rclnodejs 1.4.0 → 1.4.1

package/README.md

@@ -45,7 +45,7 @@ npm i rclnodejs@x.y.z
 
 |                                     RCLNODEJS Version                                      |                                                                                               Compatible ROS 2 LTS                                                                                               |
 | :----------------------------------------------------------------------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: |
-| 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) |
+| latest version (currently [v1.4.1](https://github.com/RobotWebTools/rclnodejs/tree/1.4.1)) | [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/package.json

@@ -1,6 +1,6 @@
 {
   "name": "rclnodejs",
-  "version": "1.4.0",
+  "version": "1.4.1",
   "description": "ROS2.0 JavaScript client with Node.js",
   "main": "index.js",
   "types": "types/index.d.ts",
@@ -52,7 +52,7 @@
     "@typescript-eslint/eslint-plugin": "^8.18.0",
     "@typescript-eslint/parser": "^8.18.0",
     "clang-format": "^1.8.0",
-    "commander": "^13.1.0",
+    "commander": "^14.0.0",
     "coveralls": "^3.1.1",
     "deep-equal": "^2.2.3",
     "eslint": "^9.16.0",

package/rosidl_convertor/idl_convertor.py

@@ -190,37 +190,85 @@ class IdlParser:
         return interfaces
 
     def _preprocess_content(self, content: str) -> str:
-        """Remove comments and normalize whitespace"""
-        # Remove @verbatim blocks using a more robust approach
-        # Find and remove complete @verbatim blocks that may span multiple lines
+        """Remove @verbatim blocks from the content with proper string handling."""
         lines = content.split('\n')
-        processed_lines = []
-        in_verbatim = False
-        paren_count = 0
-
-        for line in lines:
-            if '@verbatim' in line and not in_verbatim:
-                in_verbatim = True
-                paren_count = line.count('(') - line.count(')')
-                continue
-            elif in_verbatim:
-                paren_count += line.count('(') - line.count(')')
-                if paren_count <= 0:
-                    in_verbatim = False
-                continue
+        result_lines = []
 
-            # Remove regular comments
-            if '//' in line:
-                line = line[:line.index('//')]
-
-            processed_lines.append(line)
-
-        content = '\n'.join(processed_lines)
-
-        # Remove multi-line comments
-        content = re.sub(r'/\*.*?\*/', '', content, flags=re.DOTALL)
+        i = 0
+        while i < len(lines):
+            line = lines[i]
+            if '@verbatim' in line:
+                # Find opening parenthesis after @verbatim
+                verbatim_pos = line.find('@verbatim')
+                paren_pos = line.find('(', verbatim_pos)
+                if paren_pos == -1:
+                    result_lines.append(line)
+                    i += 1
+                    continue
+
+                # Parse with string awareness
+                paren_count = 0
+                in_string = False
+                escape_next = False
+                start_part = line[:verbatim_pos]
+
+                # Process current line starting from opening parenthesis
+                j = paren_pos
+                while j < len(line):
+                    char = line[j]
+
+                    if escape_next:
+                        escape_next = False
+                    elif char == '\\':
+                        escape_next = True
+                    elif char == '"' and not escape_next:
+                        in_string = not in_string
+                    elif not in_string:
+                        if char == '(':
+                            paren_count += 1
+                        elif char == ')':
+                            paren_count -= 1
+                            if paren_count == 0:
+                                # Found end of verbatim block
+                                result_lines.append(start_part + line[j+1:])
+                                i += 1
+                                break
+                    j += 1
+                else:
+                    # Verbatim block continues to next lines
+                    i += 1
+                    while i < len(lines) and paren_count > 0:
+                        line = lines[i]
+                        j = 0
+                        while j < len(line):
+                            char = line[j]
+
+                            if escape_next:
+                                escape_next = False
+                            elif char == '\\':
+                                escape_next = True
+                            elif char == '"' and not escape_next:
+                                in_string = not in_string
+                            elif not in_string:
+                                if char == '(':
+                                    paren_count += 1
+                                elif char == ')':
+                                    paren_count -= 1
+                                    if paren_count == 0:
+                                        # Found end
+                                        result_lines.append(start_part + line[j+1:])
+                                        i += 1
+                                        break
+                            j += 1
+                        else:
+                            i += 1
+                            continue
+                        break
+            else:
+                result_lines.append(line)
+                i += 1
 
-        return content
+        return '\n'.join(result_lines)
 
     def _extract_modules(self, content: str) -> List[Dict]:
         """Extract module definitions from content"""
@@ -260,11 +308,37 @@ class IdlParser:
                         nested['name'] = f"{module_name}::{nested['name']}"
                         modules.append(nested)
 
-                # Always add the current module as well
-                modules.append({
-                    'name': module_name,
-                    'content': module_content
-                })
+                    # Only add the current module if it has content beyond just nested modules
+                    # Check if there are any struct, enum, typedef, or const definitions directly in this module
+                    lines = module_content.split('\n')
+                    has_direct_definitions = False
+                    in_nested_module = False
+                    brace_level = 0
+
+                    for line in lines:
+                        line = line.strip()
+                        if line.startswith('module ') and '{' in line:
+                            in_nested_module = True
+                            brace_level = 1
+                        elif in_nested_module:
+                            brace_level += line.count('{') - line.count('}')
+                            if brace_level <= 0:
+                                in_nested_module = False
+                        elif not in_nested_module and re.search(r'^\s*(struct|enum|typedef|const)\s+\w+', line):
+                            has_direct_definitions = True
+                            break
+
+                    if has_direct_definitions:
+                        modules.append({
+                            'name': module_name,
+                            'content': module_content
+                        })
+                else:
+                    # No nested modules, always add this module
+                    modules.append({
+                        'name': module_name,
+                        'content': module_content
+                    })
 
                 pos = current_pos
             else:

package/scripts/generate_messages.js

@@ -19,9 +19,15 @@
 
 const generator = require('../rosidl_gen/index.js');
 const tsdGenerator = require('../rostsd_gen/index.js');
+const useIDL = !!process.argv.find((arg) => arg === '--idl');
 
 async function main() {
   console.log('Start generation of ROS2 JavaScript messages...');
+  if (!useIDL) {
+    console.log(
+      'See details https://github.com/RobotWebTools/rclnodejs?tab=readme-ov-file#idl-message-generation for generating from .idl files'
+    );
+  }
 
   try {
     await generator.generateAll(true);

package/types/interfaces.d.ts

@@ -1312,6 +1312,20 @@ declare module 'rclnodejs' {
       export interface PolygonConstructor {
         new(other?: Polygon): Polygon;
       }
+      export interface PolygonInstance {
+        polygon: geometry_msgs.msg.Polygon;
+        id: bigint;
+      }
+      export interface PolygonInstanceConstructor {
+        new(other?: PolygonInstance): PolygonInstance;
+      }
+      export interface PolygonInstanceStamped {
+        header: std_msgs.msg.Header;
+        polygon: geometry_msgs.msg.PolygonInstance;
+      }
+      export interface PolygonInstanceStampedConstructor {
+        new(other?: PolygonInstanceStamped): PolygonInstanceStamped;
+      }
       export interface PolygonStamped {
         header: std_msgs.msg.Header;
         polygon: geometry_msgs.msg.Polygon;
@@ -1537,6 +1551,20 @@ declare module 'rclnodejs' {
         export interface PolygonConstructor {
           new(other?: Polygon): Polygon;
         }
+        export interface PolygonInstance {
+          polygon: 'geometry_msgs/msg/Polygon';
+          id: 'int64';
+        }
+        export interface PolygonInstanceConstructor {
+          new(other?: PolygonInstance): PolygonInstance;
+        }
+        export interface PolygonInstanceStamped {
+          header: 'std_msgs/msg/Header';
+          polygon: 'geometry_msgs/msg/PolygonInstance';
+        }
+        export interface PolygonInstanceStampedConstructor {
+          new(other?: PolygonInstanceStamped): PolygonInstanceStamped;
+        }
         export interface PolygonStamped {
           header: 'std_msgs/msg/Header';
           polygon: 'geometry_msgs/msg/Polygon';
@@ -7378,6 +7406,8 @@ declare module 'rclnodejs' {
     'geometry_msgs/msg/Point32': geometry_msgs.msg.Point32,
     'geometry_msgs/msg/PointStamped': geometry_msgs.msg.PointStamped,
     'geometry_msgs/msg/Polygon': geometry_msgs.msg.Polygon,
+    'geometry_msgs/msg/PolygonInstance': geometry_msgs.msg.PolygonInstance,
+    'geometry_msgs/msg/PolygonInstanceStamped': geometry_msgs.msg.PolygonInstanceStamped,
     'geometry_msgs/msg/PolygonStamped': geometry_msgs.msg.PolygonStamped,
     'geometry_msgs/msg/Pose': geometry_msgs.msg.Pose,
     'geometry_msgs/msg/Pose2D': geometry_msgs.msg.Pose2D,
@@ -7408,6 +7438,8 @@ declare module 'rclnodejs' {
     'geometry_msgs/msg/descriptor/Point32': geometry_msgs.msg.descriptor.Point32,
     'geometry_msgs/msg/descriptor/PointStamped': geometry_msgs.msg.descriptor.PointStamped,
     'geometry_msgs/msg/descriptor/Polygon': geometry_msgs.msg.descriptor.Polygon,
+    'geometry_msgs/msg/descriptor/PolygonInstance': geometry_msgs.msg.descriptor.PolygonInstance,
+    'geometry_msgs/msg/descriptor/PolygonInstanceStamped': geometry_msgs.msg.descriptor.PolygonInstanceStamped,
     'geometry_msgs/msg/descriptor/PolygonStamped': geometry_msgs.msg.descriptor.PolygonStamped,
     'geometry_msgs/msg/descriptor/Pose': geometry_msgs.msg.descriptor.Pose,
     'geometry_msgs/msg/descriptor/Pose2D': geometry_msgs.msg.descriptor.Pose2D,
@@ -8129,6 +8161,8 @@ declare module 'rclnodejs' {
     'geometry_msgs/msg/Point32': geometry_msgs.msg.Point32Constructor,
     'geometry_msgs/msg/PointStamped': geometry_msgs.msg.PointStampedConstructor,
     'geometry_msgs/msg/Polygon': geometry_msgs.msg.PolygonConstructor,
+    'geometry_msgs/msg/PolygonInstance': geometry_msgs.msg.PolygonInstanceConstructor,
+    'geometry_msgs/msg/PolygonInstanceStamped': geometry_msgs.msg.PolygonInstanceStampedConstructor,
     'geometry_msgs/msg/PolygonStamped': geometry_msgs.msg.PolygonStampedConstructor,
     'geometry_msgs/msg/Pose': geometry_msgs.msg.PoseConstructor,
     'geometry_msgs/msg/Pose2D': geometry_msgs.msg.Pose2DConstructor,
@@ -8159,6 +8193,8 @@ declare module 'rclnodejs' {
     'geometry_msgs/msg/descriptor/Point32': geometry_msgs.msg.descriptor.Point32Constructor,
     'geometry_msgs/msg/descriptor/PointStamped': geometry_msgs.msg.descriptor.PointStampedConstructor,
     'geometry_msgs/msg/descriptor/Polygon': geometry_msgs.msg.descriptor.PolygonConstructor,
+    'geometry_msgs/msg/descriptor/PolygonInstance': geometry_msgs.msg.descriptor.PolygonInstanceConstructor,
+    'geometry_msgs/msg/descriptor/PolygonInstanceStamped': geometry_msgs.msg.descriptor.PolygonInstanceStampedConstructor,
     'geometry_msgs/msg/descriptor/PolygonStamped': geometry_msgs.msg.descriptor.PolygonStampedConstructor,
     'geometry_msgs/msg/descriptor/Pose': geometry_msgs.msg.descriptor.PoseConstructor,
     'geometry_msgs/msg/descriptor/Pose2D': geometry_msgs.msg.descriptor.Pose2DConstructor,

package/scripts/cpplint.js

@@ -1,39 +0,0 @@
-// Copyright (c) 2017 Intel Corporation. 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.
-
-'use strict';
-
-const exec = require('child_process').exec;
-
-const cmd = 'wget -nc ';
-const cpplintUrl =
-  'https://raw.githubusercontent.com/cpplint/cpplint/refs/heads/develop/cpplint.py';
-const root = `${__dirname}/../src`;
-const args = `--filter=-build/include_subdir,-whitespace/indent_namespace --extensions=cpp,h,hpp,cc ${root}/*`;
-
-console.log('Downloading the cpplint...');
-exec(cmd + cpplintUrl, (err, stdout, stderr) => {
-  if (err) {
-    console.log(`Downloading failed: ${stderr}`);
-  } else {
-    console.log('Running the cpplint...');
-    exec('python3 cpplint.py ' + args, (err, stdout, stderr) => {
-      console.log(stdout);
-      if (err) {
-        console.log(stderr);
-        throw Error('cpplint failed.');
-      }
-    });
-  }
-});

package/scripts/npm-pack.sh

@@ -1,38 +0,0 @@
-#!/bin/bash
-#
-# Copyright (c) 2017 Intel Corporation. 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.
-
-#Usage: npm-pack.sh
-
-WORKDIR=`mktemp -d`
-RAWMODULEDIR="rclnodejs/"
-MODULEDIR="$WORKDIR/$RAWMODULEDIR"
-
-mkdir -p $MODULEDIR
-rsync -a . $MODULEDIR
-
-cp -f scripts/npmjs-readme.md $MODULEDIR/README.md
-
-pushd . > /dev/null
-cd $WORKDIR
-FILENAME=`npm pack $RAWMODULEDIR | awk '{for(i=1; i<=NF; i++) if ($i ~ /rclnodejs-.*\.tgz/) print $i}'`
-TARFILENAME="$WORKDIR/$FILENAME"
-
-popd > /dev/null
-mkdir -p dist
-cp -f $TARFILENAME ./dist/
-rm -rf $WORKDIR
-
-echo "Generated ./dist/$FILENAME"

package/scripts/npmjs-readme.md

@@ -1,169 +0,0 @@
-# rclnodejs [![Linux](https://github.com/RobotWebTools/rclnodejs/actions/workflows/linux-x64-build-and-test.yml/badge.svg?branch=develop)](https://github.com/RobotWebTools/rclnodejs/actions/workflows/linux-x64-build-and-test.yml?query=branch%3Adevelop)[![Linux](https://github.com/RobotWebTools/rclnodejs/actions/workflows/linux-arm64-build-and-test.yml/badge.svg?branch=develop)](https://github.com/RobotWebTools/rclnodejs/actions/workflows/linux-arm64-build-and-test.yml?query=branch%3Adevelop)
-
-`rclnodejs` is a Node.js client for the Robot Operating System (ROS 2). It provides a simple and easy JavaScript API for ROS 2 programming. TypeScript declarations are included to support use of rclnodejs in TypeScript projects.
-
-Here's an example for how to create a ROS 2 node that publishes a string message in a few lines of JavaScript.
-
-```JavaScript
-const rclnodejs = require('rclnodejs');
-rclnodejs.init().then(() => {
-  const node = rclnodejs.createNode('publisher_example_node');
-  const publisher = node.createPublisher('std_msgs/msg/String', 'topic');
-  publisher.publish(`Hello ROS 2 from rclnodejs`);
-  rclnodejs.spin(node);
-});
-```
-
-## Prerequisites
-
-**Node.js**
-
-- [Node.js](https://nodejs.org/en/) version >= 16.13.0.
-
-**ROS 2 SDK**
-
-- See the ROS 2 SDK [Installation Guide](https://docs.ros.org/en/kilted/Installation.html) for details.
-- **DON'T FORGET TO [SOURCE THE ROS 2 STARTUP FILES](https://docs.ros.org/en/kilted/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.htmls)**
-
-## Install rclnodejs
-
-Install the rclnodejs version that is compatible with your installed version of ROS 2 (see table below).
-
-Run the following command for the most current version of rclnodejs
-
-```bash
-npm i rclnodejs
-```
-
-or to install a specific version of rclnodejs use
-
-```bash
-npm i rclnodejs@x.y.z
-```
-
-#### RCLNODEJS - ROS 2 Version Compatibility
-
-|                                     RCLNODEJS Version                                      |                                                                                               Compatible ROS 2 LTS                                                                                               |
-| :----------------------------------------------------------------------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: |
-| 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
-
-API [documentation](https://robotwebtools.github.io/rclnodejs/docs/index.html) is available online.
-
-## JavaScript Examples
-
-The source for the following examples and many others can be found [here](https://github.com/RobotWebTools/rclnodejs/tree/develop/example).
-
-Use complex message
-
-```JavaScript
-  const publisher = node.createPublisher('sensor_msgs/msg/JointState', 'topic');
-  publisher.publish({
-    header: {
-      stamp: {
-        sec: 123456,
-        nanosec: 789,
-      },
-      frame_id: 'main frame',
-    },
-    name: ['Tom', 'Jerry'],
-    position: [1, 2],
-    velocity: [2, 3],
-    effort: [4, 5, 6],
-  });
-
-```
-
-Create a subscription
-
-```JavaScript
-const rclnodejs = require('../index.js');
-
-// Create a ROS node and then print out the string message received from publishers
-rclnodejs.init().then(() => {
-  const node = rclnodejs.createNode('subscription_example_node');
-
-  node.createSubscription('std_msgs/msg/String', 'topic', (msg) => {
-    console.log(`Received message: ${typeof msg}`, msg);
-  });
-
-  rclnodejs.spin(node);
-});
-```
-
-Create a service
-
-```JavaScript
-  node.createService('example_interfaces/srv/AddTwoInts', 'add_two_ints', (request, response) => {
-    console.log(`Incoming request: ${typeof request}`, request);
-    let result = response.template;
-    result.sum = request.a + request.b;
-    console.log(`Sending response: ${typeof result}`, result, '\n--');
-    response.send(result);
-  });
-
-```
-
-Send a request in a client
-
-```JavaScript
-  const client = node.createClient('example_interfaces/srv/AddTwoInts', 'add_two_ints');
-  const request = {
-    a: Math.floor(Math.random() * 100),
-    b: Math.floor(Math.random() * 100),
-  };
-
-  console.log(`Sending: ${typeof request}`, request);
-  client.sendRequest(request, (response) => {
-    console.log(`Result: ${typeof response}`, response);
-  });
-
-```
-
-## Using rclnodejs with TypeScript
-
-In your node project install the rclnodejs package as described above. You will also need the TypeScript compiler and node typings installed.
-
-```
-  npm install typescript @types/node -D
-```
-
-In your project's tsconfig.json file include the following compiler options:
-
-```jsonc
-{
-  "compilerOptions": {
-    "module": "commonjs",
-    "moduleResolution": "node",
-    "target": "es6",
-    ...
-  }
-}
-```
-
-Here's an earlier JavaScript example reimplemented in TypeScript.
-
-```typescript
-import * as rclnodejs from 'rclnodejs';
-rclnodejs.init().then(() => {
-  const node = rclnodejs.createNode('publisher_example_node');
-  const publisher = node.createPublisher('std_msgs/msg/String', 'topic');
-  publisher.publish(`Hello ROS 2 from rclnodejs`);
-  rclnodejs.spin(node);
-});
-```
-
-Type-aliases for the ROS2 messages can be found in the `types/interfaces.d.ts` file. To use a message type-alias follow the naming pattern <pkg_name>.[msg|srv].<type>, e.g., sensor_msgs.msg.LaserScan or the std_msgs.msg.String as shown below.
-
-```typescript
-const msg: rclnodejs.std_msgs.msg.String = {
-  data: 'hello ROS2 from rclnodejs',
-};
-```
-
-**Note** that the interface.d.ts file is updated each time the generate_messages.js script is run.
-
-## License
-
-Apache License Version 2.0

package/scripts/run_test.js

@@ -1,49 +0,0 @@
-// Copyright (c) 2017 Intel Corporation. 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.
-
-'use strict';
-
-const fs = require('fs-extra');
-const Mocha = require('mocha');
-const os = require('os');
-const path = require('path');
-
-fs.remove(path.join(path.dirname(__dirname), 'generated'), (err) => {
-  if (!err) {
-    let mocha = new Mocha();
-    const testDir = path.join(__dirname, '../test/');
-    // eslint-disable-next-line
-    const tests = fs.readdirSync(testDir).filter((file) => {
-      return file.substr(0, 5) === 'test-';
-    });
-
-    // eslint-disable-next-line
-    let blocklist = JSON.parse(
-      fs.readFileSync(path.join(__dirname, '../test/blocklist.json'), 'utf8')
-    );
-    let ignoredCases = blocklist[os.type()];
-
-    tests.forEach((test) => {
-      if (ignoredCases.indexOf(test) === -1) {
-        mocha.addFile(path.join(testDir, test));
-      }
-    });
-
-    mocha.run(function (failures) {
-      process.on('exit', () => {
-        process.exit(failures);
-      });
-    });
-  }
-});