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Merge branch 'RobotWebTools:develop' into ros_logging
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@joshua-glazer
joshua-glazer authored Jan 10, 2022
2 parents 0979444 + b096aa8 commit e9d21a5
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16 changes: 11 additions & 5 deletions .github/workflows/main.yml
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Original file line number Diff line number Diff line change
@@ -1,14 +1,11 @@
name: CI

on:
push:
pull_request:
branches-ignore:
- develop
on: [push, pull_request]

jobs:
ci:
name: ${{ matrix.ros_distro }}
if: ${{ github.actor != 'RWT-bot' }}
runs-on: ubuntu-latest
strategy:
fail-fast: false
Expand All @@ -17,9 +14,18 @@ jobs:
node_version: [14]
steps:
- uses: actions/checkout@v2
env:
TOKEN: "${{ github.event_name == 'push' && endsWith(github.ref, 'develop') && matrix.ros_distro == 'noetic' && secrets.RWT_BOT_PAT || github.token }}"
with:
token: ${{ env.TOKEN }}
- name: Docker pull
run: docker pull ros:${{ matrix.ros_distro }}-ros-core
- name: Docker build
run: docker build --build-arg ROS_DISTRO="${{ matrix.ros_distro }}" --build-arg NODE_VERSION="${{ matrix.node_version }}" -t roslibjsdocker .
- name: Tests
run: docker run -v $(pwd):/root/roslibjs --rm roslibjsdocker bash -i -c 'bash /root/roslibjs/test/build.bash'
- uses: stefanzweifel/git-auto-commit-action@v4
if: ${{ github.event_name == 'push' && endsWith(github.ref, 'develop') && matrix.ros_distro == 'noetic' }}
with:
commit_message: Update Build
file_pattern: 'build/*.js'
1 change: 1 addition & 0 deletions AUTHORS.md
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Original file line number Diff line number Diff line change
Expand Up @@ -10,4 +10,5 @@ Original Authors
Contributors
------------

* [Matthijs van der Burgh](https://github.com/MatthijsBurgh) ([email protected])
* Graeme Yeates ([email protected])
121 changes: 108 additions & 13 deletions CHANGELOG.md
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164 changes: 88 additions & 76 deletions build/roslib.js
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Original file line number Diff line number Diff line change
Expand Up @@ -883,83 +883,87 @@ else if (!global.CBOR)
var listeners= null, branch, xTree, xxTree, isolatedBranch, endReached, currentType = type[i],
nextType = type[i + 1], branches, _listeners;

if (i === typeLength && tree._listeners) {
if (i === typeLength) {
//
// If at the end of the event(s) list and the tree has listeners
// invoke those listeners.
//
if (typeof tree._listeners === 'function') {
handlers && handlers.push(tree._listeners);
return [tree];
} else {
handlers && handlers.push.apply(handlers, tree._listeners);
return [tree];

if(tree._listeners) {
if (typeof tree._listeners === 'function') {
handlers && handlers.push(tree._listeners);
listeners = [tree];
} else {
handlers && handlers.push.apply(handlers, tree._listeners);
listeners = [tree];
}
}
}
} else {

if (currentType === '*') {
//
// If the event emitted is '*' at this part
// or there is a concrete match at this patch
//
branches= ownKeys(tree);
n= branches.length;
while(n-->0){
branch= branches[n];
if (branch !== '_listeners') {
_listeners = searchListenerTree(handlers, type, tree[branch], i + 1, typeLength);
if(_listeners){
if(listeners){
listeners.push.apply(listeners, _listeners);
}else{
listeners = _listeners;
if (currentType === '*') {
//
// If the event emitted is '*' at this part
// or there is a concrete match at this patch
//
branches = ownKeys(tree);
n = branches.length;
while (n-- > 0) {
branch = branches[n];
if (branch !== '_listeners') {
_listeners = searchListenerTree(handlers, type, tree[branch], i + 1, typeLength);
if (_listeners) {
if (listeners) {
listeners.push.apply(listeners, _listeners);
} else {
listeners = _listeners;
}
}
}
}
}
return listeners;
} else if (currentType === '**') {
endReached = (i + 1 === typeLength || (i + 2 === typeLength && nextType === '*'));
if (endReached && tree._listeners) {
// The next element has a _listeners, add it to the handlers.
listeners = searchListenerTree(handlers, type, tree, typeLength, typeLength);
}
return listeners;
} else if (currentType === '**') {
endReached = (i + 1 === typeLength || (i + 2 === typeLength && nextType === '*'));
if (endReached && tree._listeners) {
// The next element has a _listeners, add it to the handlers.
listeners = searchListenerTree(handlers, type, tree, typeLength, typeLength);
}

branches= ownKeys(tree);
n= branches.length;
while(n-->0){
branch= branches[n];
if (branch !== '_listeners') {
if (branch === '*' || branch === '**') {
if (tree[branch]._listeners && !endReached) {
_listeners = searchListenerTree(handlers, type, tree[branch], typeLength, typeLength);
if(_listeners){
if(listeners){
listeners.push.apply(listeners, _listeners);
}else{
listeners = _listeners;
branches = ownKeys(tree);
n = branches.length;
while (n-- > 0) {
branch = branches[n];
if (branch !== '_listeners') {
if (branch === '*' || branch === '**') {
if (tree[branch]._listeners && !endReached) {
_listeners = searchListenerTree(handlers, type, tree[branch], typeLength, typeLength);
if (_listeners) {
if (listeners) {
listeners.push.apply(listeners, _listeners);
} else {
listeners = _listeners;
}
}
}
_listeners = searchListenerTree(handlers, type, tree[branch], i, typeLength);
} else if (branch === nextType) {
_listeners = searchListenerTree(handlers, type, tree[branch], i + 2, typeLength);
} else {
// No match on this one, shift into the tree but not in the type array.
_listeners = searchListenerTree(handlers, type, tree[branch], i, typeLength);
}
_listeners = searchListenerTree(handlers, type, tree[branch], i, typeLength);
} else if (branch === nextType) {
_listeners = searchListenerTree(handlers, type, tree[branch], i + 2, typeLength);
} else {
// No match on this one, shift into the tree but not in the type array.
_listeners = searchListenerTree(handlers, type, tree[branch], i, typeLength);
}
if(_listeners){
if(listeners){
listeners.push.apply(listeners, _listeners);
}else{
listeners = _listeners;
if (_listeners) {
if (listeners) {
listeners.push.apply(listeners, _listeners);
} else {
listeners = _listeners;
}
}
}
}
return listeners;
} else if (tree[currentType]) {
listeners = searchListenerTree(handlers, type, tree[currentType], i + 1, typeLength);
}
return listeners;
}else if (tree[currentType]) {
listeners= searchListenerTree(handlers, type, tree[currentType], i + 1, typeLength);
}

xTree = tree['*'];
Expand Down Expand Up @@ -2486,7 +2490,7 @@ module.exports = function (fn, options) {
* If you use nodejs, this is the variable you get when you require('roslib')
*/
var ROSLIB = this.ROSLIB || {
REVISION : '1.1.0'
REVISION : '1.2.0'
};

var assign = require('object-assign');
Expand Down Expand Up @@ -3880,7 +3884,7 @@ Ros.prototype.getTopicsAndRawTypes = function(callback, failedCallback) {

module.exports = Ros;

},{"../util/workerSocket":48,"./Service":17,"./ServiceRequest":18,"./SocketAdapter.js":20,"eventemitter2":2,"object-assign":3,"ws":44}],17:[function(require,module,exports){
},{"../util/workerSocket":48,"./Service":17,"./ServiceRequest":18,"./SocketAdapter.js":20,"eventemitter2":2,"object-assign":3,"ws":45}],17:[function(require,module,exports){
/**
* @fileoverview
* @author Brandon Alexander - [email protected]
Expand Down Expand Up @@ -4176,7 +4180,7 @@ function SocketAdapter(client) {

module.exports = SocketAdapter;

},{"../util/cborTypedArrayTags":43,"../util/decompressPng":46,"cbor-js":1}],21:[function(require,module,exports){
},{"../util/cborTypedArrayTags":43,"../util/decompressPng":47,"cbor-js":1}],21:[function(require,module,exports){
/**
* @fileoverview
* @author Brandon Alexander - [email protected]
Expand Down Expand Up @@ -4753,6 +4757,7 @@ function TFClient(options) {
this.frameInfos = {};
this.republisherUpdateRequested = false;
this._subscribeCB = null;
this._isDisposed = false;

// Create an Action client
this.actionClient = new ActionClient({
Expand Down Expand Up @@ -4845,6 +4850,12 @@ TFClient.prototype.updateGoal = function() {
* @param response the service response containing the topic name
*/
TFClient.prototype.processResponse = function(response) {
// Do not setup a topic subscription if already disposed. Prevents a race condition where
// The dispose() function is called before the service call receives a response.
if (this._isDisposed) {
return;
}

// if we subscribed to a topic before, unsubscribe so
// the republisher stops publishing it
if (this.currentTopic) {
Expand Down Expand Up @@ -4917,6 +4928,7 @@ TFClient.prototype.unsubscribe = function(frameID, callback) {
* Unsubscribe and unadvertise all topics associated with this TFClient.
*/
TFClient.prototype.dispose = function() {
this._isDisposed = true;
this.actionClient.dispose();
if (this.currentTopic) {
this.currentTopic.unsubscribe(this._subscribeCB);
Expand Down Expand Up @@ -5223,15 +5235,15 @@ function UrdfMesh(options) {
module.exports = UrdfMesh;
},{"../math/Vector3":26,"./UrdfTypes":40}],38:[function(require,module,exports){
/**
* @fileOverview
* @fileOverview
* @author Benjamin Pitzer - [email protected]
* @author Russell Toris - [email protected]
*/

var UrdfMaterial = require('./UrdfMaterial');
var UrdfLink = require('./UrdfLink');
var UrdfJoint = require('./UrdfJoint');
var DOMParser = require('xmldom').DOMParser;
var DOMParser = require('@xmldom/xmldom').DOMParser;

// See https://developer.mozilla.org/docs/XPathResult#Constants
var XPATH_FIRST_ORDERED_NODE_TYPE = 9;
Expand Down Expand Up @@ -5294,7 +5306,7 @@ function UrdfModel(options) {
// Check for a material
for( var j=0; j<link.visuals.length; j++ )
{
var mat = link.visuals[j].material;
var mat = link.visuals[j].material;
if ( mat !== null && mat.name ) {
if (this.materials[mat.name] !== void 0) {
link.visuals[j].material = this.materials[mat.name];
Expand All @@ -5318,7 +5330,7 @@ function UrdfModel(options) {

module.exports = UrdfModel;

},{"./UrdfJoint":34,"./UrdfLink":35,"./UrdfMaterial":36,"xmldom":47}],39:[function(require,module,exports){
},{"./UrdfJoint":34,"./UrdfLink":35,"./UrdfMaterial":36,"@xmldom/xmldom":44}],39:[function(require,module,exports){
/**
* @fileOverview
* @author Benjamin Pitzer - [email protected]
Expand Down Expand Up @@ -5613,14 +5625,19 @@ if (typeof module !== 'undefined' && module.exports) {
}

},{}],44:[function(require,module,exports){
module.exports = typeof window !== 'undefined' ? window.WebSocket : WebSocket;
exports.DOMImplementation = window.DOMImplementation;
exports.XMLSerializer = window.XMLSerializer;
exports.DOMParser = window.DOMParser;

},{}],45:[function(require,module,exports){
module.exports = typeof window !== 'undefined' ? window.WebSocket : WebSocket;

},{}],46:[function(require,module,exports){
/* global document */
module.exports = function Canvas() {
return document.createElement('canvas');
};
},{}],46:[function(require,module,exports){
},{}],47:[function(require,module,exports){
/**
* @fileOverview
* @author Graeme Yeates - github.com/megawac
Expand Down Expand Up @@ -5678,12 +5695,7 @@ function decompressPng(data, callback) {

module.exports = decompressPng;

},{"canvas":45}],47:[function(require,module,exports){
exports.DOMImplementation = window.DOMImplementation;
exports.XMLSerializer = window.XMLSerializer;
exports.DOMParser = window.DOMParser;

},{}],48:[function(require,module,exports){
},{"canvas":46}],48:[function(require,module,exports){
var work = require('webworkify');
var workerSocketImpl = require('./workerSocketImpl');

Expand Down Expand Up @@ -5779,4 +5791,4 @@ module.exports = function(self) {
});
};

},{"ws":44}]},{},[8]);
},{"ws":45}]},{},[8]);
2 changes: 1 addition & 1 deletion build/roslib.min.js
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