From df09ca482affdda20192bda561f29961f7889c25 Mon Sep 17 00:00:00 2001 From: Wayne Parrott <5588978+wayneparrott@users.noreply.github.com> Date: Fri, 13 Dec 2019 00:15:10 -0600 Subject: [PATCH] merge typescript branch (#545) merge typescript branch --- .gitignore | 3 + .travis.yml | 1 - README.md | 55 +- index.js | 6 +- package-lock.json | 2831 ++++++++++++++++++++++++++++++++++ package.json | 16 +- rostsd_gen/index.js | 284 ++++ rostsd_gen/readme.md | 11 + scripts/generate_messages.js | 7 +- scripts/generate_tsd.js | 23 + scripts/npmjs-readme.md | 49 +- test/types/index.d.ts | 1 + test/types/main.ts | 259 ++++ test/types/tsconfig.json | 22 + test/types/tslint.json | 11 + tsconfig.json | 24 + types/.eslintrc.json | 10 + types/base.d.ts | 17 + types/client.d.ts | 65 + types/clock.d.ts | 51 + types/clock_type.d.ts | 13 + types/context.d.ts | 35 + types/duration.d.ts | 76 + types/entity.d.ts | 13 + types/index.d.ts | 101 ++ types/logging.d.ts | 107 ++ types/node.d.ts | 332 ++++ types/publisher.d.ts | 22 + types/qos.d.ts | 117 ++ types/service.d.ts | 15 + types/subscription.d.ts | 15 + types/time.d.ts | 111 ++ types/time_source.d.ts | 42 + types/timer.d.ts | 54 + 34 files changed, 4778 insertions(+), 21 deletions(-) create mode 100644 package-lock.json create mode 100644 rostsd_gen/index.js create mode 100644 rostsd_gen/readme.md create mode 100644 scripts/generate_tsd.js create mode 100644 test/types/index.d.ts create mode 100644 test/types/main.ts create mode 100644 test/types/tsconfig.json create mode 100644 test/types/tslint.json create mode 100644 tsconfig.json create mode 100644 types/.eslintrc.json create mode 100644 types/base.d.ts create mode 100644 types/client.d.ts create mode 100644 types/clock.d.ts create mode 100644 types/clock_type.d.ts create mode 100644 types/context.d.ts create mode 100644 types/duration.d.ts create mode 100644 types/entity.d.ts create mode 100644 types/index.d.ts create mode 100644 types/logging.d.ts create mode 100644 types/node.d.ts create mode 100644 types/publisher.d.ts create mode 100644 types/qos.d.ts create mode 100644 types/service.d.ts create mode 100644 types/subscription.d.ts create mode 100644 types/time.d.ts create mode 100644 types/time_source.d.ts create mode 100644 types/timer.d.ts diff --git a/.gitignore b/.gitignore index 0cf9992c..305c3e2c 100644 --- a/.gitignore +++ b/.gitignore @@ -14,4 +14,7 @@ npm-debug.log tags cpplint.py generated +types/interface.d.ts dist +.vscode +.project diff --git a/.travis.yml b/.travis.yml index a13dd016..0a0889a4 100644 --- a/.travis.yml +++ b/.travis.yml @@ -7,7 +7,6 @@ branches: only: - develop - master - - actionlib before_install: - sudo docker pull ubuntu:bionic diff --git a/README.md b/README.md index ae28461c..23d732e3 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,4 @@ -# rclnodejs - ROS Client Library for JavaScript language[![npm](https://img.shields.io/npm/v/rclnodejs.svg)](https://www.npmjs.com/package/rclnodejs)[![Coverage Status](https://coveralls.io/repos/github/RobotWebTools/rclnodejs/badge.svg?branch=develop)](https://coveralls.io/github/RobotWebTools/rclnodejs?branch=develop)[![npm](https://img.shields.io/npm/dm/rclnodejs)](https://www.npmjs.com/package/rclnodejs)[![GitHub license](https://img.shields.io/github/license/RobotWebTools/rclnodejs.svg)](https://github.com/RobotWebTools/rclnodejs/blob/develop/LICENSE)[![node](https://img.shields.io/node/v/rclnodejs.svg)](https://nodejs.org/en/download/releases/)[![dependencies Status](https://david-dm.org/RobotWebTools/rclnodejs/status.svg)](https://david-dm.org/RobotWebTools/rclnodejs) +# rclnodejs - ROS2 Client Library for JavaScript [![npm](https://img.shields.io/npm/v/rclnodejs.svg)](https://www.npmjs.com/package/rclnodejs)[![Coverage Status](https://coveralls.io/repos/github/RobotWebTools/rclnodejs/badge.svg?branch=develop)](https://coveralls.io/github/RobotWebTools/rclnodejs?branch=develop)[![npm](https://img.shields.io/npm/dm/rclnodejs)](https://www.npmjs.com/package/rclnodejs)[![GitHub license](https://img.shields.io/github/license/RobotWebTools/rclnodejs.svg)](https://github.com/RobotWebTools/rclnodejs/blob/develop/LICENSE)[![node](https://img.shields.io/node/v/rclnodejs.svg)](https://nodejs.org/en/download/releases/)[![dependencies Status](https://david-dm.org/RobotWebTools/rclnodejs/status.svg)](https://david-dm.org/RobotWebTools/rclnodejs) Branch | Linux Build | macOS Build | Windows Build | ------------ | :-------------: | :-------------: | :-------------: | @@ -94,9 +94,9 @@ npm install set PATH=;%PATH% ``` -## Run Unit Test +## Run Unit Tests -[mocha](https://www.npmjs.com/package/mocha) is a javascript test framework for node.js, simply run the following command to run the unit test under `test` folder: +The test suite is implemented using the [mocha](https://www.npmjs.com/package/mocha) JavaScript test framework for node.js. Run the unit tests: ```javascript npm run test @@ -129,19 +129,58 @@ rclnodejs.init().then(() => { rclnodejs.spin(node); }); -``` +``` -There are also several useful examples under the `example` folder, which will show you how to use some important features, including `timer/subscription/publisher/client/service/time/node graph`. You are encouraged to try these examples to understand them. +Browse the JavaScript programs in the `example` folder to learn how to create and work with `timers, subscriptions, publishers, clients, services, timers,` and `nodes`. ## API Specification -The API spec is generated by `jsdoc`, you can manually run `npm run docs` to create them by yourself, or just use the existing documents under `docs` folder. +The API spec is generated by `jsdoc`. To create a local copy run `npm run docs`. Alternatively you can use the prebuilt api documentation found in the `docs` folder or view the [on-line version](http://robotwebtools.org/rclnodejs/docs/index.html) in your browser. + + +## TypeScript Support +Type declaration files (*.d.ts) are included to support developers that wish to use rclnodejs in TypeScript projects. + +In your node project, in addition to installing the rclnodejs package, you will need to install the TypeScript compiler and node typings. +``` + npm install typescript @types/node -D +``` + +Your tsconfig.json file should include the following compiler options: +```json +{ + "compilerOptions": { + "module": "commonjs", + "moduleResolution": "node", + "target": "es6", + // your additional options here + } +} +``` + +Here's a simple example implemented in TypeScript. +``` +import * as rclnodejs from 'rclnodejs'; +rclnodejs.init().then(() => { + const node = rclnodejs.createNode('publisher_example_node'); + const publisher = node.createPublisher('std_msgs/msg/String', 'topic'); + publisher.publish(`Hello ROS 2.0 from rclnodejs`); + rclnodejs.spin(node); +}); +``` + +The benefits of using TypeScript become evident when working with more complex messages. The ROS2 messages are defined in the interfaces.d.ts module. This module is updated as part of the generate_messages process. Here's a trivial example of working with a String msg. +``` + const msg: rclnodejs.std_msgs.msg.String = { + data: 'hello ROS2 from rclnodejs' + } +``` +Smart TypeScript tools such as Visual Studio Code and the CodeMix plugin for Eclipse will help you learn the rclnodejs api and identify issues while coding rather than at runtime. -To visit the on-line version, please navigate to http://robotwebtools.org/rclnodejs/docs/index.html in your browser. ## Experimental - Deprecated -* [actionlib](https://github.com/RobotWebTools/rclnodejs/blob/develop/tutorials/actionlib.md) - as the [rcl](https://github.com/ros2/rcl) library has implemented the action related functions, we are going to drop this one and we don't garantee the current actionlib can work with [rclcpp](https://github.com/ros2/rclcpp). +* [actionlib](https://github.com/RobotWebTools/rclnodejs/blob/develop/tutorials/actionlib.md) - as the [rcl](https://github.com/ros2/rcl) library has implemented the action related functions, we are going to drop this one and we don't guarantee the current actionlib can work with [rclcpp](https://github.com/ros2/rclcpp). ## Troubleshooting diff --git a/index.js b/index.js index 5e57d43d..2ddcc1c5 100644 --- a/index.js +++ b/index.js @@ -24,6 +24,7 @@ const Node = require('./lib/node.js'); const path = require('path'); const QoS = require('./lib/qos.js'); const rclnodejs = require('bindings')('rclnodejs'); +const tsdGenerator = require('./rostsd_gen/index.js'); const validator = require('./lib/validator.js'); const ActionLib = require('ros2-actionlibjs'); const Time = require('./lib/time.js'); @@ -236,10 +237,11 @@ let rcl = { regenerateAll() { // This will trigger to regererate all the JS structs used for messages and services, // to overwrite the existing ones although they have been created. - debug('Begin to regenerate JavaScript code from ROS IDL files.'); + debug('Begin regeneration of JavaScript code from ROS IDL files.'); return new Promise((resolve, reject) => { generator.generateAll(true).then(() => { - debug('Finish regenerating.'); + tsdGenerator.generateAll(); // create interfaces.d.ts + debug('Finish regeneration.'); resolve(); }).catch((e) => { reject(e); diff --git a/package-lock.json b/package-lock.json new file mode 100644 index 00000000..30464785 --- /dev/null +++ b/package-lock.json @@ -0,0 +1,2831 @@ +{ + "name": "rclnodejs", + "version": "0.10.3", + "lockfileVersion": 1, + "requires": true, + "dependencies": { + "@babel/code-frame": { + "version": "7.5.5", + "resolved": "https://registry.npmjs.org/@babel/code-frame/-/code-frame-7.5.5.tgz", + "integrity": "sha512-27d4lZoomVyo51VegxI20xZPuSHusqbQag/ztrBC7wegWoQ1nLREPVSKSW8byhTlzTKyNE4ifaTA6lCp7JjpFw==", + "dev": true, + "requires": { + "@babel/highlight": "^7.0.0" + } + }, + "@babel/highlight": { + "version": "7.5.0", + "resolved": "https://registry.npmjs.org/@babel/highlight/-/highlight-7.5.0.tgz", + "integrity": 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scripts lib example rosidl_gen rosidl_parser test benchmark/rclnodejs && node ./scripts/cpplint.js", + "test": "node ./scripts/compile_tests.js && node ./scripts/run_test.js && dtslint test/types", + "lint": "eslint --max-warnings=0 index.js types/*.d.ts scripts lib example rosidl_gen rosidl_parser test benchmark/rclnodejs && node ./scripts/cpplint.js", "postinstall": "node scripts/generate_messages.js" }, "authors": [ @@ -29,9 +31,13 @@ "url": "git+https://github.com/RobotWebTools/rclnodejs.git" }, "devDependencies": { + "@typescript-eslint/eslint-plugin": "^2.10.0", + "@typescript-eslint/parser": "^2.3.1", + "dtslint": "^2.0.2", "eslint": "^5.14.1", "mocha": "^6.0.1", - "tree-kill": "^1.2.1" + "tree-kill": "^1.2.1", + "typescript": "^3.7.2" }, "dependencies": { "bindings": "^1.2.1", diff --git a/rostsd_gen/index.js b/rostsd_gen/index.js new file mode 100644 index 00000000..3fb8fcbf --- /dev/null +++ b/rostsd_gen/index.js @@ -0,0 +1,284 @@ +/* eslint-disable max-depth */ +/* eslint-disable no-sync */ +/* eslint-disable camelcase */ +// 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. + + +// create interfaces.d.ts containing from each typeclass definition +/* Example output for std_msgs_msg_String +declare module "rclnodejs" { + namespace std_msgs { + namespace msg { + export type String = { + data: string + } + } + } +} +*/ + +'use strict'; + +const path = require('path'); +const fs = require('fs'); +const loader = require('../lib/interface_loader.js'); + + +function generateAll() { + // load pkg and interface info (msgs and srvs) + const generatedPath = path.join(__dirname, '../generated/'); + const pkgInfos = getPkgInfos(generatedPath); + + // write message.d.ts file + const messagesFilePath = path.join(__dirname, '../types/interfaces.d.ts'); + const fd = fs.openSync(messagesFilePath, 'w'); + savePkgInfoAsTSD(pkgInfos, fd); +} + +// scan generated files, collect pkg and msg info +function getPkgInfos(generatedRoot) { + let pkgInfos = []; + const rootDir = generatedRoot; + let pkgs = fs.readdirSync(rootDir); + + for (let pkg of pkgs) { + if (pkg.endsWith('.json')) continue; + + const pkgInfo = { + name: pkg, + messages: [] + }; + + const pkgPath = path.join(rootDir, pkg); + const files = fs.readdirSync(pkgPath); + + for (let filename of files) { + const typeClass = fileName2Typeclass(filename); + + if (typeClass.type === 'srv') { // skip __srv__ + if (!typeClass.name.endsWith('Request') && !typeClass.name.endsWith('Response')) { + continue; + } + } + + const msg = createMessage(typeClass); + const type = msg.constructor.type(); + const def = msg.constructor.ROSMessageDef; + + const msgInfo = { + name: def.msgName, + typeClass: typeClass, + type: type, + def: def + }; + + pkgInfo.messages.push(msgInfo); + } + + pkgInfos.push(pkgInfo); + }; + + return pkgInfos; +} + + +function savePkgInfoAsTSD(pkgInfos, fd) { + + let fullMessageNames = ['string']; + + fs.writeSync(fd, '/* eslint-disable camelcase */\n'); + fs.writeSync(fd, '// DO NOT EDIT\n'); + fs.writeSync(fd, '// This file is generated by the rostsd_gen script\n\n'); + + const moduleDeclare = 'declare module \'rclnodejs\' {\n'; + fs.writeSync(fd, moduleDeclare); + + for (const pkgInfo of pkgInfos) { + + // write namespaces heirarchy for package + const pkgNamespaceTemplate = + ` namespace ${pkgInfo.name} { +`; + fs.writeSync(fd, pkgNamespaceTemplate); + + let curNS = null; + for (const msgInfo of pkgInfo.messages) { + + if (msgInfo.typeClass.type != curNS) { + if (curNS) { // close current ns + fs.writeSync(fd, ' }\n'); + } + + curNS = msgInfo.typeClass.type; + + // write namespaces heirarchy for package + const msgNamespaceTemplate = + ` namespace ${curNS} { +`; + fs.writeSync(fd, msgNamespaceTemplate); + } + + saveMsgInfoAsTSD(msgInfo, fd); + + // full path to this msg + const fullMessageName = `${pkgInfo.name}.${msgInfo.typeClass.type}.${msgInfo.typeClass.name}`; + fullMessageNames.push(fullMessageName); + } + + if (curNS) { + // close msg level namespace declare + fs.writeSync(fd, ' }\n'); + } + + // close pkg level namespace declare + fs.writeSync(fd, ' }\n\n'); + } + + // write type alias for Message + // e.g. type Message = + // string | + // std_msgs.msg.Bool | + // std_msgs.msg.Byte | + // ... + fs.writeSync(fd, ' type Message = \n'); + for (let i=0; i < fullMessageNames.length; i++) { + fs.writeSync(fd, ' ' + fullMessageNames[i]); + if (i != fullMessageNames.length-1) { + fs.writeSync(fd, ' |\n'); + } + } + + fs.writeSync(fd, ';\n'); + + // close module declare + fs.writeSync(fd, '}\n'); + fs.closeSync(fd); +} + + +function saveMsgInfoAsTSD(msgInfo, fd) { + + // write type = xxxx { + const typeTemplate = + ` export type ${msgInfo.typeClass.name} = {\n`; + + fs.writeSync(fd, typeTemplate); + + // write constant definitions + for (let i = 0; i < msgInfo.def.constants.length; i++) { + const constant = msgInfo.def.constants[i]; + const constantType = primitiveType2JSName(constant.type); + const tmpl = (constantType == 'string') ? + ` ${constant.name}: '${constant.value}'` : + ` ${constant.name}: ${constant.value}`; + fs.writeSync(fd, tmpl); + + if (i != msgInfo.def.constants.length - 1) { + fs.writeSync(fd, ',\n'); + } else if (msgInfo.def.fields.length > 0) { + fs.writeSync(fd, ',\n'); + } + } + + // write field definitions + for (let i = 0; i < msgInfo.def.fields.length; i++) { + const field = msgInfo.def.fields[i]; + const fieldType = fieldType2JSName(field); + const tmpl = ` ${field.name}: ${fieldType}`; + fs.writeSync(fd, tmpl); + if (field.type.isArray) { + fs.writeSync(fd, '[]'); + } + if (i != msgInfo.def.fields.length - 1) { + fs.writeSync(fd, ','); + } + fs.writeSync(fd, '\n'); + } + + // end of def + fs.writeSync(fd, ' };\n'); +} + + +function fieldType2JSName(fieldInfo) { + return fieldInfo.type.isPrimitiveType ? + primitiveType2JSName(fieldInfo.type.type) : + fieldInfo.type.pkgName + '.msg.' + fieldInfo.type.type; +} + + +function primitiveType2JSName(type) { + let jsName; + + switch (type) { + case 'char': + case 'byte': + case 'uin8': + case 'int8': + case 'int16': + case 'uint16': + case 'int32': + case 'uint32': + case 'int64': + case 'uint64': + case 'float32': + case 'float64': + case 'double': + jsName = 'number'; + break; + case 'bool': + jsName = 'boolean'; + break; + case 'string': + case 'wstring': + jsName = 'string'; + break; + } + + return jsName; +} + + +// example filename: std_msgs_msg_String, sensor_msgs_msg_LaserScan +// result {package: 'std_msgs', type: 'msg', name: 'String'} +function fileName2Typeclass(filename) { + const regex = /(.+)__(\w+)__(\w+)\.js/; + const array = filename.split(regex).filter(Boolean); + + if (!array || array.length != 3) { + // todo: throw error + console.log('ERRORRROOROR', array); + return; + } + + return { + package: array[0], + type: array[1], + name: array[2] + }; +} + + +function createMessage(type) { + let typeClass = loader.loadInterface(type); + return typeClass ? + new typeClass() : + undefined; +} + + +const tsdGenerator = { + generateAll +}; + +module.exports = tsdGenerator; diff --git a/rostsd_gen/readme.md b/rostsd_gen/readme.md new file mode 100644 index 00000000..18921529 --- /dev/null +++ b/rostsd_gen/readme.md @@ -0,0 +1,11 @@ +# rostsd-gen +A node.js script that creates and updates the TypeScript interfaces.d.ts declaration file with type declarations for the generated interfaces (messages and services). + +Run this script everytime new interfaces are generated, see script/generate_messages.js + + +# run +You can update the interfaces.d.ts types manually by running the generate_tsd.js script. +``` +node node_modules/rclnodejs/scripts/generate_tsd.js +``` diff --git a/scripts/generate_messages.js b/scripts/generate_messages.js index faf38df1..69d68736 100644 --- a/scripts/generate_messages.js +++ b/scripts/generate_messages.js @@ -1,3 +1,4 @@ +/* eslint-disable camelcase */ // Copyright (c) 2018 Intel Corporation. All rights reserved. // Licensed under the Apache License, Version 2.0 (the "License"); @@ -15,10 +16,12 @@ 'use strict'; const generator = require('../rosidl_gen/index.js'); +const tsdGenerator = require('../rostsd_gen/index.js'); -console.log('Start to generate the JavaScript messages...'); +console.log('Start JavaScript message generation...'); generator.generateAll(true).then(() => { - console.log('Generation is done.'); + tsdGenerator.generateAll(); // create interfaces.d.ts + console.log('Generation complete.'); }).catch((e) => { console.log(`Caught error: ${e}`); }); diff --git a/scripts/generate_tsd.js b/scripts/generate_tsd.js new file mode 100644 index 00000000..da29fd06 --- /dev/null +++ b/scripts/generate_tsd.js @@ -0,0 +1,23 @@ +// 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. + +'use strict'; + +const tsdGenerator = require('../rostsd_gen/index.js'); + +console.log('Start TypeScript declaration file generation...'); +try { + tsdGenerator.generateAll(); + console.log('Generation is done.'); +} catch (e) { + console.log(`Caught error: ${e}`); +} diff --git a/scripts/npmjs-readme.md b/scripts/npmjs-readme.md index 1df051c5..52fb8a53 100644 --- a/scripts/npmjs-readme.md +++ b/scripts/npmjs-readme.md @@ -1,6 +1,8 @@ # rclnodejs [![Build Status](https://travis-ci.org/RobotWebTools/rclnodejs.svg?branch=develop)](https://travis-ci.org/RobotWebTools/rclnodejs) -`rclnodejs` is a Node.js client for Robot Operating System (ROS) v2.0. It provides extremely simple & easy API for ROS 2.0 programming, the following example shows how to create a ROS 2.0 node and then publish a string message in only 6 lines of code. +`rclnodejs` is a Node.js client for the Robot Operating System (ROS) v2.0. It provides a simple and easy JavaScript API for ROS 2.0 programming. TypeScript declarations are included to support use of rclnodejs in TypeScript projects. + +The following JavaScript example demonstrates how to create a ROS 2.0 node and then publish a string message in only 6 lines of code. ``` JavaScript const rclnodejs = require('rclnodejs'); @@ -30,9 +32,9 @@ Please check the [table](https://github.com/RobotWebTools/rclnodejs#match-with-r ## Document -Please browse our online [doucment](http://robotwebtools.org/rclnodejs/docs/index.html) to learn the detailed usage if you needed. +API [documentation](http://robotwebtools.org/rclnodejs/docs/index.html) is available online. -## More Examples +## JavaScript Examples Use complex message @@ -100,6 +102,47 @@ Send a request in a client ``` +## Using rclnodejs with TypeScript +In your node project install the rclnodejs package as described above. You will also need the TypeScript compiler and node typings installed. +``` + npm install typescript @types/node -D +``` + +In your tsconfig.json file include the following compiler options: +```json +{ + "compilerOptions": { + "module": "commonjs", + "moduleResolution": "node", + "target": "es6", + ... + } +} +``` + +Here's an earlier JavaScript example reimplemented in TypeScript. +``` +import * as rclnodejs from 'rclnodejs'; +rclnodejs.init().then(() => { + const node = rclnodejs.createNode('publisher_example_node'); + const publisher = node.createPublisher('std_msgs/msg/String', 'topic'); + publisher.publish(`Hello ROS 2.0 from rclnodejs`); + rclnodejs.spin(node); +}); +``` + +In this example you may notice that other than the `import` statement the code is virtually identical to the JavaScript version. Where the benefits of using TypeScript kick in is when using smart coding tools such as Visual Studio Code or the CodeMix plugin for Eclipse. These productivity tools use the rclnodejs type declaration files to help you learn the api and code with it more accurately and quickly. + +Type aliases are provided for the ROS2 messages in the types/interfaces.d.ts file. To use a message type alias follow the naming pattern .[msg|srv]., e.g., sensor_msgs.msg.LaserScan or the std_msgs.msg.String as shown below. +``` + const msg: rclnodejs.std_msgs.msg.String = { + data: 'hello ROS2 from rclnodejs' + } +``` +**Note** that the interface.d.ts file is updated each time the generate_messages.js script is run. + +While the code snippet above is a trivial message example, when working with more complex message types such as sensor data, developers can benefit from typing information to help detect issues earlier in the develpment cycle. + ## License Apache License Version 2.0 diff --git a/test/types/index.d.ts b/test/types/index.d.ts new file mode 100644 index 00000000..0d9014aa --- /dev/null +++ b/test/types/index.d.ts @@ -0,0 +1 @@ +// TypeScript Version: 3.7 diff --git a/test/types/main.ts b/test/types/main.ts new file mode 100644 index 00000000..423c193c --- /dev/null +++ b/test/types/main.ts @@ -0,0 +1,259 @@ +/// +import * as rclnodejs from 'rclnodejs'; + +const NODE_NAME = "test_node"; +const TYPE_CLASS = "std_msgs/msg/String"; +const TOPIC = "topic"; + + +// ---- rclnodejs ----- +// $ExpectType Promise +rclnodejs.init(); + +// $ExpectType Promise +rclnodejs.init(rclnodejs.Context.defaultContext()); + +// $ExpectType boolean +rclnodejs.isShutdown(); + +// $ExpectType void +rclnodejs.shutdown(); + +// ---- Context ----- + + + + +// ---- Node ----- +// $ExpectType Node +const node = rclnodejs.createNode(NODE_NAME); + +// $ExpectType string +node.name(); + +// $ExpectType string +node.namespace(); + +// $ExpectType void +rclnodejs.spin(node); + +// $ExpectType void +node.destroy(); + +// $ExpectType NamesAndTypesQueryResult[] +node.getPublisherNamesAndTypesByNode(NODE_NAME); + +// $ExpectType NamesAndTypesQueryResult[] +node.getServiceNamesAndTypes(); + +// $ExpectType NamesAndTypesQueryResult[] +node.getServiceNamesAndTypesByNode(NODE_NAME); + +// $ExpectType NamesAndTypesQueryResult[] +node.getSubscriptionNamesAndTypesByNode(NODE_NAME); + +// $ExpectType NamesAndTypesQueryResult[] +node.getTopicNamesAndTypes(); + + + +// ---- Publisher ---- +// $ExpectType Publisher +const publisher = node.createPublisher(TYPE_CLASS, TOPIC); + +// $ExpectType object +publisher.options; + +// $ExpectType QoS +publisher.qos; + +// $ExpectType string +publisher.topic; + +// $ExpectType TypeClass +publisher.typeClass; + +// $ExpectType boolean +publisher.typedArrayEnabled; + +// $ExpectType void +publisher.publish(""); + + +// ---- Subscription ---- +// $ExpectType Subscription +const subscription = node.createSubscription(TYPE_CLASS, TOPIC, {}, (msg: rclnodejs.Message) => {}); + +// $ExpectType string +subscription.topic; + + +// ---- Service ---- +// $ExpectType Service +const service = node.createService(TYPE_CLASS, 'abc', {}, + (request: rclnodejs.Message, response: rclnodejs.ServiceResponse) => {}); + +// $ExpectType string +service.serviceName; + +// $ExpectType object +service.options; + + +// ---- Client ---- +// $ExpectType Client +const client = node.createClient(TYPE_CLASS, 'abc'); + +// $ExpectType string +client.serviceName; + +// $ExpectType boolean +client.isServiceServerAvailable(); + +// $ExpectType Promise +client.waitForService(); + + +// ---- Timer ---- +// ExpectType rclnodejs.TimerRequestCallback +const timerCallback = () => { }; + +// $ExpectType Timer +const timer = node.createTimer(100, timerCallback); + +// $ExpectType number +timer.period; + +// $ExpectType boolean +timer.isReady(); + +// $ExpectType number +timer.timeSinceLastCall(); + +// $ExpectType number +timer.timeUntilNextCall(); + +// $ExpectType boolean +timer.isCanceled(); + +// $ExpectType void +timer.cancel(); + + +// ---- Duration ---- +// $ExpectType Duration +const duration1: rclnodejs.Duration = new rclnodejs.Duration(); + +const duration2: rclnodejs.Duration = + new rclnodejs.Duration(100, '1000'); + +// $ExpectType string | number +duration1.nanoseconds; + +// $ExpectType boolean +duration1.eq(duration2); + +// $ExpectType boolean +duration1.ne(duration2); + +// $ExpectType boolean +duration1.lt(duration2); + +// $ExpectType boolean +duration1.lte(duration2); + +// $ExpectType boolean +duration1.gt(duration2); + +// $ExpectType boolean +duration1.gte(duration2); + + +// ---- Time ---- +// $ExpectType Time +const time1 = new rclnodejs.Time(100, 100); + +// $ExpectType Time +const time2 = rclnodejs.Time.fromMsg('helloworld', + rclnodejs.ClockType.SYSTEM_TIME); + +// $ExpectType ClockType +time1.clockType; + +// $ExpectType string | number +time1.nanoseconds; + +// $ExpectType { seconds: number; nanoseconds: number; } +time1.secondsAndNanoseconds; + +// $ExpectType Time +time1.add(duration1); + +// $ExpectType Duration | Time +time1.sub(duration1); + +// $ExpectType Duration | Time +time1.sub(time2); + +// $ExpectType boolean +time1.eq(time2); + +// $ExpectType boolean +time1.ne(time2); + +// $ExpectType boolean +time1.lt(time2); + +// $ExpectType boolean +time1.lte(time2); + +// $ExpectType boolean +time1.gt(time2); + +// $ExpectType boolean +time1.gte(time2); + + +// ---- Clock ----- +// $ExpectType Clock +const clock = new rclnodejs.Clock(rclnodejs.ClockType.SYSTEM_TIME); + +// $ExpectType ClockType +clock.clockType; + +// $ExpectType Time +clock.now(); + + +// ---- ROS Clock ----- + + + +// ---- Logging ----- +// $ExpectType Logging +const logger = rclnodejs.Logging.getLogger('test_logger'); + +// $ExpectType string +logger.name; + +// $ExpectType LoggingSeverity +logger.loggerEffectiveLevel; + +// $ExpectType void +logger.setLoggerLevel(rclnodejs.Logging.LoggingSeverity.INFO); + +// $ExpectType boolean +logger.debug('test msg'); + +// $ExpectType boolean +logger.info('test msg'); + +// $ExpectType boolean +logger.warn('test msg'); + +// $ExpectType boolean +logger.error('test msg'); + +// $ExpectType boolean +logger.fatal('test msg'); + diff --git a/test/types/tsconfig.json b/test/types/tsconfig.json new file mode 100644 index 00000000..5105f53f --- /dev/null +++ b/test/types/tsconfig.json @@ -0,0 +1,22 @@ +{ + "compileOnSave": false, + "compilerOptions": { + "module": "commonjs", + "moduleResolution": "node", + "target": "es6", + /* Strict Type-Checking Options */ + "strict": true, + "noImplicitAny": true, + "strictNullChecks": true, + "strictFunctionTypes": true, + "noImplicitThis": true, + "alwaysStrict": true, + /* Additional Checks */ + /* next line commented out because we need unused vars for type tests */ + // "noUnusedLocals": true, + "noUnusedParameters": false, + "noImplicitReturns": true, + "noFallthroughCasesInSwitch": true, + "lib": ["es2017"] + } +} \ No newline at end of file diff --git a/test/types/tslint.json b/test/types/tslint.json new file mode 100644 index 00000000..f0b6fec2 --- /dev/null +++ b/test/types/tslint.json @@ -0,0 +1,11 @@ +{ + "extends": "dtslint/dtslint.json", + "rules": { + "no-useless-files": false, + "eofline": false, + "no-bad-reference": false, + "no-consecutive-blank-lines": false, + "no-unused-variable": false, + "trim-file": false + } +} \ No newline at end of file diff --git a/tsconfig.json b/tsconfig.json new file mode 100644 index 00000000..a3ffbfad --- /dev/null +++ b/tsconfig.json @@ -0,0 +1,24 @@ +{ + "compilerOptions": { + "module": "commonjs", + "moduleResolution": "node", + "target": "es6", + /* Strict Type-Checking Options */ + "strict": true, + "noImplicitAny": true, + "strictNullChecks": true, + "strictFunctionTypes": true, + "noImplicitThis": true, + "alwaysStrict": true, + /* Additional Checks */ + /* next line commented out because we need unused vars for type tests */ + // "noUnusedLocals": true, + "noUnusedParameters": true, + "noImplicitReturns": true, + "noFallthroughCasesInSwitch": true, + "lib": ["es2017"] + }, + "include": [ + "types/**/*" + ] +} \ No newline at end of file diff --git a/types/.eslintrc.json b/types/.eslintrc.json new file mode 100644 index 00000000..8adeb659 --- /dev/null +++ b/types/.eslintrc.json @@ -0,0 +1,10 @@ +{ + "parser": "@typescript-eslint/parser", + "plugins": ["@typescript-eslint"], + "parserOptions": { + "sourceType": "module" + }, + "rules": { + "strict": [0, "global"] + } +} diff --git a/types/base.d.ts b/types/base.d.ts new file mode 100644 index 00000000..40c8de27 --- /dev/null +++ b/types/base.d.ts @@ -0,0 +1,17 @@ +/* eslint-disable spaced-comment */ +/// +/// +/// +/// +/// +/// +/// +/// +/// +/// +/// +/// +/// +/// +/// +/// \ No newline at end of file diff --git a/types/client.d.ts b/types/client.d.ts new file mode 100644 index 00000000..09875de0 --- /dev/null +++ b/types/client.d.ts @@ -0,0 +1,65 @@ + + +declare module 'rclnodejs' { + + /** + * A ROS service client. + */ + class Client extends Entity { + + /** + * Make a service request and wait for to be notified asynchronously through a callback. + * + * @param request - Request to be submitted. + * @param callback - Callback for receiving the server response. + */ + sendRequest(request: Message, callback: Client.ResponseCallback): void; + + /** + * Checks if the service is ready. + * + * @returns true if the service is available. + */ + isServiceServerAvailable(): boolean; + + /** + * Wait for service server to become available or the timeout expires. + * + * @remarks + * This method polls for the service state. Thus it may not return the instant the + * service becomes available. + * + * + * @param timeout - Maximum amount of time to wait. If timeout + * is `< 0` then wait indefinitely, default = + * wait indefinitely. + * @returns True if the service is available; otherwise return false. + */ + waitForService(timeout?: number): Promise; + + /** + * Name of the service to which requests are made. + */ + readonly serviceName: string; + + } + + namespace Client { + + /** + * A callback for receiving a response from the service + * + * @param response - The response from the service + * + * @remarks + * See {@link Client.sendRequest | Client.sendRequest} + * See {@link Node.createService | Node.createService} + * See {@link Client} + * See {@link Service} + */ + export type ResponseCallback = ( + (response: Message) => void + ); + } + +} diff --git a/types/clock.d.ts b/types/clock.d.ts new file mode 100644 index 00000000..386a80df --- /dev/null +++ b/types/clock.d.ts @@ -0,0 +1,51 @@ + +declare module 'rclnodejs' { + + /** + * A ROS Clock. + */ + class Clock { + + /** + * Create a Clock. + * + * @param clockType - Type of the clock to create; default = {@link ClockType.SYSTEM_TIME}. + */ + constructor(clockType?: ClockType); + + /** + * Get ClockType of this Clock. + * + * @returns Type of this clock. + */ + readonly clockType: ClockType; + + /** + * Return the current time. + * + * @returns The current time. + */ + now(): Time; + } + + /** + * A ROS ROSClock. + */ + class ROSClock extends Clock { + + /** + * Create a ROSClock. + */ + constructor(); + + /** + * Determine if the clock is active. + */ + isRosTimeActive: boolean; + + /** + * Status of ROS time. + */ + rosTimeOverride: Time; + } +} diff --git a/types/clock_type.d.ts b/types/clock_type.d.ts new file mode 100644 index 00000000..6113d351 --- /dev/null +++ b/types/clock_type.d.ts @@ -0,0 +1,13 @@ + +declare module 'rclnodejs' { + + /** + * Clock type identifiers + */ + enum ClockType { + ROS_TIME = 1, + SYSTEM_TIME = 2, + STEADY_TIME = 3 + } + +} \ No newline at end of file diff --git a/types/context.d.ts b/types/context.d.ts new file mode 100644 index 00000000..c166a5e1 --- /dev/null +++ b/types/context.d.ts @@ -0,0 +1,35 @@ + +declare module 'rclnodejs' { + + /** + * Encapsulates the lifecycle of the module from init to shutdown. + * + * @remarks + * Context objects should not be reused, and are finalized in their destructor. + */ + class Context { + + /** + * Shutdown the context. + */ + shutdown(): void; + + /** + * Try to shutdown the context. + */ + tryShutdown(): void; + + /** + * Get the global default Context object. + * + * @returns The default Context + */ + static defaultContext(): Context; + + /** + * Shutdown the default context. + */ + static shutdownDefaultContext(): void; + + } +} diff --git a/types/duration.d.ts b/types/duration.d.ts new file mode 100644 index 00000000..a3bbc4e3 --- /dev/null +++ b/types/duration.d.ts @@ -0,0 +1,76 @@ + +declare module 'rclnodejs' { + + /** + * A ROS Duration is a measure of elapsed time. + * A duration consists of 2 components: seconds and nanoseconds. + */ + class Duration { + + /** + * Create a Duration. + * + * @param seconds - The seconds component of the duration, default = 0. + * @param nanoseconds - The nanoseconds component of the duration, default = 0. + */ + constructor(seconds?: number | string, nanoseconds?: number | string); + + /** + * Get the nanosecond component of the Duration. + * + * @returns The nanoseconds, if the value is greater than Number.MAX_SAFE_INTEGER (2^53-1), + * will be presented in a string of decimal format. + */ + readonly nanoseconds: number | string; + + /** + * Test if this Duration is equal to another Duration. + * + * @param other - The Duration this is compare to. + * @returns True if this duration is equal to other duration. + */ + eq(other: Duration): boolean; + + /** + * Test if this Duration is not equal to another Duration. + * + * @param other - The Duration this is compare to. + * @returns True if this duration is not equal to other duration. + */ + ne(other: Duration): boolean; + + /** + * Test if this Duration is less than another Duration. + * + * @param other - The Duration this is compare to. + * @returns True if this duration is less than other duration. + */ + lt(other: Duration): boolean; + + /** + * Test if this Duration is less than or equal to another Duration. + * + * @param other - The Duration this is compare to. + * @returns True if this duration is less than or equal to other duration. + */ + lte(other: Duration): boolean; + + /** + * Test if this Duration is greater than another Duration. + * + * @param other - The Duration this is compare to. + * @returns True if this duration is greater than other duration. + */ + gt(other: Duration): boolean; + + /** + * Test if this Duration is greater than or equal another Duration. + * + * @param other - The Duration this is compare to. + * @returns True if this duration is greater than or equal to other duration. + */ + gte(other: Duration): boolean; + } + +} + diff --git a/types/entity.d.ts b/types/entity.d.ts new file mode 100644 index 00000000..b6437e76 --- /dev/null +++ b/types/entity.d.ts @@ -0,0 +1,13 @@ + +declare module 'rclnodejs' { + + /** + * A common object in RCL. + */ + class Entity { + options: object; + readonly qos: QoS; + readonly typedArrayEnabled: boolean; + readonly typeClass: TypeClass; + } +} \ No newline at end of file diff --git a/types/index.d.ts b/types/index.d.ts new file mode 100644 index 00000000..cd62e535 --- /dev/null +++ b/types/index.d.ts @@ -0,0 +1,101 @@ + +// eslint-disable-next-line spaced-comment +/// + +declare module 'rclnodejs' { + + /** + * Create a node. + * + * @remarks + * See {@link Node} + * + * @param nodeName - The name used to register in ROS. + * @param namespace - The namespace used in ROS, default is an empty string. + * @param context - The context, default is Context.defaultContext(). + * @returns The new Node instance. + */ + function createNode(nodeName: string, namespace?: string, context?: Context): Node; + + /** + * Init the module. + * + * @param context - The context, default is Context.defaultContext(). + * @returns A Promise. + */ + function init(context?: Context): Promise; + + /** + * Spin up the node event loop to check for incoming events. + * + * @param node - The node to be spun. + * @param timeout - ms to wait, block forever if negative, return immediately when 0, default is 10. + */ + function spin(node: Node, timeout?: number): void; + + /** + * Stop all activity, destroy all nodes and node components. + * + * @param context - The context, default is Context.defaultContext() + */ + function shutdown(context?: Context): void; + + /** + * Test if the module is shutdown. + * + * @returns True if the module is shut down, otherwise return false. + */ + function isShutdown(): boolean; + + /** + * Get the interface package, which is used by publisher/subscription or client/service. + * + * @param name - The name of interface to be required. + * @returns The object of the required package/interface. + */ + function require(name: string): object; + + /** + * Generate JavaScript structs files from the IDL of + * messages(.msg) and services(.srv). + * Search packages which locate under path $AMENT_PREFIX_PATH + * and output JS files into the 'generated' folder. + * Any existing files under the generated folder will + * be overwritten. + * + * @returns A Promise. + */ + function regenerateAll(): Promise; + + /** + * Judge if the topic or service is hidden, + * + * @remarks + * See {@link http://design.ros2.org/articles/topic_and_service_names.html#hidden-topic-or-service-names} + * + * @param name - Name of topic or service. + * @returns True if a given topic or service name is hidden, otherwise False. + */ + function isTopicOrServiceHidden(name: string): boolean; + + /** + * Expand a given topic name using given node name and namespace. + * + * @param topicName - Topic name to be expanded. + * @param nodeName - Name of the node that this topic is associated with. + * @param nodeNamespace - Namespace that the topic is within. + * @returns Expanded topic name which is fully qualified. + */ + function expandTopicName(topicName: string, nodeName: string, nodeNamespace?: string): string + + + /** + * Create a plain JavaScript message object. + * + * @param type - type identifier, acceptable formats could be 'std_msgs/std/String' + * or {package: 'std_msgs', type: 'msg', name: 'String'} + * @returns A Message object or undefined if type is not recognized. + */ + function createMessageObject(type: TypeClass): Message; + +} diff --git a/types/logging.d.ts b/types/logging.d.ts new file mode 100644 index 00000000..bd9864c3 --- /dev/null +++ b/types/logging.d.ts @@ -0,0 +1,107 @@ + +declare module 'rclnodejs' { + + // added to match rcl export in index.js. + // todo: discuss with rclnodejs team about inconsistent naming; + const logging: Logging; + + /** + * A ROS Logger. + */ + class Logging { + + /** + * Set the logging severity level. + * Filters log messages with severity less than + * level. + * + * @param level - The logging severity level. + */ + setLoggerLevel(level: Logging.LoggingSeverity): void; + + /** + * Get the logging severity level. + * + * @returns The severity level of the logger. + */ + readonly loggerEffectiveLevel: Logging.LoggingSeverity; + + /** + * Log a message with the DEBUG severity. + * + * @param message - message to be logged. + * @returns True if the message has been logged. + */ + debug(message: string): boolean; + + /** + * Log a message with the INFO severity. + * + * @param message - message to be logged. + * @returns True if the message has been logged. + */ + info(message: string): boolean; + + /** + * Log a message with the WARN severity. + * + * @param message - message to be logged. + * @returns True if the message has been logged. + */ + warn(message: string): boolean; + + /** + * Log a message with the ERROR severity. + * + * @param message - message to be logged. + * @returns True if the message has been logged. + */ + error(message: string): boolean; + + /** + * Log a message with the FATAL severity. + * + * @param message - message to be logged. + * @returns True if the message has been logged. + */ + fatal(message: string): boolean; + + /** + * Get the logger's LoggingSeverity level. + * + * @returns The logging severity level. + */ + readonly LoggingSeverity: Logging.LoggingSeverity; + + /** + * Get name of the logger. + * + * @returns Logger name. + */ + readonly name: string; + + /** + * Create a logger by name. + * + * @param name - name of the logger. + * @returns New logger. + */ + static getLogger(name: string): Logging + } + + namespace Logging { + + /** + * LoggingSeverity levels. + */ + enum LoggingSeverity { + UNSET = 0, + DEBUG = 10, + INFO = 20, + WARN = 30, + ERROR = 40, + FATAL = 50 + } + } + +} diff --git a/types/node.d.ts b/types/node.d.ts new file mode 100644 index 00000000..2d055ded --- /dev/null +++ b/types/node.d.ts @@ -0,0 +1,332 @@ +import { QoS } from 'rclnodejs'; + +declare module 'rclnodejs' { + + /** + * Identifies type of ROS message such as msg or srv. + */ + type TypeClass = + (() => any) | + string | // a string representing the message class, e.g. 'std_msgs/msg/String', + { // object representing a message class, e.g. {package: 'std_msgs', type: 'msg', name: 'String'} + package: string; + type: string; + name: string + }; + + + /** + * Configuration options when creating new Publishers, Subscribers, + * Clients and Services. + * + * See {@link DEFAULT_OPTIONS} + */ + type Options = { + enableTypedArray?: boolean; + qos?: QoS | QoS.ProfileRef; + } + + + /** + * A service response to a client request. + * + * @remarks + * You can use {@link response.template | response.template} to get an empty result message. + */ + class ServiceResponse { + + /** + * Get an empty response message object. + * The template will be a message of type: .srv._Response. + * e.g., example_interface/srv/AddTwoInts_Response + */ + readonly template: Message; + + /** + * The service that this response object is attaching to. + */ + readonly service: Service; + + /** + * Send this response to client (the service caller) + * + * @param response - Response message. + * + * @remarks + * see {@link Response.template} + */ + send(response: Message): void; + } + + /** + * A callback for receiving published messages. + * + * @param message - The published message. + * + * @remarks + * See {@link Node#createSubscription | Node.createSubscription} + * See {@link Node#createPublisher | Node.createPublisher} + * See {@link Publisher} + * See {@link Subscription} + */ + type SubscriptionCallback = ( + // * @param message - The published message + (message: Message) => void + ); + + + /** + * Callback for receiving service requests from a client. + * + * @param request - The request sent to the service + * @param response - The response to the client. + * + * @remarks + * Use {@link Response.send | response.send()} to send response object to client + * + * See {@link Node.createService | Node.createService} + * See {@link Client.sendRequest | Client.sendRequest} + * See {@link Client} + * See {@link Service} + * See {@link Response.send | Response.send} + */ + type ServiceRequestCallback = ( + (request: Message, response: ServiceResponse) => void + ); + + + /** + * Callback for receiving periodic interrupts from a Timer. + * + * @remarks + * See {@link Node.createTimer | Node.createTimer} + * See {@link Timer} + */ + type TimerRequestCallback = ( + () => void + ); + + /** + * Standard result of Node.getXXXNamesAndTypes() queries + * + * @example + * ``` + * [ + * { name: '/rosout', types: [ 'rcl_interfaces/msg/Log' ] }, + * { name: '/scan', types: [ 'sensor_msgs/msg/LaserScan' ] }, + * { name: '/topic', types: [ 'std_msgs/msg/String' ] } + * ] + * ``` + */ + type NamesAndTypesQueryResult = { + name: string; + types: Array; + } + + + /** + * Node is the primary entrypoint in a ROS system for communication. + * It can be used to create ROS entities such as publishers, subscribers, + * services, clients and timers. + */ + class Node { + + /** + * Get the name of the node. + * + * @returns The node name. + */ + name(): string; + + /** + * Get the namespace of the node. + * + * @returns The node namespace. + */ + namespace(): string; + + /** + * Create a Timer. + * + * @param period - Elapsed time between interrupt events (milliseconds). + * @param callback - Called on timeout interrupt. + * @param context - Context, default is Context.defaultContext(). + * @returns New instance of Timer. + */ + createTimer(period: number, callback: TimerRequestCallback, context?: Context): Timer; + + /** + * Create a Publisher. + * + * @param typeClass - Type of message that will be published. + * @param topic - Name of the topic the publisher will publish to. + * @param options - Configuration options, see DEFAULT_OPTIONS + * @returns New instance of Publisher. + */ + createPublisher(typeClass: TypeClass, topic: string, options?: Options): Publisher; + + /** + * Create a Subscription. + * + * @param typeClass - Type of ROS messages the subscription will subscribe to + * @param topic - Name of the topic the subcription will subscribe to. + * @param options - Configuration options, see DEFAULT_OPTIONS + * @param callback - Called when a new message is received. + * @returns New instance of Subscription. + */ + createSubscription(typeClass: TypeClass, topic: string, + options: Options, callback: SubscriptionCallback): Subscription; + + /** + * Create a Client for making server requests. + * + * @param typeClass - Service type. + * @param serviceName - Service name. + * @param options - The options argument used to parameterize the client. + * @returns New instance of Client. + */ + createClient(typeClass: TypeClass, serviceName: string, options?: Options): Client; + + /** + * Create a Service. + * + * @param typeClass - Service type + * @param serviceName - Name of the service. + * @param options - Configuration options + * @param callback - Notified for receiving incoming requests. + * @returns An instance of Service. + */ + createService(typeClass: TypeClass, serviceName: string, + options: Options, callback: ServiceRequestCallback): Service; + + + /** + * Destroy all entities allocated by this node, including + * Timers, Publishers, Subscriptions, Clients, Services + * and Timers. + */ + destroy(): void; + + /** + * Destroy a Publisher. + * + * @param publisher - Publisher to be destroyed. + */ + destroyPublisher(publisher: Publisher): void; + + /** + * Destroy a Subscription. + * + * @param subscription - Subscription to be destroyed. + */ + destroySubscription(subscription: Subscription): void; + + /** + * Destroy a Client. + * + * @param client - Client to be destroyed. + */ + destroyClient(client: Client): void; + + /** + * Destroy a Service. + * + * @param service - Service to be destroyed. + */ + destroyService(service: Service): void; + + /** + * Destroy a Timer. + * + * @param timer - Timer to be destroyed. + */ + destroyTimer(timer: Timer): void; + + + /** + * Get a remote node's published topics. + * + * @param remoteNodeName - Name of a remote node. + * @param namespace - Name of the remote namespace. + * @param noDemangle - If true, topic names and types returned will not be demangled, default: false. + * @returns An array of the names and types. + * [ + * { name: '/rosout', types: [ 'rcl_interfaces/msg/Log' ] }, + * { name: '/scan', types: [ 'sensor_msgs/msg/LaserScan' ] } + * ] + */ + getPublisherNamesAndTypesByNode(remoteNodeName: string, namespace?: string, + noDemangle?: boolean): Array; + + /** + * Get a remote node's subscribed topics. + * + * @param nodeName - Name of the remote node. + * @param namespace - Name of the remote namespace. + * @param noDemangle - If true topic, names and types returned will not be demangled, default: false. + * @returns An array of the names and types. + * [ + * { name: '/topic', types: [ 'std_msgs/msg/String' ] } + * ]s + */ + getSubscriptionNamesAndTypesByNode(remoteNodeName: string, namespace?: string, + noDemangle?: boolean): Array; + + /** + * Get a remote node's service topics. + * + * @param remoteNodeName - Name of the remote node. + * @param namespace - Name of the remote namespace. + * @returns An array of the names and types. + * [ + * { name: '/rosout', types: [ 'rcl_interfaces/msg/Log' ] }, + * ... + * ] + */ + getServiceNamesAndTypesByNode(remoteNodeName: string, namespace?: string): Array; + + /** + * Get this node's topics and corresponding types. + * + * @param noDemangle - If true. topic names and types returned will not be demangled, default: false. + * @returns An array of the names and types. + * [ + * { name: '/rosout', types: [ 'rcl_interfaces/msg/Log' ] }, + * { name: '/scan', types: [ 'sensor_msgs/msg/LaserScan' ] }, + * { name: '/topic', types: [ 'std_msgs/msg/String' ] } + * ] + */ + getTopicNamesAndTypes(noDemangle?: boolean): Array; + + /** + * Get this node's service names and corresponding types. + * + * @returns An array of the names and types. + * [ + * { name: '/start_motor', types: [ 'rplidar_ros/srv/Control' ] }, + * { name: '/stop_motor', types: [ 'rplidar_ros/srv/Control' ] } + * ] + */ + getServiceNamesAndTypes(): Array + + } + + + namespace rclnodejs { + + /** + * Default options when creating a Node, Publisher, Subscription, Client or Service + * + * ```ts + * { + * enableTypedArray: true, + * qos: QoS.profileDefault + * } + * + * ``` + */ + export const DEFAULT_OPTIONS: Options; + + } + +} diff --git a/types/publisher.d.ts b/types/publisher.d.ts new file mode 100644 index 00000000..c2486bdf --- /dev/null +++ b/types/publisher.d.ts @@ -0,0 +1,22 @@ + +declare module 'rclnodejs' { + + /** + * A ROS Publisher that publishes messages on a topic. + */ + class Publisher extends Entity { + + /** + * Topic on which messages are published. + */ + readonly topic: string; + + /** + * Publish a message + * + * @param message - The message to be sent. + */ + publish(message: Message): void; + } + +} \ No newline at end of file diff --git a/types/qos.d.ts b/types/qos.d.ts new file mode 100644 index 00000000..57ea1eec --- /dev/null +++ b/types/qos.d.ts @@ -0,0 +1,117 @@ + +declare module 'rclnodejs' { + + /** + * Middleware quality of service + */ + class QoS { + + /** + * Create a QoS. + * + * @param history - The history value default = RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT + * @param depth - The depth value, default = 0. + * @param reliability - The reliability value, default = RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT + * @param durability - The durability value, default = RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT + * @param avoidRosNameSpaceConventions - The avoidRosNameSpaceConventions value, default = false. + */ + constructor(history?: QoS.HistoryPolicy, + depth?: number, + reliability?: QoS.ReliabilityPolicy, + durability?: QoS.DurabilityPolicy, + avoidRosNameSpaceConventions?: boolean); + + /** + * History value. + */ + history: number; + + /** + * The depth value. + */ + depth: number; + + /** + * Get the reliability value. + */ + reliability(): QoS.ReliabilityPolicy; + + /** + * Get the durability value. + */ + durability: QoS.DurabilityPolicy; + + /** + * Get the avoidRosNameSpaceConventions value. + */ + avoidRosNameSpaceConventions: boolean; + } + + + namespace QoS { + + /** + * Default profileref. + */ + export const profileDefault = 'qos_profile_default'; + + /** + * Default system profileref. + */ + export const profileSystemDefault = 'qos_profile_system_default'; + + /** + * Sensor data profileref. + */ + export const profileSensorData = 'qos_profile_sensor_data'; + + /** + * Default services profileref. + */ + export const profileServicesDefault = 'qos_profile_services_default'; + + /** + * Parameters profileref. + */ + export const profileParameters = 'qos_profile_parameters'; + + /** + * The parameter events profileref. + */ + export const profileParameterEvents = 'qos_profile_parameter_events'; + + /** + * A named policy reference. + */ + export type ProfileRef = string; + + /** + * HistoryPolicy + */ + export enum HistoryPolicy { + RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT = 0, + RMW_QOS_POLICY_HISTORY_KEEP_LAST = 1, + RMW_QOS_POLICY_HISTORY_KEEP_ALL = 2 + } + + /** + * ReliabilityPolicy + */ + export enum ReliabilityPolicy { + RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT = 0, + RMW_QOS_POLICY_RELIABILITY_RELIABLE = 1, + RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT = 2 + } + + /** + * DurabilityPolicy + */ + enum DurabilityPolicy { + RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT = 0, + RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL = 1, + RMW_QOS_POLICY_DURABILITY_VOLATILE = 2 + } + } + +} + diff --git a/types/service.d.ts b/types/service.d.ts new file mode 100644 index 00000000..e6858706 --- /dev/null +++ b/types/service.d.ts @@ -0,0 +1,15 @@ + +declare module 'rclnodejs' { + + /** + * A ROS Service server that implements an interface. + */ + class Service extends Entity { + + /** + * Name of the service. + */ + readonly serviceName: string; + } + +} diff --git a/types/subscription.d.ts b/types/subscription.d.ts new file mode 100644 index 00000000..b01a4992 --- /dev/null +++ b/types/subscription.d.ts @@ -0,0 +1,15 @@ + +declare module 'rclnodejs' { + + /** + * A ROS Subscription for published messages on a topic. + */ + class Subscription extends Entity { + + /** + * Topic to listen for messages on. + */ + readonly topic: string; + } + +} diff --git a/types/time.d.ts b/types/time.d.ts new file mode 100644 index 00000000..3b395519 --- /dev/null +++ b/types/time.d.ts @@ -0,0 +1,111 @@ +import { Message } from 'rclnodejs'; + +declare module 'rclnodejs' { + + /** + * Represents a ROS Time + */ + class Time { + + /** + * Create a Time. + * + * @param seconds - The seconds component of the time, default = 0. + * @param nanoseconds - The nanoseconds component of the time, default = 0. + * @param clockType - The clock type, default = Clock.ClockType.SYSTEM_TIME + */ + constructor(seconds?: number | string, nanoseconds?: number | string, clockType?: ClockType); + + /** + * Get the the clock type of the Time object. + */ + readonly clockType: ClockType; + + /** + * Get the nanosecond part of the time. + * If the value is greater than Number.MAX_SAFE_INTEGER (2^53-1) it + * will be returned in a string of decimal format. + */ + readonly nanoseconds: number | string; + + /** + * Get the time as a plain JavaScript object. + */ + readonly secondsAndNanoseconds: {seconds: number, nanoseconds: number}; + + /** + * Add a duration to this time object. + * + * @param other - The Duration object to be added. + * @returns The sum of this and other duration. + */ + add(other: Duration): Time; + + /** + * Subtract a duration or time from this time object. + * + * @param other - The time to be subtracted. + * @returns The difference between this and other time. + */ + sub(other: Duration | Time): Duration | Time; + + /** + * Test if this Time is equal to another Time. + * + * @param other - The Time this is compare to. + * @returns True if this time is equal to other time. + */ + eq(other: Time): boolean; + + /** + * Test if this Time is not equal to another Time. + * + * @param other - The Time this is compare to. + * @returns True if this time is not equal to other time. + */ + ne(other: Time): boolean; + + /** + * Test if this Time is less than another Time. + * + * @param other - The Time this is compare to. + * @returns True if this time is less than other time. + */ + lt(other: Time): boolean; + + /** + * Test if this Time is less than or equal to another Time. + * + * @param other - The Time this is compare to. + * @returns True if this time is less than or equal to other time. + */ + lte(other: Time): boolean; + + /** + * Test if this Time is greater than another Time. + * + * @param other - The Time this is compare to. + * @returns True if this time is greater than other time. + */ + gt(other: Time): boolean; + + /** + * Test if this Time is greater than or equal to another Time. + * + * @param other - The Time this is compare to. + * @returns True if this time is greater than or equal to other time. + */ + gte(other: Time): boolean; + + /** + * Create a Time object from a message of builtin_interfaces/msg/Time + * + * @param msg - The message to be created from. + * @param clockType- The type of the time object. + * @returns The new Time. + */ + static fromMsg(msg: Message, clockType: ClockType): Time; + } + +} + diff --git a/types/time_source.d.ts b/types/time_source.d.ts new file mode 100644 index 00000000..42098b8d --- /dev/null +++ b/types/time_source.d.ts @@ -0,0 +1,42 @@ + +declare module 'rclnodejs' { + + /** + *A ROS TimeSource + */ + class TimeSource { + /** + * Create a TimeSource. + * + * @param node - The node to be attached. + */ + constructor(node: Node); + + /** + * Status of whether the ROS time is active. + * True when the time is active, otherwise return false. + */ + isRosTimeActive: boolean; + + /** + * Attach the clock to a Node object. + * + * @param node - The node to be attached. + */ + attachNode(node: Node): void; + + /** + * Detach the node which the clock have attached. + */ + detachNode(): void; + + /** + * Attach the clock to a TimeSource object. + * + * @param clock - The node to be attached. + */ + attachClock(clock: Clock): void; + } + +} + diff --git a/types/timer.d.ts b/types/timer.d.ts new file mode 100644 index 00000000..0a645fe5 --- /dev/null +++ b/types/timer.d.ts @@ -0,0 +1,54 @@ + +declare module 'rclnodejs' { + + /** + * A ROS Timer that periodically executes a callback. + */ + class Timer { + + /** + * Time between callbacks in milliseconds. + */ + readonly period: number; + + /** + * Check if the timer is ready. + * + * @returns True if timer is ready, otherwise return false. + */ + isReady(): boolean; + + /** + * Check if the timer has been cancelled. + * + * @returns True if timer has been canceled, otherwise return false. + */ + isCanceled(): boolean; + + /** + * Cancel the timer. + */ + cancel(): void; + + /** + * Reset the timer. + */ + reset(): void; + + /** + * Get the interval since the last call of this timer. + * + * @returns The interval value in milliseconds. + */ + timeSinceLastCall(): number; + + /** + * Get the interval until the next call will happen. + * + * @returns The interval value in milliseconds + */ + timeUntilNextCall(): number; + } + +} +