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m=this;s=s||{},this.ros=s.ros,this.serverName=s.serverName,this.actionName=s.actionName,this.timeout=s.timeout,this.omitFeedback=s.omitFeedback,this.omitStatus=s.omitStatus,this.omitResult=s.omitResult,this.goals={};var L=!1;this.feedbackListener=new a({ros:this.ros,name:this.serverName+"/feedback",messageType:this.actionName+"Feedback"}),this.statusListener=new a({ros:this.ros,name:this.serverName+"/status",messageType:"actionlib_msgs/GoalStatusArray"}),this.resultListener=new a({ros:this.ros,name:this.serverName+"/result",messageType:this.actionName+"Result"}),this.goalTopic=new a({ros:this.ros,name:this.serverName+"/goal",messageType:this.actionName+"Goal"}),this.cancelTopic=new a({ros:this.ros,name:this.serverName+"/cancel",messageType:"actionlib_msgs/GoalID"}),this.goalTopic.advertise(),this.cancelTopic.advertise(),this.omitStatus||this.statusListener.subscribe(function(y){L=!0,y.status_list.forEach(function(r){var n=m.goals[r.goal_id.id];n&&n.emit("status",r)})}),this.omitFeedback||this.feedbackListener.subscribe(function(y){var r=m.goals[y.status.goal_id.id];r&&(r.emit("status",y.status),r.emit("feedback",y.feedback))}),this.omitResult||this.resultListener.subscribe(function(y){var r=m.goals[y.status.goal_id.id];r&&(r.emit("status",y.status),r.emit("result",y.result))}),this.timeout&&setTimeout(function(){L||m.emit("timeout")},this.timeout)}h.prototype.__proto__=v.prototype,h.prototype.cancel=function(){var s=new b;this.cancelTopic.publish(s)},h.prototype.dispose=function(){this.goalTopic.unadvertise(),this.cancelTopic.unadvertise(),this.omitStatus||this.statusListener.unsubscribe(),this.omitFeedback||this.feedbackListener.unsubscribe(),this.omitResult||this.resultListener.unsubscribe()},d.exports=h},{"../core/Message":14,"../core/Topic":21,eventemitter2:2}],10:[function(_,d,g){var a=_("../core/Topic"),b=_("../core/Message"),v=_("eventemitter2").EventEmitter2;function h(s){var 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a=_("../core/Message"),b=_("eventemitter2").EventEmitter2;function v(h){var s=this;this.actionClient=h.actionClient,this.goalMessage=h.goalMessage,this.isFinished=!1;var m=new Date;this.goalID="goal_"+Math.random()+"_"+m.getTime(),this.goalMessage=new a({goal_id:{stamp:{secs:0,nsecs:0},id:this.goalID},goal:this.goalMessage}),this.on("status",function(L){s.status=L}),this.on("result",function(L){s.isFinished=!0,s.result=L}),this.on("feedback",function(L){s.feedback=L}),this.actionClient.goals[this.goalID]=this}v.prototype.__proto__=b.prototype,v.prototype.send=function(h){var s=this;s.actionClient.goalTopic.publish(s.goalMessage),h&&setTimeout(function(){s.isFinished||s.emit("timeout")},h)},v.prototype.cancel=function(){var h=new a({id:this.goalID});this.actionClient.cancelTopic.publish(h)},d.exports=v},{"../core/Message":14,eventemitter2:2}],12:[function(_,d,g){var a=_("../core/Topic"),b=_("../core/Message"),v=_("eventemitter2").EventEmitter2;function h(s){var m=this;s=s||{},this.ros=s.ros,this.serverName=s.serverName,this.actionName=s.actionName,this.feedbackPublisher=new a({ros:this.ros,name:this.serverName+"/feedback",messageType:this.actionName+"Feedback"}),this.feedbackPublisher.advertise();var L=new a({ros:this.ros,name:this.serverName+"/status",messageType:"actionlib_msgs/GoalStatusArray"});L.advertise(),this.resultPublisher=new a({ros:this.ros,name:this.serverName+"/result",messageType:this.actionName+"Result"}),this.resultPublisher.advertise();var y=new a({ros:this.ros,name:this.serverName+"/goal",messageType:this.actionName+"Goal"}),r=new a({ros:this.ros,name:this.serverName+"/cancel",messageType:"actionlib_msgs/GoalID"});this.statusMessage=new b({header:{stamp:{secs:0,nsecs:100},frame_id:""},status_list:[]}),this.currentGoal=null,this.nextGoal=null,y.subscribe(function(u){m.currentGoal?(m.nextGoal=u,m.emit("cancel")):(m.statusMessage.status_list=[{goal_id:u.goal_id,status:1}],m.currentGoal=u,m.emit("goal",u.goal))});var n=function(u,c){return u.secs>c.secs?!1:u.secs<c.secs?!0:u.nsecs<c.nsecs};r.subscribe(function(u){u.stamp.secs===0&&u.stamp.secs===0&&u.id===""?(m.nextGoal=null,m.currentGoal&&m.emit("cancel")):(m.currentGoal&&u.id===m.currentGoal.goal_id.id?m.emit("cancel"):m.nextGoal&&u.id===m.nextGoal.goal_id.id&&(m.nextGoal=null),m.nextGoal&&n(m.nextGoal.goal_id.stamp,u.stamp)&&(m.nextGoal=null),m.currentGoal&&n(m.currentGoal.goal_id.stamp,u.stamp)&&m.emit("cancel"))});var f=setInterval(function(){var u=new Date,c=Math.floor(u.getTime()/1e3),w=Math.round(1e9*(u.getTime()/1e3-c));m.statusMessage.header.stamp.secs=c,m.statusMessage.header.stamp.nsecs=w,L.publish(m.statusMessage)},500)}h.prototype.__proto__=v.prototype,h.prototype.setSucceeded=function(s){var m=new b({status:{goal_id:this.currentGoal.goal_id,status:3},result:s});this.resultPublisher.publish(m),this.statusMessage.status_list=[],this.nextGoal?(this.currentGoal=this.nextGoal,this.nextGoal=null,this.emit
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a=_("../core/Ros"),b=_("../mixin"),v=d.exports={ActionClient:_("./ActionClient"),ActionListener:_("./ActionListener"),Goal:_("./Goal"),SimpleActionServer:_("./SimpleActionServer")};b(a,["ActionClient","SimpleActionServer"],v)},{"../core/Ros":16,"../mixin":23,"./ActionClient":9,"./ActionListener":10,"./Goal":11,"./SimpleActionServer":12}],14:[function(_,d,g){var a=_("object-assign");function b(v){a(this,v)}d.exports=b},{"object-assign":3}],15:[function(_,d,g){var a=_("./Service"),b=_("./ServiceRequest");function v(h){h=h||{},this.ros=h.ros,this.name=h.name}v.prototype.get=function(h){var s=this.ros,m=new a({ros:s,name:"/rosapi/get_param",serviceType:"rosapi/GetParam"}),L=new b({name:this.name});m.callService(L,function(y){try{var r=JSON.parse(y.value);h(r)}catch(n){s.emit("error","Failed to parse JSON param value: "+n.message)}})},v.prototype.set=function(h,s){var m=new a({ros:this.ros,name:"/rosapi/set_param",serviceType:"rosapi/SetParam"}),L=new 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r.groovyCompatibility>"u"?this.groovyCompatibility=!0:this.groovyCompatibility=r.groovyCompatibility,this.setMaxListeners(0),r.url&&this.connect(r.url)}y.prototype.__proto__=L.prototype,y.prototype.connect=function(r){if(this.transportLibrary==="websocket"){if(!this.socket||this.socket.readyState===a.CLOSED){var n=new a(r);n.binaryType="arraybuffer",this.socket=m(n,v(this))}}else if(this.transportLibrary==="workersocket")this.socket=m(new b(r),v(this));else throw"Unknown transportLibrary: "+this.transportLibrary.toString()},y.prototype.close=function(){this.socket&&this.socket.close()},y.prototype.authenticate=function(r,n,f,u,c,w,F){var R={op:"auth",mac:r,client:n,dest:f,rand:u,t:c,level:w,end:F};this.callOnConnection(R)},y.prototype.sendEncodedMessage=function(r){var n=null,f=this;this.transportLibrary==="socket.io"?n=function(u){f.socket.emit("operation",u)}:n=function(u){f.socket.send(u)},this.isConnected?n(r):f.once("connection",function(){n(r)})},y.prototype.callOnConnection=function(r){if(this.transportOptions.encoder)this.transportOptions.encoder(r,this._sendFunc);else{const n=(f,u)=>ArrayBuffer.isView(u)?Array.from(u):u;this._sendFunc(JSON.stringify(r),n)}},y.prototype.setStatusLevel=function(r,n){var f={op:"set_level",level:r,id:n};this.callOnConnection(f)},y.prototype.getActionServers=function(r,n){var f=new h({ros:this,name:"/rosapi/action_servers",serviceType:"rosapi/GetActionServers"}),u=new s({});typeof n=="function"?f.callService(u,function(c){r(c.action_servers)},function(c){n(c)}):f.callService(u,function(c){r(c.action_servers)})},y.prototype.getTopics=function(r,n){var f=new h({ros:this,name:"/rosapi/topics",serviceType:"rosapi/Topics"}),u=new s;typeof n=="function"?f.callService(u,function(c){r(c)},function(c){n(c)}):f.callService(u,function(c){r(c)})},y.prototype.getTopicsForType=function(r,n,f){var u=new h({ros:this,name:"/rosapi/topics_for_type",serviceType:"rosapi/TopicsForType"}),c=new s({type:r});typeof f=="function"?u.callService(c,function(w){n(w.topics)},function(w){f(w)}):u.callService(c,function(w){n(w.topics)})},y.prototype.getServices=function(r,n){var f=new h({ros:this,name:"/rosapi/services",serviceType:"rosapi/Services"}),u=new s;typeof n=="function"?f.callService(u,function(c){r(c.services)},function(c){n(c)}):f.callService(u,function(c){r(c.services)})},y.prototype.getServicesForType=function(r,n,f){var u=new h({ros:this,name:"/rosapi/services_for_type",serviceType:"rosapi/ServicesForType"}),c=new s({type:r});typeof f=="function"?u.callService(c,function(w){n(w.services)},function(w){f(w)}):u.callService(c,function(w){n(w.services)})},y.prototype.getServiceRequestDetails=function(r,n,f){var u=new h({ros:this,name:"/rosapi/service_request_details",serviceType:"rosapi/ServiceRequestDetails"}),c=new s({type:r});typeof f=="function"?u.callService(c,function(w){n(w)},function(w){f(w)}):u.callService(c,function(w){n(w)})},y.prototype.getServiceResponseDetails=function(r,n,f){var u=new h({ros:this,name:"/rosapi/service_response_details",serviceType:"rosapi/ServiceResponseDetails"}),c=new s({type:r});typeof f=="function"?u.callService(c,function(w){n(w)},function(w){f(w)}):u.callService(c,function(w){n(w)})},y.prototype.getNodes=function(r,n){var f=new h({ros:this,name:"/rosapi/nodes",serviceType:"rosapi/Nodes"}),u=new s;typeof n=="function"?f.callService(u,function(c){r(c.nodes)},function(c){n(c)}):f.callService(u,function(c){r(c.nodes)})},y.prototype.getNodeDetails=function(r,n,f){var u=new h({ros:this,name:"/rosapi/node_details",serviceType:"rosapi/NodeDetails"}
11),c=new s({node:r});typeof f=="function"?u.callService(c,function(w){n(w.subscribing,w.publishing,w.services)},function(w){f(w)}):u.callService(c,function(w){n(w)})},y.prototype.getParams=function(r,n){var f=new h({ros:this,name:"/rosapi/get_param_names",serviceType:"rosapi/GetParamNames"}),u=new s;typeof n=="function"?f.callService(u,function(c){r(c.names)},function(c){n(c)}):f.callService(u,function(c){r(c.names)})},y.prototype.getTopicType=function(r,n,f){var u=new h({ros:this,name:"/rosapi/topic_type",serviceType:"rosapi/TopicType"}),c=new s({topic:r});typeof f=="function"?u.callService(c,function(w){n(w.type)},function(w){f(w)}):u.callService(c,function(w){n(w.type)})},y.prototype.getServiceType=function(r,n,f){var u=new h({ros:this,name:"/rosapi/service_type",serviceType:"rosapi/ServiceType"}),c=new s({service:r});typeof 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n=="function"?f.callService(u,function(c){r(c)},function(c){n(c)}):f.callService(u,function(c){r(c)})},d.exports=y},{"../util/workerSocket":26,"./Service":17,"./ServiceRequest":18,"./SocketAdapter.js":20,eventemitter2:2,"object-assign":3,ws:25}],17:[function(_,d,g){var a=_("./ServiceResponse"),b=_("./ServiceRequest"),v=_("eventemitter2").EventEmitter2;function h(s){s=s||{},this.ros=s.ros,this.name=s.name,this.serviceType=s.serviceType,this.isAdvertised=!1,this._serviceCallback=null}h.prototype.__proto__=v.prototype,h.prototype.callService=function(s,m,L){if(!this.isAdvertised){var y="call_service:"+this.name+":"+ ++this.ros.idCounter;(m||L)&&this.ros.once(y,function(n){n.result!==void 0&&n.result===!1?typeof L=="function"&&L(n.values):typeof m=="function"&&m(new a(n.values))});var r={op:"call_service",id:y,service:this.name,type:this.serviceType,args:s};this.ros.callOnConnection(r)}},h.prototype.advertise=function(s){this.isAdvertised||typeof s!="function"||(this._serviceCallback=s,this.ros.on(this.name,this._serviceResponse.bind(this)),this.ros.callOnConnection({op:"advertise_service",type:this.serviceType,service:this.name}),this.isAdvertised=!0)},h.prototype.unadvertise=function(){this.isAdvertised&&(this.ros.callOnConnection({op:"unadvertise_service",service:this.name}),this.isAdvertised=!1)},h.prototype._serviceResponse=function(s){var m={},L=this._serviceCallback(s.args,m),y={op:"service_response",service:this.name,values:new a(m),result:L};s.id&&(y.id=s.id),this.ros.callOnConnection(y)},d.exports=h},{"./ServiceRequest":18,"./ServiceResponse":19,eventemitter2:2}],18:[function(_,d,g){var a=_("object-assign");function b(v){a(this,v)}d.exports=b},{"object-assign":3}],19:[function(_,d,g){var a=_("object-assign");function b(v){a(this,v)}d.exports=b},{"object-assign":3}],20:[function(_,d,g){"use strict";var a=_("cbor-js"),b=_("../util/cborTypedArrayTags"),v=null;typeof bson<"u"&&(v=bson().BSON);function h(s){var m=null;s.transportOptions.decoder&&(m=s.transportOptions.decoder);function L(r){r.op==="publish"?s.emit(r.topic,r.msg):r.op==="service_response"?s.emit(r.id,r):r.op==="call_service"?s.emit(r.service,r):r.op==="status"&&(r.id?s.emit("status:"+r.id,r):s.emit("status",r))}function y(r,n){if(!v)throw"Cannot process BSON encoded message without BSON header.";var f=new FileReader;f.onload=function(){var u=new Uint8Array(this.result),c=v.deserialize(u);n(c)},f.readAsArrayBuffer(r)}return{onopen:function(n){s.isConnected=!0,s.emit("connection",n)},onclose:function(n){s.isConnected=!1,s.emit("close",n)},onerror:function(n){s.emit("error",n)},onmessage:function(n){if(m)m(n.data,function(c){L(c)});else if(typeof Blob<"u"&&n.data instanceof Blob)y(n.data,L);else if(n.data instanceof ArrayBuffer){var f=a.decode(n.data,b);L(f)}else try{var u=JSON.parse(typeof n=="string"?n:n.data);L(u)}catch(c){s.emit("error","Failed to parse JSON rosbridge message: 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