Leverage BigInt for Time/Duration

[minggangw]

Per current implementation, the Time/Duration in rclnodejs module may be initialized with two parts, which are seconds and nanoseconds using type of number or string, this is because the range limitation of integer that JavaScript can represents. While, after BigInt introduced, we can change it to type of bigint only, which aligns with other ROS2 clients, like rclpy.

This patch implements:

1. Leverage BigInt to initialize Time/Duration in nanoseconds from JavaScript side.
2. Change Clock and TimeSource accordingly.
3. Get the period from v8::BigInt object as int64_t and pass it to rcl from C++ side.
4. Update the related unit tests accordingly.
5. Remove dependency, int64-napi, which was used to pass int64_t from JavaScript to C++.

Fix: #1040

[Copilot]

Copilot reviewed 12 out of 12 changed files in this pull request and generated no comments.

Comments suppressed due to low confidence (6)

lib/duration.js:40

• While the upper bound is checked, consider whether negative duration values should also be validated against a lower bound (if the underlying C time representation has one) or be documented as allowed.

if (total >= 2n ** 63n) {

lib/time.js:99

• Verify that using BigInt division in the secondsAndNanoseconds getter yields the correct integer seconds when dividing by S_TO_NS, particularly for very large nanosecond values.

const nanoseconds = this._nanoseconds;

lib/node.js:1474

• Converting the BigInt seconds value to a Number may lose precision for unexpectedly large time values; please confirm that this conversion is acceptable in this context.

sec: Number(secondsAndNanos.seconds),

lib/action/server.js:271

• Ensure that converting the BigInt seconds from secondsAndNanos to a Number does not introduce precision loss when interfacing with the underlying C time point, especially in edge cases.

sec: Number(secondsAndNanos.seconds),

test/test-time-source.js:75

• [nitpick] Consider including an additional test to verify the behavior when the difference exceeds the 1e9 nanoseconds threshold, ensuring that the comparison logic remains robust for larger time differences.

assert.ok(sysNow.nanoseconds - now.nanoseconds < 10n ** 9n);

lib/time_source.js:65

• The conditional is incorrectly checking the node type; replace it with 'if (!(node instanceof rclnodejs.ShadowNode))' to properly validate that the provided node is of the correct type.

if ((!node) instanceof rclnodejs.ShadowNode) {

[Copilot]

Copilot reviewed 12 out of 12 changed files in this pull request and generated no comments.