Testing use of actionlib topic with turtlesim

- now using a patched version of xmlrpc that sends content-length
  headers on method responses. This omission was preventing tutlesim
  from receiving publications from rosnodejs, and hence also action
  lib calls.

Author: chfritz

lib/Publisher.js

@@ -180,12 +180,13 @@ class Publisher extends EventEmitter {
         // console.log("_publish", this._messageHandler, msg);
         bufferInfo = this._messageHandler.serialize(msg, bufferInfo);
         // bufferInfo = msg.serialize();
-        // console.log("_publish", bufferInfo);
+        // console.log("_publish", bufferInfo.buffer[0].toString('hex'));
 
         // prepend byte length to message
         let serialized = Serialize(
           Buffer.concat(bufferInfo.buffer, bufferInfo.length));
         Object.keys(this._subClients).forEach((client) => {
+          console.log("_publish to client", client);
           this._subClients[client].write(serialized);
         });
 
@@ -255,6 +256,7 @@ class Publisher extends EventEmitter {
 
     // if handshake good, add to list, we'll start publishing to it
     this._subClients[subscriber.name] = subscriber;
+    // console.log("subscriber", subscriber);
 
     this.emit('connection', header, subscriber.name);
   }

lib/RosNode.js

@@ -81,6 +81,7 @@ class RosNode extends EventEmitter {
   }
 
   advertise(options) {
+    console.log("advertise", options);
     let topic = options.topic;
     let pub = this._publishers[topic];
     if (!pub) {
@@ -292,6 +293,7 @@ class RosNode extends EventEmitter {
             + connection.remotePort;
           connection.name = conName;
           this._log.debug('Node %s got connection from %s', this.getNodeName(), conName);
+          console.log('Node %s got connection from %s', this.getNodeName(), conName);
 
           // data from connections will be TCPROS encoded, so use a
           // DeserializeStream to handle any chunking
@@ -352,6 +354,7 @@ class RosNode extends EventEmitter {
 
   _handleTopicRequest(err, params, callback) {
     this._log.debug('Got topic request ' + JSON.stringify(params));
+    console.log('Got topic request ' + JSON.stringify(params));
     if (!err) {
       let topic = params[1];
       let pub = this._publishers[topic];

package.json

@@ -24,7 +24,7 @@
   "dependencies": {
     "moment": "2.12.0",
     "portscanner": "1.0.0",
-    "xmlrpc": "1.3.1",
+    "xmlrpc": "chfritz/node-xmlrpc",
     "walker"        : "1.0.7",
     "md5"           : "2.1.0",
     "async"         : "0.1.22",

utils/messages.js

@@ -305,7 +305,7 @@ function calculateMD5(details, type) {
     return null;
   }
 
-  console.log("calculateMD5:", details.messageType, " text:", text);
+  // console.log("calculateMD5:", details.messageType, " text:", text);
   return md5(text);
 }
 

utils/xmlrpc_utils.js

@@ -4,6 +4,8 @@
 module.exports = {
   call(client, method, data, resolve, reject, log, timeout) {
     log.debug('Calling method ' + method +': ' + data);
+    console.log('Calling method ' + method +': ' + data);
+
     if (timeout === undefined) {
       timeout = 0;
     }