27192212469

Committed 09 Jun 2026 07:57AM UTC coverage: 91.22% (+5.7%) from 85.523%

Build # 27192212469

Build Type

Pull #1530

github

Committed by

web-flow

Commit Message

Merge 818e1579f into 9488c15ff

Pull Request Pull Request #1530: Phase 2: convert lib/, index.js and tests to native ES modules

Coverage Stats

2045 of 2403 branches covered (85.1%)

Branch coverage included in aggregate %.

369 of 370 new or added lines in 65 files covered. (99.73%)

942 existing lines in 47 files now uncovered.

16688 of 18133 relevant lines covered (92.03%)

228.62 hits per line

Source File
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75.86

/lib/native_loader.js

// Copyright (c) 2025, The Robot Web Tools Contributors
//
// 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.

import fs from 'fs';
import path from 'path';
import childProcess from 'child_process';
import { fileURLToPath } from 'url';
import { createRequire } from 'module';
import { NativeError } from './errors.js';
import createDebug from 'debug';
import {
  detectPrebuildRuntime,
  getTaggedPrebuildFilename,
} from './prebuilds.js';
import { detectUbuntuCodename } from './utils.js';

const require = createRequire(import.meta.url);
// 'bindings' is a CommonJS helper that relies on CJS caller context to locate
// the compiled .node addon; load it via require() to preserve that context.
const bindings = require('bindings');
const __dirname = path.dirname(fileURLToPath(import.meta.url));
const debug = createDebug('rclnodejs');

let nativeModule = null;

// Simplified loader: only use prebuilt binaries with exact Ubuntu/ROS2/arch match
// Note: Prebuilt binaries are only supported on Linux (Ubuntu) platform
function customFallbackLoader() {
  // Prebuilt binaries are only for Linux platform
  if (process.platform !== 'linux') {
    debug('Prebuilt binaries are only supported on Linux platform');
    return null;
  }

  const rosDistro = process.env.ROS_DISTRO;
  const arch = process.arch;
  const runtime = detectPrebuildRuntime();
  const ubuntuCodename = detectUbuntuCodename();

  // Require all three components for exact match
  if (!rosDistro || !ubuntuCodename || !arch) {
    debug(
      `Missing environment info - ROS: ${rosDistro}, Ubuntu: ${ubuntuCodename}, Arch: ${arch}`
    );
    return null;
  }

  const prebuildDir = path.join(
    __dirname,
    '..',
    'prebuilds',
    `${process.platform}-${arch}`
  );

  if (!fs.existsSync(prebuildDir)) {
    debug('No prebuilds directory found');
    return null;
  }

  try {
    const candidate = getTaggedPrebuildFilename({
      rosDistro,
      ubuntuCodename,
      arch,
      runtime,
    });
    const candidatePath = path.join(prebuildDir, candidate);

    if (fs.existsSync(candidatePath)) {
      debug(`Found ${runtime} prebuilt binary: ${candidate}`);
      return require(candidatePath);
    }

    debug(
      `No matching ${runtime} prebuilt binary found for ${rosDistro}-${ubuntuCodename}-${arch}`
    );
    return null;
  } catch (e) {
    debug('Error in simplified prebuilt loader:', e.message);
  }

  return null;
}

// Simplified prebuilt binary loader: exact match or build from source
function loadNativeAddon() {
  if (nativeModule) {
    return nativeModule;
  }

  // Environment variable to force building from source
  if (process.env.RCLNODEJS_FORCE_BUILD === '1') {
    debug('Forcing build from source (RCLNODEJS_FORCE_BUILD=1)');

    // Trigger actual compilation
    try {
      debug('Running forced node-gyp rebuild...');
      childProcess.execSync('npm run rebuild', {
        stdio: 'inherit',
        cwd: path.join(__dirname, '..'),
        timeout: 300000, // 5 minute timeout
      });

      // Load the newly built binary
      nativeModule = bindings('rclnodejs');
      debug('Successfully force compiled and loaded from source');
      return nativeModule;
    } catch (compileError) {
      debug('Forced compilation failed:', compileError.message);
      throw new NativeError(
        `Failed to force build rclnodejs from source: ${compileError.message}`,
        'Forced compilation',
        { cause: compileError }
      );
    }
  }

  const rosDistro = process.env.ROS_DISTRO;
  const runtime = detectPrebuildRuntime();
  const ubuntuCodename = detectUbuntuCodename();

  debug(
    `Platform: ${process.platform}, Arch: ${process.arch}, Runtime: ${runtime}, Ubuntu: ${ubuntuCodename || 'unknown'}, ROS: ${rosDistro || 'unknown'}`
  );

  // Prebuilt binaries are only supported on Linux (Ubuntu)
  if (process.platform === 'linux') {
    // Try exact match prebuilt binary first
    try {
      const prebuiltModule = customFallbackLoader();
      if (prebuiltModule) {
        nativeModule = prebuiltModule;
        return nativeModule;
      }
    } catch (e) {
      debug('Exact match prebuilt loading failed:', e.message);
    }

    debug(
      'No exact match prebuilt binary found, falling back to build from source'
    );
  } else {
    debug(
      `Platform ${process.platform} does not support prebuilt binaries, will try existing build or compile from source`
    );
  }

  try {
    // Try to find existing built binary first (works on all platforms)
    // The 'bindings' module will search standard locations like:
    // - build/Release/rclnodejs.node
    // - build/Debug/rclnodejs.node
    // - compiled/{node_version}/{platform}/{arch}/rclnodejs.node
    // etc.
    nativeModule = bindings('rclnodejs');
    debug('Found and loaded existing built binary');
    return nativeModule;
  } catch {
    debug('No existing built binary found, triggering compilation...');

    // Trigger actual compilation
    try {
      debug('Running node-gyp rebuild...');
      childProcess.execSync('npm run rebuild', {
        stdio: 'inherit',
        cwd: path.join(__dirname, '..'),
        timeout: 300000, // 5 minute timeout
      });

      // Try to load the newly built binary
      nativeModule = bindings('rclnodejs');
      debug('Successfully compiled and loaded from source');
      return nativeModule;
    } catch (compileError) {
      debug('Compilation failed:', compileError.message);
      throw new NativeError(
        `Failed to build rclnodejs from source: ${compileError.message}`,
        'Compilation',
        { cause: compileError }
      );
    }
  }
}

const addon = loadNativeAddon();

// Export internal functions for testing purposes
if (process.env.NODE_ENV === 'test') {
  addon.TestHelpers = {
    customFallbackLoader,
    loadNativeAddon,
  };
}

export default addon;

1	// Copyright (c) 2025, The Robot Web Tools Contributors	29✔
2	//	29✔
3	// Licensed under the Apache License, Version 2.0 (the "License");	29✔
4	// you may not use this file except in compliance with the License.	29✔
5	// You may obtain a copy of the License at	29✔
6	//	29✔
7	// http://www.apache.org/licenses/LICENSE-2.0	29✔
8	//	29✔
9	// Unless required by applicable law or agreed to in writing, software	29✔
10	// distributed under the License is distributed on an "AS IS" BASIS,	29✔
11	// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.	29✔
12	// See the License for the specific language governing permissions and	29✔
13	// limitations under the License.	29✔
14		29✔
15	import fs from 'fs';	29✔
16	import path from 'path';	29✔
17	import childProcess from 'child_process';	29✔
18	import { fileURLToPath } from 'url';	29✔
19	import { createRequire } from 'module';	29✔
20	import { NativeError } from './errors.js';	29✔
21	import createDebug from 'debug';	29✔
22	import {	29✔
23	detectPrebuildRuntime,	29✔
24	getTaggedPrebuildFilename,	29✔
25	} from './prebuilds.js';	29✔
26	import { detectUbuntuCodename } from './utils.js';	29✔
27		29✔
28	const require = createRequire(import.meta.url);	29✔
29	// 'bindings' is a CommonJS helper that relies on CJS caller context to locate	29✔
30	// the compiled .node addon; load it via require() to preserve that context.	29✔
31	const bindings = require('bindings');	29✔
32	const __dirname = path.dirname(fileURLToPath(import.meta.url));	29✔
33	const debug = createDebug('rclnodejs');	29✔
34		29✔
35	let nativeModule = null;	29✔
36		29✔
37	// Simplified loader: only use prebuilt binaries with exact Ubuntu/ROS2/arch match	29✔
38	// Note: Prebuilt binaries are only supported on Linux (Ubuntu) platform	29✔
39	function customFallbackLoader() {	33✔
40	// Prebuilt binaries are only for Linux platform	33✔
41	if (process.platform !== 'linux') {	33✔
42	debug('Prebuilt binaries are only supported on Linux platform');	1✔
43	return null;	1✔
44	}	1✔
45		32✔
46	const rosDistro = process.env.ROS_DISTRO;	32✔
47	const arch = process.arch;	32✔
48	const runtime = detectPrebuildRuntime();	32✔
49	const ubuntuCodename = detectUbuntuCodename();	32✔
50		32✔
51	// Require all three components for exact match	32✔
52	if (!rosDistro \|\| !ubuntuCodename \|\| !arch) {	33✔
53	debug(	1✔
54	`Missing environment info - ROS: ${rosDistro}, Ubuntu: ${ubuntuCodename}, Arch: ${arch}`	1✔
55	);	1✔
56	return null;	1✔
57	}	1✔
58		31✔
59	const prebuildDir = path.join(	31✔
60	__dirname,	31✔
61	'..',	31✔
62	'prebuilds',	31✔
63	`${process.platform}-${arch}`	31✔
64	);	31✔
65		31✔
66	if (!fs.existsSync(prebuildDir)) {	33✔
67	debug('No prebuilds directory found');	29✔
68	return null;	29✔
69	}	29✔
70		2✔
71	try {	2✔
72	const candidate = getTaggedPrebuildFilename({	2✔
73	rosDistro,	2✔
74	ubuntuCodename,	2✔
75	arch,	2✔
76	runtime,	2✔
77	});	2✔
78	const candidatePath = path.join(prebuildDir, candidate);	2✔
79		2✔
80	if (fs.existsSync(candidatePath)) {	2✔
81	debug(`Found ${runtime} prebuilt binary: ${candidate}`);	2✔
82	return require(candidatePath);	2✔
83	}	2✔
UNCOV 84		×
85	debug(	×
UNCOV 86	`No matching ${runtime} prebuilt binary found for ${rosDistro}-${ubuntuCodename}-${arch}`	×
UNCOV 87	);	×
88	return null;	×
89	} catch (e) {	6✔
90	debug('Error in simplified prebuilt loader:', e.message);	2✔
91	}	2✔
92		2✔
93	return null;	2✔
94	}	33✔
95		29✔
96	// Simplified prebuilt binary loader: exact match or build from source	29✔
97	function loadNativeAddon() {	29✔
98	if (nativeModule) {	29!
99	return nativeModule;	×
UNCOV 100	}	×
101		29✔
102	// Environment variable to force building from source	29✔
103	if (process.env.RCLNODEJS_FORCE_BUILD === '1') {	29✔
104	debug('Forcing build from source (RCLNODEJS_FORCE_BUILD=1)');	1✔
105		1✔
106	// Trigger actual compilation	1✔
107	try {	1✔
108	debug('Running forced node-gyp rebuild...');	1✔
109	childProcess.execSync('npm run rebuild', {	1✔
110	stdio: 'inherit',	1✔
111	cwd: path.join(__dirname, '..'),	1✔
112	timeout: 300000, // 5 minute timeout	1✔
113	});	1✔
114		1✔
115	// Load the newly built binary	1✔
116	nativeModule = bindings('rclnodejs');	1✔
117	debug('Successfully force compiled and loaded from source');	1✔
118	return nativeModule;	1✔
119	} catch (compileError) {	1!
120	debug('Forced compilation failed:', compileError.message);	×
121	throw new NativeError(	×
UNCOV 122	`Failed to force build rclnodejs from source: ${compileError.message}`,	×
UNCOV 123	'Forced compilation',	×
UNCOV 124	{ cause: compileError }	×
UNCOV 125	);	×
UNCOV 126	}	×
127	}	1✔
128		28✔
129	const rosDistro = process.env.ROS_DISTRO;	28✔
130	const runtime = detectPrebuildRuntime();	28✔
131	const ubuntuCodename = detectUbuntuCodename();	28✔
132		28✔
133	debug(	28✔
134	`Platform: ${process.platform}, Arch: ${process.arch}, Runtime: ${runtime}, Ubuntu: ${ubuntuCodename \|\| 'unknown'}, ROS: ${rosDistro \|\| 'unknown'}`	29!
135	);	29✔
136		29✔
137	// Prebuilt binaries are only supported on Linux (Ubuntu)	29✔
138	if (process.platform === 'linux') {	29✔
139	// Try exact match prebuilt binary first	28✔
140	try {	28✔
141	const prebuiltModule = customFallbackLoader();	28✔
142	if (prebuiltModule) {	28!
143	nativeModule = prebuiltModule;	×
144	return nativeModule;	×
UNCOV 145	}	×
146	} catch (e) {	28!
147	debug('Exact match prebuilt loading failed:', e.message);	×
UNCOV 148	}	×
149		28✔
150	debug(	28✔
151	'No exact match prebuilt binary found, falling back to build from source'	28✔
152	);	28✔
153	} else {	28!
154	debug(	×
UNCOV 155	`Platform ${process.platform} does not support prebuilt binaries, will try existing build or compile from source`	×
UNCOV 156	);	×
UNCOV 157	}	×
158		28✔
159	try {	28✔
160	// Try to find existing built binary first (works on all platforms)	28✔
161	// The 'bindings' module will search standard locations like:	28✔
162	// - build/Release/rclnodejs.node	28✔
163	// - build/Debug/rclnodejs.node	28✔
164	// - compiled/{node_version}/{platform}/{arch}/rclnodejs.node	28✔
165	// etc.	28✔
166	nativeModule = bindings('rclnodejs');	28✔
167	debug('Found and loaded existing built binary');	28✔
168	return nativeModule;	28✔
169	} catch {	28!
170	debug('No existing built binary found, triggering compilation...');	×
UNCOV 171		×
UNCOV 172	// Trigger actual compilation	×
173	try {	×
174	debug('Running node-gyp rebuild...');	×
NEW 175	childProcess.execSync('npm run rebuild', {	×
UNCOV 176	stdio: 'inherit',	×
UNCOV 177	cwd: path.join(__dirname, '..'),	×
UNCOV 178	timeout: 300000, // 5 minute timeout	×
UNCOV 179	});	×
UNCOV 180		×
UNCOV 181	// Try to load the newly built binary	×
182	nativeModule = bindings('rclnodejs');	×
183	debug('Successfully compiled and loaded from source');	×
184	return nativeModule;	×
UNCOV 185	} catch (compileError) {	×
186	debug('Compilation failed:', compileError.message);	×
187	throw new NativeError(	×
UNCOV 188	`Failed to build rclnodejs from source: ${compileError.message}`,	×
UNCOV 189	'Compilation',	×
UNCOV 190	{ cause: compileError }	×
UNCOV 191	);	×
UNCOV 192	}	×
UNCOV 193	}	×
194	}	29✔
195		29✔
196	const addon = loadNativeAddon();	29✔
197		29✔
198	// Export internal functions for testing purposes	29✔
199	if (process.env.NODE_ENV === 'test') {	29✔
200	addon.TestHelpers = {	28✔
201	customFallbackLoader,	28✔
202	loadNativeAddon,	28✔
203	};	28✔
204	}	28✔
205		29✔
206	export default addon;	29✔

RobotWebTools / rclnodejs / 27192212469

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