Merge pull request #2 from foxglove/jhurliman/remove-png

Remove pngparse dependency, merge in upstream roslibjs changes

.npmignore

@@ -2,6 +2,6 @@ test
 examples
 Gruntfile.js
 .gitignore
-.travis.yml
+.github
 bower.json
 *.md

CONTRIBUTING.md

@@ -1,24 +1,23 @@
-roslibjs Build Setup
-====================
+# roslibjs Build Setup
 
 [Grunt](http://gruntjs.com/) is used for building, including concatenating, minimizing, documenting, linting, and testing.
 
-### Install Grunt and its Dependencies
+## Install Grunt and its Dependencies
 
  1. Install [Node.js](http://nodejs.org/) for your environment
  2. Install the build task runner, [Grunt](http://gruntjs.com/)
 
- 	```sh
-	$ [sudo] npm install -g grunt
- 	```
+```bash
+$ [sudo] npm install -g grunt
+```
  3. Install the dependencies and build dependencies
 
-	```sh
-	$ cd /path/to/roslibjs/
-   	$ [sudo] npm install
-	```
+```bash
+$ cd /path/to/roslibjs/
+$ [sudo] npm install
+```
 
-### Build with Grunt
+## Build with Grunt
 
 Before proceeding, please confirm you have installed the dependencies above.
 
@@ -27,7 +26,7 @@ To run the build tasks:
  1. `cd /path/to/roslibjs/`
  2. `grunt build`
 
-`grunt build` will concatenate and minimize the files under src and replace roslib.js and roslib.min.js in the build directory. It will also run the linter and test cases. This is what [Travis CI](https://travis-ci.org/RobotWebTools/roslibjs) runs when a Pull Request is submitted.
+`grunt build` will concatenate and minimize the files under src and replace roslib.js and roslib.min.js in the build directory. It will also run the linter and test cases. This is what [GH Actions](https://github.com/RobotWebTools/roslibjs/actions) runs when a Pull Request is submitted.
 
 `grunt dev` will watch for any changes to any of the src/ files and automatically concatenate and minimize the files. This is ideal for those developing as you should only have to run `grunt dev` once.
 

Dockerfile

@@ -1,16 +1,18 @@
-FROM ros:kinetic-ros-core
+ARG ROS_DISTRO=melodic
+FROM ros:$ROS_DISTRO-ros-core
+
+ARG CI=true
+ENV CI=$CI
 
-ENV ROS_DISTRO=kinetic
 # Dependencies for rosbridge
-RUN apt update && apt-get install -y xvfb firefox git wget ros-$ROS_DISTRO-rosbridge-server ros-$ROS_DISTRO-tf2-web-republisher ros-$ROS_DISTRO-common-tutorials ros-$ROS_DISTRO-rospy-tutorials ros-$ROS_DISTRO-actionlib-tutorials
+RUN apt update && apt-get install -y firefox git wget ros-$ROS_DISTRO-rosbridge-server ros-$ROS_DISTRO-tf2-web-republisher ros-$ROS_DISTRO-common-tutorials ros-$ROS_DISTRO-rospy-tutorials ros-$ROS_DISTRO-actionlib-tutorials
 
 # Install nvm, Node.js and node-gyp
-ENV NODE_VERSION v10.15.0
-RUN wget -qO- https://raw.githubusercontent.com/creationix/nvm/v0.33.2/install.sh | bash \
+ARG NODE_VERSION=14
+RUN wget -qO- https://raw.githubusercontent.com/nvm-sh/nvm/v0.38.0/install.sh | bash \
     && . $HOME/.nvm/nvm.sh \
     && nvm install $NODE_VERSION && nvm alias default $NODE_VERSION \
     && npm install -g node-gyp
 
-RUN echo "source /opt/ros/kinetic/setup.bash" >> $HOME/.bashrc
-ENV PATH /bin/versions/node/$NODE_VERSION/bin:$PATH
-
+RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> $HOME/.bashrc
+ENV PATH=/bin/versions/node/$NODE_VERSION/bin:$PATH

Gruntfile.js

@@ -31,11 +31,19 @@ module.exports = function(grunt) {
       ]
     },
     karma: {
-      build: {
-        configFile: './test/karma.conf.js',
+      options: {
         singleRun: true,
-        browsers: ['Firefox']
-      }
+        browsers: process.env.CI ? ['FirefoxHeadless'] : ['Firefox']
+      },
+      test: {
+        configFile: './test/karma.conf.js',
+      },
+      examples: {
+        configFile: './test/examples/karma.conf.js',
+      },
+      workersocket: {
+        configFile: './test/workersocket/karma.conf.js',
+      },
     },
     mochaTest: {
       options: {
@@ -103,7 +111,10 @@ module.exports = function(grunt) {
   });
 
   grunt.registerTask('dev', ['browserify', 'watch']);
-  grunt.registerTask('test', ['jshint', 'mochaTest:test', 'browserify', 'karma']);
+  grunt.registerTask('test', ['jshint', 'mochaTest:test', 'karma:test']);
+  grunt.registerTask('test-examples', ['mochaTest:examples', 'karma:examples']);
+  grunt.registerTask('test-tcp', ['mochaTest:tcp']);
+  grunt.registerTask('test-workersocket', ['karma:workersocket']);
   grunt.registerTask('build', ['browserify', 'uglify']);
   grunt.registerTask('build_and_watch', ['watch']);
   grunt.registerTask('doc', ['clean', 'jsdoc']);

README.md

@@ -1,45 +1,57 @@
-roslibjs [![Build Status](https://api.travis-ci.org/RobotWebTools/roslibjs.png)](https://travis-ci.org/RobotWebTools/roslibjs)
-========
+# roslibjs
+
+[![CI](https://github.com/RobotWebTools/roslibjs/actions/workflows/main.yml/badge.svg)](https://github.com/RobotWebTools/roslibjs/actions/workflows/main.yml)
+
+## The Standard ROS JavaScript Library
 
-#### The Standard ROS JavaScript Library
 For full documentation, see [the ROS wiki](http://wiki.ros.org/roslibjs) or check out some [working demos](http://robotwebtools.org/demos.html).
 
 [JSDoc](http://robotwebtools.org/jsdoc/roslibjs/current/) can be found on the Robot Web Tools website.
 
 This project is released as part of the [Robot Web Tools](http://robotwebtools.org/) effort.
 
-### Usage
+## Usage
+
 Pre-built files can be found in either [roslib.js](build/roslib.js) or [roslib.min.js](build/roslib.min.js).
 
 Alternatively, you can use the current release via the Robot Web Tools CDN: ([full](https://static.robotwebtools.org/roslibjs/current/roslib.js)) | ([min](https://static.robotwebtools.org/roslibjs/current/roslib.min.js))
 
-### Troubleshooting
+## Troubleshooting
 
 1. Check that connection is established. You can listen to error and
    connection events to report them to console. See
    examples/simple.html for a complete example:
 
-    ros.on('error', function(error) { console.log( error ); });
-    ros.on('connection', function() { console.log('Connection made!'); });
+   ```js
+   ros.on('error', function(error) { console.log( error ); });
+   ros.on('connection', function() { console.log('Connection made!'); });
+   ```
 
-1. Check that you have the websocket server is running on
+2. Check that you have the websocket server is running on
    port 9090. Something like this should do:
 
-    netstat -a | grep 9090
+   ```bash
+   netstat -a | grep 9090
+   ```
 
-### Dependencies
+## Dependencies
 
 roslibjs has a number of dependencies. You will need to run:
 
-`npm install`
+```bash
+npm install
+```
 
 Depending on your build environment.
 
-### Build
+## Build
+
 Checkout [CONTRIBUTING.md](CONTRIBUTING.md) for details on building.
 
-### License
+## License
+
 roslibjs is released with a BSD license. For full terms and conditions, see the [LICENSE](LICENSE) file.
 
-### Authors
+## Authors
+
 See the [AUTHORS.md](AUTHORS.md) file for a full list of contributors.

package.json

@@ -2,45 +2,42 @@
   "name": "roslib",
   "homepage": "https://www.robotwebtools.org",
   "description": "The standard ROS Javascript Library",
-  "version": "1.1.0",
+  "version": "1.1.1",
   "license": "BSD-2-Clause",
   "main": "./build/roslib.js",
   "browser": {
     "./src/RosLibNode.js": "./src/RosLib.js",
-    "canvas": "./src/util/shim/canvas.js",
     "ws": "./src/util/shim/WebSocket.js",
-    "xmldom": "./src/util/shim/xmldom.js",
-    "./src/util/decompressPng.js": "./src/util/shim/decompressPng.js"
+    "xmldom": "./src/util/shim/xmldom.js"
   },
   "devDependencies": {
+    "chai": "*",
     "grunt": "^1.0.1",
-    "grunt-browserify": "^5.0.0",
+    "grunt-browserify": "^6.0.0",
     "grunt-cli": "^1.2.0",
-    "grunt-contrib-clean": "^1.0.0",
-    "grunt-contrib-jshint": "^1.0.0",
-    "grunt-contrib-uglify": "^1.0.1",
+    "grunt-contrib-clean": "^2.0.0",
+    "grunt-contrib-jshint": "^3.0.0",
+    "grunt-contrib-uglify": "^5.0.0",
     "grunt-contrib-watch": "^1.0.0",
     "grunt-jsdoc": "^2.1.0",
-    "grunt-karma": "^2.0.0",
-    "grunt-mocha-test": "^0.12.7",
-    "karma": "^3.1.4",
+    "grunt-karma": "^4.0.0",
+    "grunt-mocha-test": "^0.13.0",
+    "karma": "^6.3.0",
     "karma-chai": "^0.1.0",
-    "chai": "*",
-    "karma-firefox-launcher": "^1.0.0",
-    "karma-mocha": "^1.1.1",
-    "load-grunt-tasks": "^3.3.0",
-    "mocha": "^2.3.3",
-    "time-grunt": "^1.0.0"
+    "karma-firefox-launcher": "^2.1.0",
+    "karma-mocha": "^2.0.0",
+    "load-grunt-tasks": "^5.1.0",
+    "mocha": "^8.3.0",
+    "time-grunt": "^2.0.0"
   },
   "dependencies": {
+    "cbor-js": "^0.1.0",
     "eventemitter2": "^6.4.0",
     "object-assign": "^4.0.1",
-    "pngparse": "^2.0.1",
-    "ws": "^7.2.1",
-    "xmldom": "^0.1.19",
-    "cbor-js": "^0.1.0",
+    "socket.io": "^4.0.0",
     "webworkify": "^1.5.0",
-    "socket.io": "2.2.0"
+    "ws": "^7.2.1",
+    "xmldom": "^0.6.0"
   },
   "directories": {
     "example": "examples",
@@ -51,10 +48,11 @@
   },
   "scripts": {
     "prepack": "grunt build",
+    "build": "grunt build",
     "test": "grunt test",
-    "test-examples": "grunt mochaTest:examples && xvfb-run -a karma start test/examples/karma.conf.js",
-    "test-workersocket": "grunt uglify && xvfb-run -a karma start test/workersocket/karma.conf.js",
-    "test-tcp": "grunt mochaTest:tcp"
+    "test-examples": "grunt test-examples",
+    "test-workersocket": "grunt test-workersocket",
+    "test-tcp": "grunt test-tcp"
   },
   "repository": {
     "type": "git",

src/core/Ros.js

@@ -32,11 +32,13 @@ var EventEmitter2 = require('eventemitter2').EventEmitter2;
  */
 function Ros(options) {
   options = options || {};
+  var that = this;
   this.socket = null;
   this.idCounter = 0;
   this.isConnected = false;
   this.transportLibrary = options.transportLibrary || 'websocket';
   this.transportOptions = options.transportOptions || {};
+  this._sendFunc = function(msg) { that.sendEncodedMessage(msg); };
 
   if (typeof options.groovyCompatibility === 'undefined') {
     this.groovyCompatibility = true;
@@ -120,14 +122,9 @@ Ros.prototype.authenticate = function(mac, client, dest, rand, t, level, end) {
   this.callOnConnection(auth);
 };
 
-/**
- * Sends the message over the WebSocket, but queues the message up if not yet
- * connected.
- */
-Ros.prototype.callOnConnection = function(message) {
-  var that = this;
-  var messageJson = JSON.stringify(message);
+Ros.prototype.sendEncodedMessage= function(messageEncoded) {
   var emitter = null;
+  var that = this;
   if (this.transportLibrary === 'socket.io') {
     emitter = function(msg){that.socket.emit('operation', msg);};
   } else {
@@ -136,10 +133,22 @@ Ros.prototype.callOnConnection = function(message) {
 
   if (!this.isConnected) {
     that.once('connection', function() {
-      emitter(messageJson);
+      emitter(messageEncoded);
     });
   } else {
-    emitter(messageJson);
+    emitter(messageEncoded);
+  }
+};
+
+/**
+ * Sends the message over the WebSocket, but queues the message up if not yet
+ * connected.
+ */
+Ros.prototype.callOnConnection = function(message) {
+  if (this.transportOptions.encoder) {
+    this.transportOptions.encoder(message, this._sendFunc);
+  } else {
+    this._sendFunc(JSON.stringify(message));
   }
 };