27193208698

Committed 09 Jun 2026 08:17AM UTC coverage: 91.22% (+5.7%) from 85.523%

Build # 27193208698

Build Type

push

github

Committed by

web-flow

Commit Message

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)

Coverage Stats

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

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99.07

/lib/node_options.js

//
// 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 { Parameter } from './parameter.js';
/**
 * NodeOptions specify configuration choices during the
 * node instantiation process.
 * @class
 */
class NodeOptions {
  /**
   * Create a new instance with default property values.
   * @constructor
   * @param {boolean} [startParameterServices=true]
   * @param {array} [parameterOverrides=[]]
   * @param {boolean} [automaticallyDeclareParametersFromOverrides=false]
   * @param {boolean} [startTypeDescriptionService=true]
   * @param {boolean} [enableRosout=true]
   * @param {QoS} [rosoutQos=QoS.profileDefault]
   * @param {boolean} [enableLoggerService=false]
   */
  constructor(
    startParameterServices = true,
    parameterOverrides = [],
    automaticallyDeclareParametersFromOverrides = false,
    startTypeDescriptionService = true,
    enableRosout = true,
    rosoutQos = null,
    enableLoggerService = false
  ) {
    this._startParameterServices = startParameterServices;
    this._parameterOverrides = parameterOverrides;
    this._automaticallyDeclareParametersFromOverrides =
      automaticallyDeclareParametersFromOverrides;
    this._startTypeDescriptionService = startTypeDescriptionService;
    this._enableRosout = enableRosout;
    this._rosoutQos = rosoutQos;
    this._enableLoggerService = enableLoggerService;
  }

  /**
   * Get the startParameterServices option.
   * Default value = true;
   * @returns {boolean} -
   */
  get startParameterServices() {
    return this._startParameterServices;
  }

  /**
   * Set startParameterServices.
   * @param {boolean} startFlag - True indicates for a node to start it's parameter_service.
   */
  set startParameterServices(startFlag) {
    this._startParameterServices = startFlag;
  }

  /**
   * Get the parameterOverrides.
   * @return {Parameter[]} - An array of Parameters that serve as overrides for a node's default
   *   parameters. Default = empty array [].
   */
  get parameterOverrides() {
    return this._parameterOverrides;
  }

  /**
   * Set the Parameters that will serve to override a node's default parameter settings.
   * Setting to null, reinitializes the parameterOverrides to an empty array.
   * @param {Parameter|Parameter[]} parameters - A single parameter or parameter[].
   *    Default is an empty array.
   */
  set parameterOverrides(parameters = []) {
    let povalue = parameters;

    if (!povalue) {
      povalue = [];
    } else if (povalue instanceof Parameter) {
      // a single parameter
      povalue = [povalue];
    } else if (!Array.isArray(parameters)) {
      throw TypeError('Expected Parameter[]');
    }

    this._parameterOverrides = povalue;
  }

  /**
   * Get the automaticallyDeclareParametersFromOverrides.
   *
   * @returns {boolean} - True indicates that a node should declare parameters from
   *    it's parameter-overrides
   */
  get automaticallyDeclareParametersFromOverrides() {
    return this._automaticallyDeclareParametersFromOverrides;
  }

  /**
   * Set automaticallyDeclareParametersFromOverrides.
   *
   * @param {boolean} declareParamsFlag - When true, a node will declare parameters from all
   * parameter-overrides.
   */
  set automaticallyDeclareParametersFromOverrides(declareParamsFlag) {
    this._automaticallyDeclareParametersFromOverrides = declareParamsFlag;
  }

  /**
   * Get the startTypeDescriptionService option, only available for ROS2 > Humble.
   * Default value = true;
   * @returns {boolean} - true if the type description service is enabled.
   */
  get startTypeDescriptionService() {
    return this._startTypeDescriptionService;
  }

  /**
   * Set startTypeDescriptionService, only available for ROS2 > Humble
   * @param {boolean} willStartTypeDescriptionService
   */
  set startTypeDescriptionService(willStartTypeDescriptionService) {
    this._startTypeDescriptionService = willStartTypeDescriptionService;
  }

  /**
   * Get the enableRosout option.
   * Default value = true;
   * @returns {boolean} - true if the rosout logging is enabled.
   */
  get enableRosout() {
    return this._enableRosout;
  }

  /**
   * Set enableRosout.
   * @param {boolean} enableRosout
   */
  set enableRosout(enableRosout) {
    this._enableRosout = enableRosout;
  }

  /**
   * Get the rosoutQos option.
   * @returns {QoS} - The QoS profile for rosout.
   */
  get rosoutQos() {
    return this._rosoutQos;
  }

  /**
   * Set rosoutQos.
   * @param {QoS} rosoutQos
   */
  set rosoutQos(rosoutQos) {
    this._rosoutQos = rosoutQos;
  }

  /**
   * Get the enableLoggerService option.
   * Default value = false;
   * @returns {boolean} - true if logger services are enabled.
   */
  get enableLoggerService() {
    return this._enableLoggerService;
  }

  /**
   * Set enableLoggerService.
   * @param {boolean} enableLoggerService
   */
  set enableLoggerService(enableLoggerService) {
    this._enableLoggerService = enableLoggerService;
  }

  /**
   * Return an instance configured with default options.
   * @returns {NodeOptions} - An instance with default values.
   */
  static get defaultOptions() {
    return new NodeOptions();
  }
}

export default NodeOptions;

1	//	27✔
2	// Licensed under the Apache License, Version 2.0 (the "License");	27✔
3	// you may not use this file except in compliance with the License.	27✔
4	// You may obtain a copy of the License at	27✔
5	//	27✔
6	// http://www.apache.org/licenses/LICENSE-2.0	27✔
7	//	27✔
8	// Unless required by applicable law or agreed to in writing, software	27✔
9	// distributed under the License is distributed on an "AS IS" BASIS,	27✔
10	// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.	27✔
11	// See the License for the specific language governing permissions and	27✔
12	// limitations under the License.	27✔
13		27✔
14	import { Parameter } from './parameter.js';	27✔
15	/**	27✔
16	* NodeOptions specify configuration choices during the	27✔
17	* node instantiation process.	27✔
18	* @class	27✔
19	*/	27✔
20	class NodeOptions {	27✔
21	/**	27✔
22	* Create a new instance with default property values.	27✔
23	* @constructor	27✔
24	* @param {boolean} [startParameterServices=true]	27✔
25	* @param {array} [parameterOverrides=[]]	27✔
26	* @param {boolean} [automaticallyDeclareParametersFromOverrides=false]	27✔
27	* @param {boolean} [startTypeDescriptionService=true]	27✔
28	* @param {boolean} [enableRosout=true]	27✔
29	* @param {QoS} [rosoutQos=QoS.profileDefault]	27✔
30	* @param {boolean} [enableLoggerService=false]	27✔
31	*/	27✔
32	constructor(	27✔
33	startParameterServices = true,	969✔
34	parameterOverrides = [],	969✔
35	automaticallyDeclareParametersFromOverrides = false,	969✔
36	startTypeDescriptionService = true,	969✔
37	enableRosout = true,	969✔
38	rosoutQos = null,	969✔
39	enableLoggerService = false	969✔
40	) {	969✔
41	this._startParameterServices = startParameterServices;	969✔
42	this._parameterOverrides = parameterOverrides;	969✔
43	this._automaticallyDeclareParametersFromOverrides =	969✔
44	automaticallyDeclareParametersFromOverrides;	969✔
45	this._startTypeDescriptionService = startTypeDescriptionService;	969✔
46	this._enableRosout = enableRosout;	969✔
47	this._rosoutQos = rosoutQos;	969✔
48	this._enableLoggerService = enableLoggerService;	969✔
49	}	969✔
50		27✔
51	/**	27✔
52	* Get the startParameterServices option.	27✔
53	* Default value = true;	27✔
54	* @returns {boolean} -	27✔
55	*/	27✔
56	get startParameterServices() {	27✔
57	return this._startParameterServices;	936✔
58	}	936✔
59		27✔
60	/**	27✔
61	* Set startParameterServices.	27✔
62	* @param {boolean} startFlag - True indicates for a node to start it's parameter_service.	27✔
63	*/	27✔
64	set startParameterServices(startFlag) {	27✔
65	this._startParameterServices = startFlag;	6✔
66	}	6✔
67		27✔
68	/**	27✔
69	* Get the parameterOverrides.	27✔
70	* @return {Parameter[]} - An array of Parameters that serve as overrides for a node's default	27✔
71	* parameters. Default = empty array [].	27✔
72	*/	27✔
73	get parameterOverrides() {	27✔
74	return this._parameterOverrides;	959✔
75	}	959✔
76		27✔
77	/**	27✔
78	* Set the Parameters that will serve to override a node's default parameter settings.	27✔
79	* Setting to null, reinitializes the parameterOverrides to an empty array.	27✔
80	* @param {Parameter\|Parameter[]} parameters - A single parameter or parameter[].	27✔
81	* Default is an empty array.	27✔
82	*/	27✔
83	set parameterOverrides(parameters = []) {	27✔
84	let povalue = parameters;	11✔
85		11✔
86	if (!povalue) {	11✔
87	povalue = [];	1✔
88	} else if (povalue instanceof Parameter) {	11✔
89	// a single parameter	1✔
90	povalue = [povalue];	1✔
91	} else if (!Array.isArray(parameters)) {	10✔
92	throw TypeError('Expected Parameter[]');	1✔
93	}	1✔
94		10✔
95	this._parameterOverrides = povalue;	10✔
96	}	11✔
97		27✔
98	/**	27✔
99	* Get the automaticallyDeclareParametersFromOverrides.	27✔
100	*	27✔
101	* @returns {boolean} - True indicates that a node should declare parameters from	27✔
102	* it's parameter-overrides	27✔
103	*/	27✔
104	get automaticallyDeclareParametersFromOverrides() {	27✔
105	return this._automaticallyDeclareParametersFromOverrides;	937✔
106	}	937✔
107		27✔
108	/**	27✔
109	* Set automaticallyDeclareParametersFromOverrides.	27✔
110	*	27✔
111	* @param {boolean} declareParamsFlag - When true, a node will declare parameters from all	27✔
112	* parameter-overrides.	27✔
113	*/	27✔
114	set automaticallyDeclareParametersFromOverrides(declareParamsFlag) {	27✔
115	this._automaticallyDeclareParametersFromOverrides = declareParamsFlag;	6✔
116	}	6✔
117		27✔
118	/**	27✔
119	* Get the startTypeDescriptionService option, only available for ROS2 > Humble.	27✔
120	* Default value = true;	27✔
121	* @returns {boolean} - true if the type description service is enabled.	27✔
122	*/	27✔
123	get startTypeDescriptionService() {	27✔
124	return this._startTypeDescriptionService;	934✔
125	}	934✔
126		27✔
127	/**	27✔
128	* Set startTypeDescriptionService, only available for ROS2 > Humble	27✔
129	* @param {boolean} willStartTypeDescriptionService	27✔
130	*/	27✔
131	set startTypeDescriptionService(willStartTypeDescriptionService) {	27✔
132	this._startTypeDescriptionService = willStartTypeDescriptionService;	×
UNCOV 133	}	×
134		27✔
135	/**	27✔
136	* Get the enableRosout option.	27✔
137	* Default value = true;	27✔
138	* @returns {boolean} - true if the rosout logging is enabled.	27✔
139	*/	27✔
140	get enableRosout() {	27✔
141	return this._enableRosout;	934✔
142	}	934✔
143		27✔
144	/**	27✔
145	* Set enableRosout.	27✔
146	* @param {boolean} enableRosout	27✔
147	*/	27✔
148	set enableRosout(enableRosout) {	27✔
149	this._enableRosout = enableRosout;	3✔
150	}	3✔
151		27✔
152	/**	27✔
153	* Get the rosoutQos option.	27✔
154	* @returns {QoS} - The QoS profile for rosout.	27✔
155	*/	27✔
156	get rosoutQos() {	27✔
157	return this._rosoutQos;	945✔
158	}	945✔
159		27✔
160	/**	27✔
161	* Set rosoutQos.	27✔
162	* @param {QoS} rosoutQos	27✔
163	*/	27✔
164	set rosoutQos(rosoutQos) {	27✔
165	this._rosoutQos = rosoutQos;	1✔
166	}	1✔
167		27✔
168	/**	27✔
169	* Get the enableLoggerService option.	27✔
170	* Default value = false;	27✔
171	* @returns {boolean} - true if logger services are enabled.	27✔
172	*/	27✔
173	get enableLoggerService() {	27✔
174	return this._enableLoggerService;	937✔
175	}	937✔
176		27✔
177	/**	27✔
178	* Set enableLoggerService.	27✔
179	* @param {boolean} enableLoggerService	27✔
180	*/	27✔
181	set enableLoggerService(enableLoggerService) {	27✔
182	this._enableLoggerService = enableLoggerService;	1✔
183	}	1✔
184		27✔
185	/**	27✔
186	* Return an instance configured with default options.	27✔
187	* @returns {NodeOptions} - An instance with default values.	27✔
188	*/	27✔
189	static get defaultOptions() {	27✔
190	return new NodeOptions();	953✔
191	}	953✔
192	}	27✔
193		27✔
194	export default NodeOptions;	27✔

RobotWebTools / rclnodejs / 27193208698

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