rclnodejs 1.5.1 → 1.6.0

package/lib/parameter.js

@@ -19,7 +19,7 @@
 
 'use strict';
 
-const IsClose = require('is-close');
+const { isClose } = require('./utils.js');
 
 /**
  * The plus/minus tolerance for determining number equivalence.
@@ -623,8 +623,8 @@ class FloatingPointRange extends Range {
     const max = Math.max(this.fromValue, this.toValue);
 
     if (
-      IsClose.isClose(value, min, this.tolerance) ||
-      IsClose.isClose(value, max, this.tolerance)
+      isClose(value, min, this.tolerance) ||
+      isClose(value, max, this.tolerance)
     ) {
       return true;
     }
@@ -633,13 +633,7 @@ class FloatingPointRange extends Range {
     }
     if (this.step != 0.0) {
       const distanceInSteps = Math.round((value - min) / this.step);
-      if (
-        !IsClose.isClose(
-          min + distanceInSteps * this.step,
-          value,
-          this.tolerance
-        )
-      ) {
+      if (!isClose(min + distanceInSteps * this.step, value, this.tolerance)) {
         return false;
       }
     }

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

@@ -14,8 +14,9 @@
 
 'use strict';
 
-const rclnodejs = require('bindings')('rclnodejs');
+const rclnodejs = require('./native_loader.js');
 const Entity = require('./entity.js');
+const { applySerializationMode } = require('./message_serialization.js');
 const debug = require('debug')('rclnodejs:subscription');
 
 /**
@@ -42,6 +43,7 @@ class Subscription extends Entity {
     this._topic = topic;
     this._callback = callback;
     this._isRaw = options.isRaw || false;
+    this._serializationMode = options.serializationMode || 'default';
     this._node = node;
 
     if (node && eventCallbacks) {
@@ -55,7 +57,13 @@ class Subscription extends Entity {
     if (this._isRaw) {
       this._callback(msg);
     } else {
-      this._callback(msg.toPlainObject(this.typedArrayEnabled));
+      let message = msg.toPlainObject(this.typedArrayEnabled);
+
+      if (this._serializationMode !== 'default') {
+        message = applySerializationMode(message, this._serializationMode);
+      }
+
+      this._callback(message);
     }
   }
 
@@ -109,6 +117,13 @@ class Subscription extends Entity {
     return this._isRaw;
   }
 
+  /**
+   * @type {string}
+   */
+  get serializationMode() {
+    return this._serializationMode;
+  }
+
   /**
    * Test if the RMW supports content-filtered topics and that this subscription
    * has an active wellformed content-filter.

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 +1,324 @@
+// 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 fsPromises = require('fs/promises');
+const path = require('path');
+
+/**
+ * Ensure directory exists, create recursively if needed (async)
+ * Replaces: fse.ensureDir() / fse.mkdirs()
+ * @param {string} dirPath - Path to directory
+ * @returns {Promise<void>}
+ */
+async function ensureDir(dirPath) {
+  try {
+    await fsPromises.mkdir(dirPath, { recursive: true });
+  } catch (err) {
+    // Ignore if directory already exists
+    if (err.code !== 'EEXIST') throw err;
+  }
+}
+
+/**
+ * Ensure directory exists, create recursively if needed (sync)
+ * Replaces: fse.mkdirSync()
+ * @param {string} dirPath - Path to directory
+ */
+function ensureDirSync(dirPath) {
+  try {
+    fs.mkdirSync(dirPath, { recursive: true });
+  } catch (err) {
+    // Ignore if directory already exists
+    if (err.code !== 'EEXIST') throw err;
+  }
+}
+
+/**
+ * Check if path exists (async)
+ * Replaces: fse.exists()
+ * @param {string} filePath - Path to check
+ * @returns {Promise<boolean>}
+ */
+async function pathExists(filePath) {
+  try {
+    await fsPromises.access(filePath);
+    return true;
+  } catch {
+    return false;
+  }
+}
+
+/**
+ * Empty a directory (remove all contents but keep the directory)
+ * Replaces: fse.emptyDir()
+ * @param {string} dirPath - Path to directory
+ * @returns {Promise<void>}
+ */
+async function emptyDir(dirPath) {
+  try {
+    const files = await fsPromises.readdir(dirPath);
+    await Promise.all(
+      files.map((file) =>
+        fsPromises.rm(path.join(dirPath, file), {
+          recursive: true,
+          force: true,
+        })
+      )
+    );
+  } catch (err) {
+    // Ignore if directory doesn't exist
+    if (err.code !== 'ENOENT') throw err;
+  }
+}
+
+/**
+ * Copy file or directory recursively
+ * Replaces: fse.copy()
+ * @param {string} src - Source path
+ * @param {string} dest - Destination path
+ * @param {object} options - Copy options
+ * @returns {Promise<void>}
+ */
+async function copy(src, dest, options = {}) {
+  const opts = {
+    recursive: true,
+    force: options.overwrite !== false,
+    ...options,
+  };
+  await fsPromises.cp(src, dest, opts);
+}
+
+/**
+ * Read and parse JSON file synchronously
+ * Replaces: fse.readJsonSync()
+ * @param {string} filePath - Path to JSON file
+ * @param {object} options - Read options
+ * @returns {any} Parsed JSON data
+ */
+function readJsonSync(filePath, options = {}) {
+  const content = fs.readFileSync(filePath, options.encoding || 'utf8');
+  return JSON.parse(content);
+}
+
+/**
+ * Remove file or directory (async)
+ * Replaces: fse.remove()
+ * @param {string} filePath - Path to remove
+ * @returns {Promise<void>}
+ */
+async function remove(filePath) {
+  try {
+    await fsPromises.rm(filePath, { recursive: true, force: true });
+  } catch (err) {
+    // Ignore if path doesn't exist
+    if (err.code !== 'ENOENT') throw err;
+  }
+}
+
+/**
+ * Remove file or directory (sync)
+ * Replaces: fse.removeSync()
+ * @param {string} filePath - Path to remove
+ */
+function removeSync(filePath) {
+  try {
+    fs.rmSync(filePath, { recursive: true, force: true });
+  } catch (err) {
+    // Ignore if path doesn't exist
+    if (err.code !== 'ENOENT') throw err;
+  }
+}
+
+/**
+ * Write file with content (async)
+ * Replaces: fse.writeFile()
+ * @param {string} filePath - Path to file
+ * @param {string|Buffer} data - Content to write
+ * @param {object} options - Write options
+ * @returns {Promise<void>}
+ */
+async function writeFile(filePath, data, options = {}) {
+  await fsPromises.writeFile(filePath, data, options);
+}
+
+/**
+ * Create directory (async)
+ * Replaces: fse.mkdir()
+ * @param {string} dirPath - Path to directory
+ * @param {object} options - mkdir options
+ * @returns {Promise<void>}
+ */
+async function mkdir(dirPath, options = {}) {
+  await fsPromises.mkdir(dirPath, options);
+}
+
+/**
+ * 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;
+  }
+}
+
+/**
+ * Check if two numbers are equal within a given tolerance.
+ *
+ * This function compares two numbers using both relative and absolute tolerance,
+ * matching the behavior of the 'is-close' npm package.
+ *
+ * The comparison uses the formula:
+ *   abs(a - b) <= max(rtol * max(abs(a), abs(b)), atol)
+ *
+ * Implementation checks:
+ *   1. Absolute tolerance: abs(a - b) <= atol
+ *   2. Relative tolerance: abs(a - b) / max(abs(a), abs(b)) <= rtol
+ *
+ * @param {number} a - The first number to compare
+ * @param {number} b - The second number to compare
+ * @param {number} [rtol=1e-9] - The relative tolerance parameter (default: 1e-9)
+ * @param {number} [atol=0.0] - The absolute tolerance parameter (default: 0.0)
+ * @returns {boolean} True if the numbers are close within the tolerance
+ *
+ * @example
+ * isClose(1.0, 1.0) // true - exact equality
+ * isClose(1.0, 1.1, 0.01) // false - relative diff: 0.1/1.1 ≈ 0.091 > 0.01
+ * isClose(10, 10.00001, 1e-6) // true - relative diff: 0.00001/10 = 1e-6 <= 1e-6
+ * isClose(0, 0.05, 0, 0.1) // true - absolute diff: 0.05 <= 0.1 (atol)
+ */
+function isClose(a, b, rtol = 1e-9, atol = 0.0) {
+  // Handle exact equality
+  if (a === b) {
+    return true;
+  }
+
+  // Handle non-finite numbers
+  if (!Number.isFinite(a) || !Number.isFinite(b)) {
+    return false;
+  }
+
+  const absDiff = Math.abs(a - b);
+
+  // Check absolute tolerance first (optimization)
+  if (atol >= absDiff) {
+    return true;
+  }
+
+  // Check relative tolerance
+  const relativeScaler = Math.max(Math.abs(a), Math.abs(b));
+
+  // Handle division by zero when both values are zero or very close to zero
+  if (relativeScaler === 0) {
+    return true; // Both are zero, already handled by absolute tolerance
+  }
+
+  const relativeDiff = absDiff / relativeScaler;
+
+  return rtol >= relativeDiff;
+}
+
+/**
+ * Compare two semantic version strings.
+ *
+ * Supports version strings in the format: x.y.z or x.y.z.w
+ * where x, y, z, w are integers.
+ *
+ * @param {string} version1 - First version string (e.g., '1.2.3')
+ * @param {string} version2 - Second version string (e.g., '1.2.4')
+ * @param {string} operator - Comparison operator: '<', '<=', '>', '>=', '==', '!='
+ * @returns {boolean} Result of the comparison
+ *
+ * @example
+ * compareVersions('1.2.3', '1.2.4', '<')   // true
+ * compareVersions('2.0.0', '1.9.9', '>')   // true
+ * compareVersions('1.2.3', '1.2.3', '==')  // true
+ * compareVersions('1.2.3', '1.2.3', '>=')  // true
+ */
+function compareVersions(version1, version2, operator) {
+  // Parse version strings into arrays of integers
+  const v1Parts = version1.split('.').map((part) => parseInt(part, 10));
+  const v2Parts = version2.split('.').map((part) => parseInt(part, 10));
+
+  // Pad arrays to same length with zeros
+  const maxLength = Math.max(v1Parts.length, v2Parts.length);
+  while (v1Parts.length < maxLength) v1Parts.push(0);
+  while (v2Parts.length < maxLength) v2Parts.push(0);
+
+  // Compare each part
+  let cmp = 0;
+  for (let i = 0; i < maxLength; i++) {
+    if (v1Parts[i] > v2Parts[i]) {
+      cmp = 1;
+      break;
+    } else if (v1Parts[i] < v2Parts[i]) {
+      cmp = -1;
+      break;
+    }
+  }
+
+  // Apply operator
+  switch (operator) {
+    case '<':
+      return cmp < 0;
+    case '<=':
+      return cmp <= 0;
+    case '>':
+      return cmp > 0;
+    case '>=':
+      return cmp >= 0;
+    case '==':
+    case '===':
+      return cmp === 0;
+    case '!=':
+    case '!==':
+      return cmp !== 0;
+    default:
+      throw new Error(`Invalid operator: ${operator}`);
+  }
+}
+
+module.exports = {
+  // General utilities
+  detectUbuntuCodename,
+  isClose,
+
+  // File system utilities (async)
+  ensureDir,
+  mkdirs: ensureDir, // Alias for fs-extra compatibility
+  exists: pathExists, // Renamed to avoid conflict with deprecated fs.exists
+  pathExists,
+  emptyDir,
+  copy,
+  remove,
+  writeFile,
+  mkdir,
+
+  // File system utilities (sync)
+  ensureDirSync,
+  mkdirSync: ensureDirSync, // Alias for fs-extra compatibility
+  removeSync,
+  readJsonSync,
+
+  compareVersions,
+};

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": "1.5.1",
+  "version": "1.6.0",
   "description": "ROS2.0 JavaScript client with Node.js",
   "main": "index.js",
   "types": "types/index.d.ts",
@@ -19,10 +19,10 @@
     "rebuild:dev": "npm run clean && node-gyp -j 16 rebuild --debug",
     "generate-messages": "node scripts/generate_messages.js",
     "generate-messages-idl": "node scripts/generate_messages.js --idl",
-    "generate-messages:dev": "node scripts/generate_messages.js --debug && npx --yes prettier --ignore-path --write generated/**/*.js",
+    "generate-messages:dev": "node scripts/generate_messages.js --debug",
     "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",
@@ -61,29 +62,24 @@
     "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",
     "debug": "^4.4.0",
-    "dot": "^1.1.3",
-    "fs-extra": "^11.2.0",
-    "is-close": "^1.3.3",
     "json-bigint": "^1.0.0",
-    "terser": "^5.39.0",
-    "walk": "^2.3.15",
-    "node-addon-api": "^8.3.1"
+    "node-addon-api": "^8.3.1",
+    "walk": "^2.3.15"
   },
   "husky": {
     "hooks": {

package/rosidl_convertor/idl_convertor.js

@@ -14,15 +14,16 @@
 
 'use strict';
 
+const fs = require('fs');
 const path = require('path');
-const fse = require('fs-extra');
+const fse = require('../lib/utils.js');
 const execFile = require('child_process').execFile;
 const pythonExecutable =
   require('../rosidl_parser/py_utils').getPythonExecutable('python3');
 
 async function convertIDLToROS2IDL(pkgName, idlFilePath, outputDir) {
   const packagePath = path.join(outputDir, pkgName);
-  if (!fse.existsSync(packagePath)) {
+  if (!fs.existsSync(packagePath)) {
     fse.mkdirSync(packagePath);
   }
   return new Promise((resolve, reject) => {

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

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-const fse = require('fs-extra');
+const fse = require('../lib/utils.js');
 const generateJSStructFromIDL = require('./idl_generator.js');
 const packages = require('./packages.js');
 const path = require('path');

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"