rclnodejs 0.31.0 → 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 [v0.31.0](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) |
+| 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/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/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

@@ -1496,7 +1496,7 @@ class Node extends rclnodejs.ShadowNode {
       );
     }
 
-    // publish ParameterEvent
+    // Publish ParameterEvent.
     this._parameterEventPublisher.publish(parameterEvent);
 
     return {
@@ -1549,7 +1549,7 @@ class Node extends rclnodejs.ShadowNode {
       // detect invalid parameter
       try {
         parameter.validate();
-      } catch (e) {
+      } catch {
         return {
           successful: false,
           reason: `Invalid ${parameter.name}`,
@@ -1577,7 +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

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');

package/lib/time_source.js

@@ -17,7 +17,6 @@
 const rclnodejs = require('bindings')('rclnodejs');
 const { Clock, ROSClock } = require('./clock.js');
 const { ClockType } = Clock;
-const Node = require('./node.js');
 const { Parameter, ParameterType } = require('./parameter.js');
 const Time = require('./time.js');
 

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "rclnodejs",
-  "version": "0.31.0",
+  "version": "0.32.0",
   "description": "ROS2.0 JavaScript client with Node.js",
   "main": "index.js",
   "types": "types/index.d.ts",
@@ -17,15 +17,14 @@
     "build:dev": "node-gyp -j 16 build --debug",
     "rebuild": "npm run clean && node-gyp -j 16 rebuild",
     "rebuild:dev": "npm run clean && node-gyp -j 16 rebuild --debug",
-    "generate-messages": "node scripts/generate_messages.js",
-    "generate-messages:dev": "node scripts/generate_messages.js --debug",
+    "generate-messages": "node scripts/generate_messages.js && node scripts/generate_tsd.js",
+    "generate-messages:dev": "node scripts/generate_messages.js --debug && node scripts/generate_tsd.js",
     "clean": "node-gyp clean && rimraf ./generated",
     "install": "npm run rebuild",
     "postinstall": "npm run generate-messages",
     "docs": "cd docs && make",
-    "test": "node --expose-gc ./scripts/run_test.js && npm run dtslint",
-    "dtslint": "node scripts/generate_tsd.js",
-    "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",
+    "test": "node --expose-gc ./scripts/run_test.js && npx tsd",
+    "lint": "eslint && node ./scripts/cpplint.js",
     "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}",
     "prepare": "husky"
   },
@@ -43,46 +42,43 @@
     "type": "git",
     "url": "git+https://github.com/RobotWebTools/rclnodejs.git"
   },
-  "//": "Pin deep-equal to ^1.1.1",
   "devDependencies": {
-    "@babel/eslint-parser": "^7.25.9",
+    "@eslint/js": "^10.0.0",
+    "@types/node": "^22.13.9",
     "@typescript-eslint/eslint-plugin": "^8.18.0",
     "@typescript-eslint/parser": "^8.18.0",
-    "babel-eslint": "^10.1.0",
     "clang-format": "^1.8.0",
     "commander": "^13.1.0",
-    "deep-equal": "^1.1.1",
+    "deep-equal": "^2.2.3",
     "eslint": "^9.16.0",
-    "eslint-config-prettier": "^10.0.1",
+    "eslint-config-prettier": "^10.0.2",
     "eslint-plugin-prettier": "^5.2.1",
+    "globals": "^16.0.0",
     "husky": "^9.1.7",
     "jsdoc": "^4.0.4",
     "lint-staged": "^15.2.10",
     "mocha": "^11.0.2",
+    "rimraf": "^6.0.1",
     "sinon": "^19.0.2",
     "tree-kill": "^1.2.2",
-    "typescript": "^5.7.2"
+    "tsd": "^0.31.2",
+    "typescript": "^5.7.2",
+    "uuid": "^11.0.3"
   },
   "dependencies": {
     "@rclnodejs/ref-array-di": "^1.2.2",
     "@rclnodejs/ref-napi": "^4.0.0",
     "@rclnodejs/ref-struct-di": "^1.1.1",
-    "array.prototype.flat": "^1.3.2",
     "bindings": "^1.5.0",
     "compare-versions": "^6.1.1",
     "debug": "^4.4.0",
     "dot": "^1.1.3",
-    "dtslint": "^4.2.1",
     "fs-extra": "^11.2.0",
-    "json-bigint": "^1.0.0",
     "is-close": "^1.3.3",
-    "mkdirp": "^3.0.1",
-    "mz": "^2.7.0",
+    "json-bigint": "^1.0.0",
     "nan": "^2.22.0",
-    "rimraf": "^6.0.1",
-    "uuid": "^11.0.3",
-    "walk": "^2.3.15",
-    "prettier": "^3.4.2"
+    "prettier": "^3.4.2",
+    "walk": "^2.3.15"
   },
   "husky": {
     "hooks": {
@@ -97,6 +93,9 @@
       "clang-format -i -style=file"
     ]
   },
+  "tsd": {
+    "directory": "test/types"
+  },
   "engines": {
     "node": ">= 16.13.0"
   }

package/rosidl_gen/action_msgs.js

@@ -12,7 +12,6 @@
 
 'use strict';
 
-/* eslint-disable camelcase */
 const GOAL_ID_FIELD = {
   name: 'goal_id',
   type: {

package/rosidl_gen/filter.js

@@ -1,3 +1,17 @@
+// 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 fs = require('fs');
 const path = require('path');
 const os = require('os');
@@ -73,7 +87,6 @@ const RosPackageFilters = {
 
     if (!fs.existsSync(blocklistPath)) return;
 
-    // eslint-disable-next-line
     let blocklistData = JSON.parse(fs.readFileSync(blocklistPath, 'utf8'));
 
     let filters = blocklistData.map((pkgFilterData) => {

package/rosidl_gen/generator.json

@@ -1,6 +1,6 @@
 {
   "name": "rosidl-generator",
-  "version": "0.5.0",
+  "version": "0.5.1",
   "description": "Generate JavaScript object from ROS IDL(.msg) files",
   "main": "index.js",
   "authors": [

package/rosidl_gen/index.js

@@ -64,7 +64,6 @@ async function generateAll(forcedGenerating) {
 
 const generator = {
   version() {
-    // eslint-disable-next-line
     return fse.readJsonSync(path.join(__dirname, 'generator.json')).version;
   },
 

package/rosidl_gen/message_translator.js

@@ -14,10 +14,6 @@
 
 'use strict';
 
-/* eslint-disable max-depth */
-
-const debug = require('debug')('rclnodejs:message_translator');
-
 function isTypedArray(value) {
   return ArrayBuffer.isView(value) && !(value instanceof DataView);
 }
@@ -39,7 +35,6 @@ function copyMsgObject(msg, obj) {
           // It's an array
           if (typeof obj[i][0] === 'object') {
             // It's an array of objects: converting to ROS message objects
-
             // 1. Extract the element-type first
             // 2. Build the array by translate every elements
             let msgArray = [];
@@ -66,8 +61,7 @@ function copyMsgObject(msg, obj) {
 function verifyMessage(message, obj) {
   if (message.constructor.isROSArray) {
     // It's a ROS message array
-    //  Note: there won't be any JavaScript array in message
-
+    // Note: there won't be any JavaScript array in message.
     if (!Array.isArray(obj)) {
       return false;
     }
@@ -131,13 +125,12 @@ function toPlainObject(message, enableTypedArray = true) {
 
   if (message.constructor.isROSArray) {
     // It's a ROS message array
-    //  Note: there won't be any JavaScript array in message
+    // Note: there won't be any JavaScript array in message.
     let array = [];
     message.data.forEach((e) => {
       array.push(toPlainObject(e, enableTypedArray)); // Translate every elements
     });
     return array;
-    // eslint-disable-next-line no-else-return
   } else {
     // It's a ROS message
     const def = message.constructor.ROSMessageDef;

package/rosidl_gen/packages.js

@@ -20,7 +20,6 @@ const readline = require('readline');
 const path = require('path');
 const walk = require('walk');
 const os = require('os');
-const flat = require('array.prototype.flat');
 const pkgFilters = require('../rosidl_gen/filter.js');
 
 const fsp = fs.promises;
@@ -193,8 +192,7 @@ async function findAmentPackagesInDirectory(dir) {
     pkgs.map((pkg) => getPackageDefinitionsFiles(pkg, dir))
   );
 
-  // Support flat() method for nodejs < 11.
-  const rosFiles = Array.prototype.flat ? files.flat() : flat(files);
+  const rosFiles = files.flat();
   const pkgMap = new Map();
   await Promise.all(
     rosFiles.map((filePath) => addInterfaceInfos(filePath, dir, pkgMap))

package/rosidl_gen/primitive_types.js

@@ -18,8 +18,6 @@ const ref = require('@rclnodejs/ref-napi');
 const StructType = require('@rclnodejs/ref-struct-di')(ref);
 const rclnodejs = require('bindings')('rclnodejs');
 
-/* eslint-disable camelcase */
-
 const StringRefStruct = StructType({
   data: ref.types.CString,
   size: ref.types.size_t,
@@ -65,5 +63,3 @@ module.exports = {
   wstring: StringRefStruct,
   initString: initString,
 };
-
-/* eslint-enable camelcase */

package/rosidl_gen/templates/message.dot

@@ -824,6 +824,10 @@ class {{=arrayWrapper}} {
   get classType() {
     return {{=arrayWrapper}};
   }
+
+  toPlainObject(enableTypedArray) {
+    return translator.toPlainObject(this, enableTypedArray);
+  }
 }
 
 {{? it.spec.constants != undefined && it.spec.constants.length}}

package/rostsd_gen/index.js

@@ -1,6 +1,3 @@
-/* eslint-disable max-depth */
-/* eslint-disable no-sync */
-/* eslint-disable camelcase */
 // 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

package/scripts/cpplint.js

@@ -18,10 +18,9 @@ const exec = require('child_process').exec;
 
 const cmd = 'wget -nc ';
 const cpplintUrl =
-  'https://raw.githubusercontent.com/google/styleguide' +
-  '/gh-pages/cpplint/cpplint.py';
+  'https://raw.githubusercontent.com/cpplint/cpplint/refs/heads/develop/cpplint.py';
 const root = `${__dirname}/../src`;
-const args = `--extensions=cpp,h,hpp,cc ${root}/*`;
+const args = `--filter=-build/include_subdir,-whitespace/indent_namespace --extensions=cpp,h,hpp,cc ${root}/*`;
 
 console.log('Downloading the cpplint...');
 exec(cmd + cpplintUrl, (err, stdout, stderr) => {
@@ -29,7 +28,7 @@ exec(cmd + cpplintUrl, (err, stdout, stderr) => {
     console.log(`Downloading failed: ${stderr}`);
   } else {
     console.log('Running the cpplint...');
-    exec('python cpplint.py ' + args, (err, stdout, stderr) => {
+    exec('python3 cpplint.py ' + args, (err, stdout, stderr) => {
       console.log(stdout);
       if (err) {
         console.log(stderr);

package/scripts/generate_messages.js

@@ -1,6 +1,5 @@
 #!/usr/bin/env node
 
-/* eslint-disable camelcase */
 // Copyright (c) 2018 Intel Corporation. All rights reserved.
 
 // Licensed under the Apache License, Version 2.0 (the "License");
@@ -15,6 +14,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+/* eslint-disable camelcase */
 'use strict';
 
 const generator = require('../rosidl_gen/index.js');

package/scripts/npmjs-readme.md

@@ -45,7 +45,7 @@ npm i rclnodejs@x.y.z
 
 |                                      RCLNODEJS Version                                       |                                                             Compatible ROS 2 LTS                                                             |
 | :------------------------------------------------------------------------------------------: | :------------------------------------------------------------------------------------------------------------------------------------------: |
-| latest version (currently [v0.31.0](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) |
+| 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/scripts/ros_distro.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('../lib/distro');

package/scripts/run_test.js

@@ -19,8 +19,6 @@ const Mocha = require('mocha');
 const os = require('os');
 const path = require('path');
 
-let rootDir = path.dirname(__dirname);
-
 fs.remove(path.join(path.dirname(__dirname), 'generated'), (err) => {
   if (!err) {
     let mocha = new Mocha();

package/src/executor.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLNODEJS_EXECUTOR_HPP_
-#define RCLNODEJS_EXECUTOR_HPP_
+#ifndef SRC_EXECUTOR_HPP_
+#define SRC_EXECUTOR_HPP_
 
 #include <rcl/wait.h>
 #include <uv.h>
@@ -74,4 +74,4 @@ class Executor {
 
 }  // namespace rclnodejs
 
-#endif
+#endif  // SRC_EXECUTOR_HPP_

package/src/handle_manager.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLNODEJS_HANDLE_MANAGER_HPP_
-#define RCLNODEJS_HANDLE_MANAGER_HPP_
+#ifndef SRC_HANDLE_MANAGER_HPP_
+#define SRC_HANDLE_MANAGER_HPP_
 
 #include <nan.h>
 #include <rcl/wait.h>
@@ -132,4 +132,4 @@ class HandleManager {
 
 }  // namespace rclnodejs
 
-#endif
+#endif  // SRC_HANDLE_MANAGER_HPP_

package/src/macros.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLNODEJS_MARCOS_HPP_
-#define RCLNODEJS_MARCOS_HPP_
+#ifndef SRC_MACROS_HPP_
+#define SRC_MACROS_HPP_
 
 #include "rcutils/logging_macros.h"
 
@@ -43,4 +43,4 @@
 #define RCLNODEJS_DEBUG(...)
 #endif
 
-#endif
+#endif  // SRC_MACROS_HPP_

package/src/rcl_action_bindings.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLNODEJS_RCL_ACTION_BINDINGS_HPP_
-#define RCLNODEJS_RCL_ACTION_BINDINGS_HPP_
+#ifndef SRC_RCL_ACTION_BINDINGS_HPP_
+#define SRC_RCL_ACTION_BINDINGS_HPP_
 
 #include <nan.h>
 #include <rcl/rcl.h>
@@ -28,4 +28,4 @@ extern std::vector<BindingMethod> action_binding_methods;
 
 }  // namespace rclnodejs
 
-#endif
+#endif  // SRC_RCL_ACTION_BINDINGS_HPP_

package/src/rcl_bindings.cpp

@@ -40,6 +40,7 @@
 #include <rcl/service_introspection.h>
 #endif
 
+#include <cstdio>
 #include <iostream>
 #include <memory>
 #include <string>
@@ -710,7 +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 =
@@ -964,7 +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) {
@@ -981,7 +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;
   }
 
@@ -1162,7 +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);
 }
@@ -1197,7 +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);
 }
@@ -1232,7 +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);
 }
@@ -1267,7 +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);
 }

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/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.

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' {
   /**
@@ -100,7 +98,6 @@ declare module 'rclnodejs' {
      *
      * @returns The new Time message.
      */
-    // eslint-disable-next-line camelcase
     toMsg(): builtin_interfaces.msg.Time;
 
     /**
@@ -110,7 +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