rclnodejs 0.21.0 → 0.21.3

package/lib/distro.js

@@ -0,0 +1,70 @@
+// Copyright (c) 2022 Wayne Parrott. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+'use strict';
+
+/**
+ * enum style distribution identifiers
+ */
+const DistroId = {
+  UNKNOWN: 0,
+  ELOQUENT: 1911,
+  FOXY: 2006,
+  GALACTIC: 2105,
+  HUMBLE: 2205,
+  ROLLING: 5000,
+};
+
+const DistroNameIdMap = new Map();
+DistroNameIdMap.set('eloquent', DistroId.ELOQUENT);
+DistroNameIdMap.set('foxy', DistroId.FOXY);
+DistroNameIdMap.set('galactic', DistroId.GALACTIC);
+DistroNameIdMap.set('humble', DistroId.HUMBLE);
+DistroNameIdMap.set('rolling', DistroId.ROLLING);
+
+const DistroUtils = {
+  DistroId: DistroId,
+
+  /**
+   * Get the rclnodejs distro ID for a ROS 2 distro name.
+   * @param {string|undefined} [distroName] - The ROS 2 short distro name, e.g., foxy, Defaults to the value of the ROS_DISTRO envar.
+   * @return {number} Return the rclnodejs distro identifier
+   */
+  getDistroId: function (distroName) {
+    const dname = distroName ? distroName : this.getDistroName();
+
+    return DistroNameIdMap.has(dname)
+      ? DistroNameIdMap.get(dname)
+      : DistroId.UNKNOWN;
+  },
+
+  /**
+   * Get the short ROS 2 distro name associated with a rclnodejs distro ID.
+   * @param {number|undefined} [distroId] - The rclnodejs distro identifier. Defaults to the value of the ROS_DISTRO envar.
+   * @return {string|undefined} Return the name of the ROS distribution or undefined if unable to identify the distro.
+   */
+  getDistroName: function (distroId) {
+    if (!distroId) {
+      return process.env.ROS_DISTRO;
+    }
+
+    return [...DistroNameIdMap].find(([key, val]) => val == distroId)[0];
+  },
+
+  getKnownDistroNames: function () {
+    return [...DistroNameIdMap.keys()];
+  },
+};
+
+module.exports = DistroUtils;

package/lib/interface_loader.js

@@ -114,7 +114,7 @@ let interfaceLoader = {
       }
     }
     throw new Error(
-      `The message required does not exist: ${packageName}, ${type}, ${messageName}`
+      `The message required does not exist: ${packageName}, ${type}, ${messageName} at ${generator.generatedRoot}`
     );
   },
 };

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,
@@ -204,13 +204,12 @@ class Node extends rclnodejs.ShadowNode {
       this._runWithMessageType(
         client.typeClass.Response,
         (message, deserialize) => {
-          let success = rclnodejs.rclTakeResponse(
+          let sequenceNumber = rclnodejs.rclTakeResponse(
             client.handle,
-            client.sequenceNumber,
             message
           );
-          if (success) {
-            client.processResponse(deserialize());
+          if (sequenceNumber !== undefined) {
+            client.processResponse(sequenceNumber, deserialize());
           }
         }
       );
@@ -375,6 +374,14 @@ 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 +395,7 @@ 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 +408,21 @@ 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/lib/parameter.js

@@ -71,7 +71,7 @@ class Parameter {
   /**
    * Create a Parameter instance from an rlc_interfaces/msg/Parameter message.
    * @constructs
-   * @param {rlc_interfaces/msg/Parameter} parameterMsg - The message to convert to a parameter.
+   * @param {rcl_interfaces/msg/Parameter} parameterMsg - The message to convert to a parameter.
    * @return {Parameter} - The new instance.
    */
   static fromParameterMessage(parameterMsg) {
@@ -89,25 +89,25 @@ class Parameter {
         value = parameterMsg.value.bool_array_value;
         break;
       case ParameterType.PARAMETER_BYTE_ARRAY:
-        value = parameterMsg.value.byte_array_value;
+        value = Array.from(parameterMsg.value.byte_array_value);
         break;
       case ParameterType.PARAMETER_DOUBLE:
         value = parameterMsg.value.double_value;
         break;
       case ParameterType.PARAMETER_DOUBLE_ARRAY:
-        value = parameterMsg.value.double_array_value;
+        value = Array.from(parameterMsg.value.double_array_value);
         break;
       case ParameterType.PARAMETER_INTEGER:
         value = parameterMsg.value.integer_value;
         break;
       case ParameterType.PARAMETER_INTEGER_ARRAY:
-        value = parameterMsg.value.integer_array_value;
+        value = Array.from(parameterMsg.value.integer_array_value);
         break;
       case ParameterType.PARAMETER_STRING:
         value = parameterMsg.value.string_value;
         break;
       case ParameterType.PARAMETER_STRING_ARRAY:
-        value = parameterMsg.value.string_array_value;
+        value = Array.from(parameterMsg.value.string_array_value);
         break;
     }
 
@@ -225,12 +225,10 @@ class Parameter {
       case ParameterType.PARAMETER_NOT_SET:
         break;
       case ParameterType.PARAMETER_BOOL:
-        msg.bool_value = this.value ? 'true' : 'false';
+        msg.bool_value = this.value;
         break;
       case ParameterType.PARAMETER_BOOL_ARRAY:
-        msg.bool_array_value = this.value.map((val) =>
-          val ? 'true' : 'false'
-        );
+        msg.bool_array_value = this.value;
         break;
       case ParameterType.PARAMETER_BYTE_ARRAY:
         msg.byte_array_value = this.value.map((val) => Math.trunc(val));
@@ -773,6 +771,7 @@ function validValue(value, type) {
     case ParameterType.PARAMETER_BYTE_ARRAY:
     case ParameterType.PARAMETER_INTEGER_ARRAY:
     case ParameterType.PARAMETER_DOUBLE_ARRAY:
+    case ParameterType.PARAMETER_STRING_ARRAY:
       const values = value;
       result = _validArray(values, type);
       break;
@@ -790,7 +789,7 @@ function _validArray(values, type) {
   if (type === ParameterType.PARAMETER_BOOL_ARRAY) {
     arrayElementType = ParameterType.PARAMETER_BOOL;
   } else if (type === ParameterType.PARAMETER_BYTE_ARRAY) {
-    arrayElementType = ParameterType.PARAMETER_BYTE;
+    arrayElementType = ParameterType.PARAMETER_INTEGER;
   }
   if (type === ParameterType.PARAMETER_INTEGER_ARRAY) {
     arrayElementType = ParameterType.PARAMETER_INTEGER;
@@ -798,6 +797,9 @@ function _validArray(values, type) {
   if (type === ParameterType.PARAMETER_DOUBLE_ARRAY) {
     arrayElementType = ParameterType.PARAMETER_DOUBLE;
   }
+  if (type === ParameterType.PARAMETER_STRING_ARRAY) {
+    arrayElementType = ParameterType.PARAMETER_STRING;
+  }
 
   return values.reduce(
     (compatible, val) =>
@@ -813,7 +815,8 @@ function _isArrayParameterType(type) {
     type === ParameterType.PARAMETER_BOOL_ARRAY ||
     type === ParameterType.PARAMETER_BYTE_ARRAY ||
     type === ParameterType.PARAMETER_INTEGER_ARRAY ||
-    type === ParameterType.PARAMETER_DOUBLE_ARRAY
+    type === ParameterType.PARAMETER_DOUBLE_ARRAY ||
+    type === ParameterType.PARAMETER_STRING_ARRAY
   );
 }
 

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "rclnodejs",
-  "version": "0.21.0",
+  "version": "0.21.3",
   "description": "ROS2.0 JavaScript client with Node.js",
   "main": "index.js",
   "types": "types/index.d.ts",
@@ -15,8 +15,8 @@
   "scripts": {
     "install": "node-gyp rebuild",
     "docs": "cd docs && make",
-    "test": "node ./scripts/compile_tests.js && node --expose-gc ./scripts/run_test.js && npm run dtslint",
-    "dtslint": "node ./scripts/generate_tsd.js && dtslint test/types",
+    "test": "node --expose-gc ./scripts/run_test.js && npm run dtslint",
+    "dtslint": "node scripts/generate_tsd.js && dtslint test/types",
     "lint": "eslint --max-warnings=0 --ext js,ts index.js types scripts lib example rosidl_gen rosidl_parser test benchmark/rclnodejs && node ./scripts/cpplint.js",
     "postinstall": "node scripts/generate_messages.js",
     "format": "clang-format -i -style=file ./src/*.cpp ./src/*.hpp && prettier --write \"{lib,rosidl_gen,rostsd_gen,rosidl_parser,types,example,test,scripts,benchmark}/**/*.{js,md,ts}\" ./*.{js,md,ts}"
@@ -43,7 +43,6 @@
     "clang-format": "^1.4.0",
     "commander": "^6.0.0",
     "deep-equal": "^1.1.1",
-    "dtslint": "^4.2.1",
     "eslint": "^7.5.0",
     "eslint-config-prettier": "^6.11.0",
     "eslint-plugin-prettier": "^3.1.4",
@@ -66,6 +65,7 @@
     "compare-versions": "^3.6.0",
     "debug": "^4.1.1",
     "dot": "^1.1.3",
+    "dtslint": "^4.2.1",
     "fs-extra": "^10.0.0",
     "int64-napi": "^1.0.2",
     "is-close": "^1.3.3",

package/scripts/npmjs-readme.md

@@ -18,7 +18,7 @@ rclnodejs.init().then(() => {
 
 **Node.js**
 
-- [Node.js](https://nodejs.org/en/) version between 10.23 - 16.x.
+- [Node.js](https://nodejs.org/en/) version between 10.23 - 17.x.
 
 **ROS 2 SDK**
 
@@ -43,10 +43,10 @@ npm i rclnodejs@x.y.z
 
 #### RCLNODEJS - ROS 2 Version Compatibility
 
-|                                                            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)                                                                                   |
+|                                                            RCLNODEJS Version                                                            |                                                                                                                                                                     Compatible ROS 2 Release                                                                                                                                                                     |
+| :-------------------------------------------------------------------------------------------------------------------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: |
+| [0.21.3 (current)](https://www.npmjs.com/package/rclnodejs/v/0.21.3) ([API](http://robotwebtools.org/rclnodejs/docs/0.21.3/index.html)) | [Humble Hawksbill](https://github.com/ros2/ros2/releases/tag/release-humble-20220523)<br>[Galactic Geochelone](https://github.com/ros2/ros2/releases/tag/release-galactic-20210716)<br>[Foxy Fitzroy](https://github.com/ros2/ros2/releases/tag/release-foxy-20201211)<br>[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

@@ -1,24 +1,22 @@
 'use strict';
 
-switch (process.env.ROS_DISTRO) {
-  case 'eloquent':
-    console.log('1911');
-    process.exit(0);
-  case 'foxy':
-    console.log('2006');
-    process.exit(0);
-  case 'galactic':
-  case 'rolling':
-    console.log('2105');
-    process.exit(0);
-  case undefined:
-    console.error(
-      'Unable to detect ROS, please make sure a supported version of ROS is sourced'
-    );
-    process.exit(1);
-  default:
-    console.error(
-      `Unknown or unsupported ROS version "${process.env.ROS_DISTRO}"`
-    );
-    process.exit(1);
+const DistroUtils = require('../lib/distro');
+
+const distroName = DistroUtils.getDistroName();
+const distroId = DistroUtils.getDistroId(distroName);
+
+if (!distroName) {
+  console.error(
+    `Unable to detect ROS, please make sure a supported version of ROS is sourced.`
+  );
+  process.exit(1);
 }
+
+if (distroId === DistroUtils.UNKNOWN_ID) {
+  console.error(`Unknown or unsupported ROS version "${distroName}"`);
+  process.exit(1);
+}
+
+// otherwise
+console.log(distroId);
+process.exit(0);

package/src/rcl_bindings.cpp

@@ -831,24 +831,21 @@ NAN_METHOD(RclTakeResponse) {
       RclHandle::Unwrap<RclHandle>(
           Nan::To<v8::Object>(info[0]).ToLocalChecked())
           ->ptr());
-  int64_t sequence_number = Nan::To<int64_t>(info[1]).FromJust();
 
-  rmw_request_id_t* header =
-      reinterpret_cast<rmw_request_id_t*>(malloc(sizeof(rmw_request_id_t)));
-  header->sequence_number = sequence_number;
+  rmw_service_info_t header;
 
   void* taken_response =
-      node::Buffer::Data(Nan::To<v8::Object>(info[2]).ToLocalChecked());
-  rcl_ret_t ret = rcl_take_response(client, header, taken_response);
-  free(header);
+      node::Buffer::Data(Nan::To<v8::Object>(info[1]).ToLocalChecked());
+  rcl_ret_t ret = rcl_take_response_with_info(client, &header, taken_response);
+  int64_t sequence_number = header.request_id.sequence_number;
 
   if (ret == RCL_RET_OK) {
-    info.GetReturnValue().Set(Nan::True());
+    info.GetReturnValue().Set(Nan::New((uint32_t)sequence_number));
     return;
   }
 
   rcl_reset_error();
-  info.GetReturnValue().Set(Nan::False());
+  info.GetReturnValue().Set(Nan::Undefined());
 }
 
 NAN_METHOD(CreateService) {
@@ -1330,6 +1327,7 @@ NAN_METHOD(CreateArrayBufferFromAddress) {
   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_server.d.ts

@@ -77,12 +77,16 @@ 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<T extends TypeClass<ActionTypeClassName>> = (
+    goalHandle?: ServerGoalHandle<T>
+  ) => Promise<CancelResponse> | CancelResponse;
 
   interface ActionServerOptions extends Options<ActionQoS> {
     /**
@@ -112,9 +116,9 @@ declare module 'rclnodejs' {
       typeClass: T,
       actionName: string,
       executeCallback: ExecuteCallback<T>,
-      goalCallback?: GoalCallback,
+      goalCallback?: GoalCallback<T>,
       handleAcceptedCallback?: HandleAcceptedCallback<T>,
-      cancelCallback?: CancelCallback,
+      cancelCallback?: CancelCallback<T>,
       options?: ActionServerOptions
     );
 
@@ -144,21 +148,21 @@ 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.
      *
      * The purpose of the cancel callback is to decide if a request to cancel an on-going
      * (or queued) goal should be accepted or rejected.
-     * The callback should take one parameter containing the cancel request and must return a
+     * The callback should take one parameter containing the cancel request ( a GoalHandle) and must return a
      * {@link CancelResponse} value.
      *
      * There can only be one cancel callback per {@link ActionServer}, therefore calling this
      * function will replace any previously registered callback.
      * @param cancelCallback - Callback function, if not provided, then unregisters any previously registered callback.
      */
-    registerCancelCallback(cancelCallback?: CancelCallback): void;
+    registerCancelCallback(cancelCallback?: CancelCallback<T>): void;
 
     /**
      * Register a callback for executing action goals.

package/types/action_uuid.d.ts

@@ -0,0 +1,58 @@
+declare module 'rclnodejs' {
+  /**
+   * @class - Represents a unique identifier used by actions.
+   * @ignore
+   */
+
+  export class ActionUuid {
+    /**
+     * Creates a new instance of ActionUuid.
+     * @param bytes - The bytes to create the UUID from.
+     *                A new random UUID will be created, if not provided.
+     */
+    constructor(bytes?: Uint8Array);
+
+    /**
+     * Creates a new {@link ActionUuid} from the given bytes.
+     * @param bytes - The bytes to create the UUID from.
+     * @returns The new UUID.
+     */
+    static fromBytes(byte: Uint8Array): ActionUuid;
+
+    /**
+     * Creates a new random {@link ActionUuid}.
+     * @returns The new UUID.
+     */
+    static random(): ActionUuid;
+
+    /**
+     * Gets the bytes from the UUID.
+     */
+    get bytes(): Uint8Array;
+
+    /**
+     * Returns the UUID as a string.
+     * @returns String representation of the UUID.
+     */
+    toString(): string;
+
+    /**
+     * Create an instance from a ROS2 UUID message
+     * @param msg - The ROS2 UUID message
+     * @returns The new instance.
+     */
+    static fromMessage(msg: unique_identifier_msgs.msg.UUID): ActionUuid;
+
+    /**
+     * Create a ROS2 UUID message from this instance.
+     * @returns The new ROS2 UUID message
+     */
+    toMessage(): unique_identifier_msgs.msg.UUID;
+
+    /**
+     * Create a ROS2 UUID message with random uuid data
+     * @returns The new instance.
+     */
+    static randomMessage(): unique_identifier_msgs.msg.UUID;
+  }
+}

package/types/base.d.ts

@@ -1,10 +1,12 @@
 /* eslint-disable spaced-comment */
 /// <reference path="action_client.d.ts" />
 /// <reference path="action_server.d.ts" />
+/// <reference path="action_uuid.d.ts" />
 /// <reference path="client.d.ts" />
 /// <reference path="clock_type.d.ts" />
 /// <reference path="clock.d.ts" />
 /// <reference path="context.d.ts" />
+/// <reference path="distro.d.ts" />
 /// <reference path="duration.d.ts" />
 /// <reference path="entity.d.ts" />
 /// <reference path="guard_condition.d.ts" />

package/types/distro.d.ts

@@ -0,0 +1,34 @@
+declare module 'rclnodejs' {
+  namespace DistroUtils {
+    /**
+     * Valid ROS 2 distro short names
+     */
+    type DistroName = 'eloquent' | 'foxy' | 'galactic' | 'humble' | 'rolling';
+
+    /**
+     * rclnodejs distro ID numbers
+     */
+    enum DistroId {
+      UNKNOWN = 0,
+      ELOQUENT = 1911,
+      FOXY = 2006,
+      GALACTIC = 2105,
+      HUMBLE = 2205,
+      ROLLING = 5000,
+    }
+
+    /**
+     * Get the rclnodejs distro ID for a ROS 2 distro name.
+     * @param distroName - The ROS 2 short distro name, e.g., foxy, Defaults to the value of the ROS_DISTRO envar.
+     * @return The rclnodejs distro identifier
+     */
+    function getDistroId(distroName?: DistroName): DistroId;
+
+    /**
+     * Get the short ROS 2 distro name associated with a rclnodejs distro ID.
+     * @param distroId - The rclnodejs distro identifier. Defaults to the value of the ROS_DISTRO envar.
+     * @returns The name of the ROS distribution or undefined if unable to identify the distro.
+     */
+    function getDistroName(distroId?: DistroId): string | undefined;
+  }
+}

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.

package/.vscode/c_cpp_properties.json

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