Leverage BigInt for Time/Duration

lib/action/server.js

@@ -266,10 +266,12 @@ class ActionServer extends Entity {
     let goalHandle;
     if (accepted) {
       // Stamp time of acceptance
-      const secondsAndNanos = this._node.getClock().now().secondsAndNanoseconds;
+      const { seconds, nanoseconds } = this._node
+        .getClock()
+        .now().secondsAndNanoseconds;
       goalInfo.stamp = {
-        sec: secondsAndNanos.seconds,
-        nanosec: secondsAndNanos.nanoseconds,
+        sec: Number(seconds),
+        nanosec: Number(nanoseconds),
       };
 
       try {

lib/clock.js

@@ -52,8 +52,8 @@ class Clock {
    * @return {Time} Return the current time.
    */
   now() {
-    let time = rclnodejs.clockGetNow(this._handle);
-    return new Time(time.sec, time.nanosec, this._clockType);
+    const nowInNanosec = rclnodejs.clockGetNow(this._handle);
+    return new Time(0n, nowInNanosec, this._clockType);
   }
 }
 

lib/duration.js

@@ -15,7 +15,7 @@
 'use strict';
 
 const rclnodejs = require('bindings')('rclnodejs');
-const int64 = require('int64-napi');
+const S_TO_NS = 10n ** 9n;
 
 /**
  * @class - Class representing a Duration in ROS
@@ -24,51 +24,38 @@ const int64 = require('int64-napi');
 class Duration {
   /**
    * Create a Duration.
-   * @param {number|string} [seconds=0] - The second part of the duration.
-   * @param {number|string} [nanoseconds=0] - The nanosecond part of the duration.
+   * @param {bigint} [seconds=0] - The second part of the duration.
+   * @param {bigint} [nanoseconds=0] - The nanosecond part of the duration.
    */
-  constructor(seconds = 0, nanoseconds = 0) {
-    if (typeof seconds !== 'number' && typeof seconds !== 'string') {
+  constructor(seconds = 0n, nanoseconds = 0n) {
+    if (typeof seconds !== 'bigint') {
       throw new TypeError('Invalid argument of seconds');
     }
 
-    if (typeof nanoseconds !== 'number' && typeof nanoseconds !== 'string') {
+    if (typeof nanoseconds !== 'bigint') {
       throw new TypeError('Invalid argument of nanoseconds');
     }
 
-    let secondInt64 = int64.from(seconds);
-    let nanoInt64 = int64.from(nanoseconds);
-
-    if (typeof seconds === 'string' && seconds.startsWith('-')) {
-      secondInt64 = int64.negative(secondInt64);
-    }
-    if (typeof nanoseconds === 'string' && nanoseconds.startsWith('-')) {
-      nanoInt64 = int64.negative(nanoInt64);
+    const total = seconds * S_TO_NS + nanoseconds;
+    if (total >= 2n ** 63n) {
+      throw new RangeError(
+        'Total nanoseconds value is too large to store in C time point.'
+      );
     }
-    this._nanoseconds = secondInt64.multiply(1e9).add(nanoInt64);
-    this._handle = rclnodejs.createDuration(this._nanoseconds.toString());
+
+    this._nanoseconds = total;
+    this._handle = rclnodejs.createDuration(this._nanoseconds);
   }
 
   /**
    * Get the nanosecond part of the Duration.
    * @name Duration#get:nanoseconds
    * @function
-   * @return {number|string} - value in nanosecond, if the value is greater than Number.MAX_SAFE_INTEGER (2^53-1), will be presented in string of decimal format.
+   * @return {bigint} - value in nanosecond.
    */
 
   get nanoseconds() {
-    let nanoStr = rclnodejs.getDurationNanoseconds(this._handle);
-    let nano;
-
-    if (nanoStr.startsWith('-')) {
-      nano = int64.negative(int64.from(nanoStr));
-    } else {
-      nano = int64.from(nanoStr);
-    }
-    if (Number.isFinite(nano.toNumber())) {
-      return nano.toNumber();
-    }
-    return nano.toString();
+    return rclnodejs.getDurationNanoseconds(this._handle);
   }
 
   /**
@@ -78,7 +65,7 @@ class Duration {
    */
   eq(other) {
     if (other instanceof Duration) {
-      return this._nanoseconds.eq(other.nanoseconds);
+      return this._nanoseconds === other.nanoseconds;
     }
     throw new TypeError(
       `Can't compare duration with object of type: ${other.constructor.name}`
@@ -92,7 +79,7 @@ class Duration {
    */
   ne(other) {
     if (other instanceof Duration) {
-      return this._nanoseconds.ne(other.nanoseconds);
+      return this._nanoseconds !== other.nanoseconds;
     }
     throw new TypeError('Invalid argument');
   }
@@ -104,7 +91,7 @@ class Duration {
    */
   lt(other) {
     if (other instanceof Duration) {
-      return this._nanoseconds.lt(other.nanoseconds);
+      return this._nanoseconds < other.nanoseconds;
     }
     throw new TypeError('Invalid argument');
   }
@@ -116,7 +103,7 @@ class Duration {
    */
   lte(other) {
     if (other instanceof Duration) {
-      return this._nanoseconds.lte(other.nanoseconds);
+      return this._nanoseconds <= other.nanoseconds;
     }
     throw new TypeError('Invalid argument');
   }
@@ -128,7 +115,7 @@ class Duration {
    */
   gt(other) {
     if (other instanceof Duration) {
-      return this._nanoseconds.gt(other.nanoseconds);
+      return this._nanoseconds > other.nanoseconds;
     }
     throw new TypeError('Invalid argument');
   }
@@ -140,7 +127,7 @@ class Duration {
    */
   gte(other) {
     if (other instanceof Duration) {
-      return this._nanoseconds.gte(other.nanoseconds);
+      return this._nanoseconds >= other.nanoseconds;
     }
     throw new TypeError('Invalid argument');
   }

lib/node.js

@@ -1469,10 +1469,10 @@ class Node extends rclnodejs.ShadowNode {
       PARAMETER_EVENT_MSG_TYPE
     ))();
 
-    const secondsAndNanos = this._clock.now().secondsAndNanoseconds;
+    const { seconds, nanoseconds } = this._clock.now().secondsAndNanoseconds;
     parameterEvent.stamp = {
-      sec: secondsAndNanos.seconds,
-      nanosec: secondsAndNanos.nanoseconds,
+      sec: Number(seconds),
+      nanosec: Number(nanoseconds),
     };
 
     parameterEvent.node =

lib/time.js

@@ -17,7 +17,7 @@
 const rclnodejs = require('bindings')('rclnodejs');
 const Duration = require('./duration.js');
 const ClockType = require('./clock_type.js');
-const int64 = require('int64-napi');
+const S_TO_NS = 10n ** 9n;
 
 /**
  * @class - Class representing a Time in ROS
@@ -26,42 +26,43 @@ const int64 = require('int64-napi');
 class Time {
   /**
    * Create a Time.
-   * @param {number|string} [seconds=0] - The second part of the time.
-   * @param {number|string} [nanoseconds=0] - The nanosecond part of the time.
+   * @param {bigint} [seconds=0] - The second part of the time.
+   * @param {bigint} [nanoseconds=0] - The nanosecond part of the time.
    * @param {ClockType} [clockType=Clock.ClockType.SYSTEM_TIME] - The clock type.
    */
-  constructor(seconds = 0, nanoseconds = 0, clockType = ClockType.SYSTEM_TIME) {
-    if (typeof seconds !== 'number' && typeof seconds !== 'string') {
+  constructor(
+    seconds = 0n,
+    nanoseconds = 0n,
+    clockType = ClockType.SYSTEM_TIME
+  ) {
+    if (typeof seconds !== 'bigint') {
       throw new TypeError('Invalid argument of seconds');
     }
 
-    if (typeof nanoseconds !== 'number' && typeof nanoseconds !== 'string') {
+    if (typeof nanoseconds !== 'bigint') {
       throw new TypeError('Invalid argument of nanoseconds');
     }
 
     if (typeof clockType !== 'number') {
       throw new TypeError('Invalid argument of clockType');
     }
 
-    if (
-      int64.lt(seconds, 0) ||
-      (typeof seconds === 'string' && seconds.startsWith('-'))
-    ) {
+    if (seconds < 0n) {
       throw new RangeError('seconds value must not be negative');
     }
 
-    if (
-      int64.lt(nanoseconds, 0) ||
-      (typeof nanoseconds === 'string' && nanoseconds.startsWith('-'))
-    ) {
+    if (nanoseconds < 0n) {
       throw new RangeError('nanoseconds value must not be negative');
     }
 
-    this._nanoseconds = int64.from(seconds).multiply(1e9).add(nanoseconds);
-    this._handle = rclnodejs.createTimePoint(
-      this._nanoseconds.toString(),
-      clockType
-    );
+    const total = seconds * S_TO_NS + nanoseconds;
+    if (total >= 2n ** 63n) {
+      throw new RangeError(
+        'Total nanoseconds value is too large to store in C time point.'
+      );
+    }
+    this._nanoseconds = total;
+    this._handle = rclnodejs.createTimePoint(this._nanoseconds, clockType);
     this._clockType = clockType;
   }
 
@@ -80,22 +81,11 @@ class Time {
    * Get the nanosecond part of the time.
    * @name Time#get:nanoseconds
    * @function
-   * @return {number|string} - value in nanosecond, if the value is greater than Number.MAX_SAFE_INTEGER (2^53-1), will be presented in string of decimal format.
+   * @return {bigint} - value in nanosecond.
    */
 
   get nanoseconds() {
-    let str = rclnodejs.getNanoseconds(this._handle);
-    let nano;
-
-    if (str.startsWith('-')) {
-      nano = int64.negative(int64.from(str));
-    } else {
-      nano = int64.from(str);
-    }
-    if (Number.isFinite(nano.toNumber())) {
-      return nano.toNumber();
-    }
-    return nano.toString();
+    return rclnodejs.getNanoseconds(this._handle);
   }
 
   /**
@@ -106,9 +96,11 @@ class Time {
    */
 
   get secondsAndNanoseconds() {
-    const seconds = int64.from(this._nanoseconds).divide(1e9).toNumber();
-    const nanoseconds = int64.from(this._nanoseconds).mod(1e9).toNumber();
-    return { seconds, nanoseconds };
+    const nanoseconds = this._nanoseconds;
+    return {
+      seconds: nanoseconds / S_TO_NS,
+      nanoseconds: nanoseconds % S_TO_NS,
+    };
   }
 
   /**
@@ -119,8 +111,8 @@ class Time {
   add(other) {
     if (other instanceof Duration) {
       return new Time(
-        0,
-        int64.add(this._nanoseconds, other.nanoseconds).toString(),
+        0n,
+        this._nanoseconds + other.nanoseconds,
         this._clockType
       );
     }
@@ -137,14 +129,11 @@ class Time {
       if (other._clockType !== this._clockType) {
         throw new TypeError("Can't subtract times with different clock types");
       }
-      return new Duration(
-        0,
-        int64.subtract(this._nanoseconds, other._nanoseconds).toString()
-      );
+      return new Duration(0n, this._nanoseconds - other._nanoseconds);
     } else if (other instanceof Duration) {
       return new Time(
-        0,
-        int64.subtract(this._nanoseconds, other._nanoseconds).toString(),
+        0n,
+        this._nanoseconds - other._nanoseconds,
         this._clockType
       );
     }
@@ -161,7 +150,7 @@ class Time {
       if (other._clockType !== this._clockType) {
         throw new TypeError("Can't compare times with different clock types");
       }
-      return this._nanoseconds.eq(other.nanoseconds);
+      return this._nanoseconds === other.nanoseconds;
     }
     throw new TypeError('Invalid argument');
   }
@@ -176,7 +165,7 @@ class Time {
       if (other._clockType !== this._clockType) {
         throw new TypeError("Can't compare times with different clock types");
       }
-      return this._nanoseconds.ne(other.nanoseconds);
+      return this._nanoseconds !== other.nanoseconds;
     }
   }
 
@@ -190,7 +179,7 @@ class Time {
       if (other._clockType !== this._clockType) {
         throw new TypeError("Can't compare times with different clock types");
       }
-      return this._nanoseconds.lt(other.nanoseconds);
+      return this._nanoseconds < other.nanoseconds;
     }
     throw new TypeError('Invalid argument');
   }
@@ -205,7 +194,7 @@ class Time {
       if (other._clockType !== this._clockType) {
         throw new TypeError("Can't compare times with different clock types");
       }
-      return this._nanoseconds.lte(other.nanoseconds);
+      return this._nanoseconds <= other.nanoseconds;
     }
     throw new TypeError('Invalid argument');
   }
@@ -220,7 +209,7 @@ class Time {
       if (other._clockType !== this._clockType) {
         throw new TypeError("Can't compare times with different clock types");
       }
-      return this._nanoseconds.gt(other.nanoseconds);
+      return this._nanoseconds > other.nanoseconds;
     }
     throw new TypeError('Invalid argument');
   }
@@ -235,7 +224,7 @@ class Time {
       if (other._clockType !== this._clockType) {
         throw new TypeError("Can't compare times with different clock types");
       }
-      return this._nanoseconds.gte(other.nanoseconds);
+      return this._nanoseconds >= other.nanoseconds;
     }
     throw new TypeError('Invalid argument');
   }
@@ -261,7 +250,7 @@ class Time {
    * @return {Time} Return the created Time object.
    */
   static fromMsg(msg, clockType = ClockType.ROS_TIME) {
-    return new Time(msg.sec, msg.nanosec, clockType);
+    return new Time(BigInt(msg.sec), BigInt(msg.nanosec), clockType);
   }
 }
 

lib/time_source.js

@@ -37,7 +37,7 @@ class TimeSource {
     this._node = node;
     this._associatedClocks = [];
     this._clockSubscription = undefined;
-    this._lastTimeSet = new Time(0, 0, ClockType.ROS_TIME);
+    this._lastTimeSet = new Time(0n, 0n, ClockType.ROS_TIME);
     this._isRosTimeActive = false;
 
     if (this._node) {

package.json

@@ -63,7 +63,6 @@
     "tree-kill": "^1.2.2",
     "typescript": "^5.7.2"
   },
-  "//": "Pin int64-napi to ^1.0.2",
   "dependencies": {
     "@rclnodejs/ref-array-di": "^1.2.2",
     "@rclnodejs/ref-napi": "^4.0.0",
@@ -76,7 +75,6 @@
     "dtslint": "^4.2.1",
     "fs-extra": "^11.2.0",
     "json-bigint": "^1.0.0",
-    "int64-napi": "^1.0.2",
     "is-close": "^1.3.3",
     "mkdirp": "^3.0.1",
     "mz": "^2.7.0",