rclnodejs 0.30.0 → 0.32.0

package/src/rcl_bindings.cpp

@@ -40,6 +40,7 @@
 #include <rcl/service_introspection.h>
 #endif
 
+#include <cstdio>
 #include <iostream>
 #include <memory>
 #include <string>
@@ -319,8 +320,12 @@ NAN_METHOD(CreateTimer) {
       Nan::To<v8::Object>(info[1]).ToLocalChecked());
   rcl_context_t* context =
       reinterpret_cast<rcl_context_t*>(context_handle->ptr());
-  int64_t period_ms = Nan::To<int64_t>(info[2]).FromJust();
-
+  if (!info[2]->IsBigInt()) {
+    Nan::ThrowTypeError("Timer period must be a BigInt");
+    return;
+  }
+  v8::Local<v8::BigInt> bigInt = info[2].As<v8::BigInt>();
+  int64_t period_nsec = bigInt->Int64Value();
   rcl_timer_t* timer =
       reinterpret_cast<rcl_timer_t*>(malloc(sizeof(rcl_timer_t)));
   *timer = rcl_get_zero_initialized_timer();
@@ -328,15 +333,14 @@ NAN_METHOD(CreateTimer) {
 #if ROS_VERSION > 2305  // After Iron.
   THROW_ERROR_IF_NOT_EQUAL(
       RCL_RET_OK,
-      rcl_timer_init2(timer, clock, context, RCL_MS_TO_NS(period_ms), nullptr,
+      rcl_timer_init2(timer, clock, context, period_nsec, nullptr,
                       rcl_get_default_allocator(), /*autostart=*/true),
       rcl_get_error_string().str);
 #else
-  THROW_ERROR_IF_NOT_EQUAL(
-      RCL_RET_OK,
-      rcl_timer_init(timer, clock, context, RCL_MS_TO_NS(period_ms), nullptr,
-                     rcl_get_default_allocator()),
-      rcl_get_error_string().str);
+  THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK,
+                           rcl_timer_init(timer, clock, context, period_nsec,
+                                          nullptr, rcl_get_default_allocator()),
+                           rcl_get_error_string().str);
 #endif
 
   auto js_obj = RclHandle::NewInstance(timer, clock_handle, [](void* ptr) {
@@ -410,9 +414,9 @@ NAN_METHOD(TimerGetTimeUntilNextCall) {
       RCL_RET_OK, rcl_timer_get_time_until_next_call(timer, &remaining_time),
       rcl_get_error_string().str);
 
-  info.GetReturnValue().Set(
-      Nan::New<v8::String>(std::to_string(RCL_NS_TO_MS(remaining_time)))
-          .ToLocalChecked());
+  v8::Local<v8::BigInt> bigInt =
+      v8::BigInt::New(v8::Isolate::GetCurrent(), remaining_time);
+  info.GetReturnValue().Set(bigInt);
 }
 
 NAN_METHOD(TimerGetTimeSinceLastCall) {
@@ -425,18 +429,23 @@ NAN_METHOD(TimerGetTimeSinceLastCall) {
       RCL_RET_OK, rcl_timer_get_time_since_last_call(timer, &elapsed_time),
       rcl_get_error_string().str);
 
-  info.GetReturnValue().Set(
-      Nan::New<v8::String>(std::to_string(RCL_NS_TO_MS(elapsed_time)))
-          .ToLocalChecked());
+  v8::Local<v8::BigInt> bigInt =
+      v8::BigInt::New(v8::Isolate::GetCurrent(), elapsed_time);
+  info.GetReturnValue().Set(bigInt);
 }
 
 NAN_METHOD(CreateTimePoint) {
-  std::string str(*Nan::Utf8String(info[0]));
+  if (!info[0]->IsBigInt()) {
+    Nan::ThrowTypeError("Timer period must be a BigInt");
+    return;
+  }
+  v8::Local<v8::BigInt> bigInt = info[0].As<v8::BigInt>();
+  const int64_t nanoseconds = bigInt->Int64Value();
   uint32_t clock_type = Nan::To<uint32_t>(info[1]).FromJust();
   rcl_time_point_t* time_point =
       reinterpret_cast<rcl_time_point_t*>(malloc(sizeof(rcl_time_point_t)));
 
-  time_point->nanoseconds = std::stoll(str);
+  time_point->nanoseconds = nanoseconds;
   time_point->clock_type = static_cast<rcl_clock_type_t>(clock_type);
 
   auto js_obj =
@@ -449,16 +458,21 @@ NAN_METHOD(GetNanoseconds) {
       Nan::To<v8::Object>(info[0]).ToLocalChecked());
   rcl_time_point_t* time_point =
       reinterpret_cast<rcl_time_point_t*>(time_point_handle->ptr());
-  info.GetReturnValue().Set(
-      Nan::New<v8::String>(std::to_string(time_point->nanoseconds))
-          .ToLocalChecked());
+  v8::Local<v8::BigInt> bigInt =
+      v8::BigInt::New(v8::Isolate::GetCurrent(), time_point->nanoseconds);
+  info.GetReturnValue().Set(bigInt);
 }
 
 NAN_METHOD(CreateDuration) {
-  std::string str(*Nan::Utf8String(info[0]));
+  if (!info[0]->IsBigInt()) {
+    Nan::ThrowTypeError("Timer period must be a BigInt");
+    return;
+  }
+  v8::Local<v8::BigInt> bigInt = info[0].As<v8::BigInt>();
+  const int64_t nanoseconds = bigInt->Int64Value();
   rcl_duration_t* duration =
       reinterpret_cast<rcl_duration_t*>(malloc(sizeof(rcl_duration_t)));
-  duration->nanoseconds = std::stoll(str);
+  duration->nanoseconds = nanoseconds;
 
   auto js_obj =
       RclHandle::NewInstance(duration, nullptr, [](void* ptr) { free(ptr); });
@@ -470,10 +484,9 @@ NAN_METHOD(GetDurationNanoseconds) {
       Nan::To<v8::Object>(info[0]).ToLocalChecked());
   rcl_duration_t* duration =
       reinterpret_cast<rcl_duration_t*>(duration_handle->ptr());
-
-  info.GetReturnValue().Set(
-      Nan::New<v8::String>(std::to_string(duration->nanoseconds))
-          .ToLocalChecked());
+  v8::Local<v8::BigInt> bigInt =
+      v8::BigInt::New(v8::Isolate::GetCurrent(), duration->nanoseconds);
+  info.GetReturnValue().Set(bigInt);
 }
 
 NAN_METHOD(SetRosTimeOverrideIsEnabled) {
@@ -539,25 +552,6 @@ NAN_METHOD(CreateClock) {
       }));
 }
 
-static void ReturnJSTimeObj(
-    Nan::NAN_METHOD_ARGS_TYPE info, int64_t nanoseconds,
-    rcl_clock_type_t clock_type = RCL_CLOCK_UNINITIALIZED) {
-  auto obj = v8::Object::New(v8::Isolate::GetCurrent());
-
-  const auto sec = static_cast<std::int32_t>(RCL_NS_TO_S(nanoseconds));
-  const auto nanosec =
-      static_cast<std::int32_t>(nanoseconds % (1000 * 1000 * 1000));
-  const int32_t type = clock_type;
-
-  Nan::Set(obj, Nan::New("sec").ToLocalChecked(), Nan::New(sec));
-  Nan::Set(obj, Nan::New("nanosec").ToLocalChecked(), Nan::New(nanosec));
-  if (clock_type != RCL_CLOCK_UNINITIALIZED) {
-    Nan::Set(obj, Nan::New("type").ToLocalChecked(), Nan::New(type));
-  }
-
-  info.GetReturnValue().Set(obj);
-}
-
 NAN_METHOD(ClockGetNow) {
   rcl_clock_t* clock = reinterpret_cast<rcl_clock_t*>(
       RclHandle::Unwrap<RclHandle>(
@@ -569,64 +563,9 @@ NAN_METHOD(ClockGetNow) {
   THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK,
                            rcl_clock_get_now(clock, &time_point.nanoseconds),
                            rcl_get_error_string().str);
-
-  ReturnJSTimeObj(info, time_point.nanoseconds, time_point.clock_type);
-}
-
-NAN_METHOD(StaticClockGetNow) {
-  int32_t type = Nan::To<int32_t>(info[0]).FromJust();
-
-  if (type < RCL_ROS_TIME && type > RCL_STEADY_TIME) {
-    info.GetReturnValue().Set(Nan::Undefined());
-    return;
-  }
-
-  rcl_clock_t ros_clock;
-  rcl_time_point_t rcl_time;
-  rcl_allocator_t allocator = rcl_get_default_allocator();
-
-  THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK,
-                           rcl_clock_init(static_cast<rcl_clock_type_t>(type),
-                                          &ros_clock, &allocator),
-                           rcl_get_error_string().str);
-
-  THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK,
-                           rcl_clock_get_now(&ros_clock, &rcl_time.nanoseconds),
-                           rcl_get_error_string().str);
-
-  THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK, rcl_clock_fini(&ros_clock),
-                           rcl_get_error_string().str);
-
-  ReturnJSTimeObj(info, rcl_time.nanoseconds, rcl_time.clock_type);
-}
-
-NAN_METHOD(TimeDiff) {
-  int64_t s_sec = Nan::To<int32_t>(info[0]).FromJust();
-  uint32_t s_nano = Nan::To<uint32_t>(info[1]).FromJust();
-  int32_t s_type = Nan::To<int32_t>(info[2]).FromJust();
-
-  int64_t f_sec = Nan::To<int32_t>(info[3]).FromJust();
-  uint32_t f_nano = Nan::To<uint32_t>(info[4]).FromJust();
-  int32_t f_type = Nan::To<int32_t>(info[5]).FromJust();
-
-  rcl_time_point_t start;
-  rcl_time_point_t finish;
-  rcl_duration_t delta;
-
-  start.nanoseconds = s_sec * 1000 * 1000 * 1000 + s_nano;
-  start.clock_type = static_cast<rcl_clock_type_t>(s_type);
-
-  finish.nanoseconds = f_sec * 1000 * 1000 * 1000 + f_nano;
-  finish.clock_type = static_cast<rcl_clock_type_t>(f_type);
-
-  auto ret = rcl_difference_times(&start, &finish, &delta);
-
-  if (ret == RCL_RET_OK) {
-    ReturnJSTimeObj(info, delta.nanoseconds);
-    return;
-  }
-
-  info.GetReturnValue().Set(Nan::Undefined());
+  v8::Local<v8::BigInt> bigInt =
+      v8::BigInt::New(v8::Isolate::GetCurrent(), time_point.nanoseconds);
+  info.GetReturnValue().Set(bigInt);
 }
 
 NAN_METHOD(RclTake) {
@@ -772,7 +711,6 @@ NAN_METHOD(HasContentFilter) {
   info.GetReturnValue().Set(Nan::False());
   return;
 #else
-
   RclHandle* subscription_handle = RclHandle::Unwrap<RclHandle>(
       Nan::To<v8::Object>(info[0]).ToLocalChecked());
   rcl_subscription_t* subscription =
@@ -1026,7 +964,7 @@ NAN_METHOD(SendRequest) {
   THROW_ERROR_IF_NOT_EQUAL(rcl_send_request(client, buffer, &sequence_number),
                            RCL_RET_OK, rcl_get_error_string().str);
 
-  info.GetReturnValue().Set(Nan::New((uint32_t)sequence_number));
+  info.GetReturnValue().Set(Nan::New(static_cast<uint32_t>(sequence_number)));
 }
 
 NAN_METHOD(RclTakeResponse) {
@@ -1043,7 +981,7 @@ NAN_METHOD(RclTakeResponse) {
   int64_t sequence_number = header.request_id.sequence_number;
 
   if (ret == RCL_RET_OK) {
-    info.GetReturnValue().Set(Nan::New((uint32_t)sequence_number));
+    info.GetReturnValue().Set(Nan::New(static_cast<uint32_t>(sequence_number)));
     return;
   }
 
@@ -1224,7 +1162,7 @@ NAN_METHOD(ValidateFullTopicName) {
   Nan::Set(
       result_list, 0,
       Nan::New<v8::String>(std::string(validation_message)).ToLocalChecked());
-  Nan::Set(result_list, 1, Nan::New((int32_t)invalid_index));
+  Nan::Set(result_list, 1, Nan::New(static_cast<int32_t>(invalid_index)));
 
   info.GetReturnValue().Set(result_list);
 }
@@ -1259,7 +1197,7 @@ NAN_METHOD(ValidateNodeName) {
   Nan::Set(
       result_list, 0,
       Nan::New<v8::String>(std::string(validation_message)).ToLocalChecked());
-  Nan::Set(result_list, 1, Nan::New((int32_t)invalid_index));
+  Nan::Set(result_list, 1, Nan::New(static_cast<int32_t>(invalid_index)));
 
   info.GetReturnValue().Set(result_list);
 }
@@ -1294,7 +1232,7 @@ NAN_METHOD(ValidateTopicName) {
   Nan::Set(
       result_list, 0,
       Nan::New<v8::String>(std::string(validation_message)).ToLocalChecked());
-  Nan::Set(result_list, 1, Nan::New((int32_t)invalid_index));
+  Nan::Set(result_list, 1, Nan::New(static_cast<int32_t>(invalid_index)));
 
   info.GetReturnValue().Set(result_list);
 }
@@ -1329,7 +1267,7 @@ NAN_METHOD(ValidateNamespace) {
   Nan::Set(
       result_list, 0,
       Nan::New<v8::String>(std::string(validation_message)).ToLocalChecked());
-  Nan::Set(result_list, 1, Nan::New((int32_t)invalid_index));
+  Nan::Set(result_list, 1, Nan::New(static_cast<int32_t>(invalid_index)));
 
   info.GetReturnValue().Set(result_list);
 }
@@ -2051,8 +1989,6 @@ std::vector<BindingMethod> binding_methods = {
     {"timerGetTimeUntilNextCall", TimerGetTimeUntilNextCall},
     {"createClock", CreateClock},
     {"clockGetNow", ClockGetNow},
-    {"staticClockGetNow", StaticClockGetNow},
-    {"timeDiff", TimeDiff},
     {"createTimePoint", CreateTimePoint},
     {"getNanoseconds", GetNanoseconds},
     {"createDuration", CreateDuration},

package/src/rcl_bindings.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLNODEJS_RCL_BINDINGS_HPP_
-#define RCLNODEJS_RCL_BINDINGS_HPP_
+#ifndef SRC_RCL_BINDINGS_HPP_
+#define SRC_RCL_BINDINGS_HPP_
 
 #include <nan.h>
 #include <rcl/graph.h>
@@ -43,4 +43,4 @@ extern std::vector<BindingMethod> binding_methods;
 
 }  // namespace rclnodejs
 
-#endif
+#endif  // SRC_RCL_BINDINGS_HPP_

package/src/rcl_handle.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLNODEJS_RCL_HANDLE_HPP_
-#define RCLNODEJS_RCL_HANDLE_HPP_
+#ifndef SRC_RCL_HANDLE_HPP_
+#define SRC_RCL_HANDLE_HPP_
 
 #include <nan.h>
 
@@ -68,4 +68,4 @@ class RclHandle : public Nan::ObjectWrap {
 
 }  // namespace rclnodejs
 
-#endif
+#endif  // SRC_RCL_HANDLE_HPP_

package/src/rcl_lifecycle_bindings.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLNODEJS_RCL_LIFECYCLE_BINDINGS_HPP_
-#define RCLNODEJS_RCL_LIFECYCLE_BINDINGS_HPP_
+#ifndef SRC_RCL_LIFECYCLE_BINDINGS_HPP_
+#define SRC_RCL_LIFECYCLE_BINDINGS_HPP_
 
 #include <vector>
 
@@ -25,4 +25,4 @@ extern std::vector<BindingMethod> lifecycle_binding_methods;
 
 }  // namespace rclnodejs
 
-#endif
+#endif  // SRC_RCL_LIFECYCLE_BINDINGS_HPP_

package/src/rcl_utilities.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLNODEJS_RCL_UTILITIES_HPP_
-#define RCLNODEJS_RCL_UTILITIES_HPP_
+#ifndef SRC_RCL_UTILITIES_HPP_
+#define SRC_RCL_UTILITIES_HPP_
 
 #include <string>
 
@@ -37,4 +37,4 @@ std::string GetErrorMessageAndClear();
 
 }  // namespace rclnodejs
 
-#endif
+#endif  // SRC_RCL_UTILITIES_HPP_

package/src/shadow_node.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLNODEJS_SHADOW_NODE_HPP_
-#define RCLNODEJS_SHADOW_NODE_HPP_
+#ifndef SRC_SHADOW_NODE_HPP_
+#define SRC_SHADOW_NODE_HPP_
 
 #include <nan.h>
 
@@ -60,4 +60,4 @@ class ShadowNode : public Nan::ObjectWrap, public Executor::Delegate {
 
 }  // namespace rclnodejs
 
-#endif
+#endif  // SRC_SHADOW_NODE_HPP_

package/types/action_client.d.ts

@@ -1,4 +1,3 @@
-/* eslint-disable camelcase */
 declare module 'rclnodejs' {
   type ActionGoal<T> = T extends ActionTypeClassName
     ? InstanceType<ActionsMap[T]['Goal']>

package/types/action_server.d.ts

@@ -1,4 +1,3 @@
-/* eslint-disable camelcase */
 declare module 'rclnodejs' {
   /**
    * Goal handle for working with Action Servers.

package/types/base.d.ts

@@ -1,28 +1,27 @@
-/* eslint-disable spaced-comment */
-/// <reference path="action_client.d.ts" />
-/// <reference path="action_server.d.ts" />
-/// <reference path="action_uuid.d.ts" />
-/// <reference path="client.d.ts" />
-/// <reference path="clock_type.d.ts" />
-/// <reference path="clock.d.ts" />
-/// <reference path="context.d.ts" />
-/// <reference path="distro.d.ts" />
-/// <reference path="duration.d.ts" />
-/// <reference path="entity.d.ts" />
-/// <reference path="guard_condition.d.ts" />
-/// <reference path="interfaces.d.ts" />
-/// <reference path="lifecycle.d.ts" />
-/// <reference path="lifecycle_publisher.d.ts" />
-/// <reference path="logging.d.ts" />
-/// <reference path="node.d.ts" />
-/// <reference path="node_options.d.ts" />
-/// <reference path="parameter.d.ts" />
-/// <reference path="publisher.d.ts" />
-/// <reference path="qos.d.ts" />
-/// <reference path="rate.d.ts" />
-/// <reference path="service.d.ts" />
-/// <reference path="service_introspection.d.ts" />
-/// <reference path="subscription.d.ts" />
-/// <reference path="time_source.d.ts" />
-/// <reference path="time.d.ts" />
-/// <reference path="timer.d.ts" />
+/// <reference types="./action_client.d.ts" />
+/// <reference types="./action_server.d.ts" />
+/// <reference types="./action_uuid.d.ts" />
+/// <reference types="./client.d.ts" />
+/// <reference types="./clock_type.d.ts" />
+/// <reference types="./clock.d.ts" />
+/// <reference types="./context.d.ts" />
+/// <reference types="./distro.d.ts" />
+/// <reference types="./duration.d.ts" />
+/// <reference types="./entity.d.ts" />
+/// <reference types="./guard_condition.d.ts" />
+/// <reference types="./interfaces.d.ts" />
+/// <reference types="./lifecycle.d.ts" />
+/// <reference types="./lifecycle_publisher.d.ts" />
+/// <reference types="./logging.d.ts" />
+/// <reference types="./node.d.ts" />
+/// <reference types="./node_options.d.ts" />
+/// <reference types="./parameter.d.ts" />
+/// <reference types="./publisher.d.ts" />
+/// <reference types="./qos.d.ts" />
+/// <reference types="./rate.d.ts" />
+/// <reference types="./service.d.ts" />
+/// <reference types="./service_introspection.d.ts" />
+/// <reference types="./subscription.d.ts" />
+/// <reference types="./time_source.d.ts" />
+/// <reference types="./time.d.ts" />
+/// <reference types="./timer.d.ts" />

package/types/duration.d.ts

@@ -10,15 +10,14 @@ declare module 'rclnodejs' {
      * @param seconds - The seconds component of the duration, default = 0.
      * @param nanoseconds - The nanoseconds component of the duration, default = 0.
      */
-    constructor(seconds?: number | string, nanoseconds?: number | string);
+    constructor(seconds?: bigint, nanoseconds?: bigint);
 
     /**
      * Get the nanosecond component of the Duration.
      *
-     * @returns The nanoseconds, if the value is greater than Number.MAX_SAFE_INTEGER (2^53-1),
-     *         will be presented in a string of decimal format.
+     * @returns The nanoseconds.
      */
-    readonly nanoseconds: number | string;
+    readonly nanoseconds: bigint;
 
     /**
      * Test if this Duration is equal to another Duration.

package/types/index.d.ts

@@ -1,5 +1,4 @@
-// eslint-disable-next-line spaced-comment
-/// <reference path="base.d.ts" />
+/// <reference types="./base.d.ts" />
 
 declare module 'rclnodejs' {
   /**

package/types/lifecycle.d.ts

@@ -53,10 +53,8 @@ declare module 'rclnodejs' {
       asMessage(): {
         transition: SerializedState;
 
-        // eslint-disable-next-line camelcase
         start_state: SerializedState;
 
-        // eslint-disable-next-line camelcase
         goal_state: SerializedState;
       };
     }
@@ -249,7 +247,7 @@ declare module 'rclnodejs' {
        * Register a callback function to be invoked during the deactivate() action.
        * @param  cb - The callback function to invoke.
        */
-      registerOnDectivate(cb: TransitionCallback): void;
+      registerOnDeactivate(cb: TransitionCallback): void;
 
       /**
        * Register a callback function to be invoked during the cleanup() action.

package/types/node.d.ts

@@ -1,4 +1,3 @@
-/* eslint-disable camelcase */
 declare module 'rclnodejs' {
   /**
    * Identifies type of ROS message such as msg or srv.
@@ -267,7 +266,7 @@ declare module 'rclnodejs' {
      * @returns New instance of Timer.
      */
     createTimer(
-      period: number,
+      period: bigint,
       callback: TimerRequestCallback,
       clock?: Clock
     ): Timer;

package/types/parameter.d.ts

@@ -1,5 +1,3 @@
-/* eslint-disable camelcase */
-
 declare module 'rclnodejs' {
   /** 
    * The plus/minus tolerance for determining number equivalence.

package/types/publisher.d.ts

@@ -8,7 +8,6 @@ declare module 'rclnodejs' {
      * Topic on which messages are published.
      */
     readonly topic: string;
-
     /**
      * Publish a message
      *

package/types/time.d.ts

@@ -1,6 +1,4 @@
-/* eslint-disable camelcase */
-
-import { Message, builtin_interfaces } from 'rclnodejs';
+import { builtin_interfaces } from 'rclnodejs';
 
 declare module 'rclnodejs' {
   /**
@@ -14,11 +12,7 @@ declare module 'rclnodejs' {
      * @param nanoseconds - The nanoseconds component of the time, default = 0.
      * @param clockType - The clock type, default = Clock.ClockType.SYSTEM_TIME
      */
-    constructor(
-      seconds?: number | string,
-      nanoseconds?: number | string,
-      clockType?: ClockType
-    );
+    constructor(seconds?: bigint, nanoseconds?: bigint, clockType?: ClockType);
 
     /**
      * Get the the clock type of the Time object.
@@ -27,15 +21,13 @@ declare module 'rclnodejs' {
 
     /**
      * Get the nanosecond part of the time.
-     * If the value is greater than Number.MAX_SAFE_INTEGER (2^53-1) it
-     * will be returned in a string of decimal format.
      */
-    readonly nanoseconds: number | string;
+    readonly nanoseconds: bigint;
 
     /**
      * Get the time as a plain JavaScript object.
      */
-    readonly secondsAndNanoseconds: { seconds: number; nanoseconds: number };
+    readonly secondsAndNanoseconds: { seconds: bigint; nanoseconds: bigint };
 
     /**
      * Add a duration to this time object.
@@ -106,7 +98,6 @@ declare module 'rclnodejs' {
      *
      * @returns The new Time message.
      */
-    // eslint-disable-next-line camelcase
     toMsg(): builtin_interfaces.msg.Time;
 
     /**
@@ -116,7 +107,6 @@ declare module 'rclnodejs' {
      * @param clockType - The type of the time object. Default is ClockType.ROS_TIME
      * @returns The new Time.
      */
-    // eslint-disable-next-line camelcase
     static fromMsg(
       msg: builtin_interfaces.msg.Time,
       clockType?: ClockType

package/types/timer.d.ts

@@ -4,9 +4,9 @@ declare module 'rclnodejs' {
    */
   interface Timer {
     /**
-     * Time between callbacks in milliseconds.
+     * Time between callbacks in nanoseconds.
      */
-    readonly period: number;
+    readonly period: bigint;
 
     /**
      * Check if the timer is ready.
@@ -35,15 +35,15 @@ declare module 'rclnodejs' {
     /**
      * Get the interval since the last call of this timer.
      *
-     * @returns The interval value in milliseconds.
+     * @returns The interval value in nanoseconds.
      */
-    timeSinceLastCall(): number;
+    timeSinceLastCall(): bigint;
 
     /**
      * Get the interval until the next call will happen.
      *
-     * @returns The interval value in milliseconds
+     * @returns The interval value in nanoseconds
      */
-    timeUntilNextCall(): number;
+    timeUntilNextCall(): bigint;
   }
 }