Migrate project from NAN to Node-API for improved compatibility

Author: SanjayUG

src/addon.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <nan.h>
+#include <node_api.h>
 
 #include "macros.hpp"
 #include "rcl_action_bindings.hpp"
@@ -23,18 +23,20 @@
 #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(napi_env env) {
+  napi_value global, process, process_type;
+  napi_get_global(env, &global);
+  napi_get_named_property(env, global, "process", &process);
+  napi_get_named_property(env, process, "type", &process_type);
+
+  bool is_renderer;
+  napi_value renderer_str;
+  napi_create_string_utf8(env, "renderer", NAPI_AUTO_LENGTH, &renderer_str);
+  napi_strict_equals(env, process_type, renderer_str, &is_renderer);
+  return is_renderer;
 }
 
-void InitModule(v8::Local<v8::Object> exports) {
+void InitModule(napi_env env, napi_value exports) {
 // workaround process name mangling by chromium
 //
 // rcl logging uses `program_invocation_name` to determine the log file,
@@ -43,42 +45,33 @@ 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();
+  napi_value context;
+  napi_get_value_string_utf8(env, exports, "context", &context, NULL, NULL);
 
   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());
+    napi_value func;
+    napi_create_function(env, NULL, 0, rclnodejs::binding_methods[i].function, NULL, &func);
+    napi_set_named_property(env, exports, rclnodejs::binding_methods[i].name, func);
   }
 
   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());
+    napi_value func;
+    napi_create_function(env, NULL, 0, rclnodejs::action_binding_methods[i].function, NULL, &func);
+    napi_set_named_property(env, exports, rclnodejs::action_binding_methods[i].name, func);
   }
 
   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());
+    napi_value func;
+    napi_create_function(env, NULL, 0, rclnodejs::lifecycle_binding_methods[i].function, NULL, &func);
+    napi_set_named_property(env, exports, rclnodejs::lifecycle_binding_methods[i].name, func);
   }
 
   rclnodejs::ShadowNode::Init(exports);

src/rcl_action_bindings.cpp

@@ -95,21 +95,16 @@ NAN_METHOD(ActionCreateClient) {
   }
 }
 
-NAN_METHOD(ActionCreateServer) {
-  v8::Local<v8::Context> currentContent = Nan::GetCurrentContext();
-  RclHandle* node_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[0]).ToLocalChecked());
+Napi::Value ActionCreateServer(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+  RclHandle* node_handle = RclHandle::Unwrap<RclHandle>(info[0].As<Napi::Object>());
   rcl_node_t* node = reinterpret_cast<rcl_node_t*>(node_handle->ptr());
-  RclHandle* clock_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[1]).ToLocalChecked());
+  RclHandle* clock_handle = RclHandle::Unwrap<RclHandle>(info[1].As<Napi::Object>());
   rcl_clock_t* clock = reinterpret_cast<rcl_clock_t*>(clock_handle->ptr());
-  std::string action_name(
-      *Nan::Utf8String(info[2]->ToString(currentContent).ToLocalChecked()));
-  std::string interface_name(
-      *Nan::Utf8String(info[3]->ToString(currentContent).ToLocalChecked()));
-  std::string package_name(
-      *Nan::Utf8String(info[4]->ToString(currentContent).ToLocalChecked()));
-  int64_t result_timeout = info[10]->IntegerValue(currentContent).FromJust();
+  std::string action_name = info[2].As<Napi::String>().Utf8Value();
+  std::string interface_name = info[3].As<Napi::String>().Utf8Value();
+  std::string package_name = info[4].As<Napi::String>().Utf8Value();
+  int64_t result_timeout = info[10].As<Napi::Number>().Int64Value();
 
   const rosidl_action_type_support_t* ts =
       GetActionTypeSupport(package_name, interface_name);
@@ -160,9 +155,10 @@ NAN_METHOD(ActionCreateServer) {
           THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK, ret, rcl_get_error_string().str);
         });
 
-    info.GetReturnValue().Set(js_obj);
+    return js_obj;
   } else {
-    Nan::ThrowError(GetErrorMessageAndClear().c_str());
+    Napi::Error::New(env, GetErrorMessageAndClear()).ThrowAsJavaScriptException();
+    return env.Undefined();
   }
 }