Support non-global init

Fix #437

Author: Minggang Wang

.circleci/config.yml

@@ -22,6 +22,7 @@ jobs:
     - run: brew install python
     - run: brew install python@2
     - run: brew install wget cmake cppcheck tinyxml eigen pcre poco
+    - run: brew install openssl
     - run: brew install asio
     - run: brew install https://raw.githubusercontent.com/Homebrew/homebrew-core/02f04f84902937422d529945bbabdcb6491b147a/Formula/tinyxml2.rb
     - run: python3 -m pip install catkin_pkg empy pyparsing pyyaml setuptools argcomplete colcon-common-extensions
@@ -41,7 +42,7 @@ jobs:
         - ./node_modules
     # Test
     - run: npm install istanbul coveralls
-    - run: source ~/ros2_install/ros2-osx/local_setup.bash && node scripts/compile_tests.js && node ./node_modules/.bin/istanbul cover ./scripts/run_test.js --report lcovonly && cat ./coverage/lcov.info | ./node_modules/coveralls/bin/coveralls.js && rm -rf ./coverage
+    - run: source ~/ros2_install/ros2-osx/local_setup.bash && export OPENSSL_ROOT_DIR="/usr/local/opt/openssl" && node scripts/compile_tests.js && node ./node_modules/.bin/istanbul cover ./scripts/run_test.js --report lcovonly && cat ./coverage/lcov.info | ./node_modules/coveralls/bin/coveralls.js && rm -rf ./coverage
     # Teardown
     - run: find $HOME/Library/Developer/Xcode/DerivedData -name '*.xcactivitylog' -exec cp {} $CIRCLE_ARTIFACTS/xcactivitylog \; || true
     # Save test results

index.js

@@ -30,6 +30,7 @@ const Time = require('./lib/time.js');
 const TimeSource = require('./lib/time_source.js');
 const {Clock, ROSClock} = require('./lib/clock.js');
 const Duration = require('./lib/duration.js');
+const Context = require('./lib/context.js');
 
 function inherits(target, source) {
   let properties = Object.getOwnPropertyNames(source.prototype);
@@ -102,14 +103,15 @@ let rcl = {
    * Create a node.
    * @param {string} nodeName - The name used to register in ROS.
    * @param {string} namespace - The namespace used in ROS, default is an empty string.
+   * @param {Context} context - The context, default is Context.defaultContext().
    * @return {Node} The instance of Node.
    */
-  createNode(nodeName, namespace = '') {
+  createNode(nodeName, namespace = '', context = Context.defaultContext()) {
     if (typeof (nodeName) !== 'string' || typeof (namespace) !== 'string') {
       throw new TypeError('Invalid argument.');
     }
 
-    let handle = rclnodejs.createNode(nodeName, namespace);
+    let handle = rclnodejs.createNode(nodeName, namespace, context.handle());
     let node =  new rclnodejs.ShadowNode();
 
     node.init(nodeName, namespace);
@@ -121,10 +123,10 @@ let rcl = {
 
   /**
   * Init the module.
-  * @param {array} args - The command line arguments to pass to rcl.
+  * @param {Context} context - The context, default is Context.defaultContext().
   * @return {Promise<undefined>} A Promise.
   */
-  init(...args) {
+  init(context = Context.defaultContext()) {
     return new Promise((resolve, reject) => {
       let that = this;
       if (!this._initialized) {
@@ -137,8 +139,8 @@ let rcl = {
           }
 
           generator.generateAll(forced).then(() => {
-            rclnodejs.init(args);
-            debug('Finish initializing rcl with args = %o.', args);
+            this._context = context;
+            rclnodejs.init(context.handle());
             ActionLib.config({
               log: that.logging.getLogger('actionlibjs'),
               time: require('./lib/actions/time_utils.js'),
@@ -157,6 +159,7 @@ let rcl = {
             });
 
             this._initialized = true;
+            // this._context = undefined;
             resolve();
           }).catch(e => {
             reject(e);
@@ -186,10 +189,10 @@ let rcl = {
   },
 
   /**
-   * Terminate the node, this will destory all the allocated resources and quit.
+   * @param {Context} context - The context to be shutdown.
    * @return {undefined}
    */
-  shutdown() {
+  shutdown(context) {
     if (!this._initialized) {
       throw new Error('The module rclnodejs has been shut.');
     }
@@ -198,8 +201,11 @@ let rcl = {
       node.stopSpinning();
       node.destroy();
     });
-
-    rclnodejs.shutdown();
+    if (!context) {
+      Context.shutdownDefaultContext();
+    } else {
+      context.shutdown();
+    }
     this._nodes = [];
     this._initialized = false;
   },

lib/context.js

@@ -0,0 +1,53 @@
+// Copyright (c) 2019 Intel Corporation. All rights reserved.
+//
+// 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 rclnodejs = require('bindings')('rclnodejs');
+
+let defaultContext = undefined;
+
+class Context {
+  constructor() {
+    this._handle = rclnodejs.createContext();
+  }
+
+  shutdown() {
+    rclnodejs.shutdown(this._handle);
+  }
+
+  tryShutdown() {
+    if (rclnodejs.ok(this._handle)) {
+      rclnodejs.shutdown(this._handle);
+    }
+  }
+
+  handle() {
+    return this._handle;
+  }
+
+  static defaultContext() {
+    if (!defaultContext) {
+      defaultContext = new Context();
+    }
+    return defaultContext;
+  }
+
+  static shutdownDefaultContext() {
+    defaultContext.shutdown();
+    defaultContext = undefined;
+  }
+}
+
+module.exports = Context;

lib/node.js

@@ -23,7 +23,7 @@ const Service = require('./service.js');
 const QoS = require('./qos.js');
 const debug = require('debug')('rclnodejs:node');
 const loader = require('./interface_loader.js');
-
+const Context = require('./context.js');
 /**
  * @class - Class representing a Node in ROS
  * @hideconstructor
@@ -136,9 +136,10 @@ class Node {
    * Create a Timer.
    * @param {number} period - The number representing period in millisecond.
    * @param {function} callback - The callback to be called when timeout.
+   * @param {Context} context - The context, default is Context.defaultContext().
    * @return {Timer} - An instance of Timer.
    */
-  createTimer(period, callback) {
+  createTimer(period, callback, context = Context.defaultContext()) {
     if (typeof (period) !== 'number' || typeof (callback) !== 'function') {
       throw new TypeError('Invalid argument');
     }
@@ -151,7 +152,7 @@ class Node {
       throw new RangeError('Parameter must be between ' + 0 + ' and ' + MAX_TIMER_PERIOD_IN_MILLISECOND);
     }
 
-    let timerHandle = rclnodejs.createTimer(period);
+    let timerHandle = rclnodejs.createTimer(period, context.handle());
     let timer = new Timer(timerHandle, period, callback);
     debug('Finish creating timer, period = %d.', period);
     this._timers.push(timer);

src/rcl_bindings.cpp

@@ -40,14 +40,24 @@ namespace rclnodejs {
 std::unique_ptr<rmw_qos_profile_t> GetQoSProfile(v8::Local<v8::Value> qos);
 
 NAN_METHOD(Init) {
+  rcl_allocator_t allocator = rcl_get_default_allocator();
+  rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+  rcl_ret_t ret = rcl_init_options_init(&init_options, allocator);
+
+  RclHandle* context_handle = RclHandle::Unwrap<RclHandle>(info[0]->ToObject());
+  rcl_context_t* context =
+      reinterpret_cast<rcl_context_t*>(context_handle->ptr());
   THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK,
-                           rcl_init(0, nullptr, rcl_get_default_allocator()),
+                           rcl_init(0, nullptr, &init_options, context),
                            rcl_get_error_string().str);
 }
 
 NAN_METHOD(CreateNode) {
   std::string node_name(*v8::String::Utf8Value(info[0]));
   std::string name_space(*v8::String::Utf8Value(info[1]));
+  RclHandle* context_handle = RclHandle::Unwrap<RclHandle>(info[2]->ToObject());
+  rcl_context_t* context =
+      reinterpret_cast<rcl_context_t*>(context_handle->ptr());
 
   rcl_node_t* node = reinterpret_cast<rcl_node_t*>(malloc(sizeof(rcl_node_t)));
 
@@ -56,7 +66,8 @@ NAN_METHOD(CreateNode) {
 
   THROW_ERROR_IF_NOT_EQUAL(
       RCL_RET_OK,
-      rcl_node_init(node, node_name.c_str(), name_space.c_str(), &options),
+      rcl_node_init(node, node_name.c_str(), name_space.c_str(), context,
+          &options),
       rcl_get_error_string().str);
 
   auto handle = RclHandle::NewInstance(node, nullptr,
@@ -66,6 +77,9 @@ NAN_METHOD(CreateNode) {
 
 NAN_METHOD(CreateTimer) {
   int64_t period_ms = info[0]->IntegerValue();
+  RclHandle* context_handle = RclHandle::Unwrap<RclHandle>(info[1]->ToObject());
+  rcl_context_t* context =
+      reinterpret_cast<rcl_context_t*>(context_handle->ptr());
   rcl_timer_t* timer =
       reinterpret_cast<rcl_timer_t*>(malloc(sizeof(rcl_timer_t)));
   *timer = rcl_get_zero_initialized_timer();
@@ -78,8 +92,9 @@ NAN_METHOD(CreateTimer) {
                                           &allocator),
                            rcl_get_error_string().str);
   THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK,
-                           rcl_timer_init(timer, clock, RCL_MS_TO_NS(period_ms),
-                                          nullptr, rcl_get_default_allocator()),
+                           rcl_timer_init(timer, clock, context,
+                              RCL_MS_TO_NS(period_ms), nullptr,
+                                  rcl_get_default_allocator()),
                            rcl_get_error_string().str);
 
   auto js_obj = RclHandle::NewInstance(
@@ -893,8 +908,24 @@ std::unique_ptr<rmw_qos_profile_t> GetQoSProfile(v8::Local<v8::Value> qos) {
   return qos_profile;
 }
 
+int DestroyContext(rcl_context_t* context) {
+  rcl_ret_t ret = RCL_RET_OK;
+  if (context->impl) {
+    if (rcl_context_is_valid(context)) {
+      if (RCL_RET_OK != rcl_shutdown(context)) {
+        Nan::ThrowError(rcl_get_error_string().str);
+      }
+      ret = rcl_context_fini(context);
+    }
+  }
+  return ret;
+}
+
 NAN_METHOD(Shutdown) {
-  THROW_ERROR_IF_NOT_EQUAL(rcl_shutdown(), RCL_RET_OK,
+  RclHandle* context_handle = RclHandle::Unwrap<RclHandle>(info[0]->ToObject());
+  rcl_context_t* context =
+      reinterpret_cast<rcl_context_t*>(context_handle->ptr());
+  THROW_ERROR_IF_NOT_EQUAL(rcl_shutdown(context), RCL_RET_OK,
                            rcl_get_error_string().str);
   info.GetReturnValue().Set(Nan::Undefined());
 }
@@ -1002,6 +1033,24 @@ NAN_METHOD(IsEnableFor) {
   info.GetReturnValue().Set(Nan::New(enabled));
 }
 
+NAN_METHOD(CreateContext) {
+  rcl_context_t* context =
+      reinterpret_cast<rcl_context_t*>(malloc(sizeof(rcl_context_t)));
+  *context = rcl_get_zero_initialized_context();
+  auto js_obj = RclHandle::NewInstance(context, nullptr,
+      std::bind(DestroyContext, context));
+
+  info.GetReturnValue().Set(js_obj);
+}
+
+NAN_METHOD(IsContextValid) {
+  RclHandle* context_handle = RclHandle::Unwrap<RclHandle>(info[0]->ToObject());
+  rcl_context_t* context =
+      reinterpret_cast<rcl_context_t*>(context_handle->ptr());
+  bool is_valid = rcl_context_is_valid(context);
+  info.GetReturnValue().Set(Nan::New(is_valid));
+}
+
 uint32_t GetBindingMethodsCount(BindingMethod* methods) {
   uint32_t count = 0;
   while (methods[count].function) {
@@ -1058,6 +1107,8 @@ BindingMethod binding_methods[] = {
     {"getLoggerEffectiveLevel", GetLoggerEffectiveLevel},
     {"log", Log},
     {"isEnableFor", IsEnableFor},
+    {"createContext", CreateContext},
+    {"ok", IsContextValid},
     {"", nullptr}};
 
 }  // namespace rclnodejs

test/test-init-shutdown.js

@@ -94,6 +94,6 @@ describe('Node destroy testing', function() {
   it('rclnodejs create node without init', function() {
     assert.throws(function() {
       rclnodejs.createNode('my_node');
-    }, /has not been called/, 'Failed to createNode');
+    });
   });
 });