rclnodejs 0.24.0 → 0.26.0

package/lib/client.js

@@ -50,13 +50,15 @@ class Client extends Entity {
    * @see {@link ResponseCallback}
    */
   sendRequest(request, callback) {
+    if (typeof callback !== 'function') {
+      throw new TypeError('Invalid argument');
+    }
+
     let requestToSend =
       request instanceof this._typeClass.Request
         ? request
         : new this._typeClass.Request(request);
-    if (typeof callback !== 'function') {
-      throw new TypeError('Invalid argument');
-    }
+    requestToSend._willCheckConsistency = this._options.willCheckConsistency;
 
     let rawRequest = requestToSend.serialize();
     let sequenceNumber = rclnodejs.sendRequest(this._handle, rawRequest);
@@ -128,7 +130,7 @@ class Client extends Entity {
    * @type {string}
    */
   get serviceName() {
-    return this._serviceName;
+    return rclnodejs.getClientServiceName(this._handle);
   }
 
   /**

package/lib/lifecycle_publisher.js

@@ -27,7 +27,7 @@ const Publisher = require('./publisher.js');
  */
 class LifecyclePublisher extends Publisher {
   constructor(handle, typeClass, topic, options) {
-    super(handle, typeClass, options);
+    super(handle, typeClass, /*topic=*/'', options);
 
     this._enabled = false;
     this._loggger = Logging.getLogger('LifecyclePublisher');

package/lib/node.js

@@ -502,6 +502,10 @@ class Node extends rclnodejs.ShadowNode {
       options = Object.assign(options, { isRaw: false });
     }
 
+    if (options.willCheckConsistency === undefined) {
+      options = Object.assign(options, { willCheckConsistency: false });
+    }
+
     return options;
   }
 
@@ -588,6 +592,7 @@ class Node extends rclnodejs.ShadowNode {
    * @param {object} options - The options argument used to parameterize the publisher.
    * @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 publisher, default: QoS.profileDefault.
+   * @param {boolean} options.willCheckConsistency - Pulisher will check the consistancy of the message to be sent, default: false.
    * @return {Publisher} - An instance of Publisher.
    */
   createPublisher(typeClass, topic, options) {
@@ -690,6 +695,7 @@ class Node extends rclnodejs.ShadowNode {
    * @param {object} options - The options argument used to parameterize the client.
    * @param {boolean} options.enableTypedArray - The response will use TypedArray if necessary, default: true.
    * @param {QoS} options.qos - ROS Middleware "quality of service" settings for the client, default: QoS.profileDefault.
+   * @param {boolean} options.willCheckConsistency - Client will check the consistancy of the message to be sent, default: false.
    * @return {Client} - An instance of Client.
    */
   createClient(typeClass, serviceName, options) {
@@ -1690,6 +1696,7 @@ Node.getDefaultOptions = function () {
     isRaw: false,
     qos: QoS.profileDefault,
     contentFilter: undefined,
+    willCheckConsistency: false
   };
 };
 

package/lib/publisher.js

@@ -53,7 +53,7 @@ class Publisher extends Entity {
         message instanceof this._typeClass
           ? message
           : new this._typeClass(message);
-
+      messageToSend._willCheckConsistency = this._options.willCheckConsistency;
       let rawMessage = messageToSend.serialize();
       rclnodejs.publish(this._handle, rawMessage);
     }

package/lib/service.js

@@ -112,8 +112,7 @@ class Service extends Entity {
    * @type {string}
    */
   get serviceName() {
-    const fullServiceName = rclnodejs.getServiceName(this._handle); // returns /my_node/myservice
-    return fullServiceName.split('/').pop();
+    return rclnodejs.getServiceServiceName(this._handle);
   }
 
   /**

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "rclnodejs",
-  "version": "0.24.0",
+  "version": "0.26.0",
   "description": "ROS2.0 JavaScript client with Node.js",
   "main": "index.js",
   "types": "types/index.d.ts",
@@ -57,7 +57,6 @@
     "lint-staged": "^14.0.1",
     "mocha": "^10.2.0",
     "prettier": "^3.0.3",
-    "rimraf": "^5.0.1",
     "sinon": "^15.2.0",
     "tree-kill": "^1.2.2",
     "typescript": "^4.9.3"
@@ -78,6 +77,7 @@
     "mkdirp": "^3.0.1",
     "mz": "^2.7.0",
     "nan": "^2.17.0",
+    "rimraf": "^5.0.1",
     "uuid": "^9.0.0",
     "walk": "^2.3.15"
   },

package/rosidl_gen/generator.json

@@ -1,6 +1,6 @@
 {
   "name": "rosidl-generator",
-  "version": "0.3.5",
+  "version": "0.3.6",
   "description": "Generate JavaScript object from ROS IDL(.msg) files",
   "main": "index.js",
   "authors": [

package/rosidl_gen/templates/message.dot

@@ -269,8 +269,9 @@ const {{=refObjectArrayType}} = StructType({
 
 // Define the wrapper class.
 class {{=objectWrapper}} {
-  constructor(other) {
+  constructor(other, willCheckConsistency = false) {
     this._wrapperFields = {};
+    this._willCheckConsistency = willCheckConsistency;
     {{~ it.spec.fields :field}}
     {{? field.type.isArray && field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
     this._{{=field.name}}Array = [];
@@ -366,15 +367,13 @@ class {{=objectWrapper}} {
   }
 
   freeze(own = false, checkConsistency = false) {
-    if (checkConsistency) {
     {{~ it.spec.fields :field}}
       {{? field.type.isPrimitiveType && !field.type.isArray}}
-      if (!this._{{=field.name}}Intialized) {
+      if (checkConsistency && !this._{{=field.name}}Intialized) {
         throw new TypeError('Invalid argument: {{=field.name}} in {{=it.spec.msgName}}');
       }
       {{?}}
     {{~}}
-    }
 
     {{~ it.spec.fields :field}}
     {{? field.type.isArray && field.type.isPrimitiveType && field.type.isFixedSizeArray}}
@@ -420,7 +419,7 @@ class {{=objectWrapper}} {
   }
 
   serialize() {
-    this.freeze(false, true);
+    this.freeze(/*own=*/false, this._willCheckConsistency);
     return this._refObject.ref();
   }
 

package/src/rcl_bindings.cpp

@@ -1107,16 +1107,6 @@ NAN_METHOD(RclTakeRequest) {
   info.GetReturnValue().Set(Nan::Undefined());
 }
 
-NAN_METHOD(GetServiceName) {
-  rcl_service_t* service = reinterpret_cast<rcl_service_t*>(
-      RclHandle::Unwrap<RclHandle>(
-          Nan::To<v8::Object>(info[0]).ToLocalChecked())
-          ->ptr());
-
-  const char* name = rcl_service_get_service_name(service);
-  info.GetReturnValue().Set(Nan::New(name).ToLocalChecked());
-}
-
 NAN_METHOD(SendResponse) {
   rcl_service_t* service = reinterpret_cast<rcl_service_t*>(
       RclHandle::Unwrap<RclHandle>(
@@ -2017,6 +2007,26 @@ NAN_METHOD(RclTakeRaw) {
                            "Failed to deallocate message buffer");
 }
 
+NAN_METHOD(GetClientServiceName) {
+  rcl_client_t* client = reinterpret_cast<rcl_client_t*>(
+      RclHandle::Unwrap<RclHandle>(
+          Nan::To<v8::Object>(info[0]).ToLocalChecked())
+          ->ptr());
+
+  const char* service_name = rcl_client_get_service_name(client);
+  info.GetReturnValue().Set(Nan::New(service_name).ToLocalChecked());
+}
+
+NAN_METHOD(GetServiceServiceName) {
+  rcl_service_t* service = reinterpret_cast<rcl_service_t*>(
+      RclHandle::Unwrap<RclHandle>(
+          Nan::To<v8::Object>(info[0]).ToLocalChecked())
+          ->ptr());
+
+  const char* service_name = rcl_service_get_service_name(service);
+  info.GetReturnValue().Set(Nan::New(service_name).ToLocalChecked());
+}
+
 std::vector<BindingMethod> binding_methods = {
     {"init", Init},
     {"createNode", CreateNode},
@@ -2055,7 +2065,6 @@ std::vector<BindingMethod> binding_methods = {
     {"rclTakeResponse", RclTakeResponse},
     {"sendRequest", SendRequest},
     {"createService", CreateService},
-    {"getServiceName", GetServiceName},
     {"rclTakeRequest", RclTakeRequest},
     {"sendResponse", SendResponse},
     {"shutdown", Shutdown},
@@ -2088,6 +2097,8 @@ std::vector<BindingMethod> binding_methods = {
     {"serviceServerIsAvailable", ServiceServerIsAvailable},
     {"publishRawMessage", PublishRawMessage},
     {"rclTakeRaw", RclTakeRaw},
+    {"getClientServiceName", GetClientServiceName},
+    {"getServiceServiceName", GetServiceServiceName},
     {"", nullptr}
 #if ROS_VERSION > 2205  // 2205 == Humble
     ,