rclnodejs 1.8.0 → 1.8.1

package/lib/native_loader.js

@@ -175,4 +175,14 @@ function loadNativeAddon() {
   }
 }
 
-module.exports = loadNativeAddon();
+const addon = loadNativeAddon();
+
+// Export internal functions for testing purposes
+if (process.env.NODE_ENV === 'test') {
+  addon.TestHelpers = {
+    customFallbackLoader,
+    loadNativeAddon,
+  };
+}
+
+module.exports = addon;

package/lib/time.js

@@ -352,8 +352,8 @@ class Time {
   toMsg() {
     const secondsAndNanoseconds = this.secondsAndNanoseconds;
     return {
-      sec: secondsAndNanoseconds.seconds,
-      nanosec: secondsAndNanoseconds.nanoseconds,
+      sec: Number(secondsAndNanoseconds.seconds),
+      nanosec: Number(secondsAndNanoseconds.nanoseconds),
     };
   }
 

package/lib/time_source.js

@@ -102,7 +102,7 @@ class TimeSource {
    * @return {undefined}
    */
   attachNode(node) {
-    if ((!node) instanceof rclnodejs.ShadowNode) {
+    if (!(node instanceof rclnodejs.ShadowNode)) {
       throw new TypeValidationError('node', node, 'Node', {
         entityType: 'time source',
       });

package/lib/utils.js

@@ -54,7 +54,7 @@ function ensureDirSync(dirPath) {
  */
 async function pathExists(filePath) {
   try {
-    await fsPromises.access(filePath);
+    await fsPromises.stat(filePath);
     return true;
   } catch {
     return false;

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "rclnodejs",
-  "version": "1.8.0",
+  "version": "1.8.1",
   "description": "ROS2.0 JavaScript client with Node.js",
   "main": "index.js",
   "types": "types/index.d.ts",
@@ -25,7 +25,7 @@
     "install": "node scripts/install.js",
     "postinstall": "npm run generate-messages",
     "docs": "cd docs && make",
-    "test": "nyc node --expose-gc ./scripts/run_test.js && tsd",
+    "test": "nyc node --expose-gc ./scripts/run_test.js && tsd && npm install --no-save electron && node test/electron/run_test.js",
     "test-idl": "nyc node --expose-gc ./scripts/run_test.js --idl",
     "lint": "eslint && node ./scripts/cpplint.js",
     "format": "clang-format -i -style=file ./src/*.cpp ./src/*.h && npx --yes prettier --write \"{lib,rosidl_gen,rostsd_gen,rosidl_parser,types,example,test,scripts,benchmark,rostsd_gen}/**/*.{js,md,ts}\" ./*.{js,md,ts}",
@@ -59,7 +59,7 @@
     "eslint": "^9.16.0",
     "eslint-config-prettier": "^10.0.2",
     "eslint-plugin-prettier": "^5.2.1",
-    "globals": "^16.0.0",
+    "globals": "^17.0.0",
     "husky": "^9.1.7",
     "jsdoc": "^4.0.4",
     "lint-staged": "^16.2.0",

package/rosidl_gen/packages.js

@@ -223,7 +223,7 @@ async function findPackagesInDirectory(dir, useIDL) {
 
     // If there is a folder named 'share' under the root path, we consider that
     // the ament build tool has been executed and |amentExecuted| will be true.
-    fs.access(path.join(dir, 'share'), (err) => {
+    fs.stat(path.join(dir, 'share'), (err) => {
       if (err) {
         amentExecuted = false;
       }

package/src/rcl_subscription_bindings.cpp

@@ -38,9 +38,9 @@ Napi::Value RclTake(const Napi::CallbackInfo& info) {
   rcl_ret_t ret = rcl_take(subscription, msg_taken, nullptr, nullptr);
 
   if (ret != RCL_RET_OK && ret != RCL_RET_SUBSCRIPTION_TAKE_FAILED) {
+    std::string error_string = rcl_get_error_string().str;
     rcl_reset_error();
-    Napi::Error::New(env, rcl_get_error_string().str)
-        .ThrowAsJavaScriptException();
+    Napi::Error::New(env, error_string).ThrowAsJavaScriptException();
     return Napi::Boolean::New(env, false);
   }
 
@@ -99,7 +99,7 @@ Napi::Value CreateSubscription(const Napi::CallbackInfo& info) {
           for (int i = 0; i < argc; i++) {
             std::string arg = jsArgv.Get(i).As<Napi::String>().Utf8Value();
             int len = arg.length() + 1;
-            argv[i] = reinterpret_cast<char*>(malloc(len * sizeof(char*)));
+            argv[i] = reinterpret_cast<char*>(malloc(len * sizeof(char)));
             snprintf(argv[i], len, "%s", arg.c_str());
           }
         }
@@ -109,9 +109,9 @@ Napi::Value CreateSubscription(const Napi::CallbackInfo& info) {
           expression.c_str(), argc, (const char**)argv, &subscription_ops);
 
       if (ret != RCL_RET_OK) {
+        std::string error_string = rcl_get_error_string().str;
         rcl_reset_error();
-        Napi::Error::New(env, rcl_get_error_string().str)
-            .ThrowAsJavaScriptException();
+        Napi::Error::New(env, error_string).ThrowAsJavaScriptException();
       }
 
       if (argc) {
@@ -120,6 +120,11 @@ Napi::Value CreateSubscription(const Napi::CallbackInfo& info) {
         }
         free(argv);
       }
+
+      if (ret != RCL_RET_OK) {
+        free(subscription);
+        return env.Undefined();
+      }
     }
   }
 
@@ -127,11 +132,15 @@ Napi::Value CreateSubscription(const Napi::CallbackInfo& info) {
       GetMessageTypeSupport(package_name, message_sub_folder, message_name);
 
   if (ts) {
-    THROW_ERROR_IF_NOT_EQUAL(
-        RCL_RET_OK,
-        rcl_subscription_init(subscription, node, ts, topic.c_str(),
-                              &subscription_ops),
-        rcl_get_error_string().str);
+    rcl_ret_t ret = rcl_subscription_init(subscription, node, ts, topic.c_str(),
+                                          &subscription_ops);
+    if (ret != RCL_RET_OK) {
+      std::string error_msg = rcl_get_error_string().str;
+      rcl_reset_error();
+      Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
+      free(subscription);
+      return env.Undefined();
+    }
 
     auto js_obj = RclHandle::NewInstance(
         env, subscription, node_handle, [node, env](void* ptr) {
@@ -139,14 +148,18 @@ Napi::Value CreateSubscription(const Napi::CallbackInfo& info) {
               reinterpret_cast<rcl_subscription_t*>(ptr);
           rcl_ret_t ret = rcl_subscription_fini(subscription, node);
           free(ptr);
-          THROW_ERROR_IF_NOT_EQUAL_NO_RETURN(RCL_RET_OK, ret,
-                                             rcl_get_error_string().str);
+          if (ret != RCL_RET_OK) {
+            std::string error_msg = rcl_get_error_string().str;
+            rcl_reset_error();
+            Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
+          }
         });
 
     return js_obj;
   } else {
     Napi::Error::New(env, GetErrorMessageAndClear())
         .ThrowAsJavaScriptException();
+    free(subscription);
     return env.Undefined();
   }
 }
@@ -235,7 +248,7 @@ Napi::Value SetContentFilter(const Napi::CallbackInfo& info) {
       for (int i = 0; i < argc; i++) {
         std::string arg = jsArgv.Get(i).As<Napi::String>().Utf8Value();
         int len = arg.length() + 1;
-        argv[i] = reinterpret_cast<char*>(malloc(len * sizeof(char*)));
+        argv[i] = reinterpret_cast<char*>(malloc(len * sizeof(char)));
         snprintf(argv[i], len, "%s", arg.c_str());
       }
     }
@@ -245,15 +258,23 @@ Napi::Value SetContentFilter(const Napi::CallbackInfo& info) {
   rcl_subscription_content_filter_options_t options =
       rcl_get_zero_initialized_subscription_content_filter_options();
 
-  THROW_ERROR_IF_NOT_EQUAL(
-      RCL_RET_OK,
-      rcl_subscription_content_filter_options_set(
-          subscription, expression.c_str(), argc, (const char**)argv, &options),
-      rcl_get_error_string().str);
+  rcl_ret_t ret = rcl_subscription_content_filter_options_set(
+      subscription, expression.c_str(), argc, (const char**)argv, &options);
+
+  if (ret != RCL_RET_OK) {
+    if (argc) {
+      for (int i = 0; i < argc; i++) {
+        free(argv[i]);
+      }
+      free(argv);
+    }
+    std::string error_string = rcl_get_error_string().str;
+    rcl_reset_error();
+    Napi::Error::New(env, error_string).ThrowAsJavaScriptException();
+    return env.Undefined();
+  }
 
-  THROW_ERROR_IF_NOT_EQUAL(
-      RCL_RET_OK, rcl_subscription_set_content_filter(subscription, &options),
-      rcl_get_error_string().str);
+  ret = rcl_subscription_set_content_filter(subscription, &options);
 
   if (argc) {
     for (int i = 0; i < argc; i++) {
@@ -262,6 +283,27 @@ Napi::Value SetContentFilter(const Napi::CallbackInfo& info) {
     free(argv);
   }
 
+  std::string error_string = "";
+  if (ret != RCL_RET_OK) {
+    error_string = rcl_get_error_string().str;
+    rcl_reset_error();
+  }
+
+  rcl_ret_t fini_ret =
+      rcl_subscription_content_filter_options_fini(subscription, &options);
+
+  if (ret != RCL_RET_OK) {
+    Napi::Error::New(env, error_string).ThrowAsJavaScriptException();
+    return env.Undefined();
+  }
+
+  if (fini_ret != RCL_RET_OK) {
+    error_string = rcl_get_error_string().str;
+    rcl_reset_error();
+    Napi::Error::New(env, error_string).ThrowAsJavaScriptException();
+    return env.Undefined();
+  }
+
   return Napi::Boolean::New(env, true);
 }
 
@@ -277,15 +319,33 @@ Napi::Value ClearContentFilter(const Napi::CallbackInfo& info) {
   rcl_subscription_content_filter_options_t options =
       rcl_get_zero_initialized_subscription_content_filter_options();
 
-  THROW_ERROR_IF_NOT_EQUAL(
-      RCL_RET_OK,
-      rcl_subscription_content_filter_options_init(
-          subscription, "", 0, (const char**)nullptr, &options),
-      rcl_get_error_string().str);
+  rcl_ret_t ret = rcl_subscription_content_filter_options_init(
+      subscription, "", 0, (const char**)nullptr, &options);
+
+  if (ret != RCL_RET_OK) {
+    std::string error_string = rcl_get_error_string().str;
+    rcl_reset_error();
+    Napi::Error::New(env, error_string).ThrowAsJavaScriptException();
+    return env.Undefined();
+  }
+
+  ret = rcl_subscription_set_content_filter(subscription, &options);
+  rcl_ret_t fini_ret =
+      rcl_subscription_content_filter_options_fini(subscription, &options);
+
+  if (ret != RCL_RET_OK) {
+    std::string error_string = rcl_get_error_string().str;
+    rcl_reset_error();
+    Napi::Error::New(env, error_string).ThrowAsJavaScriptException();
+    return env.Undefined();
+  }
 
-  THROW_ERROR_IF_NOT_EQUAL(
-      RCL_RET_OK, rcl_subscription_set_content_filter(subscription, &options),
-      rcl_get_error_string().str);
+  if (fini_ret != RCL_RET_OK) {
+    std::string error_string = rcl_get_error_string().str;
+    rcl_reset_error();
+    Napi::Error::New(env, error_string).ThrowAsJavaScriptException();
+    return env.Undefined();
+  }
 
   return Napi::Boolean::New(env, true);
 }
@@ -303,9 +363,9 @@ Napi::Value GetContentFilter(const Napi::CallbackInfo& info) {
 
   rcl_ret_t ret = rcl_subscription_get_content_filter(subscription, &options);
   if (ret != RCL_RET_OK) {
-    Napi::Error::New(env, rcl_get_error_string().str)
-        .ThrowAsJavaScriptException();
+    std::string error_msg = rcl_get_error_string().str;
     rcl_reset_error();
+    Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
     return env.Undefined();
   }
 
@@ -331,9 +391,9 @@ Napi::Value GetContentFilter(const Napi::CallbackInfo& info) {
   rcl_ret_t fini_ret =
       rcl_subscription_content_filter_options_fini(subscription, &options);
   if (fini_ret != RCL_RET_OK) {
-    Napi::Error::New(env, rcl_get_error_string().str)
-        .ThrowAsJavaScriptException();
+    std::string error_msg = rcl_get_error_string().str;
     rcl_reset_error();
+    Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
     return env.Undefined();
   }
 
@@ -347,9 +407,12 @@ Napi::Value GetPublisherCount(const Napi::CallbackInfo& info) {
       RclHandle::Unwrap(info[0].As<Napi::Object>())->ptr());
 
   size_t count = 0;
-  THROW_ERROR_IF_NOT_EQUAL(
-      rcl_subscription_get_publisher_count(subscription, &count), RCL_RET_OK,
-      rcl_get_error_string().str);
+  rcl_ret_t ret = rcl_subscription_get_publisher_count(subscription, &count);
+  if (ret != RCL_RET_OK) {
+    std::string error_msg = rcl_get_error_string().str;
+    rcl_reset_error();
+    Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
+  }
 
   return Napi::Number::New(env, count);
 }