rclnodejs 1.2.0 → 1.4.0

package/rosidl_gen/generator.json

@@ -1,7 +1,7 @@
 {
   "name": "rosidl-generator",
-  "version": "0.5.1",
-  "description": "Generate JavaScript object from ROS IDL(.msg) files",
+  "version": "1.0.0",
+  "description": "Generate JavaScript object from ROS IDL(.msg/.srv/.action/.idl) files",
   "main": "index.js",
   "authors": [
     "Minggang Wang <minggang.wang@intel.com>",

package/rosidl_gen/index.js

@@ -18,18 +18,35 @@ const fse = require('fs-extra');
 const generateJSStructFromIDL = require('./idl_generator.js');
 const packages = require('./packages.js');
 const path = require('path');
-
+const idlConvertor = require('../rosidl_convertor/idl_convertor.js');
 const generatedRoot = path.join(__dirname, '../generated/');
 const serviceMsgPath = path.join(generatedRoot, 'srv_msg');
+const idlPath = path.join(generatedRoot, 'share');
+const useIDL = !!process.argv.find((arg) => arg === '--idl');
 
 function getInstalledPackagePaths() {
   return process.env.AMENT_PREFIX_PATH.split(path.delimiter);
 }
 
 async function generateInPath(path) {
-  const pkgs = await packages.findPackagesInDirectory(path);
-
-  const pkgsInfo = Array.from(pkgs.values());
+  let pkgsInfo = null;
+  if (!useIDL) {
+    pkgsInfo = Array.from(
+      (await packages.findPackagesInDirectory(path)).values()
+    );
+  } else {
+    const idlPkgs = await packages.findPackagesInDirectory(path, useIDL);
+    await fse.ensureDir(idlPath);
+    const promises = [];
+    idlPkgs.forEach((pkg) => {
+      pkg.idls.forEach((idl) => {
+        promises.push(idlConvertor(idl.pkgName, idl.filePath, idlPath));
+      });
+    });
+    await Promise.all(promises);
+    const pkgsFromIdl = await packages.findPackagesInDirectory(idlPath, false);
+    pkgsInfo = Array.from(pkgsFromIdl.values());
+  }
 
   await Promise.all(
     pkgsInfo.map((pkgInfo) => generateJSStructFromIDL(pkgInfo, generatedRoot))

package/rosidl_gen/packages.js

@@ -70,7 +70,13 @@ function grabInterfaceInfo(filePath, amentExecuted) {
 function addInterfaceInfo(info, type, pkgMap) {
   let pkgName = info.pkgName;
   if (!pkgMap.has(pkgName)) {
-    pkgMap.set(pkgName, { messages: [], services: [], actions: [], pkgName });
+    pkgMap.set(pkgName, {
+      messages: [],
+      services: [],
+      actions: [],
+      idls: [],
+      pkgName,
+    });
   }
   let pkg = pkgMap.get(pkgName);
   pkg[type].push(info);
@@ -157,26 +163,32 @@ async function generateMsgForSrv(filePath, interfaceInfo, pkgMap) {
   }
 }
 
-async function addInterfaceInfos(filePath, dir, pkgMap) {
-  const interfaceInfo = grabInterfaceInfo(filePath, true);
+async function addInterfaceInfos(filePath, dir, pkgMap, useIDL) {
+  const interfaceInfo = grabInterfaceInfo(filePath, /*amentExecuted=*/ true);
   const ignore = pkgFilters.matchesAny(interfaceInfo);
   if (!ignore) {
-    if (path.extname(filePath) === '.msg') {
-      // Some .msg files were generated prior to 0.3.2 for .action files,
-      // which has been disabled. So these files should be ignored here.
-      if (path.dirname(dir).split(path.sep).pop() !== 'action') {
-        addInterfaceInfo(interfaceInfo, 'messages', pkgMap);
-      }
-    } else if (path.extname(filePath) === '.srv') {
-      const requestMsgName = `${path.parse(filePath).name}_Request.msg`;
-      if (!fs.existsSync(path.join(path.dirname(filePath), requestMsgName))) {
-        await generateMsgForSrv(filePath, interfaceInfo, pkgMap);
+    if (useIDL) {
+      if (path.extname(filePath) === '.idl') {
+        addInterfaceInfo(interfaceInfo, 'idls', pkgMap);
       }
-      addInterfaceInfo(interfaceInfo, 'services', pkgMap);
-    } else if (path.extname(filePath) === '.action') {
-      addInterfaceInfo(interfaceInfo, 'actions', pkgMap);
     } else {
-      // we ignore all other files
+      if (path.extname(filePath) === '.msg') {
+        // Some .msg files were generated prior to 0.3.2 for .action files,
+        // which has been disabled. So these files should be ignored here.
+        if (path.dirname(dir).split(path.sep).pop() !== 'action') {
+          addInterfaceInfo(interfaceInfo, 'messages', pkgMap);
+        }
+      } else if (path.extname(filePath) === '.srv') {
+        const requestMsgName = `${path.parse(filePath).name}_Request.msg`;
+        if (!fs.existsSync(path.join(path.dirname(filePath), requestMsgName))) {
+          await generateMsgForSrv(filePath, interfaceInfo, pkgMap);
+        }
+        addInterfaceInfo(interfaceInfo, 'services', pkgMap);
+      } else if (path.extname(filePath) === '.action') {
+        addInterfaceInfo(interfaceInfo, 'actions', pkgMap);
+      } else {
+        // we ignore all other files.
+      }
     }
   }
 }
@@ -186,7 +198,7 @@ async function addInterfaceInfos(filePath, dir, pkgMap) {
  * @param {string} dir - the directory to search in
  * @return {Promise<Map<string, object>>} A mapping from the package name to some info about it.
  */
-async function findAmentPackagesInDirectory(dir) {
+async function findAmentPackagesInDirectory(dir, useIDL) {
   const pkgs = await getAmentPackages(dir);
   const files = await Promise.all(
     pkgs.map((pkg) => getPackageDefinitionsFiles(pkg, dir))
@@ -195,7 +207,7 @@ async function findAmentPackagesInDirectory(dir) {
   const rosFiles = files.flat();
   const pkgMap = new Map();
   await Promise.all(
-    rosFiles.map((filePath) => addInterfaceInfos(filePath, dir, pkgMap))
+    rosFiles.map((filePath) => addInterfaceInfos(filePath, dir, pkgMap, useIDL))
   );
   return pkgMap;
 }
@@ -205,7 +217,7 @@ async function findAmentPackagesInDirectory(dir) {
  * @param {string} dir - the directory to search in
  * @return {Promise<Map<string, object>>} A mapping from the package name to some info about it.
  */
-async function findPackagesInDirectory(dir) {
+async function findPackagesInDirectory(dir, useIDL) {
   return new Promise((resolve, reject) => {
     let amentExecuted = true;
 
@@ -217,30 +229,51 @@ async function findPackagesInDirectory(dir) {
       }
 
       if (amentExecuted) {
-        return resolve(findAmentPackagesInDirectory(dir));
+        return resolve(findAmentPackagesInDirectory(dir, useIDL));
       }
 
       let walker = walk.walk(dir, { followLinks: true });
       let pkgMap = new Map();
-      walker.on('file', (root, file, next) => {
+      walker.on('file', async (root, file, next) => {
         const interfaceInfo = grabInterfaceInfo(
           path.join(root, file.name),
           amentExecuted
         );
         const ignore = pkgFilters.matchesAny(interfaceInfo);
         if (!ignore) {
-          if (path.extname(file.name) === '.msg') {
-            // Some .msg files were generated prior to 0.3.2 for .action files,
-            // which has been disabled. So these files should be ignored here.
-            if (path.dirname(root).split(path.sep).pop() !== 'action') {
-              addInterfaceInfo(interfaceInfo, 'messages', pkgMap);
+          if (useIDL) {
+            if (path.extname(file.name) === '.idl') {
+              addInterfaceInfo(interfaceInfo, 'idls', pkgMap);
             }
-          } else if (path.extname(file.name) === '.srv') {
-            addInterfaceInfo(interfaceInfo, 'services', pkgMap);
-          } else if (path.extname(file.name) === '.action') {
-            addInterfaceInfo(interfaceInfo, 'actions', pkgMap);
           } else {
-            // we ignore all other files
+            if (path.extname(file.name) === '.msg') {
+              // Some .msg files were generated prior to 0.3.2 for .action files,
+              // which has been disabled. So these files should be ignored here.
+              if (path.dirname(root).split(path.sep).pop() !== 'action') {
+                addInterfaceInfo(interfaceInfo, 'messages', pkgMap);
+              }
+            } else if (path.extname(file.name) === '.srv') {
+              const requestMsgName = `${path.parse(interfaceInfo.filePath).name}_Request.msg`;
+              if (
+                !fs.existsSync(
+                  path.join(
+                    path.dirname(interfaceInfo.filePath),
+                    requestMsgName
+                  )
+                )
+              ) {
+                await generateMsgForSrv(
+                  interfaceInfo.filePath,
+                  interfaceInfo,
+                  pkgMap
+                );
+              }
+              addInterfaceInfo(interfaceInfo, 'services', pkgMap);
+            } else if (path.extname(file.name) === '.action') {
+              addInterfaceInfo(interfaceInfo, 'actions', pkgMap);
+            } else {
+              // we ignore all other files
+            }
           }
         }
         next();

package/rosidl_gen/templates/message.dot

@@ -506,7 +506,7 @@ class {{=objectWrapper}} {
   {{~}}
   }
 
-  static destoryRawROS(msg) {
+  static destroyRawROS(msg) {
     {{=objectWrapper}}.freeStruct(msg.refObject);
   }
 

package/scripts/npmjs-readme.md

@@ -45,7 +45,7 @@ npm i rclnodejs@x.y.z
 
 |                                     RCLNODEJS Version                                      |                                                                                               Compatible ROS 2 LTS                                                                                               |
 | :----------------------------------------------------------------------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: |
-| latest version (currently [v1.2.0](https://github.com/RobotWebTools/rclnodejs/tree/1.2.0)) | [Kilted](https://github.com/RobotWebTools/rclnodejs/tree/kilted)<br>[Jazzy](https://github.com/RobotWebTools/rclnodejs/tree/jazzy)<br>[Humble](https://github.com/RobotWebTools/rclnodejs/tree/humble-hawksbill) |
+| latest version (currently [v1.4.0](https://github.com/RobotWebTools/rclnodejs/tree/1.4.0)) | [Kilted](https://github.com/RobotWebTools/rclnodejs/tree/kilted)<br>[Jazzy](https://github.com/RobotWebTools/rclnodejs/tree/jazzy)<br>[Humble](https://github.com/RobotWebTools/rclnodejs/tree/humble-hawksbill) |
 
 ## Documentation
 

package/src/addon.cpp

@@ -30,6 +30,7 @@
 #include "rcl_names_bindings.h"
 #include "rcl_node_bindings.h"
 #include "rcl_publisher_bindings.h"
+#include "rcl_serialization_bindings.h"
 #include "rcl_service_bindings.h"
 #include "rcl_subscription_bindings.h"
 #include "rcl_time_point_bindings.h"
@@ -88,6 +89,7 @@ Napi::Object InitModule(Napi::Env env, Napi::Object exports) {
   rclnodejs::InitEventHandleBindings(env, exports);
 #endif
   rclnodejs::InitLifecycleBindings(env, exports);
+  rclnodejs::InitSerializationBindings(env, exports);
   rclnodejs::ShadowNode::Init(env, exports);
   rclnodejs::RclHandle::Init(env, exports);
 

package/src/macros.h

@@ -23,17 +23,33 @@
   {                                                                 \
     if (lhs op rhs) {                                               \
       rcl_reset_error();                                            \
-      Napi::Error::New(rclnodejs::GetEnv(), message)                \
+      Napi::Error::New(env, message)                                \
           .ThrowAsJavaScriptException();                            \
+      return env.Undefined();                                       \
     }                                                               \
   }
 
+#define CHECK_OP_AND_THROW_ERROR_IF_NOT_TRUE_NO_RETURN(op, lhs, rhs, message) \
+  {                                                                           \
+    if (lhs op rhs) {                                                         \
+      rcl_reset_error();                                                      \
+      Napi::Error::New(env, message)                                          \
+          .ThrowAsJavaScriptException();                                      \
+    }                                                                         \
+  }
+
 #define THROW_ERROR_IF_NOT_EQUAL(lhs, rhs, message) \
   CHECK_OP_AND_THROW_ERROR_IF_NOT_TRUE(!=, lhs, rhs, message)
 
 #define THROW_ERROR_IF_EQUAL(lhs, rhs, message) \
   CHECK_OP_AND_THROW_ERROR_IF_NOT_TRUE(==, lhs, rhs, message)
 
+#define THROW_ERROR_IF_NOT_EQUAL_NO_RETURN(lhs, rhs, message) \
+  CHECK_OP_AND_THROW_ERROR_IF_NOT_TRUE_NO_RETURN(!=, lhs, rhs, message)
+
+#define THROW_ERROR_IF_EQUAL_NO_RETURN(lhs, rhs, message) \
+  CHECK_OP_AND_THROW_ERROR_IF_NOT_TRUE_NO_RETURN(==, lhs, rhs, message)
+
 #define PACKAGE_NAME "rclnodejs"
 
 #ifdef DEBUG_ON

package/src/rcl_action_client_bindings.cpp

@@ -75,12 +75,13 @@ Napi::Value ActionCreateClient(const Napi::CallbackInfo& info) {
                                &action_client_ops),
         RCL_RET_OK, rcl_get_error_string().str);
     auto js_obj = RclHandle::NewInstance(
-        env, action_client, node_handle, [node](void* ptr) {
+        env, action_client, node_handle, [node, env](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);
+          THROW_ERROR_IF_NOT_EQUAL_NO_RETURN(RCL_RET_OK, ret,
+                                             rcl_get_error_string().str);
         });
 
     return js_obj;

package/src/rcl_action_goal_bindings.cpp

@@ -49,12 +49,13 @@ Napi::Value ActionAcceptNewGoal(const Napi::CallbackInfo& info) {
           malloc(sizeof(rcl_action_goal_handle_t)));
   *goal_handle = *new_goal;
   auto js_obj =
-      RclHandle::NewInstance(env, goal_handle, nullptr, [](void* ptr) {
+      RclHandle::NewInstance(env, goal_handle, nullptr, [env](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);
+        THROW_ERROR_IF_NOT_EQUAL_NO_RETURN(RCL_RET_OK, ret,
+                                           rcl_get_error_string().str);
       });
 
   return js_obj;

package/src/rcl_action_server_bindings.cpp

@@ -81,12 +81,13 @@ Napi::Value ActionCreateServer(const Napi::CallbackInfo& info) {
                                action_name.c_str(), &action_server_ops),
         RCL_RET_OK, rcl_get_error_string().str);
     auto js_obj = RclHandle::NewInstance(
-        env, action_server, node_handle, [node](void* ptr) {
+        env, action_server, node_handle, [node, env](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);
+          THROW_ERROR_IF_NOT_EQUAL_NO_RETURN(RCL_RET_OK, ret,
+                                             rcl_get_error_string().str);
         });
 
     return js_obj;
@@ -390,13 +391,14 @@ Napi::Value ActionProcessCancelRequest(const Napi::CallbackInfo& info) {
   }
 
   *response = cancel_response_ptr->msg;
-  auto js_obj =
-      RclHandle::NewInstance(env, cancel_response_ptr, nullptr, [](void* ptr) {
+  auto js_obj = RclHandle::NewInstance(
+      env, cancel_response_ptr, nullptr, [env](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);
+        THROW_ERROR_IF_NOT_EQUAL_NO_RETURN(RCL_RET_OK, ret,
+                                           rcl_get_error_string().str);
       });
   return js_obj;
 }

package/src/rcl_client_bindings.cpp

@@ -53,12 +53,13 @@ Napi::Value CreateClient(const Napi::CallbackInfo& info) {
         rcl_client_init(client, node, ts, service_name.c_str(), &client_ops),
         RCL_RET_OK, rcl_get_error_string().str);
 
-    auto js_obj =
-        RclHandle::NewInstance(env, client, node_handle, [node](void* ptr) {
+    auto js_obj = RclHandle::NewInstance(
+        env, client, node_handle, [node, env](void* ptr) {
           rcl_client_t* client = reinterpret_cast<rcl_client_t*>(ptr);
           rcl_ret_t ret = rcl_client_fini(client, node);
           free(ptr);
-          THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK, ret, rcl_get_error_string().str);
+          THROW_ERROR_IF_NOT_EQUAL_NO_RETURN(RCL_RET_OK, ret,
+                                             rcl_get_error_string().str);
         });
 
     return js_obj;

package/src/rcl_context_bindings.cpp

@@ -17,7 +17,8 @@
 #include <rcl/logging.h>
 #include <rcl/rcl.h>
 
-#include <cstdio>
+#include <rcpputils/scope_exit.hpp>
+// NOLINTNEXTLINE
 #include <string>
 
 #include "macros.h"
@@ -35,6 +36,15 @@ Napi::Value Init(const Napi::CallbackInfo& info) {
                            rcl_init_options_init(&init_options, allocator),
                            rcl_get_error_string().str);
 
+  RCPPUTILS_SCOPE_EXIT({
+    rcl_ret_t fini_ret = rcl_init_options_fini(&init_options);
+    if (RCL_RET_OK != fini_ret) {
+      Napi::Error::New(env, rcl_get_error_string().str)
+          .ThrowAsJavaScriptException();
+      rcl_reset_error();
+    }
+  });
+
   // Preprocess Context
   RclHandle* context_handle = RclHandle::Unwrap(info[0].As<Napi::Object>());
   rcl_context_t* context =
@@ -42,17 +52,20 @@ Napi::Value Init(const Napi::CallbackInfo& info) {
 
   // Preprocess argc & argv
   Napi::Array jsArgv = info[1].As<Napi::Array>();
-  int argc = jsArgv.Length();
-  char** argv = nullptr;
-
-  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());
-    }
+  size_t argc = jsArgv.Length();
+  char** argv = AbstractArgsFromNapiArray(jsArgv);
+
+  // Set up the domain id.
+  size_t domain_id = RCL_DEFAULT_DOMAIN_ID;
+  if (info.Length() > 2 && info[2].IsBigInt()) {
+    bool lossless;
+    domain_id = info[2].As<Napi::BigInt>().Uint64Value(&lossless);
+  }
+  rcl_ret_t ret = rcl_init_options_set_domain_id(&init_options, domain_id);
+  if (RCL_RET_OK != ret) {
+    Napi::Error::New(env, "failed to set domain id to init options")
+        .ThrowAsJavaScriptException();
+    return env.Undefined();
   }
 
   THROW_ERROR_IF_NOT_EQUAL(
@@ -64,11 +77,7 @@ Napi::Value Init(const Napi::CallbackInfo& info) {
       RCL_RET_OK, rcl_logging_configure(&context->global_arguments, &allocator),
       rcl_get_error_string().str);
 
-  for (int i = 0; i < argc; i++) {
-    free(argv[i]);
-  }
-  free(argv);
-
+  RCPPUTILS_SCOPE_EXIT({ FreeArgs(argv, argc); });
   return env.Undefined();
 }
 
@@ -111,7 +120,8 @@ Napi::Value CreateContext(const Napi::CallbackInfo& info) {
         rcl_context_t* context = reinterpret_cast<rcl_context_t*>(ptr);
         rcl_ret_t ret = DestroyContext(env, context);
         free(ptr);
-        THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK, ret, rcl_get_error_string().str);
+        THROW_ERROR_IF_NOT_EQUAL_NO_RETURN(RCL_RET_OK, ret,
+                                           rcl_get_error_string().str);
       });
 
   return js_obj;
@@ -141,7 +151,7 @@ Napi::Value GetDomainId(const Napi::CallbackInfo& info) {
     return env.Undefined();
   }
 
-  return Napi::Number::New(env, domain_id);
+  return Napi::BigInt::New(env, domain_id);
 }
 
 Napi::Object InitContextBindings(Napi::Env env, Napi::Object exports) {

package/src/rcl_guard_condition_bindings.cpp

@@ -41,11 +41,12 @@ Napi::Value CreateGuardCondition(const Napi::CallbackInfo& info) {
                            rcl_guard_condition_init(gc, context, gc_options),
                            rcl_get_error_string().str);
 
-  auto handle = RclHandle::NewInstance(env, gc, nullptr, [](void* ptr) {
+  auto handle = RclHandle::NewInstance(env, gc, nullptr, [env](void* ptr) {
     rcl_guard_condition_t* gc = reinterpret_cast<rcl_guard_condition_t*>(ptr);
     rcl_ret_t ret = rcl_guard_condition_fini(gc);
     free(ptr);
-    THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK, ret, rcl_get_error_string().str);
+    THROW_ERROR_IF_NOT_EQUAL_NO_RETURN(RCL_RET_OK, ret,
+                                       rcl_get_error_string().str);
   });
 
   return handle;

package/src/rcl_lifecycle_bindings.cpp

@@ -83,12 +83,13 @@ Napi::Value CreateLifecycleStateMachine(const Napi::CallbackInfo& info) {
       rcl_get_error_string().str);
 
   auto js_obj = RclHandle::NewInstance(
-      env, state_machine, node_handle, [node](void* ptr) {
+      env, state_machine, node_handle, [node, env](void* ptr) {
         rcl_lifecycle_state_machine_t* state_machine =
             reinterpret_cast<rcl_lifecycle_state_machine_t*>(ptr);
         rcl_ret_t ret = rcl_lifecycle_state_machine_fini(state_machine, node);
         free(ptr);
-        THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK, ret, rcl_get_error_string().str);
+        THROW_ERROR_IF_NOT_EQUAL_NO_RETURN(RCL_RET_OK, ret,
+                                           rcl_get_error_string().str);
       });
 #else
   const rcl_node_options_t* node_options =
@@ -101,13 +102,14 @@ Napi::Value CreateLifecycleStateMachine(const Napi::CallbackInfo& info) {
                            rcl_get_error_string().str);
 
   auto js_obj = RclHandle::NewInstance(
-      env, state_machine, node_handle, [node, node_options](void* ptr) {
+      env, state_machine, node_handle, [node, node_options, env](void* ptr) {
         rcl_lifecycle_state_machine_t* state_machine =
             reinterpret_cast<rcl_lifecycle_state_machine_t*>(ptr);
         rcl_ret_t ret = rcl_lifecycle_state_machine_fini(
             state_machine, node, &node_options->allocator);
         free(ptr);
-        THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK, ret, rcl_get_error_string().str);
+        THROW_ERROR_IF_NOT_EQUAL_NO_RETURN(RCL_RET_OK, ret,
+                                           rcl_get_error_string().str);
       });
 #endif
 
@@ -372,6 +374,17 @@ Napi::Value IsInitialized(const Napi::CallbackInfo& info) {
   return Napi::Boolean::New(env, is_initialized);
 }
 
+Napi::Value Print(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+  RclHandle* state_machine_handle =
+      RclHandle::Unwrap(info[0].As<Napi::Object>());
+  rcl_lifecycle_state_machine_t* state_machine =
+      reinterpret_cast<rcl_lifecycle_state_machine_t*>(
+          state_machine_handle->ptr());
+  rcl_print_state_machine(state_machine);
+  return env.Undefined();
+}
+
 Napi::Object InitLifecycleBindings(Napi::Env env, Napi::Object exports) {
   exports.Set("createLifecycleStateMachine",
               Napi::Function::New(env, CreateLifecycleStateMachine));
@@ -396,6 +409,7 @@ Napi::Object InitLifecycleBindings(Napi::Env env, Napi::Object exports) {
   exports.Set("getLifecycleShutdownTransitionLabel",
               Napi::Function::New(env, GetLifecycleShutdownTransitionLabel));
   exports.Set("isInitialized", Napi::Function::New(env, IsInitialized));
+  exports.Set("print", Napi::Function::New(env, Print));
   return exports;
 }