ros.js

var ros = ros || {};

var Connection = function(url) {
	this.handlers = new Array();

	this.marshall = function(data) {
		return data
	};
	if (typeof JSON.stringify != 'undefined') {
		this.marshall = function(data) {
			if (typeof data == 'string')
				return data;
			return JSON.stringify(data);
		}
	}

	var parse = function(data) {
		var call = '';
		eval('call = ' + data);
		return call;
	}
	if (typeof JSON.parse != 'undefined')
		parse = JSON.parse;

	if (typeof WebSocket == 'undefined') {
		WebSocket = MozWebSocket;
	}
	this.socket = new WebSocket(url);
	this.onmessage = null;
	var ths = this;
	this.socket.onmessage = function(e) {
		if (ths.onmessage) {
			try {
				ths.onmessage(e);
			} catch (err) {
				ros_debug(err);
			}
		}

		var call = '';
		try {
			call = parse(e.data);
		} catch (err) {
			return;
		}

		for ( var i in ths.handlers[call.receiver]) {
			var handler = ths.handlers[call.receiver][i]
			handler(call.msg);
		}
	}

	this.magicServices = new Array('/rosbridge/topics', '/rosbridge/services',
			'/rosbridge/typeStringFromTopic',
			'/rosbridge/typeStringFromService',
			'/rosbridge/msgClassFromTypeString',
			'/rosbridge/reqClassFromTypeString',
			'/rosbridge/rspClassFromTypeString', '/rosbridge/classFromTopic',
			'/rosbridge/classesFromService');

}

Connection.prototype.callService = function(service, payload, callback) {
	this.handlers[service] = new Array(callback);
	var call = '{"receiver":"' + service + '"';
	call += ',"msg":' + this.marshall(payload) + '}';
	this.socket.send(call);
}

Connection.prototype.publish = function(topic, typeStr, payload) {
	typeStr.replace(/^\//, '');
	var call = '{"receiver":"' + topic + '"';
	call += ',"msg":' + this.marshall(payload);
	call += ',"type":"' + typeStr + '"}';
	this.socket.send(call);
}

Connection.prototype.addHandler = function(topic, func) {
	if (!(topic in this.handlers)) {
		this.handlers[topic] = new Array();
	}
	this.handlers[topic].push(func);
}

Connection.prototype.removeHandler = function(topic) {
	if (topic in this.handlers) {
		this.handlers[topic] = [];
	}
}

Connection.prototype.setOnError = function(func) {
	this.socket.onerror = func;
}

Connection.prototype.setOnClose = function(func) {
	this.socket.onclose = func;
}

Connection.prototype.setOnOpen = function(func) {
	this.socket.onopen = func;
}

Connection.prototype.setOnMessage = function(func) {
	this.onmessage = func;
}

ros.Connection = Connection;