Add support for custom encoding/decoding. (#397)

* Add support for custom encoding/decoding. * Remove whitespace Co-authored-by: Matthijs van der Burgh <[email protected]> Co-authored-by: Jihoon Lee <[email protected]>
RobotWebTools · Apr 22, 2021 · 21a32ec · 21a32ec
1 parent 72aca8d
commit 21a32ec
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Showing 2 changed files with 29 additions and 10 deletions.
diff --git a/src/core/Ros.js b/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));
   }
 };
 

diff --git a/src/core/SocketAdapter.js b/src/core/SocketAdapter.js
@@ -25,6 +25,12 @@ if(typeof bson !== 'undefined'){
  * @private
  */
 function SocketAdapter(client) {
+
+  var decoder = null
+  if (client.transportOptions.decoder) {
+    decoder = client.transportOptions.decoder
+  }
+
   function handleMessage(message) {
     if (message.op === 'publish') {
       client.emit(message.topic, message.msg);
@@ -103,7 +109,11 @@ function SocketAdapter(client) {
      * @memberof SocketAdapter
      */
     onmessage: function onMessage(data) {
-      if (typeof Blob !== 'undefined' && data.data instanceof Blob) {
+      if (decoder) {
+        decoder(data.data, function (message) {
+          handleMessage(message);
+        });
+      } else if (typeof Blob !== 'undefined' && data.data instanceof Blob) {
         decodeBSON(data.data, function (message) {
           handlePng(message, handleMessage);
         });