rclnodejs 0.22.3 → 0.23.1

package/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/binding.gyp

@@ -90,6 +90,7 @@
                     "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/lifecycle_msgs/ ') + '/include/lifecycle_msgs/')\")",
                     "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/rosidl_runtime_c/ ') + '/include/rosidl_runtime_c/')\")",
                     "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/rosidl_dynamic_typesupport/ ') + '/include/rosidl_dynamic_typesupport/')\")",
+                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/type_description_interfaces/ ') + '/include/type_description_interfaces/')\")",
                   ],
                 }
               ],
@@ -138,6 +139,7 @@
                     "<!@(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')\")",
+                    "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '/include/type_description_interfaces/ ').replace(/\\\/g, '/') + '/include/type_description_interfaces/')\")",
                   ],
                 }
               ]

package/index.js

@@ -52,6 +52,7 @@ const {
   getActionServerNamesAndTypesByNode,
   getActionNamesAndTypes,
 } = require('./lib/action/graph.js');
+const ServiceIntrospectionStates = require('./lib/service_introspection.js');
 
 /**
  * Get the version of the generator that was used for the currently present interfaces.
@@ -143,6 +144,9 @@ let rcl = {
   /** {@link ROSClock} class */
   ROSClock: ROSClock,
 
+  /** {@link ServiceIntrospectionStates} */
+  ServiceIntrospectionStates: ServiceIntrospectionStates,
+
   /** {@link Time} class */
   Time: Time,
 

package/lib/client.js

@@ -15,6 +15,7 @@
 'use strict';
 
 const rclnodejs = require('bindings')('rclnodejs');
+const DistroUtils = require('./distro.js');
 const Entity = require('./entity.js');
 const debug = require('debug')('rclnodejs:client');
 
@@ -129,6 +130,33 @@ class Client extends Entity {
   get serviceName() {
     return this._serviceName;
   }
+
+  /**
+   * Configure introspection.
+   * @param {Clock} clock - Clock to use for service event timestamps
+   * @param {QoS} qos - QoSProfile for the service event publisher
+   * @param {ServiceIntrospectionState} introspectionState - State to set introspection to
+   */
+  configureIntrospection(clock, qos, introspectionState) {
+    if (DistroUtils.getDistroId() <= DistroUtils.getDistroId('humble')) {
+      console.warn(
+        'Service introspection is not supported by this versionof ROS 2'
+      );
+      return;
+    }
+
+    let type = this.typeClass.type();
+    rclnodejs.configureServiceIntrospection(
+      this.handle,
+      this._nodeHandle,
+      clock.handle,
+      type.interfaceName,
+      type.pkgName,
+      qos,
+      introspectionState,
+      false
+    );
+  }
 }
 
 module.exports = Client;

package/lib/lifecycle.js

@@ -308,6 +308,7 @@ class LifecycleNode extends Node {
       'srv_get_state'
     );
     let service = new Service(
+      this.handle,
       srvHandleObj.handle,
       srvHandleObj.name,
       loader.loadInterface('lifecycle_msgs/srv/GetState'),
@@ -321,6 +322,7 @@ class LifecycleNode extends Node {
       'srv_get_available_states'
     );
     service = new Service(
+      this.handle,
       srvHandleObj.handle,
       srvHandleObj.name,
       loader.loadInterface('lifecycle_msgs/srv/GetAvailableStates'),
@@ -334,6 +336,7 @@ class LifecycleNode extends Node {
       'srv_get_available_transitions'
     );
     service = new Service(
+      this.handle,
       srvHandleObj.handle,
       srvHandleObj.name,
       loader.loadInterface('lifecycle_msgs/srv/GetAvailableTransitions'),
@@ -347,6 +350,7 @@ class LifecycleNode extends Node {
       'srv_change_state'
     );
     service = new Service(
+      this.handle,
       srvHandleObj.handle,
       srvHandleObj.name,
       loader.loadInterface('lifecycle_msgs/srv/ChangeState'),
@@ -354,7 +358,6 @@ class LifecycleNode extends Node {
       (request, response) => this._onChangeState(request, response)
     );
     this._services.push(service);
-
     this.syncHandles();
   }
 

package/lib/node_options.js

@@ -88,7 +88,7 @@ class NodeOptions {
   /**
    * Get the automaticallyDeclareParametersFromOverrides.
    *
-   * @returns {boolean} - True indicates that a node shold declare declare parameters from
+   * @returns {boolean} - True indicates that a node should declare parameters from
    *    it's parameter-overrides
    */
   get automaticallyDeclareParametersFromOverrides() {

package/lib/service.js

@@ -15,6 +15,7 @@
 'use strict';
 
 const rclnodejs = require('bindings')('rclnodejs');
+const DistroUtils = require('./distro.js');
 const Entity = require('./entity.js');
 const debug = require('debug')('rclnodejs:service');
 
@@ -63,8 +64,9 @@ class Response {
  */
 
 class Service extends Entity {
-  constructor(handle, serviceName, typeClass, options, callback) {
+  constructor(nodeHandle, handle, serviceName, typeClass, options, callback) {
     super(handle, typeClass, options);
+    this._nodeHandle = nodeHandle;
     this._callback = callback;
   }
 
@@ -95,7 +97,14 @@ class Service extends Entity {
       type.pkgName,
       options.qos
     );
-    return new Service(handle, serviceName, typeClass, options, callback);
+    return new Service(
+      nodeHandle,
+      handle,
+      serviceName,
+      typeClass,
+      options,
+      callback
+    );
   }
 
   /**
@@ -105,6 +114,33 @@ class Service extends Entity {
     const fullServiceName = rclnodejs.getServiceName(this._handle); // returns /my_node/myservice
     return fullServiceName.split('/').pop();
   }
+
+  /**
+   * Configure introspection.
+   * @param {Clock} clock - Clock to use for service event timestamps
+   * @param {QoS} qos - QoSProfile for the service event publisher
+   * @param {ServiceIntrospectionState} introspectionState - State to set introspection to
+   */
+  configureIntrospection(clock, qos, introspectionState) {
+    if (DistroUtils.getDistroId() <= DistroUtils.getDistroId('humble')) {
+      console.warn(
+        'Service introspection is not supported by this versionof ROS 2'
+      );
+      return;
+    }
+
+    let type = this.typeClass.type();
+    rclnodejs.configureServiceIntrospection(
+      this.handle,
+      this._nodeHandle,
+      clock.handle,
+      type.interfaceName,
+      type.pkgName,
+      qos,
+      introspectionState,
+      true
+    );
+  }
 }
 
 module.exports = Service;

package/lib/service_introspection.js

@@ -0,0 +1,30 @@
+// Copyright (c) 2023 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.
+
+/**
+ * @typedef {number} ServiceIntrospectionState
+ **/
+
+/**
+ * Enum for service introspection states.
+ * @readonly
+ * @enum {ServiceIntrospectionState}
+ */
+const ServiceIntrospectionStates = {
+  OFF: 0,
+  METADATA: 1,
+  CONTENTS: 2,
+};
+
+module.exports = ServiceIntrospectionStates;

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "rclnodejs",
-  "version": "0.22.3",
+  "version": "0.23.1",
   "description": "ROS2.0 JavaScript client with Node.js",
   "main": "index.js",
   "types": "types/index.d.ts",
@@ -42,44 +42,44 @@
     "url": "git+https://github.com/RobotWebTools/rclnodejs.git"
   },
   "devDependencies": {
-    "@babel/eslint-parser": "^7.12.1",
-    "@typescript-eslint/eslint-plugin": "^4.5.0",
-    "@typescript-eslint/parser": "^4.5.0",
+    "@babel/eslint-parser": "^7.22.15",
+    "@typescript-eslint/eslint-plugin": "^6.6.0",
+    "@typescript-eslint/parser": "^6.6.0",
     "babel-eslint": "^10.1.0",
-    "clang-format": "^1.4.0",
-    "commander": "^6.0.0",
+    "clang-format": "^1.8.0",
+    "commander": "^11.0.0",
     "deep-equal": "^1.1.1",
-    "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",
+    "eslint": "^8.49.0",
+    "eslint-config-prettier": "^9.0.0",
+    "eslint-plugin-prettier": "^5.0.0",
+    "husky": "^8.0.3",
+    "jsdoc": "^4.0.2",
+    "lint-staged": "^14.0.1",
     "mocha": "^10.2.0",
-    "prettier": "^2.0.5",
-    "rimraf": "^3.0.2",
-    "sinon": "^9.0.2",
+    "prettier": "^3.0.3",
+    "rimraf": "^5.0.1",
+    "sinon": "^15.2.0",
     "tree-kill": "^1.2.2",
-    "typescript": "^4.0.3"
+    "typescript": "^4.9.3"
   },
   "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",
+    "array.prototype.flat": "^1.3.2",
     "bindings": "^1.5.0",
-    "compare-versions": "^3.6.0",
-    "debug": "^4.1.1",
+    "compare-versions": "^6.1.0",
+    "debug": "^4.3.4",
     "dot": "^1.1.3",
     "dtslint": "^4.2.1",
-    "fs-extra": "^10.0.0",
+    "fs-extra": "^11.1.1",
     "int64-napi": "^1.0.2",
     "is-close": "^1.3.3",
-    "mkdirp": "^1.0.4",
+    "mkdirp": "^3.0.1",
     "mz": "^2.7.0",
-    "nan": "^2.14.2",
-    "uuid": "^8.2.0",
-    "walk": "^2.3.14"
+    "nan": "^2.17.0",
+    "uuid": "^9.0.0",
+    "walk": "^2.3.15"
   },
   "husky": {
     "hooks": {

package/rosidl_gen/idl_generator.js

@@ -19,6 +19,7 @@ const fse = require('fs-extra');
 const path = require('path');
 const parser = require('../rosidl_parser/rosidl_parser.js');
 const actionMsgs = require('./action_msgs.js');
+const DistroUtils = require('../lib/distro.js');
 
 dot.templateSettings.strip = false;
 dot.log = process.env.RCLNODEJS_LOG_VERBOSE || false;
@@ -42,7 +43,7 @@ async function writeGeneratedCode(dir, fileName, code) {
   await fse.writeFile(path.join(dir, fileName), code);
 }
 
-function generateServiceJSStruct(serviceInfo, dir) {
+async function generateServiceJSStruct(serviceInfo, dir) {
   dir = path.join(dir, `${serviceInfo.pkgName}`);
   const fileName =
     serviceInfo.pkgName +
@@ -51,10 +52,29 @@ function generateServiceJSStruct(serviceInfo, dir) {
     '__' +
     serviceInfo.interfaceName +
     '.js';
-  const generatedCode = removeEmptyLines(
+  const generatedSrvCode = removeEmptyLines(
     dots.service({ serviceInfo: serviceInfo })
   );
-  return writeGeneratedCode(dir, fileName, generatedCode);
+  let result = writeGeneratedCode(dir, fileName, generatedSrvCode);
+
+  if (DistroUtils.getDistroId() <= DistroUtils.getDistroId('humble')) {
+    return result;
+  }
+
+  // Otherwise, for post-Humble ROS 2 releases generate service_event msgs
+  await result;
+  const eventFileName =
+    serviceInfo.pkgName +
+    '__' +
+    serviceInfo.subFolder +
+    '__' +
+    serviceInfo.interfaceName +
+    '_Event.js';
+  const generatedSrvEventCode = removeEmptyLines(
+    dots.service_event({ serviceInfo: serviceInfo })
+  );
+
+  return writeGeneratedCode(dir, eventFileName, generatedSrvEventCode);
 }
 
 async function generateMessageJSStruct(messageInfo, dir) {