pubo-web 1.0.4-alpha.0

package/dist/pubo-web.js

@@ -0,0 +1,13 @@
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this.wildcard?A.call(this,this.listenerTree,[],null,e):t?p(t):[]},N.prototype.listenerCount=function(e){return this.listeners(e).length},N.prototype.hasListeners=function(e){if(this.wildcard){var t=[],n="string"==typeof e?e.split(this.delimiter):e.slice();return M.call(this,t,n,this.listenerTree,0),t.length>0}var i=this._events,r=this._all;return!!(r&&r.length||i&&(void 0===e?p(i).length:i[e]))},N.prototype.listenersAny=function(){return this._all?this._all:[]},N.prototype.waitFor=function(e,t){var n=this,i=typeof t;return"number"===i?t={timeout:t}:"function"===i&&(t={filter:t}),S((t=w(t,{timeout:0,filter:void 0,handleError:!1,Promise:Promise,overload:!1},{filter:T,Promise:_})).Promise,(function(i,r,s){function o(){var s=t.filter;if(!s||s.apply(n,arguments))if(n.off(e,o),t.handleError){var a=arguments[0];a?r(a):i(d.apply(null,arguments).slice(1))}else i(d.apply(null,arguments))}s((function(){n.off(e,o)})),n._on(e,o,!1)}),{timeout:t.timeout,overload:t.overload})};var 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No compression will be used."),this.compression="none"),this.throttle_rate<0&&(this.emit("warning",this.throttle_rate+" is not allowed. Set to 0"),this.throttle_rate=0);var t=this;this.reconnect_on_close?this.callForSubscribeAndAdvertise=function(e){t.ros.callOnConnection(e),t.waitForReconnect=!1,t.reconnectFunc=function(){t.waitForReconnect||(t.waitForReconnect=!0,t.ros.callOnConnection(e),t.ros.once("connection",(function(){t.waitForReconnect=!1})))},t.ros.on("close",t.reconnectFunc)}:this.callForSubscribeAndAdvertise=this.ros.callOnConnection,this._messageCallback=function(e){t.emit("message",new r(e))}}s.prototype.__proto__=i.prototype,s.prototype.subscribe=function(e){"function"==typeof e&&this.on("message",e),this.subscribeId||(this.ros.on(this.name,this._messageCallback),this.subscribeId="subscribe:"+this.name+":"+ 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r=1-i,s=[{r:r,g:0,b:1},{r:0,g:r,b:1},{r:0,g:1,b:r},{r:r,g:1,b:0},{r:1,g:r,b:0}];n<1&&(n=1);var o=s[n-1]||s[4];return Object.keys(o).forEach((function(e){return o[e]=255*o[e]})),b(b({},o),{a:1})}(Math.max(0,Math.min((Math.pow(e,4)-0)/134217728,1)))}},k=function(){return(k=Object.assign||function(e){for(var t,n=1,i=arguments.length;n<i;n++)for(var r in t=arguments[n])Object.prototype.hasOwnProperty.call(t,r)&&(e[r]=t[r]);return e}).apply(this,arguments)},S=function(e,t,n,i){return new(n||(n=Promise))((function(r,s){function o(e){try{c(i.next(e))}catch(e){s(e)}}function a(e){try{c(i.throw(e))}catch(e){s(e)}}function c(e){e.done?r(e.value):function(e){return e instanceof n?e:new n((function(t){t(e)}))}(e.value).then(o,a)}c((i=i.apply(e,t||[])).next())}))},L=function(e,t){var n,i,r,s,o={label:0,sent:function(){if(1&r[0])throw r[1];return r[1]},trys:[],ops:[]};return s={next:a(0),throw:a(1),return:a(2)},"function"==typeof Symbol&&(s[Symbol.iterator]=function(){return this}),s;function 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S(this,void 0,void 0,(function(){var e,n;return L(this,(function(r){switch(r.label){case 0:if(!this.configure.conf.ros3d_lib_url)throw new Error("ros3djs lib not found");return e=this,[4,x(this.configure.conf.ros3d_lib_url)];case 1:return e.ROS3D=r.sent(),this.elem=t,this.iu.install("ros",this.configure.ros),this.viewer=new this.ROS3D.Viewer(k({elem:t,width:t.clientWidth,height:t.clientHeight,antialias:!0,cameraPose:{x:100,y:100,z:100},displayPanAndZoomFrame:!1,background:"#000000"},i)),this.iu.install("rootObject",this.viewer.scene),n=this.iu.inject(f.a.TFClient,k({angularThres:.01,transThres:.01,fixedFrame:"/base_link"},s)),this.iu.install("tfClient",n),[2]}}))}))},e.prototype.destroy=function(){this.viewer&&"function"==typeof this.viewer.stop&&this.viewer.stop(),this.elem.innerHTML=""},e.prototype.initPointClouds=function(e){var t=this;return e.map((function(e){return t.iu.inject(t.ROS3D.PointCloud2,k(k({},T),e))}))},e}(),O=function(e){return{rosUtils:new y(e),createRosViewer:function(){return new M(e)}}},A=function(){return(A=Object.assign||function(e){for(var t,n=1,i=arguments.length;n<i;n++)for(var r in t=arguments[n])Object.prototype.hasOwnProperty.call(t,r)&&(e[r]=t[r]);return e}).apply(this,arguments)},E=function(e,t,n,i){return new(n||(n=Promise))((function(r,s){function o(e){try{c(i.next(e))}catch(e){s(e)}}function a(e){try{c(i.throw(e))}catch(e){s(e)}}function c(e){e.done?r(e.value):function(e){return e instanceof n?e:new n((function(t){t(e)}))}(e.value).then(o,a)}c((i=i.apply(e,t||[])).next())}))},F=function(e,t){var n,i,r,s,o={label:0,sent:function(){if(1&r[0])throw r[1];return r[1]},trys:[],ops:[]};return s={next:a(0),throw:a(1),return:a(2)},"function"==typeof Symbol&&(s[Symbol.iterator]=function(){return this}),s;function a(s){return function(a){return function(s){if(n)throw new TypeError("Generator is already 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this._conf?A({},this._conf):{}},enumerable:!1,configurable:!0}),Object.defineProperty(e.prototype,"ros",{get:function(){if(!this._ros)throw Error("please init first!");return this._ros},enumerable:!1,configurable:!0}),e.prototype.init=function(){return E(this,void 0,void 0,(function(){var e;return F(this,(function(t){switch(t.label){case 0:return this._conf?[2]:(e=this,[4,this.getConfig()]);case 1:return e._conf=t.sent(),this._ros=new f.a.Ros({url:this._conf.ros_bridge_url}),[2]}}))}))},e}()}])}));

package/es/file/download.d.ts

@@ -0,0 +1 @@
+export declare const downloadFile: (uri: string, name: string) => void;

package/es/file/download.js

@@ -0,0 +1,14 @@
+export var downloadFile = function downloadFile(uri, name) {
+  var a = document.createElement('a');
+  a.href = uri;
+
+  if (name) {
+    a.download = name;
+  }
+
+  a.style.position = 'fixed';
+  a.style.visibility = 'hidden';
+  document.body.appendChild(a);
+  a.click();
+  document.body.removeChild(a);
+};

package/es/file/parser.d.ts

@@ -0,0 +1,3 @@
+export declare const blob2text: (blob: any) => Promise<unknown>;
+export declare const blob2base64: (blob: any) => any;
+export declare const blob2file: (blob: any, name: string, type: string) => File;

package/es/file/parser.js

@@ -0,0 +1,35 @@
+export var blob2text = function blob2text(blob) {
+  return new Promise(function (resolve) {
+    var reader = new FileReader();
+
+    reader.onload = function (e) {
+      return resolve(e.target.result);
+    };
+
+    reader.readAsText(blob);
+  });
+};
+export var blob2base64 = function blob2base64(blob) {
+  return new Promise(function (resolve, reject) {
+    var reader = new FileReader();
+
+    if (!blob) {
+      reject('文件爲空!');
+    } else {
+      reader.onload = function (e) {
+        return resolve(e.target.result);
+      };
+
+      reader.onabort = function () {
+        return reject();
+      };
+
+      reader.readAsDataURL(blob);
+    }
+  });
+};
+export var blob2file = function blob2file(blob, name, type) {
+  return new File(blob, name, {
+    type: type
+  });
+};

package/es/index.d.ts

@@ -0,0 +1,7 @@
+import { loadScript } from './load-script';
+import { blob2text, blob2base64, blob2file } from './file/parser';
+import { downloadFile } from './file/download';
+import { WebStorage } from './storage';
+import { createConfigureRos } from './ros';
+import { RosConfigure } from './ros/factory/configure';
+export { loadScript, blob2text, blob2base64, blob2file, downloadFile, WebStorage, createConfigureRos, RosConfigure };

package/es/index.js

@@ -0,0 +1,7 @@
+import { loadScript } from './load-script';
+import { blob2text, blob2base64, blob2file } from './file/parser';
+import { downloadFile } from './file/download';
+import { WebStorage } from './storage';
+import { createConfigureRos } from './ros';
+import { RosConfigure } from './ros/factory/configure';
+export { loadScript, blob2text, blob2base64, blob2file, downloadFile, WebStorage, createConfigureRos, RosConfigure };

package/es/load-script/index.d.ts

@@ -0,0 +1 @@
+export declare const loadScript: (url: string, options?: any) => Promise<unknown>;

package/es/load-script/index.js

@@ -0,0 +1,88 @@
+var __values = this && this.__values || function (o) {
+  var s = typeof Symbol === "function" && Symbol.iterator,
+      m = s && o[s],
+      i = 0;
+  if (m) return m.call(o);
+  if (o && typeof o.length === "number") return {
+    next: function next() {
+      if (o && i >= o.length) o = void 0;
+      return {
+        value: o && o[i++],
+        done: !o
+      };
+    }
+  };
+  throw new TypeError(s ? "Object is not iterable." : "Symbol.iterator is not defined.");
+};
+
+export var loadScript = function loadScript(url, options) {
+  if (options === void 0) {
+    options = {};
+  }
+
+  var findScript = function findScript() {
+    var e_1, _a;
+
+    var list = document.getElementsByTagName('script');
+
+    try {
+      for (var list_1 = __values(list), list_1_1 = list_1.next(); !list_1_1.done; list_1_1 = list_1.next()) {
+        var item = list_1_1.value;
+
+        if (item.src === url) {
+          return item;
+        }
+      }
+    } catch (e_1_1) {
+      e_1 = {
+        error: e_1_1
+      };
+    } finally {
+      try {
+        if (list_1_1 && !list_1_1.done && (_a = list_1["return"])) _a.call(list_1);
+      } finally {
+        if (e_1) throw e_1.error;
+      }
+    }
+
+    return null;
+  };
+
+  return new Promise(function (resolve) {
+    var e_2, _a;
+
+    var old = findScript();
+
+    if (old) {
+      return resolve(url);
+    }
+
+    var el = document.createElement('script');
+
+    try {
+      for (var _b = __values(Object.keys(options)), _c = _b.next(); !_c.done; _c = _b.next()) {
+        var key = _c.value;
+        el[key] = options[key];
+      }
+    } catch (e_2_1) {
+      e_2 = {
+        error: e_2_1
+      };
+    } finally {
+      try {
+        if (_c && !_c.done && (_a = _b["return"])) _a.call(_b);
+      } finally {
+        if (e_2) throw e_2.error;
+      }
+    }
+
+    el.src = url;
+
+    el.onload = function () {
+      return resolve(url);
+    };
+
+    document.body.appendChild(el);
+    return 'success';
+  });
+};

package/es/ros/factory/configure.d.ts

@@ -0,0 +1,14 @@
+interface RosConfig {
+    ros_bridge_url: string;
+    ros3d_lib_url?: string;
+}
+export declare class RosConfigure {
+    private _conf;
+    private readonly getConfig;
+    private _ros;
+    constructor(getConfig: () => Promise<RosConfig>);
+    get conf(): RosConfig;
+    get ros(): any;
+    init(): Promise<void>;
+}
+export {};

package/es/ros/factory/configure.js

@@ -0,0 +1,230 @@
+var __assign = this && this.__assign || function () {
+  __assign = Object.assign || function (t) {
+    for (var s, i = 1, n = arguments.length; i < n; i++) {
+      s = arguments[i];
+
+      for (var p in s) {
+        if (Object.prototype.hasOwnProperty.call(s, p)) t[p] = s[p];
+      }
+    }
+
+    return t;
+  };
+
+  return __assign.apply(this, arguments);
+};
+
+var __awaiter = this && this.__awaiter || function (thisArg, _arguments, P, generator) {
+  function adopt(value) {
+    return value instanceof P ? value : new P(function (resolve) {
+      resolve(value);
+    });
+  }
+
+  return new (P || (P = Promise))(function (resolve, reject) {
+    function fulfilled(value) {
+      try {
+        step(generator.next(value));
+      } catch (e) {
+        reject(e);
+      }
+    }
+
+    function rejected(value) {
+      try {
+        step(generator["throw"](value));
+      } catch (e) {
+        reject(e);
+      }
+    }
+
+    function step(result) {
+      result.done ? resolve(result.value) : adopt(result.value).then(fulfilled, rejected);
+    }
+
+    step((generator = generator.apply(thisArg, _arguments || [])).next());
+  });
+};
+
+var __generator = this && this.__generator || function (thisArg, body) {
+  var _ = {
+    label: 0,
+    sent: function sent() {
+      if (t[0] & 1) throw t[1];
+      return t[1];
+    },
+    trys: [],
+    ops: []
+  },
+      f,
+      y,
+      t,
+      g;
+  return g = {
+    next: verb(0),
+    "throw": verb(1),
+    "return": verb(2)
+  }, typeof Symbol === "function" && (g[Symbol.iterator] = function () {
+    return this;
+  }), g;
+
+  function verb(n) {
+    return function (v) {
+      return step([n, v]);
+    };
+  }
+
+  function step(op) {
+    if (f) throw new TypeError("Generator is already executing.");
+
+    while (_) {
+      try {
+        if (f = 1, y && (t = op[0] & 2 ? y["return"] : op[0] ? y["throw"] || ((t = y["return"]) && t.call(y), 0) : y.next) && !(t = t.call(y, op[1])).done) return t;
+        if (y = 0, t) op = [op[0] & 2, t.value];
+
+        switch (op[0]) {
+          case 0:
+          case 1:
+            t = op;
+            break;
+
+          case 4:
+            _.label++;
+            return {
+              value: op[1],
+              done: false
+            };
+
+          case 5:
+            _.label++;
+            y = op[1];
+            op = [0];
+            continue;
+
+          case 7:
+            op = _.ops.pop();
+
+            _.trys.pop();
+
+            continue;
+
+          default:
+            if (!(t = _.trys, t = t.length > 0 && t[t.length - 1]) && (op[0] === 6 || op[0] === 2)) {
+              _ = 0;
+              continue;
+            }
+
+            if (op[0] === 3 && (!t || op[1] > t[0] && op[1] < t[3])) {
+              _.label = op[1];
+              break;
+            }
+
+            if (op[0] === 6 && _.label < t[1]) {
+              _.label = t[1];
+              t = op;
+              break;
+            }
+
+            if (t && _.label < t[2]) {
+              _.label = t[2];
+
+              _.ops.push(op);
+
+              break;
+            }
+
+            if (t[2]) _.ops.pop();
+
+            _.trys.pop();
+
+            continue;
+        }
+
+        op = body.call(thisArg, _);
+      } catch (e) {
+        op = [6, e];
+        y = 0;
+      } finally {
+        f = t = 0;
+      }
+    }
+
+    if (op[0] & 5) throw op[1];
+    return {
+      value: op[0] ? op[1] : void 0,
+      done: true
+    };
+  }
+};
+
+import ROSLIB from 'roslib';
+
+var RosConfigure =
+/** @class */
+function () {
+  function RosConfigure(getConfig) {
+    this._conf = null;
+    this._ros = null;
+    this.getConfig = getConfig;
+  }
+
+  Object.defineProperty(RosConfigure.prototype, "conf", {
+    get: function get() {
+      var initialValues = {};
+
+      if (!this._conf) {
+        return initialValues;
+      }
+
+      return __assign({}, this._conf);
+    },
+    enumerable: false,
+    configurable: true
+  });
+  Object.defineProperty(RosConfigure.prototype, "ros", {
+    get: function get() {
+      if (!this._ros) {
+        throw Error('please init first!');
+      }
+
+      return this._ros;
+    },
+    enumerable: false,
+    configurable: true
+  });
+
+  RosConfigure.prototype.init = function () {
+    return __awaiter(this, void 0, void 0, function () {
+      var _a;
+
+      return __generator(this, function (_b) {
+        switch (_b.label) {
+          case 0:
+            if (this._conf) {
+              return [2
+              /*return*/
+              ];
+            }
+
+            _a = this;
+            return [4
+            /*yield*/
+            , this.getConfig()];
+
+          case 1:
+            _a._conf = _b.sent();
+            this._ros = new ROSLIB.Ros({
+              url: this._conf.ros_bridge_url
+            });
+            return [2
+            /*return*/
+            ];
+        }
+      });
+    });
+  };
+
+  return RosConfigure;
+}();
+
+export { RosConfigure };

package/es/ros/factory/index.d.ts

@@ -0,0 +1,32 @@
+import ROSLIB from 'roslib';
+import { RosConfigure } from './configure';
+import type { CreateFactory } from './super';
+interface RosActionConfig {
+    serverName: string;
+    actionName: string;
+}
+interface TopicType {
+    name: string;
+    messageType: string;
+}
+interface RoseServiceConfig {
+    name: string;
+    serviceType: string;
+}
+declare type RoseServiceFunc = (payload: any) => Promise<any>;
+declare type RoseActionFunc = (goalMessage: any) => Promise<any>;
+interface RosTopic extends ROSLIB.Topic {
+    publishMessage: (payload: any) => void;
+}
+declare type RosTopicFunc = () => RosTopic;
+export declare class RosUtils {
+    private readonly configure;
+    constructor(configure: RosConfigure);
+    private readonly publishService;
+    private readonly publishAction;
+    private readonly rosTopic;
+    createRosService: CreateFactory<RoseServiceConfig, RoseServiceFunc>;
+    createRosAction: CreateFactory<RosActionConfig, RoseActionFunc>;
+    createRosTopic: CreateFactory<TopicType, RosTopicFunc>;
+}
+export {};