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Provide option to anonymize node #18

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Merged
merged 2 commits into from
May 25, 2016
Merged

Provide option to anonymize node #18

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66d1b57
done. tested. works.
chris-smith May 24, 2016
ef4e30f
Remove debug log
chris-smith May 25, 2016
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26 changes: 20 additions & 6 deletions index.js
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@
const netUtils = require('./utils/network_utils.js');
const msgUtils = require('./utils/message_utils.js');
const messages = require('./utils/messages.js');
const util = require('util');
msgUtils.findMessageFiles();

// these will be modules, they depend on logger which isn't initialized yet
Expand Down Expand Up @@ -72,6 +73,16 @@ function _validateNodeName(nodeName) {
return nodeName;
}

/**
* Appends a random string of numeric characters to the end
* of the node name. Follows rospy logic.
* @param nodeName {string} string to anonymize
* @return {string} anonymized nodeName
*/
function _anonymizeNodeName(nodeName) {
return util.format('%s_%s_%s', nodeName, process.pid, Date.now());
}

let Rosnodejs = {
/**
* Initializes a ros node for this process. Only one ros node can exist per process
Expand All @@ -81,19 +92,22 @@ let Rosnodejs = {
* @return {Promise} resolved when connection to master is established
*/
initNode(nodeName, options) {
options = options || {};
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@IanTheEngineer IanTheEngineer May 25, 2016

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Isn't this FIXME still true? String validation of the node name hasn't changed.

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@chris-smith chris-smith May 25, 2016

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I meant to remove it when I added the validation that exists. There is, admittedly, a lot more name validation/mapping that we need to do, though this exists for most ROS names and not specifically for node names.

if (options.anonymous) {
nodeName = _anonymizeNodeName(nodeName);
}

nodeName = _validateNodeName(nodeName);

if (rosNode !== null) {
if (nodeName === rosNode.getNodeName()) {
return Promise.resolve(this.getNodeHandle());
}
// else
throw new Error('Unable to initialize node [' + nodeName + '] - node ['
throw new Error('Unable to initialize node [' + nodeName + '] - node ['
+ rosNode.getNodeName() + '] already exists');
}

// FIXME: validate nodeName -- MUST START WITH '/'
options = options || {};
let rosMasterUri = process.env.ROS_MASTER_URI;
if (options.rosMasterUri) {
rosMasterUri = options.rosMasterUri;
Expand Down Expand Up @@ -170,7 +184,7 @@ let Rosnodejs = {
}
var count = types.length;
return new Promise((resolve, reject) => {
types.forEach(function(type) {
types.forEach(function(type) {
messages.getMessage(type, function(error, Message) {
if (--count == 0) {
resolve();
Expand All @@ -179,15 +193,15 @@ let Rosnodejs = {
});
});
},

/** create message classes for all the given types */
_useServices(types) {
if (!types || types.length == 0) {
return Promise.resolve();
}
var count = types.length;
return new Promise((resolve, reject) => {
types.forEach(function(type) {
types.forEach(function(type) {
messages.getServiceRequest(type, function() {
messages.getServiceResponse(type, function() {
if (--count == 0) {
Expand Down
10 changes: 5 additions & 5 deletions utils/message_utils.js
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Original file line number Diff line number Diff line change
Expand Up @@ -184,7 +184,7 @@ let MessageUtils = {
loadMessagePackage(msgPackage) {
const indexPath = messagePackagePathMap[msgPackage];
if (indexPath === undefined) {
throw new Error('Unable to find message package %s', msgPackage);
throw new Error('Unable to find message package ' + msgPackage);
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@IanTheEngineer IanTheEngineer May 25, 2016

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Is there a JS style guide or linter dictating this change? If not, we should probably choose one. I assume this change is marginally better that it was previous?

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@chris-smith chris-smith May 25, 2016

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error's won't format strings for you like logging will - so in the log you ended up just seeing
Unable to find message package %s

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@IanTheEngineer IanTheEngineer May 25, 2016

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Noted! Not a marginal change at all, then.

}
try {
messagePackageMap[msgPackage] = require(indexPath);
Expand Down Expand Up @@ -225,17 +225,17 @@ let MessageUtils = {
let type = parts[1];
return messagePackage.srv[type];
} else {
let request =
let request =
messages.getFromRegistry(rosDataType, ["srv", "Request"]);
let response =
let response =
messages.getFromRegistry(rosDataType, ["srv", "Response"]);
if (request && response) {
return {
return {
Request: request,
Response: response
};
} else {
console.error('Unable to find service package %s: %j %j',
console.error('Unable to find service package %s: %j %j',
msgPackage, request, response);
throw new Error();
}
Expand Down