Remove Web Worker support

Gruntfile.js

@@ -43,9 +43,6 @@ module.exports = function(grunt) {
       },
       examples: {
         configFile: './test/examples/karma.conf.js'
-      },
-      workersocket: {
-        configFile: './test/workersocket/karma.conf.js'
       }
     },
     mochaTest: {
@@ -110,7 +107,6 @@ module.exports = function(grunt) {
   grunt.registerTask('test', ['jshint', 'mochaTest:test', 'karma:test']);
   grunt.registerTask('test-examples', ['mochaTest:examples', 'karma:examples']);
   grunt.registerTask('test-tcp', ['mochaTest:tcp']);
-  grunt.registerTask('test-workersocket', ['karma:workersocket']);
   grunt.registerTask('build', ['shell', 'browserify', 'uglify']);
   grunt.registerTask('build_and_watch', ['watch']);
   grunt.registerTask('doc', ['clean', 'jsdoc']);

package.json

@@ -44,8 +44,6 @@
     "eventemitter3": "^5.0.1",
     "object-assign": "^4.0.0",
     "pngparse": "^2.0.0",
-    "webworkify": "^1.5.0",
-    "webworkify-webpack": "^2.1.5",
     "ws": "^8.0.0"
   },
   "directories": {
@@ -60,7 +58,6 @@
     "doc": "grunt doc",
     "test": "grunt test",
     "test-examples": "grunt test-examples",
-    "test-workersocket": "grunt test-workersocket",
     "test-tcp": "grunt test-tcp",
     "publish": "npm run build && npm run test"
   },

src/core/Ros.js

@@ -4,7 +4,6 @@
  */
 
 var WebSocket = require('ws');
-var WorkerSocket = require('../util/workerSocket');
 var socketAdapter = require('./SocketAdapter.js');
 
 var Service = require('./Service');
@@ -33,7 +32,7 @@ class Ros extends EventEmitter {
    * @param {Object} [options]
    * @param {string} [options.url] - The WebSocket URL for rosbridge. Can be specified later with `connect`.
    * @param {boolean} [options.groovyCompatibility=true] - Don't use interfaces that changed after the last groovy release or rosbridge_suite and related tools.
-   * @param {'websocket'|'workersocket'|RTCPeerConnection} [options.transportLibrary='websocket'] - One of 'websocket', 'workersocket', or RTCPeerConnection instance controlling how the connection is created in `connect`.
+   * @param {'websocket'|RTCPeerConnection} [options.transportLibrary='websocket'] - 'websocket', or an RTCPeerConnection instance controlling how the connection is created in `connect`.
    * @param {Object} [options.transportOptions={}] - The options to use when creating a connection. Currently only used if `transportLibrary` is RTCPeerConnection.
    */
   constructor(options) {
@@ -78,8 +77,6 @@ class Ros extends EventEmitter {
         sock.binaryType = 'arraybuffer';
         this.socket = assign(sock, socketAdapter(this));
       }
-    } else if (this.transportLibrary === 'workersocket') {
-      this.socket = assign(new WorkerSocket(url), socketAdapter(this));
     } else {
       throw 'Unknown transportLibrary: ' + this.transportLibrary.toString();
     }

test/build.bash

@@ -30,5 +30,3 @@ echo -e "\e[1m\e[35mnpm test\e[0m"
 npm test
 echo -e "\e[1m\e[35mnpm run test-examples\e[0m"
 npm run test-examples
-echo -e "\e[1m\e[35mnpm run test-workersocket\e[0m"
-npm run test-workersocket