pubo-web 1.0.4-alpha.0

package/es/ros/factory/index.js

@@ -0,0 +1,116 @@
+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);
+};
+
+import ROSLIB from 'roslib';
+import { superFactory } from './super';
+
+var RosUtils =
+/** @class */
+function () {
+  function RosUtils(configure) {
+    var _this = this;
+
+    this.configure = null;
+
+    this.publishService = function (_a) {
+      var name = _a.name,
+          serviceType = _a.serviceType,
+          payload = _a.payload;
+      return new Promise(function (resolve, reject) {
+        var service = new ROSLIB.Service({
+          ros: _this.configure.ros,
+          name: name,
+          serviceType: serviceType
+        });
+        var request = new ROSLIB.ServiceRequest(payload);
+        service.callService(request, resolve, reject);
+      });
+    };
+
+    this.publishAction = function (_a) {
+      var serverName = _a.serverName,
+          actionName = _a.actionName,
+          goalMessage = _a.goalMessage;
+      return new Promise(function (resolve, reject) {
+        var actionClient = new ROSLIB.ActionClient({
+          ros: _this.configure.ros,
+          serverName: serverName,
+          actionName: actionName,
+          timeout: 0
+        });
+        var goal = new ROSLIB.Goal({
+          actionClient: actionClient,
+          goalMessage: goalMessage
+        });
+        goal.on('result', function (result) {
+          return resolve(result);
+        });
+        goal.on('error', function (err) {
+          return reject(err);
+        });
+        goal.send();
+      });
+    };
+
+    this.rosTopic = function (props) {
+      var topic = new ROSLIB.Topic(__assign({
+        ros: _this.configure.ros
+      }, props));
+
+      topic.publishMessage = function (payload) {
+        if (typeof topic.publish === 'function') {
+          topic.publish(new ROSLIB.Message(payload));
+        }
+      };
+
+      return topic;
+    };
+
+    this.createRosService = function (services) {
+      return superFactory(function (options) {
+        return function (payload) {
+          return _this.publishService(__assign(__assign({}, options), {
+            payload: payload
+          }));
+        };
+      })(services);
+    };
+
+    this.createRosAction = function (actions) {
+      return superFactory(function (options) {
+        return function (goalMessage) {
+          return _this.publishAction(__assign(__assign({}, options), {
+            goalMessage: goalMessage
+          }));
+        };
+      })(actions);
+    };
+
+    this.createRosTopic = function (topic) {
+      return superFactory(function (options) {
+        return function () {
+          return _this.rosTopic(options);
+        };
+      })(topic);
+    };
+
+    this.configure = configure;
+  }
+
+  return RosUtils;
+}();
+
+export { RosUtils };

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

@@ -0,0 +1,11 @@
+declare type OptionsObject<T, C> = {
+    [key in keyof T]: C;
+};
+declare type ProductsObject<T, F> = {
+    [key in keyof T]: F;
+};
+declare type Factory<C> = (config: C) => any;
+export declare type CreateFactory<C, F> = <T>(apis: OptionsObject<T, C>) => ProductsObject<T, F>;
+export declare type SuperFactory = <C, F>(factory: Factory<C>) => CreateFactory<C, F>;
+export declare const superFactory: SuperFactory;
+export {};

package/es/ros/factory/super.js

@@ -0,0 +1,43 @@
+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 superFactory = function superFactory(factory) {
+  return function (options) {
+    var e_1, _a;
+
+    var product = {};
+
+    try {
+      for (var _b = __values(Object.keys(options)), _c = _b.next(); !_c.done; _c = _b.next()) {
+        var key = _c.value;
+        product[key] = factory(options[key]);
+      }
+    } catch (e_1_1) {
+      e_1 = {
+        error: e_1_1
+      };
+    } finally {
+      try {
+        if (_c && !_c.done && (_a = _b["return"])) _a.call(_b);
+      } finally {
+        if (e_1) throw e_1.error;
+      }
+    }
+
+    return product;
+  };
+};

package/es/ros/index.d.ts

@@ -0,0 +1,7 @@
+import { RosUtils } from './factory';
+import type { RosConfigure } from './factory/configure';
+import { RosViewer } from './ros3d/viewer';
+export declare const createConfigureRos: (rosConfigure: RosConfigure) => {
+    rosUtils: RosUtils;
+    createRosViewer(): RosViewer;
+};

package/es/ros/index.js

@@ -0,0 +1,10 @@
+import { RosUtils } from './factory';
+import { RosViewer } from './ros3d/viewer';
+export var createConfigureRos = function createConfigureRos(rosConfigure) {
+  return {
+    rosUtils: new RosUtils(rosConfigure),
+    createRosViewer: function createRosViewer() {
+      return new RosViewer(rosConfigure);
+    }
+  };
+};

package/es/ros/ros3d/inject.d.ts

@@ -0,0 +1,6 @@
+export declare class InjectUtil {
+    state: any;
+    inject(obj: any, options: any): any;
+    install(key: string, value: any): void;
+    remove(key: string): void;
+}

package/es/ros/ros3d/inject.js

@@ -0,0 +1,39 @@
+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 InjectUtil =
+/** @class */
+function () {
+  function InjectUtil() {
+    this.state = {};
+  }
+
+  InjectUtil.prototype.inject = function (obj, options) {
+    return new obj(__assign(__assign({}, this.state), options));
+  };
+
+  InjectUtil.prototype.install = function (key, value) {
+    this.state[key] = value;
+  };
+
+  InjectUtil.prototype.remove = function (key) {
+    delete this.state[key];
+  };
+
+  return InjectUtil;
+}();
+
+export { InjectUtil };

package/es/ros/ros3d/utils.d.ts

@@ -0,0 +1,11 @@
+export declare function getRainbowColor(pct: number): any;
+export declare function colormap(x: number): any;
+export declare function loadLib(url: string): Promise<any>;
+export declare const basePointCloudOptions: {
+    colorsrc: string;
+    material: {
+        size: number;
+    };
+    max_pts: number;
+    colormap: typeof colormap;
+};

package/es/ros/ros3d/utils.js

@@ -0,0 +1,249 @@
+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';
+import { loadScript } from '../../load-script';
+export function getRainbowColor(pct) {
+  var h = (1 - pct) * 5.0 + 1.0;
+  var i = Math.floor(h);
+  var f = h % 1.0;
+
+  if ((i & 1) === 0) {
+    f = 1 - f;
+  }
+
+  var n = 1 - f;
+  var dic = [{
+    r: n,
+    g: 0,
+    b: 1
+  }, {
+    r: 0,
+    g: n,
+    b: 1
+  }, {
+    r: 0,
+    g: 1,
+    b: n
+  }, {
+    r: n,
+    g: 1,
+    b: 0
+  }, {
+    r: 1,
+    g: n,
+    b: 0
+  }];
+
+  if (i < 1) {
+    i = 1;
+  }
+
+  var temp = dic[i - 1] || dic[4];
+  Object.keys(temp).forEach(function (key) {
+    return temp[key] = temp[key] * 255;
+  });
+  return __assign(__assign({}, temp), {
+    a: 1
+  });
+}
+export function colormap(x) {
+  var minColorValue = 0;
+  var maxColorValue = 512 * 512 * 512;
+  var colorFieldRange = maxColorValue - minColorValue || Infinity;
+  var pct = Math.max(0, Math.min((Math.pow(x, 4) - minColorValue) / colorFieldRange, 1));
+  return getRainbowColor(pct);
+}
+export function loadLib(url) {
+  return __awaiter(this, void 0, void 0, function () {
+    return __generator(this, function (_a) {
+      switch (_a.label) {
+        case 0:
+          if (!window.ROSLIB) {
+            window.ROSLIB = ROSLIB;
+          }
+
+          if (window.ROS3D) {
+            return [2
+            /*return*/
+            , window.ROS3D];
+          }
+
+          return [4
+          /*yield*/
+          , loadScript(url)];
+
+        case 1:
+          _a.sent();
+
+          return [2
+          /*return*/
+          , window.ROS3D];
+      }
+    });
+  });
+}
+export var basePointCloudOptions = {
+  colorsrc: 'intensity',
+  material: {
+    size: 0.1
+  },
+  max_pts: 10000000,
+  colormap: colormap
+};

package/es/ros/ros3d/viewer.d.ts

@@ -0,0 +1,19 @@
+import { RosConfigure } from '../factory/configure';
+import { InjectUtil } from './inject';
+interface InitProps {
+    elem: any;
+    view?: any;
+    tf?: any;
+}
+export declare class RosViewer {
+    private readonly configure;
+    private elem;
+    ROS3D: any;
+    viewer: any;
+    iu: InjectUtil;
+    constructor(configure: RosConfigure);
+    init({ elem, view, tf }: InitProps): Promise<void>;
+    destroy(): void;
+    initPointClouds(optList: any[]): any[];
+}
+export {};