rclnodejs 1.5.2 → 1.6.0

package/rosidl_gen/templates/message.dot

@@ -1,851 +0,0 @@
-// This file is automatically generated by Intel rclnodejs
-//
-// *** DO NOT EDIT directly
-//
-
-'use strict';
-
-{{
-let objectWrapper = it.spec.msgName + 'Wrapper';
-let arrayWrapper = it.spec.msgName + 'ArrayWrapper';
-
-let refObjectType = it.spec.msgName + 'RefStruct';
-let refObjectArrayType = it.spec.msgName + 'RefStructArray';
-let refArrayType = it.spec.msgName + 'RefArray';
-const compactMsgDefJSON = JSON.stringify(JSON.parse(it.json));
-
-if (it.spec.fields.length === 0) {
-  it.spec.isEmpty = true;
-  /* Following rosidl_generator_c style, put a bool member named '_dummy' */
-  it.spec.fields.push({
-    "type": {
-      "isArray": false,
-      "pkgName": null,
-      "type": "bool",
-      "isDynamicArray": false,
-      "stringUpperBound": null,
-      "isUpperBound": false,
-      "isPrimitiveType": true,
-      "isFixedSizeArray": false,
-      "arraySize": null
-    },
-    "name": "_dummy"
-  });
-}
-
-function getPrimitiveNameByType(type) {
-  if (type.type === 'bool') {
-    return 'Bool';
-  } else if (type.type === 'int8') {
-    return 'Int8';
-  } else if (type.type === 'uint8') {
-    return 'UInt8';
-  } else if (type.type === 'int16') {
-    return 'Int16';
-  } else if (type.type === 'uint16') {
-    return 'UInt16';
-  } else if (type.type === 'int32') {
-    return 'Int32';
-  } else if (type.type === 'uint32') {
-    return 'UInt32';
-  } else if (type.type === 'int64') {
-    return 'Int64';
-  } else if (type.type === 'uint64') {
-    return 'UInt64';
-  } else if (type.type === 'float64') {
-    return 'Float64';
-  } else if (type.type === 'float32') {
-    return 'Float32';
-  } else if (type.type === 'char') {
-    return 'Char';
-  } else if (type.type === 'byte') {
-    return 'Byte';
-  } else if (type.type === 'string' || type.type === 'wstring') {
-    return 'String';
-  } else {
-    return '';
-  }
-}
-
-function getTypedArrayName(type) {
-  const t = type.type.toLowerCase();
-  let typedArrayName = null;
-
-  switch (t) {
-    case 'byte':
-    case 'octet':
-    case 'uint8':
-      typedArrayName = 'Uint8Array';
-      break;
-    case 'char':
-    case 'int8':
-      typedArrayName = 'Int8Array';
-      break;
-    case 'int16':
-    case 'short':
-      typedArrayName = 'Int16Array';
-      break;
-    case 'uint16':
-    case 'unsigned short':
-      typedArrayName = 'Uint16Array';
-      break;
-    case 'int32':
-    case 'long':
-      typedArrayName = 'Int32Array';
-      break;
-    case 'uint32':
-    case 'unsigned long':
-      typedArrayName = 'Uint32Array';
-      break;
-    case 'float':
-    case 'float32':
-      typedArrayName = 'Float32Array';
-      break;
-    case 'double':
-    case 'float64':
-      typedArrayName = 'Float64Array';
-      break;
-    default:
-      typedArrayName = '';
-  }
-  return typedArrayName;
-}
-
-function getTypedArrayElementName(type) {
-  const t = type.type.toLowerCase();
-  if (t === 'int8') {
-    return 'int8';
-  } else if (t === 'uint8') {
-    return 'uint8';
-  } else if (t === 'int16') {
-    return 'int16';
-  } else if (t === 'uint16') {
-    return 'uint16';
-  } else if (t === 'int32') {
-    return 'int32';
-  } else if (t === 'uint32') {
-    return 'uint32';
-  } else if (t === 'float64') {
-    return 'double';
-  } else if (t === 'float32') {
-    return 'float';
-  } else if (t === 'char') {
-    return 'int8';
-  } else if (t === 'byte') {
-    return 'uint8';
-  } else {
-    return '';
-  }
-}
-
-const primitiveBaseType = ['Bool', 'Int8', 'UInt8', 'Int16', 'UInt16', 'Int32', 'UInt32',
-                           'Int64', 'UInt64', 'Float64', 'Float32', 'Char', 'Byte', 'String'];
-const typedArrayType = ['int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32',
-                        'float64', 'float32', 'char', 'byte'];
-
-let existedModules = [];
-
-function isExisted(requiredModule) {
-  return existedModules.indexOf(requiredModule) !== -1;
-}
-
-function isPrimitivePackage(baseType) {
-  return primitiveBaseType.indexOf(baseType.type) !== -1;
-}
-
-function isTypedArrayType(type) {
-  return typedArrayType.indexOf(type.type.toLowerCase()) !== -1;
-}
-
-function isBigInt(type) {
-  return ['int64', 'uint64'].indexOf(type.type.toLowerCase()) !== -1;
-}
-
-const willUseTypedArray = isTypedArrayType(it.spec.baseType);
-const currentTypedArray = getTypedArrayName(it.spec.baseType);
-const currentTypedArrayElementType = getTypedArrayElementName(it.spec.baseType);
-
-function shouldRequire(baseType, fieldType) {
-  let requiredModule = '{{=getPackageNameByType(fieldType)}}/{{=getModulePathByType(fieldType)}}';
-  let shouldRequire = !isPrimitivePackage(baseType) && (fieldType.isArray || !fieldType.isPrimitiveType || fieldType.type === 'string');
-
-  if (shouldRequire && !isExisted(requiredModule)) {
-    existedModules.push(requiredModule);
-    return true;
-  } else {
-    return false;
-  }
-}
-
-function getWrapperNameByType(type) {
-  if (type.isPrimitiveType) {
-    return getPrimitiveNameByType(type) + 'Wrapper';
-  } else {
-    return type.type + 'Wrapper';
-  }
-}
-
-function getModulePathByType(type, messageInfo) {
-  if (type.isPrimitiveType) {
-    return 'std_msgs__msg__' + getPrimitiveNameByType(type) + '.js';
-  }
-
-  if (
-    messageInfo &&
-    messageInfo.subFolder === 'action' &&
-    messageInfo.pkgName === type.pkgName &&
-    (type.type.endsWith('_Goal') || type.type.endsWith('_Result') || type.type.endsWith('_Feedback'))
-  ) {
-    return type.pkgName + '__action__' + type.type + '.js';
-  }
-
-  /* We should use '__msg__' to require "service_msgs/msg/ServiceEventInfo.msg" for service event message. */
-  if (messageInfo && messageInfo.isServiceEvent && (type.type !== 'ServiceEventInfo')) {
-    return type.pkgName + `__${it.spec.subFolder}__` + type.type + '.js';
-  }
-  return type.pkgName + '__msg__' + type.type + '.js';
-}
-
-function getPackageNameByType(type) {
-  if (type.isPrimitiveType) {
-    return 'std_msgs';
-  } else {
-    return type.pkgName;
-  }
-}
-
-function extractMemberNames(fields) {
-  let memberNames = [];
-  fields.forEach(field => {
-    memberNames.push(field.name);
-  });
-  return JSON.stringify(memberNames);
-}
-}}
-
-{{? willUseTypedArray}}
-const rclnodejs = require('../../lib/native_loader.js');
-{{?}}
-const ref = require('../../third_party/ref-napi');
-const StructType = require('@rclnodejs/ref-struct-di')(ref);
-const ArrayType = require('@rclnodejs/ref-array-di')(ref);
-const primitiveTypes = require('../../rosidl_gen/primitive_types.js');
-const deallocator = require('../../rosidl_gen/deallocator.js');
-const translator = require('../../rosidl_gen/message_translator.js');
-
-{{~ it.spec.fields :field}}
-  {{? shouldRequire(it.spec.baseType, field.type)}}
-  const {{=getWrapperNameByType(field.type)}} = require('../../generated/{{=getPackageNameByType(field.type)}}/{{=getModulePathByType(field.type, it.messageInfo)}}');
-  {{?}}
-{{~}}
-
-{{? it.spec.msgName === 'String'}}
-const {{=refObjectType}} = primitiveTypes.string;
-{{??}}
-const {{=refObjectType}} = StructType({
-  {{~ it.spec.fields :field}}
-    {{? field.type.isPrimitiveType && !field.type.isArray}}
-    {{=field.name}}: primitiveTypes.{{=field.type.type}},
-    {{?? field.type.isPrimitiveType && field.type.isArray && field.type.isFixedSizeArray}}
-    {{=field.name}}: ArrayType(primitiveTypes.{{=field.type.type}}, {{=field.type.arraySize}}),
-    {{?? !field.type.isPrimitiveType && field.type.isArray && field.type.isFixedSizeArray}}
-    {{=field.name}}: ArrayType({{=getWrapperNameByType(field.type)}}.refObjectType, {{=field.type.arraySize}}),
-    {{?? field.type.isArray}}
-    {{=field.name}}: {{=getWrapperNameByType(field.type)}}.refObjectArrayType,
-    {{??}}
-    {{=field.name}}: {{=getWrapperNameByType(field.type)}}.refObjectType,
-    {{?}}
-  {{~}}
-});
-{{?}}
-
-const {{=refArrayType}} = ArrayType({{=refObjectType}});
-const {{=refObjectArrayType}} = StructType({
-  {{? willUseTypedArray}}
-  data: ref.refType(ref.types.{{=currentTypedArrayElementType}}),
-  {{??}}
-  data: {{=refArrayType}},
-  {{?}}
-  size: ref.types.size_t,
-  capacity: ref.types.size_t
-});
-
-{{/* Define the wrapper class for the message. */}}
-class {{=objectWrapper}} {
-  constructor(other) {
-    this._initialize();
-    this._setDefaults();
-
-    {{/* Construct `this` from `other`. */}}
-    if (typeof other === 'object' && other._refObject) {
-      this._refObject = new {{=refObjectType}}(other._refObject.toObject());
-      {{~ it.spec.fields :field}}
-        {{? field.type.isArray}}
-        this._wrapperFields.{{=field.name}} = {{=getWrapperNameByType(field.type)}}.createArray();
-        this._wrapperFields.{{=field.name}}.copy(other._wrapperFields.{{=field.name}});
-          {{? field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
-          this.{{=field.name}} = other.{{=field.name}};
-          {{?}}
-        {{?? !field.type.isPrimitiveType || (field.type.type === 'string' && it.spec.msgName !== 'String')}}
-        this._wrapperFields.{{=field.name}} =  new {{=getWrapperNameByType(field.type)}}(other._wrapperFields.{{=field.name}});
-        {{?}}
-      {{~}}
-    } else if (typeof other !== 'undefined') {
-      {{/* Try to construct the message from a plan object of JavaScript. */}}
-      translator.constructFromPlanObject(this, other);
-    }
-    this.freeze(/*own=*/false);
-  }
-
-  {{/* Set default values if the fields of the message have. */}}
-  _setDefaults() {
-    {{~ it.spec.fields :field}}
-      {{? field.type.isPrimitiveType && !field.type.isArray && field.default_value}}
-        {{? field.type.type === 'string' || field.type.type === 'wstring'}}
-        this._refObject.{{=field.name}} = "{{=field.default_value.replace(/"/g, '\\"')}}";
-        {{??}}
-        this._refObject.{{=field.name}} = {{=field.default_value}};
-        {{?}}
-      {{?? field.type.isPrimitiveType && !isTypedArrayType(field.type) && field.default_value}}
-        {{? isBigInt(field.type)}}
-        {{/* For non-TypedArray like int64/uint64. */}}
-        this._{{=field.name}}Array = {{=JSON.stringify(field.default_value)}}.map(num => BigInt(num));
-        {{??}}
-        {{/* For non-TypedArray like bool. */}}
-        this._{{=field.name}}Array = {{=JSON.stringify(field.default_value)}};
-        {{?}}
-      {{?? field.type.isPrimitiveType && isTypedArrayType(field.type) && field.default_value}}
-      this._wrapperFields.{{=field.name}}.fill({{=getTypedArrayName(field.type)}}.from({{=JSON.stringify(field.default_value)}}));
-      {{?}}
-    {{~}}
-  }
-
-  _initialize() {
-    this._wrapperFields = {};
-    this._refObject = new {{=refObjectType}}();
-    {{~ it.spec.fields :field}}
-      {{? field.type.isArray}}
-      this._wrapperFields.{{=field.name}} = {{=getWrapperNameByType(field.type)}}.createArray();
-        {{? field.type.type === 'string' && field.type.isFixedSizeArray}}
-        for (let i = 0; i < {{=field.type.arraySize}}; i++) {
-          primitiveTypes.initString(this._refObject.{{=field.name}}[i]);
-        }
-        {{?}}
-        {{? field.type.isArray && field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
-        this._{{=field.name}}Array = [];
-        {{?}}
-      {{?? !field.type.isPrimitiveType || (field.type.type === 'string' && it.spec.msgName !== 'String')}}
-      this._wrapperFields.{{=field.name}} = new {{=getWrapperNameByType(field.type)}}();
-      {{?? it.spec.msgName === 'String'}}
-      primitiveTypes.initString(this._refObject);
-      {{?}}
-    {{~}}
-  }
-
-  static createFromRefObject(refObject) {
-    let self = new {{=objectWrapper}}();
-    self.copyRefObject(refObject);
-    return self;
-  }
-
-  static createArray() {
-    return new {{=arrayWrapper}};
-  }
-
-  static get ArrayType() {
-    return {{=arrayWrapper}};
-  }
-
-  static get refObjectArrayType() {
-    return {{=refObjectArrayType}}
-  }
-
-  static get refObjectType() {
-    return {{=refObjectType}};
-  }
-
-  toRawROS() {
-    this.freeze(/*own=*/true);
-    return this._refObject.ref();
-  }
-
-  {{ /*Assign values to the ref object wrapped by `this`. */ }}
-  freeze(own) {
-    {{~ it.spec.fields :field}}
-      {{? field.type.isArray && field.type.isPrimitiveType && !isTypedArrayType(field.type) && field.type.isFixedSizeArray}}
-        {{? field.type.type === 'string'}}
-        for (let i = 0; i < {{=field.type.arraySize}}; i++) {
-          if (own) {
-            primitiveTypes.initString(this._refObject.{{=field.name}}[i].ref(), own);
-          } else {
-            if (this._{{=field.name}}Array.length === {{=field.type.arraySize}}) {
-              const value = this._{{=field.name}}Array[i];
-              this._refObject.{{=field.name}}[i].data = value;
-              this._refObject.{{=field.name}}[i].size = Buffer.byteLength(value);
-              this._refObject.{{=field.name}}[i].capacity = Buffer.byteLength(value) + 1;
-            }
-          }
-        }
-        {{?? isBigInt(field.type)}}
-        {{/* For non-TypedArray like int64/uint64. */}}
-        this._refObject.{{=field.name}} = this._{{=field.name}}Array.map(num => num.toString());
-        {{??}}
-        {{/* For non-TypedArray like bool. */}}
-        this._refObject.{{=field.name}} = this._{{=field.name}}Array;
-        {{?}}
-      {{?? field.type.isArray && field.type.isPrimitiveType && isTypedArrayType(field.type) && field.type.isFixedSizeArray}}
-      this._refObject.{{=field.name}} = Array.from(this._wrapperFields.{{=field.name}}.data);
-      {{?? field.type.isArray && field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
-      if (own) {
-        this._wrapperFields.{{=field.name}}.fill([]);
-      } else {
-        this._wrapperFields.{{=field.name}}.fill(this._{{=field.name}}Array);
-      }
-      this._wrapperFields.{{=field.name}}.freeze(own);
-      this._refObject.{{=field.name}} = this._wrapperFields.{{=field.name}}.refObject;
-      {{?? field.type.isArray && field.type.isPrimitiveType && isTypedArrayType(field.type)}}
-      if (own) {
-        this._wrapperFields.{{=field.name}}.fill({{=getTypedArrayName(field.type)}}.from([]));
-      }
-      this._wrapperFields.{{=field.name}}.freeze(own);
-      this._refObject.{{=field.name}} = this._wrapperFields.{{=field.name}}.refObject;
-      {{?? field.type.isArray && !field.type.isPrimitiveType && field.type.isFixedSizeArray}}
-      for (let i = 0; i < {{=field.type.arraySize}}; i++) {
-        if (this._wrapperFields.{{=field.name}}.data[i]) {
-          this._wrapperFields.{{=field.name}}.data[i].freeze(own);
-          this._refObject.{{=field.name}}[i] = this._wrapperFields.{{=field.name}}.data[i].refObject;
-        }
-      }
-      {{?? field.type.isArray || !field.type.isPrimitiveType}}
-        {{? field.type.isArray}}
-        if (own) {
-          this._wrapperFields.{{=field.name}}.fill([]);
-        }
-        {{?}}
-      this._wrapperFields.{{=field.name}}.freeze(own);
-      this._refObject.{{=field.name}} = this._wrapperFields.{{=field.name}}.refObject;
-      {{?? field.type.type === 'string' && it.spec.msgName !== 'String'}}
-      if (own) {
-        this._wrapperFields.{{=field.name}}.freeze(own);
-      }
-      this._refObject.{{=field.name}} = this._wrapperFields.{{=field.name}}.refObject;
-      {{?? it.spec.msgName === 'String'}}
-      if (own) {
-        primitiveTypes.initString(this._refObject.ref(), own);
-      }
-      {{?}}
-    {{~}}
-  }
-
-  serialize() {
-    this.freeze(/*own=*/false);
-    return this._refObject.ref();
-  }
-
-  deserialize(refObject) {
-  {{~ it.spec.fields :field}}
-    {{? field.type.isArray && field.type.isPrimitiveType && field.type.isFixedSizeArray && isTypedArrayType(field.type)}}
-    this._wrapperFields.{{=field.name}}.fill(refObject.{{=field.name}}.toArray());
-    {{?? field.type.isArray && field.type.isPrimitiveType && field.type.isFixedSizeArray && !isTypedArrayType(field.type)}}
-      {{? field.type.type === 'string'}}
-      for (let index = 0; index < {{=field.type.arraySize}}; index++) {
-        this._{{=field.name}}Array[index] = refObject.{{=field.name}}[index].data;
-      }
-      {{??}}
-      {{/* For non-TypedArray like int64/uint64/bool. */}}
-      this._{{=field.name}}Array = refObject.{{=field.name}}.toArray();
-      {{?}}
-    {{?? field.type.isArray && field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
-    refObject.{{=field.name}}.data.length = refObject.{{=field.name}}.size;
-    for (let index = 0; index < refObject.{{=field.name}}.size; index++) {
-      this._{{=field.name}}Array[index] = refObject.{{=field.name}}.data[index].data;
-    }
-    {{?? field.type.isArray && !field.type.isPrimitiveType && field.type.isFixedSizeArray}}
-    this._refObject.{{=field.name}} = refObject.{{=field.name}};
-    this._wrapperFields.{{=field.name}}.size = {{=field.type.arraySize}}
-    for (let i = 0; i < {{=field.type.arraySize}}; i++) {
-      this._wrapperFields.{{=field.name}}.data[i].copyRefObject(refObject.{{=field.name}}[i]);
-    }
-    {{?? field.type.isArray || !field.type.isPrimitiveType}}
-    this._wrapperFields.{{=field.name}}.copyRefObject(refObject.{{=field.name}});
-    {{?? field.type.type === 'string' && it.spec.msgName !== 'String'}}
-    this._wrapperFields.{{=field.name}}.data = refObject.{{=field.name}}.data;
-    {{?? field.type.isPrimitiveType}}
-    this._refObject.{{=field.name}} = refObject.{{=field.name}};
-    {{?}}
-  {{~}}
-  }
-
-  toPlainObject(enableTypedArray) {
-    return translator.toPlainObject(this, enableTypedArray);
-  }
-
-  static freeStruct(refObject) {
-  {{~ it.spec.fields :field}}
-    {{? field.type.isArray && !field.type.isFixedSizeArray}}
-    if (refObject.{{=field.name}}.size != 0) {
-      {{=getWrapperNameByType(field.type)}}.ArrayType.freeArray(refObject.{{=field.name}});
-      {{/* We don't need to free the memory for TypedArray objects, because v8 takes the ownership of it. */}}
-      if (!{{=getWrapperNameByType(field.type)}}.ArrayType.useTypedArray) {
-        deallocator.freeStructMember(refObject.{{=field.name}}, {{=getWrapperNameByType(field.type)}}.refObjectArrayType, 'data');
-      }
-    }
-    {{?? field.type.isArray && !field.type.isPrimitiveType && field.type.isFixedSizeArray}}
-    for (let i = 0; i < {{=field.type.arraySize}}; i++) {
-      {{=getWrapperNameByType(field.type)}}.freeStruct(refObject.{{=field.name}}[i]);
-    }
-    {{?? field.type.isArray && field.type.type === 'string' && field.type.isFixedSizeArray}}
-    for (let i = 0; i < {{=field.type.arraySize}}; i++) {
-      {{=getWrapperNameByType(field.type)}}.freeStruct(refObject.{{=field.name}}[i]);
-    }
-    {{?? !field.type.isPrimitiveType || (field.type.type === 'string' && it.spec.msgName !== 'String')}}
-    {{=getWrapperNameByType(field.type)}}.freeStruct(refObject.{{=field.name}});
-    {{?? it.spec.msgName === 'String'}}
-    deallocator.freeStructMember(refObject, {{=getWrapperNameByType(field.type)}}.refObjectType, '{{=field.name}}');
-    {{?}}
-  {{~}}
-  }
-
-  static destroyRawROS(msg) {
-    {{=objectWrapper}}.freeStruct(msg.refObject);
-  }
-
-  static type() {
-    return {pkgName: '{{=it.messageInfo.pkgName}}', subFolder: '{{=it.messageInfo.subFolder}}', interfaceName: '{{=it.messageInfo.interfaceName}}'};
-  }
-
-  static isPrimitive() {
-    return {{=isPrimitivePackage(it.spec.baseType)}};
-  }
-
-  static get isROSArray() {
-    return false;
-  }
-
-  get refObject() {
-    return this._refObject;
-  }
-
-  {{~ it.spec.fields :field}}
-  get {{=field.name}}() {
-    {{? field.type.isArray && field.type.type === 'Constants'}}
-    return [];
-    {{?? field.type.isArray && isTypedArrayType(field.type)}}
-    return this._wrapperFields['{{=field.name}}'].data;
-    {{?? field.type.isArray && field.type.isPrimitiveType}}
-    return this._{{=field.name}}Array;
-    {{?? field.type.isArray && !field.type.isPrimitiveType}}
-    return this._wrapperFields.{{=field.name}};
-    {{?? !field.type.isPrimitiveType && !field.type.isArray}}
-    return this._wrapperFields.{{=field.name}};
-    {{?? !field.type.isArray && field.type.type === 'string' && it.spec.msgName !== 'String'}}
-    return this._wrapperFields.{{=field.name}}.data;
-    {{?? isBigInt(field.type)}}
-    return BigInt(this._refObject.{{=field.name}});
-    {{??}}
-    return this._refObject.{{=field.name}};
-    {{?}}
-  }
-
-  set {{=field.name}}(value) {
-    {{?field.type.isArray && field.type.isFixedSizeArray}}
-    if (value.length !== {{=field.type.arraySize}}) {
-      throw new RangeError('The length of the array must be {{=field.type.arraySize}}.');
-    }
-
-    {{?}}
-    {{?field.type.isArray && field.type.isUpperBound}}
-    if (value.length > {{=field.type.arraySize}}) {
-      throw new RangeError('The length of array {{=field.name}} must be <= {{=field.type.arraySize}}.');
-    }
-    {{?}}
-
-    {{? field.type.isArray && isTypedArrayType(field.type)}}
-    this._wrapperFields['{{=field.name}}'].fill(value);
-    {{?? field.type.isArray && field.type.isPrimitiveType}}
-    this._{{=field.name}}Array = value;
-    {{?? field.type.isArray && !field.type.isPrimitiveType}}
-    this._wrapperFields.{{=field.name}}.fill(value);
-    {{?? !field.type.isPrimitiveType && !field.type.isArray}}
-    if (value instanceof {{=getWrapperNameByType(field.type)}}) {
-      this._wrapperFields.{{=field.name}}.copy(value);
-    } else {
-      this._wrapperFields.{{=field.name}}.copy(new {{=getWrapperNameByType(field.type)}}(value));
-    }
-    {{?? !field.type.isArray && field.type.type === 'string' && it.spec.msgName !== 'String'}}
-    this._wrapperFields.{{=field.name}}.data = value;
-    {{?? isBigInt(field.type)}}
-    if (typeof value !== "bigint") {
-      throw new TypeError('{{=field.name}} must be type of bigint');
-    }
-    this._refObject.{{=field.name}} = value.toString();
-    {{??}}
-      {{? it.spec.msgName === 'String'}}
-      this._refObject.size = Buffer.byteLength(value);
-      this._refObject.capacity = Buffer.byteLength(value) + 1;
-      {{?}}
-    this._refObject.{{=field.name}} = value;
-    {{?}}
-  }
-  {{~}}
-
-  copyRefObject(refObject) {
-    this._refObject = new {{=refObjectType}}(refObject.toObject());
-
-    {{~ it.spec.fields :field}}
-      {{? field.type.isArray && field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
-      refObject.{{=field.name}}.data.length = refObject.{{=field.name}}.size;
-      for (let index = 0; index < refObject.{{=field.name}}.size; index++) {
-        this._{{=field.name}}Array[index] = refObject.{{=field.name}}.data[index].data;
-      }
-      {{?? field.type.isArray && field.type.isPrimitiveType && field.type.isFixedSizeArray}}
-      this._wrapperFields.{{=field.name}}.fill(refObject.{{=field.name}}.toArray());
-      {{?? field.type.isArray && !field.type.isPrimitiveType && field.type.isFixedSizeArray}}
-      this._refObject.{{=field.name}} = refObject.{{=field.name}};
-      this._wrapperFields.{{=field.name}}.size = {{=field.type.arraySize}}
-      for (let i = 0; i < {{=field.type.arraySize}}; i++) {
-        this._wrapperFields.{{=field.name}}.data[i].copyRefObject(refObject.{{=field.name}}[i]);
-      }
-      {{?? !field.type.isPrimitiveType || field.type.isArray || (field.type.type === 'string' && it.spec.msgName !== 'String')}}
-      this._wrapperFields.{{=field.name}}.copyRefObject(this._refObject.{{=field.name}});
-      {{?}}
-    {{~}}
-  }
-
-  copy(other) {
-    this._refObject = new {{=refObjectType}}(other._refObject.toObject());
-
-    {{~ it.spec.fields :field}}
-      {{? field.type.isArray && field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
-      this._{{=field.name}}Array = other._{{=field.name}}Array.slice();
-      {{?? !field.type.isPrimitiveType || field.type.isArray || (field.type.type === 'string' && it.spec.msgName !== 'String')}}
-      this._wrapperFields.{{=field.name}}.copy(other._wrapperFields.{{=field.name}});
-      {{?}}
-    {{~}}
-  }
-
-  static get classType() {
-    return {{=objectWrapper}};
-  }
-
-  static get ROSMessageDef() {
-    return {{=compactMsgDefJSON}};
-  }
-
-  hasMember(name) {
-    let memberNames = {{=extractMemberNames(it.spec.fields)}};
-    return memberNames.indexOf(name) !== -1;
-  }
-}
-
-{{/* Define the wrapper class for the message array. */}}
-class {{=arrayWrapper}} {
-  constructor(size = 0) {
-    this._resize(size);
-  }
-
-  toRawROS() {
-    return this._refObject.ref();
-  }
-
-  fill(values) {
-    {{? willUseTypedArray}}
-    if (Array.isArray(values)) {
-      {{/* Convert to TypedArray. */}}
-      this._wrappers = new {{=currentTypedArray}}(values);
-    } else {
-      this._wrappers = values;
-    }
-    {{?? isPrimitivePackage(it.spec.baseType)}}
-    {{/* For primitive arrays, only string/bool/int64/uint64 array drops here. */}}
-    const length = values.length;
-    this._resize(length);
-    for (let i = 0; i < length; ++i) {
-      let wrapper = new {{=objectWrapper}}();
-      wrapper.data = values[i];
-      this._wrappers[i] = wrapper;
-    }
-    {{??}}
-    const length = values.length;
-    this._resize(length);
-    values.forEach((value, index) => {
-      if (value instanceof {{=objectWrapper}}) {
-        this._wrappers[index].copy(value);
-      } else {
-        this._wrappers[index] = new {{=objectWrapper}}(value);
-      }
-    });
-    {{?}}
-  }
-
-  {{/* Put all data currently stored in `this._wrappers` into `this._refObject`. */}}
-  freeze(own) {
-    {{/* When it's a TypedArray: no need to copy to `this._refArray`. */}}
-    {{? !willUseTypedArray}}
-    this._wrappers.forEach((wrapper, index) => {
-      wrapper.freeze(own);
-      this._refArray[index] = wrapper.refObject;
-    });
-    {{?}}
-
-    this._refObject.size = this._wrappers.length;
-    this._refObject.capacity = this._wrappers.length;
-
-    if (this._refObject.capacity === 0) {
-      this._refObject.data = null
-    } else {
-      {{? willUseTypedArray}}
-      const buffer = Buffer.from(new Uint8Array(this._wrappers.buffer));
-      this._refObject.data = buffer;
-      {{??}}
-      this._refObject.data = this._refArray.buffer;
-      {{?}}
-    }
-  }
-
-  get refObject() {
-    return this._refObject;
-  }
-
-  get data() {
-    return this._wrappers;
-  }
-
-  get size() {
-    return this._wrappers.length;
-  }
-
-  set size(value) {
-    if (typeof value != 'number') {
-      throw new TypeError('Invalid argument: should provide a number to {{=arrayWrapper}}.size setter');
-    }
-    return this._resize(value);
-  }
-
-  get capacity() {
-    return this._wrappers.length;
-  }
-
-  set capacity(value) {
-    if (typeof value != 'number') {
-      throw new TypeError('Invalid argument: should provide a number to {{=arrayWrapper}}.capacity setter');
-    }
-    return this._resize(value);
-  }
-
-  get refObject() {
-    return this._refObject;
-  }
-
-  _resize(size) {
-    if (size < 0) {
-      throw new RangeError('Invalid argument: should provide a positive number');
-    }
-    {{? willUseTypedArray}}
-    this._refArray = undefined;
-    {{??}}
-    this._refArray = new {{=refArrayType}}(size);
-    {{?}}
-
-    this._refObject = new {{=refObjectArrayType}}();
-    this._refObject.size = size;
-    this._refObject.capacity = size;
-
-    {{? willUseTypedArray}}
-    this._wrappers = new {{=currentTypedArray}}(size);
-    {{??}}
-    this._wrappers = new Array();
-    for (let i = 0; i < size; i++) {
-      this._wrappers.push(new {{=objectWrapper}}());
-    }
-    {{?}}
-  }
-
-  {{/* Copy all data from `this._refObject` into `this._wrappers`. */}}
-  copyRefObject(refObject) {
-    this._refObject = refObject;
-
-    {{? willUseTypedArray}}
-    const byteLen = refObject.size * ref.types.{{=currentTypedArrayElementType}}.size;
-    {{/* An ArrayBuffer object doesn't hold the ownership of memory block starting from address for TypedArray. */}}
-    const arrayBuffer = refObject.data.length !== 0 ?
-        rclnodejs.createArrayBufferFromAddress(refObject.data.hexAddress(), byteLen) :
-        Buffer.alloc(0);
-    this._wrappers = new {{=currentTypedArray}}(arrayBuffer);
-    {{??}}
-    let refObjectArray = this._refObject.data;
-    refObjectArray.length = this._refObject.size;
-    this._resize(this._refObject.size);
-    for (let index = 0; index < this._refObject.size; index++) {
-      this._wrappers[index].copyRefObject(refObjectArray[index]);
-    }
-    {{?}}
-  }
-
-  copy(other) {
-    if (! (other instanceof {{=arrayWrapper}})) {
-      throw new TypeError('Invalid argument: should provide "{{=arrayWrapper}}".');
-    }
-
-    this._resize(other.size);
-    {{? willUseTypedArray}}
-    this._wrappers = other._wrappers.slice();
-    {{??}}
-    {{/* Deep copy for non-TypedArray. */}}
-    other._wrappers.forEach((wrapper, index) => {
-      this._wrappers[index].copy(wrapper);
-    });
-    {{?}}
-  }
-
-  static freeArray(refObject) {
-    {{/* We don't need to free the memory for TypedArray objects, because v8 takes the ownership of it. */}}
-    {{? !willUseTypedArray}}
-    let refObjectArray = refObject.data;
-    refObjectArray.length = refObject.size;
-    for (let index = 0; index < refObject.size; index++) {
-      {{=objectWrapper}}.freeStruct(refObjectArray[index]);
-    }
-    {{?}}
-  }
-
-  static get elementType() {
-    return {{=objectWrapper}};
-  }
-
-  static get isROSArray() {
-    return true;
-  }
-
-  static get useTypedArray() {
-    return {{=willUseTypedArray}};
-  }
-
-  get classType() {
-    return {{=arrayWrapper}};
-  }
-
-  toPlainObject(enableTypedArray) {
-    return translator.toPlainObject(this, enableTypedArray);
-  }
-}
-
-{{? it.spec.constants != undefined && it.spec.constants.length}}
-  {{/* Define constants ({{=it.spec.constants.length}} in total). */}}
-  {{~ it.spec.constants :c}}
-    {{? c.type === "string"}}
-    Object.defineProperty({{=objectWrapper}}, "{{=c.name}}", {value: "{{=c.value}}", writable: false, enumerable: true, configurable: true});
-    {{??}}
-    Object.defineProperty({{=objectWrapper}}, "{{=c.name}}", {value: {{=c.value}}, writable: false, enumerable: true, configurable: true});
-    {{?}}
-  {{~}}
-{{?}}
-
-module.exports = {{=objectWrapper}};
-
-{{? it.isDebug}}
-/*
- * The following is the original spec object coming from parser:
-{{=it.json}}
-*/
-{{?}}