Used Time.now() instead of timeUtils.now() in action server/client (#100)

Author: jstnhuang

src/actions/ActionServer.js

@@ -23,6 +23,7 @@ const EventEmitter = require('events');
 
 const ActionServerInterface = require('../lib/ActionServerInterface.js');
 const GoalHandle = require('./GoalHandle.js');
+const Time = require('../lib/Time.js');
 
 let GoalIdMsg = null;
 let GoalStatusMsg = null;
@@ -185,28 +186,28 @@ class ActionServer extends EventEmitter {
 
   publishResult(status, result) {
     const msg = this._createMessage('actionResult', { status, result });
-    msg.header.stamp = timeUtils.now();
+    msg.header.stamp = Time.now();
     msg.header.seq = this._getAndIncrementSeq('actionResult');
     this._asInterface.publishResult(msg);
     this.publishStatus();
   }
 
   publishFeedback(status, feedback) {
     const msg = this._createMessage('actionFeedback', { status, feedback });
-    msg.header.stamp = timeUtils.now();
+    msg.header.stamp = Time.now();
     msg.header.seq = this._getAndIncrementSeq('actionFeedback');
     this._asInterface.publishFeedback(msg);
     this.publishStatus();
   }
 
   publishStatus() {
     const msg = new GoalStatusArrayMsg();
-    msg.header.stamp = timeUtils.now();
+    msg.header.stamp = Time.now();
     msg.header.seq = this._getAndIncrementSeq('status');
 
     let goalsToRemove = new Set();
 
-    const now = timeUtils.toNumber(timeUtils.now());
+    const now = timeUtils.toNumber(Time.now());
 
     for (let i = 0, len = this._goalHandleList.length; i < len; ++i) {
       const goalHandle = this._goalHandleList[i];

src/lib/ActionClientInterface.js

@@ -17,9 +17,9 @@
 
 'use strict';
 
-const timeUtils = require('../utils/time_utils.js');
 const msgUtils = require('../utils/message_utils.js');
 const EventEmitter = require('events');
+const Time = require('./Time.js');
 let GoalID = null;
 let Header = null;
 
@@ -100,7 +100,7 @@ class ActionClientInterface extends EventEmitter {
    * @param [goalId] {string} id of the goal to cancel
    */
   cancel(goalId) {
-    const cancelGoal = new GoalID({stamp: timeUtils.now()});
+    const cancelGoal = new GoalID({stamp: Time.now()});
     if (!goalId) {
       this._cancelPub.publish(cancelGoal);
     }
@@ -113,7 +113,7 @@ class ActionClientInterface extends EventEmitter {
   sendGoal(goal) {
     if (!goal.goal_id) {
       goal.goal_id = new GoalID({
-          stamp: timeUtils.now(),
+          stamp: Time.now(),
           id: this.generateGoalId()
         });
     }