Adds msg generation support for workspace overlays

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

@@ -26,6 +26,7 @@ jobs:
         id: identify
         run: |
           if ${ROLLING_VAR} == true; then
+            # echo "::set-output name=distro::rolling"
             echo "::set-output name=distro::rolling"
             echo "::set-output name=linuxos::ubuntu-22.04"
           elif ${HUMBLE_VAR} == true; then

.gitignore

@@ -17,7 +17,6 @@ generated
 types/interfaces.d.ts
 dist
 build
-install
 log
 .vscode
 .project

example/publisher-content-filter-example.js

@@ -45,7 +45,7 @@ async function main() {
     console.log(
       `Publish temerature message-${++count}: ${temperature} degrees`
     );
-  }, 750);
+  }, 100);
 
   node.spin();
 }

example/subscription-content-filter-example.js

@@ -62,7 +62,7 @@ ${temperatureMsg.temperature}C`);
           if (subscription.hasContentFilter()) {
             console.log('Clearing filter');
             subscription.clearContentFilter();
-          } else {
+          } else if (param < 100) {
             param += 10;
             console.log('Update topic content-filter, temperature > ', param);
             const contentFilter = {

lib/subscription.js

@@ -113,7 +113,7 @@ class Subscription extends Entity {
    */
   clearContentFilter() {
     return this.hasContentFilter()
-      ? rclnodejs.setContentFilter(this.handle, { expression: '' })
+      ? rclnodejs.clearContentFilter(this.handle)
       : true;
   }
 }

package.json

@@ -55,7 +55,7 @@
     "husky": "^4.2.5",
     "jsdoc": "^3.6.7",
     "lint-staged": "^10.2.11",
-    "mocha": "^8.0.1",
+    "mocha": "^10.2.0",
     "prettier": "^2.0.5",
     "rimraf": "^3.0.2",
     "sinon": "^9.0.2",

rosidl_gen/idl_generator.js

@@ -30,6 +30,13 @@ function removeEmptyLines(str) {
   return str.replace(/^\s*\n/gm, '');
 }
 
+/**
+ * Output generated code to disk. Do not overwrite
+ * an existing file. If file already exists do nothing.
+ * @param {string} dir
+ * @param {string} fileName
+ * @param {string} code
+ */
 async function writeGeneratedCode(dir, fileName, code) {
   await fse.mkdirs(dir);
   await fse.writeFile(path.join(dir, fileName), code);

rosidl_gen/index.js

@@ -20,9 +20,10 @@ const packages = require('./packages.js');
 const path = require('path');
 
 const generatedRoot = path.join(__dirname, '../generated/');
-const installedPackagePaths = process.env.AMENT_PREFIX_PATH.split(
-  path.delimiter
-);
+
+function getInstalledPackagePaths() {
+  return process.env.AMENT_PREFIX_PATH.split(path.delimiter);
+}
 
 async function generateInPath(path) {
   const pkgs = await packages.findPackagesInDirectory(path);
@@ -40,14 +41,23 @@ async function generateAll(forcedGenerating) {
   // all the JavaScript files will be created.
   const exist = await fse.exists(generatedRoot);
   if (forcedGenerating || !exist) {
+    if (exist) {
+      // recursively clear all previously generated struct files
+      await fse.emptyDir(generatedRoot);
+    }
+
     await fse.copy(
       path.join(__dirname, 'generator.json'),
       path.join(generatedRoot, 'generator.json')
     );
 
-    await Promise.all(
-      installedPackagePaths.map((path) => generateInPath(path))
-    );
+    // Process in AMENT_PREFIX_PATH in reverse order to
+    // such that interfaces defined earlier on the AMENX_PREFIX_PATH
+    // have higher priority over earlier versions and will override
+    // them - occurences of this are expected to be rare.
+    for (let path of getInstalledPackagePaths().reverse()) {
+      await generateInPath(path);
+    }
   }
 }
 

scripts/run_test.js

@@ -20,12 +20,6 @@ const os = require('os');
 const path = require('path');
 
 let rootDir = path.dirname(__dirname);
-let actionPath = path.join(rootDir, 'test', 'ros1_actions');
-process.env.AMENT_PREFIX_PATH =
-  process.env.AMENT_PREFIX_PATH + path.delimiter + actionPath;
-let msgPath = path.join(rootDir, 'test', 'rclnodejs_test_msgs');
-process.env.AMENT_PREFIX_PATH =
-  process.env.AMENT_PREFIX_PATH + path.delimiter + msgPath;
 
 fs.remove(path.join(path.dirname(__dirname), 'generated'), (err) => {
   if (!err) {

src/rcl_bindings.cpp

@@ -36,6 +36,7 @@
 #include <rosidl_generator_c/string_functions.h>
 #endif
 
+#include <iostream>
 #include <memory>
 #include <string>
 #include <vector>
@@ -775,21 +776,21 @@ NAN_METHOD(SetContentFilter) {
   info.GetReturnValue().Set(Nan::False());
   return;
 #else
-  v8::Local<v8::Context> currentContent = Nan::GetCurrentContext();
+  v8::Local<v8::Context> currentContext = Nan::GetCurrentContext();
   RclHandle* subscription_handle = RclHandle::Unwrap<RclHandle>(
       Nan::To<v8::Object>(info[0]).ToLocalChecked());
   rcl_subscription_t* subscription =
       reinterpret_cast<rcl_subscription_t*>(subscription_handle->ptr());
 
   v8::Local<v8::Object> contentFilter =
-      info[1]->ToObject(currentContent).ToLocalChecked();
+      info[1]->ToObject(currentContext).ToLocalChecked();
 
-  // expression property is required
-  std::string expression(*Nan::Utf8String(
-      Nan::Get(contentFilter, Nan::New("expression").ToLocalChecked())
-          .ToLocalChecked()
-          ->ToString(currentContent)
-          .ToLocalChecked()));
+  Nan::MaybeLocal<v8::Value> jsExpression =
+      Nan::Get(contentFilter, Nan::New("expression").ToLocalChecked());
+  Nan::Utf8String utf8_arg(jsExpression.ToLocalChecked());
+  int len = utf8_arg.length() + 1;
+  char* expression = reinterpret_cast<char*>(malloc(len * sizeof(char*)));
+  snprintf(expression, len, "%s", *utf8_arg);
 
   // parameters property (string[]) is optional
   int argc = 0;
@@ -817,17 +818,20 @@ NAN_METHOD(SetContentFilter) {
   rcl_subscription_content_filter_options_t options =
       rcl_get_zero_initialized_subscription_content_filter_options();
 
-  THROW_ERROR_IF_NOT_EQUAL(
-      RCL_RET_OK,
-      rcl_subscription_content_filter_options_init(
-          subscription, expression.c_str(), argc, (const char**)argv, &options),
-      rcl_get_error_string().str);
+  THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK,
+                           rcl_subscription_content_filter_options_set(
+                               subscription,
+                               expression,  // expression.c_str(),
+                               argc, (const char**)argv, &options),
+                           rcl_get_error_string().str);
 
   THROW_ERROR_IF_NOT_EQUAL(
       RCL_RET_OK, rcl_subscription_set_content_filter(subscription, &options),
       rcl_get_error_string().str);
 
   if (argc) {
+    free(expression);
+
     for (int i = 0; i < argc; i++) {
       free(argv[i]);
     }
@@ -838,6 +842,34 @@ NAN_METHOD(SetContentFilter) {
 #endif
 }
 
+NAN_METHOD(ClearContentFilter) {
+#if ROS_VERSION < 2205  // 2205 => Humble+
+  info.GetReturnValue().Set(Nan::False());
+  return;
+#else
+  RclHandle* subscription_handle = RclHandle::Unwrap<RclHandle>(
+      Nan::To<v8::Object>(info[0]).ToLocalChecked());
+  rcl_subscription_t* subscription =
+      reinterpret_cast<rcl_subscription_t*>(subscription_handle->ptr());
+
+  // create ctf options
+  rcl_subscription_content_filter_options_t options =
+      rcl_get_zero_initialized_subscription_content_filter_options();
+
+  THROW_ERROR_IF_NOT_EQUAL(
+      RCL_RET_OK,
+      rcl_subscription_content_filter_options_init(
+          subscription, "", 0, (const char**)nullptr, &options),
+      rcl_get_error_string().str);
+
+  THROW_ERROR_IF_NOT_EQUAL(
+      RCL_RET_OK, rcl_subscription_set_content_filter(subscription, &options),
+      rcl_get_error_string().str);
+
+  info.GetReturnValue().Set(Nan::True());
+#endif
+}
+
 NAN_METHOD(CreatePublisher) {
   v8::Local<v8::Context> currentContent = Nan::GetCurrentContext();
   // Extract arguments
@@ -1933,6 +1965,7 @@ std::vector<BindingMethod> binding_methods = {
     {"createSubscription", CreateSubscription},
     {"hasContentFilter", HasContentFilter},
     {"setContentFilter", SetContentFilter},
+    {"clearContentFilter", ClearContentFilter},
     {"createPublisher", CreatePublisher},
     {"publish", Publish},
     {"getTopic", GetTopic},

test/blocklist.json

@@ -20,7 +20,7 @@
     "test-msg-type-py-node.js", 
     "test-msg-type-cpp-node.js", 
     "test-cross-lang.js", 
-    "test-generate-messages-bin.js", 
+    "test-message-generation-bin.js", 
     "test-subscription-content-filter.js"
   ]
 }

test/overlay_test_ws/README.md

@@ -0,0 +1,9 @@
+This folder contains an overlay workspace that extends the
+geometry_msgs/msg/Point with the additional `data` attribute.
+
+```
+float64 x
+float64 y
+float64 z
+string data  <---
+```

test/overlay_test_ws/geometry_msgs/CMakeLists.txt

@@ -0,0 +1,20 @@
+cmake_minimum_required(VERSION 3.8)
+project(geometry_msgs)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(std_msgs1 REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/Point.msg"
+)
+
+ament_package()

test/overlay_test_ws/geometry_msgs/msg/Point.msg

@@ -0,0 +1,5 @@
+# This contains the position of a point in free space
+float64 x
+float64 y
+float64 z
+string data

test/overlay_test_ws/geometry_msgs/package.xml

@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>geometry_msgs</name>
+  <version>0.1.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">wayne</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

test/overlay_test_ws/install/geometry_msgs/share/ament_index/resource_index/rosidl_interfaces/geometry_msgs

@@ -0,0 +1,2 @@
+msg/Point.idl
+msg/Point.msg

test/overlay_test_ws/install/geometry_msgs/share/geometry_msgs/msg/Point.idl

@@ -0,0 +1,20 @@
+// generated from rosidl_adapter/resource/msg.idl.em
+// with input from geometry_msgs/msg/Point.msg
+// generated code does not contain a copyright notice
+
+
+module geometry_msgs {
+  module msg {
+    @verbatim (language="comment", text=
+      "This contains the position of a point in free space")
+    struct Point {
+      double x;
+
+      double y;
+
+      double z;
+
+      string data;
+    };
+  };
+};

test/overlay_test_ws/install/geometry_msgs/share/geometry_msgs/msg/Point.msg

@@ -0,0 +1,5 @@
+# This contains the position of a point in free space
+float64 x
+float64 y
+float64 z
+string data

test/test-lifecycle.js

@@ -333,9 +333,6 @@ describe('LifecycleNode test suite', function () {
 
     let rosDistro = process.env.ROS_DISTRO;
     let firstChar = rosDistro.charAt(0);
-    console.log('1st char: ', firstChar);
-    console.log('> ', firstChar > 'g');
-
     let testNode = new rclnodejs.lifecycle.LifecycleNode(
       'TEST_NODE',
       undefined,

test/test-generate-messages-bin.js → test/test-message-generation-bin.js

@@ -56,12 +56,12 @@ describe('rclnodejs generate-messages binary-script tests', function () {
     fs.mkdirSync(this.tmpPkg);
 
     childProcess.spawnSync('npm', ['init', '-y'], {
-      stdio: 'inherit',
+      // stdio: 'inherit',
       shell: true,
       cwd: this.tmpPkg,
     });
     childProcess.spawnSync('npm', ['pack', this.cwd], {
-      stdio: 'inherit',
+      // stdio: 'inherit',
       shell: true,
       cwd: this.tmpPkg,
     });
@@ -80,7 +80,7 @@ describe('rclnodejs generate-messages binary-script tests', function () {
     }
     let tgzPath = path.join(this.tmpPkg, tgz);
     childProcess.spawnSync('npm', ['install', tgzPath], {
-      stdio: 'inherit',
+      // stdio: 'inherit',
       shell: true,
       cwd: this.tmpPkg,
     });
@@ -90,7 +90,7 @@ describe('rclnodejs generate-messages binary-script tests', function () {
       if (getNodeVersionInfo()[0] === 10) {
         rimraf.sync(generatedFolderPath);
       } else {
-        fs.rmdirSync(generatedFolderPath, { recursive: true });
+        fs.rmSync(generatedFolderPath, { recursive: true });
       }
     }
   });
@@ -100,7 +100,7 @@ describe('rclnodejs generate-messages binary-script tests', function () {
     if (getNodeVersionInfo()[0] === 10) {
       rimraf.sync(this.tmpPkg);
     } else {
-      fs.rmdirSync(this.tmpPkg, { recursive: true });
+      fs.rmSync(this.tmpPkg, { recursive: true });
     }
   });
 
@@ -113,7 +113,10 @@ describe('rclnodejs generate-messages binary-script tests', function () {
 
   it('test generate-ros-messages script operation', function (done) {
     let script = createScriptFolderPath(this.tmpPkg);
-    childProcess.spawnSync(script, [], { stdio: 'inherit', shell: true });
+    childProcess.spawnSync(script, [], {
+      // stdio: 'inherit',
+      shell: true,
+    });
 
     let generatedFolderPath = createGeneratedFolderPath(this.tmpPkg);
     assert.ok(
@@ -129,7 +132,7 @@ describe('rclnodejs generate-messages binary-script tests', function () {
 
   it('test npx generate-ros-messages script operation', function (done) {
     childProcess.spawnSync('npx', [SCRIPT_NAME], {
-      stdio: 'inherit',
+      // stdio: 'inherit',
       shell: true,
       cwd: this.tmpPkg,
     });