rclnodejs 0.21.4 → 0.22.1

package/.github/workflows/identify-ros-distro.yml

@@ -26,6 +26,7 @@ jobs:
         id: identify
         run: |
           if ${ROLLING_VAR} == true; then
+            # echo "::set-output name=distro::rolling"
             echo "::set-output name=distro::rolling"
             echo "::set-output name=linuxos::ubuntu-22.04"
           elif ${HUMBLE_VAR} == true; then

package/.github/workflows/linux-build-and-test-compatibility.yml

@@ -9,14 +9,14 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        node-version: [10.X, 12.x, 14.X, 16.X, 17.X]
+        node-version: [14.X, 16.X, 18.X, 19.X]
         ros_distribution:
           - humble
           - rolling
 
     steps:
     - name: Setup ROS2
-      uses: ros-tooling/setup-ros@v0.4
+      uses: ros-tooling/setup-ros@v0.6
       with:
         required-ros-distributions: ${{ matrix.ros_distribution }}
 
@@ -26,7 +26,7 @@ jobs:
     - uses: actions/checkout@v3
 
     - name: Setup Node.js ${{ matrix.node-version }}
-      uses: actions/setup-node@v2
+      uses: actions/setup-node@v3
       with:
         node-version: ${{ matrix.node-version }}
 
@@ -36,19 +36,18 @@ jobs:
         npm i
         npm test
 
-  build-foxy-and-galactic: # foxy and galactic distros
+  build-foxy: # foxy distros
     runs-on: ubuntu-20.04
     strategy:
       fail-fast: false
       matrix:
-        node-version: [10.X, 12.x, 14.X, 16.X, 17.X, 18.X, 19.X]
+        node-version: [14.X, 16.11.X, 18.X, 19.X]
         ros_distribution:
           - foxy
-          - galactic
 
     steps:
     - name: Setup ROS2
-      uses: ros-tooling/setup-ros@v0.4
+      uses: ros-tooling/setup-ros@v0.6
       with:
         required-ros-distributions: ${{ matrix.ros_distribution }}
 
@@ -58,7 +57,7 @@ jobs:
     - uses: actions/checkout@v3
 
     - name: Setup Node.js ${{ matrix.node-version }}
-      uses: actions/setup-node@v2
+      uses: actions/setup-node@v3
       with:
         node-version: ${{ matrix.node-version }}
 

package/.github/workflows/linux-build-and-test.yml

@@ -26,15 +26,15 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        node-version: [10.X, 12.X, 14.X, 16.11.X, 17.X, 18.X, 19.X]
+        node-version: [14.X, 16.X, 18.X, 19.X]
     steps:
     - name: Setup Node.js ${{ matrix.node-version }}
-      uses: actions/setup-node@v2
+      uses: actions/setup-node@v3
       with:
         node-version: ${{ matrix.node-version }}
 
     - name: Setup ROS2
-      uses: ros-tooling/setup-ros@v0.4
+      uses: ros-tooling/setup-ros@v0.6
       with:
         required-ros-distributions: ${{ needs.identify-ros-distro.outputs.distro }}
 

package/.github/workflows/windows-build-and-test-compatibility.yml

@@ -10,20 +10,19 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        node-version: [10.X, 12.X, 14.X, 16.11.X, 17.X, 18.X, 19.X]
+        node-version: [14.21.2, 16.19.0, 18.14.1, 19.X]
         ros_distribution:
-          # - foxy
-          - galactic
+          - foxy
           - humble
           - rolling
     steps:
     - name: Setup Node.js ${{ matrix.node-version }}
-      uses: actions/setup-node@v2
+      uses: actions/setup-node@v3
       with:
         node-version: ${{ matrix.node-version }}
 
     - name: Setup ROS2
-      uses: ros-tooling/setup-ros@v0.4
+      uses: ros-tooling/setup-ros@v0.6
       with:
         required-ros-distributions: ${{ matrix.ros_distribution }}
 
@@ -45,8 +44,11 @@ jobs:
         call "c:\dev\${{ matrix.ros_distribution }}\ros2-windows\setup.bat"
         npm i
 
+    # On the windows/foxy combination the Eclipse CycloneDDS RMW implementation is used to workaround 
+    # an error when loading the default fastrtps ddl
     - name: Test rclnodejs
       shell: cmd
       run: |
         call "c:\dev\${{ matrix.ros_distribution }}\ros2-windows\setup.bat"
-        npm test
+        cmd /c "if ${{ matrix.ros_distribution }}==foxy (set RMW_IMPLEMENTATION=rmw_cyclonedds_cpp&&npm test)"
+        cmd /c "if NOT ${{ matrix.ros_distribution }}==foxy (npm test)"

package/.github/workflows/windows-build-and-test.yml

@@ -26,15 +26,17 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        node-version: [10.X, 12.X, 14.X, 16.11.X, 17.X, 18.X, 19.X]
+        # Explicit node versions are used to workaround an error
+        # where node-gyp fails due to some silly cacheing
+        node-version: [14.21.2, 16.19.0, 18.14.1, 19.X]
     steps:
     - name: Setup Node.js ${{ matrix.node-version }}
-      uses: actions/setup-node@v2
+      uses: actions/setup-node@v3
       with:
         node-version: ${{ matrix.node-version }}
 
     - name: Setup ROS2
-      uses: ros-tooling/setup-ros@v0.4
+      uses: ros-tooling/setup-ros@v0.6
       with:
         required-ros-distributions: ${{ needs.identify-ros-distro.outputs.distro }}
 
@@ -56,8 +58,11 @@ jobs:
         call "c:\dev\${{ needs.identify-ros-distro.outputs.distro }}\ros2-windows\setup.bat"
         npm i
 
+    # On the windows/foxy combination the Eclipse CycloneDDS RMW implementation is used to workaround 
+    # an error when loading the default fastrtps ddl
     - name: Test rclnodejs
       shell: cmd
       run: |
         call "c:\dev\${{ needs.identify-ros-distro.outputs.distro }}\ros2-windows\setup.bat"
-        npm test
+        cmd /c "if ${{ needs.identify-ros-distro.outputs.distro }}==foxy (set RMW_IMPLEMENTATION=rmw_cyclonedds_cpp&&npm test)"
+        cmd /c "if NOT ${{ needs.identify-ros-distro.outputs.distro }}==foxy (npm test)"

package/binding.gyp

@@ -82,6 +82,7 @@
                     "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/rosidl_typesupport_interface/ ') + '/include/rosidl_typesupport_interface/')\")",
                     "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/rcl_action/ ') + '/include/rcl_action/')\")",
                     "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/action_msgs/ ') + '/include/action_msgs/')\")",
+                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/service_msgs/ ') + '/include/service_msgs/')\")",
                     "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/unique_identifier_msgs/ ') + '/include/unique_identifier_msgs/')\")",
                     "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/builtin_interfaces/ ') + '/include/builtin_interfaces/')\")",
                     "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/rcl_lifecycle/ ') + '/include/rcl_lifecycle/')\")",
@@ -129,10 +130,12 @@
                     "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/rosidl_typesupport_interface ').replace(/\\\/g, '/') + '/include/rosidl_typesupport_interface')\")",
                     "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/rcl_action ').replace(/\\\/g, '/') + '/include/rcl_action')\")",
                     "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/action_msgs ').replace(/\\\/g, '/') + '/include/action_msgs')\")",
+                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/service_msgs ').replace(/\\\/g, '/') + '/include/service_msgs')\")",
                     "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/unique_identifier_msgs ').replace(/\\\/g, '/') + '/include/unique_identifier_msgs')\")",
                     "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/builtin_interfaces ').replace(/\\\/g, '/') + '/include/builtin_interfaces')\")",
                     "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/rcl_lifecycle ').replace(/\\\/g, '/') + '/include/rcl_lifecycle')\")",
                     "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/lifecycle_msgs ').replace(/\\\/g, '/') + '/include/lifecycle_msgs')\")",
+                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/rosidl_dynamic_typesupport ').replace(/\\\/g, '/') + '/include/rosidl_dynamic_typesupport')\")",
                   ],
                 }
               ]

package/index.js

@@ -15,6 +15,7 @@
 'use strict';
 
 const DistroUtils = require('./lib/distro.js');
+const RMWUtils = require('./lib/rmw.js');
 const { Clock, ROSClock } = require('./lib/clock.js');
 const ClockType = require('./lib/clock_type.js');
 const compareVersions = require('compare-versions');
@@ -136,6 +137,9 @@ let rcl = {
   /** {@link QoS} class */
   QoS: QoS,
 
+  /** {@link RMWUtils} */
+  RMWUtils: RMWUtils,
+
   /** {@link ROSClock} class */
   ROSClock: ROSClock,
 

package/lib/action/client.js

@@ -363,14 +363,13 @@ class ActionClient extends Entity {
    * @return {undefined}
    */
   destroy() {
-    if (this._destroyed) {
+    if (this.isDestroyed()) {
       return;
     }
 
     this._goalHandles.clear();
 
     this._node._destroyEntity(this, this._node._actionClients);
-    this._destroyed = true;
   }
 }
 

package/lib/action/server.js

@@ -440,7 +440,7 @@ class ActionServer extends Entity {
    * @return {undefined}
    */
   destroy() {
-    if (this._destroyed) {
+    if (this.isDestroyed()) {
       return;
     }
 
@@ -451,7 +451,6 @@ class ActionServer extends Entity {
     this._goalHandles.clear();
 
     this._node._destroyEntity(this, this._node._actionServers);
-    this._destroyed = true;
   }
 }
 

package/lib/client.js

@@ -70,8 +70,9 @@ class Client extends Entity {
       this._sequenceNumberToCallbackMap.delete(sequenceNumber);
       callback(response.toPlainObject(this.typedArrayEnabled));
     } else {
-      error(`Client has received an unexpected ${this._serviceName}
-             response with sequence number ${sequenceNumber}.`);
+      throw new Error(
+        `Client has received an unexpected ${this._serviceName} with sequence number ${sequenceNumber}.`
+      );
     }
   }
 

package/lib/distro.js

@@ -42,7 +42,7 @@ const DistroUtils = {
    * @return {number} Return the rclnodejs distro identifier
    */
   getDistroId: function (distroName) {
-    const dname = distroName ? distroName : this.getDistroName();
+    const dname = distroName ? distroName.toLowerCase() : this.getDistroName();
 
     return DistroNameIdMap.has(dname)
       ? DistroNameIdMap.get(dname)

package/lib/entity.js

@@ -14,16 +14,36 @@
 
 'use strict';
 
+// Destroying an entity for which there is immediate i/o activity can
+// results in a SEGFAULT. To mitigate this situation we hold a
+// reference to released handles to prevent them from being
+// GC'ed prematurely.
+const OBSOLETE_HANDLES = new Set();
+function registerObsoleteHandle(handle) {
+  OBSOLETE_HANDLES.add(handle);
+}
+
 /**
  * @class - Class representing a common object in RCL.
  * @ignore
  */
 
 class Entity {
+  /**
+   * Clears the internal short-lived cache of references to
+   * destroyed entities.
+   *
+   * @ignore
+   */
+  static _gcHandles() {
+    OBSOLETE_HANDLES.clear();
+  }
+
   constructor(handle, typeClass, options) {
     this._handle = handle;
     this._typeClass = typeClass;
     this._options = options;
+    this._destroyed = false;
   }
 
   get handle() {
@@ -49,6 +69,26 @@ class Entity {
   get typeClass() {
     return this._typeClass;
   }
+
+  /**
+   * Release all resources held by this entity.
+   * Do not call this method directly.
+   */
+  _destroy() {
+    if (this.isDestroyed()) return;
+
+    this._destroyed = true;
+    this.handle.release();
+    registerObsoleteHandle(this._handle);
+  }
+
+  /**
+   * Test if this entity has been destroyed and resources released.
+   * @returns {boolean} - true when destroyed has previously been called.
+   */
+  isDestroyed() {
+    return this._destroyed;
+  }
 }
 
 module.exports = Entity;

package/lib/node.js

@@ -38,6 +38,7 @@ const Service = require('./service.js');
 const Subscription = require('./subscription.js');
 const TimeSource = require('./time_source.js');
 const Timer = require('./timer.js');
+const Entity = require('./entity.js');
 
 // Parameter event publisher constants
 const PARAMETER_EVENT_MSG_TYPE = 'rcl_interfaces/msg/ParameterEvent';
@@ -148,26 +149,26 @@ class Node extends rclnodejs.ShadowNode {
   }
 
   execute(handles) {
-    let timersReady = this._timers.filter(
-      (timer) => handles.indexOf(timer.handle) !== -1
+    let timersReady = this._timers.filter((timer) =>
+      handles.includes(timer.handle)
     );
-    let guardsReady = this._guards.filter(
-      (guard) => handles.indexOf(guard.handle) !== -1
+    let guardsReady = this._guards.filter((guard) =>
+      handles.includes(guard.handle)
     );
-    let subscriptionsReady = this._subscriptions.filter(
-      (subscription) => handles.indexOf(subscription.handle) !== -1
+    let subscriptionsReady = this._subscriptions.filter((subscription) =>
+      handles.includes(subscription.handle)
     );
-    let clientsReady = this._clients.filter(
-      (client) => handles.indexOf(client.handle) !== -1
+    let clientsReady = this._clients.filter((client) =>
+      handles.includes(client.handle)
     );
-    let servicesReady = this._services.filter(
-      (service) => handles.indexOf(service.handle) !== -1
+    let servicesReady = this._services.filter((service) =>
+      handles.includes(service.handle)
     );
-    let actionClientsReady = this._actionClients.filter(
-      (actionClient) => handles.indexOf(actionClient.handle) !== -1
+    let actionClientsReady = this._actionClients.filter((actionClient) =>
+      handles.includes(actionClient.handle)
     );
-    let actionServersReady = this._actionServers.filter(
-      (actionServer) => handles.indexOf(actionServer.handle) !== -1
+    let actionServersReady = this._actionServers.filter((actionServer) =>
+      handles.includes(actionServer.handle)
     );
 
     timersReady.forEach((timer) => {
@@ -177,14 +178,16 @@ class Node extends rclnodejs.ShadowNode {
       }
     });
 
-    subscriptionsReady.forEach((subscription) => {
+    for (const subscription of subscriptionsReady) {
+      if (subscription.isDestroyed()) continue;
       if (subscription.isRaw) {
         let rawMessage = rclnodejs.rclTakeRaw(subscription.handle);
         if (rawMessage) {
           subscription.processResponse(rawMessage);
         }
-        return;
+        continue;
       }
+
       this._runWithMessageType(
         subscription.typeClass,
         (message, deserialize) => {
@@ -194,13 +197,16 @@ class Node extends rclnodejs.ShadowNode {
           }
         }
       );
-    });
+    }
+
+    for (const guard of guardsReady) {
+      if (guard.isDestroyed()) continue;
 
-    guardsReady.forEach((guard) => {
       guard.callback();
-    });
+    }
 
-    clientsReady.forEach((client) => {
+    for (const client of clientsReady) {
+      if (client.isDestroyed()) continue;
       this._runWithMessageType(
         client.typeClass.Response,
         (message, deserialize) => {
@@ -213,9 +219,10 @@ class Node extends rclnodejs.ShadowNode {
           }
         }
       );
-    });
+    }
 
-    servicesReady.forEach((service) => {
+    for (const service of servicesReady) {
+      if (service.isDestroyed()) continue;
       this._runWithMessageType(
         service.typeClass.Request,
         (message, deserialize) => {
@@ -229,9 +236,11 @@ class Node extends rclnodejs.ShadowNode {
           }
         }
       );
-    });
+    }
+
+    for (const actionClient of actionClientsReady) {
+      if (actionClient.isDestroyed()) continue;
 
-    actionClientsReady.forEach((actionClient) => {
       const properties = actionClient.handle.properties;
 
       if (properties.isGoalResponseReady) {
@@ -242,7 +251,7 @@ class Node extends rclnodejs.ShadowNode {
               actionClient.handle,
               message
             );
-            if (sequence != null) {
+            if (sequence != undefined) {
               actionClient.processGoalResponse(sequence, deserialize());
             }
           }
@@ -257,7 +266,7 @@ class Node extends rclnodejs.ShadowNode {
               actionClient.handle,
               message
             );
-            if (sequence != null) {
+            if (sequence != undefined) {
               actionClient.processCancelResponse(sequence, deserialize());
             }
           }
@@ -272,7 +281,7 @@ class Node extends rclnodejs.ShadowNode {
               actionClient.handle,
               message
             );
-            if (sequence != null) {
+            if (sequence != undefined) {
               actionClient.processResultResponse(sequence, deserialize());
             }
           }
@@ -308,9 +317,11 @@ class Node extends rclnodejs.ShadowNode {
           }
         );
       }
-    });
+    }
+
+    for (const actionServer of actionServersReady) {
+      if (actionServer.isDestroyed()) continue;
 
-    actionServersReady.forEach((actionServer) => {
       const properties = actionServer.handle.properties;
 
       if (properties.isGoalRequestReady) {
@@ -371,7 +382,11 @@ class Node extends rclnodejs.ShadowNode {
         }
         GoalInfoArray.freeArray(message);
       }
-    });
+    }
+
+    // At this point it is safe to clear the cache of any
+    // destroyed entity references
+    Entity._gcHandles();
   }
 
   /**
@@ -448,11 +463,19 @@ class Node extends rclnodejs.ShadowNode {
   }
 
   _destroyEntity(entity, array, syncHandles = true) {
+    if (entity['isDestroyed'] && entity.isDestroyed()) return;
+
     this._removeEntityFromArray(entity, array);
     if (syncHandles) {
       this.syncHandles();
     }
-    entity.handle.release();
+
+    if (entity['_destroy']) {
+      entity._destroy();
+    } else {
+      // guards and timers
+      entity.handle.release();
+    }
   }
 
   _validateOptions(options) {
@@ -464,12 +487,7 @@ class Node extends rclnodejs.ShadowNode {
     }
 
     if (options === undefined) {
-      options = {
-        enableTypedArray: true,
-        isRaw: false,
-        qos: QoS.profileDefault,
-      };
-      return options;
+      return Node.getDefaultOptions();
     }
 
     if (options.enableTypedArray === undefined) {
@@ -608,7 +626,7 @@ class Node extends rclnodejs.ShadowNode {
    */
 
   /**
-   * Create a Subscription.
+   * Create a Subscription with optional content-filtering.
    * @param {function|string|object} typeClass - The ROS message class,
         OR a string representing the message class, e.g. 'std_msgs/msg/String',
         OR an object representing the message class, e.g. {package: 'std_msgs', type: 'msg', name: 'String'}
@@ -617,9 +635,18 @@ class Node extends rclnodejs.ShadowNode {
    * @param {boolean} options.enableTypedArray - The topic will use TypedArray if necessary, default: true.
    * @param {QoS} options.qos - ROS Middleware "quality of service" settings for the subscription, default: QoS.profileDefault.
    * @param {boolean} options.isRaw - The topic is serialized when true, default: false.
+   * @param {object} [options.contentFilter=undefined] - The content-filter, default: undefined.
+   *  Confirm that your RMW supports content-filtered topics before use. 
+   * @param {string} options.contentFilter.expression - Specifies the criteria to select the data samples of
+   *  interest. It is similar to the WHERE part of an SQL clause.
+   * @param {string[]} [options.contentFilter.parameters=undefined] - Array of strings that give values to
+   *  the ‘parameters’ (i.e., "%n" tokens) in the filter_expression. The number of supplied parameters must
+   *  fit with the requested values in the filter_expression (i.e., the number of %n tokens). default: undefined.
    * @param {SubscriptionCallback} callback - The callback to be call when receiving the topic subscribed. The topic will be an instance of null-terminated Buffer when options.isRaw is true.
    * @return {Subscription} - An instance of Subscription.
+   * @throws {ERROR} - May throw an RMW error if content-filter is malformed. 
    * @see {@link SubscriptionCallback}
+   * @see {@link https://www.omg.org/spec/DDS/1.4/PDF|Content-filter details at DDS 1.4 specification, Annex B}
    */
   createSubscription(typeClass, topic, options, callback) {
     if (typeof typeClass === 'string' || typeof typeClass === 'object') {
@@ -1645,4 +1672,25 @@ class Node extends rclnodejs.ShadowNode {
   }
 }
 
+/**
+ * Create an Options instance initialized with default values.
+ * @returns {Options} - The new initialized instance.
+ * @static
+ * @example
+ * {
+ *   enableTypedArray: true,
+ *   isRaw: false,
+ *   qos: QoS.profileDefault,
+ *   contentFilter: undefined,
+ * }
+ */
+Node.getDefaultOptions = function () {
+  return {
+    enableTypedArray: true,
+    isRaw: false,
+    qos: QoS.profileDefault,
+    contentFilter: undefined,
+  };
+};
+
 module.exports = Node;

package/lib/rmw.js

@@ -0,0 +1,29 @@
+'use strict';
+
+const DistroUtils = require('./distro');
+
+const RMWNames = {
+  FASTRTPS: 'rmw_fastrtps_cpp',
+  CONNEXT: 'rmw_connext_cpp',
+  CYCLONEDDS: 'rmw_cyclonedds_cpp',
+  GURUMDDS: 'rmw_gurumdds_cpp',
+};
+
+const DefaultRosRMWNameMap = new Map();
+DefaultRosRMWNameMap.set('eloquent', RMWNames.FASTRTPS);
+DefaultRosRMWNameMap.set('foxy', RMWNames.FASTRTPS);
+DefaultRosRMWNameMap.set('galactic', RMWNames.CYCLONEDDS);
+DefaultRosRMWNameMap.set('humble', RMWNames.FASTRTPS);
+DefaultRosRMWNameMap.set('rolling', RMWNames.FASTRTPS);
+
+const RMWUtils = {
+  RMWNames: RMWNames,
+
+  getRMWName: function () {
+    return process.env.RMW_IMPLEMENTATION
+      ? process.env.RMW_IMPLEMENTATION
+      : DefaultRosRMWNameMap.get(DistroUtils.getDistroName());
+  },
+};
+
+module.exports = RMWUtils;