Cleanup

Author: minggangw

lib/action/server.js

@@ -130,6 +130,7 @@ class ActionServer extends Entity {
       this.qos.statusSubQosProfile,
       this.options.resultTimeout
     );
+
     node._addActionServer(this);
   }
 

lib/logging.js

@@ -47,17 +47,17 @@ class Caller {
 
     const stackLines = new Error().stack.split('\n');
 
-    // Adjust the index (usually 3 or 4) to correctly point to the caller frame
+    // Adjust the index (usually 3 or 4) to correctly point to the caller frame.
     const callerFrame = stackLines[4] || stackLines[3];
-    // Match both named and anonymous function stack frames
+    // Match both named and anonymous function stack frames.
     const frameRegex = /^\s*at\s+(?:(.+)\s+\()?(.+):(\d+):(\d+)\)?$/;
     const match = callerFrame.match(frameRegex);
     if (match && match.length === 5) {
       this._info.functionName = match[1] || '(anonymous)';
       this._info.fileName = path.basename(match[2]);
       this._info.lineNumber = match[3];
     } else {
-      // Handle anonymous functions or different stack formats
+      // Handle anonymous functions or different stack formats.
       const altMatch = callerFrame.match(/at\s+(.*):(\d+):(\d+)/i);
       if (altMatch && altMatch.length >= 4) {
         this._info.functionName = '(anonymous)';

package.json

@@ -81,7 +81,7 @@
     "json-bigint": "^1.0.0",
     "terser": "^5.39.0",
     "walk": "^2.3.15",
-    "node-addon-api": "^5.0.0"
+    "node-addon-api": "^8.3.1"
   },
   "husky": {
     "hooks": {

src/addon.cpp

@@ -12,7 +12,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <napi.h>
 #include <node_api.h>
 
 #include "macros.hpp"
@@ -31,10 +30,6 @@ bool IsRunningInElectronRenderer(const Napi::Env& env) {
   return processType.StrictEquals(Napi::String::New(env, "renderer"));
 }
 
-void Cleanup(Napi::Env env, void* data) {
-  rclnodejs::RclHandle::CleanupThreadSafeFunction();
-}
-
 Napi::Object InitModule(Napi::Env env, Napi::Object exports) {
 // workaround process name mangling by chromium
 //
@@ -52,36 +47,18 @@ Napi::Object InitModule(Napi::Env env, Napi::Object exports) {
   }
 #endif
   rclnodejs::StoreEnv(env);
-  // for (uint32_t i = 0; i < rclnodejs::binding_methods.size(); i++) {
-  //   exports.Set(rclnodejs::binding_methods[i].name,
-  //               Napi::Function::New(env,
-  //               rclnodejs::binding_methods[i].function));
-  // }
   rclnodejs::InitBindings(env, exports);
-  // for (uint32_t i = 0; i < rclnodejs::action_binding_methods.size(); i++) {
-  //   exports.Set(rclnodejs::action_binding_methods[i].name,
-  //               Napi::Function::New(env,
-  //               rclnodejs::action_binding_methods[i].function));
-  // }
   rclnodejs::InitAction(env, exports);
-
-  for (uint32_t i = 0; i < rclnodejs::lifecycle_binding_methods.size(); i++) {
-    exports.Set(rclnodejs::lifecycle_binding_methods[i].name,
-                Napi::Function::New(
-                    env, rclnodejs::lifecycle_binding_methods[i].function));
-  }
-
+  rclnodejs::InitLifecycle(env, exports);
   rclnodejs::ShadowNode::Init(env, exports);
   rclnodejs::RclHandle::Init(env, exports);
-  // Initialize thread-safe function
-  // rclnodejs::RclHandle::InitThreadSafeFunction(env);
+
 #ifdef DEBUG_ON
   int result = rcutils_logging_set_logger_level(PACKAGE_NAME,
                                                 RCUTILS_LOG_SEVERITY_DEBUG);
   RCUTILS_UNUSED(result);
 #endif
-  // Register cleanup handler
-  // env.SetInstanceData<void>(nullptr, Cleanup);
+
   return exports;
 }
 

src/handle_manager.cpp

@@ -300,24 +300,15 @@ rcl_ret_t HandleManager::CollectReadyActionHandles(
     if (ret != RCL_RET_OK) {
       return ret;
     }
-    if (is_feedback_ready) {
-      action_client->SetBoolProperty("isFeedbackReady", is_feedback_ready);
-    }
-    if (is_status_ready) {
-      action_client->SetBoolProperty("isStatusReady", is_status_ready);
-    }
-    if (is_goal_response_ready) {
-      action_client->SetBoolProperty("isGoalResponseReady",
-                                     is_goal_response_ready);
-    }
-    if (is_cancel_response_ready) {
-      action_client->SetBoolProperty("isCancelResponseReady",
-                                     is_cancel_response_ready);
-    }
-    if (is_result_response_ready) {
-      action_client->SetBoolProperty("isResultResponseReady",
-                                     is_result_response_ready);
-    }
+
+    action_client->SetBoolProperty("isFeedbackReady", is_feedback_ready);
+    action_client->SetBoolProperty("isStatusReady", is_status_ready);
+    action_client->SetBoolProperty("isGoalResponseReady",
+                                   is_goal_response_ready);
+    action_client->SetBoolProperty("isCancelResponseReady",
+                                   is_cancel_response_ready);
+    action_client->SetBoolProperty("isResultResponseReady",
+                                   is_result_response_ready);
 
     if (is_feedback_ready || is_status_ready || is_goal_response_ready ||
         is_cancel_response_ready || is_result_response_ready) {
@@ -339,21 +330,13 @@ rcl_ret_t HandleManager::CollectReadyActionHandles(
     if (ret != RCL_RET_OK) {
       return ret;
     }
-    if (is_goal_request_ready) {
-      action_server->SetBoolProperty("isGoalRequestReady",
-                                     is_goal_request_ready);
-    }
-    if (is_cancel_request_ready) {
-      action_server->SetBoolProperty("isCancelRequestReady",
-                                     is_cancel_request_ready);
-    }
-    if (is_result_request_ready) {
-      action_server->SetBoolProperty("isResultRequestReady",
-                                     is_result_request_ready);
-    }
-    if (is_goal_expired) {
-      action_server->SetBoolProperty("isGoalExpired", is_goal_expired);
-    }
+
+    action_server->SetBoolProperty("isGoalRequestReady", is_goal_request_ready);
+    action_server->SetBoolProperty("isCancelRequestReady",
+                                   is_cancel_request_ready);
+    action_server->SetBoolProperty("isResultRequestReady",
+                                   is_result_request_ready);
+    action_server->SetBoolProperty("isGoalExpired", is_goal_expired);
 
     if (is_goal_request_ready || is_cancel_request_ready ||
         is_result_request_ready || is_goal_expired) {

src/rcl_action_bindings.cpp

@@ -190,7 +190,7 @@ Napi::Value ActionSendGoalRequest(const Napi::CallbackInfo& info) {
       RclHandle::Unwrap(info[0].As<Napi::Object>());
   rcl_action_client_t* action_client =
       reinterpret_cast<rcl_action_client_t*>(action_client_handle->ptr());
-  void* buffer = info[1].As<Napi::Buffer<void>>().Data();
+  void* buffer = info[1].As<Napi::Buffer<char>>().Data();
 
   int64_t sequence_number;
   THROW_ERROR_IF_NOT_EQUAL(
@@ -210,7 +210,7 @@ Napi::Value ActionTakeGoalRequest(const Napi::CallbackInfo& info) {
   rmw_request_id_t* header =
       reinterpret_cast<rmw_request_id_t*>(malloc(sizeof(rmw_request_id_t)));
 
-  void* taken_request = info[1].As<Napi::Buffer<void>>().Data();
+  void* taken_request = info[1].As<Napi::Buffer<char>>().Data();
   rcl_ret_t ret =
       rcl_action_take_goal_request(action_server, header, taken_request);
   if (ret != RCL_RET_ACTION_SERVER_TAKE_FAILED) {
@@ -231,7 +231,7 @@ Napi::Value ActionSendGoalResponse(const Napi::CallbackInfo& info) {
       reinterpret_cast<rcl_action_server_t*>(action_server_handle->ptr());
   rmw_request_id_t* header = reinterpret_cast<rmw_request_id_t*>(
       RclHandle::Unwrap(info[1].As<Napi::Object>())->ptr());
-  void* buffer = info[2].As<Napi::Buffer<void>>().Data();
+  void* buffer = info[2].As<Napi::Buffer<char>>().Data();
 
   THROW_ERROR_IF_NOT_EQUAL(
       rcl_action_send_goal_response(action_server, header, buffer), RCL_RET_OK,
@@ -247,7 +247,7 @@ Napi::Value ActionTakeGoalResponse(const Napi::CallbackInfo& info) {
       RclHandle::Unwrap(info[0].As<Napi::Object>());
   rcl_action_client_t* action_client =
       reinterpret_cast<rcl_action_client_t*>(action_client_handle->ptr());
-  void* buffer = info[1].As<Napi::Buffer<void>>().Data();
+  void* buffer = info[1].As<Napi::Buffer<char>>().Data();
   rmw_request_id_t* header =
       reinterpret_cast<rmw_request_id_t*>(malloc(sizeof(rmw_request_id_t)));
 
@@ -275,7 +275,7 @@ Napi::Value ActionSendCancelRequest(const Napi::CallbackInfo& info) {
       RclHandle::Unwrap(info[0].As<Napi::Object>());
   rcl_action_client_t* action_client =
       reinterpret_cast<rcl_action_client_t*>(action_client_handle->ptr());
-  void* buffer = info[1].As<Napi::Buffer<void>>().Data();
+  void* buffer = info[1].As<Napi::Buffer<char>>().Data();
 
   int64_t sequence_number;
   THROW_ERROR_IF_NOT_EQUAL(
@@ -295,7 +295,7 @@ Napi::Value ActionTakeCancelRequest(const Napi::CallbackInfo& info) {
   rmw_request_id_t* header =
       reinterpret_cast<rmw_request_id_t*>(malloc(sizeof(rmw_request_id_t)));
 
-  void* taken_request = info[1].As<Napi::Buffer<void>>().Data();
+  void* taken_request = info[1].As<Napi::Buffer<char>>().Data();
   rcl_ret_t ret =
       rcl_action_take_cancel_request(action_server, header, taken_request);
   if (ret != RCL_RET_ACTION_SERVER_TAKE_FAILED) {
@@ -316,7 +316,7 @@ Napi::Value ActionSendCancelResponse(const Napi::CallbackInfo& info) {
       reinterpret_cast<rcl_action_server_t*>(action_server_handle->ptr());
   rmw_request_id_t* header = reinterpret_cast<rmw_request_id_t*>(
       RclHandle::Unwrap(info[1].As<Napi::Object>())->ptr());
-  void* buffer = info[2].As<Napi::Buffer<void>>().Data();
+  void* buffer = info[2].As<Napi::Buffer<char>>().Data();
 
   THROW_ERROR_IF_NOT_EQUAL(
       rcl_action_send_cancel_response(action_server, header, buffer),
@@ -332,7 +332,7 @@ Napi::Value ActionTakeCancelResponse(const Napi::CallbackInfo& info) {
       RclHandle::Unwrap(info[0].As<Napi::Object>());
   rcl_action_client_t* action_client =
       reinterpret_cast<rcl_action_client_t*>(action_client_handle->ptr());
-  void* buffer = info[1].As<Napi::Buffer<void>>().Data();
+  void* buffer = info[1].As<Napi::Buffer<char>>().Data();
   rmw_request_id_t* header =
       reinterpret_cast<rmw_request_id_t*>(malloc(sizeof(rmw_request_id_t)));
 
@@ -361,7 +361,7 @@ Napi::Value ActionSendResultRequest(const Napi::CallbackInfo& info) {
       RclHandle::Unwrap(info[0].As<Napi::Object>());
   rcl_action_client_t* action_client =
       reinterpret_cast<rcl_action_client_t*>(action_client_handle->ptr());
-  void* buffer = info[1].As<Napi::Buffer<void>>().Data();
+  void* buffer = info[1].As<Napi::Buffer<char>>().Data();
 
   int64_t sequence_number;
   THROW_ERROR_IF_NOT_EQUAL(
@@ -382,7 +382,7 @@ Napi::Value ActionTakeResultRequest(const Napi::CallbackInfo& info) {
   rmw_request_id_t* header =
       reinterpret_cast<rmw_request_id_t*>(malloc(sizeof(rmw_request_id_t)));
 
-  void* taken_request = info[1].As<Napi::Buffer<void>>().Data();
+  void* taken_request = info[1].As<Napi::Buffer<char>>().Data();
   rcl_ret_t ret =
       rcl_action_take_result_request(action_server, header, taken_request);
   if (ret != RCL_RET_ACTION_SERVER_TAKE_FAILED) {
@@ -403,7 +403,7 @@ Napi::Value ActionSendResultResponse(const Napi::CallbackInfo& info) {
       reinterpret_cast<rcl_action_server_t*>(action_server_handle->ptr());
   rmw_request_id_t* header = reinterpret_cast<rmw_request_id_t*>(
       RclHandle::Unwrap(info[1].As<Napi::Object>())->ptr());
-  void* buffer = info[2].As<Napi::Buffer<void>>().Data();
+  void* buffer = info[2].As<Napi::Buffer<char>>().Data();
 
   THROW_ERROR_IF_NOT_EQUAL(
       rcl_action_send_result_response(action_server, header, buffer),
@@ -419,7 +419,7 @@ Napi::Value ActionTakeResultResponse(const Napi::CallbackInfo& info) {
       RclHandle::Unwrap(info[0].As<Napi::Object>());
   rcl_action_client_t* action_client =
       reinterpret_cast<rcl_action_client_t*>(action_client_handle->ptr());
-  void* buffer = info[1].As<Napi::Buffer<void>>().Data();
+  void* buffer = info[1].As<Napi::Buffer<char>>().Data();
   rmw_request_id_t* header =
       reinterpret_cast<rmw_request_id_t*>(malloc(sizeof(rmw_request_id_t)));
 
@@ -449,7 +449,7 @@ Napi::Value ActionAcceptNewGoal(const Napi::CallbackInfo& info) {
   rcl_action_server_t* action_server =
       reinterpret_cast<rcl_action_server_t*>(action_server_handle->ptr());
   rcl_action_goal_info_t* buffer = reinterpret_cast<rcl_action_goal_info_t*>(
-      info[1].As<Napi::Buffer<void>>().Data());
+      info[1].As<Napi::Buffer<char>>().Data());
 
   rcl_action_goal_handle_t* goal_handle =
       reinterpret_cast<rcl_action_goal_handle_t*>(
@@ -519,7 +519,7 @@ Napi::Value ActionTakeStatus(const Napi::CallbackInfo& info) {
       RclHandle::Unwrap(info[0].As<Napi::Object>());
   rcl_action_client_t* action_client =
       reinterpret_cast<rcl_action_client_t*>(action_client_handle->ptr());
-  void* buffer = info[1].As<Napi::Buffer<void>>().Data();
+  void* buffer = info[1].As<Napi::Buffer<char>>().Data();
 
   rcl_ret_t ret = rcl_action_take_status(action_client, buffer);
   if (ret != RCL_RET_OK && ret != RCL_RET_ACTION_CLIENT_TAKE_FAILED) {
@@ -581,7 +581,7 @@ Napi::Value ActionPublishFeedback(const Napi::CallbackInfo& info) {
 
   rcl_action_server_t* action_server = reinterpret_cast<rcl_action_server_t*>(
       RclHandle::Unwrap(info[0].As<Napi::Object>())->ptr());
-  void* buffer = info[1].As<Napi::Buffer<void>>().Data();
+  void* buffer = info[1].As<Napi::Buffer<char>>().Data();
 
   THROW_ERROR_IF_NOT_EQUAL(rcl_action_publish_feedback(action_server, buffer),
                            RCL_RET_OK, rcl_get_error_string().str);
@@ -596,7 +596,7 @@ Napi::Value ActionTakeFeedback(const Napi::CallbackInfo& info) {
       RclHandle::Unwrap(info[0].As<Napi::Object>());
   rcl_action_client_t* action_client =
       reinterpret_cast<rcl_action_client_t*>(action_client_handle->ptr());
-  void* buffer = info[1].As<Napi::Buffer<void>>().Data();
+  void* buffer = info[1].As<Napi::Buffer<char>>().Data();
 
   rcl_ret_t ret = rcl_action_take_feedback(action_client, buffer);
   if (ret != RCL_RET_OK && ret != RCL_RET_ACTION_CLIENT_TAKE_FAILED) {
@@ -619,10 +619,10 @@ Napi::Value ActionProcessCancelRequest(const Napi::CallbackInfo& info) {
       RclHandle::Unwrap(info[0].As<Napi::Object>());
   rcl_action_server_t* action_server =
       reinterpret_cast<rcl_action_server_t*>(action_server_handle->ptr());
-  void* buffer = info[1].As<Napi::Buffer<void>>().Data();
+  void* buffer = info[1].As<Napi::Buffer<char>>().Data();
   rcl_action_cancel_request_t* cancel_request =
       reinterpret_cast<rcl_action_cancel_request_t*>(buffer);
-  void* response_buffer = info[2].As<Napi::Buffer<void>>().Data();
+  void* response_buffer = info[2].As<Napi::Buffer<char>>().Data();
   action_msgs__srv__CancelGoal_Response* response =
       reinterpret_cast<action_msgs__srv__CancelGoal_Response*>(response_buffer);
 
@@ -671,7 +671,7 @@ Napi::Value ActionServerGoalExists(const Napi::CallbackInfo& info) {
   rcl_action_server_t* action_server =
       reinterpret_cast<rcl_action_server_t*>(action_server_handle->ptr());
   rcl_action_goal_info_t* buffer = reinterpret_cast<rcl_action_goal_info_t*>(
-      info[1].As<Napi::Buffer<void>>().Data());
+      info[1].As<Napi::Buffer<char>>().Data());
 
   bool exists = rcl_action_server_goal_exists(action_server, buffer);
 
@@ -687,7 +687,7 @@ Napi::Value ActionExpireGoals(const Napi::CallbackInfo& info) {
       reinterpret_cast<rcl_action_server_t*>(action_server_handle->ptr());
   int64_t max_num_goals = info[1].As<Napi::Number>().Int64Value();
   rcl_action_goal_info_t* buffer = reinterpret_cast<rcl_action_goal_info_t*>(
-      info[2].As<Napi::Buffer<void>>().Data());
+      info[2].As<Napi::Buffer<char>>().Data());
 
   size_t num_expired;
   THROW_ERROR_IF_NOT_EQUAL(rcl_action_expire_goals(action_server, buffer,

src/rcl_action_bindings.hpp

@@ -18,7 +18,6 @@
 #include <napi.h>
 #include <rcl/rcl.h>
 
-#include <utility>
 #include <vector>
 
 #include "rcl_bindings.hpp"