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Fix race condition in ros websocket authentication #13

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Fix race condition in ros websocket authentication #13

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14 changes: 9 additions & 5 deletions knowrob/client.js
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Original file line number Diff line number Diff line change
Expand Up @@ -88,9 +88,7 @@ function KnowrobClient(options){
that.connect();

that.episode = new KnowrobEpisode(that);
if(options.category && options.episode)
that.episode.setEpisode(options.category, options.episode);


that.createOverlay();

if(requireEpisode && !that.episode.hasEpisode()) {
Expand All @@ -113,6 +111,12 @@ function KnowrobClient(options){
});
};

function onRosConnected() {
that.registerNodes();
if(options.category && options.episode)
that.episode.setEpisode(options.category, options.episode);
}

this.connect = function () {
if(that.ros) return;
that.ros = new ROSLIB.Ros({url : rosURL});
Expand All @@ -121,11 +125,11 @@ function KnowrobClient(options){
console.log('Connected to websocket server.');
if (authentication) {
// Acquire auth token for current user and authenticate, then call registerNodes
that.authenticate(authURL, that.registerNodes);
that.authenticate(authURL, onRosConnected);
} else {
// No authentication requested, call registerNodes directly
that.registerNodes();
that.waitForJsonProlog();
onRosConnected();
}
});
that.ros.on('close', function() {
Expand Down