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Add cbor-raw compression (#351)
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Add cbor-raw compression and a `getTopicsAndRawTypes` service function.

This is a companion PR to RobotWebTools/rosbridge_suite#452.
Please see that PR for more details and motivation.
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@janpaul123 @mvollrath
janpaul123 authored and mvollrath committed Jan 8, 2020
1 parent c10d9ec commit 0fc3d76
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Showing 4 changed files with 116 additions and 14 deletions.
50 changes: 44 additions & 6 deletions build/roslib.js
View file
Original file line number Diff line number Diff line change
Expand Up @@ -2425,6 +2425,7 @@ Ros.prototype.getActionServers = function(callback, failedCallback) {
*
* @param callback function with params:
* * topics - Array of topic names
* * types - Array of message type names
*/
Ros.prototype.getTopics = function(callback, failedCallback) {
var topicsClient = new Service({
Expand Down Expand Up @@ -2856,6 +2857,38 @@ Ros.prototype.decodeTypeDefs = function(defs) {
return decodeTypeDefsRec(defs[0], defs);
};

/**
* Retrieves list of topics and their associated type definitions.
*
* @param callback function with params:
* * topics - Array of topic names
* * types - Array of message type names
* * typedefs_full_text - Array of full definitions of message types, similar to `gendeps --cat`
*/
Ros.prototype.getTopicsAndRawTypes = function(callback, failedCallback) {
var topicsAndRawTypesClient = new Service({
ros : this,
name : '/rosapi/topics_and_raw_types',
serviceType : 'rosapi/TopicsAndRawTypes'
});

var request = new ServiceRequest();
if (typeof failedCallback === 'function'){
topicsAndRawTypesClient.callService(request,
function(result) {
callback(result);
},
function(message){
failedCallback(message);
}
);
}else{
topicsAndRawTypesClient.callService(request, function(result) {
callback(result);
});
}
};


module.exports = Ros;

Expand Down Expand Up @@ -3166,7 +3199,7 @@ var Message = require('./Message');
* * 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'
* * compression - the type of compression to use, like 'png', 'cbor', or 'cbor-raw'
* * 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
Expand All @@ -3188,7 +3221,8 @@ function Topic(options) {

// Check for valid compression types
if (this.compression && this.compression !== 'png' &&
this.compression !== 'cbor' && this.compression !== 'none') {
this.compression !== 'cbor' && this.compression !== 'cbor-raw' &&
this.compression !== 'none') {
this.emit('warning', this.compression +
' compression is not supported. No compression will be used.');
this.compression = 'none';
Expand Down Expand Up @@ -3677,6 +3711,7 @@ var Goal = require('../actionlib/Goal');

var Service = require('../core/Service.js');
var ServiceRequest = require('../core/ServiceRequest.js');
var Topic = require('../core/Topic.js');

var Transform = require('../math/Transform');

Expand Down Expand Up @@ -3721,15 +3756,17 @@ function TFClient(options) {
this.republisherUpdateRequested = false;

// Create an Action client
this.actionClient = this.ros.ActionClient({
this.actionClient = new ActionClient({
ros : options.ros,
serverName : this.serverName,
actionName : 'tf2_web_republisher/TFSubscriptionAction',
omitStatus : true,
omitResult : true
});

// Create a Service client
this.serviceClient = this.ros.Service({
this.serviceClient = new Service({
ros: options.ros,
name: this.repubServiceName,
serviceType: 'tf2_web_republisher/RepublishTFs'
});
Expand Down Expand Up @@ -3815,7 +3852,8 @@ TFClient.prototype.processResponse = function(response) {
this.currentTopic.unsubscribe();
}

this.currentTopic = this.ros.Topic({
this.currentTopic = new Topic({
ros: this.ros,
name: response.topic_name,
messageType: 'tf2_web_republisher/TFArray'
});
Expand Down Expand Up @@ -3887,7 +3925,7 @@ TFClient.prototype.dispose = function() {

module.exports = TFClient;

},{"../actionlib/ActionClient":8,"../actionlib/Goal":10,"../core/Service.js":16,"../core/ServiceRequest.js":17,"../math/Transform":24}],29:[function(require,module,exports){
},{"../actionlib/ActionClient":8,"../actionlib/Goal":10,"../core/Service.js":16,"../core/ServiceRequest.js":17,"../core/Topic.js":20,"../math/Transform":24}],29:[function(require,module,exports){
var Ros = require('../core/Ros');
var mixin = require('../mixin');

Expand Down
4 changes: 2 additions & 2 deletions build/roslib.min.js
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Large diffs are not rendered by default.

71 changes: 67 additions & 4 deletions src/core/Ros.js
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Original file line number Diff line number Diff line change
Expand Up @@ -162,7 +162,10 @@ Ros.prototype.setStatusLevel = function(level, id){
/**
* Retrieves Action Servers in ROS as an array of string
*
* @param callback function with params:
* * actionservers - Array of action server names
* @param failedCallback - the callback function when the service call failed (optional). Params:
* * error - the error message reported by ROS
*/
Ros.prototype.getActionServers = function(callback, failedCallback) {
var getActionServers = new Service({
Expand Down Expand Up @@ -193,6 +196,9 @@ Ros.prototype.getActionServers = function(callback, failedCallback) {
*
* @param callback function with params:
* * topics - Array of topic names
* * types - Array of message type names
* @param failedCallback - the callback function when the service call failed (optional). Params:
* * error - the error message reported by ROS
*/
Ros.prototype.getTopics = function(callback, failedCallback) {
var topicsClient = new Service({
Expand Down Expand Up @@ -221,9 +227,11 @@ Ros.prototype.getTopics = function(callback, failedCallback) {
/**
* Retrieves Topics in ROS as an array as specific type
*
* @param topicType topic type to find:
* @param topicType topic type to find
* @param callback function with params:
* * topics - Array of topic names
* @param failedCallback - the callback function when the service call failed (optional). Params:
* * error - the error message reported by ROS
*/
Ros.prototype.getTopicsForType = function(topicType, callback, failedCallback) {
var topicsForTypeClient = new Service({
Expand Down Expand Up @@ -256,6 +264,8 @@ Ros.prototype.getTopicsForType = function(topicType, callback, failedCallback) {
*
* @param callback - function with the following params:
* * services - array of service names
* @param failedCallback - the callback function when the service call failed (optional). Params:
* * error - the error message reported by ROS
*/
Ros.prototype.getServices = function(callback, failedCallback) {
var servicesClient = new Service({
Expand Down Expand Up @@ -284,9 +294,11 @@ Ros.prototype.getServices = function(callback, failedCallback) {
/**
* Retrieves list of services in ROS as an array as specific type
*
* @param serviceType service type to find:
* @param serviceType service type to find
* @param callback function with params:
* * topics - Array of service names
* @param failedCallback - the callback function when the service call failed (optional). Params:
* * error - the error message reported by ROS
*/
Ros.prototype.getServicesForType = function(serviceType, callback, failedCallback) {
var servicesForTypeClient = new Service({
Expand Down Expand Up @@ -320,6 +332,8 @@ Ros.prototype.getServicesForType = function(serviceType, callback, failedCallbac
* @param service name of service:
* @param callback - function with params:
* * type - String of the service type
* @param failedCallback - the callback function when the service call failed (optional). Params:
* * error - the error message reported by ROS
*/
Ros.prototype.getServiceRequestDetails = function(type, callback, failedCallback) {
var serviceTypeClient = new Service({
Expand Down Expand Up @@ -350,9 +364,11 @@ Ros.prototype.getServiceRequestDetails = function(type, callback, failedCallback
/**
* Retrieves a detail of ROS service request.
*
* @param service name of service:
* @param service name of service
* @param callback - function with params:
* * type - String of the service type
* @param failedCallback - the callback function when the service call failed (optional). Params:
* * error - the error message reported by ROS
*/
Ros.prototype.getServiceResponseDetails = function(type, callback, failedCallback) {
var serviceTypeClient = new Service({
Expand Down Expand Up @@ -385,6 +401,8 @@ Ros.prototype.getServiceResponseDetails = function(type, callback, failedCallbac
*
* @param callback - function with the following params:
* * nodes - array of node names
* @param failedCallback - the callback function when the service call failed (optional). Params:
* * error - the error message reported by ROS
*/
Ros.prototype.getNodes = function(callback, failedCallback) {
var nodesClient = new Service({
Expand Down Expand Up @@ -418,6 +436,8 @@ Ros.prototype.getNodes = function(callback, failedCallback) {
* * publications - array of published topic names
* * subscriptions - array of subscribed topic names
* * services - array of service names hosted
* @param failedCallback - the callback function when the service call failed (optional). Params:
* * error - the error message reported by ROS
*/
Ros.prototype.getNodeDetails = function(node, callback, failedCallback) {
var nodesClient = new Service({
Expand Down Expand Up @@ -450,6 +470,8 @@ Ros.prototype.getNodeDetails = function(node, callback, failedCallback) {
*
* @param callback function with params:
* * params - array of param names.
* @param failedCallback - the callback function when the service call failed (optional). Params:
* * error - the error message reported by ROS
*/
Ros.prototype.getParams = function(callback, failedCallback) {
var paramsClient = new Service({
Expand Down Expand Up @@ -480,6 +502,8 @@ Ros.prototype.getParams = function(callback, failedCallback) {
* @param topic name of the topic:
* @param callback - function with params:
* * type - String of the topic type
* @param failedCallback - the callback function when the service call failed (optional). Params:
* * error - the error message reported by ROS
*/
Ros.prototype.getTopicType = function(topic, callback, failedCallback) {
var topicTypeClient = new Service({
Expand Down Expand Up @@ -513,6 +537,8 @@ Ros.prototype.getTopicType = function(topic, callback, failedCallback) {
* @param service name of service:
* @param callback - function with params:
* * type - String of the service type
* @param failedCallback - the callback function when the service call failed (optional). Params:
* * error - the error message reported by ROS
*/
Ros.prototype.getServiceType = function(service, callback, failedCallback) {
var serviceTypeClient = new Service({
Expand Down Expand Up @@ -543,9 +569,11 @@ Ros.prototype.getServiceType = function(service, callback, failedCallback) {
/**
* Retrieves a detail of ROS message.
*
* @param message - String of a topic type
* @param callback - function with params:
* * details - Array of the message detail
* @param message - String of a topic type
* @param failedCallback - the callback function when the service call failed (optional). Params:
* * error - the error message reported by ROS
*/
Ros.prototype.getMessageDetails = function(message, callback, failedCallback) {
var messageDetailClient = new Service({
Expand Down Expand Up @@ -624,5 +652,40 @@ Ros.prototype.decodeTypeDefs = function(defs) {
return decodeTypeDefsRec(defs[0], defs);
};

/**
* Retrieves list of topics and their associated type definitions.
*
* @param callback function with params:
* * topics - Array of topic names
* * types - Array of message type names
* * typedefs_full_text - Array of full definitions of message types, similar to `gendeps --cat`
* @param failedCallback - the callback function when the service call failed (optional). Params:
* * error - the error message reported by ROS
*
*/
Ros.prototype.getTopicsAndRawTypes = function(callback, failedCallback) {
var topicsAndRawTypesClient = new Service({
ros : this,
name : '/rosapi/topics_and_raw_types',
serviceType : 'rosapi/TopicsAndRawTypes'
});

var request = new ServiceRequest();
if (typeof failedCallback === 'function'){
topicsAndRawTypesClient.callService(request,
function(result) {
callback(result);
},
function(message){
failedCallback(message);
}
);
}else{
topicsAndRawTypesClient.callService(request, function(result) {
callback(result);
});
}
};


module.exports = Ros;
5 changes: 3 additions & 2 deletions src/core/Topic.js
View file
Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@ var Message = require('./Message');
* * 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'
* * compression - the type of compression to use, like 'png', 'cbor', or 'cbor-raw'
* * 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
Expand All @@ -40,7 +40,8 @@ function Topic(options) {

// Check for valid compression types
if (this.compression && this.compression !== 'png' &&
this.compression !== 'cbor' && this.compression !== 'none') {
this.compression !== 'cbor' && this.compression !== 'cbor-raw' &&
this.compression !== 'none') {
this.emit('warning', this.compression +
' compression is not supported. No compression will be used.');
this.compression = 'none';
Expand Down

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