diff --git a/roslaunch_editor/CMakeLists.txt b/roslaunch_editor/CMakeLists.txt new file mode 100644 index 00000000..ea70c560 --- /dev/null +++ b/roslaunch_editor/CMakeLists.txt @@ -0,0 +1,82 @@ +cmake_minimum_required(VERSION 2.8.3) +project(roslaunch_editor) + +find_package(catkin REQUIRED COMPONENTS message_generation) + +add_message_files( + FILES + LaunchFile.msg +) + +add_service_files( + FILES + ReadLaunchFiles.srv + WriteLaunchFiles.srv +) + +generate_messages( + DEPENDENCIES + # std_msgs # Or other packages containing msgs +) + +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES roslaunch_editor +# CATKIN_DEPENDS other_catkin_pkg +# DEPENDS system_lib +) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_roslaunch_editor.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/roslaunch_editor/README.md b/roslaunch_editor/README.md new file mode 100644 index 00000000..9a9e49ca --- /dev/null +++ b/roslaunch_editor/README.md @@ -0,0 +1,28 @@ +# roslaunch_editor + +Web-based ROS launch-files editor, created for making configuration of your robot more user-friendly for novices. + + + +## Quick launch + +```bash +roslaunch roslaunch_editor example.launch +``` + +Then, open `http://localhost:8085/roslaunch_editor/` and edit the test launch file. + +## Modes + +`roslaunch_editor` works in two modes: standalone mode (where running `editor` node is required), and Clover mode (where `clover`'s `shell` node, `roswww_static` and `rosbridge_suite` are utilized). The editor will read and write launch-files and restart the nodes (if configured) using one of these nodes. + +The mode is determined automatically, based on advertised ROS-services. + +## Parameters + +* `items` (`string` or `list`) – launch files to edit, format: `package_name/launch_file_name.launch`. +* `hide_uncommented` (`boolean`, default: `false`) – don't show arguments without comments. +* `apply_command` (`string`, default: `''`) – shell command to execute after writing launch-files (e. g. to restart the systemd service). +* `backup` (`boolean`, default: `false`) – backup overwritten launch-files (backup is written to `file_name.launch.bak`). + +Some parameters (`items`, `hide_uncommented`) can be overwritten over GET-parameters, e. g. `?items=package/foo.launch,package/bar.launch&hide_uncommented=1`. diff --git a/roslaunch_editor/launch/example.launch b/roslaunch_editor/launch/example.launch new file mode 100644 index 00000000..ff485bfd --- /dev/null +++ b/roslaunch_editor/launch/example.launch @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/roslaunch_editor/msg/LaunchFile.msg b/roslaunch_editor/msg/LaunchFile.msg new file mode 100644 index 00000000..91c8ccf7 --- /dev/null +++ b/roslaunch_editor/msg/LaunchFile.msg @@ -0,0 +1,3 @@ +string package +string name +string content diff --git a/roslaunch_editor/package.xml b/roslaunch_editor/package.xml new file mode 100644 index 00000000..8baa2a8d --- /dev/null +++ b/roslaunch_editor/package.xml @@ -0,0 +1,45 @@ + + + roslaunch_editor + 0.0.0 + Web based roslaunch files editor + Oleg Kalachev + MIT + + + + https://github.com/CopterExpress/clover + + + + Oleg Kalachev + + + + + + + + + + + + + + + + + + + + + + catkin + message_generation + + + + + + + diff --git a/roslaunch_editor/roslaunch_editor.jpg b/roslaunch_editor/roslaunch_editor.jpg new file mode 100644 index 00000000..dfae84ca Binary files /dev/null and b/roslaunch_editor/roslaunch_editor.jpg differ diff --git a/roslaunch_editor/src/editor b/roslaunch_editor/src/editor new file mode 100755 index 00000000..15d90d76 --- /dev/null +++ b/roslaunch_editor/src/editor @@ -0,0 +1,73 @@ +#!/usr/bin/env python + +import rospy +import os +import shutil +import rospkg + +from std_srvs.srv import Trigger +from roslaunch_editor.srv import ReadLaunchFiles, ReadLaunchFilesResponse, WriteLaunchFiles +from roslaunch_editor.msg import LaunchFile + +rospy.init_node('roslaunch_editor') +rospack = rospkg.RosPack() +backup = rospy.get_param('~backup', True) +apply_command = rospy.get_param('~apply_command', '') + + +def get_launch_file_path(package, name): + path = rospack.get_path(package) + for root, dirnames, filenames in os.walk(path): + if name in filenames: + return os.path.join(root, name) + raise Exception('Launch file %s/%s not found' % (package, name)) + + +def read(req): + try: + res = ReadLaunchFilesResponse() + for launch_file in req.files: + path = get_launch_file_path(launch_file.package, launch_file.name) + rospy.loginfo('read file %s', path) + launch_file.content = open(path, 'r').read() + res.files.append(launch_file) + res.success = True + return res + except Exception as e: + rospy.logerr(str(e)) + return {'success': False, 'message': str(e)} + + +def write(req): + try: + # write files + for launch_file in req.files: + if not launch_file.name.endswith('.launch'): + raise Exception('Launch file name should end with .launch') + path = get_launch_file_path(launch_file.package, launch_file.name) + rospy.loginfo('write file %s', path) + if backup: + shutil.copyfile(path, path + '.bak.launch') + with open(path, 'w') as f: + f.write(launch_file.content) + + # restart the system + if not apply_command: + return {'success': True} + + rospy.loginfo('apply: %s', apply_command) + res = os.system(apply_command) + if res == 0: + return {'success': True} + else: + return {'success': False, 'message': 'Error invoking %s' % apply_command} + except Exception as e: + rospy.logerr(str(e)) + return {'success': False, 'message': str(e)} + + +rospy.Service('~read', ReadLaunchFiles, read) +rospy.Service('~write', WriteLaunchFiles, write) + + +rospy.spin() diff --git a/roslaunch_editor/srv/ReadLaunchFiles.srv b/roslaunch_editor/srv/ReadLaunchFiles.srv new file mode 100644 index 00000000..d9f9c763 --- /dev/null +++ b/roslaunch_editor/srv/ReadLaunchFiles.srv @@ -0,0 +1,7 @@ +# Read launch-files + +LaunchFile[] files # content field is ignored +--- +bool success +string message +LaunchFile[] files diff --git a/roslaunch_editor/srv/WriteLaunchFiles.srv b/roslaunch_editor/srv/WriteLaunchFiles.srv new file mode 100644 index 00000000..36d18cee --- /dev/null +++ b/roslaunch_editor/srv/WriteLaunchFiles.srv @@ -0,0 +1,6 @@ +# Write launch-files and apply (restart the system) + +LaunchFile[] files +--- +bool success +string message diff --git a/roslaunch_editor/test/test.launch b/roslaunch_editor/test/test.launch new file mode 100644 index 00000000..3866657e --- /dev/null +++ b/roslaunch_editor/test/test.launch @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/roslaunch_editor/www/index.html b/roslaunch_editor/www/index.html new file mode 100644 index 00000000..ebb6b478 --- /dev/null +++ b/roslaunch_editor/www/index.html @@ -0,0 +1,140 @@ + + + + + + + roslaunch editor + + +
+
+
+ +
+
+
+
+ + + + diff --git a/roslaunch_editor/www/loader.css b/roslaunch_editor/www/loader.css new file mode 100644 index 00000000..0ef98833 --- /dev/null +++ b/roslaunch_editor/www/loader.css @@ -0,0 +1,67 @@ +.lds-grid { + display: inline-block; + position: relative; + width: 80px; + height: 80px; +} +.lds-grid div { + position: absolute; + width: 15px; + height: 15px; + border-radius: 50%; + background: #fff; + animation: lds-grid 1.2s linear infinite; +} +.lds-grid div:nth-child(1) { + top: 8px; + left: 8px; + animation-delay: 0s; +} +.lds-grid div:nth-child(2) { + top: 8px; + left: 32px; + animation-delay: -0.4s; +} +.lds-grid div:nth-child(3) { + top: 8px; + left: 56px; + animation-delay: -0.8s; +} +.lds-grid div:nth-child(4) { + top: 32px; + left: 8px; + animation-delay: -0.4s; +} +.lds-grid div:nth-child(5) { + top: 32px; + left: 32px; + animation-delay: -0.8s; +} +.lds-grid div:nth-child(6) { + top: 32px; + left: 56px; + animation-delay: -1.2s; +} +.lds-grid div:nth-child(7) { + top: 56px; + left: 8px; + animation-delay: -0.8s; +} +.lds-grid div:nth-child(8) { + top: 56px; + left: 32px; + animation-delay: -1.2s; +} +.lds-grid div:nth-child(9) { + top: 56px; + left: 56px; + animation-delay: -1.6s; +} +@keyframes lds-grid { + 0%, 100% { + opacity: 1; + } + 50% { + opacity: 0.5; + } +} diff --git a/roslaunch_editor/www/main.js b/roslaunch_editor/www/main.js new file mode 100644 index 00000000..74f0ae1b --- /dev/null +++ b/roslaunch_editor/www/main.js @@ -0,0 +1,287 @@ +var editorElem = document.querySelector('form.editor'); + +// escape html +function esc(unsafe) { + return unsafe + .replace(/&/g, "&") + .replace(//g, ">") + .replace(/"/g, """) + .replace(/'/g, "'"); + } + +function getType(value) { + if (value == 'true' || value == 'false') { + return 'bool'; + } else if (Number.isInteger(Number(value))) { + return 'int'; + } else if (!isNaN(Number(value))) { + return 'float' + } else { + return 'string'; + } +} + +var items = {}; + +function generateForm(item, content) { + var parser = new DOMParser(); + var doc = items[item].doc = parser.parseFromString(content, 'text/xml'); + var html = ''; + + // go though all arg tags + var args = doc.querySelectorAll('launch > arg'); + for (var arg of args) { + var name = arg.getAttribute('name'); + var comment = ''; + var value = arg.getAttribute('default'); + if (value === null) value = ''; + var type = getType(value); + + // get comment from previous sibling comment with no more than one line break in-between --> + var prev = arg.previousSibling; + if (prev && prev.nodeType == Node.TEXT_NODE && prev.textContent.split('\n').length <= 2) { + prev = arg.previousSibling.previousSibling; + if (prev && prev.nodeType == Node.COMMENT_NODE && prev != next /* don't use one comment twice */) { + prevArgPrevComment = prev; + comment = prev.textContent; + } + } + + // get comment from next sibling comment without line breaks in-between (more priority) + var next = arg.nextSibling; + if (next.nodeType == Node.TEXT_NODE && next.textContent.indexOf('\n') == -1) { + next = next.nextSibling; + } + if (next.nodeType == Node.COMMENT_NODE) { + comment = next.textContent; + } + + // get options + var options = comment.match(/^(.*?): ((.*), (.*))$/); + if (options) { + comment = options[1]; + options = options[2].split(','); + options = options.map(function(option) { return option.trim(); }); + } + + if (comment.indexOf('noeditor') != -1) continue; + + if (p.hide_uncommented && !comment) continue; + + var path = `launch > arg[name=${name}]`; + html += `` + } + + return html; +} + +function updateDocs() { + editorElem.querySelectorAll('input, select').forEach(function(elem) { + var type = elem.getAttribute('type'); + if (type == 'checkbox') { + var value = String(elem.checked); + } else { + var value = elem.value; + } + var path = elem.getAttribute('data-path'); + var item = elem.getAttribute('data-item'); + var element = items[item].doc.querySelector(path); + if (element.getAttribute('default') === null && value == '') { + // don't add empty default if it's not set + return; + } + element.setAttribute('default', value); + }); +} + +editorElem.addEventListener('change', updateDocs); + +function addLaunchFile(name, content) { + html = `
${name}`; + html += generateForm(name, content); + html += '
' + editorElem.innerHTML += html; +} + +function parseItem(str) { + var parsed = str.match(/(.*?)\/(.*)/); + var package = parsed[1]; + var name = parsed[2]; + return items[str] = { package, name }; +} + +var clover; + +function determineMode() { + return new Promise(function(resolve, reject) { + function errcb(err) { + alert(err); + reject(); + } + // check roslaunch_editor's read service + ros.getServiceType('/roslaunch_editor/read', function(t) { + if (t == 'roslaunch_editor/ReadLaunchFiles') { + clover = false; + resolve(); + return; + } + // check clover's exec service + ros.getServiceType('/exec', function(t) { + if (t == 'clover/Execute') { + clover = true; + resolve(); + return; + } + alert('Neither /roslaunch_editor/read nor /exec service not found'); + reject(); + }, errcb); + }, errcb); + }); +} + +function errCallback(err) { + alert('Error calling service: ' + err); +} + +function loadItems() { + editorElem.innerHTML = ''; + + if (typeof p.items == 'string') { + p.items = p.items.split(','); + } + + if (clover) { + const boundary = '===BOUNDARY==='; + var cmd = 'bash -ic "' + p.items.map(function(item) { + parseItem(item); + return `roscat ${items[item].package} ${items[item].name}`; + }).join(` && echo -n ${boundary} && `) + '"'; + exec.callService(new ROSLIB.ServiceRequest({ cmd }), function(res) { + if (res.code != 0) { + alert('Error reading launch-files'); + return; + } + res.output.split(boundary).forEach(function(content, i) { + addLaunchFile(p.items[i], content); + }); + document.body.classList.add('loaded'); + }, errCallback); + + } else { + var req = new ROSLIB.ServiceRequest(); + req.files = p.items.map(function(item) { + parseItem(item); + return { 'package': items[item].package, 'name': items[item].name } + }); + readLaunchFiles.callService(req, function(res) { + res.files.forEach(function(item, i) { + addLaunchFile(p.items[i], item.content); + }); + document.body.classList.add('loaded'); + }, errCallback); + } +} + +// load params +Promise.all([ + determineMode(), + readParam('apply_command', false, ''), + readParam('items', true), + readParam('hide_uncommented', true, false), + readParam('standalone', false, false), +]).then(() => loadItems()); + +function shellEscape(a) { + // https://github.com/xxorax/node-shell-escape + var ret = []; + + a.forEach(function (s) { + if (!['&&', '||', '|', '>', '<', '>>', '<<'].includes(s) && /[^A-Za-z0-9_\/:=-]/.test(s)) { + s = "'" + s.replace(/'/g, "'\\''") + "'"; + s = s.replace(/^(?:'')+/g, '') // unduplicate single-quote at the beginning + .replace(/\\'''/g, "\\'"); // remove non-escaped single-quote if there are enclosed between 2 escaped + } + ret.push(s); + }); + + return ret.join(' '); +} + +var applying = false; + +// TODO: reread launch file on connected +function apply() { + applying = true; + document.body.classList.remove('loaded'); + + updateDocs(); + + if (clover) { + var script = ''; + for (item in items) { + if (script) script += ' && '; + var content = items[item].doc.documentElement.outerHTML; + script += `_roscmd ${items[item].package} ${items[item].name} && echo ${shellEscape([content])} > $arg`; + } + if (p.apply_command) { + script + ' && ' + p.apply_command; + } + + var cmd = shellEscape(['bash', '-ic', script]); + + exec.callService(new ROSLIB.ServiceRequest({ cmd: cmd }), function(res) { + if (res.code != 0) { + alert('Error'); + return; + } + document.body.classList.add('loaded'); + }); + } else { + + var req = new ROSLIB.ServiceRequest(); + req.files = Object.keys(items).map(function(key) { + var item = items[key]; + return { package: item.package, name: item.name, content: item.doc.documentElement.outerHTML } + }); + + writeLaunchFiles.callService(req, function(res) { + if (!res.success) { + alert('Error writing files ' + res.message); + } + document.body.classList.add('loaded'); + applying = false; + }, errCallback); + } +} + +ros.on('connection', function() { + if (applying) { + // connection after applying tells that system restarted + document.body.classList.add('loaded'); + applying = false; + } +}) diff --git a/roslaunch_editor/www/ros.js b/roslaunch_editor/www/ros.js new file mode 100644 index 00000000..520f1054 --- /dev/null +++ b/roslaunch_editor/www/ros.js @@ -0,0 +1,46 @@ +var url = 'ws://' + location.hostname + ':9090'; +var ros = new ROSLIB.Ros({ url }); + +ros.on('connection', function () { + document.body.classList.add('connected'); +}); + +ros.on('close', function () { + document.body.classList.remove('connected'); + setTimeout(function() { + try { + ros.connect(url); + } catch (e) {} + }, 2000); +}); + +var exec = new ROSLIB.Service({ ros: ros, name : '/exec', serviceType : 'clover/Execute' }); +var readLaunchFiles = new ROSLIB.Service({ ros: ros, name: '/roslaunch_editor/read', serviceType: 'roslaunch_editor/ReadLaunchFiles' }); +var writeLaunchFiles = new ROSLIB.Service({ ros: ros, name: '/roslaunch_editor/write', serviceType: 'roslaunch_editor/WriteLaunchFiles' }); + +var p = {}; // parameters storage + +function readParam(name, fromUrl, _default) { + return new Promise(function(resolve, reject) { + // read from url + if (fromUrl && ((p[name] = new URL(window.location.href).searchParams.get(name)) !== null)) { + resolve(); + return; + } + // read from ROS params + new ROSLIB.Param({ ros: ros, name: '/roslaunch_editor/' + name }).get(function(val) { + if (val === null) { + if (_default === undefined) { + alert('Cannot read required parameter ' + name); + reject(); + } else { + p[name] = _default; + resolve(); + } + return; + } + p[name] = val; + resolve(); + }) + }); +} diff --git a/roslaunch_editor/www/roslib.js b/roslaunch_editor/www/roslib.js new file mode 100644 index 00000000..175d3d74 --- /dev/null +++ b/roslaunch_editor/www/roslib.js @@ -0,0 +1,4560 @@ +(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){ +/*! + * EventEmitter2 + * https://github.com/hij1nx/EventEmitter2 + * + * Copyright (c) 2013 hij1nx + * Licensed under the MIT license. + */ +;!function(undefined) { + + var isArray = Array.isArray ? Array.isArray : function _isArray(obj) { + return Object.prototype.toString.call(obj) === "[object Array]"; + }; + var defaultMaxListeners = 10; + + 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); + this._maxListeners = conf.maxListeners !== undefined ? conf.maxListeners : defaultMaxListeners; + + conf.wildcard && (this.wildcard = conf.wildcard); + conf.newListener && (this.newListener = conf.newListener); + conf.verboseMemoryLeak && (this.verboseMemoryLeak = conf.verboseMemoryLeak); + + if (this.wildcard) { + this.listenerTree = {}; + } + } else { + this._maxListeners = defaultMaxListeners; + } + } + + 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(); + } + } + } + + function EventEmitter(conf) { + this._events = {}; + this.newListener = false; + this.verboseMemoryLeak = false; + configure.call(this, conf); + } + EventEmitter.EventEmitter2 = EventEmitter; // backwards compatibility for exporting EventEmitter property + + // + // 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) { + if (!tree) { + return []; + } + var listeners=[], leaf, len, branch, xTree, xxTree, isolatedBranch, endReached, + typeLength = type.length, currentType = type[i], nextType = type[i+1]; + 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 { + for (leaf = 0, len = tree._listeners.length; leaf < len; leaf++) { + handlers && handlers.push(tree._listeners[leaf]); + } + return [tree]; + } + } + + if ((currentType === '*' || currentType === '**') || tree[currentType]) { + // + // If the event emitted is '*' at this part + // or there is a concrete match at this patch + // + if (currentType === '*') { + for (branch in tree) { + if (branch !== '_listeners' && tree.hasOwnProperty(branch)) { + listeners = listeners.concat(searchListenerTree(handlers, type, tree[branch], i+1)); + } + } + 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 = listeners.concat(searchListenerTree(handlers, type, tree, typeLength)); + } + + for (branch in tree) { + if (branch !== '_listeners' && tree.hasOwnProperty(branch)) { + if(branch === '*' || branch === '**') { + if(tree[branch]._listeners && !endReached) { + listeners = listeners.concat(searchListenerTree(handlers, type, tree[branch], typeLength)); + } + listeners = listeners.concat(searchListenerTree(handlers, type, tree[branch], i)); + } else if(branch === nextType) { + listeners = listeners.concat(searchListenerTree(handlers, type, tree[branch], i+2)); + } else { + // No match on this one, shift into the tree but not in the type array. + listeners = listeners.concat(searchListenerTree(handlers, type, tree[branch], i)); + } + } + } + return listeners; + } + + listeners = listeners.concat(searchListenerTree(handlers, type, tree[currentType], i+1)); + } + + 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); + } + + 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); + } + + // Build arrays of matching next branches and others. + for(branch in xxTree) { + if(branch !== '_listeners' && xxTree.hasOwnProperty(branch)) { + if(branch === nextType) { + // We know the next element will match, so jump twice. + searchListenerTree(handlers, type, xxTree[branch], i+2); + } else if(branch === currentType) { + // Current node matches, move into the tree. + searchListenerTree(handlers, type, xxTree[branch], i+1); + } else { + isolatedBranch = {}; + isolatedBranch[branch] = xxTree[branch]; + searchListenerTree(handlers, type, { '**': isolatedBranch }, i+1); + } + } + } + } else if(xxTree._listeners) { + // We have reached the end and still on a '**' + searchListenerTree(handlers, type, xxTree, typeLength); + } else if(xxTree['*'] && xxTree['*']._listeners) { + searchListenerTree(handlers, type, xxTree['*'], typeLength); + } + } + + return listeners; + } + + function growListenerTree(type, listener) { + + type = typeof type === 'string' ? type.split(this.delimiter) : type.slice(); + + // + // Looks for two consecutive '**', if so, don't add the event at all. + // + for(var i = 0, len = type.length; i+1 < len; i++) { + if(type[i] === '**' && type[i+1] === '**') { + return; + } + } + + var tree = this.listenerTree; + var name = type.shift(); + + while (name !== undefined) { + + if (!tree[name]) { + tree[name] = {}; + } + + tree = tree[name]; + + if (type.length === 0) { + + if (!tree._listeners) { + tree._listeners = listener; + } + else { + if (typeof tree._listeners === 'function') { + tree._listeners = [tree._listeners]; + } + + 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; + } + name = type.shift(); + } + return true; + } + + // 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.event = ''; + + + EventEmitter.prototype.once = function(event, fn) { + return this._once(event, fn, false); + }; + + EventEmitter.prototype.prependOnceListener = function(event, fn) { + return this._once(event, fn, true); + }; + + EventEmitter.prototype._once = function(event, fn, prepend) { + this._many(event, 1, fn, prepend); + return this; + }; + + EventEmitter.prototype.many = function(event, ttl, fn) { + return this._many(event, ttl, fn, false); + } + + EventEmitter.prototype.prependMany = function(event, ttl, fn) { + return this._many(event, ttl, fn, true); + } + + EventEmitter.prototype._many = function(event, ttl, fn, prepend) { + 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; + + this._on(event, listener, prepend); + + return self; + }; + + EventEmitter.prototype.emit = function() { + + this._events || init.call(this); + + var type = arguments[0]; + + if (type === 'newListener' && !this.newListener) { + if (!this._events.newListener) { + return false; + } + } + + var al = arguments.length; + var args,l,i,j; + var handler; + + if (this._all && this._all.length) { + handler = this._all.slice(); + if (al > 3) { + args = new Array(al); + for (j = 0; j < al; j++) args[j] = arguments[j]; + } + + 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, args); + } + } + } + + if (this.wildcard) { + handler = []; + var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice(); + searchListenerTree.call(this, handler, ns, this.listenerTree, 0); + } 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._all && type === 'error') { + if (arguments[1] instanceof Error) { + throw arguments[1]; // Unhandled 'error' event + } else { + throw new Error("Uncaught, unspecified 'error' event."); + } + return false; + } + + return !!this._all; + }; + + EventEmitter.prototype.emitAsync = function() { + + this._events || init.call(this); + + var type = arguments[0]; + + if (type === 'newListener' && !this.newListener) { + if (!this._events.newListener) { return Promise.resolve([false]); } + } + + var promises= []; + + var al = arguments.length; + var args,l,i,j; + var handler; + + if (this._all) { + if (al > 3) { + args = new Array(al); + for (j = 1; j < al; j++) args[j] = arguments[j]; + } + 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, args)); + } + } + } + + if (this.wildcard) { + handler = []; + var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice(); + 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._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) { + return this._on(type, listener, false); + }; + + EventEmitter.prototype.prependListener = function(type, listener) { + return this._on(type, listener, true); + }; + + 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) { + 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); + + // To avoid recursion in the case that type == "newListeners"! Before + // adding it to the listeners, first emit "newListeners". + this.emit('newListener', type, listener); + + if (this.wildcard) { + growListenerTree.call(this, type, listener); + return this; + } + + 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 this; + } + + 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); + } + 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) { + recursivelyGarbageCollect(root[key]); + } + if (Object.keys(obj).length === 0) { + delete root[key]; + } + } + } + recursivelyGarbageCollect(this.listenerTree); + + return this; + }; + + EventEmitter.prototype.offAny = function(fn) { + var i = 0, l = 0, fns; + if (fn && this._all && this._all.length > 0) { + fns = this._all; + for(i = 0, l = fns.length; i < l; i++) { + if(fn === fns[i]) { + fns.splice(i, 1); + this.emit("removeListenerAny", fn); + return this; + } + } + } else { + fns = this._all; + 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 (arguments.length === 0) { + !this._events || init.call(this); + return this; + } + + if (this.wildcard) { + var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice(); + var leafs = searchListenerTree.call(this, null, ns, this.listenerTree, 0); + + for (var iLeaf=0; iLeaf 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){ +/** + * @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 : '1.0.1' +}; + +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":11,"./core":20,"./math":25,"./tf":28,"./urdf":40,"object-assign":3}],6:[function(require,module,exports){ +(function (global){ +global.ROSLIB = require('./RosLib'); +}).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {}) +},{"./RosLib":5}],7:[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":12,"../core/Topic":19,"eventemitter2":2}],8:[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":12,"../core/Topic":19,"eventemitter2":2}],9:[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":12,"eventemitter2":2}],10:[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; + } +}; + +/** +* 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":12,"../core/Topic":19,"eventemitter2":2}],11:[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":14,"../mixin":26,"./ActionClient":7,"./ActionListener":8,"./Goal":9,"./SimpleActionServer":10}],12:[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}],13:[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":15,"./ServiceRequest":16}],14:[function(require,module,exports){ +/** + * @fileoverview + * @author Brandon Alexander - baalexander@gmail.com + */ + +var WebSocket = require('ws'); +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' (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 || {}; + this.socket = null; + this.idCounter = 0; + this.isConnected = false; + this.transportLibrary = options.transportLibrary || 'websocket'; + this.transportOptions = options.transportOptions || {}; + + 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.socket || this.socket.readyState === WebSocket.CLOSED) { + var sock = new WebSocket(url); + sock.binaryType = 'arraybuffer'; + this.socket = assign(sock, socketAdapter(this)); + } + } + +}; + +/** + * 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); +}; + +/** + * Sends the message over the WebSocket, but queues the message up if not yet + * connected. + */ +Ros.prototype.callOnConnection = function(message) { + var that = this; + var messageJson = JSON.stringify(message); + var emitter = null; + 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(messageJson); + }); + } else { + emitter(messageJson); + } +}; + +/** + * 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 + * + * * actionservers - Array of action server names + */ +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 + */ +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 + */ +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 + */ +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 + */ +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 + */ +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 + */ +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 + */ +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 + */ +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. + */ +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 + */ +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 + */ +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 callback - function with params: + * * details - Array of the message detail + * @param message - String of a topic type + */ +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); +}; + + +module.exports = Ros; + +},{"./Service":15,"./ServiceRequest":16,"./SocketAdapter.js":18,"eventemitter2":2,"object-assign":3,"ws":42}],15:[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":16,"./ServiceResponse":17,"eventemitter2":2}],16:[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}],17:[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}],18:[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 WebSocket = require('ws'); +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) { + 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 (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":41,"../util/decompressPng":44,"cbor-js":1,"ws":42}],19:[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' or 'cbor' + * * 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 || true; + + // Check for valid compression types + if (this.compression && this.compression !== 'png' && + this.compression !== 'cbor' && 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":12,"eventemitter2":2}],20:[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":26,"./Message":12,"./Param":13,"./Ros":14,"./Service":15,"./ServiceRequest":16,"./ServiceResponse":17,"./Topic":19}],21:[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":22,"./Vector3":24}],22:[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; + +},{}],23:[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":22,"./Vector3":24}],24:[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; +},{}],25:[function(require,module,exports){ +module.exports = { + Pose: require('./Pose'), + Quaternion: require('./Quaternion'), + Transform: require('./Transform'), + Vector3: require('./Vector3') +}; + +},{"./Pose":21,"./Quaternion":22,"./Transform":23,"./Vector3":24}],26:[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); + }; + }); +}; + +},{}],27:[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 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; + + // Create an Action client + this.actionClient = this.ros.ActionClient({ + serverName : this.serverName, + actionName : 'tf2_web_republisher/TFSubscriptionAction', + omitStatus : true, + omitResult : true + }); + + // Create a Service client + this.serviceClient = this.ros.Service({ + 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.currentTopic = this.ros.Topic({ + name: response.topic_name, + messageType: 'tf2_web_republisher/TFArray' + }); + this.currentTopic.subscribe(this.processTFArray.bind(this)); +}; + +/** + * 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(); + } +}; + +module.exports = TFClient; + +},{"../actionlib/ActionClient":7,"../actionlib/Goal":9,"../core/Service.js":15,"../core/ServiceRequest.js":16,"../math/Transform":23}],28:[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":14,"../mixin":26,"./TFClient":27}],29:[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":24,"./UrdfTypes":38}],30:[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; +},{}],31:[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":38}],32:[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":21,"../math/Quaternion":22,"../math/Vector3":24}],33:[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":30,"object-assign":3}],35:[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":24,"./UrdfTypes":38}],36:[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":21,"../math/Quaternion":22,"../math/Vector3":24,"./UrdfBox":29,"./UrdfCylinder":31,"./UrdfMaterial":34,"./UrdfMesh":35,"./UrdfSphere":37}],40:[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":29,"./UrdfColor":30,"./UrdfCylinder":31,"./UrdfLink":33,"./UrdfMaterial":34,"./UrdfMesh":35,"./UrdfModel":36,"./UrdfSphere":37,"./UrdfTypes":38,"./UrdfVisual":39,"object-assign":3}],41:[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; +} + +},{}],42:[function(require,module,exports){ +module.exports = window.WebSocket; + +},{}],43:[function(require,module,exports){ +/* global document */ +module.exports = function Canvas() { + return document.createElement('canvas'); +}; +},{}],44:[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":43}],45:[function(require,module,exports){ +exports.DOMImplementation = window.DOMImplementation; +exports.XMLSerializer = window.XMLSerializer; +exports.DOMParser = window.DOMParser; + +},{}]},{},[6]); diff --git a/roslaunch_editor/www/switch.css b/roslaunch_editor/www/switch.css new file mode 100644 index 00000000..d0ec8c3f --- /dev/null +++ b/roslaunch_editor/www/switch.css @@ -0,0 +1,57 @@ +.switch { + display: inline-block; + cursor: pointer; + -webkit-tap-highlight-color: transparent; +} + +.switch i { + position: relative; + display: inline-block; + margin-right: .5rem; + width: 46px; + height: 26px; + background-color: #e6e6e6; + border-radius: 23px; + vertical-align: text-bottom; + transition: all 0.3s linear; +} + +.switch i::before { + content: ""; + position: absolute; + left: 0; + width: 42px; + height: 22px; + background-color: #fff; + border-radius: 11px; + transform: translate3d(2px, 2px, 0) scale3d(1, 1, 1); + transition: all 0.25s linear; +} + +.switch i::after { + content: ""; + position: absolute; + left: 0; + width: 22px; + height: 22px; + background-color: #fff; + border-radius: 11px; + box-shadow: 0 2px 2px rgba(0, 0, 0, 0.24); + transform: translate3d(2px, 2px, 0); + transition: all 0.2s ease-in-out; +} + +.switch:active i::after { + width: 28px; + transform: translate3d(2px, 2px, 0); +} + +.switch:active input:checked + i::after { transform: translate3d(16px, 2px, 0); } + +.switch input { display: none; } + +.switch input:checked + i { background-color: #4B9DD7; } + +.switch input:checked + i::before { transform: translate3d(18px, 2px, 0) scale3d(0, 0, 0); } + +.switch input:checked + i::after { transform: translate3d(22px, 2px, 0); }