rclnodejs 1.5.2 → 1.6.0

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/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/idl_generator.js

@@ -14,20 +14,17 @@
 
 'use strict';
 
-const dot = require('dot');
-const { minify } = require('terser');
-const fse = require('fs-extra');
+const fse = require('../lib/utils.js');
 const path = require('path');
 const parser = require('../rosidl_parser/rosidl_parser.js');
 const actionMsgs = require('./action_msgs.js');
 const DistroUtils = require('../lib/distro.js');
+const generateMessage = require('./templates/message-template.js');
+const generateService = require('./templates/service-template.js');
+const generateAction = require('./templates/action-template.js');
+const generateServiceEvent = require('./templates/service-event-template.js');
 
-dot.templateSettings.strip = false;
-dot.log = process.env.RCLNODEJS_LOG_VERBOSE || false;
 const isDebug = !!process.argv.find((arg) => arg === '--debug');
-const dots = dot.process({
-  path: path.join(__dirname, '../rosidl_gen/templates'),
-});
 
 /**
  * Output generated code to disk. Do not overwrite
@@ -37,18 +34,8 @@ const dots = dot.process({
  * @param {string} code
  */
 async function writeGeneratedCode(dir, fileName, code) {
-  let result = null;
-  if (!isDebug && fileName.endsWith('.js')) {
-    try {
-      result = await minify(code);
-    } catch (error) {
-      console.error(`Error minifying ${fileName}:`, error);
-      result = null;
-    }
-  }
-
   await fse.mkdirs(dir);
-  await fse.writeFile(path.join(dir, fileName), result ? result.code : code);
+  await fse.writeFile(path.join(dir, fileName), code.replace(/^\s*\n/gm, ''));
 }
 
 async function generateServiceJSStruct(
@@ -64,7 +51,7 @@ async function generateServiceJSStruct(
     '__' +
     serviceInfo.interfaceName +
     '.js';
-  const generatedSrvCode = dots.service({ serviceInfo: serviceInfo });
+  const generatedSrvCode = generateService({ serviceInfo: serviceInfo });
 
   // We are going to only generate the service JavaScript file if it meets one
   // of the followings:
@@ -85,7 +72,7 @@ async function generateServiceJSStruct(
 
 async function generateServiceEventMsg(serviceInfo, dir) {
   const fileName = serviceInfo.interfaceName + '.msg';
-  const generatedEvent = dots.service_event({ serviceInfo: serviceInfo });
+  const generatedEvent = generateServiceEvent({ serviceInfo: serviceInfo });
 
   return writeGeneratedCode(dir, fileName, generatedEvent).then(() => {
     serviceInfo.interfaceName += '_Event';
@@ -118,7 +105,7 @@ async function generateServiceEventJSStruct(msgInfo, dir) {
   // const AddTwoInts_RequestWrapper = require('../../generated/example_interfaces/example_interfaces__srv__AddTwoInts_Request.js');
   // const AddTwoInts_ResponseWrapper = require('../../generated/example_interfaces/example_interfaces__srv__AddTwoInts_Response.js');
   msgInfo.isServiceEvent = true;
-  const generatedCode = dots.message({
+  const generatedCode = generateMessage({
     messageInfo: msgInfo,
     spec: spec,
     json: JSON.stringify(spec, null, '  '),
@@ -146,7 +133,7 @@ function generateMessageJSStructFromSpec(messageInfo, dir, spec) {
     spec.msgName +
     '.js';
 
-  const generatedCode = dots.message({
+  const generatedCode = generateMessage({
     messageInfo: messageInfo,
     spec: spec,
     json: JSON.stringify(spec, null, '  '),
@@ -286,7 +273,7 @@ async function generateActionJSStruct(actionInfo, dir) {
     '__' +
     actionInfo.interfaceName +
     '.js';
-  const generatedCode = dots.action({ actionInfo: actionInfo });
+  const generatedCode = generateAction({ actionInfo: actionInfo });
   dir = path.join(dir, actionInfo.pkgName);
   const action = writeGeneratedCode(dir, fileName, generatedCode);
 

package/rosidl_gen/index.js

@@ -14,7 +14,7 @@
 
 'use strict';
 
-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/templates/action-template.js

@@ -0,0 +1,68 @@
+// 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 generateAction(data) {
+  const actionInfo = data.actionInfo;
+  const className = `${actionInfo.pkgName}__${actionInfo.subFolder}__${actionInfo.interfaceName}`;
+
+  return `// This file is automatically generated by rclnodejs
+//
+// *** DO NOT EDIT directly
+//
+
+'use strict';
+
+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('./${className}_FeedbackMessage.js');
+      },
+      get CancelGoal() {
+        return require('../action_msgs/action_msgs__srv__CancelGoal.js');
+      },
+      get GoalStatusArray() {
+        return require('../action_msgs/action_msgs__msg__GoalStatusArray.js');
+      }
+    };
+  }
+
+  static type() {
+    return {pkgName: '${actionInfo.pkgName}', subFolder: '${actionInfo.subFolder}', interfaceName: '${actionInfo.interfaceName}'};
+  }
+}
+
+module.exports = ${className};
+`;
+}
+
+module.exports = generateAction;