a.ports[d])throw Error(f(h.INVALID_TYPE,[typeof a.ports[d],"connectOptions.ports["+d+"]"]));var b=a.hosts[d],g=a.ports[d];e="ws://"+(-1!==b.indexOf(":")?"["+b+"]":b)+":"+g+c;a.uris.push(e)}}}l.connect(a)};this.subscribe=function(a,b){if("string"!==typeof a)throw Error("Invalid argument:"+a);b=b||{};z(b,{qos:"number",invocationContext:"object",onSuccess:"function",onFailure:"function",timeout:"number"});if(b.timeout&&!b.onFailure)throw Error("subscribeOptions.timeout specified with no onFailure callback.");
-if("undefined"!==typeof b.qos&&0!==b.qos&&1!==b.qos&&2!==b.qos)throw Error(f(h.INVALID_ARGUMENT,[b.qos,"subscribeOptions.qos"]));l.subscribe(a,b)};this.unsubscribe=function(a,b){if("string"!==typeof a)throw Error("Invalid argument:"+a);b=b||{};z(b,{invocationContext:"object",onSuccess:"function",onFailure:"function",timeout:"number"});if(b.timeout&&!b.onFailure)throw Error("unsubscribeOptions.timeout specified with no onFailure callback.");l.unsubscribe(a,b)};this.send=function(a,b,c,d){var e;if(0===
-arguments.length)throw Error("Invalid argument.length");if(1==arguments.length){if(!(a instanceof r)&&"string"!==typeof a)throw Error("Invalid argument:"+typeof a);e=a;if("undefined"===typeof e.destinationName)throw Error(f(h.INVALID_ARGUMENT,[e.destinationName,"Message.destinationName"]));}else e=new r(b),e.destinationName=a,3<=arguments.length&&(e.qos=c),4<=arguments.length&&(e.retained=d);l.send(e)};this.publish=function(a,b,c,d){console.log("Publising message to: ",a);var e;if(0===arguments.length)throw Error("Invalid argument.length");
-if(1==arguments.length){if(!(a instanceof r)&&"string"!==typeof a)throw Error("Invalid argument:"+typeof a);e=a;if("undefined"===typeof e.destinationName)throw Error(f(h.INVALID_ARGUMENT,[e.destinationName,"Message.destinationName"]));}else e=new r(b),e.destinationName=a,3<=arguments.length&&(e.qos=c),4<=arguments.length&&(e.retained=d);l.send(e)};this.disconnect=function(){l.disconnect()};this.getTraceLog=function(){return l.getTraceLog()};this.startTrace=function(){l.startTrace()};this.stopTrace=
-function(){l.stopTrace()};this.isConnected=function(){return l.connected}};G.prototype={get host(){return this._getHost()},set host(a){this._setHost(a)},get port(){return this._getPort()},set port(a){this._setPort(a)},get path(){return this._getPath()},set path(a){this._setPath(a)},get clientId(){return this._getClientId()},set clientId(a){this._setClientId(a)},get onConnected(){return this._getOnConnected()},set onConnected(a){this._setOnConnected(a)},get disconnectedPublishing(){return this._getDisconnectedPublishing()},
-set disconnectedPublishing(a){this._setDisconnectedPublishing(a)},get disconnectedBufferSize(){return this._getDisconnectedBufferSize()},set disconnectedBufferSize(a){this._setDisconnectedBufferSize(a)},get onConnectionLost(){return this._getOnConnectionLost()},set onConnectionLost(a){this._setOnConnectionLost(a)},get onMessageDelivered(){return this._getOnMessageDelivered()},set onMessageDelivered(a){this._setOnMessageDelivered(a)},get onMessageArrived(){return this._getOnMessageArrived()},set onMessageArrived(a){this._setOnMessageArrived(a)},
-get trace(){return this._getTrace()},set trace(a){this._setTrace(a)}};var r=function(a){var b;if("string"===typeof a||a instanceof ArrayBuffer||a instanceof Int8Array||a instanceof Uint8Array||a instanceof Int16Array||a instanceof Uint16Array||a instanceof Int32Array||a instanceof Uint32Array||a instanceof Float32Array||a instanceof Float64Array)b=a;else throw f(h.INVALID_ARGUMENT,[a,"newPayload"]);this._getPayloadString=function(){return"string"===typeof b?b:E(b,0,b.length)};this._getPayloadBytes=
-function(){if("string"===typeof b){var a=new ArrayBuffer(n(b)),a=new Uint8Array(a);D(b,a,0);return a}return b};var c;this._getDestinationName=function(){return c};this._setDestinationName=function(a){if("string"===typeof a)c=a;else throw Error(f(h.INVALID_ARGUMENT,[a,"newDestinationName"]));};var d=0;this._getQos=function(){return d};this._setQos=function(a){if(0===a||1===a||2===a)d=a;else throw Error("Invalid argument:"+a);};var e=!1;this._getRetained=function(){return e};this._setRetained=function(a){if("boolean"===
-typeof a)e=a;else throw Error(f(h.INVALID_ARGUMENT,[a,"newRetained"]));};var g=!1;this._getDuplicate=function(){return g};this._setDuplicate=function(a){g=a}};r.prototype={get payloadString(){return this._getPayloadString()},get payloadBytes(){return this._getPayloadBytes()},get destinationName(){return this._getDestinationName()},set destinationName(a){this._setDestinationName(a)},get topic(){return this._getDestinationName()},set topic(a){this._setDestinationName(a)},get qos(){return this._getQos()},
-set qos(a){this._setQos(a)},get retained(){return this._getRetained()},set retained(a){this._setRetained(a)},get duplicate(){return this._getDuplicate()},set duplicate(a){this._setDuplicate(a)}};return{Client:G,Message:r}}(window)});
\ No newline at end of file
diff --git a/Web/js/paho.javascript-1.0.3/paho-mqtt.js b/Web/js/paho.javascript-1.0.3/paho-mqtt.js
deleted file mode 100644
index b63170b..0000000
--- a/Web/js/paho.javascript-1.0.3/paho-mqtt.js
+++ /dev/null
@@ -1,2413 +0,0 @@
-/*******************************************************************************
- * Copyright (c) 2013 IBM Corp.
- *
- * All rights reserved. This program and the accompanying materials
- * are made available under the terms of the Eclipse Public License v1.0
- * and Eclipse Distribution License v1.0 which accompany this distribution.
- *
- * The Eclipse Public License is available at
- * http://www.eclipse.org/legal/epl-v10.html
- * and the Eclipse Distribution License is available at
- * http://www.eclipse.org/org/documents/edl-v10.php.
- *
- * Contributors:
- * Andrew Banks - initial API and implementation and initial documentation
- *******************************************************************************/
-
-
-// Only expose a single object name in the global namespace.
-// Everything must go through this module. Global Paho.MQTT module
-// only has a single public function, client, which returns
-// a Paho.MQTT client object given connection details.
-
-/**
- * Send and receive messages using web browsers.
- *
- * This programming interface lets a JavaScript client application use the MQTT V3.1 or
- * V3.1.1 protocol to connect to an MQTT-supporting messaging server.
- *
- * The function supported includes:
- *
- * - Connecting to and disconnecting from a server. The server is identified by its host name and port number.
- *
- Specifying options that relate to the communications link with the server,
- * for example the frequency of keep-alive heartbeats, and whether SSL/TLS is required.
- *
- Subscribing to and receiving messages from MQTT Topics.
- *
- Publishing messages to MQTT Topics.
- *
- *
- * The API consists of two main objects:
- *
- * - {@link Paho.MQTT.Client}
- * - This contains methods that provide the functionality of the API,
- * including provision of callbacks that notify the application when a message
- * arrives from or is delivered to the messaging server,
- * or when the status of its connection to the messaging server changes.
- * - {@link Paho.MQTT.Message}
- * - This encapsulates the payload of the message along with various attributes
- * associated with its delivery, in particular the destination to which it has
- * been (or is about to be) sent.
- *
- *
- * The programming interface validates parameters passed to it, and will throw
- * an Error containing an error message intended for developer use, if it detects
- * an error with any parameter.
- *
- * Example:
- *
- *
-client = new Paho.MQTT.Client(location.hostname, Number(location.port), "clientId");
-client.onConnectionLost = onConnectionLost;
-client.onMessageArrived = onMessageArrived;
-client.connect({onSuccess:onConnect});
-
-function onConnect() {
- // Once a connection has been made, make a subscription and send a message.
- console.log("onConnect");
- client.subscribe("/World");
- message = new Paho.MQTT.Message("Hello");
- message.destinationName = "/World";
- client.send(message);
-};
-function onConnectionLost(responseObject) {
- if (responseObject.errorCode !== 0)
- console.log("onConnectionLost:"+responseObject.errorMessage);
-};
-function onMessageArrived(message) {
- console.log("onMessageArrived:"+message.payloadString);
- client.disconnect();
-};
- *
- * The send, subscribe and unsubscribe methods are implemented as asynchronous JavaScript methods
- * (even though the underlying protocol exchange might be synchronous in nature).
- * This means they signal their completion by calling back to the application,
- * via Success or Failure callback functions provided by the application on the method in question.
- * Such callbacks are called at most once per method invocation and do not persist beyond the lifetime
- * of the script that made the invocation.
- *
- * In contrast there are some callback functions, most notably onMessageArrived,
- * that are defined on the {@link Paho.MQTT.Client} object.
- * These may get called multiple times, and aren't directly related to specific method invocations made by the client.
- *
- * @name Paho.MQTT.Client
- *
- * @constructor
- *
- * @param {string} host - the address of the messaging server, as a fully qualified WebSocket URI, as a DNS name or dotted decimal IP address.
- * @param {number} port - the port number to connect to - only required if host is not a URI
- * @param {string} path - the path on the host to connect to - only used if host is not a URI. Default: '/mqtt'.
- * @param {string} clientId - the Messaging client identifier, between 1 and 23 characters in length.
- *
- * @property {string} host - read only the server's DNS hostname or dotted decimal IP address.
- * @property {number} port - read only the server's port.
- * @property {string} path - read only the server's path.
- * @property {string} clientId - read only used when connecting to the server.
- * @property {function} onConnectionLost - called when a connection has been lost.
- * after a connect() method has succeeded.
- * Establish the call back used when a connection has been lost. The connection may be
- * lost because the client initiates a disconnect or because the server or network
- * cause the client to be disconnected. The disconnect call back may be called without
- * the connectionComplete call back being invoked if, for example the client fails to
- * connect.
- * A single response object parameter is passed to the onConnectionLost callback containing the following fields:
- *
- * - errorCode
- *
- errorMessage
- *
- * @property {function} onMessageDelivered - called when a message has been delivered.
- * All processing that this Client will ever do has been completed. So, for example,
- * in the case of a Qos=2 message sent by this client, the PubComp flow has been received from the server
- * and the message has been removed from persistent storage before this callback is invoked.
- * Parameters passed to the onMessageDelivered callback are:
- *
- * - {@link Paho.MQTT.Message} that was delivered.
- *
- * @property {function} onMessageArrived - called when a message has arrived in this Paho.MQTT.client.
- * Parameters passed to the onMessageArrived callback are:
- *
- * - {@link Paho.MQTT.Message} that has arrived.
- *
- * @property {function} onConnected - called when a connection is successfully made to the server.
- * after a connect() method.
- * Parameters passed to the onConnected callback are:
- *
- * - reconnect (boolean) - If true, the connection was the result of a reconnect.
- * - URI (string) - The URI used to connect to the server.
- *
- * @property {boolean} disconnectedPublishing - if set, will enable disconnected publishing in
- * in the event that the connection to the server is lost.
- * @property {number} disconnectedBufferSize - Used to set the maximum number of messages that the disconnected
- * buffer will hold before rejecting new messages. Default size: 5000 messages
- * @property {function} trace - called whenever trace is called. TODO
- */
- var Client = function (host, port, path, clientId) {
-
- var uri;
-
- if (typeof host !== "string")
- throw new Error(format(ERROR.INVALID_TYPE, [typeof host, "host"]));
-
- if (arguments.length == 2) {
- // host: must be full ws:// uri
- // port: clientId
- clientId = port;
- uri = host;
- var match = uri.match(/^(wss?):\/\/((\[(.+)\])|([^\/]+?))(:(\d+))?(\/.*)$/);
- if (match) {
- host = match[4]||match[2];
- port = parseInt(match[7]);
- path = match[8];
- } else {
- throw new Error(format(ERROR.INVALID_ARGUMENT,[host,"host"]));
- }
- } else {
- if (arguments.length == 3) {
- clientId = path;
- path = "/mqtt";
- }
- if (typeof port !== "number" || port < 0)
- throw new Error(format(ERROR.INVALID_TYPE, [typeof port, "port"]));
- if (typeof path !== "string")
- throw new Error(format(ERROR.INVALID_TYPE, [typeof path, "path"]));
-
- var ipv6AddSBracket = (host.indexOf(":") !== -1 && host.slice(0,1) !== "[" && host.slice(-1) !== "]");
- uri = "ws://"+(ipv6AddSBracket?"["+host+"]":host)+":"+port+path;
- }
-
- var clientIdLength = 0;
- for (var i = 0; i 65535)
- throw new Error(format(ERROR.INVALID_ARGUMENT, [clientId, "clientId"]));
-
- var client = new ClientImpl(uri, host, port, path, clientId);
- this._getHost = function() { return host; };
- this._setHost = function() { throw new Error(format(ERROR.UNSUPPORTED_OPERATION)); };
-
- this._getPort = function() { return port; };
- this._setPort = function() { throw new Error(format(ERROR.UNSUPPORTED_OPERATION)); };
-
- this._getPath = function() { return path; };
- this._setPath = function() { throw new Error(format(ERROR.UNSUPPORTED_OPERATION)); };
-
- this._getURI = function() { return uri; };
- this._setURI = function() { throw new Error(format(ERROR.UNSUPPORTED_OPERATION)); };
-
- this._getClientId = function() { return client.clientId; };
- this._setClientId = function() { throw new Error(format(ERROR.UNSUPPORTED_OPERATION)); };
-
- this._getOnConnected = function() { return client.onConnected; };
- this._setOnConnected = function(newOnConnected) {
- if (typeof newOnConnected === "function")
- client.onConnected = newOnConnected;
- else
- throw new Error(format(ERROR.INVALID_TYPE, [typeof newOnConnected, "onConnected"]));
- };
-
- this._getDisconnectedPublishing = function() { return client.disconnectedPublishing; };
- this._setDisconnectedPublishing = function(newDisconnectedPublishing) {
- client.disconnectedPublishing = newDisconnectedPublishing;
- };
-
- this._getDisconnectedBufferSize = function() { return client.disconnectedBufferSize; };
- this._setDisconnectedBufferSize = function(newDisconnectedBufferSize) {
- client.disconnectedBufferSize = newDisconnectedBufferSize;
- };
-
- this._getOnConnectionLost = function() { return client.onConnectionLost; };
- this._setOnConnectionLost = function(newOnConnectionLost) {
- if (typeof newOnConnectionLost === "function")
- client.onConnectionLost = newOnConnectionLost;
- else
- throw new Error(format(ERROR.INVALID_TYPE, [typeof newOnConnectionLost, "onConnectionLost"]));
- };
-
- this._getOnMessageDelivered = function() { return client.onMessageDelivered; };
- this._setOnMessageDelivered = function(newOnMessageDelivered) {
- if (typeof newOnMessageDelivered === "function")
- client.onMessageDelivered = newOnMessageDelivered;
- else
- throw new Error(format(ERROR.INVALID_TYPE, [typeof newOnMessageDelivered, "onMessageDelivered"]));
- };
-
- this._getOnMessageArrived = function() { return client.onMessageArrived; };
- this._setOnMessageArrived = function(newOnMessageArrived) {
- if (typeof newOnMessageArrived === "function")
- client.onMessageArrived = newOnMessageArrived;
- else
- throw new Error(format(ERROR.INVALID_TYPE, [typeof newOnMessageArrived, "onMessageArrived"]));
- };
-
- this._getTrace = function() { return client.traceFunction; };
- this._setTrace = function(trace) {
- if(typeof trace === "function"){
- client.traceFunction = trace;
- }else{
- throw new Error(format(ERROR.INVALID_TYPE, [typeof trace, "onTrace"]));
- }
- };
-
- /**
- * Connect this Messaging client to its server.
- *
- * @name Paho.MQTT.Client#connect
- * @function
- * @param {object} connectOptions - Attributes used with the connection.
- * @param {number} connectOptions.timeout - If the connect has not succeeded within this
- * number of seconds, it is deemed to have failed.
- * The default is 30 seconds.
- * @param {string} connectOptions.userName - Authentication username for this connection.
- * @param {string} connectOptions.password - Authentication password for this connection.
- * @param {Paho.MQTT.Message} connectOptions.willMessage - sent by the server when the client
- * disconnects abnormally.
- * @param {number} connectOptions.keepAliveInterval - the server disconnects this client if
- * there is no activity for this number of seconds.
- * The default value of 60 seconds is assumed if not set.
- * @param {boolean} connectOptions.cleanSession - if true(default) the client and server
- * persistent state is deleted on successful connect.
- * @param {boolean} connectOptions.useSSL - if present and true, use an SSL Websocket connection.
- * @param {object} connectOptions.invocationContext - passed to the onSuccess callback or onFailure callback.
- * @param {function} connectOptions.onSuccess - called when the connect acknowledgement
- * has been received from the server.
- * A single response object parameter is passed to the onSuccess callback containing the following fields:
- *
- * - invocationContext as passed in to the onSuccess method in the connectOptions.
- *
- * @param {function} connectOptions.onFailure - called when the connect request has failed or timed out.
- * A single response object parameter is passed to the onFailure callback containing the following fields:
- *
- * - invocationContext as passed in to the onFailure method in the connectOptions.
- *
- errorCode a number indicating the nature of the error.
- *
- errorMessage text describing the error.
- *
- * @param {array} connectOptions.hosts - If present this contains either a set of hostnames or fully qualified
- * WebSocket URIs (ws://iot.eclipse.org:80/ws), that are tried in order in place
- * of the host and port paramater on the construtor. The hosts are tried one at at time in order until
- * one of then succeeds.
- * @param {array} connectOptions.ports - If present the set of ports matching the hosts. If hosts contains URIs, this property
- * is not used.
- * @param {boolean} connectOptions.reconnect - Sets whether the client will automatically attempt to reconnect
- * to the server if the connection is lost.
- *
- *- If set to false, the client will not attempt to automatically reconnect to the server in the event that the
- * connection is lost.
- *- If set to true, in the event that the connection is lost, the client will attempt to reconnect to the server.
- * It will initially wait 1 second before it attempts to reconnect, for every failed reconnect attempt, the delay
- * will double until it is at 2 minutes at which point the delay will stay at 2 minutes.
- *
- * @param {number} connectOptions.mqttVersion - The version of MQTT to use to connect to the MQTT Broker.
- *
- *- 3 - MQTT V3.1
- *- 4 - MQTT V3.1.1
- *
- * @param {boolean} connectOptions.mqttVersionExplicit - If set to true, will force the connection to use the
- * selected MQTT Version or will fail to connect.
- * @param {array} connectOptions.uris - If present, should contain a list of fully qualified WebSocket uris
- * (e.g. ws://iot.eclipse.org:80/ws), that are tried in order in place of the host and port parameter of the construtor.
- * The uris are tried one at a time in order until one of them succeeds. Do not use this in conjunction with hosts as
- * the hosts array will be converted to uris and will overwrite this property.
- * @throws {InvalidState} If the client is not in disconnected state. The client must have received connectionLost
- * or disconnected before calling connect for a second or subsequent time.
- */
- this.connect = function (connectOptions) {
- connectOptions = connectOptions || {} ;
- validate(connectOptions, {timeout:"number",
- userName:"string",
- password:"string",
- willMessage:"object",
- keepAliveInterval:"number",
- cleanSession:"boolean",
- useSSL:"boolean",
- invocationContext:"object",
- onSuccess:"function",
- onFailure:"function",
- hosts:"object",
- ports:"object",
- reconnect:"boolean",
- mqttVersion:"number",
- mqttVersionExplicit:"boolean",
- uris: "object"});
-
- // If no keep alive interval is set, assume 60 seconds.
- if (connectOptions.keepAliveInterval === undefined)
- connectOptions.keepAliveInterval = 60;
-
- if (connectOptions.mqttVersion > 4 || connectOptions.mqttVersion < 3) {
- throw new Error(format(ERROR.INVALID_ARGUMENT, [connectOptions.mqttVersion, "connectOptions.mqttVersion"]));
- }
-
- if (connectOptions.mqttVersion === undefined) {
- connectOptions.mqttVersionExplicit = false;
- connectOptions.mqttVersion = 4;
- } else {
- connectOptions.mqttVersionExplicit = true;
- }
-
- //Check that if password is set, so is username
- if (connectOptions.password !== undefined && connectOptions.userName === undefined)
- throw new Error(format(ERROR.INVALID_ARGUMENT, [connectOptions.password, "connectOptions.password"]));
-
- if (connectOptions.willMessage) {
- if (!(connectOptions.willMessage instanceof Message))
- throw new Error(format(ERROR.INVALID_TYPE, [connectOptions.willMessage, "connectOptions.willMessage"]));
- // The will message must have a payload that can be represented as a string.
- // Cause the willMessage to throw an exception if this is not the case.
- connectOptions.willMessage.stringPayload = null;
-
- if (typeof connectOptions.willMessage.destinationName === "undefined")
- throw new Error(format(ERROR.INVALID_TYPE, [typeof connectOptions.willMessage.destinationName, "connectOptions.willMessage.destinationName"]));
- }
- if (typeof connectOptions.cleanSession === "undefined")
- connectOptions.cleanSession = true;
- if (connectOptions.hosts) {
-
- if (!(connectOptions.hosts instanceof Array) )
- throw new Error(format(ERROR.INVALID_ARGUMENT, [connectOptions.hosts, "connectOptions.hosts"]));
- if (connectOptions.hosts.length <1 )
- throw new Error(format(ERROR.INVALID_ARGUMENT, [connectOptions.hosts, "connectOptions.hosts"]));
-
- var usingURIs = false;
- for (var i = 0; i
- * @param {object} subscribeOptions - used to control the subscription
- *
- * @param {number} subscribeOptions.qos - the maiximum qos of any publications sent
- * as a result of making this subscription.
- * @param {object} subscribeOptions.invocationContext - passed to the onSuccess callback
- * or onFailure callback.
- * @param {function} subscribeOptions.onSuccess - called when the subscribe acknowledgement
- * has been received from the server.
- * A single response object parameter is passed to the onSuccess callback containing the following fields:
- *
- * - invocationContext if set in the subscribeOptions.
- *
- * @param {function} subscribeOptions.onFailure - called when the subscribe request has failed or timed out.
- * A single response object parameter is passed to the onFailure callback containing the following fields:
- *
- * - invocationContext - if set in the subscribeOptions.
- *
- errorCode - a number indicating the nature of the error.
- *
- errorMessage - text describing the error.
- *
- * @param {number} subscribeOptions.timeout - which, if present, determines the number of
- * seconds after which the onFailure calback is called.
- * The presence of a timeout does not prevent the onSuccess
- * callback from being called when the subscribe completes.
- * @throws {InvalidState} if the client is not in connected state.
- */
- this.subscribe = function (filter, subscribeOptions) {
- if (typeof filter !== "string")
- throw new Error("Invalid argument:"+filter);
- subscribeOptions = subscribeOptions || {} ;
- validate(subscribeOptions, {qos:"number",
- invocationContext:"object",
- onSuccess:"function",
- onFailure:"function",
- timeout:"number"
- });
- if (subscribeOptions.timeout && !subscribeOptions.onFailure)
- throw new Error("subscribeOptions.timeout specified with no onFailure callback.");
- if (typeof subscribeOptions.qos !== "undefined" && !(subscribeOptions.qos === 0 || subscribeOptions.qos === 1 || subscribeOptions.qos === 2 ))
- throw new Error(format(ERROR.INVALID_ARGUMENT, [subscribeOptions.qos, "subscribeOptions.qos"]));
- client.subscribe(filter, subscribeOptions);
- };
-
- /**
- * Unsubscribe for messages, stop receiving messages sent to destinations described by the filter.
- *
- * @name Paho.MQTT.Client#unsubscribe
- * @function
- * @param {string} filter - describing the destinations to receive messages from.
- * @param {object} unsubscribeOptions - used to control the subscription
- * @param {object} unsubscribeOptions.invocationContext - passed to the onSuccess callback
- or onFailure callback.
- * @param {function} unsubscribeOptions.onSuccess - called when the unsubscribe acknowledgement has been received from the server.
- * A single response object parameter is passed to the
- * onSuccess callback containing the following fields:
- *
- * - invocationContext - if set in the unsubscribeOptions.
- *
- * @param {function} unsubscribeOptions.onFailure called when the unsubscribe request has failed or timed out.
- * A single response object parameter is passed to the onFailure callback containing the following fields:
- *
- * - invocationContext - if set in the unsubscribeOptions.
- *
- errorCode - a number indicating the nature of the error.
- *
- errorMessage - text describing the error.
- *
- * @param {number} unsubscribeOptions.timeout - which, if present, determines the number of seconds
- * after which the onFailure callback is called. The presence of
- * a timeout does not prevent the onSuccess callback from being
- * called when the unsubscribe completes
- * @throws {InvalidState} if the client is not in connected state.
- */
- this.unsubscribe = function (filter, unsubscribeOptions) {
- if (typeof filter !== "string")
- throw new Error("Invalid argument:"+filter);
- unsubscribeOptions = unsubscribeOptions || {} ;
- validate(unsubscribeOptions, {invocationContext:"object",
- onSuccess:"function",
- onFailure:"function",
- timeout:"number"
- });
- if (unsubscribeOptions.timeout && !unsubscribeOptions.onFailure)
- throw new Error("unsubscribeOptions.timeout specified with no onFailure callback.");
- client.unsubscribe(filter, unsubscribeOptions);
- };
-
- /**
- * Send a message to the consumers of the destination in the Message.
- *
- * @name Paho.MQTT.Client#send
- * @function
- * @param {string|Paho.MQTT.Message} topic - mandatory The name of the destination to which the message is to be sent.
- * - If it is the only parameter, used as Paho.MQTT.Message object.
- * @param {String|ArrayBuffer} payload - The message data to be sent.
- * @param {number} qos The Quality of Service used to deliver the message.
- *
- * - 0 Best effort (default).
- *
- 1 At least once.
- *
- 2 Exactly once.
- *
- * @param {Boolean} retained If true, the message is to be retained by the server and delivered
- * to both current and future subscriptions.
- * If false the server only delivers the message to current subscribers, this is the default for new Messages.
- * A received message has the retained boolean set to true if the message was published
- * with the retained boolean set to true
- * and the subscrption was made after the message has been published.
- * @throws {InvalidState} if the client is not connected.
- */
- this.send = function (topic,payload,qos,retained) {
- var message ;
-
- if(arguments.length === 0){
- throw new Error("Invalid argument."+"length");
-
- }else if(arguments.length == 1) {
-
- if (!(topic instanceof Message) && (typeof topic !== "string"))
- throw new Error("Invalid argument:"+ typeof topic);
-
- message = topic;
- if (typeof message.destinationName === "undefined")
- throw new Error(format(ERROR.INVALID_ARGUMENT,[message.destinationName,"Message.destinationName"]));
- client.send(message);
-
- }else {
- //parameter checking in Message object
- message = new Message(payload);
- message.destinationName = topic;
- if(arguments.length >= 3)
- message.qos = qos;
- if(arguments.length >= 4)
- message.retained = retained;
- client.send(message);
- }
- };
-
- /**
- * Publish a message to the consumers of the destination in the Message.
- * Synonym for Paho.Mqtt.Client#send
- *
- * @name Paho.MQTT.Client#publish
- * @function
- * @param {string|Paho.MQTT.Message} topic - mandatory The name of the topic to which the message is to be published.
- * - If it is the only parameter, used as Paho.MQTT.Message object.
- * @param {String|ArrayBuffer} payload - The message data to be published.
- * @param {number} qos The Quality of Service used to deliver the message.
- *
- * - 0 Best effort (default).
- *
- 1 At least once.
- *
- 2 Exactly once.
- *
- * @param {Boolean} retained If true, the message is to be retained by the server and delivered
- * to both current and future subscriptions.
- * If false the server only delivers the message to current subscribers, this is the default for new Messages.
- * A received message has the retained boolean set to true if the message was published
- * with the retained boolean set to true
- * and the subscrption was made after the message has been published.
- * @throws {InvalidState} if the client is not connected.
- */
- this.publish = function(topic,payload,qos,retained) {
- console.log("Publising message to: ", topic);
- var message ;
-
- if(arguments.length === 0){
- throw new Error("Invalid argument."+"length");
-
- }else if(arguments.length == 1) {
-
- if (!(topic instanceof Message) && (typeof topic !== "string"))
- throw new Error("Invalid argument:"+ typeof topic);
-
- message = topic;
- if (typeof message.destinationName === "undefined")
- throw new Error(format(ERROR.INVALID_ARGUMENT,[message.destinationName,"Message.destinationName"]));
- client.send(message);
-
- }else {
- //parameter checking in Message object
- message = new Message(payload);
- message.destinationName = topic;
- if(arguments.length >= 3)
- message.qos = qos;
- if(arguments.length >= 4)
- message.retained = retained;
- client.send(message);
- }
- };
-
- /**
- * Normal disconnect of this Messaging client from its server.
- *
- * @name Paho.MQTT.Client#disconnect
- * @function
- * @throws {InvalidState} if the client is already disconnected.
- */
- this.disconnect = function () {
- client.disconnect();
- };
-
- /**
- * Get the contents of the trace log.
- *
- * @name Paho.MQTT.Client#getTraceLog
- * @function
- * @return {Object[]} tracebuffer containing the time ordered trace records.
- */
- this.getTraceLog = function () {
- return client.getTraceLog();
- };
-
- /**
- * Start tracing.
- *
- * @name Paho.MQTT.Client#startTrace
- * @function
- */
- this.startTrace = function () {
- client.startTrace();
- };
-
- /**
- * Stop tracing.
- *
- * @name Paho.MQTT.Client#stopTrace
- * @function
- */
- this.stopTrace = function () {
- client.stopTrace();
- };
-
- this.isConnected = function() {
- return client.connected;
- };
- };
-
- Client.prototype = {
- get host() { return this._getHost(); },
- set host(newHost) { this._setHost(newHost); },
-
- get port() { return this._getPort(); },
- set port(newPort) { this._setPort(newPort); },
-
- get path() { return this._getPath(); },
- set path(newPath) { this._setPath(newPath); },
-
- get clientId() { return this._getClientId(); },
- set clientId(newClientId) { this._setClientId(newClientId); },
-
- get onConnected() { return this._getOnConnected(); },
- set onConnected(newOnConnected) { this._setOnConnected(newOnConnected); },
-
- get disconnectedPublishing() { return this._getDisconnectedPublishing(); },
- set disconnectedPublishing(newDisconnectedPublishing) { this._setDisconnectedPublishing(newDisconnectedPublishing); },
-
- get disconnectedBufferSize() { return this._getDisconnectedBufferSize(); },
- set disconnectedBufferSize(newDisconnectedBufferSize) { this._setDisconnectedBufferSize(newDisconnectedBufferSize); },
-
- get onConnectionLost() { return this._getOnConnectionLost(); },
- set onConnectionLost(newOnConnectionLost) { this._setOnConnectionLost(newOnConnectionLost); },
-
- get onMessageDelivered() { return this._getOnMessageDelivered(); },
- set onMessageDelivered(newOnMessageDelivered) { this._setOnMessageDelivered(newOnMessageDelivered); },
-
- get onMessageArrived() { return this._getOnMessageArrived(); },
- set onMessageArrived(newOnMessageArrived) { this._setOnMessageArrived(newOnMessageArrived); },
-
- get trace() { return this._getTrace(); },
- set trace(newTraceFunction) { this._setTrace(newTraceFunction); }
-
- };
-
- /**
- * An application message, sent or received.
- *
- * All attributes may be null, which implies the default values.
- *
- * @name Paho.MQTT.Message
- * @constructor
- * @param {String|ArrayBuffer} payload The message data to be sent.
- *
- * @property {string} payloadString read only The payload as a string if the payload consists of valid UTF-8 characters.
- * @property {ArrayBuffer} payloadBytes read only The payload as an ArrayBuffer.
- *
- * @property {string} destinationName mandatory The name of the destination to which the message is to be sent
- * (for messages about to be sent) or the name of the destination from which the message has been received.
- * (for messages received by the onMessage function).
- *
- * @property {number} qos The Quality of Service used to deliver the message.
- *
- * - 0 Best effort (default).
- *
- 1 At least once.
- *
- 2 Exactly once.
- *
- *
- * @property {Boolean} retained If true, the message is to be retained by the server and delivered
- * to both current and future subscriptions.
- * If false the server only delivers the message to current subscribers, this is the default for new Messages.
- * A received message has the retained boolean set to true if the message was published
- * with the retained boolean set to true
- * and the subscrption was made after the message has been published.
- *
- * @property {Boolean} duplicate read only If true, this message might be a duplicate of one which has already been received.
- * This is only set on messages received from the server.
- *
- */
- var Message = function (newPayload) {
- var payload;
- if ( typeof newPayload === "string" ||
- newPayload instanceof ArrayBuffer ||
- newPayload instanceof Int8Array ||
- newPayload instanceof Uint8Array ||
- newPayload instanceof Int16Array ||
- newPayload instanceof Uint16Array ||
- newPayload instanceof Int32Array ||
- newPayload instanceof Uint32Array ||
- newPayload instanceof Float32Array ||
- newPayload instanceof Float64Array
- ) {
- payload = newPayload;
- } else {
- throw (format(ERROR.INVALID_ARGUMENT, [newPayload, "newPayload"]));
- }
-
- this._getPayloadString = function () {
- if (typeof payload === "string")
- return payload;
- else
- return parseUTF8(payload, 0, payload.length);
- };
-
- this._getPayloadBytes = function() {
- if (typeof payload === "string") {
- var buffer = new ArrayBuffer(UTF8Length(payload));
- var byteStream = new Uint8Array(buffer);
- stringToUTF8(payload, byteStream, 0);
-
- return byteStream;
- } else {
- return payload;
- }
- };
-
- var destinationName;
- this._getDestinationName = function() { return destinationName; };
- this._setDestinationName = function(newDestinationName) {
- if (typeof newDestinationName === "string")
- destinationName = newDestinationName;
- else
- throw new Error(format(ERROR.INVALID_ARGUMENT, [newDestinationName, "newDestinationName"]));
- };
-
- var qos = 0;
- this._getQos = function() { return qos; };
- this._setQos = function(newQos) {
- if (newQos === 0 || newQos === 1 || newQos === 2 )
- qos = newQos;
- else
- throw new Error("Invalid argument:"+newQos);
- };
-
- var retained = false;
- this._getRetained = function() { return retained; };
- this._setRetained = function(newRetained) {
- if (typeof newRetained === "boolean")
- retained = newRetained;
- else
- throw new Error(format(ERROR.INVALID_ARGUMENT, [newRetained, "newRetained"]));
- };
-
- var duplicate = false;
- this._getDuplicate = function() { return duplicate; };
- this._setDuplicate = function(newDuplicate) { duplicate = newDuplicate; };
- };
-
- Message.prototype = {
- get payloadString() { return this._getPayloadString(); },
- get payloadBytes() { return this._getPayloadBytes(); },
-
- get destinationName() { return this._getDestinationName(); },
- set destinationName(newDestinationName) { this._setDestinationName(newDestinationName); },
-
- get topic() { return this._getDestinationName(); },
- set topic(newTopic) { this._setDestinationName(newTopic); },
-
- get qos() { return this._getQos(); },
- set qos(newQos) { this._setQos(newQos); },
-
- get retained() { return this._getRetained(); },
- set retained(newRetained) { this._setRetained(newRetained); },
-
- get duplicate() { return this._getDuplicate(); },
- set duplicate(newDuplicate) { this._setDuplicate(newDuplicate); }
- };
-
- // Module contents.
- return {
- Client: Client,
- Message: Message
- };
-})(window);
-return PahoMQTT;
-});
diff --git a/lidar/lidarService_pb2.py b/lidar/lidarService_pb2.py
deleted file mode 100644
index f4ee178..0000000
--- a/lidar/lidarService_pb2.py
+++ /dev/null
@@ -1,288 +0,0 @@
-# -*- coding: utf-8 -*-
-# Generated by the protocol buffer compiler. DO NOT EDIT!
-# source: lidarService.proto
-
-import sys
-_b=sys.version_info[0]<3 and (lambda x:x) or (lambda x:x.encode('latin1'))
-from google.protobuf import descriptor as _descriptor
-from google.protobuf import message as _message
-from google.protobuf import reflection as _reflection
-from google.protobuf import symbol_database as _symbol_database
-# @@protoc_insertion_point(imports)
-
-_sym_db = _symbol_database.Default()
-
-
-
-
-DESCRIPTOR = _descriptor.FileDescriptor(
- name='lidarService.proto',
- package='lidar',
- syntax='proto3',
- serialized_options=None,
- serialized_pb=_b('\n\x12lidarService.proto\x12\x05lidar\"$\n\x08LidarMap\x12\x18\n\x04rows\x18\x01 \x03(\x0b\x32\n.lidar.Row\"\x10\n\x03Row\x12\t\n\x01x\x18\x01 \x03(\x05\"j\n\x0cLidarRequest\x12\x12\n\nnumColumns\x18\x01 \x01(\x05\x12\x0f\n\x07numRows\x18\x02 \x01(\x05\x12\x12\n\ncontinuous\x18\x03 \x01(\x08\x12\x10\n\x08readRate\x18\x04 \x01(\x05\x12\x0f\n\x07numMaps\x18\x05 \x01(\x05\"\x1b\n\x0bStopRequest\x12\x0c\n\x04stop\x18\x01 \x01(\x08\"\x1f\n\x0cStopResponse\x12\x0f\n\x07stopped\x18\x01 \x01(\x08\x32v\n\x0cLidarService\x12\x33\n\x07GetMaps\x12\x13.lidar.LidarRequest\x1a\x0f.lidar.LidarMap\"\x00\x30\x01\x12\x31\n\x04Stop\x12\x12.lidar.StopRequest\x1a\x13.lidar.StopResponse\"\x00\x62\x06proto3')
-)
-
-
-
-
-_LIDARMAP = _descriptor.Descriptor(
- name='LidarMap',
- full_name='lidar.LidarMap',
- filename=None,
- file=DESCRIPTOR,
- containing_type=None,
- fields=[
- _descriptor.FieldDescriptor(
- name='rows', full_name='lidar.LidarMap.rows', index=0,
- number=1, type=11, cpp_type=10, label=3,
- has_default_value=False, default_value=[],
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- serialized_options=None, file=DESCRIPTOR),
- ],
- extensions=[
- ],
- nested_types=[],
- enum_types=[
- ],
- serialized_options=None,
- is_extendable=False,
- syntax='proto3',
- extension_ranges=[],
- oneofs=[
- ],
- serialized_start=29,
- serialized_end=65,
-)
-
-
-_ROW = _descriptor.Descriptor(
- name='Row',
- full_name='lidar.Row',
- filename=None,
- file=DESCRIPTOR,
- containing_type=None,
- fields=[
- _descriptor.FieldDescriptor(
- name='x', full_name='lidar.Row.x', index=0,
- number=1, type=5, cpp_type=1, label=3,
- has_default_value=False, default_value=[],
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- serialized_options=None, file=DESCRIPTOR),
- ],
- extensions=[
- ],
- nested_types=[],
- enum_types=[
- ],
- serialized_options=None,
- is_extendable=False,
- syntax='proto3',
- extension_ranges=[],
- oneofs=[
- ],
- serialized_start=67,
- serialized_end=83,
-)
-
-
-_LIDARREQUEST = _descriptor.Descriptor(
- name='LidarRequest',
- full_name='lidar.LidarRequest',
- filename=None,
- file=DESCRIPTOR,
- containing_type=None,
- fields=[
- _descriptor.FieldDescriptor(
- name='numColumns', full_name='lidar.LidarRequest.numColumns', index=0,
- number=1, type=5, cpp_type=1, label=1,
- has_default_value=False, default_value=0,
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- serialized_options=None, file=DESCRIPTOR),
- _descriptor.FieldDescriptor(
- name='numRows', full_name='lidar.LidarRequest.numRows', index=1,
- number=2, type=5, cpp_type=1, label=1,
- has_default_value=False, default_value=0,
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- serialized_options=None, file=DESCRIPTOR),
- _descriptor.FieldDescriptor(
- name='continuous', full_name='lidar.LidarRequest.continuous', index=2,
- number=3, type=8, cpp_type=7, label=1,
- has_default_value=False, default_value=False,
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- serialized_options=None, file=DESCRIPTOR),
- _descriptor.FieldDescriptor(
- name='readRate', full_name='lidar.LidarRequest.readRate', index=3,
- number=4, type=5, cpp_type=1, label=1,
- has_default_value=False, default_value=0,
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- serialized_options=None, file=DESCRIPTOR),
- _descriptor.FieldDescriptor(
- name='numMaps', full_name='lidar.LidarRequest.numMaps', index=4,
- number=5, type=5, cpp_type=1, label=1,
- has_default_value=False, default_value=0,
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- serialized_options=None, file=DESCRIPTOR),
- ],
- extensions=[
- ],
- nested_types=[],
- enum_types=[
- ],
- serialized_options=None,
- is_extendable=False,
- syntax='proto3',
- extension_ranges=[],
- oneofs=[
- ],
- serialized_start=85,
- serialized_end=191,
-)
-
-
-_STOPREQUEST = _descriptor.Descriptor(
- name='StopRequest',
- full_name='lidar.StopRequest',
- filename=None,
- file=DESCRIPTOR,
- containing_type=None,
- fields=[
- _descriptor.FieldDescriptor(
- name='stop', full_name='lidar.StopRequest.stop', index=0,
- number=1, type=8, cpp_type=7, label=1,
- has_default_value=False, default_value=False,
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- serialized_options=None, file=DESCRIPTOR),
- ],
- extensions=[
- ],
- nested_types=[],
- enum_types=[
- ],
- serialized_options=None,
- is_extendable=False,
- syntax='proto3',
- extension_ranges=[],
- oneofs=[
- ],
- serialized_start=193,
- serialized_end=220,
-)
-
-
-_STOPRESPONSE = _descriptor.Descriptor(
- name='StopResponse',
- full_name='lidar.StopResponse',
- filename=None,
- file=DESCRIPTOR,
- containing_type=None,
- fields=[
- _descriptor.FieldDescriptor(
- name='stopped', full_name='lidar.StopResponse.stopped', index=0,
- number=1, type=8, cpp_type=7, label=1,
- has_default_value=False, default_value=False,
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- serialized_options=None, file=DESCRIPTOR),
- ],
- extensions=[
- ],
- nested_types=[],
- enum_types=[
- ],
- serialized_options=None,
- is_extendable=False,
- syntax='proto3',
- extension_ranges=[],
- oneofs=[
- ],
- serialized_start=222,
- serialized_end=253,
-)
-
-_LIDARMAP.fields_by_name['rows'].message_type = _ROW
-DESCRIPTOR.message_types_by_name['LidarMap'] = _LIDARMAP
-DESCRIPTOR.message_types_by_name['Row'] = _ROW
-DESCRIPTOR.message_types_by_name['LidarRequest'] = _LIDARREQUEST
-DESCRIPTOR.message_types_by_name['StopRequest'] = _STOPREQUEST
-DESCRIPTOR.message_types_by_name['StopResponse'] = _STOPRESPONSE
-_sym_db.RegisterFileDescriptor(DESCRIPTOR)
-
-LidarMap = _reflection.GeneratedProtocolMessageType('LidarMap', (_message.Message,), {
- 'DESCRIPTOR' : _LIDARMAP,
- '__module__' : 'lidarService_pb2'
- # @@protoc_insertion_point(class_scope:lidar.LidarMap)
- })
-_sym_db.RegisterMessage(LidarMap)
-
-Row = _reflection.GeneratedProtocolMessageType('Row', (_message.Message,), {
- 'DESCRIPTOR' : _ROW,
- '__module__' : 'lidarService_pb2'
- # @@protoc_insertion_point(class_scope:lidar.Row)
- })
-_sym_db.RegisterMessage(Row)
-
-LidarRequest = _reflection.GeneratedProtocolMessageType('LidarRequest', (_message.Message,), {
- 'DESCRIPTOR' : _LIDARREQUEST,
- '__module__' : 'lidarService_pb2'
- # @@protoc_insertion_point(class_scope:lidar.LidarRequest)
- })
-_sym_db.RegisterMessage(LidarRequest)
-
-StopRequest = _reflection.GeneratedProtocolMessageType('StopRequest', (_message.Message,), {
- 'DESCRIPTOR' : _STOPREQUEST,
- '__module__' : 'lidarService_pb2'
- # @@protoc_insertion_point(class_scope:lidar.StopRequest)
- })
-_sym_db.RegisterMessage(StopRequest)
-
-StopResponse = _reflection.GeneratedProtocolMessageType('StopResponse', (_message.Message,), {
- 'DESCRIPTOR' : _STOPRESPONSE,
- '__module__' : 'lidarService_pb2'
- # @@protoc_insertion_point(class_scope:lidar.StopResponse)
- })
-_sym_db.RegisterMessage(StopResponse)
-
-
-
-_LIDARSERVICE = _descriptor.ServiceDescriptor(
- name='LidarService',
- full_name='lidar.LidarService',
- file=DESCRIPTOR,
- index=0,
- serialized_options=None,
- serialized_start=255,
- serialized_end=373,
- methods=[
- _descriptor.MethodDescriptor(
- name='GetMaps',
- full_name='lidar.LidarService.GetMaps',
- index=0,
- containing_service=None,
- input_type=_LIDARREQUEST,
- output_type=_LIDARMAP,
- serialized_options=None,
- ),
- _descriptor.MethodDescriptor(
- name='Stop',
- full_name='lidar.LidarService.Stop',
- index=1,
- containing_service=None,
- input_type=_STOPREQUEST,
- output_type=_STOPRESPONSE,
- serialized_options=None,
- ),
-])
-_sym_db.RegisterServiceDescriptor(_LIDARSERVICE)
-
-DESCRIPTOR.services_by_name['LidarService'] = _LIDARSERVICE
-
-# @@protoc_insertion_point(module_scope)
diff --git a/lidar/lidarService_pb2_grpc.py b/lidar/lidarService_pb2_grpc.py
deleted file mode 100644
index e983b96..0000000
--- a/lidar/lidarService_pb2_grpc.py
+++ /dev/null
@@ -1,63 +0,0 @@
-# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
-import grpc
-
-import lidarService_pb2 as lidarService__pb2
-
-
-class LidarServiceStub(object):
- # missing associated documentation comment in .proto file
- pass
-
- def __init__(self, channel):
- """Constructor.
-
- Args:
- channel: A grpc.Channel.
- """
- self.GetMaps = channel.unary_stream(
- '/lidar.LidarService/GetMaps',
- request_serializer=lidarService__pb2.LidarRequest.SerializeToString,
- response_deserializer=lidarService__pb2.LidarMap.FromString,
- )
- self.Stop = channel.unary_unary(
- '/lidar.LidarService/Stop',
- request_serializer=lidarService__pb2.StopRequest.SerializeToString,
- response_deserializer=lidarService__pb2.StopResponse.FromString,
- )
-
-
-class LidarServiceServicer(object):
- # missing associated documentation comment in .proto file
- pass
-
- def GetMaps(self, request, context):
- # missing associated documentation comment in .proto file
- pass
- context.set_code(grpc.StatusCode.UNIMPLEMENTED)
- context.set_details('Method not implemented!')
- raise NotImplementedError('Method not implemented!')
-
- def Stop(self, request, context):
- # missing associated documentation comment in .proto file
- pass
- context.set_code(grpc.StatusCode.UNIMPLEMENTED)
- context.set_details('Method not implemented!')
- raise NotImplementedError('Method not implemented!')
-
-
-def add_LidarServiceServicer_to_server(servicer, server):
- rpc_method_handlers = {
- 'GetMaps': grpc.unary_stream_rpc_method_handler(
- servicer.GetMaps,
- request_deserializer=lidarService__pb2.LidarRequest.FromString,
- response_serializer=lidarService__pb2.LidarMap.SerializeToString,
- ),
- 'Stop': grpc.unary_unary_rpc_method_handler(
- servicer.Stop,
- request_deserializer=lidarService__pb2.StopRequest.FromString,
- response_serializer=lidarService__pb2.StopResponse.SerializeToString,
- ),
- }
- generic_handler = grpc.method_handlers_generic_handler(
- 'lidar.LidarService', rpc_method_handlers)
- server.add_generic_rpc_handlers((generic_handler,))
diff --git a/lidar/protos/lidarService.proto b/lidar/protos/lidarService.proto
deleted file mode 100644
index cb7d65a..0000000
--- a/lidar/protos/lidarService.proto
+++ /dev/null
@@ -1,33 +0,0 @@
-syntax = "proto3";
-
-package lidar;
-
-message LidarMap{
- repeated Row rows = 1;
-}
-
-message Row{
- repeated int32 x = 1;
-}
-
-message LidarRequest{
- int32 numColumns = 1;
- int32 numRows = 2;
- bool continuous = 3;
- int32 readRate = 4;
- int32 numMaps = 5;
-}
-
-message StopRequest{
- bool stop = 1;
-}
-
-message StopResponse{
- bool stopped = 1;
-}
-
-
-service LidarService{
- rpc GetMaps(LidarRequest) returns (stream LidarMap) {}
- rpc Stop(StopRequest) returns (StopResponse) {}
-}
diff --git a/persontracking/lidar_cache.py b/persontracking/lidar_cache.py
index 2c634b2..4b25e90 100644
--- a/persontracking/lidar_cache.py
+++ b/persontracking/lidar_cache.py
@@ -4,6 +4,7 @@ from threading import Thread
from persontracking import algorithms
import zmq
+
class LidarCache():
'''
A class that retrieves scans from the lidar,
@@ -14,15 +15,18 @@ class LidarCache():
tracking_group_number = -1
currentGroups = None
groupsChanged = []
-
- def __init__(self, port, measurements=100):
- self.port = port
+ port = None
+
+ def __init__(self, measurements=100):
self.lidar = RPLidar('/dev/ttyUSB0')
self.measurements = measurements
print('Info: ' + self.lidar.get_info())
print('Health: ' + self.lidar.get_health())
def start_cache(self):
+ if self.port is None:
+ print('ERROR: Port has not been set!')
+ return
self.thread = Thread(target=self.do_scanning)
self.thread.start()
@@ -30,7 +34,6 @@ class LidarCache():
'''
Performs a scan for the given number of iterations.
'''
-
# Create the 0MQ socket first. This should not be passed between threads.
self._socket = self._create_socket()
self._socket.bind("tcp://*:" + str(self.port))
@@ -40,9 +43,10 @@ class LidarCache():
if(not self.run):
break
- # Now process the groups.
+ # Now process the groups.
if self.currentGroups is not None:
- self.currentGroups = algorithms.assign_groups(self.currentGroups, algorithms.calc_groups(scan))
+ self.currentGroups = algorithms.assign_groups(
+ self.currentGroups, algorithms.calc_groups(scan))
else:
self.currentGroups = algorithms.calc_groups(scan)
@@ -56,4 +60,3 @@ class LidarCache():
def _create_socket(self):
return zmq.Context.instance().socket(zmq.PUB)
-
\ No newline at end of file
diff --git a/persontracking/lidar_servicer.py b/persontracking/lidar_servicer.py
index 7ab31ad..e742670 100644
--- a/persontracking/lidar_servicer.py
+++ b/persontracking/lidar_servicer.py
@@ -1,27 +1,26 @@
import persontracking.lidar_tracker_pb2 as lidar_tracker_pb2
from persontracking.lidar_tracker_pb2_grpc import PersonTrackingServicer
-from persontracking.lidar_cache import LidarCache\
-
+from persontracking.lidar_cache import LidarCache
+from multiprocessing import Process
class LidarServicer(PersonTrackingServicer):
+ lidar_thread = None
def __init__(self):
self.cache = LidarCache(measurements=100)
- self.cache.do_scanning()
def set_tracking_group(self, request, context):
pass
def stop_tracking(self, request, context):
self.cache.stop_scanning()
-
- def get_scan_data(self, request, context):
- pass
+ self.lidar_thread.join()
+ self.lidar_thread = None
def start_tracking(self, request, context):
'''
Starts the lidar cache.
'''
- pass
-
\ No newline at end of file
+ if self.lidar_thread is None:
+ self.lidar_thread = Process(target=self.cache.do_scanning)
diff --git a/persontracking/lidar_tracker_pb2.py b/persontracking/lidar_tracker_pb2.py
index 38c0bdf..61393f5 100644
--- a/persontracking/lidar_tracker_pb2.py
+++ b/persontracking/lidar_tracker_pb2.py
@@ -1,6 +1,5 @@
-# -*- coding: utf-8 -*-
# Generated by the protocol buffer compiler. DO NOT EDIT!
-# source: lidar_tracker.proto
+# source: persontracking/lidar_tracker.proto
import sys
_b=sys.version_info[0]<3 and (lambda x:x) or (lambda x:x.encode('latin1'))
@@ -16,11 +15,11 @@ _sym_db = _symbol_database.Default()
DESCRIPTOR = _descriptor.FileDescriptor(
- name='lidar_tracker.proto',
+ name='persontracking/lidar_tracker.proto',
package='persontracking',
syntax='proto3',
serialized_options=_b('\n\031com.example.carcontrollerB\021MotorServiceProtoP\001'),
- serialized_pb=_b('\n\x13lidar_tracker.proto\x12\x0epersontracking\"\x1b\n\nInt32Value\x12\r\n\x05value\x18\x01 \x01(\x05\"\x07\n\x05\x45mpty\">\n\x05Point\x12\r\n\x05\x61ngle\x18\x01 \x01(\x01\x12\x10\n\x08\x64istance\x18\x02 \x01(\x05\x12\x14\n\x0cgroup_number\x18\x03 \x01(\x05\"2\n\tPointScan\x12%\n\x06points\x18\x01 \x03(\x0b\x32\x15.persontracking.Point2\xe1\x01\n\x0ePersonTracking\x12I\n\x12set_tracking_group\x12\x1a.persontracking.Int32Value\x1a\x15.persontracking.Empty\"\x00\x12?\n\rstop_tracking\x12\x15.persontracking.Empty\x1a\x15.persontracking.Empty\"\x00\x12\x43\n\rget_scan_data\x12\x15.persontracking.Empty\x1a\x19.persontracking.PointScan\"\x00\x42\x30\n\x19\x63om.example.carcontrollerB\x11MotorServiceProtoP\x01\x62\x06proto3')
+ serialized_pb=_b('\n\"persontracking/lidar_tracker.proto\x12\x0epersontracking\"\x1b\n\nInt32Value\x12\r\n\x05value\x18\x01 \x01(\x05\"\x07\n\x05\x45mpty\">\n\x05Point\x12\r\n\x05\x61ngle\x18\x01 \x01(\x01\x12\x10\n\x08\x64istance\x18\x02 \x01(\x05\x12\x14\n\x0cgroup_number\x18\x03 \x01(\x05\"2\n\tPointScan\x12%\n\x06points\x18\x01 \x03(\x0b\x32\x15.persontracking.Point2\xe3\x01\n\x0ePersonTracking\x12I\n\x12set_tracking_group\x12\x1a.persontracking.Int32Value\x1a\x15.persontracking.Empty\"\x00\x12?\n\rstop_tracking\x12\x15.persontracking.Empty\x1a\x15.persontracking.Empty\"\x00\x12\x45\n\x0estart_tracking\x12\x1a.persontracking.Int32Value\x1a\x15.persontracking.Empty\"\x00\x42\x30\n\x19\x63om.example.carcontrollerB\x11MotorServiceProtoP\x01\x62\x06proto3')
)
@@ -52,8 +51,8 @@ _INT32VALUE = _descriptor.Descriptor(
extension_ranges=[],
oneofs=[
],
- serialized_start=39,
- serialized_end=66,
+ serialized_start=54,
+ serialized_end=81,
)
@@ -76,8 +75,8 @@ _EMPTY = _descriptor.Descriptor(
extension_ranges=[],
oneofs=[
],
- serialized_start=68,
- serialized_end=75,
+ serialized_start=83,
+ serialized_end=90,
)
@@ -121,8 +120,8 @@ _POINT = _descriptor.Descriptor(
extension_ranges=[],
oneofs=[
],
- serialized_start=77,
- serialized_end=139,
+ serialized_start=92,
+ serialized_end=154,
)
@@ -152,8 +151,8 @@ _POINTSCAN = _descriptor.Descriptor(
extension_ranges=[],
oneofs=[
],
- serialized_start=141,
- serialized_end=191,
+ serialized_start=156,
+ serialized_end=206,
)
_POINTSCAN.fields_by_name['points'].message_type = _POINT
@@ -163,32 +162,32 @@ DESCRIPTOR.message_types_by_name['Point'] = _POINT
DESCRIPTOR.message_types_by_name['PointScan'] = _POINTSCAN
_sym_db.RegisterFileDescriptor(DESCRIPTOR)
-Int32Value = _reflection.GeneratedProtocolMessageType('Int32Value', (_message.Message,), {
- 'DESCRIPTOR' : _INT32VALUE,
- '__module__' : 'lidar_tracker_pb2'
+Int32Value = _reflection.GeneratedProtocolMessageType('Int32Value', (_message.Message,), dict(
+ DESCRIPTOR = _INT32VALUE,
+ __module__ = 'persontracking.lidar_tracker_pb2'
# @@protoc_insertion_point(class_scope:persontracking.Int32Value)
- })
+ ))
_sym_db.RegisterMessage(Int32Value)
-Empty = _reflection.GeneratedProtocolMessageType('Empty', (_message.Message,), {
- 'DESCRIPTOR' : _EMPTY,
- '__module__' : 'lidar_tracker_pb2'
+Empty = _reflection.GeneratedProtocolMessageType('Empty', (_message.Message,), dict(
+ DESCRIPTOR = _EMPTY,
+ __module__ = 'persontracking.lidar_tracker_pb2'
# @@protoc_insertion_point(class_scope:persontracking.Empty)
- })
+ ))
_sym_db.RegisterMessage(Empty)
-Point = _reflection.GeneratedProtocolMessageType('Point', (_message.Message,), {
- 'DESCRIPTOR' : _POINT,
- '__module__' : 'lidar_tracker_pb2'
+Point = _reflection.GeneratedProtocolMessageType('Point', (_message.Message,), dict(
+ DESCRIPTOR = _POINT,
+ __module__ = 'persontracking.lidar_tracker_pb2'
# @@protoc_insertion_point(class_scope:persontracking.Point)
- })
+ ))
_sym_db.RegisterMessage(Point)
-PointScan = _reflection.GeneratedProtocolMessageType('PointScan', (_message.Message,), {
- 'DESCRIPTOR' : _POINTSCAN,
- '__module__' : 'lidar_tracker_pb2'
+PointScan = _reflection.GeneratedProtocolMessageType('PointScan', (_message.Message,), dict(
+ DESCRIPTOR = _POINTSCAN,
+ __module__ = 'persontracking.lidar_tracker_pb2'
# @@protoc_insertion_point(class_scope:persontracking.PointScan)
- })
+ ))
_sym_db.RegisterMessage(PointScan)
@@ -200,8 +199,8 @@ _PERSONTRACKING = _descriptor.ServiceDescriptor(
file=DESCRIPTOR,
index=0,
serialized_options=None,
- serialized_start=194,
- serialized_end=419,
+ serialized_start=209,
+ serialized_end=436,
methods=[
_descriptor.MethodDescriptor(
name='set_tracking_group',
@@ -222,12 +221,12 @@ _PERSONTRACKING = _descriptor.ServiceDescriptor(
serialized_options=None,
),
_descriptor.MethodDescriptor(
- name='get_scan_data',
- full_name='persontracking.PersonTracking.get_scan_data',
+ name='start_tracking',
+ full_name='persontracking.PersonTracking.start_tracking',
index=2,
containing_service=None,
- input_type=_EMPTY,
- output_type=_POINTSCAN,
+ input_type=_INT32VALUE,
+ output_type=_EMPTY,
serialized_options=None,
),
])
diff --git a/persontracking/lidar_tracker_pb2_grpc.py b/persontracking/lidar_tracker_pb2_grpc.py
index e614942..187f25f 100644
--- a/persontracking/lidar_tracker_pb2_grpc.py
+++ b/persontracking/lidar_tracker_pb2_grpc.py
@@ -1,7 +1,7 @@
# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
import grpc
-import lidar_tracker_pb2 as lidar__tracker__pb2
+from persontracking import lidar_tracker_pb2 as persontracking_dot_lidar__tracker__pb2
class PersonTrackingStub(object):
@@ -16,18 +16,18 @@ class PersonTrackingStub(object):
"""
self.set_tracking_group = channel.unary_unary(
'/persontracking.PersonTracking/set_tracking_group',
- request_serializer=lidar__tracker__pb2.Int32Value.SerializeToString,
- response_deserializer=lidar__tracker__pb2.Empty.FromString,
+ request_serializer=persontracking_dot_lidar__tracker__pb2.Int32Value.SerializeToString,
+ response_deserializer=persontracking_dot_lidar__tracker__pb2.Empty.FromString,
)
self.stop_tracking = channel.unary_unary(
'/persontracking.PersonTracking/stop_tracking',
- request_serializer=lidar__tracker__pb2.Empty.SerializeToString,
- response_deserializer=lidar__tracker__pb2.Empty.FromString,
+ request_serializer=persontracking_dot_lidar__tracker__pb2.Empty.SerializeToString,
+ response_deserializer=persontracking_dot_lidar__tracker__pb2.Empty.FromString,
)
- self.get_scan_data = channel.unary_unary(
- '/persontracking.PersonTracking/get_scan_data',
- request_serializer=lidar__tracker__pb2.Empty.SerializeToString,
- response_deserializer=lidar__tracker__pb2.PointScan.FromString,
+ self.start_tracking = channel.unary_unary(
+ '/persontracking.PersonTracking/start_tracking',
+ request_serializer=persontracking_dot_lidar__tracker__pb2.Int32Value.SerializeToString,
+ response_deserializer=persontracking_dot_lidar__tracker__pb2.Empty.FromString,
)
@@ -49,7 +49,7 @@ class PersonTrackingServicer(object):
context.set_details('Method not implemented!')
raise NotImplementedError('Method not implemented!')
- def get_scan_data(self, request, context):
+ def start_tracking(self, request, context):
# missing associated documentation comment in .proto file
pass
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
@@ -61,18 +61,18 @@ def add_PersonTrackingServicer_to_server(servicer, server):
rpc_method_handlers = {
'set_tracking_group': grpc.unary_unary_rpc_method_handler(
servicer.set_tracking_group,
- request_deserializer=lidar__tracker__pb2.Int32Value.FromString,
- response_serializer=lidar__tracker__pb2.Empty.SerializeToString,
+ request_deserializer=persontracking_dot_lidar__tracker__pb2.Int32Value.FromString,
+ response_serializer=persontracking_dot_lidar__tracker__pb2.Empty.SerializeToString,
),
'stop_tracking': grpc.unary_unary_rpc_method_handler(
servicer.stop_tracking,
- request_deserializer=lidar__tracker__pb2.Empty.FromString,
- response_serializer=lidar__tracker__pb2.Empty.SerializeToString,
+ request_deserializer=persontracking_dot_lidar__tracker__pb2.Empty.FromString,
+ response_serializer=persontracking_dot_lidar__tracker__pb2.Empty.SerializeToString,
),
- 'get_scan_data': grpc.unary_unary_rpc_method_handler(
- servicer.get_scan_data,
- request_deserializer=lidar__tracker__pb2.Empty.FromString,
- response_serializer=lidar__tracker__pb2.PointScan.SerializeToString,
+ 'start_tracking': grpc.unary_unary_rpc_method_handler(
+ servicer.start_tracking,
+ request_deserializer=persontracking_dot_lidar__tracker__pb2.Int32Value.FromString,
+ response_serializer=persontracking_dot_lidar__tracker__pb2.Empty.SerializeToString,
),
}
generic_handler = grpc.method_handlers_generic_handler(
diff --git a/persontracking/protos/lidar_tracker.proto b/persontracking/protos/persontracking/lidar_tracker.proto
similarity index 77%
rename from persontracking/protos/lidar_tracker.proto
rename to persontracking/protos/persontracking/lidar_tracker.proto
index 7a0829c..03d3803 100644
--- a/persontracking/protos/lidar_tracker.proto
+++ b/persontracking/protos/persontracking/lidar_tracker.proto
@@ -24,16 +24,10 @@ message PointScan{
repeated Point points = 1;
}
-message TrackingInfo{
- int32 port = 1;
-}
-
service PersonTracking{
rpc set_tracking_group(Int32Value) returns (Empty) {}
rpc stop_tracking(Empty) returns (Empty) {}
- rpc get_scan_data(Empty) returns (PointScan) {}
-
- rpc start_tracking(TrackingInfo) returns (Empty) {}
+ rpc start_tracking(Int32Value) returns (Empty) {}
}
\ No newline at end of file
diff --git a/requirements.txt b/requirements.txt
index 94714bb..15e7951 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -2,4 +2,6 @@ numpy
opencv-python
six
paho-mqtt
-u-msgpack-python
\ No newline at end of file
+u-msgpack-python
+grpcio-tools
+rplidar
diff --git a/setup.py b/setup.py
new file mode 100644
index 0000000..7a9facf
--- /dev/null
+++ b/setup.py
@@ -0,0 +1,8 @@
+from setuptools import setup, find_packages
+
+setup(
+ name="CarController",
+ packages=find_packages(),
+ author="Michael Pivato",
+ version="0.1"
+)
\ No newline at end of file