Split rcl_bindings.cpp file

.github/workflows/identify-ros-distro.yml

@@ -27,18 +27,18 @@ jobs:
         run: |
           if ${ROLLING_VAR} == true; then
             echo "::set-output name=distro::rolling"
-            echo "::set-output name=linuxos::ubuntu-24.04"
+            echo "::set-output name=linuxos::ubuntu:24.04"
           elif ${JAZZY_VAR} == true; then
             echo "::set-output name=distro::jazzy"
-            echo "::set-output name=linuxos::ubuntu-24.04"
+            echo "::set-output name=linuxos::ubuntu:24.04"
           elif ${IRON_VAR} == true; then
             echo "::set-output name=distro::iron"
-            echo "::set-output name=linuxos::ubuntu-22.04"
+            echo "::set-output name=linuxos::ubuntu:22.04"
           elif ${HUMBLE_VAR} == true; then
             echo "::set-output name=distro::humble"
-            echo "::set-output name=linuxos::ubuntu-22.04"
+            echo "::set-output name=linuxos::ubuntu:22.04"
           else
             echo "Unable to map branch name to ROS distro, using ROLLING as default"
             echo "::set-output name=distro::rolling"
-            echo "::set-output name=linuxos::ubuntu-24.04"
+            echo "::set-output name=linuxos::ubuntu:24.04"
           fi

.github/workflows/linux-build-and-test.yml

@@ -24,9 +24,9 @@ jobs:
 
   build:
     needs: identify-ros-distro
-    runs-on: ${{ needs.identify-ros-distro.outputs.linuxos }}
+    runs-on: ubuntu-latest
     container:
-      image: osrf/ros:${{ needs.identify-ros-distro.outputs.distro }}-desktop
+      image: ${{ needs.identify-ros-distro.outputs.linuxos }}
     strategy:
       fail-fast: false
       matrix:
@@ -39,6 +39,8 @@ jobs:
 
     - name: Setup ROS2
       uses: ros-tooling/[email protected]
+      with:
+        required-ros-distributions: ${{ needs.identify-ros-distro.outputs.distro }}
 
     - name: Install test-msgs on Linux
       run: |

binding.gyp

@@ -23,8 +23,20 @@
         './src/handle_manager.cpp',
         './src/rcl_action_bindings.cpp',
         './src/rcl_bindings.cpp',
+        './src/rcl_client_bindings.cpp',
+        './src/rcl_context_bindings.cpp',
+        './src/rcl_graph_bindings.cpp',
+        './src/rcl_guard_condition_bindings.cpp',
         './src/rcl_handle.cpp',
         './src/rcl_lifecycle_bindings.cpp',
+        './src/rcl_logging_bindings.cpp',
+        './src/rcl_names_bindings.cpp',
+        './src/rcl_node_bindings.cpp',
+        './src/rcl_publisher_bindings.cpp',
+        './src/rcl_service_bindings.cpp',
+        './src/rcl_subscription_bindings.cpp',
+        './src/rcl_time_point_bindings.cpp',
+        './src/rcl_timer_bindings.cpp',
         './src/rcl_utilities.cpp',
         './src/shadow_node.cpp',
       ],

src/addon.cpp

@@ -18,8 +18,20 @@
 #include "macros.h"
 #include "rcl_action_bindings.h"
 #include "rcl_bindings.h"
+#include "rcl_client_bindings.h"
+#include "rcl_context_bindings.h"
+#include "rcl_graph_bindings.h"
+#include "rcl_guard_condition_bindings.h"
 #include "rcl_handle.h"
 #include "rcl_lifecycle_bindings.h"
+#include "rcl_logging_bindings.h"
+#include "rcl_names_bindings.h"
+#include "rcl_node_bindings.h"
+#include "rcl_publisher_bindings.h"
+#include "rcl_service_bindings.h"
+#include "rcl_subscription_bindings.h"
+#include "rcl_time_point_bindings.h"
+#include "rcl_timer_bindings.h"
 #include "rcl_utilities.h"
 #include "shadow_node.h"
 
@@ -47,11 +59,23 @@ Napi::Object InitModule(Napi::Env env, Napi::Object exports) {
   }
 #endif
 
-  // Init the C++ bindings.
   rclnodejs::StoreEnv(env);
+  // Init the C++ bindings.
   rclnodejs::InitBindings(env, exports);
-  rclnodejs::InitAction(env, exports);
-  rclnodejs::InitLifecycle(env, exports);
+  rclnodejs::InitClientBindings(env, exports);
+  rclnodejs::InitContextBindings(env, exports);
+  rclnodejs::InitGraphBindings(env, exports);
+  rclnodejs::InitGuardConditionBindings(env, exports);
+  rclnodejs::InitLoggingBindings(env, exports);
+  rclnodejs::InitNamesBindings(env, exports);
+  rclnodejs::InitNodeBindings(env, exports);
+  rclnodejs::InitPublisherBindings(env, exports);
+  rclnodejs::InitServiceBindings(env, exports);
+  rclnodejs::InitSubscriptionBindings(env, exports);
+  rclnodejs::InitTimePointBindings(env, exports);
+  rclnodejs::InitTimerBindings(env, exports);
+  rclnodejs::InitActionBindings(env, exports);
+  rclnodejs::InitLifecycleBindings(env, exports);
   rclnodejs::ShadowNode::Init(env, exports);
   rclnodejs::RclHandle::Init(env, exports);
 

src/rcl_action_bindings.cpp

@@ -23,7 +23,6 @@
 
 #include <memory>
 #include <string>
-#include <vector>
 
 #include "handle_manager.h"
 #include "macros.h"
@@ -775,7 +774,7 @@ Napi::Value ActionGetNamesAndTypes(const Napi::CallbackInfo& info) {
   return result_list;
 }
 
-Napi::Object InitAction(Napi::Env env, Napi::Object exports) {
+Napi::Object InitActionBindings(Napi::Env env, Napi::Object exports) {
   exports.Set("actionCreateClient",
               Napi::Function::New(env, ActionCreateClient));
   exports.Set("actionCreateServer",

src/rcl_action_bindings.h

@@ -16,48 +16,10 @@
 #define SRC_RCL_ACTION_BINDINGS_H_
 
 #include <napi.h>
-#include <rcl_action/rcl_action.h>
-
-#include <memory>
-#include <string>
-#include <vector>
-
-#include "rcl_bindings.h"
 
 namespace rclnodejs {
 
-Napi::Value ActionCreateClient(const Napi::CallbackInfo& info);
-Napi::Value ActionCreateServer(const Napi::CallbackInfo& info);
-Napi::Value ActionServerIsAvailable(const Napi::CallbackInfo& info);
-Napi::Value ActionSendGoalRequest(const Napi::CallbackInfo& info);
-Napi::Value ActionTakeGoalRequest(const Napi::CallbackInfo& info);
-Napi::Value ActionSendGoalResponse(const Napi::CallbackInfo& info);
-Napi::Value ActionTakeGoalResponse(const Napi::CallbackInfo& info);
-Napi::Value ActionSendCancelRequest(const Napi::CallbackInfo& info);
-Napi::Value ActionTakeCancelRequest(const Napi::CallbackInfo& info);
-Napi::Value ActionSendCancelResponse(const Napi::CallbackInfo& info);
-Napi::Value ActionTakeCancelResponse(const Napi::CallbackInfo& info);
-Napi::Value ActionSendResultRequest(const Napi::CallbackInfo& info);
-Napi::Value ActionTakeResultRequest(const Napi::CallbackInfo& info);
-Napi::Value ActionSendResultResponse(const Napi::CallbackInfo& info);
-Napi::Value ActionTakeResultResponse(const Napi::CallbackInfo& info);
-Napi::Value ActionAcceptNewGoal(const Napi::CallbackInfo& info);
-Napi::Value ActionUpdateGoalState(const Napi::CallbackInfo& info);
-Napi::Value ActionPublishStatus(const Napi::CallbackInfo& info);
-Napi::Value ActionTakeStatus(const Napi::CallbackInfo& info);
-Napi::Value ActionGoalHandleIsActive(const Napi::CallbackInfo& info);
-Napi::Value ActionNotifyGoalDone(const Napi::CallbackInfo& info);
-Napi::Value ActionGoalHandleGetStatus(const Napi::CallbackInfo& info);
-Napi::Value ActionPublishFeedback(const Napi::CallbackInfo& info);
-Napi::Value ActionTakeFeedback(const Napi::CallbackInfo& info);
-Napi::Value ActionProcessCancelRequest(const Napi::CallbackInfo& info);
-Napi::Value ActionServerGoalExists(const Napi::CallbackInfo& info);
-Napi::Value ActionExpireGoals(const Napi::CallbackInfo& info);
-Napi::Value ActionGetClientNamesAndTypesByNode(const Napi::CallbackInfo& info);
-Napi::Value ActionGetServerNamesAndTypesByNode(const Napi::CallbackInfo& info);
-Napi::Value ActionGetNamesAndTypes(const Napi::CallbackInfo& info);
-
-Napi::Object InitAction(Napi::Env env, Napi::Object exports);
+Napi::Object InitActionBindings(Napi::Env env, Napi::Object exports);
 
 }  // namespace rclnodejs