27743094917

Committed 18 Jun 2026 07:13AM UTC coverage: 91.185% (-0.04%) from 91.22%

Build # 27743094917

Build Type

Pull #1546

github

Committed by

web-flow

Commit Message

Merge 0a7a8cb0f into bc78bfa19

Pull Request Pull Request #1546: [Demo][Electron] Load prebuilt binaries at runtime

Coverage Stats

2046 of 2407 branches covered (85.0%)

Branch coverage included in aggregate %.

35 of 48 new or added lines in 1 file covered. (72.92%)

25 existing lines in 1 file now uncovered.

16718 of 18171 relevant lines covered (92.0%)

228.84 hits per line

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75.64

/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;

// Copy a matched prebuilt binary into build/Release so that standard binary
// resolution (and packaged Electron apps where ROS_DISTRO may be unset at
// runtime) can still locate it. Non-destructive: never overwrites an existing
// build output, so local source builds are preserved.
function mirrorPrebuiltToBuildRelease(srcPath) {
  try {
    const destDir = path.join(__dirname, '..', 'build', 'Release');
    const destPath = path.join(destDir, 'rclnodejs.node');
    if (fs.existsSync(destPath)) {
      return;
    }
    fs.mkdirSync(destDir, { recursive: true });
    fs.copyFileSync(srcPath, destPath);
    debug(`Mirrored prebuilt binary to ${destPath}`);
  } catch (e) {
    debug('Could not mirror prebuilt binary to build/Release:', e.message);
  }
}

// Build the native addon from source. When running under Electron, target
// Electron's headers/ABI so the resulting binary matches the runtime instead
// of producing a Node-targeted binary (the addon links libuv directly, so the
// host runtime matters).
function buildFromSource() {
  const env = { ...process.env };

  if (detectPrebuildRuntime() === 'electron' && process.versions.electron) {
    // node-gyp targets Electron via --target (Electron version) + --dist-url
    // (Electron headers); it reads these from npm_config_* env vars.
    env.npm_config_target = process.versions.electron;
    env.npm_config_dist_url = 'https://electronjs.org/headers';
    env.npm_config_arch = process.arch;
    debug(`Building from source for Electron ${process.versions.electron}`);
  } else {
    debug('Building from source for Node.js');
  }

  childProcess.execSync('npm run rebuild', {
    stdio: 'inherit',
    cwd: path.join(__dirname, '..'),
    timeout: 300000, // 5 minute timeout
    env,
  });
}

// 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}`);
      mirrorPrebuiltToBuildRelease(candidatePath);
      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...');
      buildFromSource();

      // 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...');
      buildFromSource();

      // 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	// Copy a matched prebuilt binary into build/Release so that standard binary	29✔
38	// resolution (and packaged Electron apps where ROS_DISTRO may be unset at	29✔
39	// runtime) can still locate it. Non-destructive: never overwrites an existing	29✔
40	// build output, so local source builds are preserved.	29✔
41	function mirrorPrebuiltToBuildRelease(srcPath) {	2✔
42	try {	2✔
43	const destDir = path.join(__dirname, '..', 'build', 'Release');	2✔
44	const destPath = path.join(destDir, 'rclnodejs.node');	2✔
45	if (fs.existsSync(destPath)) {	2✔
46	return;	2✔
47	}	2✔
NEW 48	fs.mkdirSync(destDir, { recursive: true });	×
NEW 49	fs.copyFileSync(srcPath, destPath);	×
NEW 50	debug(`Mirrored prebuilt binary to ${destPath}`);	×
NEW 51	} catch (e) {	×
NEW 52	debug('Could not mirror prebuilt binary to build/Release:', e.message);	×
NEW 53	}	×
54	}	2✔
55		29✔
56	// Build the native addon from source. When running under Electron, target	29✔
57	// Electron's headers/ABI so the resulting binary matches the runtime instead	29✔
58	// of producing a Node-targeted binary (the addon links libuv directly, so the	29✔
59	// host runtime matters).	29✔
60	function buildFromSource() {	1✔
61	const env = { ...process.env };	1✔
62		1✔
63	if (detectPrebuildRuntime() === 'electron' && process.versions.electron) {	1!
NEW 64	// node-gyp targets Electron via --target (Electron version) + --dist-url	×
NEW 65	// (Electron headers); it reads these from npm_config_* env vars.	×
NEW 66	env.npm_config_target = process.versions.electron;	×
NEW 67	env.npm_config_dist_url = 'https://electronjs.org/headers';	×
NEW 68	env.npm_config_arch = process.arch;	×
NEW 69	debug(`Building from source for Electron ${process.versions.electron}`);	×
70	} else {	1✔
71	debug('Building from source for Node.js');	1✔
72	}	1✔
73		1✔
74	childProcess.execSync('npm run rebuild', {	1✔
75	stdio: 'inherit',	1✔
76	cwd: path.join(__dirname, '..'),	1✔
77	timeout: 300000, // 5 minute timeout	1✔
78	env,	1✔
79	});	1✔
80	}	1✔
81		29✔
82	// Simplified loader: only use prebuilt binaries with exact Ubuntu/ROS2/arch match	29✔
83	// Note: Prebuilt binaries are only supported on Linux (Ubuntu) platform	29✔
84	function customFallbackLoader() {	33✔
85	// Prebuilt binaries are only for Linux platform	33✔
86	if (process.platform !== 'linux') {	33✔
87	debug('Prebuilt binaries are only supported on Linux platform');	1✔
88	return null;	1✔
89	}	1✔
90		32✔
91	const rosDistro = process.env.ROS_DISTRO;	32✔
92	const arch = process.arch;	32✔
93	const runtime = detectPrebuildRuntime();	32✔
94	const ubuntuCodename = detectUbuntuCodename();	32✔
95		32✔
96	// Require all three components for exact match	32✔
97	if (!rosDistro \|\| !ubuntuCodename \|\| !arch) {	33✔
98	debug(	1✔
99	`Missing environment info - ROS: ${rosDistro}, Ubuntu: ${ubuntuCodename}, Arch: ${arch}`	1✔
100	);	1✔
101	return null;	1✔
102	}	1✔
103		31✔
104	const prebuildDir = path.join(	31✔
105	__dirname,	31✔
106	'..',	31✔
107	'prebuilds',	31✔
108	`${process.platform}-${arch}`	31✔
109	);	31✔
110		31✔
111	if (!fs.existsSync(prebuildDir)) {	33✔
112	debug('No prebuilds directory found');	29✔
113	return null;	29✔
114	}	29✔
115		2✔
116	try {	2✔
117	const candidate = getTaggedPrebuildFilename({	2✔
118	rosDistro,	2✔
119	ubuntuCodename,	2✔
120	arch,	2✔
121	runtime,	2✔
122	});	2✔
123	const candidatePath = path.join(prebuildDir, candidate);	2✔
124		2✔
125	if (fs.existsSync(candidatePath)) {	2✔
126	debug(`Found ${runtime} prebuilt binary: ${candidate}`);	2✔
127	mirrorPrebuiltToBuildRelease(candidatePath);	2✔
128	return require(candidatePath);	2✔
129	}	2✔
130		×
131	debug(	×
132	`No matching ${runtime} prebuilt binary found for ${rosDistro}-${ubuntuCodename}-${arch}`	×
133	);	×
134	return null;	×
135	} catch (e) {	6✔
136	debug('Error in simplified prebuilt loader:', e.message);	2✔
137	}	2✔
138		2✔
139	return null;	2✔
140	}	33✔
141		29✔
142	// Simplified prebuilt binary loader: exact match or build from source	29✔
143	function loadNativeAddon() {	29✔
144	if (nativeModule) {	29!
145	return nativeModule;	×
146	}	×
147		29✔
148	// Environment variable to force building from source	29✔
149	if (process.env.RCLNODEJS_FORCE_BUILD === '1') {	29✔
150	debug('Forcing build from source (RCLNODEJS_FORCE_BUILD=1)');	1✔
151		1✔
152	// Trigger actual compilation	1✔
153	try {	1✔
154	debug('Running forced node-gyp rebuild...');	1✔
155	buildFromSource();	1✔
156		1✔
157	// Load the newly built binary	1✔
158	nativeModule = bindings('rclnodejs');	1✔
159	debug('Successfully force compiled and loaded from source');	1✔
160	return nativeModule;	1✔
161	} catch (compileError) {	1!
UNCOV 162	debug('Forced compilation failed:', compileError.message);	×
UNCOV 163	throw new NativeError(	×
UNCOV 164	`Failed to force build rclnodejs from source: ${compileError.message}`,	×
UNCOV 165	'Forced compilation',	×
UNCOV 166	{ cause: compileError }	×
UNCOV 167	);	×
168	}	×
169	}	1✔
170		28✔
171	const rosDistro = process.env.ROS_DISTRO;	28✔
172	const runtime = detectPrebuildRuntime();	28✔
173	const ubuntuCodename = detectUbuntuCodename();	28✔
174		28✔
175	debug(	28✔
176	`Platform: ${process.platform}, Arch: ${process.arch}, Runtime: ${runtime}, Ubuntu: ${ubuntuCodename \|\| 'unknown'}, ROS: ${rosDistro \|\| 'unknown'}`	29!
177	);	29✔
178		29✔
179	// Prebuilt binaries are only supported on Linux (Ubuntu)	29✔
180	if (process.platform === 'linux') {	29✔
181	// Try exact match prebuilt binary first	28✔
182	try {	28✔
183	const prebuiltModule = customFallbackLoader();	28✔
184	if (prebuiltModule) {	28!
UNCOV 185	nativeModule = prebuiltModule;	×
UNCOV 186	return nativeModule;	×
UNCOV 187	}	×
188	} catch (e) {	28!
UNCOV 189	debug('Exact match prebuilt loading failed:', e.message);	×
UNCOV 190	}	×
191		28✔
192	debug(	28✔
193	'No exact match prebuilt binary found, falling back to build from source'	28✔
194	);	28✔
195	} else {	28!
UNCOV 196	debug(	×
UNCOV 197	`Platform ${process.platform} does not support prebuilt binaries, will try existing build or compile from source`	×
198	);	×
199	}	×
200		28✔
201	try {	28✔
202	// Try to find existing built binary first (works on all platforms)	28✔
203	// The 'bindings' module will search standard locations like:	28✔
204	// - build/Release/rclnodejs.node	28✔
205	// - build/Debug/rclnodejs.node	28✔
206	// - compiled/{node_version}/{platform}/{arch}/rclnodejs.node	28✔
207	// etc.	28✔
208	nativeModule = bindings('rclnodejs');	28✔
209	debug('Found and loaded existing built binary');	28✔
210	return nativeModule;	28✔
211	} catch {	28!
212	debug('No existing built binary found, triggering compilation...');	×
UNCOV 213		×
UNCOV 214	// Trigger actual compilation	×
UNCOV 215	try {	×
UNCOV 216	debug('Running node-gyp rebuild...');	×
NEW UNCOV 217	buildFromSource();	×
UNCOV 218		×
UNCOV 219	// Try to load the newly built binary	×
UNCOV 220	nativeModule = bindings('rclnodejs');	×
UNCOV 221	debug('Successfully compiled and loaded from source');	×
UNCOV 222	return nativeModule;	×
UNCOV 223	} catch (compileError) {	×
UNCOV 224	debug('Compilation failed:', compileError.message);	×
225	throw new NativeError(	×
226	`Failed to build rclnodejs from source: ${compileError.message}`,	×
227	'Compilation',	×
228	{ cause: compileError }	×
229	);	×
230	}	×
231	}	×
232	}	29✔
233		29✔
234	const addon = loadNativeAddon();	29✔
235		29✔
236	// Export internal functions for testing purposes	29✔
237	if (process.env.NODE_ENV === 'test') {	29✔
238	addon.TestHelpers = {	28✔
239	customFallbackLoader,	28✔
240	loadNativeAddon,	28✔
241	};	28✔
242	}	28✔
243		29✔
244	export default addon;	29✔

RobotWebTools / rclnodejs / 27743094917

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