rclnodejs 0.20.0 → 0.21.1

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**
 
@@ -45,7 +45,7 @@ npm i rclnodejs@x.y.z
 
 |                                                            RCLNODEJS Version                                                            |                                                                                                                       Compatible ROS 2 Release                                                                                                                        |
 | :-------------------------------------------------------------------------------------------------------------------------------------: | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: |
-| [0.20.0 (current)](https://www.npmjs.com/package/rclnodejs/v/0.20.0) ([API](http://robotwebtools.org/rclnodejs/docs/0.20.0/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) |
+| [0.21.1 (current)](https://www.npmjs.com/package/rclnodejs/v/0.21.1) ([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/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/node.js

@@ -102,7 +102,7 @@ class Node extends rclnodejs.ShadowNode {
     this._parameterEventPublisher = null;
     this._setParametersCallbacks = [];
     this._logger = new Logging(rclnodejs.getNodeLoggerName(this.handle));
-    this.spinning = false;
+    this._spinning = false;
 
     this._parameterEventPublisher = this.createPublisher(
       PARAMETER_EVENT_MSG_TYPE,
@@ -375,6 +375,14 @@ class Node extends rclnodejs.ShadowNode {
     });
   }
 
+  /**
+   * Determine if this node is spinning.
+   * @returns {boolean} - true when spinning; otherwise returns false.
+   */
+  get spinning() {
+    return this._spinning;
+  }
+
   /**
    * Trigger the event loop to continuously check for and route.
    * incoming events.
@@ -388,7 +396,7 @@ class Node extends rclnodejs.ShadowNode {
       throw new Error('The node is already spinning.');
     }
     this.start(this.context.handle, timeout);
-    this.spinning = true;
+    this._spinning = true;
   }
 
   /**
@@ -401,21 +409,21 @@ class Node extends rclnodejs.ShadowNode {
 
   /**
    * Terminate spinning - no further events will be received.
-   * @returns {undfined}
+   * @returns {undefined}
    */
   stop() {
     super.stop();
-    this.spinning = false;
+    this._spinning = false;
   }
 
   /**
    * Terminate spinning - no further events will be received.
-   * @returns {undfined}
+   * @returns {undefined}
    * @deprecated since 0.18.0, Use stop().
    */
   stopSpinning() {
     super.stop();
-    this.spinning = false;
+    this._spinning = false;
   }
 
   /**

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "rclnodejs",
-  "version": "0.20.0",
+  "version": "0.21.1",
   "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": "^4.1.0",
+    "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": "^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**
 
@@ -45,7 +45,7 @@ npm i rclnodejs@x.y.z
 
 |                                                            RCLNODEJS Version                                                            |                                                                                                                       Compatible ROS 2 Release                                                                                                                        |
 | :-------------------------------------------------------------------------------------------------------------------------------------: | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: |
-| [0.20.0 (current)](https://www.npmjs.com/package/rclnodejs/v/0.20.0) ([API](http://robotwebtools.org/rclnodejs/docs/0.20.0/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) |
+| [0.21.1 (current)](https://www.npmjs.com/package/rclnodejs/v/0.21.1) ([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/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 +1310,28 @@ 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));
+  free(addr);
+#endif
 
   info.GetReturnValue().Set(array_buffer);
 }

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/action_server.d.ts

@@ -77,12 +77,14 @@ declare module 'rclnodejs' {
 
   type ExecuteCallback<T extends TypeClass<ActionTypeClassName>> = (
     goalHandle: ServerGoalHandle<T>
-  ) => ActionResult<T>;
-  type GoalCallback = () => GoalResponse;
+  ) => Promise<ActionResult<T>> | ActionResult<T>;
+  type GoalCallback<T extends TypeClass<ActionTypeClassName>> = (
+    goalHandle: ServerGoalHandle<T>
+  ) => GoalResponse;
   type HandleAcceptedCallback<T extends TypeClass<ActionTypeClassName>> = (
     goalHandle: ServerGoalHandle<T>
   ) => void;
-  type CancelCallback = () => CancelResponse;
+  type CancelCallback = () => Promise<CancelResponse> | CancelResponse;
 
   interface ActionServerOptions extends Options<ActionQoS> {
     /**
@@ -112,7 +114,7 @@ declare module 'rclnodejs' {
       typeClass: T,
       actionName: string,
       executeCallback: ExecuteCallback<T>,
-      goalCallback?: GoalCallback,
+      goalCallback?: GoalCallback<T>,
       handleAcceptedCallback?: HandleAcceptedCallback<T>,
       cancelCallback?: CancelCallback,
       options?: ActionServerOptions
@@ -144,7 +146,7 @@ declare module 'rclnodejs' {
      *
      * @param goalCallback - Callback function, if not provided, then unregisters any previously registered callback.
      */
-    registerGoalCallback(goalCallback?: GoalCallback): void;
+    registerGoalCallback(goalCallback?: GoalCallback<T>): void;
 
     /**
      * Register a callback for handling cancel requests.

package/types/node.d.ts

@@ -182,6 +182,13 @@ declare module 'rclnodejs' {
      */
     options(): NodeOptions;
 
+    /**
+     * Determine if this node is spinning.
+     *
+     * @returns true when spinning; otherwise returns false.
+     */
+    get spinning(): boolean;
+
     /**
      * Trigger the event loop to continuously check for and route.
      * incoming events.