Rosjs initial commit

A minimal addition to the previous initial commit

Author: chris-smith

LICENSE

@@ -186,7 +186,7 @@
       same "printed page" as the copyright notice for easier
       identification within third-party archives.
 
-   Copyright {yyyy} {name of copyright owner}
+   Copyright 2016 Chris Smith
 
    Licensed under the Apache License, Version 2.0 (the "License");
    you may not use this file except in compliance with the License.

index.js

@@ -0,0 +1,144 @@
+/*
+ *    Copyright 2016 Rethink Robotics
+ *
+ *    Copyright 2016 Chris Smith
+ *
+ *    Licensed under the Apache License, Version 2.0 (the "License");
+ *    you may not use this file except in compliance with the License.
+ *    You may obtain a copy of the License at
+ *    http://www.apache.org/licenses/LICENSE-2.0
+ *
+ *    Unless required by applicable law or agreed to in writing, software
+ *    distributed under the License is distributed on an "AS IS" BASIS,
+ *    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *    See the License for the specific language governing permissions and
+ *    limitations under the License.
+ */
+
+"use strict";
+
+//------------------------------------------------------------------
+
+const netUtils = require('./utils/network_utils.js');
+
+// these will be modules, they depend on logger which isn't initialized yet
+// though so they'll be required later (in initNode)
+let logger = null;
+let RosNode = null;
+let NodeHandle = null;
+
+// will be initialized through call to initNode
+let log = null;
+let rosNode = null;
+let firstCheck = true;
+
+//------------------------------------------------------------------
+
+function _checkMasterHelper(callback, timeout) {
+  setTimeout(() => {
+    // also check that the slave api server is set up
+    if (!rosNode.slaveApiSetupComplete()) {
+      _checkMasterHelper(callback, 500);
+      return;
+    }
+    // else
+    rosNode.getMasterUri()
+    .then((resp) => {
+      log.info('Connected to master!');
+      callback(Rosjs.getNodeHandle());
+    })
+    .catch((err, resp) => {
+      if (firstCheck) {
+        log.warn('Unable to connect to master. ' + err);
+        firstCheck = false;
+      }
+      _checkMasterHelper(callback, 500);
+    })
+  }, timeout);
+}
+
+/**
+ * Very basic validation of node name - needs to start with a '/'
+ * TODO: more
+ * @return {string} name of node after validation
+ */
+function _validateNodeName(nodeName) {
+  if (!nodeName.startsWith('/')) {
+    nodeName = '/' + nodeName;
+  }
+  return nodeName;
+}
+
+let Rosjs = {
+  /**
+   * Initializes a ros node for this process. Only one ros node can exist per process
+   * If called a second time with the same nodeName, returns a handle to that node.
+   * @param nodeName {string} name of the node to initialize
+   * @param options {object} overrides for this node
+   * @return {Promise} resolved when connection to master is established
+   */
+  initNode(nodeName, options) {
+    nodeName = _validateNodeName(nodeName);
+
+    if (rosNode !== null) {
+      if (nodeName === rosNode.getNodeName()) {
+        return Promise.resolve(this.getNodeHandle());
+      }
+      // else
+      throw new Error('Unable to initialize node [' + nodeName + '] - node [' + rosNode.getNodeName() + '] already exists');
+    }
+
+    // FIXME: validate nodeName -- MUST START WITH '/'
+    options = options || {};
+    let rosMasterUri = process.env.ROS_MASTER_URI;
+    if (options.rosMasterUri) {
+      rosMasterUri = options.rosMasterUri;
+    }
+
+    if (options.useRosEnvVars) {
+      netUtils.useRosEnvironmentVariables();
+    }
+
+    if (options.portRange) {
+      netUtils.setPortRange(options.portRange);
+    }
+
+    // setup logger
+    logger = require('./utils/logger.js');
+    logger.init(options.logger);
+    log = logger.createLogger();
+
+    // require other necessary modules...
+    RosNode = require('./lib/RosNode.js');
+    NodeHandle = require('./lib/NodeHandle.js');
+    let message_utils = require('./utils/message_utils.js');
+
+    // load all message files
+    message_utils.loadMessageFiles();
+
+    // create the ros node. Return a promise that will
+    // resolve when connection to master is established
+    let checkMasterTimeout =  0;
+    rosNode = new RosNode(nodeName, rosMasterUri);
+    return new Promise((resolve, reject) => {
+      _checkMasterHelper(resolve, 0);
+    });
+  },
+
+  /**
+   * @return {NodeHandle} for initialized node
+   */
+  getNodeHandle() {
+    return new NodeHandle(rosNode);
+  },
+
+  get nodeHandle() {
+    return new NodeHandle(rosNode);
+  },
+
+  get nh() {
+    return new NodeHandle(rosNode);
+  }
+}
+
+module.exports = Rosjs;

lib/ActionClient.js

@@ -0,0 +1,118 @@
+/*
+ *    Copyright 2016 Rethink Robotics
+ *
+ *    Copyright 2016 Chris Smith
+ *
+ *    Licensed under the Apache License, Version 2.0 (the "License");
+ *    you may not use this file except in compliance with the License.
+ *    You may obtain a copy of the License at
+ *    http://www.apache.org/licenses/LICENSE-2.0
+ *
+ *    Unless required by applicable law or agreed to in writing, software
+ *    distributed under the License is distributed on an "AS IS" BASIS,
+ *    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *    See the License for the specific language governing permissions and
+ *    limitations under the License.
+ */
+
+'use strict';
+
+const rosjs = require('../index.js');
+const timeUtils = require('../utils/time_utils.js');
+let EventEmitter = require('events');
+
+class ActionClient extends EventEmitter {
+  constructor(options) {
+    this._actionType = options.type;
+
+    this._actionServer = options.actionServer;
+
+    const nh = rosjs.nh;
+
+    // FIXME: support user options for these parameters
+    this._goalPub = nh.advertise({
+      topic: this._actionServer + '/goal',
+      type: this._actionType + 'Goal',
+      queueSize: 1
+    });
+
+    this._cancelPub = nh.advertise({
+      topic: this._actionServer + '/goal',
+      type: 'actionlib_msgs/GoalID',
+      queueSize: 1
+    });
+
+    this._statusSub = nh.subscribe({
+      topic: this._actionServer + '/status',
+      type: 'actionlib_msgs/GoalStatusArray',
+      queueSize: 1},
+      (msg) => { this._handleStatus(msg); }
+    );
+
+    this._feedbackSub = nh.subscribe({
+      topic: this._actionServer + '/feedback',
+      type: this._actionType + 'Feedback',
+      queueSize: 1},
+      (msg) => { this._handleFeedback(msg); }
+    );
+
+    this._statusSub = nh.subscribe({
+      topic: this._actionServer + '/result',
+      type: this._actionType + 'Result',
+      queueSize: 1},
+      (msg) => { this._handleResult(msg); }
+    );
+
+    this._goals = {};
+    this._goalCallbacks = {};
+
+    this._goalSeqNum = 0;
+  }
+
+  _handleStatus(msg) {
+    this.emit('status', msg);
+  }
+
+  _handleFeedback(msg) {
+    const goalId = msg.status.goal_id.id;
+    if  (this._goals.hasOwnProperty(goalId)) {
+      this.emit('feedback', msg);
+    }
+  }
+
+  _handleResult(msg) {
+    const goalId = msg.status.goal_id.id;
+    if (this._goals.hasOwnProperty(goalId)) {
+      delete this._goals[goalId];
+      this.emit('result', msg);
+    }
+  }
+
+  sendGoal(goal) {
+    if (!goal.hasOwnProperty('goal_id')) {
+      goal.goal_id = {
+        stamp: timeUtils.now(),
+        id: this._generateGoalId()
+      };
+    }
+    if (!goal.hasOwnProperty(header)) {
+      goal.header = {
+        seq: this._goalSeqNum++,
+        stamp: goal.goal_id.stamp,
+        frame_id: 'auto-generated'
+      };
+    }
+    const goalId = goal.goal_id.id;
+    this._goals[goalId] = goal;
+
+    this._goalPub.publish(goal);
+  }
+
+  _generateGoalId() {
+    let id = this._actionType + '.';
+    id += 'xxxxxxxx'.replace(/[x]/g, function(c) {
+      return = (Math.random()*16).toString(16);
+    });
+    return id;
+  }
+};