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Merged
merged 8 commits into from
Apr 8, 2025
Merged

feat: add descriptor namespaces #1095

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5e5d647
feat: add descriptor namespaces
imcelroy Apr 4, 2025
c5e5cf7
fix saveActionAsTSD
imcelroy Apr 4, 2025
903cff3
fix add Constructor interfaces in description namespace
imcelroy Apr 7, 2025
6f32900
add descriptor interface tsd tests
imcelroy Apr 7, 2025
221138b
use expectAssignable
imcelroy Apr 7, 2025
e7e262b
use Fibonacci action as example for unit test
imcelroy Apr 7, 2025
aff6dfc
fix review comments + linting
imcelroy Apr 8, 2025
507c93d
separate contributors, add new contributions
imcelroy Apr 8, 2025
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217 changes: 149 additions & 68 deletions rostsd_gen/index.js
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,8 @@ const fs = require('fs');
const loader = require('../lib/interface_loader.js');
const pkgFilters = require('../rosidl_gen/filter.js');

const descriptorInterfaceNamespace = 'descriptor';

async function generateAll() {
// load pkg and interface info (msgs and srvs)
const generatedPath = path.join(__dirname, '../generated/');
Expand Down Expand Up @@ -119,47 +121,30 @@ function savePkgInfoAsTSD(pkgInfos, fd) {
for (const subfolder of pkgInfo.subfolders.keys()) {
fs.writeSync(fd, ` namespace ${subfolder} {\n`);

for (const rosInterface of pkgInfo.subfolders.get(subfolder)) {
const type = rosInterface.type();
const fullInterfaceName = `${type.pkgName}/${type.subFolder}/${type.interfaceName}`;
const fullInterfacePath = `${type.pkgName}.${type.subFolder}.${type.interfaceName}`;
const fullInterfaceConstructor = fullInterfacePath + 'Constructor';

if (isMsgInterface(rosInterface)) {
// create message interface
saveMsgAsTSD(rosInterface, fd);
saveMsgConstructorAsTSD(rosInterface, fd);
messagesMap[fullInterfaceName] = fullInterfacePath;
} else if (isSrvInterface(rosInterface)) {
if (
!isValidService(rosInterface, pkgInfo.subfolders.get(subfolder))
) {
let type = rosInterface.type();
console.log(
`Incomplete service: ${type.pkgName}.${type.subFolder}.${type.interfaceName}.`
);
continue;
}

// create service interface
saveSrvAsTSD(rosInterface, fd);
if (!isInternalActionSrvInterface(rosInterface)) {
servicesMap[fullInterfaceName] = fullInterfaceConstructor;
}
} else if (isActionInterface(rosInterface)) {
if (!isValidAction(rosInterface, pkgInfo.subfolders.get(subfolder))) {
let type = rosInterface.type();
console.log(
`Incomplete action: ${type.pkgName}.${type.subFolder}.${type.interfaceName}.`
);
continue;
}

// create action interface
saveActionAsTSD(rosInterface, fd);
actionsMap[fullInterfaceName] = fullInterfaceConstructor;
}
}
// generate real msg/srv/action interfaces
generateRosMsgInterfaces(
pkgInfo,
subfolder,
messagesMap,
servicesMap,
actionsMap,
fd
);

// generate descriptor msg/srv/action interfaces
fs.writeSync(fd, ` namespace ${descriptorInterfaceNamespace} {\n`);
const descriptorInterfaceType = true;
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@minggangw minggangw Apr 8, 2025

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descriptorInterfaceType => willGenerateDescriptionInterface

generateRosMsgInterfaces(
pkgInfo,
subfolder,
messagesMap,
servicesMap,
actionsMap,
fd,
descriptorInterfaceType
);
// close namespace descriptor declare
fs.writeSync(fd, ' }\n');

// close namespace declare
fs.writeSync(fd, ' }\n');
Expand Down Expand Up @@ -238,16 +223,84 @@ function savePkgInfoAsTSD(pkgInfos, fd) {
fs.writeSync(fd, '}\n');
}

function saveMsgAsTSD(rosMsgInterface, fd) {
fs.writeSync(
fd,
` export interface ${rosMsgInterface.type().interfaceName} {\n`
function generateRosMsgInterfaces(
pkgInfo,
subfolder,
messagesMap,
servicesMap,
actionsMap,
fd,
descriptorInterfaceType = false
) {
const descriptorNamespaceName = descriptorInterfaceType
? `${descriptorInterfaceNamespace}/`
: '';
const descriptorNamespacePath = descriptorInterfaceType
? `${descriptorInterfaceNamespace}.`
: '';
for (const rosInterface of pkgInfo.subfolders.get(subfolder)) {
const type = rosInterface.type();
const fullInterfaceName = `${type.pkgName}/${type.subFolder}/${descriptorNamespaceName}${type.interfaceName}`;
const fullInterfacePath = `${type.pkgName}.${type.subFolder}.${descriptorNamespacePath}${type.interfaceName}`;
const fullInterfaceConstructor = fullInterfacePath + 'Constructor';

if (isMsgInterface(rosInterface)) {
// create message interface
saveMsgAsTSD(rosInterface, fd, descriptorInterfaceType);
saveMsgConstructorAsTSD(rosInterface, fd, descriptorInterfaceType);
messagesMap[fullInterfaceName] = fullInterfacePath;
} else if (isSrvInterface(rosInterface)) {
if (!isValidService(rosInterface, pkgInfo.subfolders.get(subfolder))) {
let type = rosInterface.type();
console.log(
`Incomplete service: ${type.pkgName}.${type.subFolder}.${type.interfaceName}.`
);
continue;
}

// create service interface
saveSrvAsTSD(rosInterface, fd, descriptorInterfaceType);
if (!isInternalActionSrvInterface(rosInterface)) {
servicesMap[fullInterfaceName] = fullInterfaceConstructor;
}
} else if (isActionInterface(rosInterface)) {
if (!isValidAction(rosInterface, pkgInfo.subfolders.get(subfolder))) {
let type = rosInterface.type();
console.log(
`Incomplete action: ${type.pkgName}.${type.subFolder}.${type.interfaceName}.`
);
continue;
}

// create action interface
saveActionAsTSD(rosInterface, fd, descriptorInterfaceType);
actionsMap[fullInterfaceName] = fullInterfaceConstructor;
}
}
}

function saveMsgAsTSD(rosMsgInterface, fd, descriptorInterfaceType = false) {
const indentlevel = descriptorInterfaceType ? 8 : 6;
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@minggangw minggangw Apr 8, 2025

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nit: I prefer renaming indentlevel because it confused with indentLevel on L.292

const tmpl = indentString(
`export interface ${rosMsgInterface.type().interfaceName} {\n`,
indentlevel
);
fs.writeSync(fd, tmpl);
const useSamePkg =
isInternalActionMsgInterface(rosMsgInterface) ||
isInternalServiceEventMsgInterface(rosMsgInterface);
saveMsgFieldsAsTSD(rosMsgInterface, fd, 8, ';', '', useSamePkg);
fs.writeSync(fd, ' }\n');
const indentLevel = descriptorInterfaceType ? 10 : 8;
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@minggangw minggangw Apr 8, 2025

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Is it possible to abstract the functionality of getting the value of indent to a separate function in this file?

saveMsgFieldsAsTSD(
rosMsgInterface,
fd,
indentLevel,
';',
'',
useSamePkg,
descriptorInterfaceType
);
const tmplEnd = indentString('}\n', indentlevel);
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Copilot AI Apr 8, 2025

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In the saveMsgAsTSD function, there is an inconsistency between the variable names 'indentlevel' and 'indentLevel'. This may lead to formatting issues; consider using a consistent variable name throughout the function.

Copilot uses AI. Check for mistakes.
fs.writeSync(fd, tmplEnd);
}

/**
Expand All @@ -261,6 +314,7 @@ function saveMsgAsTSD(rosMsgInterface, fd) {
* @param {string} typePrefix The prefix to put before the type name for
* non-primitive types
* @param {boolean} useSamePackageSubFolder Indicates if the sub folder name should be taken from the message
* @param {boolean} descriptorInterfaceType Indicates if descriptor interface is being generated
* when the field type comes from the same package. This is needed for action interfaces. Defaults to false.
* @returns {undefined}
*/
Expand All @@ -270,7 +324,8 @@ function saveMsgFieldsAsTSD(
indent = 0,
lineEnd = ',',
typePrefix = '',
useSamePackageSubFolder = false
useSamePackageSubFolder = false,
descriptorInterfaceType = false
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@minggangw minggangw Apr 8, 2025

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I prefer renaming descriptorInterfaceType to willGenerateDescriptionInterface

) {
let type = rosMsgInterface.type();
let fields = rosMsgInterface.ROSMessageDef.fields;
Expand All @@ -280,49 +335,62 @@ function saveMsgFieldsAsTSD(
useSamePackageSubFolder && field.type.pkgName === type.pkgName
? type.subFolder
: 'msg';
let fieldType = fieldType2JSName(field, subFolder);
let fieldType = fieldType2JSName(field, subFolder, descriptorInterfaceType);
let tp = field.type.isPrimitiveType ? '' : typePrefix;
if (typePrefix === 'rclnodejs.') {
fieldType = 'any';
tp = '';
}

const tmpl = indentString(`${field.name}: ${tp}${fieldType}`, indent);
fs.writeSync(fd, tmpl);
let arrayString = '';
if (field.type.isArray) {
fs.writeSync(fd, '[]');
arrayString = '[]';

if (field.type.isFixedSizeArray && descriptorInterfaceType) {
arrayString = `[${field.type.arraySize}]`;
}

if (fieldType === 'number') {
if (fieldType === 'number' && !descriptorInterfaceType) {
// for number[] include alternate typed-array types, e.g., number[] | uint8[]
let jsTypedArrayName = fieldTypeArray2JSTypedArrayName(field.type.type);

if (jsTypedArrayName) {
fs.writeSync(fd, ` | ${jsTypedArrayName}`);
arrayString += ` | ${jsTypedArrayName}`;
}
}
}
const fieldString = descriptorInterfaceType
? `${field.name}: '${tp}${fieldType}${arrayString}'`
: `${field.name}: ${tp}${fieldType}${arrayString}`;
const tmpl = indentString(fieldString, indent);
fs.writeSync(fd, tmpl);

fs.writeSync(fd, lineEnd);
fs.writeSync(fd, '\n');
}
}

function saveMsgConstructorAsTSD(rosMsgInterface, fd) {
function saveMsgConstructorAsTSD(
rosMsgInterface,
fd,
descriptorInterfaceType = false
) {
const type = rosMsgInterface.type();
const msgName = type.interfaceName;

fs.writeSync(fd, ` export interface ${msgName}Constructor {\n`);
let interfaceTmpl = [`export interface ${msgName}Constructor {`];

for (const constant of rosMsgInterface.ROSMessageDef.constants) {
const constantType = primitiveType2JSName(constant.type);
fs.writeSync(fd, ` readonly ${constant.name}: ${constantType};\n`);
interfaceTmpl.push(` readonly ${constant.name}: ${constantType};`);
}

fs.writeSync(fd, ` new(other?: ${msgName}): ${msgName};\n`);
fs.writeSync(fd, ' }\n');
interfaceTmpl.push(` new(other?: ${msgName}): ${msgName};`);
interfaceTmpl.push('}');
interfaceTmpl.push('');
const indentLevel = descriptorInterfaceType ? 8 : 6;
fs.writeSync(fd, indentLines(interfaceTmpl, indentLevel).join('\n'));
}

function saveSrvAsTSD(rosSrvInterface, fd) {
function saveSrvAsTSD(rosSrvInterface, fd, descriptorInterfaceType = false) {
const serviceName = rosSrvInterface.type().interfaceName;

const interfaceTemplate = [
Expand All @@ -332,11 +400,15 @@ function saveSrvAsTSD(rosSrvInterface, fd) {
'}',
'',
];

fs.writeSync(fd, indentLines(interfaceTemplate, 6).join('\n'));
const indentLevel = descriptorInterfaceType ? 8 : 6;
fs.writeSync(fd, indentLines(interfaceTemplate, indentLevel).join('\n'));
}

function saveActionAsTSD(rosActionInterface, fd) {
function saveActionAsTSD(
rosActionInterface,
fd,
descriptorInterfaceType = false
) {
const actionName = rosActionInterface.type().interfaceName;

const interfaceTemplate = [
Expand All @@ -347,8 +419,8 @@ function saveActionAsTSD(rosActionInterface, fd) {
'}',
'',
];

fs.writeSync(fd, indentLines(interfaceTemplate, 6).join('\n'));
const indentLevel = descriptorInterfaceType ? 8 : 6;
fs.writeSync(fd, indentLines(interfaceTemplate, indentLevel).join('\n'));
}

function isMsgInterface(rosInterface) {
Expand Down Expand Up @@ -451,7 +523,16 @@ function isValidAction(rosActionInterface, infos) {
return matches === SUCCESS_MATCH_COUNT;
}

function fieldType2JSName(fieldInfo, subFolder = 'msg') {
function fieldType2JSName(
fieldInfo,
subFolder = 'msg',
descriptorInterfaceType = false
) {
if (descriptorInterfaceType) {
return fieldInfo.type.isPrimitiveType
? `${fieldInfo.type.type}`
: `${fieldInfo.type.pkgName}/${subFolder}/${fieldInfo.type.type}`;
}
return fieldInfo.type.isPrimitiveType
? primitiveType2JSName(fieldInfo.type.type)
: `${fieldInfo.type.pkgName}.${subFolder}.${fieldInfo.type.type}`;
Expand Down
39 changes: 38 additions & 1 deletion test/types/index.test-d.ts
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
/// <reference path='../../types/index.d.ts' />

import { expectType } from 'tsd';
import { expectType, expectAssignable } from 'tsd';
import * as rclnodejs from 'rclnodejs';

const NODE_NAME = 'test_node';
Expand Down Expand Up @@ -390,3 +390,40 @@ param.value.integer_value = BigInt(123);
expectType<bigint>(param.value.integer_value);
param.value.byte_array_value = [1, 2, 3];
expectType<number[]>(param.value.byte_array_value);

// ---- Descriptors -----
// Note: All fields are of type string exactly equal to the type of interface.
// built-in msg
const duration = rclnodejs.createMessageObject(
'builtin_interfaces/msg/descriptor/Duration'
);
expectType<rclnodejs.builtin_interfaces.msg.descriptor.Duration>(duration);
expectAssignable<'int32'>(duration.sec);
expectAssignable<'uint32'>(duration.nanosec);
// msg containing complex types
const poseStampedDescriptor = rclnodejs.createMessageObject(
'geometry_msgs/msg/descriptor/PoseStamped'
);
expectType<rclnodejs.geometry_msgs.msg.descriptor.PoseStamped>(
poseStampedDescriptor
);
expectAssignable<'std_msgs/msg/Header'>(poseStampedDescriptor.header);
expectAssignable<'geometry_msgs/msg/Pose'>(poseStampedDescriptor.pose);
// action interface
const fibonacciFeedback = rclnodejs.createMessageObject(
'example_interfaces/action/descriptor/Fibonacci_Feedback'
);
expectType<rclnodejs.example_interfaces.action.descriptor.Fibonacci_Feedback>(
fibonacciFeedback
);
expectAssignable<'int32[]'>(fibonacciFeedback.sequence);
// srv interface
const cancelGoalRequestDescriptor = rclnodejs.createMessageObject(
'action_msgs/srv/descriptor/CancelGoal_Request'
);
expectType<rclnodejs.action_msgs.srv.descriptor.CancelGoal_Request>(
cancelGoalRequestDescriptor
);
expectAssignable<'action_msgs/msg/GoalInfo'>(
cancelGoalRequestDescriptor.goal_info
);
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@minggangw minggangw Apr 8, 2025

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really like these ut 👍

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@imcelroy imcelroy Apr 8, 2025

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Thanks!

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