14751919636

Committed 30 Apr 2025 10:00AM UTC coverage: 85.071%. Remained the same

Build # 14751919636

Build Type

Pull #1112

github

Committed by

web-flow

Commit Message

Merge 0d09af349 into 131ebf8e1

Pull Request Pull Request #1112: Add typescript interface for the added new functions

Run Details

711 of 928 branches covered (76.62%)

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1745 of 1959 relevant lines covered (89.08%)

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57.39

/lib/time_source.js

// Copyright (c) 2018 Intel Corporation. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

'use strict';

const rclnodejs = require('bindings')('rclnodejs');
const { Clock, ROSClock } = require('./clock.js');
const { ClockType } = Clock;
const { Parameter, ParameterType } = require('./parameter.js');
const Time = require('./time.js');

const USE_SIM_TIME_PARAM = 'use_sim_time';
const CLOCK_TOPIC = '/clock';

/**
 * @class - Class representing a TimeSource in ROS
 */

class TimeSource {
  /**
   * Create a TimeSource.
   * @param {Node} node - The node to be attached.
   */
  constructor(node) {
    this._node = node;
    this._associatedClocks = [];
    this._clockSubscription = undefined;
    this._lastTimeSet = new Time(0n, 0n, ClockType.ROS_TIME);
    this._isRosTimeActive = false;

    if (this._node) {
      this.attachNode(this._node);
    }
  }

  get isRosTimeActive() {
    return this._isRosTimeActive;
  }

  set isRosTimeActive(enabled) {
    if (this.isRosTimeActive === enabled) return;

    this._isRosTimeActive = enabled;
    for (const clock in this._associatedClocks) {
      clock.isRosTimeActive = enabled;
    }

    if (enabled) {
      this._subscribeToClockTopic();
    } else if (this._node && this._clockSubscription) {
      this._node.destroySubscription(this._clockSubscription);
      this._node._clockSubscription = null;
    }
  }

  /**
   * Return status that whether the ROS time is active.
   * @name TimeSource#get:isRosTimeActive
   * @function
   * @return {boolean} Return true if the time is active, otherwise return false.
   */

  get isRosTimeActive() {
    return this._isRosTimeActive;
  }

  /**
   * Set the status of time.
   * @param {boolean} enabled - Set the ROS time to be active if enabled is true.
   * @name TimeSource#set:isRosTimeActive
   * @function
   * @return {undefined}
   */

  set isRosTimeActive(enabled) {
    if (this._isRosTimeActive === enabled) return;

    this._isRosTimeActive = enabled;
    this._associatedClocks.forEach((clock) => {
      clock.isRosTimeActive = enabled;
    });
    if (enabled) {
      this._subscribeToClockTopic();
    }
  }

  /**
   * Attach the clock to a Node object.
   * @param {Node} node - The node to be attached.
   * @return {undefined}
   */
  attachNode(node) {
    if ((!node) instanceof rclnodejs.ShadowNode) {
      throw new TypeError('Invalid argument, must be type of Node');
    }

    if (this._node) {
      this.detachNode();
    }

    this._node = node;

    if (!node.hasParameter(USE_SIM_TIME_PARAM)) {
      node.declareParameter(
        new Parameter(USE_SIM_TIME_PARAM, ParameterType.PARAMETER_BOOL, false)
      );
    }

    const useSimTimeParam = node.getParameter(USE_SIM_TIME_PARAM);
    if (useSimTimeParam.type !== ParameterType.PARAMETER_NOT_SET) {
      if (useSimTimeParam.type === ParameterType.PARAMETER_BOOL) {
        this._isRosTimeActive = useSimTimeParam.value;
      } else {
        node
          .getLogger()
          .error(
            `Invalid type for parameter ${USE_SIM_TIME_PARAM} ${useSimTimeParam.type} should be bool`
          );
      }
    } else {
      node
        .getLogger()
        .debug(
          `${USE_SIM_TIME_PARAM}' parameter not set, using wall time by default`
        );
    }

    if (this.isRosTimeActive) {
      this._subscribeToClockTopic();
    }

    node.addOnSetParametersCallback(this.onParameterEvent.bind(this));
  }

  /**
   * Detach the node which the clock have attached.
   * @return {undefined}
   */
  detachNode() {
    if (this._clockSubscription) {
      if (!this._node) {
        throw new Error(
          'Unable to destroy previously created clock subscription'
        );
      }
      this._node.destroySubscription(this._clockSubscription);
    }
    this._clockSubscription = undefined;
    this._node = undefined;
  }

  /**
   * Attach the clock to a TimeSource object.
   * @param {Clock} clock - The node to be attached.
   * @return {undefined}
   */
  attachClock(clock) {
    if (!(clock instanceof ROSClock)) {
      throw new TypeError('Only clocks with type ROS_TIME can be attached.');
    }
    clock.rosTimeOverride = this._lastTimeSet;
    clock.isRosTimeActive = this._isRosTimeActive;
    this._associatedClocks.push(clock);
  }

  _clockCallback(msg) {
    this._lastTimeSet = Time.fromMsg(msg.clock);
    this._associatedClocks.forEach((clock) => {
      clock.rosTimeOverride = this._lastTimeSet;
    });
  }

  _subscribeToClockTopic() {
    if (!this._clockSubscription && this._node) {
      this._clockSubscription = this._node.createSubscription(
        'rosgraph_msgs/msg/Clock',
        CLOCK_TOPIC,
        this._clockCallback.bind(this)
      );
    }
  }

  onParameterEvent(parameters = []) {
    for (const parameter of parameters) {
      if (parameter.name === USE_SIM_TIME_PARAM) {
        if (parameter.type === ParameterType.PARAMETER_BOOL) {
          this.isRosTimeActive = parameter.value;
        } else if (this._node) {
          this._node
            .getLogger()
            .error(
              `${USE_SIM_TIME_PARAM} parameter set to something besides a bool`
            );
        }

        break;
      }
    }

    return {
      successful: true,
      reason: '',
    };
  }
}

module.exports = TimeSource;

1	// Copyright (c) 2018 Intel Corporation. All rights reserved.
2	//
3	// Licensed under the Apache License, Version 2.0 (the "License");
4	// you may not use this file except in compliance with the License.
5	// You may obtain a copy of the License at
6	//
7	// http://www.apache.org/licenses/LICENSE-2.0
8	//
9	// Unless required by applicable law or agreed to in writing, software
10	// distributed under the License is distributed on an "AS IS" BASIS,
11	// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12	// See the License for the specific language governing permissions and
13	// limitations under the License.
14
15	'use strict';
16
17	const rclnodejs = require('bindings')('rclnodejs');	78✔
18	const { Clock, ROSClock } = require('./clock.js');	78✔
19	const { ClockType } = Clock;	78✔
20	const { Parameter, ParameterType } = require('./parameter.js');	78✔
21	const Time = require('./time.js');	78✔
22
23	const USE_SIM_TIME_PARAM = 'use_sim_time';	78✔
24	const CLOCK_TOPIC = '/clock';	78✔
25
26	/**
27	* @class - Class representing a TimeSource in ROS
28	*/
29
30	class TimeSource {
31	/**
32	* Create a TimeSource.
33	* @param {Node} node - The node to be attached.
34	*/
35	constructor(node) {
36	this._node = node;	1,707✔
37	this._associatedClocks = [];	1,707✔
38	this._clockSubscription = undefined;	1,707✔
39	this._lastTimeSet = new Time(0n, 0n, ClockType.ROS_TIME);	1,707✔
40	this._isRosTimeActive = false;	1,707✔
41
42	if (this._node) {	1,707!
43	this.attachNode(this._node);	1,707✔
44	}
45	}
46
47	get isRosTimeActive() {
48	return this._isRosTimeActive;	×
49	}
50
51	set isRosTimeActive(enabled) {
52	if (this.isRosTimeActive === enabled) return;	×
53
54	this._isRosTimeActive = enabled;	×
55	for (const clock in this._associatedClocks) {	×
56	clock.isRosTimeActive = enabled;	×
57	}
58
59	if (enabled) {	×
60	this._subscribeToClockTopic();	×
61	} else if (this._node && this._clockSubscription) {	×
62	this._node.destroySubscription(this._clockSubscription);	×
63	this._node._clockSubscription = null;	×
64	}
65	}
66
67	/**
68	* Return status that whether the ROS time is active.
69	* @name TimeSource#get:isRosTimeActive
70	* @function
71	* @return {boolean} Return true if the time is active, otherwise return false.
72	*/
73
74	get isRosTimeActive() {
75	return this._isRosTimeActive;	1,716✔
76	}
77
78	/**
79	* Set the status of time.
80	* @param {boolean} enabled - Set the ROS time to be active if enabled is true.
81	* @name TimeSource#set:isRosTimeActive
82	* @function
83	* @return {undefined}
84	*/
85
86	set isRosTimeActive(enabled) {
87	if (this._isRosTimeActive === enabled) return;	×
88
89	this._isRosTimeActive = enabled;	×
90	this._associatedClocks.forEach((clock) => {	×
91	clock.isRosTimeActive = enabled;	×
92	});
93	if (enabled) {	×
94	this._subscribeToClockTopic();	×
95	}
96	}
97
98	/**
99	* Attach the clock to a Node object.
100	* @param {Node} node - The node to be attached.
101	* @return {undefined}
102	*/
103	attachNode(node) {
104	if ((!node) instanceof rclnodejs.ShadowNode) {	1,710!
105	throw new TypeError('Invalid argument, must be type of Node');	×
106	}
107
108	if (this._node) {	1,710✔
109	this.detachNode();	1,707✔
110	}
111
112	this._node = node;	1,710✔
113
114	if (!node.hasParameter(USE_SIM_TIME_PARAM)) {	1,710✔
115	node.declareParameter(	1,683✔
116	new Parameter(USE_SIM_TIME_PARAM, ParameterType.PARAMETER_BOOL, false)
117	);
118	}
119
120	const useSimTimeParam = node.getParameter(USE_SIM_TIME_PARAM);	1,710✔
121	if (useSimTimeParam.type !== ParameterType.PARAMETER_NOT_SET) {	1,710!
122	if (useSimTimeParam.type === ParameterType.PARAMETER_BOOL) {	1,710!
123	this._isRosTimeActive = useSimTimeParam.value;	1,710✔
124	} else {
125	node	×
126	.getLogger()
127	.error(
128	`Invalid type for parameter ${USE_SIM_TIME_PARAM} ${useSimTimeParam.type} should be bool`
129	);
130	}
131	} else {
132	node	×
133	.getLogger()
134	.debug(
135	`${USE_SIM_TIME_PARAM}' parameter not set, using wall time by default`
136	);
137	}
138
139	if (this.isRosTimeActive) {	1,710✔
140	this._subscribeToClockTopic();	12✔
141	}
142
143	node.addOnSetParametersCallback(this.onParameterEvent.bind(this));	1,710✔
144	}
145
146	/**
147	* Detach the node which the clock have attached.
148	* @return {undefined}
149	*/
150	detachNode() {
151	if (this._clockSubscription) {	1,710✔
152	if (!this._node) {	3!
153	throw new Error(	×
154	'Unable to destroy previously created clock subscription'
155	);
156	}
157	this._node.destroySubscription(this._clockSubscription);	3✔
158	}
159	this._clockSubscription = undefined;	1,710✔
160	this._node = undefined;	1,710✔
161	}
162
163	/**
164	* Attach the clock to a TimeSource object.
165	* @param {Clock} clock - The node to be attached.
166	* @return {undefined}
167	*/
168	attachClock(clock) {
169	if (!(clock instanceof ROSClock)) {	1,719✔
170	throw new TypeError('Only clocks with type ROS_TIME can be attached.');	6✔
171	}
172	clock.rosTimeOverride = this._lastTimeSet;	1,713✔
173	clock.isRosTimeActive = this._isRosTimeActive;	1,713✔
174	this._associatedClocks.push(clock);	1,713✔
175	}
176
177	_clockCallback(msg) {
178	this._lastTimeSet = Time.fromMsg(msg.clock);	12✔
179	this._associatedClocks.forEach((clock) => {	12✔
180	clock.rosTimeOverride = this._lastTimeSet;	12✔
181	});
182	}
183
184	_subscribeToClockTopic() {
185	if (!this._clockSubscription && this._node) {	12!
186	this._clockSubscription = this._node.createSubscription(	12✔
187	'rosgraph_msgs/msg/Clock',
188	CLOCK_TOPIC,
189	this._clockCallback.bind(this)
190	);
191	}
192	}
193
194	onParameterEvent(parameters = []) {	×
195	for (const parameter of parameters) {	135✔
196	if (parameter.name === USE_SIM_TIME_PARAM) {	135!
197	if (parameter.type === ParameterType.PARAMETER_BOOL) {	×
198	this.isRosTimeActive = parameter.value;	×
199	} else if (this._node) {	×
200	this._node	×
201	.getLogger()
202	.error(
203	`${USE_SIM_TIME_PARAM} parameter set to something besides a bool`
204	);
205	}
206
207	break;	×
208	}
209	}
210
211	return {	135✔
212	successful: true,
213	reason: '',
214	};
215	}
216	}
217
218	module.exports = TimeSource;	78✔

RobotWebTools / rclnodejs / 14751919636

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