rclnodejs 0.32.5 → 1.0.0

package/src/rcl_names_bindings.cpp

@@ -0,0 +1,255 @@
+// Copyright (c) 2025, The Robot Web Tools Contributors
+//
+// 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.
+
+#include "rcl_names_bindings.h"
+
+#include <rcl/error_handling.h>
+#include <rcl/expand_topic_name.h>
+#include <rcl/rcl.h>
+#include <rcl/validate_topic_name.h>
+#include <rmw/error_handling.h>
+#include <rmw/rmw.h>
+#include <rmw/validate_full_topic_name.h>
+#include <rmw/validate_namespace.h>
+#include <rmw/validate_node_name.h>
+
+#include <string>
+
+#include "macros.h"
+#include "rcl_utilities.h"
+
+namespace rclnodejs {
+
+Napi::Value ValidateFullTopicName(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+
+  int validation_result;
+  size_t invalid_index;
+  std::string topic_name = info[0].As<Napi::String>().Utf8Value();
+  rmw_ret_t ret = rmw_validate_full_topic_name(
+      topic_name.c_str(), &validation_result, &invalid_index);
+
+  if (ret != RMW_RET_OK) {
+    if (ret == RMW_RET_BAD_ALLOC) {
+      Napi::Error::New(env, rmw_get_error_string().str)
+          .ThrowAsJavaScriptException();
+    }
+    rmw_reset_error();
+    return env.Undefined();
+  }
+
+  if (validation_result == RMW_NAMESPACE_VALID) {
+    return env.Null();
+  }
+  const char* validation_message =
+      rmw_full_topic_name_validation_result_string(validation_result);
+  THROW_ERROR_IF_EQUAL(nullptr, validation_message,
+                       "Unable to get validation error message");
+
+  Napi::Array result_list = Napi::Array::New(env, 2);
+  result_list.Set(static_cast<uint32_t>(0),
+                  Napi::String::New(env, std::string(validation_message)));
+  result_list.Set(static_cast<uint32_t>(1),
+                  Napi::Number::New(env, static_cast<int32_t>(invalid_index)));
+
+  return result_list;
+}
+
+Napi::Value ValidateNodeName(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+
+  int validation_result;
+  size_t invalid_index;
+  std::string node_name = info[0].As<Napi::String>().Utf8Value();
+  rmw_ret_t ret = rmw_validate_node_name(node_name.c_str(), &validation_result,
+                                         &invalid_index);
+
+  if (ret != RMW_RET_OK) {
+    if (ret == RMW_RET_BAD_ALLOC) {
+      Napi::Error::New(env, rmw_get_error_string().str)
+          .ThrowAsJavaScriptException();
+    }
+    rmw_reset_error();
+    return env.Undefined();
+  }
+
+  if (validation_result == RMW_NODE_NAME_VALID) {
+    return env.Null();
+  }
+  const char* validation_message =
+      rmw_node_name_validation_result_string(validation_result);
+  THROW_ERROR_IF_EQUAL(nullptr, validation_message,
+                       "Unable to get validation error message");
+
+  Napi::Array result_list = Napi::Array::New(env, 2);
+  result_list.Set(static_cast<uint32_t>(0),
+                  Napi::String::New(env, std::string(validation_message)));
+  result_list.Set(static_cast<uint32_t>(1),
+                  Napi::Number::New(env, static_cast<int32_t>(invalid_index)));
+
+  return result_list;
+}
+
+Napi::Value ValidateTopicName(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+
+  int validation_result;
+  size_t invalid_index;
+  std::string topic_name = info[0].As<Napi::String>().Utf8Value();
+  rmw_ret_t ret = rcl_validate_topic_name(topic_name.c_str(),
+                                          &validation_result, &invalid_index);
+
+  if (ret != RMW_RET_OK) {
+    if (ret == RMW_RET_BAD_ALLOC) {
+      Napi::Error::New(env, rmw_get_error_string().str)
+          .ThrowAsJavaScriptException();
+    }
+    rmw_reset_error();
+    return env.Undefined();
+  }
+
+  if (validation_result == RMW_NODE_NAME_VALID) {
+    return env.Null();
+  }
+  const char* validation_message =
+      rcl_topic_name_validation_result_string(validation_result);
+  THROW_ERROR_IF_EQUAL(nullptr, validation_message,
+                       "Unable to get validation error message");
+
+  Napi::Array result_list = Napi::Array::New(env, 2);
+  result_list.Set(static_cast<uint32_t>(0),
+                  Napi::String::New(env, std::string(validation_message)));
+  result_list.Set(static_cast<uint32_t>(1),
+                  Napi::Number::New(env, static_cast<int32_t>(invalid_index)));
+
+  return result_list;
+}
+
+Napi::Value ValidateNamespace(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+
+  int validation_result;
+  size_t invalid_index;
+  std::string namespace_name = info[0].As<Napi::String>().Utf8Value();
+  rmw_ret_t ret = rmw_validate_namespace(namespace_name.c_str(),
+                                         &validation_result, &invalid_index);
+
+  if (ret != RMW_RET_OK) {
+    if (ret == RMW_RET_BAD_ALLOC) {
+      Napi::Error::New(env, rmw_get_error_string().str)
+          .ThrowAsJavaScriptException();
+    }
+    rmw_reset_error();
+    return env.Undefined();
+  }
+
+  if (validation_result == RMW_NODE_NAME_VALID) {
+    return env.Null();
+  }
+  const char* validation_message =
+      rmw_namespace_validation_result_string(validation_result);
+  THROW_ERROR_IF_EQUAL(nullptr, validation_message,
+                       "Unable to get validation error message");
+
+  Napi::Array result_list = Napi::Array::New(env, 2);
+  result_list.Set(static_cast<uint32_t>(0),
+                  Napi::String::New(env, std::string(validation_message)));
+  result_list.Set(static_cast<uint32_t>(1),
+                  Napi::Number::New(env, static_cast<int32_t>(invalid_index)));
+
+  return result_list;
+}
+
+Napi::Value ExpandTopicName(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+
+  std::string topic_name = info[0].As<Napi::String>().Utf8Value();
+  std::string node_name = info[1].As<Napi::String>().Utf8Value();
+  std::string node_namespace = info[2].As<Napi::String>().Utf8Value();
+
+  char* expanded_topic = nullptr;
+  rcl_allocator_t allocator = rcl_get_default_allocator();
+  rcutils_allocator_t rcutils_allocator = rcutils_get_default_allocator();
+  rcutils_string_map_t substitutions_map =
+      rcutils_get_zero_initialized_string_map();
+
+  rcutils_ret_t rcutils_ret =
+      rcutils_string_map_init(&substitutions_map, 0, rcutils_allocator);
+  if (rcutils_ret != RCUTILS_RET_OK) {
+    if (rcutils_ret == RCUTILS_RET_BAD_ALLOC) {
+      rcl_reset_error();
+      Napi::Error::New(env, rcutils_get_error_string().str)
+          .ThrowAsJavaScriptException();
+    }
+    rcutils_reset_error();
+    return env.Undefined();
+  }
+  rcl_ret_t ret = rcl_get_default_topic_name_substitutions(&substitutions_map);
+  if (ret != RCL_RET_OK) {
+    rcl_reset_error();
+
+    if (ret == RCL_RET_BAD_ALLOC) {
+      Napi::Error::New(env, rcl_get_error_string().str)
+          .ThrowAsJavaScriptException();
+    }
+
+    rcutils_ret = rcutils_string_map_fini(&substitutions_map);
+    if (rcutils_ret != RCUTILS_RET_OK) {
+      rcutils_reset_error();
+      Napi::Error::New(env, rcutils_get_error_string().str)
+          .ThrowAsJavaScriptException();
+    }
+    return env.Undefined();
+  }
+
+  ret = rcl_expand_topic_name(topic_name.c_str(), node_name.c_str(),
+                              node_namespace.c_str(), &substitutions_map,
+                              allocator, &expanded_topic);
+
+  rcutils_ret = rcutils_string_map_fini(&substitutions_map);
+  if (rcutils_ret != RCUTILS_RET_OK) {
+    Napi::Error::New(env, rcutils_get_error_string().str)
+        .ThrowAsJavaScriptException();
+    rcutils_reset_error();
+    allocator.deallocate(expanded_topic, allocator.state);
+    return env.Undefined();
+  }
+  if (ret != RCL_RET_OK) {
+    rcl_reset_error();
+    Napi::Error::New(env, rcl_get_error_string().str)
+        .ThrowAsJavaScriptException();
+    return env.Undefined();
+  }
+
+  if (!expanded_topic) {
+    return env.Undefined();
+  }
+
+  rcl_allocator_t topic_allocator = rcl_get_default_allocator();
+  std::string topic(expanded_topic);
+  allocator.deallocate(expanded_topic, topic_allocator.state);
+  return Napi::String::New(env, topic);
+}
+
+Napi::Object InitNamesBindings(Napi::Env env, Napi::Object exports) {
+  exports.Set("validateFullTopicName",
+              Napi::Function::New(env, ValidateFullTopicName));
+  exports.Set("validateNodeName", Napi::Function::New(env, ValidateNodeName));
+  exports.Set("validateTopicName", Napi::Function::New(env, ValidateTopicName));
+  exports.Set("validateNamespace", Napi::Function::New(env, ValidateNamespace));
+  exports.Set("expandTopicName", Napi::Function::New(env, ExpandTopicName));
+  return exports;
+}
+
+}  // namespace rclnodejs

package/src/rcl_names_bindings.h

@@ -0,0 +1,26 @@
+// Copyright (c) 2025, The Robot Web Tools Contributors
+//
+// 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.
+
+#ifndef SRC_RCL_NAMES_BINDINGS_H_
+#define SRC_RCL_NAMES_BINDINGS_H_
+
+#include <napi.h>
+
+namespace rclnodejs {
+
+Napi::Object InitNamesBindings(Napi::Env env, Napi::Object exports);
+
+}
+
+#endif  // SRC_RCL_NAMES_BINDINGS_H_