Make all failureCallbacks default to console.error (#1026)

Author: EzraBrooks

eslint.config.ts

@@ -36,6 +36,7 @@ export default tseslint.config(
       "@typescript-eslint/no-namespace": 0,
       // Plenty of APIs (like mocking APIs in Vitest) require empty functions to be declared.
       "@typescript-eslint/no-empty-function": 0,
+      "@typescript-eslint/no-unnecessary-condition": "error",
     },
   },
   {

src/actionlib/ActionClient.ts

@@ -26,7 +26,7 @@ export default class ActionClient<
 > extends EventEmitter<{
   timeout: void;
 }> {
-  goals: Record<string, Goal<TGoal>> = {};
+  goals: Partial<Record<string, Goal<TGoal>>> = {};
   /** flag to check if a status has been received */
   receivedStatus = false;
   ros: Ros;

src/core/Action.ts

@@ -59,7 +59,7 @@ export default class Action<
     goal: TGoal,
     resultCallback: (result: TResult) => void,
     feedbackCallback?: (feedback: TFeedback) => void,
-    failedCallback?: (error: string) => void,
+    failedCallback: (error: string) => void = console.error,
   ) {
     if (this.isAdvertised) {
       return;
@@ -68,19 +68,17 @@ export default class Action<
     const actionGoalId =
       "send_action_goal:" + this.name + ":" + ++this.ros.idCounter;
 
-    if (resultCallback || failedCallback) {
-      this.ros.on(actionGoalId, function (message) {
-        if (isRosbridgeActionResultMessage<TResult>(message)) {
-          if (!message.result) {
-            failedCallback?.(message.values ?? "");
-          } else {
-            resultCallback?.(message.values);
-          }
-        } else if (isRosbridgeActionFeedbackMessage<TFeedback>(message)) {
-          feedbackCallback?.(message.values);
+    this.ros.on(actionGoalId, function (message) {
+      if (isRosbridgeActionResultMessage<TResult>(message)) {
+        if (!message.result) {
+          failedCallback(message.values ?? "");
+        } else {
+          resultCallback(message.values);
         }
-      });
-    }
+      } else if (isRosbridgeActionFeedbackMessage<TFeedback>(message)) {
+        feedbackCallback?.(message.values);
+      }
+    });
 
     const call = {
       op: "send_action_goal",
@@ -166,15 +164,15 @@ export default class Action<
       this.ros.on(id, (message) => {
         if (
           isRosbridgeCancelActionGoalMessage(message) &&
-          typeof this.#cancelCallback === "function"
+          this.#cancelCallback
         ) {
           this.#cancelCallback(id);
         }
       });
     }
 
     // Call the action goal execution function provided.
-    if (typeof this.#actionCallback === "function") {
+    if (this.#actionCallback) {
       this.#actionCallback(rosbridgeRequest.args, id);
     }
   }

src/core/Param.ts

@@ -28,7 +28,10 @@ export default class Param<T = unknown> {
    * @param callback - The callback function.
    * @param [failedCallback] - The callback function when the service call failed or the parameter retrieval was unsuccessful.
    */
-  get(callback: (value: T) => void, failedCallback?: (error: string) => void) {
+  get(
+    callback: (value: T) => void,
+    failedCallback: (error: string) => void = console.error,
+  ) {
     const paramClient = new Service<
       rosapi.GetParamRequest,
       rosapi.GetParamResponse
@@ -43,7 +46,7 @@ export default class Param<T = unknown> {
     paramClient.callService(
       request,
       function (result) {
-        if (result.successful === false && failedCallback) {
+        if (result.successful === false) {
           failedCallback(result.reason);
         } else {
           const value = JSON.parse(result.value);
@@ -63,7 +66,7 @@ export default class Param<T = unknown> {
   set(
     value: object,
     callback?: (message: rosapi.SetParamResponse) => void,
-    failedCallback?: (error: string) => void,
+    failedCallback: (error: string) => void = console.error,
   ) {
     const paramClient = new Service<
       rosapi.SetParamRequest,
@@ -82,7 +85,7 @@ export default class Param<T = unknown> {
     paramClient.callService(
       request,
       function (result) {
-        if (result.successful === false && failedCallback) {
+        if (result.successful === false) {
           failedCallback(result.reason);
         } else if (callback) {
           callback(result);
@@ -99,7 +102,7 @@ export default class Param<T = unknown> {
    */
   delete(
     callback: (message: rosapi.DeleteParamResponse) => void,
-    failedCallback?: (error: string) => void,
+    failedCallback: (error: string) => void = console.error,
   ) {
     const paramClient = new Service<
       rosapi.DeleteParamRequest,
@@ -117,9 +120,9 @@ export default class Param<T = unknown> {
     paramClient.callService(
       request,
       function (result) {
-        if (result.successful === false && failedCallback) {
+        if (result.successful === false) {
           failedCallback(result.reason);
-        } else if (callback) {
+        } else {
           callback(result);
         }
       },