rclnodejs 0.22.2 → 0.23.0

package/rosidl_gen/templates/service_event.dot

@@ -0,0 +1,304 @@
+// This file is automatically generated by Intel rclnodejs
+//
+// *** DO NOT EDIT directly
+//
+'use strict';
+
+{{
+  const interfaceName = it.serviceInfo.interfaceName;
+  const pkgName = it.serviceInfo.pkgName;
+  const subFolder = it.serviceInfo.subFolder;
+
+  const baseName = it.serviceInfo.pkgName + '__' + it.serviceInfo.subFolder + '__' + it.serviceInfo.interfaceName;
+}}
+
+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');
+const ServiceEventInfoWrapper = require('../service_msgs/service_msgs__msg__ServiceEventInfo.js');
+const {{=interfaceName}}_RequestWrapper = require('./{{=pkgName}}__{{=subFolder}}__{{=interfaceName}}_Request.js');
+const {{=interfaceName}}_ResponseWrapper = require('./{{=pkgName}}__{{=subFolder}}__{{=interfaceName}}_Response.js');
+const {{=interfaceName}}_EventRefStruct = StructType({
+  info: ServiceEventInfoWrapper.refObjectType,
+  request: {{=interfaceName}}_RequestWrapper.refObjectArrayType,
+  response: {{=interfaceName}}_ResponseWrapper.refObjectArrayType,
+});
+const {{=interfaceName}}_EventRefArray = ArrayType({{=interfaceName}}_EventRefStruct);
+const {{=interfaceName}}_EventRefStructArray = StructType({
+  data: {{=interfaceName}}_EventRefArray,
+  size: ref.types.size_t,
+  capacity: ref.types.size_t
+});
+// Define the wrapper class.
+class {{=interfaceName}}_EventWrapper {
+  constructor(other) {
+    this._wrapperFields = {};
+    if (typeof other === 'object' && other._refObject) {
+      this._refObject = new {{=interfaceName}}_EventRefStruct(other._refObject.toObject());
+      this._wrapperFields.info =  new ServiceEventInfoWrapper(other._wrapperFields.info);
+      this._wrapperFields.request = {{=interfaceName}}_RequestWrapper.createArray();
+      this._wrapperFields.request.copy(other._wrapperFields.request);
+      this._wrapperFields.response = {{=interfaceName}}_ResponseWrapper.createArray();
+      this._wrapperFields.response.copy(other._wrapperFields.response);
+    } else if (typeof other !== 'undefined') {
+      this._initMembers();
+      translator.constructFromPlanObject(this, other);
+    } else {
+      this._initMembers();
+    }
+    this.freeze();
+  }
+  _initMembers() {
+    this._refObject = new {{=interfaceName}}_EventRefStruct();
+    this._wrapperFields.info = new ServiceEventInfoWrapper();
+    this._wrapperFields.request = {{=interfaceName}}_RequestWrapper.createArray();
+    this._wrapperFields.response = {{=interfaceName}}_ResponseWrapper.createArray();
+  }
+  static createFromRefObject(refObject) {
+    let self = new {{=interfaceName}}_EventWrapper();
+    self.copyRefObject(refObject);
+    return self;
+  }
+  static createArray() {
+    return new {{=interfaceName}}_EventArrayWrapper;
+  }
+  static get ArrayType() {
+    return {{=interfaceName}}_EventArrayWrapper;
+  }
+  static get refObjectArrayType() {
+    return {{=interfaceName}}_EventRefStructArray
+  }
+  static get refObjectType() {
+    return {{=interfaceName}}_EventRefStruct;
+  }
+  toRawROS() {
+    this.freeze(true);
+    return this._refObject.ref();
+  }
+  freeze(own = false, checkConsistency = false) {
+    if (checkConsistency) {
+    }
+    this._wrapperFields.info.freeze(own, checkConsistency);
+    this._refObject.info = this._wrapperFields.info.refObject;
+    this._wrapperFields.request.freeze(own, checkConsistency);
+    this._refObject.request = this._wrapperFields.request.refObject;
+    this._wrapperFields.response.freeze(own, checkConsistency);
+    this._refObject.response = this._wrapperFields.response.refObject;
+  }
+  serialize() {
+    this.freeze(false, true);
+    return this._refObject.ref();
+  }
+  deserialize(refObject) {
+    this._wrapperFields.info.copyRefObject(refObject.info);
+    this._wrapperFields.request.copyRefObject(refObject.request);
+    this._wrapperFields.response.copyRefObject(refObject.response);
+  }
+  toPlainObject(enableTypedArray) {
+    return translator.toPlainObject(this, enableTypedArray);
+  }
+  static freeStruct(refObject) {
+    ServiceEventInfoWrapper.freeStruct(refObject.info);
+    if (refObject.request.size != 0) {
+      {{=interfaceName}}_RequestWrapper.ArrayType.freeArray(refObject.request);
+      if ({{=interfaceName}}_RequestWrapper.ArrayType.useTypedArray) {
+        // Do nothing, the v8 will take the ownership of the ArrayBuffer used by the typed array.
+      } else {
+        deallocator.freeStructMember(refObject.request, {{=interfaceName}}_RequestWrapper.refObjectArrayType, 'data');
+      }
+    }
+    if (refObject.response.size != 0) {
+      {{=interfaceName}}_ResponseWrapper.ArrayType.freeArray(refObject.response);
+      if ({{=interfaceName}}_ResponseWrapper.ArrayType.useTypedArray) {
+        // Do nothing, the v8 will take the ownership of the ArrayBuffer used by the typed array.
+      } else {
+        deallocator.freeStructMember(refObject.response, {{=interfaceName}}_ResponseWrapper.refObjectArrayType, 'data');
+      }
+    }
+  }
+  static destoryRawROS(msg) {
+    {{=interfaceName}}_EventWrapper.freeStruct(msg.refObject);
+  }
+  static type() {
+    return {pkgName: '{{=pkgName}}', subFolder: '{{=subFolder}}', interfaceName: '{{=interfaceName}}_Event'};
+  }
+  static isPrimitive() {
+    return false;
+  }
+  static get isROSArray() {
+    return false;
+  }
+  get refObject() {
+    return this._refObject;
+  }
+  get info() {
+    return this._wrapperFields.info;
+  }
+  set info(value) {
+    if (value instanceof ServiceEventInfoWrapper) {
+      this._wrapperFields.info.copy(value);
+    } else {
+      this._wrapperFields.info.copy(new ServiceEventInfoWrapper(value));
+    }
+  }
+  get request() {
+    return this._wrapperFields.request;
+  }
+  set request(value) {
+    if (value.length > 1) {
+      throw new RangeError('The length of array request must be <= 1.');
+    }
+    this._wrapperFields.request.fill(value);
+  }
+  get response() {
+    return this._wrapperFields.response;
+  }
+  set response(value) {
+    if (value.length > 1) {
+      throw new RangeError('The length of array response must be <= 1.');
+    }
+    this._wrapperFields.response.fill(value);
+  }
+  copyRefObject(refObject) {
+    this._refObject = new {{=interfaceName}}_EventRefStruct(refObject.toObject());
+    this._wrapperFields.info.copyRefObject(this._refObject.info);
+    this._wrapperFields.request.copyRefObject(this._refObject.request);
+    this._wrapperFields.response.copyRefObject(this._refObject.response);
+  }
+  copy(other) {
+    this._refObject = new {{=interfaceName}}_EventRefStruct(other._refObject.toObject());
+    this._wrapperFields.info.copy(other._wrapperFields.info);
+    this._wrapperFields.request.copy(other._wrapperFields.request);
+    this._wrapperFields.response.copy(other._wrapperFields.response);
+  }
+  static get classType() {
+    return {{=interfaceName}}_EventWrapper;
+  }
+  static get ROSMessageDef() {
+    return {"constants":[],"fields":[{"name":"info","type":{"isArray":false,"arraySize":null,"isUpperBound":false,"isDynamicArray":false,"isFixedSizeArray":false,"pkgName":"service_msgs","type":"ServiceEventInfo","stringUpperBound":null,"isPrimitiveType":false},"default_value":null},{"name":"request","type":{"isArray":true,"arraySize":1,"isUpperBound":true,"isDynamicArray":true,"isFixedSizeArray":false,"pkgName":"{{=pkgName}}","type":"{{=interfaceName}}_Request","stringUpperBound":null,"isPrimitiveType":false},"default_value":null},{"name":"response","type":{"isArray":true,"arraySize":1,"isUpperBound":true,"isDynamicArray":true,"isFixedSizeArray":false,"pkgName":"{{=pkgName}}","type":"{{=interfaceName}}_Response","stringUpperBound":null,"isPrimitiveType":false},"default_value":null}],"baseType":{"pkgName":"{{=pkgName}}","type":"{{=interfaceName}}_Event","stringUpperBound":null,"isPrimitiveType":false},"msgName":"{{=interfaceName}}_Event"};
+  }
+  hasMember(name) {
+    let memberNames = ["info","request","response"];
+    return memberNames.indexOf(name) !== -1;
+  }
+}
+// Define the wrapper of array class.
+class {{=interfaceName}}_EventArrayWrapper {
+  constructor(size = 0) {
+    this._resize(size);
+  }
+  toRawROS() {
+    return this._refObject.ref();
+  }
+  fill(values) {
+    const length = values.length;
+    this._resize(length);
+    values.forEach((value, index) => {
+      if (value instanceof {{=interfaceName}}_EventWrapper) {
+        this._wrappers[index].copy(value);
+      } else {
+        this._wrappers[index] = new {{=interfaceName}}_EventWrapper(value);
+      }
+    });
+  }
+  // Put all data currently stored in `this._wrappers` into `this._refObject`
+  freeze(own) {
+    this._wrappers.forEach((wrapper, index) => {
+      wrapper.freeze(own);
+      this._refArray[index] = wrapper.refObject;
+    });
+    this._refObject.size = this._wrappers.length;
+    this._refObject.capacity = this._wrappers.length;
+    if (this._refObject.capacity === 0) {
+      this._refObject.data = null
+    } else {
+    this._refObject.data = this._refArray.buffer;
+    }
+  }
+  get refObject() {
+    return this._refObject;
+  }
+  get data() {
+    return this._wrappers;
+  }
+  get size() {
+    return this._wrappers.length;
+  }
+  set size(value) {
+    if (typeof value != 'number') {
+      throw new TypeError('Invalid argument: should provide a number to {{=interfaceName}}_EventArrayWrapper.size setter');
+      return;
+    }
+    return this._resize(value);
+  }
+  get capacity() {
+    return this._wrappers.length;
+  }
+  set capacity(value) {
+    if (typeof value != 'number') {
+      throw new TypeError('Invalid argument: should provide a number to {{=interfaceName}}_EventArrayWrapper.capacity setter');
+    }
+    return this._resize(value);
+  }
+  get refObject() {
+    return this._refObject;
+  }
+  _resize(size) {
+    if (size < 0) {
+      throw new RangeError('Invalid argument: should provide a positive number');
+      return;
+    }
+    this._refArray = new {{=interfaceName}}_EventRefArray(size);
+    this._refObject = new {{=interfaceName}}_EventRefStructArray();
+    this._refObject.size = size;
+    this._refObject.capacity = size;
+    this._wrappers = new Array();
+    for (let i = 0; i < size; i++) {
+      this._wrappers.push(new {{=interfaceName}}_EventWrapper());
+    }
+  }
+  // Copy all data from `this._refObject` into `this._wrappers`
+  copyRefObject(refObject) {
+    this._refObject = refObject;
+    let refObjectArray = this._refObject.data;
+    refObjectArray.length = this._refObject.size;
+    this._resize(this._refObject.size);
+    for (let index = 0; index < this._refObject.size; index++) {
+      this._wrappers[index].copyRefObject(refObjectArray[index]);
+    }
+  }
+  copy(other) {
+    if (! (other instanceof {{=interfaceName}}_EventArrayWrapper)) {
+      throw new TypeError('Invalid argument: should provide "{{=interfaceName}}_EventArrayWrapper".');
+    }
+    this._resize(other.size);
+    // Array deep copy
+    other._wrappers.forEach((wrapper, index) => {
+      this._wrappers[index].copy(wrapper);
+    });
+  }
+  static freeArray(refObject) {
+    let refObjectArray = refObject.data;
+    refObjectArray.length = refObject.size;
+    for (let index = 0; index < refObject.size; index++) {
+      {{=interfaceName}}_EventWrapper.freeStruct(refObjectArray[index]);
+    }
+  }
+  static get elementType() {
+    return {{=interfaceName}}_EventWrapper;
+  }
+  static get isROSArray() {
+    return true;
+  }
+  static get useTypedArray() {
+    return false;
+  }
+  get classType() {
+    return {{=interfaceName}}_EventArrayWrapper;
+  }
+}
+module.exports = {{=interfaceName}}_EventWrapper;
+

package/rostsd_gen/index.js

@@ -38,9 +38,9 @@ async function generateAll() {
   const generatedPath = path.join(__dirname, '../generated/');
   const pkgInfos = getPkgInfos(generatedPath);
 
-  // write message.d.ts file
-  const messagesFilePath = path.join(__dirname, '../types/interfaces.d.ts');
-  const fd = fs.openSync(messagesFilePath, 'w');
+  // write interfaces.d.ts file
+  const interfacesFilePath = path.join(__dirname, '../types/interfaces.d.ts');
+  const fd = fs.openSync(interfacesFilePath, 'w');
   savePkgInfoAsTSD(pkgInfos, fd);
   await wait(500); // hack to avoid random segfault
   fs.closeSync(fd);
@@ -235,7 +235,9 @@ function saveMsgAsTSD(rosMsgInterface, fd) {
     fd,
     `      export interface ${rosMsgInterface.type().interfaceName} {\n`
   );
-  const useSamePkg = isInternalActionMsgInterface(rosMsgInterface);
+  const useSamePkg =
+    isInternalActionMsgInterface(rosMsgInterface) ||
+    isInternalServiceEventMsgInterface(rosMsgInterface);
   saveMsgFieldsAsTSD(rosMsgInterface, fd, 8, ';', '', useSamePkg);
   fs.writeSync(fd, '      }\n');
 }
@@ -270,7 +272,6 @@ function saveMsgFieldsAsTSD(
       useSamePackageSubFolder && field.type.pkgName === type.pkgName
         ? type.subFolder
         : 'msg';
-
     let fieldType = fieldType2JSName(field, subFolder);
     let tp = field.type.isPrimitiveType ? '' : typePrefix;
     if (typePrefix === 'rclnodejs.') {
@@ -346,13 +347,6 @@ function isMsgInterface(rosInterface) {
   return rosInterface.hasOwnProperty('ROSMessageDef');
 }
 
-function isServiceMsgInterface(rosMsgInterface) {
-  if (!isMsgInterface(rosMsgInterface)) return false;
-
-  let name = rosMsgInterface.type().interfaceName;
-  return name.endsWith('_Request') || name.endsWith('_Response');
-}
-
 function isInternalActionMsgInterface(rosMsgInterface) {
   let name = rosMsgInterface.type().interfaceName;
   return (
@@ -364,6 +358,15 @@ function isInternalActionMsgInterface(rosMsgInterface) {
   );
 }
 
+function isInternalServiceEventMsgInterface(rosMsgInterface) {
+  let name = rosMsgInterface.type().interfaceName;
+  let subFolder = rosMsgInterface.type().subFolder;
+  return (
+    (subFolder == 'srv' || subFolder == 'action') 
+    && name.endsWith('_Event')
+  );
+}
+
 function isSrvInterface(rosInterface) {
   return (
     rosInterface.hasOwnProperty('Request') &&

package/scripts/npmjs-readme.md

@@ -1,4 +1,4 @@
-# rclnodejs [![Build Status](https://travis-ci.org/RobotWebTools/rclnodejs.svg?branch=develop)](https://travis-ci.org/RobotWebTools/rclnodejs)
+# rclnodejs ![GitHub Workflow Status](https://github.com/RobotWebTools/rclnodejs/actions/workflows/linux-build-and-test.yml/badge.svg?branch=iron-irwini)
 
 `rclnodejs` is a Node.js client for the Robot Operating System (ROS 2). It provides a simple and easy JavaScript API for ROS 2 programming. TypeScript declarations are included to support use of rclnodejs in TypeScript projects.
 
@@ -18,7 +18,7 @@ rclnodejs.init().then(() => {
 
 **Node.js**
 
-- [Node.js](https://nodejs.org/en/) version between 10.23 - 17.x.
+- [Node.js](https://nodejs.org/en/) version >= 16.13.0.
 
 **ROS 2 SDK**
 
@@ -43,14 +43,13 @@ npm i rclnodejs@x.y.z
 
 #### RCLNODEJS - ROS 2 Version Compatibility
 
-|                                                            RCLNODEJS Version                                                            |                                                                                                                                                                     Compatible ROS 2 Release                                                                                                                                                                     |
-| :-------------------------------------------------------------------------------------------------------------------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: |
-| [0.21.4 (current)](https://www.npmjs.com/package/rclnodejs/v/0.21.4) ([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)                                                                                                                                 |
+|                                      RCLNODEJS Version                                       |                                                               Compatible ROS 2 LTS                                                                |
+| :------------------------------------------------------------------------------------------: | :-----------------------------------------------------------------------------------------------------------------------------------------------: |
+| latest version (currently [v0.22.3](https://github.com/RobotWebTools/rclnodejs/tree/0.22.3)) | [Humble](https://github.com/RobotWebTools/rclnodejs/tree/humble-hawksbill)<br>[Iron](https://github.com/RobotWebTools/rclnodejs/tree/iron-irwini) |
 
 ## Documentation
 
-API [documentation](http://robotwebtools.org/rclnodejs/docs/index.html) is available online.
+API [documentation](https://robotwebtools.github.io/rclnodejs/docs/index.html) is available online.
 
 ## JavaScript Examples
 

package/src/rcl_bindings.cpp

@@ -36,6 +36,10 @@
 #include <rosidl_generator_c/string_functions.h>
 #endif
 
+#if ROS_VERSION > 2205
+#include <rcl/service_introspection.h>
+#endif
+
 #include <iostream>
 #include <memory>
 #include <string>
@@ -1120,6 +1124,68 @@ NAN_METHOD(SendResponse) {
                            RCL_RET_OK, rcl_get_error_string().str);
 }
 
+#if ROS_VERSION > 2205  // 2205 == Humble
+NAN_METHOD(ConfigureServiceIntrospection) {
+  v8::Local<v8::Context> currentContent = Nan::GetCurrentContext();
+
+  RclHandle* node_handle = RclHandle::Unwrap<RclHandle>(
+      Nan::To<v8::Object>(info[1]).ToLocalChecked());
+  rcl_node_t* node = reinterpret_cast<rcl_node_t*>(node_handle->ptr());
+
+  rcl_clock_t* clock = reinterpret_cast<rcl_clock_t*>(
+      RclHandle::Unwrap<RclHandle>(
+          Nan::To<v8::Object>(info[2]).ToLocalChecked())
+          ->ptr());
+
+  std::string interface_name(
+      *Nan::Utf8String(info[3]->ToString(currentContent).ToLocalChecked()));
+  std::string package_name(
+      *Nan::Utf8String(info[4]->ToString(currentContent).ToLocalChecked()));
+  const rosidl_service_type_support_t* ts =
+      GetServiceTypeSupport(package_name, interface_name);
+
+  if (ts) {
+    rcl_publisher_options_t publisher_ops = rcl_publisher_get_default_options();
+    auto qos_profile = GetQoSProfile(info[5]);
+    if (qos_profile) {
+      publisher_ops.qos = *qos_profile;
+    }
+
+    rcl_service_introspection_state_t state =
+        static_cast<rcl_service_introspection_state_t>(
+            Nan::To<uint32_t>(info[6]).ToChecked());
+
+    bool configureForService = Nan::To<bool>(info[7]).FromJust();
+
+    if (configureForService) {
+      RclHandle* service_handle = RclHandle::Unwrap<RclHandle>(
+          Nan::To<v8::Object>(info[0]).ToLocalChecked());
+      rcl_service_t* service =
+          reinterpret_cast<rcl_service_t*>(service_handle->ptr());
+
+      THROW_ERROR_IF_NOT_EQUAL(
+          rcl_service_configure_service_introspection(service, node, clock, ts,
+                                                      publisher_ops, state),
+          RCL_RET_OK, rcl_get_error_string().str);
+
+    } else {
+      RclHandle* client_handle = RclHandle::Unwrap<RclHandle>(
+          Nan::To<v8::Object>(info[0]).ToLocalChecked());
+      rcl_client_t* client =
+          reinterpret_cast<rcl_client_t*>(client_handle->ptr());
+
+      THROW_ERROR_IF_NOT_EQUAL(
+          rcl_client_configure_service_introspection(client, node, clock, ts,
+                                                     publisher_ops, state),
+          RCL_RET_OK, rcl_get_error_string().str);
+    }
+
+  } else {
+    Nan::ThrowError(GetErrorMessageAndClear().c_str());
+  }
+}
+#endif
+
 NAN_METHOD(ValidateFullTopicName) {
   v8::Local<v8::Context> currentContent = Nan::GetCurrentContext();
   int validation_result;
@@ -2011,6 +2077,11 @@ std::vector<BindingMethod> binding_methods = {
     {"serviceServerIsAvailable", ServiceServerIsAvailable},
     {"publishRawMessage", PublishRawMessage},
     {"rclTakeRaw", RclTakeRaw},
-    {"", nullptr}};
+    {"", nullptr}
+#if ROS_VERSION > 2205  // 2205 == Humble
+    ,
+    {"configureServiceIntrospection", ConfigureServiceIntrospection}
+#endif
+};
 
 }  // namespace rclnodejs

package/types/base.d.ts

@@ -21,6 +21,7 @@
 /// <reference path="qos.d.ts" />
 /// <reference path="rate.d.ts" />
 /// <reference path="service.d.ts" />
+/// <reference path="service_introspection.d.ts" />
 /// <reference path="subscription.d.ts" />
 /// <reference path="time_source.d.ts" />
 /// <reference path="time.d.ts" />

package/types/client.d.ts

@@ -40,6 +40,18 @@ declare module 'rclnodejs' {
      * Name of the service to which requests are made.
      */
     readonly serviceName: string;
+
+    /**
+     * Configure introspection.
+     * @param clock - Clock to use for service event timestamps
+     * @param QoSProfile - QOS profile for the service event publisher
+     * @param introspectionState - The state to set introspection to
+     */
+    configureIntrospection(
+      clock: Clock,
+      serviceEventPubQOS: QoS,
+      introspectionState: ServiceIntrospectionStates
+    ): void;
   }
 
   namespace Client {