rclnodejs 0.33.0 → 1.0.0

package/src/rcl_action_bindings.cpp

@@ -1,826 +0,0 @@
-// Copyright (c) 2020 Matt Richard. All rights reserved.
-//
-// 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_action_bindings.hpp"
-
-#include <rcl/error_handling.h>
-#include <rcl/graph.h>
-#include <rcl/rcl.h>
-#include <rcl_action/rcl_action.h>
-#include <rmw/error_handling.h>
-
-#include <memory>
-#include <string>
-#include <vector>
-
-#include "handle_manager.hpp"
-#include "macros.hpp"
-#include "rcl_handle.hpp"
-#include "rcl_utilities.hpp"
-
-namespace rclnodejs {
-
-NAN_METHOD(ActionCreateClient) {
-  v8::Local<v8::Context> currentContent = Nan::GetCurrentContext();
-  RclHandle* node_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[0]).ToLocalChecked());
-  rcl_node_t* node = reinterpret_cast<rcl_node_t*>(node_handle->ptr());
-  std::string action_name(
-      *Nan::Utf8String(info[1]->ToString(currentContent).ToLocalChecked()));
-  std::string interface_name(
-      *Nan::Utf8String(info[2]->ToString(currentContent).ToLocalChecked()));
-  std::string package_name(
-      *Nan::Utf8String(info[3]->ToString(currentContent).ToLocalChecked()));
-
-  const rosidl_action_type_support_t* ts =
-      GetActionTypeSupport(package_name, interface_name);
-
-  if (ts) {
-    rcl_action_client_options_t action_client_ops =
-        rcl_action_client_get_default_options();
-
-    auto goal_service_qos = GetQoSProfile(info[4]);
-    auto result_service_qos = GetQoSProfile(info[5]);
-    auto cancel_service_qos = GetQoSProfile(info[6]);
-    auto feedback_topic_qos = GetQoSProfile(info[7]);
-    auto status_topic_qos = GetQoSProfile(info[8]);
-
-    if (goal_service_qos) {
-      action_client_ops.goal_service_qos = *goal_service_qos;
-    }
-    if (result_service_qos) {
-      action_client_ops.result_service_qos = *result_service_qos;
-    }
-    if (cancel_service_qos) {
-      action_client_ops.cancel_service_qos = *cancel_service_qos;
-    }
-    if (feedback_topic_qos) {
-      action_client_ops.feedback_topic_qos = *feedback_topic_qos;
-    }
-    if (status_topic_qos) {
-      action_client_ops.status_topic_qos = *status_topic_qos;
-    }
-
-    rcl_action_client_t* action_client = reinterpret_cast<rcl_action_client_t*>(
-        malloc(sizeof(rcl_action_client_t)));
-    *action_client = rcl_action_get_zero_initialized_client();
-
-    THROW_ERROR_IF_NOT_EQUAL(
-        rcl_action_client_init(action_client, node, ts, action_name.c_str(),
-                               &action_client_ops),
-        RCL_RET_OK, rcl_get_error_string().str);
-    auto js_obj =
-        RclHandle::NewInstance(action_client, node_handle, [node](void* ptr) {
-          rcl_action_client_t* action_client =
-              reinterpret_cast<rcl_action_client_t*>(ptr);
-          rcl_ret_t ret = rcl_action_client_fini(action_client, node);
-          free(ptr);
-          THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK, ret, rcl_get_error_string().str);
-        });
-
-    info.GetReturnValue().Set(js_obj);
-  } else {
-    Nan::ThrowError(GetErrorMessageAndClear().c_str());
-  }
-}
-
-NAN_METHOD(ActionCreateServer) {
-  v8::Local<v8::Context> currentContent = Nan::GetCurrentContext();
-  RclHandle* node_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[0]).ToLocalChecked());
-  rcl_node_t* node = reinterpret_cast<rcl_node_t*>(node_handle->ptr());
-  RclHandle* clock_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[1]).ToLocalChecked());
-  rcl_clock_t* clock = reinterpret_cast<rcl_clock_t*>(clock_handle->ptr());
-  std::string action_name(
-      *Nan::Utf8String(info[2]->ToString(currentContent).ToLocalChecked()));
-  std::string interface_name(
-      *Nan::Utf8String(info[3]->ToString(currentContent).ToLocalChecked()));
-  std::string package_name(
-      *Nan::Utf8String(info[4]->ToString(currentContent).ToLocalChecked()));
-  int64_t result_timeout = info[10]->IntegerValue(currentContent).FromJust();
-
-  const rosidl_action_type_support_t* ts =
-      GetActionTypeSupport(package_name, interface_name);
-
-  if (ts) {
-    rcl_action_server_options_t action_server_ops =
-        rcl_action_server_get_default_options();
-
-    auto goal_service_qos = GetQoSProfile(info[5]);
-    auto result_service_qos = GetQoSProfile(info[6]);
-    auto cancel_service_qos = GetQoSProfile(info[7]);
-    auto feedback_topic_qos = GetQoSProfile(info[8]);
-    auto status_topic_qos = GetQoSProfile(info[9]);
-
-    if (goal_service_qos) {
-      action_server_ops.goal_service_qos = *goal_service_qos;
-    }
-    if (result_service_qos) {
-      action_server_ops.result_service_qos = *result_service_qos;
-    }
-    if (cancel_service_qos) {
-      action_server_ops.cancel_service_qos = *cancel_service_qos;
-    }
-    if (feedback_topic_qos) {
-      action_server_ops.feedback_topic_qos = *feedback_topic_qos;
-    }
-    if (status_topic_qos) {
-      action_server_ops.status_topic_qos = *status_topic_qos;
-    }
-
-    action_server_ops.result_timeout.nanoseconds =
-        static_cast<rcl_duration_value_t>(RCL_S_TO_NS(result_timeout));
-
-    rcl_action_server_t* action_server = reinterpret_cast<rcl_action_server_t*>(
-        malloc(sizeof(rcl_action_server_t)));
-    *action_server = rcl_action_get_zero_initialized_server();
-
-    THROW_ERROR_IF_NOT_EQUAL(
-        rcl_action_server_init(action_server, node, clock, ts,
-                               action_name.c_str(), &action_server_ops),
-        RCL_RET_OK, rcl_get_error_string().str);
-    auto js_obj =
-        RclHandle::NewInstance(action_server, node_handle, [node](void* ptr) {
-          rcl_action_server_t* action_server =
-              reinterpret_cast<rcl_action_server_t*>(ptr);
-          rcl_ret_t ret = rcl_action_server_fini(action_server, node);
-          free(ptr);
-          THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK, ret, rcl_get_error_string().str);
-        });
-
-    info.GetReturnValue().Set(js_obj);
-  } else {
-    Nan::ThrowError(GetErrorMessageAndClear().c_str());
-  }
-}
-
-NAN_METHOD(ActionServerIsAvailable) {
-  RclHandle* node_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[0]).ToLocalChecked());
-  rcl_node_t* node = reinterpret_cast<rcl_node_t*>(node_handle->ptr());
-  RclHandle* action_client_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[1]).ToLocalChecked());
-  rcl_action_client_t* action_client =
-      reinterpret_cast<rcl_action_client_t*>(action_client_handle->ptr());
-
-  bool is_available;
-  THROW_ERROR_IF_NOT_EQUAL(
-      RCL_RET_OK,
-      rcl_action_server_is_available(node, action_client, &is_available),
-      rcl_get_error_string().str);
-
-  v8::Local<v8::Boolean> result = Nan::New<v8::Boolean>(is_available);
-  info.GetReturnValue().Set(result);
-}
-
-NAN_METHOD(ActionSendGoalRequest) {
-  RclHandle* action_client_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[0]).ToLocalChecked());
-  rcl_action_client_t* action_client =
-      reinterpret_cast<rcl_action_client_t*>(action_client_handle->ptr());
-  void* buffer =
-      node::Buffer::Data(Nan::To<v8::Object>(info[1]).ToLocalChecked());
-
-  int64_t sequence_number;
-  THROW_ERROR_IF_NOT_EQUAL(
-      rcl_action_send_goal_request(action_client, buffer, &sequence_number),
-      RCL_RET_OK, rcl_get_error_string().str);
-
-  v8::Local<v8::Integer> result =
-      Nan::New<v8::Integer>(static_cast<int32_t>(sequence_number));
-  info.GetReturnValue().Set(result);
-}
-
-NAN_METHOD(ActionTakeGoalRequest) {
-  RclHandle* action_server_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[0]).ToLocalChecked());
-  rcl_action_server_t* action_server =
-      reinterpret_cast<rcl_action_server_t*>(action_server_handle->ptr());
-  rmw_request_id_t* header =
-      reinterpret_cast<rmw_request_id_t*>(malloc(sizeof(rmw_request_id_t)));
-
-  void* taken_request =
-      node::Buffer::Data(Nan::To<v8::Object>(info[1]).ToLocalChecked());
-  rcl_ret_t ret =
-      rcl_action_take_goal_request(action_server, header, taken_request);
-  if (ret != RCL_RET_ACTION_SERVER_TAKE_FAILED) {
-    auto js_obj =
-        RclHandle::NewInstance(header, nullptr, [](void* ptr) { free(ptr); });
-    info.GetReturnValue().Set(js_obj);
-    return;
-  }
-
-  info.GetReturnValue().Set(Nan::Undefined());
-}
-
-NAN_METHOD(ActionSendGoalResponse) {
-  RclHandle* action_server_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[0]).ToLocalChecked());
-  rcl_action_server_t* action_server =
-      reinterpret_cast<rcl_action_server_t*>(action_server_handle->ptr());
-  rmw_request_id_t* header = reinterpret_cast<rmw_request_id_t*>(
-      RclHandle::Unwrap<RclHandle>(
-          Nan::To<v8::Object>(info[1]).ToLocalChecked())
-          ->ptr());
-  void* buffer =
-      node::Buffer::Data(Nan::To<v8::Object>(info[2]).ToLocalChecked());
-
-  THROW_ERROR_IF_NOT_EQUAL(
-      rcl_action_send_goal_response(action_server, header, buffer), RCL_RET_OK,
-      rcl_get_error_string().str);
-
-  info.GetReturnValue().Set(Nan::Undefined());
-}
-
-NAN_METHOD(ActionTakeGoalResponse) {
-  RclHandle* action_client_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[0]).ToLocalChecked());
-  rcl_action_client_t* action_client =
-      reinterpret_cast<rcl_action_client_t*>(action_client_handle->ptr());
-  void* buffer =
-      node::Buffer::Data(Nan::To<v8::Object>(info[1]).ToLocalChecked());
-  rmw_request_id_t* header =
-      reinterpret_cast<rmw_request_id_t*>(malloc(sizeof(rmw_request_id_t)));
-
-  rcl_ret_t ret = rcl_action_take_goal_response(action_client, header, buffer);
-  int64_t sequence_number = header->sequence_number;
-  free(header);
-
-  if (ret != RCL_RET_OK && ret != RCL_RET_ACTION_CLIENT_TAKE_FAILED) {
-    Nan::ThrowError(rcl_get_error_string().str);
-    rcl_reset_error();
-    info.GetReturnValue().Set(Nan::Undefined());
-    return;
-  }
-
-  if (ret != RCL_RET_ACTION_CLIENT_TAKE_FAILED) {
-    v8::Local<v8::Integer> result =
-        Nan::New<v8::Integer>(static_cast<int32_t>(sequence_number));
-    info.GetReturnValue().Set(result);
-    return;
-  }
-  info.GetReturnValue().Set(Nan::Undefined());
-}
-
-NAN_METHOD(ActionSendCancelRequest) {
-  RclHandle* action_client_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[0]).ToLocalChecked());
-  rcl_action_client_t* action_client =
-      reinterpret_cast<rcl_action_client_t*>(action_client_handle->ptr());
-  void* buffer =
-      node::Buffer::Data(Nan::To<v8::Object>(info[1]).ToLocalChecked());
-
-  int64_t sequence_number;
-  THROW_ERROR_IF_NOT_EQUAL(
-      rcl_action_send_cancel_request(action_client, buffer, &sequence_number),
-      RCL_RET_OK, rcl_get_error_string().str);
-
-  v8::Local<v8::Integer> result =
-      Nan::New<v8::Integer>(static_cast<int32_t>(sequence_number));
-  info.GetReturnValue().Set(result);
-}
-
-NAN_METHOD(ActionTakeCancelRequest) {
-  RclHandle* action_server_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[0]).ToLocalChecked());
-  rcl_action_server_t* action_server =
-      reinterpret_cast<rcl_action_server_t*>(action_server_handle->ptr());
-  rmw_request_id_t* header =
-      reinterpret_cast<rmw_request_id_t*>(malloc(sizeof(rmw_request_id_t)));
-
-  void* taken_request =
-      node::Buffer::Data(Nan::To<v8::Object>(info[1]).ToLocalChecked());
-  rcl_ret_t ret =
-      rcl_action_take_cancel_request(action_server, header, taken_request);
-  if (ret != RCL_RET_ACTION_SERVER_TAKE_FAILED) {
-    auto js_obj =
-        RclHandle::NewInstance(header, nullptr, [](void* ptr) { free(ptr); });
-    info.GetReturnValue().Set(js_obj);
-    return;
-  }
-
-  info.GetReturnValue().Set(Nan::Undefined());
-}
-
-NAN_METHOD(ActionSendCancelResponse) {
-  RclHandle* action_server_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[0]).ToLocalChecked());
-  rcl_action_server_t* action_server =
-      reinterpret_cast<rcl_action_server_t*>(action_server_handle->ptr());
-  rmw_request_id_t* header = reinterpret_cast<rmw_request_id_t*>(
-      RclHandle::Unwrap<RclHandle>(
-          Nan::To<v8::Object>(info[1]).ToLocalChecked())
-          ->ptr());
-  void* buffer =
-      node::Buffer::Data(Nan::To<v8::Object>(info[2]).ToLocalChecked());
-
-  THROW_ERROR_IF_NOT_EQUAL(
-      rcl_action_send_cancel_response(action_server, header, buffer),
-      RCL_RET_OK, rcl_get_error_string().str);
-
-  info.GetReturnValue().Set(Nan::Undefined());
-}
-
-NAN_METHOD(ActionTakeCancelResponse) {
-  RclHandle* action_client_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[0]).ToLocalChecked());
-  rcl_action_client_t* action_client =
-      reinterpret_cast<rcl_action_client_t*>(action_client_handle->ptr());
-  void* buffer =
-      node::Buffer::Data(Nan::To<v8::Object>(info[1]).ToLocalChecked());
-  rmw_request_id_t* header =
-      reinterpret_cast<rmw_request_id_t*>(malloc(sizeof(rmw_request_id_t)));
-
-  rcl_ret_t ret =
-      rcl_action_take_cancel_response(action_client, header, buffer);
-  int64_t sequence_number = header->sequence_number;
-  free(header);
-
-  if (ret != RCL_RET_OK && ret != RCL_RET_ACTION_CLIENT_TAKE_FAILED) {
-    Nan::ThrowError(rcl_get_error_string().str);
-    rcl_reset_error();
-    info.GetReturnValue().Set(Nan::Undefined());
-    return;
-  }
-
-  if (ret != RCL_RET_ACTION_CLIENT_TAKE_FAILED) {
-    v8::Local<v8::Integer> result =
-        Nan::New<v8::Integer>(static_cast<int32_t>(sequence_number));
-    info.GetReturnValue().Set(result);
-    return;
-  }
-  info.GetReturnValue().Set(Nan::Undefined());
-}
-
-NAN_METHOD(ActionSendResultRequest) {
-  RclHandle* action_client_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[0]).ToLocalChecked());
-  rcl_action_client_t* action_client =
-      reinterpret_cast<rcl_action_client_t*>(action_client_handle->ptr());
-  void* buffer =
-      node::Buffer::Data(Nan::To<v8::Object>(info[1]).ToLocalChecked());
-
-  int64_t sequence_number;
-  THROW_ERROR_IF_NOT_EQUAL(
-      rcl_action_send_result_request(action_client, buffer, &sequence_number),
-      RCL_RET_OK, rcl_get_error_string().str);
-
-  v8::Local<v8::Integer> result =
-      Nan::New<v8::Integer>(static_cast<int32_t>(sequence_number));
-  info.GetReturnValue().Set(result);
-}
-
-NAN_METHOD(ActionTakeResultRequest) {
-  RclHandle* action_server_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[0]).ToLocalChecked());
-  rcl_action_server_t* action_server =
-      reinterpret_cast<rcl_action_server_t*>(action_server_handle->ptr());
-
-  rmw_request_id_t* header =
-      reinterpret_cast<rmw_request_id_t*>(malloc(sizeof(rmw_request_id_t)));
-
-  void* taken_request =
-      node::Buffer::Data(Nan::To<v8::Object>(info[1]).ToLocalChecked());
-  rcl_ret_t ret =
-      rcl_action_take_result_request(action_server, header, taken_request);
-  if (ret != RCL_RET_ACTION_SERVER_TAKE_FAILED) {
-    auto js_obj =
-        RclHandle::NewInstance(header, nullptr, [](void* ptr) { free(ptr); });
-    info.GetReturnValue().Set(js_obj);
-    return;
-  }
-
-  info.GetReturnValue().Set(Nan::Undefined());
-}
-
-NAN_METHOD(ActionSendResultResponse) {
-  RclHandle* action_server_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[0]).ToLocalChecked());
-  rcl_action_server_t* action_server =
-      reinterpret_cast<rcl_action_server_t*>(action_server_handle->ptr());
-  rmw_request_id_t* header = reinterpret_cast<rmw_request_id_t*>(
-      RclHandle::Unwrap<RclHandle>(
-          Nan::To<v8::Object>(info[1]).ToLocalChecked())
-          ->ptr());
-  void* buffer =
-      node::Buffer::Data(Nan::To<v8::Object>(info[2]).ToLocalChecked());
-
-  THROW_ERROR_IF_NOT_EQUAL(
-      rcl_action_send_result_response(action_server, header, buffer),
-      RCL_RET_OK, rcl_get_error_string().str);
-
-  info.GetReturnValue().Set(Nan::Undefined());
-}
-
-NAN_METHOD(ActionTakeResultResponse) {
-  RclHandle* action_client_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[0]).ToLocalChecked());
-  rcl_action_client_t* action_client =
-      reinterpret_cast<rcl_action_client_t*>(action_client_handle->ptr());
-  void* buffer =
-      node::Buffer::Data(Nan::To<v8::Object>(info[1]).ToLocalChecked());
-  rmw_request_id_t* header =
-      reinterpret_cast<rmw_request_id_t*>(malloc(sizeof(rmw_request_id_t)));
-
-  rcl_ret_t ret =
-      rcl_action_take_result_response(action_client, header, buffer);
-  int64_t sequence_number = header->sequence_number;
-  free(header);
-
-  if (ret != RCL_RET_OK && ret != RCL_RET_ACTION_CLIENT_TAKE_FAILED) {
-    Nan::ThrowError(rcl_get_error_string().str);
-    rcl_reset_error();
-    info.GetReturnValue().Set(Nan::Undefined());
-    return;
-  }
-
-  if (ret != RCL_RET_ACTION_CLIENT_TAKE_FAILED) {
-    v8::Local<v8::Integer> result =
-        Nan::New<v8::Integer>(static_cast<int32_t>(sequence_number));
-    info.GetReturnValue().Set(result);
-    return;
-  }
-  info.GetReturnValue().Set(Nan::Undefined());
-}
-
-NAN_METHOD(ActionAcceptNewGoal) {
-  RclHandle* action_server_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[0]).ToLocalChecked());
-  rcl_action_server_t* action_server =
-      reinterpret_cast<rcl_action_server_t*>(action_server_handle->ptr());
-  rcl_action_goal_info_t* buffer = reinterpret_cast<rcl_action_goal_info_t*>(
-      node::Buffer::Data(Nan::To<v8::Object>(info[1]).ToLocalChecked()));
-
-  rcl_action_goal_handle_t* goal_handle =
-      reinterpret_cast<rcl_action_goal_handle_t*>(
-          malloc(sizeof(rcl_action_goal_handle_t)));
-
-  *goal_handle = *rcl_action_accept_new_goal(action_server, buffer);
-  if (!goal_handle) {
-    Nan::ThrowError(rcl_get_error_string().str);
-    rcl_reset_error();
-    info.GetReturnValue().Set(Nan::Undefined());
-    return;
-  }
-
-  auto js_obj = RclHandle::NewInstance(goal_handle, nullptr, [](void* ptr) {
-    rcl_action_goal_handle_t* goal_handle =
-        reinterpret_cast<rcl_action_goal_handle_t*>(ptr);
-    rcl_ret_t ret = rcl_action_goal_handle_fini(goal_handle);
-    free(ptr);
-    THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK, ret, rcl_get_error_string().str);
-  });
-
-  info.GetReturnValue().Set(js_obj);
-}
-
-NAN_METHOD(ActionUpdateGoalState) {
-  v8::Local<v8::Context> currentContent = Nan::GetCurrentContext();
-  RclHandle* goal_handle_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[0]).ToLocalChecked());
-  rcl_action_goal_handle_t* goal_handle =
-      reinterpret_cast<rcl_action_goal_handle_t*>(goal_handle_handle->ptr());
-  rcl_action_goal_event_t event = static_cast<rcl_action_goal_event_t>(
-      info[1]->IntegerValue(currentContent).FromJust());
-
-  THROW_ERROR_IF_NOT_EQUAL(rcl_action_update_goal_state(goal_handle, event),
-                           RCL_RET_OK, rcl_get_error_string().str);
-
-  info.GetReturnValue().Set(Nan::Undefined());
-}
-
-NAN_METHOD(ActionPublishStatus) {
-  RclHandle* action_server_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[0]).ToLocalChecked());
-  rcl_action_server_t* action_server =
-      reinterpret_cast<rcl_action_server_t*>(action_server_handle->ptr());
-
-  rcl_action_goal_status_array_t status_message =
-      rcl_action_get_zero_initialized_goal_status_array();
-
-  THROW_ERROR_IF_NOT_EQUAL(
-      rcl_action_get_goal_status_array(action_server, &status_message),
-      RCL_RET_OK, rcl_get_error_string().str);
-
-  THROW_ERROR_IF_NOT_EQUAL(
-      rcl_action_publish_status(action_server, &status_message), RCL_RET_OK,
-      rcl_get_error_string().str);
-
-  info.GetReturnValue().Set(Nan::Undefined());
-}
-
-NAN_METHOD(ActionTakeStatus) {
-  RclHandle* action_client_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[0]).ToLocalChecked());
-  rcl_action_client_t* action_client =
-      reinterpret_cast<rcl_action_client_t*>(action_client_handle->ptr());
-  void* buffer =
-      node::Buffer::Data(Nan::To<v8::Object>(info[1]).ToLocalChecked());
-
-  rcl_ret_t ret = rcl_action_take_status(action_client, buffer);
-  if (ret != RCL_RET_OK && ret != RCL_RET_ACTION_CLIENT_TAKE_FAILED) {
-    Nan::ThrowError(rcl_get_error_string().str);
-    rcl_reset_error();
-    info.GetReturnValue().Set(Nan::False());
-    return;
-  }
-
-  if (ret != RCL_RET_ACTION_CLIENT_TAKE_FAILED) {
-    info.GetReturnValue().Set(Nan::True());
-    return;
-  }
-  info.GetReturnValue().Set(Nan::Undefined());
-}
-
-NAN_METHOD(ActionGoalHandleIsActive) {
-  RclHandle* goal_handle_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[0]).ToLocalChecked());
-  rcl_action_goal_handle_t* goal_handle =
-      reinterpret_cast<rcl_action_goal_handle_t*>(goal_handle_handle->ptr());
-
-  bool is_active = rcl_action_goal_handle_is_active(goal_handle);
-
-  v8::Local<v8::Boolean> result = Nan::New<v8::Boolean>(is_active);
-  info.GetReturnValue().Set(result);
-}
-
-NAN_METHOD(ActionNotifyGoalDone) {
-  RclHandle* action_server_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[0]).ToLocalChecked());
-  rcl_action_server_t* action_server =
-      reinterpret_cast<rcl_action_server_t*>(action_server_handle->ptr());
-
-  THROW_ERROR_IF_NOT_EQUAL(rcl_action_notify_goal_done(action_server),
-                           RCL_RET_OK, rcl_get_error_string().str);
-
-  info.GetReturnValue().Set(Nan::Undefined());
-}
-
-NAN_METHOD(ActionGoalHandleGetStatus) {
-  RclHandle* goal_handle_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[0]).ToLocalChecked());
-  rcl_action_goal_handle_t* goal_handle =
-      reinterpret_cast<rcl_action_goal_handle_t*>(goal_handle_handle->ptr());
-
-  rcl_action_goal_state_t status;
-  THROW_ERROR_IF_NOT_EQUAL(
-      rcl_action_goal_handle_get_status(goal_handle, &status), RCL_RET_OK,
-      rcl_get_error_string().str);
-
-  v8::Local<v8::Integer> result =
-      Nan::New<v8::Integer>(static_cast<int32_t>(status));
-  info.GetReturnValue().Set(result);
-}
-
-NAN_METHOD(ActionPublishFeedback) {
-  rcl_action_server_t* action_server = reinterpret_cast<rcl_action_server_t*>(
-      RclHandle::Unwrap<RclHandle>(
-          Nan::To<v8::Object>(info[0]).ToLocalChecked())
-          ->ptr());
-  void* buffer =
-      node::Buffer::Data(Nan::To<v8::Object>(info[1]).ToLocalChecked());
-
-  THROW_ERROR_IF_NOT_EQUAL(rcl_action_publish_feedback(action_server, buffer),
-                           RCL_RET_OK, rcl_get_error_string().str);
-
-  info.GetReturnValue().Set(Nan::Undefined());
-}
-
-NAN_METHOD(ActionTakeFeedback) {
-  RclHandle* action_client_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[0]).ToLocalChecked());
-  rcl_action_client_t* action_client =
-      reinterpret_cast<rcl_action_client_t*>(action_client_handle->ptr());
-  void* buffer =
-      node::Buffer::Data(Nan::To<v8::Object>(info[1]).ToLocalChecked());
-
-  rcl_ret_t ret = rcl_action_take_feedback(action_client, buffer);
-  if (ret != RCL_RET_OK && ret != RCL_RET_ACTION_CLIENT_TAKE_FAILED) {
-    Nan::ThrowError(rcl_get_error_string().str);
-    rcl_reset_error();
-    info.GetReturnValue().Set(Nan::False());
-    return;
-  }
-
-  if (ret != RCL_RET_ACTION_CLIENT_TAKE_FAILED) {
-    info.GetReturnValue().Set(Nan::True());
-    return;
-  }
-  info.GetReturnValue().Set(Nan::Undefined());
-}
-
-NAN_METHOD(ActionProcessCancelRequest) {
-  RclHandle* action_server_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[0]).ToLocalChecked());
-  rcl_action_server_t* action_server =
-      reinterpret_cast<rcl_action_server_t*>(action_server_handle->ptr());
-  void* buffer =
-      node::Buffer::Data(Nan::To<v8::Object>(info[1]).ToLocalChecked());
-  rcl_action_cancel_request_t* cancel_request =
-      reinterpret_cast<rcl_action_cancel_request_t*>(buffer);
-  void* response_buffer =
-      node::Buffer::Data(Nan::To<v8::Object>(info[2]).ToLocalChecked());
-  action_msgs__srv__CancelGoal_Response* response =
-      reinterpret_cast<action_msgs__srv__CancelGoal_Response*>(response_buffer);
-
-  rcl_action_cancel_response_t* cancel_response_ptr =
-      reinterpret_cast<rcl_action_cancel_response_t*>(
-          malloc(sizeof(rcl_action_cancel_response_t)));
-
-  *cancel_response_ptr = rcl_action_get_zero_initialized_cancel_response();
-
-  rcl_ret_t ret = rcl_action_process_cancel_request(
-      action_server, cancel_request, cancel_response_ptr);
-  if (ret != RCL_RET_OK) {
-    // fetch the error triggered by rcl_action_process_cancel_request
-    rcutils_error_string_t cancel_error = rcl_get_error_string();
-    rcl_reset_error();
-    rcl_ret_t ret_fini = rcl_action_cancel_response_fini(cancel_response_ptr);
-    if (ret_fini != RCL_RET_OK) {
-      RCUTILS_LOG_WARN_NAMED(
-          PACKAGE_NAME,
-          "There was an error finalizing the action cancel response: %s",
-          rcl_get_error_string().str);
-      rcl_reset_error();
-    }
-    free(cancel_response_ptr);
-    Nan::ThrowError(cancel_error.str);
-    info.GetReturnValue().Set(Nan::Undefined());
-    return;
-  }
-
-  *response = cancel_response_ptr->msg;
-  auto js_obj =
-      RclHandle::NewInstance(cancel_response_ptr, nullptr, [](void* ptr) {
-        rcl_action_cancel_response_t* cancel_response_ptr =
-            reinterpret_cast<rcl_action_cancel_response_t*>(ptr);
-        rcl_ret_t ret = rcl_action_cancel_response_fini(cancel_response_ptr);
-        free(ptr);
-        THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK, ret, rcl_get_error_string().str);
-      });
-  info.GetReturnValue().Set(js_obj);
-}
-
-NAN_METHOD(ActionServerGoalExists) {
-  RclHandle* action_server_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[0]).ToLocalChecked());
-  rcl_action_server_t* action_server =
-      reinterpret_cast<rcl_action_server_t*>(action_server_handle->ptr());
-  rcl_action_goal_info_t* buffer = reinterpret_cast<rcl_action_goal_info_t*>(
-      node::Buffer::Data(Nan::To<v8::Object>(info[1]).ToLocalChecked()));
-
-  bool exists = rcl_action_server_goal_exists(action_server, buffer);
-
-  v8::Local<v8::Boolean> result = Nan::New<v8::Boolean>(exists);
-  info.GetReturnValue().Set(result);
-}
-
-NAN_METHOD(ActionExpireGoals) {
-  v8::Local<v8::Context> currentContent = Nan::GetCurrentContext();
-  RclHandle* action_server_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[0]).ToLocalChecked());
-  rcl_action_server_t* action_server =
-      reinterpret_cast<rcl_action_server_t*>(action_server_handle->ptr());
-  int64_t max_num_goals = info[1]->IntegerValue(currentContent).FromJust();
-  rcl_action_goal_info_t* buffer = reinterpret_cast<rcl_action_goal_info_t*>(
-      node::Buffer::Data(Nan::To<v8::Object>(info[2]).ToLocalChecked()));
-
-  size_t num_expired;
-  THROW_ERROR_IF_NOT_EQUAL(rcl_action_expire_goals(action_server, buffer,
-                                                   max_num_goals, &num_expired),
-                           RCL_RET_OK, rcl_get_error_string().str);
-
-  v8::Local<v8::Integer> result =
-      Nan::New<v8::Integer>(static_cast<int32_t>(num_expired));
-  info.GetReturnValue().Set(result);
-}
-
-NAN_METHOD(ActionGetClientNamesAndTypesByNode) {
-  v8::Local<v8::Context> currentContent = Nan::GetCurrentContext();
-  RclHandle* node_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[0]).ToLocalChecked());
-  rcl_node_t* node = reinterpret_cast<rcl_node_t*>(node_handle->ptr());
-  std::string node_name =
-      *Nan::Utf8String(info[1]->ToString(currentContent).ToLocalChecked());
-  std::string node_namespace =
-      *Nan::Utf8String(info[2]->ToString(currentContent).ToLocalChecked());
-
-  rcl_names_and_types_t names_and_types =
-      rcl_get_zero_initialized_names_and_types();
-  rcl_allocator_t allocator = rcl_get_default_allocator();
-  THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK,
-                           rcl_action_get_client_names_and_types_by_node(
-                               node, &allocator, node_name.c_str(),
-                               node_namespace.c_str(), &names_and_types),
-                           "Failed to action client names and types.");
-
-  v8::Local<v8::Array> result_list =
-      Nan::New<v8::Array>(names_and_types.names.size);
-  ExtractNamesAndTypes(names_and_types, &result_list);
-
-  THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK,
-                           rcl_names_and_types_fini(&names_and_types),
-                           "Failed to destroy names_and_types");
-
-  info.GetReturnValue().Set(result_list);
-}
-
-NAN_METHOD(ActionGetServerNamesAndTypesByNode) {
-  v8::Local<v8::Context> currentContent = Nan::GetCurrentContext();
-  RclHandle* node_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[0]).ToLocalChecked());
-  rcl_node_t* node = reinterpret_cast<rcl_node_t*>(node_handle->ptr());
-  std::string node_name =
-      *Nan::Utf8String(info[1]->ToString(currentContent).ToLocalChecked());
-  std::string node_namespace =
-      *Nan::Utf8String(info[2]->ToString(currentContent).ToLocalChecked());
-
-  rcl_names_and_types_t names_and_types =
-      rcl_get_zero_initialized_names_and_types();
-  rcl_allocator_t allocator = rcl_get_default_allocator();
-  THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK,
-                           rcl_action_get_server_names_and_types_by_node(
-                               node, &allocator, node_name.c_str(),
-                               node_namespace.c_str(), &names_and_types),
-                           "Failed to action server names and types");
-
-  v8::Local<v8::Array> result_list =
-      Nan::New<v8::Array>(names_and_types.names.size);
-  ExtractNamesAndTypes(names_and_types, &result_list);
-
-  THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK,
-                           rcl_names_and_types_fini(&names_and_types),
-                           "Failed to destroy names_and_types");
-
-  info.GetReturnValue().Set(result_list);
-}
-
-NAN_METHOD(ActionGetNamesAndTypes) {
-  RclHandle* node_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[0]).ToLocalChecked());
-  rcl_node_t* node = reinterpret_cast<rcl_node_t*>(node_handle->ptr());
-
-  rcl_names_and_types_t names_and_types =
-      rcl_get_zero_initialized_names_and_types();
-  rcl_allocator_t allocator = rcl_get_default_allocator();
-  THROW_ERROR_IF_NOT_EQUAL(
-      RCL_RET_OK,
-      rcl_action_get_names_and_types(node, &allocator, &names_and_types),
-      "Failed to action server names and types");
-
-  v8::Local<v8::Array> result_list =
-      Nan::New<v8::Array>(names_and_types.names.size);
-  ExtractNamesAndTypes(names_and_types, &result_list);
-
-  THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK,
-                           rcl_names_and_types_fini(&names_and_types),
-                           "Failed to destroy names_and_types");
-
-  info.GetReturnValue().Set(result_list);
-}
-
-std::vector<BindingMethod> action_binding_methods = {
-    {"actionCreateClient", ActionCreateClient},
-    {"actionCreateServer", ActionCreateServer},
-    {"actionServerIsAvailable", ActionServerIsAvailable},
-    {"actionSendGoalRequest", ActionSendGoalRequest},
-    {"actionTakeGoalRequest", ActionTakeGoalRequest},
-    {"actionSendGoalResponse", ActionSendGoalResponse},
-    {"actionTakeGoalResponse", ActionTakeGoalResponse},
-    {"actionSendCancelRequest", ActionSendCancelRequest},
-    {"actionTakeCancelRequest", ActionTakeCancelRequest},
-    {"actionSendCancelResponse", ActionSendCancelResponse},
-    {"actionTakeCancelResponse", ActionTakeCancelResponse},
-    {"actionSendResultRequest", ActionSendResultRequest},
-    {"actionTakeResultRequest", ActionTakeResultRequest},
-    {"actionSendResultResponse", ActionSendResultResponse},
-    {"actionTakeResultResponse", ActionTakeResultResponse},
-    {"actionAcceptNewGoal", ActionAcceptNewGoal},
-    {"actionUpdateGoalState", ActionUpdateGoalState},
-    {"actionPublishStatus", ActionPublishStatus},
-    {"actionTakeStatus", ActionTakeStatus},
-    {"actionGoalHandleIsActive", ActionGoalHandleIsActive},
-    {"actionNotifyGoalDone", ActionNotifyGoalDone},
-    {"actionGoalHandleGetStatus", ActionGoalHandleGetStatus},
-    {"actionPublishFeedback", ActionPublishFeedback},
-    {"actionTakeFeedback", ActionTakeFeedback},
-    {"actionProcessCancelRequest", ActionProcessCancelRequest},
-    {"actionServerGoalExists", ActionServerGoalExists},
-    {"actionExpireGoals", ActionExpireGoals},
-    {"actionGetClientNamesAndTypesByNode", ActionGetClientNamesAndTypesByNode},
-    {"actionGetServerNamesAndTypesByNode", ActionGetServerNamesAndTypesByNode},
-    {"actionGetNamesAndTypes", ActionGetNamesAndTypes}};
-
-}  // namespace rclnodejs