Treat actions like other topics

Author: chfritz

utils/fields.js

@@ -76,6 +76,10 @@ fields.parsePrimitive = function(fieldType, fieldValue) {
   else if (fieldType === 'float64') {
     parsedValue = parseFloat(fieldValue);
   }
+  // else if (fieldType === 'time') {
+  //   parsedValue.secs = parseInt(fieldValue.secs);
+  //   parsedValue.nsecs = parseInt(fieldValue.nsecs);
+  // }
 
   return parsedValue;
 };
@@ -120,6 +124,14 @@ fields.serializePrimitive =
       bufferOffset += 4;
       buffer.write(fieldValue, bufferOffset, 'ascii');
     }
+    // else if (fieldType === 'time') {
+    //   console.log("serializePrimitive, time", fieldValue);
+    //   buffer.writeUInt32LE(fieldValue.secs, bufferOffset);
+    //   buffer.writeUInt32LE(fieldValue.nsecs, bufferOffset+4);
+    // }
+    
+    // console.log("serialize", fieldType, fieldValue, 
+    //             buffer.toString('ascii'), bufferOffset);
   }
 
 fields.deserializePrimitive = function(fieldType, buffer, bufferOffset) {
@@ -251,10 +263,11 @@ fields.getArraySize = function(arrayType, array) {
 fields.getMessageSize = function(message) {
   var that        = this
     , messageSize = 0
-    , fields      = message.fields
+    , innerfields      = message.fields
     ;
+  // console.log("getMessageSize", message);
 
-  fields.forEach(function(field) {
+  innerfields.forEach(function(field) {
     var fieldValue = message[field.name];
     if (that.isPrimitive(field.type)) {
       messageSize += that.getPrimitiveSize(field.type, fieldValue);

utils/messages.js

@@ -62,10 +62,10 @@ var registry = {};
                ...
              }
            },
-      action: { Goal: ..,
-                Result: ..,
-                Feedback: ..
-              }
+      // action: { Goal: ..,
+      //           Result: ..,
+      //           Feedback: ..
+      //         }
     },
     'packagename2': {..}
   };
@@ -120,14 +120,18 @@ function setMessageInRegistry(messageType, message, type, subtype) {
   if (type == "msg") {
     // message
     registry[packageName][type][messageName] = message;
+  } else if (type == "action") {
+    // action
+    // concating subtype "Goal", "Result", or "Feedback"
+    registry[packageName]["msg"][messageName + subtype] = message;
 
   } else {
-    // service or action
+    // service
     if (!registry[packageName][type][messageName]) {
       registry[packageName][type][messageName] = {};
     }
 
-    var serviceType = subtype; // "Request" or "Response", or "Goal", "Result", "Feedback"
+    var serviceType = subtype; // "Request" or "Response"
     registry[packageName][type][messageName][serviceType] = message;    
   }
 }
@@ -165,21 +169,21 @@ function getMessageFromFile(messageType, filePath, type, callback) {
         if (type == "msg") {
           message = buildMessageClass(details);
           setMessageInRegistry(messageType, message, type);
-          callback(null);
+          callback(null, message);
         } else if (type == "srv") {
           request = buildMessageClass(details.request);
           response = buildMessageClass(details.response);
           setMessageInRegistry(messageType, request, type, "Request");
           setMessageInRegistry(messageType, response, type, "Response");
-          callback(null);
+          callback(null, message);
         } else if (type == "action") {
           goal = buildMessageClass(details.goal);
           result = buildMessageClass(details.result);
           feedback = buildMessageClass(details.feedback);
           setMessageInRegistry(messageType, goal, type, "Goal");
           setMessageInRegistry(messageType, result, type, "Result");
           setMessageInRegistry(messageType, feedback, type, "Feedback");
-          callback(null);
+          callback(null, message);
         } else {
           console.log("unknown service", type);
         }
@@ -220,6 +224,14 @@ function parseMessageFile(fileName, details, type, callback) {
               rtv.request.md5 = rtv.response.md5 = calculateMD5(rtv, "srv");
               callback(null, rtv);
             } else if (type == "action") {
+              // TODO: need to create the action-prefix message types,
+              // too, where we wrap the message like this:
+              // Header header
+              // actionlib_msgs/GoalID goal_id
+              // ShapeGoal goal
+              //
+              // see /opt/ros/indigo/share/turtle_actionlib/msg/ShapeGoal.msg
+
               // actions treat each message type as independent, each
               // with their own md5sum
               var rtv = {
@@ -292,6 +304,8 @@ function calculateMD5(details, type) {
     console.log("calculateMD5: Unknown type", type);
     return null;
   }
+
+  console.log("calculateMD5:", details.messageType, " text:", text);
   return md5(text);
 }
 
@@ -559,6 +573,7 @@ function serializeMessage(message, bufferInfo) {
   bufferInfo.buffer = [buffer];
   bufferInfo.length = bufferSize;
 
+  // console.log("serializeMessage", buffer.toString('hex'));
   return bufferInfo;
 }