roslib-ts 1.0.0-beta.5 → 1.0.0-beta.7

package/dist/index.esm.js

@@ -833,6 +833,175 @@ class Param {
     }
 }
 
+class ActionClient extends EventEmitter {
+    constructor(options) {
+        super();
+        this.receivedStatus = false;
+        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 = {};
+        // 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((statusMessage) => {
+                this.receivedStatus = true;
+                if (statusMessage.status_list) {
+                    statusMessage.status_list.forEach((status) => {
+                        const goal = this.goals[status.goal_id.id];
+                        if (goal) {
+                            goal.emit('status', status);
+                        }
+                    });
+                }
+            });
+        }
+        // subscribe the the feedback topic
+        if (!this.omitFeedback) {
+            this.feedbackListener.subscribe((feedbackMessage) => {
+                const goal = this.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((resultMessage) => {
+                const goal = this.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(() => {
+                if (!this.receivedStatus) {
+                    this.emit('timeout');
+                }
+            }, this.timeout);
+        }
+    }
+    /**
+     * Cancel all goals associated with this ActionClient.
+     */
+    cancel() {
+        const cancelMessage = {};
+        this.cancelTopic.publish(cancelMessage);
+    }
+    /**
+     * Unsubscribe and unadvertise all topics associated with this ActionClient.
+     */
+    dispose() {
+        this.goalTopic.unadvertise();
+        this.cancelTopic.unadvertise();
+        if (!this.omitStatus) {
+            this.statusListener.unsubscribe();
+        }
+        if (!this.omitFeedback) {
+            this.feedbackListener.unsubscribe();
+        }
+        if (!this.omitResult) {
+            this.resultListener.unsubscribe();
+        }
+    }
+}
+
+class Goal extends EventEmitter {
+    constructor(options) {
+        super();
+        this.isFinished = false;
+        this.actionClient = options.actionClient;
+        this.goalMessage = options.goalMessage;
+        // Used to create random IDs
+        const date = new Date();
+        // Create a random ID
+        this.goalID = 'goal_' + Math.random() + '_' + date.getTime();
+        // Fill in the goal message
+        this.goalMessage = {
+            goal_id: {
+                stamp: {
+                    secs: 0,
+                    nsecs: 0
+                },
+                id: this.goalID
+            },
+            goal: this.goalMessage
+        };
+        this.on('status', (status) => {
+            this.status = status;
+        });
+        this.on('result', (result) => {
+            this.isFinished = true;
+            this.result = result;
+        });
+        this.on('feedback', (feedback) => {
+            this.feedback = feedback;
+        });
+        // Add the goal
+        this.actionClient.goals[this.goalID] = this;
+    }
+    /**
+     * Send the goal to the action server.
+     *
+     * @param timeout - A timeout length for the goal's result.
+     */
+    send(timeout) {
+        this.actionClient.goalTopic.publish(this.goalMessage);
+        if (timeout) {
+            setTimeout(() => {
+                if (!this.isFinished) {
+                    this.emit('timeout');
+                }
+            }, timeout);
+        }
+    }
+    /**
+     * Cancel the current goal.
+     */
+    cancel() {
+        const cancelMessage = {
+            id: this.goalID
+        };
+        this.actionClient.cancelTopic.publish(cancelMessage);
+    }
+}
+
 class TopicManager {
     constructor(ros) {
         this.topics = new Map();
@@ -844,8 +1013,9 @@ class TopicManager {
      * @param name 主题名称
      * @param messageType 消息类型
      * @param callback 回调函数，当收到消息时调用
+     * @param config 订阅配置选项（可选）
      */
-    subscribe(name, messageType, callback) {
+    subscribe(name, messageType, callback, config) {
         if (!this.ros) {
             throw new Error("ros instance is not initialized");
         }
@@ -859,13 +1029,13 @@ class TopicManager {
             return;
         }
         // 创建新 topic
-        const topic = new Topic({ ros: this.ros, name, messageType });
+        const topic = new Topic(Object.assign({ ros: this.ros, name, messageType }, config));
         const callbacks = new Set();
         callbacks.add(callback);
         topic.subscribe((msg) => {
             callbacks.forEach((cb) => cb(msg));
         });
-        this.topics.set(name, { topic, callbacks, messageType });
+        this.topics.set(name, { topic, callbacks, messageType, config });
     }
     unsubscribe(name, callback) {
         const managed = this.topics.get(name);
@@ -893,7 +1063,7 @@ class TopicManager {
     }
     resubscribeAll(ros) {
         this.topics.forEach((managed, name) => {
-            const topic = new Topic({ ros, name, messageType: managed.messageType });
+            const topic = new Topic(Object.assign({ ros, name, messageType: managed.messageType }, managed.config));
             managed.topic = topic;
             topic.subscribe((msg) => {
                 managed.callbacks.forEach((cb) => cb(msg));
@@ -905,10 +1075,11 @@ class TopicManager {
      * @param name 主题名称
      * @param messageType 消息类型
      * @param data 要发布的数据
+     * @param config 发布配置选项（可选）
      * @param queueWhenOffline 是否在 ROS 连接时队列消息（默认 false）
      * @returns Promise，成功时解析为 undefined，失败时拒绝
      */
-    publish(name, messageType, data, queueWhenOffline = false) {
+    publish(name, messageType, data, config, queueWhenOffline = false) {
         return new Promise((resolve, reject) => {
             if (!this.ros) {
                 reject(new Error("ros instance is not initialized"));
@@ -928,11 +1099,8 @@ class TopicManager {
                 resolve(undefined);
                 return;
             }
-            const chatter = new Topic({
-                ros: this.ros,
-                name,
-                messageType,
-            });
+            const chatter = new Topic(Object.assign({ ros: this.ros, name,
+                messageType }, config));
             this.pubTopics.set(name, {
                 topic: chatter,
                 messageType,
@@ -1089,5 +1257,5 @@ class ParamManager {
     }
 }
 
-export { EnhancedRos, EnhancedRosState, EventEmitter, Param, ParamManager, Ros, Service, ServiceManager, ServiceRequest, ServiceResponse, Topic, TopicManager };
+export { ActionClient, EnhancedRos, EnhancedRosState, EventEmitter, Goal, Param, ParamManager, Ros, Service, ServiceManager, ServiceRequest, ServiceResponse, Topic, TopicManager };
 //# sourceMappingURL=index.esm.js.map

package/dist/index.esm.js.map

@@ -1 +1 @@
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