rclnodejs 0.30.0 → 0.32.0

package/README.md

@@ -45,7 +45,7 @@ npm i rclnodejs@x.y.z
 
 |                                      RCLNODEJS Version                                       |                                                             Compatible ROS 2 LTS                                                             |
 | :------------------------------------------------------------------------------------------: | :------------------------------------------------------------------------------------------------------------------------------------------: |
-| latest version (currently [v0.30.0](https://github.com/RobotWebTools/rclnodejs/tree/0.30.0)) | [Humble](https://github.com/RobotWebTools/rclnodejs/tree/humble-hawksbill)<br>[Jazzy](https://github.com/RobotWebTools/rclnodejs/tree/jazzy) |
+| latest version (currently [v0.32.0](https://github.com/RobotWebTools/rclnodejs/tree/0.32.0)) | [Humble](https://github.com/RobotWebTools/rclnodejs/tree/humble-hawksbill)<br>[Jazzy](https://github.com/RobotWebTools/rclnodejs/tree/jazzy) |
 
 ## Documentation
 

package/eslint.config.mjs

@@ -0,0 +1,65 @@
+import typescriptEslint from "@typescript-eslint/eslint-plugin";
+import prettier from "eslint-plugin-prettier";
+import globals from "globals";
+import tsParser from "@typescript-eslint/parser";
+import eslintPluginPrettierRecommended from 'eslint-plugin-prettier/recommended';
+import js from "@eslint/js";
+
+export default [
+    {
+        ignores: [
+            "eslint.config.mjs",
+            "types/interfaces.d.ts",
+            "test/types/index.test-d.ts",
+            "**/generated/",
+            "**/scripts/",
+            "**/benchmark/",
+            "**/docs/",
+            "**/electron_demo/",
+        ],
+    },
+    {
+        ...js.configs.recommended,
+        files: ["lib/**/*.js", "index.js"],
+    },
+    {
+        rules: {
+            'no-dupe-class-members': 'off',
+        },
+    },
+    {
+        plugins: {
+            "@typescript-eslint": typescriptEslint,
+        },
+        languageOptions: {
+            globals: {
+                ...globals.node,
+            },
+            parser: tsParser,
+            ecmaVersion: "latest",
+            sourceType: "module",
+        },
+        files: ['types/*.d.ts'],
+        rules: {
+            ...typescriptEslint.configs.recommended.rules,
+            "@typescript-eslint/no-explicit-any": "off",
+        },
+    },
+    {
+        plugins: {
+            prettier,
+        },
+        languageOptions: {
+            globals: {
+                ...globals.node,
+            },
+            ecmaVersion: "latest",
+            sourceType: "commonjs",
+        },
+        files: ["lib/**/*.js", "rosidl_parser/**/*.js", "rosidl_gen/**/*.js",
+            "rostsd_gen/**/*.js", "test/**/*.js", "example/**/*.js", "index.js"],
+        rules: {
+            ...eslintPluginPrettierRecommended.rules,
+        },
+    }
+];

package/lib/action/client.js

@@ -172,7 +172,7 @@ class ActionClient extends Entity {
           goalHandle.status = status;
 
           // Remove done handles from the list
-          // eslint-disable-next-line max-depth
+
           if (
             status === ActionInterfaces.GoalStatus.STATUS_SUCCEEDED ||
             status === ActionInterfaces.GoalStatus.STATUS_CANCELED ||

package/lib/action/server.js

@@ -266,10 +266,12 @@ class ActionServer extends Entity {
     let goalHandle;
     if (accepted) {
       // Stamp time of acceptance
-      const secondsAndNanos = this._node.getClock().now().secondsAndNanoseconds;
+      const { seconds, nanoseconds } = this._node
+        .getClock()
+        .now().secondsAndNanoseconds;
       goalInfo.stamp = {
-        sec: secondsAndNanos.seconds,
-        nanosec: secondsAndNanos.nanoseconds,
+        sec: Number(seconds),
+        nanosec: Number(nanoseconds),
       };
 
       try {

package/lib/clock.js

@@ -52,8 +52,8 @@ class Clock {
    * @return {Time} Return the current time.
    */
   now() {
-    let time = rclnodejs.clockGetNow(this._handle);
-    return new Time(time.sec, time.nanosec, this._clockType);
+    const nowInNanosec = rclnodejs.clockGetNow(this._handle);
+    return new Time(0n, nowInNanosec, this._clockType);
   }
 }
 

package/lib/clock_type.js

@@ -14,8 +14,6 @@
 
 'use strict';
 
-/* eslint-disable camelcase */
-
 /**
  * Enum for ClockType
  * @readonly

package/lib/distro.js

@@ -63,7 +63,7 @@ const DistroUtils = {
       return process.env.ROS_DISTRO;
     }
 
-    return [...DistroNameIdMap].find(([key, val]) => val == distroId)[0];
+    return [...DistroNameIdMap].find(([, val]) => val == distroId)[0];
   },
 
   getKnownDistroNames: function () {

package/lib/duration.js

@@ -15,7 +15,7 @@
 'use strict';
 
 const rclnodejs = require('bindings')('rclnodejs');
-const int64 = require('int64-napi');
+const S_TO_NS = 10n ** 9n;
 
 /**
  * @class - Class representing a Duration in ROS
@@ -24,51 +24,38 @@ const int64 = require('int64-napi');
 class Duration {
   /**
    * Create a Duration.
-   * @param {number|string} [seconds=0] - The second part of the duration.
-   * @param {number|string} [nanoseconds=0] - The nanosecond part of the duration.
+   * @param {bigint} [seconds=0] - The second part of the duration.
+   * @param {bigint} [nanoseconds=0] - The nanosecond part of the duration.
    */
-  constructor(seconds = 0, nanoseconds = 0) {
-    if (typeof seconds !== 'number' && typeof seconds !== 'string') {
+  constructor(seconds = 0n, nanoseconds = 0n) {
+    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');
     }
 
-    let secondInt64 = int64.from(seconds);
-    let nanoInt64 = int64.from(nanoseconds);
-
-    if (typeof seconds === 'string' && seconds.startsWith('-')) {
-      secondInt64 = int64.negative(secondInt64);
-    }
-    if (typeof nanoseconds === 'string' && nanoseconds.startsWith('-')) {
-      nanoInt64 = int64.negative(nanoInt64);
+    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 = secondInt64.multiply(1e9).add(nanoInt64);
-    this._handle = rclnodejs.createDuration(this._nanoseconds.toString());
+
+    this._nanoseconds = total;
+    this._handle = rclnodejs.createDuration(this._nanoseconds);
   }
 
   /**
    * Get the nanosecond part of the Duration.
    * @name Duration#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 nanoStr = rclnodejs.getDurationNanoseconds(this._handle);
-    let nano;
-
-    if (nanoStr.startsWith('-')) {
-      nano = int64.negative(int64.from(nanoStr));
-    } else {
-      nano = int64.from(nanoStr);
-    }
-    if (Number.isFinite(nano.toNumber())) {
-      return nano.toNumber();
-    }
-    return nano.toString();
+    return rclnodejs.getDurationNanoseconds(this._handle);
   }
 
   /**
@@ -78,7 +65,7 @@ class Duration {
    */
   eq(other) {
     if (other instanceof Duration) {
-      return this._nanoseconds.eq(other.nanoseconds);
+      return this._nanoseconds === other.nanoseconds;
     }
     throw new TypeError(
       `Can't compare duration with object of type: ${other.constructor.name}`
@@ -92,7 +79,7 @@ class Duration {
    */
   ne(other) {
     if (other instanceof Duration) {
-      return this._nanoseconds.ne(other.nanoseconds);
+      return this._nanoseconds !== other.nanoseconds;
     }
     throw new TypeError('Invalid argument');
   }
@@ -104,7 +91,7 @@ class Duration {
    */
   lt(other) {
     if (other instanceof Duration) {
-      return this._nanoseconds.lt(other.nanoseconds);
+      return this._nanoseconds < other.nanoseconds;
     }
     throw new TypeError('Invalid argument');
   }
@@ -116,7 +103,7 @@ class Duration {
    */
   lte(other) {
     if (other instanceof Duration) {
-      return this._nanoseconds.lte(other.nanoseconds);
+      return this._nanoseconds <= other.nanoseconds;
     }
     throw new TypeError('Invalid argument');
   }
@@ -128,7 +115,7 @@ class Duration {
    */
   gt(other) {
     if (other instanceof Duration) {
-      return this._nanoseconds.gt(other.nanoseconds);
+      return this._nanoseconds > other.nanoseconds;
     }
     throw new TypeError('Invalid argument');
   }
@@ -140,7 +127,7 @@ class Duration {
    */
   gte(other) {
     if (other instanceof Duration) {
-      return this._nanoseconds.gte(other.nanoseconds);
+      return this._nanoseconds >= other.nanoseconds;
     }
     throw new TypeError('Invalid argument');
   }

package/lib/interface_loader.js

@@ -59,7 +59,6 @@ let interfaceLoader = {
     // Suppose the name is a package, and traverse the path to collect the IDL files.
     let packagePath = path.join(generator.generatedRoot, name);
 
-    // eslint-disable-next-line
     let interfaces = fs.readdirSync(packagePath);
     if (interfaces.length > 0) {
       return this.loadInterfaceByPath(packagePath, interfaces);
@@ -108,7 +107,7 @@ let interfaceLoader = {
         packageName,
         packageName + '__' + type + '__' + messageName + '.js'
       );
-      // eslint-disable-next-line
+
       if (fs.existsSync(filePath)) {
         return require(filePath);
       }

package/lib/lifecycle.js

@@ -588,8 +588,6 @@ class LifecycleNode extends Node {
    * @throws {Error} If transition is invalid for the current state.
    */
   shutdown(callbackReturnValue) {
-    let state = this.currentState;
-
     return this._changeState(SHUTDOWN_TRANSITION_LABEL, callbackReturnValue);
   }
 
@@ -603,7 +601,6 @@ class LifecycleNode extends Node {
   _onGetState(request, response) {
     let result = response.template;
 
-    // eslint-disable-next-line camelcase
     result.current_state = this.currentState;
 
     response.send(result);
@@ -619,7 +616,6 @@ class LifecycleNode extends Node {
   _onGetAvailableStates(request, response) {
     let result = response.template;
 
-    // eslint-disable-next-line camelcase
     result.available_states = this.availableStates;
 
     response.send(result);
@@ -634,7 +630,6 @@ class LifecycleNode extends Node {
   _onGetAvailableTransitions(request, response) {
     let result = response.template;
 
-    // eslint-disable-next-line camelcase
     result.available_transitions = this.availableTransitions;
 
     response.send(result);

package/lib/lifecycle_publisher.js

@@ -37,7 +37,7 @@ class LifecyclePublisher extends Publisher {
    * Publish a message only when activated; otherwise do nothing (nop);
    *
    * @param {object|Buffer} message - The message to be sent, could be kind of JavaScript message generated from .msg
-   *                                                          or be a Buffer for a raw message.
+   *                                  or be a Buffer for a raw message.
    * @returns {undefined}
    */
   publish(message) {

package/lib/node.js

@@ -507,7 +507,7 @@ class Node extends rclnodejs.ShadowNode {
 
   /**
    * Create a Timer.
-   * @param {number} period - The number representing period in millisecond.
+   * @param {bigint} period - The number representing period in nanoseconds.
    * @param {function} callback - The callback to be called when timeout.
    * @param {Clock} [clock] - The clock which the timer gets time from.
    * @return {Timer} - An instance of Timer.
@@ -519,22 +519,11 @@ class Node extends rclnodejs.ShadowNode {
       clock = arguments[3];
     }
 
-    if (typeof period !== 'number' || typeof callback !== 'function') {
+    if (typeof period !== 'bigint' || typeof callback !== 'function') {
       throw new TypeError('Invalid argument');
     }
 
-    // The period unit is millisecond in JavaScript side. When being passed to the
-    // C++ side, the value will be converted to nanosecond, which goes into a uint64_t
-    // with maxmium value of 2^64-1. So the maxmium is UINT64_MAX in ns, that's 0x10c6f7a0b5ed in ms.
-    const MAX_TIMER_PERIOD_IN_MILLISECOND = 0x10c6f7a0b5ed;
-    if (period > 0x10c6f7a0b5ed || period < 0) {
-      throw new RangeError(
-        `Parameter must be between 0.0 and ${MAX_TIMER_PERIOD_IN_MILLISECOND}`
-      );
-    }
-
     const timerClock = clock || this._clock;
-
     let timerHandle = rclnodejs.createTimer(
       timerClock.handle,
       this.context.handle,
@@ -573,7 +562,7 @@ class Node extends rclnodejs.ShadowNode {
     }
 
     const period = Math.round(1000 / hz);
-    const timer = this._rateTimerServer.createTimer(period);
+    const timer = this._rateTimerServer.createTimer(BigInt(period) * 1000000n);
     const rate = new Rates.Rate(hz, timer);
 
     return rate;
@@ -1480,10 +1469,10 @@ class Node extends rclnodejs.ShadowNode {
       PARAMETER_EVENT_MSG_TYPE
     ))();
 
-    const secondsAndNanos = this._clock.now().secondsAndNanoseconds;
+    const { seconds, nanoseconds } = this._clock.now().secondsAndNanoseconds;
     parameterEvent.stamp = {
-      sec: secondsAndNanos.seconds,
-      nanosec: secondsAndNanos.nanoseconds,
+      sec: Number(seconds),
+      nanosec: Number(nanoseconds),
     };
 
     parameterEvent.node =
@@ -1507,7 +1496,7 @@ class Node extends rclnodejs.ShadowNode {
       );
     }
 
-    // publish ParameterEvent
+    // Publish ParameterEvent.
     this._parameterEventPublisher.publish(parameterEvent);
 
     return {
@@ -1560,7 +1549,7 @@ class Node extends rclnodejs.ShadowNode {
       // detect invalid parameter
       try {
         parameter.validate();
-      } catch (e) {
+      } catch {
         return {
           successful: false,
           reason: `Invalid ${parameter.name}`,
@@ -1588,7 +1577,7 @@ class Node extends rclnodejs.ShadowNode {
       if (parameter.type != ParameterType.PARAMETER_NOT_SET) {
         try {
           descriptor.validateParameter(parameter);
-        } catch (e) {
+        } catch {
           return {
             successful: false,
             reason: `Parameter ${parameter.name} does not  readonly`,

package/lib/parameter.js

@@ -1,5 +1,3 @@
-/* eslint-disable camelcase */
-
 // Copyright (c) 2020 Wayne Parrott. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
@@ -22,7 +20,6 @@
 'use strict';
 
 const IsClose = require('is-close');
-const rclnodejs = require('bindings')('rclnodejs');
 
 /**
  * The plus/minus tolerance for determining number equivalence.
@@ -274,7 +271,6 @@ class ParameterDescriptor {
   static fromParameter(parameter) {
     const name = parameter.name;
     const type = parameter.type;
-    const value = parameter.value;
     return new ParameterDescriptor(name, type, 'Created from parameter.');
   }
 
@@ -387,7 +383,7 @@ class ParameterDescriptor {
       return;
     }
     if (!(range instanceof Range)) {
-      throw TypeException('Expected instance of Range.');
+      throw TypeError('Expected instance of Range.');
     }
     if (!range.isValidType(this.type)) {
       throw TypeError('Incompatible Range');
@@ -443,14 +439,14 @@ class ParameterDescriptor {
     // ensure parameter is valid
     try {
       parameter.validate();
-    } catch (e) {
+    } catch {
       throw new TypeError('Parameter is invalid');
     }
 
     // ensure this descriptor is valid
     try {
       this.validate();
-    } catch (e) {
+    } catch {
       throw new Error('Descriptor is invalid.');
     }
 
@@ -567,6 +563,7 @@ class Range {
    * @param {ParameterType} parameterType - The parameter type to test.
    * @return {boolean} - True if parameterType is compatible; otherwise return false.
    */
+  // eslint-disable-next-line no-unused-vars
   isValidType(parameterType) {
     return false;
   }
@@ -702,6 +699,7 @@ class IntegerRange extends Range {
  * @param {any} value - The value to infer it's ParameterType
  * @returns {ParameterType} - The ParameterType that best scribes the value.
  */
+// eslint-disable-next-line no-unused-vars
 function parameterTypeFromValue(value) {
   if (!value) return ParameterType.PARAMETER_NOT_SET;
   if (typeof value === 'boolean') return ParameterType.PARAMETER_BOOL;
@@ -778,8 +776,7 @@ function validValue(value, type) {
     case ParameterType.PARAMETER_INTEGER_ARRAY:
     case ParameterType.PARAMETER_DOUBLE_ARRAY:
     case ParameterType.PARAMETER_STRING_ARRAY:
-      const values = value;
-      result = _validArray(values, type);
+      result = _validArray(value, type);
       break;
     default:
       result = false;

package/lib/parameter_service.js

@@ -1,4 +1,3 @@
-/* eslint-disable max-depth */
 // Copyright (c) 2020 Wayne Parrott. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
@@ -15,7 +14,6 @@
 
 'use strict';
 
-const rclnodejs = require('bindings')('rclnodejs');
 const { Parameter, PARAMETER_SEPARATOR } = require('./parameter.js');
 
 /**
@@ -27,6 +25,7 @@ const { Parameter, PARAMETER_SEPARATOR } = require('./parameter.js');
  *  rcl_interfaces/srv/GetParameters
  *  rcl_interfaces/srv/SetParameters
  *  rcl_interfaces/srv/SetParametersAtomically
+ *  rcl_interfaces/srv/GetParameterTypes
  *
  * Call start() to begin receiving client request.
  * All service requests are forwarded to the node this service works for.

package/lib/publisher.js

@@ -38,7 +38,7 @@ class Publisher extends Entity {
   /**
    * Publish a message
    * @param {object|Buffer} message - The message to be sent, could be kind of JavaScript message generated from .msg
-   *                                                          or be a Buffer for a raw message.
+   *                                  or be a Buffer for a raw message.
    * @return {undefined}
    */
   publish(message) {

package/lib/qos.js

@@ -14,8 +14,6 @@
 
 'use strict';
 
-/* eslint-disable */
-
 /**
  * Enum for HistoryPolicy
  * @readonly

package/lib/rate.js

@@ -1,4 +1,3 @@
-//
 // 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
@@ -166,7 +165,7 @@ class RateTimerServer {
   /**
    * Create a new timer instance with callback set to NOP.
    *
-   * @param {number} period - The period in milliseconds
+   * @param {bigint} period - The period in nanoseconds.
    * @returns {Timer} - The new timer instance.
    */
   createTimer(period) {

package/lib/rmw.js

@@ -1,3 +1,15 @@
+// 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 DistroUtils = require('./distro');