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rosnode.js
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rosnode.js
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(function() {
var Connection = function(url) {
var ths = this;
this.handlers = new Array();
this.marshall = function(data) {return data};
if (typeof JSON.stringify != 'undefined') {
this.marshall = function(data) {
if (typeof data == 'string') return data;
return JSON.stringify(data);
}
}
var parse = function(data) {
var call = '';
eval('call = ' + data);
return call;
}
if (typeof JSON.parse != 'undefined') parse = JSON.parse;
this.onmessage = null;
this.onopen = null;
this.onclose = null;
this.onerror = null;
var WS = require('websocket').client;
var client = new WS();
this.connection = null;
client.on('connect', function(con) {
con.on('message', function(message) {
var e = {data: message.utf8Data};
if(ths.onmessage) {
try {
ths.onmessage(e);
} catch(err) {
ros_debug(err);
}
}
var call = '';
try {
call = parse(e.data);
} catch(err) {
return;
}
for (var i in ths.handlers[call.receiver]) {
var handler = ths.handlers[call.receiver][i]
handler(call.msg);
}
});
con.on('close', function() {if (ths.onclose != null) ths.onclose();});
con.on('error', function() {if (ths.onerror != null) ths.onerror();});
ths.connection = con;
if (ths.onopen != null) {
ths.onopen();
}
});
this.magicServices = new Array('/rosbridge/topics','/rosbridge/services','/rosbridge/typeStringFromTopic','/rosbridge/typeStringFromService','/rosbridge/msgClassFromTypeString','/rosbridge/reqClassFromTypeString','/rosbridge/rspClassFromTypeString','/rosbridge/classFromTopic','/rosbridge/classesFromService');
client.connect(url);
}
Connection.prototype.callService = function(service, payload, callback) {
this.handlers[service] = new Array(callback);
var call = '{"receiver":"' + service + '"';
call += ',"msg":' + this.marshall(payload) + '}';
this.connection.send(call);
}
Connection.prototype.publish = function(topic, typeStr, payload) {
typeStr.replace(/^\//,'');
var call = '{"receiver":"' + topic + '"';
call += ',"msg":' + this.marshall(payload);
call += ',"type":"' + typeStr + '"}';
this.connection.send(call);
}
Connection.prototype.addHandler = function(topic, func) {
if (!(topic in this.handlers)) {
this.handlers[topic] = new Array();
}
this.handlers[topic].push(func);
}
Connection.prototype.setOnError = function(func) {
this.onerror = func;
}
Connection.prototype.setOnClose = function(func) {
this.onclose = func;
}
Connection.prototype.setOnOpen = function(func) {
this.onopen = func;
if (this.connection != null) this.onopen();
}
Connection.prototype.setOnMessage = function(func) {
this.onmessage = func;
}
this.Connection = Connection;
}).call(this);