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node.js
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2378 lines (2159 loc) · 77.3 KB
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// Copyright (c) 2017 Intel Corporation. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
'use strict';
const rclnodejs = require('./native_loader.js');
const ActionInterfaces = require('./action/interfaces.js');
const Client = require('./client.js');
const Clock = require('./clock.js');
const Context = require('./context.js');
const debug = require('debug')('rclnodejs:node');
const DistroUtils = require('./distro.js');
const GuardCondition = require('./guard_condition.js');
const loader = require('./interface_loader.js');
const Logging = require('./logging.js');
const NodeOptions = require('./node_options.js');
const {
ParameterType,
Parameter,
ParameterDescriptor,
} = require('./parameter.js');
const { isValidSerializationMode } = require('./message_serialization.js');
const {
TypeValidationError,
RangeValidationError,
ValidationError,
} = require('./errors.js');
const ParameterService = require('./parameter_service.js');
const ParameterClient = require('./parameter_client.js');
const ParameterWatcher = require('./parameter_watcher.js');
const ParameterEventHandler = require('./parameter_event_handler.js');
const Publisher = require('./publisher.js');
const QoS = require('./qos.js');
const Rates = require('./rate.js');
const Service = require('./service.js');
const Subscription = require('./subscription.js');
const ObservableSubscription = require('./observable_subscription.js');
const MessageInfo = require('./message_info.js');
const TimeSource = require('./time_source.js');
const Timer = require('./timer.js');
const TypeDescriptionService = require('./type_description_service.js');
const Entity = require('./entity.js');
const { SubscriptionEventCallbacks } = require('../lib/event_handler.js');
const { PublisherEventCallbacks } = require('../lib/event_handler.js');
const { validateFullTopicName } = require('./validator.js');
// Parameter event publisher constants
const PARAMETER_EVENT_MSG_TYPE = 'rcl_interfaces/msg/ParameterEvent';
const PARAMETER_EVENT_TOPIC = 'parameter_events';
/**
* @class - Class representing a Node in ROS
*/
class Node extends rclnodejs.ShadowNode {
/**
* Create a ROS2Node.
* model using the {@link https://github.com/ros2/rcl/tree/master/rcl_lifecycle|ros2 client library (rcl) lifecyle api}.
* @param {string} nodeName - The name used to register in ROS.
* @param {string} [namespace=''] - The namespace used in ROS.
* @param {Context} [context=Context.defaultContext()] - The context to create the node in.
* @param {NodeOptions} [options=NodeOptions.defaultOptions] - The options to configure the new node behavior.
* @throws {Error} If the given context is not registered.
*/
constructor(
nodeName,
namespace = '',
context = Context.defaultContext(),
options = NodeOptions.defaultOptions,
args = [],
useGlobalArguments = true
) {
super();
if (typeof nodeName !== 'string') {
throw new TypeValidationError('nodeName', nodeName, 'string');
}
if (typeof namespace !== 'string') {
throw new TypeValidationError('namespace', namespace, 'string');
}
this._init(nodeName, namespace, options, context, args, useGlobalArguments);
debug(
'Finish initializing node, name = %s and namespace = %s.',
nodeName,
namespace
);
}
static _normalizeOptions(options) {
if (options instanceof NodeOptions) {
return options;
}
const defaults = NodeOptions.defaultOptions;
return {
startParameterServices:
options.startParameterServices ?? defaults.startParameterServices,
parameterOverrides:
options.parameterOverrides ?? defaults.parameterOverrides,
automaticallyDeclareParametersFromOverrides:
options.automaticallyDeclareParametersFromOverrides ??
defaults.automaticallyDeclareParametersFromOverrides,
startTypeDescriptionService:
options.startTypeDescriptionService ??
defaults.startTypeDescriptionService,
enableRosout: options.enableRosout ?? defaults.enableRosout,
rosoutQos: options.rosoutQos ?? defaults.rosoutQos,
};
}
_init(name, namespace, options, context, args, useGlobalArguments) {
options = Node._normalizeOptions(options);
this.handle = rclnodejs.createNode(
name,
namespace,
context.handle,
args,
useGlobalArguments,
options.rosoutQos
);
Object.defineProperty(this, 'handle', {
configurable: false,
writable: false,
}); // make read-only
this._context = context;
this.context.onNodeCreated(this);
this._publishers = [];
this._subscriptions = [];
this._clients = [];
this._services = [];
this._timers = [];
this._guards = [];
this._events = [];
this._actionClients = [];
this._actionServers = [];
this._parameterClients = [];
this._parameterWatchers = [];
this._parameterEventHandlers = [];
this._rateTimerServer = null;
this._parameterDescriptors = new Map();
this._parameters = new Map();
this._parameterService = null;
this._typeDescriptionService = null;
this._parameterEventPublisher = null;
this._setParametersCallbacks = [];
this._logger = new Logging(rclnodejs.getNodeLoggerName(this.handle));
this._spinning = false;
this._enableRosout = options.enableRosout;
if (this._enableRosout) {
rclnodejs.initRosoutPublisherForNode(this.handle);
}
this._parameterEventPublisher = this.createPublisher(
PARAMETER_EVENT_MSG_TYPE,
PARAMETER_EVENT_TOPIC
);
// initialize _parameterOverrides from parameters defined on the commandline
this._parameterOverrides = this._getNativeParameterOverrides();
// override cli parameterOverrides with those specified in options
if (options.parameterOverrides.length > 0) {
for (const parameter of options.parameterOverrides) {
if (!(parameter instanceof Parameter)) {
throw new TypeValidationError(
'parameterOverride',
parameter,
'Parameter instance',
{
nodeName: name,
}
);
}
this._parameterOverrides.set(parameter.name, parameter);
}
}
// initialize _parameters from parameterOverrides
if (options.automaticallyDeclareParametersFromOverrides) {
for (const parameter of this._parameterOverrides.values()) {
parameter.validate();
const descriptor = ParameterDescriptor.fromParameter(parameter);
this._parameters.set(parameter.name, parameter);
this._parameterDescriptors.set(parameter.name, descriptor);
}
}
// Clock that has support for ROS time.
// Note: parameter overrides and parameter event publisher need to be ready at this point
// to be able to declare 'use_sim_time' if it was not declared yet.
this._clock = new Clock.ROSClock();
this._timeSource = new TimeSource(this);
this._timeSource.attachClock(this._clock);
if (options.startParameterServices) {
this._parameterService = new ParameterService(this);
this._parameterService.start();
}
if (
DistroUtils.getDistroId() >= DistroUtils.getDistroId('jazzy') &&
options.startTypeDescriptionService
) {
this._typeDescriptionService = new TypeDescriptionService(this);
this._typeDescriptionService.start();
}
}
execute(handles) {
let timersReady = this._timers.filter((timer) =>
handles.includes(timer.handle)
);
let guardsReady = this._guards.filter((guard) =>
handles.includes(guard.handle)
);
let subscriptionsReady = this._subscriptions.filter((subscription) =>
handles.includes(subscription.handle)
);
let clientsReady = this._clients.filter((client) =>
handles.includes(client.handle)
);
let servicesReady = this._services.filter((service) =>
handles.includes(service.handle)
);
let actionClientsReady = this._actionClients.filter((actionClient) =>
handles.includes(actionClient.handle)
);
let actionServersReady = this._actionServers.filter((actionServer) =>
handles.includes(actionServer.handle)
);
let eventsReady = this._events.filter((event) =>
handles.includes(event.handle)
);
timersReady.forEach((timer) => {
if (timer.isReady()) {
rclnodejs.callTimer(timer.handle);
timer.callback();
}
});
eventsReady.forEach((event) => {
event.takeData();
});
for (const subscription of subscriptionsReady) {
if (subscription.isDestroyed()) continue;
if (subscription.isRaw) {
let rawMessage = rclnodejs.rclTakeRaw(subscription.handle);
if (rawMessage) {
subscription.processResponse(rawMessage);
}
continue;
}
this._runWithMessageType(
subscription.typeClass,
(message, deserialize) => {
if (subscription.wantsMessageInfo) {
let rawInfo = rclnodejs.rclTakeWithInfo(
subscription.handle,
message
);
if (rawInfo) {
subscription.processResponse(
deserialize(),
new MessageInfo(rawInfo)
);
}
} else {
let success = rclnodejs.rclTake(subscription.handle, message);
if (success) {
subscription.processResponse(deserialize());
}
}
}
);
}
for (const guard of guardsReady) {
if (guard.isDestroyed()) continue;
guard.callback();
}
for (const client of clientsReady) {
if (client.isDestroyed()) continue;
this._runWithMessageType(
client.typeClass.Response,
(message, deserialize) => {
let sequenceNumber = rclnodejs.rclTakeResponse(
client.handle,
message
);
if (sequenceNumber !== undefined) {
client.processResponse(sequenceNumber, deserialize());
}
}
);
}
for (const service of servicesReady) {
if (service.isDestroyed()) continue;
this._runWithMessageType(
service.typeClass.Request,
(message, deserialize) => {
let header = rclnodejs.rclTakeRequest(
service.handle,
this.handle,
message
);
if (header) {
service.processRequest(header, deserialize());
}
}
);
}
for (const actionClient of actionClientsReady) {
if (actionClient.isDestroyed()) continue;
const properties = actionClient.handle.properties;
if (properties.isGoalResponseReady) {
this._runWithMessageType(
actionClient.typeClass.impl.SendGoalService.Response,
(message, deserialize) => {
let sequence = rclnodejs.actionTakeGoalResponse(
actionClient.handle,
message
);
if (sequence != undefined) {
actionClient.processGoalResponse(sequence, deserialize());
}
}
);
}
if (properties.isCancelResponseReady) {
this._runWithMessageType(
actionClient.typeClass.impl.CancelGoal.Response,
(message, deserialize) => {
let sequence = rclnodejs.actionTakeCancelResponse(
actionClient.handle,
message
);
if (sequence != undefined) {
actionClient.processCancelResponse(sequence, deserialize());
}
}
);
}
if (properties.isResultResponseReady) {
this._runWithMessageType(
actionClient.typeClass.impl.GetResultService.Response,
(message, deserialize) => {
let sequence = rclnodejs.actionTakeResultResponse(
actionClient.handle,
message
);
if (sequence != undefined) {
actionClient.processResultResponse(sequence, deserialize());
}
}
);
}
if (properties.isFeedbackReady) {
this._runWithMessageType(
actionClient.typeClass.impl.FeedbackMessage,
(message, deserialize) => {
let success = rclnodejs.actionTakeFeedback(
actionClient.handle,
message
);
if (success) {
actionClient.processFeedbackMessage(deserialize());
}
}
);
}
if (properties.isStatusReady) {
this._runWithMessageType(
actionClient.typeClass.impl.GoalStatusArray,
(message, deserialize) => {
let success = rclnodejs.actionTakeStatus(
actionClient.handle,
message
);
if (success) {
actionClient.processStatusMessage(deserialize());
}
}
);
}
}
for (const actionServer of actionServersReady) {
if (actionServer.isDestroyed()) continue;
const properties = actionServer.handle.properties;
if (properties.isGoalRequestReady) {
this._runWithMessageType(
actionServer.typeClass.impl.SendGoalService.Request,
(message, deserialize) => {
const result = rclnodejs.actionTakeGoalRequest(
actionServer.handle,
message
);
if (result) {
actionServer.processGoalRequest(result, deserialize());
}
}
);
}
if (properties.isCancelRequestReady) {
this._runWithMessageType(
actionServer.typeClass.impl.CancelGoal.Request,
(message, deserialize) => {
const result = rclnodejs.actionTakeCancelRequest(
actionServer.handle,
message
);
if (result) {
actionServer.processCancelRequest(result, deserialize());
}
}
);
}
if (properties.isResultRequestReady) {
this._runWithMessageType(
actionServer.typeClass.impl.GetResultService.Request,
(message, deserialize) => {
const result = rclnodejs.actionTakeResultRequest(
actionServer.handle,
message
);
if (result) {
actionServer.processResultRequest(result, deserialize());
}
}
);
}
if (properties.isGoalExpired) {
let numGoals = actionServer._goalHandles.size;
if (numGoals > 0) {
let GoalInfoArray = ActionInterfaces.GoalInfo.ArrayType;
let message = new GoalInfoArray(numGoals);
let count = rclnodejs.actionExpireGoals(
actionServer.handle,
numGoals,
message._refArray.buffer
);
if (count > 0) {
actionServer.processGoalExpired(message, count);
}
GoalInfoArray.freeArray(message);
}
}
}
// At this point it is safe to clear the cache of any
// destroyed entity references
Entity._gcHandles();
}
/**
* Determine if this node is spinning.
* @returns {boolean} - true when spinning; otherwise returns false.
*/
get spinning() {
return this._spinning;
}
/**
* Trigger the event loop to continuously check for and route.
* incoming events.
* @param {Node} node - The node to be spun up.
* @param {number} [timeout=10] - Timeout to wait in milliseconds. Block forever if negative. Don't wait if 0.
* @throws {Error} If the node is already spinning.
* @return {undefined}
*/
spin(timeout = 10) {
if (this.spinning) {
throw new Error('The node is already spinning.');
}
this.start(this.context.handle, timeout);
this._spinning = true;
}
/**
* Use spin().
* @deprecated, since 0.18.0
*/
startSpinning(timeout) {
this.spin(timeout);
}
/**
* Terminate spinning - no further events will be received.
* @returns {undefined}
*/
stop() {
super.stop();
this._spinning = false;
}
/**
* Terminate spinning - no further events will be received.
* @returns {undefined}
* @deprecated since 0.18.0, Use stop().
*/
stopSpinning() {
super.stop();
this._spinning = false;
}
/**
* Spin the node and trigger the event loop to check for one incoming event. Thereafter the node
* will not received additional events until running additional calls to spin() or spinOnce().
* @param {Node} node - The node to be spun.
* @param {number} [timeout=10] - Timeout to wait in milliseconds. Block forever if negative. Don't wait if 0.
* @throws {Error} If the node is already spinning.
* @return {undefined}
*/
spinOnce(timeout = 10) {
if (this.spinning) {
throw new Error('The node is already spinning.');
}
super.spinOnce(this.context.handle, timeout);
}
_removeEntityFromArray(entity, array) {
let index = array.indexOf(entity);
if (index > -1) {
array.splice(index, 1);
}
}
_destroyEntity(entity, array, syncHandles = true) {
if (entity['isDestroyed'] && entity.isDestroyed()) return;
this._removeEntityFromArray(entity, array);
if (syncHandles) {
this.syncHandles();
}
if (entity['_destroy']) {
entity._destroy();
} else {
// guards and timers
entity.handle.release();
}
}
_validateOptions(options) {
if (
options !== undefined &&
(options === null || typeof options !== 'object')
) {
throw new TypeValidationError('options', options, 'object', {
nodeName: this.name(),
});
}
if (options === undefined) {
return Node.getDefaultOptions();
}
if (options.enableTypedArray === undefined) {
options = Object.assign(options, { enableTypedArray: true });
}
if (options.qos === undefined) {
options = Object.assign(options, { qos: QoS.profileDefault });
}
if (options.isRaw === undefined) {
options = Object.assign(options, { isRaw: false });
}
if (options.serializationMode === undefined) {
options = Object.assign(options, { serializationMode: 'default' });
} else if (!isValidSerializationMode(options.serializationMode)) {
throw new ValidationError(
`Invalid serializationMode: ${options.serializationMode}. Valid modes are: 'default', 'plain', 'json'`,
{
code: 'INVALID_SERIALIZATION_MODE',
argumentName: 'serializationMode',
providedValue: options.serializationMode,
expectedType: "'default' | 'plain' | 'json'",
nodeName: this.name(),
}
);
}
return options;
}
/**
* Create a Timer.
* @param {bigint} period - The number representing period in nanoseconds.
* @param {function} callback - The callback to be called when timeout.
* @param {Clock} [clock] - The clock which the timer gets time from.
* @return {Timer} - An instance of Timer.
*/
createTimer(period, callback, clock = null) {
if (arguments.length === 3 && !(arguments[2] instanceof Clock)) {
clock = null;
} else if (arguments.length === 4) {
clock = arguments[3];
}
if (typeof period !== 'bigint') {
throw new TypeValidationError('period', period, 'bigint', {
nodeName: this.name(),
});
}
if (typeof callback !== 'function') {
throw new TypeValidationError('callback', callback, 'function', {
nodeName: this.name(),
});
}
const timerClock = clock || this._clock;
let timerHandle = rclnodejs.createTimer(
timerClock.handle,
this.context.handle,
period
);
let timer = new Timer(timerHandle, period, callback);
debug('Finish creating timer, period = %d.', period);
this._timers.push(timer);
this.syncHandles();
return timer;
}
/**
* Create a Rate.
*
* @param {number} hz - The frequency of the rate timer; default is 1 hz.
* @returns {Promise<Rate>} - Promise resolving to new instance of Rate.
*/
async createRate(hz = 1) {
if (typeof hz !== 'number') {
throw new TypeValidationError('hz', hz, 'number', {
nodeName: this.name(),
});
}
const MAX_RATE_HZ_IN_MILLISECOND = 1000.0;
if (hz <= 0.0 || hz > MAX_RATE_HZ_IN_MILLISECOND) {
throw new RangeValidationError(
'hz',
hz,
`0.0 < hz <= ${MAX_RATE_HZ_IN_MILLISECOND}`,
{
nodeName: this.name(),
}
);
}
// lazy initialize rateTimerServer
if (!this._rateTimerServer) {
this._rateTimerServer = new Rates.RateTimerServer(this);
await this._rateTimerServer.init();
}
const period = Math.round(1000 / hz);
const timer = this._rateTimerServer.createTimer(BigInt(period) * 1000000n);
const rate = new Rates.Rate(hz, timer);
return rate;
}
/**
* Create a Publisher.
* @param {function|string|object} typeClass - The ROS message class,
OR a string representing the message class, e.g. 'std_msgs/msg/String',
OR an object representing the message class, e.g. {package: 'std_msgs', type: 'msg', name: 'String'}
* @param {string} topic - The name of the topic.
* @param {object} options - The options argument used to parameterize the publisher.
* @param {boolean} options.enableTypedArray - The topic will use TypedArray if necessary, default: true.
* @param {QoS} options.qos - ROS Middleware "quality of service" settings for the publisher, default: QoS.profileDefault.
* @param {PublisherEventCallbacks} eventCallbacks - The event callbacks for the publisher.
* @return {Publisher} - An instance of Publisher.
*/
createPublisher(typeClass, topic, options, eventCallbacks) {
return this._createPublisher(
typeClass,
topic,
options,
Publisher,
eventCallbacks
);
}
_createPublisher(typeClass, topic, options, publisherClass, eventCallbacks) {
if (typeof typeClass === 'string' || typeof typeClass === 'object') {
typeClass = loader.loadInterface(typeClass);
}
options = this._validateOptions(options);
if (typeof typeClass !== 'function') {
throw new TypeValidationError('typeClass', typeClass, 'function', {
nodeName: this.name(),
entityType: 'publisher',
});
}
if (typeof topic !== 'string') {
throw new TypeValidationError('topic', topic, 'string', {
nodeName: this.name(),
entityType: 'publisher',
});
}
if (
eventCallbacks &&
!(eventCallbacks instanceof PublisherEventCallbacks)
) {
throw new TypeValidationError(
'eventCallbacks',
eventCallbacks,
'PublisherEventCallbacks',
{
nodeName: this.name(),
entityType: 'publisher',
entityName: topic,
}
);
}
let publisher = publisherClass.createPublisher(
this,
typeClass,
topic,
options,
eventCallbacks
);
debug('Finish creating publisher, topic = %s.', topic);
this._publishers.push(publisher);
return publisher;
}
/**
* This callback is called when a message is published
* @callback SubscriptionCallback
* @param {Object} message - The message published
* @see [Node.createSubscription]{@link Node#createSubscription}
* @see [Node.createPublisher]{@link Node#createPublisher}
* @see {@link Publisher}
* @see {@link Subscription}
*/
/**
* Create a Subscription with optional content-filtering.
* @param {function|string|object} typeClass - The ROS message class,
OR a string representing the message class, e.g. 'std_msgs/msg/String',
OR an object representing the message class, e.g. {package: 'std_msgs', type: 'msg', name: 'String'}
* @param {string} topic - The name of the topic.
* @param {object} options - The options argument used to parameterize the subscription.
* @param {boolean} options.enableTypedArray - The topic will use TypedArray if necessary, default: true.
* @param {QoS} options.qos - ROS Middleware "quality of service" settings for the subscription, default: QoS.profileDefault.
* @param {boolean} options.isRaw - The topic is serialized when true, default: false.
* @param {string} [options.serializationMode='default'] - Controls message serialization format:
* 'default': Use native rclnodejs behavior (respects enableTypedArray setting),
* 'plain': Convert TypedArrays to regular arrays,
* 'json': Fully JSON-safe (handles TypedArrays, BigInt, etc.).
* @param {object} [options.contentFilter=undefined] - The content-filter, default: undefined.
* Confirm that your RMW supports content-filtered topics before use.
* @param {string} options.contentFilter.expression - Specifies the criteria to select the data samples of
* interest. It is similar to the WHERE part of an SQL clause.
* @param {string[]} [options.contentFilter.parameters=undefined] - Array of strings that give values to
* the ‘parameters’ (i.e., "%n" tokens) in the filter_expression. The number of supplied parameters must
* fit with the requested values in the filter_expression (i.e., the number of %n tokens). default: undefined.
* @param {SubscriptionCallback} callback - The callback to be call when receiving the topic subscribed. The topic will be an instance of null-terminated Buffer when options.isRaw is true.
* @param {SubscriptionEventCallbacks} eventCallbacks - The event callbacks for the subscription.
* @return {Subscription} - An instance of Subscription.
* @throws {ERROR} - May throw an RMW error if content-filter is malformed.
* @see {@link SubscriptionCallback}
* @see {@link https://www.omg.org/spec/DDS/1.4/PDF|Content-filter details at DDS 1.4 specification, Annex B}
*/
createSubscription(typeClass, topic, options, callback, eventCallbacks) {
if (typeof typeClass === 'string' || typeof typeClass === 'object') {
typeClass = loader.loadInterface(typeClass);
}
if (typeof options === 'function') {
callback = options;
options = undefined;
}
options = this._validateOptions(options);
if (typeof typeClass !== 'function') {
throw new TypeValidationError('typeClass', typeClass, 'function', {
nodeName: this.name(),
entityType: 'subscription',
});
}
if (typeof topic !== 'string') {
throw new TypeValidationError('topic', topic, 'string', {
nodeName: this.name(),
entityType: 'subscription',
});
}
if (typeof callback !== 'function') {
throw new TypeValidationError('callback', callback, 'function', {
nodeName: this.name(),
entityType: 'subscription',
entityName: topic,
});
}
if (
eventCallbacks &&
!(eventCallbacks instanceof SubscriptionEventCallbacks)
) {
throw new TypeValidationError(
'eventCallbacks',
eventCallbacks,
'SubscriptionEventCallbacks',
{
nodeName: this.name(),
entityType: 'subscription',
entityName: topic,
}
);
}
let subscription = Subscription.createSubscription(
this,
typeClass,
topic,
options,
callback,
eventCallbacks
);
debug('Finish creating subscription, topic = %s.', topic);
this._subscriptions.push(subscription);
this.syncHandles();
return subscription;
}
/**
* Create a Subscription that returns an RxJS Observable.
* This allows using reactive programming patterns with ROS 2 messages.
*
* @param {function|string|object} typeClass - The ROS message class,
* OR a string representing the message class, e.g. 'std_msgs/msg/String',
* OR an object representing the message class, e.g. {package: 'std_msgs', type: 'msg', name: 'String'}
* @param {string} topic - The name of the topic.
* @param {object} [options] - The options argument used to parameterize the subscription.
* @param {boolean} [options.enableTypedArray=true] - The topic will use TypedArray if necessary.
* @param {QoS} [options.qos=QoS.profileDefault] - ROS Middleware "quality of service" settings.
* @param {boolean} [options.isRaw=false] - The topic is serialized when true.
* @param {string} [options.serializationMode='default'] - Controls message serialization format.
* @param {object} [options.contentFilter] - The content-filter (if supported by RMW).
* @param {SubscriptionEventCallbacks} [eventCallbacks] - The event callbacks for the subscription.
* @return {ObservableSubscription} - An ObservableSubscription with an RxJS Observable.
*/
createObservableSubscription(typeClass, topic, options, eventCallbacks) {
let observableSubscription = null;
const subscription = this.createSubscription(
typeClass,
topic,
options,
(message) => {
if (observableSubscription) {
observableSubscription._emit(message);
}
},
eventCallbacks
);
observableSubscription = new ObservableSubscription(subscription);
return observableSubscription;
}
/**
* Create a Client.
* @param {function|string|object} typeClass - The ROS message class,
OR a string representing the message class, e.g. 'std_msgs/msg/String',
OR an object representing the message class, e.g. {package: 'std_msgs', type: 'msg', name: 'String'}
* @param {string} serviceName - The service name to request.
* @param {object} options - The options argument used to parameterize the client.
* @param {boolean} options.enableTypedArray - The response will use TypedArray if necessary, default: true.
* @param {QoS} options.qos - ROS Middleware "quality of service" settings for the client, default: QoS.profileDefault.
* @return {Client} - An instance of Client.
*/
createClient(typeClass, serviceName, options) {
if (typeof typeClass === 'string' || typeof typeClass === 'object') {
typeClass = loader.loadInterface(typeClass);
}
options = this._validateOptions(options);
if (typeof typeClass !== 'function') {
throw new TypeValidationError('typeClass', typeClass, 'function', {
nodeName: this.name(),
entityType: 'client',
});
}
if (typeof serviceName !== 'string') {
throw new TypeValidationError('serviceName', serviceName, 'string', {
nodeName: this.name(),
entityType: 'client',
});
}
let client = Client.createClient(
this.handle,
serviceName,
typeClass,
options
);
debug('Finish creating client, service = %s.', serviceName);
this._clients.push(client);
this.syncHandles();
return client;
}
/**
* This callback is called when a request is sent to service
* @callback RequestCallback
* @param {Object} request - The request sent to the service
* @param {Response} response - The response to client.
Use [response.send()]{@link Response#send} to send response object to client
* @return {undefined}
* @see [Node.createService]{@link Node#createService}
* @see [Client.sendRequest]{@link Client#sendRequest}
* @see {@link Client}
* @see {@link Service}
* @see {@link Response#send}
*/
/**
* Create a Service.
* @param {function|string|object} typeClass - The ROS message class,
OR a string representing the message class, e.g. 'std_msgs/msg/String',
OR an object representing the message class, e.g. {package: 'std_msgs', type: 'msg', name: 'String'}
* @param {string} serviceName - The service name to offer.
* @param {object} options - The options argument used to parameterize the service.
* @param {boolean} options.enableTypedArray - The request will use TypedArray if necessary, default: true.
* @param {QoS} options.qos - ROS Middleware "quality of service" settings for the service, default: QoS.profileDefault.
* @param {RequestCallback} callback - The callback to be called when receiving request.
* @return {Service} - An instance of Service.
* @see {@link RequestCallback}
*/
createService(typeClass, serviceName, options, callback) {
if (typeof typeClass === 'string' || typeof typeClass === 'object') {
typeClass = loader.loadInterface(typeClass);
}
if (typeof options === 'function') {
callback = options;
options = undefined;
}
options = this._validateOptions(options);
if (typeof typeClass !== 'function') {
throw new TypeValidationError('typeClass', typeClass, 'function', {
nodeName: this.name(),
entityType: 'service',
});
}
if (typeof serviceName !== 'string') {
throw new TypeValidationError('serviceName', serviceName, 'string', {
nodeName: this.name(),
entityType: 'service',
});
}
if (typeof callback !== 'function') {
throw new TypeValidationError('callback', callback, 'function', {
nodeName: this.name(),
entityType: 'service',
entityName: serviceName,
});