rclnodejs 1.5.2 → 1.7.0

package/lib/validator.js

@@ -15,16 +15,15 @@
 'use strict';
 
 const rclnodejs = require('./native_loader.js');
+const { TypeValidationError, NameValidationError } = require('./errors.js');
 
 /**
  * An object - Representing a validator in ROS.
  * @exports validator
  */
 let validator = {
-  _createErrorFromValidation: function (result) {
-    let err = new Error(result[0]);
-    err.invalidIndex = result[1];
-    return err;
+  _createErrorFromValidation: function (result, nameValue, nameType) {
+    return new NameValidationError(nameValue, nameType, result[0], result[1]);
   },
 
   /**
@@ -34,14 +33,14 @@ let validator = {
    */
   validateFullTopicName(topic) {
     if (typeof topic !== 'string') {
-      throw new TypeError('Invalid argument');
+      throw new TypeValidationError('topic', topic, 'string');
     }
 
     let result = rclnodejs.validateFullTopicName(topic);
     if (result === null) {
       return true;
     }
-    throw this._createErrorFromValidation(result);
+    throw this._createErrorFromValidation(result, topic, 'topic');
   },
 
   /**
@@ -51,14 +50,14 @@ let validator = {
    */
   validateNodeName(name) {
     if (typeof name !== 'string') {
-      throw new TypeError('Invalid argument');
+      throw new TypeValidationError('name', name, 'string');
     }
 
     let result = rclnodejs.validateNodeName(name);
     if (result === null) {
       return true;
     }
-    throw this._createErrorFromValidation(result);
+    throw this._createErrorFromValidation(result, name, 'node');
   },
 
   /**
@@ -68,14 +67,14 @@ let validator = {
    */
   validateTopicName(topic) {
     if (typeof topic !== 'string') {
-      throw new TypeError('Invalid argument');
+      throw new TypeValidationError('topic', topic, 'string');
     }
 
     let result = rclnodejs.validateTopicName(topic);
     if (result === null) {
       return true;
     }
-    throw this._createErrorFromValidation(result);
+    throw this._createErrorFromValidation(result, topic, 'topic');
   },
 
   /**
@@ -85,14 +84,14 @@ let validator = {
    */
   validateNamespace(namespace) {
     if (typeof namespace !== 'string') {
-      throw new TypeError('Invalid argument');
+      throw new TypeValidationError('namespace', namespace, 'string');
     }
 
     let result = rclnodejs.validateNamespace(namespace);
     if (result === null) {
       return true;
     }
-    throw this._createErrorFromValidation(result);
+    throw this._createErrorFromValidation(result, namespace, 'namespace');
   },
 };
 

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "rclnodejs",
-  "version": "1.5.2",
+  "version": "1.7.0",
   "description": "ROS2.0 JavaScript client with Node.js",
   "main": "index.js",
   "types": "types/index.d.ts",
@@ -19,7 +19,7 @@
     "rebuild:dev": "npm run clean && node-gyp -j 16 rebuild --debug",
     "generate-messages": "node scripts/generate_messages.js",
     "generate-messages-idl": "node scripts/generate_messages.js --idl",
-    "generate-messages:dev": "node scripts/generate_messages.js --debug && npx --yes prettier --ignore-path --write generated/**/*.js",
+    "generate-messages:dev": "node scripts/generate_messages.js --debug",
     "generate-tsd-messages": "node scripts/generate_tsd.js",
     "clean": "node-gyp clean && npx rimraf ./generated",
     "install": "node scripts/install.js",
@@ -76,14 +76,9 @@
     "@rclnodejs/ref-array-di": "^1.2.2",
     "@rclnodejs/ref-struct-di": "^1.1.1",
     "bindings": "^1.5.0",
-    "compare-versions": "^6.1.1",
     "debug": "^4.4.0",
-    "dot": "^1.1.3",
-    "fs-extra": "^11.2.0",
-    "is-close": "^1.3.3",
     "json-bigint": "^1.0.0",
     "node-addon-api": "^8.3.1",
-    "terser": "^5.39.0",
     "walk": "^2.3.15"
   },
   "husky": {

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;