rclnodejs 0.33.0 → 1.1.0

package/src/rcl_service_bindings.cpp

@@ -0,0 +1,185 @@
+// 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_service_bindings.h"
+
+#include <rcl/error_handling.h>
+#include <rcl/rcl.h>
+#if ROS_VERSION > 2205
+#include <rcl/service_introspection.h>
+#endif
+
+#include <memory>
+#include <string>
+
+#include "macros.h"
+#include "rcl_handle.h"
+#include "rcl_utilities.h"
+
+namespace rclnodejs {
+
+Napi::Value CreateService(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+
+  RclHandle* node_handle = RclHandle::Unwrap(info[0].As<Napi::Object>());
+  rcl_node_t* node = reinterpret_cast<rcl_node_t*>(node_handle->ptr());
+
+  std::string service_name = info[1].As<Napi::String>().Utf8Value();
+  std::string interface_name = info[2].As<Napi::String>().Utf8Value();
+  std::string package_name = info[3].As<Napi::String>().Utf8Value();
+
+  const rosidl_service_type_support_t* ts =
+      GetServiceTypeSupport(package_name, interface_name);
+
+  if (ts) {
+    rcl_service_t* service =
+        reinterpret_cast<rcl_service_t*>(malloc(sizeof(rcl_service_t)));
+    *service = rcl_get_zero_initialized_service();
+    rcl_service_options_t service_ops = rcl_service_get_default_options();
+    auto qos_profile = GetQoSProfile(info[4]);
+    if (qos_profile) {
+      service_ops.qos = *qos_profile;
+    }
+
+    THROW_ERROR_IF_NOT_EQUAL(
+        rcl_service_init(service, node, ts, service_name.c_str(), &service_ops),
+        RCL_RET_OK, rcl_get_error_string().str);
+    auto js_obj =
+        RclHandle::NewInstance(env, service, node_handle, [node](void* ptr) {
+          rcl_service_t* service = reinterpret_cast<rcl_service_t*>(ptr);
+          rcl_ret_t ret = rcl_service_fini(service, node);
+          free(ptr);
+          THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK, ret, rcl_get_error_string().str);
+        });
+
+    return js_obj;
+  } else {
+    Napi::Error::New(env, GetErrorMessageAndClear())
+        .ThrowAsJavaScriptException();
+    return env.Undefined();
+  }
+}
+
+Napi::Value RclTakeRequest(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+
+  rcl_service_t* service = reinterpret_cast<rcl_service_t*>(
+      RclHandle::Unwrap(info[0].As<Napi::Object>())->ptr());
+  rmw_request_id_t* header =
+      reinterpret_cast<rmw_request_id_t*>(malloc(sizeof(rmw_request_id_t)));
+
+  void* taken_request = info[2].As<Napi::Buffer<char>>().Data();
+  rcl_ret_t ret = rcl_take_request(service, header, taken_request);
+  if (ret != RCL_RET_SERVICE_TAKE_FAILED) {
+    auto js_obj = RclHandle::NewInstance(env, header, nullptr,
+                                         [](void* ptr) { free(ptr); });
+    return js_obj;
+  }
+
+  return env.Undefined();
+}
+
+Napi::Value SendResponse(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+
+  rcl_service_t* service = reinterpret_cast<rcl_service_t*>(
+      RclHandle::Unwrap(info[0].As<Napi::Object>())->ptr());
+  void* buffer = info[1].As<Napi::Buffer<char>>().Data();
+
+  rmw_request_id_t* header = reinterpret_cast<rmw_request_id_t*>(
+      RclHandle::Unwrap(info[2].As<Napi::Object>())->ptr());
+
+  THROW_ERROR_IF_NOT_EQUAL(rcl_send_response(service, header, buffer),
+                           RCL_RET_OK, rcl_get_error_string().str);
+
+  return env.Undefined();
+}
+
+Napi::Value GetServiceServiceName(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+
+  rcl_service_t* service = reinterpret_cast<rcl_service_t*>(
+      RclHandle::Unwrap(info[0].As<Napi::Object>())->ptr());
+
+  const char* service_name = rcl_service_get_service_name(service);
+  return Napi::String::New(env, service_name);
+}
+
+#if ROS_VERSION > 2205  // 2205 == Humble
+Napi::Value ConfigureServiceIntrospection(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+
+  RclHandle* service_handle = RclHandle::Unwrap(info[0].As<Napi::Object>());
+  rcl_service_t* service =
+      reinterpret_cast<rcl_service_t*>(service_handle->ptr());
+  RclHandle* node_handle = RclHandle::Unwrap(info[1].As<Napi::Object>());
+  rcl_node_t* node = reinterpret_cast<rcl_node_t*>(node_handle->ptr());
+
+  rcl_clock_t* clock = reinterpret_cast<rcl_clock_t*>(
+      RclHandle::Unwrap(info[2].As<Napi::Object>())->ptr());
+
+  std::string interface_name = info[3].As<Napi::String>().Utf8Value();
+  std::string package_name = info[4].As<Napi::String>().Utf8Value();
+  const rosidl_service_type_support_t* ts =
+      GetServiceTypeSupport(package_name, interface_name);
+
+  if (ts) {
+    rcl_publisher_options_t publisher_ops = rcl_publisher_get_default_options();
+    auto qos_profile = GetQoSProfile(info[5]);
+    if (qos_profile) {
+      publisher_ops.qos = *qos_profile;
+    }
+    rcl_service_introspection_state_t state =
+        static_cast<rcl_service_introspection_state_t>(
+            info[6].As<Napi::Number>().Uint32Value());
+
+    THROW_ERROR_IF_NOT_EQUAL(
+        rcl_service_configure_service_introspection(service, node, clock, ts,
+                                                    publisher_ops, state),
+        RCL_RET_OK, rcl_get_error_string().str);
+  } else {
+    Napi::Error::New(env, GetErrorMessageAndClear())
+        .ThrowAsJavaScriptException();
+  }
+  return env.Undefined();
+}
+#endif
+
+Napi::Value GetOptions(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+
+  rcl_service_t* service = reinterpret_cast<rcl_service_t*>(
+      RclHandle::Unwrap(info[0].As<Napi::Object>())->ptr());
+
+  const rcl_service_options_t* options = rcl_service_get_options(service);
+  auto qos_profile = ConvertToQoS(env, &options->qos);
+
+  return qos_profile;
+}
+
+Napi::Object InitServiceBindings(Napi::Env env, Napi::Object exports) {
+  exports.Set("createService", Napi::Function::New(env, CreateService));
+  exports.Set("rclTakeRequest", Napi::Function::New(env, RclTakeRequest));
+  exports.Set("sendResponse", Napi::Function::New(env, SendResponse));
+  exports.Set("getServiceServiceName",
+              Napi::Function::New(env, GetServiceServiceName));
+#if ROS_VERSION > 2205  // 2205 == Humble
+  exports.Set("configureServiceIntrospection",
+              Napi::Function::New(env, ConfigureServiceIntrospection));
+#endif
+  exports.Set("getOptions", Napi::Function::New(env, GetOptions));
+  return exports;
+}
+
+}  // namespace rclnodejs

package/src/rcl_service_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_SERVICE_BINDINGS_H_
+#define SRC_RCL_SERVICE_BINDINGS_H_
+
+#include <napi.h>
+
+namespace rclnodejs {
+
+Napi::Object InitServiceBindings(Napi::Env env, Napi::Object exports);
+
+}
+
+#endif  // SRC_RCL_SERVICE_BINDINGS_H_

package/src/rcl_subscription_bindings.cpp

@@ -0,0 +1,335 @@
+// 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_subscription_bindings.h"
+
+#include <rcl/error_handling.h>
+#include <rcl/rcl.h>
+
+#include <cstdio>
+#include <memory>
+#include <string>
+
+#include "macros.h"
+#include "rcl_handle.h"
+#include "rcl_utilities.h"
+
+namespace rclnodejs {
+
+Napi::Value RclTake(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+
+  RclHandle* subscription_handle =
+      RclHandle::Unwrap(info[0].As<Napi::Object>());
+  rcl_subscription_t* subscription =
+      reinterpret_cast<rcl_subscription_t*>(subscription_handle->ptr());
+  void* msg_taken = info[1].As<Napi::Buffer<char>>().Data();
+  rcl_ret_t ret = rcl_take(subscription, msg_taken, nullptr, nullptr);
+
+  if (ret != RCL_RET_OK && ret != RCL_RET_SUBSCRIPTION_TAKE_FAILED) {
+    rcl_reset_error();
+    Napi::Error::New(env, rcl_get_error_string().str)
+        .ThrowAsJavaScriptException();
+    return Napi::Boolean::New(env, false);
+  }
+
+  if (ret != RCL_RET_SUBSCRIPTION_TAKE_FAILED) {
+    return Napi::Boolean::New(env, true);
+  }
+
+  return env.Undefined();
+}
+
+Napi::Value CreateSubscription(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+
+  RclHandle* node_handle = RclHandle::Unwrap(info[0].As<Napi::Object>());
+  rcl_node_t* node = reinterpret_cast<rcl_node_t*>(node_handle->ptr());
+
+  std::string package_name = info[1].As<Napi::String>().Utf8Value();
+  std::string message_sub_folder = info[2].As<Napi::String>().Utf8Value();
+  std::string message_name = info[3].As<Napi::String>().Utf8Value();
+  std::string topic = info[4].As<Napi::String>().Utf8Value();
+  Napi::Object options = info[5].As<Napi::Object>();
+
+  rcl_subscription_t* subscription =
+      reinterpret_cast<rcl_subscription_t*>(malloc(sizeof(rcl_subscription_t)));
+  *subscription = rcl_get_zero_initialized_subscription();
+
+  rcl_subscription_options_t subscription_ops =
+      rcl_subscription_get_default_options();
+
+  Napi::Value qos = options.Get("qos");
+  auto qos_profile = GetQoSProfile(qos);
+  if (qos_profile) {
+    subscription_ops.qos = *qos_profile;
+  }
+
+#if ROS_VERSION >= 2205  // 2205 => Humble+
+  if (options.Has("contentFilter")) {
+    // configure content-filter
+    Napi::Value contentFilterVal = options.Get("contentFilter");
+
+    if (!contentFilterVal.IsUndefined()) {
+      Napi::Object contentFilter = contentFilterVal.As<Napi::Object>();
+
+      // expression property is required
+      std::string expression =
+          contentFilter.Get("expression").As<Napi::String>().Utf8Value();
+
+      // parameters property (string[]) is optional
+      int argc = 0;
+      char** argv = nullptr;
+
+      if (contentFilter.Has("parameters")) {
+        Napi::Array jsArgv = contentFilter.Get("parameters").As<Napi::Array>();
+        argc = jsArgv.Length();
+        if (argc > 0) {
+          argv = reinterpret_cast<char**>(malloc(argc * sizeof(char*)));
+          for (int i = 0; i < argc; i++) {
+            std::string arg = jsArgv.Get(i).As<Napi::String>().Utf8Value();
+            int len = arg.length() + 1;
+            argv[i] = reinterpret_cast<char*>(malloc(len * sizeof(char*)));
+            snprintf(argv[i], len, "%s", arg.c_str());
+          }
+        }
+      }
+
+      rcl_ret_t ret = rcl_subscription_options_set_content_filter_options(
+          expression.c_str(), argc, (const char**)argv, &subscription_ops);
+
+      if (ret != RCL_RET_OK) {
+        rcl_reset_error();
+        Napi::Error::New(env, rcl_get_error_string().str)
+            .ThrowAsJavaScriptException();
+      }
+
+      if (argc) {
+        for (int i = 0; i < argc; i++) {
+          free(argv[i]);
+        }
+        free(argv);
+      }
+    }
+  }
+#endif
+
+  const rosidl_message_type_support_t* ts =
+      GetMessageTypeSupport(package_name, message_sub_folder, message_name);
+
+  if (ts) {
+    THROW_ERROR_IF_NOT_EQUAL(
+        RCL_RET_OK,
+        rcl_subscription_init(subscription, node, ts, topic.c_str(),
+                              &subscription_ops),
+        rcl_get_error_string().str);
+
+    auto js_obj = RclHandle::NewInstance(
+        env, subscription, node_handle, [node](void* ptr) {
+          rcl_subscription_t* subscription =
+              reinterpret_cast<rcl_subscription_t*>(ptr);
+          rcl_ret_t ret = rcl_subscription_fini(subscription, node);
+          free(ptr);
+          THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK, ret, rcl_get_error_string().str);
+        });
+
+    return js_obj;
+  } else {
+    Napi::Error::New(env, GetErrorMessageAndClear())
+        .ThrowAsJavaScriptException();
+    return env.Undefined();
+  }
+}
+
+Napi::Value RclTakeRaw(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+
+  RclHandle* subscription_handle =
+      RclHandle::Unwrap(info[0].As<Napi::Object>());
+  rcl_subscription_t* subscription =
+      reinterpret_cast<rcl_subscription_t*>(subscription_handle->ptr());
+
+  rcl_serialized_message_t msg = rmw_get_zero_initialized_serialized_message();
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  rcl_ret_t ret = rmw_serialized_message_init(&msg, 0u, &allocator);
+  if (ret != RCL_RET_OK) {
+    THROW_ERROR_IF_NOT_EQUAL(rmw_serialized_message_fini(&msg), RCL_RET_OK,
+                             "Failed to deallocate message buffer.");
+    return env.Undefined();
+  }
+  ret = rcl_take_serialized_message(subscription, &msg, nullptr, nullptr);
+  if (ret != RCL_RET_OK && ret != RCL_RET_SUBSCRIPTION_TAKE_FAILED) {
+    rcl_reset_error();
+    THROW_ERROR_IF_NOT_EQUAL(rmw_serialized_message_fini(&msg), RCL_RET_OK,
+                             "Failed to deallocate message buffer.");
+    return env.Undefined();
+  }
+
+  if (ret == RCL_RET_SUBSCRIPTION_TAKE_FAILED) {
+    THROW_ERROR_IF_NOT_EQUAL(rmw_serialized_message_fini(&msg), RCL_RET_OK,
+                             "Failed to deallocate message buffer.");
+    return env.Undefined();
+  }
+
+  Napi::Buffer<char> buffer = Napi::Buffer<char>::Copy(
+      env, reinterpret_cast<char*>(msg.buffer), msg.buffer_length);
+  THROW_ERROR_IF_NOT_EQUAL(rmw_serialized_message_fini(&msg), RCL_RET_OK,
+                           "Failed to deallocate message buffer");
+  return buffer;
+}
+
+Napi::Value GetSubscriptionTopic(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+
+  rcl_subscription_t* subscription = reinterpret_cast<rcl_subscription_t*>(
+      RclHandle::Unwrap(info[0].As<Napi::Object>())->ptr());
+
+  const char* topic = rcl_subscription_get_topic_name(subscription);
+  return Napi::String::New(env, topic);
+}
+
+Napi::Value HasContentFilter(const Napi::CallbackInfo& info) {
+#if ROS_VERSION < 2205  // 2205 => Humble+
+  return Napi::Boolean::New(info.Env(), false);
+#else
+  Napi::Env env = info.Env();
+
+  RclHandle* subscription_handle =
+      RclHandle::Unwrap(info[0].As<Napi::Object>());
+  rcl_subscription_t* subscription =
+      reinterpret_cast<rcl_subscription_t*>(subscription_handle->ptr());
+
+  bool is_valid = rcl_subscription_is_cft_enabled(subscription);
+  return Napi::Boolean::New(env, is_valid);
+#endif
+}
+
+Napi::Value SetContentFilter(const Napi::CallbackInfo& info) {
+#if ROS_VERSION < 2205  // 2205 => Humble+
+  return Napi::Boolean::New(info.Env(), false);
+#else
+  Napi::Env env = info.Env();
+
+  RclHandle* subscription_handle =
+      RclHandle::Unwrap(info[0].As<Napi::Object>());
+  rcl_subscription_t* subscription =
+      reinterpret_cast<rcl_subscription_t*>(subscription_handle->ptr());
+
+  Napi::Object contentFilter = info[1].As<Napi::Object>();
+
+  std::string expression =
+      contentFilter.Get("expression").As<Napi::String>().Utf8Value();
+
+  // parameters property (string[]) is optional
+  int argc = 0;
+  char** argv = nullptr;
+
+  if (contentFilter.Has("parameters")) {
+    Napi::Array jsArgv = contentFilter.Get("parameters").As<Napi::Array>();
+    argc = jsArgv.Length();
+    if (argc > 0) {
+      argv = reinterpret_cast<char**>(malloc(argc * sizeof(char*)));
+      for (int i = 0; i < argc; i++) {
+        std::string arg = jsArgv.Get(i).As<Napi::String>().Utf8Value();
+        int len = arg.length() + 1;
+        argv[i] = reinterpret_cast<char*>(malloc(len * sizeof(char*)));
+        snprintf(argv[i], len, "%s", arg.c_str());
+      }
+    }
+  }
+
+  // create ctf options
+  rcl_subscription_content_filter_options_t options =
+      rcl_get_zero_initialized_subscription_content_filter_options();
+
+  THROW_ERROR_IF_NOT_EQUAL(
+      RCL_RET_OK,
+      rcl_subscription_content_filter_options_set(
+          subscription, expression.c_str(), argc, (const char**)argv, &options),
+      rcl_get_error_string().str);
+
+  THROW_ERROR_IF_NOT_EQUAL(
+      RCL_RET_OK, rcl_subscription_set_content_filter(subscription, &options),
+      rcl_get_error_string().str);
+
+  if (argc) {
+    for (int i = 0; i < argc; i++) {
+      free(argv[i]);
+    }
+    free(argv);
+  }
+
+  return Napi::Boolean::New(env, true);
+#endif
+}
+
+Napi::Value ClearContentFilter(const Napi::CallbackInfo& info) {
+#if ROS_VERSION < 2205  // 2205 => Humble+
+  return Napi::Boolean::New(info.Env(), false);
+#else
+  Napi::Env env = info.Env();
+
+  RclHandle* subscription_handle =
+      RclHandle::Unwrap(info[0].As<Napi::Object>());
+  rcl_subscription_t* subscription =
+      reinterpret_cast<rcl_subscription_t*>(subscription_handle->ptr());
+
+  // create ctf options
+  rcl_subscription_content_filter_options_t options =
+      rcl_get_zero_initialized_subscription_content_filter_options();
+
+  THROW_ERROR_IF_NOT_EQUAL(
+      RCL_RET_OK,
+      rcl_subscription_content_filter_options_init(
+          subscription, "", 0, (const char**)nullptr, &options),
+      rcl_get_error_string().str);
+
+  THROW_ERROR_IF_NOT_EQUAL(
+      RCL_RET_OK, rcl_subscription_set_content_filter(subscription, &options),
+      rcl_get_error_string().str);
+
+  return Napi::Boolean::New(env, true);
+#endif
+}
+
+Napi::Value GetPublisherCount(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+
+  rcl_subscription_t* subscription = reinterpret_cast<rcl_subscription_t*>(
+      RclHandle::Unwrap(info[0].As<Napi::Object>())->ptr());
+
+  size_t count = 0;
+  THROW_ERROR_IF_NOT_EQUAL(
+      rcl_subscription_get_publisher_count(subscription, &count), RCL_RET_OK,
+      rcl_get_error_string().str);
+
+  return Napi::Number::New(env, count);
+}
+
+Napi::Object InitSubscriptionBindings(Napi::Env env, Napi::Object exports) {
+  exports.Set("rclTake", Napi::Function::New(env, RclTake));
+  exports.Set("createSubscription",
+              Napi::Function::New(env, CreateSubscription));
+  exports.Set("rclTakeRaw", Napi::Function::New(env, RclTakeRaw));
+  exports.Set("getSubscriptionTopic",
+              Napi::Function::New(env, GetSubscriptionTopic));
+  exports.Set("hasContentFilter", Napi::Function::New(env, HasContentFilter));
+  exports.Set("setContentFilter", Napi::Function::New(env, SetContentFilter));
+  exports.Set("clearContentFilter",
+              Napi::Function::New(env, ClearContentFilter));
+  exports.Set("getPublisherCount", Napi::Function::New(env, GetPublisherCount));
+  return exports;
+}
+
+}  // namespace rclnodejs

package/src/rcl_subscription_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_SUBSCRIPTION_BINDINGS_H_
+#define SRC_RCL_SUBSCRIPTION_BINDINGS_H_
+
+#include <napi.h>
+
+namespace rclnodejs {
+
+Napi::Object InitSubscriptionBindings(Napi::Env env, Napi::Object exports);
+
+}
+
+#endif  // SRC_RCL_SUBSCRIPTION_BINDINGS_H_