added services list

src/components/ROS.js

@@ -50,22 +50,47 @@ function useROS() {
  resolve({
  topics: topicList
  });
- reject({
+ reject({
  topics: []
- });
+ });
  }, (message) => {
  console.error("Failed to get topic", message)
+ ros.topics = []
  });
  });
- topicsPromise.then( (topics) => setROS(ros => ({ ...ros, topics: topics.topics })));
+ topicsPromise.then((topics) => setROS(ros => ({ ...ros, topics: topics.topics })));
  return ros.topics;
  }
 
+ function getServices() {
+ const servicesPromise = new Promise((resolve, reject) => {
+ ros.ROS.getServices((services) => {
+ const serviceList = services.map((serviceName) => {
+ return {
+ path: serviceName,
+ type: "service",
+ }
+ });
+ resolve({
+ services: serviceList
+ });
+ reject({
+ services: []
+ });
+ }, (message) => {
+ console.error("Failed to get services", message)
+ ros.services = []
+ });
+ });
+ servicesPromise.then((services) => setROS(ros => ({ ...ros, services: services.services })));
+ return ros.services;
+ }
+
  function createListener(topic, msg_type, to_queue, compression_type) {
  var newListener = new ROSLIB.Topic({
- ros : ros.ROS,
- name : topic,
- messageType : msg_type,
+ ros: ros.ROS,
+ name: topic,
+ messageType: msg_type,
  queue_length: to_queue,
  compression: compression_type,
  })
@@ -80,19 +105,19 @@ function useROS() {
  console.log('Listener ' + newListener.name + ' created');
  return newListener;
  }
- 
+
  const handleConnect = () => {
  try {
- ros.ROS = new ROSLIB.Ros({
- url : ros.url,
- });
-
- if (ros.ROS) ros.ROS.on('connection', () => {
- setROS(ros => ({ ...ros, isConnected: true }));
+ ros.ROS.connect(ros.url)
+ ros.ROS.on('connection', (connect) => {
+ // console.log(connect)
+ setROS(ros => ({ ...ros, isConnected: true })); // seems to take awhile for the roslibjs library to report connected
+ setROS(ros => ({ ...ros, ROSConfirmedConnected: false }));
  getTopics();
+ getServices();
  })
 
- if (ros.ROS) ros.ROS.on('error', (error) => {
+ ros.ROS.on('error', (error) => { //gets a little annoying on the console, but probably ok for now
  console.log(error);
  })
  } catch (e) {
@@ -106,44 +131,48 @@ function useROS() {
  setROS(ros => ({ ...ros, isConnected: false }));
  setROS(ros => ({ ...ros, topics: [] }));
  setROS(ros => ({ ...ros, listeners: [] }));
+ setROS(ros => ({ ...ros, ROSConfirmedConnected: false }));
  } catch (e) {
  console.log(e);
  }
- console.log('Disconnect Requested');
+ console.log('Disconnected');
  }
-
-const removeAllListeners = () =>{
- for(var mlistener in ros.listeners){
- ros.listeners[mlistener].removeAllListeners();
+
+ const removeAllListeners = () => {
+ for (var mlistener in ros.listeners) {
+ ros.listeners[mlistener].removeAllListeners();
+ }
+ setROS(ros => ({ ...ros, listeners: [] }));
  }
- setROS(ros => ({ ...ros, listeners: [] }));
-}
 
-function removeListener (listener){
- for(var mlistener in ros.listeners){
- if(listener.name === ros.listeners[mlistener].name){
- console.log('Listener: ' + listener.name + ' is removed')
- ros.listeners.splice(mlistener,1)
- listener.removeAllListeners();
- return
+ function removeListener(listener) {
+ for (var mlistener in ros.listeners) {
+ if (listener.name === ros.listeners[mlistener].name) {
+ console.log('Listener: ' + listener.name + ' is removed')
+ ros.listeners.splice(mlistener, 1)
+ listener.removeAllListeners();
+ return
+ }
  }
+ console.log('Listener: ' + listener + ' is not a listener')
  }
- console.log('Listener: ' + listener + ' is not a listener')
-}
 
  return {
  toggleConnection,
  changeUrl,
  getTopics,
+ getServices,
  createListener,
  toggleAutoconnect,
  removeAllListeners,
  removeListener,
+ checkConnection,
  ros: ros.ROS,
  isConnected: ros.isConnected,
  autoconnect: ros.autoconnect,
  url: ros.url,
  topics: ros.topics,
+ services: ros.services,
  listeners: ros.listeners,
  }
 }

src/components/ROSContext.js

@@ -7,6 +7,7 @@ const rosObj = {
  isConnected: false,
  autoconnect: false,
  topics: [],
+ services:[],
  listeners: [],
 }