19071410104

Committed 04 Nov 2025 02:08PM UTC coverage: 83.072% (+0.4%) from 82.711%

Build # 19071410104

Build Type

Pull #1320

github

Committed by

web-flow

Commit Message

Merge 9cad4567e into 3ad842cc4

Pull Request Pull Request #1320: feat: add structured error handling with class error hierarchy

Coverage Stats

1032 of 1365 branches covered (75.6%)

Branch coverage included in aggregate %.

161 of 239 new or added lines in 25 files covered. (67.36%)

29 existing lines in 1 file now uncovered.

2354 of 2711 relevant lines covered (86.83%)

459.93 hits per line

Source File
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90.48

/lib/clock.js

// Copyright (c) 2018 Intel Corporation. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

'use strict';

const rclnodejs = require('./native_loader.js');
const Time = require('./time.js');
const ClockType = require('./clock_type.js');
const { TypeValidationError } = require('./errors.js');

/**
 * @class - Class representing a Clock in ROS
 */

class Clock {
  /**
   * Create a Clock.
   * @param {ClockType} [clockType=Clock.ClockType.SYSTEM_TIME] - The type of the clock to be created.
   */
  constructor(clockType = ClockType.SYSTEM_TIME) {
    this._clockType = clockType;
    this._handle = rclnodejs.createClock(this._clockType);
  }

  /**
   * @ignore
   */
  get handle() {
    return this._handle;
  }

  /**
   * Get ClockType of this Clock object.
   * @return {ClockType} Return the type of the clock.
   */
  get clockType() {
    return this._clockType;
  }

  /**
   * Return the current time.
   * @return {Time} Return the current time.
   */
  now() {
    const nowInNanosec = rclnodejs.clockGetNow(this._handle);
    return new Time(0n, nowInNanosec, this._clockType);
  }
}

/**
 * @class - Class representing a ROSClock in ROS
 */

class ROSClock extends Clock {
  /**
   * Create a ROSClock.
   */
  constructor() {
    super(ClockType.ROS_TIME);
  }

  /**
   * Return status that whether the ROS time is active.
   * @name ROSClock#get:isRosTimeActive
   * @function
   * @return {boolean} Return true if the time is active, otherwise return false.
   */

  get isRosTimeActive() {
    return rclnodejs.getRosTimeOverrideIsEnabled(this._handle);
  }

  /**
   * Set the status of ROS time.
   * @param {boolean} enabled - Set the ROS time to be active.
   * @name ROSClock#set:isRosTimeActive
   * @function
   * @return {undefined}
   */

  set isRosTimeActive(enabled) {
    rclnodejs.setRosTimeOverrideIsEnabled(this._handle, enabled);
  }

  /**
   * Set the status of ROS time.
   * @param {Time} time - The time to be set override.
   * @name ROSClock#set:rosTimeOverride
   * @function
   * @return {undefined}
   */

  set rosTimeOverride(time) {
    if (!(time instanceof Time)) {
      throw new TypeValidationError('time', time, 'Time', {
        entityType: 'clock',
      });
    }
    rclnodejs.setRosTimeOverride(this._handle, time._handle);
  }
}

Clock.ClockType = ClockType;

module.exports = { Clock, ROSClock };

1	// Copyright (c) 2018 Intel Corporation. All rights reserved.
2	//
3	// Licensed under the Apache License, Version 2.0 (the "License");
4	// you may not use this file except in compliance with the License.
5	// You may obtain a copy of the License at
6	//
7	// http://www.apache.org/licenses/LICENSE-2.0
8	//
9	// Unless required by applicable law or agreed to in writing, software
10	// distributed under the License is distributed on an "AS IS" BASIS,
11	// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12	// See the License for the specific language governing permissions and
13	// limitations under the License.
14
15	'use strict';
16
17	const rclnodejs = require('./native_loader.js');	26✔
18	const Time = require('./time.js');	26✔
19	const ClockType = require('./clock_type.js');	26✔
20	const { TypeValidationError } = require('./errors.js');	26✔
21
22	/**
23	* @class - Class representing a Clock in ROS
24	*/
25
26	class Clock {
27	/**
28	* Create a Clock.
29	* @param {ClockType} [clockType=Clock.ClockType.SYSTEM_TIME] - The type of the clock to be created.
30	*/
31	constructor(clockType = ClockType.SYSTEM_TIME) {	1✔
32	this._clockType = clockType;	698✔
33	this._handle = rclnodejs.createClock(this._clockType);	698✔
34	}
35
36	/**
37	* @ignore
38	*/
39	get handle() {
40	return this._handle;	109✔
41	}
42
43	/**
44	* Get ClockType of this Clock object.
45	* @return {ClockType} Return the type of the clock.
46	*/
47	get clockType() {
48	return this._clockType;	4✔
49	}
50
51	/**
52	* Return the current time.
53	* @return {Time} Return the current time.
54	*/
55	now() {
56	const nowInNanosec = rclnodejs.clockGetNow(this._handle);	1,896✔
57	return new Time(0n, nowInNanosec, this._clockType);	1,896✔
58	}
59	}
60
61	/**
62	* @class - Class representing a ROSClock in ROS
63	*/
64
65	class ROSClock extends Clock {
66	/**
67	* Create a ROSClock.
68	*/
69	constructor() {
70	super(ClockType.ROS_TIME);	695✔
71	}
72
73	/**
74	* Return status that whether the ROS time is active.
75	* @name ROSClock#get:isRosTimeActive
76	* @function
77	* @return {boolean} Return true if the time is active, otherwise return false.
78	*/
79
80	get isRosTimeActive() {
81	return rclnodejs.getRosTimeOverrideIsEnabled(this._handle);	3✔
82	}
83
84	/**
85	* Set the status of ROS time.
86	* @param {boolean} enabled - Set the ROS time to be active.
87	* @name ROSClock#set:isRosTimeActive
88	* @function
89	* @return {undefined}
90	*/
91
92	set isRosTimeActive(enabled) {
93	rclnodejs.setRosTimeOverrideIsEnabled(this._handle, enabled);	696✔
94	}
95
96	/**
97	* Set the status of ROS time.
98	* @param {Time} time - The time to be set override.
99	* @name ROSClock#set:rosTimeOverride
100	* @function
101	* @return {undefined}
102	*/
103
104	set rosTimeOverride(time) {
105	if (!(time instanceof Time)) {	699!
NEW 106	throw new TypeValidationError('time', time, 'Time', {	×
107	entityType: 'clock',
108	});
109	}
110	rclnodejs.setRosTimeOverride(this._handle, time._handle);	699✔
111	}
112	}
113
114	Clock.ClockType = ClockType;	26✔
115
116	module.exports = { Clock, ROSClock };	26✔

RobotWebTools / rclnodejs / 19071410104

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