Merge pull request #61 from RethinkRobotics-opensource/spinnerAndLifecycle

Spinner and lifecycle

Author: rethink-rlinsalata

src/index.js

@@ -38,37 +38,28 @@ const MsgLoader = require('./utils/messageGeneration/MessageLoader.js');
 // will be initialized through call to initNode
 let log = Logging.getLogger();
 let rosNode = null;
+let pingMasterTimeout = null;
 
 //------------------------------------------------------------------
 
-function _checkMasterHelper(timeout=500) {
-  let firstCheck = true;
-
+function _checkMasterHelper(timeout=100) {
   const localHelper = (resolve) => {
-    setTimeout(() => {
+    pingMasterTimeout = setTimeout(() => {
       // also check that the slave api server is set up
       if (!rosNode.slaveApiSetupComplete()) {
         localHelper(resolve);
         return;
       }
-      // else
-      if (firstCheck) {
-        // hook into master api connection errors.
-        // api client will continue trying to connect
-        rosNode._masterApi.getXmlrpcClient().once('ECONNREFUSED', (err) => {
-          log.warn(`Unable to register with master node [${rosNode.getRosMasterUri()}]: master may not be running yet. Will keep trying.`);
-        });
-        firstCheck = false;
-      }
-      rosNode.getMasterUri()
+      rosNode.getMasterUri({ maxAttempts: 1 })
       .then(() => {
         log.infoOnce(`Connected to master at ${rosNode.getRosMasterUri()}!`);
+        pingMasterTimeout = null;
         resolve();
       })
       .catch((err, resp) => {
-        log.warnThrottle(60000, 'Unable to connect to master. ' + err);
+        log.warnThrottle(60000, `Unable to register with master node [${rosNode.getRosMasterUri()}]: master may not be running yet. Will keep trying.`);
         localHelper(resolve);
-      })
+      });
     }, timeout);
   };
 
@@ -133,16 +124,16 @@ let Rosnodejs = {
 
     // create the ros node. Return a promise that will
     // resolve when connection to master is established
-    rosNode = new RosNode(nodeName, rosMasterUri);
-
+    const nodeOpts = options.node || {};
+    rosNode = new RosNode(nodeName, rosMasterUri, nodeOpts);
 
     return this._loadOnTheFlyMessages(options)
       .then(_checkMasterHelper)
       .then(Logging.initializeRosOptions.bind(Logging, this, options.logging))
       .then(Time._initializeRosTime.bind(Time, this))
       .then(() => { return this.getNodeHandle(); })
       .catch((err) => {
-        log.error('Error: ' + err);
+        log.error('Error during initialization: ' + err);
       });
   },
 
@@ -151,7 +142,34 @@ let Rosnodejs = {
   },
 
   shutdown() {
-    return rosNode.shutdown();
+    clearTimeout(pingMasterTimeout);
+    if (this.ok()) {
+      return rosNode.shutdown();
+    }
+    // else
+    return Promise.resolve();
+  },
+
+  ok() {
+    return rosNode && !rosNode.isShutdown();
+  },
+
+  on(evt, handler) {
+    if (rosNode) {
+      rosNode.on(evt, handler);
+    }
+  },
+
+  once(evt, handler) {
+    if (rosNode) {
+      rosNode.once(evt, handler);
+    }
+  },
+
+  removeListener(evt, handler) {
+    if (rosNode) {
+      rosNode.removeListener(evt, handler);
+    }
   },
 
   _loadOnTheFlyMessages({onTheFly}) {

src/lib/MasterApiClient.js

@@ -36,11 +36,11 @@ class MasterApiClient {
     return this._xmlrpcClient;
   }
 
-  _call(method, data, resolve, reject, options) {
+  _call(method, data, resolve, reject, options = {}) {
     this._xmlrpcClient.call(method, data, resolve, reject, options);
   }
 
-  registerService(callerId, service, serviceUri, uri) {
+  registerService(callerId, service, serviceUri, uri, options) {
     let data = [
       callerId,
       service,
@@ -49,72 +49,72 @@ class MasterApiClient {
     ];
 
     return new Promise((resolve, reject) => {
-      this._call('registerService', data, resolve, reject);
+      this._call('registerService', data, resolve, reject, options);
     });
   }
 
-  unregisterService(callerId, service, serviceUri) {
+  unregisterService(callerId, service, serviceUri, options) {
     let data = [
       callerId,
       service,
       serviceUri
     ];
 
     return new Promise((resolve, reject) => {
-      this._call('unregisterService', data, resolve, reject);
+      this._call('unregisterService', data, resolve, reject, options);
     });
   }
 
-  registerSubscriber(callerId, topic, topicType, uri) {
+  registerSubscriber(callerId, topic, topicType, uri, options) {
     let data = [
       callerId,
       topic,
       topicType,
       uri
     ];
     return new Promise((resolve, reject) => {
-      this._call('registerSubscriber', data, resolve, reject);
+      this._call('registerSubscriber', data, resolve, reject, options);
     });
   }
 
-  unregisterSubscriber(callerId, topic, uri) {
+  unregisterSubscriber(callerId, topic, uri, options) {
     let data = [
       callerId,
       topic,
       uri
     ];
     return new Promise((resolve, reject) => {
-      this._call('unregisterSubscriber', data, resolve, reject);
+      this._call('unregisterSubscriber', data, resolve, reject, options);
     });
   }
 
-  registerPublisher(callerId, topic, topicType, uri) {
+  registerPublisher(callerId, topic, topicType, uri, options) {
     let data = [
       callerId,
       topic,
       topicType,
       uri
     ];
     return new Promise((resolve, reject) => {
-      this._call('registerPublisher', data, resolve, reject);
+      this._call('registerPublisher', data, resolve, reject, options);
     });
   }
 
-  unregisterPublisher(callerId, topic, uri) {
+  unregisterPublisher(callerId, topic, uri, options) {
     let data = [
       callerId,
       topic,
       uri
     ];
     return new Promise((resolve, reject) => {
-      this._call('unregisterPublisher', data, resolve, reject);
+      this._call('unregisterPublisher', data, resolve, reject, options);
     });
   }
 
-  lookupNode(callerId, nodeName) {
+  lookupNode(callerId, nodeName, options) {
     let data = [callerId, nodeName];
     return new Promise((resolve, reject) => {
-      this._call('lookupNode', data, resolve, reject);
+      this._call('lookupNode', data, resolve, reject, options);
     });
   }
 
@@ -128,34 +128,41 @@ class MasterApiClient {
 
   /** return an object containing all current publishers (by topic),
       subscribers (by topic), and services (by name) */
-  getSystemState(callerId) {
+  getSystemState(callerId, options) {
     function toObject(memo, sublist) {
       memo[sublist[0]] = sublist[1];
       return memo;
     }
+
     let data = [callerId];
     return new Promise((resolve, reject) => {
-      this._call('getSystemState', data, function(data) {
-        return resolve({
-          publishers: data[2][0].reduce(toObject, {}),
-          subscribers: data[2][1].reduce(toObject, {}),
-          services: data[2][2].reduce(toObject, {})
-        });
-      }, reject);
+      this._call(
+        'getSystemState',
+        data,
+        function(data) {
+          return resolve({
+            publishers: data[2][0].reduce(toObject, {}),
+            subscribers: data[2][1].reduce(toObject, {}),
+            services: data[2][2].reduce(toObject, {})
+          });
+        },
+        reject,
+        options
+      );
     });
   }
 
-  getUri(callerId) {
+  getUri(callerId, options) {
     let data = [callerId];
     return new Promise((resolve, reject) => {
-      this._call('getUri', data, resolve, reject);
+      this._call('getUri', data, resolve, reject, options);
     });
   }
 
-  lookupService(callerId, service) {
+  lookupService(callerId, service, options) {
     let data = [callerId, service];
     return new Promise((resolve, reject) => {
-      this._call('lookupService', data, resolve, reject);
+      this._call('lookupService', data, resolve, reject, options);
     });
   }
 };

src/lib/NodeHandle.js

@@ -37,6 +37,10 @@ class NodeHandle {
     return this._node.getNodeName();
   }
 
+  isShutdown() {
+    return this._node && this._node.isShutdown();
+  }
+
 //------------------------------------------------------------------
 // Pubs, Subs, Services
 //------------------------------------------------------------------