RobotWebTools / rclnodejs / 27193208698
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Files 65
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coverage: 91.22% (+5.7%) from 85.523%
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Phase 2: convert lib/, index.js and tests to native ES modules (#1530)

**Overview:** 189 files changed, +957 / −1162. Converts `lib/`, `index.js`, `bin/`, `rosocket/` and the full test suite to native ES modules; keeps build/codegen tooling as `.cjs`; updates CI to ROS 2 Lyrical (Ubuntu 26.04); and fixes a native-addon debug-build compile error.

### Core ESM conversion
- **`index.js`** — converted to ESM entrypoint (`import`/`export`), module wiring reworked.
- **`lib/**`** — all library modules converted from `require`/`module.exports` to `import`/`export` (node, client, service, publisher, subscription, action/*, clock*, parameter*, logging*, runtime/*, serialization, time*, timer, qos*, utils, validator, native_loader, etc.).
- **`bin/rclnodejs-web.js`**, **`rosocket/index.js`**, **`rosocket/cli.js`** — converted to ESM.

### ESM/CJS boundary fixes (from Copilot review)
- **`lib/native_loader.js`** — load the CommonJS `bindings` helper via `createRequire`'s `require('bindings')` instead of `import bindings from 'bindings'`, preserving CJS caller context for addon resolution.
- **`lib/type_description_service.js`** — corrected sibling import from `'../lib/parameter.js'` to `'./parameter.js'`.

### CommonJS files kept as `.cjs`
- **`rosidl_gen/*.cjs`** (deallocator, idl_generator, index, primitive_types, templates/message-template), **`rostsd_gen/index.cjs`**, **`scripts/ros_distro.cjs`**, **`scripts/run_test.cjs`** — build/codegen tooling stays CJS (loads ESM helpers via supported `require(esm)` / `.default`).
- **`third_party/ref-napi/`** — `lib/ref.js` and `package.json` tweaks for module resolution.

### Tooling / config
- **`package.json`** — `"type": "module"` and script adjustments.
- **`eslint.config.mjs`** — ESM lint rules.
- **`.c8rc.json`** added, **`.nycrc.yml`** removed — switch coverage from nyc to c8.

### CI
- **`.github/workflows/linux-x64-asan-test.yml`**, **`.github/workflows/linux-x64-build-and-test.yml`** — migrated from ROS 2 ... (continued)

2044 of 2402 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%)

228.85 hits per line

Uncovered Changes

Lines Coverage ∆ File
1
75.86
 -0.14% lib/native_loader.js

Coverage Regressions

Lines Coverage ∆ File
155
90.97
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 6.89% lib/parameter.js
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 15.13% lib/qos_overriding_options.js
50
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 1.48% lib/event_handler.js
44
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42
85.13
 2.23% lib/time.js
32
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 1.51% lib/clock.js
32
84.27
 7.25% lib/runtime/transports/http.js
31
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 1.11% lib/action/server.js
29
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 9.55% lib/lifecycle.js
29
75.86
 -0.14% lib/native_loader.js
28
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 3.24% lib/parameter_event_handler.js
23
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 9.43% lib/message_validation.js
19
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 -2.59% lib/duration.js
19
90.25
 1.53% lib/interface_loader.js
16
88.89
 1.95% lib/runtime/cli-config.js
14
91.64
 5.39% lib/context.js
13
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 1.69% lib/client.js
13
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 6.61% lib/runtime/transports/ws.js
10
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 12.01% lib/utils.js
8
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 5.36% lib/runtime/index.js
6
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 12.31% lib/action/deferred.js
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5
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 5.59% lib/parameter_watcher.js
5
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4
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3
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3
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3
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 6.72% lib/parameter_service.js
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2
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2
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 44.03% lib/runtime/connection.js
2
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 57.78% lib/runtime/transport_adapter.js
2
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 6.61% lib/subscription.js
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 3.98% lib/type_description_service.js
1
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1
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 3.26% lib/message_serialization.js
1
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 3.51% lib/node_options.js
1
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 3.51% lib/timer.js
Jobs
ID Job ID Ran Files Coverage
1 27193208698.1 65
91.22
 GitHub Action Run
Source Files on build 27193208698