[rosidl_gen] Refactor the dot used to generate the JavaScript messages (#1014)

`rclnodejs` leverages [`dot`](https://www.npmjs.com/package/dot) to generate the JavaScript classes, representing the ROS messages and wrapping the [`ref`](https://www.npmjs.com/package/@rclnodejs/ref-napi) objects that can read/write from C++ pointer. For a long time, we changed the implementation along with new features introduced into ROS2, so it makes the template itself messy and hard to understand.

This patch tries to refactor the template to make it more readable and maintainable, including:
1. Add proper indents for `for`/`if` used by the template to make it easy to understand.
2. Abstract some functionalities into separate functions, like `_setDefaults()`.
3. Add more meaningful comments by ```{{/*  */}}```.
4. Remove the consistency checking.

Besides, the following changes are made accordingly:
1. Remove the `willCheckConsistency` usage from current JS files.
2. Remove tests related to consistency checking in `test-compound-msg-type-check.js` and `test-security-related.js`.
3. Use `prettier` to format the generated JavaScript files.
4. Pump the generator version to `0.4.0`.

Fix: #1015

Author: minggangw

lib/client.js

@@ -58,7 +58,6 @@ class Client extends Entity {
       request instanceof this._typeClass.Request
         ? request
         : new this._typeClass.Request(request);
-    requestToSend._willCheckConsistency = this._options.willCheckConsistency;
 
     let rawRequest = requestToSend.serialize();
     let sequenceNumber = rclnodejs.sendRequest(this._handle, rawRequest);

lib/node.js

@@ -502,10 +502,6 @@ class Node extends rclnodejs.ShadowNode {
       options = Object.assign(options, { isRaw: false });
     }
 
-    if (options.willCheckConsistency === undefined) {
-      options = Object.assign(options, { willCheckConsistency: false });
-    }
-
     return options;
   }
 
@@ -592,7 +588,6 @@ class Node extends rclnodejs.ShadowNode {
    * @param {object} options - The options argument used to parameterize the publisher.
    * @param {boolean} options.enableTypedArray - The topic will use TypedArray if necessary, default: true.
    * @param {QoS} options.qos - ROS Middleware "quality of service" settings for the publisher, default: QoS.profileDefault.
-   * @param {boolean} options.willCheckConsistency - Pulisher will check the consistancy of the message to be sent, default: false.
    * @return {Publisher} - An instance of Publisher.
    */
   createPublisher(typeClass, topic, options) {
@@ -695,7 +690,6 @@ class Node extends rclnodejs.ShadowNode {
    * @param {object} options - The options argument used to parameterize the client.
    * @param {boolean} options.enableTypedArray - The response will use TypedArray if necessary, default: true.
    * @param {QoS} options.qos - ROS Middleware "quality of service" settings for the client, default: QoS.profileDefault.
-   * @param {boolean} options.willCheckConsistency - Client will check the consistancy of the message to be sent, default: false.
    * @return {Client} - An instance of Client.
    */
   createClient(typeClass, serviceName, options) {
@@ -1696,7 +1690,6 @@ Node.getDefaultOptions = function () {
     isRaw: false,
     qos: QoS.profileDefault,
     contentFilter: undefined,
-    willCheckConsistency: false,
   };
 };
 

lib/publisher.js

@@ -53,7 +53,6 @@ class Publisher extends Entity {
         message instanceof this._typeClass
           ? message
           : new this._typeClass(message);
-      messageToSend._willCheckConsistency = this._options.willCheckConsistency;
       let rawMessage = messageToSend.serialize();
       rclnodejs.publish(this._handle, rawMessage);
     }

package.json

@@ -59,7 +59,6 @@
     "jsdoc": "^4.0.4",
     "lint-staged": "^15.2.10",
     "mocha": "^11.0.2",
-    "prettier": "^3.4.2",
     "sinon": "^19.0.2",
     "tree-kill": "^1.2.2",
     "typescript": "^5.7.2"
@@ -83,7 +82,8 @@
     "nan": "^2.22.0",
     "rimraf": "^6.0.1",
     "uuid": "^11.0.3",
-    "walk": "^2.3.15"
+    "walk": "^2.3.15",
+    "prettier": "^3.4.2"
   },
   "husky": {
     "hooks": {

rosidl_gen/generator.json

@@ -1,6 +1,6 @@
 {
   "name": "rosidl-generator",
-  "version": "0.3.10",
+  "version": "0.4.0",
   "description": "Generate JavaScript object from ROS IDL(.msg) files",
   "main": "index.js",
   "authors": [

rosidl_gen/idl_generator.js

@@ -15,6 +15,7 @@
 'use strict';
 
 const dot = require('dot');
+const prettier = require('prettier');
 const fse = require('fs-extra');
 const path = require('path');
 const parser = require('../rosidl_parser/rosidl_parser.js');
@@ -40,6 +41,9 @@ function removeEmptyLines(str) {
  * @param {string} code
  */
 async function writeGeneratedCode(dir, fileName, code) {
+  if (fileName.endsWith('.js')) {
+    code = await prettier.format(code, { parser: 'babel' });
+  }
   await fse.mkdirs(dir);
   await fse.writeFile(path.join(dir, fileName), code);
 }