Removed .action file parsing code again.

- we can indeed simply use the .msg files generated by catkin

Author: chfritz

example_turtle.js

@@ -10,14 +10,12 @@ rosnodejs.initNode('/my_node', {
     'geometry_msgs/Twist'
   ],
   services: ['std_srvs/SetBool', "turtlesim/TeleportRelative"]
-  // actions: ['turtle_actionlib/Shape']
 }).then((rosNode) => {
 
   // ---------------------------------------------------------
   // Service Call
 
   const TeleportRelative = rosnodejs.require('turtlesim').srv.TeleportRelative;
-  console.log(TeleportRelative);
   const teleport_request = new TeleportRelative.Request({
     linear: 0.1, 
     angular: 0.0
@@ -98,17 +96,11 @@ rosnodejs.initNode('/my_node', {
   let shapeMsg = new shapeActionGoal({
     header: {
       seq: 0,
-      stamp: {
-        secs: secs,
-        nsecs: nsecs
-      },
+      stamp: new Date(),
       frame_id: ''
     },
     goal_id: {
-      stamp: {
-        secs: secs,
-        nsecs: nsecs
-      },
+      stamp: new Date(),
       id: "/my_node-1-"+secs+"."+nsecs+"000"
     },
     goal: {

index.js

@@ -133,7 +133,7 @@ let Rosnodejs = {
     rosNode = new RosNode(nodeName, rosMasterUri);
 
     return new Promise((resolve, reject) => {
-      this.use(options.messages, options.services, options.actions).then(() => {
+      this.use(options.messages, options.services).then(() => {
 
         const connectedToMasterCallback = () => {
           Logging.initializeOptions(this, options.logging);
@@ -168,12 +168,11 @@ let Rosnodejs = {
 
   /** create message classes and services classes for all the given
    * types before calling callback */
-  use(messages, services, actions) {
+  use(messages, services) {
     const self = this;
     return new Promise((resolve, reject) => {
       self._useMessages(messages)
         .then(() => { return self._useServices(services); })
-        .then(() => { return self._useActions(actions); })
         .then(() => { resolve(); });
     });
   },
@@ -212,23 +211,6 @@ let Rosnodejs = {
     });
   },
 
-  /** create action classes for all the given types */
-  _useActions(types) {
-    if (!types || types.length == 0) {
-      return Promise.resolve();
-    }
-    var count = types.length;
-    return new Promise((resolve, reject) => {
-      types.forEach(function(type) {
-        messages.getAction(type, function() {
-          if (--count == 0) {
-            resolve();
-          }
-        });
-      });
-    });
-  },
-
   /**
    * @return {NodeHandle} for initialized node
    */

lib/Publisher.js

@@ -177,16 +177,13 @@ class Publisher extends EventEmitter {
         // serialize pushes buffers onto buffInfo.buffer in order
         // concat them, and preprend the byte length to the message
         // before sending
-        // console.log("_publish", this._messageHandler, msg);
         bufferInfo = this._messageHandler.serialize(msg, bufferInfo);
         // bufferInfo = msg.serialize();
-        // console.log("_publish", bufferInfo.buffer[0].toString('hex'));
 
         // prepend byte length to message
         let serialized = Serialize(
           Buffer.concat(bufferInfo.buffer, bufferInfo.length));
         Object.keys(this._subClients).forEach((client) => {
-          console.log("_publish to client", client);
           this._subClients[client].write(serialized);
         });
 
@@ -256,7 +253,6 @@ class Publisher extends EventEmitter {
 
     // if handshake good, add to list, we'll start publishing to it
     this._subClients[subscriber.name] = subscriber;
-    // console.log("subscriber", subscriber);
 
     this.emit('connection', header, subscriber.name);
   }

lib/RosNode.js

@@ -81,7 +81,6 @@ class RosNode extends EventEmitter {
   }
 
   advertise(options) {
-    console.log("advertise", options);
     let topic = options.topic;
     let pub = this._publishers[topic];
     if (!pub) {
@@ -293,7 +292,6 @@ class RosNode extends EventEmitter {
             + connection.remotePort;
           connection.name = conName;
           this._log.debug('Node %s got connection from %s', this.getNodeName(), conName);
-          console.log('Node %s got connection from %s', this.getNodeName(), conName);
 
           // data from connections will be TCPROS encoded, so use a
           // DeserializeStream to handle any chunking
@@ -354,7 +352,6 @@ class RosNode extends EventEmitter {
 
   _handleTopicRequest(err, params, callback) {
     this._log.debug('Got topic request ' + JSON.stringify(params));
-    console.log('Got topic request ' + JSON.stringify(params));
     if (!err) {
       let topic = params[1];
       let pub = this._publishers[topic];

utils/fields.js

@@ -76,10 +76,26 @@ fields.parsePrimitive = function(fieldType, fieldValue) {
   else if (fieldType === 'float64') {
     parsedValue = parseFloat(fieldValue);
   }
-  // else if (fieldType === 'time') {
-  //   parsedValue.secs = parseInt(fieldValue.secs);
-  //   parsedValue.nsecs = parseInt(fieldValue.nsecs);
-  // }
+  else if (fieldType === 'time') {
+    var now;
+    if (fieldValue.secs && fieldValue.nsecs) {
+      parsedValue.secs = fieldValue.secs;
+      parsedValue.nsecs = fieldValue.nsecs;
+    } else {
+      if (fieldValue instanceof Date) {
+        now = fieldValue.getTime();
+      } else if (typeof fieldValue == "number") {
+        now = fieldValue;
+      } else {
+        now = Date.now();
+      }
+      var secs = parseInt(now/1000);
+      var nsecs = (now % 1000) * 1000;
+      
+      parsedValue.secs = secs;
+      parsedValue.nsecs = nsecs;
+    }
+  }
 
   return parsedValue;
 };
@@ -124,14 +140,11 @@ fields.serializePrimitive =
       bufferOffset += 4;
       buffer.write(fieldValue, bufferOffset, 'ascii');
     }
-    // else if (fieldType === 'time') {
-    //   console.log("serializePrimitive, time", fieldValue);
-    //   buffer.writeUInt32LE(fieldValue.secs, bufferOffset);
-    //   buffer.writeUInt32LE(fieldValue.nsecs, bufferOffset+4);
-    // }
+    else if (fieldType === 'time') {
+      buffer.writeUInt32LE(fieldValue.secs, bufferOffset);
+      buffer.writeUInt32LE(fieldValue.nsecs, bufferOffset+4);
+    }
 
-    // console.log("serialize", fieldType, fieldValue, 
-    //             buffer.toString('ascii'), bufferOffset);
   }
 
 fields.deserializePrimitive = function(fieldType, buffer, bufferOffset) {
@@ -265,7 +278,6 @@ fields.getMessageSize = function(message) {
     , messageSize = 0
     , innerfields      = message.fields
     ;
-  // console.log("getMessageSize", message);
 
   innerfields.forEach(function(field) {
     var fieldValue = message[field.name];

utils/messages.js

@@ -32,12 +32,6 @@ messages.getService = function(messageType, callback) {
   getMessageFromPackage(messageType, "srv", callback);
 }
 
-/** ensure the handlers for this action type (goal, result, and
- * feedback) are in the registry, create them if they don't exist */
-messages.getAction = function(messageType, callback) {
-  getMessageFromPackage(messageType, "action", callback);
-}
-
 // ---------------------------------------------------------
 // Registry
 
@@ -61,11 +55,7 @@ var registry = {};
                'SetBool': classdef,
                ...
              }
-           },
-      // action: { Goal: ..,
-      //           Result: ..,
-      //           Feedback: ..
-      //         }
+           }
     },
     'packagename2': {..}
   };
@@ -75,8 +65,7 @@ var registry = {};
    @param messageType is the ROS message or service type, e.g.
    'std_msgs/String'
    @param type is from the set 
-   [["msg"], ["srv","Request"], ["srv","Response"], ["action",
-   "Goal"], ["actions", "Result"], ["action", "Feedback"]]
+   [["msg"], ["srv","Request"], ["srv","Response"] 
 */
 function getMessageFromRegistry(messageType, type) {
   var packageName = getPackageNameFromMessageType(messageType);
@@ -105,26 +94,21 @@ function getMessageFromRegistry(messageType, type) {
     @param messageType is the ROS message or service type, e.g.
     'std_msgs/String'
     @param message is the message class definition 
-    @param type is from the set "msg", "srv", "action"
-    @param (optional) subtype \in { "Request", "Response", "Goal", "Result", "Feedback" }
+    @param type is from the set "msg", "srv"
+    @param (optional) subtype \in { "Request", "Response" }
 */
 function setMessageInRegistry(messageType, message, type, subtype) {
 
   var packageName = getPackageNameFromMessageType(messageType);
   var messageName = getMessageNameFromMessageType(messageType);
 
   if (!registry[packageName]) {
-    registry[packageName] = { msg: {}, srv: {}, action: {}};
+    registry[packageName] = { msg: {}, srv: {}};
   }
 
   if (type == "msg") {
     // message
     registry[packageName][type][messageName] = message;
-  } else if (type == "action") {
-    // action
-    // concating subtype "Goal", "Result", or "Feedback"
-    registry[packageName]["msg"][messageName + subtype] = message;
-
   } else {
     // service
     if (!registry[packageName][type][messageName]) {
@@ -176,14 +160,6 @@ function getMessageFromFile(messageType, filePath, type, callback) {
           setMessageInRegistry(messageType, request, type, "Request");
           setMessageInRegistry(messageType, response, type, "Response");
           callback(null, message);
-        } else if (type == "action") {
-          goal = buildMessageClass(details.goal);
-          result = buildMessageClass(details.result);
-          feedback = buildMessageClass(details.feedback);
-          setMessageInRegistry(messageType, goal, type, "Goal");
-          setMessageInRegistry(messageType, result, type, "Result");
-          setMessageInRegistry(messageType, feedback, type, "Feedback");
-          callback(null, message);
         } else {
           console.log("unknown service", type);
         }
@@ -223,34 +199,6 @@ function parseMessageFile(fileName, details, type, callback) {
               rtv.response.fields = aggregate[1].fields;
               rtv.request.md5 = rtv.response.md5 = calculateMD5(rtv, "srv");
               callback(null, rtv);
-            } else if (type == "action") {
-              // TODO: need to create the action-prefix message types,
-              // too, where we wrap the message like this:
-              // Header header
-              // actionlib_msgs/GoalID goal_id
-              // ShapeGoal goal
-              //
-              // see /opt/ros/indigo/share/turtle_actionlib/msg/ShapeGoal.msg
-
-              // actions treat each message type as independent, each
-              // with their own md5sum
-              var rtv = {
-                // we need to clone what's already there in details
-                // into the sub-objects
-                goal: JSON.parse(JSON.stringify(details)),
-                result: JSON.parse(JSON.stringify(details)),
-                feedback: JSON.parse(JSON.stringify(details))
-              };
-              rtv.goal.constants = aggregate[0].constants;
-              rtv.goal.fields = aggregate[0].fields;
-              rtv.goal.md5 = calculateMD5(rtv.goal, "msg");
-              rtv.result.constants = aggregate[1].constants;
-              rtv.result.fields = aggregate[1].fields;
-              rtv.result.md5 = calculateMD5(rtv.result, "msg");
-              rtv.feedback.constants = aggregate[2].constants;
-              rtv.feedback.fields = aggregate[2].fields;
-              rtv.feedback.md5 = calculateMD5(rtv.feedback, "msg");
-              callback(null, rtv);
             } else {
               console.log("parseMessageFile:", "Unknown type: ", type);
               callback("unknown type", null);
@@ -305,7 +253,6 @@ function calculateMD5(details, type) {
     return null;
   }
 
-  // console.log("calculateMD5:", details.messageType, " text:", text);
   return md5(text);
 }
 
@@ -582,7 +529,6 @@ function serializeMessage(message, bufferInfo) {
   bufferInfo.buffer = [buffer];
   bufferInfo.length = bufferSize;
 
-  // console.log("serializeMessage", buffer.toString('hex'));
   return bufferInfo;
 }
 

utils/xmlrpc_utils.js

@@ -4,7 +4,6 @@
 module.exports = {
   call(client, method, data, resolve, reject, log, timeout) {
     log.debug('Calling method ' + method +': ' + data);
-    console.log('Calling method ' + method +': ' + data);
 
     if (timeout === undefined) {
       timeout = 0;