From 30adfeb4b9c3c27447c2cc9335a448662ed1eeda Mon Sep 17 00:00:00 2001
From: Graeme Yeates <yeatesgraeme@gmail.com>
Date: Sun, 21 Sep 2014 13:51:44 -0400
Subject: [PATCH 1/2] Use the correct id when unsubbing a Topic

---
 src/core/Topic.js | 13 +++++--------
 1 file changed, 5 insertions(+), 8 deletions(-)

diff --git a/src/core/Topic.js b/src/core/Topic.js
index 937294f5e..75a50c13e 100644
--- a/src/core/Topic.js
+++ b/src/core/Topic.js
@@ -61,11 +61,10 @@ ROSLIB.Topic.prototype.subscribe = function(callback) {
     that.emit('message', message);
   });
 
-  this.ros.idCounter++;
-  var subscribeId = 'subscribe:' + this.name + ':' + this.ros.idCounter;
+  this.subscribeId = 'subscribe:' + this.name + ':' + (++this.ros.idCounter);
   var call = {
     op : 'subscribe',
-    id : subscribeId,
+    id : this.subscribeId,
     type : this.messageType,
     topic : this.name,
     compression : this.compression,
@@ -81,11 +80,10 @@ ROSLIB.Topic.prototype.subscribe = function(callback) {
  */
 ROSLIB.Topic.prototype.unsubscribe = function() {
   this.ros.removeAllListeners([ this.name ]);
-  this.ros.idCounter++;
-  var unsubscribeId = 'unsubscribe:' + this.name + ':' + this.ros.idCounter;
+    
   var call = {
     op : 'unsubscribe',
-    id : unsubscribeId,
+    id : this.subscribeId,
     topic : this.name
   };
   this.ros.callOnConnection(call);
@@ -119,10 +117,9 @@ ROSLIB.Topic.prototype.unadvertise = function() {
   if (!this.isAdvertised) {
     return;
   }
-  var unadvertiseId = this.advertiseId;
   var call = {
     op : 'unadvertise',
-    id : unadvertiseId,
+    id : this.advertiseId,
     topic : this.name
   };
   this.ros.callOnConnection(call);

From 6c230e06ada923f1fb20380af9bf52c6e8c05247 Mon Sep 17 00:00:00 2001
From: Graeme Yeates <yeatesgraeme@gmail.com>
Date: Sun, 21 Sep 2014 13:53:24 -0400
Subject: [PATCH 2/2] Simplify core/Topic

---
 src/core/Topic.js | 89 +++++++++++++++++++++--------------------------
 1 file changed, 39 insertions(+), 50 deletions(-)

diff --git a/src/core/Topic.js b/src/core/Topic.js
index 75a50c13e..7806f40c1 100644
--- a/src/core/Topic.js
+++ b/src/core/Topic.js
@@ -29,7 +29,8 @@ ROSLIB.Topic = function(options) {
   this.queue_size = options.queue_size || 100;
 
   // Check for valid compression types
-  if (this.compression && this.compression !== 'png' && this.compression !== 'none') {
+  if (this.compression && this.compression !== 'png' && this.compression !==
+    'none') {
     this.emit('warning', this.compression +
       ' compression is not supported. No compression will be used.');
   }
@@ -51,27 +52,21 @@ ROSLIB.Topic.prototype.__proto__ = EventEmitter2.prototype;
  */
 ROSLIB.Topic.prototype.subscribe = function(callback) {
   var that = this;
-
-  this.on('message', function(message) {
-    callback(message);
-  });
-
+  this.on('message', callback);
   this.ros.on(this.name, function(data) {
     var message = new ROSLIB.Message(data);
     that.emit('message', message);
   });
 
-  this.subscribeId = 'subscribe:' + this.name + ':' + (++this.ros.idCounter);
-  var call = {
-    op : 'subscribe',
-    id : this.subscribeId,
-    type : this.messageType,
-    topic : this.name,
-    compression : this.compression,
-    throttle_rate : this.throttle_rate
-  };
-
-  this.ros.callOnConnection(call);
+  this.id = 'subscribe:' + this.name + ':' + (++this.ros.idCounter);
+  this.ros.callOnConnection({
+    op: 'subscribe',
+    id: this.id,
+    type: this.messageType,
+    topic: this.name,
+    compression: this.compression,
+    throttle_rate: this.throttle_rate
+  });
 };
 
 /**
@@ -79,14 +74,12 @@ ROSLIB.Topic.prototype.subscribe = function(callback) {
  * all subscribe callbacks.
  */
 ROSLIB.Topic.prototype.unsubscribe = function() {
-  this.ros.removeAllListeners([ this.name ]);
-    
-  var call = {
-    op : 'unsubscribe',
-    id : this.subscribeId,
-    topic : this.name
-  };
-  this.ros.callOnConnection(call);
+  this.ros.removeAllListeners([this.name]);
+  this.ros.callOnConnection({
+    op: 'unsubscribe',
+    id: this.subscribeId,
+    topic: this.name
+  });
 };
 
 /**
@@ -96,17 +89,15 @@ ROSLIB.Topic.prototype.advertise = function() {
   if (this.isAdvertised) {
     return;
   }
-  this.ros.idCounter++;
-  this.advertiseId = 'advertise:' + this.name + ':' + this.ros.idCounter;
-  var call = {
-    op : 'advertise',
-    id : this.advertiseId,
-    type : this.messageType,
-    topic : this.name,
-    latch : this.latch,
-    queue_size : this.queue_size
-  };
-  this.ros.callOnConnection(call);
+  this.advertiseId = 'advertise:' + this.name + ':' + (++this.ros.idCounter);
+  this.ros.callOnConnection({
+    op: 'advertise',
+    id: this.advertiseId,
+    type: this.messageType,
+    topic: this.name,
+    latch: this.latch,
+    queue_size: this.queue_size
+  });
   this.isAdvertised = true;
 };
 
@@ -117,12 +108,11 @@ ROSLIB.Topic.prototype.unadvertise = function() {
   if (!this.isAdvertised) {
     return;
   }
-  var call = {
-    op : 'unadvertise',
-    id : this.advertiseId,
-    topic : this.name
-  };
-  this.ros.callOnConnection(call);
+  this.ros.callOnConnection({
+    op: 'unadvertise',
+    id: this.advertiseId,
+    topic: this.name
+  });
   this.isAdvertised = false;
 };
 
@@ -133,17 +123,16 @@ ROSLIB.Topic.prototype.unadvertise = function() {
  */
 ROSLIB.Topic.prototype.publish = function(message) {
   if (!this.isAdvertised) {
-      this.advertise();
+    this.advertise();
   }
 
   this.ros.idCounter++;
-  var publishId = 'publish:' + this.name + ':' + this.ros.idCounter;
   var call = {
-    op : 'publish',
-    id : publishId,
-    topic : this.name,
-    msg : message,
-    latch : this.latch
+    op: 'publish',
+    id: 'publish:' + this.name + ':' + this.ros.idCounter,
+    topic: this.name,
+    msg: message,
+    latch: this.latch
   };
   this.ros.callOnConnection(call);
-};
+};
\ No newline at end of file