Cleanup code

lib/lifecycle_publisher.js

@@ -37,7 +37,7 @@ class LifecyclePublisher extends Publisher {
    * Publish a message only when activated; otherwise do nothing (nop);
    *
    * @param {object|Buffer} message - The message to be sent, could be kind of JavaScript message generated from .msg
-   *                                                          or be a Buffer for a raw message.
+   *                                  or be a Buffer for a raw message.
    * @returns {undefined}
    */
   publish(message) {

lib/node.js

@@ -1496,7 +1496,7 @@ class Node extends rclnodejs.ShadowNode {
       );
     }
 
-    // publish ParameterEvent
+    // Publish ParameterEvent.
     this._parameterEventPublisher.publish(parameterEvent);
 
     return {

lib/parameter.js

@@ -1,5 +1,3 @@
-/* eslint-disable camelcase */
-
 // Copyright (c) 2020 Wayne Parrott. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
@@ -21,8 +19,9 @@
 
 'use strict';
 
+/* eslint-disable camelcase */
+
 const IsClose = require('is-close');
-const rclnodejs = require('bindings')('rclnodejs');
 
 /**
  * The plus/minus tolerance for determining number equivalence.

lib/parameter_service.js

@@ -27,6 +27,7 @@ const { Parameter, PARAMETER_SEPARATOR } = require('./parameter.js');
  *  rcl_interfaces/srv/GetParameters
  *  rcl_interfaces/srv/SetParameters
  *  rcl_interfaces/srv/SetParametersAtomically
+ *  rcl_interfaces/srv/GetParameterTypes
  *
  * Call start() to begin receiving client request.
  * All service requests are forwarded to the node this service works for.

lib/publisher.js

@@ -38,7 +38,7 @@ class Publisher extends Entity {
   /**
    * Publish a message
    * @param {object|Buffer} message - The message to be sent, could be kind of JavaScript message generated from .msg
-   *                                                          or be a Buffer for a raw message.
+   *                                  or be a Buffer for a raw message.
    * @return {undefined}
    */
   publish(message) {

lib/rate.js

@@ -1,4 +1,3 @@
-//
 // 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

lib/rmw.js

@@ -1,3 +1,15 @@
+// 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.
+
 'use strict';
 
 const DistroUtils = require('./distro');

rosidl_gen/filter.js

@@ -1,3 +1,17 @@
+// 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.
+
+'use strict';
+
 const fs = require('fs');
 const path = require('path');
 const os = require('os');

rosidl_gen/message_translator.js

@@ -16,8 +16,6 @@
 
 /* eslint-disable max-depth */
 
-const debug = require('debug')('rclnodejs:message_translator');
-
 function isTypedArray(value) {
   return ArrayBuffer.isView(value) && !(value instanceof DataView);
 }
@@ -39,7 +37,6 @@ function copyMsgObject(msg, obj) {
           // It's an array
           if (typeof obj[i][0] === 'object') {
             // It's an array of objects: converting to ROS message objects
-
             // 1. Extract the element-type first
             // 2. Build the array by translate every elements
             let msgArray = [];
@@ -66,8 +63,7 @@ function copyMsgObject(msg, obj) {
 function verifyMessage(message, obj) {
   if (message.constructor.isROSArray) {
     // It's a ROS message array
-    //  Note: there won't be any JavaScript array in message
-
+    // Note: there won't be any JavaScript array in message.
     if (!Array.isArray(obj)) {
       return false;
     }
@@ -131,7 +127,7 @@ function toPlainObject(message, enableTypedArray = true) {
 
   if (message.constructor.isROSArray) {
     // It's a ROS message array
-    //  Note: there won't be any JavaScript array in message
+    // Note: there won't be any JavaScript array in message.
     let array = [];
     message.data.forEach((e) => {
       array.push(toPlainObject(e, enableTypedArray)); // Translate every elements

rostsd_gen/index.js

@@ -1,6 +1,3 @@
-/* eslint-disable max-depth */
-/* eslint-disable no-sync */
-/* eslint-disable camelcase */
 // 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
@@ -26,6 +23,10 @@ declare module "rclnodejs" {
 }
 */
 
+/* eslint-disable max-depth */
+/* eslint-disable no-sync */
+/* eslint-disable camelcase */
+
 'use strict';
 
 const path = require('path');

scripts/generate_messages.js

@@ -1,6 +1,5 @@
 #!/usr/bin/env node
 
-/* eslint-disable camelcase */
 // Copyright (c) 2018 Intel Corporation. All rights reserved.
 
 // Licensed under the Apache License, Version 2.0 (the "License");
@@ -15,6 +14,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+/* eslint-disable camelcase */
 'use strict';
 
 const generator = require('../rosidl_gen/index.js');

scripts/ros_distro.js

@@ -1,3 +1,15 @@
+// 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.
+
 'use strict';
 
 const DistroUtils = require('../lib/distro');

scripts/run_test.js

@@ -19,8 +19,6 @@ const Mocha = require('mocha');
 const os = require('os');
 const path = require('path');
 
-let rootDir = path.dirname(__dirname);
-
 fs.remove(path.join(path.dirname(__dirname), 'generated'), (err) => {
   if (!err) {
     let mocha = new Mocha();

src/rcl_bindings.cpp

@@ -710,7 +710,6 @@ NAN_METHOD(HasContentFilter) {
   info.GetReturnValue().Set(Nan::False());
   return;
 #else
-
   RclHandle* subscription_handle = RclHandle::Unwrap<RclHandle>(
       Nan::To<v8::Object>(info[0]).ToLocalChecked());
   rcl_subscription_t* subscription =

test/array_generator.js

@@ -41,20 +41,6 @@ function noRound(v) {
   return v;
 }
 
-// const arrayGen = require('./array_generator.js');
-// const arrayLength = 100 * 1024;
-// arrayGen.generateValues(Float32Array, arrayLength, 100000000, arrayGen.negative, arrayGen.noRound);
-// arrayGen.generateValues(Float32Array, arrayLength, 10000, arrayGen.negative, arrayGen.noRound);
-// arrayGen.generateValues(Float64Array, arrayLength, Number.MAX_VALUE, arrayGen.negative, arrayGen.noRound);
-// arrayGen.generateValues(Float64Array, arrayLength, 10000, arrayGen.negative, arrayGen.noRound);
-// arrayGen.generateValues(Int8Array,    arrayLength, 128, arrayGen.negative, Math.floor);
-// arrayGen.generateValues(Int16Array,   arrayLength, 32768, arrayGen.negative, Math.floor);
-// arrayGen.generateValues(Int32Array,   arrayLength, 2147483648, arrayGen.negative, Math.floor);
-// arrayGen.generateValues(Uint8Array,   arrayLength, 256, arrayGen.positive, Math.floor);
-// arrayGen.generateValues(Uint16Array,  arrayLength, 65536, arrayGen.positive, Math.floor);
-// arrayGen.generateValues(Uint32Array,  arrayLength, 4294967296, arrayGen.positive, Math.floor);
-// arrayGen.generateValues(Array, arrayLength, 256, arrayGen.positive, Math.floor);
-
 module.exports = {
   generateValues: generateValues,
   positive: positive,

test/blocklist.json

@@ -1,6 +1,5 @@
 {
   "Linux": [
-    "test-raw-pub-sub.js",
     "test-multi-nodes.js",
     "test-msg-type-py-node.js",
     "test-msg-type-cpp-node.js",
@@ -15,7 +14,7 @@
     "test-subscription-content-filter.js"
   ],
   "Windows_NT": [
-    "test-raw-pub-sub.js", 
+    "test-raw-pub-sub.js",
     "test-multi-nodes.js", 
     "test-msg-type-py-node.js", 
     "test-msg-type-cpp-node.js", 

test/test-compound-msg-type-check.js

@@ -16,7 +16,6 @@
 
 const assert = require('assert');
 const rclnodejs = require('../index.js');
-const assertThrowsError = require('./utils.js').assertThrowsError;
 
 describe('Compound types', function () {
   this.timeout(60 * 1000);

test/test-distro.js

@@ -1,7 +1,18 @@
+// 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.
+
 'use strict';
 
 const assert = require('assert');
-const childProcess = require('child_process');
 const rclnodejs = require('../index.js');
 
 const DistroUtils = rclnodejs.DistroUtils;

test/test-extra-destroy-methods.js

@@ -31,7 +31,6 @@ describe('Node extra destroy methods testing', function () {
   it('destroyPublisher()', function () {
     var node = rclnodejs.createNode('node1');
     const RclString = 'std_msgs/msg/String';
-    // const RclString = rclnodejs.require('std_msgs/msg/String');
     var publisher = node.createPublisher(RclString, 'chatter');
     assert.deepStrictEqual(node._publishers.length, 2);
 
@@ -51,7 +50,6 @@ describe('Node extra destroy methods testing', function () {
   it('destroySubscription()', function () {
     var node = rclnodejs.createNode('node2');
     const RclString = 'std_msgs/msg/String';
-    // const RclString = rclnodejs.require('std_msgs/msg/String');
     var subscription = node.createSubscription(RclString, 'chatter', () => {});
     assert.deepStrictEqual(node._subscriptions.length, 1);
 
@@ -71,7 +69,6 @@ describe('Node extra destroy methods testing', function () {
   it('destroyClient()', function () {
     var node = rclnodejs.createNode('node3');
     const AddTwoInts = 'example_interfaces/srv/AddTwoInts';
-    // const AddTwoInts = rclnodejs.require('example_interfaces/srv/AddTwoInts');
     var client = node.createClient(AddTwoInts, 'add_two_ints');
     assert.deepStrictEqual(node._clients.length, 1);
 
@@ -91,7 +88,6 @@ describe('Node extra destroy methods testing', function () {
   it('destroyService()', function () {
     var node = rclnodejs.createNode('node4');
     const AddTwoInts = 'example_interfaces/srv/AddTwoInts';
-    // const AddTwoInts = rclnodejs.require('example_interfaces/srv/AddTwoInts');
     var service = node.createService(AddTwoInts, 'add_two_ints', () => {});
     assert.deepStrictEqual(node._services.length, 7);
 

test/test-lifecycle-publisher.js

@@ -21,9 +21,6 @@ const assertThrowsError = assertUtils.assertThrowsError;
 
 const NODE_NAME = 'lifecycle_node';
 
-// let StateInterface = rclnodejs.createMessage('lifecycle_msgs/msg/State').constructor;
-// let TransitionInterface = rclnodejs.createMessage('lifecycle_msgs/msg/Transition').constructor;
-
 describe('LifecyclePublisher test suite', function () {
   let node;
   this.timeout(60 * 1000);

test/test-lifecycle.js

@@ -1,4 +1,3 @@
-//
 // 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
@@ -18,7 +17,6 @@ const assert = require('assert');
 const rclnodejs = require('../index.js');
 const childProcess = require('child_process');
 const assertUtils = require('./utils.js');
-const assertThrowsError = assertUtils.assertThrowsError;
 
 const NODE_NAME = 'lifecycle_node';
 
@@ -332,7 +330,6 @@ describe('LifecycleNode test suite', function () {
     if (version < GALACTIC_VERSION) return;
 
     let rosDistro = process.env.ROS_DISTRO;
-    let firstChar = rosDistro.charAt(0);
     let testNode = new rclnodejs.lifecycle.LifecycleNode(
       'TEST_NODE',
       undefined,

test/test-message-type.js

@@ -18,22 +18,6 @@ const assert = require('assert');
 const childProcess = require('child_process');
 const rclnodejs = require('../index.js');
 
-// function checkType(m, rclType, jsType, value, callback) {
-//                   // rclnodejs, 'Bool', 'boolean', '"true"', callback
-//   if ((typeof rclType !== 'string') || (typeof value !== 'string')) {
-//     throw TypeError('Invalid type of parameters!');
-//   }
-
-//   var node = m.createNode(rclType + '_subscription');
-//   var msgType = m.require('std_msgs').msg[rclType];
-//   var publisher = childProcess.fork(`${__dirname}/publisher_msg.js`, [rclType, value]);
-//   var subscription = node.createSubscription(msgType, rclType + '_type_channel', (msg) => {
-//     publisher.send('quit');
-//     callback(msg, jsType, value);
-//   });
-//   m.spin(node);
-// }
-
 describe('Rclnodejs message type testing', function () {
   this.timeout(60 * 1000);
 
@@ -126,19 +110,6 @@ describe('Rclnodejs message type testing', function () {
       rclnodejs.spin(node);
     });
 
-    // it('InitString', function(done) {
-    //   var node = rclnodejs.createNode('init_string_subscription');
-    //   var msgString = 'std_msgs/msg/String';
-    //   var publisher = childProcess.fork(`${__dirname}/publisher_msg.js`, ['InitString', '"RCL String"']);
-    //   var subscription = node.createSubscription(msgString, 'InitString_channel', (msg) => {
-    //     publisher.send('quit');
-    //     assert.deepStrictEqual(typeof msg.data, 'string');
-    //     assert.deepStrictEqual(msg.data, 'RCL String');
-    //     done();
-    //   });
-    //   rclnodejs.spin(node);
-    // });
-
     it('Int8', function (done) {
       var node = rclnodejs.createNode('int8_subscription');
       const msgInt8 = 'std_msgs/msg/Int8';
@@ -354,27 +325,23 @@ describe('Rclnodejs message type testing', function () {
         (msg) => {
           publisher.kill('SIGINT');
           assert.ok('r' in msg);
-          // assert.deepStrictEqual(typeof msg.r, 'number');
+          assert.deepStrictEqual(typeof msg.r, 'number');
           assert.deepStrictEqual(msg.r, 127);
           assert.ok('g' in msg);
-          // assert.deepStrictEqual(typeof msg.g, 'number');
+          assert.deepStrictEqual(typeof msg.g, 'number');
           assert.deepStrictEqual(msg.g, 255);
           assert.ok('b' in msg);
-          // assert.deepStrictEqual(typeof msg.b, 'number');
+          assert.deepStrictEqual(typeof msg.b, 'number');
           assert.deepStrictEqual(msg.b, 255);
           assert.ok('a' in msg);
-          // assert.deepStrictEqual(typeof msg.a, 'number');
+          assert.deepStrictEqual(typeof msg.a, 'number');
           assert.ok(Math.abs(msg.a - 0.5) < 0.000001);
           done();
         }
       );
       rclnodejs.spin(node);
     });
 
-    // it('Array', function(done) {
-
-    // });
-
     it('Object with Header', function (done) {
       var node = rclnodejs.createNode('header_subscription');
       const Header = 'std_msgs/msg/Header';