rclnodejs 1.5.1 → 1.6.0

package/rosidl_gen/templates/service-event-template.js

@@ -0,0 +1,31 @@
+// 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.
+
+function generateServiceEvent(data) {
+  const serviceInfo = data.serviceInfo;
+
+  return `# This file is automatically generated by rosidl_gen
+#
+# *** DO NOT EDIT directly
+#
+
+service_msgs/ServiceEventInfo info
+
+${serviceInfo.pkgName}/${serviceInfo.interfaceName}_Request[<=1] request
+
+${serviceInfo.pkgName}/${serviceInfo.interfaceName}_Response[<=1] response
+`;
+}
+
+module.exports = generateServiceEvent;

package/rosidl_gen/templates/service-template.js

@@ -0,0 +1,44 @@
+// 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.
+
+function generateService(data) {
+  const serviceInfo = data.serviceInfo;
+  const className = `${serviceInfo.pkgName}__${serviceInfo.subFolder}__${serviceInfo.interfaceName}`;
+
+  return `// This file is automatically generated by rclnodejs
+//
+// *** DO NOT EDIT directly
+//
+
+'use strict';
+
+class ${className} {
+  static get Request() {
+    return require('./${className}_Request.js');
+  }
+
+  static get Response() {
+    return require('./${className}_Response.js');
+  }
+
+  static type() {
+    return {pkgName: '${serviceInfo.pkgName}', subFolder: '${serviceInfo.subFolder}', interfaceName: '${serviceInfo.interfaceName}'};
+  }
+}
+
+module.exports = ${className};
+`;
+}
+
+module.exports = generateService;

package/rosidl_parser/rosidl_parser.js

@@ -14,7 +14,7 @@
 
 'use strict';
 
-const compareVersions = require('compare-versions');
+const { compareVersions } = require('../lib/utils.js');
 const path = require('path');
 const execFile = require('child_process').execFile;
 
@@ -22,7 +22,7 @@ const pythonExecutable = require('./py_utils').getPythonExecutable('python3');
 
 const contextSupportedVersion = '21.0.0.0';
 const currentVersion = process.version;
-const isContextSupported = compareVersions.compare(
+const isContextSupported = compareVersions(
   currentVersion.substring(1, currentVersion.length),
   contextSupportedVersion,
   '>='

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');