rclnodejs 1.5.0 → 1.5.2

package/lib/publisher.js

@@ -14,7 +14,7 @@
 
 'use strict';
 
-const rclnodejs = require('bindings')('rclnodejs');
+const rclnodejs = require('./native_loader.js');
 const debug = require('debug')('rclnodejs:publisher');
 const Entity = require('./entity.js');
 

package/lib/serialization.js

@@ -14,7 +14,7 @@
 
 'use strict';
 
-const rclnodejs = require('bindings')('rclnodejs');
+const rclnodejs = require('./native_loader.js');
 
 class Serialization {
   /**

package/lib/service.js

@@ -14,7 +14,7 @@
 
 'use strict';
 
-const rclnodejs = require('bindings')('rclnodejs');
+const rclnodejs = require('./native_loader.js');
 const DistroUtils = require('./distro.js');
 const Entity = require('./entity.js');
 const debug = require('debug')('rclnodejs:service');

package/lib/subscription.js

@@ -14,7 +14,7 @@
 
 'use strict';
 
-const rclnodejs = require('bindings')('rclnodejs');
+const rclnodejs = require('./native_loader.js');
 const Entity = require('./entity.js');
 const debug = require('debug')('rclnodejs:subscription');
 

package/lib/time.js

@@ -14,7 +14,7 @@
 
 'use strict';
 
-const rclnodejs = require('bindings')('rclnodejs');
+const rclnodejs = require('./native_loader.js');
 const Duration = require('./duration.js');
 const ClockType = require('./clock_type.js');
 const S_TO_NS = 10n ** 9n;

package/lib/time_source.js

@@ -14,7 +14,7 @@
 
 'use strict';
 
-const rclnodejs = require('bindings')('rclnodejs');
+const rclnodejs = require('./native_loader.js');
 const { Clock, ROSClock } = require('./clock.js');
 const { ClockType } = Clock;
 const { Parameter, ParameterType } = require('./parameter.js');

package/lib/timer.js

@@ -14,7 +14,7 @@
 
 'use strict';
 
-const rclnodejs = require('bindings')('rclnodejs');
+const rclnodejs = require('./native_loader.js');
 const DistroUtils = require('./distro.js');
 
 /**

package/lib/type_description_service.js

@@ -15,7 +15,7 @@
 'use strict';
 
 const loader = require('./interface_loader.js');
-const rclnodejs = require('bindings')('rclnodejs');
+const rclnodejs = require('./native_loader.js');
 const Service = require('./service.js');
 
 const {

package/lib/utils.js

@@ -0,0 +1,37 @@
+// 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.
+
+const fs = require('fs');
+
+/**
+ * Detect Ubuntu codename from /etc/os-release
+ * @returns {string|null} Ubuntu codename (e.g., 'noble', 'jammy') or null if not detectable
+ */
+function detectUbuntuCodename() {
+  if (process.platform !== 'linux') {
+    return null;
+  }
+
+  try {
+    const osRelease = fs.readFileSync('/etc/os-release', 'utf8');
+    const match = osRelease.match(/^VERSION_CODENAME=(.*)$/m);
+    return match ? match[1].trim() : null;
+  } catch {
+    return null;
+  }
+}
+
+module.exports = {
+  detectUbuntuCodename,
+};

package/lib/validator.js

@@ -14,7 +14,7 @@
 
 'use strict';
 
-const rclnodejs = require('bindings')('rclnodejs');
+const rclnodejs = require('./native_loader.js');
 
 /**
  * An object - Representing a validator in ROS.

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "rclnodejs",
-  "version": "1.5.0",
+  "version": "1.5.2",
   "description": "ROS2.0 JavaScript client with Node.js",
   "main": "index.js",
   "types": "types/index.d.ts",
@@ -22,7 +22,7 @@
     "generate-messages:dev": "node scripts/generate_messages.js --debug && npx --yes prettier --ignore-path --write generated/**/*.js",
     "generate-tsd-messages": "node scripts/generate_tsd.js",
     "clean": "node-gyp clean && npx rimraf ./generated",
-    "install": "npm run rebuild",
+    "install": "node scripts/install.js",
     "postinstall": "npm run generate-messages",
     "docs": "cd docs && make",
     "test": "nyc node --expose-gc ./scripts/run_test.js && tsd",
@@ -30,13 +30,14 @@
     "lint": "eslint && node ./scripts/cpplint.js",
     "format": "clang-format -i -style=file ./src/*.cpp ./src/*.h && npx --yes prettier --write \"{lib,rosidl_gen,rostsd_gen,rosidl_parser,types,example,test,scripts,benchmark,rostsd_gen}/**/*.{js,md,ts}\" ./*.{js,md,ts}",
     "prepare": "husky",
-    "coverage": "cat ./coverage/lcov.info | ./node_modules/coveralls/bin/coveralls.js"
+    "coverage": "cat ./coverage/lcov.info | ./node_modules/coveralls/bin/coveralls.js",
+    "prebuild": "prebuildify --napi --strip --target 16.20.2 --target electron@23.0.0 && node scripts/tag_prebuilds.js"
   },
   "bin": {
     "generate-ros-messages": "./scripts/generate_messages.js"
   },
   "authors": [
-    "Minggang Wang <minggang.wang@intel.com>",
+    "Minggang Wang <minggangw@gmail.com>",
     "Kenny Yuan <kaining.yuan@intel.com>",
     "Wanming Lin <wanming.lin@intel.com>",
     "Zhong Qiu <zhongx.qiu@intel.com>"
@@ -47,8 +48,8 @@
     "url": "git+https://github.com/RobotWebTools/rclnodejs.git"
   },
   "devDependencies": {
-    "@eslint/js": "^10.0.0",
-    "@types/node": "^22.13.9",
+    "@eslint/js": "^9.36.0",
+    "@types/node": "^24.5.2",
     "@typescript-eslint/eslint-plugin": "^8.18.0",
     "@typescript-eslint/parser": "^8.18.0",
     "clang-format": "^1.8.0",
@@ -61,18 +62,18 @@
     "globals": "^16.0.0",
     "husky": "^9.1.7",
     "jsdoc": "^4.0.4",
-    "lint-staged": "^15.2.10",
+    "lint-staged": "^16.2.0",
     "mocha": "^11.0.2",
     "nyc": "^17.1.0",
+    "prebuildify": "^6.0.1",
     "rimraf": "^6.0.1",
-    "sinon": "^19.0.2",
+    "sinon": "^21.0.0",
     "tree-kill": "^1.2.2",
-    "tsd": "^0.31.2",
+    "tsd": "^0.33.0",
     "typescript": "^5.7.2"
   },
   "dependencies": {
     "@rclnodejs/ref-array-di": "^1.2.2",
-    "@rclnodejs/ref-napi": "^4.0.0",
     "@rclnodejs/ref-struct-di": "^1.1.1",
     "bindings": "^1.5.0",
     "compare-versions": "^6.1.1",
@@ -81,9 +82,9 @@
     "fs-extra": "^11.2.0",
     "is-close": "^1.3.3",
     "json-bigint": "^1.0.0",
+    "node-addon-api": "^8.3.1",
     "terser": "^5.39.0",
-    "walk": "^2.3.15",
-    "node-addon-api": "^8.3.1"
+    "walk": "^2.3.15"
   },
   "husky": {
     "hooks": {

package/rosidl_gen/deallocator.js

@@ -14,7 +14,7 @@
 
 'use strict';
 
-const rclnodejs = require('bindings')('rclnodejs');
+const rclnodejs = require('../lib/native_loader.js');
 
 let deallocator = {
   delayFreeStructMember(refObj, type, name) {

package/rosidl_gen/generate_worker.js

@@ -0,0 +1,63 @@
+// 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.
+
+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 idlPath = path.join(generatedRoot, 'share');
+const useIDL = !!process.argv.find((arg) => arg === '--idl');
+
+// Get target path from environment variable instead of workerData
+const targetPath = process.env.WORKER_TARGET_PATH;
+
+async function generateInPath(targetPath) {
+  let pkgsInfo = null;
+  if (!useIDL) {
+    pkgsInfo = Array.from(
+      (await packages.findPackagesInDirectory(targetPath)).values()
+    );
+  } else {
+    const idlPkgs = await packages.findPackagesInDirectory(targetPath, 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))
+  );
+}
+
+async function main() {
+  try {
+    await generateInPath(targetPath);
+    process.exit(0);
+  } catch (error) {
+    console.error('Worker generation failed:', error.message);
+    process.exit(1);
+  }
+}
+
+main();

package/rosidl_gen/generator.json

@@ -4,7 +4,7 @@
   "description": "Generate JavaScript object from ROS IDL(.msg/.srv/.action/.idl) files",
   "main": "index.js",
   "authors": [
-    "Minggang Wang <minggang.wang@intel.com>",
+    "Minggang Wang <minggangw@gmail.com>",
     "Kenny Yuan <kaining.yuan@intel.com>"
   ],
   "license": "Apache-2.0"

package/rosidl_gen/index.js

@@ -53,6 +53,35 @@ async function generateInPath(path) {
   );
 }
 
+function generateInPathSyncWorker(targetPath) {
+  try {
+    // Use child_process.spawnSync for truly synchronous execution
+    const result = require('child_process').spawnSync(
+      'node',
+      [path.join(__dirname, 'generate_worker.js')],
+      {
+        env: { ...process.env, WORKER_TARGET_PATH: targetPath },
+        encoding: 'utf8',
+        timeout: 30000,
+      }
+    );
+
+    if (result.error) {
+      throw result.error;
+    }
+
+    if (result.status !== 0) {
+      throw new Error(
+        `Worker process exited with code ${result.status}. stderr: ${result.stderr}`
+      );
+    }
+
+    return result.stdout;
+  } catch (error) {
+    throw error;
+  }
+}
+
 async function generateAll(forcedGenerating) {
   // If we want to create the JavaScript files compulsively (|forcedGenerating| equals to true)
   // or the JavaScript files have not been created (|exist| equals to false),
@@ -86,7 +115,9 @@ const generator = {
 
   generateAll,
   generateInPath,
+  generateInPathSyncWorker,
   generatedRoot,
+  getInstalledPackagePaths,
 };
 
 module.exports = generator;

package/rosidl_gen/primitive_types.js

@@ -14,9 +14,9 @@
 
 'use strict';
 
-const ref = require('@rclnodejs/ref-napi');
+const ref = require('../third_party/ref-napi');
 const StructType = require('@rclnodejs/ref-struct-di')(ref);
-const rclnodejs = require('bindings')('rclnodejs');
+const rclnodejs = require('../lib/native_loader.js');
 
 const StringRefStruct = StructType({
   data: ref.types.CString,

package/rosidl_gen/templates/message.dot

@@ -224,9 +224,9 @@ function extractMemberNames(fields) {
 }}
 
 {{? willUseTypedArray}}
-const rclnodejs = require('bindings')('rclnodejs');
+const rclnodejs = require('../../lib/native_loader.js');
 {{?}}
-const ref = require('@rclnodejs/ref-napi');
+const ref = require('../../third_party/ref-napi');
 const StructType = require('@rclnodejs/ref-struct-di')(ref);
 const ArrayType = require('@rclnodejs/ref-array-di')(ref);
 const primitiveTypes = require('../../rosidl_gen/primitive_types.js');

package/scripts/install.js

@@ -0,0 +1,113 @@
+// 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.
+
+const fs = require('fs');
+const path = require('path');
+const { execSync } = require('child_process');
+const { detectUbuntuCodename } = require('../lib/utils');
+
+function getRosDistro() {
+  return process.env.ROS_DISTRO || null;
+}
+
+function checkPrebuiltBinary() {
+  const platform = process.platform;
+  const arch = process.arch;
+
+  // Only Linux has prebuilt binaries
+  if (platform !== 'linux') {
+    console.log(
+      `Platform ${platform} does not have prebuilt binaries, will build from source`
+    );
+    return false;
+  }
+
+  const ubuntuCodename = detectUbuntuCodename();
+  const rosDistro = getRosDistro();
+
+  if (!ubuntuCodename || !rosDistro) {
+    console.log(
+      'Cannot detect Ubuntu codename or ROS distribution, will build from source'
+    );
+    return false;
+  }
+
+  // Check for the specific prebuilt binary
+  const prebuildDir = path.join(
+    __dirname,
+    '..',
+    'prebuilds',
+    `${platform}-${arch}`
+  );
+  const expectedBinary = `${rosDistro}-${ubuntuCodename}-${arch}-rclnodejs.node`;
+  const binaryPath = path.join(prebuildDir, expectedBinary);
+
+  if (fs.existsSync(binaryPath)) {
+    console.log(`✓ Found prebuilt binary: ${expectedBinary}`);
+    console.log(`  Platform: ${platform}, Arch: ${arch}`);
+    console.log(`  Ubuntu: ${ubuntuCodename}, ROS: ${rosDistro}`);
+    return true;
+  }
+
+  console.log(
+    `✗ No prebuilt binary found for ${rosDistro}-${ubuntuCodename}-${arch}`
+  );
+
+  // List available binaries for debugging
+  if (fs.existsSync(prebuildDir)) {
+    const availableBinaries = fs
+      .readdirSync(prebuildDir)
+      .filter((f) => f.endsWith('.node'));
+    if (availableBinaries.length > 0) {
+      console.log(
+        '  Available prebuilt binaries:',
+        availableBinaries.join(', ')
+      );
+    }
+  }
+
+  return false;
+}
+
+function buildFromSource() {
+  console.log('\n=== Building rclnodejs from source ===');
+  try {
+    execSync('npm run rebuild', {
+      stdio: 'inherit',
+      cwd: path.join(__dirname, '..'),
+      timeout: 600000, // 10 minute timeout
+    });
+    console.log('✓ Successfully built from source\n');
+  } catch (error) {
+    console.error('✗ Failed to build from source:', error.message);
+    process.exit(1);
+  }
+}
+
+function main() {
+  console.log('\n=== Installing rclnodejs ===\n');
+
+  if (checkPrebuiltBinary()) {
+    console.log('✓ Installation complete - using prebuilt binary\n');
+  } else {
+    console.log('→ Building from source...\n');
+    buildFromSource();
+  }
+}
+
+if (require.main === module) {
+  main();
+}
+
+module.exports = { checkPrebuiltBinary, buildFromSource };

package/scripts/tag_prebuilds.js

@@ -0,0 +1,70 @@
+// 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.
+
+const fs = require('fs');
+const path = require('path');
+const { detectUbuntuCodename } = require('../lib/utils');
+
+function tagPrebuilds() {
+  const rosDistro = process.env.ROS_DISTRO;
+  const ubuntuCodename = detectUbuntuCodename();
+  const platform = process.platform;
+  const arch = process.arch;
+
+  console.log(
+    `Tagging prebuilds with Ubuntu: ${ubuntuCodename || 'unknown'}, ROS2: ${rosDistro || 'unknown'}, Platform: ${platform}, Arch: ${arch}`
+  );
+
+  const prebuildDir = path.join(
+    __dirname,
+    '..',
+    'prebuilds',
+    `${platform}-${arch}`
+  );
+
+  if (!fs.existsSync(prebuildDir)) {
+    console.log('No prebuilds directory found, skipping tagging');
+    return;
+  }
+
+  const files = fs.readdirSync(prebuildDir).filter((f) => f.endsWith('.node'));
+
+  for (const file of files) {
+    const filePath = path.join(prebuildDir, file);
+
+    // Create tagged version with format: {ros_distro}-{linux-codename}-{cpu-arch}-rclnodejs.node
+    if (rosDistro && ubuntuCodename) {
+      const taggedName = `${rosDistro}-${ubuntuCodename}-${arch}-rclnodejs.node`;
+      const taggedPath = path.join(prebuildDir, taggedName);
+      fs.copyFileSync(filePath, taggedPath);
+      console.log(`Created tagged binary: ${taggedName}`);
+
+      // Remove the original generic binary file if it's the basic rclnodejs.node
+      if (file === 'rclnodejs.node') {
+        fs.unlinkSync(filePath);
+        console.log(`Removed generic binary: ${file}`);
+      }
+    } else {
+      console.log(
+        `Skipping tagging for ${file} - missing ROS_DISTRO or Ubuntu codename`
+      );
+    }
+  }
+}
+
+if (require.main === module) {
+  tagPrebuilds();
+}
+
+module.exports = { tagPrebuilds };

package/src/addon.cpp

@@ -40,6 +40,7 @@
 #include "rcl_type_description_service_bindings.h"
 #endif
 #include "rcl_utilities.h"
+#include "ref_napi_bindings.h"
 #include "shadow_node.h"
 
 bool IsRunningInElectronRenderer(const Napi::Env& env) {
@@ -93,6 +94,8 @@ Napi::Object InitModule(Napi::Env env, Napi::Object exports) {
   rclnodejs::ShadowNode::Init(env, exports);
   rclnodejs::RclHandle::Init(env, exports);
 
+  exports.Set("ref", rclnodejs::InitRefNapi(env));
+
 #ifdef DEBUG_ON
   int result = rcutils_logging_set_logger_level(PACKAGE_NAME,
                                                 RCUTILS_LOG_SEVERITY_DEBUG);

package/third_party/ref-napi/index.js

@@ -0,0 +1,15 @@
+// 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.
+
+module.exports = require('./lib/ref');