Merge branch 'devel' of github.com:garaemon/roslibjs into devel

Author: garaemon

build/roslib.js

@@ -585,6 +585,101 @@ ROSLIB.Ros.prototype.getParams = function(callback) {
   });
 };
 
+/**
+ * Retrieves a type of ROS topic.
+ *
+ * @param callback - function with params:
+ *   * type - String of the topic type
+ */
+ROSLIB.Ros.prototype.getTopicType = function(topic, callback) {
+  var topicTypeClient = new ROSLIB.Service({
+    ros : this,
+    name : '/rosapi/topic_type',
+    serviceType : 'rosapi/TopicType'
+  });
+  var request = new ROSLIB.ServiceRequest({
+    topic: topic
+  });
+  topicTypeClient.callService(request, function(result) {
+    callback(result.type);
+  });
+};
+
+/**
+ * Retrieves a detail of ROS message.
+ *
+ * @param callback - function with params:
+ *   * details - Array of the message detail
+ * @param message - String of a topic type
+ */
+ROSLIB.Ros.prototype.getMessageDetails = function(message, callback) {
+  var messageDetailClient = new ROSLIB.Service({
+    ros : this,
+    name : '/rosapi/message_details',
+    serviceType : 'rosapi/MessageDetails'
+  });
+  var request = new ROSLIB.ServiceRequest({
+    type: message
+  });
+  messageDetailClient.callService(request, function(result) {
+    callback(result.typedefs);
+  });
+};
+
+/**
+ * Encode a typedefs into a dictionary like `rosmsg show foo/bar`
+ * @param type_defs - array of type_def dictionary
+ */
+ROSLIB.Ros.prototype.decodeTypeDefs = function(type_defs) {
+  var typeDefDict = {};
+  var theType = type_defs[0];
+  
+  // It calls itself recursively to resolve type definition
+  // using hint_defs.
+  var decodeTypeDefsRec = function(theType, hint_defs) {
+    var typeDefDict = {};
+    for (var i = 0; i < theType.fieldnames.length; i++) {
+      var arrayLen = theType.fieldarraylen[i];
+      var fieldName = theType.fieldnames[i];
+      var fieldType = theType.fieldtypes[i];
+      if (fieldType.indexOf('/') === -1) { // check the fieldType includes '/' or not
+        if (arrayLen === -1) {
+          typeDefDict[fieldName] = fieldType;
+        }
+        else {
+          typeDefDict[fieldName] = [fieldType];
+        }
+      }
+      else {
+        // lookup the name
+        var sub_type = false;
+        for (var j = 0; j < hint_defs.length; j++) {
+          if (hint_defs[j].type === fieldType) {
+            sub_type = hint_defs[j];
+            break;
+          }
+        }
+        if (sub_type) {
+          var sub_type_result = decodeTypeDefsRec(sub_type, hint_defs);
+          if (arrayLen === -1) {
+            typeDefDict[fieldName] = sub_type_result;
+          }
+          else {
+            typeDefDict[fieldName] = [sub_type_result];
+          }
+        }
+        else {
+          throw 'cannot find ' + fieldType;
+        }
+      }
+    }
+    return typeDefDict;
+  };                            // end of decodeTypeDefsRec
+  
+  return decodeTypeDefsRec(type_defs[0], type_defs);
+};
+
+
 /**
  * @author Brandon Alexander - [email protected]
  */