some clean up. Implement getBusInfo.

Author: chris-smith

src/lib/Publisher.js

@@ -20,35 +20,48 @@
 const EventEmitter = require('events');
 const {rebroadcast} = require('../utils/event_utils.js');
 
+/**
+ * @class Publisher
+ * Public facing publishers class. Allows users to send messages to subscribers
+ * on a given topic.
+ */
 class Publisher extends EventEmitter {
   constructor(impl) {
     super();
 
     ++impl.count;
     this._impl = impl;
 
+    this._topic = impl.getTopic();
+    this._type = impl.getType();
+
     rebroadcast('registered', this._impl, this);
     rebroadcast('connection', this._impl, this);
     rebroadcast('disconnect', this._impl, this);
     rebroadcast('error', this._impl, this);
   }
 
+  /**
+   * Get the topic this publisher is publishing on
+   * @returns {string}
+   */
   getTopic() {
-    if (this._impl) {
-      return this._impl.getTopic();
-    }
-    // else
-    return null;
+    return this._topic;
   }
 
+  /**
+   * Get the type of message this publisher is sending
+   *            (e.g. std_msgs/String)
+   * @returns {string}
+   */
   getType() {
-    if (this._impl) {
-      return this._impl.getType();
-    }
-    // else
-    return null;
+    return this._type;
   }
 
+  /**
+   * Check if this publisher is latching
+   * @returns {boolean}
+   */
   getLatching() {
     if (this._impl) {
       return this._impl.getLatching();
@@ -57,6 +70,10 @@ class Publisher extends EventEmitter {
     return false;
   }
 
+  /**
+   * Get the numbber of subscribers currently connected to this publisher
+   * @returns {number}
+   */
   getNumSubscribers() {
     if (this._impl) {
       return this._impl.getNumSubscribers();
@@ -65,22 +82,32 @@ class Publisher extends EventEmitter {
     return 0;
   }
 
+  /**
+   * Shuts down this publisher. If this is the last publisher on this topic
+   * for this node, closes the publisher and unregisters the topic from Master
+   * @returns {Promise}
+   */
   shutdown() {
     const topic= this.getTopic();
     if (this._impl) {
       const impl = this._impl
       this._impl = null;
-      this.removeAllListeners();
 
       --impl.count;
       if (impl.count <= 0) {
-        return impl.shutdown();
+        return impl.getNode().unadvertise(impl.getTopic());
       }
+
+      this.removeAllListeners();
     }
     // else
     return Promise.resolve();
   }
 
+  /**
+   * Check if this publisher has been shutdown
+   * @returns {boolean}
+   */
   isShutdown() {
     return !!this._impl;
   }

src/lib/RosNode.js

@@ -139,7 +139,7 @@ class RosNode extends EventEmitter {
     if (sub) {
       this._debugLog.info('Unsubscribing from topic %s', topic);
       delete this._subscribers[topic];
-      sub._shutdown();
+      sub.shutdown();
       return this.unregisterSubscriber(topic);
     }
   }
@@ -149,7 +149,7 @@ class RosNode extends EventEmitter {
     if (pub) {
       this._debugLog.info('Unadvertising topic %s', topic);
       delete this._publishers[topic];
-      pub._shutdown();
+      pub.shutdown();
       return this.unregisterPublisher(topic);
     }
   }
@@ -537,7 +537,42 @@ class RosNode extends EventEmitter {
   }
 
   _handleGetBusInfo(err, params, callback) {
-    this._log.error('Not implemented');
+    const busInfo = [];
+    let count = 0;
+    Object.keys(this._subscribers).forEach((topic) => {
+      const sub = this._subscribers[topic];
+      sub.getClientUris().forEach((clientUri) => {
+        busInfo.push([
+          ++count,
+          clientUri,
+          'i',
+          'TCPROS',
+          sub.getTopic(),
+          true
+        ]);
+      });
+    });
+
+    Object.keys(this._publishers).forEach((topic) => {
+      const pub = this._publishers[topic];
+      pub.getClientUris().forEach((clientUri) => {
+        busInfo.push([
+          ++count,
+          clientUri,
+          'o',
+          'TCPROS',
+          pub.getTopic(),
+          true
+        ]);
+      });
+    });
+
+    const resp = [
+      1,
+      this.getNodeName(),
+      busInfo
+    ];
+    callback(null, resp);
   }
 
   _handleGetBusStats(err, params, callback) {

src/lib/ServiceServer.js

@@ -74,6 +74,10 @@ class ServiceServer extends EventEmitter {
     return NetworkUtils.formatServiceUri(this._port);
   }
 
+  getClientUris() {
+    return Object.keys(this._clients);
+  }
+
   /**
    * The ROS client shutdown code is a little noodly. Users can close a client through
    * the ROS node or the client itself and both are correct. Either through a node.unadvertise()

src/lib/Subscriber.js

@@ -22,36 +22,49 @@ const {rebroadcast} = require('../utils/event_utils.js');
 
 //-----------------------------------------------------------------------
 
+/**
+ * @class Subscriber
+ * Public facing subscriber class. Allows users to listen to messages from
+ * publishers on a given topic.
+ */
 class Subscriber extends EventEmitter {
   constructor(impl) {
     super();
 
     ++impl.count;
     this._impl = impl;
 
+    this._topic = impl.getTopic();
+    this._type = impl.getType();
+
     rebroadcast('registered', this._impl, this);
     rebroadcast('connection', this._impl, this);
     rebroadcast('disconnect', this._impl, this);
     rebroadcast('error', this._impl, this);
     rebroadcast('message', this._impl, this);
   }
 
+  /**
+   * Get the topic this publisher is publishing on
+   * @returns {string}
+   */
   getTopic() {
-    if (this._impl) {
-      return this._impl.getTopic();
-    }
-    // else
-    return null;
+    return this._topic;
   }
 
+  /**
+   * Get the type of message this publisher is sending
+   *            (e.g. std_msgs/String)
+   * @returns {string}
+   */
   getType() {
-    if (this._impl) {
-      return this._impl.getType();
-    }
-    // else
-    return null;
+    return this._type;
   }
 
+  /**
+   * Get the numbber of publishers currently connected to this subscriber
+   * @returns {number}
+   */
   getNumPublishers() {
     if (this._impl) {
       return this._impl.getNumPublishers();
@@ -60,21 +73,31 @@ class Subscriber extends EventEmitter {
     return 0;
   }
 
+  /**
+   * Shuts down this subscriber. If this is the last subscriber on this topic
+   * for this node, closes the subscriber and unregisters the topic from Master
+   * @returns {Promise}
+   */
   shutdown() {
     if (this._impl) {
       const impl = this._impl
       this._impl = null;
-      this.removeAllListeners();
 
       --impl.count;
       if (impl.count <= 0) {
-        return impl.shutdown();
+        return impl.getNode().unsubscribe(impl.getTopic());
       }
+
+      this.removeAllListeners();
     }
     // else
     return Promise.resolve();
   }
 
+  /**
+   * Check if this publisher has been shutdown
+   * @returns {boolean}
+   */
   isShutdown() {
     return !!this._impl;
   }