From 61abb918929e9890e1d3722ee82d5020df8894d9 Mon Sep 17 00:00:00 2001
From: Christian Fritz <christian.fritz@gmail.com>
Date: Sun, 12 Jun 2016 21:31:26 -0700
Subject: [PATCH] Find and parse .action files as required

- in addition to .msg and .srv files we can now also require the
  generation of message classes for actionlib files (.action). This
  is in preparation for supporting actionlib as well.

  Example:

```js
rosnodejs.initNode('/my_node', {
  messages: ['std_msgs/String', 'turtlesim/Pose'],
  services: ['std_srvs/SetBool', "turtlesim/TeleportRelative"],
  actions: ['actionlib/TwoInts']
}).then((rosNode) => {
...
```
---
 index.js          | 31 +++++++++++++++++++++++--------
 utils/messages.js | 46 ++++++++++++++++++++++++++++++++++++++++------
 2 files changed, 63 insertions(+), 14 deletions(-)

diff --git a/index.js b/index.js
index 3616599..cef4d31 100644
--- a/index.js
+++ b/index.js
@@ -136,7 +136,7 @@ let Rosnodejs = {
     rosNode = new RosNode(nodeName, rosMasterUri);
 
     return new Promise((resolve, reject) => {
-      this.use(options.messages, options.services).then(() => {
+      this.use(options.messages, options.services, options.actions).then(() => {
         _checkMasterHelper(resolve, 0);
       });
     })
@@ -165,15 +165,13 @@ let Rosnodejs = {
 
   /** create message classes and services classes for all the given
    * types before calling callback */
-  use(messages, services) {
+  use(messages, services, actions) {
     const self = this;
     return new Promise((resolve, reject) => {
       self._useMessages(messages)
-        .then(() => {
-          return self._useServices(services);
-        }).then(() => {
-          resolve();
-        });
+        .then(() => { return self._useServices(services); })
+        .then(() => { return self._useActions(actions); })
+        .then(() => { resolve(); });
     });
   },
 
@@ -194,7 +192,7 @@ let Rosnodejs = {
     });
   },
 
-  /** create message classes for all the given types */
+  /** create service classes for all the given types */
   _useServices(types) {
     if (!types || types.length == 0) {
       return Promise.resolve();
@@ -213,6 +211,23 @@ let Rosnodejs = {
     });
   },
 
+  /** create action classes for all the given types */
+  _useActions(types) {
+    if (!types || types.length == 0) {
+      return Promise.resolve();
+    }
+    var count = types.length;
+    return new Promise((resolve, reject) => {
+      types.forEach(function(type) {
+        messages.getAction(type, function() {
+          if (--count == 0) {
+            resolve();
+          }
+        });
+      });
+    });
+  },
+
   /**
    * @return {NodeHandle} for initialized node
    */
diff --git a/utils/messages.js b/utils/messages.js
index ca7e5d9..efe79c5 100644
--- a/utils/messages.js
+++ b/utils/messages.js
@@ -38,6 +38,16 @@ messages.getServiceResponse = function(messageType, callback) {
   getMessageFromPackage(messageType, ["srv", "Response"], callback);
 }
 
+/** ensure the handlers for this action type (goal, result, and
+ * feedback) are in the registry, create them if they don't exist */
+messages.getAction = function(messageType, callback) {
+  getMessageFromPackage(messageType, ["action", "Goal"], function() {
+    getMessageFromPackage(messageType, ["action", "Result"], function() {
+      getMessageFromPackage(messageType, ["action", "Feedback"], callback);
+    });
+  });
+}
+
 // ---------------------------------------------------------
 // Registry
 
@@ -61,7 +71,11 @@ var registry = {};
                'SetBool': classdef,
                ...
              }
-           }
+           },
+      action: { Goal: ..,
+                Result: ..,
+                Feedback: ..
+              }
     },
     'packagename2': {..}
   };
@@ -104,25 +118,26 @@ function getMessageFromRegistry(messageType, type) {
     @param message is the message class definition 
 */
 function setMessageInRegistry(messageType, type, message) {
+
   var packageName = getPackageNameFromMessageType(messageType);
   var messageName = getMessageNameFromMessageType(messageType);
 
   if (!registry[packageName]) {
-    registry[packageName] = { msg: {}, srv: {}};
+    registry[packageName] = { msg: {}, srv: {}, action: {}};
   }
 
-  var kind = type[0]; // "msg" or "srv"
+  var kind = type[0]; // "msg" or "srv" or "action"
   if (kind == "msg") {
     // message
     registry[packageName][kind][messageName] = message;
 
   } else {
-    // service
+    // service or action
     if (!registry[packageName][kind][messageName]) {
       registry[packageName][kind][messageName] = {};
     }
 
-    var serviceType = type[1]; // "Request" or "Response"
+    var serviceType = type[1]; // "Request" or "Response", or "Goal", "Result", "Feedback"
     registry[packageName][kind][messageName][serviceType] = message;    
   }
 }
@@ -324,9 +339,10 @@ function extractFields(content, details, type, callback) {
 
   var lines = content.split('\n');
 
-  if (type[0] != "msg") {
+  if (type[0] == "srv") {
     var divider = lines.indexOf("---");
     if (type[1] == "Request") {
+      // request
       lines = lines.slice(0, divider);
     } else {
       // response
@@ -334,6 +350,24 @@ function extractFields(content, details, type, callback) {
     }
   }
 
+  if (type[0] == "action") {
+    var divider = lines.indexOf("---");
+    if (type[1] == "Goal") {
+      // goal
+      lines = lines.slice(0, divider);
+    } else {
+      var afterFirst = lines.slice(divider+1);
+      var divider2 = afterFirst.indexOf("---");
+      if (type[1] == "Result") {
+        // result
+        lines = afterFirst.slice(0, divider2);
+      } else {
+        // feedback
+        lines = afterFirst.slice(divider2+1);       
+      }
+    }
+  }
+
   async.forEachSeries(lines, parseLine, function(error) {
     if (error) {
       callback(error);