rclnodejs 0.33.0 → 1.0.0

package/README.md

@@ -43,9 +43,9 @@ npm i rclnodejs@x.y.z
 
 #### RCLNODEJS - ROS 2 Version Compatibility
 
-|                                      RCLNODEJS Version                                       |                                                             Compatible ROS 2 LTS                                                             |
-| :------------------------------------------------------------------------------------------: | :------------------------------------------------------------------------------------------------------------------------------------------: |
-| latest version (currently [v0.33.0](https://github.com/RobotWebTools/rclnodejs/tree/0.33.0)) | [Humble](https://github.com/RobotWebTools/rclnodejs/tree/humble-hawksbill)<br>[Jazzy](https://github.com/RobotWebTools/rclnodejs/tree/jazzy) |
+|                                     RCLNODEJS Version                                      |                                                             Compatible ROS 2 LTS                                                             |
+| :----------------------------------------------------------------------------------------: | :------------------------------------------------------------------------------------------------------------------------------------------: |
+| latest version (currently [v1.0.0](https://github.com/RobotWebTools/rclnodejs/tree/1.0.0)) | [Humble](https://github.com/RobotWebTools/rclnodejs/tree/humble-hawksbill)<br>[Jazzy](https://github.com/RobotWebTools/rclnodejs/tree/jazzy) |
 
 ## Documentation
 

package/binding.gyp

@@ -21,17 +21,31 @@
         './src/addon.cpp',
         './src/executor.cpp',
         './src/handle_manager.cpp',
-        './src/rcl_action_bindings.cpp',
+        './src/rcl_action_client_bindings.cpp',
+        './src/rcl_action_goal_bindings.cpp',
+        './src/rcl_action_server_bindings.cpp',
         './src/rcl_bindings.cpp',
+        './src/rcl_client_bindings.cpp',
+        './src/rcl_context_bindings.cpp',
+        './src/rcl_graph_bindings.cpp',
+        './src/rcl_guard_condition_bindings.cpp',
         './src/rcl_handle.cpp',
         './src/rcl_lifecycle_bindings.cpp',
+        './src/rcl_logging_bindings.cpp',
+        './src/rcl_names_bindings.cpp',
+        './src/rcl_node_bindings.cpp',
+        './src/rcl_publisher_bindings.cpp',
+        './src/rcl_service_bindings.cpp',
+        './src/rcl_subscription_bindings.cpp',
+        './src/rcl_time_point_bindings.cpp',
+        './src/rcl_timer_bindings.cpp',
         './src/rcl_utilities.cpp',
         './src/shadow_node.cpp',
       ],
       'include_dirs': [
         '.',
-        "<!(node -e \"require('nan')\")",
         '<(ros_include_root)',
+        "<!@(node -p \"require('node-addon-api').include\")",
       ],
       'cflags!': [
         '-fno-exceptions'
@@ -51,6 +65,7 @@
         '-lrcl_lifecycle',
         '-lrcutils',
         '-lrcl_yaml_param_parser',
+        '-lrcpputils',
         '-lrmw',
         '-lrosidl_runtime_c',
       ],

package/lib/client.js

@@ -147,15 +147,14 @@ class Client extends Entity {
     }
 
     let type = this.typeClass.type();
-    rclnodejs.configureServiceIntrospection(
+    rclnodejs.configureClientIntrospection(
       this.handle,
       this._nodeHandle,
       clock.handle,
       type.interfaceName,
       type.pkgName,
       qos,
-      introspectionState,
-      false
+      introspectionState
     );
   }
 }

package/lib/context.js

@@ -219,6 +219,14 @@ class Context {
     }
     return defaultContext;
   }
+
+  /**
+   * Get the domain ID of this context.
+   * @returns {Number} domain ID of this context
+   */
+  get domainId() {
+    return rclnodejs.getDomainId(this.handle);
+  }
 }
 
 Context._instances = [];

package/lib/logging.js

@@ -39,14 +39,31 @@ let LoggingSeverity = {
 
 class Caller {
   constructor() {
-    this._info = {};
-    let frame = new Error().stack.split('\n').slice(4, 5)[0];
-    let results = frame.match(/at\s+(.*)\s+\((.*):(\d*):(\d*)\)/i);
-
-    if (results && results.length === 5) {
-      this._info['functionName'] = results[1];
-      this._info['lineNumber'] = results[3];
-      this._info['fileName'] = path.basename(results[2]);
+    this._info = {
+      functionName: 'unknown',
+      fileName: 'unknown',
+      lineNumber: 'unknown',
+    };
+
+    const stackLines = new Error().stack.split('\n');
+
+    // Adjust the index (usually 3 or 4) to correctly point to the caller frame.
+    const callerFrame = stackLines[4] || stackLines[3];
+    // Match both named and anonymous function stack frames.
+    const frameRegex = /^\s*at\s+(?:(.+)\s+\()?(.+):(\d+):(\d+)\)?$/;
+    const match = callerFrame.match(frameRegex);
+    if (match && match.length === 5) {
+      this._info.functionName = match[1] || '(anonymous)';
+      this._info.fileName = path.basename(match[2]);
+      this._info.lineNumber = match[3];
+    } else {
+      // Handle anonymous functions or different stack formats.
+      const altMatch = callerFrame.match(/at\s+(.*):(\d+):(\d+)/i);
+      if (altMatch && altMatch.length >= 4) {
+        this._info.functionName = '(anonymous)';
+        this._info.fileName = path.basename(altMatch[1]);
+        this._info.lineNumber = altMatch[2];
+      }
     }
   }
 
@@ -156,7 +173,7 @@ class Logging {
       severity,
       message,
       caller.functionName,
-      caller.lineNumber,
+      parseInt(caller.lineNumber, 10),
       caller.fileName
     );
   }

package/lib/node.js

@@ -21,6 +21,7 @@ const Client = require('./client.js');
 const Clock = require('./clock.js');
 const Context = require('./context.js');
 const debug = require('debug')('rclnodejs:node');
+const DistroUtils = require('./distro.js');
 const GuardCondition = require('./guard_condition.js');
 const loader = require('./interface_loader.js');
 const Logging = require('./logging.js');
@@ -1013,6 +1014,32 @@ class Node extends rclnodejs.ShadowNode {
     return rclnodejs.getServiceNamesAndTypes(this.handle);
   }
 
+  /**
+   * Get a list of publishers on a given topic.
+   * @param {string} topic - the topic name to get the publishers for.
+   * @param {boolean} noDemangle - if `true`, `topic_name` needs to be a valid middleware topic name,
+   *       otherwise it should be a valid ROS topic name.
+   * @returns {Array} - list of publishers
+   */
+  getPublishersInfoByTopic(topic, noDemangle) {
+    return rclnodejs.getPublishersInfoByTopic(this.handle, topic, noDemangle);
+  }
+
+  /**
+   * Get a list of subscriptions on a given topic.
+   * @param {string} topic - the topic name to get the subscriptions for.
+   * @param {boolean} noDemangle - if `true`, `topic_name` needs to be a valid middleware topic name,
+   *       otherwise it should be a valid ROS topic name.
+   * @returns {Array} - list of subscriptions
+   */
+  getSubscriptionsInfoByTopic(topic, noDemangle) {
+    return rclnodejs.getSubscriptionsInfoByTopic(
+      this.handle,
+      topic,
+      noDemangle
+    );
+  }
+
   /**
    * Get the list of nodes discovered by the provided node.
    * @return {Array<string>} - An array of the names.
@@ -1061,6 +1088,32 @@ class Node extends rclnodejs.ShadowNode {
     return rclnodejs.countSubscribers(this.handle, expandedTopic);
   }
 
+  /**
+   * Get the number of clients on a given service name.
+   * @param {string} serviceName - the service name
+   * @returns {Number}
+   */
+  countClients(serviceName) {
+    if (DistroUtils.getDistroId() <= DistroUtils.getDistroId('humble')) {
+      console.warn('countClients is not supported by this version of ROS 2');
+      return null;
+    }
+    return rclnodejs.countClients(this.handle, serviceName);
+  }
+
+  /**
+   * Get the number of services on a given service name.
+   * @param {string} serviceName - the service name
+   * @returns {Number}
+   */
+  countServices(serviceName) {
+    if (DistroUtils.getDistroId() <= DistroUtils.getDistroId('humble')) {
+      console.warn('countServices is not supported by this version of ROS 2');
+      return null;
+    }
+    return rclnodejs.countServices(this.handle, serviceName);
+  }
+
   /**
    * Get the list of parameter-overrides found on the commandline and
    * in the NodeOptions.parameter_overrides property.

package/lib/publisher.js

@@ -72,6 +72,14 @@ class Publisher extends Entity {
     );
     return new Publisher(handle, typeClass, topic, options);
   }
+
+  /**
+   * Get the number of subscriptions to this publisher.
+   * @returns {number} The number of subscriptions
+   */
+  get subscriptionCount() {
+    return rclnodejs.getSubscriptionCount(this._handle);
+  }
 }
 
 module.exports = Publisher;

package/lib/service.js

@@ -138,10 +138,17 @@ class Service extends Entity {
       type.interfaceName,
       type.pkgName,
       qos,
-      introspectionState,
-      true
+      introspectionState
     );
   }
+
+  /**
+   * Get the options of this service.
+   * @return {object} The options of this service.
+   */
+  getOptions() {
+    return rclnodejs.getOptions(this._handle);
+  }
 }
 
 module.exports = Service;

package/lib/subscription.js

@@ -116,6 +116,14 @@ class Subscription extends Entity {
       ? rclnodejs.clearContentFilter(this.handle)
       : true;
   }
+
+  /**
+   * Get the number of publishers to this subscription.
+   * @returns {number} The number of publishers
+   */
+  get publisherCount() {
+    return rclnodejs.getPublisherCount(this._handle);
+  }
 }
 
 module.exports = Subscription;

package/lib/timer.js

@@ -15,6 +15,7 @@
 'use strict';
 
 const rclnodejs = require('bindings')('rclnodejs');
+const DistroUtils = require('./distro.js');
 
 /**
  * @class - Class representing a Timer in ROS
@@ -86,6 +87,37 @@ class Timer {
   timeUntilNextCall() {
     return rclnodejs.timerGetTimeUntilNextCall(this._handle);
   }
+
+  /**
+   * Change the timer period.
+   * @param {bigint} period - The new period in nanoseconds.
+   * @return {undefined}
+   */
+  changeTimerPeriod(period) {
+    rclnodejs.changeTimerPeriod(this._handle, period);
+  }
+
+  /**
+   * Get the timer period.
+   * @return {bigint} - The period in nanoseconds.
+   */
+  get timerPeriod() {
+    return rclnodejs.getTimerPeriod(this._handle);
+  }
+
+  /**
+   * Call a timer and starts counting again, retrieves actual and expected call time.
+   * @return {object} - The timer information.
+   */
+  callTimerWithInfo() {
+    if (DistroUtils.getDistroId() <= DistroUtils.getDistroId('humble')) {
+      console.warn(
+        'callTimerWithInfo is not supported by this version of ROS 2'
+      );
+      return;
+    }
+    return rclnodejs.callTimerWithInfo(this._handle);
+  }
 }
 
 module.exports = Timer;

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "rclnodejs",
-  "version": "0.33.0",
+  "version": "1.0.0",
   "description": "ROS2.0 JavaScript client with Node.js",
   "main": "index.js",
   "types": "types/index.d.ts",
@@ -26,7 +26,7 @@
     "docs": "cd docs && make",
     "test": "nyc node --expose-gc ./scripts/run_test.js && tsd",
     "lint": "eslint && node ./scripts/cpplint.js",
-    "format": "clang-format -i -style=file ./src/*.cpp ./src/*.hpp && npx --yes prettier --write \"{lib,rosidl_gen,rostsd_gen,rosidl_parser,types,example,test,scripts,benchmark,rostsd_gen}/**/*.{js,md,ts}\" ./*.{js,md,ts}",
+    "format": "clang-format -i -style=file ./src/*.cpp ./src/*.h && npx --yes prettier --write \"{lib,rosidl_gen,rostsd_gen,rosidl_parser,types,example,test,scripts,benchmark,rostsd_gen}/**/*.{js,md,ts}\" ./*.{js,md,ts}",
     "prepare": "husky",
     "coverage": "cat ./coverage/lcov.info | ./node_modules/coveralls/bin/coveralls.js"
   },
@@ -79,9 +79,9 @@
     "fs-extra": "^11.2.0",
     "is-close": "^1.3.3",
     "json-bigint": "^1.0.0",
-    "nan": "^2.22.0",
     "terser": "^5.39.0",
-    "walk": "^2.3.15"
+    "walk": "^2.3.15",
+    "node-addon-api": "^8.3.1"
   },
   "husky": {
     "hooks": {

package/scripts/config.js

@@ -29,6 +29,7 @@ const dependencies = [
   'builtin_interfaces',
   'rcl_lifecycle',
   'lifecycle_msgs',
+  'rcpputils',
   'rosidl_runtime_c',
   'rosidl_dynamic_typesupport',
   'type_description_interfaces',

package/scripts/npmjs-readme.md

@@ -43,9 +43,9 @@ npm i rclnodejs@x.y.z
 
 #### RCLNODEJS - ROS 2 Version Compatibility
 
-|                                      RCLNODEJS Version                                       |                                                             Compatible ROS 2 LTS                                                             |
-| :------------------------------------------------------------------------------------------: | :------------------------------------------------------------------------------------------------------------------------------------------: |
-| latest version (currently [v0.33.0](https://github.com/RobotWebTools/rclnodejs/tree/0.33.0)) | [Humble](https://github.com/RobotWebTools/rclnodejs/tree/humble-hawksbill)<br>[Jazzy](https://github.com/RobotWebTools/rclnodejs/tree/jazzy) |
+|                                     RCLNODEJS Version                                      |                                                             Compatible ROS 2 LTS                                                             |
+| :----------------------------------------------------------------------------------------: | :------------------------------------------------------------------------------------------------------------------------------------------: |
+| latest version (currently [v1.0.0](https://github.com/RobotWebTools/rclnodejs/tree/1.0.0)) | [Humble](https://github.com/RobotWebTools/rclnodejs/tree/humble-hawksbill)<br>[Jazzy](https://github.com/RobotWebTools/rclnodejs/tree/jazzy) |
 
 ## Documentation
 

package/src/addon.cpp

@@ -12,29 +12,39 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <nan.h>
+#include <node_api.h>
+#include <rcutils/logging.h>
 
-#include "macros.hpp"
-#include "rcl_action_bindings.hpp"
-#include "rcl_bindings.hpp"
-#include "rcl_handle.hpp"
-#include "rcl_lifecycle_bindings.hpp"
-#include "rcutils/logging.h"
-#include "rcutils/macros.h"
-#include "shadow_node.hpp"
+#include "macros.h"
+#include "rcl_action_client_bindings.h"
+#include "rcl_action_goal_bindings.h"
+#include "rcl_action_server_bindings.h"
+#include "rcl_bindings.h"
+#include "rcl_client_bindings.h"
+#include "rcl_context_bindings.h"
+#include "rcl_graph_bindings.h"
+#include "rcl_guard_condition_bindings.h"
+#include "rcl_handle.h"
+#include "rcl_lifecycle_bindings.h"
+#include "rcl_logging_bindings.h"
+#include "rcl_names_bindings.h"
+#include "rcl_node_bindings.h"
+#include "rcl_publisher_bindings.h"
+#include "rcl_service_bindings.h"
+#include "rcl_subscription_bindings.h"
+#include "rcl_time_point_bindings.h"
+#include "rcl_timer_bindings.h"
+#include "rcl_utilities.h"
+#include "shadow_node.h"
 
-bool IsRunningInElectronRenderer() {
-  auto global = Nan::GetCurrentContext()->Global();
-  auto process =
-      Nan::To<v8::Object>(Nan::Get(global, Nan::New("process").ToLocalChecked())
-                              .ToLocalChecked())
-          .ToLocalChecked();
-  auto process_type =
-      Nan::Get(process, Nan::New("type").ToLocalChecked()).ToLocalChecked();
-  return process_type->StrictEquals(Nan::New("renderer").ToLocalChecked());
+bool IsRunningInElectronRenderer(const Napi::Env& env) {
+  Napi::Object global = env.Global();
+  Napi::Object process = global.Get("process").As<Napi::Object>();
+  Napi::Value processType = process.Get("type");
+  return processType.StrictEquals(Napi::String::New(env, "renderer"));
 }
 
-void InitModule(v8::Local<v8::Object> exports) {
+Napi::Object InitModule(Napi::Env env, Napi::Object exports) {
 // workaround process name mangling by chromium
 //
 // rcl logging uses `program_invocation_name` to determine the log file,
@@ -43,7 +53,7 @@ void InitModule(v8::Local<v8::Object> exports) {
 // occurence of ' -' with the null terminator. see:
 // https://unix.stackexchange.com/questions/432419/unexpected-non-null-encoding-of-proc-pid-cmdline
 #if defined(__linux__) && defined(__GLIBC__)
-  if (IsRunningInElectronRenderer()) {
+  if (IsRunningInElectronRenderer(env)) {
     auto prog_name = program_invocation_name;
     auto end = strstr(prog_name, " -");
     assert(end);
@@ -51,44 +61,35 @@ void InitModule(v8::Local<v8::Object> exports) {
   }
 #endif
 
-  v8::Local<v8::Context> context = exports->GetIsolate()->GetCurrentContext();
-
-  for (uint32_t i = 0; i < rclnodejs::binding_methods.size(); i++) {
-    Nan::Set(
-        exports, Nan::New(rclnodejs::binding_methods[i].name).ToLocalChecked(),
-        Nan::New<v8::FunctionTemplate>(rclnodejs::binding_methods[i].function)
-            ->GetFunction(context)
-            .ToLocalChecked());
-  }
-
-  for (uint32_t i = 0; i < rclnodejs::action_binding_methods.size(); i++) {
-    Nan::Set(
-        exports,
-        Nan::New(rclnodejs::action_binding_methods[i].name).ToLocalChecked(),
-        Nan::New<v8::FunctionTemplate>(
-            rclnodejs::action_binding_methods[i].function)
-            ->GetFunction(context)
-            .ToLocalChecked());
-  }
-
-  for (uint32_t i = 0; i < rclnodejs::lifecycle_binding_methods.size(); i++) {
-    Nan::Set(
-        exports,
-        Nan::New(rclnodejs::lifecycle_binding_methods[i].name).ToLocalChecked(),
-        Nan::New<v8::FunctionTemplate>(
-            rclnodejs::lifecycle_binding_methods[i].function)
-            ->GetFunction(context)
-            .ToLocalChecked());
-  }
-
-  rclnodejs::ShadowNode::Init(exports);
-  rclnodejs::RclHandle::Init(exports);
+  rclnodejs::StoreEnv(env);
+  // Init the C++ bindings.
+  rclnodejs::InitBindings(env, exports);
+  rclnodejs::InitActionClientBindings(env, exports);
+  rclnodejs::InitActionGoalBindings(env, exports);
+  rclnodejs::InitActionServerBindings(env, exports);
+  rclnodejs::InitClientBindings(env, exports);
+  rclnodejs::InitContextBindings(env, exports);
+  rclnodejs::InitGraphBindings(env, exports);
+  rclnodejs::InitGuardConditionBindings(env, exports);
+  rclnodejs::InitLoggingBindings(env, exports);
+  rclnodejs::InitNamesBindings(env, exports);
+  rclnodejs::InitNodeBindings(env, exports);
+  rclnodejs::InitPublisherBindings(env, exports);
+  rclnodejs::InitServiceBindings(env, exports);
+  rclnodejs::InitSubscriptionBindings(env, exports);
+  rclnodejs::InitTimePointBindings(env, exports);
+  rclnodejs::InitTimerBindings(env, exports);
+  rclnodejs::InitLifecycleBindings(env, exports);
+  rclnodejs::ShadowNode::Init(env, exports);
+  rclnodejs::RclHandle::Init(env, exports);
 
 #ifdef DEBUG_ON
   int result = rcutils_logging_set_logger_level(PACKAGE_NAME,
                                                 RCUTILS_LOG_SEVERITY_DEBUG);
   RCUTILS_UNUSED(result);
 #endif
+
+  return exports;
 }
 
-NODE_MODULE(rclnodejs, InitModule);
+NODE_API_MODULE(rclnodejs, InitModule)

package/src/executor.cpp

@@ -12,16 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "executor.hpp"
+#include "executor.h"
 
 #include <rcl/error_handling.h>
 
 #include <stdexcept>
 #include <string>
 
-#include "handle_manager.hpp"
-#include "macros.hpp"
-#include "rcl_bindings.hpp"
+#include "handle_manager.h"
+#include "macros.h"
+#include "rcl_bindings.h"
 
 #ifdef WIN32
 #define UNUSED
@@ -41,12 +41,14 @@ struct RclResult {
   std::string error_msg;
 };
 
-Executor::Executor(HandleManager* handle_manager, Delegate* delegate)
+Executor::Executor(Napi::Env env, HandleManager* handle_manager,
+                   Delegate* delegate)
     : async_(nullptr),
       main_thread_(uv_thread_self()),
       handle_manager_(handle_manager),
       delegate_(delegate),
-      context_(nullptr) {
+      context_(nullptr),
+      env_(env) {
   running_.store(false);
 }
 
@@ -74,12 +76,19 @@ void Executor::SpinOnce(rcl_context_t* context, int32_t time_out) {
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
   rcl_ret_t ret = rcl_wait_set_init(&wait_set, 0, 0, 0, 0, 0, 0, context,
                                     rcl_get_default_allocator());
-  if (ret != RCL_RET_OK) Nan::ThrowError(rcl_get_error_string().str);
+  if (ret != RCL_RET_OK) {
+    Napi::Error::New(env_, rcl_get_error_string().str)
+        .ThrowAsJavaScriptException();
+    return;
+  }
 
   RclResult wait_result = WaitForReadyCallbacks(&wait_set, time_out);
 
-  if (wait_result.ret != RCL_RET_OK)
-    Nan::ThrowError(wait_result.error_msg.c_str());
+  if (wait_result.ret != RCL_RET_OK) {
+    Napi::Error::New(env_, wait_result.error_msg.c_str())
+        .ThrowAsJavaScriptException();
+    return;
+  }
 
   if (handle_manager_->ready_handles_count() > 0) ExecuteReadyHandles();
 
@@ -87,7 +96,7 @@ void Executor::SpinOnce(rcl_context_t* context, int32_t time_out) {
     std::string error_message =
         std::string("Failed to destroy guard waitset:") +
         std::string(rcl_get_error_string().str);
-    Nan::ThrowError(error_message.c_str());
+    Napi::Error::New(env_, error_message.c_str()).ThrowAsJavaScriptException();
   }
 }
 

package/src/{executor.hpp → executor.h}

@@ -12,9 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef SRC_EXECUTOR_HPP_
-#define SRC_EXECUTOR_HPP_
+#ifndef SRC_EXECUTOR_H_
+#define SRC_EXECUTOR_H_
 
+#include <napi.h>
 #include <rcl/wait.h>
 #include <uv.h>
 
@@ -22,7 +23,7 @@
 #include <exception>
 #include <vector>
 
-#include "rcl_handle.hpp"
+#include "rcl_handle.h"
 
 namespace rclnodejs {
 
@@ -37,7 +38,7 @@ class Executor {
     virtual void CatchException(std::exception_ptr e_ptr) = 0;
   };
 
-  Executor(HandleManager* handle_manager, Delegate* delegate);
+  Executor(Napi::Env env, HandleManager* handle_manager, Delegate* delegate);
   ~Executor();
 
   void Start(rcl_context_t* context, int32_t time_out);
@@ -68,10 +69,11 @@ class Executor {
   Delegate* delegate_;
   rcl_context_t* context_;
   int32_t time_out_;
+  Napi::Env env_;
 
   std::atomic_bool running_;
 };
 
 }  // namespace rclnodejs
 
-#endif  // SRC_EXECUTOR_HPP_
+#endif  // SRC_EXECUTOR_H_