[#211] Adjust code based on Peter's request

robot/basestation/static/js/roslibjs/ros-helpers.js

@@ -9,6 +9,7 @@ const ROSWARN = 4  // warning level
 const ROSERROR = 8 // error level
 const ROSFATAL = 16 // fatal/critical level
 
+//
 function initRosWeb () {
   ros = new ROSLIB.Ros({
     url: 'ws://' + env.HOST_IP + ':9090'
@@ -205,18 +206,28 @@ function initRosWeb () {
 
 /* functions used in main code */
 
+/**
+ * Gets the current time and formats it for ROS and the GUI.
+ * @return array of two variables: ROS time object, string containing hh:mm:ss
+*/
 function rosTimestamp () {
   // next few lines taken and adjusted from roslibjs action server example
   let currentTime = new Date()
   let secs = currentTime.getTime()/1000 // seconds before truncating the decimal
   let secsFloored = Math.floor(secs) // seconds after truncating
-  let nsecs = Math.round(1000000000*(secs-secsFloored)) // nanoseconds since the previous second
+  let nanoSecs = Math.round(1000000000*(secs-secsFloored)) // nanoseconds since the previous second
 
   // return a dictionary for the ROS log and a string for the gui console
   let stampTime = currentTime.toString().split(' ')[4] // hh:mm:ss from date object
-  return [{secs : secsFloored, nsecs : nsecs}, stampTime]
+  return [{secs : secsFloored, nsecs : nanoSecs}, stampTime]
 }
 
+/**
+ * Creates and publishes a ROS log message to /rosout based on the parameters
+ * @param logLevel one of the ROS loglevel constants defined above
+ * @param timestamp ros time object containing seconds and nanoseconds
+ * @param message the log message
+*/
 function publishRosLog (logLevel, timestamp, message) {
   ros_logger.publish(
     new ROSLIB.Message({
@@ -237,39 +248,74 @@ function publishRosLog (logLevel, timestamp, message) {
   )
 }
 
+/**
+ * Prints the log message to the GUI and chrome console.
+ * Also calls publishRosLog with the message and parameters.
+ * @param logLevel one of the ROS loglevel constants defined above
+ * @param message the log message
+*/
 function rosLog (logLevel, message) {
   logData = {}
-  logData[ROSDEBUG] = {prefix : '[DEBUG]', isError : false}
-  logData[ROSINFO] = {prefix : '[INFO]', isError : false}
-  logData[ROSWARN] = {prefix : '[WARN]', isError : true}
-  logData[ROSERROR] = {prefix : '[ERROR]', isError : true}
-  logData[ROSFATAL] = {prefix : '[FATAL]', isError : true}
+  logData[ROSDEBUG] = {prefix : '[DEBUG]', type : 'log'}
+  logData[ROSINFO] = {prefix : '[INFO]', type : 'log'}
+  logData[ROSWARN] = {prefix : '[WARN]', type : 'warn'}
+  logData[ROSERROR] = {prefix : '[ERROR]', type : 'error'}
+  logData[ROSFATAL] = {prefix : '[FATAL]', type : 'error'}
 
   stamps = rosTimestamp()
   consoleMsg = logData[logLevel].prefix + ' [' + stamps[1] + ']: ' + message
 
-  !logData[logLevel].isError
-    ? console.log(consoleMsg)
-    : console.error(consoleMsg)
+  if (logData[logLevel].type === 'log') {
+    console.log(consoleMsg)
+  } else if (logData[logLevel].type === 'warn') {
+    console.warn(consoleMsg)
+  } else if (logData[logLevel].type === 'error') {
+    console.error(consoleMsg)
+  }
   appendToConsole(consoleMsg, false)
   // log messages go to log file: currently rosout.log
   publishRosLog(logLevel, stamps[0], message)
 }
 
 // these functions copy the rospy logging functions
+/**
+ * Sends a debug message with timestamp to the GUI and chrome consoles.
+ * Also publishes it to /rosout.
+ * @param message the log message
+*/
 function logDebug (message) {
   // unlike rospy, (currently) the debug messages we generate will get published
   rosLog(ROSDEBUG, message)
 }
+/**
+ * Sends an info message with timestamp to the GUI and chrome consoles.
+ * Also publishes it to /rosout.
+ * @param message the log message
+*/
 function logInfo (message) {
   rosLog(ROSINFO, message)
 }
+/**
+ * Sends a warning message with timestamp to the GUI and chrome consoles.
+ * Also publishes it to /rosout.
+ * @param message the log message
+*/
 function logWarn (message) {
   rosLog(ROSWARN, message)
 }
+/**
+ * Sends an error message with timestamp to the GUI and chrome consoles.
+ * Also publishes it to /rosout.
+ * @param message the log message
+*/
 function logErr (message) {
   rosLog(ROSERROR, message)
 }
+/**
+ * Sends a fatal error message with timestamp to the GUI and chrome consoles.
+ * Also publishes it to /rosout.
+ * @param message the log message
+*/
 function logFatal (message) {
   rosLog(ROSFATAL, message)
 }