Support for Deno & Bun (#874)

* deno detection check

* use fully-qualified import path

* add deno lock

* allow .ts file extensions

* Update Ros.js

* make websocket check more general

* fix linting

* remove contents

* Delete deno.lock

* Move to new tsconfig

---------

Co-authored-by: Sebastian Castro <[email protected]>
Co-authored-by: Ezra Brooks <[email protected]>

Author: 3 people

src/core/Action.js

@@ -5,7 +5,7 @@
 
 import { EventEmitter } from 'eventemitter3';
 import Ros from '../core/Ros.js';
-import { GoalStatus } from '../core/GoalStatus';
+import { GoalStatus } from '../core/GoalStatus.ts';
 
 /**
  * A ROS 2 action client.

src/core/Ros.js

@@ -61,15 +61,15 @@ export default class Ros extends EventEmitter {
         socketAdapter(this)
       );
     } else if (this.transportLibrary === 'websocket') {
-      // Detect if in browser vs in NodeJS
-      if (typeof window !== 'undefined') {
+      // browsers, Deno, and Bun support WebSockets natively
+      if (typeof WebSocket === 'function') {
         if (!this.socket || this.socket.readyState === WebSocket.CLOSED) {
           const sock = new WebSocket(url);
           sock.binaryType = 'arraybuffer';
           this.socket = Object.assign(sock, socketAdapter(this));
         }
       } else {
-        // if in Node.js, import ws to replace browser WebSocket API
+        // if in Node.js, import ws to replace WebSocket API
         import('ws').then((ws) => {
           if (!this.socket || this.socket.readyState === ws.WebSocket.CLOSED) {
             const sock = new ws.WebSocket(url);

tsconfig.build.json

@@ -17,6 +17,7 @@
     "tsBuildInfoFile": "./node_modules/.cache/typescript/tsbuildinfo" /* Specify the folder for .tsbuildinfo incremental compilation files. */,
     "declaration": true /* Generate .d.ts files from TypeScript and JavaScript files in your project. */,
     "skipLibCheck": true, /* Skip type checking all .d.ts files. */
+    "allowImportingTsExtensions": true,
 
     /* Module Options */
     "esModuleInterop": true /* Emit additional JavaScript to ease support for importing CommonJS modules. This enables 'allowSyntheticDefaultImports' for type compatibility. */,