Validate existing JavaScript implementation with TypeScript

.gitignore

@@ -4,4 +4,5 @@ doc
 node_modules
 *.out
 *.log
-*.tar.gz
+*.tar.gz
+tsbuild

.jshintrc

@@ -22,6 +22,8 @@
   "trailing": true,
   "quotmark": "single",
   "proto": true,
-  "laxbreak": true
+  "laxbreak": true,
+  // TypeScript will compile down to es5.
+  "esversion": 9
 }
 

Gruntfile.js

@@ -10,20 +10,22 @@ module.exports = function(grunt) {
 
   grunt.initConfig({
     pkg: grunt.file.readJSON('package.json'),
+    shell: {
+      ts: {
+        command: 'tsc -p .'
+      }
+    },
     browserify: {
       dist: {
-        src: ['./src/RosLibBrowser.js'],
+        src: ['./tsbuild/RosLibBrowser.js'],
         dest: './build/roslib.js'
       }
     },
     jshint: {
       options: {
         jshintrc: true
       },
-      files: [
-        './Gruntfile.js',
-        './src/**/*.js'
-      ]
+      files: ['./Gruntfile.js', './src/**/*.js']
     },
     karma: {
       options: {
@@ -37,19 +39,20 @@ module.exports = function(grunt) {
         }
       },
       test: {
-        configFile: './test/karma.conf.js',
+        configFile: './test/karma.conf.js'
       },
       examples: {
-        configFile: './test/examples/karma.conf.js',
+        configFile: './test/examples/karma.conf.js'
       },
       workersocket: {
-        configFile: './test/workersocket/karma.conf.js',
-      },
+        configFile: './test/workersocket/karma.conf.js'
+      }
     },
     mochaTest: {
       options: {
-          reporter: 'spec',
-          timeout: 5000
+        reporter: 'spec',
+        timeout: 5000,
+        require: 'ts-node/register'
       },
       test: {
         src: ['./test/*.test.js']
@@ -75,20 +78,14 @@ module.exports = function(grunt) {
         options: {
           interrupt: true
         },
-        files: [
-          './src/**/*.js'
-        ],
+        files: ['./src/**/*.js'],
         tasks: ['browserify']
       },
       build_and_watch: {
         options: {
           interrupt: true
         },
-        files: [
-          'Gruntfile.js',
-          '.jshintrc',
-          './src/**/*.js'
-        ],
+        files: ['Gruntfile.js', '.jshintrc', './src/**/*.js'],
         tasks: ['build']
       }
     },
@@ -100,10 +97,7 @@ module.exports = function(grunt) {
     },
     jsdoc: {
       doc: {
-        src: [
-          './src/*.js',
-          './src/**/*.js'
-        ],
+        src: ['./src/*.js', './src/**/*.js'],
         options: {
           destination: './doc',
           configure: 'jsdoc_conf.json'
@@ -117,7 +111,7 @@ module.exports = function(grunt) {
   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', ['shell', 'browserify', 'uglify']);
   grunt.registerTask('build_and_watch', ['watch']);
   grunt.registerTask('doc', ['clean', 'jsdoc']);
 };

build/RosLib.d.ts

@@ -0,0 +1,49 @@
+export = ROSLIB;
+/**
+ * @fileOverview
+ * @author Russell Toris - rctoris@wpi.edu
+ */
+/**
+ * If you use roslib in a browser, all the classes will be exported to a global variable called ROSLIB.
+ *
+ * If you use nodejs, this is the variable you get when you require('roslib').
+ */
+declare var ROSLIB: {
+    URDF_SPHERE: number;
+    URDF_BOX: number;
+    URDF_CYLINDER: number;
+    URDF_MESH: number;
+    UrdfBox: typeof import("./urdf/UrdfBox");
+    UrdfColor: typeof import("./urdf/UrdfColor");
+    UrdfCylinder: typeof import("./urdf/UrdfCylinder");
+    UrdfLink: typeof import("./urdf/UrdfLink");
+    UrdfMaterial: typeof import("./urdf/UrdfMaterial");
+    UrdfMesh: typeof import("./urdf/UrdfMesh");
+    UrdfModel: typeof import("./urdf/UrdfModel"); /**
+     * @default
+     * @description Library version
+     */
+    UrdfSphere: typeof import("./urdf/UrdfSphere");
+    UrdfVisual: typeof import("./urdf/UrdfVisual");
+    TFClient: typeof import("./tf/TFClient");
+    Pose: typeof import("./math/Pose");
+    Quaternion: typeof import("./math/Quaternion");
+    Transform: typeof import("./math/Transform");
+    Vector3: typeof import("./math/Vector3");
+    ActionClient: typeof import("./actionlib/ActionClient");
+    ActionListener: typeof import("./actionlib/ActionListener");
+    Goal: typeof import("./actionlib/Goal");
+    SimpleActionServer: typeof import("./actionlib/SimpleActionServer");
+    Ros: typeof import("./core/Ros");
+    Topic: typeof import("./core/Topic");
+    Message: typeof import("./core/Message");
+    Param: typeof import("./core/Param");
+    Service: typeof import("./core/Service");
+    ServiceRequest: typeof import("./core/ServiceRequest");
+    ServiceResponse: typeof import("./core/ServiceResponse");
+    /**
+     * @default
+     * @description Library version
+     */
+    REVISION: string;
+};

build/RosLibBrowser.d.ts

@@ -0,0 +1 @@
+export {};

build/RosLibNode.d.ts

@@ -0,0 +1,32 @@
+declare const _exports: {
+    Ros: typeof import("./node/RosTCP");
+    Topic: typeof import("./node/TopicStream");
+    URDF_SPHERE: number;
+    URDF_BOX: number;
+    URDF_CYLINDER: number;
+    URDF_MESH: number;
+    UrdfBox: typeof import("./urdf/UrdfBox");
+    UrdfColor: typeof import("./urdf/UrdfColor");
+    UrdfCylinder: typeof import("./urdf/UrdfCylinder");
+    UrdfLink: typeof import("./urdf/UrdfLink");
+    UrdfMaterial: typeof import("./urdf/UrdfMaterial");
+    UrdfMesh: typeof import("./urdf/UrdfMesh");
+    UrdfModel: typeof import("./urdf/UrdfModel");
+    UrdfSphere: typeof import("./urdf/UrdfSphere");
+    UrdfVisual: typeof import("./urdf/UrdfVisual");
+    TFClient: typeof import("./tf/TFClient");
+    Pose: typeof import("./math/Pose");
+    Quaternion: typeof import("./math/Quaternion");
+    Transform: typeof import("./math/Transform");
+    Vector3: typeof import("./math/Vector3");
+    ActionClient: typeof import("./actionlib/ActionClient");
+    ActionListener: typeof import("./actionlib/ActionListener");
+    Goal: typeof import("./actionlib/Goal");
+    SimpleActionServer: typeof import("./actionlib/SimpleActionServer");
+    Message: typeof import("./core/Message");
+    Param: typeof import("./core/Param");
+    Service: typeof import("./core/Service");
+    ServiceRequest: typeof import("./core/ServiceRequest");
+    ServiceResponse: typeof import("./core/ServiceResponse");
+};
+export = _exports;

build/actionlib/ActionClient.d.ts

@@ -0,0 +1,57 @@
+export = ActionClient;
+/**
+ * An actionlib action client.
+ *
+ * Emits the following events:
+ *  * 'timeout' - If a timeout occurred while sending a goal.
+ *  * 'status' - The status messages received from the action server.
+ *  * 'feedback' - The feedback messages received from the action server.
+ *  * 'result' - The result returned from the action server.
+ *
+ */
+declare class ActionClient extends EventEmitter2 {
+    /**
+     * @param {Object} options
+     * @param {Ros} options.ros - The ROSLIB.Ros connection handle.
+     * @param {string} options.serverName - The action server name, like '/fibonacci'.
+     * @param {string} options.actionName - The action message name, like 'actionlib_tutorials/FibonacciAction'.
+     * @param {number} [options.timeout] - The timeout length when connecting to the action server.
+     * @param {boolean} [options.omitFeedback] - The flag to indicate whether to omit the feedback channel or not.
+     * @param {boolean} [options.omitStatus] - The flag to indicate whether to omit the status channel or not.
+     * @param {boolean} [options.omitResult] - The flag to indicate whether to omit the result channel or not.
+     */
+    constructor(options: {
+        ros: Ros;
+        serverName: string;
+        actionName: string;
+        timeout?: number | undefined;
+        omitFeedback?: boolean | undefined;
+        omitStatus?: boolean | undefined;
+        omitResult?: boolean | undefined;
+    });
+    ros: Ros;
+    serverName: string;
+    actionName: string;
+    timeout: number | undefined;
+    omitFeedback: boolean | undefined;
+    omitStatus: boolean | undefined;
+    omitResult: boolean | undefined;
+    goals: {};
+    feedbackListener: Topic<any>;
+    statusListener: Topic<any>;
+    resultListener: Topic<any>;
+    goalTopic: Topic<any>;
+    cancelTopic: Topic<any>;
+    /**
+     * Cancel all goals associated with this ActionClient.
+     */
+    cancel(): void;
+    /**
+     * Unsubscribe and unadvertise all topics associated with this ActionClient.
+     */
+    dispose(): void;
+}
+import EventEmitter2_1 = require("eventemitter2");
+import EventEmitter2 = EventEmitter2_1.EventEmitter2;
+import Ros = require("../core/Ros");
+import Topic = require("../core/Topic");

build/actionlib/ActionListener.d.ts

@@ -0,0 +1,30 @@
+export = ActionListener;
+/**
+ * An actionlib action listener.
+ *
+ * Emits the following events:
+ *  * 'status' - The status messages received from the action server.
+ *  * 'feedback' - The feedback messages received from the action server.
+ *  * 'result' - The result returned from the action server.
+ *
+
+ */
+declare class ActionListener extends EventEmitter2 {
+    /**
+     * @param {Object} options
+     * @param {Ros} options.ros - The ROSLIB.Ros connection handle.
+     * @param {string} options.serverName - The action server name, like '/fibonacci'.
+     * @param {string} options.actionName - The action message name, like 'actionlib_tutorials/FibonacciAction'.
+     */
+    constructor(options: {
+        ros: Ros;
+        serverName: string;
+        actionName: string;
+    });
+    ros: Ros;
+    serverName: string;
+    actionName: string;
+}
+import EventEmitter2_1 = require("eventemitter2");
+import EventEmitter2 = EventEmitter2_1.EventEmitter2;
+import Ros = require("../core/Ros");

build/actionlib/Goal.d.ts

@@ -0,0 +1,48 @@
+export = Goal;
+/**
+ * An actionlib goal that is associated with an action server.
+ *
+ * Emits the following events:
+ *  * 'timeout' - If a timeout occurred while sending a goal.
+ */
+declare class Goal extends EventEmitter2 {
+    /**
+     * @param {Object} options
+     * @param {ActionClient} options.actionClient - The ROSLIB.ActionClient to use with this goal.
+     * @param {Object} options.goalMessage - The JSON object containing the goal for the action server.
+     */
+    constructor(options: {
+        actionClient: ActionClient;
+        goalMessage: any;
+    });
+    actionClient: ActionClient;
+    goalMessage: Message<{
+        goal_id: {
+            stamp: {
+                secs: number;
+                nsecs: number;
+            };
+            id: string;
+        };
+        goal: any;
+    }>;
+    isFinished: boolean;
+    status: any;
+    result: any;
+    feedback: any;
+    goalID: string;
+    /**
+     * Send the goal to the action server.
+     *
+     * @param {number} [timeout] - A timeout length for the goal's result.
+     */
+    send(timeout?: number | undefined): void;
+    /**
+     * Cancel the current goal.
+     */
+    cancel(): void;
+}
+import EventEmitter2_1 = require("eventemitter2");
+import EventEmitter2 = EventEmitter2_1.EventEmitter2;
+import ActionClient = require("./ActionClient");
+import Message = require("../core/Message");