From e46aa82c0623d2ff84d427ab1b094472db551efc Mon Sep 17 00:00:00 2001 From: Joe Pea Date: Sat, 11 Sep 2021 20:00:23 -0700 Subject: [PATCH 01/29] initial conversion of files to ES Module format --- src/RosLib.js | 28 ++++++---------------------- src/actionlib/ActionClient.js | 12 ++++++------ src/actionlib/ActionListener.js | 7 ++++--- src/actionlib/Goal.js | 10 +++++----- src/actionlib/SimpleActionServer.js | 8 +++++--- src/actionlib/index.js | 18 +++++++++--------- src/core/Message.js | 6 ++---- src/core/Param.js | 8 +++----- src/core/Ros.js | 21 ++++++++++----------- src/core/Service.js | 11 +++++------ src/core/ServiceRequest.js | 6 ++---- src/core/ServiceResponse.js | 6 ++---- src/core/Topic.js | 11 ++++++----- src/core/index.js | 24 +++++++++++++----------- src/math/Pose.js | 8 +++----- src/math/Quaternion.js | 4 +--- src/math/Transform.js | 8 +++----- src/math/Vector3.js | 4 +--- src/math/index.js | 10 ++++------ src/mixin.js | 2 +- src/node/RosTCP.js | 10 +++++----- src/node/SocketIO.js | 2 +- src/node/TopicStream.js | 6 ++++-- src/tf/TFClient.js | 16 +++++++--------- src/tf/index.js | 11 +++++------ src/urdf/UrdfBox.js | 8 +++----- src/urdf/UrdfColor.js | 4 +--- src/urdf/UrdfCylinder.js | 6 ++---- src/urdf/UrdfJoint.js | 10 ++++------ src/urdf/UrdfLink.js | 6 ++---- src/urdf/UrdfMaterial.js | 6 ++---- src/urdf/UrdfMesh.js | 8 +++----- src/urdf/UrdfModel.js | 10 ++++++---- src/urdf/UrdfSphere.js | 6 ++---- src/urdf/UrdfTypes.js | 10 ++++------ src/urdf/UrdfVisual.js | 20 +++++++++----------- src/urdf/index.js | 22 +++++++++++----------- 37 files changed, 162 insertions(+), 211 deletions(-) diff --git a/src/RosLib.js b/src/RosLib.js index bb72ff6bb..b3c856ace 100644 --- a/src/RosLib.js +++ b/src/RosLib.js @@ -3,26 +3,10 @@ * @author Russell Toris - rctoris@wpi.edu */ -/** - * If you use roslib in a browser, all the classes will be exported to a global variable called ROSLIB. - * - * If you use nodejs, this is the variable you get when you require('roslib') - */ -var ROSLIB = this.ROSLIB || { - REVISION : '1.1.0' -}; - -var assign = require('object-assign'); - -// Add core components -assign(ROSLIB, require('./core')); - -assign(ROSLIB, require('./actionlib')); - -assign(ROSLIB, require('./math')); - -assign(ROSLIB, require('./tf')); - -assign(ROSLIB, require('./urdf')); +export const REVISION = '1.1.0'; -module.exports = ROSLIB; +export * from './core/index.js'; +export * from './actionlib/index.js'; +export * from './math/index.js'; +export * from './tf/index.js'; +export * from './urdf/index.js'; diff --git a/src/actionlib/ActionClient.js b/src/actionlib/ActionClient.js index fecfe681f..f645f9733 100644 --- a/src/actionlib/ActionClient.js +++ b/src/actionlib/ActionClient.js @@ -3,9 +3,11 @@ * @author Russell Toris - rctoris@wpi.edu */ -var Topic = require('../core/Topic'); -var Message = require('../core/Message'); -var EventEmitter2 = require('eventemitter2').EventEmitter2; +import {Topic} from '../core/Topic.js'; +import {Message} from '../core/Message.js'; +import eventemitter from 'eventemitter2'; + +const {EventEmitter2} = eventemitter; /** * An actionlib action client. @@ -23,7 +25,7 @@ var EventEmitter2 = require('eventemitter2').EventEmitter2; * * actionName - the action message name, like 'actionlib_tutorials/FibonacciAction' * * timeout - the timeout length when connecting to the action server */ -function ActionClient(options) { +export function ActionClient(options) { var that = this; options = options || {}; this.ros = options.ros; @@ -139,5 +141,3 @@ ActionClient.prototype.dispose = function() { if (!this.omitFeedback) {this.feedbackListener.unsubscribe();} if (!this.omitResult) {this.resultListener.unsubscribe();} }; - -module.exports = ActionClient; diff --git a/src/actionlib/ActionListener.js b/src/actionlib/ActionListener.js index 2553dc480..55df7b1d7 100644 --- a/src/actionlib/ActionListener.js +++ b/src/actionlib/ActionListener.js @@ -4,9 +4,10 @@ * @author Russell Toris - rctoris@wpi.edu */ -var Topic = require('../core/Topic'); -var Message = require('../core/Message'); -var EventEmitter2 = require('eventemitter2').EventEmitter2; +import {Topic} from '../core/Topic.js'; +import eventemitter from 'eventemitter2'; + +const {EventEmitter2} = eventemitter; /** * An actionlib action listener diff --git a/src/actionlib/Goal.js b/src/actionlib/Goal.js index 881475b09..a25aca7bd 100644 --- a/src/actionlib/Goal.js +++ b/src/actionlib/Goal.js @@ -3,8 +3,10 @@ * @author Russell Toris - rctoris@wpi.edu */ -var Message = require('../core/Message'); -var EventEmitter2 = require('eventemitter2').EventEmitter2; +import {Message} from '../core/Message.js'; +import eventemitter from 'eventemitter2'; + +const {EventEmitter2} = eventemitter; /** * An actionlib goal goal is associated with an action server. @@ -17,7 +19,7 @@ var EventEmitter2 = require('eventemitter2').EventEmitter2; * * actionClient - the ROSLIB.ActionClient to use with this goal * * goalMessage - The JSON object containing the goal for the action server */ -function Goal(options) { +export function Goal(options) { var that = this; this.actionClient = options.actionClient; this.goalMessage = options.goalMessage; @@ -85,5 +87,3 @@ Goal.prototype.cancel = function() { }); this.actionClient.cancelTopic.publish(cancelMessage); }; - -module.exports = Goal; \ No newline at end of file diff --git a/src/actionlib/SimpleActionServer.js b/src/actionlib/SimpleActionServer.js index 6ce70a870..2b59865b4 100644 --- a/src/actionlib/SimpleActionServer.js +++ b/src/actionlib/SimpleActionServer.js @@ -3,9 +3,11 @@ * @author Laura Lindzey - lindzey@gmail.com */ -var Topic = require('../core/Topic'); -var Message = require('../core/Message'); -var EventEmitter2 = require('eventemitter2').EventEmitter2; +import {Topic} from '../core/Topic.js'; +import {Message} from '../core/Message.js'; +import eventemitter from 'eventemitter2'; + +const {EventEmitter2} = eventemitter; /** * An actionlib action server client. diff --git a/src/actionlib/index.js b/src/actionlib/index.js index 58838aeaa..982128085 100644 --- a/src/actionlib/index.js +++ b/src/actionlib/index.js @@ -1,11 +1,11 @@ -var Ros = require('../core/Ros'); -var mixin = require('../mixin'); +export * from './ActionClient.js'; +export * from './ActionListener.js'; +export * from './Goal.js'; +export * from './SimpleActionServer.js'; -var action = module.exports = { - ActionClient: require('./ActionClient'), - ActionListener: require('./ActionListener'), - Goal: require('./Goal'), - SimpleActionServer: require('./SimpleActionServer') -}; +import {mixin} from '../mixin.js'; +import {Ros} from '../core/Ros.js'; +import {ActionClient} from './ActionClient.js'; +import {SimpleActionServer} from './SimpleActionServer.js'; -mixin(Ros, ['ActionClient', 'SimpleActionServer'], action); +mixin(Ros, ['ActionClient', 'SimpleActionServer'], {ActionClient, SimpleActionServer}); diff --git a/src/core/Message.js b/src/core/Message.js index 5cb1f7d48..05645f809 100644 --- a/src/core/Message.js +++ b/src/core/Message.js @@ -3,7 +3,7 @@ * @author Brandon Alexander - baalexander@gmail.com */ -var assign = require('object-assign'); +import assign from 'object-assign'; /** * Message objects are used for publishing and subscribing to and from topics. @@ -11,8 +11,6 @@ var assign = require('object-assign'); * @constructor * @param values - object matching the fields defined in the .msg definition file */ -function Message(values) { +export function Message(values) { assign(this, values); } - -module.exports = Message; \ No newline at end of file diff --git a/src/core/Param.js b/src/core/Param.js index 03b85df39..4cd01d529 100644 --- a/src/core/Param.js +++ b/src/core/Param.js @@ -3,8 +3,8 @@ * @author Brandon Alexander - baalexander@gmail.com */ -var Service = require('./Service'); -var ServiceRequest = require('./ServiceRequest'); +import {Service} from './Service.js'; +import {ServiceRequest} from './ServiceRequest.js'; /** * A ROS parameter. @@ -14,7 +14,7 @@ var ServiceRequest = require('./ServiceRequest'); * * ros - the ROSLIB.Ros connection handle * * name - the param name, like max_vel_x */ -function Param(options) { +export function Param(options) { options = options || {}; this.ros = options.ros; this.name = options.name; @@ -79,5 +79,3 @@ Param.prototype.delete = function(callback) { paramClient.callService(request, callback); }; - -module.exports = Param; \ No newline at end of file diff --git a/src/core/Ros.js b/src/core/Ros.js index 71c2632d5..4b0861ed7 100644 --- a/src/core/Ros.js +++ b/src/core/Ros.js @@ -3,15 +3,17 @@ * @author Brandon Alexander - baalexander@gmail.com */ -var WebSocket = require('ws'); -var WorkerSocket = require('../util/workerSocket'); -var socketAdapter = require('./SocketAdapter.js'); +import WebSocket from 'ws'; +import WorkerSocket from '../util/workerSocket.js'; +import socketAdapter from './SocketAdapter.js'; -var Service = require('./Service'); -var ServiceRequest = require('./ServiceRequest'); +import Service from './Service.js'; +import ServiceRequest from './ServiceRequest.js'; -var assign = require('object-assign'); -var EventEmitter2 = require('eventemitter2').EventEmitter2; +import assign from 'object-assign'; +import eventemitter from 'eventemitter2'; + +const {EventEmitter2} = eventemitter; /** * Manages connection to the server and all interactions with ROS. @@ -30,7 +32,7 @@ var EventEmitter2 = require('eventemitter2').EventEmitter2; * * transportLibrary (optional) - one of 'websocket', 'workersocket' (default), 'socket.io' or RTCPeerConnection instance controlling how the connection is created in `connect`. * * transportOptions (optional) - the options to use use when creating a connection. Currently only used if `transportLibrary` is RTCPeerConnection. */ -function Ros(options) { +export function Ros(options) { options = options || {}; var that = this; this.socket = null; @@ -695,6 +697,3 @@ Ros.prototype.getTopicsAndRawTypes = function(callback, failedCallback) { }); } }; - - -module.exports = Ros; diff --git a/src/core/Service.js b/src/core/Service.js index 33729dd0e..a1eee4968 100644 --- a/src/core/Service.js +++ b/src/core/Service.js @@ -3,9 +3,10 @@ * @author Brandon Alexander - baalexander@gmail.com */ -var ServiceResponse = require('./ServiceResponse'); -var ServiceRequest = require('./ServiceRequest'); -var EventEmitter2 = require('eventemitter2').EventEmitter2; +import {ServiceResponse} from './ServiceResponse.js'; +import eventemitter from 'eventemitter2'; + +const {EventEmitter2} = eventemitter /** * A ROS service client. @@ -16,7 +17,7 @@ var EventEmitter2 = require('eventemitter2').EventEmitter2; * * name - the service name, like /add_two_ints * * serviceType - the service type, like 'rospy_tutorials/AddTwoInts' */ -function Service(options) { +export function Service(options) { options = options || {}; this.ros = options.ros; this.name = options.name; @@ -119,5 +120,3 @@ Service.prototype._serviceResponse = function(rosbridgeRequest) { this.ros.callOnConnection(call); }; - -module.exports = Service; diff --git a/src/core/ServiceRequest.js b/src/core/ServiceRequest.js index 601f5314b..53febfd0f 100644 --- a/src/core/ServiceRequest.js +++ b/src/core/ServiceRequest.js @@ -3,7 +3,7 @@ * @author Brandon Alexander - balexander@willowgarage.com */ -var assign = require('object-assign'); +import assign from 'object-assign'; /** * A ServiceRequest is passed into the service call. @@ -11,8 +11,6 @@ var assign = require('object-assign'); * @constructor * @param values - object matching the fields defined in the .srv definition file */ -function ServiceRequest(values) { +export function ServiceRequest(values) { assign(this, values); } - -module.exports = ServiceRequest; \ No newline at end of file diff --git a/src/core/ServiceResponse.js b/src/core/ServiceResponse.js index 4c0450b4a..de8f31665 100644 --- a/src/core/ServiceResponse.js +++ b/src/core/ServiceResponse.js @@ -3,7 +3,7 @@ * @author Brandon Alexander - balexander@willowgarage.com */ -var assign = require('object-assign'); +import assign from 'object-assign'; /** * A ServiceResponse is returned from the service call. @@ -11,8 +11,6 @@ var assign = require('object-assign'); * @constructor * @param values - object matching the fields defined in the .srv definition file */ -function ServiceResponse(values) { +export function ServiceResponse(values) { assign(this, values); } - -module.exports = ServiceResponse; \ No newline at end of file diff --git a/src/core/Topic.js b/src/core/Topic.js index c06103d06..ac3424f74 100644 --- a/src/core/Topic.js +++ b/src/core/Topic.js @@ -3,8 +3,11 @@ * @author Brandon Alexander - baalexander@gmail.com */ -var EventEmitter2 = require('eventemitter2').EventEmitter2; -var Message = require('./Message'); +// TODO paste eventemitter2, export it, re-use ROSLIB.EventEmitter2 in ROS3D. +import eventemitter from 'eventemitter2'; +import {Message} from './Message.js'; + +const {EventEmitter2} = eventemitter /** * Publish and/or subscribe to a topic in ROS. @@ -25,7 +28,7 @@ var Message = require('./Message'); * * queue_length - the queue length at bridge side used when subscribing (defaults to 0, no queueing). * * reconnect_on_close - the flag to enable resubscription and readvertisement on close event(defaults to true). */ -function Topic(options) { +export function Topic(options) { options = options || {}; this.ros = options.ros; this.name = options.name; @@ -204,5 +207,3 @@ Topic.prototype.publish = function(message) { }; this.ros.callOnConnection(call); }; - -module.exports = Topic; diff --git a/src/core/index.js b/src/core/index.js index 3e775f9c4..a92058de6 100644 --- a/src/core/index.js +++ b/src/core/index.js @@ -1,13 +1,15 @@ -var mixin = require('../mixin'); +export * from './Ros.js' +export * from './Topic.js' +export * from './Message.js' +export * from './Param.js' +export * from './Service.js' +export * from './ServiceRequest.js' +export * from './ServiceResponse.js' -var core = module.exports = { - Ros: require('./Ros'), - Topic: require('./Topic'), - Message: require('./Message'), - Param: require('./Param'), - Service: require('./Service'), - ServiceRequest: require('./ServiceRequest'), - ServiceResponse: require('./ServiceResponse') -}; +import {mixin} from '../mixin.js'; +import {Ros} from './Ros.js' +import {Param} from './Param.js' +import {Service} from './Service.js' +import {Topic} from './Topic.js' -mixin(core.Ros, ['Param', 'Service', 'Topic'], core); +mixin(Ros, ['Param', 'Service', 'Topic'], {Param, Service, Topic}); diff --git a/src/math/Pose.js b/src/math/Pose.js index c50d15094..74af4663a 100644 --- a/src/math/Pose.js +++ b/src/math/Pose.js @@ -3,8 +3,8 @@ * @author David Gossow - dgossow@willowgarage.com */ -var Vector3 = require('./Vector3'); -var Quaternion = require('./Quaternion'); +import {Vector3} from './Vector3.js'; +import {Quaternion} from './Quaternion.js'; /** * A Pose in 3D space. Values are copied into this object. @@ -14,7 +14,7 @@ var Quaternion = require('./Quaternion'); * * position - the Vector3 describing the position * * orientation - the ROSLIB.Quaternion describing the orientation */ -function Pose(options) { +export function Pose(options) { options = options || {}; // copy the values into this object if they exist this.position = new Vector3(options.position); @@ -68,5 +68,3 @@ Pose.prototype.getInverse = function() { inverse.position.z *= -1; return inverse; }; - -module.exports = Pose; \ No newline at end of file diff --git a/src/math/Quaternion.js b/src/math/Quaternion.js index 61ea6fe91..84f0b7f8f 100644 --- a/src/math/Quaternion.js +++ b/src/math/Quaternion.js @@ -13,7 +13,7 @@ * * z - the z value * * w - the w value */ -function Quaternion(options) { +export function Quaternion(options) { options = options || {}; this.x = options.x || 0; this.y = options.y || 0; @@ -88,5 +88,3 @@ Quaternion.prototype.multiply = function(q) { Quaternion.prototype.clone = function() { return new Quaternion(this); }; - -module.exports = Quaternion; diff --git a/src/math/Transform.js b/src/math/Transform.js index c5a2be7d8..2bba1347f 100644 --- a/src/math/Transform.js +++ b/src/math/Transform.js @@ -3,8 +3,8 @@ * @author David Gossow - dgossow@willowgarage.com */ -var Vector3 = require('./Vector3'); -var Quaternion = require('./Quaternion'); +import {Vector3} from './Vector3.js'; +import {Quaternion} from './Quaternion.js'; /** * A Transform in 3-space. Values are copied into this object. @@ -14,7 +14,7 @@ var Quaternion = require('./Quaternion'); * * translation - the Vector3 describing the translation * * rotation - the ROSLIB.Quaternion describing the rotation */ -function Transform(options) { +export function Transform(options) { options = options || {}; // Copy the values into this object if they exist this.translation = new Vector3(options.translation); @@ -29,5 +29,3 @@ function Transform(options) { Transform.prototype.clone = function() { return new Transform(this); }; - -module.exports = Transform; \ No newline at end of file diff --git a/src/math/Vector3.js b/src/math/Vector3.js index c825e567a..c5e5b2d82 100644 --- a/src/math/Vector3.js +++ b/src/math/Vector3.js @@ -12,7 +12,7 @@ * * y - the y value * * z - the z value */ -function Vector3(options) { +export function Vector3(options) { options = options || {}; this.x = options.x || 0; this.y = options.y || 0; @@ -64,5 +64,3 @@ Vector3.prototype.multiplyQuaternion = function(q) { Vector3.prototype.clone = function() { return new Vector3(this); }; - -module.exports = Vector3; \ No newline at end of file diff --git a/src/math/index.js b/src/math/index.js index cd0cb47be..dc141b217 100644 --- a/src/math/index.js +++ b/src/math/index.js @@ -1,6 +1,4 @@ -module.exports = { - Pose: require('./Pose'), - Quaternion: require('./Quaternion'), - Transform: require('./Transform'), - Vector3: require('./Vector3') -}; +export * from './Pose.js'; +export * from './Quaternion.js'; +export * from './Transform.js'; +export * from './Vector3.js'; diff --git a/src/mixin.js b/src/mixin.js index 23ccbaeb4..1c2fbd23f 100644 --- a/src/mixin.js +++ b/src/mixin.js @@ -6,7 +6,7 @@ * * @author Graeme Yeates - github.com/megawac */ -module.exports = function(Ros, classes, features) { +export function mixin(Ros, classes, features) { classes.forEach(function(className) { var Class = features[className]; Ros.prototype[className] = function(options) { diff --git a/src/node/RosTCP.js b/src/node/RosTCP.js index cdfae0f6a..097fd47cd 100644 --- a/src/node/RosTCP.js +++ b/src/node/RosTCP.js @@ -1,8 +1,8 @@ -var Ros = require('../core/Ros'); -var SocketIO = require('./SocketIO'); -var net = require('net'); -var socketAdapter = require('../core/SocketAdapter.js'); -var util = require('util'); +import net from 'net'; +import util from 'util'; +import {Ros} from '../core/Ros.js'; +import {SocketIO} from './SocketIO.js'; +import {socketAdapter} from '../core/SocketAdapter.js'; /** * Same as core Ros except supports TCP connections diff --git a/src/node/SocketIO.js b/src/node/SocketIO.js index 3d344a550..32e9ef9ba 100644 --- a/src/node/SocketIO.js +++ b/src/node/SocketIO.js @@ -1,4 +1,4 @@ -var io = require('socket.io'); +import {Socket as io} from 'socket.io'; // imported correctly????? function SocketIO(options, Ros){ this.socketio = null; diff --git a/src/node/TopicStream.js b/src/node/TopicStream.js index f492e72e7..044bb1f14 100644 --- a/src/node/TopicStream.js +++ b/src/node/TopicStream.js @@ -1,5 +1,7 @@ -var Topic = require('../core/Topic'); -var DuplexStream = require('stream').Duplex; +import {Topic} from '../core/Topic.js'; +import stream from 'stream'; + +const {Duplex: DuplexStream} = stream; /** * Publish a connected ROS topic to a duplex diff --git a/src/tf/TFClient.js b/src/tf/TFClient.js index 146184469..44f33ebad 100644 --- a/src/tf/TFClient.js +++ b/src/tf/TFClient.js @@ -3,14 +3,14 @@ * @author David Gossow - dgossow@willowgarage.com */ -var ActionClient = require('../actionlib/ActionClient'); -var Goal = require('../actionlib/Goal'); +import {ActionClient} from '../actionlib/ActionClient.js'; +import {Goal} from '../actionlib/Goal.js'; -var Service = require('../core/Service.js'); -var ServiceRequest = require('../core/ServiceRequest.js'); -var Topic = require('../core/Topic.js'); +import {Service} from '../core/Service.js'; +import {ServiceRequest} from '../core/ServiceRequest.js'; +import {Topic} from '../core/Topic.js'; -var Transform = require('../math/Transform'); +import {Transform} from '../math/Transform.js'; /** * A TF Client that listens to TFs from tf2_web_republisher. @@ -29,7 +29,7 @@ var Transform = require('../math/Transform'); * * repubServiceName (optional) - the name of the republish_tfs service (non groovy compatibility mode only) * default: '/republish_tfs' */ -function TFClient(options) { +export function TFClient(options) { options = options || {}; this.ros = options.ros; this.fixedFrame = options.fixedFrame || '/base_link'; @@ -221,5 +221,3 @@ TFClient.prototype.dispose = function() { this.currentTopic.unsubscribe(this._subscribeCB); } }; - -module.exports = TFClient; diff --git a/src/tf/index.js b/src/tf/index.js index c6fbd4ec7..20c121553 100644 --- a/src/tf/index.js +++ b/src/tf/index.js @@ -1,8 +1,7 @@ -var Ros = require('../core/Ros'); -var mixin = require('../mixin'); +export * from './TFClient.js'; -var tf = module.exports = { - TFClient: require('./TFClient') -}; +import {mixin} from '../mixin.js'; +import {Ros} from '../core/Ros.js'; +import {TFClient} from './TFClient.js'; -mixin(Ros, ['TFClient'], tf); \ No newline at end of file +mixin(Ros, ['TFClient'], {TFClient}); diff --git a/src/urdf/UrdfBox.js b/src/urdf/UrdfBox.js index 637cd0992..fe1575f61 100644 --- a/src/urdf/UrdfBox.js +++ b/src/urdf/UrdfBox.js @@ -4,8 +4,8 @@ * @author Russell Toris - rctoris@wpi.edu */ -var Vector3 = require('../math/Vector3'); -var UrdfTypes = require('./UrdfTypes'); +import {Vector3} from '../math/Vector3.js'; +import * as UrdfTypes from './UrdfTypes.js'; /** * A Box element in a URDF. @@ -14,7 +14,7 @@ var UrdfTypes = require('./UrdfTypes'); * @param options - object with following keys: * * xml - the XML element to parse */ -function UrdfBox(options) { +export function UrdfBox(options) { this.dimension = null; this.type = UrdfTypes.URDF_BOX; @@ -26,5 +26,3 @@ function UrdfBox(options) { z : parseFloat(xyz[2]) }); } - -module.exports = UrdfBox; \ No newline at end of file diff --git a/src/urdf/UrdfColor.js b/src/urdf/UrdfColor.js index 87434d95a..e2a063717 100644 --- a/src/urdf/UrdfColor.js +++ b/src/urdf/UrdfColor.js @@ -11,7 +11,7 @@ * @param options - object with following keys: * * xml - the XML element to parse */ -function UrdfColor(options) { +export function UrdfColor(options) { // Parse the xml string var rgba = options.xml.getAttribute('rgba').split(' '); this.r = parseFloat(rgba[0]); @@ -19,5 +19,3 @@ function UrdfColor(options) { this.b = parseFloat(rgba[2]); this.a = parseFloat(rgba[3]); } - -module.exports = UrdfColor; \ No newline at end of file diff --git a/src/urdf/UrdfCylinder.js b/src/urdf/UrdfCylinder.js index a963aaed5..6dd504caf 100644 --- a/src/urdf/UrdfCylinder.js +++ b/src/urdf/UrdfCylinder.js @@ -4,7 +4,7 @@ * @author Russell Toris - rctoris@wpi.edu */ -var UrdfTypes = require('./UrdfTypes'); +import * as UrdfTypes from './UrdfTypes.js'; /** * A Cylinder element in a URDF. @@ -13,10 +13,8 @@ var UrdfTypes = require('./UrdfTypes'); * @param options - object with following keys: * * xml - the XML element to parse */ -function UrdfCylinder(options) { +export function UrdfCylinder(options) { this.type = UrdfTypes.URDF_CYLINDER; this.length = parseFloat(options.xml.getAttribute('length')); this.radius = parseFloat(options.xml.getAttribute('radius')); } - -module.exports = UrdfCylinder; \ No newline at end of file diff --git a/src/urdf/UrdfJoint.js b/src/urdf/UrdfJoint.js index b62d42252..998ecacbc 100644 --- a/src/urdf/UrdfJoint.js +++ b/src/urdf/UrdfJoint.js @@ -3,9 +3,9 @@ * @author David V. Lu!! davidvlu@gmail.com */ -var Pose = require('../math/Pose'); -var Vector3 = require('../math/Vector3'); -var Quaternion = require('../math/Quaternion'); +import {Pose} from '../math/Pose.js'; +import {Vector3} from '../math/Vector3.js'; +import {Quaternion} from '../math/Quaternion.js'; /** * A Joint element in a URDF. @@ -14,7 +14,7 @@ var Quaternion = require('../math/Quaternion'); * @param options - object with following keys: * * xml - the XML element to parse */ -function UrdfJoint(options) { +export function UrdfJoint(options) { this.name = options.xml.getAttribute('name'); this.type = options.xml.getAttribute('type'); @@ -87,5 +87,3 @@ function UrdfJoint(options) { }); } } - -module.exports = UrdfJoint; diff --git a/src/urdf/UrdfLink.js b/src/urdf/UrdfLink.js index 484804bcf..f93750b6e 100644 --- a/src/urdf/UrdfLink.js +++ b/src/urdf/UrdfLink.js @@ -4,7 +4,7 @@ * @author Russell Toris - rctoris@wpi.edu */ -var UrdfVisual = require('./UrdfVisual'); +import {UrdfVisual} from './UrdfVisual.js'; /** * A Link element in a URDF. @@ -13,7 +13,7 @@ var UrdfVisual = require('./UrdfVisual'); * @param options - object with following keys: * * xml - the XML element to parse */ -function UrdfLink(options) { +export function UrdfLink(options) { this.name = options.xml.getAttribute('name'); this.visuals = []; var visuals = options.xml.getElementsByTagName('visual'); @@ -24,5 +24,3 @@ function UrdfLink(options) { }) ); } } - -module.exports = UrdfLink; \ No newline at end of file diff --git a/src/urdf/UrdfMaterial.js b/src/urdf/UrdfMaterial.js index c873b4e16..6f0f99ba9 100644 --- a/src/urdf/UrdfMaterial.js +++ b/src/urdf/UrdfMaterial.js @@ -4,7 +4,7 @@ * @author Russell Toris - rctoris@wpi.edu */ -var UrdfColor = require('./UrdfColor'); +import {UrdfColor} from './UrdfColor.js'; /** * A Material element in a URDF. @@ -13,7 +13,7 @@ var UrdfColor = require('./UrdfColor'); * @param options - object with following keys: * * xml - the XML element to parse */ -function UrdfMaterial(options) { +export function UrdfMaterial(options) { this.textureFilename = null; this.color = null; @@ -44,5 +44,3 @@ var assign = require('object-assign'); UrdfMaterial.prototype.assign = function(obj) { return assign(this, obj); }; - -module.exports = UrdfMaterial; diff --git a/src/urdf/UrdfMesh.js b/src/urdf/UrdfMesh.js index c6a49a771..3c135421b 100644 --- a/src/urdf/UrdfMesh.js +++ b/src/urdf/UrdfMesh.js @@ -4,8 +4,8 @@ * @author Russell Toris - rctoris@wpi.edu */ -var Vector3 = require('../math/Vector3'); -var UrdfTypes = require('./UrdfTypes'); +import {Vector3} from '../math/Vector3.js'; +import * as UrdfTypes from './UrdfTypes.js'; /** * A Mesh element in a URDF. @@ -14,7 +14,7 @@ var UrdfTypes = require('./UrdfTypes'); * @param options - object with following keys: * * xml - the XML element to parse */ -function UrdfMesh(options) { +export function UrdfMesh(options) { this.scale = null; this.type = UrdfTypes.URDF_MESH; @@ -32,5 +32,3 @@ function UrdfMesh(options) { }); } } - -module.exports = UrdfMesh; \ No newline at end of file diff --git a/src/urdf/UrdfModel.js b/src/urdf/UrdfModel.js index d50c511b6..218d37845 100644 --- a/src/urdf/UrdfModel.js +++ b/src/urdf/UrdfModel.js @@ -4,10 +4,12 @@ * @author Russell Toris - rctoris@wpi.edu */ -var UrdfMaterial = require('./UrdfMaterial'); -var UrdfLink = require('./UrdfLink'); -var UrdfJoint = require('./UrdfJoint'); -var DOMParser = require('xmldom').DOMParser; +import {UrdfMaterial} from './UrdfMaterial.js'; +import {UrdfLink} from './UrdfLink.js'; +import {UrdfJoint} from './UrdfJoint.js'; +import xmldom from 'xmldom/lib/dom.js'; + +const {DOMParser} = xmldom; // See https://developer.mozilla.org/docs/XPathResult#Constants var XPATH_FIRST_ORDERED_NODE_TYPE = 9; diff --git a/src/urdf/UrdfSphere.js b/src/urdf/UrdfSphere.js index 685b746f8..ac8ce2382 100644 --- a/src/urdf/UrdfSphere.js +++ b/src/urdf/UrdfSphere.js @@ -4,7 +4,7 @@ * @author Russell Toris - rctoris@wpi.edu */ -var UrdfTypes = require('./UrdfTypes'); +import * as UrdfTypes from './UrdfTypes.js'; /** * A Sphere element in a URDF. @@ -13,9 +13,7 @@ var UrdfTypes = require('./UrdfTypes'); * @param options - object with following keys: * * xml - the XML element to parse */ -function UrdfSphere(options) { +export function UrdfSphere(options) { this.type = UrdfTypes.URDF_SPHERE; this.radius = parseFloat(options.xml.getAttribute('radius')); } - -module.exports = UrdfSphere; \ No newline at end of file diff --git a/src/urdf/UrdfTypes.js b/src/urdf/UrdfTypes.js index 99572cc7c..859fa17d8 100644 --- a/src/urdf/UrdfTypes.js +++ b/src/urdf/UrdfTypes.js @@ -1,6 +1,4 @@ -module.exports = { - URDF_SPHERE : 0, - URDF_BOX : 1, - URDF_CYLINDER : 2, - URDF_MESH : 3 -}; +export const URDF_SPHERE = 0 +export const URDF_BOX = 1 +export const URDF_CYLINDER = 2 +export const URDF_MESH = 3 diff --git a/src/urdf/UrdfVisual.js b/src/urdf/UrdfVisual.js index 1aaaef4b5..82b14bc44 100644 --- a/src/urdf/UrdfVisual.js +++ b/src/urdf/UrdfVisual.js @@ -4,15 +4,15 @@ * @author Russell Toris - rctoris@wpi.edu */ -var Pose = require('../math/Pose'); -var Vector3 = require('../math/Vector3'); -var Quaternion = require('../math/Quaternion'); +import {Pose} from '../math/Pose.js'; +import {Vector3} from '../math/Vector3.js'; +import {Quaternion} from '../math/Quaternion.js'; -var UrdfCylinder = require('./UrdfCylinder'); -var UrdfBox = require('./UrdfBox'); -var UrdfMaterial = require('./UrdfMaterial'); -var UrdfMesh = require('./UrdfMesh'); -var UrdfSphere = require('./UrdfSphere'); +import {UrdfCylinder} from './UrdfCylinder.js'; +import {UrdfBox} from './UrdfBox.js'; +import {UrdfMaterial} from './UrdfMaterial.js'; +import {UrdfMesh} from './UrdfMesh.js'; +import {UrdfSphere} from './UrdfSphere.js'; /** * A Visual element in a URDF. @@ -21,7 +21,7 @@ var UrdfSphere = require('./UrdfSphere'); * @param options - object with following keys: * * xml - the XML element to parse */ -function UrdfVisual(options) { +export function UrdfVisual(options) { var xml = options.xml; this.origin = null; this.geometry = null; @@ -126,5 +126,3 @@ function UrdfVisual(options) { }); } } - -module.exports = UrdfVisual; \ No newline at end of file diff --git a/src/urdf/index.js b/src/urdf/index.js index c84b0d2d3..a03312611 100644 --- a/src/urdf/index.js +++ b/src/urdf/index.js @@ -1,11 +1,11 @@ -module.exports = require('object-assign')({ - UrdfBox: require('./UrdfBox'), - UrdfColor: require('./UrdfColor'), - UrdfCylinder: require('./UrdfCylinder'), - UrdfLink: require('./UrdfLink'), - UrdfMaterial: require('./UrdfMaterial'), - UrdfMesh: require('./UrdfMesh'), - UrdfModel: require('./UrdfModel'), - UrdfSphere: require('./UrdfSphere'), - UrdfVisual: require('./UrdfVisual') -}, require('./UrdfTypes')); +export * from './UrdfBox.js'; +export * from './UrdfColor.js'; +export * from './UrdfCylinder.js'; +export * from './UrdfJoint.js'; +export * from './UrdfLink.js'; +export * from './UrdfMaterial.js'; +export * from './UrdfMesh.js'; +export * from './UrdfModel.js'; +export * from './UrdfSphere.js'; +export * from './UrdfTypes.js'; +export * from './UrdfVisual.js'; From 2dc1db6be876d004564da5a7856bba22c14bf41d Mon Sep 17 00:00:00 2001 From: Joe Pea Date: Tue, 14 Sep 2021 11:55:24 -0700 Subject: [PATCH 02/29] finish initial ESM format in source files, built ESM, CJS, and UMD output with Rollup instead of Browserify TODO: Some shims for Node.js were disabled to get this initially building for the browser. --- Gruntfile.js => Gruntfile.cjs | 16 +- package-lock.json | 6520 ++++++++++++++++----------- package.json | 12 +- rollup.config.js | 65 + src/RosLibBrowser.js | 1 - src/RosLibNode.js | 11 +- src/actionlib/ActionListener.js | 4 +- src/actionlib/SimpleActionServer.js | 4 +- src/core/Ros.js | 17 +- src/core/SocketAdapter.js | 11 +- src/node/RosTCP.js | 2 +- src/node/SocketIO.js | 4 +- src/node/TopicStream.js | 2 +- src/urdf/UrdfModel.js | 4 +- src/util/cborTypedArrayTags.js | 6 +- src/util/decompressPng.js | 6 +- src/util/shim/WebSocket.js | 3 +- src/util/shim/canvas.js | 2 +- src/util/shim/decompressPng.js | 9 +- src/util/workerSocket.js | 13 +- src/util/workerSocketImpl.js | 6 +- 21 files changed, 4068 insertions(+), 2650 deletions(-) rename Gruntfile.js => Gruntfile.cjs (88%) create mode 100644 rollup.config.js delete mode 100644 src/RosLibBrowser.js diff --git a/Gruntfile.js b/Gruntfile.cjs similarity index 88% rename from Gruntfile.js rename to Gruntfile.cjs index 802f2bbe0..611308e76 100644 --- a/Gruntfile.js +++ b/Gruntfile.cjs @@ -10,10 +10,15 @@ module.exports = function(grunt) { grunt.initConfig({ pkg: grunt.file.readJSON('package.json'), - browserify: { - dist: { - src: ['./src/RosLibBrowser.js'], - dest: './build/roslib.js' + // browserify: { + // dist: { + // src: ['./src/RosLibBrowser.js'], + // dest: './build/roslib.js' + // } + // }, + shell: { + build: { + command: 'rollup -c' } }, jshint: { @@ -110,7 +115,8 @@ module.exports = function(grunt) { grunt.registerTask('test-examples', ['mochaTest:examples', 'karma:examples']); grunt.registerTask('test-tcp', ['mochaTest:tcp']); grunt.registerTask('test-workersocket', ['karma:workersocket']); - grunt.registerTask('build', ['browserify', 'uglify']); +// grunt.registerTask('build', ['browserify', 'uglify']); + grunt.registerTask('build', ['shell']); grunt.registerTask('build_and_watch', ['watch']); grunt.registerTask('doc', ['clean', 'jsdoc']); }; diff --git a/package-lock.json b/package-lock.json index e6077c1d9..efc0fdd43 100644 --- a/package-lock.json +++ b/package-lock.json @@ -19,9 +19,10 @@ "xmldom": "^0.6.0" }, "devDependencies": { + "@rollup/plugin-commonjs": "^20.0.0", + "@rollup/plugin-node-resolve": "^13.0.4", "chai": "*", "grunt": "^1.0.0", - "grunt-browserify": "^6.0.0", "grunt-cli": "^1.2.0", "grunt-contrib-clean": "^2.0.0", "grunt-contrib-jshint": "^3.0.0", @@ -30,18 +31,128 @@ "grunt-jsdoc": "^2.1.0", "grunt-karma": "^4.0.0", "grunt-mocha-test": "^0.13.0", + 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"dependencies": { - "readable-stream": "^2.0.2" + "jsbn": "~0.1.0", + "safer-buffer": "^2.1.0" } }, "node_modules/ee-first": { @@ -1300,25 +1496,6 @@ "dev": true, "license": "MIT" }, - "node_modules/elliptic": { - "version": "6.5.4", - "dev": true, - "license": "MIT", - "dependencies": { - "bn.js": "^4.11.9", - "brorand": "^1.1.0", - "hash.js": "^1.0.0", - "hmac-drbg": "^1.0.1", - "inherits": "^2.0.4", - "minimalistic-assert": "^1.0.1", - "minimalistic-crypto-utils": "^1.0.1" - } - }, - "node_modules/elliptic/node_modules/bn.js": { - "version": "4.12.0", - "dev": true, - "license": "MIT" - }, "node_modules/emoji-regex": { "version": "8.0.0", "dev": true, @@ -1332,6 +1509,29 @@ "node": ">= 0.8" } }, + "node_modules/encoding": { + "version": "0.1.13", + "resolved": "https://registry.npmjs.org/encoding/-/encoding-0.1.13.tgz", + "integrity": "sha512-ETBauow1T35Y/WZMkio9jiM0Z5xjHHmJ4XmjZOq1l/dXz3lr2sRn87nJy20RupqSh1F2m3HHPSp8ShIPQJrJ3A==", + "dev": true, + "optional": true, + 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true, - "license": "MIT" + "engines": { + "node": "*" + } + }, + "node_modules/form-data": { + "version": "2.3.3", + "resolved": "https://registry.npmjs.org/form-data/-/form-data-2.3.3.tgz", + "integrity": "sha512-1lLKB2Mu3aGP1Q/2eCOx0fNbRMe7XdwktwOruhfqqd0rIJWwN4Dh+E3hrPSlDCXnSR7UtZ1N38rVXm+6+MEhJQ==", + "dev": true, + "dependencies": { + "asynckit": "^0.4.0", + "combined-stream": "^1.0.6", + "mime-types": "^2.1.12" + }, + "engines": { + "node": ">= 0.12" + } }, "node_modules/fs-extra": { "version": "8.1.0", @@ -1740,6 +1942,18 @@ "node": ">=6 <7 || >=8" } }, + "node_modules/fs-minipass": { + "version": "2.1.0", + "resolved": "https://registry.npmjs.org/fs-minipass/-/fs-minipass-2.1.0.tgz", + "integrity": "sha512-V/JgOLFCS+R6Vcq0slCuaeWEdNC3ouDlJMNIsacH2VtALiu9mV4LPrHc5cDl8k5aw6J8jwgWWpiTo5RYhmIzvg==", + "dev": true, + "dependencies": { + "minipass": "^3.0.0" + }, + "engines": { + "node": ">= 8" + } + }, "node_modules/fs.realpath": { "version": "1.0.0", "dev": true, @@ -1764,6 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- }, - "funding": { - "url": "https://github.com/sponsors/ljharb" - } + "node_modules/is-lambda": { + "version": "1.0.1", + "resolved": "https://registry.npmjs.org/is-lambda/-/is-lambda-1.0.1.tgz", + "integrity": "sha1-PZh3iZ5qU+/AFgUEzeFfgubwYdU=", + "dev": true + }, + "node_modules/is-module": { + "version": "1.0.0", + "resolved": "https://registry.npmjs.org/is-module/-/is-module-1.0.0.tgz", + "integrity": "sha1-Mlj7afeMFNW4FdZkM2tM/7ZEFZE=", + "dev": true }, "node_modules/is-number": { "version": "7.0.0", @@ -2729,17 +3075,6 @@ "node": ">=0.12.0" } }, - "node_modules/is-number-object": { - "version": "1.0.4", - "dev": true, - "license": "MIT", - "engines": { - "node": ">= 0.4" - }, - "funding": { - "url": "https://github.com/sponsors/ljharb" - } - }, "node_modules/is-plain-obj": { "version": "2.1.0", "dev": true, @@ -2759,19 +3094,13 @@ "node": ">=0.10.0" } }, - "node_modules/is-regex": { - "version": "1.1.2", + "node_modules/is-reference": { + "version": "1.2.1", + "resolved": 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"component-emitter": { "version": "1.3.0" }, @@ -6237,16 +7177,6 @@ "version": "0.0.1", "dev": true }, - "concat-stream": { - "version": "1.6.2", - "dev": true, - "requires": { - "buffer-from": "^1.0.0", - "inherits": "^2.0.3", - "readable-stream": "^2.2.2", - "typedarray": "^0.0.6" - } - }, "connect": { "version": "3.7.0", "dev": true, @@ -6257,12 +7187,10 @@ "utils-merge": "1.0.1" } }, - "console-browserify": { - "version": "1.2.0", - "dev": true - }, - "constants-browserify": { - "version": "1.0.0", + "console-control-strings": { + "version": "1.1.0", + "resolved": "https://registry.npmjs.org/console-control-strings/-/console-control-strings-1.1.0.tgz", + "integrity": "sha1-PXz0Rk22RG6mRL9LOVB/mFEAjo4=", "dev": true }, "content-type": { @@ -6273,10 +7201,6 @@ "version": "0.3.1", "dev": true }, - "convert-source-map": { - "version": "1.1.3", - "dev": true - }, "cookie": { "version": "0.4.1" }, @@ -6291,43 +7215,6 @@ "vary": "^1" } }, - "create-ecdh": { - "version": "4.0.4", - "dev": true, - "requires": { - "bn.js": "^4.1.0", - "elliptic": "^6.5.3" - }, - "dependencies": { - "bn.js": { - "version": "4.12.0", - "dev": true - } - } - }, - "create-hash": { - "version": "1.2.0", - "dev": true, - "requires": { - "cipher-base": "^1.0.1", - "inherits": "^2.0.1", - "md5.js": "^1.3.4", - "ripemd160": "^2.0.1", - "sha.js": "^2.4.0" - } - }, - "create-hmac": { - "version": "1.1.7", - "dev": true, - "requires": { - "cipher-base": "^1.0.3", - "create-hash": "^1.1.0", - "inherits": "^2.0.1", - "ripemd160": "^2.0.0", - "safe-buffer": "^5.0.1", - "sha.js": "^2.4.8" - } - }, "cross-spawn": { "version": "7.0.3", "dev": true, @@ -6337,30 +7224,18 @@ "which": "^2.0.1" } }, - "crypto-browserify": { - "version": "3.12.0", - "dev": true, - "requires": { - "browserify-cipher": "^1.0.0", - "browserify-sign": "^4.0.0", - "create-ecdh": "^4.0.0", - "create-hash": "^1.1.0", - "create-hmac": "^1.1.0", - "diffie-hellman": "^5.0.0", - "inherits": "^2.0.1", - "pbkdf2": "^3.0.3", - 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"version": "5.2.0", "resolved": "https://registry.npmjs.org/engine.io/-/engine.io-5.2.0.tgz", @@ -6610,6 +7452,18 @@ "version": "1.0.0", "dev": true }, + "env-paths": { + "version": "2.2.1", + "resolved": "https://registry.npmjs.org/env-paths/-/env-paths-2.2.1.tgz", + "integrity": "sha512-+h1lkLKhZMTYjog1VEpJNG7NZJWcuc2DDk/qsqSTRRCOXiLjeQ1d1/udrUGhqMxUgAlwKNZ0cf2uqan5GLuS2A==", + "dev": true + }, + "err-code": { + "version": "2.0.3", + "resolved": "https://registry.npmjs.org/err-code/-/err-code-2.0.3.tgz", + "integrity": "sha512-2bmlRpNKBxT/CRmPOlyISQpNj+qSeYvcym/uT0Jx2bMOlKLtSy1ZmLuVxSEKKyor/N5yhvp/ZiG1oE3DEYMSFA==", + "dev": true + }, "error": { "version": "7.2.1", "dev": true, @@ -6617,37 +7471,6 @@ "string-template": "~0.2.1" } }, - "es-abstract": { - "version": "1.18.0", - "dev": true, - "requires": { - "call-bind": "^1.0.2", - "es-to-primitive": "^1.2.1", - "function-bind": "^1.1.1", - "get-intrinsic": "^1.1.1", - "has": "^1.0.3", - "has-symbols": "^1.0.2", - "is-callable": 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"dev": true }, - "is-generator-function": { - "version": "1.0.8", - "dev": true - }, "is-glob": { "version": "4.0.1", "dev": true, @@ -7467,16 +8477,20 @@ "is-extglob": "^2.1.1" } }, - "is-negative-zero": { - "version": "2.0.1", + "is-lambda": { + "version": "1.0.1", + "resolved": "https://registry.npmjs.org/is-lambda/-/is-lambda-1.0.1.tgz", + "integrity": "sha1-PZh3iZ5qU+/AFgUEzeFfgubwYdU=", "dev": true }, - "is-number": { - "version": "7.0.0", + "is-module": { + "version": "1.0.0", + "resolved": "https://registry.npmjs.org/is-module/-/is-module-1.0.0.tgz", + "integrity": "sha1-Mlj7afeMFNW4FdZkM2tM/7ZEFZE=", "dev": true }, - "is-number-object": { - "version": "1.0.4", + "is-number": { + "version": "7.0.0", "dev": true }, "is-plain-obj": { @@ -7490,12 +8504,13 @@ "isobject": "^3.0.1" } }, - "is-regex": { - "version": "1.1.2", + "is-reference": { + "version": "1.2.1", + "resolved": "https://registry.npmjs.org/is-reference/-/is-reference-1.2.1.tgz", + "integrity": 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"version": "4.0.0", "dev": true, @@ -8888,13 +10207,6 @@ "version": "3.1.1", "dev": true }, - "subarg": { - "version": "1.0.0", - "dev": true, - "requires": { - "minimist": "^1.1.0" - } - }, "supports-color": { "version": "7.2.0", "dev": true, @@ -8902,33 +10214,47 @@ "has-flag": "^4.0.0" } }, - "syntax-error": { - "version": "1.4.0", - "dev": true, - "requires": { - "acorn-node": "^1.2.0" - } - }, "taffydb": { "version": "2.6.2", "dev": true }, - "text-table": { - "version": "0.2.0", - "dev": true - }, - "through": { - "version": "2.3.8", - "dev": true + "tar": { + "version": "6.1.11", + "resolved": "https://registry.npmjs.org/tar/-/tar-6.1.11.tgz", + "integrity": "sha512-an/KZQzQUkZCkuoAA64hM92X0Urb6VpRhAFllDzz44U2mcD5scmT3zBc4VgVpkugF580+DQn8eAFSyoQt0tznA==", + "dev": true, + "requires": { + "chownr": "^2.0.0", + "fs-minipass": "^2.0.0", + "minipass": "^3.0.0", + "minizlib": "^2.1.1", + "mkdirp": "^1.0.3", + "yallist": "^4.0.0" + } }, - "through2": { - "version": "2.0.5", + "terser": { + "version": "5.8.0", + "resolved": "https://registry.npmjs.org/terser/-/terser-5.8.0.tgz", + "integrity": "sha512-f0JH+6yMpneYcRJN314lZrSwu9eKkUFEHLN/kNy8ceh8gaRiLgFPJqrB9HsXjhEGdv4e/ekjTOFxIlL6xlma8A==", "dev": true, "requires": { - "readable-stream": "~2.3.6", - "xtend": "~4.0.1" + "commander": "^2.20.0", + "source-map": "~0.7.2", + "source-map-support": "~0.5.20" + }, + "dependencies": { + "source-map": { + "version": "0.7.3", + "resolved": "https://registry.npmjs.org/source-map/-/source-map-0.7.3.tgz", + "integrity": "sha512-CkCj6giN3S+n9qrYiBTX5gystlENnRW5jZeNLHpe6aue+SrHcG5VYwujhW9s4dY31mEGsxBDrHR6oI69fTXsaQ==", + "dev": true + } } }, + "text-table": { + "version": "0.2.0", + "dev": true + }, "time-grunt": { "version": "2.0.0", "dev": true, @@ -8982,13 +10308,6 @@ "version": "0.1.0", "dev": true }, - "timers-browserify": { - "version": "1.4.2", - "dev": true, - "requires": { - "process": "~0.11.0" - } - }, "tiny-lr": { "version": "1.1.1", "dev": true, @@ -9032,14 +10351,49 @@ "version": "1.0.0", "dev": true }, - "tty-browserify": { - "version": "0.0.1", + "tough-cookie": { + "version": "2.5.0", + "resolved": "https://registry.npmjs.org/tough-cookie/-/tough-cookie-2.5.0.tgz", + "integrity": "sha512-nlLsUzgm1kfLXSXfRZMc1KLAugd4hqJHDTvc2hDIwS3mZAfMEuMbc03SujMF+GEcpaX/qboeycw6iO8JwVv2+g==", + "dev": true, + "requires": { + "psl": "^1.1.28", + "punycode": "^2.1.1" + }, + "dependencies": { + "punycode": { + "version": "2.1.1", + "resolved": "https://registry.npmjs.org/punycode/-/punycode-2.1.1.tgz", + "integrity": "sha512-XRsRjdf+j5ml+y/6GKHPZbrF/8p2Yga0JPtdqTIY2Xe5ohJPD9saDJJLPvp9+NSBprVvevdXZybnj2cv8OEd0A==", + "dev": true + } + } + }, + "tunnel-agent": { + "version": "0.6.0", + "resolved": "https://registry.npmjs.org/tunnel-agent/-/tunnel-agent-0.6.0.tgz", + "integrity": "sha1-J6XeoGs2sEoKmWZ3SykIaPD8QP0=", + "dev": true, + "requires": { + "safe-buffer": "^5.0.1" + } + }, + "tweetnacl": { + "version": "0.14.5", + "resolved": "https://registry.npmjs.org/tweetnacl/-/tweetnacl-0.14.5.tgz", + "integrity": "sha1-WuaBd/GS1EViadEIr6k/+HQ/T2Q=", "dev": true }, "type-detect": { "version": "4.0.8", "dev": true }, + "type-fest": { + "version": "0.20.2", + "resolved": "https://registry.npmjs.org/type-fest/-/type-fest-0.20.2.tgz", + "integrity": "sha512-Ne+eE4r0/iWnpAxD852z3A+N0Bt5RN//NjJwRd2VFHEmrywxf5vsZlh4R6lixl6B+wz/8d+maTSAkN1FIkI3LQ==", + "dev": true + }, "type-is": { "version": "1.6.18", "dev": true, @@ -9048,10 +10402,6 @@ "mime-types": "~2.1.24" } }, - "typedarray": { - "version": "0.0.6", - "dev": true - }, "ua-parser-js": { "version": "0.7.28", "dev": true @@ -9064,35 +10414,10 @@ "version": "3.13.4", "dev": true }, - "umd": { - "version": "3.0.3", - "dev": true - }, - "unbox-primitive": { - "version": "1.0.1", - "dev": true, - "requires": { - "function-bind": "^1.1.1", - "has-bigints": "^1.0.1", - "has-symbols": "^1.0.2", - "which-boxed-primitive": "^1.0.2" - } - }, "unc-path-regex": { "version": "0.1.2", "dev": true }, - "undeclared-identifiers": { - "version": "1.1.3", - "dev": true, - "requires": { - "acorn-node": "^1.3.0", - "dash-ast": "^1.0.0", - "get-assigned-identifiers": "^1.2.0", - "simple-concat": "^1.0.0", - "xtend": "^4.0.1" - } - }, "underscore": { "version": "1.10.2", "dev": true @@ -9105,6 +10430,24 @@ "util-deprecate": "^1.0.2" } }, + "unique-filename": { + "version": "1.1.1", + "resolved": "https://registry.npmjs.org/unique-filename/-/unique-filename-1.1.1.tgz", + "integrity": "sha512-Vmp0jIp2ln35UTXuryvjzkjGdRyf9b2lTXuSYUiPmzRcl3FDtYqAwOnTJkAngD9SWhnoJzDbTKwaOrZ+STtxNQ==", + "dev": true, + "requires": { + "unique-slug": "^2.0.0" + } + }, + "unique-slug": { + "version": "2.0.2", + "resolved": "https://registry.npmjs.org/unique-slug/-/unique-slug-2.0.2.tgz", + "integrity": "sha512-zoWr9ObaxALD3DOPfjPSqxt4fnZiWblxHIgeWqW8x7UqDzEtHEQLzji2cuJYQFCU6KmoJikOYAZlrTHHebjx2w==", + "dev": true, + "requires": { + "imurmurhash": "^0.1.4" + } + }, "universalify": { "version": "0.1.2", "dev": true @@ -9113,35 +10456,26 @@ "version": "1.0.0", "dev": true }, - "uri-path": { - "version": "1.0.0", - "dev": true - }, - "url": { - "version": "0.11.0", + "uri-js": { + "version": "4.4.1", + "resolved": "https://registry.npmjs.org/uri-js/-/uri-js-4.4.1.tgz", + "integrity": "sha512-7rKUyy33Q1yc98pQ1DAmLtwX109F7TIfWlW1Ydo8Wl1ii1SeHieeh0HHfPeL2fMXK6z0s8ecKs9frCuLJvndBg==", "dev": true, "requires": { - "punycode": "1.3.2", - "querystring": "0.2.0" + "punycode": "^2.1.0" }, "dependencies": { "punycode": { - "version": "1.3.2", + "version": "2.1.1", + "resolved": "https://registry.npmjs.org/punycode/-/punycode-2.1.1.tgz", + "integrity": "sha512-XRsRjdf+j5ml+y/6GKHPZbrF/8p2Yga0JPtdqTIY2Xe5ohJPD9saDJJLPvp9+NSBprVvevdXZybnj2cv8OEd0A==", "dev": true } } }, - "util": { - "version": "0.12.3", - "dev": true, - "requires": { - "inherits": "^2.0.3", - "is-arguments": "^1.0.4", - "is-generator-function": "^1.0.7", - "is-typed-array": "^1.1.3", - "safe-buffer": "^5.1.2", - "which-typed-array": "^1.1.2" - } + "uri-path": { + "version": "1.0.0", + "dev": true }, "util-deprecate": { "version": "1.0.2", @@ -9151,6 +10485,12 @@ "version": "1.0.1", "dev": true }, + "uuid": { + "version": "3.4.0", + "resolved": "https://registry.npmjs.org/uuid/-/uuid-3.4.0.tgz", + "integrity": "sha512-HjSDRw6gZE5JMggctHBcjVak08+KEVhSIiDzFnT9S9aegmp85S/bReBVTb4QTFaRNptJ9kuYaNhnbNEOkbKb/A==", + "dev": true + }, "v8flags": { "version": "3.2.0", "dev": true, @@ -9158,48 +10498,33 @@ "homedir-polyfill": "^1.0.1" } }, + "validate-npm-package-name": { + "version": "3.0.0", + "resolved": "https://registry.npmjs.org/validate-npm-package-name/-/validate-npm-package-name-3.0.0.tgz", + "integrity": "sha1-X6kS2B630MdK/BQN5zF/DKffQ34=", + "dev": true, + "requires": { + "builtins": "^1.0.3" + } + }, "vary": { "version": "1.1.2" }, - "vm-browserify": { - "version": "1.1.2", - "dev": true + "verror": { + "version": "1.10.0", + "resolved": "https://registry.npmjs.org/verror/-/verror-1.10.0.tgz", + "integrity": "sha1-OhBcoXBTr1XW4nDB+CiGguGNpAA=", + "dev": true, + "requires": { + "assert-plus": "^1.0.0", + "core-util-is": "1.0.2", + "extsprintf": "^1.2.0" + } }, "void-elements": { "version": "2.0.1", "dev": true }, - "watchify": { - "version": "4.0.0", - "dev": true, - "requires": { - "anymatch": "^3.1.0", - "browserify": "^17.0.0", - "chokidar": "^3.4.0", - "defined": "^1.0.0", - "outpipe": "^1.1.0", - "through2": "^4.0.2", - "xtend": "^4.0.2" - }, - "dependencies": { - "readable-stream": { - "version": "3.6.0", - "dev": true, - "requires": { - "inherits": "^2.0.3", - "string_decoder": "^1.1.1", - "util-deprecate": "^1.0.1" - } - }, - "through2": { - "version": "4.0.2", - "dev": true, - "requires": { - "readable-stream": "3" - } - } - } - }, "websocket-driver": { "version": "0.7.4", "dev": true, @@ -9223,35 +10548,54 @@ "isexe": "^2.0.0" } }, - "which-boxed-primitive": { - "version": "1.0.2", - "dev": true, - "requires": { - "is-bigint": "^1.0.1", - "is-boolean-object": "^1.1.0", - "is-number-object": "^1.0.4", - "is-string": "^1.0.5", - "is-symbol": "^1.0.3" - } - }, - "which-typed-array": { - "version": "1.1.4", + "wide-align": { + "version": "1.1.3", "dev": true, "requires": { - "available-typed-arrays": "^1.0.2", - "call-bind": "^1.0.0", - "es-abstract": "^1.18.0-next.1", - "foreach": "^2.0.5", - "function-bind": "^1.1.1", - "has-symbols": "^1.0.1", - "is-typed-array": "^1.1.3" + "string-width": "^1.0.2 || 2" } }, - "wide-align": { - "version": "1.1.3", + "widest-line": { + "version": "3.1.0", + "resolved": "https://registry.npmjs.org/widest-line/-/widest-line-3.1.0.tgz", + "integrity": "sha512-NsmoXalsWVDMGupxZ5R08ka9flZjjiLvHVAWYOKtiKM8ujtZWr9cRffak+uSE48+Ob8ObalXpwyeUiyDD6QFgg==", "dev": true, "requires": { - "string-width": "^1.0.2 || 2" + "string-width": "^4.0.0" + }, + "dependencies": { + "ansi-regex": { + "version": "5.0.1", + "resolved": "https://registry.npmjs.org/ansi-regex/-/ansi-regex-5.0.1.tgz", + "integrity": "sha512-quJQXlTSUGL2LH9SUXo8VwsY4soanhgo6LNSm84E1LBcE8s3O0wpdiRzyR9z/ZZJMlMWv37qOOb9pdJlMUEKFQ==", + "dev": true + }, + "is-fullwidth-code-point": { + "version": "3.0.0", + "resolved": "https://registry.npmjs.org/is-fullwidth-code-point/-/is-fullwidth-code-point-3.0.0.tgz", + "integrity": "sha512-zymm5+u+sCsSWyD9qNaejV3DFvhCKclKdizYaJUuHA83RLjb7nSuGnddCHGv0hk+KY7BMAlsWeK4Ueg6EV6XQg==", + "dev": true + }, + "string-width": { + "version": "4.2.2", + "resolved": "https://registry.npmjs.org/string-width/-/string-width-4.2.2.tgz", + "integrity": "sha512-XBJbT3N4JhVumXE0eoLU9DCjcaF92KLNqTmFCnG1pf8duUxFGwtP6AD6nkjw9a3IdiRtL3E2w3JDiE/xi3vOeA==", + "dev": true, + "requires": { + "emoji-regex": "^8.0.0", + "is-fullwidth-code-point": "^3.0.0", + "strip-ansi": "^6.0.0" + } + }, + "strip-ansi": { + "version": "6.0.0", + "resolved": "https://registry.npmjs.org/strip-ansi/-/strip-ansi-6.0.0.tgz", + "integrity": "sha512-AuvKTrTfQNYNIctbR1K/YGTR1756GycPsg7b9bdV9Duqur4gv6aKqHXah67Z8ImS7WEz5QVcOtlfW2rZEugt6w==", + "dev": true, + "requires": { + "ansi-regex": "^5.0.0" + } + } } }, "workerpool": { @@ -9312,14 +10656,16 @@ "xmldom": { "version": "0.6.0" }, - "xtend": { - "version": "4.0.2", - "dev": true - }, "y18n": { "version": "5.0.8", "dev": true }, + "yallist": { + "version": "4.0.0", + "resolved": "https://registry.npmjs.org/yallist/-/yallist-4.0.0.tgz", + "integrity": "sha512-3wdGidZyq5PB084XLES5TpOSRA3wjXAlIWMhum2kRcv/41Sn2emQ0dycQW4uZXLejwKvg6EsvbdlVL+FYEct7A==", + "dev": true + }, "yargs": { "version": "16.2.0", "dev": true, diff --git a/package.json b/package.json index 3b2fd3fd8..aab6f160d 100644 --- a/package.json +++ b/package.json @@ -4,7 +4,9 @@ "description": "The standard ROS Javascript Library", "version": "1.1.0", "license": "BSD-2-Clause", + "type": "module", "main": "./src/RosLibNode.js", + "TODO": "browserify used these for shimming", "browser": { "./src/RosLibNode.js": "./src/RosLib.js", "canvas": "./src/util/shim/canvas.js", @@ -13,9 +15,10 @@ "./src/util/decompressPng.js": "./src/util/shim/decompressPng.js" }, "devDependencies": { + "@rollup/plugin-commonjs": "^20.0.0", + "@rollup/plugin-node-resolve": "^13.0.4", "chai": "*", "grunt": "^1.0.0", - "grunt-browserify": "^6.0.0", "grunt-cli": "^1.2.0", "grunt-contrib-clean": "^2.0.0", "grunt-contrib-jshint": "^3.0.0", @@ -24,12 +27,16 @@ "grunt-jsdoc": "^2.1.0", "grunt-karma": "^4.0.0", "grunt-mocha-test": "^0.13.0", + "grunt-shell": "^3.0.1", "karma": "^6.3.0", "karma-chai": "^0.1.0", "karma-firefox-launcher": "^2.1.0", "karma-mocha": "^2.0.0", "load-grunt-tasks": "^5.1.0", "mocha": "^9.0.1", + "rollup": "^2.56.3", + "rollup-plugin-filesize": "^9.1.1", + "rollup-plugin-terser": "^7.0.2", "time-grunt": "^2.0.0" }, "dependencies": { @@ -50,7 +57,8 @@ "node": ">=0.10" }, "scripts": { - "build": "grunt build", + "build": "npm run grunt build", + "grunt": "grunt --gruntfile Gruntfile.cjs", "doc": "grunt doc", "test": "grunt test", "test-examples": "grunt test-examples", diff --git a/rollup.config.js b/rollup.config.js new file mode 100644 index 000000000..1dd88545c --- /dev/null +++ b/rollup.config.js @@ -0,0 +1,65 @@ +// plugin that transpiles output into commonjs format +const commonjs = require('@rollup/plugin-commonjs'); +// plugin that shows output file info +const filesize = require('rollup-plugin-filesize'); +/// plugin that resolves node module imports +const {nodeResolve} = require('@rollup/plugin-node-resolve'); +// plugin that minifies and obfuscates code +const {terser} = require('rollup-plugin-terser'); + +const input = 'src/RosLib.js'; +const name = 'ROSLIB'; + +const outputFiles = { + commonjsModule: './build/roslib.cjs.js', + esModule: './build/roslib.esm.js', + browserGlobal: './build/roslib.js', + browserGlobalMinified: './build/roslib.min.js', +}; + +export default [ + // build main as CommonJS format for compatibility + { + input, + output: { + name, + file: outputFiles.commonjsModule, + format: 'cjs', + }, + plugins: [nodeResolve({browser: true}), commonjs(), filesize()], + }, + // build module as ES5 in ES module format for modern tooling + { + input, + output: { + name, + file: outputFiles.esModule, + format: 'es', + }, + plugins: [nodeResolve({browser: true}), commonjs(), filesize()], + }, + // build browser as IIFE module for script tag inclusion, unminified + // Usage: + // + { + input, + output: { + name, + file: outputFiles.browserGlobal, + format: 'umd', + }, + plugins: [nodeResolve({browser: true}), commonjs(), filesize()], + }, + // build browser as IIFE module for script tag inclusion, minified + // Usage: + // + { + input, + output: { + name, + file: outputFiles.browserGlobalMinified, + format: 'umd', + }, + plugins: [nodeResolve({browser: true}), commonjs(), filesize(), terser()], + }, +]; diff --git a/src/RosLibBrowser.js b/src/RosLibBrowser.js deleted file mode 100644 index 96799a3c3..000000000 --- a/src/RosLibBrowser.js +++ /dev/null @@ -1 +0,0 @@ -global.ROSLIB = require('./RosLib'); \ No newline at end of file diff --git a/src/RosLibNode.js b/src/RosLibNode.js index 7000df650..3adf6389c 100644 --- a/src/RosLibNode.js +++ b/src/RosLibNode.js @@ -1,9 +1,10 @@ /** - * @fileOverview ROSLIB Node exclusive extensions + * @fileOverview ROSLIB Node exclusive extensions */ var assign = require('object-assign'); -module.exports = assign(require('./RosLib'), { - Ros: require('./node/RosTCP.js'), - Topic: require('./node/TopicStream') -}); \ No newline at end of file +export * from './RosLib.js'; + +// Override Ros and Topic exports from RosLib.js +export * from './node/RosTCP.js'; +export * from './node/TopicStream.js'; diff --git a/src/actionlib/ActionListener.js b/src/actionlib/ActionListener.js index 55df7b1d7..d9c5c250d 100644 --- a/src/actionlib/ActionListener.js +++ b/src/actionlib/ActionListener.js @@ -23,7 +23,7 @@ const {EventEmitter2} = eventemitter; * * serverName - the action server name, like /fibonacci * * actionName - the action message name, like 'actionlib_tutorials/FibonacciAction' */ -function ActionListener(options) { +export function ActionListener(options) { var that = this; options = options || {}; this.ros = options.ros; @@ -84,5 +84,3 @@ function ActionListener(options) { } ActionListener.prototype.__proto__ = EventEmitter2.prototype; - -module.exports = ActionListener; diff --git a/src/actionlib/SimpleActionServer.js b/src/actionlib/SimpleActionServer.js index 2b59865b4..532bce4a9 100644 --- a/src/actionlib/SimpleActionServer.js +++ b/src/actionlib/SimpleActionServer.js @@ -23,7 +23,7 @@ const {EventEmitter2} = eventemitter; * * actionName - the action message name, like 'actionlib_tutorials/FibonacciAction' */ -function SimpleActionServer(options) { +export function SimpleActionServer(options) { var that = this; options = options || {}; this.ros = options.ros; @@ -227,5 +227,3 @@ SimpleActionServer.prototype.setPreempted = function() { this.currentGoal = null; } }; - -module.exports = SimpleActionServer; \ No newline at end of file diff --git a/src/core/Ros.js b/src/core/Ros.js index 4b0861ed7..c65a4304d 100644 --- a/src/core/Ros.js +++ b/src/core/Ros.js @@ -4,11 +4,11 @@ */ import WebSocket from 'ws'; -import WorkerSocket from '../util/workerSocket.js'; -import socketAdapter from './SocketAdapter.js'; +// import {WorkerSocket} from '../util/workerSocket.js'; // TODO +import {SocketAdapter} from './SocketAdapter.js'; -import Service from './Service.js'; -import ServiceRequest from './ServiceRequest.js'; +import {Service} from './Service.js'; +import {ServiceRequest} from './ServiceRequest.js'; import assign from 'object-assign'; import eventemitter from 'eventemitter2'; @@ -67,21 +67,22 @@ Ros.prototype.__proto__ = EventEmitter2.prototype; */ Ros.prototype.connect = function(url) { if (this.transportLibrary === 'socket.io') { - this.socket = assign(io(url, {'force new connection': true}), socketAdapter(this)); + this.socket = assign(io(url, {'force new connection': true}), SocketAdapter(this)); this.socket.on('connect', this.socket.onopen); this.socket.on('data', this.socket.onmessage); this.socket.on('close', this.socket.onclose); this.socket.on('error', this.socket.onerror); } else if (this.transportLibrary.constructor.name === 'RTCPeerConnection') { - this.socket = assign(this.transportLibrary.createDataChannel(url, this.transportOptions), socketAdapter(this)); + this.socket = assign(this.transportLibrary.createDataChannel(url, this.transportOptions), SocketAdapter(this)); } else if (this.transportLibrary === 'websocket') { if (!this.socket || this.socket.readyState === WebSocket.CLOSED) { var sock = new WebSocket(url); sock.binaryType = 'arraybuffer'; - this.socket = assign(sock, socketAdapter(this)); + this.socket = assign(sock, SocketAdapter(this)); } } else if (this.transportLibrary === 'workersocket') { - this.socket = assign(new WorkerSocket(url), socketAdapter(this)); + // this.socket = assign(new WorkerSocket(url), socketAdapter(this)); + throw new Error('WorkerSocket is TODO') } else { throw 'Unknown transportLibrary: ' + this.transportLibrary.toString(); } diff --git a/src/core/SocketAdapter.js b/src/core/SocketAdapter.js index a5aa3f076..f2de0bad0 100644 --- a/src/core/SocketAdapter.js +++ b/src/core/SocketAdapter.js @@ -8,9 +8,10 @@ */ 'use strict'; -var decompressPng = require('../util/decompressPng'); -var CBOR = require('cbor-js'); -var typedArrayTagger = require('../util/cborTypedArrayTags'); +import {decompressPng} from '../util/decompressPng'; +import CBOR from 'cbor-js'; +import {typedArrayTagger} from '../util/cborTypedArrayTags'; + var BSON = null; if(typeof bson !== 'undefined'){ BSON = bson().BSON; @@ -24,7 +25,7 @@ if(typeof bson !== 'undefined'){ * @namespace SocketAdapter * @private */ -function SocketAdapter(client) { +export function SocketAdapter(client) { var decoder = null; if (client.transportOptions.decoder) { @@ -127,5 +128,3 @@ function SocketAdapter(client) { } }; } - -module.exports = SocketAdapter; diff --git a/src/node/RosTCP.js b/src/node/RosTCP.js index 097fd47cd..70bdda627 100644 --- a/src/node/RosTCP.js +++ b/src/node/RosTCP.js @@ -58,4 +58,4 @@ RosTCP.prototype.connect = function(url) { } }; -module.exports = RosTCP; +export {RosTCP as Ros}; diff --git a/src/node/SocketIO.js b/src/node/SocketIO.js index 32e9ef9ba..18452dcf4 100644 --- a/src/node/SocketIO.js +++ b/src/node/SocketIO.js @@ -1,6 +1,6 @@ import {Socket as io} from 'socket.io'; // imported correctly????? -function SocketIO(options, Ros){ +export function SocketIO(options, Ros){ this.socketio = null; this.socket = Ros.socket; if (options.http) { @@ -34,5 +34,3 @@ SocketIO.prototype.sendToFront = function(name, event){ SocketIO.prototype.sendToRosbridge = function(msg){ this.socket.send(msg); }; - -module.exports = SocketIO; \ No newline at end of file diff --git a/src/node/TopicStream.js b/src/node/TopicStream.js index 044bb1f14..5b5fd0249 100644 --- a/src/node/TopicStream.js +++ b/src/node/TopicStream.js @@ -51,4 +51,4 @@ Topic.prototype.toStream = function(options) { return stream; }; -module.exports = Topic; \ No newline at end of file +export {Topic} \ No newline at end of file diff --git a/src/urdf/UrdfModel.js b/src/urdf/UrdfModel.js index 218d37845..3b78c5c98 100644 --- a/src/urdf/UrdfModel.js +++ b/src/urdf/UrdfModel.js @@ -22,7 +22,7 @@ var XPATH_FIRST_ORDERED_NODE_TYPE = 9; * * xml - the XML element to parse * * string - the XML element to parse as a string */ -function UrdfModel(options) { +export function UrdfModel(options) { options = options || {}; var xmlDoc = options.xml; var string = options.string; @@ -93,5 +93,3 @@ function UrdfModel(options) { } } } - -module.exports = UrdfModel; diff --git a/src/util/cborTypedArrayTags.js b/src/util/cborTypedArrayTags.js index 6ff4e084e..b10ef3d6b 100644 --- a/src/util/cborTypedArrayTags.js +++ b/src/util/cborTypedArrayTags.js @@ -102,7 +102,7 @@ var conversionArrayTypes = { * @param {Uint8Array} data * @param {Number} tag */ -function cborTypedArrayTagger(data, tag) { +export function typedArrayTagger(data, tag) { if (tag in nativeArrayTypes) { var arrayType = nativeArrayTypes[tag]; return decodeNativeArray(data, arrayType); @@ -112,7 +112,3 @@ function cborTypedArrayTagger(data, tag) { } return data; } - -if (typeof module !== 'undefined' && module.exports) { - module.exports = cborTypedArrayTagger; -} diff --git a/src/util/decompressPng.js b/src/util/decompressPng.js index 5437b413b..9c3933ec7 100644 --- a/src/util/decompressPng.js +++ b/src/util/decompressPng.js @@ -5,7 +5,7 @@ 'use strict'; -var pngparse = require('pngparse'); +import pngparse from 'pngparse'; /** * If a message was compressed as a PNG image (a compression hack since @@ -17,7 +17,7 @@ var pngparse = require('pngparse'); * @param callback - function with params: * * data - the uncompressed data */ -function decompressPng(data, callback) { +export function decompressPng(data, callback) { var buffer = new Buffer(data, 'base64'); pngparse.parse(buffer, function(err, data) { @@ -29,5 +29,3 @@ function decompressPng(data, callback) { } }); } - -module.exports = decompressPng; \ No newline at end of file diff --git a/src/util/shim/WebSocket.js b/src/util/shim/WebSocket.js index 6c61dc985..0fd93711a 100644 --- a/src/util/shim/WebSocket.js +++ b/src/util/shim/WebSocket.js @@ -1 +1,2 @@ -module.exports = typeof window !== 'undefined' ? window.WebSocket : WebSocket; +const result = typeof window !== 'undefined' ? window.WebSocket : WebSocket; +export default result; diff --git a/src/util/shim/canvas.js b/src/util/shim/canvas.js index 15845d668..6a4495ff3 100644 --- a/src/util/shim/canvas.js +++ b/src/util/shim/canvas.js @@ -1,4 +1,4 @@ /* global document */ -module.exports = function Canvas() { +export function Canvas() { return document.createElement('canvas'); }; \ No newline at end of file diff --git a/src/util/shim/decompressPng.js b/src/util/shim/decompressPng.js index f11ea5480..d717ce584 100644 --- a/src/util/shim/decompressPng.js +++ b/src/util/shim/decompressPng.js @@ -5,7 +5,10 @@ 'use strict'; -var Canvas = require('canvas'); +// TODO Node support: +// import {Canvas} from 'canvas'; +import {Canvas} from './canvas.js'; + var Image = Canvas.Image || window.Image; /** @@ -18,7 +21,7 @@ var Image = Canvas.Image || window.Image; * @param callback - function with params: * * data - the uncompressed data */ -function decompressPng(data, callback) { +export function decompressPng(data, callback) { // Uncompresses the data before sending it through (use image/canvas to do so). var image = new Image(); // When the image loads, extracts the raw data (JSON message). @@ -52,5 +55,3 @@ function decompressPng(data, callback) { // Sends the image data to load. image.src = 'data:image/png;base64,' + data; } - -module.exports = decompressPng; diff --git a/src/util/workerSocket.js b/src/util/workerSocket.js index d7d683f19..7c4b9751c 100644 --- a/src/util/workerSocket.js +++ b/src/util/workerSocket.js @@ -1,8 +1,11 @@ -var work = require('webworkify'); -var workerSocketImpl = require('./workerSocketImpl'); +import work from 'webworkify'; -function WorkerSocket(uri) { - this.socket_ = work(workerSocketImpl); +// TODO `import` syntax is not designed for this purpose. Instead, we should +// fetch the source code, and stick the string into a worker. +// import workerSocketImpl from './workerSocketImpl'; + +export function WorkerSocket(uri) { + this.socket_ = work(workerSocketImpl/*TODO*/); this.socket_.addEventListener('message', this.handleWorkerMessage_.bind(this)); @@ -40,5 +43,3 @@ WorkerSocket.prototype.close = function() { close: true }); }; - -module.exports = WorkerSocket; diff --git a/src/util/workerSocketImpl.js b/src/util/workerSocketImpl.js index 07c49de0c..144be4bea 100644 --- a/src/util/workerSocketImpl.js +++ b/src/util/workerSocketImpl.js @@ -1,6 +1,10 @@ +// import WebSocket from 'ws' // TODO var WebSocket = WebSocket || require('ws'); -module.exports = function(self) { +// TODO this was exported and webworkify handled the special export format. +// Now, we need to fetch the source string instead and put it in a worker the +// normal way. +function(self) { var socket = null; function handleSocketMessage(ev) { From 20385ad3551d7206f465b67d2c6bfe88fc0e08c0 Mon Sep 17 00:00:00 2001 From: Joe Pea Date: Tue, 14 Sep 2021 14:27:36 -0700 Subject: [PATCH 03/29] remove comment to hopefully trigger build --- Gruntfile.cjs | 6 ------ 1 file changed, 6 deletions(-) diff --git a/Gruntfile.cjs b/Gruntfile.cjs index 611308e76..f571eef8d 100644 --- a/Gruntfile.cjs +++ b/Gruntfile.cjs @@ -10,12 +10,6 @@ module.exports = function(grunt) { grunt.initConfig({ pkg: grunt.file.readJSON('package.json'), - // browserify: { - // dist: { - // src: ['./src/RosLibBrowser.js'], - // dest: './build/roslib.js' - // } - // }, shell: { build: { command: 'rollup -c' From a6ca7537132e1d418714b17bfb476d8ace45d6af Mon Sep 17 00:00:00 2001 From: Joe Pea Date: Tue, 14 Sep 2021 23:00:35 -0700 Subject: [PATCH 04/29] make sure to call grunt with Gruntfile.cjs --- package.json | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/package.json b/package.json index aab6f160d..c876783bb 100644 --- a/package.json +++ b/package.json @@ -59,11 +59,11 @@ "scripts": { "build": "npm run grunt build", "grunt": "grunt --gruntfile Gruntfile.cjs", - "doc": "grunt doc", - "test": "grunt test", - "test-examples": "grunt test-examples", - "test-workersocket": "grunt test-workersocket", - "test-tcp": "grunt test-tcp", + "doc": "npm run grunt doc", + "test": "npm run grunt test", + "test-examples": "npm run grunt test-examples", + "test-workersocket": "npm run grunt test-workersocket", + "test-tcp": "npm run grunt test-tcp", "publish": "npm run build && npm run test" }, "repository": { From 17d73e52826c6a9b8cbae2fa609785e1cef03efc Mon Sep 17 00:00:00 2001 From: Joe Pea Date: Thu, 16 Sep 2021 02:50:36 -0700 Subject: [PATCH 05/29] switch to eslint, get lint and build passing (output not yet tested) --- .eslintrc | 41 + .jshintrc | 27 - Gruntfile.cjs | 33 +- package-lock.json | 3268 ++++++++++++++++++++++++++++++---- package.json | 18 +- rollup.config.js | 10 +- src/RosLibNode.js | 1 - src/core/Ros.js | 9 +- src/core/Service.js | 2 +- src/core/SocketAdapter.js | 2 + src/core/Topic.js | 2 +- src/core/index.js | 22 +- src/node/TopicStream.js | 2 +- src/urdf/UrdfMaterial.js | 3 +- src/urdf/UrdfTypes.js | 8 +- src/util/decompressPng.js | 3 +- src/util/shim/.jshintrc | 24 - src/util/shim/xmldom.js | 6 +- src/util/workerSocket.js | 2 +- src/util/workerSocketImpl.js | 4 +- test/math-examples.test.js | 2 +- test/require-shim.js | 6 +- test/urdf.test.js | 2 +- 23 files changed, 3017 insertions(+), 480 deletions(-) create mode 100644 .eslintrc delete mode 100644 .jshintrc delete mode 100644 src/util/shim/.jshintrc diff --git a/.eslintrc b/.eslintrc new file mode 100644 index 000000000..cc6594b74 --- /dev/null +++ b/.eslintrc @@ -0,0 +1,41 @@ +{ + "env": { + "browser": true, + "es2021": true, + "mocha": true + }, + "globals": { + // TODO: These globals are namely for test files. We don't want to have these listed as globals for source files like currently. + "require": true, + "process": true, + "module": true, + "ROSLIB": true, + "cborTypedArrayTagger": true, + "CBOR": true, + "EventEmitter2": true + }, + "parser": "@babel/eslint-parser", + "parserOptions": { + "sourceType": "module", + "requireConfigFile": false + }, + "rules": { + "semi": ["warn", "always"], + "curly": "error", + "eqeqeq": "error", + "wrap-iife": ["error", "any"], + "no-use-before-define": "off", + "new-cap": "error", + "no-caller": "error", + "dot-notation": "off", + "no-undef": "error", + "no-cond-assign": "off", + "no-eq-null": "off", + "no-proto": "off", + "no-console": "off", + "no-unused-vars": "off", + "strict": "off", + "quotes": ["error", "single"], + "linebreak-style": "error" + } +} diff --git a/.jshintrc b/.jshintrc deleted file mode 100644 index 596f0c1d2..000000000 --- a/.jshintrc +++ /dev/null @@ -1,27 +0,0 @@ -{ - "globals": { - "global": true, - "Blob": true, - "FileReader": true, - "bson": true, - "io": true - }, - "curly": true, - "eqeqeq": true, - "immed": true, - "latedef": false, - "newcap": true, - "noarg": true, - "sub": true, - "undef": true, - "boss": false, - "eqnull": false, - "node": true, - "devel": true, - "strict": false, - "trailing": true, - "quotmark": "single", - "proto": true, - "laxbreak": true -} - diff --git a/Gruntfile.cjs b/Gruntfile.cjs index f571eef8d..28031c2d6 100644 --- a/Gruntfile.cjs +++ b/Gruntfile.cjs @@ -1,3 +1,5 @@ +/* global module, require, process */ + 'use strict'; module.exports = function(grunt) { @@ -13,16 +15,13 @@ module.exports = function(grunt) { shell: { build: { command: 'rollup -c' - } - }, - jshint: { - options: { - jshintrc: true }, - files: [ - './Gruntfile.js', - './src/**/*.js' - ] + lint: { + command: 'eslint Gruntfile.cjs ./src/*.js ./src/**/*.js ./test/*.js' + }, + 'lint-fix': { + command: 'eslint --fix Gruntfile.cjs ./src/*.js ./src/**/*.js ./test/*.js' + } }, karma: { options: { @@ -71,14 +70,14 @@ module.exports = function(grunt) { files: [ './src/**/*.js' ], - tasks: ['browserify'] + tasks: ['shell:build'] }, build_and_watch: { options: { interrupt: true }, files: [ - 'Gruntfile.js', + 'Gruntfile.cjs', '.jshintrc', './src/**/*.js' ], @@ -104,13 +103,17 @@ module.exports = function(grunt) { } }); - grunt.registerTask('dev', ['browserify', 'watch']); - grunt.registerTask('test', ['jshint', 'mochaTest:test', 'karma:test']); + // The above load-grunt-tasks does not automatically detect gruntify-eslint, so load it manually here. + // grunt.loadNpmTasks('gruntify-eslint'); + + grunt.registerTask('dev', ['shell:build', 'watch']); + grunt.registerTask('test', ['lint', 'mochaTest:test', 'karma:test']); grunt.registerTask('test-examples', ['mochaTest:examples', 'karma:examples']); grunt.registerTask('test-tcp', ['mochaTest:tcp']); grunt.registerTask('test-workersocket', ['karma:workersocket']); -// grunt.registerTask('build', ['browserify', 'uglify']); - grunt.registerTask('build', ['shell']); + grunt.registerTask('build', ['lint', 'shell:build']); grunt.registerTask('build_and_watch', ['watch']); grunt.registerTask('doc', ['clean', 'jsdoc']); + grunt.registerTask('lint', ['shell:lint']); + grunt.registerTask('lint-fix', ['shell:lint-fix',]); }; diff --git a/package-lock.json b/package-lock.json index afbbe3dda..12552a68d 100644 --- a/package-lock.json +++ b/package-lock.json @@ -19,13 +19,15 @@ "xmldom": "^0.6.0" }, "devDependencies": { + "@babel/eslint-parser": "^7.15.4", "@rollup/plugin-commonjs": "^20.0.0", + "@rollup/plugin-json": "^4.1.0", "@rollup/plugin-node-resolve": "^13.0.4", "chai": "*", + "eslint": "^8.0.0-beta.2", "grunt": "^1.0.0", "grunt-cli": "^1.2.0", "grunt-contrib-clean": "^2.0.0", - "grunt-contrib-jshint": "^3.0.0", "grunt-contrib-uglify": "^5.0.0", "grunt-contrib-watch": "^1.0.0", "grunt-jsdoc": "^2.1.0", @@ -59,6 +61,304 @@ "node": ">=6.9.0" } }, + "node_modules/@babel/compat-data": { + "version": "7.15.0", + 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"resolved": "https://registry.npmjs.org/source-map-support/-/source-map-support-0.5.20.tgz", @@ -10214,6 +12649,79 @@ "has-flag": "^4.0.0" } }, + "table": { + "version": "6.7.1", + "resolved": "https://registry.npmjs.org/table/-/table-6.7.1.tgz", + "integrity": "sha512-ZGum47Yi6KOOFDE8m223td53ath2enHcYLgOCjGr5ngu8bdIARQk6mN/wRMv4yMRcHnCSnHbCEha4sobQx5yWg==", + "dev": true, + "peer": true, + "requires": { + "ajv": "^8.0.1", + "lodash.clonedeep": "^4.5.0", + "lodash.truncate": "^4.4.2", + "slice-ansi": "^4.0.0", + "string-width": "^4.2.0", + "strip-ansi": "^6.0.0" + }, + "dependencies": { + "ajv": { + "version": "8.6.3", + "resolved": "https://registry.npmjs.org/ajv/-/ajv-8.6.3.tgz", + "integrity": "sha512-SMJOdDP6LqTkD0Uq8qLi+gMwSt0imXLSV080qFVwJCpH9U6Mb+SUGHAXM0KNbcBPguytWyvFxcHgMLe2D2XSpw==", + "dev": true, + "peer": true, + "requires": { + "fast-deep-equal": "^3.1.1", + "json-schema-traverse": "^1.0.0", + "require-from-string": "^2.0.2", + "uri-js": "^4.2.2" + } + }, + "ansi-regex": 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"sha1-WuaBd/GS1EViadEIr6k/+HQ/T2Q=", "dev": true }, + "type-check": { + "version": "0.4.0", + "resolved": "https://registry.npmjs.org/type-check/-/type-check-0.4.0.tgz", + "integrity": "sha512-XleUoc9uwGXqjWwXaUTZAmzMcFZ5858QA2vvx1Ur5xIcixXIP+8LnFDgRplU30us6teqdlskFfu+ae4K79Ooew==", + "dev": true, + "requires": { + "prelude-ls": "^1.2.1" + } + }, "type-detect": { "version": "4.0.8", "dev": true @@ -10491,6 +13015,12 @@ "integrity": "sha512-HjSDRw6gZE5JMggctHBcjVak08+KEVhSIiDzFnT9S9aegmp85S/bReBVTb4QTFaRNptJ9kuYaNhnbNEOkbKb/A==", "dev": true }, + "v8-compile-cache": { + "version": "2.3.0", + "resolved": "https://registry.npmjs.org/v8-compile-cache/-/v8-compile-cache-2.3.0.tgz", + "integrity": "sha512-l8lCEmLcLYZh4nbunNZvQCJc5pv7+RCwa8q/LdUx8u7lsWvPDKmpodJAJNwkAhJC//dFY48KuIEmjtd4RViDrA==", + "dev": true + }, "v8flags": { "version": "3.2.0", "dev": true, @@ -10598,6 +13128,12 @@ } } }, + "word-wrap": { + "version": "1.2.3", + "resolved": "https://registry.npmjs.org/word-wrap/-/word-wrap-1.2.3.tgz", + "integrity": "sha512-Hz/mrNwitNRh/HUAtM/VT/5VH+ygD6DV7mYKZAtHOrbs8U7lvPS6xf7EJKMF0uW1KJCl0H701g3ZGus+muE5vQ==", + "dev": true + }, "workerpool": { "version": "6.1.5", "resolved": "https://registry.npmjs.org/workerpool/-/workerpool-6.1.5.tgz", diff --git a/package.json b/package.json index c876783bb..0a76a3758 100644 --- a/package.json +++ b/package.json @@ -15,13 +15,15 @@ "./src/util/decompressPng.js": "./src/util/shim/decompressPng.js" }, "devDependencies": { + "@babel/eslint-parser": "^7.15.4", "@rollup/plugin-commonjs": "^20.0.0", + "@rollup/plugin-json": "^4.1.0", "@rollup/plugin-node-resolve": "^13.0.4", "chai": "*", + "eslint": "^8.0.0-beta.2", "grunt": "^1.0.0", "grunt-cli": "^1.2.0", "grunt-contrib-clean": "^2.0.0", - "grunt-contrib-jshint": "^3.0.0", "grunt-contrib-uglify": "^5.0.0", "grunt-contrib-watch": "^1.0.0", "grunt-jsdoc": "^2.1.0", @@ -57,13 +59,15 @@ "node": ">=0.10" }, "scripts": { - "build": "npm run grunt build", + "build": "npm run grunt -- build", "grunt": "grunt --gruntfile Gruntfile.cjs", - "doc": "npm run grunt doc", - "test": "npm run grunt test", - "test-examples": "npm run grunt test-examples", - "test-workersocket": "npm run grunt test-workersocket", - "test-tcp": "npm run grunt test-tcp", + "doc": "npm run grunt -- doc", + "test": "npm run grunt -- test", + "test-examples": "npm run grunt -- test-examples", + "test-workersocket": "npm run grunt -- test-workersocket", + "test-tcp": "npm run grunt -- test-tcp", + "lint": "npm run grunt -- lint", + "lint-fix": "npm run grunt -- lint-fix", "publish": "npm run build && npm run test" }, "repository": { diff --git a/rollup.config.js b/rollup.config.js index 1dd88545c..0862996af 100644 --- a/rollup.config.js +++ b/rollup.config.js @@ -6,6 +6,8 @@ const filesize = require('rollup-plugin-filesize'); const {nodeResolve} = require('@rollup/plugin-node-resolve'); // plugin that minifies and obfuscates code const {terser} = require('rollup-plugin-terser'); +// plugin for importing JSON files (needed for socket.io source code that imports package.json) +const json = require('@rollup/plugin-json'); const input = 'src/RosLib.js'; const name = 'ROSLIB'; @@ -26,7 +28,7 @@ export default [ file: outputFiles.commonjsModule, format: 'cjs', }, - plugins: [nodeResolve({browser: true}), commonjs(), filesize()], + plugins: [nodeResolve({browser: true}), json(), commonjs(), filesize()], }, // build module as ES5 in ES module format for modern tooling { @@ -36,7 +38,7 @@ export default [ file: outputFiles.esModule, format: 'es', }, - plugins: [nodeResolve({browser: true}), commonjs(), filesize()], + plugins: [nodeResolve({browser: true}), json(), commonjs(), filesize()], }, // build browser as IIFE module for script tag inclusion, unminified // Usage: @@ -48,7 +50,7 @@ export default [ file: outputFiles.browserGlobal, format: 'umd', }, - plugins: [nodeResolve({browser: true}), commonjs(), filesize()], + plugins: [nodeResolve({browser: true}), json(), commonjs(), filesize()], }, // build browser as IIFE module for script tag inclusion, minified // Usage: @@ -60,6 +62,6 @@ export default [ file: outputFiles.browserGlobalMinified, format: 'umd', }, - plugins: [nodeResolve({browser: true}), commonjs(), filesize(), terser()], + plugins: [nodeResolve({browser: true}), json(), commonjs(), filesize(), terser()], }, ]; diff --git a/src/RosLibNode.js b/src/RosLibNode.js index 3adf6389c..3e34d4f93 100644 --- a/src/RosLibNode.js +++ b/src/RosLibNode.js @@ -1,7 +1,6 @@ /** * @fileOverview ROSLIB Node exclusive extensions */ -var assign = require('object-assign'); export * from './RosLib.js'; diff --git a/src/core/Ros.js b/src/core/Ros.js index c65a4304d..9809eb7d7 100644 --- a/src/core/Ros.js +++ b/src/core/Ros.js @@ -3,6 +3,7 @@ * @author Brandon Alexander - baalexander@gmail.com */ +import {Socket as io} from 'socket.io'; // imported correctly????? import WebSocket from 'ws'; // import {WorkerSocket} from '../util/workerSocket.js'; // TODO import {SocketAdapter} from './SocketAdapter.js'; @@ -67,22 +68,22 @@ Ros.prototype.__proto__ = EventEmitter2.prototype; */ Ros.prototype.connect = function(url) { if (this.transportLibrary === 'socket.io') { - this.socket = assign(io(url, {'force new connection': true}), SocketAdapter(this)); + this.socket = assign(io(url, {'force new connection': true}), new SocketAdapter(this)); this.socket.on('connect', this.socket.onopen); this.socket.on('data', this.socket.onmessage); this.socket.on('close', this.socket.onclose); this.socket.on('error', this.socket.onerror); } else if (this.transportLibrary.constructor.name === 'RTCPeerConnection') { - this.socket = assign(this.transportLibrary.createDataChannel(url, this.transportOptions), SocketAdapter(this)); + this.socket = assign(this.transportLibrary.createDataChannel(url, this.transportOptions), new SocketAdapter(this)); } else if (this.transportLibrary === 'websocket') { if (!this.socket || this.socket.readyState === WebSocket.CLOSED) { var sock = new WebSocket(url); sock.binaryType = 'arraybuffer'; - this.socket = assign(sock, SocketAdapter(this)); + this.socket = assign(sock, new SocketAdapter(this)); } } else if (this.transportLibrary === 'workersocket') { // this.socket = assign(new WorkerSocket(url), socketAdapter(this)); - throw new Error('WorkerSocket is TODO') + throw new Error('WorkerSocket is TODO'); } else { throw 'Unknown transportLibrary: ' + this.transportLibrary.toString(); } diff --git a/src/core/Service.js b/src/core/Service.js index a1eee4968..32621745f 100644 --- a/src/core/Service.js +++ b/src/core/Service.js @@ -6,7 +6,7 @@ import {ServiceResponse} from './ServiceResponse.js'; import eventemitter from 'eventemitter2'; -const {EventEmitter2} = eventemitter +const {EventEmitter2} = eventemitter; /** * A ROS service client. diff --git a/src/core/SocketAdapter.js b/src/core/SocketAdapter.js index f2de0bad0..bf3e319e6 100644 --- a/src/core/SocketAdapter.js +++ b/src/core/SocketAdapter.js @@ -1,3 +1,5 @@ +/* global bson */ + /** * Socket event handling utilities for handling events on either * WebSocket and TCP sockets diff --git a/src/core/Topic.js b/src/core/Topic.js index ac3424f74..9cff06505 100644 --- a/src/core/Topic.js +++ b/src/core/Topic.js @@ -7,7 +7,7 @@ import eventemitter from 'eventemitter2'; import {Message} from './Message.js'; -const {EventEmitter2} = eventemitter +const {EventEmitter2} = eventemitter; /** * Publish and/or subscribe to a topic in ROS. diff --git a/src/core/index.js b/src/core/index.js index a92058de6..568a815ad 100644 --- a/src/core/index.js +++ b/src/core/index.js @@ -1,15 +1,15 @@ -export * from './Ros.js' -export * from './Topic.js' -export * from './Message.js' -export * from './Param.js' -export * from './Service.js' -export * from './ServiceRequest.js' -export * from './ServiceResponse.js' +export * from './Ros.js'; +export * from './Topic.js'; +export * from './Message.js'; +export * from './Param.js'; +export * from './Service.js'; +export * from './ServiceRequest.js'; +export * from './ServiceResponse.js'; import {mixin} from '../mixin.js'; -import {Ros} from './Ros.js' -import {Param} from './Param.js' -import {Service} from './Service.js' -import {Topic} from './Topic.js' +import {Ros} from './Ros.js'; +import {Param} from './Param.js'; +import {Service} from './Service.js'; +import {Topic} from './Topic.js'; mixin(Ros, ['Param', 'Service', 'Topic'], {Param, Service, Topic}); diff --git a/src/node/TopicStream.js b/src/node/TopicStream.js index 5b5fd0249..4d25f19ef 100644 --- a/src/node/TopicStream.js +++ b/src/node/TopicStream.js @@ -51,4 +51,4 @@ Topic.prototype.toStream = function(options) { return stream; }; -export {Topic} \ No newline at end of file +export {Topic}; \ No newline at end of file diff --git a/src/urdf/UrdfMaterial.js b/src/urdf/UrdfMaterial.js index 6f0f99ba9..eda2da7b0 100644 --- a/src/urdf/UrdfMaterial.js +++ b/src/urdf/UrdfMaterial.js @@ -4,6 +4,7 @@ * @author Russell Toris - rctoris@wpi.edu */ +import assign from 'object-assign'; import {UrdfColor} from './UrdfColor.js'; /** @@ -39,8 +40,6 @@ UrdfMaterial.prototype.isLink = function() { return this.color === null && this.textureFilename === null; }; -var assign = require('object-assign'); - UrdfMaterial.prototype.assign = function(obj) { return assign(this, obj); }; diff --git a/src/urdf/UrdfTypes.js b/src/urdf/UrdfTypes.js index 859fa17d8..972d8283a 100644 --- a/src/urdf/UrdfTypes.js +++ b/src/urdf/UrdfTypes.js @@ -1,4 +1,4 @@ -export const URDF_SPHERE = 0 -export const URDF_BOX = 1 -export const URDF_CYLINDER = 2 -export const URDF_MESH = 3 +export const URDF_SPHERE = 0; +export const URDF_BOX = 1; +export const URDF_CYLINDER = 2; +export const URDF_MESH = 3; diff --git a/src/util/decompressPng.js b/src/util/decompressPng.js index 9c3933ec7..f515f503d 100644 --- a/src/util/decompressPng.js +++ b/src/util/decompressPng.js @@ -18,7 +18,8 @@ import pngparse from 'pngparse'; * * data - the uncompressed data */ export function decompressPng(data, callback) { - var buffer = new Buffer(data, 'base64'); + // TODO This must not be called in a browser if it uses Buffer? + var buffer = new Buffer(data, 'base64'); // eslint-disable-line no-undef pngparse.parse(buffer, function(err, data) { if(err) { diff --git a/src/util/shim/.jshintrc b/src/util/shim/.jshintrc deleted file mode 100644 index 32e65a2fc..000000000 --- a/src/util/shim/.jshintrc +++ /dev/null @@ -1,24 +0,0 @@ -{ - "globals": { - "Blob": true, - "FileReader": true - }, - "browser": true, - "curly": true, - "eqeqeq": true, - "immed": true, - "latedef": false, - "newcap": true, - "noarg": true, - "sub": true, - "undef": true, - "boss": false, - "eqnull": false, - "node": true, - "devel": true, - "strict": false, - "trailing": true, - "quotmark": "single", - "proto": true, - "laxbreak": true -} diff --git a/src/util/shim/xmldom.js b/src/util/shim/xmldom.js index d71fb000f..9604ff55a 100644 --- a/src/util/shim/xmldom.js +++ b/src/util/shim/xmldom.js @@ -1,3 +1,3 @@ -exports.DOMImplementation = window.DOMImplementation; -exports.XMLSerializer = window.XMLSerializer; -exports.DOMParser = window.DOMParser; +export const DOMImplementation = window.DOMImplementation; +export const XMLSerializer = window.XMLSerializer; +export const DOMParser = window.DOMParser; diff --git a/src/util/workerSocket.js b/src/util/workerSocket.js index 7c4b9751c..f9d6825b7 100644 --- a/src/util/workerSocket.js +++ b/src/util/workerSocket.js @@ -2,7 +2,7 @@ import work from 'webworkify'; // TODO `import` syntax is not designed for this purpose. Instead, we should // fetch the source code, and stick the string into a worker. -// import workerSocketImpl from './workerSocketImpl'; +import {workerSocketImpl} from './workerSocketImpl'; export function WorkerSocket(uri) { this.socket_ = work(workerSocketImpl/*TODO*/); diff --git a/src/util/workerSocketImpl.js b/src/util/workerSocketImpl.js index 144be4bea..931c7d4da 100644 --- a/src/util/workerSocketImpl.js +++ b/src/util/workerSocketImpl.js @@ -1,10 +1,10 @@ // import WebSocket from 'ws' // TODO -var WebSocket = WebSocket || require('ws'); +var WebSocket = WebSocket || require('ws'); // eslint-disable-line // TODO this was exported and webworkify handled the special export format. // Now, we need to fetch the source string instead and put it in a worker the // normal way. -function(self) { +export function workerSocketImpl(self) { var socket = null; function handleSocketMessage(ev) { diff --git a/test/math-examples.test.js b/test/math-examples.test.js index 2990c6ab7..3eaf10e0b 100644 --- a/test/math-examples.test.js +++ b/test/math-examples.test.js @@ -5,7 +5,7 @@ function clone(x) { var y = {}; for (var prop in x) { if (x.hasOwnProperty(prop)) { - y[prop] = typeof x[prop] === "object" ? clone(x[prop]) : x[prop]; + y[prop] = typeof x[prop] === 'object' ? clone(x[prop]) : x[prop]; } } return y; diff --git a/test/require-shim.js b/test/require-shim.js index ca34053f1..65648c4ba 100644 --- a/test/require-shim.js +++ b/test/require-shim.js @@ -8,6 +8,6 @@ window.require = function require(path) { var lastIdx = path.lastIndexOf('/'), path = lastIdx >= 0 ? path.slice(lastIdx + 1) : path; - return typeof ROSLIB[path] != 'undefined' ? ROSLIB[path] : - typeof window[path] != 'undefined' ? window[path] : ROSLIB; -} + return typeof ROSLIB[path] !== 'undefined' ? ROSLIB[path] : + typeof window[path] !== 'undefined' ? window[path] : ROSLIB; +}; diff --git a/test/urdf.test.js b/test/urdf.test.js index 5fbe23592..ed31e0942 100644 --- a/test/urdf.test.js +++ b/test/urdf.test.js @@ -68,7 +68,7 @@ var sample_urdf = function (){ ' '+ ' '+ ''; -} +}; describe('URDF', function() { From 31224afa3bff12878adb50e59d22725ba2bdd36b Mon Sep 17 00:00:00 2001 From: Joe Pea Date: Thu, 16 Sep 2021 23:35:11 -0700 Subject: [PATCH 06/29] get mocha tests passing --- Gruntfile.cjs | 33 ++++++++++++------ package-lock.json | 26 ++++++++++---- package.json | 5 +-- src/RosLibNode.js | 4 +-- src/core/Ros.js | 2 +- src/core/SocketAdapter.js | 5 ++- src/node/RosTCP.js | 4 +-- src/node/SocketIO.js | 2 +- src/urdf/UrdfModel.js | 2 +- src/util/cborTypedArrayTags.js | 2 -- src/util/decompressPng.js | 2 -- src/util/shim/WebSocket.js | 3 +- src/util/shim/decompressPng.js | 2 -- src/util/shim/socket.io.js | 8 +++++ src/util/shim/xmldom.js | 8 +++-- test/cbor.test.js | 8 +++-- test/chai.js | 1 + test/es-module-shim-config.js | 11 ++++++ .../{karma.conf.js => karma.conf.cjs} | 0 test/importmap.js | 11 ++++++ test/{karma.conf.js => karma.conf.cjs} | 34 +++++++++++++++---- test/math-examples.test.js | 6 ++-- test/quaternion.test.js | 6 ++-- test/require-shim.js | 24 ++++++------- test/ros.test.js | 11 +++--- test/transform.test.js | 6 ++-- test/urdf.test.js | 9 +++-- .../{karma.conf.js => karma.conf.cjs} | 0 28 files changed, 160 insertions(+), 75 deletions(-) create mode 100644 src/util/shim/socket.io.js create mode 100644 test/chai.js create mode 100644 test/es-module-shim-config.js rename test/examples/{karma.conf.js => karma.conf.cjs} (100%) create mode 100644 test/importmap.js rename test/{karma.conf.js => karma.conf.cjs} (54%) rename test/workersocket/{karma.conf.js => karma.conf.cjs} (100%) diff --git a/Gruntfile.cjs b/Gruntfile.cjs index 28031c2d6..2162addfc 100644 --- a/Gruntfile.cjs +++ b/Gruntfile.cjs @@ -21,21 +21,30 @@ module.exports = function(grunt) { }, 'lint-fix': { command: 'eslint --fix Gruntfile.cjs ./src/*.js ./src/**/*.js ./test/*.js' - } + }, + mochaTest: { + command: 'mocha ./test/*.test.js' + }, + mochaExamples: { + command: 'mocha ./test/examples/*.js' + }, + mochaTcp: { + command: 'mocha ./test/tcp/*.js' + }, }, karma: { options: { - singleRun: true, + singleRun: false, browsers: process.env.CI ? ['FirefoxHeadless'] : ['Firefox'] }, test: { - configFile: './test/karma.conf.js', + configFile: './test/karma.conf.cjs', }, examples: { - configFile: './test/examples/karma.conf.js', + configFile: './test/examples/karma.conf.cjs', }, workersocket: { - configFile: './test/workersocket/karma.conf.js', + configFile: './test/workersocket/karma.conf.cjs', }, }, mochaTest: { @@ -103,13 +112,15 @@ module.exports = function(grunt) { } }); - // The above load-grunt-tasks does not automatically detect gruntify-eslint, so load it manually here. - // grunt.loadNpmTasks('gruntify-eslint'); - grunt.registerTask('dev', ['shell:build', 'watch']); - grunt.registerTask('test', ['lint', 'mochaTest:test', 'karma:test']); - grunt.registerTask('test-examples', ['mochaTest:examples', 'karma:examples']); - grunt.registerTask('test-tcp', ['mochaTest:tcp']); + + // grunt.registerTask('test', ['lint', 'mochaTest:test', 'karma:test']); + // grunt.registerTask('test-examples', ['mochaTest:examples', 'karma:examples']); + // grunt.registerTask('test-tcp', ['mochaTest:tcp']); + grunt.registerTask('test', ['lint', 'shell:mochaTest', 'karma:test']); + grunt.registerTask('test-examples', ['shell:mochaExamples', 'karma:examples']); + grunt.registerTask('test-tcp', ['shell:mochaTcp']); + grunt.registerTask('test-workersocket', ['karma:workersocket']); grunt.registerTask('build', ['lint', 'shell:build']); grunt.registerTask('build_and_watch', ['watch']); diff --git a/package-lock.json b/package-lock.json index 12552a68d..85a0dd953 100644 --- a/package-lock.json +++ b/package-lock.json @@ -13,7 +13,7 @@ "eventemitter2": "^6.4.0", "object-assign": "^4.0.0", "pngparse": "^2.0.0", - "socket.io": "^4.0.0", + "socket.io": "trusktr/socket.io#bf4bd150cff3c043c1f60ddf347e1b3ef0f1339a", "webworkify": "^1.5.0", "ws": "^8.0.0", "xmldom": "^0.6.0" @@ -42,6 +42,7 @@ "mocha": "^9.0.1", "rollup": "^2.56.3", "rollup-plugin-filesize": "^9.1.1", + "rollup-plugin-shim": "^1.0.0", "rollup-plugin-terser": "^7.0.2", "time-grunt": "^2.0.0" }, @@ -6382,6 +6383,12 @@ "url": "https://github.com/sponsors/sindresorhus" } }, + "node_modules/rollup-plugin-shim": { + "version": "1.0.0", + "resolved": "https://registry.npmjs.org/rollup-plugin-shim/-/rollup-plugin-shim-1.0.0.tgz", + "integrity": "sha512-rZqFD43y4U9nSqVq3iyWBiDwmBQJY8Txi04yI9jTKD3xcl7CbFjh1qRpQshUB3sONLubDzm7vJiwB+1MEGv67w==", + "dev": true + }, "node_modules/rollup-plugin-terser": { "version": "7.0.2", "resolved": "https://registry.npmjs.org/rollup-plugin-terser/-/rollup-plugin-terser-7.0.2.tgz", @@ -6534,8 +6541,9 @@ }, "node_modules/socket.io": { "version": "4.2.0", - "resolved": "https://registry.npmjs.org/socket.io/-/socket.io-4.2.0.tgz", - "integrity": "sha512-sjlGfMmnaWvTRVxGRGWyhd9ctpg4APxWAxu85O/SxekkxHhfxmePWZbaYCkeX5QQX0z1YEnKOlNt6w82E4Nzug==", + "resolved": "git+ssh://git@github.com/trusktr/socket.io.git#bf4bd150cff3c043c1f60ddf347e1b3ef0f1339a", + "integrity": "sha512-Rd4ucPyms3GaUlVW0udGJtAe9GZKd4JjeFAkOjXofYOXzCfRTLJuewiGFXoj36M76dmr/LBf2xdPg0sepOytiA==", + "license": "MIT", "dependencies": { "@types/cookie": "^0.4.1", "@types/cors": "^2.8.12", @@ -12328,6 +12336,12 @@ } } }, + "rollup-plugin-shim": { + "version": "1.0.0", + "resolved": "https://registry.npmjs.org/rollup-plugin-shim/-/rollup-plugin-shim-1.0.0.tgz", + "integrity": "sha512-rZqFD43y4U9nSqVq3iyWBiDwmBQJY8Txi04yI9jTKD3xcl7CbFjh1qRpQshUB3sONLubDzm7vJiwB+1MEGv67w==", + "dev": true + }, "rollup-plugin-terser": { "version": "7.0.2", "resolved": "https://registry.npmjs.org/rollup-plugin-terser/-/rollup-plugin-terser-7.0.2.tgz", @@ -12436,9 +12450,9 @@ "dev": true }, "socket.io": { - "version": "4.2.0", - "resolved": "https://registry.npmjs.org/socket.io/-/socket.io-4.2.0.tgz", - "integrity": "sha512-sjlGfMmnaWvTRVxGRGWyhd9ctpg4APxWAxu85O/SxekkxHhfxmePWZbaYCkeX5QQX0z1YEnKOlNt6w82E4Nzug==", + "version": "git+ssh://git@github.com/trusktr/socket.io.git#bf4bd150cff3c043c1f60ddf347e1b3ef0f1339a", + "integrity": "sha512-Rd4ucPyms3GaUlVW0udGJtAe9GZKd4JjeFAkOjXofYOXzCfRTLJuewiGFXoj36M76dmr/LBf2xdPg0sepOytiA==", + "from": "socket.io@trusktr/socket.io#bf4bd150cff3c043c1f60ddf347e1b3ef0f1339a", "requires": { "@types/cookie": "^0.4.1", "@types/cors": "^2.8.12", diff --git a/package.json b/package.json index 0a76a3758..82a5d87fa 100644 --- a/package.json +++ b/package.json @@ -6,9 +6,10 @@ "license": "BSD-2-Clause", "type": "module", "main": "./src/RosLibNode.js", - "TODO": "browserify used these for shimming", + "// browser comment": "rollup uses this for shimming so that the browser bundle uses the global builtins", "browser": { "./src/RosLibNode.js": "./src/RosLib.js", + "socket.io": "./src/util/shim/socket.io.js", "canvas": "./src/util/shim/canvas.js", "ws": "./src/util/shim/WebSocket.js", "xmldom": "./src/util/shim/xmldom.js", @@ -46,7 +47,7 @@ "eventemitter2": "^6.4.0", "object-assign": "^4.0.0", "pngparse": "^2.0.0", - "socket.io": "^4.0.0", + "socket.io": "trusktr/socket.io#bf4bd150cff3c043c1f60ddf347e1b3ef0f1339a", "webworkify": "^1.5.0", "ws": "^8.0.0", "xmldom": "^0.6.0" diff --git a/src/RosLibNode.js b/src/RosLibNode.js index 3e34d4f93..e8f319891 100644 --- a/src/RosLibNode.js +++ b/src/RosLibNode.js @@ -5,5 +5,5 @@ export * from './RosLib.js'; // Override Ros and Topic exports from RosLib.js -export * from './node/RosTCP.js'; -export * from './node/TopicStream.js'; +export {Ros} from './node/RosTCP.js'; +export {Topic} from './node/TopicStream.js'; diff --git a/src/core/Ros.js b/src/core/Ros.js index 9809eb7d7..59d16ace0 100644 --- a/src/core/Ros.js +++ b/src/core/Ros.js @@ -3,7 +3,7 @@ * @author Brandon Alexander - baalexander@gmail.com */ -import {Socket as io} from 'socket.io'; // imported correctly????? +import io from 'socket.io'; import WebSocket from 'ws'; // import {WorkerSocket} from '../util/workerSocket.js'; // TODO import {SocketAdapter} from './SocketAdapter.js'; diff --git a/src/core/SocketAdapter.js b/src/core/SocketAdapter.js index bf3e319e6..de4e2e8ba 100644 --- a/src/core/SocketAdapter.js +++ b/src/core/SocketAdapter.js @@ -8,11 +8,10 @@ * in the context of their parent object, unless bound * @fileOverview */ -'use strict'; -import {decompressPng} from '../util/decompressPng'; +import {decompressPng} from '../util/decompressPng.js'; import CBOR from 'cbor-js'; -import {typedArrayTagger} from '../util/cborTypedArrayTags'; +import {typedArrayTagger} from '../util/cborTypedArrayTags.js'; var BSON = null; if(typeof bson !== 'undefined'){ diff --git a/src/node/RosTCP.js b/src/node/RosTCP.js index 70bdda627..9deea27a8 100644 --- a/src/node/RosTCP.js +++ b/src/node/RosTCP.js @@ -2,7 +2,7 @@ import net from 'net'; import util from 'util'; import {Ros} from '../core/Ros.js'; import {SocketIO} from './SocketIO.js'; -import {socketAdapter} from '../core/SocketAdapter.js'; +import {SocketAdapter} from '../core/SocketAdapter.js'; /** * Same as core Ros except supports TCP connections @@ -42,7 +42,7 @@ RosTCP.prototype.connect = function(url) { if (typeof url === 'string' && (url.slice(0, 5) === 'ws://' || url.slice(0, 6) === 'wss://')) { Ros.prototype.connect.call(this, url); } else { - var events = socketAdapter(this); + var events = new SocketAdapter(this); this.socket = net.connect(url) .on('data', events.onmessage) .on('close', events.onclose) diff --git a/src/node/SocketIO.js b/src/node/SocketIO.js index 18452dcf4..d06992e02 100644 --- a/src/node/SocketIO.js +++ b/src/node/SocketIO.js @@ -1,4 +1,4 @@ -import {Socket as io} from 'socket.io'; // imported correctly????? +import io from 'socket.io'; export function SocketIO(options, Ros){ this.socketio = null; diff --git a/src/urdf/UrdfModel.js b/src/urdf/UrdfModel.js index 3b78c5c98..426f6745d 100644 --- a/src/urdf/UrdfModel.js +++ b/src/urdf/UrdfModel.js @@ -7,7 +7,7 @@ import {UrdfMaterial} from './UrdfMaterial.js'; import {UrdfLink} from './UrdfLink.js'; import {UrdfJoint} from './UrdfJoint.js'; -import xmldom from 'xmldom/lib/dom.js'; +import xmldom from 'xmldom'; const {DOMParser} = xmldom; diff --git a/src/util/cborTypedArrayTags.js b/src/util/cborTypedArrayTags.js index b10ef3d6b..3853354df 100644 --- a/src/util/cborTypedArrayTags.js +++ b/src/util/cborTypedArrayTags.js @@ -1,5 +1,3 @@ -'use strict'; - var UPPER32 = Math.pow(2, 32); var warnedPrecision = false; diff --git a/src/util/decompressPng.js b/src/util/decompressPng.js index f515f503d..f937779c6 100644 --- a/src/util/decompressPng.js +++ b/src/util/decompressPng.js @@ -3,8 +3,6 @@ * @author Ramon Wijnands - rayman747@hotmail.com */ -'use strict'; - import pngparse from 'pngparse'; /** diff --git a/src/util/shim/WebSocket.js b/src/util/shim/WebSocket.js index 0fd93711a..5b82f34d0 100644 --- a/src/util/shim/WebSocket.js +++ b/src/util/shim/WebSocket.js @@ -1,2 +1 @@ -const result = typeof window !== 'undefined' ? window.WebSocket : WebSocket; -export default result; +export default WebSocket; diff --git a/src/util/shim/decompressPng.js b/src/util/shim/decompressPng.js index d717ce584..7a2493aa5 100644 --- a/src/util/shim/decompressPng.js +++ b/src/util/shim/decompressPng.js @@ -3,8 +3,6 @@ * @author Graeme Yeates - github.com/megawac */ -'use strict'; - // TODO Node support: // import {Canvas} from 'canvas'; import {Canvas} from './canvas.js'; diff --git a/src/util/shim/socket.io.js b/src/util/shim/socket.io.js new file mode 100644 index 000000000..503c1eb80 --- /dev/null +++ b/src/util/shim/socket.io.js @@ -0,0 +1,8 @@ +export default thro +export const Server = thro +export const Namespace = thro +export const Socket = thro + +function thro() { + throw new Error('transportLibrary "socket.io" is not supported in browsers. Set the `transportLibrary` option to "socket.io" only if you are use roslib in an environment like Node.js or Electron.') +} \ No newline at end of file diff --git a/src/util/shim/xmldom.js b/src/util/shim/xmldom.js index 9604ff55a..f3be7cd29 100644 --- a/src/util/shim/xmldom.js +++ b/src/util/shim/xmldom.js @@ -1,3 +1,5 @@ -export const DOMImplementation = window.DOMImplementation; -export const XMLSerializer = window.XMLSerializer; -export const DOMParser = window.DOMParser; +export default { + DOMImplementation, + XMLSerializer, + DOMParser, +}; \ No newline at end of file diff --git a/test/cbor.test.js b/test/cbor.test.js index 32b17b79d..fb109cde4 100644 --- a/test/cbor.test.js +++ b/test/cbor.test.js @@ -1,6 +1,8 @@ -var expect = require('chai').expect; -var CBOR = require('cbor-js'); -var cborTypedArrayTagger = require('../src/util/cborTypedArrayTags.js'); +import chai from 'chai'; +import CBOR from 'cbor-js'; +import {typedArrayTagger as cborTypedArrayTagger} from '../src/util/cborTypedArrayTags.js'; + +const {expect} = chai; /** Convert hex string to ArrayBuffer. */ function hexToBuffer(hex) { diff --git a/test/chai.js b/test/chai.js new file mode 100644 index 000000000..a41797fe0 --- /dev/null +++ b/test/chai.js @@ -0,0 +1 @@ +export const chai = globalThis.chai; \ No newline at end of file diff --git a/test/es-module-shim-config.js b/test/es-module-shim-config.js new file mode 100644 index 000000000..eac7b07f0 --- /dev/null +++ b/test/es-module-shim-config.js @@ -0,0 +1,11 @@ +window.esmsInitOptions = { +// shimMode: true, // default false +// polyfillEnable: ['css-modules', 'json-modules'], // default empty +// nonce: 'n0nce', // default null +// noLoadEventRetriggers: true, // default false +// skip: /^https:\/\/cdn\.com/, // defaults to `/^https?:\/\/(cdn\.skypack\.dev|jspm\.dev)\//` +// onerror: (e) => { /*...*/ }, // default noop +// resolve: (id, parentUrl, resolve) => resolve(id, parentUrl), // default is spec resolution +// fetch: (url) => fetch(url), // default is native +// revokeBlobURLs: true, // default false +}; \ No newline at end of file diff --git a/test/examples/karma.conf.js b/test/examples/karma.conf.cjs similarity index 100% rename from test/examples/karma.conf.js rename to test/examples/karma.conf.cjs diff --git a/test/importmap.js b/test/importmap.js new file mode 100644 index 000000000..c94983ea2 --- /dev/null +++ b/test/importmap.js @@ -0,0 +1,11 @@ +// Map certain imports to our shim modules. 'base/` is the folder specified by basePath in Karma config. +document.write(/*html*/` + +`); \ No newline at end of file diff --git a/test/karma.conf.js b/test/karma.conf.cjs similarity index 54% rename from test/karma.conf.js rename to test/karma.conf.cjs index d93d636d2..936d9d6e7 100644 --- a/test/karma.conf.js +++ b/test/karma.conf.cjs @@ -4,19 +4,39 @@ module.exports = function(config) { config.set({ // Base path, that will be used to resolve files and exclude - basePath: '', + basePath: '../', // Testing frameworks frameworks: ['mocha', 'chai'], // List of files / patterns to load in the browser files: [ - '../node_modules/eventemitter2/lib/eventemitter2.js', - '../node_modules/cbor-js/cbor.js', - '../src/util/cborTypedArrayTags.js', - '../build/roslib.js', - './require-shim.js', - '*.test.js' + // Make some file available to be fetched/imported, but not included in the HTML. + {pattern: 'test/chai.js', serve: true, included: false}, + {pattern: 'build/roslib.esm.js', serve: true, included: false}, + + // Load Chai as a global, then the ./test/chai.js shim module exports the global for test code in the browser. + // 'node_modules/chai/chai.js', + + // Polyfill for -`); \ No newline at end of file diff --git a/test/karma.conf.cjs b/test/karma.conf.cjs index 936d9d6e7..d5be14588 100644 --- a/test/karma.conf.cjs +++ b/test/karma.conf.cjs @@ -12,31 +12,19 @@ module.exports = function(config) { // List of files / patterns to load in the browser files: [ // Make some file available to be fetched/imported, but not included in the HTML. - {pattern: 'test/chai.js', serve: true, included: false}, {pattern: 'build/roslib.esm.js', serve: true, included: false}, - - // Load Chai as a global, then the ./test/chai.js shim module exports the global for test code in the browser. - // 'node_modules/chai/chai.js', - - // Polyfill for +`); \ No newline at end of file From 1a7b720182a7890b73323c6ac22e5884b39b9529 Mon Sep 17 00:00:00 2001 From: Joe Pea Date: Fri, 17 Sep 2021 15:42:48 -0700 Subject: [PATCH 09/29] remove comments from Gruntfile --- Gruntfile.cjs | 5 ----- 1 file changed, 5 deletions(-) diff --git a/Gruntfile.cjs b/Gruntfile.cjs index 091a43661..1978e9164 100644 --- a/Gruntfile.cjs +++ b/Gruntfile.cjs @@ -113,14 +113,9 @@ module.exports = function(grunt) { }); grunt.registerTask('dev', ['shell:build', 'watch']); - - // grunt.registerTask('test', ['lint', 'mochaTest:test', 'karma:test']); - // grunt.registerTask('test-examples', ['mochaTest:examples', 'karma:examples']); - // grunt.registerTask('test-tcp', ['mochaTest:tcp']); grunt.registerTask('test', ['lint', 'shell:mochaTest', 'karma:test']); grunt.registerTask('test-examples', ['shell:mochaExamples', 'karma:examples']); grunt.registerTask('test-tcp', ['shell:mochaTcp']); - grunt.registerTask('test-workersocket', ['karma:workersocket']); grunt.registerTask('build', ['lint', 'shell:build']); grunt.registerTask('build_and_watch', ['watch']); From 7db25913d4a37c11cee35b4af203e96dbbf6b35b Mon Sep 17 00:00:00 2001 From: Joe Pea Date: Fri, 17 Sep 2021 16:59:19 -0700 Subject: [PATCH 10/29] run `npm test` before other tests --- test/build.bash | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/test/build.bash b/test/build.bash index 76389f660..91c35b5d2 100644 --- a/test/build.bash +++ b/test/build.bash @@ -18,6 +18,9 @@ set -e pushd "$(dirname "$0")" > /dev/null +echo -e "\e[1m\e[35mnpm test\e[0m" +npm test + bash examples/setup_examples.bash echo -e "\e[1m\e[35mrostopic list\e[0m" @@ -26,8 +29,6 @@ echo -e "\e[1m\e[35mnpm install\e[0m" npm install echo -e "\e[1m\e[35mnpm run build\e[0m" npm run build -echo -e "\e[1m\e[35mnpm test\e[0m" -npm test echo -e "\e[1m\e[35mnpm run test-examples\e[0m" npm run test-examples echo -e "\e[1m\e[35mnpm run test-workersocket\e[0m" From 180e1e70e30d28a8601f086bad0f7635b7190cbd Mon Sep 17 00:00:00 2001 From: Joe Pea Date: Mon, 20 Sep 2021 17:13:15 -0700 Subject: [PATCH 11/29] install before testing --- test/build.bash | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/test/build.bash b/test/build.bash index 91c35b5d2..f7b4014fd 100644 --- a/test/build.bash +++ b/test/build.bash @@ -18,6 +18,9 @@ set -e pushd "$(dirname "$0")" > /dev/null +echo -e "\e[1m\e[35mnpm install\e[0m" +npm install + echo -e "\e[1m\e[35mnpm test\e[0m" npm test @@ -25,8 +28,6 @@ bash examples/setup_examples.bash echo -e "\e[1m\e[35mrostopic list\e[0m" rostopic list -echo -e "\e[1m\e[35mnpm install\e[0m" -npm install echo -e "\e[1m\e[35mnpm run build\e[0m" npm run build echo -e "\e[1m\e[35mnpm run test-examples\e[0m" From 675ca49569557fb635c18ed0f06f6f16b78b59d3 Mon Sep 17 00:00:00 2001 From: Joe Pea Date: Mon, 20 Sep 2021 17:57:30 -0700 Subject: [PATCH 12/29] delete package-lock.json to fix the fsevents error on CI. Plus package-lock.json is not useful for libraries (it does not get published with libraries), and having it reduces chances of us catching (during development or on CI) breaks in our library due to accidental in-range breaking changes in dependencies --- .gitignore | 4 +- package-lock.json | 13280 -------------------------------------------- 2 files changed, 3 insertions(+), 13281 deletions(-) delete mode 100644 package-lock.json diff --git a/.gitignore b/.gitignore index 051296076..64ea4b219 100644 --- a/.gitignore +++ b/.gitignore @@ -4,4 +4,6 @@ doc node_modules *.out *.log -*.tar.gz \ No newline at end of file +*.tar.gz +*lock.json +*.lock \ No newline at end of file diff --git a/package-lock.json b/package-lock.json deleted file mode 100644 index 926067e5b..000000000 --- a/package-lock.json +++ /dev/null @@ -1,13280 +0,0 @@ -{ - "name": "roslib", - "version": "1.1.0", - "lockfileVersion": 2, - "requires": true, - "packages": { - "": { - "name": "roslib", - "version": "1.1.0", - "license": "BSD-2-Clause", - 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"flat": "^5.0.2", - "is-plain-obj": "^2.1.0" - } - }, - "yocto-queue": { - "version": "0.1.0", - "dev": true - } - } -} From d3799a5291f9b70d46675d6013e3fb3ee67270a1 Mon Sep 17 00:00:00 2001 From: Joe Pea Date: Mon, 20 Sep 2021 18:01:06 -0700 Subject: [PATCH 13/29] initial conversion of test/examples to ESM --- test/examples/check-topics.example.js | 6 ++++-- test/examples/fibonacci.example.js | 6 ++++-- test/examples/karma.conf.cjs | 15 ++++++++++----- test/examples/params.examples.js | 6 ++++-- test/examples/pubsub.example.js | 6 ++++-- test/examples/tf.example.js | 6 ++++-- test/examples/tf_service.example.js | 6 ++++-- test/examples/topic-listener.example.js | 12 ++++++++---- test/util/shim/stream.js | 3 +++ test/util/write-importmap.js | 1 + 10 files changed, 46 insertions(+), 21 deletions(-) create mode 100644 test/util/shim/stream.js diff --git a/test/examples/check-topics.example.js b/test/examples/check-topics.example.js index 6474b18be..8dd5ecec1 100644 --- a/test/examples/check-topics.example.js +++ b/test/examples/check-topics.example.js @@ -1,5 +1,7 @@ -var expect = require('chai').expect; -var ROSLIB = require('../..'); +import chai from 'chai'; +import * as ROSLIB from '../../src/RosLibNode.js'; + +const {expect} = chai; var expectedTopics = [ // '/turtle1/cmd_vel', '/turtle1/color_sensor', '/turtle1/pose', diff --git a/test/examples/fibonacci.example.js b/test/examples/fibonacci.example.js index 16c1bce52..51f045452 100644 --- a/test/examples/fibonacci.example.js +++ b/test/examples/fibonacci.example.js @@ -1,5 +1,7 @@ -var expect = require('chai').expect; -var ROSLIB = require('../..'); +import chai from 'chai'; +import * as ROSLIB from '../../src/RosLibNode.js'; + +const {expect} = chai; describe('Fibonacci Example', function() { it('Fibonacci', function(done) { diff --git a/test/examples/karma.conf.cjs b/test/examples/karma.conf.cjs index 4451877a1..4530e19f4 100644 --- a/test/examples/karma.conf.cjs +++ b/test/examples/karma.conf.cjs @@ -2,17 +2,22 @@ module.exports = function(config) { config.set({ // Base path, that will be used to resolve files and exclude - basePath: '', + basePath: '../../', // Testing frameworks frameworks: ['mocha', 'chai'], // List of files / patterns to load in the browser files: [ - "../../node_modules/eventemitter2/lib/eventemitter2.js", - "../../build/roslib.js", - "../require-shim.js", - "*.js" + // Make some file available to be fetched/imported, but not included in the HTML. + {pattern: 'build/roslib.esm.js', serve: true, included: false}, + {pattern: 'test/util/shim/chai.js', serve: true, included: false}, + {pattern: 'test/util/shim/stream.js', serve: true, included: false}, + + // This file maps some import specifiers to our module shims. + 'test/util/write-importmap.js', + + {pattern: 'test/examples/*.example.js', type: 'module'}, ], // test results reporter to use diff --git a/test/examples/params.examples.js b/test/examples/params.examples.js index f0c80c214..aa8664927 100644 --- a/test/examples/params.examples.js +++ b/test/examples/params.examples.js @@ -1,5 +1,7 @@ -var expect = require('chai').expect; -var ROSLIB = require('../..'); +import chai from 'chai'; +import * as ROSLIB from '../../src/RosLibNode.js'; + +const {expect} = chai; describe('Param setting', function() { var ros = new ROSLIB.Ros({ diff --git a/test/examples/pubsub.example.js b/test/examples/pubsub.example.js index addd632ba..7e6cbba76 100644 --- a/test/examples/pubsub.example.js +++ b/test/examples/pubsub.example.js @@ -1,5 +1,7 @@ -var expect = require('chai').expect; -var ROSLIB = require('../..'); +import chai from 'chai'; +import * as ROSLIB from '../../src/RosLibNode.js'; + +const {expect} = chai; describe('Topics Example', function() { this.timeout(1000); diff --git a/test/examples/tf.example.js b/test/examples/tf.example.js index 31a32ef17..7c10750e0 100644 --- a/test/examples/tf.example.js +++ b/test/examples/tf.example.js @@ -1,5 +1,7 @@ -var expect = require('chai').expect; -var ROSLIB = require('../..'); +import chai from 'chai'; +import * as ROSLIB from '../../src/RosLibNode.js'; + +const {expect} = chai; describe('TF2 Republisher Example', function() { it('tf republisher', function(done) { diff --git a/test/examples/tf_service.example.js b/test/examples/tf_service.example.js index e5a289628..e880c1dd2 100644 --- a/test/examples/tf_service.example.js +++ b/test/examples/tf_service.example.js @@ -1,5 +1,7 @@ -var expect = require('chai').expect; -var ROSLIB = require('../..'); +import chai from 'chai'; +import * as ROSLIB from '../../src/RosLibNode.js'; + +const {expect} = chai; describe('TF2 Republisher Service Example', function() { it('tf republisher', function(done) { diff --git a/test/examples/topic-listener.example.js b/test/examples/topic-listener.example.js index 733e417f1..054e183dc 100644 --- a/test/examples/topic-listener.example.js +++ b/test/examples/topic-listener.example.js @@ -1,5 +1,9 @@ -var expect = require('chai').expect; -var ROSLIB = require('../..'); +import chai from 'chai'; +import Stream from 'stream'; +import * as ROSLIB from '../../src/RosLibNode.js'; + +const TransformStream = Stream.Transform; +const {expect} = chai; var ros = new ROSLIB.Ros({ url: 'ws://localhost:9090' @@ -55,8 +59,8 @@ describe('Topics Example', function() { }); }); +// Only in Node.js, not browsers (f.e. during Mocha tests, but not during Karma tests) if (ROSLIB.Topic.prototype.toStream) { - var TransformStream = require('stream').Transform; describe('Topic Streams are readable and writable', function() { this.timeout(1000); @@ -90,7 +94,7 @@ if (ROSLIB.Topic.prototype.toStream) { var stream = createAndStreamTopic('/echo/test-stream').toStream(); var expected = messages.slice(); - expect(stream).to.be.instanceof(require('stream')); + expect(stream).to.be.instanceof(Stream); stream.on('data', function(message) { expect(message).to.be.eql(expected.shift()); }); diff --git a/test/util/shim/stream.js b/test/util/shim/stream.js new file mode 100644 index 000000000..32d36af5c --- /dev/null +++ b/test/util/shim/stream.js @@ -0,0 +1,3 @@ +// This is empty because `stream` is not used when in a browser (and this file +// is a shim for when in a browser). +export default {} \ No newline at end of file diff --git a/test/util/write-importmap.js b/test/util/write-importmap.js index abc2e3e34..83a6606e1 100644 --- a/test/util/write-importmap.js +++ b/test/util/write-importmap.js @@ -4,6 +4,7 @@ document.write(/*html*/` { "imports": { "chai": "/base/test/util/shim/chai.js", + "stream": "/base/test/util/shim/stream.js", "xmldom": "/base/src/util/shim/xmldom.js", "cbor-js": "/base/src/util/shim/cbor.js", "/base/src/RosLibNode.js": "/base/build/roslib.esm.js" From 54c63168be0592b333aca8e84fc4c9d797bc84ad Mon Sep 17 00:00:00 2001 From: Joe Pea Date: Mon, 27 Sep 2021 12:32:10 -0700 Subject: [PATCH 14/29] add @babel/core that CI says was missing --- package.json | 1 + 1 file changed, 1 insertion(+) diff --git a/package.json b/package.json index aeac8b8e3..c1205c93a 100644 --- a/package.json +++ b/package.json @@ -16,6 +16,7 @@ "./src/util/decompressPng.js": "./src/util/shim/decompressPng.js" }, "devDependencies": { + "@babel/core": "^7.15.5", "@babel/eslint-parser": "^7.15.4", "@rollup/plugin-commonjs": "^20.0.0", "@rollup/plugin-json": "^4.1.0", From 17f9e7c785620d700e366a78cbc40ee9b6dc191a Mon Sep 17 00:00:00 2001 From: Joe Pea Date: Mon, 27 Sep 2021 12:56:06 -0700 Subject: [PATCH 15/29] update npm version in CI --- test/build.bash | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/test/build.bash b/test/build.bash index f7b4014fd..41428cb65 100644 --- a/test/build.bash +++ b/test/build.bash @@ -18,6 +18,14 @@ set -e pushd "$(dirname "$0")" > /dev/null +echo -e "\e[1m\e[35mUPDATE NPM ------------------------------\e[0m" +echo old version: +npm -v +npm i -g npm +echo new version: +npm -v +echo -e "\e[1m\e[35m-----------------------------------------\e[0m" + echo -e "\e[1m\e[35mnpm install\e[0m" npm install From 793c9405302e444d86e2bdb47c73b8c1ebbc1400 Mon Sep 17 00:00:00 2001 From: Joe Pea Date: Mon, 27 Sep 2021 13:10:03 -0700 Subject: [PATCH 16/29] delete package-lock.json again (restored on accident from last merge) --- package-lock.json | 13205 -------------------------------------------- 1 file changed, 13205 deletions(-) delete mode 100644 package-lock.json diff --git a/package-lock.json b/package-lock.json deleted file mode 100644 index 3e9c29cac..000000000 --- a/package-lock.json +++ /dev/null @@ -1,13205 +0,0 @@ -{ - 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}, - "yargs": { - "version": "16.2.0", - "dev": true, - "requires": { - "cliui": "^7.0.2", - "escalade": "^3.1.1", - "get-caller-file": "^2.0.5", - "require-directory": "^2.1.1", - "string-width": "^4.2.0", - "y18n": "^5.0.5", - "yargs-parser": "^20.2.2" - }, - "dependencies": { - "ansi-regex": { - "version": "5.0.0", - "dev": true - }, - "is-fullwidth-code-point": { - "version": "3.0.0", - "dev": true - }, - "string-width": { - "version": "4.2.2", - "dev": true, - "requires": { - "emoji-regex": "^8.0.0", - "is-fullwidth-code-point": "^3.0.0", - "strip-ansi": "^6.0.0" - } - }, - "strip-ansi": { - "version": "6.0.0", - "dev": true, - "requires": { - "ansi-regex": "^5.0.0" - } - } - } - }, - "yargs-parser": { - "version": "20.2.4", - "dev": true - }, - "yargs-unparser": { - "version": "2.0.0", - "dev": true, - "requires": { - "camelcase": "^6.0.0", - "decamelize": "^4.0.0", - "flat": "^5.0.2", - "is-plain-obj": "^2.1.0" - } - }, - "yocto-queue": { - "version": "0.1.0", - "dev": true - } - } -} From bdc7f68adaa2d8f18950e39e0bf78bad42284a0a Mon Sep 17 00:00:00 2001 From: Joe Pea Date: Mon, 27 Sep 2021 13:22:42 -0700 Subject: [PATCH 17/29] install dependencies with --legacy-peer-deps, for now --- test/build.bash | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/test/build.bash b/test/build.bash index 41428cb65..6333eab10 100644 --- a/test/build.bash +++ b/test/build.bash @@ -27,7 +27,8 @@ npm -v echo -e "\e[1m\e[35m-----------------------------------------\e[0m" echo -e "\e[1m\e[35mnpm install\e[0m" -npm install +# TODO remove this --legacy-peer-deps flag @babel/eslint-parser is updated to officially support eslint >=8 +npm install --legacy-peer-deps echo -e "\e[1m\e[35mnpm test\e[0m" npm test From 30fd4099d9886226b48e5e8a93fe9b526aaa51d8 Mon Sep 17 00:00:00 2001 From: Joe Pea Date: Mon, 27 Sep 2021 13:23:52 -0700 Subject: [PATCH 18/29] update workersocket test code to ESM --- test/workersocket/karma.conf.cjs | 5 +++-- test/workersocket/pubsub.example.js | 6 ++++-- 2 files changed, 7 insertions(+), 4 deletions(-) diff --git a/test/workersocket/karma.conf.cjs b/test/workersocket/karma.conf.cjs index 4451877a1..839ad5776 100644 --- a/test/workersocket/karma.conf.cjs +++ b/test/workersocket/karma.conf.cjs @@ -2,7 +2,7 @@ module.exports = function(config) { config.set({ // Base path, that will be used to resolve files and exclude - basePath: '', + basePath: '../../', // Testing frameworks frameworks: ['mocha', 'chai'], @@ -12,7 +12,8 @@ module.exports = function(config) { "../../node_modules/eventemitter2/lib/eventemitter2.js", "../../build/roslib.js", "../require-shim.js", - "*.js" + + {pattern: 'test/workersocket/*.example.js', type: 'module'}, ], // test results reporter to use diff --git a/test/workersocket/pubsub.example.js b/test/workersocket/pubsub.example.js index bf6aa76b2..4e165039b 100644 --- a/test/workersocket/pubsub.example.js +++ b/test/workersocket/pubsub.example.js @@ -1,5 +1,7 @@ -var expect = require('chai').expect; -var ROSLIB = require('../..'); +import chai from 'chai'; +import * as ROSLIB from '../../src/RosLibNode.js'; + +const {expect} = chai; describe('Topics Example', function() { this.timeout(1000); From 98edbfe2aa76a214cfbe4d515b46320068fe6eb3 Mon Sep 17 00:00:00 2001 From: Joe Pea Date: Mon, 27 Sep 2021 13:24:12 -0700 Subject: [PATCH 19/29] update eslint to 8.0.0-rc.0 --- package.json | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/package.json b/package.json index c1205c93a..7756d7e81 100644 --- a/package.json +++ b/package.json @@ -22,7 +22,7 @@ "@rollup/plugin-json": "^4.1.0", "@rollup/plugin-node-resolve": "^13.0.4", "chai": "*", - "eslint": "^8.0.0-beta.2", + "eslint": "^8.0.0-rc.0", "grunt": "^1.0.0", "grunt-cli": "^1.2.0", "grunt-contrib-clean": "^2.0.0", From 42d6590d6a5934ae567546220666bc4dd28f1451 Mon Sep 17 00:00:00 2001 From: Joe Pea Date: Mon, 27 Sep 2021 13:34:41 -0700 Subject: [PATCH 20/29] use nvm in Dockerfile to set the latest npm version --- Dockerfile | 2 +- test/build.bash | 9 +++------ 2 files changed, 4 insertions(+), 7 deletions(-) diff --git a/Dockerfile b/Dockerfile index 72760187a..5ba1e3da9 100644 --- a/Dockerfile +++ b/Dockerfile @@ -11,7 +11,7 @@ RUN apt update && apt-get install -y firefox git wget ros-$ROS_DISTRO-rosbridge- ARG NODE_VERSION=14 RUN wget -qO- https://raw.githubusercontent.com/nvm-sh/nvm/v0.38.0/install.sh | bash \ && . $HOME/.nvm/nvm.sh \ - && nvm install $NODE_VERSION && nvm alias default $NODE_VERSION \ + && nvm install $NODE_VERSION --latest-npm && nvm alias default $NODE_VERSION \ && npm install -g node-gyp RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> $HOME/.bashrc diff --git a/test/build.bash b/test/build.bash index 6333eab10..ad901f0e0 100644 --- a/test/build.bash +++ b/test/build.bash @@ -18,13 +18,10 @@ set -e pushd "$(dirname "$0")" > /dev/null -echo -e "\e[1m\e[35mUPDATE NPM ------------------------------\e[0m" -echo old version: +echo -e "\e[1m\e[35mnode version:\e[0m" +node -v +echo -e "\e[1m\e[35mnpm version:\e[0m" npm -v -npm i -g npm -echo new version: -npm -v -echo -e "\e[1m\e[35m-----------------------------------------\e[0m" echo -e "\e[1m\e[35mnpm install\e[0m" # TODO remove this --legacy-peer-deps flag @babel/eslint-parser is updated to officially support eslint >=8 From bd5ed0c70c757410dd186ebe98fd5889a55fee60 Mon Sep 17 00:00:00 2001 From: Joe Pea Date: Mon, 27 Sep 2021 15:03:24 -0700 Subject: [PATCH 21/29] install chromium-browser for CI --- Dockerfile | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/Dockerfile b/Dockerfile index 5ba1e3da9..7b1a64cf5 100644 --- a/Dockerfile +++ b/Dockerfile @@ -5,7 +5,7 @@ ARG CI=true ENV CI=$CI # Dependencies for rosbridge -RUN apt update && apt-get install -y firefox git wget ros-$ROS_DISTRO-rosbridge-server ros-$ROS_DISTRO-tf2-web-republisher ros-$ROS_DISTRO-common-tutorials ros-$ROS_DISTRO-rospy-tutorials ros-$ROS_DISTRO-actionlib-tutorials +RUN apt update && apt-get install -y firefox chromium-browser git wget ros-$ROS_DISTRO-rosbridge-server ros-$ROS_DISTRO-tf2-web-republisher ros-$ROS_DISTRO-common-tutorials ros-$ROS_DISTRO-rospy-tutorials ros-$ROS_DISTRO-actionlib-tutorials # Install nvm, Node.js and node-gyp ARG NODE_VERSION=14 @@ -16,3 +16,5 @@ RUN wget -qO- https://raw.githubusercontent.com/nvm-sh/nvm/v0.38.0/install.sh | RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> $HOME/.bashrc ENV PATH=/bin/versions/node/$NODE_VERSION/bin:$PATH + +ENV CHROME_BIN=chromium-browser \ No newline at end of file From 42b3004d807075193ed36d70930e0c89e389a108 Mon Sep 17 00:00:00 2001 From: Joe Pea Date: Mon, 27 Sep 2021 16:23:37 -0700 Subject: [PATCH 22/29] build before testing --- test/build.bash | 13 +++++++++---- 1 file changed, 9 insertions(+), 4 deletions(-) diff --git a/test/build.bash b/test/build.bash index ad901f0e0..d243e4e1d 100644 --- a/test/build.bash +++ b/test/build.bash @@ -20,6 +20,7 @@ pushd "$(dirname "$0")" > /dev/null echo -e "\e[1m\e[35mnode version:\e[0m" node -v + echo -e "\e[1m\e[35mnpm version:\e[0m" npm -v @@ -27,16 +28,20 @@ echo -e "\e[1m\e[35mnpm install\e[0m" # TODO remove this --legacy-peer-deps flag @babel/eslint-parser is updated to officially support eslint >=8 npm install --legacy-peer-deps +echo -e "\e[1m\e[35mnpm run build\e[0m" +npm run build + +echo -e "\e[1m\e[35mrostopic list\e[0m" +rostopic list + echo -e "\e[1m\e[35mnpm test\e[0m" npm test +echo -e "\e[1m\e[35mnpm test\e[0m" bash examples/setup_examples.bash -echo -e "\e[1m\e[35mrostopic list\e[0m" -rostopic list -echo -e "\e[1m\e[35mnpm run build\e[0m" -npm run build echo -e "\e[1m\e[35mnpm run test-examples\e[0m" npm run test-examples + echo -e "\e[1m\e[35mnpm run test-workersocket\e[0m" npm run test-workersocket From 1d428a173e61bf02b802f510fadfbf189a673a23 Mon Sep 17 00:00:00 2001 From: Joe Pea Date: Mon, 27 Sep 2021 16:32:36 -0700 Subject: [PATCH 23/29] the --no-sandbox flag for Chrome is needed when running in CI --- Gruntfile.cjs | 2 +- test/examples/karma.conf.cjs | 18 ++++++++++-------- test/karma.conf.cjs | 20 +++++++++++--------- test/workersocket/karma.conf.cjs | 18 ++++++++++-------- 4 files changed, 32 insertions(+), 26 deletions(-) diff --git a/Gruntfile.cjs b/Gruntfile.cjs index 1978e9164..5a0568493 100644 --- a/Gruntfile.cjs +++ b/Gruntfile.cjs @@ -35,7 +35,7 @@ module.exports = function(grunt) { karma: { options: { singleRun: true, - browsers: process.env.CI ? ['ChromeHeadless'] : ['Chrome'] + browsers: process.env.CI ? ['ChromeHeadlessNoSandbox'] : ['Chrome'] }, test: { configFile: './test/karma.conf.cjs', diff --git a/test/examples/karma.conf.cjs b/test/examples/karma.conf.cjs index 4530e19f4..5e8980ecb 100644 --- a/test/examples/karma.conf.cjs +++ b/test/examples/karma.conf.cjs @@ -46,17 +46,19 @@ module.exports = function(config) { autoWatch: true, - // Start these browsers, currently available: - // - Chrome - // - ChromeCanary - // - Firefox - // - Opera - // - Safari (only Mac) - // - PhantomJS - // - IE (only Windows) + // Start these browsers (this gets overridden in Gruntfile). browsers: ['Firefox'], + // Add the ChromeHeadlessNoSandbox browser for use on CI + customLaunchers: { + ChromeHeadlessNoSandbox: { + base: 'ChromeHeadless', + flags: ['--no-sandbox'] + } + }, + + // If browser does not capture in given timeout [ms], kill it captureTimeout: 60000, browserNoActivityTimeout: 30000, diff --git a/test/karma.conf.cjs b/test/karma.conf.cjs index d5be14588..d8c3116c3 100644 --- a/test/karma.conf.cjs +++ b/test/karma.conf.cjs @@ -23,7 +23,7 @@ module.exports = function(config) { // Installs cbor-js in a global CBOR variable so that our shim/cbor.js shim picks it up. 'node_modules/cbor-js/cbor.js', - + {pattern: 'test/*.test.js', type: 'module'}, ], @@ -59,17 +59,19 @@ module.exports = function(config) { autoWatch: true, - // Start these browsers, currently available: - // - Chrome - // - ChromeCanary - // - Firefox - // - Opera - // - Safari (only Mac) - // - PhantomJS - // - IE (only Windows) + // Start these browsers (this gets overridden in Gruntfile). browsers: ['Firefox'], + // Add the ChromeHeadlessNoSandbox browser for use on CI + customLaunchers: { + ChromeHeadlessNoSandbox: { + base: 'ChromeHeadless', + flags: ['--no-sandbox'] + } + }, + + // If browser does not capture in given timeout [ms], kill it captureTimeout: 60000, diff --git a/test/workersocket/karma.conf.cjs b/test/workersocket/karma.conf.cjs index 839ad5776..408913429 100644 --- a/test/workersocket/karma.conf.cjs +++ b/test/workersocket/karma.conf.cjs @@ -42,17 +42,19 @@ module.exports = function(config) { autoWatch: true, - // Start these browsers, currently available: - // - Chrome - // - ChromeCanary - // - Firefox - // - Opera - // - Safari (only Mac) - // - PhantomJS - // - IE (only Windows) + // Start these browsers (this gets overridden in Gruntfile). browsers: ['Firefox'], + // Add the ChromeHeadlessNoSandbox browser for use on CI + customLaunchers: { + ChromeHeadlessNoSandbox: { + base: 'ChromeHeadless', + flags: ['--no-sandbox'] + } + }, + + // If browser does not capture in given timeout [ms], kill it captureTimeout: 60000, browserNoActivityTimeout: 30000, From f3c43db8c938788f51b6df9908db5821c11e9bea Mon Sep 17 00:00:00 2001 From: Joe Pea Date: Mon, 27 Sep 2021 16:45:13 -0700 Subject: [PATCH 24/29] add comment about DOckerfile CHROME_BIN env var --- Dockerfile | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/Dockerfile b/Dockerfile index 7b1a64cf5..b7beec15c 100644 --- a/Dockerfile +++ b/Dockerfile @@ -17,4 +17,5 @@ RUN wget -qO- https://raw.githubusercontent.com/nvm-sh/nvm/v0.38.0/install.sh | RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> $HOME/.bashrc ENV PATH=/bin/versions/node/$NODE_VERSION/bin:$PATH -ENV CHROME_BIN=chromium-browser \ No newline at end of file +# Needed for Karma testing +ENV CHROME_BIN=chromium-browser From c8dda4739dfeb99501f73197d99cade1685e1713 Mon Sep 17 00:00:00 2001 From: Joe Pea Date: Mon, 27 Sep 2021 16:46:59 -0700 Subject: [PATCH 25/29] run non-ROS tests before doing anything with ROS --- test/build.bash | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/test/build.bash b/test/build.bash index d243e4e1d..5a7d021e6 100644 --- a/test/build.bash +++ b/test/build.bash @@ -31,12 +31,12 @@ npm install --legacy-peer-deps echo -e "\e[1m\e[35mnpm run build\e[0m" npm run build -echo -e "\e[1m\e[35mrostopic list\e[0m" -rostopic list - echo -e "\e[1m\e[35mnpm test\e[0m" npm test +echo -e "\e[1m\e[35mrostopic list\e[0m" +rostopic list + echo -e "\e[1m\e[35mnpm test\e[0m" bash examples/setup_examples.bash From ee2d985a5c045688fd9d5fa268af79e968815f5f Mon Sep 17 00:00:00 2001 From: Joe Pea Date: Mon, 27 Sep 2021 17:34:59 -0700 Subject: [PATCH 26/29] make the repo friendly to npm install This allows people to install the package from a git repo (f.e. `npm install roslib@github-username/roslibjs`). by performing the `build` process in the `prepare` script. `prepare` is not only is executed before the `publish` script during publish (so that case is still satisfied), but `prepare` is also executed by `npm` during the `install` process. During `npm install` `devDependencies` are installed in a temporary folder, so those dependencies are even available to the `prepare` script. The end result is that someone can fork the repo, and easily install it, without having to publish the package under a new name, and without having to build and commit build artifacts into the repo (this is why the build artifacts were recently added to `.gitignore` in this repo a few commits back). People who rely on global variable script tags can still use URLs like `https://unpkg.com/browse/roslib@1.1.0/build/roslib.js` in their script tags src attributes, or just download such files to the app locally. --- package.json | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/package.json b/package.json index 7756d7e81..814192f1c 100644 --- a/package.json +++ b/package.json @@ -71,7 +71,8 @@ "test-tcp": "npm run grunt -- test-tcp", "lint": "npm run grunt -- lint", "lint-fix": "npm run grunt -- lint-fix", - "publish": "npm run build && npm run test" + "prepare": "npm run build", + "publish": "npm run test" }, "repository": { "type": "git", From 893751a3fb698b3b2fd82fafb4e038ca2ca6c752 Mon Sep 17 00:00:00 2001 From: Joe Pea Date: Tue, 28 Sep 2021 00:37:11 -0700 Subject: [PATCH 27/29] add a tet that ensures the code follows Node ESM spec --- Gruntfile.cjs | 45 ++++++++++++++++++++------------------ esm-test.webpack.config.js | 12 ++++++++++ package.json | 4 +++- 3 files changed, 39 insertions(+), 22 deletions(-) create mode 100644 esm-test.webpack.config.js diff --git a/Gruntfile.cjs b/Gruntfile.cjs index 5a0568493..2aebd9bcf 100644 --- a/Gruntfile.cjs +++ b/Gruntfile.cjs @@ -16,19 +16,22 @@ module.exports = function(grunt) { build: { command: 'rollup -c' }, + 'test-esm': { + command: 'webpack --config esm-test.webpack.config.js' + }, lint: { command: 'eslint Gruntfile.cjs ./src/*.js ./src/**/*.js ./test/*.js' }, 'lint-fix': { command: 'eslint --fix Gruntfile.cjs ./src/*.js ./src/**/*.js ./test/*.js' }, - mochaTest: { + 'mocha-test': { command: 'mocha ./test/*.test.js' }, - mochaExamples: { + 'mocha-examples': { command: 'mocha ./test/examples/*.js' }, - mochaTcp: { + 'mocha-tcp': { command: 'mocha ./test/tcp/*.js' }, }, @@ -47,21 +50,21 @@ module.exports = function(grunt) { configFile: './test/workersocket/karma.conf.cjs', }, }, - mochaTest: { - options: { - reporter: 'spec', - timeout: 5000 - }, - test: { - src: ['./test/*.test.js'] - }, - examples: { - src: ['./test/examples/*.js'] - }, - tcp: { - src: ['./test/tcp/*.js'] - } - }, + // mochaTest: { + // options: { + // reporter: 'spec', + // timeout: 5000 + // }, + // test: { + // src: ['./test/*.test.js'] + // }, + // examples: { + // src: ['./test/examples/*.js'] + // }, + // tcp: { + // src: ['./test/tcp/*.js'] + // } + // }, uglify: { options: { report: 'min' @@ -113,9 +116,9 @@ module.exports = function(grunt) { }); grunt.registerTask('dev', ['shell:build', 'watch']); - grunt.registerTask('test', ['lint', 'shell:mochaTest', 'karma:test']); - grunt.registerTask('test-examples', ['shell:mochaExamples', 'karma:examples']); - grunt.registerTask('test-tcp', ['shell:mochaTcp']); + grunt.registerTask('test', ['lint', 'shell:test-esm', 'shell:mocha-test', 'karma:test']); + grunt.registerTask('test-examples', ['shell:mocha-examples', 'karma:examples']); + grunt.registerTask('test-tcp', ['shell:mocha-tcp']); grunt.registerTask('test-workersocket', ['karma:workersocket']); grunt.registerTask('build', ['lint', 'shell:build']); grunt.registerTask('build_and_watch', ['watch']); diff --git a/esm-test.webpack.config.js b/esm-test.webpack.config.js new file mode 100644 index 000000000..7dadf4da9 --- /dev/null +++ b/esm-test.webpack.config.js @@ -0,0 +1,12 @@ +// We run a simple Webpack build to ensure that the code base follows Node ESM +// standards. Any error from Webpack will indicate a problem. This will catch +// cases like missing `.js` etensions in import specifiers, etc. + +export default { + entry: './src/RosLibNode.js', + output: { + filename: 'roslibjs-esm-test.js', + path: '/tmp' + }, + mode: 'development', +} diff --git a/package.json b/package.json index 814192f1c..fd5967549 100644 --- a/package.json +++ b/package.json @@ -42,7 +42,9 @@ "rollup": "^2.56.3", "rollup-plugin-filesize": "^9.1.1", "rollup-plugin-terser": "^7.0.2", - "time-grunt": "^2.0.0" + "time-grunt": "^2.0.0", + "webpack": "^5.54.0", + "webpack-cli": "^4.8.0" }, "dependencies": { "cbor-js": "^0.1.0", From 2ce4ddcf9d780cab8f906f2ed271fe1e971b1422 Mon Sep 17 00:00:00 2001 From: Joe Pea Date: Sun, 3 Oct 2021 13:30:49 -0700 Subject: [PATCH 28/29] ignore build output, libraries don't need lock files (see reasoning in https://github.com/RobotWebTools/ros3djs/pull/438/commits/f56c58a6f6ba2ef813bb43b5133c05a9e118bc7a) --- .gitignore | 7 +- build/roslib.js | 5782 ------------------------------------------- build/roslib.min.js | 1 - 3 files changed, 6 insertions(+), 5784 deletions(-) delete mode 100644 build/roslib.js delete mode 100644 build/roslib.min.js diff --git a/.gitignore b/.gitignore index 64ea4b219..fce5519ca 100644 --- a/.gitignore +++ b/.gitignore @@ -5,5 +5,10 @@ node_modules *.out *.log *.tar.gz + +# libs don't need lock files, only apps do *lock.json -*.lock \ No newline at end of file +*.lock + +# ignore build output +build/ diff --git a/build/roslib.js b/build/roslib.js deleted file mode 100644 index bd24a40e0..000000000 --- a/build/roslib.js +++ /dev/null @@ -1,5782 +0,0 @@ -(function(){function r(e,n,t){function o(i,f){if(!n[i]){if(!e[i]){var c="function"==typeof require&&require;if(!f&&c)return c(i,!0);if(u)return u(i,!0);var a=new Error("Cannot find module '"+i+"'");throw a.code="MODULE_NOT_FOUND",a}var p=n[i]={exports:{}};e[i][0].call(p.exports,function(r){var n=e[i][1][r];return o(n||r)},p,p.exports,r,e,n,t)}return n[i].exports}for(var u="function"==typeof require&&require,i=0;i - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in all - * copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -(function(global, undefined) { "use strict"; -var POW_2_24 = Math.pow(2, -24), - POW_2_32 = Math.pow(2, 32), - POW_2_53 = Math.pow(2, 53); - -function encode(value) { - var data = new ArrayBuffer(256); - var dataView = new DataView(data); - var lastLength; - var offset = 0; - - function ensureSpace(length) { - var newByteLength = data.byteLength; - var requiredLength = offset + length; - while (newByteLength < requiredLength) - newByteLength *= 2; - if (newByteLength !== data.byteLength) { - var oldDataView = dataView; - data = new ArrayBuffer(newByteLength); - dataView = new DataView(data); - var uint32count = (offset + 3) >> 2; - for (var i = 0; i < uint32count; ++i) - dataView.setUint32(i * 4, oldDataView.getUint32(i * 4)); - } - - lastLength = length; - return dataView; - } - function write() { - offset += lastLength; - } - function writeFloat64(value) { - write(ensureSpace(8).setFloat64(offset, value)); - } - function writeUint8(value) { - write(ensureSpace(1).setUint8(offset, value)); - } - function writeUint8Array(value) { - var dataView = ensureSpace(value.length); - for (var i = 0; i < value.length; ++i) - dataView.setUint8(offset + i, value[i]); - write(); - } - function writeUint16(value) { - write(ensureSpace(2).setUint16(offset, value)); - } - function writeUint32(value) { - write(ensureSpace(4).setUint32(offset, value)); - } - function writeUint64(value) { - var low = value % POW_2_32; - var high = (value - low) / POW_2_32; - var dataView = ensureSpace(8); - dataView.setUint32(offset, high); - dataView.setUint32(offset + 4, low); - write(); - } - function writeTypeAndLength(type, length) { - if (length < 24) { - writeUint8(type << 5 | length); - } else if (length < 0x100) { - writeUint8(type << 5 | 24); - writeUint8(length); - } else if (length < 0x10000) { - writeUint8(type << 5 | 25); - writeUint16(length); - } else if (length < 0x100000000) { - writeUint8(type << 5 | 26); - writeUint32(length); - } else { - writeUint8(type << 5 | 27); - writeUint64(length); - } - } - - function encodeItem(value) { - var i; - - if (value === false) - return writeUint8(0xf4); - if (value === true) - return writeUint8(0xf5); - if (value === null) - return writeUint8(0xf6); - if (value === undefined) - return writeUint8(0xf7); - - switch (typeof value) { - case "number": - if (Math.floor(value) === value) { - if (0 <= value && value <= POW_2_53) - return writeTypeAndLength(0, value); - if (-POW_2_53 <= value && value < 0) - return writeTypeAndLength(1, -(value + 1)); - } - writeUint8(0xfb); - return writeFloat64(value); - - case "string": - var utf8data = []; - for (i = 0; i < value.length; ++i) { - var charCode = value.charCodeAt(i); - if (charCode < 0x80) { - utf8data.push(charCode); - } else if (charCode < 0x800) { - utf8data.push(0xc0 | charCode >> 6); - utf8data.push(0x80 | charCode & 0x3f); - } else if (charCode < 0xd800) { - utf8data.push(0xe0 | charCode >> 12); - utf8data.push(0x80 | (charCode >> 6) & 0x3f); - utf8data.push(0x80 | charCode & 0x3f); - } else { - charCode = (charCode & 0x3ff) << 10; - charCode |= value.charCodeAt(++i) & 0x3ff; - charCode += 0x10000; - - utf8data.push(0xf0 | charCode >> 18); - utf8data.push(0x80 | (charCode >> 12) & 0x3f); - utf8data.push(0x80 | (charCode >> 6) & 0x3f); - utf8data.push(0x80 | charCode & 0x3f); - } - } - - writeTypeAndLength(3, utf8data.length); - return writeUint8Array(utf8data); - - default: - var length; - if (Array.isArray(value)) { - length = value.length; - writeTypeAndLength(4, length); - for (i = 0; i < length; ++i) - encodeItem(value[i]); - } else if (value instanceof Uint8Array) { - writeTypeAndLength(2, value.length); - writeUint8Array(value); - } else { - var keys = Object.keys(value); - length = keys.length; - writeTypeAndLength(5, length); - for (i = 0; i < length; ++i) { - var key = keys[i]; - encodeItem(key); - encodeItem(value[key]); - } - } - } - } - - encodeItem(value); - - if ("slice" in data) - return data.slice(0, offset); - - var ret = new ArrayBuffer(offset); - var retView = new DataView(ret); - for (var i = 0; i < offset; ++i) - retView.setUint8(i, dataView.getUint8(i)); - return ret; -} - -function decode(data, tagger, simpleValue) { - var dataView = new DataView(data); - var offset = 0; - - if (typeof tagger !== "function") - tagger = function(value) { return value; }; - if (typeof simpleValue !== "function") - simpleValue = function() { return undefined; }; - - function read(value, length) { - offset += length; - return value; - } - function readArrayBuffer(length) { - return read(new Uint8Array(data, offset, length), length); - } - function readFloat16() { - var tempArrayBuffer = new ArrayBuffer(4); - var tempDataView = new DataView(tempArrayBuffer); - var value = readUint16(); - - var sign = value & 0x8000; - var exponent = value & 0x7c00; - var fraction = value & 0x03ff; - - if (exponent === 0x7c00) - exponent = 0xff << 10; - else if (exponent !== 0) - exponent += (127 - 15) << 10; - else if (fraction !== 0) - return fraction * POW_2_24; - - tempDataView.setUint32(0, sign << 16 | exponent << 13 | fraction << 13); - return tempDataView.getFloat32(0); - } - function readFloat32() { - return read(dataView.getFloat32(offset), 4); - } - function readFloat64() { - return read(dataView.getFloat64(offset), 8); - } - function readUint8() { - return read(dataView.getUint8(offset), 1); - } - function readUint16() { - return read(dataView.getUint16(offset), 2); - } - function readUint32() { - return read(dataView.getUint32(offset), 4); - } - function readUint64() { - return readUint32() * POW_2_32 + readUint32(); - } - function readBreak() { - if (dataView.getUint8(offset) !== 0xff) - return false; - offset += 1; - return true; - } - function readLength(additionalInformation) { - if (additionalInformation < 24) - return additionalInformation; - if (additionalInformation === 24) - return readUint8(); - if (additionalInformation === 25) - return readUint16(); - if (additionalInformation === 26) - return readUint32(); - if (additionalInformation === 27) - return readUint64(); - if (additionalInformation === 31) - return -1; - throw "Invalid length encoding"; - } - function readIndefiniteStringLength(majorType) { - var initialByte = readUint8(); - if (initialByte === 0xff) - return -1; - var length = readLength(initialByte & 0x1f); - if (length < 0 || (initialByte >> 5) !== majorType) - throw "Invalid indefinite length element"; - return length; - } - - function appendUtf16data(utf16data, length) { - for (var i = 0; i < length; ++i) { - var value = readUint8(); - if (value & 0x80) { - if (value < 0xe0) { - value = (value & 0x1f) << 6 - | (readUint8() & 0x3f); - length -= 1; - } else if (value < 0xf0) { - value = (value & 0x0f) << 12 - | (readUint8() & 0x3f) << 6 - | (readUint8() & 0x3f); - length -= 2; - } else { - value = (value & 0x0f) << 18 - | (readUint8() & 0x3f) << 12 - | (readUint8() & 0x3f) << 6 - | (readUint8() & 0x3f); - length -= 3; - } - } - - if (value < 0x10000) { - utf16data.push(value); - } else { - value -= 0x10000; - utf16data.push(0xd800 | (value >> 10)); - utf16data.push(0xdc00 | (value & 0x3ff)); - } - } - } - - function decodeItem() { - var initialByte = readUint8(); - var majorType = initialByte >> 5; - var additionalInformation = initialByte & 0x1f; - var i; - var length; - - if (majorType === 7) { - switch (additionalInformation) { - case 25: - return readFloat16(); - case 26: - return readFloat32(); - case 27: - return readFloat64(); - } - } - - length = readLength(additionalInformation); - if (length < 0 && (majorType < 2 || 6 < majorType)) - throw "Invalid length"; - - switch (majorType) { - case 0: - return length; - case 1: - return -1 - length; - case 2: - if (length < 0) { - var elements = []; - var fullArrayLength = 0; - while ((length = readIndefiniteStringLength(majorType)) >= 0) { - fullArrayLength += length; - elements.push(readArrayBuffer(length)); - } - var fullArray = new Uint8Array(fullArrayLength); - var fullArrayOffset = 0; - for (i = 0; i < elements.length; ++i) { - fullArray.set(elements[i], fullArrayOffset); - fullArrayOffset += elements[i].length; - } - return fullArray; - } - return readArrayBuffer(length); - case 3: - var utf16data = []; - if (length < 0) { - while ((length = readIndefiniteStringLength(majorType)) >= 0) - appendUtf16data(utf16data, length); - } else - appendUtf16data(utf16data, length); - return String.fromCharCode.apply(null, utf16data); - case 4: - var retArray; - if (length < 0) { - retArray = []; - while (!readBreak()) - retArray.push(decodeItem()); - } else { - retArray = new Array(length); - for (i = 0; i < length; ++i) - retArray[i] = decodeItem(); - } - return retArray; - case 5: - var retObject = {}; - for (i = 0; i < length || length < 0 && !readBreak(); ++i) { - var key = decodeItem(); - retObject[key] = decodeItem(); - } - return retObject; - case 6: - return tagger(decodeItem(), length); - case 7: - switch (length) { - case 20: - return false; - case 21: - return true; - case 22: - return null; - case 23: - return undefined; - default: - return simpleValue(length); - } - } - } - - var ret = decodeItem(); - if (offset !== data.byteLength) - throw "Remaining bytes"; - return ret; -} - -var obj = { encode: encode, decode: decode }; - -if (typeof define === "function" && define.amd) - define("cbor/cbor", obj); -else if (typeof module !== 'undefined' && module.exports) - module.exports = obj; -else if (!global.CBOR) - global.CBOR = obj; - -})(this); - -},{}],2:[function(require,module,exports){ -(function (process,setImmediate){(function (){ -/*! - * EventEmitter2 - * https://github.com/hij1nx/EventEmitter2 - * - * Copyright (c) 2013 hij1nx - * Licensed under the MIT license. - */ -;!function(undefined) { - var hasOwnProperty= Object.hasOwnProperty; - var isArray = Array.isArray ? Array.isArray : function _isArray(obj) { - return Object.prototype.toString.call(obj) === "[object Array]"; - }; - var defaultMaxListeners = 10; - var nextTickSupported= typeof process=='object' && typeof process.nextTick=='function'; - var symbolsSupported= typeof Symbol==='function'; - var reflectSupported= typeof Reflect === 'object'; - var setImmediateSupported= typeof setImmediate === 'function'; - var _setImmediate= setImmediateSupported ? setImmediate : setTimeout; - var ownKeys= symbolsSupported? (reflectSupported && typeof Reflect.ownKeys==='function'? Reflect.ownKeys : function(obj){ - var arr= Object.getOwnPropertyNames(obj); - arr.push.apply(arr, Object.getOwnPropertySymbols(obj)); - return arr; - }) : Object.keys; - - function init() { - this._events = {}; - if (this._conf) { - configure.call(this, this._conf); - } - } - - function configure(conf) { - if (conf) { - this._conf = conf; - - conf.delimiter && (this.delimiter = conf.delimiter); - - if(conf.maxListeners!==undefined){ - this._maxListeners= conf.maxListeners; - } - - conf.wildcard && (this.wildcard = conf.wildcard); - conf.newListener && (this._newListener = conf.newListener); - conf.removeListener && (this._removeListener = conf.removeListener); - conf.verboseMemoryLeak && (this.verboseMemoryLeak = conf.verboseMemoryLeak); - conf.ignoreErrors && (this.ignoreErrors = conf.ignoreErrors); - - if (this.wildcard) { - this.listenerTree = {}; - } - } - } - - function logPossibleMemoryLeak(count, eventName) { - var errorMsg = '(node) warning: possible EventEmitter memory ' + - 'leak detected. ' + count + ' listeners added. ' + - 'Use emitter.setMaxListeners() to increase limit.'; - - if(this.verboseMemoryLeak){ - errorMsg += ' Event name: ' + eventName + '.'; - } - - if(typeof process !== 'undefined' && process.emitWarning){ - var e = new Error(errorMsg); - e.name = 'MaxListenersExceededWarning'; - e.emitter = this; - e.count = count; - process.emitWarning(e); - } else { - console.error(errorMsg); - - if (console.trace){ - console.trace(); - } - } - } - - var toArray = function (a, b, c) { - var n = arguments.length; - switch (n) { - case 0: - return []; - case 1: - return [a]; - case 2: - return [a, b]; - case 3: - return [a, b, c]; - default: - var arr = new Array(n); - while (n--) { - arr[n] = arguments[n]; - } - return arr; - } - }; - - function toObject(keys, values) { - var obj = {}; - var key; - var len = keys.length; - var valuesCount = values ? value.length : 0; - for (var i = 0; i < len; i++) { - key = keys[i]; - obj[key] = i < valuesCount ? values[i] : undefined; - } - return obj; - } - - function TargetObserver(emitter, target, options) { - this._emitter = emitter; - this._target = target; - this._listeners = {}; - this._listenersCount = 0; - - var on, off; - - if (options.on || options.off) { - on = options.on; - off = options.off; - } - - if (target.addEventListener) { - on = target.addEventListener; - off = target.removeEventListener; - } else if (target.addListener) { - on = target.addListener; - off = target.removeListener; - } else if (target.on) { - on = target.on; - off = target.off; - } - - if (!on && !off) { - throw Error('target does not implement any known event API'); - } - - if (typeof on !== 'function') { - throw TypeError('on method must be a function'); - } - - if (typeof off !== 'function') { - throw TypeError('off method must be a function'); - } - - this._on = on; - this._off = off; - - var _observers= emitter._observers; - if(_observers){ - _observers.push(this); - }else{ - emitter._observers= [this]; - } - } - - Object.assign(TargetObserver.prototype, { - subscribe: function(event, localEvent, reducer){ - var observer= this; - var target= this._target; - var emitter= this._emitter; - var listeners= this._listeners; - var handler= function(){ - var args= toArray.apply(null, arguments); - var eventObj= { - data: args, - name: localEvent, - original: event - }; - if(reducer){ - var result= reducer.call(target, eventObj); - if(result!==false){ - emitter.emit.apply(emitter, [eventObj.name].concat(args)) - } - return; - } - emitter.emit.apply(emitter, [localEvent].concat(args)); - }; - - - if(listeners[event]){ - throw Error('Event \'' + event + '\' is already listening'); - } - - this._listenersCount++; - - if(emitter._newListener && emitter._removeListener && !observer._onNewListener){ - - this._onNewListener = function (_event) { - if (_event === localEvent && listeners[event] === null) { - listeners[event] = handler; - observer._on.call(target, event, handler); - } - }; - - emitter.on('newListener', this._onNewListener); - - this._onRemoveListener= function(_event){ - if(_event === localEvent && !emitter.hasListeners(_event) && listeners[event]){ - listeners[event]= null; - observer._off.call(target, event, handler); - } - }; - - listeners[event]= null; - - emitter.on('removeListener', this._onRemoveListener); - }else{ - listeners[event]= handler; - observer._on.call(target, event, handler); - } - }, - - unsubscribe: function(event){ - var observer= this; - var listeners= this._listeners; - var emitter= this._emitter; - var handler; - var events; - var off= this._off; - var target= this._target; - var i; - - if(event && typeof event!=='string'){ - throw TypeError('event must be a string'); - } - - function clearRefs(){ - if(observer._onNewListener){ - emitter.off('newListener', observer._onNewListener); - emitter.off('removeListener', observer._onRemoveListener); - observer._onNewListener= null; - observer._onRemoveListener= null; - } - var index= findTargetIndex.call(emitter, observer); - emitter._observers.splice(index, 1); - } - - if(event){ - handler= listeners[event]; - if(!handler) return; - off.call(target, event, handler); - delete listeners[event]; - if(!--this._listenersCount){ - clearRefs(); - } - }else{ - events= ownKeys(listeners); - i= events.length; - while(i-->0){ - event= events[i]; - off.call(target, event, listeners[event]); - } - this._listeners= {}; - this._listenersCount= 0; - clearRefs(); - } - } - }); - - function resolveOptions(options, schema, reducers, allowUnknown) { - var computedOptions = Object.assign({}, schema); - - if (!options) return computedOptions; - - if (typeof options !== 'object') { - throw TypeError('options must be an object') - } - - var keys = Object.keys(options); - var length = keys.length; - var option, value; - var reducer; - - function reject(reason) { - throw Error('Invalid "' + option + '" option value' + (reason ? '. Reason: ' + reason : '')) - } - - for (var i = 0; i < length; i++) { - option = keys[i]; - if (!allowUnknown && !hasOwnProperty.call(schema, option)) { - throw Error('Unknown "' + option + '" option'); - } - value = options[option]; - if (value !== undefined) { - reducer = reducers[option]; - computedOptions[option] = reducer ? reducer(value, reject) : value; - } - } - return computedOptions; - } - - function constructorReducer(value, reject) { - if (typeof value !== 'function' || !value.hasOwnProperty('prototype')) { - reject('value must be a constructor'); - } - return value; - } - - function makeTypeReducer(types) { - var message= 'value must be type of ' + types.join('|'); - var len= types.length; - var firstType= types[0]; - var secondType= types[1]; - - if (len === 1) { - return function (v, reject) { - if (typeof v === firstType) { - return v; - } - reject(message); - } - } - - if (len === 2) { - return function (v, reject) { - var kind= typeof v; - if (kind === firstType || kind === secondType) return v; - reject(message); - } - } - - return function (v, reject) { - var kind = typeof v; - var i = len; - while (i-- > 0) { - if (kind === types[i]) return v; - } - reject(message); - } - } - - var functionReducer= makeTypeReducer(['function']); - - var objectFunctionReducer= makeTypeReducer(['object', 'function']); - - function makeCancelablePromise(Promise, executor, options) { - var isCancelable; - var callbacks; - var timer= 0; - var subscriptionClosed; - - var promise = new Promise(function (resolve, reject, onCancel) { - options= resolveOptions(options, { - timeout: 0, - overload: false - }, { - timeout: function(value, reject){ - value*= 1; - if (typeof value !== 'number' || value < 0 || !Number.isFinite(value)) { - reject('timeout must be a positive number'); - } - return value; - } - }); - - isCancelable = !options.overload && typeof Promise.prototype.cancel === 'function' && typeof onCancel === 'function'; - - function cleanup() { - if (callbacks) { - callbacks = null; - } - if (timer) { - clearTimeout(timer); - timer = 0; - } - } - - var _resolve= function(value){ - cleanup(); - resolve(value); - }; - - var _reject= function(err){ - cleanup(); - reject(err); - }; - - if (isCancelable) { - executor(_resolve, _reject, onCancel); - } else { - callbacks = [function(reason){ - _reject(reason || Error('canceled')); - }]; - executor(_resolve, _reject, function (cb) { - if (subscriptionClosed) { - throw Error('Unable to subscribe on cancel event asynchronously') - } - if (typeof cb !== 'function') { - throw TypeError('onCancel callback must be a function'); - } - callbacks.push(cb); - }); - subscriptionClosed= true; - } - - if (options.timeout > 0) { - timer= setTimeout(function(){ - var reason= Error('timeout'); - reason.code = 'ETIMEDOUT' - timer= 0; - promise.cancel(reason); - reject(reason); - }, options.timeout); - } - }); - - if (!isCancelable) { - promise.cancel = function (reason) { - if (!callbacks) { - return; - } - var length = callbacks.length; - for (var i = 1; i < length; i++) { - callbacks[i](reason); - } - // internal callback to reject the promise - callbacks[0](reason); - callbacks = null; - }; - } - - return promise; - } - - function findTargetIndex(observer) { - var observers = this._observers; - if(!observers){ - return -1; - } - var len = observers.length; - for (var i = 0; i < len; i++) { - if (observers[i]._target === observer) return i; - } - return -1; - } - - // Attention, function return type now is array, always ! - // It has zero elements if no any matches found and one or more - // elements (leafs) if there are matches - // - function searchListenerTree(handlers, type, tree, i, typeLength) { - if (!tree) { - return null; - } - - if (i === 0) { - var kind = typeof type; - if (kind === 'string') { - var ns, n, l = 0, j = 0, delimiter = this.delimiter, dl = delimiter.length; - if ((n = type.indexOf(delimiter)) !== -1) { - ns = new Array(5); - do { - ns[l++] = type.slice(j, n); - j = n + dl; - } while ((n = type.indexOf(delimiter, j)) !== -1); - - ns[l++] = type.slice(j); - type = ns; - typeLength = l; - } else { - type = [type]; - typeLength = 1; - } - } else if (kind === 'object') { - typeLength = type.length; - } else { - type = [type]; - typeLength = 1; - } - } - - var listeners= null, branch, xTree, xxTree, isolatedBranch, endReached, currentType = type[i], - nextType = type[i + 1], branches, _listeners; - - if (i === typeLength && tree._listeners) { - // - // If at the end of the event(s) list and the tree has listeners - // invoke those listeners. - // - if (typeof tree._listeners === 'function') { - handlers && handlers.push(tree._listeners); - return [tree]; - } else { - handlers && handlers.push.apply(handlers, tree._listeners); - return [tree]; - } - } - - if (currentType === '*') { - // - // If the event emitted is '*' at this part - // or there is a concrete match at this patch - // - branches= ownKeys(tree); - n= branches.length; - while(n-->0){ - branch= branches[n]; - if (branch !== '_listeners') { - _listeners = searchListenerTree(handlers, type, tree[branch], i + 1, typeLength); - if(_listeners){ - if(listeners){ - listeners.push.apply(listeners, _listeners); - }else{ - listeners = _listeners; - } - } - } - } - return listeners; - } else if (currentType === '**') { - endReached = (i + 1 === typeLength || (i + 2 === typeLength && nextType === '*')); - if (endReached && tree._listeners) { - // The next element has a _listeners, add it to the handlers. - listeners = searchListenerTree(handlers, type, tree, typeLength, typeLength); - } - - branches= ownKeys(tree); - n= branches.length; - while(n-->0){ - branch= branches[n]; - if (branch !== '_listeners') { - if (branch === '*' || branch === '**') { - if (tree[branch]._listeners && !endReached) { - _listeners = searchListenerTree(handlers, type, tree[branch], typeLength, typeLength); - if(_listeners){ - if(listeners){ - listeners.push.apply(listeners, _listeners); - }else{ - listeners = _listeners; - } - } - } - _listeners = searchListenerTree(handlers, type, tree[branch], i, typeLength); - } else if (branch === nextType) { - _listeners = searchListenerTree(handlers, type, tree[branch], i + 2, typeLength); - } else { - // No match on this one, shift into the tree but not in the type array. - _listeners = searchListenerTree(handlers, type, tree[branch], i, typeLength); - } - if(_listeners){ - if(listeners){ - listeners.push.apply(listeners, _listeners); - }else{ - listeners = _listeners; - } - } - } - } - return listeners; - }else if (tree[currentType]) { - listeners= searchListenerTree(handlers, type, tree[currentType], i + 1, typeLength); - } - - xTree = tree['*']; - if (xTree) { - // - // If the listener tree will allow any match for this part, - // then recursively explore all branches of the tree - // - searchListenerTree(handlers, type, xTree, i + 1, typeLength); - } - - xxTree = tree['**']; - if (xxTree) { - if (i < typeLength) { - if (xxTree._listeners) { - // If we have a listener on a '**', it will catch all, so add its handler. - searchListenerTree(handlers, type, xxTree, typeLength, typeLength); - } - - // Build arrays of matching next branches and others. - branches= ownKeys(xxTree); - n= branches.length; - while(n-->0){ - branch= branches[n]; - if (branch !== '_listeners') { - if (branch === nextType) { - // We know the next element will match, so jump twice. - searchListenerTree(handlers, type, xxTree[branch], i + 2, typeLength); - } else if (branch === currentType) { - // Current node matches, move into the tree. - searchListenerTree(handlers, type, xxTree[branch], i + 1, typeLength); - } else { - isolatedBranch = {}; - isolatedBranch[branch] = xxTree[branch]; - searchListenerTree(handlers, type, {'**': isolatedBranch}, i + 1, typeLength); - } - } - } - } else if (xxTree._listeners) { - // We have reached the end and still on a '**' - searchListenerTree(handlers, type, xxTree, typeLength, typeLength); - } else if (xxTree['*'] && xxTree['*']._listeners) { - searchListenerTree(handlers, type, xxTree['*'], typeLength, typeLength); - } - } - - return listeners; - } - - function growListenerTree(type, listener, prepend) { - var len = 0, j = 0, i, delimiter = this.delimiter, dl= delimiter.length, ns; - - if(typeof type==='string') { - if ((i = type.indexOf(delimiter)) !== -1) { - ns = new Array(5); - do { - ns[len++] = type.slice(j, i); - j = i + dl; - } while ((i = type.indexOf(delimiter, j)) !== -1); - - ns[len++] = type.slice(j); - }else{ - ns= [type]; - len= 1; - } - }else{ - ns= type; - len= type.length; - } - - // - // Looks for two consecutive '**', if so, don't add the event at all. - // - if (len > 1) { - for (i = 0; i + 1 < len; i++) { - if (ns[i] === '**' && ns[i + 1] === '**') { - return; - } - } - } - - - - var tree = this.listenerTree, name; - - for (i = 0; i < len; i++) { - name = ns[i]; - - tree = tree[name] || (tree[name] = {}); - - if (i === len - 1) { - if (!tree._listeners) { - tree._listeners = listener; - } else { - if (typeof tree._listeners === 'function') { - tree._listeners = [tree._listeners]; - } - - if (prepend) { - tree._listeners.unshift(listener); - } else { - tree._listeners.push(listener); - } - - if ( - !tree._listeners.warned && - this._maxListeners > 0 && - tree._listeners.length > this._maxListeners - ) { - tree._listeners.warned = true; - logPossibleMemoryLeak.call(this, tree._listeners.length, name); - } - } - return true; - } - } - - return true; - } - - function collectTreeEvents(tree, events, root, asArray){ - var branches= ownKeys(tree); - var i= branches.length; - var branch, branchName, path; - var hasListeners= tree['_listeners']; - var isArrayPath; - - while(i-->0){ - branchName= branches[i]; - - branch= tree[branchName]; - - if(branchName==='_listeners'){ - path= root; - }else { - path = root ? root.concat(branchName) : [branchName]; - } - - isArrayPath= asArray || typeof branchName==='symbol'; - - hasListeners && events.push(isArrayPath? path : path.join(this.delimiter)); - - if(typeof branch==='object'){ - collectTreeEvents.call(this, branch, events, path, isArrayPath); - } - } - - return events; - } - - function recursivelyGarbageCollect(root) { - var keys = ownKeys(root); - var i= keys.length; - var obj, key, flag; - while(i-->0){ - key = keys[i]; - obj = root[key]; - - if(obj){ - flag= true; - if(key !== '_listeners' && !recursivelyGarbageCollect(obj)){ - delete root[key]; - } - } - } - - return flag; - } - - function Listener(emitter, event, listener){ - this.emitter= emitter; - this.event= event; - this.listener= listener; - } - - Listener.prototype.off= function(){ - this.emitter.off(this.event, this.listener); - return this; - }; - - function setupListener(event, listener, options){ - if (options === true) { - promisify = true; - } else if (options === false) { - async = true; - } else { - if (!options || typeof options !== 'object') { - throw TypeError('options should be an object or true'); - } - var async = options.async; - var promisify = options.promisify; - var nextTick = options.nextTick; - var objectify = options.objectify; - } - - if (async || nextTick || promisify) { - var _listener = listener; - var _origin = listener._origin || listener; - - if (nextTick && !nextTickSupported) { - throw Error('process.nextTick is not supported'); - } - - if (promisify === undefined) { - promisify = listener.constructor.name === 'AsyncFunction'; - } - - listener = function () { - var args = arguments; - var context = this; - var event = this.event; - - return promisify ? (nextTick ? Promise.resolve() : new Promise(function (resolve) { - _setImmediate(resolve); - }).then(function () { - context.event = event; - return _listener.apply(context, args) - })) : (nextTick ? process.nextTick : _setImmediate)(function () { - context.event = event; - _listener.apply(context, args) - }); - }; - - listener._async = true; - listener._origin = _origin; - } - - return [listener, objectify? new Listener(this, event, listener): this]; - } - - function EventEmitter(conf) { - this._events = {}; - this._newListener = false; - this._removeListener = false; - this.verboseMemoryLeak = false; - configure.call(this, conf); - } - - EventEmitter.EventEmitter2 = EventEmitter; // backwards compatibility for exporting EventEmitter property - - EventEmitter.prototype.listenTo= function(target, events, options){ - if(typeof target!=='object'){ - throw TypeError('target musts be an object'); - } - - var emitter= this; - - options = resolveOptions(options, { - on: undefined, - off: undefined, - reducers: undefined - }, { - on: functionReducer, - off: functionReducer, - reducers: objectFunctionReducer - }); - - function listen(events){ - if(typeof events!=='object'){ - throw TypeError('events must be an object'); - } - - var reducers= options.reducers; - var index= findTargetIndex.call(emitter, target); - var observer; - - if(index===-1){ - observer= new TargetObserver(emitter, target, options); - }else{ - observer= emitter._observers[index]; - } - - var keys= ownKeys(events); - var len= keys.length; - var event; - var isSingleReducer= typeof reducers==='function'; - - for(var i=0; i 0) { - observer = observers[i]; - if (!target || observer._target === target) { - observer.unsubscribe(event); - matched= true; - } - } - - return matched; - }; - - // By default EventEmitters will print a warning if more than - // 10 listeners are added to it. This is a useful default which - // helps finding memory leaks. - // - // Obviously not all Emitters should be limited to 10. This function allows - // that to be increased. Set to zero for unlimited. - - EventEmitter.prototype.delimiter = '.'; - - EventEmitter.prototype.setMaxListeners = function(n) { - if (n !== undefined) { - this._maxListeners = n; - if (!this._conf) this._conf = {}; - this._conf.maxListeners = n; - } - }; - - EventEmitter.prototype.getMaxListeners = function() { - return this._maxListeners; - }; - - EventEmitter.prototype.event = ''; - - EventEmitter.prototype.once = function(event, fn, options) { - return this._once(event, fn, false, options); - }; - - EventEmitter.prototype.prependOnceListener = function(event, fn, options) { - return this._once(event, fn, true, options); - }; - - EventEmitter.prototype._once = function(event, fn, prepend, options) { - return this._many(event, 1, fn, prepend, options); - }; - - EventEmitter.prototype.many = function(event, ttl, fn, options) { - return this._many(event, ttl, fn, false, options); - }; - - EventEmitter.prototype.prependMany = function(event, ttl, fn, options) { - return this._many(event, ttl, fn, true, options); - }; - - EventEmitter.prototype._many = function(event, ttl, fn, prepend, options) { - var self = this; - - if (typeof fn !== 'function') { - throw new Error('many only accepts instances of Function'); - } - - function listener() { - if (--ttl === 0) { - self.off(event, listener); - } - return fn.apply(this, arguments); - } - - listener._origin = fn; - - return this._on(event, listener, prepend, options); - }; - - EventEmitter.prototype.emit = function() { - if (!this._events && !this._all) { - return false; - } - - this._events || init.call(this); - - var type = arguments[0], ns, wildcard= this.wildcard; - var args,l,i,j, containsSymbol; - - if (type === 'newListener' && !this._newListener) { - if (!this._events.newListener) { - return false; - } - } - - if (wildcard) { - ns= type; - if(type!=='newListener' && type!=='removeListener'){ - if (typeof type === 'object') { - l = type.length; - if (symbolsSupported) { - for (i = 0; i < l; i++) { - if (typeof type[i] === 'symbol') { - containsSymbol = true; - break; - } - } - } - if (!containsSymbol) { - type = type.join(this.delimiter); - } - } - } - } - - var al = arguments.length; - var handler; - - if (this._all && this._all.length) { - handler = this._all.slice(); - - for (i = 0, l = handler.length; i < l; i++) { - this.event = type; - switch (al) { - case 1: - handler[i].call(this, type); - break; - case 2: - handler[i].call(this, type, arguments[1]); - break; - case 3: - handler[i].call(this, type, arguments[1], arguments[2]); - break; - default: - handler[i].apply(this, arguments); - } - } - } - - if (wildcard) { - handler = []; - searchListenerTree.call(this, handler, ns, this.listenerTree, 0, l); - } else { - handler = this._events[type]; - if (typeof handler === 'function') { - this.event = type; - switch (al) { - case 1: - handler.call(this); - break; - case 2: - handler.call(this, arguments[1]); - break; - case 3: - handler.call(this, arguments[1], arguments[2]); - break; - default: - args = new Array(al - 1); - for (j = 1; j < al; j++) args[j - 1] = arguments[j]; - handler.apply(this, args); - } - return true; - } else if (handler) { - // need to make copy of handlers because list can change in the middle - // of emit call - handler = handler.slice(); - } - } - - if (handler && handler.length) { - if (al > 3) { - args = new Array(al - 1); - for (j = 1; j < al; j++) args[j - 1] = arguments[j]; - } - for (i = 0, l = handler.length; i < l; i++) { - this.event = type; - switch (al) { - case 1: - handler[i].call(this); - break; - case 2: - handler[i].call(this, arguments[1]); - break; - case 3: - handler[i].call(this, arguments[1], arguments[2]); - break; - default: - handler[i].apply(this, args); - } - } - return true; - } else if (!this.ignoreErrors && !this._all && type === 'error') { - if (arguments[1] instanceof Error) { - throw arguments[1]; // Unhandled 'error' event - } else { - throw new Error("Uncaught, unspecified 'error' event."); - } - } - - return !!this._all; - }; - - EventEmitter.prototype.emitAsync = function() { - if (!this._events && !this._all) { - return false; - } - - this._events || init.call(this); - - var type = arguments[0], wildcard= this.wildcard, ns, containsSymbol; - var args,l,i,j; - - if (type === 'newListener' && !this._newListener) { - if (!this._events.newListener) { return Promise.resolve([false]); } - } - - if (wildcard) { - ns= type; - if(type!=='newListener' && type!=='removeListener'){ - if (typeof type === 'object') { - l = type.length; - if (symbolsSupported) { - for (i = 0; i < l; i++) { - if (typeof type[i] === 'symbol') { - containsSymbol = true; - break; - } - } - } - if (!containsSymbol) { - type = type.join(this.delimiter); - } - } - } - } - - var promises= []; - - var al = arguments.length; - var handler; - - if (this._all) { - for (i = 0, l = this._all.length; i < l; i++) { - this.event = type; - switch (al) { - case 1: - promises.push(this._all[i].call(this, type)); - break; - case 2: - promises.push(this._all[i].call(this, type, arguments[1])); - break; - case 3: - promises.push(this._all[i].call(this, type, arguments[1], arguments[2])); - break; - default: - promises.push(this._all[i].apply(this, arguments)); - } - } - } - - if (wildcard) { - handler = []; - searchListenerTree.call(this, handler, ns, this.listenerTree, 0); - } else { - handler = this._events[type]; - } - - if (typeof handler === 'function') { - this.event = type; - switch (al) { - case 1: - promises.push(handler.call(this)); - break; - case 2: - promises.push(handler.call(this, arguments[1])); - break; - case 3: - promises.push(handler.call(this, arguments[1], arguments[2])); - break; - default: - args = new Array(al - 1); - for (j = 1; j < al; j++) args[j - 1] = arguments[j]; - promises.push(handler.apply(this, args)); - } - } else if (handler && handler.length) { - handler = handler.slice(); - if (al > 3) { - args = new Array(al - 1); - for (j = 1; j < al; j++) args[j - 1] = arguments[j]; - } - for (i = 0, l = handler.length; i < l; i++) { - this.event = type; - switch (al) { - case 1: - promises.push(handler[i].call(this)); - break; - case 2: - promises.push(handler[i].call(this, arguments[1])); - break; - case 3: - promises.push(handler[i].call(this, arguments[1], arguments[2])); - break; - default: - promises.push(handler[i].apply(this, args)); - } - } - } else if (!this.ignoreErrors && !this._all && type === 'error') { - if (arguments[1] instanceof Error) { - return Promise.reject(arguments[1]); // Unhandled 'error' event - } else { - return Promise.reject("Uncaught, unspecified 'error' event."); - } - } - - return Promise.all(promises); - }; - - EventEmitter.prototype.on = function(type, listener, options) { - return this._on(type, listener, false, options); - }; - - EventEmitter.prototype.prependListener = function(type, listener, options) { - return this._on(type, listener, true, options); - }; - - EventEmitter.prototype.onAny = function(fn) { - return this._onAny(fn, false); - }; - - EventEmitter.prototype.prependAny = function(fn) { - return this._onAny(fn, true); - }; - - EventEmitter.prototype.addListener = EventEmitter.prototype.on; - - EventEmitter.prototype._onAny = function(fn, prepend){ - if (typeof fn !== 'function') { - throw new Error('onAny only accepts instances of Function'); - } - - if (!this._all) { - this._all = []; - } - - // Add the function to the event listener collection. - if(prepend){ - this._all.unshift(fn); - }else{ - this._all.push(fn); - } - - return this; - }; - - EventEmitter.prototype._on = function(type, listener, prepend, options) { - if (typeof type === 'function') { - this._onAny(type, listener); - return this; - } - - if (typeof listener !== 'function') { - throw new Error('on only accepts instances of Function'); - } - this._events || init.call(this); - - var returnValue= this, temp; - - if (options !== undefined) { - temp = setupListener.call(this, type, listener, options); - listener = temp[0]; - returnValue = temp[1]; - } - - // To avoid recursion in the case that type == "newListeners"! Before - // adding it to the listeners, first emit "newListeners". - if (this._newListener) { - this.emit('newListener', type, listener); - } - - if (this.wildcard) { - growListenerTree.call(this, type, listener, prepend); - return returnValue; - } - - if (!this._events[type]) { - // Optimize the case of one listener. Don't need the extra array object. - this._events[type] = listener; - } else { - if (typeof this._events[type] === 'function') { - // Change to array. - this._events[type] = [this._events[type]]; - } - - // If we've already got an array, just add - if(prepend){ - this._events[type].unshift(listener); - }else{ - this._events[type].push(listener); - } - - // Check for listener leak - if ( - !this._events[type].warned && - this._maxListeners > 0 && - this._events[type].length > this._maxListeners - ) { - this._events[type].warned = true; - logPossibleMemoryLeak.call(this, this._events[type].length, type); - } - } - - return returnValue; - }; - - EventEmitter.prototype.off = function(type, listener) { - if (typeof listener !== 'function') { - throw new Error('removeListener only takes instances of Function'); - } - - var handlers,leafs=[]; - - if(this.wildcard) { - var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice(); - leafs = searchListenerTree.call(this, null, ns, this.listenerTree, 0); - if(!leafs) return this; - } else { - // does not use listeners(), so no side effect of creating _events[type] - if (!this._events[type]) return this; - handlers = this._events[type]; - leafs.push({_listeners:handlers}); - } - - for (var iLeaf=0; iLeaf 0) { - fns = this._all; - for(i = 0, l = fns.length; i < l; i++) { - if(fn === fns[i]) { - fns.splice(i, 1); - if (this._removeListener) - this.emit("removeListenerAny", fn); - return this; - } - } - } else { - fns = this._all; - if (this._removeListener) { - for(i = 0, l = fns.length; i < l; i++) - this.emit("removeListenerAny", fns[i]); - } - this._all = []; - } - return this; - }; - - EventEmitter.prototype.removeListener = EventEmitter.prototype.off; - - EventEmitter.prototype.removeAllListeners = function (type) { - if (type === undefined) { - !this._events || init.call(this); - return this; - } - - if (this.wildcard) { - var leafs = searchListenerTree.call(this, null, type, this.listenerTree, 0), leaf, i; - if (!leafs) return this; - for (i = 0; i < leafs.length; i++) { - leaf = leafs[i]; - leaf._listeners = null; - } - this.listenerTree && recursivelyGarbageCollect(this.listenerTree); - } else if (this._events) { - this._events[type] = null; - } - return this; - }; - - EventEmitter.prototype.listeners = function (type) { - var _events = this._events; - var keys, listeners, allListeners; - var i; - var listenerTree; - - if (type === undefined) { - if (this.wildcard) { - throw Error('event name required for wildcard emitter'); - } - - if (!_events) { - return []; - } - - keys = ownKeys(_events); - i = keys.length; - allListeners = []; - while (i-- > 0) { - listeners = _events[keys[i]]; - if (typeof listeners === 'function') { - allListeners.push(listeners); - } else { - allListeners.push.apply(allListeners, listeners); - } - } - return allListeners; - } else { - if (this.wildcard) { - listenerTree= this.listenerTree; - if(!listenerTree) return []; - var handlers = []; - var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice(); - searchListenerTree.call(this, handlers, ns, listenerTree, 0); - return handlers; - } - - if (!_events) { - return []; - } - - listeners = _events[type]; - - if (!listeners) { - return []; - } - return typeof listeners === 'function' ? [listeners] : listeners; - } - }; - - EventEmitter.prototype.eventNames = function(nsAsArray){ - var _events= this._events; - return this.wildcard? collectTreeEvents.call(this, this.listenerTree, [], null, nsAsArray) : (_events? ownKeys(_events) : []); - }; - - EventEmitter.prototype.listenerCount = function(type) { - return this.listeners(type).length; - }; - - EventEmitter.prototype.hasListeners = function (type) { - if (this.wildcard) { - var handlers = []; - var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice(); - searchListenerTree.call(this, handlers, ns, this.listenerTree, 0); - return handlers.length > 0; - } - - var _events = this._events; - var _all = this._all; - - return !!(_all && _all.length || _events && (type === undefined ? ownKeys(_events).length : _events[type])); - }; - - EventEmitter.prototype.listenersAny = function() { - - if(this._all) { - return this._all; - } - else { - return []; - } - - }; - - EventEmitter.prototype.waitFor = function (event, options) { - var self = this; - var type = typeof options; - if (type === 'number') { - options = {timeout: options}; - } else if (type === 'function') { - options = {filter: options}; - } - - options= resolveOptions(options, { - timeout: 0, - filter: undefined, - handleError: false, - Promise: Promise, - overload: false - }, { - filter: functionReducer, - Promise: constructorReducer - }); - - return makeCancelablePromise(options.Promise, function (resolve, reject, onCancel) { - function listener() { - var filter= options.filter; - if (filter && !filter.apply(self, arguments)) { - return; - } - self.off(event, listener); - if (options.handleError) { - var err = arguments[0]; - err ? reject(err) : resolve(toArray.apply(null, arguments).slice(1)); - } else { - resolve(toArray.apply(null, arguments)); - } - } - - onCancel(function(){ - self.off(event, listener); - }); - - self._on(event, listener, false); - }, { - timeout: options.timeout, - overload: options.overload - }) - }; - - function once(emitter, name, options) { - options= resolveOptions(options, { - Promise: Promise, - timeout: 0, - overload: false - }, { - Promise: constructorReducer - }); - - var _Promise= options.Promise; - - return makeCancelablePromise(_Promise, function(resolve, reject, onCancel){ - var handler; - if (typeof emitter.addEventListener === 'function') { - handler= function () { - resolve(toArray.apply(null, arguments)); - }; - - onCancel(function(){ - emitter.removeEventListener(name, handler); - }); - - emitter.addEventListener( - name, - handler, - {once: true} - ); - return; - } - - var eventListener = function(){ - errorListener && emitter.removeListener('error', errorListener); - resolve(toArray.apply(null, arguments)); - }; - - var errorListener; - - if (name !== 'error') { - errorListener = function (err){ - emitter.removeListener(name, eventListener); - reject(err); - }; - - emitter.once('error', errorListener); - } - - onCancel(function(){ - errorListener && emitter.removeListener('error', errorListener); - emitter.removeListener(name, eventListener); - }); - - emitter.once(name, eventListener); - }, { - timeout: options.timeout, - overload: options.overload - }); - } - - var prototype= EventEmitter.prototype; - - Object.defineProperties(EventEmitter, { - defaultMaxListeners: { - get: function () { - return prototype._maxListeners; - }, - set: function (n) { - if (typeof n !== 'number' || n < 0 || Number.isNaN(n)) { - throw TypeError('n must be a non-negative number') - } - prototype._maxListeners = n; - }, - enumerable: true - }, - once: { - value: once, - writable: true, - configurable: true - } - }); - - Object.defineProperties(prototype, { - _maxListeners: { - value: defaultMaxListeners, - writable: true, - configurable: true - }, - _observers: {value: null, writable: true, configurable: true} - }); - - if (typeof define === 'function' && define.amd) { - // AMD. Register as an anonymous module. - define(function() { - return EventEmitter; - }); - } else if (typeof exports === 'object') { - // CommonJS - module.exports = EventEmitter; - } - else { - // global for any kind of environment. - var _global= new Function('','return this')(); - _global.EventEmitter2 = EventEmitter; - } -}(); - -}).call(this)}).call(this,require('_process'),require("timers").setImmediate) -},{"_process":4,"timers":5}],3:[function(require,module,exports){ -/* -object-assign -(c) Sindre Sorhus -@license MIT -*/ - -'use strict'; -/* eslint-disable no-unused-vars */ -var getOwnPropertySymbols = Object.getOwnPropertySymbols; -var hasOwnProperty = Object.prototype.hasOwnProperty; -var propIsEnumerable = Object.prototype.propertyIsEnumerable; - -function toObject(val) { - if (val === null || val === undefined) { - throw new TypeError('Object.assign cannot be called with null or undefined'); - } - - return Object(val); -} - -function shouldUseNative() { - try { - if (!Object.assign) { - return false; - } - - // Detect buggy property enumeration order in older V8 versions. - - // https://bugs.chromium.org/p/v8/issues/detail?id=4118 - var test1 = new String('abc'); // eslint-disable-line no-new-wrappers - test1[5] = 'de'; - if (Object.getOwnPropertyNames(test1)[0] === '5') { - return false; - } - - // https://bugs.chromium.org/p/v8/issues/detail?id=3056 - var test2 = {}; - for (var i = 0; i < 10; i++) { - test2['_' + String.fromCharCode(i)] = i; - } - var order2 = Object.getOwnPropertyNames(test2).map(function (n) { - return test2[n]; - }); - if (order2.join('') !== '0123456789') { - return false; - } - - // https://bugs.chromium.org/p/v8/issues/detail?id=3056 - var test3 = {}; - 'abcdefghijklmnopqrst'.split('').forEach(function (letter) { - test3[letter] = letter; - }); - if (Object.keys(Object.assign({}, test3)).join('') !== - 'abcdefghijklmnopqrst') { - return false; - } - - return true; - } catch (err) { - // We don't expect any of the above to throw, but better to be safe. - return false; - } -} - -module.exports = shouldUseNative() ? Object.assign : function (target, source) { - var from; - var to = toObject(target); - var symbols; - - for (var s = 1; s < arguments.length; s++) { - from = Object(arguments[s]); - - for (var key in from) { - if (hasOwnProperty.call(from, key)) { - to[key] = from[key]; - } - } - - if (getOwnPropertySymbols) { - symbols = getOwnPropertySymbols(from); - for (var i = 0; i < symbols.length; i++) { - if (propIsEnumerable.call(from, symbols[i])) { - to[symbols[i]] = from[symbols[i]]; - } - } - } - } - - return to; -}; - -},{}],4:[function(require,module,exports){ -// shim for using process in browser -var process = module.exports = {}; - -// cached from whatever global is present so that test runners that stub it -// don't break things. But we need to wrap it in a try catch in case it is -// wrapped in strict mode code which doesn't define any globals. It's inside a -// function because try/catches deoptimize in certain engines. - -var cachedSetTimeout; -var cachedClearTimeout; - -function defaultSetTimout() { - throw new Error('setTimeout has not been defined'); -} -function defaultClearTimeout () { - throw new Error('clearTimeout has not been defined'); -} -(function () { - try { - if (typeof setTimeout === 'function') { - cachedSetTimeout = setTimeout; - } else { - cachedSetTimeout = defaultSetTimout; - } - } catch (e) { - cachedSetTimeout = defaultSetTimout; - } - try { - if (typeof clearTimeout === 'function') { - cachedClearTimeout = clearTimeout; - } else { - cachedClearTimeout = defaultClearTimeout; - } - } catch (e) { - cachedClearTimeout = defaultClearTimeout; - } -} ()) -function runTimeout(fun) { - if (cachedSetTimeout === setTimeout) { - //normal enviroments in sane situations - return setTimeout(fun, 0); - } - // if setTimeout wasn't available but was latter defined - if ((cachedSetTimeout === defaultSetTimout || !cachedSetTimeout) && setTimeout) { - cachedSetTimeout = setTimeout; - return setTimeout(fun, 0); - } - try { - // when when somebody has screwed with setTimeout but no I.E. maddness - return cachedSetTimeout(fun, 0); - } catch(e){ - try { - // When we are in I.E. but the script has been evaled so I.E. doesn't trust the global object when called normally - return cachedSetTimeout.call(null, fun, 0); - } catch(e){ - // same as above but when it's a version of I.E. that must have the global object for 'this', hopfully our context correct otherwise it will throw a global error - return cachedSetTimeout.call(this, fun, 0); - } - } - - -} -function runClearTimeout(marker) { - if (cachedClearTimeout === clearTimeout) { - //normal enviroments in sane situations - return clearTimeout(marker); - } - // if clearTimeout wasn't available but was latter defined - if ((cachedClearTimeout === defaultClearTimeout || !cachedClearTimeout) && clearTimeout) { - cachedClearTimeout = clearTimeout; - return clearTimeout(marker); - } - try { - // when when somebody has screwed with setTimeout but no I.E. maddness - return cachedClearTimeout(marker); - } catch (e){ - try { - // When we are in I.E. but the script has been evaled so I.E. doesn't trust the global object when called normally - return cachedClearTimeout.call(null, marker); - } catch (e){ - // same as above but when it's a version of I.E. that must have the global object for 'this', hopfully our context correct otherwise it will throw a global error. - // Some versions of I.E. have different rules for clearTimeout vs setTimeout - return cachedClearTimeout.call(this, marker); - } - } - - - -} -var queue = []; -var draining = false; -var currentQueue; -var queueIndex = -1; - -function cleanUpNextTick() { - if (!draining || !currentQueue) { - return; - } - draining = false; - if (currentQueue.length) { - queue = currentQueue.concat(queue); - } else { - queueIndex = -1; - } - if (queue.length) { - drainQueue(); - } -} - -function drainQueue() { - if (draining) { - return; - } - var timeout = runTimeout(cleanUpNextTick); - draining = true; - - var len = queue.length; - while(len) { - currentQueue = queue; - queue = []; - while (++queueIndex < len) { - if (currentQueue) { - currentQueue[queueIndex].run(); - } - } - queueIndex = -1; - len = queue.length; - } - currentQueue = null; - draining = false; - runClearTimeout(timeout); -} - -process.nextTick = function (fun) { - var args = new Array(arguments.length - 1); - if (arguments.length > 1) { - for (var i = 1; i < arguments.length; i++) { - args[i - 1] = arguments[i]; - } - } - queue.push(new Item(fun, args)); - if (queue.length === 1 && !draining) { - runTimeout(drainQueue); - } -}; - -// v8 likes predictible objects -function Item(fun, array) { - this.fun = fun; - this.array = array; -} -Item.prototype.run = function () { - this.fun.apply(null, this.array); -}; -process.title = 'browser'; -process.browser = true; -process.env = {}; -process.argv = []; -process.version = ''; // empty string to avoid regexp issues -process.versions = {}; - -function noop() {} - -process.on = noop; -process.addListener = noop; -process.once = noop; -process.off = noop; -process.removeListener = noop; -process.removeAllListeners = noop; -process.emit = noop; -process.prependListener = noop; -process.prependOnceListener = noop; - -process.listeners = function (name) { return [] } - -process.binding = function (name) { - throw new Error('process.binding is not supported'); -}; - -process.cwd = function () { return '/' }; -process.chdir = function (dir) { - throw new Error('process.chdir is not supported'); -}; -process.umask = function() { return 0; }; - -},{}],5:[function(require,module,exports){ -(function (setImmediate,clearImmediate){(function (){ -var nextTick = require('process/browser.js').nextTick; -var apply = Function.prototype.apply; -var slice = Array.prototype.slice; -var immediateIds = {}; -var nextImmediateId = 0; - -// DOM APIs, for completeness - -exports.setTimeout = function() { - return new Timeout(apply.call(setTimeout, window, arguments), clearTimeout); -}; -exports.setInterval = function() { - return new Timeout(apply.call(setInterval, window, arguments), clearInterval); -}; -exports.clearTimeout = -exports.clearInterval = function(timeout) { timeout.close(); }; - -function Timeout(id, clearFn) { - this._id = id; - this._clearFn = clearFn; -} -Timeout.prototype.unref = Timeout.prototype.ref = function() {}; -Timeout.prototype.close = function() { - this._clearFn.call(window, this._id); -}; - -// Does not start the time, just sets up the members needed. -exports.enroll = function(item, msecs) { - clearTimeout(item._idleTimeoutId); - item._idleTimeout = msecs; -}; - -exports.unenroll = function(item) { - clearTimeout(item._idleTimeoutId); - item._idleTimeout = -1; -}; - -exports._unrefActive = exports.active = function(item) { - clearTimeout(item._idleTimeoutId); - - var msecs = item._idleTimeout; - if (msecs >= 0) { - item._idleTimeoutId = setTimeout(function onTimeout() { - if (item._onTimeout) - item._onTimeout(); - }, msecs); - } -}; - -// That's not how node.js implements it but the exposed api is the same. -exports.setImmediate = typeof setImmediate === "function" ? setImmediate : function(fn) { - var id = nextImmediateId++; - var args = arguments.length < 2 ? false : slice.call(arguments, 1); - - immediateIds[id] = true; - - nextTick(function onNextTick() { - if (immediateIds[id]) { - // fn.call() is faster so we optimize for the common use-case - // @see http://jsperf.com/call-apply-segu - if (args) { - fn.apply(null, args); - } else { - fn.call(null); - } - // Prevent ids from leaking - exports.clearImmediate(id); - } - }); - - return id; -}; - -exports.clearImmediate = typeof clearImmediate === "function" ? clearImmediate : function(id) { - delete immediateIds[id]; -}; -}).call(this)}).call(this,require("timers").setImmediate,require("timers").clearImmediate) -},{"process/browser.js":4,"timers":5}],6:[function(require,module,exports){ -var bundleFn = arguments[3]; -var sources = arguments[4]; -var cache = arguments[5]; - -var stringify = JSON.stringify; - -module.exports = function (fn, options) { - var wkey; - var cacheKeys = Object.keys(cache); - - for (var i = 0, l = cacheKeys.length; i < l; i++) { - var key = cacheKeys[i]; - var exp = cache[key].exports; - // Using babel as a transpiler to use esmodule, the export will always - // be an object with the default export as a property of it. To ensure - // the existing api and babel esmodule exports are both supported we - // check for both - if (exp === fn || exp && exp.default === fn) { - wkey = key; - break; - } - } - - if (!wkey) { - wkey = Math.floor(Math.pow(16, 8) * Math.random()).toString(16); - var wcache = {}; - for (var i = 0, l = cacheKeys.length; i < l; i++) { - var key = cacheKeys[i]; - wcache[key] = key; - } - sources[wkey] = [ - 'function(require,module,exports){' + fn + '(self); }', - wcache - ]; - } - var skey = Math.floor(Math.pow(16, 8) * Math.random()).toString(16); - - var scache = {}; scache[wkey] = wkey; - sources[skey] = [ - 'function(require,module,exports){' + - // try to call default if defined to also support babel esmodule exports - 'var f = require(' + stringify(wkey) + ');' + - '(f.default ? f.default : f)(self);' + - '}', - scache - ]; - - var workerSources = {}; - resolveSources(skey); - - function resolveSources(key) { - workerSources[key] = true; - - for (var depPath in sources[key][1]) { - var depKey = sources[key][1][depPath]; - if (!workerSources[depKey]) { - resolveSources(depKey); - } - } - } - - var src = '(' + bundleFn + ')({' - + Object.keys(workerSources).map(function (key) { - return stringify(key) + ':[' - + sources[key][0] - + ',' + stringify(sources[key][1]) + ']' - ; - }).join(',') - + '},{},[' + stringify(skey) + '])' - ; - - var URL = window.URL || window.webkitURL || window.mozURL || window.msURL; - - var blob = new Blob([src], { type: 'text/javascript' }); - if (options && options.bare) { return blob; } - var workerUrl = URL.createObjectURL(blob); - var worker = new Worker(workerUrl); - worker.objectURL = workerUrl; - return worker; -}; - -},{}],7:[function(require,module,exports){ -/** - * @fileOverview - * @author Russell Toris - rctoris@wpi.edu - */ - -/** - * If you use roslib in a browser, all the classes will be exported to a global variable called ROSLIB. - * - * If you use nodejs, this is the variable you get when you require('roslib') - */ -var ROSLIB = this.ROSLIB || { - REVISION : '1.1.0' -}; - -var assign = require('object-assign'); - -// Add core components -assign(ROSLIB, require('./core')); - -assign(ROSLIB, require('./actionlib')); - -assign(ROSLIB, require('./math')); - -assign(ROSLIB, require('./tf')); - -assign(ROSLIB, require('./urdf')); - -module.exports = ROSLIB; - -},{"./actionlib":13,"./core":22,"./math":27,"./tf":30,"./urdf":42,"object-assign":3}],8:[function(require,module,exports){ -(function (global){(function (){ -global.ROSLIB = require('./RosLib'); -}).call(this)}).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {}) -},{"./RosLib":7}],9:[function(require,module,exports){ -/** - * @fileOverview - * @author Russell Toris - rctoris@wpi.edu - */ - -var Topic = require('../core/Topic'); -var Message = require('../core/Message'); -var EventEmitter2 = require('eventemitter2').EventEmitter2; - -/** - * An actionlib action client. - * - * Emits the following events: - * * 'timeout' - if a timeout occurred while sending a goal - * * 'status' - the status messages received from the action server - * * 'feedback' - the feedback messages received from the action server - * * 'result' - the result returned from the action server - * - * @constructor - * @param options - object with following keys: - * * ros - the ROSLIB.Ros connection handle - * * serverName - the action server name, like /fibonacci - * * actionName - the action message name, like 'actionlib_tutorials/FibonacciAction' - * * timeout - the timeout length when connecting to the action server - */ -function ActionClient(options) { - var that = this; - options = options || {}; - this.ros = options.ros; - this.serverName = options.serverName; - this.actionName = options.actionName; - this.timeout = options.timeout; - this.omitFeedback = options.omitFeedback; - this.omitStatus = options.omitStatus; - this.omitResult = options.omitResult; - this.goals = {}; - - // flag to check if a status has been received - var receivedStatus = false; - - // create the topics associated with actionlib - this.feedbackListener = new Topic({ - ros : this.ros, - name : this.serverName + '/feedback', - messageType : this.actionName + 'Feedback' - }); - - this.statusListener = new Topic({ - ros : this.ros, - name : this.serverName + '/status', - messageType : 'actionlib_msgs/GoalStatusArray' - }); - - this.resultListener = new Topic({ - ros : this.ros, - name : this.serverName + '/result', - messageType : this.actionName + 'Result' - }); - - this.goalTopic = new Topic({ - ros : this.ros, - name : this.serverName + '/goal', - messageType : this.actionName + 'Goal' - }); - - this.cancelTopic = new Topic({ - ros : this.ros, - name : this.serverName + '/cancel', - messageType : 'actionlib_msgs/GoalID' - }); - - // advertise the goal and cancel topics - this.goalTopic.advertise(); - this.cancelTopic.advertise(); - - // subscribe to the status topic - if (!this.omitStatus) { - this.statusListener.subscribe(function(statusMessage) { - receivedStatus = true; - statusMessage.status_list.forEach(function(status) { - var goal = that.goals[status.goal_id.id]; - if (goal) { - goal.emit('status', status); - } - }); - }); - } - - // subscribe the the feedback topic - if (!this.omitFeedback) { - this.feedbackListener.subscribe(function(feedbackMessage) { - var goal = that.goals[feedbackMessage.status.goal_id.id]; - if (goal) { - goal.emit('status', feedbackMessage.status); - goal.emit('feedback', feedbackMessage.feedback); - } - }); - } - - // subscribe to the result topic - if (!this.omitResult) { - this.resultListener.subscribe(function(resultMessage) { - var goal = that.goals[resultMessage.status.goal_id.id]; - - if (goal) { - goal.emit('status', resultMessage.status); - goal.emit('result', resultMessage.result); - } - }); - } - - // If timeout specified, emit a 'timeout' event if the action server does not respond - if (this.timeout) { - setTimeout(function() { - if (!receivedStatus) { - that.emit('timeout'); - } - }, this.timeout); - } -} - -ActionClient.prototype.__proto__ = EventEmitter2.prototype; - -/** - * Cancel all goals associated with this ActionClient. - */ -ActionClient.prototype.cancel = function() { - var cancelMessage = new Message(); - this.cancelTopic.publish(cancelMessage); -}; - -/** - * Unsubscribe and unadvertise all topics associated with this ActionClient. - */ -ActionClient.prototype.dispose = function() { - this.goalTopic.unadvertise(); - this.cancelTopic.unadvertise(); - if (!this.omitStatus) {this.statusListener.unsubscribe();} - if (!this.omitFeedback) {this.feedbackListener.unsubscribe();} - if (!this.omitResult) {this.resultListener.unsubscribe();} -}; - -module.exports = ActionClient; - -},{"../core/Message":14,"../core/Topic":21,"eventemitter2":2}],10:[function(require,module,exports){ -/** - * @fileOverview - * @author Justin Young - justin@oodar.com.au - * @author Russell Toris - rctoris@wpi.edu - */ - -var Topic = require('../core/Topic'); -var Message = require('../core/Message'); -var EventEmitter2 = require('eventemitter2').EventEmitter2; - -/** - * An actionlib action listener - * - * Emits the following events: - * * 'status' - the status messages received from the action server - * * 'feedback' - the feedback messages received from the action server - * * 'result' - the result returned from the action server - * - * @constructor - * @param options - object with following keys: - * * ros - the ROSLIB.Ros connection handle - * * serverName - the action server name, like /fibonacci - * * actionName - the action message name, like 'actionlib_tutorials/FibonacciAction' - */ -function ActionListener(options) { - var that = this; - options = options || {}; - this.ros = options.ros; - this.serverName = options.serverName; - this.actionName = options.actionName; - this.timeout = options.timeout; - this.omitFeedback = options.omitFeedback; - this.omitStatus = options.omitStatus; - this.omitResult = options.omitResult; - - - // create the topics associated with actionlib - var goalListener = new Topic({ - ros : this.ros, - name : this.serverName + '/goal', - messageType : this.actionName + 'Goal' - }); - - var feedbackListener = new Topic({ - ros : this.ros, - name : this.serverName + '/feedback', - messageType : this.actionName + 'Feedback' - }); - - var statusListener = new Topic({ - ros : this.ros, - name : this.serverName + '/status', - messageType : 'actionlib_msgs/GoalStatusArray' - }); - - var resultListener = new Topic({ - ros : this.ros, - name : this.serverName + '/result', - messageType : this.actionName + 'Result' - }); - - goalListener.subscribe(function(goalMessage) { - that.emit('goal', goalMessage); - }); - - statusListener.subscribe(function(statusMessage) { - statusMessage.status_list.forEach(function(status) { - that.emit('status', status); - }); - }); - - feedbackListener.subscribe(function(feedbackMessage) { - that.emit('status', feedbackMessage.status); - that.emit('feedback', feedbackMessage.feedback); - }); - - // subscribe to the result topic - resultListener.subscribe(function(resultMessage) { - that.emit('status', resultMessage.status); - that.emit('result', resultMessage.result); - }); - -} - -ActionListener.prototype.__proto__ = EventEmitter2.prototype; - -module.exports = ActionListener; - -},{"../core/Message":14,"../core/Topic":21,"eventemitter2":2}],11:[function(require,module,exports){ -/** - * @fileOverview - * @author Russell Toris - rctoris@wpi.edu - */ - -var Message = require('../core/Message'); -var EventEmitter2 = require('eventemitter2').EventEmitter2; - -/** - * An actionlib goal goal is associated with an action server. - * - * Emits the following events: - * * 'timeout' - if a timeout occurred while sending a goal - * - * @constructor - * @param object with following keys: - * * actionClient - the ROSLIB.ActionClient to use with this goal - * * goalMessage - The JSON object containing the goal for the action server - */ -function Goal(options) { - var that = this; - this.actionClient = options.actionClient; - this.goalMessage = options.goalMessage; - this.isFinished = false; - - // Used to create random IDs - var date = new Date(); - - // Create a random ID - this.goalID = 'goal_' + Math.random() + '_' + date.getTime(); - // Fill in the goal message - this.goalMessage = new Message({ - goal_id : { - stamp : { - secs : 0, - nsecs : 0 - }, - id : this.goalID - }, - goal : this.goalMessage - }); - - this.on('status', function(status) { - that.status = status; - }); - - this.on('result', function(result) { - that.isFinished = true; - that.result = result; - }); - - this.on('feedback', function(feedback) { - that.feedback = feedback; - }); - - // Add the goal - this.actionClient.goals[this.goalID] = this; -} - -Goal.prototype.__proto__ = EventEmitter2.prototype; - -/** - * Send the goal to the action server. - * - * @param timeout (optional) - a timeout length for the goal's result - */ -Goal.prototype.send = function(timeout) { - var that = this; - that.actionClient.goalTopic.publish(that.goalMessage); - if (timeout) { - setTimeout(function() { - if (!that.isFinished) { - that.emit('timeout'); - } - }, timeout); - } -}; - -/** - * Cancel the current goal. - */ -Goal.prototype.cancel = function() { - var cancelMessage = new Message({ - id : this.goalID - }); - this.actionClient.cancelTopic.publish(cancelMessage); -}; - -module.exports = Goal; -},{"../core/Message":14,"eventemitter2":2}],12:[function(require,module,exports){ -/** - * @fileOverview - * @author Laura Lindzey - lindzey@gmail.com - */ - -var Topic = require('../core/Topic'); -var Message = require('../core/Message'); -var EventEmitter2 = require('eventemitter2').EventEmitter2; - -/** - * An actionlib action server client. - * - * Emits the following events: - * * 'goal' - goal sent by action client - * * 'cancel' - action client has canceled the request - * - * @constructor - * @param options - object with following keys: - * * ros - the ROSLIB.Ros connection handle - * * serverName - the action server name, like /fibonacci - * * actionName - the action message name, like 'actionlib_tutorials/FibonacciAction' - */ - -function SimpleActionServer(options) { - var that = this; - options = options || {}; - this.ros = options.ros; - this.serverName = options.serverName; - this.actionName = options.actionName; - - // create and advertise publishers - this.feedbackPublisher = new Topic({ - ros : this.ros, - name : this.serverName + '/feedback', - messageType : this.actionName + 'Feedback' - }); - this.feedbackPublisher.advertise(); - - var statusPublisher = new Topic({ - ros : this.ros, - name : this.serverName + '/status', - messageType : 'actionlib_msgs/GoalStatusArray' - }); - statusPublisher.advertise(); - - this.resultPublisher = new Topic({ - ros : this.ros, - name : this.serverName + '/result', - messageType : this.actionName + 'Result' - }); - this.resultPublisher.advertise(); - - // create and subscribe to listeners - var goalListener = new Topic({ - ros : this.ros, - name : this.serverName + '/goal', - messageType : this.actionName + 'Goal' - }); - - var cancelListener = new Topic({ - ros : this.ros, - name : this.serverName + '/cancel', - messageType : 'actionlib_msgs/GoalID' - }); - - // Track the goals and their status in order to publish status... - this.statusMessage = new Message({ - header : { - stamp : {secs : 0, nsecs : 100}, - frame_id : '' - }, - status_list : [] - }); - - // needed for handling preemption prompted by a new goal being received - this.currentGoal = null; // currently tracked goal - this.nextGoal = null; // the one that'll be preempting - - goalListener.subscribe(function(goalMessage) { - - if(that.currentGoal) { - that.nextGoal = goalMessage; - // needs to happen AFTER rest is set up - that.emit('cancel'); - } else { - that.statusMessage.status_list = [{goal_id : goalMessage.goal_id, status : 1}]; - that.currentGoal = goalMessage; - that.emit('goal', goalMessage.goal); - } - }); - - // helper function for determing ordering of timestamps - // returns t1 < t2 - var isEarlier = function(t1, t2) { - if(t1.secs > t2.secs) { - return false; - } else if(t1.secs < t2.secs) { - return true; - } else if(t1.nsecs < t2.nsecs) { - return true; - } else { - return false; - } - }; - - // TODO: this may be more complicated than necessary, since I'm - // not sure if the callbacks can ever wind up with a scenario - // where we've been preempted by a next goal, it hasn't finished - // processing, and then we get a cancel message - cancelListener.subscribe(function(cancelMessage) { - - // cancel ALL goals if both empty - if(cancelMessage.stamp.secs === 0 && cancelMessage.stamp.secs === 0 && cancelMessage.id === '') { - that.nextGoal = null; - if(that.currentGoal) { - that.emit('cancel'); - } - } else { // treat id and stamp independently - if(that.currentGoal && cancelMessage.id === that.currentGoal.goal_id.id) { - that.emit('cancel'); - } else if(that.nextGoal && cancelMessage.id === that.nextGoal.goal_id.id) { - that.nextGoal = null; - } - - if(that.nextGoal && isEarlier(that.nextGoal.goal_id.stamp, - cancelMessage.stamp)) { - that.nextGoal = null; - } - if(that.currentGoal && isEarlier(that.currentGoal.goal_id.stamp, - cancelMessage.stamp)) { - - that.emit('cancel'); - } - } - }); - - // publish status at pseudo-fixed rate; required for clients to know they've connected - var statusInterval = setInterval( function() { - var currentTime = new Date(); - var secs = Math.floor(currentTime.getTime()/1000); - var nsecs = Math.round(1000000000*(currentTime.getTime()/1000-secs)); - that.statusMessage.header.stamp.secs = secs; - that.statusMessage.header.stamp.nsecs = nsecs; - statusPublisher.publish(that.statusMessage); - }, 500); // publish every 500ms - -} - -SimpleActionServer.prototype.__proto__ = EventEmitter2.prototype; - -/** -* Set action state to succeeded and return to client -*/ - -SimpleActionServer.prototype.setSucceeded = function(result2) { - - - var resultMessage = new Message({ - status : {goal_id : this.currentGoal.goal_id, status : 3}, - result : result2 - }); - this.resultPublisher.publish(resultMessage); - - this.statusMessage.status_list = []; - if(this.nextGoal) { - this.currentGoal = this.nextGoal; - this.nextGoal = null; - this.emit('goal', this.currentGoal.goal); - } else { - this.currentGoal = null; - } -}; - -/** -* Set action state to aborted and return to client -*/ - -SimpleActionServer.prototype.setAborted = function(result2) { - var resultMessage = new Message({ - status : {goal_id : this.currentGoal.goal_id, status : 4}, - result : result2 - }); - this.resultPublisher.publish(resultMessage); - - this.statusMessage.status_list = []; - if(this.nextGoal) { - this.currentGoal = this.nextGoal; - this.nextGoal = null; - this.emit('goal', this.currentGoal.goal); - } else { - this.currentGoal = null; - } -}; - -/** -* Function to send feedback -*/ - -SimpleActionServer.prototype.sendFeedback = function(feedback2) { - - var feedbackMessage = new Message({ - status : {goal_id : this.currentGoal.goal_id, status : 1}, - feedback : feedback2 - }); - this.feedbackPublisher.publish(feedbackMessage); -}; - -/** -* Handle case where client requests preemption -*/ - -SimpleActionServer.prototype.setPreempted = function() { - - this.statusMessage.status_list = []; - var resultMessage = new Message({ - status : {goal_id : this.currentGoal.goal_id, status : 2}, - }); - this.resultPublisher.publish(resultMessage); - - if(this.nextGoal) { - this.currentGoal = this.nextGoal; - this.nextGoal = null; - this.emit('goal', this.currentGoal.goal); - } else { - this.currentGoal = null; - } -}; - -module.exports = SimpleActionServer; -},{"../core/Message":14,"../core/Topic":21,"eventemitter2":2}],13:[function(require,module,exports){ -var Ros = require('../core/Ros'); -var mixin = require('../mixin'); - -var action = module.exports = { - ActionClient: require('./ActionClient'), - ActionListener: require('./ActionListener'), - Goal: require('./Goal'), - SimpleActionServer: require('./SimpleActionServer') -}; - -mixin(Ros, ['ActionClient', 'SimpleActionServer'], action); - -},{"../core/Ros":16,"../mixin":28,"./ActionClient":9,"./ActionListener":10,"./Goal":11,"./SimpleActionServer":12}],14:[function(require,module,exports){ -/** - * @fileoverview - * @author Brandon Alexander - baalexander@gmail.com - */ - -var assign = require('object-assign'); - -/** - * Message objects are used for publishing and subscribing to and from topics. - * - * @constructor - * @param values - object matching the fields defined in the .msg definition file - */ -function Message(values) { - assign(this, values); -} - -module.exports = Message; -},{"object-assign":3}],15:[function(require,module,exports){ -/** - * @fileoverview - * @author Brandon Alexander - baalexander@gmail.com - */ - -var Service = require('./Service'); -var ServiceRequest = require('./ServiceRequest'); - -/** - * A ROS parameter. - * - * @constructor - * @param options - possible keys include: - * * ros - the ROSLIB.Ros connection handle - * * name - the param name, like max_vel_x - */ -function Param(options) { - options = options || {}; - this.ros = options.ros; - this.name = options.name; -} - -/** - * Fetches the value of the param. - * - * @param callback - function with the following params: - * * value - the value of the param from ROS. - */ -Param.prototype.get = function(callback) { - var paramClient = new Service({ - ros : this.ros, - name : '/rosapi/get_param', - serviceType : 'rosapi/GetParam' - }); - - var request = new ServiceRequest({ - name : this.name - }); - - paramClient.callService(request, function(result) { - var value = JSON.parse(result.value); - callback(value); - }); -}; - -/** - * Sets the value of the param in ROS. - * - * @param value - value to set param to. - */ -Param.prototype.set = function(value, callback) { - var paramClient = new Service({ - ros : this.ros, - name : '/rosapi/set_param', - serviceType : 'rosapi/SetParam' - }); - - var request = new ServiceRequest({ - name : this.name, - value : JSON.stringify(value) - }); - - paramClient.callService(request, callback); -}; - -/** - * Delete this parameter on the ROS server. - */ -Param.prototype.delete = function(callback) { - var paramClient = new Service({ - ros : this.ros, - name : '/rosapi/delete_param', - serviceType : 'rosapi/DeleteParam' - }); - - var request = new ServiceRequest({ - name : this.name - }); - - paramClient.callService(request, callback); -}; - -module.exports = Param; -},{"./Service":17,"./ServiceRequest":18}],16:[function(require,module,exports){ -/** - * @fileoverview - * @author Brandon Alexander - baalexander@gmail.com - */ - -var WebSocket = require('ws'); -var WorkerSocket = require('../util/workerSocket'); -var socketAdapter = require('./SocketAdapter.js'); - -var Service = require('./Service'); -var ServiceRequest = require('./ServiceRequest'); - -var assign = require('object-assign'); -var EventEmitter2 = require('eventemitter2').EventEmitter2; - -/** - * Manages connection to the server and all interactions with ROS. - * - * Emits the following events: - * * 'error' - there was an error with ROS - * * 'connection' - connected to the WebSocket server - * * 'close' - disconnected to the WebSocket server - * * - a message came from rosbridge with the given topic name - * * - a service response came from rosbridge with the given ID - * - * @constructor - * @param options - possible keys include:
- * * url (optional) - (can be specified later with `connect`) the WebSocket URL for rosbridge or the node server url to connect using socket.io (if socket.io exists in the page)
- * * groovyCompatibility - don't use interfaces that changed after the last groovy release or rosbridge_suite and related tools (defaults to true) - * * transportLibrary (optional) - one of 'websocket', 'workersocket' (default), 'socket.io' or RTCPeerConnection instance controlling how the connection is created in `connect`. - * * transportOptions (optional) - the options to use use when creating a connection. Currently only used if `transportLibrary` is RTCPeerConnection. - */ -function Ros(options) { - options = options || {}; - var that = this; - this.socket = null; - this.idCounter = 0; - this.isConnected = false; - this.transportLibrary = options.transportLibrary || 'websocket'; - this.transportOptions = options.transportOptions || {}; - this._sendFunc = function(msg) { that.sendEncodedMessage(msg); }; - - if (typeof options.groovyCompatibility === 'undefined') { - this.groovyCompatibility = true; - } - else { - this.groovyCompatibility = options.groovyCompatibility; - } - - // Sets unlimited event listeners. - this.setMaxListeners(0); - - // begin by checking if a URL was given - if (options.url) { - this.connect(options.url); - } -} - -Ros.prototype.__proto__ = EventEmitter2.prototype; - -/** - * Connect to the specified WebSocket. - * - * @param url - WebSocket URL or RTCDataChannel label for Rosbridge - */ -Ros.prototype.connect = function(url) { - if (this.transportLibrary === 'socket.io') { - this.socket = assign(io(url, {'force new connection': true}), socketAdapter(this)); - this.socket.on('connect', this.socket.onopen); - this.socket.on('data', this.socket.onmessage); - this.socket.on('close', this.socket.onclose); - this.socket.on('error', this.socket.onerror); - } else if (this.transportLibrary.constructor.name === 'RTCPeerConnection') { - this.socket = assign(this.transportLibrary.createDataChannel(url, this.transportOptions), socketAdapter(this)); - } else if (this.transportLibrary === 'websocket') { - if (!this.socket || this.socket.readyState === WebSocket.CLOSED) { - var sock = new WebSocket(url); - sock.binaryType = 'arraybuffer'; - this.socket = assign(sock, socketAdapter(this)); - } - } else if (this.transportLibrary === 'workersocket') { - this.socket = assign(new WorkerSocket(url), socketAdapter(this)); - } else { - throw 'Unknown transportLibrary: ' + this.transportLibrary.toString(); - } - -}; - -/** - * Disconnect from the WebSocket server. - */ -Ros.prototype.close = function() { - if (this.socket) { - this.socket.close(); - } -}; - -/** - * Sends an authorization request to the server. - * - * @param mac - MAC (hash) string given by the trusted source. - * @param client - IP of the client. - * @param dest - IP of the destination. - * @param rand - Random string given by the trusted source. - * @param t - Time of the authorization request. - * @param level - User level as a string given by the client. - * @param end - End time of the client's session. - */ -Ros.prototype.authenticate = function(mac, client, dest, rand, t, level, end) { - // create the request - var auth = { - op : 'auth', - mac : mac, - client : client, - dest : dest, - rand : rand, - t : t, - level : level, - end : end - }; - // send the request - this.callOnConnection(auth); -}; - -Ros.prototype.sendEncodedMessage= function(messageEncoded) { - var emitter = null; - var that = this; - if (this.transportLibrary === 'socket.io') { - emitter = function(msg){that.socket.emit('operation', msg);}; - } else { - emitter = function(msg){that.socket.send(msg);}; - } - - if (!this.isConnected) { - that.once('connection', function() { - emitter(messageEncoded); - }); - } else { - emitter(messageEncoded); - } -}; - -/** - * Sends the message over the WebSocket, but queues the message up if not yet - * connected. - */ -Ros.prototype.callOnConnection = function(message) { - if (this.transportOptions.encoder) { - this.transportOptions.encoder(message, this._sendFunc); - } else { - this._sendFunc(JSON.stringify(message)); - } -}; - -/** - * Sends a set_level request to the server - * - * @param level - Status level (none, error, warning, info) - * @param id - Optional: Operation ID to change status level on - */ -Ros.prototype.setStatusLevel = function(level, id){ - var levelMsg = { - op: 'set_level', - level: level, - id: id - }; - - this.callOnConnection(levelMsg); -}; - -/** - * Retrieves Action Servers in ROS as an array of string - * - * @param callback function with params: - * * actionservers - Array of action server names - * @param failedCallback - the callback function when the service call failed (optional). Params: - * * error - the error message reported by ROS - */ -Ros.prototype.getActionServers = function(callback, failedCallback) { - var getActionServers = new Service({ - ros : this, - name : '/rosapi/action_servers', - serviceType : 'rosapi/GetActionServers' - }); - - var request = new ServiceRequest({}); - if (typeof failedCallback === 'function'){ - getActionServers.callService(request, - function(result) { - callback(result.action_servers); - }, - function(message){ - failedCallback(message); - } - ); - }else{ - getActionServers.callService(request, function(result) { - callback(result.action_servers); - }); - } -}; - -/** - * Retrieves list of topics in ROS as an array. - * - * @param callback function with params: - * * topics - Array of topic names - * * types - Array of message type names - * @param failedCallback - the callback function when the service call failed (optional). Params: - * * error - the error message reported by ROS - */ -Ros.prototype.getTopics = function(callback, failedCallback) { - var topicsClient = new Service({ - ros : this, - name : '/rosapi/topics', - serviceType : 'rosapi/Topics' - }); - - var request = new ServiceRequest(); - if (typeof failedCallback === 'function'){ - topicsClient.callService(request, - function(result) { - callback(result); - }, - function(message){ - failedCallback(message); - } - ); - }else{ - topicsClient.callService(request, function(result) { - callback(result); - }); - } -}; - -/** - * Retrieves Topics in ROS as an array as specific type - * - * @param topicType topic type to find - * @param callback function with params: - * * topics - Array of topic names - * @param failedCallback - the callback function when the service call failed (optional). Params: - * * error - the error message reported by ROS - */ -Ros.prototype.getTopicsForType = function(topicType, callback, failedCallback) { - var topicsForTypeClient = new Service({ - ros : this, - name : '/rosapi/topics_for_type', - serviceType : 'rosapi/TopicsForType' - }); - - var request = new ServiceRequest({ - type: topicType - }); - if (typeof failedCallback === 'function'){ - topicsForTypeClient.callService(request, - function(result) { - callback(result.topics); - }, - function(message){ - failedCallback(message); - } - ); - }else{ - topicsForTypeClient.callService(request, function(result) { - callback(result.topics); - }); - } -}; - -/** - * Retrieves list of active service names in ROS. - * - * @param callback - function with the following params: - * * services - array of service names - * @param failedCallback - the callback function when the service call failed (optional). Params: - * * error - the error message reported by ROS - */ -Ros.prototype.getServices = function(callback, failedCallback) { - var servicesClient = new Service({ - ros : this, - name : '/rosapi/services', - serviceType : 'rosapi/Services' - }); - - var request = new ServiceRequest(); - if (typeof failedCallback === 'function'){ - servicesClient.callService(request, - function(result) { - callback(result.services); - }, - function(message) { - failedCallback(message); - } - ); - }else{ - servicesClient.callService(request, function(result) { - callback(result.services); - }); - } -}; - -/** - * Retrieves list of services in ROS as an array as specific type - * - * @param serviceType service type to find - * @param callback function with params: - * * topics - Array of service names - * @param failedCallback - the callback function when the service call failed (optional). Params: - * * error - the error message reported by ROS - */ -Ros.prototype.getServicesForType = function(serviceType, callback, failedCallback) { - var servicesForTypeClient = new Service({ - ros : this, - name : '/rosapi/services_for_type', - serviceType : 'rosapi/ServicesForType' - }); - - var request = new ServiceRequest({ - type: serviceType - }); - if (typeof failedCallback === 'function'){ - servicesForTypeClient.callService(request, - function(result) { - callback(result.services); - }, - function(message) { - failedCallback(message); - } - ); - }else{ - servicesForTypeClient.callService(request, function(result) { - callback(result.services); - }); - } -}; - -/** - * Retrieves a detail of ROS service request. - * - * @param service name of service: - * @param callback - function with params: - * * type - String of the service type - * @param failedCallback - the callback function when the service call failed (optional). Params: - * * error - the error message reported by ROS - */ -Ros.prototype.getServiceRequestDetails = function(type, callback, failedCallback) { - var serviceTypeClient = new Service({ - ros : this, - name : '/rosapi/service_request_details', - serviceType : 'rosapi/ServiceRequestDetails' - }); - var request = new ServiceRequest({ - type: type - }); - - if (typeof failedCallback === 'function'){ - serviceTypeClient.callService(request, - function(result) { - callback(result); - }, - function(message){ - failedCallback(message); - } - ); - }else{ - serviceTypeClient.callService(request, function(result) { - callback(result); - }); - } -}; - -/** - * Retrieves a detail of ROS service request. - * - * @param service name of service - * @param callback - function with params: - * * type - String of the service type - * @param failedCallback - the callback function when the service call failed (optional). Params: - * * error - the error message reported by ROS - */ -Ros.prototype.getServiceResponseDetails = function(type, callback, failedCallback) { - var serviceTypeClient = new Service({ - ros : this, - name : '/rosapi/service_response_details', - serviceType : 'rosapi/ServiceResponseDetails' - }); - var request = new ServiceRequest({ - type: type - }); - - if (typeof failedCallback === 'function'){ - serviceTypeClient.callService(request, - function(result) { - callback(result); - }, - function(message){ - failedCallback(message); - } - ); - }else{ - serviceTypeClient.callService(request, function(result) { - callback(result); - }); - } -}; - -/** - * Retrieves list of active node names in ROS. - * - * @param callback - function with the following params: - * * nodes - array of node names - * @param failedCallback - the callback function when the service call failed (optional). Params: - * * error - the error message reported by ROS - */ -Ros.prototype.getNodes = function(callback, failedCallback) { - var nodesClient = new Service({ - ros : this, - name : '/rosapi/nodes', - serviceType : 'rosapi/Nodes' - }); - - var request = new ServiceRequest(); - if (typeof failedCallback === 'function'){ - nodesClient.callService(request, - function(result) { - callback(result.nodes); - }, - function(message) { - failedCallback(message); - } - ); - }else{ - nodesClient.callService(request, function(result) { - callback(result.nodes); - }); - } -}; - -/** - * Retrieves list subscribed topics, publishing topics and services of a specific node - * - * @param node name of the node: - * @param callback - function with params: - * * publications - array of published topic names - * * subscriptions - array of subscribed topic names - * * services - array of service names hosted - * @param failedCallback - the callback function when the service call failed (optional). Params: - * * error - the error message reported by ROS - */ -Ros.prototype.getNodeDetails = function(node, callback, failedCallback) { - var nodesClient = new Service({ - ros : this, - name : '/rosapi/node_details', - serviceType : 'rosapi/NodeDetails' - }); - - var request = new ServiceRequest({ - node: node - }); - if (typeof failedCallback === 'function'){ - nodesClient.callService(request, - function(result) { - callback(result.subscribing, result.publishing, result.services); - }, - function(message) { - failedCallback(message); - } - ); - } else { - nodesClient.callService(request, function(result) { - callback(result); - }); - } -}; - -/** - * Retrieves list of param names from the ROS Parameter Server. - * - * @param callback function with params: - * * params - array of param names. - * @param failedCallback - the callback function when the service call failed (optional). Params: - * * error - the error message reported by ROS - */ -Ros.prototype.getParams = function(callback, failedCallback) { - var paramsClient = new Service({ - ros : this, - name : '/rosapi/get_param_names', - serviceType : 'rosapi/GetParamNames' - }); - var request = new ServiceRequest(); - if (typeof failedCallback === 'function'){ - paramsClient.callService(request, - function(result) { - callback(result.names); - }, - function(message){ - failedCallback(message); - } - ); - }else{ - paramsClient.callService(request, function(result) { - callback(result.names); - }); - } -}; - -/** - * Retrieves a type of ROS topic. - * - * @param topic name of the topic: - * @param callback - function with params: - * * type - String of the topic type - * @param failedCallback - the callback function when the service call failed (optional). Params: - * * error - the error message reported by ROS - */ -Ros.prototype.getTopicType = function(topic, callback, failedCallback) { - var topicTypeClient = new Service({ - ros : this, - name : '/rosapi/topic_type', - serviceType : 'rosapi/TopicType' - }); - var request = new ServiceRequest({ - topic: topic - }); - - if (typeof failedCallback === 'function'){ - topicTypeClient.callService(request, - function(result) { - callback(result.type); - }, - function(message){ - failedCallback(message); - } - ); - }else{ - topicTypeClient.callService(request, function(result) { - callback(result.type); - }); - } -}; - -/** - * Retrieves a type of ROS service. - * - * @param service name of service: - * @param callback - function with params: - * * type - String of the service type - * @param failedCallback - the callback function when the service call failed (optional). Params: - * * error - the error message reported by ROS - */ -Ros.prototype.getServiceType = function(service, callback, failedCallback) { - var serviceTypeClient = new Service({ - ros : this, - name : '/rosapi/service_type', - serviceType : 'rosapi/ServiceType' - }); - var request = new ServiceRequest({ - service: service - }); - - if (typeof failedCallback === 'function'){ - serviceTypeClient.callService(request, - function(result) { - callback(result.type); - }, - function(message){ - failedCallback(message); - } - ); - }else{ - serviceTypeClient.callService(request, function(result) { - callback(result.type); - }); - } -}; - -/** - * Retrieves a detail of ROS message. - * - * @param message - String of a topic type - * @param callback - function with params: - * * details - Array of the message detail - * @param failedCallback - the callback function when the service call failed (optional). Params: - * * error - the error message reported by ROS - */ -Ros.prototype.getMessageDetails = function(message, callback, failedCallback) { - var messageDetailClient = new Service({ - ros : this, - name : '/rosapi/message_details', - serviceType : 'rosapi/MessageDetails' - }); - var request = new ServiceRequest({ - type: message - }); - - if (typeof failedCallback === 'function'){ - messageDetailClient.callService(request, - function(result) { - callback(result.typedefs); - }, - function(message){ - failedCallback(message); - } - ); - }else{ - messageDetailClient.callService(request, function(result) { - callback(result.typedefs); - }); - } -}; - -/** - * Decode a typedefs into a dictionary like `rosmsg show foo/bar` - * - * @param defs - array of type_def dictionary - */ -Ros.prototype.decodeTypeDefs = function(defs) { - var that = this; - - // calls itself recursively to resolve type definition using hints. - var decodeTypeDefsRec = function(theType, hints) { - var typeDefDict = {}; - for (var i = 0; i < theType.fieldnames.length; i++) { - var arrayLen = theType.fieldarraylen[i]; - var fieldName = theType.fieldnames[i]; - var fieldType = theType.fieldtypes[i]; - if (fieldType.indexOf('/') === -1) { // check the fieldType includes '/' or not - if (arrayLen === -1) { - typeDefDict[fieldName] = fieldType; - } - else { - typeDefDict[fieldName] = [fieldType]; - } - } - else { - // lookup the name - var sub = false; - for (var j = 0; j < hints.length; j++) { - if (hints[j].type.toString() === fieldType.toString()) { - sub = hints[j]; - break; - } - } - if (sub) { - var subResult = decodeTypeDefsRec(sub, hints); - if (arrayLen === -1) { - } - else { - typeDefDict[fieldName] = [subResult]; - } - } - else { - that.emit('error', 'Cannot find ' + fieldType + ' in decodeTypeDefs'); - } - } - } - return typeDefDict; - }; - - return decodeTypeDefsRec(defs[0], defs); -}; - -/** - * Retrieves list of topics and their associated type definitions. - * - * @param callback function with params: - * * topics - Array of topic names - * * types - Array of message type names - * * typedefs_full_text - Array of full definitions of message types, similar to `gendeps --cat` - * @param failedCallback - the callback function when the service call failed (optional). Params: - * * error - the error message reported by ROS - * - */ -Ros.prototype.getTopicsAndRawTypes = function(callback, failedCallback) { - var topicsAndRawTypesClient = new Service({ - ros : this, - name : '/rosapi/topics_and_raw_types', - serviceType : 'rosapi/TopicsAndRawTypes' - }); - - var request = new ServiceRequest(); - if (typeof failedCallback === 'function'){ - topicsAndRawTypesClient.callService(request, - function(result) { - callback(result); - }, - function(message){ - failedCallback(message); - } - ); - }else{ - topicsAndRawTypesClient.callService(request, function(result) { - callback(result); - }); - } -}; - - -module.exports = Ros; - -},{"../util/workerSocket":48,"./Service":17,"./ServiceRequest":18,"./SocketAdapter.js":20,"eventemitter2":2,"object-assign":3,"ws":44}],17:[function(require,module,exports){ -/** - * @fileoverview - * @author Brandon Alexander - baalexander@gmail.com - */ - -var ServiceResponse = require('./ServiceResponse'); -var ServiceRequest = require('./ServiceRequest'); -var EventEmitter2 = require('eventemitter2').EventEmitter2; - -/** - * A ROS service client. - * - * @constructor - * @params options - possible keys include: - * * ros - the ROSLIB.Ros connection handle - * * name - the service name, like /add_two_ints - * * serviceType - the service type, like 'rospy_tutorials/AddTwoInts' - */ -function Service(options) { - options = options || {}; - this.ros = options.ros; - this.name = options.name; - this.serviceType = options.serviceType; - this.isAdvertised = false; - - this._serviceCallback = null; -} -Service.prototype.__proto__ = EventEmitter2.prototype; -/** - * Calls the service. Returns the service response in the - * callback. Does nothing if this service is currently advertised. - * - * @param request - the ROSLIB.ServiceRequest to send - * @param callback - function with params: - * * response - the response from the service request - * @param failedCallback - the callback function when the service call failed (optional). Params: - * * error - the error message reported by ROS - */ -Service.prototype.callService = function(request, callback, failedCallback) { - if (this.isAdvertised) { - return; - } - - var serviceCallId = 'call_service:' + this.name + ':' + (++this.ros.idCounter); - - if (callback || failedCallback) { - this.ros.once(serviceCallId, function(message) { - if (message.result !== undefined && message.result === false) { - if (typeof failedCallback === 'function') { - failedCallback(message.values); - } - } else if (typeof callback === 'function') { - callback(new ServiceResponse(message.values)); - } - }); - } - - var call = { - op : 'call_service', - id : serviceCallId, - service : this.name, - type: this.serviceType, - args : request - }; - this.ros.callOnConnection(call); -}; - -/** - * Advertise the service. This turns the Service object from a client - * into a server. The callback will be called with every request - * that's made on this service. - * - * @param callback - This works similarly to the callback for a C++ service and should take the following params: - * * request - the service request - * * response - an empty dictionary. Take care not to overwrite this. Instead, only modify the values within. - * It should return true if the service has finished successfully, - * i.e. without any fatal errors. - */ -Service.prototype.advertise = function(callback) { - if (this.isAdvertised || typeof callback !== 'function') { - return; - } - - this._serviceCallback = callback; - this.ros.on(this.name, this._serviceResponse.bind(this)); - this.ros.callOnConnection({ - op: 'advertise_service', - type: this.serviceType, - service: this.name - }); - this.isAdvertised = true; -}; - -Service.prototype.unadvertise = function() { - if (!this.isAdvertised) { - return; - } - this.ros.callOnConnection({ - op: 'unadvertise_service', - service: this.name - }); - this.isAdvertised = false; -}; - -Service.prototype._serviceResponse = function(rosbridgeRequest) { - var response = {}; - var success = this._serviceCallback(rosbridgeRequest.args, response); - - var call = { - op: 'service_response', - service: this.name, - values: new ServiceResponse(response), - result: success - }; - - if (rosbridgeRequest.id) { - call.id = rosbridgeRequest.id; - } - - this.ros.callOnConnection(call); -}; - -module.exports = Service; - -},{"./ServiceRequest":18,"./ServiceResponse":19,"eventemitter2":2}],18:[function(require,module,exports){ -/** - * @fileoverview - * @author Brandon Alexander - balexander@willowgarage.com - */ - -var assign = require('object-assign'); - -/** - * A ServiceRequest is passed into the service call. - * - * @constructor - * @param values - object matching the fields defined in the .srv definition file - */ -function ServiceRequest(values) { - assign(this, values); -} - -module.exports = ServiceRequest; -},{"object-assign":3}],19:[function(require,module,exports){ -/** - * @fileoverview - * @author Brandon Alexander - balexander@willowgarage.com - */ - -var assign = require('object-assign'); - -/** - * A ServiceResponse is returned from the service call. - * - * @constructor - * @param values - object matching the fields defined in the .srv definition file - */ -function ServiceResponse(values) { - assign(this, values); -} - -module.exports = ServiceResponse; -},{"object-assign":3}],20:[function(require,module,exports){ -/** - * Socket event handling utilities for handling events on either - * WebSocket and TCP sockets - * - * Note to anyone reviewing this code: these functions are called - * in the context of their parent object, unless bound - * @fileOverview - */ -'use strict'; - -var decompressPng = require('../util/decompressPng'); -var CBOR = require('cbor-js'); -var typedArrayTagger = require('../util/cborTypedArrayTags'); -var BSON = null; -if(typeof bson !== 'undefined'){ - BSON = bson().BSON; -} - -/** - * Events listeners for a WebSocket or TCP socket to a JavaScript - * ROS Client. Sets up Messages for a given topic to trigger an - * event on the ROS client. - * - * @namespace SocketAdapter - * @private - */ -function SocketAdapter(client) { - - var decoder = null; - if (client.transportOptions.decoder) { - decoder = client.transportOptions.decoder; - } - - function handleMessage(message) { - if (message.op === 'publish') { - client.emit(message.topic, message.msg); - } else if (message.op === 'service_response') { - client.emit(message.id, message); - } else if (message.op === 'call_service') { - client.emit(message.service, message); - } else if(message.op === 'status'){ - if(message.id){ - client.emit('status:'+message.id, message); - } else { - client.emit('status', message); - } - } - } - - function handlePng(message, callback) { - if (message.op === 'png') { - decompressPng(message.data, callback); - } else { - callback(message); - } - } - - function decodeBSON(data, callback) { - if (!BSON) { - throw 'Cannot process BSON encoded message without BSON header.'; - } - var reader = new FileReader(); - reader.onload = function() { - var uint8Array = new Uint8Array(this.result); - var msg = BSON.deserialize(uint8Array); - callback(msg); - }; - reader.readAsArrayBuffer(data); - } - - return { - /** - * Emits a 'connection' event on WebSocket connection. - * - * @param event - the argument to emit with the event. - * @memberof SocketAdapter - */ - onopen: function onOpen(event) { - client.isConnected = true; - client.emit('connection', event); - }, - - /** - * Emits a 'close' event on WebSocket disconnection. - * - * @param event - the argument to emit with the event. - * @memberof SocketAdapter - */ - onclose: function onClose(event) { - client.isConnected = false; - client.emit('close', event); - }, - - /** - * Emits an 'error' event whenever there was an error. - * - * @param event - the argument to emit with the event. - * @memberof SocketAdapter - */ - onerror: function onError(event) { - client.emit('error', event); - }, - - /** - * Parses message responses from rosbridge and sends to the appropriate - * topic, service, or param. - * - * @param message - the raw JSON message from rosbridge. - * @memberof SocketAdapter - */ - onmessage: function onMessage(data) { - if (decoder) { - decoder(data.data, function (message) { - handleMessage(message); - }); - } else if (typeof Blob !== 'undefined' && data.data instanceof Blob) { - decodeBSON(data.data, function (message) { - handlePng(message, handleMessage); - }); - } else if (data.data instanceof ArrayBuffer) { - var decoded = CBOR.decode(data.data, typedArrayTagger); - handleMessage(decoded); - } else { - var message = JSON.parse(typeof data === 'string' ? data : data.data); - handlePng(message, handleMessage); - } - } - }; -} - -module.exports = SocketAdapter; - -},{"../util/cborTypedArrayTags":43,"../util/decompressPng":46,"cbor-js":1}],21:[function(require,module,exports){ -/** - * @fileoverview - * @author Brandon Alexander - baalexander@gmail.com - */ - -var EventEmitter2 = require('eventemitter2').EventEmitter2; -var Message = require('./Message'); - -/** - * Publish and/or subscribe to a topic in ROS. - * - * Emits the following events: - * * 'warning' - if there are any warning during the Topic creation - * * 'message' - the message data from rosbridge - * - * @constructor - * @param options - object with following keys: - * * ros - the ROSLIB.Ros connection handle - * * name - the topic name, like /cmd_vel - * * messageType - the message type, like 'std_msgs/String' - * * compression - the type of compression to use, like 'png', 'cbor', or 'cbor-raw' - * * throttle_rate - the rate (in ms in between messages) at which to throttle the topics - * * queue_size - the queue created at bridge side for re-publishing webtopics (defaults to 100) - * * latch - latch the topic when publishing - * * queue_length - the queue length at bridge side used when subscribing (defaults to 0, no queueing). - * * reconnect_on_close - the flag to enable resubscription and readvertisement on close event(defaults to true). - */ -function Topic(options) { - options = options || {}; - this.ros = options.ros; - this.name = options.name; - this.messageType = options.messageType; - this.isAdvertised = false; - this.compression = options.compression || 'none'; - this.throttle_rate = options.throttle_rate || 0; - this.latch = options.latch || false; - this.queue_size = options.queue_size || 100; - this.queue_length = options.queue_length || 0; - this.reconnect_on_close = options.reconnect_on_close !== undefined ? options.reconnect_on_close : true; - - // Check for valid compression types - if (this.compression && this.compression !== 'png' && - this.compression !== 'cbor' && this.compression !== 'cbor-raw' && - this.compression !== 'none') { - this.emit('warning', this.compression + - ' compression is not supported. No compression will be used.'); - this.compression = 'none'; - } - - // Check if throttle rate is negative - if (this.throttle_rate < 0) { - this.emit('warning', this.throttle_rate + ' is not allowed. Set to 0'); - this.throttle_rate = 0; - } - - var that = this; - if (this.reconnect_on_close) { - this.callForSubscribeAndAdvertise = function(message) { - that.ros.callOnConnection(message); - - that.waitForReconnect = false; - that.reconnectFunc = function() { - if(!that.waitForReconnect) { - that.waitForReconnect = true; - that.ros.callOnConnection(message); - that.ros.once('connection', function() { - that.waitForReconnect = false; - }); - } - }; - that.ros.on('close', that.reconnectFunc); - }; - } - else { - this.callForSubscribeAndAdvertise = this.ros.callOnConnection; - } - - this._messageCallback = function(data) { - that.emit('message', new Message(data)); - }; -} -Topic.prototype.__proto__ = EventEmitter2.prototype; - -/** - * Every time a message is published for the given topic, the callback - * will be called with the message object. - * - * @param callback - function with the following params: - * * message - the published message - */ -Topic.prototype.subscribe = function(callback) { - if (typeof callback === 'function') { - this.on('message', callback); - } - - if (this.subscribeId) { return; } - this.ros.on(this.name, this._messageCallback); - this.subscribeId = 'subscribe:' + this.name + ':' + (++this.ros.idCounter); - - this.callForSubscribeAndAdvertise({ - op: 'subscribe', - id: this.subscribeId, - type: this.messageType, - topic: this.name, - compression: this.compression, - throttle_rate: this.throttle_rate, - queue_length: this.queue_length - }); -}; - -/** - * Unregisters as a subscriber for the topic. Unsubscribing stop remove - * all subscribe callbacks. To remove a call back, you must explicitly - * pass the callback function in. - * - * @param callback - the optional callback to unregister, if - * * provided and other listeners are registered the topic won't - * * unsubscribe, just stop emitting to the passed listener - */ -Topic.prototype.unsubscribe = function(callback) { - if (callback) { - this.off('message', callback); - // If there is any other callbacks still subscribed don't unsubscribe - if (this.listeners('message').length) { return; } - } - if (!this.subscribeId) { return; } - // Note: Don't call this.removeAllListeners, allow client to handle that themselves - this.ros.off(this.name, this._messageCallback); - if(this.reconnect_on_close) { - this.ros.off('close', this.reconnectFunc); - } - this.emit('unsubscribe'); - this.ros.callOnConnection({ - op: 'unsubscribe', - id: this.subscribeId, - topic: this.name - }); - this.subscribeId = null; -}; - - -/** - * Registers as a publisher for the topic. - */ -Topic.prototype.advertise = function() { - if (this.isAdvertised) { - return; - } - this.advertiseId = 'advertise:' + this.name + ':' + (++this.ros.idCounter); - this.callForSubscribeAndAdvertise({ - op: 'advertise', - id: this.advertiseId, - type: this.messageType, - topic: this.name, - latch: this.latch, - queue_size: this.queue_size - }); - this.isAdvertised = true; - - if(!this.reconnect_on_close) { - var that = this; - this.ros.on('close', function() { - that.isAdvertised = false; - }); - } -}; - -/** - * Unregisters as a publisher for the topic. - */ -Topic.prototype.unadvertise = function() { - if (!this.isAdvertised) { - return; - } - if(this.reconnect_on_close) { - this.ros.off('close', this.reconnectFunc); - } - this.emit('unadvertise'); - this.ros.callOnConnection({ - op: 'unadvertise', - id: this.advertiseId, - topic: this.name - }); - this.isAdvertised = false; -}; - -/** - * Publish the message. - * - * @param message - A ROSLIB.Message object. - */ -Topic.prototype.publish = function(message) { - if (!this.isAdvertised) { - this.advertise(); - } - - this.ros.idCounter++; - var call = { - op: 'publish', - id: 'publish:' + this.name + ':' + this.ros.idCounter, - topic: this.name, - msg: message, - latch: this.latch - }; - this.ros.callOnConnection(call); -}; - -module.exports = Topic; - -},{"./Message":14,"eventemitter2":2}],22:[function(require,module,exports){ -var mixin = require('../mixin'); - -var core = module.exports = { - Ros: require('./Ros'), - Topic: require('./Topic'), - Message: require('./Message'), - Param: require('./Param'), - Service: require('./Service'), - ServiceRequest: require('./ServiceRequest'), - ServiceResponse: require('./ServiceResponse') -}; - -mixin(core.Ros, ['Param', 'Service', 'Topic'], core); - -},{"../mixin":28,"./Message":14,"./Param":15,"./Ros":16,"./Service":17,"./ServiceRequest":18,"./ServiceResponse":19,"./Topic":21}],23:[function(require,module,exports){ -/** - * @fileoverview - * @author David Gossow - dgossow@willowgarage.com - */ - -var Vector3 = require('./Vector3'); -var Quaternion = require('./Quaternion'); - -/** - * A Pose in 3D space. Values are copied into this object. - * - * @constructor - * @param options - object with following keys: - * * position - the Vector3 describing the position - * * orientation - the ROSLIB.Quaternion describing the orientation - */ -function Pose(options) { - options = options || {}; - // copy the values into this object if they exist - this.position = new Vector3(options.position); - this.orientation = new Quaternion(options.orientation); -} - -/** - * Apply a transform against this pose. - * - * @param tf the transform - */ -Pose.prototype.applyTransform = function(tf) { - this.position.multiplyQuaternion(tf.rotation); - this.position.add(tf.translation); - var tmp = tf.rotation.clone(); - tmp.multiply(this.orientation); - this.orientation = tmp; -}; - -/** - * Clone a copy of this pose. - * - * @returns the cloned pose - */ -Pose.prototype.clone = function() { - return new Pose(this); -}; - -/** - * Multiplies this pose with another pose without altering this pose. - * - * @returns Result of multiplication. - */ -Pose.prototype.multiply = function(pose) { - var p = pose.clone(); - p.applyTransform({ rotation: this.orientation, translation: this.position }); - return p; -}; - -/** - * Computes the inverse of this pose. - * - * @returns Inverse of pose. - */ -Pose.prototype.getInverse = function() { - var inverse = this.clone(); - inverse.orientation.invert(); - inverse.position.multiplyQuaternion(inverse.orientation); - inverse.position.x *= -1; - inverse.position.y *= -1; - inverse.position.z *= -1; - return inverse; -}; - -module.exports = Pose; -},{"./Quaternion":24,"./Vector3":26}],24:[function(require,module,exports){ -/** - * @fileoverview - * @author David Gossow - dgossow@willowgarage.com - */ - -/** - * A Quaternion. - * - * @constructor - * @param options - object with following keys: - * * x - the x value - * * y - the y value - * * z - the z value - * * w - the w value - */ -function Quaternion(options) { - options = options || {}; - this.x = options.x || 0; - this.y = options.y || 0; - this.z = options.z || 0; - this.w = (typeof options.w === 'number') ? options.w : 1; -} - -/** - * Perform a conjugation on this quaternion. - */ -Quaternion.prototype.conjugate = function() { - this.x *= -1; - this.y *= -1; - this.z *= -1; -}; - -/** - * Return the norm of this quaternion. - */ -Quaternion.prototype.norm = function() { - return Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w); -}; - -/** - * Perform a normalization on this quaternion. - */ -Quaternion.prototype.normalize = function() { - var l = Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w); - if (l === 0) { - this.x = 0; - this.y = 0; - this.z = 0; - this.w = 1; - } else { - l = 1 / l; - this.x = this.x * l; - this.y = this.y * l; - this.z = this.z * l; - this.w = this.w * l; - } -}; - -/** - * Convert this quaternion into its inverse. - */ -Quaternion.prototype.invert = function() { - this.conjugate(); - this.normalize(); -}; - -/** - * Set the values of this quaternion to the product of itself and the given quaternion. - * - * @param q the quaternion to multiply with - */ -Quaternion.prototype.multiply = function(q) { - var newX = this.x * q.w + this.y * q.z - this.z * q.y + this.w * q.x; - var newY = -this.x * q.z + this.y * q.w + this.z * q.x + this.w * q.y; - var newZ = this.x * q.y - this.y * q.x + this.z * q.w + this.w * q.z; - var newW = -this.x * q.x - this.y * q.y - this.z * q.z + this.w * q.w; - this.x = newX; - this.y = newY; - this.z = newZ; - this.w = newW; -}; - -/** - * Clone a copy of this quaternion. - * - * @returns the cloned quaternion - */ -Quaternion.prototype.clone = function() { - return new Quaternion(this); -}; - -module.exports = Quaternion; - -},{}],25:[function(require,module,exports){ -/** - * @fileoverview - * @author David Gossow - dgossow@willowgarage.com - */ - -var Vector3 = require('./Vector3'); -var Quaternion = require('./Quaternion'); - -/** - * A Transform in 3-space. Values are copied into this object. - * - * @constructor - * @param options - object with following keys: - * * translation - the Vector3 describing the translation - * * rotation - the ROSLIB.Quaternion describing the rotation - */ -function Transform(options) { - options = options || {}; - // Copy the values into this object if they exist - this.translation = new Vector3(options.translation); - this.rotation = new Quaternion(options.rotation); -} - -/** - * Clone a copy of this transform. - * - * @returns the cloned transform - */ -Transform.prototype.clone = function() { - return new Transform(this); -}; - -module.exports = Transform; -},{"./Quaternion":24,"./Vector3":26}],26:[function(require,module,exports){ -/** - * @fileoverview - * @author David Gossow - dgossow@willowgarage.com - */ - -/** - * A 3D vector. - * - * @constructor - * @param options - object with following keys: - * * x - the x value - * * y - the y value - * * z - the z value - */ -function Vector3(options) { - options = options || {}; - this.x = options.x || 0; - this.y = options.y || 0; - this.z = options.z || 0; -} - -/** - * Set the values of this vector to the sum of itself and the given vector. - * - * @param v the vector to add with - */ -Vector3.prototype.add = function(v) { - this.x += v.x; - this.y += v.y; - this.z += v.z; -}; - -/** - * Set the values of this vector to the difference of itself and the given vector. - * - * @param v the vector to subtract with - */ -Vector3.prototype.subtract = function(v) { - this.x -= v.x; - this.y -= v.y; - this.z -= v.z; -}; - -/** - * Multiply the given Quaternion with this vector. - * - * @param q - the quaternion to multiply with - */ -Vector3.prototype.multiplyQuaternion = function(q) { - var ix = q.w * this.x + q.y * this.z - q.z * this.y; - var iy = q.w * this.y + q.z * this.x - q.x * this.z; - var iz = q.w * this.z + q.x * this.y - q.y * this.x; - var iw = -q.x * this.x - q.y * this.y - q.z * this.z; - this.x = ix * q.w + iw * -q.x + iy * -q.z - iz * -q.y; - this.y = iy * q.w + iw * -q.y + iz * -q.x - ix * -q.z; - this.z = iz * q.w + iw * -q.z + ix * -q.y - iy * -q.x; -}; - -/** - * Clone a copy of this vector. - * - * @returns the cloned vector - */ -Vector3.prototype.clone = function() { - return new Vector3(this); -}; - -module.exports = Vector3; -},{}],27:[function(require,module,exports){ -module.exports = { - Pose: require('./Pose'), - Quaternion: require('./Quaternion'), - Transform: require('./Transform'), - Vector3: require('./Vector3') -}; - -},{"./Pose":23,"./Quaternion":24,"./Transform":25,"./Vector3":26}],28:[function(require,module,exports){ -/** - * Mixin a feature to the core/Ros prototype. - * For example, mixin(Ros, ['Topic'], {Topic: }) - * will add a topic bound to any Ros instances so a user - * can call `var topic = ros.Topic({name: '/foo'});` - * - * @author Graeme Yeates - github.com/megawac - */ -module.exports = function(Ros, classes, features) { - classes.forEach(function(className) { - var Class = features[className]; - Ros.prototype[className] = function(options) { - options.ros = this; - return new Class(options); - }; - }); -}; - -},{}],29:[function(require,module,exports){ -/** - * @fileoverview - * @author David Gossow - dgossow@willowgarage.com - */ - -var ActionClient = require('../actionlib/ActionClient'); -var Goal = require('../actionlib/Goal'); - -var Service = require('../core/Service.js'); -var ServiceRequest = require('../core/ServiceRequest.js'); -var Topic = require('../core/Topic.js'); - -var Transform = require('../math/Transform'); - -/** - * A TF Client that listens to TFs from tf2_web_republisher. - * - * @constructor - * @param options - object with following keys: - * * ros - the ROSLIB.Ros connection handle - * * fixedFrame - the fixed frame, like /base_link - * * angularThres - the angular threshold for the TF republisher - * * transThres - the translation threshold for the TF republisher - * * rate - the rate for the TF republisher - * * updateDelay - the time (in ms) to wait after a new subscription - * to update the TF republisher's list of TFs - * * topicTimeout - the timeout parameter for the TF republisher - * * serverName (optional) - the name of the tf2_web_republisher server - * * repubServiceName (optional) - the name of the republish_tfs service (non groovy compatibility mode only) - * default: '/republish_tfs' - */ -function TFClient(options) { - options = options || {}; - this.ros = options.ros; - this.fixedFrame = options.fixedFrame || '/base_link'; - this.angularThres = options.angularThres || 2.0; - this.transThres = options.transThres || 0.01; - this.rate = options.rate || 10.0; - this.updateDelay = options.updateDelay || 50; - var seconds = options.topicTimeout || 2.0; - var secs = Math.floor(seconds); - var nsecs = Math.floor((seconds - secs) * 1000000000); - this.topicTimeout = { - secs: secs, - nsecs: nsecs - }; - this.serverName = options.serverName || '/tf2_web_republisher'; - this.repubServiceName = options.repubServiceName || '/republish_tfs'; - - this.currentGoal = false; - this.currentTopic = false; - this.frameInfos = {}; - this.republisherUpdateRequested = false; - this._subscribeCB = null; - - // Create an Action client - this.actionClient = new ActionClient({ - ros : options.ros, - serverName : this.serverName, - actionName : 'tf2_web_republisher/TFSubscriptionAction', - omitStatus : true, - omitResult : true - }); - - // Create a Service client - this.serviceClient = new Service({ - ros: options.ros, - name: this.repubServiceName, - serviceType: 'tf2_web_republisher/RepublishTFs' - }); -} - -/** - * Process the incoming TF message and send them out using the callback - * functions. - * - * @param tf - the TF message from the server - */ -TFClient.prototype.processTFArray = function(tf) { - var that = this; - tf.transforms.forEach(function(transform) { - var frameID = transform.child_frame_id; - if (frameID[0] === '/') - { - frameID = frameID.substring(1); - } - var info = this.frameInfos[frameID]; - if (info) { - info.transform = new Transform({ - translation : transform.transform.translation, - rotation : transform.transform.rotation - }); - info.cbs.forEach(function(cb) { - cb(info.transform); - }); - } - }, this); -}; - -/** - * Create and send a new goal (or service request) to the tf2_web_republisher - * based on the current list of TFs. - */ -TFClient.prototype.updateGoal = function() { - var goalMessage = { - source_frames : Object.keys(this.frameInfos), - target_frame : this.fixedFrame, - angular_thres : this.angularThres, - trans_thres : this.transThres, - rate : this.rate - }; - - // if we're running in groovy compatibility mode (the default) - // then use the action interface to tf2_web_republisher - if(this.ros.groovyCompatibility) { - if (this.currentGoal) { - this.currentGoal.cancel(); - } - this.currentGoal = new Goal({ - actionClient : this.actionClient, - goalMessage : goalMessage - }); - - this.currentGoal.on('feedback', this.processTFArray.bind(this)); - this.currentGoal.send(); - } - else { - // otherwise, use the service interface - // The service interface has the same parameters as the action, - // plus the timeout - goalMessage.timeout = this.topicTimeout; - var request = new ServiceRequest(goalMessage); - - this.serviceClient.callService(request, this.processResponse.bind(this)); - } - - this.republisherUpdateRequested = false; -}; - -/** - * Process the service response and subscribe to the tf republisher - * topic - * - * @param response the service response containing the topic name - */ -TFClient.prototype.processResponse = function(response) { - // if we subscribed to a topic before, unsubscribe so - // the republisher stops publishing it - if (this.currentTopic) { - this.currentTopic.unsubscribe(this._subscribeCB); - } - - this.currentTopic = new Topic({ - ros: this.ros, - name: response.topic_name, - messageType: 'tf2_web_republisher/TFArray' - }); - this._subscribeCB = this.processTFArray.bind(this); - this.currentTopic.subscribe(this._subscribeCB); -}; - -/** - * Subscribe to the given TF frame. - * - * @param frameID - the TF frame to subscribe to - * @param callback - function with params: - * * transform - the transform data - */ -TFClient.prototype.subscribe = function(frameID, callback) { - // remove leading slash, if it's there - if (frameID[0] === '/') - { - frameID = frameID.substring(1); - } - // if there is no callback registered for the given frame, create emtpy callback list - if (!this.frameInfos[frameID]) { - this.frameInfos[frameID] = { - cbs: [] - }; - if (!this.republisherUpdateRequested) { - setTimeout(this.updateGoal.bind(this), this.updateDelay); - this.republisherUpdateRequested = true; - } - } - // if we already have a transform, call back immediately - else if (this.frameInfos[frameID].transform) { - callback(this.frameInfos[frameID].transform); - } - this.frameInfos[frameID].cbs.push(callback); -}; - -/** - * Unsubscribe from the given TF frame. - * - * @param frameID - the TF frame to unsubscribe from - * @param callback - the callback function to remove - */ -TFClient.prototype.unsubscribe = function(frameID, callback) { - // remove leading slash, if it's there - if (frameID[0] === '/') - { - frameID = frameID.substring(1); - } - var info = this.frameInfos[frameID]; - for (var cbs = info && info.cbs || [], idx = cbs.length; idx--;) { - if (cbs[idx] === callback) { - cbs.splice(idx, 1); - } - } - if (!callback || cbs.length === 0) { - delete this.frameInfos[frameID]; - } -}; - -/** - * Unsubscribe and unadvertise all topics associated with this TFClient. - */ -TFClient.prototype.dispose = function() { - this.actionClient.dispose(); - if (this.currentTopic) { - this.currentTopic.unsubscribe(this._subscribeCB); - } -}; - -module.exports = TFClient; - -},{"../actionlib/ActionClient":9,"../actionlib/Goal":11,"../core/Service.js":17,"../core/ServiceRequest.js":18,"../core/Topic.js":21,"../math/Transform":25}],30:[function(require,module,exports){ -var Ros = require('../core/Ros'); -var mixin = require('../mixin'); - -var tf = module.exports = { - TFClient: require('./TFClient') -}; - -mixin(Ros, ['TFClient'], tf); -},{"../core/Ros":16,"../mixin":28,"./TFClient":29}],31:[function(require,module,exports){ -/** - * @fileOverview - * @author Benjamin Pitzer - ben.pitzer@gmail.com - * @author Russell Toris - rctoris@wpi.edu - */ - -var Vector3 = require('../math/Vector3'); -var UrdfTypes = require('./UrdfTypes'); - -/** - * A Box element in a URDF. - * - * @constructor - * @param options - object with following keys: - * * xml - the XML element to parse - */ -function UrdfBox(options) { - this.dimension = null; - this.type = UrdfTypes.URDF_BOX; - - // Parse the xml string - var xyz = options.xml.getAttribute('size').split(' '); - this.dimension = new Vector3({ - x : parseFloat(xyz[0]), - y : parseFloat(xyz[1]), - z : parseFloat(xyz[2]) - }); -} - -module.exports = UrdfBox; -},{"../math/Vector3":26,"./UrdfTypes":40}],32:[function(require,module,exports){ -/** - * @fileOverview - * @author Benjamin Pitzer - ben.pitzer@gmail.com - * @author Russell Toris - rctoris@wpi.edu - */ - -/** - * A Color element in a URDF. - * - * @constructor - * @param options - object with following keys: - * * xml - the XML element to parse - */ -function UrdfColor(options) { - // Parse the xml string - var rgba = options.xml.getAttribute('rgba').split(' '); - this.r = parseFloat(rgba[0]); - this.g = parseFloat(rgba[1]); - this.b = parseFloat(rgba[2]); - this.a = parseFloat(rgba[3]); -} - -module.exports = UrdfColor; -},{}],33:[function(require,module,exports){ -/** - * @fileOverview - * @author Benjamin Pitzer - ben.pitzer@gmail.com - * @author Russell Toris - rctoris@wpi.edu - */ - -var UrdfTypes = require('./UrdfTypes'); - -/** - * A Cylinder element in a URDF. - * - * @constructor - * @param options - object with following keys: - * * xml - the XML element to parse - */ -function UrdfCylinder(options) { - this.type = UrdfTypes.URDF_CYLINDER; - this.length = parseFloat(options.xml.getAttribute('length')); - this.radius = parseFloat(options.xml.getAttribute('radius')); -} - -module.exports = UrdfCylinder; -},{"./UrdfTypes":40}],34:[function(require,module,exports){ -/** - * @fileOverview - * @author David V. Lu!! davidvlu@gmail.com - */ - -var Pose = require('../math/Pose'); -var Vector3 = require('../math/Vector3'); -var Quaternion = require('../math/Quaternion'); - -/** - * A Joint element in a URDF. - * - * @constructor - * @param options - object with following keys: - * * xml - the XML element to parse - */ -function UrdfJoint(options) { - this.name = options.xml.getAttribute('name'); - this.type = options.xml.getAttribute('type'); - - var parents = options.xml.getElementsByTagName('parent'); - if(parents.length > 0) { - this.parent = parents[0].getAttribute('link'); - } - - var children = options.xml.getElementsByTagName('child'); - if(children.length > 0) { - this.child = children[0].getAttribute('link'); - } - - var limits = options.xml.getElementsByTagName('limit'); - if (limits.length > 0) { - this.minval = parseFloat( limits[0].getAttribute('lower') ); - this.maxval = parseFloat( limits[0].getAttribute('upper') ); - } - - // Origin - var origins = options.xml.getElementsByTagName('origin'); - if (origins.length === 0) { - // use the identity as the default - this.origin = new Pose(); - } else { - // Check the XYZ - var xyz = origins[0].getAttribute('xyz'); - var position = new Vector3(); - if (xyz) { - xyz = xyz.split(' '); - position = new Vector3({ - x : parseFloat(xyz[0]), - y : parseFloat(xyz[1]), - z : parseFloat(xyz[2]) - }); - } - - // Check the RPY - var rpy = origins[0].getAttribute('rpy'); - var orientation = new Quaternion(); - if (rpy) { - rpy = rpy.split(' '); - // Convert from RPY - var roll = parseFloat(rpy[0]); - var pitch = parseFloat(rpy[1]); - var yaw = parseFloat(rpy[2]); - var phi = roll / 2.0; - var the = pitch / 2.0; - var psi = yaw / 2.0; - var x = Math.sin(phi) * Math.cos(the) * Math.cos(psi) - Math.cos(phi) * Math.sin(the) - * Math.sin(psi); - var y = Math.cos(phi) * Math.sin(the) * Math.cos(psi) + Math.sin(phi) * Math.cos(the) - * Math.sin(psi); - var z = Math.cos(phi) * Math.cos(the) * Math.sin(psi) - Math.sin(phi) * Math.sin(the) - * Math.cos(psi); - var w = Math.cos(phi) * Math.cos(the) * Math.cos(psi) + Math.sin(phi) * Math.sin(the) - * Math.sin(psi); - - orientation = new Quaternion({ - x : x, - y : y, - z : z, - w : w - }); - orientation.normalize(); - } - this.origin = new Pose({ - position : position, - orientation : orientation - }); - } -} - -module.exports = UrdfJoint; - -},{"../math/Pose":23,"../math/Quaternion":24,"../math/Vector3":26}],35:[function(require,module,exports){ -/** - * @fileOverview - * @author Benjamin Pitzer - ben.pitzer@gmail.com - * @author Russell Toris - rctoris@wpi.edu - */ - -var UrdfVisual = require('./UrdfVisual'); - -/** - * A Link element in a URDF. - * - * @constructor - * @param options - object with following keys: - * * xml - the XML element to parse - */ -function UrdfLink(options) { - this.name = options.xml.getAttribute('name'); - this.visuals = []; - var visuals = options.xml.getElementsByTagName('visual'); - - for( var i=0; i 0) { - this.textureFilename = textures[0].getAttribute('filename'); - } - - // Color - var colors = options.xml.getElementsByTagName('color'); - if (colors.length > 0) { - // Parse the RBGA string - this.color = new UrdfColor({ - xml : colors[0] - }); - } -} - -UrdfMaterial.prototype.isLink = function() { - return this.color === null && this.textureFilename === null; -}; - -var assign = require('object-assign'); - -UrdfMaterial.prototype.assign = function(obj) { - return assign(this, obj); -}; - -module.exports = UrdfMaterial; - -},{"./UrdfColor":32,"object-assign":3}],37:[function(require,module,exports){ -/** - * @fileOverview - * @author Benjamin Pitzer - ben.pitzer@gmail.com - * @author Russell Toris - rctoris@wpi.edu - */ - -var Vector3 = require('../math/Vector3'); -var UrdfTypes = require('./UrdfTypes'); - -/** - * A Mesh element in a URDF. - * - * @constructor - * @param options - object with following keys: - * * xml - the XML element to parse - */ -function UrdfMesh(options) { - this.scale = null; - - this.type = UrdfTypes.URDF_MESH; - this.filename = options.xml.getAttribute('filename'); - - // Check for a scale - var scale = options.xml.getAttribute('scale'); - if (scale) { - // Get the XYZ - var xyz = scale.split(' '); - this.scale = new Vector3({ - x : parseFloat(xyz[0]), - y : parseFloat(xyz[1]), - z : parseFloat(xyz[2]) - }); - } -} - -module.exports = UrdfMesh; -},{"../math/Vector3":26,"./UrdfTypes":40}],38:[function(require,module,exports){ -/** - * @fileOverview - * @author Benjamin Pitzer - ben.pitzer@gmail.com - * @author Russell Toris - rctoris@wpi.edu - */ - -var UrdfMaterial = require('./UrdfMaterial'); -var UrdfLink = require('./UrdfLink'); -var UrdfJoint = require('./UrdfJoint'); -var DOMParser = require('xmldom').DOMParser; - -// See https://developer.mozilla.org/docs/XPathResult#Constants -var XPATH_FIRST_ORDERED_NODE_TYPE = 9; - -/** - * A URDF Model can be used to parse a given URDF into the appropriate elements. - * - * @constructor - * @param options - object with following keys: - * * xml - the XML element to parse - * * string - the XML element to parse as a string - */ -function UrdfModel(options) { - options = options || {}; - var xmlDoc = options.xml; - var string = options.string; - this.materials = {}; - this.links = {}; - this.joints = {}; - - // Check if we are using a string or an XML element - if (string) { - // Parse the string - var parser = new DOMParser(); - xmlDoc = parser.parseFromString(string, 'text/xml'); - } - - // Initialize the model with the given XML node. - // Get the robot tag - var robotXml = xmlDoc.documentElement; - - // Get the robot name - this.name = robotXml.getAttribute('name'); - - // Parse all the visual elements we need - for (var nodes = robotXml.childNodes, i = 0; i < nodes.length; i++) { - var node = nodes[i]; - if (node.tagName === 'material') { - var material = new UrdfMaterial({ - xml : node - }); - // Make sure this is unique - if (this.materials[material.name] !== void 0) { - if( this.materials[material.name].isLink() ) { - this.materials[material.name].assign( material ); - } else { - console.warn('Material ' + material.name + 'is not unique.'); - } - } else { - this.materials[material.name] = material; - } - } else if (node.tagName === 'link') { - var link = new UrdfLink({ - xml : node - }); - // Make sure this is unique - if (this.links[link.name] !== void 0) { - console.warn('Link ' + link.name + ' is not unique.'); - } else { - // Check for a material - for( var j=0; j 0) { - var geom = geoms[0]; - var shape = null; - // Check for the shape - for (var i = 0; i < geom.childNodes.length; i++) { - var node = geom.childNodes[i]; - if (node.nodeType === 1) { - shape = node; - break; - } - } - // Check the type - var type = shape.nodeName; - if (type === 'sphere') { - this.geometry = new UrdfSphere({ - xml : shape - }); - } else if (type === 'box') { - this.geometry = new UrdfBox({ - xml : shape - }); - } else if (type === 'cylinder') { - this.geometry = new UrdfCylinder({ - xml : shape - }); - } else if (type === 'mesh') { - this.geometry = new UrdfMesh({ - xml : shape - }); - } else { - console.warn('Unknown geometry type ' + type); - } - } - - // Material - var materials = xml.getElementsByTagName('material'); - if (materials.length > 0) { - this.material = new UrdfMaterial({ - xml : materials[0] - }); - } -} - -module.exports = UrdfVisual; -},{"../math/Pose":23,"../math/Quaternion":24,"../math/Vector3":26,"./UrdfBox":31,"./UrdfCylinder":33,"./UrdfMaterial":36,"./UrdfMesh":37,"./UrdfSphere":39}],42:[function(require,module,exports){ -module.exports = require('object-assign')({ - UrdfBox: require('./UrdfBox'), - UrdfColor: require('./UrdfColor'), - UrdfCylinder: require('./UrdfCylinder'), - UrdfLink: require('./UrdfLink'), - UrdfMaterial: require('./UrdfMaterial'), - UrdfMesh: require('./UrdfMesh'), - UrdfModel: require('./UrdfModel'), - UrdfSphere: require('./UrdfSphere'), - UrdfVisual: require('./UrdfVisual') -}, require('./UrdfTypes')); - -},{"./UrdfBox":31,"./UrdfColor":32,"./UrdfCylinder":33,"./UrdfLink":35,"./UrdfMaterial":36,"./UrdfMesh":37,"./UrdfModel":38,"./UrdfSphere":39,"./UrdfTypes":40,"./UrdfVisual":41,"object-assign":3}],43:[function(require,module,exports){ -'use strict'; - -var UPPER32 = Math.pow(2, 32); - -var warnedPrecision = false; -function warnPrecision() { - if (!warnedPrecision) { - warnedPrecision = true; - console.warn('CBOR 64-bit integer array values may lose precision. No further warnings.'); - } -} - -/** - * Unpacks 64-bit unsigned integer from byte array. - * @param {Uint8Array} bytes -*/ -function decodeUint64LE(bytes) { - warnPrecision(); - - var byteLen = bytes.byteLength; - var offset = bytes.byteOffset; - var arrLen = byteLen / 8; - - var buffer = bytes.buffer.slice(offset, offset + byteLen); - var uint32View = new Uint32Array(buffer); - - var arr = new Array(arrLen); - for (var i = 0; i < arrLen; i++) { - var si = i * 2; - var lo = uint32View[si]; - var hi = uint32View[si+1]; - arr[i] = lo + UPPER32 * hi; - } - - return arr; -} - -/** - * Unpacks 64-bit signed integer from byte array. - * @param {Uint8Array} bytes -*/ -function decodeInt64LE(bytes) { - warnPrecision(); - - var byteLen = bytes.byteLength; - var offset = bytes.byteOffset; - var arrLen = byteLen / 8; - - var buffer = bytes.buffer.slice(offset, offset + byteLen); - var uint32View = new Uint32Array(buffer); - var int32View = new Int32Array(buffer); - - var arr = new Array(arrLen); - for (var i = 0; i < arrLen; i++) { - var si = i * 2; - var lo = uint32View[si]; - var hi = int32View[si+1]; - arr[i] = lo + UPPER32 * hi; - } - - return arr; -} - -/** - * Unpacks typed array from byte array. - * @param {Uint8Array} bytes - * @param {type} ArrayType - desired output array type -*/ -function decodeNativeArray(bytes, ArrayType) { - var byteLen = bytes.byteLength; - var offset = bytes.byteOffset; - var buffer = bytes.buffer.slice(offset, offset + byteLen); - return new ArrayType(buffer); -} - -/** - * Support a subset of draft CBOR typed array tags: - * - * Only support little-endian tags for now. - */ -var nativeArrayTypes = { - 64: Uint8Array, - 69: Uint16Array, - 70: Uint32Array, - 72: Int8Array, - 77: Int16Array, - 78: Int32Array, - 85: Float32Array, - 86: Float64Array -}; - -/** - * We can also decode 64-bit integer arrays, since ROS has these types. - */ -var conversionArrayTypes = { - 71: decodeUint64LE, - 79: decodeInt64LE -}; - -/** - * Handles CBOR typed array tags during decoding. - * @param {Uint8Array} data - * @param {Number} tag - */ -function cborTypedArrayTagger(data, tag) { - if (tag in nativeArrayTypes) { - var arrayType = nativeArrayTypes[tag]; - return decodeNativeArray(data, arrayType); - } - if (tag in conversionArrayTypes) { - return conversionArrayTypes[tag](data); - } - return data; -} - -if (typeof module !== 'undefined' && module.exports) { - module.exports = cborTypedArrayTagger; -} - -},{}],44:[function(require,module,exports){ -module.exports = typeof window !== 'undefined' ? window.WebSocket : WebSocket; - -},{}],45:[function(require,module,exports){ -/* global document */ -module.exports = function Canvas() { - return document.createElement('canvas'); -}; -},{}],46:[function(require,module,exports){ -/** - * @fileOverview - * @author Graeme Yeates - github.com/megawac - */ - -'use strict'; - -var Canvas = require('canvas'); -var Image = Canvas.Image || window.Image; - -/** - * If a message was compressed as a PNG image (a compression hack since - * gzipping over WebSockets * is not supported yet), this function places the - * "image" in a canvas element then decodes the * "image" as a Base64 string. - * - * @private - * @param data - object containing the PNG data. - * @param callback - function with params: - * * data - the uncompressed data - */ -function decompressPng(data, callback) { - // Uncompresses the data before sending it through (use image/canvas to do so). - var image = new Image(); - // When the image loads, extracts the raw data (JSON message). - image.onload = function() { - // Creates a local canvas to draw on. - var canvas = new Canvas(); - var context = canvas.getContext('2d'); - - // Sets width and height. - canvas.width = image.width; - canvas.height = image.height; - - // Prevents anti-aliasing and loosing data - context.imageSmoothingEnabled = false; - context.webkitImageSmoothingEnabled = false; - context.mozImageSmoothingEnabled = false; - - // Puts the data into the image. - context.drawImage(image, 0, 0); - // Grabs the raw, uncompressed data. - var imageData = context.getImageData(0, 0, image.width, image.height).data; - - // Constructs the JSON. - var jsonData = ''; - for (var i = 0; i < imageData.length; i += 4) { - // RGB - jsonData += String.fromCharCode(imageData[i], imageData[i + 1], imageData[i + 2]); - } - callback(JSON.parse(jsonData)); - }; - // Sends the image data to load. - image.src = 'data:image/png;base64,' + data; -} - -module.exports = decompressPng; - -},{"canvas":45}],47:[function(require,module,exports){ -exports.DOMImplementation = window.DOMImplementation; -exports.XMLSerializer = window.XMLSerializer; -exports.DOMParser = window.DOMParser; - -},{}],48:[function(require,module,exports){ -var work = require('webworkify'); -var workerSocketImpl = require('./workerSocketImpl'); - -function WorkerSocket(uri) { - this.socket_ = work(workerSocketImpl); - - this.socket_.addEventListener('message', this.handleWorkerMessage_.bind(this)); - - this.socket_.postMessage({ - uri: uri, - }); -} - -WorkerSocket.prototype.handleWorkerMessage_ = function(ev) { - var data = ev.data; - if (data instanceof ArrayBuffer || typeof data === 'string') { - // binary or JSON message from rosbridge - this.onmessage(ev); - } else { - // control message from the wrapped WebSocket - var type = data.type; - if (type === 'close') { - this.onclose(null); - } else if (type === 'open') { - this.onopen(null); - } else if (type === 'error') { - this.onerror(null); - } else { - throw 'Unknown message from workersocket'; - } - } -}; - -WorkerSocket.prototype.send = function(data) { - this.socket_.postMessage(data); -}; - -WorkerSocket.prototype.close = function() { - this.socket_.postMessage({ - close: true - }); -}; - -module.exports = WorkerSocket; - -},{"./workerSocketImpl":49,"webworkify":6}],49:[function(require,module,exports){ -var WebSocket = WebSocket || require('ws'); - -module.exports = function(self) { - var socket = null; - - function handleSocketMessage(ev) { - var data = ev.data; - - if (data instanceof ArrayBuffer) { - // binary message, transfer for speed - self.postMessage(data, [data]); - } else { - // JSON message, copy string - self.postMessage(data); - } - } - - function handleSocketControl(ev) { - self.postMessage({type: ev.type}); - } - - self.addEventListener('message', function(ev) { - var data = ev.data; - - if (typeof data === 'string') { - // JSON message from ROSLIB - socket.send(data); - } else { - // control message - if (data.hasOwnProperty('close')) { - socket.close(); - socket = null; - } else if (data.hasOwnProperty('uri')) { - var uri = data.uri; - - socket = new WebSocket(uri); - socket.binaryType = 'arraybuffer'; - - socket.onmessage = handleSocketMessage; - socket.onclose = handleSocketControl; - socket.onopen = handleSocketControl; - socket.onerror = handleSocketControl; - } else { - throw 'Unknown message to WorkerSocket'; - } - } - }); -}; - -},{"ws":44}]},{},[8]); diff --git a/build/roslib.min.js b/build/roslib.min.js deleted file mode 100644 index f2a3ce537..000000000 --- a/build/roslib.min.js +++ /dev/null @@ -1 +0,0 @@ -!function n(s,r,o){function a(t,e){if(!r[t]){if(!s[t]){var i="function"==typeof require&&require;if(!e&&i)return i(t,!0);if(c)return c(t,!0);throw(i=new Error("Cannot find module '"+t+"'")).code="MODULE_NOT_FOUND",i}i=r[t]={exports:{}},s[t][0].call(i.exports,function(e){return a(s[t][1][e]||e)},i,i.exports,n,s,r,o)}return r[t].exports}for(var c="function"==typeof require&&require,e=0;e>2,r=0;r>6):(r<55296?n.push(224|r>>12):(r=(1023&r)<<10,r|=1023&t.charCodeAt(++s),r+=65536,n.push(240|r>>18),n.push(128|r>>12&63)),n.push(128|r>>6&63)),n.push(128|63&r))}return m(3,n.length),p(n),0;default:if(Array.isArray(t))for(m(4,o=t.length),s=0;s>5!==e)throw"Invalid indefinite length element";return i}function x(e,t){for(var i=0;i>10),e.push(56320|1023&n))}}"function"!=typeof f&&(f=function(e){return e}),"function"!=typeof p&&(p=function(){return k});var e=function e(){var t,i,n=g(),s=n>>5,n=31&n;if(7==s)switch(n){case 25:return function(){var e=new ArrayBuffer(4),t=new DataView(e),i=b(),n=31744&i,e=1023&i;if(31744===n)n=261120;else if(0!==n)n+=114688;else if(0!=e)return e*S;return t.setUint32(0,(32768&i)<<16|n<<13|e<<13),t.getFloat32(0)}();case 26:return d(m.getFloat32(v),4);case 27:return d(m.getFloat64(v),8)}if((t=_(n))<0&&(s<2||6this._maxListeners&&(l._listeners.warned=!0,d.call(this,l._listeners.length,c))):l._listeners=t,!0;return!0}.call(this,e,t,i):this._events[e]?("function"==typeof this._events[e]&&(this._events[e]=[this._events[e]]),i?this._events[e].unshift(t):this._events[e].push(t),!this._events[e].warned&&0this._maxListeners&&(this._events[e].warned=!0,d.call(this,this._events[e].length,e))):this._events[e]=t,s},o.prototype.off=function(e,t){if("function"!=typeof t)throw new Error("removeListener only takes instances of Function");var i=[];if(this.wildcard){var n="string"==typeof e?e.split(this.delimiter):e.slice();if(!(i=T.call(this,null,n,this.listenerTree,0)))return this}else{if(!this._events[e])return this;o=this._events[e],i.push({_listeners:o})}for(var s=0;st.secs)&&(e.secs Date: Mon, 4 Oct 2021 00:53:04 -0700 Subject: [PATCH 29/29] simpify .npmignore --- .npmignore | 13 ++++++------- package.json | 2 +- 2 files changed, 7 insertions(+), 8 deletions(-) diff --git a/.npmignore b/.npmignore index d8be8ff92..dc3b948e0 100644 --- a/.npmignore +++ b/.npmignore @@ -1,7 +1,6 @@ -test -examples -Gruntfile.js -.gitignore -.github -bower.json -*.md +# Ignore everything, +/**/* + +# but include these folders +!/build/**/* +!/src/**/* diff --git a/package.json b/package.json index fd5967549..6183e920d 100644 --- a/package.json +++ b/package.json @@ -74,7 +74,7 @@ "lint": "npm run grunt -- lint", "lint-fix": "npm run grunt -- lint-fix", "prepare": "npm run build", - "publish": "npm run test" + "publish": "npm test" }, "repository": { "type": "git",