23333232327

Committed 20 Mar 2026 07:27AM UTC coverage: 85.995%. Remained the same

Build # 23333232327

Build Type

push

github

Committed by

minggangw

Commit Message

Update README (#1449)

Updates the project’s README content (repo README and npm package README) to reflect current supported ROS 2 distros, modernized API usage, and clearer install/docs guidance.

**Changes:**
- Refresh README messaging (supported ROS distros, reorganized documentation links, added Quick Start).
- Update README code snippets to use OO-style APIs (`new rclnodejs.Node()` + `node.spin()`).
- Improve installation/prebuilt-binary notes and clarify message generation workflow.

### Reviewed changes

Copilot reviewed 2 out of 2 changed files in this pull request and generated 2 comments.

| File | Description |
| ---- | ----------- |
| scripts/npmjs-readme.md | Updates the npm-published README content: modernizes example code, adds docs/examples links, and documents message generation and prebuilt-binary fallback behavior. |
| README.md | Updates the repo README: supported distro note, reorganized documentation section, adds Quick Start, clarifies TypeScript typing exposure, and adds benchmark methodology disclaimer. |

Fix: #1448

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94.87

/lib/timer.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 DistroUtils = require('./distro.js');

/**
 * @class - Class representing a Timer in ROS
 * @hideconstructor
 */

class Timer {
  constructor(handle, period, callback) {
    this._handle = handle;
    this._period = period;
    this.callback = callback;
  }

  /**
   * The period of the timer in nanoseconds.
   * @type {bigint}
   */
  get period() {
    return this._period;
  }

  get handle() {
    return this._handle;
  }

  /**
   * Check if the timer is ready.
   * @return {boolean} Return true if timer is ready, otherwise return false.
   */
  isReady() {
    return rclnodejs.isTimerReady(this._handle);
  }

  /**
   * Check if the timer is canceled.
   * @return {boolean} Return true if timer is canceled, otherwise return false.
   */
  isCanceled() {
    return rclnodejs.isTimerCanceled(this._handle);
  }

  /**
   * Cancel the timer.
   * @return {undefined}
   */
  cancel() {
    rclnodejs.cancelTimer(this._handle);
  }

  /**
   * Reset the timer.
   * @return {undefined}
   */
  reset() {
    rclnodejs.resetTimer(this._handle);
  }

  /**
   * Get the interval since the last call of this timer.
   * @return {bigint} - the interval value in nanoseconds.
   */
  timeSinceLastCall() {
    return rclnodejs.timerGetTimeSinceLastCall(this._handle);
  }

  /**
   * Get the interval until the next call will happen.
   * @return {bigint} - the interval value in nanoseconds.
   */
  timeUntilNextCall() {
    return rclnodejs.timerGetTimeUntilNextCall(this._handle);
  }

  /**
   * Get the absolute time in nanoseconds when the next callback is due.
   * Note: Only available on ROS2 distributions after Humble.
   * @return {bigint | null} - The next call time in nanoseconds, or null if the timer is canceled.
   *   Returns undefined if not supported on current ROS2 distribution.
   */
  getNextCallTime() {
    if (typeof rclnodejs.getTimerNextCallTime !== 'function') {
      return undefined;
    }
    return rclnodejs.getTimerNextCallTime(this._handle);
  }

  /**
   * Change the timer period.
   * @param {bigint} period - The new period in nanoseconds.
   * @return {undefined}
   */
  changeTimerPeriod(period) {
    rclnodejs.changeTimerPeriod(this._handle, period);
  }

  /**
   * Get the timer period.
   * @return {bigint} - The period in nanoseconds.
   */
  get timerPeriod() {
    return rclnodejs.getTimerPeriod(this._handle);
  }

  /**
   * Set the on reset callback.
   * @param {function} callback - The callback to be called when the timer is reset.
   * @return {undefined}
   */
  setOnResetCallback(callback) {
    if (DistroUtils.getDistroId() <= DistroUtils.getDistroId('humble')) {
      console.warn(
        'setOnResetCallback is not supported by this version of ROS 2'
      );
      return;
    }
    rclnodejs.setTimerOnResetCallback(this._handle, callback);
  }

  /**
   * Clear the on reset callback.
   * @return {undefined}
   */
  clearOnResetCallback() {
    if (DistroUtils.getDistroId() <= DistroUtils.getDistroId('humble')) {
      console.warn(
        'clearOnResetCallback is not supported by this version of ROS 2'
      );
      return;
    }
    rclnodejs.clearTimerOnResetCallback(this._handle);
  }

  /**
   * Call a timer and starts counting again, retrieves actual and expected call time.
   * @return {object} - The timer information.
   */
  callTimerWithInfo() {
    if (DistroUtils.getDistroId() <= DistroUtils.getDistroId('humble')) {
      console.warn(
        'callTimerWithInfo is not supported by this version of ROS 2'
      );
      return;
    }
    return rclnodejs.callTimerWithInfo(this._handle);
  }
}

module.exports = Timer;

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 DistroUtils = require('./distro.js');	26✔
19
20	/**
21	* @class - Class representing a Timer in ROS
22	* @hideconstructor
23	*/
24
25	class Timer {
26	constructor(handle, period, callback) {
27	this._handle = handle;	65✔
28	this._period = period;	65✔
29	this.callback = callback;	65✔
30	}
31
32	/**
33	* The period of the timer in nanoseconds.
34	* @type {bigint}
35	*/
36	get period() {
37	return this._period;	3✔
38	}
39
40	get handle() {
41	return this._handle;	9,298✔
42	}
43
44	/**
45	* Check if the timer is ready.
46	* @return {boolean} Return true if timer is ready, otherwise return false.
47	*/
48	isReady() {
49	return rclnodejs.isTimerReady(this._handle);	4,686✔
50	}
51
52	/**
53	* Check if the timer is canceled.
54	* @return {boolean} Return true if timer is canceled, otherwise return false.
55	*/
56	isCanceled() {
57	return rclnodejs.isTimerCanceled(this._handle);	3,008✔
58	}
59
60	/**
61	* Cancel the timer.
62	* @return {undefined}
63	*/
64	cancel() {
65	rclnodejs.cancelTimer(this._handle);	49✔
66	}
67
68	/**
69	* Reset the timer.
70	* @return {undefined}
71	*/
72	reset() {
73	rclnodejs.resetTimer(this._handle);	3✔
74	}
75
76	/**
77	* Get the interval since the last call of this timer.
78	* @return {bigint} - the interval value in nanoseconds.
79	*/
80	timeSinceLastCall() {
81	return rclnodejs.timerGetTimeSinceLastCall(this._handle);	1✔
82	}
83
84	/**
85	* Get the interval until the next call will happen.
86	* @return {bigint} - the interval value in nanoseconds.
87	*/
88	timeUntilNextCall() {
89	return rclnodejs.timerGetTimeUntilNextCall(this._handle);	1✔
90	}
91
92	/**
93	* Get the absolute time in nanoseconds when the next callback is due.
94	* Note: Only available on ROS2 distributions after Humble.
95	* @return {bigint \| null} - The next call time in nanoseconds, or null if the timer is canceled.
96	* Returns undefined if not supported on current ROS2 distribution.
97	*/
98	getNextCallTime() {
99	if (typeof rclnodejs.getTimerNextCallTime !== 'function') {	3!
100	return undefined;	×
101	}
102	return rclnodejs.getTimerNextCallTime(this._handle);	3✔
103	}
104
105	/**
106	* Change the timer period.
107	* @param {bigint} period - The new period in nanoseconds.
108	* @return {undefined}
109	*/
110	changeTimerPeriod(period) {
111	rclnodejs.changeTimerPeriod(this._handle, period);	1✔
112	}
113
114	/**
115	* Get the timer period.
116	* @return {bigint} - The period in nanoseconds.
117	*/
118	get timerPeriod() {
119	return rclnodejs.getTimerPeriod(this._handle);	2✔
120	}
121
122	/**
123	* Set the on reset callback.
124	* @param {function} callback - The callback to be called when the timer is reset.
125	* @return {undefined}
126	*/
127	setOnResetCallback(callback) {
128	if (DistroUtils.getDistroId() <= DistroUtils.getDistroId('humble')) {	3✔
129	console.warn(	1✔
130	'setOnResetCallback is not supported by this version of ROS 2'
131	);
132	return;	1✔
133	}
134	rclnodejs.setTimerOnResetCallback(this._handle, callback);	2✔
135	}
136
137	/**
138	* Clear the on reset callback.
139	* @return {undefined}
140	*/
141	clearOnResetCallback() {
142	if (DistroUtils.getDistroId() <= DistroUtils.getDistroId('humble')) {	2✔
143	console.warn(	1✔
144	'clearOnResetCallback is not supported by this version of ROS 2'
145	);
146	return;	1✔
147	}
148	rclnodejs.clearTimerOnResetCallback(this._handle);	1✔
149	}
150
151	/**
152	* Call a timer and starts counting again, retrieves actual and expected call time.
153	* @return {object} - The timer information.
154	*/
155	callTimerWithInfo() {
156	if (DistroUtils.getDistroId() <= DistroUtils.getDistroId('humble')) {	2✔
157	console.warn(	1✔
158	'callTimerWithInfo is not supported by this version of ROS 2'
159	);
160	return;	1✔
161	}
162	return rclnodejs.callTimerWithInfo(this._handle);	1✔
163	}
164	}
165
166	module.exports = Timer;	26✔

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