roslib/dist/src/core/Ros.d.ts

The standard ROS Javascript Library

import { RosbridgeMessage, RosbridgeSetStatusLevelMessage } from '../types/protocol.ts';
import { default as Topic } from './Topic.ts';
import { default as Service } from './Service.ts';
import { default as Param } from './Param.ts';
import { default as TFClient } from '../tf/TFClient.ts';
import { default as ActionClient } from '../actionlib/ActionClient.ts';
import { default as SimpleActionServer } from '../actionlib/SimpleActionServer.ts';
import { EventEmitter } from 'eventemitter3';
import { rosapi } from '../types/rosapi.ts';
import { ITransportFactory, TransportEvent } from './transport/Transport.ts';
export interface TypeDefDict {
    [key: string]: string | string[] | TypeDefDict | TypeDefDict[];
}
/**
 * Manages connection to the rosbridge server and all interactions with ROS.
 *
 * Emits the following events:
 *  * 'connection'  - Connected to the rosbridge server.
 *  * 'close' - Disconnected to the rosbridge server.
 *  * 'error' - There was an error with ROS.
 *  * <topicName> - A message came from rosbridge with the given topic name.
 *  * <serviceID> - A service response came from rosbridge with the given ID.
 */
export default class Ros extends EventEmitter<{
    connection: [TransportEvent];
    close: [TransportEvent];
    error: [TransportEvent];
} & Record<string, [RosbridgeMessage]>> {
    #private;
    private transport?;
    private transportFactory;
    constructor({ url, transportFactory, }?: {
        /**
         * The rosbridge server URL. Can be specified later with `connect`.
         * If specified, then will immediately try to connect to the server.
         */
        url?: string;
        /**
         * The factory to use to create a transport.
         * Defaults to a WebSocket transport factory.
         */
        transportFactory?: ITransportFactory;
    });
    get isConnected(): boolean;
    connect(url: string): Promise<void>;
    close(): void;
    private handleMessage;
    /**
     * Send an authorization request to the server.
     *
     * @param mac - MAC (hash) string given by the trusted source.
     * @param client - IP of the client.
     * @param dest - IP of the destination.
     * @param rand - Random string given by the trusted source.
     * @param t - Time of the authorization request.
     * @param level - User level as a string given by the client.
     * @param end - End time of the client's session.
     */
    authenticate(mac: string, client: string, dest: string, rand: string, t: number, level: string, end: number): void;
    /**
     * Sends the message to the transport.
     * If not connected, queues the message to send once reconnected.
     */
    callOnConnection(message: RosbridgeMessage): void;
    /**
     * Send a set_level request to the server.
     *
     * @param level - Status level (none, error, warning, info).
     * @param [id] - Operation ID to change status level on.
     */
    setStatusLevel(level: RosbridgeSetStatusLevelMessage["level"], id?: string): void;
    /**
     * Retrieve a list of action servers in ROS as an array of string.
     *
     * @param callback - Function with the following params:
     * @param [failedCallback] - The callback function when the service call failed with params:
     */
    getActionServers(callback: (actionservers: string[]) => void, failedCallback?: (error: string) => void): void;
    /**
     * Retrieve a list of topics in ROS as an array.
     *
     * @param callback - Function with the following params:
     * @param [failedCallback] - The callback function when the service call failed with params:
     */
    getTopics(callback: (result: rosapi.TopicsResponse) => void, failedCallback?: (error: string) => void): void;
    /**
     * Retrieve a list of topics in ROS as an array of a specific type.
     *
     * @param topicType - The topic type to find.
     * @param callback - Function with the following params:
     * @param [failedCallback] - The callback function when the service call failed with params:
     */
    getTopicsForType(topicType: string, callback: (topics: string[]) => void, failedCallback?: (error: string) => void): void;
    /**
     * Retrieve a list of active service names in ROS.
     *
     * @param callback - Function with the following params:
     * @param [failedCallback] - The callback function when the service call failed with params:
     */
    getServices(callback: (services: string[]) => void, failedCallback?: (error: string) => void): void;
    /**
     * Retrieve a list of services in ROS as an array as specific type.
     *
     * @param serviceType - The service type to find.
     * @param callback - Function with the following params:
     * @param [failedCallback] - The callback function when the service call failed with params:
     */
    getServicesForType(serviceType: string, callback: (services: string[]) => void, failedCallback?: (error: string) => void): void;
    /**
     * Retrieve the details of a ROS service request.
     *
     * @param type - The type of the service.
     * @param callback - Function with the following params:
     * @param [failedCallback] - The callback function when the service call failed with params:
     */
    getServiceRequestDetails(type: string, callback: (result: rosapi.ServiceRequestDetailsResponse) => void, failedCallback?: (error: string) => void): void;
    /**
     * Retrieve the details of a ROS service response.
     *
     * @param type - The type of the service.
     * @param callback - Function with the following params:
     * @param [failedCallback] - The callback function when the service call failed with params:
     */
    getServiceResponseDetails(type: string, callback: (result: rosapi.ServiceResponseDetailsResponse) => void, failedCallback?: (error: string) => void): void;
    /**
     * Retrieve a list of active node names in ROS.
     *
     * @param callback - Function with the following params:
     * @param [failedCallback] - The callback function when the service call failed with params:
     */
    getNodes(callback: (result: string[]) => void, failedCallback?: (error: string) => void): void;
    /**
     * Retrieve a list of subscribed topics, publishing topics and services of a specific node.
     *
     * @param node - Name of the node.
     */
    getNodeDetails(node: string, callback: (result: rosapi.NodeDetailsResponse) => void, failedCallback?: (error: string) => void): void;
    /**
     * Retrieve a list of parameter names from the ROS Parameter Server.
     *
     * @param callback - Function with the following params:
     * @param failedCallback - The callback function when the service call failed with params:
     */
    getParams(callback: (names: string[]) => void, failedCallback?: (error: string) => void): void;
    /**
     * Retrieve the type of a ROS topic.
     *
     * @param topic - Name of the topic.
     * @param callback - Function with the following params:
     * @param [failedCallback] - The callback function when the service call failed with params:
     */
    getTopicType(topic: string, callback: (type: string) => void, failedCallback?: (error: string) => void): void;
    /**
     * Retrieve the type of a ROS service.
     *
     * @param service - Name of the service.
     * @param callback - Function with the following params:
     * @param [failedCallback] - The callback function when the service call failed with params:
     */
    getServiceType(service: string, callback: (type: string) => void, failedCallback?: (error: string) => void): void;
    /**
     * Retrieve the details of a ROS message.
     *
     * @param message - The name of the message type.
     * @param callback - Function with the following params:
     * @param [failedCallback] - The callback function when the service call failed with params:
     */
    getMessageDetails(message: string, callback: (typedefs: rosapi.TypeDef[]) => void, failedCallback?: (error: string) => void): void;
    /**
     * Decode a typedef array into a dictionary like `rosmsg show foo/bar`.
     *
     * @param defs - Array of type_def dictionary.
     */
    decodeTypeDefs(defs: rosapi.TypeDef[]): TypeDefDict;
    /**
     * @callback getTopicsAndRawTypesCallback
     * @param {Object} result - The result object with the following params:
     * @param {string[]} result.topics - Array of topic names.
     * @param {string[]} result.types - Array of message type names.
     * @param {string[]} result.typedefs_full_text - Array of full definitions of message types, similar to `gendeps --cat`.
     */
    /**
     * @callback getTopicsAndRawTypesFailedCallback
     * @param {string} error - The error message reported by ROS.
     */
    /**
     * Retrieve a list of topics and their associated type definitions.
     *
     * @param callback - Function with the following params:
     * @param [failedCallback] - The callback function when the service call failed with params:
     */
    getTopicsAndRawTypes(callback: (result: rosapi.TopicsAndRawTypesResponse) => void, failedCallback?: (error: string) => void): void;
    Topic<T>(options: Omit<ConstructorParameters<typeof Topic<T>>[0], "ros">): Topic<T>;
    Param<T>(options: Omit<ConstructorParameters<typeof Param<T>>[0], "ros">): Param<T>;
    Service<TRequest, TResponse>(options: Omit<ConstructorParameters<typeof Service<TRequest, TResponse>>[0], "ros">): Service<TRequest, TResponse>;
    TFClient(options: Omit<ConstructorParameters<typeof TFClient>[0], "ros">): TFClient;
    ActionClient<TGoal, TFeedback, TResult>(options: Omit<ConstructorParameters<typeof ActionClient<TGoal, TFeedback, TResult>>[0], "ros">): ActionClient<TGoal, TFeedback, TResult>;
    SimpleActionServer<TGoal, TFeedback, TResult>(options: Omit<ConstructorParameters<typeof SimpleActionServer<TGoal, TFeedback, TResult>>[0], "ros">): SimpleActionServer<TGoal, TFeedback, TResult>;
}