roslib
Version:
The standard ROS Javascript Library
1,689 lines (1,478 loc) • 137 kB
JavaScript
(function(){function r(e,n,t){function o(i,f){if(!n[i]){if(!e[i]){var c="function"==typeof require&&require;if(!f&&c)return c(i,!0);if(u)return u(i,!0);var a=new Error("Cannot find module '"+i+"'");throw a.code="MODULE_NOT_FOUND",a}var p=n[i]={exports:{}};e[i][0].call(p.exports,function(r){var n=e[i][1][r];return o(n||r)},p,p.exports,r,e,n,t)}return n[i].exports}for(var u="function"==typeof require&&require,i=0;i<t.length;i++)o(t[i]);return o}return r})()({1:[function(require,module,exports){
/*
* The MIT License (MIT)
*
* Copyright (c) 2014 Patrick Gansterer <paroga@paroga.com>
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
(function(global, undefined) { "use strict";
var POW_2_24 = Math.pow(2, -24),
POW_2_32 = Math.pow(2, 32),
POW_2_53 = Math.pow(2, 53);
function encode(value) {
var data = new ArrayBuffer(256);
var dataView = new DataView(data);
var lastLength;
var offset = 0;
function ensureSpace(length) {
var newByteLength = data.byteLength;
var requiredLength = offset + length;
while (newByteLength < requiredLength)
newByteLength *= 2;
if (newByteLength !== data.byteLength) {
var oldDataView = dataView;
data = new ArrayBuffer(newByteLength);
dataView = new DataView(data);
var uint32count = (offset + 3) >> 2;
for (var i = 0; i < uint32count; ++i)
dataView.setUint32(i * 4, oldDataView.getUint32(i * 4));
}
lastLength = length;
return dataView;
}
function write() {
offset += lastLength;
}
function writeFloat64(value) {
write(ensureSpace(8).setFloat64(offset, value));
}
function writeUint8(value) {
write(ensureSpace(1).setUint8(offset, value));
}
function writeUint8Array(value) {
var dataView = ensureSpace(value.length);
for (var i = 0; i < value.length; ++i)
dataView.setUint8(offset + i, value[i]);
write();
}
function writeUint16(value) {
write(ensureSpace(2).setUint16(offset, value));
}
function writeUint32(value) {
write(ensureSpace(4).setUint32(offset, value));
}
function writeUint64(value) {
var low = value % POW_2_32;
var high = (value - low) / POW_2_32;
var dataView = ensureSpace(8);
dataView.setUint32(offset, high);
dataView.setUint32(offset + 4, low);
write();
}
function writeTypeAndLength(type, length) {
if (length < 24) {
writeUint8(type << 5 | length);
} else if (length < 0x100) {
writeUint8(type << 5 | 24);
writeUint8(length);
} else if (length < 0x10000) {
writeUint8(type << 5 | 25);
writeUint16(length);
} else if (length < 0x100000000) {
writeUint8(type << 5 | 26);
writeUint32(length);
} else {
writeUint8(type << 5 | 27);
writeUint64(length);
}
}
function encodeItem(value) {
var i;
if (value === false)
return writeUint8(0xf4);
if (value === true)
return writeUint8(0xf5);
if (value === null)
return writeUint8(0xf6);
if (value === undefined)
return writeUint8(0xf7);
switch (typeof value) {
case "number":
if (Math.floor(value) === value) {
if (0 <= value && value <= POW_2_53)
return writeTypeAndLength(0, value);
if (-POW_2_53 <= value && value < 0)
return writeTypeAndLength(1, -(value + 1));
}
writeUint8(0xfb);
return writeFloat64(value);
case "string":
var utf8data = [];
for (i = 0; i < value.length; ++i) {
var charCode = value.charCodeAt(i);
if (charCode < 0x80) {
utf8data.push(charCode);
} else if (charCode < 0x800) {
utf8data.push(0xc0 | charCode >> 6);
utf8data.push(0x80 | charCode & 0x3f);
} else if (charCode < 0xd800) {
utf8data.push(0xe0 | charCode >> 12);
utf8data.push(0x80 | (charCode >> 6) & 0x3f);
utf8data.push(0x80 | charCode & 0x3f);
} else {
charCode = (charCode & 0x3ff) << 10;
charCode |= value.charCodeAt(++i) & 0x3ff;
charCode += 0x10000;
utf8data.push(0xf0 | charCode >> 18);
utf8data.push(0x80 | (charCode >> 12) & 0x3f);
utf8data.push(0x80 | (charCode >> 6) & 0x3f);
utf8data.push(0x80 | charCode & 0x3f);
}
}
writeTypeAndLength(3, utf8data.length);
return writeUint8Array(utf8data);
default:
var length;
if (Array.isArray(value)) {
length = value.length;
writeTypeAndLength(4, length);
for (i = 0; i < length; ++i)
encodeItem(value[i]);
} else if (value instanceof Uint8Array) {
writeTypeAndLength(2, value.length);
writeUint8Array(value);
} else {
var keys = Object.keys(value);
length = keys.length;
writeTypeAndLength(5, length);
for (i = 0; i < length; ++i) {
var key = keys[i];
encodeItem(key);
encodeItem(value[key]);
}
}
}
}
encodeItem(value);
if ("slice" in data)
return data.slice(0, offset);
var ret = new ArrayBuffer(offset);
var retView = new DataView(ret);
for (var i = 0; i < offset; ++i)
retView.setUint8(i, dataView.getUint8(i));
return ret;
}
function decode(data, tagger, simpleValue) {
var dataView = new DataView(data);
var offset = 0;
if (typeof tagger !== "function")
tagger = function(value) { return value; };
if (typeof simpleValue !== "function")
simpleValue = function() { return undefined; };
function read(value, length) {
offset += length;
return value;
}
function readArrayBuffer(length) {
return read(new Uint8Array(data, offset, length), length);
}
function readFloat16() {
var tempArrayBuffer = new ArrayBuffer(4);
var tempDataView = new DataView(tempArrayBuffer);
var value = readUint16();
var sign = value & 0x8000;
var exponent = value & 0x7c00;
var fraction = value & 0x03ff;
if (exponent === 0x7c00)
exponent = 0xff << 10;
else if (exponent !== 0)
exponent += (127 - 15) << 10;
else if (fraction !== 0)
return fraction * POW_2_24;
tempDataView.setUint32(0, sign << 16 | exponent << 13 | fraction << 13);
return tempDataView.getFloat32(0);
}
function readFloat32() {
return read(dataView.getFloat32(offset), 4);
}
function readFloat64() {
return read(dataView.getFloat64(offset), 8);
}
function readUint8() {
return read(dataView.getUint8(offset), 1);
}
function readUint16() {
return read(dataView.getUint16(offset), 2);
}
function readUint32() {
return read(dataView.getUint32(offset), 4);
}
function readUint64() {
return readUint32() * POW_2_32 + readUint32();
}
function readBreak() {
if (dataView.getUint8(offset) !== 0xff)
return false;
offset += 1;
return true;
}
function readLength(additionalInformation) {
if (additionalInformation < 24)
return additionalInformation;
if (additionalInformation === 24)
return readUint8();
if (additionalInformation === 25)
return readUint16();
if (additionalInformation === 26)
return readUint32();
if (additionalInformation === 27)
return readUint64();
if (additionalInformation === 31)
return -1;
throw "Invalid length encoding";
}
function readIndefiniteStringLength(majorType) {
var initialByte = readUint8();
if (initialByte === 0xff)
return -1;
var length = readLength(initialByte & 0x1f);
if (length < 0 || (initialByte >> 5) !== majorType)
throw "Invalid indefinite length element";
return length;
}
function appendUtf16data(utf16data, length) {
for (var i = 0; i < length; ++i) {
var value = readUint8();
if (value & 0x80) {
if (value < 0xe0) {
value = (value & 0x1f) << 6
| (readUint8() & 0x3f);
length -= 1;
} else if (value < 0xf0) {
value = (value & 0x0f) << 12
| (readUint8() & 0x3f) << 6
| (readUint8() & 0x3f);
length -= 2;
} else {
value = (value & 0x0f) << 18
| (readUint8() & 0x3f) << 12
| (readUint8() & 0x3f) << 6
| (readUint8() & 0x3f);
length -= 3;
}
}
if (value < 0x10000) {
utf16data.push(value);
} else {
value -= 0x10000;
utf16data.push(0xd800 | (value >> 10));
utf16data.push(0xdc00 | (value & 0x3ff));
}
}
}
function decodeItem() {
var initialByte = readUint8();
var majorType = initialByte >> 5;
var additionalInformation = initialByte & 0x1f;
var i;
var length;
if (majorType === 7) {
switch (additionalInformation) {
case 25:
return readFloat16();
case 26:
return readFloat32();
case 27:
return readFloat64();
}
}
length = readLength(additionalInformation);
if (length < 0 && (majorType < 2 || 6 < majorType))
throw "Invalid length";
switch (majorType) {
case 0:
return length;
case 1:
return -1 - length;
case 2:
if (length < 0) {
var elements = [];
var fullArrayLength = 0;
while ((length = readIndefiniteStringLength(majorType)) >= 0) {
fullArrayLength += length;
elements.push(readArrayBuffer(length));
}
var fullArray = new Uint8Array(fullArrayLength);
var fullArrayOffset = 0;
for (i = 0; i < elements.length; ++i) {
fullArray.set(elements[i], fullArrayOffset);
fullArrayOffset += elements[i].length;
}
return fullArray;
}
return readArrayBuffer(length);
case 3:
var utf16data = [];
if (length < 0) {
while ((length = readIndefiniteStringLength(majorType)) >= 0)
appendUtf16data(utf16data, length);
} else
appendUtf16data(utf16data, length);
return String.fromCharCode.apply(null, utf16data);
case 4:
var retArray;
if (length < 0) {
retArray = [];
while (!readBreak())
retArray.push(decodeItem());
} else {
retArray = new Array(length);
for (i = 0; i < length; ++i)
retArray[i] = decodeItem();
}
return retArray;
case 5:
var retObject = {};
for (i = 0; i < length || length < 0 && !readBreak(); ++i) {
var key = decodeItem();
retObject[key] = decodeItem();
}
return retObject;
case 6:
return tagger(decodeItem(), length);
case 7:
switch (length) {
case 20:
return false;
case 21:
return true;
case 22:
return null;
case 23:
return undefined;
default:
return simpleValue(length);
}
}
}
var ret = decodeItem();
if (offset !== data.byteLength)
throw "Remaining bytes";
return ret;
}
var obj = { encode: encode, decode: decode };
if (typeof define === "function" && define.amd)
define("cbor/cbor", obj);
else if (typeof module !== 'undefined' && module.exports)
module.exports = obj;
else if (!global.CBOR)
global.CBOR = obj;
})(this);
},{}],2:[function(require,module,exports){
(function (process){
/*!
* EventEmitter2
* https://github.com/hij1nx/EventEmitter2
*
* Copyright (c) 2013 hij1nx
* Licensed under the MIT license.
*/
;!function(undefined) {
var isArray = Array.isArray ? Array.isArray : function _isArray(obj) {
return Object.prototype.toString.call(obj) === "[object Array]";
};
var defaultMaxListeners = 10;
function init() {
this._events = {};
if (this._conf) {
configure.call(this, this._conf);
}
}
function configure(conf) {
if (conf) {
this._conf = conf;
conf.delimiter && (this.delimiter = conf.delimiter);
this._maxListeners = conf.maxListeners !== undefined ? conf.maxListeners : defaultMaxListeners;
conf.wildcard && (this.wildcard = conf.wildcard);
conf.newListener && (this.newListener = conf.newListener);
conf.verboseMemoryLeak && (this.verboseMemoryLeak = conf.verboseMemoryLeak);
if (this.wildcard) {
this.listenerTree = {};
}
} else {
this._maxListeners = defaultMaxListeners;
}
}
function logPossibleMemoryLeak(count, eventName) {
var errorMsg = '(node) warning: possible EventEmitter memory ' +
'leak detected. ' + count + ' listeners added. ' +
'Use emitter.setMaxListeners() to increase limit.';
if(this.verboseMemoryLeak){
errorMsg += ' Event name: ' + eventName + '.';
}
if(typeof process !== 'undefined' && process.emitWarning){
var e = new Error(errorMsg);
e.name = 'MaxListenersExceededWarning';
e.emitter = this;
e.count = count;
process.emitWarning(e);
} else {
console.error(errorMsg);
if (console.trace){
console.trace();
}
}
}
function EventEmitter(conf) {
this._events = {};
this.newListener = false;
this.verboseMemoryLeak = false;
configure.call(this, conf);
}
EventEmitter.EventEmitter2 = EventEmitter; // backwards compatibility for exporting EventEmitter property
//
// Attention, function return type now is array, always !
// It has zero elements if no any matches found and one or more
// elements (leafs) if there are matches
//
function searchListenerTree(handlers, type, tree, i) {
if (!tree) {
return [];
}
var listeners=[], leaf, len, branch, xTree, xxTree, isolatedBranch, endReached,
typeLength = type.length, currentType = type[i], nextType = type[i+1];
if (i === typeLength && tree._listeners) {
//
// If at the end of the event(s) list and the tree has listeners
// invoke those listeners.
//
if (typeof tree._listeners === 'function') {
handlers && handlers.push(tree._listeners);
return [tree];
} else {
for (leaf = 0, len = tree._listeners.length; leaf < len; leaf++) {
handlers && handlers.push(tree._listeners[leaf]);
}
return [tree];
}
}
if ((currentType === '*' || currentType === '**') || tree[currentType]) {
//
// If the event emitted is '*' at this part
// or there is a concrete match at this patch
//
if (currentType === '*') {
for (branch in tree) {
if (branch !== '_listeners' && tree.hasOwnProperty(branch)) {
listeners = listeners.concat(searchListenerTree(handlers, type, tree[branch], i+1));
}
}
return listeners;
} else if(currentType === '**') {
endReached = (i+1 === typeLength || (i+2 === typeLength && nextType === '*'));
if(endReached && tree._listeners) {
// The next element has a _listeners, add it to the handlers.
listeners = listeners.concat(searchListenerTree(handlers, type, tree, typeLength));
}
for (branch in tree) {
if (branch !== '_listeners' && tree.hasOwnProperty(branch)) {
if(branch === '*' || branch === '**') {
if(tree[branch]._listeners && !endReached) {
listeners = listeners.concat(searchListenerTree(handlers, type, tree[branch], typeLength));
}
listeners = listeners.concat(searchListenerTree(handlers, type, tree[branch], i));
} else if(branch === nextType) {
listeners = listeners.concat(searchListenerTree(handlers, type, tree[branch], i+2));
} else {
// No match on this one, shift into the tree but not in the type array.
listeners = listeners.concat(searchListenerTree(handlers, type, tree[branch], i));
}
}
}
return listeners;
}
listeners = listeners.concat(searchListenerTree(handlers, type, tree[currentType], i+1));
}
xTree = tree['*'];
if (xTree) {
//
// If the listener tree will allow any match for this part,
// then recursively explore all branches of the tree
//
searchListenerTree(handlers, type, xTree, i+1);
}
xxTree = tree['**'];
if(xxTree) {
if(i < typeLength) {
if(xxTree._listeners) {
// If we have a listener on a '**', it will catch all, so add its handler.
searchListenerTree(handlers, type, xxTree, typeLength);
}
// Build arrays of matching next branches and others.
for(branch in xxTree) {
if(branch !== '_listeners' && xxTree.hasOwnProperty(branch)) {
if(branch === nextType) {
// We know the next element will match, so jump twice.
searchListenerTree(handlers, type, xxTree[branch], i+2);
} else if(branch === currentType) {
// Current node matches, move into the tree.
searchListenerTree(handlers, type, xxTree[branch], i+1);
} else {
isolatedBranch = {};
isolatedBranch[branch] = xxTree[branch];
searchListenerTree(handlers, type, { '**': isolatedBranch }, i+1);
}
}
}
} else if(xxTree._listeners) {
// We have reached the end and still on a '**'
searchListenerTree(handlers, type, xxTree, typeLength);
} else if(xxTree['*'] && xxTree['*']._listeners) {
searchListenerTree(handlers, type, xxTree['*'], typeLength);
}
}
return listeners;
}
function growListenerTree(type, listener) {
type = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
//
// Looks for two consecutive '**', if so, don't add the event at all.
//
for(var i = 0, len = type.length; i+1 < len; i++) {
if(type[i] === '**' && type[i+1] === '**') {
return;
}
}
var tree = this.listenerTree;
var name = type.shift();
while (name !== undefined) {
if (!tree[name]) {
tree[name] = {};
}
tree = tree[name];
if (type.length === 0) {
if (!tree._listeners) {
tree._listeners = listener;
}
else {
if (typeof tree._listeners === 'function') {
tree._listeners = [tree._listeners];
}
tree._listeners.push(listener);
if (
!tree._listeners.warned &&
this._maxListeners > 0 &&
tree._listeners.length > this._maxListeners
) {
tree._listeners.warned = true;
logPossibleMemoryLeak.call(this, tree._listeners.length, name);
}
}
return true;
}
name = type.shift();
}
return true;
}
// By default EventEmitters will print a warning if more than
// 10 listeners are added to it. This is a useful default which
// helps finding memory leaks.
//
// Obviously not all Emitters should be limited to 10. This function allows
// that to be increased. Set to zero for unlimited.
EventEmitter.prototype.delimiter = '.';
EventEmitter.prototype.setMaxListeners = function(n) {
if (n !== undefined) {
this._maxListeners = n;
if (!this._conf) this._conf = {};
this._conf.maxListeners = n;
}
};
EventEmitter.prototype.event = '';
EventEmitter.prototype.once = function(event, fn) {
return this._once(event, fn, false);
};
EventEmitter.prototype.prependOnceListener = function(event, fn) {
return this._once(event, fn, true);
};
EventEmitter.prototype._once = function(event, fn, prepend) {
this._many(event, 1, fn, prepend);
return this;
};
EventEmitter.prototype.many = function(event, ttl, fn) {
return this._many(event, ttl, fn, false);
}
EventEmitter.prototype.prependMany = function(event, ttl, fn) {
return this._many(event, ttl, fn, true);
}
EventEmitter.prototype._many = function(event, ttl, fn, prepend) {
var self = this;
if (typeof fn !== 'function') {
throw new Error('many only accepts instances of Function');
}
function listener() {
if (--ttl === 0) {
self.off(event, listener);
}
return fn.apply(this, arguments);
}
listener._origin = fn;
this._on(event, listener, prepend);
return self;
};
EventEmitter.prototype.emit = function() {
this._events || init.call(this);
var type = arguments[0];
if (type === 'newListener' && !this.newListener) {
if (!this._events.newListener) {
return false;
}
}
var al = arguments.length;
var args,l,i,j;
var handler;
if (this._all && this._all.length) {
handler = this._all.slice();
if (al > 3) {
args = new Array(al);
for (j = 0; j < al; j++) args[j] = arguments[j];
}
for (i = 0, l = handler.length; i < l; i++) {
this.event = type;
switch (al) {
case 1:
handler[i].call(this, type);
break;
case 2:
handler[i].call(this, type, arguments[1]);
break;
case 3:
handler[i].call(this, type, arguments[1], arguments[2]);
break;
default:
handler[i].apply(this, args);
}
}
}
if (this.wildcard) {
handler = [];
var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
searchListenerTree.call(this, handler, ns, this.listenerTree, 0);
} else {
handler = this._events[type];
if (typeof handler === 'function') {
this.event = type;
switch (al) {
case 1:
handler.call(this);
break;
case 2:
handler.call(this, arguments[1]);
break;
case 3:
handler.call(this, arguments[1], arguments[2]);
break;
default:
args = new Array(al - 1);
for (j = 1; j < al; j++) args[j - 1] = arguments[j];
handler.apply(this, args);
}
return true;
} else if (handler) {
// need to make copy of handlers because list can change in the middle
// of emit call
handler = handler.slice();
}
}
if (handler && handler.length) {
if (al > 3) {
args = new Array(al - 1);
for (j = 1; j < al; j++) args[j - 1] = arguments[j];
}
for (i = 0, l = handler.length; i < l; i++) {
this.event = type;
switch (al) {
case 1:
handler[i].call(this);
break;
case 2:
handler[i].call(this, arguments[1]);
break;
case 3:
handler[i].call(this, arguments[1], arguments[2]);
break;
default:
handler[i].apply(this, args);
}
}
return true;
} else if (!this._all && type === 'error') {
if (arguments[1] instanceof Error) {
throw arguments[1]; // Unhandled 'error' event
} else {
throw new Error("Uncaught, unspecified 'error' event.");
}
return false;
}
return !!this._all;
};
EventEmitter.prototype.emitAsync = function() {
this._events || init.call(this);
var type = arguments[0];
if (type === 'newListener' && !this.newListener) {
if (!this._events.newListener) { return Promise.resolve([false]); }
}
var promises= [];
var al = arguments.length;
var args,l,i,j;
var handler;
if (this._all) {
if (al > 3) {
args = new Array(al);
for (j = 1; j < al; j++) args[j] = arguments[j];
}
for (i = 0, l = this._all.length; i < l; i++) {
this.event = type;
switch (al) {
case 1:
promises.push(this._all[i].call(this, type));
break;
case 2:
promises.push(this._all[i].call(this, type, arguments[1]));
break;
case 3:
promises.push(this._all[i].call(this, type, arguments[1], arguments[2]));
break;
default:
promises.push(this._all[i].apply(this, args));
}
}
}
if (this.wildcard) {
handler = [];
var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
searchListenerTree.call(this, handler, ns, this.listenerTree, 0);
} else {
handler = this._events[type];
}
if (typeof handler === 'function') {
this.event = type;
switch (al) {
case 1:
promises.push(handler.call(this));
break;
case 2:
promises.push(handler.call(this, arguments[1]));
break;
case 3:
promises.push(handler.call(this, arguments[1], arguments[2]));
break;
default:
args = new Array(al - 1);
for (j = 1; j < al; j++) args[j - 1] = arguments[j];
promises.push(handler.apply(this, args));
}
} else if (handler && handler.length) {
handler = handler.slice();
if (al > 3) {
args = new Array(al - 1);
for (j = 1; j < al; j++) args[j - 1] = arguments[j];
}
for (i = 0, l = handler.length; i < l; i++) {
this.event = type;
switch (al) {
case 1:
promises.push(handler[i].call(this));
break;
case 2:
promises.push(handler[i].call(this, arguments[1]));
break;
case 3:
promises.push(handler[i].call(this, arguments[1], arguments[2]));
break;
default:
promises.push(handler[i].apply(this, args));
}
}
} else if (!this._all && type === 'error') {
if (arguments[1] instanceof Error) {
return Promise.reject(arguments[1]); // Unhandled 'error' event
} else {
return Promise.reject("Uncaught, unspecified 'error' event.");
}
}
return Promise.all(promises);
};
EventEmitter.prototype.on = function(type, listener) {
return this._on(type, listener, false);
};
EventEmitter.prototype.prependListener = function(type, listener) {
return this._on(type, listener, true);
};
EventEmitter.prototype.onAny = function(fn) {
return this._onAny(fn, false);
};
EventEmitter.prototype.prependAny = function(fn) {
return this._onAny(fn, true);
};
EventEmitter.prototype.addListener = EventEmitter.prototype.on;
EventEmitter.prototype._onAny = function(fn, prepend){
if (typeof fn !== 'function') {
throw new Error('onAny only accepts instances of Function');
}
if (!this._all) {
this._all = [];
}
// Add the function to the event listener collection.
if(prepend){
this._all.unshift(fn);
}else{
this._all.push(fn);
}
return this;
}
EventEmitter.prototype._on = function(type, listener, prepend) {
if (typeof type === 'function') {
this._onAny(type, listener);
return this;
}
if (typeof listener !== 'function') {
throw new Error('on only accepts instances of Function');
}
this._events || init.call(this);
// To avoid recursion in the case that type == "newListeners"! Before
// adding it to the listeners, first emit "newListeners".
this.emit('newListener', type, listener);
if (this.wildcard) {
growListenerTree.call(this, type, listener);
return this;
}
if (!this._events[type]) {
// Optimize the case of one listener. Don't need the extra array object.
this._events[type] = listener;
}
else {
if (typeof this._events[type] === 'function') {
// Change to array.
this._events[type] = [this._events[type]];
}
// If we've already got an array, just add
if(prepend){
this._events[type].unshift(listener);
}else{
this._events[type].push(listener);
}
// Check for listener leak
if (
!this._events[type].warned &&
this._maxListeners > 0 &&
this._events[type].length > this._maxListeners
) {
this._events[type].warned = true;
logPossibleMemoryLeak.call(this, this._events[type].length, type);
}
}
return this;
}
EventEmitter.prototype.off = function(type, listener) {
if (typeof listener !== 'function') {
throw new Error('removeListener only takes instances of Function');
}
var handlers,leafs=[];
if(this.wildcard) {
var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
leafs = searchListenerTree.call(this, null, ns, this.listenerTree, 0);
}
else {
// does not use listeners(), so no side effect of creating _events[type]
if (!this._events[type]) return this;
handlers = this._events[type];
leafs.push({_listeners:handlers});
}
for (var iLeaf=0; iLeaf<leafs.length; iLeaf++) {
var leaf = leafs[iLeaf];
handlers = leaf._listeners;
if (isArray(handlers)) {
var position = -1;
for (var i = 0, length = handlers.length; i < length; i++) {
if (handlers[i] === listener ||
(handlers[i].listener && handlers[i].listener === listener) ||
(handlers[i]._origin && handlers[i]._origin === listener)) {
position = i;
break;
}
}
if (position < 0) {
continue;
}
if(this.wildcard) {
leaf._listeners.splice(position, 1);
}
else {
this._events[type].splice(position, 1);
}
if (handlers.length === 0) {
if(this.wildcard) {
delete leaf._listeners;
}
else {
delete this._events[type];
}
}
this.emit("removeListener", type, listener);
return this;
}
else if (handlers === listener ||
(handlers.listener && handlers.listener === listener) ||
(handlers._origin && handlers._origin === listener)) {
if(this.wildcard) {
delete leaf._listeners;
}
else {
delete this._events[type];
}
this.emit("removeListener", type, listener);
}
}
function recursivelyGarbageCollect(root) {
if (root === undefined) {
return;
}
var keys = Object.keys(root);
for (var i in keys) {
var key = keys[i];
var obj = root[key];
if ((obj instanceof Function) || (typeof obj !== "object") || (obj === null))
continue;
if (Object.keys(obj).length > 0) {
recursivelyGarbageCollect(root[key]);
}
if (Object.keys(obj).length === 0) {
delete root[key];
}
}
}
recursivelyGarbageCollect(this.listenerTree);
return this;
};
EventEmitter.prototype.offAny = function(fn) {
var i = 0, l = 0, fns;
if (fn && this._all && this._all.length > 0) {
fns = this._all;
for(i = 0, l = fns.length; i < l; i++) {
if(fn === fns[i]) {
fns.splice(i, 1);
this.emit("removeListenerAny", fn);
return this;
}
}
} else {
fns = this._all;
for(i = 0, l = fns.length; i < l; i++)
this.emit("removeListenerAny", fns[i]);
this._all = [];
}
return this;
};
EventEmitter.prototype.removeListener = EventEmitter.prototype.off;
EventEmitter.prototype.removeAllListeners = function(type) {
if (arguments.length === 0) {
!this._events || init.call(this);
return this;
}
if (this.wildcard) {
var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
var leafs = searchListenerTree.call(this, null, ns, this.listenerTree, 0);
for (var iLeaf=0; iLeaf<leafs.length; iLeaf++) {
var leaf = leafs[iLeaf];
leaf._listeners = null;
}
}
else if (this._events) {
this._events[type] = null;
}
return this;
};
EventEmitter.prototype.listeners = function(type) {
if (this.wildcard) {
var handlers = [];
var ns = typeof type === 'string' ? type.split(this.delimiter) : type.slice();
searchListenerTree.call(this, handlers, ns, this.listenerTree, 0);
return handlers;
}
this._events || init.call(this);
if (!this._events[type]) this._events[type] = [];
if (!isArray(this._events[type])) {
this._events[type] = [this._events[type]];
}
return this._events[type];
};
EventEmitter.prototype.eventNames = function(){
return Object.keys(this._events);
}
EventEmitter.prototype.listenerCount = function(type) {
return this.listeners(type).length;
};
EventEmitter.prototype.listenersAny = function() {
if(this._all) {
return this._all;
}
else {
return [];
}
};
if (typeof define === 'function' && define.amd) {
// AMD. Register as an anonymous module.
define(function() {
return EventEmitter;
});
} else if (typeof exports === 'object') {
// CommonJS
module.exports = EventEmitter;
}
else {
// Browser global.
window.EventEmitter2 = EventEmitter;
}
}();
}).call(this,require('_process'))
},{"_process":4}],3:[function(require,module,exports){
/*
object-assign
(c) Sindre Sorhus
@license MIT
*/
'use strict';
/* eslint-disable no-unused-vars */
var getOwnPropertySymbols = Object.getOwnPropertySymbols;
var hasOwnProperty = Object.prototype.hasOwnProperty;
var propIsEnumerable = Object.prototype.propertyIsEnumerable;
function toObject(val) {
if (val === null || val === undefined) {
throw new TypeError('Object.assign cannot be called with null or undefined');
}
return Object(val);
}
function shouldUseNative() {
try {
if (!Object.assign) {
return false;
}
// Detect buggy property enumeration order in older V8 versions.
// https://bugs.chromium.org/p/v8/issues/detail?id=4118
var test1 = new String('abc'); // eslint-disable-line no-new-wrappers
test1[5] = 'de';
if (Object.getOwnPropertyNames(test1)[0] === '5') {
return false;
}
// https://bugs.chromium.org/p/v8/issues/detail?id=3056
var test2 = {};
for (var i = 0; i < 10; i++) {
test2['_' + String.fromCharCode(i)] = i;
}
var order2 = Object.getOwnPropertyNames(test2).map(function (n) {
return test2[n];
});
if (order2.join('') !== '0123456789') {
return false;
}
// https://bugs.chromium.org/p/v8/issues/detail?id=3056
var test3 = {};
'abcdefghijklmnopqrst'.split('').forEach(function (letter) {
test3[letter] = letter;
});
if (Object.keys(Object.assign({}, test3)).join('') !==
'abcdefghijklmnopqrst') {
return false;
}
return true;
} catch (err) {
// We don't expect any of the above to throw, but better to be safe.
return false;
}
}
module.exports = shouldUseNative() ? Object.assign : function (target, source) {
var from;
var to = toObject(target);
var symbols;
for (var s = 1; s < arguments.length; s++) {
from = Object(arguments[s]);
for (var key in from) {
if (hasOwnProperty.call(from, key)) {
to[key] = from[key];
}
}
if (getOwnPropertySymbols) {
symbols = getOwnPropertySymbols(from);
for (var i = 0; i < symbols.length; i++) {
if (propIsEnumerable.call(from, symbols[i])) {
to[symbols[i]] = from[symbols[i]];
}
}
}
}
return to;
};
},{}],4:[function(require,module,exports){
// shim for using process in browser
var process = module.exports = {};
// cached from whatever global is present so that test runners that stub it
// don't break things. But we need to wrap it in a try catch in case it is
// wrapped in strict mode code which doesn't define any globals. It's inside a
// function because try/catches deoptimize in certain engines.
var cachedSetTimeout;
var cachedClearTimeout;
function defaultSetTimout() {
throw new Error('setTimeout has not been defined');
}
function defaultClearTimeout () {
throw new Error('clearTimeout has not been defined');
}
(function () {
try {
if (typeof setTimeout === 'function') {
cachedSetTimeout = setTimeout;
} else {
cachedSetTimeout = defaultSetTimout;
}
} catch (e) {
cachedSetTimeout = defaultSetTimout;
}
try {
if (typeof clearTimeout === 'function') {
cachedClearTimeout = clearTimeout;
} else {
cachedClearTimeout = defaultClearTimeout;
}
} catch (e) {
cachedClearTimeout = defaultClearTimeout;
}
} ())
function runTimeout(fun) {
if (cachedSetTimeout === setTimeout) {
//normal enviroments in sane situations
return setTimeout(fun, 0);
}
// if setTimeout wasn't available but was latter defined
if ((cachedSetTimeout === defaultSetTimout || !cachedSetTimeout) && setTimeout) {
cachedSetTimeout = setTimeout;
return setTimeout(fun, 0);
}
try {
// when when somebody has screwed with setTimeout but no I.E. maddness
return cachedSetTimeout(fun, 0);
} catch(e){
try {
// When we are in I.E. but the script has been evaled so I.E. doesn't trust the global object when called normally
return cachedSetTimeout.call(null, fun, 0);
} catch(e){
// same as above but when it's a version of I.E. that must have the global object for 'this', hopfully our context correct otherwise it will throw a global error
return cachedSetTimeout.call(this, fun, 0);
}
}
}
function runClearTimeout(marker) {
if (cachedClearTimeout === clearTimeout) {
//normal enviroments in sane situations
return clearTimeout(marker);
}
// if clearTimeout wasn't available but was latter defined
if ((cachedClearTimeout === defaultClearTimeout || !cachedClearTimeout) && clearTimeout) {
cachedClearTimeout = clearTimeout;
return clearTimeout(marker);
}
try {
// when when somebody has screwed with setTimeout but no I.E. maddness
return cachedClearTimeout(marker);
} catch (e){
try {
// When we are in I.E. but the script has been evaled so I.E. doesn't trust the global object when called normally
return cachedClearTimeout.call(null, marker);
} catch (e){
// same as above but when it's a version of I.E. that must have the global object for 'this', hopfully our context correct otherwise it will throw a global error.
// Some versions of I.E. have different rules for clearTimeout vs setTimeout
return cachedClearTimeout.call(this, marker);
}
}
}
var queue = [];
var draining = false;
var currentQueue;
var queueIndex = -1;
function cleanUpNextTick() {
if (!draining || !currentQueue) {
return;
}
draining = false;
if (currentQueue.length) {
queue = currentQueue.concat(queue);
} else {
queueIndex = -1;
}
if (queue.length) {
drainQueue();
}
}
function drainQueue() {
if (draining) {
return;
}
var timeout = runTimeout(cleanUpNextTick);
draining = true;
var len = queue.length;
while(len) {
currentQueue = queue;
queue = [];
while (++queueIndex < len) {
if (currentQueue) {
currentQueue[queueIndex].run();
}
}
queueIndex = -1;
len = queue.length;
}
currentQueue = null;
draining = false;
runClearTimeout(timeout);
}
process.nextTick = function (fun) {
var args = new Array(arguments.length - 1);
if (arguments.length > 1) {
for (var i = 1; i < arguments.length; i++) {
args[i - 1] = arguments[i];
}
}
queue.push(new Item(fun, args));
if (queue.length === 1 && !draining) {
runTimeout(drainQueue);
}
};
// v8 likes predictible objects
function Item(fun, array) {
this.fun = fun;
this.array = array;
}
Item.prototype.run = function () {
this.fun.apply(null, this.array);
};
process.title = 'browser';
process.browser = true;
process.env = {};
process.argv = [];
process.version = ''; // empty string to avoid regexp issues
process.versions = {};
function noop() {}
process.on = noop;
process.addListener = noop;
process.once = noop;
process.off = noop;
process.removeListener = noop;
process.removeAllListeners = noop;
process.emit = noop;
process.prependListener = noop;
process.prependOnceListener = noop;
process.listeners = function (name) { return [] }
process.binding = function (name) {
throw new Error('process.binding is not supported');
};
process.cwd = function () { return '/' };
process.chdir = function (dir) {
throw new Error('process.chdir is not supported');
};
process.umask = function() { return 0; };
},{}],5:[function(require,module,exports){
var bundleFn = arguments[3];
var sources = arguments[4];
var cache = arguments[5];
var stringify = JSON.stringify;
module.exports = function (fn, options) {
var wkey;
var cacheKeys = Object.keys(cache);
for (var i = 0, l = cacheKeys.length; i < l; i++) {
var key = cacheKeys[i];
var exp = cache[key].exports;
// Using babel as a transpiler to use esmodule, the export will always
// be an object with the default export as a property of it. To ensure
// the existing api and babel esmodule exports are both supported we
// check for both
if (exp === fn || exp && exp.default === fn) {
wkey = key;
break;
}
}
if (!wkey) {
wkey = Math.floor(Math.pow(16, 8) * Math.random()).toString(16);
var wcache = {};
for (var i = 0, l = cacheKeys.length; i < l; i++) {
var key = cacheKeys[i];
wcache[key] = key;
}
sources[wkey] = [
'function(require,module,exports){' + fn + '(self); }',
wcache
];
}
var skey = Math.floor(Math.pow(16, 8) * Math.random()).toString(16);
var scache = {}; scache[wkey] = wkey;
sources[skey] = [
'function(require,module,exports){' +
// try to call default if defined to also support babel esmodule exports
'var f = require(' + stringify(wkey) + ');' +
'(f.default ? f.default : f)(self);' +
'}',
scache
];
var workerSources = {};
resolveSources(skey);
function resolveSources(key) {
workerSources[key] = true;
for (var depPath in sources[key][1]) {
var depKey = sources[key][1][depPath];
if (!workerSources[depKey]) {
resolveSources(depKey);
}
}
}
var src = '(' + bundleFn + ')({'
+ Object.keys(workerSources).map(function (key) {
return stringify(key) + ':['
+ sources[key][0]
+ ',' + stringify(sources[key][1]) + ']'
;
}).join(',')
+ '},{},[' + stringify(skey) + '])'
;
var URL = window.URL || window.webkitURL || window.mozURL || window.msURL;
var blob = new Blob([src], { type: 'text/javascript' });
if (options && options.bare) { return blob; }
var workerUrl = URL.createObjectURL(blob);
var worker = new Worker(workerUrl);
worker.objectURL = workerUrl;
return worker;
};
},{}],6:[function(require,module,exports){
/**
* @fileOverview
* @author Russell Toris - rctoris@wpi.edu
*/
/**
* If you use roslib in a browser, all the classes will be exported to a global variable called ROSLIB.
*
* If you use nodejs, this is the variable you get when you require('roslib')
*/
var ROSLIB = this.ROSLIB || {
REVISION : '1.1.0'
};
var assign = require('object-assign');
// Add core components
assign(ROSLIB, require('./core'));
assign(ROSLIB, require('./actionlib'));
assign(ROSLIB, require('./math'));
assign(ROSLIB, require('./tf'));
assign(ROSLIB, require('./urdf'));
module.exports = ROSLIB;
},{"./actionlib":12,"./core":21,"./math":26,"./tf":29,"./urdf":41,"object-assign":3}],7:[function(require,module,exports){
(function (global){
global.ROSLIB = require('./RosLib');
}).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})
},{"./RosLib":6}],8:[function(require,module,exports){
/**
* @fileOverview
* @author Russell Toris - rctoris@wpi.edu
*/
var Topic = require('../core/Topic');
var Message = require('../core/Message');
var EventEmitter2 = require('eventemitter2').EventEmitter2;
/**
* An actionlib action client.
*
* Emits the following events:
* * 'timeout' - if a timeout occurred while sending a goal
* * 'status' - the status messages received from the action server
* * 'feedback' - the feedback messages received from the action server
* * 'result' - the result returned from the action server
*
* @constructor
* @param options - object with following keys:
* * ros - the ROSLIB.Ros connection handle
* * serverName - the action server name, like /fibonacci
* * actionName - the action message name, like 'actionlib_tutorials/FibonacciAction'
* * timeout - the timeout length when connecting to the action server
*/
function ActionClient(options) {
var that = this;
options = options || {};
this.ros = options.ros;
this.serverName = options.serverName;
this.actionName = options.actionName;
this.timeout = options.timeout;
this.omitFeedback = options.omitFeedback;
this.omitStatus = options.omitStatus;
this.omitResult = options.omitResult;
this.goals = {};
// flag to check if a status has been received
var receivedStatus = false;
// create the topics associated with actionlib
this.feedbackListener = new Topic({
ros : this.ros,
name : this.serverName + '/feedback',
messageType : this.actionName + 'Feedback'
});
this.statusListener = new Topic({
ros : this.ros,
name : this.serverName + '/status',
messageType : 'actionlib_msgs/GoalStatusArray'
});
this.resultListener = new Topic({
ros : this.ros,
name : this.serverName + '/result',
messageType : this.actionName + 'Result'
});
this.goalTopic = new Topic({
ros : this.ros,
name : this.serverName + '/goal',
messageType : this.actionName + 'Goal'
});
this.cancelTopic = new Topic({
ros : this.ros,
name : this.serverName + '/cancel',
messageType : 'actionlib_msgs/GoalID'
});
// advertise the goal and cancel topics
this.goalTopic.advertise();
this.cancelTopic.advertise();
// subscribe to the status topic
if (!this.omitStatus) {
this.statusListener.subscribe(function(statusMessage) {
receivedStatus = true;
statusMessage.status_list.forEach(function(status) {
var goal = that.goals[status.goal_id.id];
if (goal) {
goal.emit('status', status);
}
});
});
}
// subscribe the the feedback topic
if (!this.omitFeedback) {
this.feedbackListener.subscribe(function(feedbackMessage) {
var goal = that.goals[feedbackMessage.status.goal_id.id];
if (goal) {
goal.emit('status', feedbackMessage.status);
goal.emit('feedback', feedbackMessage.feedback);
}
});
}
// subscribe to the result topic
if (!this.omitResult) {
this.resultListener.subscribe(function(resultMessage) {
var goal = that.goals[resultMessage.status.goal_id.id];
if (goal) {
goal.emit('status', resul