rclnodejs 0.20.1 → 0.21.0

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                                                                                                                        |
 | :-------------------------------------------------------------------------------------------------------------------------------------: | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: |
-| [0.20.1 (current)](https://www.npmjs.com/package/rclnodejs/v/0.20.1) ([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) |
+| [0.21.0 (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/package.json

@@ -1,6 +1,6 @@
 {
   "name": "rclnodejs",
-  "version": "0.20.1",
+  "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": "^4.1.0",
+    "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                                                                                                                        |
 | :-------------------------------------------------------------------------------------------------------------------------------------: | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: |
-| [0.20.1 (current)](https://www.npmjs.com/package/rclnodejs/v/0.20.1) ([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) |
+| [0.21.0 (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/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);
 }