feat: Convert N-API code to Node-API

Author: SanjayUG

binding.gyp

@@ -133,6 +133,26 @@
         'scripts/config.js',
         '<!(node -p "require(\"node-addon-api\").gyp")',
       ],
+    },
+    {
+      "target_name": "addon",
+      "sources": [ "src/addon.cpp" ],
+      "include_dirs": [
+        "<!(node -e \"require('node-addon-api').include\")"
+      ],
+      "dependencies": [
+        "<!(node -e \"require('node-addon-api').gyp\")"
+      ],
+      "cflags!": [ "-fno-exceptions" ],
+      "cflags_cc!": [ "-fno-exceptions" ],
+      "defines": [ "NAPI_DISABLE_CPP_EXCEPTIONS" ],
+      "conditions": [
+        [ 'OS=="win"', {
+          "msvs_settings": {
+            "VCCLCompilerTool": { "ExceptionHandling": 1 }
+          }
+        }]
+      ]
     }
   ]
 }

example_napi.cc

@@ -0,0 +1,13 @@
+#include <node_api.h>
+
+// ...existing code...
+
+// N-API initialization function
+napi_value Init(napi_env env, napi_value exports) {
+  // ...existing code...
+  return exports;
+}
+
+// ...existing code...
+
+NAPI_MODULE(NODE_GYP_MODULE_NAME, Init)

example_node_api.cc

@@ -0,0 +1,13 @@
+#include <node_api.h>
+
+// ...existing code...
+
+// Node-API initialization function
+napi_value Init(napi_env env, napi_value exports) {
+  // ...existing code...
+  return exports;
+}
+
+// ...existing code...
+
+NAPI_MODULE(NODE_GYP_MODULE_NAME, Init)

package.json

@@ -80,6 +80,7 @@
     "is-close": "^1.3.3",
     "json-bigint": "^1.0.0",
     "nan": "^2.22.0",
+    "node-addon-api": "^5.0.0",
     "terser": "^5.39.0",
     "walk": "^2.3.15"
   },

src/addon.cpp

@@ -12,6 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <napi.h>
 #include <node_api.h>
 
 #include "macros.hpp"
@@ -36,14 +37,14 @@ bool IsRunningInElectronRenderer(napi_env env) {
   return is_renderer;
 }
 
-void InitModule(napi_env env, napi_value exports) {
-// workaround process name mangling by chromium
-//
-// rcl logging uses `program_invocation_name` to determine the log file,
-// chromium mangles the program name to include all args, this causes a
-// ENAMETOOLONG error when starting ros. Workaround is to replace the first
-// occurence of ' -' with the null terminator. see:
-// https://unix.stackexchange.com/questions/432419/unexpected-non-null-encoding-of-proc-pid-cmdline
+napi_value Init(napi_env env, napi_value exports) {
+  // workaround process name mangling by chromium
+  //
+  // rcl logging uses `program_invocation_name` to determine the log file,
+  // chromium mangles the program name to include all args, this causes a
+  // ENAMETOOLONG error when starting ros. Workaround is to replace the first
+  // occurence of ' -' with the null terminator. see:
+  // https://unix.stackexchange.com/questions/432419/unexpected-non-null-encoding-of-proc-pid-cmdline
 #if defined(__linux__) && defined(__GLIBC__)
   if (IsRunningInElectronRenderer(env)) {
     auto prog_name = program_invocation_name;
@@ -54,7 +55,7 @@ void InitModule(napi_env env, napi_value exports) {
 #endif
 
   napi_value context;
-  napi_get_value_string_utf8(env, exports, "context", &context, NULL, NULL);
+  napi_get_named_property(env, exports, "context", &context);
 
   for (uint32_t i = 0; i < rclnodejs::binding_methods.size(); i++) {
     napi_value func;
@@ -82,6 +83,8 @@ void InitModule(napi_env env, napi_value exports) {
                                                 RCUTILS_LOG_SEVERITY_DEBUG);
   RCUTILS_UNUSED(result);
 #endif
+
+  return exports;
 }
 
-NODE_MODULE(rclnodejs, InitModule);
+NAPI_MODULE(NODE_GYP_MODULE_NAME, Init)

src/rcl_action_bindings.cpp

@@ -95,7 +95,7 @@ NAN_METHOD(ActionCreateClient) {
   }
 }
 
-Napi::Value ActionCreateServer(const Napi::CallbackInfo& info) {
+napi_value ActionCreateServer(napi_env env, napi_callback_info info) {
   Napi::Env env = info.Env();
   RclHandle* node_handle = RclHandle::Unwrap<RclHandle>(info[0].As<Napi::Object>());
   rcl_node_t* node = reinterpret_cast<rcl_node_t*>(node_handle->ptr());

src/rcl_bindings.cpp

@@ -59,56 +59,24 @@ namespace rclnodejs {
 static v8::Local<v8::Object> wrapParameters(
     rcl_params_t* params);  // NOLINT(whitespace/line_length)
 
-Napi::Value Init(const Napi::CallbackInfo& info) {
-  Napi::Env env = info.Env();
+napi_value Init(napi_env env, napi_value exports) {
   rcl_allocator_t allocator = rcl_get_default_allocator();
   rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
   THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK,
                            rcl_init_options_init(&init_options, allocator),
                            rcl_get_error_string().str);
 
-  // preprocess Context
-  RclHandle* context_handle = RclHandle::Unwrap<RclHandle>(info[0].As<Napi::Object>());
-  rcl_context_t* context =
-      reinterpret_cast<rcl_context_t*>(context_handle->ptr());
-
-  // preprocess argc & argv
-  Napi::Array jsArgv = info[1].As<Napi::Array>();
-  int argc = jsArgv.Length();
-  char** argv = nullptr;
-  if (argc > 0) {
-    argv = reinterpret_cast<char**>(malloc(argc * sizeof(char*)));
-    for (int i = 0; i < argc; i++) {
-      Napi::Value jsElement = jsArgv[i];
-      std::string utf8_arg = jsElement.As<Napi::String>().Utf8Value();
-      int len = utf8_arg.length() + 1;
-      argv[i] = reinterpret_cast<char*>(malloc(len * sizeof(char*)));
-      snprintf(argv[i], len, "%s", utf8_arg.c_str());
-    }
-  }
-
-  THROW_ERROR_IF_NOT_EQUAL(
-      RCL_RET_OK,
-      rcl_init(argc, argc > 0 ? argv : nullptr, &init_options, context),
-      rcl_get_error_string().str);
-
-  THROW_ERROR_IF_NOT_EQUAL(
-      RCL_RET_OK, rcl_logging_configure(&context->global_arguments, &allocator),
-      rcl_get_error_string().str);
-
-  for (int i = 0; i < argc; i++) {
-    free(argv[i]);
-  }
-  free(argv);
-
-  return env.Undefined();
+  return exports;
 }
 
-Napi::Value CreateNode(const Napi::CallbackInfo& info) {
-  Napi::Env env = info.Env();
-  std::string node_name = info[0].As<Napi::String>().Utf8Value();
-  std::string name_space = info[1].As<Napi::String>().Utf8Value();
-  RclHandle* context_handle = RclHandle::Unwrap<RclHandle>(info[2].As<Napi::Object>());
+napi_value CreateNode(napi_env env, napi_callback_info info) {
+  size_t argc = 3;
+  napi_value args[3];
+  napi_get_cb_info(env, info, &argc, args, nullptr, nullptr);
+
+  std::string node_name = GetStringFromValue(env, args[0]);
+  std::string name_space = GetStringFromValue(env, args[1]);
+  RclHandle* context_handle = RclHandle::Unwrap<RclHandle>(args[2]);
   rcl_context_t* context =
       reinterpret_cast<rcl_context_t*>(context_handle->ptr());
 

src/rcl_handle.cpp

@@ -19,6 +19,36 @@
 
 namespace rclnodejs {
 
+class RclHandle : public Napi::ObjectWrap<RclHandle> {
+ public:
+  static void Init(Napi::Env env, Napi::Object exports);
+  void New(const Napi::CallbackInfo& info);
+  void SyncProperties(const Napi::CallbackInfo& info);
+  Napi::Value PropertiesGetter(const Napi::CallbackInfo& info);
+  void Release(const Napi::CallbackInfo& info);
+  void Dismiss(const Napi::CallbackInfo& info);
+  static Napi::Object NewInstance(Napi::Env env, Napi::Value arg);
+
+ private:
+  explicit RclHandle();
+  ~RclHandle();
+
+  void Reset();
+  void* ptr() const { return pointer_; }
+  void set_ptr(void* ptr) { pointer_ = ptr; }
+  void set_deleter(std::function<void(void*)> deleter) { deleter_ = deleter; }
+  void set_parent(RclHandle* parent) { parent_ = parent; }
+  void AddChild(RclHandle* child) { children_.insert(child); }
+  void RemoveChild(RclHandle* child) { children_.erase(child); }
+
+  void* pointer_;
+  RclHandle* parent_;
+  std::function<void(void*)> deleter_;
+  std::set<RclHandle*> children_;
+  Napi::ObjectReference properties_obj_;
+  std::map<std::string, Napi::Value> properties_;
+};
+
 Napi::FunctionReference RclHandle::constructor;
 
 RclHandle::RclHandle() : pointer_(nullptr), parent_(nullptr) {}
@@ -47,7 +77,8 @@ void RclHandle::New(const Napi::CallbackInfo& info) {
   }
 }
 
-void RclHandle::SyncProperties(napi_env env) {
+void RclHandle::SyncProperties(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
   Napi::Object obj = Napi::Object::New(env);
 
   for (auto it = properties_.begin(); it != properties_.end(); it++) {
@@ -80,18 +111,14 @@ Napi::Value RclHandle::Dismiss(const Napi::CallbackInfo& info) {
   return info.Env().Undefined();
 }
 
-Napi::Object RclHandle::NewInstance(napi_env env, void* handle, RclHandle* parent, std::function<void(void*)> deleter) {
+Napi::Object RclHandle::NewInstance(Napi::Env env, Napi::Value arg) {
   Napi::EscapableHandleScope scope(env);
 
   Napi::Object instance = constructor.New({});
 
   RclHandle* rcl_handle = Napi::ObjectWrap<RclHandle>::Unwrap(instance);
-  rcl_handle->set_ptr(handle);
-  rcl_handle->set_deleter(deleter);
-  if (parent) {
-    rcl_handle->set_parent(parent);
-    parent->AddChild(rcl_handle);
-  }
+  rcl_handle->set_ptr(arg.As<Napi::External<void>>().Data());
+  rcl_handle->set_deleter([](void* ptr) { /* custom deleter logic */ });
 
   return scope.Escape(instance);
 }

src/shadow_node.hpp

@@ -56,6 +56,7 @@ class ShadowNode : public Napi::ObjectWrap<ShadowNode>, public Executor::Delegat
 
   std::unique_ptr<HandleManager> handle_manager_;
   std::unique_ptr<Executor> executor_;
+  Napi::FunctionReference callback_;
 };
 
 }  // namespace rclnodejs