Merge pull request #32 from rctoris/devel

r6-devel started
RobotWebTools · Apr 9, 2013 · 08b3d29 · 08b3d29
2 parents 1340190 + abf8c3d
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,16 +1,19 @@
-DEVEL - **r5**
- * Replaces build system with Grunt (baalexander)
+DEVEL - **r6**
+
+2013-04-09 - **r5**
+ * Replaces build system with Grunt [(baalexander)](https://github.com/baalexander/)
+ * Code cleanup for linter [(baalexander)](https://github.com/baalexander/)
 
 2013-04-02 - **r4**
- * Bug in UrdfVisual origin to Pose conversion fixed (rctoris)
- * Unit test infrastructure started (baalexander)
+ * Bug in UrdfVisual origin to Pose conversion fixed [(rctoris)](https://github.com/rctoris/)
+ * Unit test infrastructure started [(baalexander)](https://github.com/baalexander/)
 
 2013-03-28 - **r3**
- * URDF XML parser added (rctoris)
+ * URDF XML parser added [(rctoris)](https://github.com/rctoris/)
 
 2013-03-14 - **r2**
- * First stable release (rctoris, baalexander)
+ * First stable release [(rctoris)](https://github.com/rctoris/), [(baalexander)](https://github.com/baalexander/)
 
 2013-03-14 - **r1**
- * Initial development of ROSLIB (rctoris)
+ * Initial development of ROSLIB [(rctoris)](https://github.com/rctoris/)
 
diff --git a/build/roslib.js b/build/roslib.js
@@ -3,7 +3,7 @@
  */
 
 var ROSLIB = ROSLIB || {
-  REVISION : '5-devel'
+  REVISION : '6-devel'
 };
 
 //URDF types

diff --git a/build/roslib.min.js b/build/roslib.min.js
diff --git a/doc/ActionClient.js.html b/doc/ActionClient.js.html
@@ -0,0 +1,165 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="utf-8">
+    <title>JSDoc: Source: actionlib/ActionClient.js</title>
+
+    <script src="scripts/prettify/prettify.js"> </script>
+    <script src="scripts/prettify/lang-css.js"> </script>
+    <!--[if lt IE 9]>
+      <script src="//html5shiv.googlecode.com/svn/trunk/html5.js"></script>
+    <![endif]-->
+    <link type="text/css" rel="stylesheet" href="styles/prettify-tomorrow.css">
+    <link type="text/css" rel="stylesheet" href="styles/jsdoc-default.css">
+</head>
+
+<body>
+
+<div id="main">
+
+    <h1 class="page-title">Source: actionlib/ActionClient.js</h1>
+
+
+
+
+
+    <section>
+        <article>
+            <pre class="prettyprint source"><code>/**
+ * @author Russell Toris - rctoris@wpi.edu
+ */
+
+/**
+ * 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
+ */
+ROSLIB.ActionClient = function(options) {
+  var that = this;
+  options = options || {};
+  this.ros = options.ros;
+  this.serverName = options.serverName;
+  this.actionName = options.actionName;
+  this.timeout = options.timeout;
+  this.goals = {};
+
+  // flag to check if a status has been received
+  var receivedStatus = false;
+
+  // create the topics associated with actionlib
+  var feedbackListener = new ROSLIB.Topic({
+    ros : this.ros,
+    name : this.serverName + '/feedback',
+    messageType : this.actionName + 'Feedback'
+  });
+
+  var statusListener = new ROSLIB.Topic({
+    ros : this.ros,
+    name : this.serverName + '/status',
+    messageType : 'actionlib_msgs/GoalStatusArray'
+  });
+
+  var resultListener = new ROSLIB.Topic({
+    ros : this.ros,
+    name : this.serverName + '/result',
+    messageType : this.actionName + 'Result'
+  });
+
+  this.goalTopic = new ROSLIB.Topic({
+    ros : this.ros,
+    name : this.serverName + '/goal',
+    messageType : this.actionName + 'Goal'
+  });
+
+  this.cancelTopic = new ROSLIB.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
+  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
+  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
+  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);
+  }
+};
+ROSLIB.ActionClient.prototype.__proto__ = EventEmitter2.prototype;
+
+/**
+ * Cancel all goals associated with this ActionClient.
+ */
+ROSLIB.ActionClient.prototype.cancel = function() {
+  var cancelMessage = new ROSLIB.Message();
+  this.cancelTopic.publish(cancelMessage);
+};
+
+</code></pre>
+        </article>
+    </section>
+
+
+
+
+</div>
+
+<nav>
+    <h2><a href="index.html">Index</a></h2><h3>Classes</h3><ul><li><a href="ROSLIB.ActionClient.html">ActionClient</a></li><li><a href="ROSLIB.Goal.html">Goal</a></li><li><a href="ROSLIB.Message.html">Message</a></li><li><a href="ROSLIB.Param.html">Param</a></li><li><a href="ROSLIB.Pose.html">Pose</a></li><li><a href="ROSLIB.Quaternion.html">Quaternion</a></li><li><a href="ROSLIB.Ros.html">Ros</a></li><li><a href="ROSLIB.Service.html">Service</a></li><li><a href="ROSLIB.ServiceRequest.html">ServiceRequest</a></li><li><a href="ROSLIB.ServiceResponse.html">ServiceResponse</a></li><li><a href="ROSLIB.TFClient.html">TFClient</a></li><li><a href="ROSLIB.Topic.html">Topic</a></li><li><a href="ROSLIB.Transform.html">Transform</a></li><li><a href="ROSLIB.UrdfBox.html">UrdfBox</a></li><li><a href="ROSLIB.UrdfColor.html">UrdfColor</a></li><li><a href="ROSLIB.UrdfCylinder.html">UrdfCylinder</a></li><li><a href="ROSLIB.UrdfLink.html">UrdfLink</a></li><li><a href="ROSLIB.UrdfMaterial.html">UrdfMaterial</a></li><li><a href="ROSLIB.UrdfMesh.html">UrdfMesh</a></li><li><a href="ROSLIB.UrdfModel.html">UrdfModel</a></li><li><a href="ROSLIB.UrdfSphere.html">UrdfSphere</a></li><li><a href="ROSLIB.UrdfVisual.html">UrdfVisual</a></li><li><a href="ROSLIB.Vector3.html">Vector3</a></li></ul><h3>Global</h3><ul><li><a href="global.html#ROSLIB">ROSLIB</a></li></ul>
+</nav>
+
+<br clear="both">
+
+<footer>
+    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.2.0-dev</a> on Tue Apr 09 2013 11:13:19 GMT-0700 (PDT)
+</footer>
+
+<script> prettyPrint(); </script>
+</body>
+</html>
diff --git a/doc/Goal.js.html b/doc/Goal.js.html
@@ -0,0 +1,131 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="utf-8">
+    <title>JSDoc: Source: actionlib/Goal.js</title>
+
+    <script src="scripts/prettify/prettify.js"> </script>
+    <script src="scripts/prettify/lang-css.js"> </script>
+    <!--[if lt IE 9]>
+      <script src="//html5shiv.googlecode.com/svn/trunk/html5.js"></script>
+    <![endif]-->
+    <link type="text/css" rel="stylesheet" href="styles/prettify-tomorrow.css">
+    <link type="text/css" rel="stylesheet" href="styles/jsdoc-default.css">
+</head>
+
+<body>
+
+<div id="main">
+
+    <h1 class="page-title">Source: actionlib/Goal.js</h1>
+
+
+
+
+
+    <section>
+        <article>
+            <pre class="prettyprint source"><code>/**
+ * @author Russell Toris - rctoris@wpi.edu
+ */
+
+/**
+ * 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
+ */
+ROSLIB.Goal = function(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 ROSLIB.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;
+};
+ROSLIB.Goal.prototype.__proto__ = EventEmitter2.prototype;
+
+/**
+ * Send the goal to the action server.
+ *
+ * @param timeout (optional) - a timeout length for the goal's result
+ */
+ROSLIB.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.
+ */
+ROSLIB.Goal.prototype.cancel = function() {
+  var cancelMessage = new ROSLIB.Message({
+    id : this.goalID
+  });
+  this.actionClient.cancelTopic.publish(cancelMessage);
+};
+</code></pre>
+        </article>
+    </section>
+
+
+
+
+</div>
+
+<nav>
+    <h2><a href="index.html">Index</a></h2><h3>Classes</h3><ul><li><a href="ROSLIB.ActionClient.html">ActionClient</a></li><li><a href="ROSLIB.Goal.html">Goal</a></li><li><a href="ROSLIB.Message.html">Message</a></li><li><a href="ROSLIB.Param.html">Param</a></li><li><a href="ROSLIB.Pose.html">Pose</a></li><li><a href="ROSLIB.Quaternion.html">Quaternion</a></li><li><a href="ROSLIB.Ros.html">Ros</a></li><li><a href="ROSLIB.Service.html">Service</a></li><li><a href="ROSLIB.ServiceRequest.html">ServiceRequest</a></li><li><a href="ROSLIB.ServiceResponse.html">ServiceResponse</a></li><li><a href="ROSLIB.TFClient.html">TFClient</a></li><li><a href="ROSLIB.Topic.html">Topic</a></li><li><a href="ROSLIB.Transform.html">Transform</a></li><li><a href="ROSLIB.UrdfBox.html">UrdfBox</a></li><li><a href="ROSLIB.UrdfColor.html">UrdfColor</a></li><li><a href="ROSLIB.UrdfCylinder.html">UrdfCylinder</a></li><li><a href="ROSLIB.UrdfLink.html">UrdfLink</a></li><li><a href="ROSLIB.UrdfMaterial.html">UrdfMaterial</a></li><li><a href="ROSLIB.UrdfMesh.html">UrdfMesh</a></li><li><a href="ROSLIB.UrdfModel.html">UrdfModel</a></li><li><a href="ROSLIB.UrdfSphere.html">UrdfSphere</a></li><li><a href="ROSLIB.UrdfVisual.html">UrdfVisual</a></li><li><a href="ROSLIB.Vector3.html">Vector3</a></li></ul><h3>Global</h3><ul><li><a href="global.html#ROSLIB">ROSLIB</a></li></ul>
+</nav>
+
+<br clear="both">
+
+<footer>
+    Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.2.0-dev</a> on Tue Apr 09 2013 11:13:19 GMT-0700 (PDT)
+</footer>
+
+<script> prettyPrint(); </script>
+</body>
+</html>