rclnodejs 0.19.0 → 0.21.0

package/.gitattributes

@@ -0,0 +1,117 @@
+# Based on https://github.com/alexkaratarakis/gitattributes/blob/master/Web.gitattributes
+
+# Auto detect
+##   Handle line endings automatically for files detected as
+##   text and leave all files detected as binary untouched.
+##   This will handle all files NOT defined below.
+*                 text=auto
+
+# Source code
+*.bash            text eol=lf
+*.bat             text eol=crlf
+*.c               text eol=lf
+*.cmd             text eol=crlf
+*.cpp             text eol=lf
+*.css             text diff=css
+*.hpp             text eol=lf
+*.htm             text diff=html
+*.html            text diff=html
+*.inc             text
+*.ini             text
+*.js              text eol=lf
+*.json            text eol=lf
+*.jsx             text eol=lf
+*.less            text
+*.ls              text
+*.map             text -diff
+*.ps1             text eol=crlf
+*.py              text diff=python
+*.sh              text eol=lf
+*.ts              text eol=lf
+*.tsx             text eol=lf
+*.xml             text eol=lf
+*.xhtml           text diff=html
+
+# Templates
+*.em              text eol=lf
+
+# Docker
+Dockerfile        text
+
+# Documentation
+*.ipynb           text
+*.markdown        text diff=markdown
+*.md              text diff=markdown
+*.mdwn            text diff=markdown
+*.mdown           text diff=markdown
+*.mkd             text diff=markdown
+*.mkdn            text diff=markdown
+*.mdtxt           text
+*.mdtext          text
+*.txt             text
+AUTHORS           text
+CHANGELOG         text
+CHANGES           text
+CONTRIBUTING      text
+COPYING           text
+copyright         text
+*COPYRIGHT*       text
+license           text
+LICENSE           text
+readme            text
+*README*          text
+TODO              text
+
+# Configs
+*.cnf             text
+*.conf            text
+*.config          text
+.editorconfig     text
+.env              text
+.gitattributes    text
+.gitconfig        text
+.htaccess         text
+*.lock            text -diff
+*.gyp             text
+package.json      text eol=lf
+package-lock.json text -diff
+pnpm-lock.yaml    text eol=lf -diff
+yarn.lock         text -diff
+*.toml            text
+*.yaml            text eol=lf
+*.yml             text eol=lf
+Makefile          text
+makefile          text
+
+# Graphics
+*.bmp             binary
+*.gif             binary
+*.ico             binary
+*.jng             binary
+*.jp2             binary
+*.jpg             binary
+*.jpeg            binary
+*.jpx             binary
+*.jxr             binary
+*.pdf             binary
+*.png             binary
+# SVG treated as an asset (binary) by default.
+*.svg             text
+# If you want to treat it as binary,
+# use the following line instead.
+# *.svg           binary
+*.svgz            binary
+*.tif             binary
+*.tiff            binary
+*.wbmp            binary
+*.webp            binary
+
+# Executables
+*.exe             binary
+*.pyc             binary
+
+# RC files (like .babelrc or .eslintrc)
+*.*rc             text
+
+# Ignore files (like .npmignore or .gitignore)
+*.*ignore         text

package/.vscode/c_cpp_properties.json

@@ -0,0 +1,15 @@
+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "includePath": [
+                "${default}"
+            ],
+            "compilerPath": "/usr/bin/clang-10",
+            "cStandard": "c11",
+            "cppStandard": "c++14",
+            "intelliSenseMode": "linux-clang-x64"
+        }
+    ],
+    "version": 4
+}

package/README.md

@@ -18,7 +18,7 @@ rclnodejs.init().then(() => {
 
 **Node.js**
 
-- [Node.js](https://nodejs.org/en/) version between 8.12 - 12.x.
+- [Node.js](https://nodejs.org/en/) version between 10.23 - 16.x.
 
 **ROS 2 SDK**
 
@@ -43,11 +43,10 @@ npm i rclnodejs@x.y.z
 
 #### RCLNODEJS - ROS 2 Version Compatibility
 
-|                                                            RCLNODEJS Version                                                            |                                                                         Compatible ROS 2 Release                                                                         |
-| :-------------------------------------------------------------------------------------------------------------------------------------: | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------: |
-| [0.19.0 (current)](https://www.npmjs.com/package/rclnodejs/v/0.19.0) ([API](http://robotwebtools.org/rclnodejs/docs/0.18.0/index.html)) |                                        [Galactic Geochelone](https://github.com/ros2/ros2/releases/tag/release-galactic-20210523)                                        |
-|      [0.18.2](https://www.npmjs.com/package/rclnodejs/v/0.18.2) ([API](http://robotwebtools.org/rclnodejs/docs/0.18.0/index.html))      | [Foxy Fitzroy](https://github.com/ros2/ros2/releases/tag/release-foxy-20201211) / [Eloquent Elusor](https://github.com/ros2/ros2/releases/tag/release-eloquent-20200124) |
-|                                [0.10.3](https://github.com/RobotWebTools/rclnodejs/releases/tag/0.10.3)                                 |                                    [Dashing Diademata - Patch 4](https://github.com/ros2/ros2/releases/tag/release-dashing-20191018)                                     |
+|                                                            RCLNODEJS Version                                                            |                                                                                                                       Compatible ROS 2 Release                                                                                                                        |
+| :-------------------------------------------------------------------------------------------------------------------------------------: | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: |
+| [0.21.0 (current)](https://www.npmjs.com/package/rclnodejs/v/0.21.0) ([API](http://robotwebtools.org/rclnodejs/docs/0.21.0/index.html)) | [Galactic Geochelone](https://github.com/ros2/ros2/releases/tag/release-galactic-20210716) / [Foxy Fitzroy](https://github.com/ros2/ros2/releases/tag/release-foxy-20201211) / [Eloquent Elusor](https://github.com/ros2/ros2/releases/tag/release-eloquent-20200124) |
+|                                [0.10.3](https://github.com/RobotWebTools/rclnodejs/releases/tag/0.10.3)                                 |                                                                                   [Dashing Diademata - Patch 4](https://github.com/ros2/ros2/releases/tag/release-dashing-20191018)                                                                                   |
 
 ## Documentation
 

package/index.js

@@ -187,12 +187,13 @@ let rcl = {
   },
 
   /**
-   * Create a managed Node that implements a well-defined life-cycle state
+   * Create a LifecycleNode, a managed Node that implements a well-defined life-cycle state
    * model using the {@link https://github.com/ros2/rcl/tree/master/rcl_lifecycle|ros2 client library (rcl) lifecyle api}.
    * @param {string} nodeName - The name used to register in ROS.
    * @param {string} [namespace=''] - The namespace used in ROS.
    * @param {Context} [context=Context.defaultContext()] - The context to create the node in.
    * @param {NodeOptions} [options=NodeOptions.defaultOptions] - The options to configure the new node behavior.
+   * @param {boolean} [enableCommunicationsInterface=true] - enable lifecycle service interfaces, e.g., GetState.
    * @return {LifecycleNode} A new instance of the specified node.
    * @throws {Error} If the given context is not registered.
    * @deprecated since 0.18.0, Use new LifecycleNode constructor.
@@ -201,13 +202,15 @@ let rcl = {
     nodeName,
     namespace = '',
     context = Context.defaultContext(),
-    options = NodeOptions.defaultOptions
+    options = NodeOptions.defaultOptions,
+    enableCommunicationsInterface = true
   ) {
     return new this.lifecycle.LifecycleNode(
       nodeName,
       namespace,
       context,
-      options
+      options,
+      enableCommunicationsInterface
     );
   },
 

package/lib/action/client.js

@@ -153,7 +153,7 @@ class ActionClient extends Entity {
     let uuid = ActionUuid.fromBytes(message.goal_id.uuid).toString();
     if (this._feedbackCallbacks.has(uuid)) {
       this._feedbackCallbacks.get(uuid)(
-        message.toPlainObject(this.typedArrayEnabled)
+        message.toPlainObject(this.typedArrayEnabled).feedback
       );
     }
   }
@@ -166,10 +166,10 @@ class ActionClient extends Entity {
       ).toString();
       let status = statusMessage.status;
 
-      if (!this._goalHandles.has(uuid)) {
+      if (this._goalHandles.has(uuid)) {
         let goalHandle = this._goalHandles.get(uuid);
         if (goalHandle) {
-          goalHandle._status = status;
+          goalHandle.status = status;
 
           // Remove done handles from the list
           // eslint-disable-next-line max-depth
@@ -332,12 +332,16 @@ class ActionClient extends Entity {
     }
 
     let deferred = new Deferred();
-    this._pendingResultRequests.set(sequenceNumber, deferred);
-
+    deferred.beforeSetResultCallback((result) => {
+      goalHandle.status = result.status;
+      return result.result;
+    });
     deferred.setDoneCallback(() =>
       this._removePendingResultRequest(sequenceNumber)
     );
 
+    this._pendingResultRequests.set(sequenceNumber, deferred);
+
     return deferred.promise;
   }
 

package/lib/action/client_goal_handle.js

@@ -26,7 +26,9 @@ class ClientGoalHandle {
     this._actionClient = actionClient;
     this._goalId = goalId;
     this._goalResponse = goalResponse;
-    this._status = ActionInterfaces.GoalStatus.STATUS_UNKNOWN;
+    this._status = this.accepted
+      ? ActionInterfaces.GoalStatus.STATUS_ACCEPTED
+      : ActionInterfaces.GoalStatus.STATUS_UNKNOWN;
   }
 
   /**
@@ -45,11 +47,60 @@ class ClientGoalHandle {
 
   /**
    * Gets if the goal response was accepted.
+   * @deprecated use isAccepted()
    */
   get accepted() {
+    return this.isAccepted();
+  }
+
+  /**
+   * Determine if goal is currently executing
+   * @returns {bool} - True if goal is executing; otherwise return false.
+   */
+  isAccepted() {
     return this._goalResponse.accepted;
   }
 
+  /**
+   * Determine if goal is currently executing
+   * @returns {bool} - True if goal is executing; otherwise return false.
+   */
+  isExecuting() {
+    return this.status === ActionInterfaces.GoalStatus.STATUS_EXECUTING;
+  }
+
+  /**
+   * Determine if goal is in the process of canceling.
+   * @returns {bool} - True if goal is canceling; otherwise return false.
+   */
+  isCanceling() {
+    return this.status === ActionInterfaces.GoalStatus.STATUS_CANCELING;
+  }
+
+  /**
+   * Determine if goal completed successfullly.
+   * @returns {bool} - True if goal completed successfully; otherwise return false.
+   */
+  isSucceeded() {
+    return this.status === ActionInterfaces.GoalStatus.STATUS_SUCCEEDED;
+  }
+
+  /**
+   * Determine if goal has been canceled.
+   * @returns {bool} - True if goal has been aborted; otherwise return false.
+   */
+  isCanceled() {
+    return this.status === ActionInterfaces.GoalStatus.STATUS_CANCELED;
+  }
+
+  /**
+   * Determine if goal has been aborted.
+   * @returns {bool} - True if goal was aborted; otherwise return false.
+   */
+  isAborted() {
+    return this.status === ActionInterfaces.GoalStatus.STATUS_ABORTED;
+  }
+
   /**
    * Gets the goal status.
    */
@@ -57,6 +108,21 @@ class ClientGoalHandle {
     return this._status;
   }
 
+  /**
+   * Update status to the latest state of goal computation.
+   * When status is in a final state it can not be revered to an
+   * earlier state, e.g., can not change from SUCCEEDED to ACCEPTED.
+   * @param {number} newStatus - The new status of this goal.
+   */
+  set status(newStatus) {
+    if (
+      this._status < ActionInterfaces.GoalStatus.STATUS_SUCCEEDED &&
+      newStatus > this._status
+    ) {
+      this._status = newStatus;
+    }
+  }
+
   /**
    * Send a cancel request for the goal.
    * @returns {Promise} - The cancel response.

package/lib/action/deferred.js

@@ -35,6 +35,19 @@ class Deferred {
     return this._promise;
   }
 
+  /**
+   * Sets a function to be called before result updated
+   * @param {function} callback - Function to be called.
+   * @returns {undefined}
+   */
+  beforeSetResultCallback(callback) {
+    if (typeof callback !== 'function') {
+      throw new TypeError('Invalid parameter');
+    }
+
+    this._beforeSetResultCallback = callback;
+  }
+
   /**
    * Resolves the deferred promise.
    * @param {*} result - The value to resolve the promise with.
@@ -42,8 +55,10 @@ class Deferred {
    */
   setResult(result) {
     if (this._resolve) {
-      this._result = result;
-      this._resolve(result);
+      this._result = this._beforeSetResultCallback
+        ? this._beforeSetResultCallback(result)
+        : result;
+      this._resolve(this._result);
       this._resolve = null;
     }
   }

package/lib/lifecycle.js

@@ -17,8 +17,10 @@
 const rclnodejs = require('bindings')('rclnodejs');
 const LifecyclePublisher = require('./lifecycle_publisher.js');
 const loader = require('./interface_loader.js');
-const Service = require('./service.js');
+const Context = require('./context.js');
 const Node = require('./node.js');
+const NodeOptions = require('./node_options.js');
+const Service = require('./service.js');
 
 const SHUTDOWN_TRANSITION_LABEL =
   rclnodejs.getLifecycleShutdownTransitionLabel();
@@ -263,25 +265,42 @@ class CallbackReturnValue {
  */
 
 class LifecycleNode extends Node {
+  /**
+   * Create a managed Node that implements a well-defined life-cycle state
+   * model using the {@link https://github.com/ros2/rcl/tree/master/rcl_lifecycle|ros2 client library (rcl) lifecyle api}.
+   * @param {string} nodeName - The name used to register in ROS.
+   * @param {string} [namespace=''] - The namespace used in ROS.
+   * @param {Context} [context=Context.defaultContext()] - The context to create the node in.
+   * @param {NodeOptions} [options=NodeOptions.defaultOptions] - The options to configure the new node behavior.
+   * @param {boolean} [enableCommunicationsInterface=true] - Enable lifecycle service interfaces, e.g., GetState.
+   * @throws {Error} If the given context is not registered.
+   */
   constructor(
     nodeName,
     namespace = '',
     context = Context.defaultContext(),
-    options = NodeOptions.defaultOptions
+    options = NodeOptions.defaultOptions,
+    enableCommunicationInterface = true
   ) {
     super(nodeName, namespace, context, options);
-    this.init();
+    this.init(enableCommunicationInterface);
   }
 
-  init() {
+  init(enableCommunicationInterface) {
     // initialize native handle to rcl_lifecycle_state_machine
     this._stateMachineHandle = rclnodejs.createLifecycleStateMachine(
-      this.handle
+      this.handle,
+      enableCommunicationInterface
     );
 
     // initialize Map<transitionId,TransitionCallback>
     this._callbackMap = new Map();
 
+    if (!enableCommunicationInterface) {
+      // do not create lifecycle services
+      return;
+    }
+
     // Setup and register the 4 native rcl lifecycle services thar are
     // part of _stateMachineHandle.
     let srvHandleObj = rclnodejs.getLifecycleSrvNameAndHandle(

package/lib/node.js

@@ -45,10 +45,18 @@ const PARAMETER_EVENT_TOPIC = 'parameter_events';
 
 /**
  * @class - Class representing a Node in ROS
- * @hideconstructor
  */
 
 class Node extends rclnodejs.ShadowNode {
+  /**
+   * Create a ROS2Node.
+   * model using the {@link https://github.com/ros2/rcl/tree/master/rcl_lifecycle|ros2 client library (rcl) lifecyle api}.
+   * @param {string} nodeName - The name used to register in ROS.
+   * @param {string} [namespace=''] - The namespace used in ROS.
+   * @param {Context} [context=Context.defaultContext()] - The context to create the node in.
+   * @param {NodeOptions} [options=NodeOptions.defaultOptions] - The options to configure the new node behavior.
+   * @throws {Error} If the given context is not registered.
+   */
   constructor(
     nodeName,
     namespace = '',
@@ -910,7 +918,7 @@ class Node extends rclnodejs.ShadowNode {
    * @param {string} nodeName - The name of the node.
    * @param {string} namespace - The name of the namespace.
    * @param {boolean} noDemangle - If true topic names and types returned will not be demangled, default: false.
-   * @return {array} - An array of the names and types.
+   * @return {Array<{name: string, types: Array<string>}>} - An array of the names and types.
    */
   getPublisherNamesAndTypesByNode(nodeName, namespace, noDemangle = false) {
     return rclnodejs.getPublisherNamesAndTypesByNode(
@@ -926,7 +934,7 @@ class Node extends rclnodejs.ShadowNode {
    * @param {string} nodeName - The name of the node.
    * @param {string} namespace - The name of the namespace.
    * @param {boolean} noDemangle - If true topic names and types returned will not be demangled, default: false.
-   * @return {array} - An array of the names and types.
+   * @return {Array<{name: string, types: Array<string>}>} - An array of the names and types.
    */
   getSubscriptionNamesAndTypesByNode(nodeName, namespace, noDemangle = false) {
     return rclnodejs.getSubscriptionNamesAndTypesByNode(
@@ -941,7 +949,7 @@ class Node extends rclnodejs.ShadowNode {
    * Get the list of service topics discovered by the provided node for the remote node name.
    * @param {string} nodeName - The name of the node.
    * @param {string} namespace - The name of the namespace.
-   * @return {array} - An array of the names and types.
+   * @return {Array<{name: string, types: Array<string>}>} - An array of the names and types.
    */
   getServiceNamesAndTypesByNode(nodeName, namespace) {
     return rclnodejs.getServiceNamesAndTypesByNode(
@@ -954,7 +962,7 @@ class Node extends rclnodejs.ShadowNode {
   /**
    * Get the list of topics discovered by the provided node.
    * @param {boolean} noDemangle - If true topic names and types returned will not be demangled, default: false.
-   * @return {array} - An array of the names and types.
+   * @return {Array<{name: string, types: Array<string>}>} - An array of the names and types.
    */
   getTopicNamesAndTypes(noDemangle = false) {
     return rclnodejs.getTopicNamesAndTypes(this.handle, noDemangle);
@@ -962,7 +970,7 @@ class Node extends rclnodejs.ShadowNode {
 
   /**
    * Get the list of services discovered by the provided node.
-   * @return {array} - An array of the names and types.
+   * @return {Array<{name: string, types: Array<string>}>} - An array of the names and types.
    */
   getServiceNamesAndTypes() {
     return rclnodejs.getServiceNamesAndTypes(this.handle);
@@ -970,7 +978,7 @@ class Node extends rclnodejs.ShadowNode {
 
   /**
    * Get the list of nodes discovered by the provided node.
-   * @return {array} - An array of the names.
+   * @return {Array<string>} - An array of the names.
    */
   getNodeNames() {
     return this.getNodeNamesAndNamespaces().map((item) => item.name);
@@ -978,7 +986,7 @@ class Node extends rclnodejs.ShadowNode {
 
   /**
    * Get the list of nodes and their namespaces discovered by the provided node.
-   * @return {array} - An array of the names and namespaces.
+   * @return {Array<{name: string, namespace: string}>} An array of the names and namespaces.
    */
   getNodeNamesAndNamespaces() {
     return rclnodejs.getNodeNames(this.handle);
@@ -1020,7 +1028,7 @@ class Node extends rclnodejs.ShadowNode {
    * Get the list of parameter-overrides found on the commandline and
    * in the NodeOptions.parameter_overrides property.
    *
-   * @return {array} - An array of Parameters
+   * @return {Array<Parameter>} - An array of Parameters.
    */
   getParameterOverrides() {
     return Array.from(this._parameterOverrides.values());
@@ -1234,7 +1242,7 @@ class Node extends rclnodejs.ShadowNode {
   /**
    * Get the names of all declared parameters.
    *
-   * @return {string[]} - The declared parameter names or empty array if
+   * @return {Array<string>} - The declared parameter names or empty array if
    *    no parameters have been declared.
    */
   getParameterNames() {

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "rclnodejs",
-  "version": "0.19.0",
+  "version": "0.21.0",
   "description": "ROS2.0 JavaScript client with Node.js",
   "main": "index.js",
   "types": "types/index.d.ts",
@@ -43,35 +43,37 @@
     "clang-format": "^1.4.0",
     "commander": "^6.0.0",
     "deep-equal": "^1.1.1",
-    "dtslint": "^4.0.4",
+    "dtslint": "^4.2.1",
     "eslint": "^7.5.0",
     "eslint-config-prettier": "^6.11.0",
     "eslint-plugin-prettier": "^3.1.4",
     "husky": "^4.2.5",
+    "jsdoc": "^3.6.7",
     "lint-staged": "^10.2.11",
     "mocha": "^8.0.1",
     "prettier": "^2.0.5",
+    "rimraf": "^3.0.2",
     "sinon": "^9.0.2",
     "tree-kill": "^1.2.2",
     "typescript": "^4.0.3"
   },
   "dependencies": {
+    "@rclnodejs/ref-array-di": "^1.2.2",
+    "@rclnodejs/ref-napi": "^4.0.0",
+    "@rclnodejs/ref-struct-di": "^1.1.1",
+    "array.prototype.flat": "^1.2.4",
     "bindings": "^1.5.0",
     "compare-versions": "^3.6.0",
     "debug": "^4.1.1",
     "dot": "^1.1.3",
-    "fs-extra": "^9.1.0",
+    "fs-extra": "^10.0.0",
+    "int64-napi": "^1.0.2",
     "is-close": "^1.3.3",
     "mkdirp": "^1.0.4",
     "mz": "^2.7.0",
     "nan": "^2.14.2",
-    "ref-napi": "^3.0.0",
-    "ref-array-di": "^1.2.2",
-    "ref-struct-di": "^1.1.1",
-    "walk": "^2.3.14",
     "uuid": "^8.2.0",
-    "int64-napi": "^1.0.1",
-    "array.prototype.flat": "^1.2.4"
+    "walk": "^2.3.14"
   },
   "husky": {
     "hooks": {
@@ -87,6 +89,6 @@
     ]
   },
   "engines": {
-    "node": ">= 10.23.1 <13.0.0"
+    "node": ">= 10.23.1 <18.0.0"
   }
 }

package/rosidl_gen/deallocator.js

@@ -24,7 +24,12 @@ let deallocator = {
     );
   },
   freeStructMember(refObj, type, name) {
-    rclnodejs.freeMemeoryAtOffset(refObj.ref(), type.fields[name].offset);
+    if (refObj.ref().length !== 0) {
+      rclnodejs.freeMemeoryAtOffset(
+        refObj.ref().hexAddress(),
+        type.fields[name].offset
+      );
+    }
   },
 };
 

package/rosidl_gen/primitive_types.js

@@ -14,8 +14,8 @@
 
 'use strict';
 
-const ref = require('ref-napi');
-const StructType = require('ref-struct-di')(ref);
+const ref = require('@rclnodejs/ref-napi');
+const StructType = require('@rclnodejs/ref-struct-di')(ref);
 const rclnodejs = require('bindings')('rclnodejs');
 
 /* eslint-disable camelcase */

package/rosidl_gen/templates/message.dot

@@ -219,9 +219,9 @@ function extractMemberNames(fields) {
 {{? usePlainTypedArray}}
 const rclnodejs = require('bindings')('rclnodejs');
 {{?}}
-const ref = require('ref-napi');
-const StructType = require('ref-struct-di')(ref);
-const ArrayType = require('ref-array-di')(ref);
+const ref = require('@rclnodejs/ref-napi');
+const StructType = require('@rclnodejs/ref-struct-di')(ref);
+const ArrayType = require('@rclnodejs/ref-array-di')(ref);
 const primitiveTypes = require('../../rosidl_gen/primitive_types.js');
 const deallocator = require('../../rosidl_gen/deallocator.js');
 const translator = require('../../rosidl_gen/message_translator.js');
@@ -750,7 +750,9 @@ class {{=arrayWrapper}} {
     {{? usePlainTypedArray}}
     const byteLen = refObject.size * ref.types.{{=currentTypedArrayElementType}}.size;
     // An ArrayBuffer object that doesn't hold the ownership of the address
-    const arrayBuffer = rclnodejs.createArrayBufferFromAddress(refObject.data, byteLen);
+    const arrayBuffer = refObject.data.length !== 0 ?
+        rclnodejs.createArrayBufferFromAddress(refObject.data.hexAddress(), byteLen) :
+        Buffer.alloc(0);
     this._wrappers = new {{=currentTypedArray}}(arrayBuffer);
     {{?? true}}
     let refObjectArray = this._refObject.data;

package/scripts/build.sh

@@ -19,5 +19,5 @@ set -e
 pushd $(dirname $0) > /dev/null
 
 git submodule update --init --recursive
-npm install --unsafe-perm
+npm install
 npm run lint

package/scripts/cpplint.js

@@ -20,7 +20,7 @@ const cmd = 'wget -nc ';
 const cpplintUrl =
   'https://raw.githubusercontent.com/google/styleguide' +
   '/gh-pages/cpplint/cpplint.py';
-const root = `${__dirname}/../src/`;
+const root = `${__dirname}/../src`;
 const args = `--extensions=cpp,h,hpp,cc ${root}/*`;
 
 console.log('Downloading the cpplint...');

package/scripts/npmjs-readme.md

@@ -18,7 +18,7 @@ rclnodejs.init().then(() => {
 
 **Node.js**
 
-- [Node.js](https://nodejs.org/en/) version between 8.12 - 12.x.
+- [Node.js](https://nodejs.org/en/) version between 10.23 - 16.x.
 
 **ROS 2 SDK**
 
@@ -43,11 +43,10 @@ npm i rclnodejs@x.y.z
 
 #### RCLNODEJS - ROS 2 Version Compatibility
 
-|                                                            RCLNODEJS Version                                                            |                                                                         Compatible ROS 2 Release                                                                         |
-| :-------------------------------------------------------------------------------------------------------------------------------------: | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------: |
-| [0.19.0 (current)](https://www.npmjs.com/package/rclnodejs/v/0.19.0) ([API](http://robotwebtools.org/rclnodejs/docs/0.18.0/index.html)) |                                        [Galactic Geochelone](https://github.com/ros2/ros2/releases/tag/release-galactic-20210523)                                        |
-|      [0.18.2](https://www.npmjs.com/package/rclnodejs/v/0.18.2) ([API](http://robotwebtools.org/rclnodejs/docs/0.18.0/index.html))      | [Foxy Fitzroy](https://github.com/ros2/ros2/releases/tag/release-foxy-20201211) / [Eloquent Elusor](https://github.com/ros2/ros2/releases/tag/release-eloquent-20200124) |
-|                                [0.10.3](https://github.com/RobotWebTools/rclnodejs/releases/tag/0.10.3)                                 |                                    [Dashing Diademata - Patch 4](https://github.com/ros2/ros2/releases/tag/release-dashing-20191018)                                     |
+|                                                            RCLNODEJS Version                                                            |                                                                                                                       Compatible ROS 2 Release                                                                                                                        |
+| :-------------------------------------------------------------------------------------------------------------------------------------: | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: |
+| [0.21.0 (current)](https://www.npmjs.com/package/rclnodejs/v/0.21.0) ([API](http://robotwebtools.org/rclnodejs/docs/0.21.0/index.html)) | [Galactic Geochelone](https://github.com/ros2/ros2/releases/tag/release-galactic-20210716) / [Foxy Fitzroy](https://github.com/ros2/ros2/releases/tag/release-foxy-20201211) / [Eloquent Elusor](https://github.com/ros2/ros2/releases/tag/release-eloquent-20200124) |
+|                                [0.10.3](https://github.com/RobotWebTools/rclnodejs/releases/tag/0.10.3)                                 |                                                                                   [Dashing Diademata - Patch 4](https://github.com/ros2/ros2/releases/tag/release-dashing-20191018)                                                                                   |
 
 ## Documentation
 

package/scripts/ros_distro.js

@@ -5,9 +5,11 @@ switch (process.env.ROS_DISTRO) {
     console.log('1911');
     process.exit(0);
   case 'foxy':
+    console.log('2006');
+    process.exit(0);
   case 'galactic':
   case 'rolling':
-    console.log('2006');
+    console.log('2105');
     process.exit(0);
   case undefined:
     console.error(

package/src/executor.hpp

@@ -24,8 +24,6 @@
 
 #include "rcl_handle.hpp"
 
-struct rcl_context_t;
-
 namespace rclnodejs {
 
 class HandleManager;

package/src/rcl_bindings.cpp

@@ -39,6 +39,9 @@
 #include <memory>
 #include <string>
 #include <vector>
+#if NODE_MAJOR_VERSION > 12
+#include <utility>
+#endif
 
 #include "handle_manager.hpp"
 #include "macros.hpp"
@@ -1292,18 +1295,14 @@ inline char* GetBufAddr(v8::Local<v8::Value> buf) {
 }
 
 NAN_METHOD(FreeMemeoryAtOffset) {
-  v8::Local<v8::Value> buf = info[0];
-  if (!node::Buffer::HasInstance(buf)) {
-    return Nan::ThrowTypeError("Buffer instance expected as first argument");
-  }
-
+  v8::Local<v8::Context> currentContent = Nan::GetCurrentContext();
+  std::string addr_str(
+      *Nan::Utf8String(info[0]->ToString(currentContent).ToLocalChecked()));
+  int64_t result = std::stoull(addr_str, 0, 16);
+  char* addr = reinterpret_cast<char*>(result);
   int64_t offset =
       info[1]->IsNumber() ? Nan::To<int64_t>(info[1]).FromJust() : 0;
-  auto ptr = GetBufAddr(buf) + offset;
-
-  if (ptr == nullptr) {
-    return Nan::ThrowError("Cannot read from NULL pointer");
-  }
+  auto ptr = addr + offset;
 
   char* val = *reinterpret_cast<char**>(ptr);
   free(val);
@@ -1311,15 +1310,27 @@ NAN_METHOD(FreeMemeoryAtOffset) {
 }
 
 NAN_METHOD(CreateArrayBufferFromAddress) {
-  char* addr = GetBufAddr(info[0]);
+  v8::Local<v8::Context> currentContent = Nan::GetCurrentContext();
+  std::string addr_str(
+      *Nan::Utf8String(info[0]->ToString(currentContent).ToLocalChecked()));
+  int64_t result = std::stoull(addr_str, 0, 16);
+  char* addr = reinterpret_cast<char*>(result);
   int32_t length = Nan::To<int32_t>(info[1]).FromJust();
 
   // We will create an ArrayBuffer with mode of
   // ArrayBufferCreationMode::kInternalized and copy data starting from |addr|,
   // thus the memory block will be collected by the garbage collector.
+#if NODE_MAJOR_VERSION <= 12
   v8::Local<v8::ArrayBuffer> array_buffer =
       v8::ArrayBuffer::New(v8::Isolate::GetCurrent(), addr, length,
                            v8::ArrayBufferCreationMode::kInternalized);
+#else
+  std::unique_ptr<v8::BackingStore> backing =
+      v8::ArrayBuffer::NewBackingStore(v8::Isolate::GetCurrent(), length);
+  memcpy(backing->Data(), addr, length);
+  auto array_buffer =
+      v8::ArrayBuffer::New(v8::Isolate::GetCurrent(), std::move(backing));
+#endif
 
   info.GetReturnValue().Set(array_buffer);
 }

package/src/rcl_lifecycle_bindings.cpp

@@ -62,35 +62,56 @@ NAN_METHOD(CreateLifecycleStateMachine) {
 
   const rosidl_message_type_support_t* pn =
       GetMessageTypeSupport("lifecycle_msgs", "msg", "TransitionEvent");
-  const rosidl_service_type_support_t* cs =
-      GetServiceTypeSupport("lifecycle_msgs", "ChangeState");
-  const rosidl_service_type_support_t* gs =
-      GetServiceTypeSupport("lifecycle_msgs", "GetState");
   const rosidl_service_type_support_t* gas =
       GetServiceTypeSupport("lifecycle_msgs", "GetAvailableStates");
   const rosidl_service_type_support_t* gat =
       GetServiceTypeSupport("lifecycle_msgs", "GetAvailableTransitions");
   const rosidl_service_type_support_t* gtg =
       GetServiceTypeSupport("lifecycle_msgs", "GetAvailableTransitions");
+  const rosidl_service_type_support_t* cs =
+      GetServiceTypeSupport("lifecycle_msgs", "ChangeState");
+  const rosidl_service_type_support_t* gs =
+      GetServiceTypeSupport("lifecycle_msgs", "GetState");
 
+#if ROS_VERSION >= 2105
   rcl_lifecycle_state_machine_options_t options =
       rcl_lifecycle_get_default_state_machine_options();
+  options.enable_com_interface = Nan::To<bool>(info[1]).FromJust();
+
+  THROW_ERROR_IF_NOT_EQUAL(
+      RCL_RET_OK,
+      rcl_lifecycle_state_machine_init(state_machine, node, pn, cs, gs, gas,
+                                       gat, gtg, &options),
+      rcl_get_error_string().str);
+
+  auto js_obj =
+      RclHandle::NewInstance(state_machine, node_handle, [node](void* ptr) {
+        rcl_lifecycle_state_machine_t* state_machine =
+            reinterpret_cast<rcl_lifecycle_state_machine_t*>(ptr);
+        rcl_ret_t ret = rcl_lifecycle_state_machine_fini(state_machine, node);
+        free(ptr);
+        THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK, ret, rcl_get_error_string().str);
+      });
+#else
+  const rcl_node_options_t* node_options =
+      reinterpret_cast<const rcl_node_options_t*>(rcl_node_get_options(node));
 
   THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK,
                            rcl_lifecycle_state_machine_init(
-                               state_machine, node,
-                               pn, cs, gs, gas, gat, gtg,
-                               &options),
+                               state_machine, node, pn, cs, gs, gas, gat, gtg,
+                               true, &node_options->allocator),
                            rcl_get_error_string().str);
 
   auto js_obj = RclHandle::NewInstance(
-      state_machine, node_handle, [node](void* ptr) {
+      state_machine, node_handle, [node, node_options](void* ptr) {
         rcl_lifecycle_state_machine_t* state_machine =
             reinterpret_cast<rcl_lifecycle_state_machine_t*>(ptr);
-        rcl_ret_t ret = rcl_lifecycle_state_machine_fini(state_machine, node);
+        rcl_ret_t ret = rcl_lifecycle_state_machine_fini(
+            state_machine, node, &node_options->allocator);
         free(ptr);
         THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK, ret, rcl_get_error_string().str);
       });
+#endif
 
   info.GetReturnValue().Set(js_obj);
 }

package/types/action_client.d.ts

@@ -26,13 +26,50 @@ declare module 'rclnodejs' {
 
     /**
      * Gets if the goal response was accepted.
+     * @deprecated Use isAccepted()
      */
     get accepted(): boolean;
 
+    /**
+     * Determine if goal is currently executing
+     * @returns {bool} - True if goal is executing; otherwise return false.
+     */
+    isAccepted(): boolean;
+
+    /**
+     * Determine if goal is currently executing
+     * @returns {bool} - True if goal is executing; otherwise return false.
+     */
+    isExecuting(): boolean;
+
+    /**
+     * Determine if goal is in the process of canceling.
+     * @returns True if goal is canceling; otherwise return false.
+     */
+    isCanceling(): boolean;
+
+    /**
+     * Determine if goal completed successfullly.
+     * @returns True if goal completed successfully; otherwise return false.
+     */
+    isSucceeded(): boolean;
+
+    /**
+     * Determine if goal has been canceled.
+     * @returns True if goal has been aborted; otherwise return false.
+     */
+    isCanceled(): boolean;
+
+    /**
+     * Determine if goal has been aborted.
+     * @returns True if goal was aborted; otherwise return false.
+     */
+    isAborted(): boolean;
+
     /**
      * Gets the goal status.
      */
-    get status(): string;
+    get status(): number;
 
     /**
      * Send a cancel request for the goal.

package/types/index.d.ts

@@ -13,6 +13,7 @@ declare module 'rclnodejs' {
    * @param context - The context, default is Context.defaultContext().
    * @param options - The node options, default is NodeOptions.defaultOptions.
    * @returns The new Node instance.
+   * @deprecated since 0.18.0, Use new Node constructor.
    */
   function createNode(
     nodeName: string,
@@ -28,13 +29,16 @@ declare module 'rclnodejs' {
    * @param namespace - The namespace used in ROS, default is an empty string.
    * @param context - The context, default is Context.defaultContext().
    * @param options - The options to configure the new node behavior.
+   * @params enableCommunicationInterface: boolean - Enable lifecycle service interfaces, e.g., GetState.
    * @returns The instance of LifecycleNode.
+   * @deprecated since 0.18.0, Use new LifecycleNode constructor.
    */
   function createLifecycleNode(
     nodeName: string,
     namespace?: string,
     context?: Context,
-    options?: NodeOptions
+    options?: NodeOptions,
+    enableCommunicationInterface?: boolean
   ): lifecycle.LifecycleNode;
 
   /**

package/types/interfaces.d.ts

@@ -849,17 +849,6 @@ declare module 'rclnodejs' {
     }
   }
 
-  namespace libstatistics_collector {
-    namespace msg {
-      export interface DummyMessage {
-        header: std_msgs.msg.Header;
-      }
-      export interface DummyMessageConstructor {
-        new(other?: DummyMessage): DummyMessage;
-      }
-    }
-  }
-
   namespace lifecycle_msgs {
     namespace msg {
       export interface State {
@@ -1171,75 +1160,6 @@ declare module 'rclnodejs' {
     }
   }
 
-  namespace move_base_msgs {
-    namespace action {
-      export interface MoveBaseConstructor {
-        readonly Goal: MoveBase_GoalConstructor;
-        readonly Result: MoveBase_ResultConstructor;
-        readonly Feedback: MoveBase_FeedbackConstructor;
-      }
-      export interface MoveBase_Feedback {
-        base_position: geometry_msgs.msg.PoseStamped;
-      }
-      export interface MoveBase_FeedbackConstructor {
-        new(other?: MoveBase_Feedback): MoveBase_Feedback;
-      }
-      export interface MoveBase_FeedbackMessage {
-        goal_id: unique_identifier_msgs.msg.UUID;
-        feedback: move_base_msgs.action.MoveBase_Feedback;
-      }
-      export interface MoveBase_FeedbackMessageConstructor {
-        new(other?: MoveBase_FeedbackMessage): MoveBase_FeedbackMessage;
-      }
-      export interface MoveBase_GetResultConstructor extends ROSService {
-        readonly Request: MoveBase_GetResult_RequestConstructor;
-        readonly Response: MoveBase_GetResult_ResponseConstructor;
-      }
-      export interface MoveBase_GetResult_Request {
-        goal_id: unique_identifier_msgs.msg.UUID;
-      }
-      export interface MoveBase_GetResult_RequestConstructor {
-        new(other?: MoveBase_GetResult_Request): MoveBase_GetResult_Request;
-      }
-      export interface MoveBase_GetResult_Response {
-        status: number;
-        result: move_base_msgs.action.MoveBase_Result;
-      }
-      export interface MoveBase_GetResult_ResponseConstructor {
-        new(other?: MoveBase_GetResult_Response): MoveBase_GetResult_Response;
-      }
-      export interface MoveBase_Goal {
-        target_pose: geometry_msgs.msg.PoseStamped;
-      }
-      export interface MoveBase_GoalConstructor {
-        new(other?: MoveBase_Goal): MoveBase_Goal;
-      }
-      export interface MoveBase_Result {
-      }
-      export interface MoveBase_ResultConstructor {
-        new(other?: MoveBase_Result): MoveBase_Result;
-      }
-      export interface MoveBase_SendGoalConstructor extends ROSService {
-        readonly Request: MoveBase_SendGoal_RequestConstructor;
-        readonly Response: MoveBase_SendGoal_ResponseConstructor;
-      }
-      export interface MoveBase_SendGoal_Request {
-        goal_id: unique_identifier_msgs.msg.UUID;
-        goal: move_base_msgs.action.MoveBase_Goal;
-      }
-      export interface MoveBase_SendGoal_RequestConstructor {
-        new(other?: MoveBase_SendGoal_Request): MoveBase_SendGoal_Request;
-      }
-      export interface MoveBase_SendGoal_Response {
-        accepted: boolean;
-        stamp: builtin_interfaces.msg.Time;
-      }
-      export interface MoveBase_SendGoal_ResponseConstructor {
-        new(other?: MoveBase_SendGoal_Response): MoveBase_SendGoal_Response;
-      }
-    }
-  }
-
   namespace nav_msgs {
     namespace msg {
       export interface GridCells {
@@ -3800,7 +3720,6 @@ declare module 'rclnodejs' {
     'geometry_msgs/msg/Vector3Stamped': geometry_msgs.msg.Vector3Stamped,
     'geometry_msgs/msg/Wrench': geometry_msgs.msg.Wrench,
     'geometry_msgs/msg/WrenchStamped': geometry_msgs.msg.WrenchStamped,
-    'libstatistics_collector/msg/DummyMessage': libstatistics_collector.msg.DummyMessage,
     'lifecycle_msgs/msg/State': lifecycle_msgs.msg.State,
     'lifecycle_msgs/msg/Transition': lifecycle_msgs.msg.Transition,
     'lifecycle_msgs/msg/TransitionDescription': lifecycle_msgs.msg.TransitionDescription,
@@ -3831,14 +3750,6 @@ declare module 'rclnodejs' {
     'map_msgs/srv/SaveMap_Response': map_msgs.srv.SaveMap_Response,
     'map_msgs/srv/SetMapProjections_Request': map_msgs.srv.SetMapProjections_Request,
     'map_msgs/srv/SetMapProjections_Response': map_msgs.srv.SetMapProjections_Response,
-    'move_base_msgs/action/MoveBase_Feedback': move_base_msgs.action.MoveBase_Feedback,
-    'move_base_msgs/action/MoveBase_FeedbackMessage': move_base_msgs.action.MoveBase_FeedbackMessage,
-    'move_base_msgs/action/MoveBase_GetResult_Request': move_base_msgs.action.MoveBase_GetResult_Request,
-    'move_base_msgs/action/MoveBase_GetResult_Response': move_base_msgs.action.MoveBase_GetResult_Response,
-    'move_base_msgs/action/MoveBase_Goal': move_base_msgs.action.MoveBase_Goal,
-    'move_base_msgs/action/MoveBase_Result': move_base_msgs.action.MoveBase_Result,
-    'move_base_msgs/action/MoveBase_SendGoal_Request': move_base_msgs.action.MoveBase_SendGoal_Request,
-    'move_base_msgs/action/MoveBase_SendGoal_Response': move_base_msgs.action.MoveBase_SendGoal_Response,
     'nav_msgs/msg/GridCells': nav_msgs.msg.GridCells,
     'nav_msgs/msg/MapMetaData': nav_msgs.msg.MapMetaData,
     'nav_msgs/msg/OccupancyGrid': nav_msgs.msg.OccupancyGrid,
@@ -4186,7 +4097,6 @@ declare module 'rclnodejs' {
     'geometry_msgs/msg/Vector3Stamped': geometry_msgs.msg.Vector3StampedConstructor,
     'geometry_msgs/msg/Wrench': geometry_msgs.msg.WrenchConstructor,
     'geometry_msgs/msg/WrenchStamped': geometry_msgs.msg.WrenchStampedConstructor,
-    'libstatistics_collector/msg/DummyMessage': libstatistics_collector.msg.DummyMessageConstructor,
     'lifecycle_msgs/msg/State': lifecycle_msgs.msg.StateConstructor,
     'lifecycle_msgs/msg/Transition': lifecycle_msgs.msg.TransitionConstructor,
     'lifecycle_msgs/msg/TransitionDescription': lifecycle_msgs.msg.TransitionDescriptionConstructor,
@@ -4217,14 +4127,6 @@ declare module 'rclnodejs' {
     'map_msgs/srv/SaveMap_Response': map_msgs.srv.SaveMap_ResponseConstructor,
     'map_msgs/srv/SetMapProjections_Request': map_msgs.srv.SetMapProjections_RequestConstructor,
     'map_msgs/srv/SetMapProjections_Response': map_msgs.srv.SetMapProjections_ResponseConstructor,
-    'move_base_msgs/action/MoveBase_Feedback': move_base_msgs.action.MoveBase_FeedbackConstructor,
-    'move_base_msgs/action/MoveBase_FeedbackMessage': move_base_msgs.action.MoveBase_FeedbackMessageConstructor,
-    'move_base_msgs/action/MoveBase_GetResult_Request': move_base_msgs.action.MoveBase_GetResult_RequestConstructor,
-    'move_base_msgs/action/MoveBase_GetResult_Response': move_base_msgs.action.MoveBase_GetResult_ResponseConstructor,
-    'move_base_msgs/action/MoveBase_Goal': move_base_msgs.action.MoveBase_GoalConstructor,
-    'move_base_msgs/action/MoveBase_Result': move_base_msgs.action.MoveBase_ResultConstructor,
-    'move_base_msgs/action/MoveBase_SendGoal_Request': move_base_msgs.action.MoveBase_SendGoal_RequestConstructor,
-    'move_base_msgs/action/MoveBase_SendGoal_Response': move_base_msgs.action.MoveBase_SendGoal_ResponseConstructor,
     'nav_msgs/msg/GridCells': nav_msgs.msg.GridCellsConstructor,
     'nav_msgs/msg/MapMetaData': nav_msgs.msg.MapMetaDataConstructor,
     'nav_msgs/msg/OccupancyGrid': nav_msgs.msg.OccupancyGridConstructor,
@@ -4527,7 +4429,6 @@ declare module 'rclnodejs' {
   type ActionsMap = {
     'action_tutorials_interfaces/action/Fibonacci': action_tutorials_interfaces.action.FibonacciConstructor,
     'example_interfaces/action/Fibonacci': example_interfaces.action.FibonacciConstructor,
-    'move_base_msgs/action/MoveBase': move_base_msgs.action.MoveBaseConstructor,
     'rclnodejs_test_msgs/action/Fibonacci': rclnodejs_test_msgs.action.FibonacciConstructor,
     'ros2cli_test_interfaces/action/ShortVariedMultiNested': ros2cli_test_interfaces.action.ShortVariedMultiNestedConstructor,
     'test_msgs/action/Fibonacci': test_msgs.action.FibonacciConstructor,

package/types/lifecycle.d.ts

@@ -190,6 +190,23 @@ declare module 'rclnodejs' {
      *   registerOnError(cb)
      */
     class LifecycleNode extends Node {
+      /**
+       * Create a node instance.
+       *
+       * @param nodeName - The name used to register in ROS.
+       * @param namespace - The namespace used in ROS, default is an empty string.
+       * @param context - The context, default is Context.defaultContext().
+       * @param options - The node options, default is NodeOptions.defaultOptions.
+       * @param enableCommunicationInterface - Enable lifecycle service interfaces, e.g., GetState.
+       */
+      constructor(
+        nodeName: string,
+        namespace?: string,
+        context?: Context,
+        options?: NodeOptions,
+        enableCommunicationInterface?: boolean
+      );
+
       /**
        * Access the current lifecycle state.
        * @returns The current state.