rclnodejs 0.27.5 → 0.28.1

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (19) hide show
  1. package/CONTRIBUTORS.md +58 -49
  2. package/README.md +3 -3
  3. package/binding.gyp +2 -2
  4. package/lib/client.js +0 -1
  5. package/lib/lifecycle_publisher.js +1 -1
  6. package/lib/node.js +1 -8
  7. package/lib/publisher.js +0 -1
  8. package/lib/service.js +12 -11
  9. package/lib/time_source.js +1 -1
  10. package/package.json +20 -16
  11. package/rosidl_gen/generator.json +1 -1
  12. package/rosidl_gen/idl_generator.js +7 -0
  13. package/rosidl_gen/message_translator.js +4 -1
  14. package/rosidl_gen/packages.js +3 -3
  15. package/rosidl_gen/primitive_types.js +2 -2
  16. package/rosidl_gen/templates/message.dot +206 -248
  17. package/rostsd_gen/index.js +2 -2
  18. package/scripts/npm-pack.sh +1 -1
  19. package/scripts/npmjs-readme.md +3 -3
package/CONTRIBUTORS.md CHANGED
@@ -1,54 +1,63 @@
1
- rclnodejs contributors (sorted alphabetically)
2
- ==============================================
1
+ # rclnodejs contributors (sorted alphabetically)
2
+
3
+ - **[Alaa El Jawad](https://github.com/ejalaa12), [Ian McElroy](https://github.com/imcelroy)**
3
4
 
4
- * **[Alaa El Jawad](https://github.com/ejalaa12), [Ian McElroy](https://github.com/imcelroy)**
5
5
  - Fix compatibility with ROS2 parameters array types
6
6
  - Unit tests for all parameter types
7
7
  - Handle concurrent ROS2 client calls, with unit tests
8
8
 
9
- * **[Alex Mikhalev](https://github.com/amikhalev)**
10
- * Fix build for AMENT_PREFIX_PATH with multiple entries
11
-
12
- * **[Felix Divo](https://github.com/felixdivo)**
13
- * Code cleanup of index.js, tests cases & message generation
14
- * Improved shutdown behavior
15
- * Fixed compilation warnings
16
-
17
- * **[Hanyia](https://github.com/hanyia)**
18
- * Benchmark test script
19
-
20
- * **[Kenny Yuan](https://github.com/kenny-y)**
21
- * Message features: JS generation, typed arrays, plain JS object, compound msgs, many others...
22
- * npm publish scripts
23
- * Mac support
24
-
25
- * **[Matt Richard](https://github.com/mattrichard)**
26
- * ROS2 Actions
27
- * Guard conditions
28
- * Node utility methods (countPublishers/subscribers...)
29
- * TypeScript improvements
30
- * Node 12 compatibility
31
-
32
- * **[Minggang Wang](https://github.com/minggangw)**
33
- * Author, lead developer, maintainer
34
- * Core, CI
35
-
36
- * **[Martins Mozeiko](https://github.com/martins-mozeiko)**
37
- * QoS new/delete fix
38
-
39
- * **[Qiuzhong](https://github.com/qiuzhong)**
40
- * Test coverage for actions, topics, multi-array messages, cross platform, security
41
- * Converted from setTimeout to ROS2 Timer
42
-
43
- * **[Teo Koon Peng](https://github.com/koonpeng)**
44
- * TypeScript improvements
45
- * Added Client#waitForService
46
- * Code style improvements, e.g., Prettier formatting
47
- * Improved code generation smarts and efficiency
48
-
49
- * **[Wayne Parrott](https://github.com/wayneparrott)**
50
- * TypeScript support with interface generation
51
- * ROS2 parameter support
52
- * ROS2 lifecycle node
53
- * Rate class
54
- * Node class hierarchy
9
+ - **[Alex Mikhalev](https://github.com/amikhalev)**
10
+
11
+ - Fix build for AMENT_PREFIX_PATH with multiple entries
12
+
13
+ - **[Felix Divo](https://github.com/felixdivo)**
14
+
15
+ - Code cleanup of index.js, tests cases & message generation
16
+ - Improved shutdown behavior
17
+ - Fixed compilation warnings
18
+
19
+ - **[Hanyia](https://github.com/hanyia)**
20
+
21
+ - Benchmark test script
22
+
23
+ - **[Kenny Yuan](https://github.com/kenny-y)**
24
+
25
+ - Message features: JS generation, typed arrays, plain JS object, compound msgs, many others...
26
+ - npm publish scripts
27
+ - Mac support
28
+
29
+ - **[Matt Richard](https://github.com/mattrichard)**
30
+
31
+ - ROS2 Actions
32
+ - Guard conditions
33
+ - Node utility methods (countPublishers/subscribers...)
34
+ - TypeScript improvements
35
+ - Node 12 compatibility
36
+
37
+ - **[Minggang Wang](https://github.com/minggangw)**
38
+
39
+ - Author, lead developer, maintainer
40
+ - Core, CI
41
+
42
+ - **[Martins Mozeiko](https://github.com/martins-mozeiko)**
43
+
44
+ - QoS new/delete fix
45
+
46
+ - **[Qiuzhong](https://github.com/qiuzhong)**
47
+
48
+ - Test coverage for actions, topics, multi-array messages, cross platform, security
49
+ - Converted from setTimeout to ROS2 Timer
50
+
51
+ - **[Teo Koon Peng](https://github.com/koonpeng)**
52
+
53
+ - TypeScript improvements
54
+ - Added Client#waitForService
55
+ - Code style improvements, e.g., Prettier formatting
56
+ - Improved code generation smarts and efficiency
57
+
58
+ - **[Wayne Parrott](https://github.com/wayneparrott)**
59
+ - TypeScript support with interface generation
60
+ - ROS2 parameter support
61
+ - ROS2 lifecycle node
62
+ - Rate class
63
+ - Node class hierarchy
package/README.md CHANGED
@@ -43,9 +43,9 @@ npm i rclnodejs@x.y.z
43
43
 
44
44
  #### RCLNODEJS - ROS 2 Version Compatibility
45
45
 
46
- | RCLNODEJS Version | Compatible ROS 2 LTS |
47
- | :------------------------------------------------------------------------------------------: | :-----------------------------------------------------------------------------------------------------------------------------------------------: |
48
- | latest version (currently [v0.27.4](https://github.com/RobotWebTools/rclnodejs/tree/0.27.4)) | [Humble](https://github.com/RobotWebTools/rclnodejs/tree/humble-hawksbill)<br>[Jazzy](https://github.com/RobotWebTools/rclnodejs/tree/jazzy) |
46
+ | RCLNODEJS Version | Compatible ROS 2 LTS |
47
+ | :------------------------------------------------------------------------------------------: | :------------------------------------------------------------------------------------------------------------------------------------------: |
48
+ | latest version (currently [v0.28.1](https://github.com/RobotWebTools/rclnodejs/tree/0.28.1)) | [Humble](https://github.com/RobotWebTools/rclnodejs/tree/humble-hawksbill)<br>[Jazzy](https://github.com/RobotWebTools/rclnodejs/tree/jazzy) |
49
49
 
50
50
  ## Documentation
51
51
 
package/binding.gyp CHANGED
@@ -60,7 +60,7 @@
60
60
  'OS_LINUX'
61
61
  ],
62
62
  'cflags_cc': [
63
- '-std=c++17'
63
+ '-std=c++20'
64
64
  ],
65
65
  'include_dirs':
66
66
  [
@@ -104,7 +104,7 @@
104
104
  'OS_WINDOWS'
105
105
  ],
106
106
  'cflags_cc': [
107
- '-std=c++17'
107
+ '-std=c++20'
108
108
  ],
109
109
  'include_dirs': [
110
110
  './src/third_party/dlfcn-win32/',
package/lib/client.js CHANGED
@@ -58,7 +58,6 @@ class Client extends Entity {
58
58
  request instanceof this._typeClass.Request
59
59
  ? request
60
60
  : new this._typeClass.Request(request);
61
- requestToSend._willCheckConsistency = this._options.willCheckConsistency;
62
61
 
63
62
  let rawRequest = requestToSend.serialize();
64
63
  let sequenceNumber = rclnodejs.sendRequest(this._handle, rawRequest);
package/lib/lifecycle_publisher.js CHANGED
@@ -27,7 +27,7 @@ const Publisher = require('./publisher.js');
27
27
  */
28
28
  class LifecyclePublisher extends Publisher {
29
29
  constructor(handle, typeClass, topic, options) {
30
- super(handle, typeClass, /*topic=*/'', options);
30
+ super(handle, typeClass, /*topic=*/ '', options);
31
31
 
32
32
  this._enabled = false;
33
33
  this._loggger = Logging.getLogger('LifecyclePublisher');
package/lib/node.js CHANGED
@@ -116,7 +116,7 @@ class Node extends rclnodejs.ShadowNode {
116
116
  // override cli parameterOverrides with those specified in options
117
117
  if (options.parameterOverrides.length > 0) {
118
118
  for (const parameter of options.parameterOverrides) {
119
- if (!parameter instanceof Parameter) {
119
+ if ((!parameter) instanceof Parameter) {
120
120
  throw new TypeError(
121
121
  'Parameter-override must be an instance of Parameter.'
122
122
  );
@@ -502,10 +502,6 @@ class Node extends rclnodejs.ShadowNode {
502
502
  options = Object.assign(options, { isRaw: false });
503
503
  }
504
504
 
505
- if (options.willCheckConsistency === undefined) {
506
- options = Object.assign(options, { willCheckConsistency: false });
507
- }
508
-
509
505
  return options;
510
506
  }
511
507
 
@@ -592,7 +588,6 @@ class Node extends rclnodejs.ShadowNode {
592
588
  * @param {object} options - The options argument used to parameterize the publisher.
593
589
  * @param {boolean} options.enableTypedArray - The topic will use TypedArray if necessary, default: true.
594
590
  * @param {QoS} options.qos - ROS Middleware "quality of service" settings for the publisher, default: QoS.profileDefault.
595
- * @param {boolean} options.willCheckConsistency - Pulisher will check the consistancy of the message to be sent, default: false.
596
591
  * @return {Publisher} - An instance of Publisher.
597
592
  */
598
593
  createPublisher(typeClass, topic, options) {
@@ -695,7 +690,6 @@ class Node extends rclnodejs.ShadowNode {
695
690
  * @param {object} options - The options argument used to parameterize the client.
696
691
  * @param {boolean} options.enableTypedArray - The response will use TypedArray if necessary, default: true.
697
692
  * @param {QoS} options.qos - ROS Middleware "quality of service" settings for the client, default: QoS.profileDefault.
698
- * @param {boolean} options.willCheckConsistency - Client will check the consistancy of the message to be sent, default: false.
699
693
  * @return {Client} - An instance of Client.
700
694
  */
701
695
  createClient(typeClass, serviceName, options) {
@@ -1696,7 +1690,6 @@ Node.getDefaultOptions = function () {
1696
1690
  isRaw: false,
1697
1691
  qos: QoS.profileDefault,
1698
1692
  contentFilter: undefined,
1699
- willCheckConsistency: false
1700
1693
  };
1701
1694
  };
1702
1695
 
package/lib/publisher.js CHANGED
@@ -53,7 +53,6 @@ class Publisher extends Entity {
53
53
  message instanceof this._typeClass
54
54
  ? message
55
55
  : new this._typeClass(message);
56
- messageToSend._willCheckConsistency = this._options.willCheckConsistency;
57
56
  let rawMessage = messageToSend.serialize();
58
57
  rclnodejs.publish(this._handle, rawMessage);
59
58
  }
package/lib/service.js CHANGED
@@ -75,18 +75,19 @@ class Service extends Entity {
75
75
 
76
76
  const plainObj = request.toPlainObject(this.typedArrayEnabled);
77
77
  const response = new Response(this, headerHandle);
78
- Promise.resolve(this._callback(plainObj, response)).then((responseToReturn) => {
79
-
80
- if (!response.sent && responseToReturn) {
81
- responseToReturn = new this._typeClass.Response(responseToReturn);
82
- const rawResponse = responseToReturn.serialize();
83
- rclnodejs.sendResponse(this._handle, rawResponse, headerHandle);
78
+ Promise.resolve(this._callback(plainObj, response)).then(
79
+ (responseToReturn) => {
80
+ if (!response.sent && responseToReturn) {
81
+ responseToReturn = new this._typeClass.Response(responseToReturn);
82
+ const rawResponse = responseToReturn.serialize();
83
+ rclnodejs.sendResponse(this._handle, rawResponse, headerHandle);
84
+ }
85
+
86
+ debug(
87
+ `Service has processed the ${this._serviceName} request and sent the response.`
88
+ );
84
89
  }
85
-
86
- debug(
87
- `Service has processed the ${this._serviceName} request and sent the response.`
88
- );
89
- });
90
+ );
90
91
  }
91
92
 
92
93
  static createService(nodeHandle, serviceName, typeClass, options, callback) {
package/lib/time_source.js CHANGED
@@ -102,7 +102,7 @@ class TimeSource {
102
102
  * @return {undefined}
103
103
  */
104
104
  attachNode(node) {
105
- if (!node instanceof rclnodejs.ShadowNode) {
105
+ if ((!node) instanceof rclnodejs.ShadowNode) {
106
106
  throw new TypeError('Invalid argument, must be type of Node');
107
107
  }
108
108
 
package/package.json CHANGED
@@ -1,6 +1,6 @@
1
1
  {
2
2
  "name": "rclnodejs",
3
- "version": "0.27.5",
3
+ "version": "0.28.1",
4
4
  "description": "ROS2.0 JavaScript client with Node.js",
5
5
  "main": "index.js",
6
6
  "types": "types/index.d.ts",
@@ -18,6 +18,7 @@
18
18
  "rebuild": "npm run clean && node-gyp -j 16 rebuild",
19
19
  "rebuild:dev": "npm run clean && node-gyp -j 16 rebuild --debug",
20
20
  "generate-messages": "node scripts/generate_messages.js",
21
+ "generate-messages:dev": "node scripts/generate_messages.js --debug",
21
22
  "clean": "node-gyp clean && rimraf ./generated",
22
23
  "install": "npm run rebuild",
23
24
  "postinstall": "npm run generate-messages",
@@ -25,7 +26,8 @@
25
26
  "test": "node --expose-gc ./scripts/run_test.js && npm run dtslint",
26
27
  "dtslint": "node scripts/generate_tsd.js",
27
28
  "lint": "eslint --max-warnings=0 --ext js,ts index.js types scripts lib example rosidl_gen rosidl_parser test benchmark/rclnodejs && node ./scripts/cpplint.js",
28
- "format": "clang-format -i -style=file ./src/*.cpp ./src/*.hpp && prettier --write \"{lib,rosidl_gen,rostsd_gen,rosidl_parser,types,example,test,scripts,benchmark}/**/*.{js,md,ts}\" ./*.{js,md,ts}"
29
+ "format": "clang-format -i -style=file ./src/*.cpp ./src/*.hpp && prettier --write \"{lib,rosidl_gen,rostsd_gen,rosidl_parser,types,example,test,scripts,benchmark}/**/*.{js,md,ts}\" ./*.{js,md,ts}",
30
+ "prepare": "husky"
29
31
  },
30
32
  "bin": {
31
33
  "generate-ros-messages": "./scripts/generate_messages.js"
@@ -41,26 +43,27 @@
41
43
  "type": "git",
42
44
  "url": "git+https://github.com/RobotWebTools/rclnodejs.git"
43
45
  },
46
+ "//": "Pin deep-equal to ^1.1.1",
44
47
  "devDependencies": {
45
48
  "@babel/eslint-parser": "^7.25.9",
46
- "@typescript-eslint/eslint-plugin": "^6.21.0",
47
- "@typescript-eslint/parser": "^6.21.0",
49
+ "@typescript-eslint/eslint-plugin": "^8.18.0",
50
+ "@typescript-eslint/parser": "^8.18.0",
48
51
  "babel-eslint": "^10.1.0",
49
52
  "clang-format": "^1.8.0",
50
- "commander": "^11.1.0",
53
+ "commander": "^12.1.0",
51
54
  "deep-equal": "^1.1.1",
52
- "eslint": "^8.57.1",
55
+ "eslint": "^9.16.0",
53
56
  "eslint-config-prettier": "^9.1.0",
54
57
  "eslint-plugin-prettier": "^5.2.1",
55
- "husky": "^8.0.3",
58
+ "husky": "^9.1.7",
56
59
  "jsdoc": "^4.0.4",
57
- "lint-staged": "^14.0.1",
58
- "mocha": "^10.8.2",
59
- "prettier": "^3.4.2",
60
- "sinon": "^15.2.0",
60
+ "lint-staged": "^15.2.10",
61
+ "mocha": "^11.0.2",
62
+ "sinon": "^19.0.2",
61
63
  "tree-kill": "^1.2.2",
62
- "typescript": "^4.9.5"
64
+ "typescript": "^5.7.2"
63
65
  },
66
+ "//": "Pin int64-napi to ^1.0.2",
64
67
  "dependencies": {
65
68
  "@rclnodejs/ref-array-di": "^1.2.2",
66
69
  "@rclnodejs/ref-napi": "^4.0.0",
@@ -77,9 +80,10 @@
77
80
  "mkdirp": "^3.0.1",
78
81
  "mz": "^2.7.0",
79
82
  "nan": "^2.22.0",
80
- "rimraf": "^5.0.10",
81
- "uuid": "^9.0.1",
82
- "walk": "^2.3.15"
83
+ "rimraf": "^6.0.1",
84
+ "uuid": "^11.0.3",
85
+ "walk": "^2.3.15",
86
+ "prettier": "^3.4.2"
83
87
  },
84
88
  "husky": {
85
89
  "hooks": {
@@ -97,4 +101,4 @@
97
101
  "engines": {
98
102
  "node": ">= 16.13.0"
99
103
  }
100
- }
104
+ }
package/rosidl_gen/generator.json CHANGED
@@ -1,6 +1,6 @@
1
1
  {
2
2
  "name": "rosidl-generator",
3
- "version": "0.3.9",
3
+ "version": "0.4.0",
4
4
  "description": "Generate JavaScript object from ROS IDL(.msg) files",
5
5
  "main": "index.js",
6
6
  "authors": [
package/rosidl_gen/idl_generator.js CHANGED
@@ -15,6 +15,7 @@
15
15
  'use strict';
16
16
 
17
17
  const dot = require('dot');
18
+ const prettier = require('prettier');
18
19
  const fse = require('fs-extra');
19
20
  const path = require('path');
20
21
  const parser = require('../rosidl_parser/rosidl_parser.js');
@@ -23,6 +24,7 @@ const DistroUtils = require('../lib/distro.js');
23
24
 
24
25
  dot.templateSettings.strip = false;
25
26
  dot.log = process.env.RCLNODEJS_LOG_VERBOSE || false;
27
+ const isDebug = !!process.argv.find((arg) => arg === '--debug');
26
28
  const dots = dot.process({
27
29
  path: path.join(__dirname, '../rosidl_gen/templates'),
28
30
  });
@@ -39,6 +41,9 @@ function removeEmptyLines(str) {
39
41
  * @param {string} code
40
42
  */
41
43
  async function writeGeneratedCode(dir, fileName, code) {
44
+ if (fileName.endsWith('.js')) {
45
+ code = await prettier.format(code, { parser: 'babel' });
46
+ }
42
47
  await fse.mkdirs(dir);
43
48
  await fse.writeFile(path.join(dir, fileName), code);
44
49
  }
@@ -119,6 +124,7 @@ async function generateServiceEventJSStruct(msgInfo, dir) {
119
124
  messageInfo: msgInfo,
120
125
  spec: spec,
121
126
  json: JSON.stringify(spec, null, ' '),
127
+ isDebug: isDebug,
122
128
  })
123
129
  );
124
130
 
@@ -148,6 +154,7 @@ function generateMessageJSStructFromSpec(messageInfo, dir, spec) {
148
154
  messageInfo: messageInfo,
149
155
  spec: spec,
150
156
  json: JSON.stringify(spec, null, ' '),
157
+ isDebug: isDebug,
151
158
  })
152
159
  );
153
160
  return writeGeneratedCode(dir, fileName, generatedCode);
package/rosidl_gen/message_translator.js CHANGED
@@ -149,7 +149,10 @@ function toPlainObject(message, enableTypedArray = true) {
149
149
  // TODO(Kenny): make sure Int64 & Uint64 type can be copied here
150
150
  obj[name] = message[name];
151
151
  }
152
- } else if (def.fields[i].type.isArray && def.fields[i].type.type === 'Constants') {
152
+ } else if (
153
+ def.fields[i].type.isArray &&
154
+ def.fields[i].type.type === 'Constants'
155
+ ) {
153
156
  // For a constants array, because its field is empty we just return an empty array here.
154
157
  obj[name] = [];
155
158
  } else {
package/rosidl_gen/packages.js CHANGED
@@ -148,10 +148,10 @@ async function generateMsgForSrv(filePath, interfaceInfo, pkgMap) {
148
148
  await fsp.writeFile(path.join(packagePath, responseMsgName), arr[1]);
149
149
  let requestInfo = Object.assign({}, interfaceInfo);
150
150
  requestInfo.filePath = path.join(packagePath, requestMsgName);
151
- requestInfo.interfaceName = requestInfo.interfaceName + "_Request"
151
+ requestInfo.interfaceName = requestInfo.interfaceName + '_Request';
152
152
  let responseInfo = Object.assign({}, interfaceInfo);
153
153
  responseInfo.filePath = path.join(packagePath, responseMsgName);
154
- responseInfo.interfaceName = responseInfo.interfaceName + "_Response"
154
+ responseInfo.interfaceName = responseInfo.interfaceName + '_Response';
155
155
 
156
156
  addInterfaceInfo(requestInfo, 'messages', pkgMap);
157
157
  addInterfaceInfo(responseInfo, 'messages', pkgMap);
@@ -199,7 +199,7 @@ async function findAmentPackagesInDirectory(dir) {
199
199
  const rosFiles = Array.prototype.flat ? files.flat() : flat(files);
200
200
  const pkgMap = new Map();
201
201
  await Promise.all(
202
- rosFiles.map(filePath => addInterfaceInfos(filePath, dir, pkgMap))
202
+ rosFiles.map((filePath) => addInterfaceInfos(filePath, dir, pkgMap))
203
203
  );
204
204
  return pkgMap;
205
205
  }
package/rosidl_gen/primitive_types.js CHANGED
@@ -28,14 +28,14 @@ const StringRefStruct = StructType({
28
28
 
29
29
  function initString(str, own = false) {
30
30
  if (own) {
31
- if (!str instanceof Buffer) {
31
+ if ((!str) instanceof Buffer) {
32
32
  throw new TypeError(
33
33
  'Invalid argument: should provide a Node Buffer to bindingsStringInit()'
34
34
  );
35
35
  }
36
36
  rclnodejs.initString(str);
37
37
  } else {
38
- if (!str instanceof StringRefStruct) {
38
+ if ((!str) instanceof StringRefStruct) {
39
39
  throw new TypeError(
40
40
  'Invalid argument: should provide a type of StringRefStruct'
41
41
  );
package/rosidl_gen/templates/message.dot CHANGED
@@ -31,7 +31,7 @@ if (it.spec.fields.length === 0) {
31
31
  },
32
32
  "name": "_dummy"
33
33
  });
34
- } /* if */
34
+ }
35
35
 
36
36
  function getPrimitiveNameByType(type) {
37
37
  if (type.type === 'bool') {
@@ -69,7 +69,7 @@ function getPrimitiveNameByType(type) {
69
69
 
70
70
  function getTypedArrayName(type) {
71
71
  const t = type.type.toLowerCase();
72
- let typedArrayName;
72
+ let typedArrayName = null;
73
73
 
74
74
  switch (t) {
75
75
  case 'byte':
@@ -108,7 +108,6 @@ function getTypedArrayName(type) {
108
108
  default:
109
109
  typedArrayName = '';
110
110
  }
111
-
112
111
  return typedArrayName;
113
112
  }
114
113
 
@@ -158,7 +157,7 @@ function isTypedArrayType(type) {
158
157
  return typedArrayType.indexOf(type.type.toLowerCase()) !== -1;
159
158
  }
160
159
 
161
- const usePlainTypedArray = isTypedArrayType(it.spec.baseType);
160
+ const willUseTypedArray = isTypedArrayType(it.spec.baseType);
162
161
  const currentTypedArray = getTypedArrayName(it.spec.baseType);
163
162
  const currentTypedArrayElementType = getTypedArrayElementName(it.spec.baseType);
164
163
 
@@ -220,7 +219,7 @@ function extractMemberNames(fields) {
220
219
  }
221
220
  }}
222
221
 
223
- {{? usePlainTypedArray}}
222
+ {{? willUseTypedArray}}
224
223
  const rclnodejs = require('bindings')('rclnodejs');
225
224
  {{?}}
226
225
  const ref = require('@rclnodejs/ref-napi');
@@ -231,116 +230,105 @@ const deallocator = require('../../rosidl_gen/deallocator.js');
231
230
  const translator = require('../../rosidl_gen/message_translator.js');
232
231
 
233
232
  {{~ it.spec.fields :field}}
234
- {{? shouldRequire(it.spec.baseType, field.type)}}
235
- const {{=getWrapperNameByType(field.type)}} = require('../../generated/{{=getPackageNameByType(field.type)}}/{{=getModulePathByType(field.type, it.messageInfo)}}');
236
- {{?}}
233
+ {{? shouldRequire(it.spec.baseType, field.type)}}
234
+ const {{=getWrapperNameByType(field.type)}} = require('../../generated/{{=getPackageNameByType(field.type)}}/{{=getModulePathByType(field.type, it.messageInfo)}}');
235
+ {{?}}
237
236
  {{~}}
238
237
 
239
238
  {{? it.spec.msgName === 'String'}}
240
239
  const {{=refObjectType}} = primitiveTypes.string;
241
240
  {{??}}
242
241
  const {{=refObjectType}} = StructType({
243
- {{~ it.spec.fields :field}}
244
- {{? field.type.isPrimitiveType && !field.type.isArray}}
245
- {{=field.name}}: primitiveTypes.{{=field.type.type}},
246
- {{?? field.type.isPrimitiveType && field.type.isArray && field.type.isFixedSizeArray}}
247
- {{=field.name}}: ArrayType(primitiveTypes.{{=field.type.type}}, {{=field.type.arraySize}}),
248
- {{?? !field.type.isPrimitiveType && field.type.isArray && field.type.isFixedSizeArray}}
249
- {{=field.name}}: ArrayType({{=getWrapperNameByType(field.type)}}.refObjectType, {{=field.type.arraySize}}),
250
- {{?? field.type.isArray}}
251
- {{=field.name}}: {{=getWrapperNameByType(field.type)}}.refObjectArrayType,
252
- {{?? true}}
253
- {{=field.name}}: {{=getWrapperNameByType(field.type)}}.refObjectType,
254
- {{?}}
255
- {{~}}
242
+ {{~ it.spec.fields :field}}
243
+ {{? field.type.isPrimitiveType && !field.type.isArray}}
244
+ {{=field.name}}: primitiveTypes.{{=field.type.type}},
245
+ {{?? field.type.isPrimitiveType && field.type.isArray && field.type.isFixedSizeArray}}
246
+ {{=field.name}}: ArrayType(primitiveTypes.{{=field.type.type}}, {{=field.type.arraySize}}),
247
+ {{?? !field.type.isPrimitiveType && field.type.isArray && field.type.isFixedSizeArray}}
248
+ {{=field.name}}: ArrayType({{=getWrapperNameByType(field.type)}}.refObjectType, {{=field.type.arraySize}}),
249
+ {{?? field.type.isArray}}
250
+ {{=field.name}}: {{=getWrapperNameByType(field.type)}}.refObjectArrayType,
251
+ {{??}}
252
+ {{=field.name}}: {{=getWrapperNameByType(field.type)}}.refObjectType,
253
+ {{?}}
254
+ {{~}}
256
255
  });
257
256
  {{?}}
258
257
 
259
258
  const {{=refArrayType}} = ArrayType({{=refObjectType}});
260
259
  const {{=refObjectArrayType}} = StructType({
261
- {{? usePlainTypedArray}}
260
+ {{? willUseTypedArray}}
262
261
  data: ref.refType(ref.types.{{=currentTypedArrayElementType}}),
263
- {{?? true}}
262
+ {{??}}
264
263
  data: {{=refArrayType}},
265
- {{?}}
264
+ {{?}}
266
265
  size: ref.types.size_t,
267
266
  capacity: ref.types.size_t
268
267
  });
269
268
 
270
- // Define the wrapper class.
269
+ {{/* Define the wrapper class for the message. */}}
271
270
  class {{=objectWrapper}} {
272
- constructor(other, willCheckConsistency = false) {
273
- this._wrapperFields = {};
274
- this._willCheckConsistency = willCheckConsistency;
275
- {{~ it.spec.fields :field}}
276
- {{? field.type.isArray && field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
277
- this._{{=field.name}}Array = [];
278
- {{?}}
279
- {{~}}
271
+ constructor(other) {
272
+ this._initialize();
273
+ this._setDefaults();
280
274
 
275
+ {{/* Construct `this` from `other`. */}}
281
276
  if (typeof other === 'object' && other._refObject) {
282
277
  this._refObject = new {{=refObjectType}}(other._refObject.toObject());
283
278
  {{~ it.spec.fields :field}}
284
- {{? field.type.isPrimitiveType && !field.type.isArray}}
285
- this._{{=field.name}}Intialized = true;
286
- {{?}}
287
-
288
- {{? field.type.isArray}}
289
- this._wrapperFields.{{=field.name}} = {{=getWrapperNameByType(field.type)}}.createArray();
290
- this._wrapperFields.{{=field.name}}.copy(other._wrapperFields.{{=field.name}});
291
- {{? field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
292
- this.{{=field.name}} = other.{{=field.name}};
293
- {{?}}
294
- {{?? !field.type.isPrimitiveType || (field.type.type === 'string' && it.spec.msgName !== 'String')}}
295
- this._wrapperFields.{{=field.name}} = new {{=getWrapperNameByType(field.type)}}(other._wrapperFields.{{=field.name}});
296
- {{?}}
279
+ {{? field.type.isArray}}
280
+ this._wrapperFields.{{=field.name}} = {{=getWrapperNameByType(field.type)}}.createArray();
281
+ this._wrapperFields.{{=field.name}}.copy(other._wrapperFields.{{=field.name}});
282
+ {{? field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
283
+ this.{{=field.name}} = other.{{=field.name}};
284
+ {{?}}
285
+ {{?? !field.type.isPrimitiveType || (field.type.type === 'string' && it.spec.msgName !== 'String')}}
286
+ this._wrapperFields.{{=field.name}} = new {{=getWrapperNameByType(field.type)}}(other._wrapperFields.{{=field.name}});
287
+ {{?}}
297
288
  {{~}}
298
289
  } else if (typeof other !== 'undefined') {
299
- this._initMembers();
290
+ {{/* Try to construct the message from a plan object of JavaScript. */}}
300
291
  translator.constructFromPlanObject(this, other);
301
- } else {
302
- this._initMembers();
303
292
  }
304
- this.freeze();
293
+ this.freeze(/*own=*/false);
305
294
  }
306
295
 
307
- _initMembers() {
308
- this._refObject = new {{=refObjectType}}();
296
+ {{/* Set default values if the fields of the message have. */}}
297
+ _setDefaults() {
309
298
  {{~ it.spec.fields :field}}
310
- {{? it.spec.isEmpty}}
311
- this._{{=field.name}}Intialized = true;
312
- {{??}}
313
- {{? field.type.isPrimitiveType && !field.type.isArray}}
314
- {{? field.default_value === null}}
315
- this._{{=field.name}}Intialized = false;
316
- {{?? field.type.type === 'string' || field.type.type === 'wstring'}}
317
- this._refObject.{{=field.name}} = "{{=field.default_value.replace(/"/g, '\\"')}}";
318
- this._{{=field.name}}Intialized = true;
319
- {{??}}
320
- this._refObject.{{=field.name}} = {{=field.default_value}};
321
- this._{{=field.name}}Intialized = true;
322
- {{?}}
323
- {{?}}
299
+ {{? field.type.isPrimitiveType && !field.type.isArray && field.default_value}}
300
+ {{? field.type.type === 'string' || field.type.type === 'wstring'}}
301
+ this._refObject.{{=field.name}} = "{{=field.default_value.replace(/"/g, '\\"')}}";
302
+ {{??}}
303
+ this._refObject.{{=field.name}} = {{=field.default_value}};
304
+ {{?}}
305
+ {{?? field.type.isPrimitiveType && !isTypedArrayType(field.type) && field.default_value}}
306
+ this._{{=field.name}}Array = {{=JSON.stringify(field.default_value)}};
307
+ {{?? field.type.isPrimitiveType && isTypedArrayType(field.type) && field.default_value}}
308
+ this._wrapperFields.{{=field.name}}.fill({{=getTypedArrayName(field.type)}}.from({{=JSON.stringify(field.default_value)}}));
309
+ {{?}}
310
+ {{~}}
311
+ }
324
312
 
325
- {{? field.type.isArray}}
326
- this._wrapperFields.{{=field.name}} = {{=getWrapperNameByType(field.type)}}.createArray();
327
- {{? field.default_value !== null && field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
328
- this._{{=field.name}}Array = {{=JSON.stringify(field.default_value)}};
329
- {{?}}
330
- {{? field.default_value !== null && field.type.isPrimitiveType && isTypedArrayType(field.type)}}
331
- this._wrapperFields.{{=field.name}}.fill({{=getTypedArrayName(field.type)}}.from({{=JSON.stringify(field.default_value)}}));
332
- {{?}}
333
- {{? field.type.type === 'string' && field.type.isFixedSizeArray}}
334
- for (let i = 0; i < {{=field.type.arraySize}}; i++) {
335
- primitiveTypes.initString(this._refObject.{{=field.name}}[i]);
336
- }
337
- {{?}}
338
- {{?? !field.type.isPrimitiveType || (field.type.type === 'string' && it.spec.msgName !== 'String')}}
339
- this._wrapperFields.{{=field.name}} = new {{=getWrapperNameByType(field.type)}}();
340
- {{?? it.spec.msgName === 'String'}}
341
- primitiveTypes.initString(this._refObject);
342
- {{?}}
343
- {{?}}
313
+ _initialize() {
314
+ this._wrapperFields = {};
315
+ this._refObject = new {{=refObjectType}}();
316
+ {{~ it.spec.fields :field}}
317
+ {{? field.type.isArray}}
318
+ this._wrapperFields.{{=field.name}} = {{=getWrapperNameByType(field.type)}}.createArray();
319
+ {{? field.type.type === 'string' && field.type.isFixedSizeArray}}
320
+ for (let i = 0; i < {{=field.type.arraySize}}; i++) {
321
+ primitiveTypes.initString(this._refObject.{{=field.name}}[i]);
322
+ }
323
+ {{?}}
324
+ {{? field.type.isArray && field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
325
+ this._{{=field.name}}Array = [];
326
+ {{?}}
327
+ {{?? !field.type.isPrimitiveType || (field.type.type === 'string' && it.spec.msgName !== 'String')}}
328
+ this._wrapperFields.{{=field.name}} = new {{=getWrapperNameByType(field.type)}}();
329
+ {{?? it.spec.msgName === 'String'}}
330
+ primitiveTypes.initString(this._refObject);
331
+ {{?}}
344
332
  {{~}}
345
333
  }
346
334
 
@@ -367,102 +355,93 @@ class {{=objectWrapper}} {
367
355
  }
368
356
 
369
357
  toRawROS() {
370
- this.freeze(true);
358
+ this.freeze(/*own=*/true);
371
359
  return this._refObject.ref();
372
360
  }
373
361
 
374
- freeze(own = false, checkConsistency = false) {
375
- {{~ it.spec.fields :field}}
376
- {{? field.type.isPrimitiveType && !field.type.isArray}}
377
- if (checkConsistency && !this._{{=field.name}}Intialized) {
378
- throw new TypeError('Invalid argument: {{=field.name}} in {{=it.spec.msgName}}');
379
- }
380
- {{?}}
381
- {{~}}
382
-
362
+ {{ /*Assign values to the ref object wrapped by `this`. */ }}
363
+ freeze(own) {
383
364
  {{~ it.spec.fields :field}}
384
- {{? field.type.isArray && field.type.isPrimitiveType && !isTypedArrayType(field.type) && field.type.isFixedSizeArray }}
385
- {{? field.type.type === 'string'}}
386
- for (let i = 0; i < {{=field.type.arraySize}}; i++) {
365
+ {{? field.type.isArray && field.type.isPrimitiveType && !isTypedArrayType(field.type) && field.type.isFixedSizeArray}}
366
+ {{? field.type.type === 'string'}}
367
+ for (let i = 0; i < {{=field.type.arraySize}}; i++) {
368
+ if (own) {
369
+ primitiveTypes.initString(this._refObject.{{=field.name}}[i].ref(), own);
370
+ } else {
371
+ if (this._{{=field.name}}Array.length === {{=field.type.arraySize}}) {
372
+ const value = this._{{=field.name}}Array[i];
373
+ this._refObject.{{=field.name}}[i].data = value;
374
+ this._refObject.{{=field.name}}[i].size = Buffer.byteLength(value);
375
+ this._refObject.{{=field.name}}[i].capacity = Buffer.byteLength(value) + 1;
376
+ }
377
+ }
378
+ }
379
+ {{??}}
380
+ {{/* For non-TypedArray like int64/uint64/bool. */}}
381
+ this._refObject.{{=field.name}} = this._{{=field.name}}Array;
382
+ {{?}}
383
+ {{?? field.type.isArray && field.type.isPrimitiveType && isTypedArrayType(field.type) && field.type.isFixedSizeArray}}
384
+ this._refObject.{{=field.name}} = Array.from(this._wrapperFields.{{=field.name}}.data);
385
+ {{?? field.type.isArray && field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
387
386
  if (own) {
388
- primitiveTypes.initString(this._refObject.{{=field.name}}[i].ref(), own);
387
+ this._wrapperFields.{{=field.name}}.fill([]);
389
388
  } else {
390
- if (this._{{=field.name}}Array.length === {{=field.type.arraySize}}) {
391
- const value = this._{{=field.name}}Array[i];
392
- this._refObject.{{=field.name}}[i].data = value;
393
- this._refObject.{{=field.name}}[i].size = Buffer.byteLength(value);
394
- this._refObject.{{=field.name}}[i].capacity = Buffer.byteLength(value) + 1;
395
- }
389
+ this._wrapperFields.{{=field.name}}.fill(this._{{=field.name}}Array);
396
390
  }
397
- }
398
- // For non-typed array like int64/uint64/bool.
399
- {{?? true}}
400
- this._refObject.{{=field.name}} = this._{{=field.name}}Array;
401
- {{?}}
402
- {{?? field.type.isArray && field.type.isPrimitiveType && isTypedArrayType(field.type) && field.type.isFixedSizeArray}}
403
- this._refObject.{{=field.name}} = Array.from(this._wrapperFields.{{=field.name}}.data);
404
- {{?? field.type.isArray && field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
405
- if (!own) {
406
- this._wrapperFields.{{=field.name}}.fill(this._{{=field.name}}Array);
407
- this._wrapperFields.{{=field.name}}.freeze(own, checkConsistency);
391
+ this._wrapperFields.{{=field.name}}.freeze(own);
408
392
  this._refObject.{{=field.name}} = this._wrapperFields.{{=field.name}}.refObject;
409
- } else {
410
- this._wrapperFields.{{=field.name}}.fill([]);
411
- this._wrapperFields.{{=field.name}}.freeze(own, checkConsistency);
393
+ {{?? field.type.isArray && field.type.isPrimitiveType && isTypedArrayType(field.type)}}
394
+ if (own) {
395
+ this._wrapperFields.{{=field.name}}.fill({{=getTypedArrayName(field.type)}}.from([]));
396
+ }
397
+ this._wrapperFields.{{=field.name}}.freeze(own);
412
398
  this._refObject.{{=field.name}} = this._wrapperFields.{{=field.name}}.refObject;
413
- }
414
- {{?? field.type.isArray && !field.type.isPrimitiveType && field.type.isFixedSizeArray}}
415
- for (let i = 0; i < {{=field.type.arraySize}}; i++) {
416
- if (this._wrapperFields.{{=field.name}}.data[i]) {
417
- this._wrapperFields.{{=field.name}}.data[i].freeze(own, checkConsistency);
418
- this._refObject.{{=field.name}}[i] = this._wrapperFields.{{=field.name}}.data[i].refObject;
399
+ {{?? field.type.isArray && !field.type.isPrimitiveType && field.type.isFixedSizeArray}}
400
+ for (let i = 0; i < {{=field.type.arraySize}}; i++) {
401
+ if (this._wrapperFields.{{=field.name}}.data[i]) {
402
+ this._wrapperFields.{{=field.name}}.data[i].freeze(own);
403
+ this._refObject.{{=field.name}}[i] = this._wrapperFields.{{=field.name}}.data[i].refObject;
404
+ }
419
405
  }
420
- }
421
- {{?? !field.type.isPrimitiveType || field.type.isArray}}
422
- this._wrapperFields.{{=field.name}}.freeze(own, checkConsistency);
423
- this._refObject.{{=field.name}} = this._wrapperFields.{{=field.name}}.refObject;
424
- {{? field.type.isArray && field.type.isPrimitiveType }}
425
- if (own) {
426
- this._wrapperFields.{{=field.name}}.fill({{=getTypedArrayName(field.type)}}.from([]));
427
- this._wrapperFields.{{=field.name}}.freeze(own, checkConsistency);
406
+ {{?? field.type.isArray || !field.type.isPrimitiveType}}
407
+ {{? field.type.isArray}}
408
+ if (own) {
409
+ this._wrapperFields.{{=field.name}}.fill([]);
410
+ }
411
+ {{?}}
412
+ this._wrapperFields.{{=field.name}}.freeze(own);
428
413
  this._refObject.{{=field.name}} = this._wrapperFields.{{=field.name}}.refObject;
429
- }
430
- {{?}}
431
- {{?? field.type.type === 'string' && it.spec.msgName !== 'String'}}
432
- if (own) {
433
- this._wrapperFields.{{=field.name}}.freeze(own, checkConsistency);
434
- }
435
- this._refObject.{{=field.name}} = this._wrapperFields.{{=field.name}}.refObject;
436
- {{?? it.spec.msgName === 'String'}}
437
- if (own) {
438
- primitiveTypes.initString(this._refObject.ref(), own);
439
- }
440
- {{?}}
414
+ {{?? field.type.type === 'string' && it.spec.msgName !== 'String'}}
415
+ if (own) {
416
+ this._wrapperFields.{{=field.name}}.freeze(own);
417
+ }
418
+ this._refObject.{{=field.name}} = this._wrapperFields.{{=field.name}}.refObject;
419
+ {{?? it.spec.msgName === 'String'}}
420
+ if (own) {
421
+ primitiveTypes.initString(this._refObject.ref(), own);
422
+ }
423
+ {{?}}
441
424
  {{~}}
442
425
  }
443
426
 
444
427
  serialize() {
445
- this.freeze(/*own=*/false, this._willCheckConsistency);
428
+ this.freeze(/*own=*/false);
446
429
  return this._refObject.ref();
447
430
  }
448
431
 
449
432
  deserialize(refObject) {
450
433
  {{~ it.spec.fields :field}}
451
- {{? field.type.isPrimitiveType && !field.type.isArray}}
452
- this._{{=field.name}}Intialized = true;
453
- {{?}}
454
-
455
434
  {{? field.type.isArray && field.type.isPrimitiveType && field.type.isFixedSizeArray && isTypedArrayType(field.type)}}
456
435
  this._wrapperFields.{{=field.name}}.fill(refObject.{{=field.name}}.toArray());
457
436
  {{?? field.type.isArray && field.type.isPrimitiveType && field.type.isFixedSizeArray && !isTypedArrayType(field.type)}}
458
- {{? field.type.type === 'string' }}
459
- for (let index = 0; index < {{=field.type.arraySize}}; index++) {
460
- this._{{=field.name}}Array[index] = refObject.{{=field.name}}[index].data;
461
- }
462
- // For non-typed array like int64/uint64/bool.
463
- {{?? true}}
464
- this._{{=field.name}}Array = refObject.{{=field.name}}.toArray();
465
- {{?}}
437
+ {{? field.type.type === 'string'}}
438
+ for (let index = 0; index < {{=field.type.arraySize}}; index++) {
439
+ this._{{=field.name}}Array[index] = refObject.{{=field.name}}[index].data;
440
+ }
441
+ {{??}}
442
+ {{/* For non-TypedArray like int64/uint64/bool. */}}
443
+ this._{{=field.name}}Array = refObject.{{=field.name}}.toArray();
444
+ {{?}}
466
445
  {{?? field.type.isArray && field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
467
446
  refObject.{{=field.name}}.data.length = refObject.{{=field.name}}.size;
468
447
  for (let index = 0; index < refObject.{{=field.name}}.size; index++) {
@@ -474,7 +453,7 @@ class {{=objectWrapper}} {
474
453
  for (let i = 0; i < {{=field.type.arraySize}}; i++) {
475
454
  this._wrapperFields.{{=field.name}}.data[i].copyRefObject(refObject.{{=field.name}}[i]);
476
455
  }
477
- {{?? !field.type.isPrimitiveType || field.type.isArray}}
456
+ {{?? field.type.isArray || !field.type.isPrimitiveType}}
478
457
  this._wrapperFields.{{=field.name}}.copyRefObject(refObject.{{=field.name}});
479
458
  {{?? field.type.type === 'string' && it.spec.msgName !== 'String'}}
480
459
  this._wrapperFields.{{=field.name}}.data = refObject.{{=field.name}}.data;
@@ -493,9 +472,8 @@ class {{=objectWrapper}} {
493
472
  {{? field.type.isArray && !field.type.isFixedSizeArray}}
494
473
  if (refObject.{{=field.name}}.size != 0) {
495
474
  {{=getWrapperNameByType(field.type)}}.ArrayType.freeArray(refObject.{{=field.name}});
496
- if ({{=getWrapperNameByType(field.type)}}.ArrayType.useTypedArray) {
497
- // Do nothing, the v8 will take the ownership of the ArrayBuffer used by the typed array.
498
- } else {
475
+ {{/* We don't need to free the memory for TypedArray objects, because v8 takes the ownership of it. */}}
476
+ if (!{{=getWrapperNameByType(field.type)}}.ArrayType.useTypedArray) {
499
477
  deallocator.freeStructMember(refObject.{{=field.name}}, {{=getWrapperNameByType(field.type)}}.refObjectArrayType, 'data');
500
478
  }
501
479
  }
@@ -548,27 +526,18 @@ class {{=objectWrapper}} {
548
526
  {{?? !field.type.isPrimitiveType && !field.type.isArray}}
549
527
  return this._wrapperFields.{{=field.name}};
550
528
  {{?? !field.type.isArray && field.type.type === 'string' && it.spec.msgName !== 'String'}}
551
- if (!this._{{=field.name}}Intialized) {
552
- return undefined;
553
- }
554
529
  return this._wrapperFields.{{=field.name}}.data;
555
- {{?? true}}
556
- if (!this._{{=field.name}}Intialized) {
557
- return undefined;
558
- }
530
+ {{??}}
559
531
  return this._refObject.{{=field.name}};
560
532
  {{?}}
561
533
  }
562
534
 
563
535
  set {{=field.name}}(value) {
564
- {{? field.type.isPrimitiveType && !field.type.isArray}}
565
- this._{{=field.name}}Intialized = true;
566
- {{?}}
567
-
568
536
  {{?field.type.isArray && field.type.isFixedSizeArray}}
569
537
  if (value.length !== {{=field.type.arraySize}}) {
570
538
  throw new RangeError('The length of the array must be {{=field.type.arraySize}}.');
571
539
  }
540
+
572
541
  {{?}}
573
542
  {{?field.type.isArray && field.type.isUpperBound}}
574
543
  if (value.length > {{=field.type.arraySize}}) {
@@ -590,11 +559,11 @@ class {{=objectWrapper}} {
590
559
  }
591
560
  {{?? !field.type.isArray && field.type.type === 'string' && it.spec.msgName !== 'String'}}
592
561
  this._wrapperFields.{{=field.name}}.data = value;
593
- {{?? true}}
594
- {{? it.spec.msgName === 'String'}}
595
- this._refObject.size = Buffer.byteLength(value);
596
- this._refObject.capacity = Buffer.byteLength(value) + 1;
597
- {{?}}
562
+ {{??}}
563
+ {{? it.spec.msgName === 'String'}}
564
+ this._refObject.size = Buffer.byteLength(value);
565
+ this._refObject.capacity = Buffer.byteLength(value) + 1;
566
+ {{?}}
598
567
  this._refObject.{{=field.name}} = value;
599
568
  {{?}}
600
569
  }
@@ -604,26 +573,22 @@ class {{=objectWrapper}} {
604
573
  this._refObject = new {{=refObjectType}}(refObject.toObject());
605
574
 
606
575
  {{~ it.spec.fields :field}}
607
- {{? field.type.isPrimitiveType && !field.type.isArray}}
608
- this._{{=field.name}}Intialized = true;
609
- {{?}}
610
-
611
- {{? field.type.isArray && field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
612
- refObject.{{=field.name}}.data.length = refObject.{{=field.name}}.size;
613
- for (let index = 0; index < refObject.{{=field.name}}.size; index++) {
614
- this._{{=field.name}}Array[index] = refObject.{{=field.name}}.data[index].data;
615
- }
616
- {{?? field.type.isArray && field.type.isPrimitiveType && field.type.isFixedSizeArray}}
617
- this._wrapperFields.{{=field.name}}.fill(refObject.{{=field.name}}.toArray());
618
- {{?? field.type.isArray && !field.type.isPrimitiveType && field.type.isFixedSizeArray}}
619
- this._refObject.{{=field.name}} = refObject.{{=field.name}};
620
- this._wrapperFields.{{=field.name}}.size = {{=field.type.arraySize}}
621
- for (let i = 0; i < {{=field.type.arraySize}}; i++) {
622
- this._wrapperFields.{{=field.name}}.data[i].copyRefObject(refObject.{{=field.name}}[i]);
623
- }
624
- {{?? !field.type.isPrimitiveType || field.type.isArray || (field.type.type === 'string' && it.spec.msgName !== 'String')}}
625
- this._wrapperFields.{{=field.name}}.copyRefObject(this._refObject.{{=field.name}});
626
- {{?}}
576
+ {{? field.type.isArray && field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
577
+ refObject.{{=field.name}}.data.length = refObject.{{=field.name}}.size;
578
+ for (let index = 0; index < refObject.{{=field.name}}.size; index++) {
579
+ this._{{=field.name}}Array[index] = refObject.{{=field.name}}.data[index].data;
580
+ }
581
+ {{?? field.type.isArray && field.type.isPrimitiveType && field.type.isFixedSizeArray}}
582
+ this._wrapperFields.{{=field.name}}.fill(refObject.{{=field.name}}.toArray());
583
+ {{?? field.type.isArray && !field.type.isPrimitiveType && field.type.isFixedSizeArray}}
584
+ this._refObject.{{=field.name}} = refObject.{{=field.name}};
585
+ this._wrapperFields.{{=field.name}}.size = {{=field.type.arraySize}}
586
+ for (let i = 0; i < {{=field.type.arraySize}}; i++) {
587
+ this._wrapperFields.{{=field.name}}.data[i].copyRefObject(refObject.{{=field.name}}[i]);
588
+ }
589
+ {{?? !field.type.isPrimitiveType || field.type.isArray || (field.type.type === 'string' && it.spec.msgName !== 'String')}}
590
+ this._wrapperFields.{{=field.name}}.copyRefObject(this._refObject.{{=field.name}});
591
+ {{?}}
627
592
  {{~}}
628
593
  }
629
594
 
@@ -631,15 +596,11 @@ class {{=objectWrapper}} {
631
596
  this._refObject = new {{=refObjectType}}(other._refObject.toObject());
632
597
 
633
598
  {{~ it.spec.fields :field}}
634
- {{? field.type.isPrimitiveType && !field.type.isArray}}
635
- this._{{=field.name}}Intialized = true;
636
- {{?}}
637
-
638
- {{? field.type.isArray && field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
639
- this._{{=field.name}}Array = other._{{=field.name}}Array.slice();
640
- {{?? !field.type.isPrimitiveType || field.type.isArray || (field.type.type === 'string' && it.spec.msgName !== 'String')}}
641
- this._wrapperFields.{{=field.name}}.copy(other._wrapperFields.{{=field.name}});
642
- {{?}}
599
+ {{? field.type.isArray && field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
600
+ this._{{=field.name}}Array = other._{{=field.name}}Array.slice();
601
+ {{?? !field.type.isPrimitiveType || field.type.isArray || (field.type.type === 'string' && it.spec.msgName !== 'String')}}
602
+ this._wrapperFields.{{=field.name}}.copy(other._wrapperFields.{{=field.name}});
603
+ {{?}}
643
604
  {{~}}
644
605
  }
645
606
 
@@ -657,7 +618,7 @@ class {{=objectWrapper}} {
657
618
  }
658
619
  }
659
620
 
660
- // Define the wrapper of array class.
621
+ {{/* Define the wrapper class for the message array. */}}
661
622
  class {{=arrayWrapper}} {
662
623
  constructor(size = 0) {
663
624
  this._resize(size);
@@ -668,15 +629,15 @@ class {{=arrayWrapper}} {
668
629
  }
669
630
 
670
631
  fill(values) {
671
- {{? usePlainTypedArray}}
632
+ {{? willUseTypedArray}}
672
633
  if (Array.isArray(values)) {
673
- // Convert JavaScript array
634
+ {{/* Convert to TypedArray. */}}
674
635
  this._wrappers = new {{=currentTypedArray}}(values);
675
636
  } else {
676
637
  this._wrappers = values;
677
638
  }
678
639
  {{?? isPrimitivePackage(it.spec.baseType)}}
679
- // Now for primitive arrays, only string/bool/int64/uint64 array drops here.
640
+ {{/* For primitive arrays, only string/bool/int64/uint64 array drops here. */}}
680
641
  const length = values.length;
681
642
  this._resize(length);
682
643
  for (let i = 0; i < length; ++i) {
@@ -684,7 +645,7 @@ class {{=arrayWrapper}} {
684
645
  wrapper.data = values[i];
685
646
  this._wrappers[i] = wrapper;
686
647
  }
687
- {{?? true}}
648
+ {{??}}
688
649
  const length = values.length;
689
650
  this._resize(length);
690
651
  values.forEach((value, index) => {
@@ -697,11 +658,10 @@ class {{=arrayWrapper}} {
697
658
  {{?}}
698
659
  }
699
660
 
700
- // Put all data currently stored in `this._wrappers` into `this._refObject`
661
+ {{/* Put all data currently stored in `this._wrappers` into `this._refObject`. */}}
701
662
  freeze(own) {
702
- {{? usePlainTypedArray}}
703
- // When it's a TypedArray: no need to copy to `this._refArray`
704
- {{?? true}}
663
+ {{/* When it's a TypedArray: no need to copy to `this._refArray`. */}}
664
+ {{? !willUseTypedArray}}
705
665
  this._wrappers.forEach((wrapper, index) => {
706
666
  wrapper.freeze(own);
707
667
  this._refArray[index] = wrapper.refObject;
@@ -714,12 +674,12 @@ class {{=arrayWrapper}} {
714
674
  if (this._refObject.capacity === 0) {
715
675
  this._refObject.data = null
716
676
  } else {
717
- {{? usePlainTypedArray}}
718
- const buffer = Buffer.from(new Uint8Array(this._wrappers.buffer));
719
- this._refObject.data = buffer;
720
- {{?? true}}
721
- this._refObject.data = this._refArray.buffer;
722
- {{?}}
677
+ {{? willUseTypedArray}}
678
+ const buffer = Buffer.from(new Uint8Array(this._wrappers.buffer));
679
+ this._refObject.data = buffer;
680
+ {{??}}
681
+ this._refObject.data = this._refArray.buffer;
682
+ {{?}}
723
683
  }
724
684
  }
725
685
 
@@ -738,7 +698,6 @@ class {{=arrayWrapper}} {
738
698
  set size(value) {
739
699
  if (typeof value != 'number') {
740
700
  throw new TypeError('Invalid argument: should provide a number to {{=arrayWrapper}}.size setter');
741
- return;
742
701
  }
743
702
  return this._resize(value);
744
703
  }
@@ -761,11 +720,10 @@ class {{=arrayWrapper}} {
761
720
  _resize(size) {
762
721
  if (size < 0) {
763
722
  throw new RangeError('Invalid argument: should provide a positive number');
764
- return;
765
723
  }
766
- {{? usePlainTypedArray}}
724
+ {{? willUseTypedArray}}
767
725
  this._refArray = undefined;
768
- {{?? true}}
726
+ {{??}}
769
727
  this._refArray = new {{=refArrayType}}(size);
770
728
  {{?}}
771
729
 
@@ -773,9 +731,9 @@ class {{=arrayWrapper}} {
773
731
  this._refObject.size = size;
774
732
  this._refObject.capacity = size;
775
733
 
776
- {{? usePlainTypedArray}}
734
+ {{? willUseTypedArray}}
777
735
  this._wrappers = new {{=currentTypedArray}}(size);
778
- {{?? true}}
736
+ {{??}}
779
737
  this._wrappers = new Array();
780
738
  for (let i = 0; i < size; i++) {
781
739
  this._wrappers.push(new {{=objectWrapper}}());
@@ -783,22 +741,21 @@ class {{=arrayWrapper}} {
783
741
  {{?}}
784
742
  }
785
743
 
786
- // Copy all data from `this._refObject` into `this._wrappers`
744
+ {{/* Copy all data from `this._refObject` into `this._wrappers`. */}}
787
745
  copyRefObject(refObject) {
788
746
  this._refObject = refObject;
789
747
 
790
- {{? usePlainTypedArray}}
748
+ {{? willUseTypedArray}}
791
749
  const byteLen = refObject.size * ref.types.{{=currentTypedArrayElementType}}.size;
792
- // An ArrayBuffer object that doesn't hold the ownership of the address
750
+ {{/* An ArrayBuffer object doesn't hold the ownership of memory block starting from address for TypedArray. */}}
793
751
  const arrayBuffer = refObject.data.length !== 0 ?
794
752
  rclnodejs.createArrayBufferFromAddress(refObject.data.hexAddress(), byteLen) :
795
753
  Buffer.alloc(0);
796
754
  this._wrappers = new {{=currentTypedArray}}(arrayBuffer);
797
- {{?? true}}
755
+ {{??}}
798
756
  let refObjectArray = this._refObject.data;
799
757
  refObjectArray.length = this._refObject.size;
800
758
  this._resize(this._refObject.size);
801
-
802
759
  for (let index = 0; index < this._refObject.size; index++) {
803
760
  this._wrappers[index].copyRefObject(refObjectArray[index]);
804
761
  }
@@ -811,10 +768,10 @@ class {{=arrayWrapper}} {
811
768
  }
812
769
 
813
770
  this._resize(other.size);
814
- {{? usePlainTypedArray}}
771
+ {{? willUseTypedArray}}
815
772
  this._wrappers = other._wrappers.slice();
816
- {{?? true}}
817
- // Array deep copy
773
+ {{??}}
774
+ {{/* Deep copy for non-TypedArray. */}}
818
775
  other._wrappers.forEach((wrapper, index) => {
819
776
  this._wrappers[index].copy(wrapper);
820
777
  });
@@ -822,9 +779,8 @@ class {{=arrayWrapper}} {
822
779
  }
823
780
 
824
781
  static freeArray(refObject) {
825
- {{? usePlainTypedArray}}
826
- // For TypedArray: .data will be 'free()'-ed in parent struct
827
- {{?? true}}
782
+ {{/* We don't need to free the memory for TypedArray objects, because v8 takes the ownership of it. */}}
783
+ {{? !willUseTypedArray}}
828
784
  let refObjectArray = refObject.data;
829
785
  refObjectArray.length = refObject.size;
830
786
  for (let index = 0; index < refObject.size; index++) {
@@ -842,7 +798,7 @@ class {{=arrayWrapper}} {
842
798
  }
843
799
 
844
800
  static get useTypedArray() {
845
- return {{=usePlainTypedArray}};
801
+ return {{=willUseTypedArray}};
846
802
  }
847
803
 
848
804
  get classType() {
@@ -851,19 +807,21 @@ class {{=arrayWrapper}} {
851
807
  }
852
808
 
853
809
  {{? it.spec.constants != undefined && it.spec.constants.length}}
854
- // Define constants ({{=it.spec.constants.length}} in total)
855
- {{~ it.spec.constants :c}}
856
- {{? c.type === "string"}}
857
- Object.defineProperty({{=objectWrapper}}, "{{=c.name}}", {value: "{{=c.value}}", writable: false, enumerable: true, configurable: true});
858
- {{?? true}}
859
- Object.defineProperty({{=objectWrapper}}, "{{=c.name}}", {value: {{=c.value}}, writable: false, enumerable: true, configurable: true});
860
- {{?}}
861
- {{~}}
810
+ {{/* Define constants ({{=it.spec.constants.length}} in total). */}}
811
+ {{~ it.spec.constants :c}}
812
+ {{? c.type === "string"}}
813
+ Object.defineProperty({{=objectWrapper}}, "{{=c.name}}", {value: "{{=c.value}}", writable: false, enumerable: true, configurable: true});
814
+ {{??}}
815
+ Object.defineProperty({{=objectWrapper}}, "{{=c.name}}", {value: {{=c.value}}, writable: false, enumerable: true, configurable: true});
816
+ {{?}}
817
+ {{~}}
862
818
  {{?}}
863
819
 
864
820
  module.exports = {{=objectWrapper}};
865
821
 
822
+ {{? it.isDebug}}
866
823
  /*
867
824
  * The following is the original spec object coming from parser:
868
825
  {{=it.json}}
869
826
  */
827
+ {{?}}
package/rostsd_gen/index.js CHANGED
@@ -363,8 +363,8 @@ function isInternalServiceEventMsgInterface(rosMsgInterface) {
363
363
  let subFolder = rosMsgInterface.type().subFolder;
364
364
  // Some package puts .srv files under srvs/, e.g., slam_toolbox.
365
365
  return (
366
- (subFolder == 'srv' || subFolder == 'srvs' || subFolder == 'action')
367
- && name.endsWith('_Event')
366
+ (subFolder == 'srv' || subFolder == 'srvs' || subFolder == 'action') &&
367
+ name.endsWith('_Event')
368
368
  );
369
369
  }
370
370
 
package/scripts/npm-pack.sh CHANGED
@@ -27,7 +27,7 @@ cp -f scripts/npmjs-readme.md $MODULEDIR/README.md
27
27
 
28
28
  pushd . > /dev/null
29
29
  cd $WORKDIR
30
- FILENAME=`npm pack $RAWMODULEDIR`
30
+ FILENAME=`npm pack $RAWMODULEDIR | awk '{for(i=1; i<=NF; i++) if ($i ~ /rclnodejs-.*\.tgz/) print $i}'`
31
31
  TARFILENAME="$WORKDIR/$FILENAME"
32
32
 
33
33
  popd > /dev/null
package/scripts/npmjs-readme.md CHANGED
@@ -43,9 +43,9 @@ npm i rclnodejs@x.y.z
43
43
 
44
44
  #### RCLNODEJS - ROS 2 Version Compatibility
45
45
 
46
- | RCLNODEJS Version | Compatible ROS 2 LTS |
47
- | :------------------------------------------------------------------------------------------: | :-----------------------------------------------------------------------------------------------------------------------------------------------: |
48
- | latest version (currently [v0.27.4](https://github.com/RobotWebTools/rclnodejs/tree/0.27.4)) | [Humble](https://github.com/RobotWebTools/rclnodejs/tree/humble-hawksbill)<br>[Jazzy](https://github.com/RobotWebTools/rclnodejs/tree/jazzy) |
46
+ | RCLNODEJS Version | Compatible ROS 2 LTS |
47
+ | :------------------------------------------------------------------------------------------: | :------------------------------------------------------------------------------------------------------------------------------------------: |
48
+ | latest version (currently [v0.28.1](https://github.com/RobotWebTools/rclnodejs/tree/0.28.1)) | [Humble](https://github.com/RobotWebTools/rclnodejs/tree/humble-hawksbill)<br>[Jazzy](https://github.com/RobotWebTools/rclnodejs/tree/jazzy) |
49
49
 
50
50
  ## Documentation
51
51