Updated getActionClient to invoke actionClientInterface the right way (#87)

Fixes #86.

Author: chfritz

src/examples/turtle.js

@@ -74,8 +74,8 @@ rosnodejs.initNode('/my_node', {onTheFly: true}).then((rosNode) => {
 
   // wait two seconds for previous example to complete
   setTimeout(function() {
-      let shapeActionGoal = rosnodejs.require('turtle_actionlib').msg.ShapeActionGoal;
-      let ac = rosnodejs.nh.actionClient(
+      const shapeActionGoal = rosnodejs.require('turtle_actionlib').msg.ShapeActionGoal;
+      const ac = rosnodejs.nh.actionClient(
         "/turtle_shape",
         "turtle_actionlib/ShapeAction"
       );

src/index.js

@@ -48,15 +48,15 @@ let pingMasterTimeout = null;
  * Helper function to see if the master is available and able to accept
  * connections.
  * @param {number} timeout time in ms between connection attempts
- * @param {number} maxTimeout maximum time in ms to retry before timing out. 
+ * @param {number} maxTimeout maximum time in ms to retry before timing out.
  * A negative number will make it retry forever. 0 will only make one attempt
  * before timing out.
  */
 function _checkMasterHelper(timeout=100, maxTimeout=-1) {
   let startTime = Date.now();
   const localHelper = (resolve,reject) => {
     pingMasterTimeout = setTimeout(() => {
-      // also check that the slave api server is set up   
+      // also check that the slave api server is set up
       if (!rosNode.slaveApiSetupComplete()) {
         if (Date.now() - startTime >= maxTimeout && !(maxTimeout < 0) ) {
           log.error(`Unable to register with master node [${rosNode.getRosMasterUri()}]: unable to set up slave API Server. Stopping...`);
@@ -320,18 +320,18 @@ let Rosnodejs = {
   /**
     Get an action client for a given type and action server.
 
+    **Deprecated**: Use rosNode.nh.actionClientInterface instead.
+
     Example:
-      let ac = rosNode.getActionClient({
-        type: "turtle_actionlib/ShapeAction",
-        actionServer: "/turtle_shape"
-      });
+      let ac = rosNode.nh.getActionClient(
+        "/turtle_shape", "turtle_actionlib/ShapeAction");
       let shapeActionGoal =
         rosnodejs.require('turtle_actionlib').msg.ShapeActionGoal;
-      ac.sendGoal(new shapeActionGoal({
-        goal: { edges: 3,  radius: 1 } }));
+      ac.sendGoal(new shapeActionGoal({ goal: { edges: 3,  radius: 1 } }));
    */
   getActionClient(options) {
-    return this.nh.actionClientInterface(options);
+    return this.nh.actionClientInterface(
+      options.actionServer, options.type, options);
   }
 };
 

src/lib/NodeHandle.js

@@ -202,7 +202,15 @@ class NodeHandle {
     return this.actionClientInterface(...args);
   }
 
-  actionClientInterface(actionServer, type, options={}) {
+  /**
+   * Create an action client
+   * @param  {String} actionServer name of the action server
+   * (e.g., "/turtle_shape")
+   * @param  {String} type action type 
+   * (e.g., "turtle_actionlib/ShapeAction")
+   * @return {[type]} an instance of ActionClientInterface
+   */
+  actionClientInterface(actionServer, type, options = {}) {
     if (!actionServer) {
       throw new Error(`Unable to create action client to unspecified server - [${actionServer}]`);
     }
@@ -311,11 +319,11 @@ class NodeHandle {
    * @property {{name: string, type: string}[]} topics Array of topics
    */
 
-   
-  /** 
+
+  /**
    * Get list of topics that can be subscribed to. This does not return
    * topics that have no publishers.
-   * 
+   *
    * @param {string} subgraph Restrict topic names to match within the
    *                          specified subgraph. Subgraph namespace is
    *                          resolved relative to this node's namespace.
@@ -328,7 +336,7 @@ class NodeHandle {
 
   /**
    * Retrieve list topic names and their types.
-   * 
+   *
    * @return {Promise.<TopicList>}
    */
   getTopicTypes() {
@@ -338,9 +346,9 @@ class NodeHandle {
 
   /**
    * @typedef {Object} SystemState
-   * @property {{...string:Array.<string>}} publishers An object with topic names as keys and 
+   * @property {{...string:Array.<string>}} publishers An object with topic names as keys and
    * an array of publishers as values
-   * @property {{...string:Array.<string>}} subscribers An object with topic names as keys and 
+   * @property {{...string:Array.<string>}} subscribers An object with topic names as keys and
    * an array of subscribers as values
    * @property {{...string:Array.<string>}} services An object with service names as keys and
    * an array of providers as values
@@ -349,11 +357,11 @@ class NodeHandle {
   /**
    * Retrieve list representation of system state (i.e. publishers,
    * subscribers, and services).
-   * 
+   *
    * @return {Promise.<SystemState>}
    */
   getSystemState(){
-    return this._node.getSystemState();    
+    return this._node.getSystemState();
   }
 
 //------------------------------------------------------------------