rclnodejs 1.5.1 → 1.6.0

package/third_party/ref-napi/src/ref_napi_bindings.cpp

@@ -0,0 +1,736 @@
+// 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.
+
+#include "ref_napi_bindings.h"
+
+#include <errno.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include <string>
+#include <unordered_map>
+
+#if !defined(NAPI_VERSION) || NAPI_VERSION < 6
+#include <get-symbol-from-current-process.h>
+#endif
+
+namespace RefNapi {
+
+class Instance {
+ public:
+  virtual napi_value WrapPointer(char* ptr, size_t length) = 0;
+  virtual char* GetBufferData(napi_value val) = 0;
+};
+
+}  // namespace RefNapi
+
+#ifndef _WIN32
+#ifndef __STDC_FORMAT_MACROS
+#define __STDC_FORMAT_MACROS
+#endif
+#include <inttypes.h>
+#else
+#define __alignof__ __alignof
+#define snprintf(buf, bufSize, format, arg) \
+  _snprintf_s(buf, bufSize, _TRUNCATE, format, arg)
+#define strtoll _strtoi64
+#define strtoull _strtoui64
+#define PRId64 "lld"
+#define PRIu64 "llu"
+#endif
+
+namespace rclnodejs {
+
+using namespace Napi;
+
+namespace {
+
+// used by the Int64 functions to determine whether to return a Number
+// or String based on whether or not a Number will lose precision.
+// http://stackoverflow.com/q/307179/376773
+#define JS_MAX_INT +9007199254740992LL
+#define JS_MIN_INT -9007199254740992LL
+
+// mirrors deps/v8/src/objects.h.
+// we could use `node::Buffer::kMaxLength`, but it's not defined on node v0.6.x
+static const size_t kMaxLength = 0x3fffffff;
+
+// Since Node.js v14.0.0, we have to keep a global list of all ArrayBuffer
+// instances that we work with, in order not to create any duplicates.
+// Luckily, N-API instance data is available on v14.x and above.
+class InstanceData final : public RefNapi::Instance {
+ public:
+  explicit InstanceData(Env env) : env(env) {}
+  Env env;
+  FunctionReference pointer_ctor;
+
+  napi_value WrapPointer(char* ptr, size_t length) override;
+  char* GetBufferData(napi_value val) override;
+
+  static InstanceData* Get(Env env) {
+    return env.GetInstanceData<InstanceData>();
+  }
+};
+
+class PointerBuffer : public ObjectWrap<PointerBuffer> {
+ public:
+  static Object Init(Napi::Env env, Object exports);
+  explicit PointerBuffer(Napi::CallbackInfo& info);
+  Napi::Value IsNull(const Napi::CallbackInfo& info);
+  Napi::Value Address(const Napi::CallbackInfo& info);
+  Napi::Value Length(const Napi::CallbackInfo& info);
+  Napi::Value Get(const Napi::CallbackInfo& info);
+  Napi::Value ToString(const Napi::CallbackInfo& info);
+  Napi::Value Copy(const Napi::CallbackInfo& info);
+  Napi::Value Slice(const Napi::CallbackInfo& info);
+  char* ptr_;
+  int length_;
+};
+
+Object PointerBuffer::Init(Napi::Env env, Object exports) {
+  Function func =
+      DefineClass(env, "PointerBuffer",
+                  {InstanceMethod("isNull", &PointerBuffer::IsNull),
+                   InstanceMethod("get", &PointerBuffer::Get),
+                   InstanceMethod("address", &PointerBuffer::Address),
+                   InstanceMethod("toString", &PointerBuffer::ToString),
+                   InstanceMethod("copy", &PointerBuffer::Copy),
+                   InstanceMethod("slice", &PointerBuffer::Slice),
+                   InstanceAccessor<&PointerBuffer::Length>("length")});
+
+  exports.Set("PointerBuffer", func);
+  InstanceData* data = InstanceData::Get(env);
+  data->pointer_ctor = Persistent(func);
+  return exports;
+}
+
+PointerBuffer::PointerBuffer(Napi::CallbackInfo& info)
+    : Napi::ObjectWrap<PointerBuffer>(info) {
+  Napi::Env env = info.Env();
+  int length = info.Length();
+  if (length <= 0 || !info[0].IsNumber()) {
+    Napi::TypeError::New(env, "Number expected").ThrowAsJavaScriptException();
+    return;
+  }
+  Napi::Number value = info[0].As<Napi::Number>();
+  ptr_ = reinterpret_cast<char*>(value.Int64Value());
+  length_ = (ptr_ == nullptr ? 0 : info[1].As<Number>().Int32Value());
+}
+
+Napi::Value PointerBuffer::IsNull(const Napi::CallbackInfo& info) {
+  return Boolean::New(info.Env(), ptr_ == nullptr);
+}
+
+Napi::Value PointerBuffer::Address(const Napi::CallbackInfo& info) {
+  return Number::New(info.Env(), reinterpret_cast<int64_t>(ptr_));
+}
+
+Napi::Value PointerBuffer::Length(const Napi::CallbackInfo& info) {
+  return Number::New(info.Env(), length_);
+}
+
+Napi::Value PointerBuffer::Get(const Napi::CallbackInfo& info) {
+  int32_t offset = info[0].As<Number>().Int32Value();
+  return Number::New(info.Env(), ptr_[offset]);
+}
+
+Napi::Value PointerBuffer::ToString(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+  int length = info.Length();
+  if (length == 1 || info[0].IsString()) {
+    std::string encoding = info[0].As<String>();
+    if (encoding == "utf-8") {
+      return String::New(info.Env(), ptr_, length_);
+    } else if (encoding == "ucs2") {
+      return String::New(info.Env(), reinterpret_cast<char16_t*>(ptr_),
+                         length_ / 2);
+    } else {
+      Napi::TypeError::New(env, "Unknown encoding argument: " + encoding)
+          .ThrowAsJavaScriptException();
+    }
+  }
+
+  return String::New(info.Env(), ptr_, length_);
+}
+
+char* ExtractBufferData(Value val);
+
+Napi::Value PointerBuffer::Copy(const Napi::CallbackInfo& info) {
+  char* dest =
+      ExtractBufferData(info[0]) + info[1].As<Napi::Number>().Int64Value();
+  uint64_t length =
+      info[3].As<Number>().Int64Value() - info[2].As<Number>().Int64Value();
+  std::memcpy(dest, ptr_, length);
+  return Number::New(info.Env(), length);
+}
+
+Value CreatePointerBuffer(Env env, char* ptr, size_t length);
+
+Napi::Value PointerBuffer::Slice(const Napi::CallbackInfo& info) {
+  int64_t offset = info[0].As<Napi::Number>().Int64Value();
+  return CreatePointerBuffer(info.Env(), ptr_ + offset, length_ - offset);
+}
+
+Value CreatePointerBuffer(Env env, char* ptr, size_t length) {
+  InstanceData* data = InstanceData::Get(env);
+  return data->pointer_ctor.New(
+      {Number::New(env, reinterpret_cast<int64_t>(ptr)),
+       Number::New(env, length)});
+}
+
+char* ExtractBufferData(Value val) {
+  if (!val.IsBuffer() && val.IsObject()) {
+    auto p = PointerBuffer::Unwrap(val.As<Object>());
+    return p->ptr_;
+  }
+
+  Buffer<char> buf = val.As<Buffer<char>>();
+  return buf.Data();
+}
+
+napi_value InstanceData::WrapPointer(char* ptr, size_t length) {
+  return CreatePointerBuffer(env, ptr, length);
+}
+
+char* InstanceData::GetBufferData(napi_value val) {
+  return ExtractBufferData(Value(env, val));
+}
+
+char* AddressForArgs(const CallbackInfo& args, size_t offset_index = 1) {
+  Value buf = args[0];
+  if (!(buf.IsBuffer() || buf.IsObject())) {
+    throw TypeError::New(args.Env(),
+                         "Buffer or PointerBuffer instance expected");
+  }
+
+  int64_t offset = args[offset_index].ToNumber();
+  return ExtractBufferData(buf) + offset;
+}
+
+Value Address(const CallbackInfo& args) {
+  char* ptr = AddressForArgs(args);
+  uintptr_t intptr = reinterpret_cast<uintptr_t>(ptr);
+
+  return Number::New(args.Env(), static_cast<double>(intptr));
+}
+
+Value HexAddress(const CallbackInfo& args) {
+  char* ptr = AddressForArgs(args);
+  char strbuf[30];
+  snprintf(strbuf, 30, "%p", ptr);
+
+  if (strbuf[0] == '0' && strbuf[1] == 'x') {
+    ptr = strbuf + 2;
+  } else {
+    ptr = strbuf;
+  }
+
+  return String::New(args.Env(), ptr);
+}
+
+Value IsNull(const CallbackInfo& args) {
+  Value buf = args[0];
+  if (!(buf.IsBuffer() || buf.IsObject())) {
+    return Boolean::New(args.Env(), false);
+  }
+
+  char* ptr = AddressForArgs(args);
+  return Boolean::New(args.Env(), ptr == nullptr);
+}
+
+Value IsAddress(const CallbackInfo& args) {
+  Value buf = args[0];
+  if (!(buf.IsBuffer() || buf.IsObject())) {
+    return Boolean::New(args.Env(), false);
+  }
+  return Boolean::New(args.Env(), true);
+}
+
+Value ReadObject(const CallbackInfo& args) {
+  char* ptr = AddressForArgs(args);
+
+  if (ptr == nullptr) {
+    throw Error::New(args.Env(),
+                     "readObject: Cannot read from nullptr pointer");
+  }
+
+  Reference<Object>* rptr = reinterpret_cast<Reference<Object>*>(ptr);
+  return rptr->Value();
+}
+
+void WriteObject(const CallbackInfo& args) {
+  Env env = args.Env();
+  char* ptr = AddressForArgs(args);
+
+  if (ptr == nullptr) {
+    throw Error::New(env, "readObject: Cannot write to nullptr pointer");
+  }
+
+  Reference<Object>* rptr = reinterpret_cast<Reference<Object>*>(ptr);
+  if (args[2].IsObject()) {
+    Object val = args[2].As<Object>();
+    *rptr = std::move(Reference<Object>::New(val));
+  } else if (args[2].IsNull()) {
+    rptr->Reset();
+  } else {
+    throw TypeError::New(env,
+                         "WriteObject's 3rd argument needs to be an object");
+  }
+}
+
+Value ReadPointer(const CallbackInfo& args) {
+  Env env = args.Env();
+  char* ptr = AddressForArgs(args);
+
+  if (ptr == nullptr) {
+    throw Error::New(env, "readPointer: Cannot read from nullptr pointer");
+  }
+
+  int64_t size = args[2].ToNumber();
+
+  char* val = *reinterpret_cast<char**>(ptr);
+  return CreatePointerBuffer(env, val, size);
+}
+
+void WritePointer(const CallbackInfo& args) {
+  Env env = args.Env();
+  char* ptr = AddressForArgs(args);
+  Value input = args[2];
+
+  if (!input.IsNull() && !input.IsBuffer() && !input.IsObject()) {
+    throw TypeError::New(
+        env, "writePointer: Buffer instance expected as third argument");
+  }
+
+  if (input.IsNull()) {
+    *reinterpret_cast<char**>(ptr) = nullptr;
+  } else {
+    char* input_ptr = ExtractBufferData(input);
+    *reinterpret_cast<char**>(ptr) = input_ptr;
+  }
+}
+
+Value ReadInt64(const CallbackInfo& args) {
+  Env env = args.Env();
+  char* ptr = AddressForArgs(args);
+
+  if (ptr == nullptr) {
+    throw TypeError::New(env, "readInt64: Cannot read from nullptr pointer");
+  }
+
+  int64_t val = *reinterpret_cast<int64_t*>(ptr);
+
+  if (val < JS_MIN_INT || val > JS_MAX_INT) {
+    char strbuf[128];
+    snprintf(strbuf, 128, "%" PRId64, val);
+    return String::New(env, strbuf);
+  } else {
+    return Number::New(env, val);
+  }
+}
+
+Value ReadInt32(const CallbackInfo& args) {
+  Env env = args.Env();
+  char* ptr = AddressForArgs(args);
+
+  if (ptr == nullptr) {
+    throw TypeError::New(env, "readInt64: Cannot read from nullptr pointer");
+  }
+
+  int32_t val = *reinterpret_cast<int32_t*>(ptr);
+  return Number::New(env, val);
+}
+
+void WriteInt64(const CallbackInfo& args) {
+  Env env = args.Env();
+  char* ptr = AddressForArgs(args);
+
+  Value in = args[2];
+  int64_t val;
+  if (in.IsNumber()) {
+    val = in.As<Number>();
+  } else if (in.IsString()) {
+    char* endptr;
+    char* str;
+    int base = 0;
+    std::string _str = in.As<String>();
+    str = &_str[0];
+
+    errno = 0;
+    val = strtoll(str, &endptr, base);
+
+    if (endptr == str) {
+      throw TypeError::New(env,
+                           "writeInt64: no digits we found in input String");
+    } else if (errno == ERANGE && (val == INT64_MAX || val == INT64_MIN)) {
+      throw TypeError::New(
+          env, "writeInt64: input String numerical value out of range");
+    } else if (errno != 0 && val == 0) {
+      char errmsg[200];
+      snprintf(errmsg, sizeof(errmsg), "writeInt64: %s", strerror(errno));
+      throw TypeError::New(env, errmsg);
+    }
+  } else {
+    throw TypeError::New(env,
+                         "writeInt64: Number/String 64-bit value required");
+  }
+
+  *reinterpret_cast<int64_t*>(ptr) = val;
+}
+
+void WriteInt32(const CallbackInfo& args) {
+  Env env = args.Env();
+  char* ptr = AddressForArgs(args);
+
+  Value in = args[2];
+  int64_t val;
+  if (in.IsNumber()) {
+    val = in.As<Number>();
+  } else if (in.IsString()) {
+    char* endptr;
+    char* str;
+    int base = 0;
+    std::string _str = in.As<String>();
+    str = &_str[0];
+
+    errno = 0;
+    val = strtoll(str, &endptr, base);
+
+    if (endptr == str) {
+      throw TypeError::New(env,
+                           "writeInt32: no digits we found in input String");
+    } else if (errno == ERANGE && (val == INT32_MAX || val == INT32_MIN)) {
+      throw TypeError::New(
+          env, "writeInt32: input String numerical value out of range");
+    } else if (errno != 0 && val == 0) {
+      char errmsg[200];
+      snprintf(errmsg, sizeof(errmsg), "writeInt32: %s", strerror(errno));
+      throw TypeError::New(env, errmsg);
+    }
+  } else {
+    throw TypeError::New(env,
+                         "writeInt32: Number/String 32-bit value required");
+  }
+
+  if (val < INT32_MIN || val > INT32_MAX) {
+    throw TypeError::New(env, "writeInt32: value out of range");
+  }
+
+  *reinterpret_cast<int32_t*>(ptr) = static_cast<int32_t>(val);
+}
+
+Value ReadUInt32(const CallbackInfo& args) {
+  Env env = args.Env();
+  char* ptr = AddressForArgs(args);
+
+  if (ptr == nullptr) {
+    throw TypeError::New(env, "readUInt32: Cannot read from nullptr pointer");
+  }
+
+  uint32_t val = *reinterpret_cast<uint32_t*>(ptr);
+  return Number::New(env, val);
+}
+
+Value ReadInt8(const CallbackInfo& args) {
+  Env env = args.Env();
+  char* ptr = AddressForArgs(args);
+
+  if (ptr == nullptr) {
+    throw TypeError::New(env, "readInt8: Cannot read from nullptr pointer");
+  }
+
+  int8_t val = *reinterpret_cast<int8_t*>(ptr);
+  return Number::New(env, val);
+}
+
+Value ReadUInt8(const CallbackInfo& args) {
+  Env env = args.Env();
+  char* ptr = AddressForArgs(args);
+
+  if (ptr == nullptr) {
+    throw TypeError::New(env, "readUInt8: Cannot read from nullptr pointer");
+  }
+
+  uint8_t val = *reinterpret_cast<uint8_t*>(ptr);
+  return Number::New(env, val);
+}
+
+Value ReadFloat(const CallbackInfo& args) {
+  Env env = args.Env();
+  char* ptr = AddressForArgs(args);
+
+  if (ptr == nullptr) {
+    throw TypeError::New(env, "readFloat: Cannot read from nullptr pointer");
+  }
+
+  float val = *reinterpret_cast<float*>(ptr);
+  return Number::New(env, val);
+}
+
+Value ReadDouble(const CallbackInfo& args) {
+  Env env = args.Env();
+  char* ptr = AddressForArgs(args);
+
+  if (ptr == nullptr) {
+    throw TypeError::New(env, "readDouble: Cannot read from nullptr pointer");
+  }
+
+  double val = *reinterpret_cast<double*>(ptr);
+  return Number::New(env, val);
+}
+
+Value ReadInt16(const CallbackInfo& args) {
+  Env env = args.Env();
+  char* ptr = AddressForArgs(args);
+
+  if (ptr == nullptr) {
+    throw TypeError::New(env, "readInt16: Cannot read from nullptr pointer");
+  }
+
+  int16_t val = *reinterpret_cast<int16_t*>(ptr);
+  return Number::New(env, val);
+}
+
+Value ReadUInt16(const CallbackInfo& args) {
+  Env env = args.Env();
+  char* ptr = AddressForArgs(args);
+
+  if (ptr == nullptr) {
+    throw TypeError::New(env, "readUInt16: Cannot read from nullptr pointer");
+  }
+
+  uint16_t val = *reinterpret_cast<uint16_t*>(ptr);
+  return Number::New(env, val);
+}
+
+Value ReadUInt64(const CallbackInfo& args) {
+  Env env = args.Env();
+  char* ptr = AddressForArgs(args);
+
+  if (ptr == nullptr) {
+    throw TypeError::New(env, "readUInt64: Cannot read from nullptr pointer");
+  }
+
+  uint64_t val = *reinterpret_cast<uint64_t*>(ptr);
+
+  if (val > JS_MAX_INT) {
+    char strbuf[128];
+    snprintf(strbuf, 128, "%" PRIu64, val);
+    return String::New(env, strbuf);
+  } else {
+    return Number::New(env, val);
+  }
+}
+
+void WriteUInt64(const CallbackInfo& args) {
+  Env env = args.Env();
+  char* ptr = AddressForArgs(args);
+
+  Value in = args[2];
+  uint64_t val;
+  if (in.IsNumber()) {
+    val = static_cast<int64_t>(in.As<Number>());
+  } else if (in.IsString()) {
+    char* endptr;
+    char* str;
+    int base = 0;
+    std::string _str = in.As<String>();
+    str = &_str[0];
+
+    errno = 0;
+    val = strtoull(str, &endptr, base);
+
+    if (endptr == str) {
+      throw TypeError::New(env,
+                           "writeUInt64: no digits we found in input String");
+    } else if (errno == ERANGE && (val == UINT64_MAX)) {
+      throw TypeError::New(
+          env, "writeUInt64: input String numerical value out of range");
+    } else if (errno != 0 && val == 0) {
+      char errmsg[200];
+      snprintf(errmsg, sizeof(errmsg), "writeUInt64: %s", strerror(errno));
+      throw TypeError::New(env, errmsg);
+    }
+  } else {
+    throw TypeError::New(env,
+                         "writeUInt64: Number/String 64-bit value required");
+  }
+
+  *reinterpret_cast<uint64_t*>(ptr) = val;
+}
+
+Value ReadCString(const CallbackInfo& args) {
+  Env env = args.Env();
+  char* ptr = AddressForArgs(args);
+
+  if (ptr == nullptr) {
+    throw Error::New(env, "readCString: Cannot read from nullptr pointer");
+  }
+
+  return String::New(env, ptr);
+}
+
+Value ReinterpretBuffer(const CallbackInfo& args) {
+  Env env = args.Env();
+  char* ptr = AddressForArgs(args, 2);
+
+  if (ptr == nullptr) {
+    throw Error::New(env,
+                     "reinterpret: Cannot reinterpret from nullptr pointer");
+  }
+
+  int64_t size = args[1].ToNumber();
+
+  return CreatePointerBuffer(env, ptr, size);
+}
+
+Value ReinterpretBufferUntilZeros(const CallbackInfo& args) {
+  Env env = args.Env();
+  char* ptr = AddressForArgs(args, 2);
+
+  if (ptr == nullptr) {
+    throw Error::New(
+        env, "reinterpretUntilZeros: Cannot reinterpret from nullptr pointer");
+  }
+
+  uint32_t numZeros = args[1].ToNumber();
+  uint32_t i = 0;
+  size_t size = 0;
+  bool end = false;
+
+  while (!end && size < kMaxLength) {
+    end = true;
+    for (i = 0; i < numZeros; i++) {
+      if (ptr[size + i] != 0) {
+        end = false;
+        break;
+      }
+    }
+    if (!end) {
+      size += numZeros;
+    }
+  }
+
+  return CreatePointerBuffer(env, ptr, size);
+}
+
+}  // namespace
+
+Napi::Object InitRefNapi(Napi::Env env) {
+  Object exports = Object::New(env);
+  InstanceData* data = new InstanceData(env);
+  env.SetInstanceData<InstanceData>(data);
+
+  exports["instance"] = External<RefNapi::Instance>::New(env, data);
+
+  PointerBuffer::Init(env, exports);
+
+  Object smap = Object::New(env);
+#define SET_SIZEOF(name, type) smap[#name] = Number::New(env, sizeof(type));
+  SET_SIZEOF(int8, int8_t);
+  SET_SIZEOF(uint8, uint8_t);
+  SET_SIZEOF(int16, int16_t);
+  SET_SIZEOF(uint16, uint16_t);
+  SET_SIZEOF(int32, int32_t);
+  SET_SIZEOF(uint32, uint32_t);
+  SET_SIZEOF(int64, int64_t);
+  SET_SIZEOF(uint64, uint64_t);
+  SET_SIZEOF(float, float);
+  SET_SIZEOF(double, double);
+  SET_SIZEOF(bool, bool);
+  SET_SIZEOF(byte, unsigned char);
+  SET_SIZEOF(char, char);
+  SET_SIZEOF(uchar, unsigned char);
+  SET_SIZEOF(short, short);
+  SET_SIZEOF(ushort, unsigned short);
+  SET_SIZEOF(int, int);
+  SET_SIZEOF(uint, unsigned int);
+  SET_SIZEOF(long, long);
+  SET_SIZEOF(ulong, unsigned long);
+  SET_SIZEOF(longlong, long long);
+  SET_SIZEOF(ulonglong, unsigned long long);
+  SET_SIZEOF(pointer, char*);
+  SET_SIZEOF(size_t, size_t);
+  SET_SIZEOF(Object, Reference<Object>);
+#undef SET_SIZEOF
+
+  Object amap = Object::New(env);
+#define SET_ALIGNOF(name, type) \
+  struct s_##name {             \
+    type a;                     \
+  };                            \
+  amap[#name] = Number::New(env, alignof(struct s_##name));
+  SET_ALIGNOF(int8, int8_t);
+  SET_ALIGNOF(uint8, uint8_t);
+  SET_ALIGNOF(int16, int16_t);
+  SET_ALIGNOF(uint16, uint16_t);
+  SET_ALIGNOF(int32, int32_t);
+  SET_ALIGNOF(uint32, uint32_t);
+  SET_ALIGNOF(int64, int64_t);
+  SET_ALIGNOF(uint64, uint64_t);
+  SET_ALIGNOF(float, float);
+  SET_ALIGNOF(double, double);
+  SET_ALIGNOF(bool, bool);
+  SET_ALIGNOF(char, char);
+  SET_ALIGNOF(uchar, unsigned char);
+  SET_ALIGNOF(short, short);
+  SET_ALIGNOF(ushort, unsigned short);
+  SET_ALIGNOF(int, int);
+  SET_ALIGNOF(uint, unsigned int);
+  SET_ALIGNOF(long, long);
+  SET_ALIGNOF(ulong, unsigned long);
+  SET_ALIGNOF(longlong, long long);
+  SET_ALIGNOF(ulonglong, unsigned long long);
+  SET_ALIGNOF(pointer, char*);
+  SET_ALIGNOF(size_t, size_t);
+  SET_ALIGNOF(Object, Reference<Object>);
+#undef SET_ALIGNOF
+
+  exports["sizeof"] = smap;
+  exports["alignof"] = amap;
+  exports["nullptr"] = exports["NULL"] = CreatePointerBuffer(env, nullptr, 0);
+  exports["address"] = Function::New(env, Address);
+  exports["hexAddress"] = Function::New(env, HexAddress);
+  exports["isNull"] = Function::New(env, IsNull);
+  exports["isAddress"] = Function::New(env, IsAddress);
+  exports["readObject"] = Function::New(env, ReadObject);
+  exports["_writeObject"] = Function::New(env, WriteObject);
+  exports["readPointer"] = Function::New(env, ReadPointer);
+  exports["_writePointer"] = Function::New(env, WritePointer);
+  exports["readInt64"] = Function::New(env, ReadInt64);
+  exports["writeInt64"] = Function::New(env, WriteInt64);
+  exports["readUInt64"] = Function::New(env, ReadUInt64);
+  exports["writeUInt64"] = Function::New(env, WriteUInt64);
+
+  exports["readInt32"] = Function::New(env, ReadInt32);
+  exports["writeInt32"] = Function::New(env, WriteInt32);
+
+  exports["readUInt32"] = Function::New(env, ReadUInt32);
+  exports["readInt8"] = Function::New(env, ReadInt8);
+  exports["readUInt8"] = Function::New(env, ReadUInt8);
+  exports["readFloat"] = Function::New(env, ReadFloat);
+  exports["readDouble"] = Function::New(env, ReadDouble);
+  exports["readInt16"] = Function::New(env, ReadInt16);
+  exports["readUInt16"] = Function::New(env, ReadUInt16);
+
+  exports["readCString"] = Function::New(env, ReadCString);
+  exports["_reinterpret"] = Function::New(env, ReinterpretBuffer);
+  exports["_reinterpretUntilZeros"] =
+      Function::New(env, ReinterpretBufferUntilZeros);
+
+  return exports;
+}
+
+}  // namespace rclnodejs