roslib/src/core/Topic.js

The standard ROS Javascript Library

/**
 * @fileoverview
 * @author Brandon Alexander - baalexander@gmail.com
 */

var EventEmitter2 = require('eventemitter2').EventEmitter2;
var Message = require('./Message');

/**
 * Publish and/or subscribe to a topic in ROS.
 *
 * Emits the following events:
 *  * 'warning' - if there are any warning during the Topic creation
 *  * 'message' - the message data from rosbridge
 *
 * @constructor
 * @param options - object with following keys:
 *   * ros - the ROSLIB.Ros connection handle
 *   * name - the topic name, like /cmd_vel
 *   * messageType - the message type, like 'std_msgs/String'
 *   * compression - the type of compression to use, like 'png', 'cbor', or 'cbor-raw'
 *   * throttle_rate - the rate (in ms in between messages) at which to throttle the topics
 *   * queue_size - the queue created at bridge side for re-publishing webtopics (defaults to 100)
 *   * latch - latch the topic when publishing
 *   * queue_length - the queue length at bridge side used when subscribing (defaults to 0, no queueing).
 *   * reconnect_on_close - the flag to enable resubscription and readvertisement on close event(defaults to true).
 */
function Topic(options) {
  options = options || {};
  this.ros = options.ros;
  this.name = options.name;
  this.messageType = options.messageType;
  this.isAdvertised = false;
  this.compression = options.compression || 'none';
  this.throttle_rate = options.throttle_rate || 0;
  this.latch = options.latch || false;
  this.queue_size = options.queue_size || 100;
  this.queue_length = options.queue_length || 0;
  this.reconnect_on_close = options.reconnect_on_close !== undefined ? options.reconnect_on_close : true;

  // Check for valid compression types
  if (this.compression && this.compression !== 'png' &&
    this.compression !== 'cbor' && this.compression !== 'cbor-raw' &&
    this.compression !== 'none') {
    this.emit('warning', this.compression +
      ' compression is not supported. No compression will be used.');
    this.compression = 'none';
  }

  // Check if throttle rate is negative
  if (this.throttle_rate < 0) {
    this.emit('warning', this.throttle_rate + ' is not allowed. Set to 0');
    this.throttle_rate = 0;
  }

  var that = this;
  if (this.reconnect_on_close) {
    this.callForSubscribeAndAdvertise = function(message) {
      that.ros.callOnConnection(message);

      that.waitForReconnect = false;
      that.reconnectFunc = function() {
        if(!that.waitForReconnect) {
          that.waitForReconnect = true;
          that.ros.callOnConnection(message);
          that.ros.once('connection', function() {
            that.waitForReconnect = false;
          });
        }
      };
      that.ros.on('close', that.reconnectFunc);
    };
  }
  else {
    this.callForSubscribeAndAdvertise = this.ros.callOnConnection;
  }

  this._messageCallback = function(data) {
    that.emit('message', new Message(data));
  };
}
Topic.prototype.__proto__ = EventEmitter2.prototype;

/**
 * Every time a message is published for the given topic, the callback
 * will be called with the message object.
 *
 * @param callback - function with the following params:
 *   * message - the published message
 */
Topic.prototype.subscribe = function(callback) {
  if (typeof callback === 'function') {
    this.on('message', callback);
  }

  if (this.subscribeId) { return; }
  this.ros.on(this.name, this._messageCallback);
  this.subscribeId = 'subscribe:' + this.name + ':' + (++this.ros.idCounter);

  this.callForSubscribeAndAdvertise({
    op: 'subscribe',
    id: this.subscribeId,
    type: this.messageType,
    topic: this.name,
    compression: this.compression,
    throttle_rate: this.throttle_rate,
    queue_length: this.queue_length
  });
};

/**
 * Unregisters as a subscriber for the topic. Unsubscribing stop remove
 * all subscribe callbacks. To remove a call back, you must explicitly
 * pass the callback function in.
 *
 * @param callback - the optional callback to unregister, if
 *     * provided and other listeners are registered the topic won't
 *     * unsubscribe, just stop emitting to the passed listener
 */
Topic.prototype.unsubscribe = function(callback) {
  if (callback) {
    this.off('message', callback);
    // If there is any other callbacks still subscribed don't unsubscribe
    if (this.listeners('message').length) { return; }
  }
  if (!this.subscribeId) { return; }
  // Note: Don't call this.removeAllListeners, allow client to handle that themselves
  this.ros.off(this.name, this._messageCallback);
  if(this.reconnect_on_close) {
    this.ros.off('close', this.reconnectFunc);
  }
  this.emit('unsubscribe');
  this.ros.callOnConnection({
    op: 'unsubscribe',
    id: this.subscribeId,
    topic: this.name
  });
  this.subscribeId = null;
};


/**
 * Registers as a publisher for the topic.
 */
Topic.prototype.advertise = function() {
  if (this.isAdvertised) {
    return;
  }
  this.advertiseId = 'advertise:' + this.name + ':' + (++this.ros.idCounter);
  this.callForSubscribeAndAdvertise({
    op: 'advertise',
    id: this.advertiseId,
    type: this.messageType,
    topic: this.name,
    latch: this.latch,
    queue_size: this.queue_size
  });
  this.isAdvertised = true;

  if(!this.reconnect_on_close) {
    var that = this;
    this.ros.on('close', function() {
      that.isAdvertised = false;
    });
  }
};

/**
 * Unregisters as a publisher for the topic.
 */
Topic.prototype.unadvertise = function() {
  if (!this.isAdvertised) {
    return;
  }
  if(this.reconnect_on_close) {
    this.ros.off('close', this.reconnectFunc);
  }
  this.emit('unadvertise');
  this.ros.callOnConnection({
    op: 'unadvertise',
    id: this.advertiseId,
    topic: this.name
  });
  this.isAdvertised = false;
};

/**
 * Publish the message.
 *
 * @param message - A ROSLIB.Message object.
 */
Topic.prototype.publish = function(message) {
  if (!this.isAdvertised) {
    this.advertise();
  }

  this.ros.idCounter++;
  var call = {
    op: 'publish',
    id: 'publish:' + this.name + ':' + this.ros.idCounter,
    topic: this.name,
    msg: message,
    latch: this.latch
  };
  this.ros.callOnConnection(call);
};

module.exports = Topic;