NOT TO MERGE

Author: minggangw

binding.gyp

@@ -29,8 +29,8 @@
       ],
       'include_dirs': [
         '.',
-        "<!(node -e \"require('nan')\")",
         '<(ros_include_root)',
+        "<!@(node -p \"require('node-addon-api').include\")",
       ],
       'cflags!': [
         '-fno-exceptions'

lib/action/server.js

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

lib/logging.js

@@ -39,14 +39,31 @@ let LoggingSeverity = {
 
 class Caller {
   constructor() {
-    this._info = {};
-    let frame = new Error().stack.split('\n').slice(4, 5)[0];
-    let results = frame.match(/at\s+(.*)\s+\((.*):(\d*):(\d*)\)/i);
-
-    if (results && results.length === 5) {
-      this._info['functionName'] = results[1];
-      this._info['lineNumber'] = results[3];
-      this._info['fileName'] = path.basename(results[2]);
+    this._info = {
+      functionName: 'unknown',
+      fileName: 'unknown',
+      lineNumber: 'unknown',
+    };
+
+    const stackLines = new Error().stack.split('\n');
+
+    // 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
+    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
+      const altMatch = callerFrame.match(/at\s+(.*):(\d+):(\d+)/i);
+      if (altMatch && altMatch.length >= 4) {
+        this._info.functionName = '(anonymous)';
+        this._info.fileName = path.basename(altMatch[1]);
+        this._info.lineNumber = altMatch[2];
+      }
     }
   }
 
@@ -156,7 +173,7 @@ class Logging {
       severity,
       message,
       caller.functionName,
-      caller.lineNumber,
+      parseInt(caller.lineNumber),
       caller.fileName
     );
   }

package.json

@@ -79,9 +79,9 @@
     "fs-extra": "^11.2.0",
     "is-close": "^1.3.3",
     "json-bigint": "^1.0.0",
-    "nan": "^2.22.0",
     "terser": "^5.39.0",
-    "walk": "^2.3.15"
+    "walk": "^2.3.15",
+    "node-addon-api": "^5.0.0"
   },
   "husky": {
     "hooks": {

src/addon.cpp

@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <nan.h>
+#include <napi.h>
+#include <node_api.h>
 
 #include "macros.hpp"
 #include "rcl_action_bindings.hpp"
@@ -23,18 +24,18 @@
 #include "rcutils/macros.h"
 #include "shadow_node.hpp"
 
-bool IsRunningInElectronRenderer() {
-  auto global = Nan::GetCurrentContext()->Global();
-  auto process =
-      Nan::To<v8::Object>(Nan::Get(global, Nan::New("process").ToLocalChecked())
-                              .ToLocalChecked())
-          .ToLocalChecked();
-  auto process_type =
-      Nan::Get(process, Nan::New("type").ToLocalChecked()).ToLocalChecked();
-  return process_type->StrictEquals(Nan::New("renderer").ToLocalChecked());
+bool IsRunningInElectronRenderer(const Napi::Env& env) {
+  Napi::Object global = env.Global();
+  Napi::Object process = global.Get("process").As<Napi::Object>();
+  Napi::Value processType = process.Get("type");
+  return processType.StrictEquals(Napi::String::New(env, "renderer"));
 }
 
-void InitModule(v8::Local<v8::Object> exports) {
+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
 //
 // rcl logging uses `program_invocation_name` to determine the log file,
@@ -43,52 +44,45 @@ void InitModule(v8::Local<v8::Object> exports) {
 // 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()) {
+  if (IsRunningInElectronRenderer(env)) {
     auto prog_name = program_invocation_name;
     auto end = strstr(prog_name, " -");
     assert(end);
     prog_name[end - prog_name] = 0;
   }
 #endif
-
-  v8::Local<v8::Context> context = exports->GetIsolate()->GetCurrentContext();
-
-  for (uint32_t i = 0; i < rclnodejs::binding_methods.size(); i++) {
-    Nan::Set(
-        exports, Nan::New(rclnodejs::binding_methods[i].name).ToLocalChecked(),
-        Nan::New<v8::FunctionTemplate>(rclnodejs::binding_methods[i].function)
-            ->GetFunction(context)
-            .ToLocalChecked());
-  }
-
-  for (uint32_t i = 0; i < rclnodejs::action_binding_methods.size(); i++) {
-    Nan::Set(
-        exports,
-        Nan::New(rclnodejs::action_binding_methods[i].name).ToLocalChecked(),
-        Nan::New<v8::FunctionTemplate>(
-            rclnodejs::action_binding_methods[i].function)
-            ->GetFunction(context)
-            .ToLocalChecked());
-  }
+  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++) {
-    Nan::Set(
-        exports,
-        Nan::New(rclnodejs::lifecycle_binding_methods[i].name).ToLocalChecked(),
-        Nan::New<v8::FunctionTemplate>(
-            rclnodejs::lifecycle_binding_methods[i].function)
-            ->GetFunction(context)
-            .ToLocalChecked());
+    exports.Set(rclnodejs::lifecycle_binding_methods[i].name,
+                Napi::Function::New(
+                    env, rclnodejs::lifecycle_binding_methods[i].function));
   }
 
-  rclnodejs::ShadowNode::Init(exports);
-  rclnodejs::RclHandle::Init(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;
 }
 
-NODE_MODULE(rclnodejs, InitModule);
+NODE_API_MODULE(rclnodejs, InitModule)

src/executor.cpp

@@ -41,12 +41,14 @@ struct RclResult {
   std::string error_msg;
 };
 
-Executor::Executor(HandleManager* handle_manager, Delegate* delegate)
+Executor::Executor(Napi::Env env, HandleManager* handle_manager,
+                   Delegate* delegate)
     : async_(nullptr),
       main_thread_(uv_thread_self()),
       handle_manager_(handle_manager),
       delegate_(delegate),
-      context_(nullptr) {
+      context_(nullptr),
+      env_(env) {
   running_.store(false);
 }
 
@@ -74,20 +76,27 @@ void Executor::SpinOnce(rcl_context_t* context, int32_t time_out) {
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
   rcl_ret_t ret = rcl_wait_set_init(&wait_set, 0, 0, 0, 0, 0, 0, context,
                                     rcl_get_default_allocator());
-  if (ret != RCL_RET_OK) Nan::ThrowError(rcl_get_error_string().str);
+  if (ret != RCL_RET_OK) {
+    Napi::Error::New(env_, rcl_get_error_string().str)
+        .ThrowAsJavaScriptException();
+    return;
+  }
 
   RclResult wait_result = WaitForReadyCallbacks(&wait_set, time_out);
 
-  if (wait_result.ret != RCL_RET_OK)
-    Nan::ThrowError(wait_result.error_msg.c_str());
+  if (wait_result.ret != RCL_RET_OK) {
+    Napi::Error::New(env_, wait_result.error_msg.c_str())
+        .ThrowAsJavaScriptException();
+    return;
+  }
 
   if (handle_manager_->ready_handles_count() > 0) ExecuteReadyHandles();
 
   if (rcl_wait_set_fini(&wait_set) != RCL_RET_OK) {
     std::string error_message =
         std::string("Failed to destroy guard waitset:") +
         std::string(rcl_get_error_string().str);
-    Nan::ThrowError(error_message.c_str());
+    Napi::Error::New(env_, error_message.c_str()).ThrowAsJavaScriptException();
   }
 }
 

src/executor.hpp

@@ -15,6 +15,7 @@
 #ifndef SRC_EXECUTOR_HPP_
 #define SRC_EXECUTOR_HPP_
 
+#include <napi.h>
 #include <rcl/wait.h>
 #include <uv.h>
 
@@ -37,7 +38,7 @@ class Executor {
     virtual void CatchException(std::exception_ptr e_ptr) = 0;
   };
 
-  Executor(HandleManager* handle_manager, Delegate* delegate);
+  Executor(Napi::Env env, HandleManager* handle_manager, Delegate* delegate);
   ~Executor();
 
   void Start(rcl_context_t* context, int32_t time_out);
@@ -68,6 +69,7 @@ class Executor {
   Delegate* delegate_;
   rcl_context_t* context_;
   int32_t time_out_;
+  Napi::Env env_;
 
   std::atomic_bool running_;
 };