Prefer template string for formatting

Author: EzraBrooks

eslint.config.ts

@@ -29,6 +29,7 @@ export default defineConfig(
       "@typescript-eslint/no-namespace": 0,
       // Plenty of APIs (like mocking APIs in Vitest) require empty functions to be declared.
       "@typescript-eslint/no-empty-function": 0,
+      "prefer-template": 2,
     },
   },
   {

src/actionlib/ActionClient.ts

@@ -86,31 +86,31 @@ export default class ActionClient<
     // create the topics associated with actionlib
     this.feedbackListener = new Topic({
       ros: this.ros,
-      name: this.serverName + "/feedback",
-      messageType: this.actionName + "Feedback",
+      name: `${this.serverName}/feedback`,
+      messageType: `${this.actionName}Feedback`,
     });
 
     this.statusListener = new Topic({
       ros: this.ros,
-      name: this.serverName + "/status",
+      name: `${this.serverName}/status`,
       messageType: "actionlib_msgs/GoalStatusArray",
     });
 
     this.resultListener = new Topic({
       ros: this.ros,
-      name: this.serverName + "/result",
-      messageType: this.actionName + "Result",
+      name: `${this.serverName}/result`,
+      messageType: `${this.actionName}Result`,
     });
 
     this.goalTopic = new Topic({
       ros: this.ros,
-      name: this.serverName + "/goal",
-      messageType: this.actionName + "Goal",
+      name: `${this.serverName}/goal`,
+      messageType: `${this.actionName}Goal`,
     });
 
     this.cancelTopic = new Topic({
       ros: this.ros,
-      name: this.serverName + "/cancel",
+      name: `${this.serverName}/cancel`,
       messageType: "actionlib_msgs/GoalID",
     });
 

src/actionlib/ActionListener.ts

@@ -55,22 +55,22 @@ export default class ActionListener<
     // create the topics associated with actionlib
     const goalListener = new Topic<TGoal>({
       ros: this.ros,
-      name: this.serverName + "/goal",
-      messageType: this.actionName + "Goal",
+      name: `${this.serverName}/goal`,
+      messageType: `${this.actionName}Goal`,
     });
 
     const feedbackListener = new Topic<{
       status: actionlib_msgs.GoalStatus;
       feedback: TFeedback;
     }>({
       ros: this.ros,
-      name: this.serverName + "/feedback",
-      messageType: this.actionName + "Feedback",
+      name: `${this.serverName}/feedback`,
+      messageType: `${this.actionName}Feedback`,
     });
 
     const statusListener = new Topic<actionlib_msgs.GoalStatusArray>({
       ros: this.ros,
-      name: this.serverName + "/status",
+      name: `${this.serverName}/status`,
       messageType: "actionlib_msgs/GoalStatusArray",
     });
 
@@ -79,8 +79,8 @@ export default class ActionListener<
       result: TResult;
     }>({
       ros: this.ros,
-      name: this.serverName + "/result",
-      messageType: this.actionName + "Result",
+      name: `${this.serverName}/result`,
+      messageType: `${this.actionName}Result`,
     });
 
     goalListener.subscribe((goalMessage) => {

src/actionlib/SimpleActionServer.ts

@@ -63,22 +63,22 @@ export default class SimpleActionServer<
     // create and advertise publishers
     this.feedbackPublisher = new Topic({
       ros: this.ros,
-      name: this.serverName + "/feedback",
-      messageType: this.actionName + "Feedback",
+      name: `${this.serverName}/feedback`,
+      messageType: `${this.actionName}Feedback`,
     });
     this.feedbackPublisher.advertise();
 
     const statusPublisher = new Topic({
       ros: this.ros,
-      name: this.serverName + "/status",
+      name: `${this.serverName}/status`,
       messageType: "actionlib_msgs/GoalStatusArray",
     });
     statusPublisher.advertise();
 
     this.resultPublisher = new Topic({
       ros: this.ros,
-      name: this.serverName + "/result",
-      messageType: this.actionName + "Result",
+      name: `${this.serverName}/result`,
+      messageType: `${this.actionName}Result`,
     });
     this.resultPublisher.advertise();
 
@@ -88,13 +88,13 @@ export default class SimpleActionServer<
       goal_id: actionlib_msgs.GoalID;
     }>({
       ros: this.ros,
-      name: this.serverName + "/goal",
-      messageType: this.actionName + "Goal",
+      name: `${this.serverName}/goal`,
+      messageType: `${this.actionName}Goal`,
     });
 
     const cancelListener = new Topic<actionlib_msgs.GoalID>({
       ros: this.ros,
-      name: this.serverName + "/cancel",
+      name: `${this.serverName}/cancel`,
       messageType: "actionlib_msgs/GoalID",
     });
 

src/core/Ros.ts

@@ -174,7 +174,7 @@ export default class Ros extends EventEmitter<
       this.emit(message.id, message);
     } else if (isRosbridgeStatusMessage(message)) {
       if (message.id) {
-        this.emit("status:" + message.id, message);
+        this.emit(`status:${message.id}`, message);
       } else {
         this.emit("status", message);
       }
@@ -716,10 +716,7 @@ export default class Ros extends EventEmitter<
               typeDefDict[fieldName] = [subResult];
             }
           } else {
-            this.emit(
-              "error",
-              "Cannot find " + fieldType + " in decodeTypeDefs",
-            );
+            this.emit("error", `Cannot find ${fieldType} in decodeTypeDefs`);
           }
         }
       }

src/core/Service.ts

@@ -74,7 +74,7 @@ export default class Service<TRequest, TResponse> extends EventEmitter {
       return;
     }
 
-    const serviceCallId = "call_service:" + this.name + ":" + uuidv4();
+    const serviceCallId = `call_service:${this.name}:${uuidv4()}`;
 
     this.ros.once(serviceCallId, function (message) {
       if (isRosbridgeServiceResponseMessage<TResponse>(message)) {

src/core/SocketAdapter.ts

@@ -120,7 +120,7 @@ export default class SocketAdapter {
 
     if (!entry) {
       // Should not happen, signal error
-      throw new Error("Fragment buffer entry missing for id: " + id);
+      throw new Error(`Fragment buffer entry missing for id: ${id}`);
     }
     // Only accept fragments within the integer part of total
     if (num < totalInt) {

src/core/Topic.ts

@@ -99,8 +99,9 @@ export default class Topic<T> extends EventEmitter<{
     ) {
       this.emit(
         "warning",
-        this.compression +
-          " compression is not supported. No compression will be used.",
+        `${
+          this.compression
+        } compression is not supported. No compression will be used.`,
       );
       this.compression = "none";
     }
@@ -109,7 +110,7 @@ export default class Topic<T> extends EventEmitter<{
     if (this.throttle_rate < 0) {
       this.emit(
         "warning",
-        this.throttle_rate.toString() + " is not allowed. Set to 0",
+        `${this.throttle_rate.toString()} is not allowed. Set to 0`,
       );
       this.throttle_rate = 0;
     }
@@ -153,7 +154,7 @@ export default class Topic<T> extends EventEmitter<{
       return;
     }
     this.ros.on(this.name, this.#messageCallback);
-    this.subscribeId = "subscribe:" + this.name + ":" + uuidv4();
+    this.subscribeId = `subscribe:${this.name}:${uuidv4()}`;
 
     this.callForSubscribeAndAdvertise({
       op: "subscribe",
@@ -205,7 +206,7 @@ export default class Topic<T> extends EventEmitter<{
     if (this.isAdvertised) {
       return;
     }
-    this.advertiseId = "advertise:" + this.name + ":" + uuidv4();
+    this.advertiseId = `advertise:${this.name}:${uuidv4()}`;
     this.callForSubscribeAndAdvertise({
       op: "advertise",
       id: this.advertiseId,
@@ -252,7 +253,7 @@ export default class Topic<T> extends EventEmitter<{
 
     const call = {
       op: "publish",
-      id: "publish:" + this.name + ":" + uuidv4(),
+      id: `publish:${this.name}:${uuidv4()}`,
       topic: this.name,
       msg: message,
       latch: this.latch,

src/util/shim/decompressPng.ts

@@ -57,5 +57,5 @@ export default function decompressPng(
     callback(JSON.parse(jsonData));
   };
   // Sends the image data to load.
-  image.src = "data:image/png;base64," + data;
+  image.src = `data:image/png;base64,${data}`;
 }