Merge pull request #142 from megawac/params

Notification on param set/delete completion (+tests)

src/core/Param.js

@@ -47,7 +47,7 @@ Param.prototype.get = function(callback) {
  *
  * @param value - value to set param to.
  */
-Param.prototype.set = function(value) {
+Param.prototype.set = function(value, callback) {
   var paramClient = new Service({
     ros : this.ros,
     name : '/rosapi/set_param',
@@ -59,14 +59,13 @@ Param.prototype.set = function(value) {
     value : JSON.stringify(value)
   });
 
-  paramClient.callService(request, function() {
-  });
+  paramClient.callService(request, callback);
 };
 
 /**
  * Delete this parameter on the ROS server.
  */
-Param.prototype.delete = function() {
+Param.prototype.delete = function(callback) {
   var paramClient = new Service({
     ros : this.ros,
     name : '/rosapi/delete_param',
@@ -77,8 +76,7 @@ Param.prototype.delete = function() {
     name : this.name
   });
 
-  paramClient.callService(request, function() {
-  });
+  paramClient.callService(request, callback);
 };
 
 module.exports = Param;

src/core/Service.js

@@ -30,19 +30,19 @@ function Service(options) {
  *   * error - the error message reported by ROS
  */
 Service.prototype.callService = function(request, callback, failedCallback) {
-  this.ros.idCounter++;
-  var serviceCallId = 'call_service:' + this.name + ':' + this.ros.idCounter;
+  var serviceCallId = 'call_service:' + this.name + ':' + (++this.ros.idCounter);
 
-  this.ros.once(serviceCallId, function(message) {
-    if (message.result !== undefined && message.result === false) {
-      if (typeof failedCallback === 'function') {
-        failedCallback(message.values);
+  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));
       }
-    } else {
-      var response = new ServiceResponse(message.values);
-      callback(response);
-    }
-  });
+    });
+  }
 
   var call = {
     op : 'call_service',

test/examples/params.examples.js

@@ -0,0 +1,57 @@
+var expect = require('chai').expect;
+var ROSLIB = require('../..');
+
+describe('Param setting', function() {
+    var ros = new ROSLIB.Ros({
+        url: 'ws://localhost:9090'
+    });
+    var param = ros.Param({
+        name: '/test/foo'
+    });
+
+    it('Param generics', function() {
+        expect(param).to.be.instanceOf(ROSLIB.Param);
+        expect(param.name).to.be.equal('/test/foo');
+    });
+
+    it('Param.set no callback', function(done) {
+        param.set('foo');
+        setTimeout(done, 500);
+    });
+
+    it('Param.get', function(done) {
+        param.get(function(result) {
+            expect(result).to.be.equal('foo');
+            done();
+        });
+    });
+
+    it('Param.set w/ callback', function(done) {
+        param.set('bar', function() {
+            done();
+        });
+    });
+
+    it('Param.get', function(done) {
+        param.get(function(result) {
+            expect(result).to.be.equal('bar');
+            done();
+        });
+    });
+
+    it('ros.getParams', function(done) {
+        ros.getParams(function(params) {
+            expect(params).to.include(param.name);
+            done();
+        });
+    });
+
+    it('Param.delete', function(done) {
+        param.delete(function() {
+            ros.getParams(function(params) {
+                expect(params).to.not.include(param.name);
+                done();
+            });
+        });
+    });
+});