Migrate project from NAN to Node-API for improved compatibility

binding.gyp

@@ -28,8 +28,7 @@
         './src/shadow_node.cpp',
       ],
       'include_dirs': [
-        '.',
-        "<!(node -e \"require('nan')\")",
+        '<!@(node -p "require(\"node-addon-api\").include")',
         '<(ros_include_root)',
       ],
       'cflags!': [
@@ -129,6 +128,30 @@
             "defines": ["NODE_RUNTIME_ELECTRON=1"]
           }
         ],
+      ],
+      'dependencies': [
+        'scripts/config.js',
+        '<!(node -p "require(\"node-addon-api\").gyp")',
+      ],
+    },
+    {
+      "target_name": "addon",
+      "sources": [ "src/addon.cpp" ],
+      "include_dirs": [
+        "<!(node -e \"require('node-addon-api').include\")"
+      ],
+      "dependencies": [
+        "<!(node -e \"require('node-addon-api').gyp\")"
+      ],
+      "cflags!": [ "-fno-exceptions" ],
+      "cflags_cc!": [ "-fno-exceptions" ],
+      "defines": [ "NAPI_DISABLE_CPP_EXCEPTIONS" ],
+      "conditions": [
+        [ 'OS=="win"', {
+          "msvs_settings": {
+            "VCCLCompilerTool": { "ExceptionHandling": 1 }
+          }
+        }]
       ]
     }
   ]

example_napi.cc

@@ -0,0 +1,13 @@
+#include <node_api.h>
+
+// ...existing code...
+
+// N-API initialization function
+napi_value Init(napi_env env, napi_value exports) {
+  // ...existing code...
+  return exports;
+}
+
+// ...existing code...
+
+NAPI_MODULE(NODE_GYP_MODULE_NAME, Init)

example_node_api.cc

@@ -0,0 +1,13 @@
+#include <node_api.h>
+
+// ...existing code...
+
+// Node-API initialization function
+napi_value Init(napi_env env, napi_value exports) {
+  // ...existing code...
+  return exports;
+}
+
+// ...existing code...
+
+NAPI_MODULE(NODE_GYP_MODULE_NAME, Init)

package.json

@@ -80,6 +80,7 @@
     "is-close": "^1.3.3",
     "json-bigint": "^1.0.0",
     "nan": "^2.22.0",
+    "node-addon-api": "^5.0.0",
     "terser": "^5.39.0",
     "walk": "^2.3.15"
   },

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"
@@ -23,62 +24,55 @@
 #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) {
-// workaround process name mangling by chromium
-//
-// rcl logging uses `program_invocation_name` to determine the log file,
-// chromium mangles the program name to include all args, this causes a
-// ENAMETOOLONG error when starting ros. Workaround is to replace the first
-// occurence of ' -' with the null terminator. see:
-// https://unix.stackexchange.com/questions/432419/unexpected-non-null-encoding-of-proc-pid-cmdline
+napi_value Init(napi_env env, napi_value exports) {
+  // workaround process name mangling by chromium
+  //
+  // rcl logging uses `program_invocation_name` to determine the log file,
+  // chromium mangles the program name to include all args, this causes a
+  // ENAMETOOLONG error when starting ros. Workaround is to replace the first
+  // 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_named_property(env, exports, "context", &context);
 
   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);
@@ -89,6 +83,8 @@ void InitModule(v8::Local<v8::Object> exports) {
                                                 RCUTILS_LOG_SEVERITY_DEBUG);
   RCUTILS_UNUSED(result);
 #endif
+
+  return exports;
 }
 
-NODE_MODULE(rclnodejs, InitModule);
+NAPI_MODULE(NODE_GYP_MODULE_NAME, Init)

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(napi_env env, napi_callback_info 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);
@@ -160,29 +155,24 @@ 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();
   }
 }
 
-NAN_METHOD(ActionServerIsAvailable) {
-  RclHandle* node_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[0]).ToLocalChecked());
-  rcl_node_t* node = reinterpret_cast<rcl_node_t*>(node_handle->ptr());
-  RclHandle* action_client_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[1]).ToLocalChecked());
-  rcl_action_client_t* action_client =
-      reinterpret_cast<rcl_action_client_t*>(action_client_handle->ptr());
+Napi::Value ActionServerIsAvailable(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+  RclHandle* action_server_handle = RclHandle::Unwrap<RclHandle>(info[0].As<Napi::Object>());
+  rcl_action_server_t* action_server =
+      reinterpret_cast<rcl_action_server_t*>(action_server_handle->ptr());
+  rcl_action_goal_info_t* buffer = reinterpret_cast<rcl_action_goal_info_t*>(
+      node::Buffer::Data(info[1].As<Napi::Object>()));
 
-  bool is_available;
-  THROW_ERROR_IF_NOT_EQUAL(
-      RCL_RET_OK,
-      rcl_action_server_is_available(node, action_client, &is_available),
-      rcl_get_error_string().str);
+  bool exists = rcl_action_server_goal_exists(action_server, buffer);
 
-  v8::Local<v8::Boolean> result = Nan::New<v8::Boolean>(is_available);
-  info.GetReturnValue().Set(result);
+  return Napi::Boolean::New(env, exists);
 }
 
 NAN_METHOD(ActionSendGoalRequest) {
@@ -687,35 +677,31 @@ NAN_METHOD(ActionServerGoalExists) {
   info.GetReturnValue().Set(result);
 }
 
-NAN_METHOD(ActionExpireGoals) {
-  v8::Local<v8::Context> currentContent = Nan::GetCurrentContext();
-  RclHandle* action_server_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[0]).ToLocalChecked());
+Napi::Value ActionExpireGoals(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+  RclHandle* action_server_handle = RclHandle::Unwrap<RclHandle>(info[0].As<Napi::Object>());
   rcl_action_server_t* action_server =
       reinterpret_cast<rcl_action_server_t*>(action_server_handle->ptr());
-  int64_t max_num_goals = info[1]->IntegerValue(currentContent).FromJust();
+  int64_t max_num_goals = info[1].As<Napi::Number>().Int64Value();
   rcl_action_goal_info_t* buffer = reinterpret_cast<rcl_action_goal_info_t*>(
-      node::Buffer::Data(Nan::To<v8::Object>(info[2]).ToLocalChecked()));
+      node::Buffer::Data(info[2].As<Napi::Object>()));
 
   size_t num_expired;
   THROW_ERROR_IF_NOT_EQUAL(rcl_action_expire_goals(action_server, buffer,
                                                    max_num_goals, &num_expired),
                            RCL_RET_OK, rcl_get_error_string().str);
 
-  v8::Local<v8::Integer> result =
-      Nan::New<v8::Integer>(static_cast<int32_t>(num_expired));
-  info.GetReturnValue().Set(result);
+  return Napi::Number::New(env, static_cast<int32_t>(num_expired));
 }
 
-NAN_METHOD(ActionGetClientNamesAndTypesByNode) {
-  v8::Local<v8::Context> currentContent = Nan::GetCurrentContext();
-  RclHandle* node_handle = RclHandle::Unwrap<RclHandle>(
-      Nan::To<v8::Object>(info[0]).ToLocalChecked());
+Napi::Value ActionGetClientNamesAndTypesByNode(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());
   std::string node_name =
-      *Nan::Utf8String(info[1]->ToString(currentContent).ToLocalChecked());
+      info[1].As<Napi::String>().Utf8Value();
   std::string node_namespace =
-      *Nan::Utf8String(info[2]->ToString(currentContent).ToLocalChecked());
+      info[2].As<Napi::String>().Utf8Value();
 
   rcl_names_and_types_t names_and_types =
       rcl_get_zero_initialized_names_and_types();
@@ -726,15 +712,14 @@ NAN_METHOD(ActionGetClientNamesAndTypesByNode) {
                                node_namespace.c_str(), &names_and_types),
                            "Failed to action client names and types.");
 
-  v8::Local<v8::Array> result_list =
-      Nan::New<v8::Array>(names_and_types.names.size);
-  ExtractNamesAndTypes(names_and_types, &result_list);
+  Napi::Array result_list = Napi::Array::New(env, names_and_types.names.size);
+  ExtractNamesAndTypes(env, names_and_types, result_list);
 
   THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK,
                            rcl_names_and_types_fini(&names_and_types),
                            "Failed to destroy names_and_types");
 
-  info.GetReturnValue().Set(result_list);
+  return result_list;
 }
 
 NAN_METHOD(ActionGetServerNamesAndTypesByNode) {