rclnodejs 1.5.1 → 1.6.0

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

@@ -0,0 +1,26 @@
+// 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.
+
+#ifndef THIRD_PARTY_REF_NAPI_SRC_REF_NAPI_BINDINGS_H_
+#define THIRD_PARTY_REF_NAPI_SRC_REF_NAPI_BINDINGS_H_
+
+#include <napi.h>
+
+namespace rclnodejs {
+
+Napi::Object InitRefNapi(Napi::Env env);
+
+}  // namespace rclnodejs
+
+#endif  // THIRD_PARTY_REF_NAPI_SRC_REF_NAPI_BINDINGS_H_

package/types/index.d.ts

@@ -235,4 +235,21 @@ declare module 'rclnodejs' {
     launchFile: string,
     args: string[]
   ): Promise<{ process: ChildProcess }>;
+
+  /**
+   * Convert a message object to be JSON-safe by converting TypedArrays to regular arrays
+   * and handling BigInt, Infinity, NaN, etc. for JSON serialization.
+   * @param obj - The message object to convert
+   * @returns A JSON-safe version of the object
+   */
+  function toJSONSafe(obj: any): any;
+
+  /**
+   * Convert a message object to a JSON string with proper handling of TypedArrays,
+   * BigInt, and other non-JSON-serializable values.
+   * @param obj - The message object to convert
+   * @param space - Space parameter for JSON.stringify formatting
+   * @returns The JSON string representation
+   */
+  function toJSONString(obj: any, space?: number): string;
 }

package/types/node.d.ts

@@ -12,6 +12,11 @@ declare module 'rclnodejs' {
         name: string;
       };
 
+  /**
+   * Valid serialization modes for message conversion
+   */
+  type SerializationMode = 'default' | 'plain' | 'json';
+
   /**
    * A filter description similar to a SQL WHERE clause that limits
    * the data wanted by a Subscription.
@@ -56,6 +61,15 @@ declare module 'rclnodejs' {
      */
     isRaw?: boolean;
 
+    /**
+     * Controls message serialization format, default: 'default'.
+     *
+     * - 'default': Use native rclnodejs behavior (respects enableTypedArray setting)
+     * - 'plain': Convert TypedArrays to regular arrays
+     * - 'json': Fully JSON-safe (handles TypedArrays, BigInt, etc.)
+     */
+    serializationMode?: SerializationMode;
+
     /**
      * ROS Middleware "quality of service" setting, default: QoS.profileDefault.
      */
@@ -76,7 +90,8 @@ declare module 'rclnodejs' {
    *   enableTypedArray: true,
    *   qos: QoS.profileDefault,
    *   isRaw: false,
-   *   contentFilter: undefined
+   *   contentFilter: undefined,
+   *   serializationMode: 'default'
    * }
    * ```
    */

package/rosidl_gen/templates/CMakeLists.dot

@@ -1,40 +0,0 @@
-# This file is automatically generated by Intel rclnodejs
-#
-# *** DO NOT EDIT directly
-
-cmake_minimum_required(VERSION 3.5)
-
-project({{=it.projectName}})
-
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  # we dont use add_compile_options with pedantic in message packages
-  # because the Python C extensions dont comply with it
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
-endif()
-
-{{~ it.dependencies :dependency}}
-find_package({{=dependency}} REQUIRED)
-{{~}}
-find_package(actionlib_msgs REQUIRED)
-find_package(ament_cmake REQUIRED)
-find_package(rosidl_default_generators REQUIRED)
-
-set(msg_files
-{{~ it.msgFiles :msgFile}}
-  "msg/{{=msgFile}}.msg"
-{{~}}
-)
-
-rosidl_generate_interfaces(${PROJECT_NAME}
-  ${msg_files}
-  {{~ it.dependencies :dependency}}
-  DEPENDENCIES {{=dependency}}
-  {{~}}
-  DEPENDENCIES actionlib_msgs
-)
-
-ament_package()

package/rosidl_gen/templates/action.dot

@@ -1,50 +0,0 @@
-// This file is automatically generated by rclnodejs
-//
-// *** DO NOT EDIT directly
-//
-
-'use strict';
-
-{{
-const className = it.actionInfo.pkgName + '__' + it.actionInfo.subFolder + '__' + it.actionInfo.interfaceName;
-}}
-
-class {{=className}} {
-  static get Goal() {
-    return require('./{{=className}}_Goal.js');
-  }
-
-  static get Result() {
-    return require('./{{=className}}_Result.js');
-  }
-
-  static get Feedback() {
-    return require('./{{=className}}_Feedback.js');
-  }
-
-  static get impl() {
-    return {
-      get SendGoalService() {
-        return require('./{{=className}}_SendGoal.js');
-      },
-      get GetResultService() {
-        return require('./{{=className}}_GetResult.js');
-      },
-      get FeedbackMessage() {
-        return require('./{{=className}}_FeedbackMessage.js');
-      },
-      get CancelGoal() {
-        return require('../action_msgs/action_msgs__srv__CancelGoal.js');
-      },
-      get GoalStatusArray() {
-        return require('../action_msgs/action_msgs__msg__GoalStatusArray.js');
-      }
-    };
-  }
-
-  static type() {
-    return {pkgName: '{{=it.actionInfo.pkgName}}', subFolder: '{{=it.actionInfo.subFolder}}', interfaceName: '{{=it.actionInfo.interfaceName}}'};
-  }
-}
-
-module.exports = {{=className}};