rclnodejs 0.29.0 → 0.31.0

package/lib/time.js

@@ -17,7 +17,7 @@
 const rclnodejs = require('bindings')('rclnodejs');
 const Duration = require('./duration.js');
 const ClockType = require('./clock_type.js');
-const int64 = require('int64-napi');
+const S_TO_NS = 10n ** 9n;
 
 /**
  * @class - Class representing a Time in ROS
@@ -26,16 +26,20 @@ const int64 = require('int64-napi');
 class Time {
   /**
    * Create a Time.
-   * @param {number|string} [seconds=0] - The second part of the time.
-   * @param {number|string} [nanoseconds=0] - The nanosecond part of the time.
+   * @param {bigint} [seconds=0] - The second part of the time.
+   * @param {bigint} [nanoseconds=0] - The nanosecond part of the time.
    * @param {ClockType} [clockType=Clock.ClockType.SYSTEM_TIME] - The clock type.
    */
-  constructor(seconds = 0, nanoseconds = 0, clockType = ClockType.SYSTEM_TIME) {
-    if (typeof seconds !== 'number' && typeof seconds !== 'string') {
+  constructor(
+    seconds = 0n,
+    nanoseconds = 0n,
+    clockType = ClockType.SYSTEM_TIME
+  ) {
+    if (typeof seconds !== 'bigint') {
       throw new TypeError('Invalid argument of seconds');
     }
 
-    if (typeof nanoseconds !== 'number' && typeof nanoseconds !== 'string') {
+    if (typeof nanoseconds !== 'bigint') {
       throw new TypeError('Invalid argument of nanoseconds');
     }
 
@@ -43,25 +47,22 @@ class Time {
       throw new TypeError('Invalid argument of clockType');
     }
 
-    if (
-      int64.lt(seconds, 0) ||
-      (typeof seconds === 'string' && seconds.startsWith('-'))
-    ) {
+    if (seconds < 0n) {
       throw new RangeError('seconds value must not be negative');
     }
 
-    if (
-      int64.lt(nanoseconds, 0) ||
-      (typeof nanoseconds === 'string' && nanoseconds.startsWith('-'))
-    ) {
+    if (nanoseconds < 0n) {
       throw new RangeError('nanoseconds value must not be negative');
     }
 
-    this._nanoseconds = int64.from(seconds).multiply(1e9).add(nanoseconds);
-    this._handle = rclnodejs.createTimePoint(
-      this._nanoseconds.toString(),
-      clockType
-    );
+    const total = seconds * S_TO_NS + nanoseconds;
+    if (total >= 2n ** 63n) {
+      throw new RangeError(
+        'Total nanoseconds value is too large to store in C time point.'
+      );
+    }
+    this._nanoseconds = total;
+    this._handle = rclnodejs.createTimePoint(this._nanoseconds, clockType);
     this._clockType = clockType;
   }
 
@@ -80,22 +81,11 @@ class Time {
    * Get the nanosecond part of the time.
    * @name Time#get:nanoseconds
    * @function
-   * @return {number|string} - value in nanosecond, if the value is greater than Number.MAX_SAFE_INTEGER (2^53-1), will be presented in string of decimal format.
+   * @return {bigint} - value in nanosecond.
    */
 
   get nanoseconds() {
-    let str = rclnodejs.getNanoseconds(this._handle);
-    let nano;
-
-    if (str.startsWith('-')) {
-      nano = int64.negative(int64.from(str));
-    } else {
-      nano = int64.from(str);
-    }
-    if (Number.isFinite(nano.toNumber())) {
-      return nano.toNumber();
-    }
-    return nano.toString();
+    return rclnodejs.getNanoseconds(this._handle);
   }
 
   /**
@@ -106,9 +96,11 @@ class Time {
    */
 
   get secondsAndNanoseconds() {
-    const seconds = int64.from(this._nanoseconds).divide(1e9).toNumber();
-    const nanoseconds = int64.from(this._nanoseconds).mod(1e9).toNumber();
-    return { seconds, nanoseconds };
+    const nanoseconds = this._nanoseconds;
+    return {
+      seconds: nanoseconds / S_TO_NS,
+      nanoseconds: nanoseconds % S_TO_NS,
+    };
   }
 
   /**
@@ -119,8 +111,8 @@ class Time {
   add(other) {
     if (other instanceof Duration) {
       return new Time(
-        0,
-        int64.add(this._nanoseconds, other.nanoseconds).toString(),
+        0n,
+        this._nanoseconds + other.nanoseconds,
         this._clockType
       );
     }
@@ -137,14 +129,11 @@ class Time {
       if (other._clockType !== this._clockType) {
         throw new TypeError("Can't subtract times with different clock types");
       }
-      return new Duration(
-        0,
-        int64.subtract(this._nanoseconds, other._nanoseconds).toString()
-      );
+      return new Duration(0n, this._nanoseconds - other._nanoseconds);
     } else if (other instanceof Duration) {
       return new Time(
-        0,
-        int64.subtract(this._nanoseconds, other._nanoseconds).toString(),
+        0n,
+        this._nanoseconds - other._nanoseconds,
         this._clockType
       );
     }
@@ -161,7 +150,7 @@ class Time {
       if (other._clockType !== this._clockType) {
         throw new TypeError("Can't compare times with different clock types");
       }
-      return this._nanoseconds.eq(other.nanoseconds);
+      return this._nanoseconds === other.nanoseconds;
     }
     throw new TypeError('Invalid argument');
   }
@@ -176,7 +165,7 @@ class Time {
       if (other._clockType !== this._clockType) {
         throw new TypeError("Can't compare times with different clock types");
       }
-      return this._nanoseconds.ne(other.nanoseconds);
+      return this._nanoseconds !== other.nanoseconds;
     }
   }
 
@@ -190,7 +179,7 @@ class Time {
       if (other._clockType !== this._clockType) {
         throw new TypeError("Can't compare times with different clock types");
       }
-      return this._nanoseconds.lt(other.nanoseconds);
+      return this._nanoseconds < other.nanoseconds;
     }
     throw new TypeError('Invalid argument');
   }
@@ -205,7 +194,7 @@ class Time {
       if (other._clockType !== this._clockType) {
         throw new TypeError("Can't compare times with different clock types");
       }
-      return this._nanoseconds.lte(other.nanoseconds);
+      return this._nanoseconds <= other.nanoseconds;
     }
     throw new TypeError('Invalid argument');
   }
@@ -220,7 +209,7 @@ class Time {
       if (other._clockType !== this._clockType) {
         throw new TypeError("Can't compare times with different clock types");
       }
-      return this._nanoseconds.gt(other.nanoseconds);
+      return this._nanoseconds > other.nanoseconds;
     }
     throw new TypeError('Invalid argument');
   }
@@ -235,7 +224,7 @@ class Time {
       if (other._clockType !== this._clockType) {
         throw new TypeError("Can't compare times with different clock types");
       }
-      return this._nanoseconds.gte(other.nanoseconds);
+      return this._nanoseconds >= other.nanoseconds;
     }
     throw new TypeError('Invalid argument');
   }
@@ -261,7 +250,7 @@ class Time {
    * @return {Time} Return the created Time object.
    */
   static fromMsg(msg, clockType = ClockType.ROS_TIME) {
-    return new Time(msg.sec, msg.nanosec, clockType);
+    return new Time(BigInt(msg.sec), BigInt(msg.nanosec), clockType);
   }
 }
 

package/lib/time_source.js

@@ -37,7 +37,7 @@ class TimeSource {
     this._node = node;
     this._associatedClocks = [];
     this._clockSubscription = undefined;
-    this._lastTimeSet = new Time(0, 0, ClockType.ROS_TIME);
+    this._lastTimeSet = new Time(0n, 0n, ClockType.ROS_TIME);
     this._isRosTimeActive = false;
 
     if (this._node) {

package/lib/timer.js

@@ -29,7 +29,7 @@ class Timer {
   }
 
   /**
-   * @type {number}
+   * @type {bigint} - The period of the timer in nanoseconds.
    */
   get period() {
     return this._period;
@@ -73,18 +73,18 @@ class Timer {
 
   /**
    * Get the interval since the last call of this timer.
-   * @return {number} - the interval value - ms.
+   * @return {bigint} - the interval value in nanoseconds.
    */
   timeSinceLastCall() {
-    return parseInt(rclnodejs.timerGetTimeSinceLastCall(this._handle), 10);
+    return rclnodejs.timerGetTimeSinceLastCall(this._handle);
   }
 
   /**
    * Get the interval until the next call will happen.
-   * @return {number} - the interval value - ms.
+   * @return {bigint} - the interval value in nanoseconds.
    */
   timeUntilNextCall() {
-    return parseInt(rclnodejs.timerGetTimeUntilNextCall(this._handle), 10);
+    return rclnodejs.timerGetTimeUntilNextCall(this._handle);
   }
 }
 

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "rclnodejs",
-  "version": "0.29.0",
+  "version": "0.31.0",
   "description": "ROS2.0 JavaScript client with Node.js",
   "main": "index.js",
   "types": "types/index.d.ts",
@@ -50,10 +50,10 @@
     "@typescript-eslint/parser": "^8.18.0",
     "babel-eslint": "^10.1.0",
     "clang-format": "^1.8.0",
-    "commander": "^12.1.0",
+    "commander": "^13.1.0",
     "deep-equal": "^1.1.1",
     "eslint": "^9.16.0",
-    "eslint-config-prettier": "^9.1.0",
+    "eslint-config-prettier": "^10.0.1",
     "eslint-plugin-prettier": "^5.2.1",
     "husky": "^9.1.7",
     "jsdoc": "^4.0.4",
@@ -63,7 +63,6 @@
     "tree-kill": "^1.2.2",
     "typescript": "^5.7.2"
   },
-  "//": "Pin int64-napi to ^1.0.2",
   "dependencies": {
     "@rclnodejs/ref-array-di": "^1.2.2",
     "@rclnodejs/ref-napi": "^4.0.0",
@@ -75,7 +74,7 @@
     "dot": "^1.1.3",
     "dtslint": "^4.2.1",
     "fs-extra": "^11.2.0",
-    "int64-napi": "^1.0.2",
+    "json-bigint": "^1.0.0",
     "is-close": "^1.3.3",
     "mkdirp": "^3.0.1",
     "mz": "^2.7.0",

package/rosidl_gen/generator.json

@@ -1,6 +1,6 @@
 {
   "name": "rosidl-generator",
-  "version": "0.4.0",
+  "version": "0.5.0",
   "description": "Generate JavaScript object from ROS IDL(.msg) files",
   "main": "index.js",
   "authors": [

package/rosidl_gen/message_translator.js

@@ -27,7 +27,12 @@ function copyMsgObject(msg, obj) {
     for (let i in obj) {
       if (msg.hasMember(i)) {
         const type = typeof obj[i];
-        if (type === 'string' || type === 'number' || type === 'boolean') {
+        if (
+          type === 'string' ||
+          type === 'number' ||
+          type === 'boolean' ||
+          type === 'bigint'
+        ) {
           // A primitive-type value
           msg[i] = obj[i];
         } else if (Array.isArray(obj[i]) || isTypedArray(obj[i])) {
@@ -80,17 +85,20 @@ function verifyMessage(message, obj) {
           case 'char':
           case 'int16':
           case 'int32':
-          case 'int64':
           case 'byte':
           case 'uint16':
           case 'uint32':
-          case 'uint64':
           case 'float32':
           case 'float64':
             if (typeof obj[name] != 'number') {
               return false;
             }
             break;
+          case 'int64':
+          case 'uint64':
+            if (typeof obj[name] != 'bigint') {
+              return false;
+            }
           case 'bool':
             if (typeof obj[name] != 'boolean') {
               return false;
@@ -171,7 +179,12 @@ function toROSMessage(TypeClass, obj) {
 
 function constructFromPlanObject(msg, obj) {
   const type = typeof obj;
-  if (type === 'string' || type === 'number' || type === 'boolean') {
+  if (
+    type === 'string' ||
+    type === 'number' ||
+    type === 'boolean' ||
+    type === 'bigint'
+  ) {
     msg.data = obj;
   } else if (type === 'object') {
     copyMsgObject(msg, obj);

package/rosidl_gen/packages.js

@@ -161,9 +161,7 @@ async function generateMsgForSrv(filePath, interfaceInfo, pkgMap) {
 async function addInterfaceInfos(filePath, dir, pkgMap) {
   const interfaceInfo = grabInterfaceInfo(filePath, true);
   const ignore = pkgFilters.matchesAny(interfaceInfo);
-  if (ignore) {
-    console.log('Omitting filtered interface: ', interfaceInfo);
-  } else {
+  if (!ignore) {
     if (path.extname(filePath) === '.msg') {
       // Some .msg files were generated prior to 0.3.2 for .action files,
       // which has been disabled. So these files should be ignored here.
@@ -232,9 +230,7 @@ async function findPackagesInDirectory(dir) {
           amentExecuted
         );
         const ignore = pkgFilters.matchesAny(interfaceInfo);
-        if (ignore) {
-          console.log('Omitting filtered interface: ', interfaceInfo);
-        } else {
+        if (!ignore) {
           if (path.extname(file.name) === '.msg') {
             // Some .msg files were generated prior to 0.3.2 for .action files,
             // which has been disabled. So these files should be ignored here.

package/rosidl_gen/templates/message.dot

@@ -157,6 +157,10 @@ function isTypedArrayType(type) {
   return typedArrayType.indexOf(type.type.toLowerCase()) !== -1;
 }
 
+function isBigInt(type) {
+  return ['int64', 'uint64'].indexOf(type.type.toLowerCase()) !== -1;
+}
+
 const willUseTypedArray = isTypedArrayType(it.spec.baseType);
 const currentTypedArray = getTypedArrayName(it.spec.baseType);
 const currentTypedArrayElementType = getTypedArrayElementName(it.spec.baseType);
@@ -303,7 +307,13 @@ class {{=objectWrapper}} {
         this._refObject.{{=field.name}} = {{=field.default_value}};
         {{?}}
       {{?? field.type.isPrimitiveType && !isTypedArrayType(field.type) && field.default_value}}
-      this._{{=field.name}}Array = {{=JSON.stringify(field.default_value)}};
+        {{? isBigInt(field.type)}}
+        {{/* For non-TypedArray like int64/uint64. */}}
+        this._{{=field.name}}Array = {{=JSON.stringify(field.default_value)}}.map(num => BigInt(num));
+        {{??}}
+        {{/* For non-TypedArray like bool. */}}
+        this._{{=field.name}}Array = {{=JSON.stringify(field.default_value)}};
+        {{?}}
       {{?? field.type.isPrimitiveType && isTypedArrayType(field.type) && field.default_value}}
       this._wrapperFields.{{=field.name}}.fill({{=getTypedArrayName(field.type)}}.from({{=JSON.stringify(field.default_value)}}));
       {{?}}
@@ -376,8 +386,11 @@ class {{=objectWrapper}} {
             }
           }
         }
+        {{?? isBigInt(field.type)}}
+        {{/* For non-TypedArray like int64/uint64. */}}
+        this._refObject.{{=field.name}} = this._{{=field.name}}Array.map(num => num.toString());
         {{??}}
-        {{/* For non-TypedArray like int64/uint64/bool. */}}
+        {{/* For non-TypedArray like bool. */}}
         this._refObject.{{=field.name}} = this._{{=field.name}}Array;
         {{?}}
       {{?? field.type.isArray && field.type.isPrimitiveType && isTypedArrayType(field.type) && field.type.isFixedSizeArray}}
@@ -527,6 +540,8 @@ class {{=objectWrapper}} {
     return this._wrapperFields.{{=field.name}};
     {{?? !field.type.isArray && field.type.type === 'string' && it.spec.msgName !== 'String'}}
     return this._wrapperFields.{{=field.name}}.data;
+    {{?? isBigInt(field.type)}}
+    return BigInt(this._refObject.{{=field.name}});
     {{??}}
     return this._refObject.{{=field.name}};
     {{?}}
@@ -559,6 +574,11 @@ class {{=objectWrapper}} {
     }
     {{?? !field.type.isArray && field.type.type === 'string' && it.spec.msgName !== 'String'}}
     this._wrapperFields.{{=field.name}}.data = value;
+    {{?? isBigInt(field.type)}}
+    if (typeof value !== "bigint") {
+      throw new TypeError('{{=field.name}} must be type of bigint');
+    }
+    this._refObject.{{=field.name}} = value.toString();
     {{??}}
       {{? it.spec.msgName === 'String'}}
       this._refObject.size = Buffer.byteLength(value);

package/rosidl_parser/rosidl_parser.js

@@ -14,11 +14,20 @@
 
 'use strict';
 
+const compareVersions = require('compare-versions');
 const path = require('path');
 const execFile = require('child_process').execFile;
 
 const pythonExecutable = require('./py_utils').getPythonExecutable('python3');
 
+const contextSupportedVersion = '21.0.0.0';
+const currentVersion = process.version;
+const isContextSupported = compareVersions.compare(
+  currentVersion.substring(1, currentVersion.length),
+  contextSupportedVersion,
+  '>='
+);
+
 const rosidlParser = {
   parseMessageFile(packageName, filePath) {
     return this._parseFile('parse_message_file', packageName, filePath);
@@ -32,6 +41,25 @@ const rosidlParser = {
     return this._parseFile('parse_action_file', packageName, filePath);
   },
 
+  _parseJSONObject(str) {
+    // For nodejs >= `contextSupportedVersion`, we leverage context parameter to
+    // convert unsafe integer to string, otherwise, json-bigint is used.
+    // See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/JSON/parse
+    if (isContextSupported) {
+      return JSON.parse(str, (key, value, context) => {
+        if (
+          Number.isInteger(value) &&
+          !Number.isSafeInteger(Number(context.source))
+        ) {
+          return context.source;
+        }
+        return value;
+      });
+    }
+    const JSONbigString = require('json-bigint')({ storeAsString: true });
+    return JSONbigString.parse(str);
+  },
+
   _parseFile(command, packageName, filePath) {
     return new Promise((resolve, reject) => {
       const args = [
@@ -54,7 +82,7 @@ const rosidlParser = {
               )
             );
           } else {
-            resolve(JSON.parse(stdout));
+            resolve(this._parseJSONObject(stdout));
           }
         }
       );

package/rostsd_gen/index.js

@@ -478,7 +478,6 @@ function primitiveType2JSName(type) {
     case 'int8':
     case 'int16':
     case 'int32':
-    case 'int64':
 
     // signed explicit float types
     case 'float32':
@@ -488,7 +487,6 @@ function primitiveType2JSName(type) {
     case 'uint8':
     case 'uint16':
     case 'uint32':
-    case 'uint64':
       jsName = 'number';
       break;
     case 'bool':
@@ -499,6 +497,10 @@ function primitiveType2JSName(type) {
     case 'wstring':
       jsName = 'string';
       break;
+    case 'int64':
+    case 'uint64':
+      jsName = 'bigint';
+      break;
   }
 
   return jsName;

package/scripts/config.js

@@ -0,0 +1,69 @@
+// 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.
+
+'use strict';
+
+const os = require('os');
+const path = require('path');
+const { execSync } = require('child_process');
+
+const dependencies = [
+  'rcl',
+  'rcutils',
+  'rmw',
+  'rcl_yaml_param_parser',
+  'rosidl_typesupport_interface',
+  'rcl_action',
+  'action_msgs',
+  'service_msgs',
+  'unique_identifier_msgs',
+  'builtin_interfaces',
+  'rcl_lifecycle',
+  'lifecycle_msgs',
+  'rosidl_runtime_c',
+  'rosidl_dynamic_typesupport',
+  'type_description_interfaces',
+];
+
+const command = os.type() === 'Windows_NT' ? 'where ros2' : 'which ros2';
+
+function getROSRootPath() {
+  try {
+    // Execute the command to find the ROS2 installation path.
+    let ros2Path = execSync(command).toString().trim();
+    return path.dirname(path.dirname(ros2Path));
+  } catch (error) {
+    console.error(`Error: ${error.message}`);
+  }
+}
+
+function getROSLibPath() {
+  return path.join(getROSRootPath(), 'lib');
+}
+
+function getROSIncludeRootPath() {
+  return path.join(getROSRootPath(), 'include');
+}
+
+function getIncludePaths() {
+  const includeRoot = getROSIncludeRootPath();
+  return dependencies.map((dependency) => {
+    return path.join(includeRoot, dependency);
+  });
+}
+
+module.exports = {
+  getROSRootPath,
+  getROSLibPath,
+  getROSIncludeRootPath,
+  getIncludePaths,
+};

package/scripts/npmjs-readme.md

@@ -45,7 +45,7 @@ npm i rclnodejs@x.y.z
 
 |                                      RCLNODEJS Version                                       |                                                             Compatible ROS 2 LTS                                                             |
 | :------------------------------------------------------------------------------------------: | :------------------------------------------------------------------------------------------------------------------------------------------: |
-| latest version (currently [v0.29.0](https://github.com/RobotWebTools/rclnodejs/tree/0.29.0)) | [Humble](https://github.com/RobotWebTools/rclnodejs/tree/humble-hawksbill)<br>[Jazzy](https://github.com/RobotWebTools/rclnodejs/tree/jazzy) |
+| latest version (currently [v0.31.0](https://github.com/RobotWebTools/rclnodejs/tree/0.31.0)) | [Humble](https://github.com/RobotWebTools/rclnodejs/tree/humble-hawksbill)<br>[Jazzy](https://github.com/RobotWebTools/rclnodejs/tree/jazzy) |
 
 ## Documentation