20742259610

Committed 06 Jan 2026 08:04AM UTC coverage: 80.626% (-2.2%) from 82.843%

Build # 20742259610

Build Type

push

github

Committed by

minggangw

Commit Message

Add ClockEvent support (#1354)

This PR adds comprehensive ClockEvent support to rclnodejs, enabling clock-based sleep functionality for STEADY_TIME, SYSTEM_TIME, and ROS_TIME clocks.

### New Features

**ClockEvent Class**
- Thread-safe event synchronization for clock-based waiting
- Support for steady, system, and ROS clock types
- Async worker pattern for non-blocking sleep operations
- Clock epoch synchronization between RCL and std::chrono

**Clock Sleep Methods**
- `Clock.sleepUntil(until, context)` - Sleep until absolute time point
- `Clock.sleepFor(duration, context)` - Sleep for specified duration
- Clock jump callbacks to wake on time changes
- Context-aware early wakeup on shutdown
- Detects ROS time activation/deactivation

**ClockChange Enum**
- `ROS_TIME_NO_CHANGE`, `ROS_TIME_ACTIVATED`, `ROS_TIME_DEACTIVATED`, `SYSTEM_TIME_NO_CHANGE`
- Used in clock jump callback notifications

### Critical Fixes

**BigInt Precision Loss Prevention**
- Added lossless conversion checks for nanosecond timestamps
- Prevents silent data corruption when converting BigInt to int64_t

**Missing Module Imports**
- Fixed missing Context, ClockEvent, and ClockChange imports in clock.js

### Test Coverage

- **test-clock-event.js** - Basic ClockEvent operations (4 tests)
- **test-clock-sleep.js** - Sleep methods for all clock types (11 tests)
  - Includes comprehensive ROS time active scenario with TimeSource + simulated clock messages
- **test-clock-change.js** - ClockChange enum and integration tests (11 tests)

**Results**: 1055 passing, 6 pending

### Files Changed

**Added**: 
- `src/clock_event.{cpp,hpp}`, clock_event.js, clock_change.js
- `types/clock_event.d.ts`, `types/clock_change.d.ts`
- `test/test-clock-{event,sleep,change}.js`

**Modified**:
- clock.js - Added sleep methods and imports
- `types/clock.d.ts`, index.d.ts - Added type definitions
- `binding.gyp`, `index.js`, `src/addon.cpp` - Registered bindings

**Impact**: +1397 lines, fully backward co... (continued)

Run Details

1268 of 1753 branches covered (72.33%)

Branch coverage included in aggregate %.

40 of 42 new or added lines in 3 files covered. (95.24%)

122 existing lines in 10 files now uncovered.

2727 of 3202 relevant lines covered (85.17%)

465.68 hits per line

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87.69

/lib/validator.js

// Copyright (c) 2017 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 { TypeValidationError, NameValidationError } = require('./errors.js');

/**
 * An object - Representing a validator in ROS.
 * @exports validator
 */
let validator = {
  _createErrorFromValidation: function (result, nameValue, nameType) {
    return new NameValidationError(nameValue, nameType, result[0], result[1]);
  },

  /**
   * Validate a given topic or service name, and throw an error if invalid.
   * @param {string} topic - The name of topic/service. Must be fully-qualified and already expanded.
   * @returns {true} Always returns true if valid.
   * @throws {TypeValidationError} If topic is not a string.
   * @throws {NameValidationError} If the topic name is invalid.
   */
  validateFullTopicName(topic) {
    if (typeof topic !== 'string') {
      throw new TypeValidationError('topic', topic, 'string');
    }

    let result = rclnodejs.validateFullTopicName(topic);
    if (result === null) {
      return true;
    }
    throw this._createErrorFromValidation(result, topic, 'topic');
  },

  /**
   * Check if a fully-qualified topic name is valid without throwing.
   * @param {string} topic - The name of topic/service. Must be fully-qualified and already expanded.
   * @returns {boolean} True if valid, false otherwise.
   */
  isValidFullTopicName(topic) {
    if (typeof topic !== 'string') {
      return false;
    }
    return rclnodejs.validateFullTopicName(topic) === null;
  },

  /**
   * Validate a given node name, and throw an error if invalid.
   * @param {string} name - The name of node.
   * @returns {true} Always returns true if valid.
   * @throws {TypeValidationError} If name is not a string.
   * @throws {NameValidationError} If the node name is invalid.
   */
  validateNodeName(name) {
    if (typeof name !== 'string') {
      throw new TypeValidationError('name', name, 'string');
    }

    let result = rclnodejs.validateNodeName(name);
    if (result === null) {
      return true;
    }
    throw this._createErrorFromValidation(result, name, 'node');
  },

  /**
   * Check if a node name is valid without throwing.
   * @param {string} name - The name of node.
   * @returns {boolean} True if valid, false otherwise.
   */
  isValidNodeName(name) {
    if (typeof name !== 'string') {
      return false;
    }
    return rclnodejs.validateNodeName(name) === null;
  },

  /**
   * Validate a given topic or service name, and throw an error if invalid.
   * @param {string} topic - The name of topic/service. Does not have to be fully-qualified.
   * @returns {true} Always returns true if valid.
   * @throws {TypeValidationError} If topic is not a string.
   * @throws {NameValidationError} If the topic name is invalid.
   */
  validateTopicName(topic) {
    if (typeof topic !== 'string') {
      throw new TypeValidationError('topic', topic, 'string');
    }

    let result = rclnodejs.validateTopicName(topic);
    if (result === null) {
      return true;
    }
    throw this._createErrorFromValidation(result, topic, 'topic');
  },

  /**
   * Check if a topic name is valid without throwing.
   * @param {string} topic - The name of topic/service. Does not have to be fully-qualified.
   * @returns {boolean} True if valid, false otherwise.
   */
  isValidTopicName(topic) {
    if (typeof topic !== 'string') {
      return false;
    }
    return rclnodejs.validateTopicName(topic) === null;
  },

  /**
   * Validate a given namespace, and throw an error if invalid.
   * @param {string} namespace - The namespace to be validated.
   * @returns {true} Always returns true if valid.
   * @throws {TypeValidationError} If namespace is not a string.
   * @throws {NameValidationError} If the namespace is invalid.
   */
  validateNamespace(namespace) {
    if (typeof namespace !== 'string') {
      throw new TypeValidationError('namespace', namespace, 'string');
    }

    let result = rclnodejs.validateNamespace(namespace);
    if (result === null) {
      return true;
    }
    throw this._createErrorFromValidation(result, namespace, 'namespace');
  },

  /**
   * Check if a namespace is valid without throwing.
   * @param {string} namespace - The namespace to be validated.
   * @returns {boolean} True if valid, false otherwise.
   */
  isValidNamespace(namespace) {
    if (typeof namespace !== 'string') {
      return false;
    }
    return rclnodejs.validateNamespace(namespace) === null;
  },
};

module.exports = validator;

1	// Copyright (c) 2017 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 { TypeValidationError, NameValidationError } = require('./errors.js');	26✔
19
20	/**
21	* An object - Representing a validator in ROS.
22	* @exports validator
23	*/
24	let validator = {	26✔
25	_createErrorFromValidation: function (result, nameValue, nameType) {
26	return new NameValidationError(nameValue, nameType, result[0], result[1]);	10✔
27	},
28
29	/**
30	* Validate a given topic or service name, and throw an error if invalid.
31	* @param {string} topic - The name of topic/service. Must be fully-qualified and already expanded.
32	* @returns {true} Always returns true if valid.
33	* @throws {TypeValidationError} If topic is not a string.
34	* @throws {NameValidationError} If the topic name is invalid.
35	*/
36	validateFullTopicName(topic) {
37	if (typeof topic !== 'string') {	11!
UNCOV 38	throw new TypeValidationError('topic', topic, 'string');	×
39	}
40
41	let result = rclnodejs.validateFullTopicName(topic);	11✔
42	if (result === null) {	11✔
43	return true;	9✔
44	}
45	throw this._createErrorFromValidation(result, topic, 'topic');	2✔
46	},
47
48	/**
49	* Check if a fully-qualified topic name is valid without throwing.
50	* @param {string} topic - The name of topic/service. Must be fully-qualified and already expanded.
51	* @returns {boolean} True if valid, false otherwise.
52	*/
53	isValidFullTopicName(topic) {
54	if (typeof topic !== 'string') {	8✔
55	return false;	3✔
56	}
57	return rclnodejs.validateFullTopicName(topic) === null;	5✔
58	},
59
60	/**
61	* Validate a given node name, and throw an error if invalid.
62	* @param {string} name - The name of node.
63	* @returns {true} Always returns true if valid.
64	* @throws {TypeValidationError} If name is not a string.
65	* @throws {NameValidationError} If the node name is invalid.
66	*/
67	validateNodeName(name) {
68	if (typeof name !== 'string') {	109!
UNCOV 69	throw new TypeValidationError('name', name, 'string');	×
70	}
71
72	let result = rclnodejs.validateNodeName(name);	109✔
73	if (result === null) {	109✔
74	return true;	105✔
75	}
76	throw this._createErrorFromValidation(result, name, 'node');	4✔
77	},
78
79	/**
80	* Check if a node name is valid without throwing.
81	* @param {string} name - The name of node.
82	* @returns {boolean} True if valid, false otherwise.
83	*/
84	isValidNodeName(name) {
85	if (typeof name !== 'string') {	7✔
86	return false;	2✔
87	}
88	return rclnodejs.validateNodeName(name) === null;	5✔
89	},
90
91	/**
92	* Validate a given topic or service name, and throw an error if invalid.
93	* @param {string} topic - The name of topic/service. Does not have to be fully-qualified.
94	* @returns {true} Always returns true if valid.
95	* @throws {TypeValidationError} If topic is not a string.
96	* @throws {NameValidationError} If the topic name is invalid.
97	*/
98	validateTopicName(topic) {
99	if (typeof topic !== 'string') {	5!
UNCOV 100	throw new TypeValidationError('topic', topic, 'string');	×
101	}
102
103	let result = rclnodejs.validateTopicName(topic);	5✔
104	if (result === null) {	5✔
105	return true;	3✔
106	}
107	throw this._createErrorFromValidation(result, topic, 'topic');	2✔
108	},
109
110	/**
111	* Check if a topic name is valid without throwing.
112	* @param {string} topic - The name of topic/service. Does not have to be fully-qualified.
113	* @returns {boolean} True if valid, false otherwise.
114	*/
115	isValidTopicName(topic) {
116	if (typeof topic !== 'string') {	8✔
117	return false;	1✔
118	}
119	return rclnodejs.validateTopicName(topic) === null;	7✔
120	},
121
122	/**
123	* Validate a given namespace, and throw an error if invalid.
124	* @param {string} namespace - The namespace to be validated.
125	* @returns {true} Always returns true if valid.
126	* @throws {TypeValidationError} If namespace is not a string.
127	* @throws {NameValidationError} If the namespace is invalid.
128	*/
129	validateNamespace(namespace) {
130	if (typeof namespace !== 'string') {	4!
UNCOV 131	throw new TypeValidationError('namespace', namespace, 'string');	×
132	}
133
134	let result = rclnodejs.validateNamespace(namespace);	4✔
135	if (result === null) {	4✔
136	return true;	2✔
137	}
138	throw this._createErrorFromValidation(result, namespace, 'namespace');	2✔
139	},
140
141	/**
142	* Check if a namespace is valid without throwing.
143	* @param {string} namespace - The namespace to be validated.
144	* @returns {boolean} True if valid, false otherwise.
145	*/
146	isValidNamespace(namespace) {
147	if (typeof namespace !== 'string') {	8✔
148	return false;	2✔
149	}
150	return rclnodejs.validateNamespace(namespace) === null;	6✔
151	},
152	};
153
154	module.exports = validator;	26✔

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