Use typedoc warnings to find and fix partially-hidden APIs

README.md

@@ -18,10 +18,6 @@ Install roslibjs with any NPM-compatible package manager via, for example,
 npm install roslib
 ```
 
-~Pre-built files can be found in either [roslib.js](build/roslib.js) or [roslib.min.js](build/roslib.min.js).~
-
-As we are updating to v2, we don't provide pre-built files anymore in the repo.
-
 Alternatively, you can use the v1 release via the [JsDelivr](https://www.jsdelivr.com/) CDN: ([full](https://cdn.jsdelivr.net/npm/roslib@1/build/roslib.js)) | ([min](https://cdn.jsdelivr.net/npm/roslib@1/build/roslib.min.js))
 
 ## Troubleshooting

package.json

@@ -57,7 +57,7 @@
   },
   "scripts": {
     "build": "vite build",
-    "doc": "typedoc src/RosLib.ts",
+    "doc": "typedoc src/RosLib.ts --treatWarningsAsErrors",
     "lint": "eslint .",
     "test": "vitest",
     "prepublishOnly": "npm run test",

src/RosLib.ts

@@ -1,17 +1,17 @@
 /**
- * @fileOverview
  * @author Russell Toris - [email protected]
  */
 
-/** @description Library version */
+/** Library version */
 export const REVISION = import.meta.env.VITE_ROSLIBJS_VERSION;
 
 // Core exports
-export { default as Ros } from "./core/Ros.js";
+export { default as Ros, type TypeDefDict } from "./core/Ros.js";
 export { default as Topic } from "./core/Topic.js";
 export { default as Param } from "./core/Param.js";
 export { default as Service } from "./core/Service.js";
 export { default as Action } from "./core/Action.js";
+export { type GoalStatus } from "./core/GoalStatus.js";
 
 // Core Transport exports
 export {
@@ -45,6 +45,7 @@ export { default as UrdfCylinder } from "./urdf/UrdfCylinder.js";
 export { default as UrdfLink } from "./urdf/UrdfLink.js";
 export { default as UrdfMaterial } from "./urdf/UrdfMaterial.js";
 export { default as UrdfMesh } from "./urdf/UrdfMesh.js";
+export { default as UrdfJoint } from "./urdf/UrdfJoint.js";
 export {
   default as UrdfModel,
   type UrdfModelOptions,
@@ -61,3 +62,11 @@ export {
   type UrdfDefaultOptions,
 } from "./urdf/UrdfTypes.js";
 export { isElement, parseUrdfOrigin } from "./urdf/UrdfUtils.js";
+
+// Only export the types Typedoc requires you to export - those are our API. Anything else is internal.
+export type { rosapi } from "./types/rosapi";
+export type { actionlib_msgs } from "./types/actionlib_msgs";
+export type { std_msgs } from "./types/std_msgs";
+export type { tf2_msgs } from "./types/tf2_msgs";
+export type { geometry_msgs } from "./types/geometry_msgs";
+export type { RosbridgeMessage } from "./types/protocol.js";

src/actionlib/ActionClient.ts

@@ -36,17 +36,17 @@ export default class ActionClient<
   omitFeedback?: boolean;
   omitStatus?: boolean;
   omitResult?: boolean;
-  feedbackListener: Topic<{
+  #feedbackListener: Topic<{
     status: actionlib_msgs.GoalStatus;
     feedback: TFeedback;
   }>;
-  statusListener: Topic<actionlib_msgs.GoalStatusArray>;
-  resultListener: Topic<{
+  #statusListener: Topic<actionlib_msgs.GoalStatusArray>;
+  #resultListener: Topic<{
     status: actionlib_msgs.GoalStatus;
     result: TResult;
   }>;
-  goalTopic: Topic<{ goal: TGoal; goal_id: actionlib_msgs.GoalID }>;
-  cancelTopic: Topic<Partial<actionlib_msgs.GoalID>>;
+  #goalTopic: Topic<{ goal: TGoal; goal_id: actionlib_msgs.GoalID }>;
+  #cancelTopic: Topic<Partial<actionlib_msgs.GoalID>>;
   /**
    * @param options
    * @param options.ros - The ROSLIB.Ros connection handle.
@@ -84,43 +84,43 @@ export default class ActionClient<
     this.omitResult = omitResult;
 
     // create the topics associated with actionlib
-    this.feedbackListener = new Topic({
+    this.#feedbackListener = new Topic({
       ros: this.ros,
       name: `${this.serverName}/feedback`,
       messageType: `${this.actionName}Feedback`,
     });
 
-    this.statusListener = new Topic({
+    this.#statusListener = new Topic({
       ros: this.ros,
       name: `${this.serverName}/status`,
       messageType: "actionlib_msgs/GoalStatusArray",
     });
 
-    this.resultListener = new Topic({
+    this.#resultListener = new Topic({
       ros: this.ros,
       name: `${this.serverName}/result`,
       messageType: `${this.actionName}Result`,
     });
 
-    this.goalTopic = new Topic({
+    this.#goalTopic = new Topic({
       ros: this.ros,
       name: `${this.serverName}/goal`,
       messageType: `${this.actionName}Goal`,
     });
 
-    this.cancelTopic = new Topic({
+    this.#cancelTopic = new Topic({
       ros: this.ros,
       name: `${this.serverName}/cancel`,
       messageType: "actionlib_msgs/GoalID",
     });
 
     // advertise the goal and cancel topics
-    this.goalTopic.advertise();
-    this.cancelTopic.advertise();
+    this.#goalTopic.advertise();
+    this.#cancelTopic.advertise();
 
     // subscribe to the status topic
     if (!this.omitStatus) {
-      this.statusListener.subscribe((statusMessage) => {
+      this.#statusListener.subscribe((statusMessage) => {
         this.receivedStatus = true;
         statusMessage.status_list.forEach((status) => {
           const goal = this.goals[status.goal_id.id];
@@ -133,7 +133,7 @@ export default class ActionClient<
 
     // subscribe the the feedback topic
     if (!this.omitFeedback) {
-      this.feedbackListener.subscribe((feedbackMessage) => {
+      this.#feedbackListener.subscribe((feedbackMessage) => {
         const goal = this.goals[feedbackMessage.status.goal_id.id];
         if (goal) {
           goal.emit("status", feedbackMessage.status);
@@ -144,7 +144,7 @@ export default class ActionClient<
 
     // subscribe to the result topic
     if (!this.omitResult) {
-      this.resultListener.subscribe((resultMessage) => {
+      this.#resultListener.subscribe((resultMessage) => {
         const goal = this.goals[resultMessage.status.goal_id.id];
 
         if (goal) {
@@ -166,24 +166,31 @@ export default class ActionClient<
   /**
    * Cancel all goals associated with this ActionClient.
    */
-  cancel() {
-    const cancelMessage = {};
-    this.cancelTopic.publish(cancelMessage);
+  cancel(id?: string) {
+    const cancelMessage = {
+      id,
+    };
+    this.#cancelTopic.publish(cancelMessage);
   }
+
+  sendGoal(goal: { goal: TGoal; goal_id: actionlib_msgs.GoalID }) {
+    this.#goalTopic.publish(goal);
+  }
+
   /**
    * Unsubscribe and unadvertise all topics associated with this ActionClient.
    */
   dispose() {
-    this.goalTopic.unadvertise();
-    this.cancelTopic.unadvertise();
+    this.#goalTopic.unadvertise();
+    this.#cancelTopic.unadvertise();
     if (!this.omitStatus) {
-      this.statusListener.unsubscribe();
+      this.#statusListener.unsubscribe();
     }
     if (!this.omitFeedback) {
-      this.feedbackListener.unsubscribe();
+      this.#feedbackListener.unsubscribe();
     }
     if (!this.omitResult) {
-      this.resultListener.unsubscribe();
+      this.#resultListener.unsubscribe();
     }
   }
 }

src/actionlib/Goal.ts

@@ -81,7 +81,7 @@ export default class Goal<
    * @param [timeout] - A timeout length for the goal's result.
    */
   send(timeout?: number) {
-    this.actionClient.goalTopic.publish(this.goalMessage);
+    this.actionClient.sendGoal(this.goalMessage);
     if (timeout) {
       setTimeout(() => {
         if (!this.isFinished) {
@@ -94,9 +94,6 @@ export default class Goal<
    * Cancel the current goal.
    */
   cancel() {
-    const cancelMessage = {
-      id: this.goalID,
-    };
-    this.actionClient.cancelTopic.publish(cancelMessage);
+    this.actionClient.cancel(this.goalID);
   }
 }