dt>
     <dd class="tag-source"><ul class="dummy"><li>
-        <a href="lib_node.js.html">lib/node.js</a>, <a href="lib_node.js.html#line191">line 191</a>
+        <a href="lib_node.js.html">lib/node.js</a>, <a href="lib_node.js.html#line193">line 193</a>
     </li></ul></dd>
     
 
@@ -944,7 +944,7 @@ <h5>Parameters:</h5>
     
     <dt class="tag-source">Source:</dt>
     <dd class="tag-source"><ul class="dummy"><li>
-        <a href="lib_node.js.html">lib/node.js</a>, <a href="lib_node.js.html#line143">line 143</a>
+        <a href="lib_node.js.html">lib/node.js</a>, <a href="lib_node.js.html#line145">line 145</a>
     </li></ul></dd>
     
 
@@ -1131,7 +1131,7 @@ <h5>Parameters:</h5>
     
     <dt class="tag-source">Source:</dt>
     <dd class="tag-source"><ul class="dummy"><li>
-        <a href="lib_node.js.html">lib/node.js</a>, <a href="lib_node.js.html#line86">line 86</a>
+        <a href="lib_node.js.html">lib/node.js</a>, <a href="lib_node.js.html#line88">line 88</a>
     </li></ul></dd>
     
 
@@ -1241,7 +1241,7 @@ <h4 class="name" id="destroy"><span class="type-signature"></span>destroy<span c
     
     <dt class="tag-source">Source:</dt>
     <dd class="tag-source"><ul class="dummy"><li>
-        <a href="lib_node.js.html">lib/node.js</a>, <a href="lib_node.js.html#line208">line 208</a>
+        <a href="lib_node.js.html">lib/node.js</a>, <a href="lib_node.js.html#line210">line 210</a>
     </li></ul></dd>
     
 
@@ -1309,7 +1309,7 @@ <h2><a href="index.html">Home</a></h2><h3>Modules</h3><ul><li><a href="module-rc
 <br class="clear">
 
 <footer>
-    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.5.5</a> on Wed Sep 27 2017 14:03:03 GMT+0800 (CST)
+    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.5.5</a> on Thu Oct 19 2017 17:17:51 GMT+0800 (CST)
 </footer>
 
 <script> prettyPrint(); </script>
diff --git a/docs/Publisher.html b/docs/Publisher.html
@@ -376,7 +376,7 @@ <h2><a href="index.html">Home</a></h2><h3>Modules</h3><ul><li><a href="module-rc
 <br class="clear">
 
 <footer>
-    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.5.5</a> on Wed Sep 27 2017 14:03:03 GMT+0800 (CST)
+    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.5.5</a> on Thu Oct 19 2017 17:17:51 GMT+0800 (CST)
 </footer>
 
 <script> prettyPrint(); </script>
diff --git a/docs/QoS.html b/docs/QoS.html
@@ -2611,7 +2611,7 @@ <h2><a href="index.html">Home</a></h2><h3>Modules</h3><ul><li><a href="module-rc
 <br class="clear">
 
 <footer>
-    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.5.5</a> on Wed Sep 27 2017 14:03:03 GMT+0800 (CST)
+    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.5.5</a> on Thu Oct 19 2017 17:17:51 GMT+0800 (CST)
 </footer>
 
 <script> prettyPrint(); </script>
diff --git a/docs/Service.html b/docs/Service.html
@@ -147,7 +147,7 @@ <h2><a href="index.html">Home</a></h2><h3>Modules</h3><ul><li><a href="module-rc
 <br class="clear">
 
 <footer>
-    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.5.5</a> on Wed Sep 27 2017 14:03:03 GMT+0800 (CST)
+    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.5.5</a> on Thu Oct 19 2017 17:17:51 GMT+0800 (CST)
 </footer>
 
 <script> prettyPrint(); </script>
diff --git a/docs/Subscription.html b/docs/Subscription.html
@@ -147,7 +147,7 @@ <h2><a href="index.html">Home</a></h2><h3>Modules</h3><ul><li><a href="module-rc
 <br class="clear">
 
 <footer>
-    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.5.5</a> on Wed Sep 27 2017 14:03:03 GMT+0800 (CST)
+    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.5.5</a> on Thu Oct 19 2017 17:17:51 GMT+0800 (CST)
 </footer>
 
 <script> prettyPrint(); </script>
diff --git a/docs/Timer.html b/docs/Timer.html
@@ -863,7 +863,7 @@ <h2><a href="index.html">Home</a></h2><h3>Modules</h3><ul><li><a href="module-rc
 <br class="clear">
 
 <footer>
-    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.5.5</a> on Wed Sep 27 2017 14:03:03 GMT+0800 (CST)
+    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.5.5</a> on Thu Oct 19 2017 17:17:51 GMT+0800 (CST)
 </footer>
 
 <script> prettyPrint(); </script>
diff --git a/docs/global.html b/docs/global.html
@@ -719,7 +719,7 @@ <h5>Parameters:</h5>
     
     <dt class="tag-source">Source:</dt>
     <dd class="tag-source"><ul class="dummy"><li>
-        <a href="lib_node.js.html">lib/node.js</a>, <a href="lib_node.js.html#line172">line 172</a>
+        <a href="lib_node.js.html">lib/node.js</a>, <a href="lib_node.js.html#line174">line 174</a>
     </li></ul></dd>
     
 
@@ -1015,7 +1015,7 @@ <h5>Parameters:</h5>
     
     <dt class="tag-source">Source:</dt>
     <dd class="tag-source"><ul class="dummy"><li>
-        <a href="lib_node.js.html">lib/node.js</a>, <a href="lib_node.js.html#line124">line 124</a>
+        <a href="lib_node.js.html">lib/node.js</a>, <a href="lib_node.js.html#line126">line 126</a>
     </li></ul></dd>
     
 
@@ -1076,7 +1076,7 @@ <h2><a href="index.html">Home</a></h2><h3>Modules</h3><ul><li><a href="module-rc
 <br class="clear">
 
 <footer>
-    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.5.5</a> on Wed Sep 27 2017 14:03:03 GMT+0800 (CST)
+    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.5.5</a> on Thu Oct 19 2017 17:17:51 GMT+0800 (CST)
 </footer>
 
 <script> prettyPrint(); </script>
diff --git a/docs/index.html b/docs/index.html
@@ -56,7 +56,7 @@ <h2><a href="index.html">Home</a></h2><h3>Modules</h3><ul><li><a href="module-rc
 <br class="clear">
 
 <footer>
-    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.5.5</a> on Wed Sep 27 2017 14:03:03 GMT+0800 (CST)
+    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.5.5</a> on Thu Oct 19 2017 17:17:51 GMT+0800 (CST)
 </footer>
 
 <script> prettyPrint(); </script>
diff --git a/docs/index.js.html b/docs/index.js.html
@@ -48,6 +48,7 @@ <h1 class="page-title">Source: index.js</h1>
 const packages = require('./rosidl_gen/packages.js');
 const loader = require('./lib/interface_loader.js');
 const QoS = require('./lib/qos.js');
+const validator = require('./lib/validator.js');
 
 function inherits(target, source) {
   let properties = Object.getOwnPropertyNames(source.prototype);
@@ -66,7 +67,7 @@ <h1 class="page-title">Source: index.js</h1>
   _initialized: false,
   _nodes: [],
   QoS: QoS,
-
+  validator: validator,
   /**
    * Create a node.
    * @param {string} nodeName - The name used to register in ROS.
@@ -81,7 +82,7 @@ <h1 class="page-title">Source: index.js</h1>
     let handle = rclnodejs.createNode(nodeName, namespace);
     let node =  new rclnodejs.ShadowNode();
 
-    node.init();
+    node.init(nodeName, namespace);
     node.handle = handle;
     this._nodes.push(node);
     return node;
@@ -177,6 +178,23 @@ <h1 class="page-title">Source: index.js</h1>
         reject(e);
       });
     });
+  },
+
+  /**
+   * Judge if the topic/service is hidden, see http://design.ros2.org/articles/topic_and_service_names.html#hidden-topic-or-service-names
+   * @param {string} name - Name of topic/service.
+   * @return {boolean} - True if a given topic or service name is hidden, otherwise False.
+   */
+  isTopicOrServiceHidden(name) {
+    if (typeof (name) !== 'string') {
+      throw new TypeError('Invalid argument');
+    }
+
+    let arr = name.split('/');
+    for (let i= 0; i &lt; arr.length; i++) {
+      if (arr[i].startsWith('_')) return true;
+    }
+    return false;
   }
 };
 
@@ -197,7 +215,7 @@ <h2><a href="index.html">Home</a></h2><h3>Modules</h3><ul><li><a href="module-rc
 <br class="clear">
 
 <footer>
-    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.5.5</a> on Wed Sep 27 2017 14:03:03 GMT+0800 (CST)
+    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.5.5</a> on Thu Oct 19 2017 17:17:51 GMT+0800 (CST)
 </footer>
 
 <script> prettyPrint(); </script>
diff --git a/docs/lib_client.js.html b/docs/lib_client.js.html
@@ -76,11 +76,17 @@ <h1 class="page-title">Source: lib/client.js</h1>
    * @see {@link ResponseCallback}
    */
   sendRequest(request, callback) {
-    if (typeof (request) !== 'object' || typeof (callback) !== 'function') {
+    let rclRequest = request;
+    if (typeof request !== 'object') {
+      rclRequest = new this._typeClass();
+      rclRequest.data = request;
+    }
+    if (typeof (callback) !== 'function') {
       throw new TypeError('Invalid argument');
     }
-    request.serialize();
-    let rawROSRequest = request.toRawROS();
+
+    rclRequest.serialize();
+    let rawROSRequest = rclRequest.toRawROS();
     this._sequenceNumber = rclnodejs.sendRequest(this._handle, rawROSRequest);
     this._callback = callback;
   }
@@ -122,7 +128,7 @@ <h2><a href="index.html">Home</a></h2><h3>Modules</h3><ul><li><a href="module-rc
 <br class="clear">
 
 <footer>
-    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.5.5</a> on Wed Sep 27 2017 14:03:03 GMT+0800 (CST)
+    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.5.5</a> on Thu Oct 19 2017 17:17:51 GMT+0800 (CST)
 </footer>
 
 <script> prettyPrint(); </script>
diff --git a/docs/lib_node.js.html b/docs/lib_node.js.html
@@ -56,12 +56,14 @@ <h1 class="page-title">Source: lib/node.js</h1>
  */
 
 class Node {
-  init() {
+  init(name, namespace) {
     this._publishers = [];
     this._subscriptions = [];
     this._clients = [];
     this._services = [];
     this._timers = [];
+    this._name = name;
+    this._namespace = namespace;
     this.spinning = false;
   }
 
@@ -265,6 +267,20 @@ <h1 class="page-title">Source: lib/node.js</h1>
   destroyTimer(timer) {
 
   }
+
+  /* Get the name of the node.
+   * @return {string}
+   */
+  name() {
+    return this._name;
+  }
+
+  /* Get the namespace of the node.
+   * @return {string}
+   */
+  namespace() {
+    return this._namespace;
+  }
 }
 
 module.exports = Node;
@@ -284,7 +300,7 @@ <h2><a href="index.html">Home</a></h2><h3>Modules</h3><ul><li><a href="module-rc
 <br class="clear">
 
 <footer>
-    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.5.5</a> on Wed Sep 27 2017 14:03:03 GMT+0800 (CST)
+    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.5.5</a> on Thu Oct 19 2017 17:17:51 GMT+0800 (CST)
 </footer>
 
 <script> prettyPrint(); </script>
diff --git a/docs/lib_publisher.js.html b/docs/lib_publisher.js.html
@@ -72,12 +72,18 @@ <h1 class="page-title">Source: lib/publisher.js</h1>
   publish(message) {
     // TODO(minggang): Support to convert a plain JavaScript value/object to a ROS message,
     // thus we can invoke this function like: publisher.publish('hello world').
-    message.serialize();
-    let rawRosMessage = message.toRawROS();
+    let rclMessage = message;
+    if (typeof message !== 'object') {
+      rclMessage = new this._typeClass();
+      rclMessage.data = message;
+    }
+
+    rclMessage.serialize();
+    let rawRosMessage = rclMessage.toRawROS();
     if (rawRosMessage) {
       rclnodejs.publish(this._handle, rawRosMessage);
     } else {
-      debug('Message was not published:', message);
+      debug('Message was not published:', rclMessage);
     }
   }
 
@@ -105,7 +111,7 @@ <h2><a href="index.html">Home</a></h2><h3>Modules</h3><ul><li><a href="module-rc
 <br class="clear">
 
 <footer>
-    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.5.5</a> on Wed Sep 27 2017 14:03:03 GMT+0800 (CST)
+    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.5.5</a> on Thu Oct 19 2017 17:17:51 GMT+0800 (CST)
 </footer>
 
 <script> prettyPrint(); </script>
diff --git a/docs/lib_qos.js.html b/docs/lib_qos.js.html
@@ -338,7 +338,7 @@ <h2><a href="index.html">Home</a></h2><h3>Modules</h3><ul><li><a href="module-rc
 <br class="clear">
 
 <footer>
-    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.5.5</a> on Wed Sep 27 2017 14:03:03 GMT+0800 (CST)
+    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.5.5</a> on Thu Oct 19 2017 17:17:51 GMT+0800 (CST)
 </footer>
 
 <script> prettyPrint(); </script>
diff --git a/docs/lib_service.js.html b/docs/lib_service.js.html
@@ -94,7 +94,7 @@ <h2><a href="index.html">Home</a></h2><h3>Modules</h3><ul><li><a href="module-rc
 <br class="clear">
 
 <footer>
-    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.5.5</a> on Wed Sep 27 2017 14:03:03 GMT+0800 (CST)
+    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.5.5</a> on Thu Oct 19 2017 17:17:51 GMT+0800 (CST)
 </footer>
 
 <script> prettyPrint(); </script>
diff --git a/docs/lib_subscription.js.html b/docs/lib_subscription.js.html
@@ -91,7 +91,7 @@ <h2><a href="index.html">Home</a></h2><h3>Modules</h3><ul><li><a href="module-rc
 <br class="clear">
 
 <footer>
-    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.5.5</a> on Wed Sep 27 2017 14:03:03 GMT+0800 (CST)
+    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.5.5</a> on Thu Oct 19 2017 17:17:51 GMT+0800 (CST)
 </footer>
 
 <script> prettyPrint(); </script>
diff --git a/docs/lib_timer.js.html b/docs/lib_timer.js.html
@@ -133,7 +133,7 @@ <h2><a href="index.html">Home</a></h2><h3>Modules</h3><ul><li><a href="module-rc
 <br class="clear">
 
 <footer>
-    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.5.5</a> on Wed Sep 27 2017 14:03:03 GMT+0800 (CST)
+    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.5.5</a> on Thu Oct 19 2017 17:17:51 GMT+0800 (CST)
 </footer>
 
 <script> prettyPrint(); </script>
diff --git a/docs/module-rclnodejs.html b/docs/module-rclnodejs.html
diff --git a/example/validator-example.js b/example/validator-example.js
diff --git a/index.js b/index.js
diff --git a/lib/node.js b/lib/node.js
diff --git a/lib/validator.js b/lib/validator.js
diff --git a/src/rcl_bindings.cpp b/src/rcl_bindings.cpp

Original file line number	Diff line number	Diff line change
`@@ -33,6 +33,7 @@`
`33`	`33`	`'libraries': [`
`34`	`34`	`'-lrcl',`
`35`	`35`	`'-lrcutils',`
	`36`	`+ '-lrmw',`
`36`	`37`	`],`
`37`	`38`	`'conditions': [`
`38`	`39`	`[`