rclnodejs 0.21.2 → 0.21.3

package/CONTRIBUTORS.md

@@ -1,6 +1,11 @@
 rclnodejs contributors (sorted alphabetically)
 ==============================================
 
+* **[Alaa El Jawad](https://github.com/ejalaa12), [Ian McElroy](https://github.com/imcelroy)**
+  - Fix compatibility with ROS2 parameters array types
+  - Unit tests for all parameter types
+  - Handle concurrent ROS2 client calls, with unit tests
+
 * **[Alex Mikhalev](https://github.com/amikhalev)**
   * Fix build for AMENT_PREFIX_PATH with multiple entries
 
@@ -13,7 +18,7 @@ rclnodejs contributors (sorted alphabetically)
   * Benchmark test script
 
 * **[Kenny Yuan](https://github.com/kenny-y)**
-  * Message features: JS generation, typed arrays, plain JS object, compound msgs, many others... 
+  * Message features: JS generation, typed arrays, plain JS object, compound msgs, many others...
   * npm publish scripts
   * Mac support
 
@@ -47,4 +52,3 @@ rclnodejs contributors (sorted alphabetically)
   * ROS2 lifecycle node
   * Rate class
   * Node class hierarchy
-

package/README.md

@@ -45,7 +45,7 @@ npm i rclnodejs@x.y.z
 
 |                                                            RCLNODEJS Version                                                            |                                                                                                                                                                     Compatible ROS 2 Release                                                                                                                                                                     |
 | :-------------------------------------------------------------------------------------------------------------------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: |
-| [0.21.2 (current)](https://www.npmjs.com/package/rclnodejs/v/0.21.2) ([API](http://robotwebtools.org/rclnodejs/docs/0.21.0/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) |
+| [0.21.3 (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/index.js

@@ -42,6 +42,7 @@ const validator = require('./lib/validator.js');
 const Time = require('./lib/time.js');
 const ActionClient = require('./lib/action/client.js');
 const ActionServer = require('./lib/action/server.js');
+const ActionUuid = require('./lib/action/uuid.js');
 const ClientGoalHandle = require('./lib/action/client_goal_handle.js');
 const { CancelResponse, GoalResponse } = require('./lib/action/response.js');
 const ServerGoalHandle = require('./lib/action/server_goal_handle.js');
@@ -80,13 +81,13 @@ async function getCurrentGeneratorVersion() {
   });
 }
 
+let _rosVersionChecked = false;
+
 /**
  * A module that exposes the rclnodejs interfaces.
  * @exports rclnodejs
  */
 let rcl = {
-  _rosVersionChecked: false,
-
   /** {@link Clock} class */
   Clock: Clock,
 
@@ -150,6 +151,9 @@ let rcl = {
   /** {@link ActionServer} class */
   ActionServer: ActionServer,
 
+  /** {@link ActionUuid} class */
+  ActionUuid: ActionUuid,
+
   /** {@link ClientGoalHandle} class */
   ClientGoalHandle: ClientGoalHandle,
 
@@ -245,7 +249,7 @@ let rcl = {
 
     rclnodejs.init(context.handle, argv);
 
-    if (this._rosVersionChecked) {
+    if (_rosVersionChecked) {
       // no further processing required
       return;
     }
@@ -262,7 +266,7 @@ let rcl = {
 
     await generator.generateAll(forced);
     // TODO determine if tsd generateAll() should be here
-    this._rosVersionChecked = true;
+    _rosVersionChecked = true;
   },
 
   /**

package/lib/action/client.js

@@ -100,7 +100,7 @@ class ActionClient extends Entity {
       );
 
       if (goalHandle.accepted) {
-        let uuid = ActionUuid.fromBytes(goalHandle.goalId.uuid).toString();
+        let uuid = ActionUuid.fromMessage(goalHandle.goalId).toString();
         if (this._goalHandles.has(uuid)) {
           throw new Error(`Two goals were accepted with the same ID (${uuid})`);
         }
@@ -150,7 +150,7 @@ class ActionClient extends Entity {
   }
 
   processFeedbackMessage(message) {
-    let uuid = ActionUuid.fromBytes(message.goal_id.uuid).toString();
+    let uuid = ActionUuid.fromMessage(message.goal_id).toString();
     if (this._feedbackCallbacks.has(uuid)) {
       this._feedbackCallbacks.get(uuid)(
         message.toPlainObject(this.typedArrayEnabled).feedback
@@ -161,8 +161,8 @@ class ActionClient extends Entity {
   processStatusMessage(message) {
     // Update the status of all goal handles maintained by this Action Client
     for (const statusMessage of message.status_list.data) {
-      let uuid = ActionUuid.fromBytes(
-        statusMessage.goal_info.goal_id.uuid
+      let uuid = ActionUuid.fromMessage(
+        statusMessage.goal_info.goal_id
       ).toString();
       let status = statusMessage.status;
 
@@ -200,7 +200,7 @@ class ActionClient extends Entity {
    */
   sendGoal(goal, feedbackCallback, goalUuid) {
     let request = new this._typeClass.impl.SendGoalService.Request();
-    request['goal_id'] = goalUuid || this._createRandomUuid();
+    request['goal_id'] = goalUuid || ActionUuid.randomMessage();
     request.goal = goal;
 
     let sequenceNumber = rclnodejs.actionSendGoalRequest(
@@ -215,7 +215,7 @@ class ActionClient extends Entity {
     }
 
     if (feedbackCallback) {
-      let uuid = ActionUuid.fromBytes(request.goal_id.uuid).toString();
+      let uuid = ActionUuid.fromMessage(request.goal_id).toString();
       this._feedbackCallbacks.set(uuid, feedbackCallback);
     }
 
@@ -345,20 +345,6 @@ class ActionClient extends Entity {
     return deferred.promise;
   }
 
-  /**
-   * Creates a new random UUID message.
-   * @ignore
-   * @returns {object} - The new UUID message.
-   */
-  _createRandomUuid() {
-    let uuid = ActionUuid.random();
-
-    let uuidMsg = new ActionInterfaces.UUID();
-    uuidMsg.uuid = uuid.bytes;
-
-    return uuidMsg;
-  }
-
   _removePendingGoalRequest(sequenceNumber) {
     this._pendingGoalRequests.delete(sequenceNumber);
     this._sequenceNumberGoalIdMap.delete(sequenceNumber);

package/lib/action/server.js

@@ -190,7 +190,7 @@ class ActionServer extends Entity {
    *
    * 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 goal handle) and must return a
    * {@link CancelResponse} value.
    *
    * There can only be one cancel callback per {@link ActionServer}, therefore calling this

package/lib/action/uuid.js

@@ -14,13 +14,13 @@
 
 'use strict';
 
+const ActionInterfaces = require('./interfaces.js');
 const { v4: uuidv4 } = require('uuid');
 
 /**
  * @class - Represents a unique identifier used by actions.
  * @ignore
  */
-
 class ActionUuid {
   /**
    * Creates a new instance of ActionUuid.
@@ -73,6 +73,33 @@ class ActionUuid {
   toString() {
     return [].slice.call(this._bytes).join(',');
   }
+
+  /**
+   * Create an instance from a ROS2 UUID message
+   * @param {unique_identifier_msgs.msg.UUID} msg - The ROS2 UUID message
+   * @returns {ActionUuid} - The new instance.
+   */
+  static fromMessage(msg) {
+    return ActionUuid.fromBytes(msg.uuid);
+  }
+
+  /**
+   * Create a ROS2 UUID message from this instance.
+   * @returns {unique_identifier_msgs.msg.UUID} - The new ROS2 UUID message
+   */
+  toMessage() {
+    const uuidMsg = new ActionInterfaces.UUID();
+    uuidMsg.uuid = this.bytes;
+    return uuidMsg;
+  }
+
+  /**
+   * Create a ROS2 UUID message with random uuid data
+   * @returns {ActionUuid} - The new instance.
+   */
+  static randomMessage() {
+    return ActionUuid.random().toMessage();
+  }
 }
 
 module.exports = ActionUuid;

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/package.json

@@ -1,6 +1,6 @@
 {
   "name": "rclnodejs",
-  "version": "0.21.2",
+  "version": "0.21.3",
   "description": "ROS2.0 JavaScript client with Node.js",
   "main": "index.js",
   "types": "types/index.d.ts",

package/scripts/npmjs-readme.md

@@ -45,7 +45,7 @@ npm i rclnodejs@x.y.z
 
 |                                                            RCLNODEJS Version                                                            |                                                                                                                                                                     Compatible ROS 2 Release                                                                                                                                                                     |
 | :-------------------------------------------------------------------------------------------------------------------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: |
-| [0.21.2 (current)](https://www.npmjs.com/package/rclnodejs/v/0.21.2) ([API](http://robotwebtools.org/rclnodejs/docs/0.21.0/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) |
+| [0.21.3 (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/types/action_server.d.ts

@@ -84,7 +84,9 @@ declare module 'rclnodejs' {
   type HandleAcceptedCallback<T extends TypeClass<ActionTypeClassName>> = (
     goalHandle: ServerGoalHandle<T>
   ) => void;
-  type CancelCallback = () => Promise<CancelResponse> | CancelResponse;
+  type CancelCallback<T extends TypeClass<ActionTypeClassName>> = (
+    goalHandle?: ServerGoalHandle<T>
+  ) => Promise<CancelResponse> | CancelResponse;
 
   interface ActionServerOptions extends Options<ActionQoS> {
     /**
@@ -116,7 +118,7 @@ declare module 'rclnodejs' {
       executeCallback: ExecuteCallback<T>,
       goalCallback?: GoalCallback<T>,
       handleAcceptedCallback?: HandleAcceptedCallback<T>,
-      cancelCallback?: CancelCallback,
+      cancelCallback?: CancelCallback<T>,
       options?: ActionServerOptions
     );
 
@@ -153,14 +155,14 @@ declare module 'rclnodejs' {
      *
      * 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

@@ -1,6 +1,7 @@
 /* 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" />