Actionlib configuration - first pass.

example.js

@@ -0,0 +1,35 @@
+const rosnodejs = require('rosnodejs');
+const ActionServerInterface = require('rosnodejs/dist/lib/ActionServerInterface');
+const ActionClientInterface = require('rosnodejs/dist/lib/ActionClientInterface');
+
+const ActionLib = require('./index.js');
+
+ActionLib.config({
+  time: rosnodejs.Time,
+  log: rosnodejs.log.getLogger('actionlibjs'),
+  messages: {
+    getMessage(fullName) {
+      const [pkg, name] = fullName.split('/');
+      return rosnodejs.require(pkg).msg[name]
+    },
+    getMessageConstants(fullName) {
+      return this.getMessage(fullName).CONSTANTS;
+    }
+  },
+  ActionServerInterface,
+  ActionClientInterface
+});
+
+rosnodejs.initNode('/tmp')
+.then(() => {
+  const as = new ActionLib.ActionServer({
+    type: 'intera_motion_msgs/MotionCommand',
+    actionServer: '/motion',
+    nh: rosnodejs.nh
+  });
+
+
+})
+.catch((err) => {
+  console.error(err.stack);
+})

index.js

@@ -1,5 +1,25 @@
-const ActionServer = require('./action/ActionServer.js');
+const ActionServer = require('./lib/ActionServer.js');
+const ActionConfig = require('./lib/ActionConfig')
 
-module.exports = {
-  ActionServer
+const ActionLib = {
+  config(configuration) {
+    ActionConfig.init(configuration);
+  }
 };
+
+function addGuardedGetter(propertyName, val) {
+  Object.defineProperty(ActionLib, propertyName, {
+    get: function() {
+      if (ActionConfig.isConfigured()) {
+        return val;
+      }
+      else {
+        throw new Error(`Unable to get propertyName before actionlib has been configured`);
+      }
+    }
+  });
+}
+
+addGuardedGetter('ActionServer', ActionServer);
+
+module.exports = ActionLib;

lib/ActionConfig.js

@@ -0,0 +1,88 @@
+
+const EventEmitter =  require('events').EventEmitter;
+
+let ACTION_CONF = {};
+let configured = false;
+
+// make this so conf can alert when its configured
+const exportItem = new EventEmitter();
+
+const FIELDS_FORMAT = [
+  'log',
+  {
+    name: 'time',
+    format: [
+      'isZeroTime',
+      'timeComp',
+      'now',
+      'toNumber',
+      'epoch'
+    ]
+  },
+  {
+    name: 'messages',
+    format: [
+      'getMessage',
+      'getMessageConstants'
+    ]
+  },
+  'ActionServerInterface',
+  'ActionClientInterface'
+];
+
+function reset() {
+  configured = false;
+}
+
+function readConfig(conf, formatFields, writeConf, keyPath = '') {
+  if (!formatFields) {
+    throw new Error('Unable to readConfig without format at ' + keyPath);
+  }
+  else if (!conf) {
+    throw new Error('Invalid config - missing entry at ' + keyPath);
+  }
+
+  for (let i = 0; i < formatFields.length; ++i) {
+    const formatField = formatFields[i];
+
+    if (typeof formatField === 'string') {
+      const confVal = conf[formatField];
+      if (confVal === undefined) {
+        const fullPath = keyPath ? keyPath + '.' + formatField : formatField;
+        throw new Error('Unable to readConfig without field ' + fullPath);
+      }
+
+      writeConf[formatField] = confVal;
+    }
+    else if (typeof formatField === 'object') {
+      const { name, format } = formatField;
+      if (!writeConf.hasOwnProperty(name)) {
+        writeConf[name] = {};
+      }
+
+      const fullPath = keyPath ? keyPath + '.' + name : name;
+      readConfig(conf[name], format, writeConf[name], fullPath);
+    }
+  }
+}
+
+function init(conf) {
+  readConfig(conf, FIELDS_FORMAT, ACTION_CONF);
+  configured = true;
+  exportItem.emit('configured', ACTION_CONF);
+}
+
+function isConfigured() {
+  return configured;
+}
+
+function get() {
+  return ACTION_CONF;
+}
+
+exportItem.init = init;
+exportItem.reset = reset;
+exportItem.isConfigured = isConfigured;
+exportItem.get = get;
+
+module.exports = exportItem;

actions/ActionServer.js → lib/ActionServer.js

@@ -17,19 +17,12 @@
 
 'use strict';
 
-const timeUtils = require('../lib/Time.js');
-const msgUtils = require('../utils/message_utils.js');
+const ActionConfig = require('./ActionConfig.js');
+
 const EventEmitter = require('events');
 
-const ActionServerInterface = require('../lib/ActionServerInterface.js');
 const GoalHandle = require('./GoalHandle.js');
 
-let GoalIdMsg = null;
-let GoalStatusMsg = null;
-let GoalStatusArrayMsg = null;
-let GoalStatuses = null;
-let goalCount = 0;
-
 /**
  * @class ActionServer
  * EXPERIMENTAL
@@ -39,28 +32,7 @@ class ActionServer extends EventEmitter {
   constructor(options) {
     super();
 
-    if (GoalStatusMsg === null) {
-      GoalStatusMsg = msgUtils.requireMsgPackage('actionlib_msgs').msg.GoalStatus;
-      GoalStatuses = GoalStatusMsg.Constants;
-    }
-
-    if (GoalStatusArrayMsg === null) {
-      GoalStatusArrayMsg = msgUtils.requireMsgPackage('actionlib_msgs').msg.GoalStatusArray;
-    }
-
-    this._asInterface = new ActionServerInterface(options);
-
-    this._asInterface.on('goal', this._handleGoal.bind(this));
-    this._asInterface.on('cancel', this._handleCancel.bind(this));
-
-    const actionType = this._asInterface.getType();
-
-    this._messageTypes = {
-      result: msgUtils.getHandlerForMsgType(actionType + 'Result'),
-      feedback: msgUtils.getHandlerForMsgType(actionType + 'Feedback'),
-      actionResult: msgUtils.getHandlerForMsgType(actionType + 'ActionResult'),
-      actionFeedback: msgUtils.getHandlerForMsgType(actionType + 'ActionFeedback')
-    };
+    this._options = options;
 
     this._pubSeqs = {
       result: 0,
@@ -76,6 +48,22 @@ class ActionServer extends EventEmitter {
     this._statusListTimeout = 5;
   }
 
+  start() {
+    this._asInterface = new ActionServerInterface(this._options);
+
+    this._asInterface.on('goal', this._handleGoal.bind(this));
+    this._asInterface.on('cancel', this._handleCancel.bind(this));
+
+    const actionType = this._asInterface.getType();
+
+    this._messageTypes = {
+      result: ActionConfig.get().messages.getMessage(actionType + 'Result'),
+      feedback: ActionConfig.get().messages.getMessage(actionType + 'Feedback'),
+      actionResult: ActionConfig.get().messages.getMessage(actionType + 'ActionResult'),
+      actionFeedback: ActionConfig.get().messages.getMessage(actionType + 'ActionFeedback')
+    };
+  }
+
   generateGoalId() {
     return this._asInterface.generateGoalId();
   }
@@ -94,9 +82,9 @@ class ActionServer extends EventEmitter {
     let handle = this._getGoalHandle(newGoalId);
 
     if (handle) {
-      if (handle.status === GoalStatuses.RECALLING) {
-        handle.status = GoalStatuses.RECALLED;
-        this.publishResult(status.status, this._createMessage('result'));
+      // check if we already received a request to cancel this goal
+      if (handle.getStatusId() === GoalStatuses.RECALLING) {
+        handle.setCancelled(this._createMessage('result'));
       }
 
       handle._destructionTime = msg.goal_id.stamp;
@@ -134,7 +122,7 @@ class ActionServer extends EventEmitter {
     for (let i = 0, len = this._goalHandleList.length; i < len; ++i) {
       const handle = this._goalHandleList[i];
       const handleId = handle.id;
-      const handleStamp = handle.status.goal_id.stamp;
+      const handleStamp = handle.getStatus().goal_id.stamp;
 
       if (shouldCancelEverything ||
           cancelId === handleId ||
@@ -226,3 +214,23 @@ class ActionServer extends EventEmitter {
 }
 
 module.exports = ActionServer;
+
+
+//------------------------------------------------------------------------
+//   Hook into configuration
+//------------------------------------------------------------------------
+
+let GoalStatusMsg, GoalStatuses, GoalIdMsg, GoalStatusArrayMsg;
+let timeUtils, log, ActionServerInterface;
+
+ActionConfig.on('configured', function(config) {
+  timeUtils = config.time;
+  log = config.log;
+
+  GoalStatusMsg = config.messages.getMessage('actionlib_msgs/GoalStatus');
+  GoalStatuses = config.messages.getMessageConstants('actionlib_msgs/GoalStatus');
+  GoalIdMsg = config.messages.getMessage('actionlib_msgs/GoalId');
+  GoalStatusArrayMsg = config.messages.getMessage('actionlib_msgs/GoalStatusArray');
+
+  ActionServerInterface = config.ActionServerInterface;
+});

actions/GoalHandle.js → lib/GoalHandle.js

@@ -17,15 +17,10 @@
 
 'use strict';
 
-const msgUtils = require('../utils/message_utils.js');
-const timeUtils = require('../lib/Time.js');
-const log = require('../lib/Logging.js').getLogger('ros.rosnodejs');
-
-let GoalStatus = null;
-let GoalStatuses = null;
+const ActionConfig = require('./ActionConfig.js');
 
 class GoalHandle {
-  constructor(goalId, actionServer, status) {
+  constructor(goalId, actionServer, status, goal) {
     if (goalId.id === '') {
       goalId = actionServer.generateGoalId();
     }
@@ -38,27 +33,18 @@ class GoalHandle {
 
     this._as = actionServer;
 
-    if (GoalStatus === null) {
-      GoalStatus = msgUtils.requireMsgPackage('actionlib_msgs').msg.GoalStatus;
-      GoalStatuses = GoalStatus.Constants;
-    }
-
     this._status = new GoalStatus({
       status: status || GoalStatuses.PENDING,
       goal_id: goalId
     });
 
+    this._goal = goal;
+
     this._destructionTime = timeUtils.epoch();
   }
 
-  _isTerminalState() {
-    return [
-      GoalStatuses.REJECTED,
-      GoalStatuses.RECALLED,
-      GoalStatuses.PREEMPTED,
-      GoalStatuses.ABORTED,
-      GoalStatuses.SUCCEEDED
-    ].includes(this._status.status);
+  getGoal() {
+    return this._goal;
   }
 
   getStatusId() {
@@ -190,6 +176,29 @@ class GoalHandle {
   _logInvalidTransition(transition, currentStatus) {
     log.warn('Unable to %s from status %s for goal %s', transition, currentStatus, this.id);
   }
+
+  _isTerminalState() {
+    return [
+      GoalStatuses.REJECTED,
+      GoalStatuses.RECALLED,
+      GoalStatuses.PREEMPTED,
+      GoalStatuses.ABORTED,
+      GoalStatuses.SUCCEEDED
+    ].includes(this._status.status);
+  }
 }
 
 module.exports = GoalHandle;
+
+//------------------------------------------------------------------------
+//   Hook into configuration
+//------------------------------------------------------------------------
+
+let timeUtils, log, GoalStatus, GoalStatuses;
+
+ActionConfig.on('configured', function(config) {
+  timeUtils = config.time;
+  log = config.log;
+  GoalStatus = config.messages.getMessage('actionlib_msgs/GoalStatus');
+  GoalStatuses = config.messages.getMessageConstants('actionlib_msgs/GoalStatus');
+});

package.json

@@ -7,5 +7,10 @@
     "test": "echo \"Error: no test specified\" && exit 1"
   },
   "author": "chris smith",
-  "license": "Apache-2.0"
+  "license": "Apache-2.0",
+  "devDependencies": {
+    "chai": "^4.1.2",
+    "mocha": "^5.0.4",
+    "rosnodejs": "^2.2.0"
+  }
 }

test/actionServerTest.js

@@ -0,0 +1,29 @@
+'use strict'
+
+const net = require('net');
+const chai = require('chai');
+const expect = chai.expect;
+
+const rosnodejs = require('rosnodejs');
+
+const ActionLib = require('../index.js');
+
+ActionLib.config({
+  time: rosnodejs.Time,
+  log: rosnodejs.log.getLogger('actionlibjs'),
+  messages: {
+    getMessage(fullName) {
+      const [pkg, name] = fullName.split('/');
+      return rosnodejs.require(pkg).msg[name]
+    },
+    getMessageConstants(fullName) {
+      return this.getMessage(fullName).CONSTANTS;
+    }
+  },
+  ActionServerInterface,
+  ActionClientInterface
+});
+
+describe('action server', function() {
+
+});