Replace id counter with UUIDs

Author: EzraBrooks

package-lock.json

@@ -45,6 +45,7 @@
     "cbor-js": "^0.1.0",
     "eventemitter3": "^5.0.1",
     "pngparse": "^2.0.0",
+    "uuid": "^13.0.0",
     "ws": "^8.0.0"
   },
   "directories": {

package.json

@@ -6,6 +6,7 @@
 import { EventEmitter } from "eventemitter3";
 import ActionClient from "./ActionClient";
 import { actionlib_msgs } from "../types/actionlib_msgs";
+import { v4 as uuidv4 } from "uuid";
 
 /**
  * An actionlib goal that is associated with an action server.
@@ -28,7 +29,7 @@ export default class Goal<
   result?: TResult = undefined;
   feedback?: TFeedback = undefined;
   // Create a random ID
-  goalID = `goal_${Math.random().toString()}_${new Date().getTime().toString()}`;
+  goalID = `goal_${uuidv4()}`;
   actionClient: ActionClient<TGoal, TFeedback, TResult>;
   goalMessage: { goal: TGoal; goal_id: actionlib_msgs.GoalID };
   /**

src/actionlib/Goal.ts

@@ -12,6 +12,7 @@ import {
   RosbridgeSendActionGoalMessage,
 } from "../types/protocol.ts";
 import Ros from "./Ros.js";
+import { v4 as uuidv4 } from "uuid";
 
 /**
  * A ROS 2 action client.
@@ -67,7 +68,7 @@ export default class Action<
       return;
     }
 
-    const actionGoalId = `send_action_goal:${this.name}:${(++this.ros.idCounter).toString()}`;
+    const actionGoalId = `send_action_goal:${this.name}:${uuidv4()}`;
 
     this.ros.on(actionGoalId, function (message) {
       if (isRosbridgeActionResultMessage<TResult>(message)) {

src/core/Action.ts

@@ -49,7 +49,6 @@ export default class Ros extends EventEmitter<
 > {
   /** @type {import('./SocketAdapter.js').default | null} */
   socket: import("./SocketAdapter.js").default | null = null;
-  idCounter = 0;
   isConnected = false;
   transportLibrary: "websocket" | RTCPeerConnection;
   transportOptions: {

src/core/Ros.ts

@@ -10,6 +10,7 @@ import {
   RosbridgeServiceResponseMessage,
 } from "../types/protocol.ts";
 import Ros from "./Ros.js";
+import { v4 as uuidv4 } from "uuid";
 
 /**
  * A ROS service client.
@@ -73,8 +74,7 @@ export default class Service<TRequest, TResponse> extends EventEmitter {
       return;
     }
 
-    const serviceCallId =
-      "call_service:" + this.name + ":" + (++this.ros.idCounter).toString();
+    const serviceCallId = "call_service:" + this.name + ":" + uuidv4();
 
     this.ros.once(serviceCallId, function (message) {
       if (isRosbridgeServiceResponseMessage<TResponse>(message)) {

src/core/Service.ts

@@ -12,6 +12,7 @@ import {
   RosbridgeSubscribeMessage,
 } from "../types/protocol.ts";
 import { rosapi } from "../types/rosapi.ts";
+import { v4 as uuidv4 } from "uuid";
 
 /**
  * Publish and/or subscribe to a topic in ROS.
@@ -152,8 +153,7 @@ export default class Topic<T> extends EventEmitter<{
       return;
     }
     this.ros.on(this.name, this.#messageCallback);
-    this.subscribeId =
-      "subscribe:" + this.name + ":" + (++this.ros.idCounter).toString();
+    this.subscribeId = "subscribe:" + this.name + ":" + uuidv4();
 
     this.callForSubscribeAndAdvertise({
       op: "subscribe",
@@ -205,8 +205,7 @@ export default class Topic<T> extends EventEmitter<{
     if (this.isAdvertised) {
       return;
     }
-    this.advertiseId =
-      "advertise:" + this.name + ":" + (++this.ros.idCounter).toString();
+    this.advertiseId = "advertise:" + this.name + ":" + uuidv4();
     this.callForSubscribeAndAdvertise({
       op: "advertise",
       id: this.advertiseId,
@@ -251,10 +250,9 @@ export default class Topic<T> extends EventEmitter<{
       this.advertise();
     }
 
-    this.ros.idCounter++;
     const call = {
       op: "publish",
-      id: "publish:" + this.name + ":" + this.ros.idCounter.toString(),
+      id: "publish:" + this.name + ":" + uuidv4(),
       topic: this.name,
       msg: message,
       latch: this.latch,

src/core/Topic.ts

@@ -11,7 +11,6 @@ describe("TFClient", function () {
        */
 
       const dummyROS = {
-        idCounter: 0,
         on: () => {},
         off: () => {},
         callOnConnection: () => {},