25727559523

Committed 12 May 2026 10:04AM UTC coverage: 85.474% (+0.08%) from 85.399%

Build # 25727559523

Build Type

push

github

Committed by

web-flow

Commit Message

[Web Runtime] rclnodejs-web CLI launcher (#1513)

Adds the bundled `rclnodejs-web` (and `rcl-web` short alias) CLI so frontend developers can run the Web Runtime without writing a Node.js server.

- `bin/rclnodejs-web.js` (new, 138 LOC) — declarative launcher. Reads a JSON config (`web.json`) and/or repeatable `--call` / `--publish` / `--subscribe` flags. Always starts the WebSocket transport; opt-in HTTP via `--http-port` (or an `http: { port }` block in the config file). Defers `require('rclnodejs')` until after argv parsing so `--help` / `--version` stay fast. Supports ephemeral `--port 0` / `--http-port 0` for tests. Handles SIGINT/SIGTERM with `runtime.stop()` + `rclnodejs.shutdown()`.

- `lib/runtime/cli-config.js` (new, 339 LOC) — pure-data argv parser + JSON config loader + validator + defaults merger. Independent of rclnodejs so it can be unit-tested without spinning up a node. Exports `DEFAULTS`, `parseArgv`, `loadConfigFile`, `validateConfig`, `mergeConfig`, `CliError`, `HELP`. Defaults: `port=9000`, `host='::'` (dual-stack), `path='/capability'`, `node='rclnodejs_web'`, `http.port=null` (disabled).

- `test/test-web-cli.js` (new, 459 LOC) — 25 mocha cases: parseArgv (8), config-file load + validate including the `http` block (10), mergeConfig precedence (5), and end-to-end CLI launches that probe the runtime via raw WebSocket and HTTP `fetch` (3).

- `package.json` — two `bin` entries: `rclnodejs-web` (canonical) and `rcl-web` (short alias).

Fix: #1510

Coverage Stats

1828 of 2323 branches covered (78.69%)

Branch coverage included in aggregate %.

103 of 115 new or added lines in 1 file covered. (89.57%)

3609 of 4038 relevant lines covered (89.38%)

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86.94

/lib/runtime/cli-config.js

// Copyright (c) 2026 RobotWebTools Contributors. 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
//
// Programmatic config loader for the `rclnodejs-web` CLI.
//
// Pure-data; does not import rclnodejs. Kept separate from bin/ so it
// can be unit-tested without spinning up a node.

'use strict';

const fs = require('node:fs');
const path = require('node:path');

const DEFAULTS = Object.freeze({
  port: 9000,
  // '::' = dual-stack: accepts both IPv6 and IPv4-mapped connections.
  // Matches Node's http server default and avoids browser "localhost"
  // mismatches on WSL2 / glibc systems where localhost resolves to
  // ::1 first. Pass --host 0.0.0.0 to bind IPv4 only.
  host: '::',
  path: '/capability',
  node: 'rclnodejs_web',
  // Optional HTTP transport for `call`/`publish`. Disabled by default;
  // set `port` (or pass `--http-port` on the CLI) to turn it on.
  // `host` defaults to the same dual-stack address as the WS listener.
  // `basePath` defaults to `/capability`.
  http: { port: null, host: null, basePath: null },
  expose: { call: {}, publish: {}, subscribe: {} },
});

const KINDS = ['call', 'publish', 'subscribe'];

/**
 * Parse command-line argv (without the leading `node`/script entries)
 * into a partial config object. Flags here override anything from a
 * config file later via {@link mergeConfig}.
 *
 * @param {string[]} argv
 * @returns {{configPath?: string, partial: object, help?: boolean, version?: boolean, quiet?: boolean}}
 */
function parseArgv(argv) {
  const partial = {
    expose: { call: {}, publish: {}, subscribe: {} },
    http: {},
  };
  const out = { partial };
  let i = 0;
  while (i < argv.length) {
    const a = argv[i];
    const eat = (name) => {
      const v = argv[i + 1];
      if (v === undefined || v.startsWith('-')) {
        throw new CliError(`flag ${name} requires a value`);
      }
      i += 2;
      return v;
    };
    if (a === '--help' || a === '-h') {
      out.help = true;
      i++;
    } else if (a === '--version' || a === '-V') {
      out.version = true;
      i++;
    } else if (a === '--quiet' || a === '-q') {
      out.quiet = true;
      i++;
    } else if (a === '--port' || a === '-p') {
      partial.port = Number(eat(a));
    } else if (a === '--host') {
      partial.host = eat(a);
    } else if (a === '--path') {
      partial.path = eat(a);
    } else if (a === '--node-name' || a === '--node') {
      partial.node = eat(a);
    } else if (a === '--http-port') {
      partial.http.port = Number(eat(a));
    } else if (a === '--http-host') {
      partial.http.host = eat(a);
    } else if (a === '--http-base-path') {
      partial.http.basePath = eat(a);
    } else if (a === '--call' || a === '--publish' || a === '--subscribe') {
      const kind = a.slice(2);
      const pair = eat(a);
      const eq = pair.indexOf('=');
      if (eq <= 0) {
        throw new CliError(
          `${a} expects <name>=<type> (got ${JSON.stringify(pair)})`
        );
      }
      partial.expose[kind][pair.slice(0, eq)] = pair.slice(eq + 1);
    } else if (a.startsWith('-')) {
      throw new CliError(`unknown flag: ${a}`);
    } else if (!out.configPath) {
      out.configPath = a;
      i++;
    } else {
      throw new CliError(`unexpected positional argument: ${a}`);
    }
  }
  return out;
}

/**
 * Load and validate a JSON config file. Returns an empty object if no
 * path is given.
 *
 * @param {string|undefined} configPath
 * @returns {object}
 */
function loadConfigFile(configPath) {
  if (!configPath) return {};
  const abs = path.resolve(configPath);
  let raw;
  try {
    raw = fs.readFileSync(abs, 'utf8');
  } catch (e) {
    throw new CliError(`cannot read config: ${abs}: ${e.message}`);
  }
  let cfg;
  try {
    cfg = JSON.parse(raw);
  } catch (e) {
    throw new CliError(`invalid JSON in ${abs}: ${e.message}`);
  }
  validateConfig(cfg, abs);
  return cfg;
}

/**
 * Shape-check a parsed config. Throws on bad shape with a precise
 * message; returns nothing on success.
 *
 * @param {*} cfg
 * @param {string} [origin]
 */
function validateConfig(cfg, origin = 'config') {
  if (cfg === null || typeof cfg !== 'object' || Array.isArray(cfg)) {
    throw new CliError(`${origin}: top-level value must be a JSON object`);
  }
  if (cfg.port !== undefined && !Number.isFinite(cfg.port)) {
    throw new CliError(`${origin}: "port" must be a number`);
  }
  if (cfg.host !== undefined && typeof cfg.host !== 'string') {
    throw new CliError(`${origin}: "host" must be a string`);
  }
  if (cfg.path !== undefined && typeof cfg.path !== 'string') {
    throw new CliError(`${origin}: "path" must be a string`);
  }
  if (cfg.node !== undefined && typeof cfg.node !== 'string') {
    throw new CliError(`${origin}: "node" must be a string`);
  }
  if (cfg.http !== undefined) {
    if (
      cfg.http === null ||
      typeof cfg.http !== 'object' ||
      Array.isArray(cfg.http)
    ) {
      throw new CliError(`${origin}: "http" must be an object`);
    }
    if (
      cfg.http.port !== undefined &&
      cfg.http.port !== null &&
      !Number.isFinite(cfg.http.port)
    ) {
      throw new CliError(`${origin}: "http.port" must be a number`);
    }
    if (
      cfg.http.host !== undefined &&
      cfg.http.host !== null &&
      typeof cfg.http.host !== 'string'
    ) {
      throw new CliError(`${origin}: "http.host" must be a string`);
    }
    if (
      cfg.http.basePath !== undefined &&
      cfg.http.basePath !== null &&
      typeof cfg.http.basePath !== 'string'
    ) {
      throw new CliError(`${origin}: "http.basePath" must be a string`);
    }
  }
  if (cfg.expose !== undefined) {
    if (
      cfg.expose === null ||
      typeof cfg.expose !== 'object' ||
      Array.isArray(cfg.expose)
    ) {
      throw new CliError(`${origin}: "expose" must be an object`);
    }
    for (const kind of Object.keys(cfg.expose)) {
      if (!KINDS.includes(kind)) {
        throw new CliError(
          `${origin}: "expose.${kind}" — unknown kind; allowed: ${KINDS.join(', ')}`
        );
      }
      const m = cfg.expose[kind];
      if (m === null || typeof m !== 'object' || Array.isArray(m)) {
        throw new CliError(`${origin}: "expose.${kind}" must be an object`);
      }
      for (const [name, value] of Object.entries(m)) {
        // Accept either the shorthand string form or the rich
        // `{ type: string, ... }` form. The rich form's extra keys are
        // reserved for forward-compatible per-capability metadata
        // (e.g. QoS); the validator only insists on a non-empty type.
        if (typeof value === 'string') {
          if (!value) {
            throw new CliError(
              `${origin}: expose.${kind}["${name}"] must be a non-empty string`
            );
          }
        } else if (
          value &&
          typeof value === 'object' &&
          !Array.isArray(value) &&
          typeof value.type === 'string' &&
          value.type
        ) {
          // ok — rich form with at least { type }
        } else {
          throw new CliError(
            `${origin}: expose.${kind}["${name}"] must be a non-empty string or { "type": "<pkg>/<kind>/<Name>" }`
          );
        }
      }
    }
  }
}

/**
 * Merge defaults ⊕ file config ⊕ CLI partial into a fully-resolved
 * config. Later sources win.
 */
function mergeConfig(...sources) {
  const out = JSON.parse(JSON.stringify(DEFAULTS));
  for (const src of sources) {
    if (!src) continue;
    for (const k of ['port', 'host', 'path', 'node']) {
      if (src[k] !== undefined) out[k] = src[k];
    }
    if (src.http) {
      for (const k of ['port', 'host', 'basePath']) {
        if (src.http[k] !== undefined && src.http[k] !== null) {
          out.http[k] = src.http[k];
        }
      }
    }
    if (src.expose) {
      for (const kind of KINDS) {
        if (src.expose[kind]) {
          Object.assign(out.expose[kind], src.expose[kind]);
        }
      }
    }
  }
  return out;
}

class CliError extends Error {
  constructor(message) {
    super(message);
    this.name = 'CliError';
    this.cli = true;
  }
}

const HELP = `Usage: rclnodejs-web [config.json] [options]

  rclnodejs/web — typed Web SDK and capability runtime for ROS 2.

  Start a runtime that exposes a declarative allow-list of ROS 2
  topics and services to browsers. Speaks both WebSocket (always
  on) and HTTP (opt-in via --http-port).

WebSocket transport (always on):
  -p, --port <n>              WS listen port           (default 9000)
      --host <addr>           WS bind host             (default ::, dual-stack)
      --path <url>            WS URL path              (default /capability)

HTTP transport (opt-in; for call/publish only):
      --http-port <n>         HTTP listen port         (disabled if omitted)
      --http-host <addr>      HTTP bind host           (default same as --host)
      --http-base-path <p>    HTTP base path           (default /capability)

Capabilities:
      --call <name>=<type>    expose a service capability   (repeatable)
      --publish <name>=<type> expose a topic publish        (repeatable)
      --subscribe <n>=<type>  expose a topic subscription   (repeatable)

Other:
      --node-name <name>      ROS 2 node name          (default rclnodejs_web)
  -q, --quiet                 don't print the startup banner
  -h, --help                  show this help
  -V, --version               show rclnodejs version

Examples:
  rclnodejs-web --port 9000 \\
    --call /add_two_ints=example_interfaces/srv/AddTwoInts \\
    --subscribe /scan=sensor_msgs/msg/LaserScan

  # Add HTTP for call/publish on :9001 (curl-able):
  rclnodejs-web --port 9000 --http-port 9001 \\
    --call /add_two_ints=example_interfaces/srv/AddTwoInts

  # Or all from a JSON config:
  rclnodejs-web web.json

Config-file shape (every field optional):
  {
    "port": 9000, "host": "::", "path": "/capability",
    "http": { "port": 9001 },
    "expose": {
      "call":      { "/add_two_ints": "example_interfaces/srv/AddTwoInts" },
      "publish":   { "/cmd_vel":      "geometry_msgs/msg/Twist" },
      "subscribe": { "/scan":         "sensor_msgs/msg/LaserScan" }
    }
  }

Notes:
  The startup banner ("rclnodejs/web listening on …") is human-readable
  only; its exact wording may change between minor versions. Scripts
  and CI jobs should run with --quiet and rely on the exit status or
  the explicit --port value rather than scraping the banner.
`;

module.exports = {
  DEFAULTS,
  KINDS,
  CliError,
  HELP,
  parseArgv,
  loadConfigFile,
  validateConfig,
  mergeConfig,
};

1	// Copyright (c) 2026 RobotWebTools Contributors. 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	// Programmatic config loader for the `rclnodejs-web` CLI.
10	//
11	// Pure-data; does not import rclnodejs. Kept separate from bin/ so it
12	// can be unit-tested without spinning up a node.
13
14	'use strict';
15
16	const fs = require('node:fs');	3✔
17	const path = require('node:path');	3✔
18
19	const DEFAULTS = Object.freeze({	3✔
20	port: 9000,
21	// '::' = dual-stack: accepts both IPv6 and IPv4-mapped connections.
22	// Matches Node's http server default and avoids browser "localhost"
23	// mismatches on WSL2 / glibc systems where localhost resolves to
24	// ::1 first. Pass --host 0.0.0.0 to bind IPv4 only.
25	host: '::',
26	path: '/capability',
27	node: 'rclnodejs_web',
28	// Optional HTTP transport for `call`/`publish`. Disabled by default;
29	// set `port` (or pass `--http-port` on the CLI) to turn it on.
30	// `host` defaults to the same dual-stack address as the WS listener.
31	// `basePath` defaults to `/capability`.
32	http: { port: null, host: null, basePath: null },
33	expose: { call: {}, publish: {}, subscribe: {} },
34	});
35
36	const KINDS = ['call', 'publish', 'subscribe'];	3✔
37
38	/**
39	* Parse command-line argv (without the leading `node`/script entries)
40	* into a partial config object. Flags here override anything from a
41	* config file later via {@link mergeConfig}.
42	*
43	* @param {string[]} argv
44	* @returns {{configPath?: string, partial: object, help?: boolean, version?: boolean, quiet?: boolean}}
45	*/
46	function parseArgv(argv) {
47	const partial = {	13✔
48	expose: { call: {}, publish: {}, subscribe: {} },
49	http: {},
50	};
51	const out = { partial };	13✔
52	let i = 0;	13✔
53	while (i < argv.length) {	13✔
54	const a = argv[i];	23✔
55	const eat = (name) => {	23✔
56	const v = argv[i + 1];	16✔
57	if (v === undefined \|\| v.startsWith('-')) {	16!
NEW 58	throw new CliError(`flag ${name} requires a value`);	×
59	}
60	i += 2;	16✔
61	return v;	16✔
62	};
63	if (a === '--help' \|\| a === '-h') {	23✔
64	out.help = true;	3✔
65	i++;	3✔
66	} else if (a === '--version' \|\| a === '-V') {	20✔
67	out.version = true;	1✔
68	i++;	1✔
69	} else if (a === '--quiet' \|\| a === '-q') {	19✔
70	out.quiet = true;	1✔
71	i++;	1✔
72	} else if (a === '--port' \|\| a === '-p') {	18✔
73	partial.port = Number(eat(a));	3✔
74	} else if (a === '--host') {	15✔
75	partial.host = eat(a);	2✔
76	} else if (a === '--path') {	13✔
77	partial.path = eat(a);	1✔
78	} else if (a === '--node-name' \|\| a === '--node') {	12✔
79	partial.node = eat(a);	2✔
80	} else if (a === '--http-port') {	10✔
81	partial.http.port = Number(eat(a));	1✔
82	} else if (a === '--http-host') {	9✔
83	partial.http.host = eat(a);	1✔
84	} else if (a === '--http-base-path') {	8✔
85	partial.http.basePath = eat(a);	1✔
86	} else if (a === '--call' \|\| a === '--publish' \|\| a === '--subscribe') {	7✔
87	const kind = a.slice(2);	5✔
88	const pair = eat(a);	5✔
89	const eq = pair.indexOf('=');	5✔
90	if (eq <= 0) {	5✔
91	throw new CliError(	1✔
92	`${a} expects <name>=<type> (got ${JSON.stringify(pair)})`
93	);
94	}
95	partial.expose[kind][pair.slice(0, eq)] = pair.slice(eq + 1);	4✔
96	} else if (a.startsWith('-')) {	2✔
97	throw new CliError(`unknown flag: ${a}`);	1✔
98	} else if (!out.configPath) {	1!
99	out.configPath = a;	1✔
100	i++;	1✔
101	} else {
NEW 102	throw new CliError(`unexpected positional argument: ${a}`);	×
103	}
104	}
105	return out;	11✔
106	}
107
108	/**
109	* Load and validate a JSON config file. Returns an empty object if no
110	* path is given.
111	*
112	* @param {string\|undefined} configPath
113	* @returns {object}
114	*/
115	function loadConfigFile(configPath) {
116	if (!configPath) return {};	5✔
117	const abs = path.resolve(configPath);	3✔
118	let raw;
119	try {	3✔
120	raw = fs.readFileSync(abs, 'utf8');	3✔
121	} catch (e) {
122	throw new CliError(`cannot read config: ${abs}: ${e.message}`);	1✔
123	}
124	let cfg;
125	try {	2✔
126	cfg = JSON.parse(raw);	2✔
127	} catch (e) {
128	throw new CliError(`invalid JSON in ${abs}: ${e.message}`);	1✔
129	}
130	validateConfig(cfg, abs);	1✔
131	return cfg;	1✔
132	}
133
134	/**
135	* Shape-check a parsed config. Throws on bad shape with a precise
136	* message; returns nothing on success.
137	*
138	* @param {*} cfg
139	* @param {string} [origin]
140	*/
141	function validateConfig(cfg, origin = 'config') {	5✔
142	if (cfg === null \|\| typeof cfg !== 'object' \|\| Array.isArray(cfg)) {	6!
NEW 143	throw new CliError(`${origin}: top-level value must be a JSON object`);	×
144	}
145	if (cfg.port !== undefined && !Number.isFinite(cfg.port)) {	6!
NEW 146	throw new CliError(`${origin}: "port" must be a number`);	×
147	}
148	if (cfg.host !== undefined && typeof cfg.host !== 'string') {	6!
NEW 149	throw new CliError(`${origin}: "host" must be a string`);	×
150	}
151	if (cfg.path !== undefined && typeof cfg.path !== 'string') {	6!
NEW 152	throw new CliError(`${origin}: "path" must be a string`);	×
153	}
154	if (cfg.node !== undefined && typeof cfg.node !== 'string') {	6!
NEW 155	throw new CliError(`${origin}: "node" must be a string`);	×
156	}
157	if (cfg.http !== undefined) {	6✔
158	if (	3✔
159	cfg.http === null \|\|	9✔
160	typeof cfg.http !== 'object' \|\|
161	Array.isArray(cfg.http)
162	) {
163	throw new CliError(`${origin}: "http" must be an object`);	1✔
164	}
165	if (	2✔
166	cfg.http.port !== undefined &&	6✔
167	cfg.http.port !== null &&
168	!Number.isFinite(cfg.http.port)
169	) {
170	throw new CliError(`${origin}: "http.port" must be a number`);	1✔
171	}
172	if (	1!
173	cfg.http.host !== undefined &&	3✔
174	cfg.http.host !== null &&
175	typeof cfg.http.host !== 'string'
176	) {
NEW 177	throw new CliError(`${origin}: "http.host" must be a string`);	×
178	}
179	if (	1!
180	cfg.http.basePath !== undefined &&	3✔
181	cfg.http.basePath !== null &&
182	typeof cfg.http.basePath !== 'string'
183	) {
NEW 184	throw new CliError(`${origin}: "http.basePath" must be a string`);	×
185	}
186	}
187	if (cfg.expose !== undefined) {	4✔
188	if (	3!
189	cfg.expose === null \|\|	9✔
190	typeof cfg.expose !== 'object' \|\|
191	Array.isArray(cfg.expose)
192	) {
NEW 193	throw new CliError(`${origin}: "expose" must be an object`);	×
194	}
195	for (const kind of Object.keys(cfg.expose)) {	3✔
196	if (!KINDS.includes(kind)) {	3✔
197	throw new CliError(	1✔
198	`${origin}: "expose.${kind}" — unknown kind; allowed: ${KINDS.join(', ')}`
199	);
200	}
201	const m = cfg.expose[kind];	2✔
202	if (m === null \|\| typeof m !== 'object' \|\| Array.isArray(m)) {	2!
NEW 203	throw new CliError(`${origin}: "expose.${kind}" must be an object`);	×
204	}
205	for (const [name, value] of Object.entries(m)) {	2✔
206	// Accept either the shorthand string form or the rich
207	// `{ type: string, ... }` form. The rich form's extra keys are
208	// reserved for forward-compatible per-capability metadata
209	// (e.g. QoS); the validator only insists on a non-empty type.
210	if (typeof value === 'string') {	2✔
211	if (!value) {	1!
NEW 212	throw new CliError(	×
213	`${origin}: expose.${kind}["${name}"] must be a non-empty string`
214	);
215	}
216	} else if (	1!
217	value &&	2!
218	typeof value === 'object' &&
219	!Array.isArray(value) &&
220	typeof value.type === 'string' &&
221	value.type
222	) {
223	// ok — rich form with at least { type }
224	} else {
225	throw new CliError(	1✔
226	`${origin}: expose.${kind}["${name}"] must be a non-empty string or { "type": "<pkg>/<kind>/<Name>" }`
227	);
228	}
229	}
230	}
231	}
232	}
233
234	/**
235	* Merge defaults ⊕ file config ⊕ CLI partial into a fully-resolved
236	* config. Later sources win.
237	*/
238	function mergeConfig(...sources) {
239	const out = JSON.parse(JSON.stringify(DEFAULTS));	6✔
240	for (const src of sources) {	6✔
241	if (!src) continue;	12!
242	for (const k of ['port', 'host', 'path', 'node']) {	12✔
243	if (src[k] !== undefined) out[k] = src[k];	48✔
244	}
245	if (src.http) {	12✔
246	for (const k of ['port', 'host', 'basePath']) {	3✔
247	if (src.http[k] !== undefined && src.http[k] !== null) {	9✔
248	out.http[k] = src.http[k];	3✔
249	}
250	}
251	}
252	if (src.expose) {	12✔
253	for (const kind of KINDS) {	3✔
254	if (src.expose[kind]) {	9✔
255	Object.assign(out.expose[kind], src.expose[kind]);	5✔
256	}
257	}
258	}
259	}
260	return out;	6✔
261	}
262
263	class CliError extends Error {
264	constructor(message) {
265	super(message);	8✔
266	this.name = 'CliError';	8✔
267	this.cli = true;	8✔
268	}
269	}
270
271	const HELP = `Usage: rclnodejs-web [config.json] [options]	3✔
272
273	rclnodejs/web — typed Web SDK and capability runtime for ROS 2.
274
275	Start a runtime that exposes a declarative allow-list of ROS 2
276	topics and services to browsers. Speaks both WebSocket (always
277	on) and HTTP (opt-in via --http-port).
278
279	WebSocket transport (always on):
280	-p, --port <n> WS listen port (default 9000)
281	--host <addr> WS bind host (default ::, dual-stack)
282	--path <url> WS URL path (default /capability)
283
284	HTTP transport (opt-in; for call/publish only):
285	--http-port <n> HTTP listen port (disabled if omitted)
286	--http-host <addr> HTTP bind host (default same as --host)
287	--http-base-path <p> HTTP base path (default /capability)
288
289	Capabilities:
290	--call <name>=<type> expose a service capability (repeatable)
291	--publish <name>=<type> expose a topic publish (repeatable)
292	--subscribe <n>=<type> expose a topic subscription (repeatable)
293
294	Other:
295	--node-name <name> ROS 2 node name (default rclnodejs_web)
296	-q, --quiet don't print the startup banner
297	-h, --help show this help
298	-V, --version show rclnodejs version
299
300	Examples:
301	rclnodejs-web --port 9000 \\
302	--call /add_two_ints=example_interfaces/srv/AddTwoInts \\
303	--subscribe /scan=sensor_msgs/msg/LaserScan
304
305	# Add HTTP for call/publish on :9001 (curl-able):
306	rclnodejs-web --port 9000 --http-port 9001 \\
307	--call /add_two_ints=example_interfaces/srv/AddTwoInts
308
309	# Or all from a JSON config:
310	rclnodejs-web web.json
311
312	Config-file shape (every field optional):
313	{
314	"port": 9000, "host": "::", "path": "/capability",
315	"http": { "port": 9001 },
316	"expose": {
317	"call": { "/add_two_ints": "example_interfaces/srv/AddTwoInts" },
318	"publish": { "/cmd_vel": "geometry_msgs/msg/Twist" },
319	"subscribe": { "/scan": "sensor_msgs/msg/LaserScan" }
320	}
321	}
322
323	Notes:
324	The startup banner ("rclnodejs/web listening on …") is human-readable
325	only; its exact wording may change between minor versions. Scripts
326	and CI jobs should run with --quiet and rely on the exit status or
327	the explicit --port value rather than scraping the banner.
328	`;
329
330	module.exports = {	3✔
331	DEFAULTS,
332	KINDS,
333	CliError,
334	HELP,
335	parseArgv,
336	loadConfigFile,
337	validateConfig,
338	mergeConfig,
339	};

RobotWebTools / rclnodejs / 25727559523

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