Address comments

Author: minggangw

rosidl_gen/generate_worker.js

@@ -0,0 +1,63 @@
+// Copyright (c) 2025, The Robot Web Tools Contributors
+//
+// 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.
+
+const fse = require('fs-extra');
+const generateJSStructFromIDL = require('./idl_generator.js');
+const packages = require('./packages.js');
+const path = require('path');
+const idlConvertor = require('../rosidl_convertor/idl_convertor.js');
+
+const generatedRoot = path.join(__dirname, '../generated/');
+const idlPath = path.join(generatedRoot, 'share');
+const useIDL = !!process.argv.find((arg) => arg === '--idl');
+
+// Get target path from environment variable instead of workerData
+const targetPath = process.env.WORKER_TARGET_PATH;
+
+async function generateInPath(targetPath) {
+  let pkgsInfo = null;
+  if (!useIDL) {
+    pkgsInfo = Array.from(
+      (await packages.findPackagesInDirectory(targetPath)).values()
+    );
+  } else {
+    const idlPkgs = await packages.findPackagesInDirectory(targetPath, useIDL);
+    await fse.ensureDir(idlPath);
+    const promises = [];
+    idlPkgs.forEach((pkg) => {
+      pkg.idls.forEach((idl) => {
+        promises.push(idlConvertor(idl.pkgName, idl.filePath, idlPath));
+      });
+    });
+    await Promise.all(promises);
+    const pkgsFromIdl = await packages.findPackagesInDirectory(idlPath, false);
+    pkgsInfo = Array.from(pkgsFromIdl.values());
+  }
+
+  await Promise.all(
+    pkgsInfo.map((pkgInfo) => generateJSStructFromIDL(pkgInfo, generatedRoot))
+  );
+}
+
+async function main() {
+  try {
+    await generateInPath(targetPath);
+    process.exit(0);
+  } catch (error) {
+    console.error('Worker generation failed:', error.message);
+    process.exit(1);
+  }
+}
+
+main();

rosidl_gen/index.js

@@ -55,7 +55,6 @@ async function generateInPath(path) {
 }
 
 function generateInPathSyncWorker(targetPath) {
-  console.log('generateInPathSyncWorker' + targetPath);
   try {
     // Use child_process.spawnSync for truly synchronous execution
     const result = require('child_process').spawnSync(

test/overlay_test_ws/install/geometry_msgs/share/ament_index/resource_index/rosidl_interfaces/geometry_msgs

@@ -1,2 +1,4 @@
 msg/Point.idl
-msg/Point.msg
+msg/Point.msg
+msg/Testing.idl
+msg/Testing.msg

test/test-message-object.js

@@ -149,8 +149,7 @@ describe('Rclnodejs createMessage() testing', function () {
     it('expecting exception when passing ' + testData.toString(), function () {
       assert.throws(
         () => {
-          const t = rclnodejs.createMessage(testData);
-          console.log(t);
+          rclnodejs.createMessage(testData);
         },
         function (e) {
           return e instanceof Error;