Align with ROS 2 Dashing

We have the latest stable ROS 2 - Dashing released recently. To make our
Node.js client workable on it, this PR makes a series of changes to achieve
this goal, please see below:

- Support wstring
(https://design.ros2.org/articles/idl_interface_definition.html)
- Support default value
- API updates for rmw preallocation work
- Update the test case, as some message has been removed or changed

Fix #493

Author: Minggang Wang

appveyor.yml

@@ -25,15 +25,16 @@ before_build:
   - appveyor DownloadFile https://github.com/ros2/choco-packages/releases/download/2018-06-12-1/eigen.3.3.4.nupkg
   - appveyor DownloadFile https://github.com/ros2/choco-packages/releases/download/2017-04-04-1/tinyxml-usestl.2.6.2.nupkg
   - appveyor DownloadFile https://github.com/ros2/choco-packages/releases/download/2018-06-12-1/tinyxml2.6.0.0.nupkg
-  - choco install -y -s c:\download\ asio eigen tinyxml-usestl tinyxml2
+  - appveyor DownloadFile https://github.com/ros2/choco-packages/releases/download/2019-02-15-1/log4cxx.0.10.0.nupkg
+  - choco install -y -s c:\download\ asio eigen tinyxml-usestl tinyxml2 log4cxx
   - appveyor DownloadFile http://ci.ros2.org/view/packaging/job/packaging_windows/lastSuccessfulBuild/artifact/ws/ros2-package-windows-AMD64.zip
   - 7z x -y "c:\download\ros2-package-windows-AMD64.zip" -o"c:\" > nul
   - setx -m OPENSSL_CONF C:\OpenSSL-Win64\bin\openssl.cfg
   - set PATH=C:\OpenSSL-Win64\bin;%PATH%
   - setx AMENT_PYTHON_EXECUTABLE "c:\Python37"
   - refreshenv
   - "SET PATH=%PYTHON3%;%PYTHON3%\\bin;%PYTHON3%\\Scripts;%PATH%"
-  - python -m pip install -U catkin_pkg empy git+https://github.com/lark-parser/[email protected] pyparsing pyyaml setuptools colcon-common-extensions numpy
+  - python -m pip install -U catkin_pkg empy lark-parser lxml numpy opencv-python pyparsing pyyaml setuptools colcon-common-extensions numpy
 
 build_script:
   - cd  c:\proj\rclnodejs

rosidl_gen/generator.json

@@ -1,6 +1,6 @@
 {
   "name": "rosidl-generator",
-  "version": "0.2.1",
+  "version": "0.3.0",
   "description": "Generate JavaScript object from ROS IDL(.msg) files",
   "main": "index.js",
   "authors": [

rosidl_gen/primitive_types.js

@@ -58,6 +58,7 @@ module.exports = {
   char: ref.types.char,
   byte: ref.types.byte,
   string: StringRefStruct,
+  wstring: StringRefStruct,
   initString: initString
 };
 

rosidl_gen/templates/message.dot

@@ -60,7 +60,7 @@ function getPrimitiveNameByType(type) {
     return 'Char';
   } else if (type.type === 'byte') {
     return 'Byte';
-  } else if (type.type === 'string') {
+  } else if (type.type === 'string' || type.type === 'wstring') {
     return 'String';
   } else {
     return '';
@@ -279,11 +279,25 @@ class {{=objectWrapper}} {
     this._{{=field.name}}Intialized = true;
     {{??}}
     {{? field.type.isPrimitiveType && !field.type.isArray}}
+    {{? field.default_value === null}}
     this._{{=field.name}}Intialized = false;
+    {{?? field.type.type === 'string'}}
+    this._refObject.{{=field.name}} = "{{=field.default_value.replace(/"/g, '\\"')}}";
+    this._{{=field.name}}Intialized = true;
+    {{??}}
+    this._refObject.{{=field.name}} = {{=field.default_value}};
+    this._{{=field.name}}Intialized = true;
+    {{?}}
     {{?}}
 
     {{? field.type.isArray}}
     this._wrapperFields.{{=field.name}} = {{=getWrapperNameByType(field.type)}}.createArray();
+    {{? field.default_value !== null && field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
+    this._{{=field.name}}Array = {{=JSON.stringify(field.default_value)}};
+    {{?}}
+    {{? field.default_value !== null && field.type.isPrimitiveType && isTypedArrayType(field.type)}}
+    this._wrapperFields.{{=field.name}}.fill({{=getTypedArrayName(field.type)}}.from({{=JSON.stringify(field.default_value)}}));
+    {{?}}
     {{?? !field.type.isPrimitiveType || (field.type.type === 'string' && it.spec.msgName !== 'String')}}
     this._wrapperFields.{{=field.name}} = new {{=getWrapperNameByType(field.type)}}();
     {{?? it.spec.msgName === 'String'}}
@@ -337,9 +351,15 @@ class {{=objectWrapper}} {
       this._refObject.{{=field.name}}[i] = this._wrapperFields.{{=field.name}}.data[i];
     }
     {{?? field.type.isArray && field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
-    this._wrapperFields.{{=field.name}}.fill(this._{{=field.name}}Array);
-    this._wrapperFields.{{=field.name}}.freeze(own, checkConsistency);
-    this._refObject.{{=field.name}} = this._wrapperFields.{{=field.name}}.refObject;
+    if (!own) {
+      this._wrapperFields.{{=field.name}}.fill(this._{{=field.name}}Array);
+      this._wrapperFields.{{=field.name}}.freeze(own, checkConsistency);
+      this._refObject.{{=field.name}} = this._wrapperFields.{{=field.name}}.refObject;
+    } else {
+      this._wrapperFields.{{=field.name}}.fill([]);
+      this._wrapperFields.{{=field.name}}.freeze(own, checkConsistency);
+      this._refObject.{{=field.name}} = this._wrapperFields.{{=field.name}}.refObject;
+    }
     {{?? field.type.isArray && !field.type.isPrimitiveType && field.type.isFixedSizeArray}}
     for (let i = 0; i < this._wrapperFields.{{=field.name}}.data.length; i++) {
       this._refObject.{{=field.name}}[i] = this._wrapperFields.{{=field.name}}.data[i].freeze(own, checkConsistency);
@@ -348,6 +368,13 @@ class {{=objectWrapper}} {
     {{?? !field.type.isPrimitiveType || field.type.isArray}}
     this._wrapperFields.{{=field.name}}.freeze(own, checkConsistency);
     this._refObject.{{=field.name}} = this._wrapperFields.{{=field.name}}.refObject;
+    {{? field.type.isArray && field.type.isPrimitiveType }}
+    if (own) {
+      this._wrapperFields.{{=field.name}}.fill({{=getTypedArrayName(field.type)}}.from([]));
+      this._wrapperFields.{{=field.name}}.freeze(own, checkConsistency);
+      this._refObject.{{=field.name}} = this._wrapperFields.{{=field.name}}.refObject;
+    }
+    {{?}}
     {{?? field.type.type === 'string' && it.spec.msgName !== 'String'}}
     if (own) {
       this._wrapperFields.{{=field.name}}.freeze(own, checkConsistency);

rosidl_parser/parser.py

@@ -34,6 +34,7 @@ def get_json_object_from_msg_spec_object(msg_spec_object):
     for field in msg_spec_object.fields:
         dict_field = {'name': field.name}
         dict_field['type'] = get_json_object_from_type_object(field.type)
+        dict_field['default_value'] = field.default_value
         fields.append(dict_field)
 
     constants = []

src/executor.cpp

@@ -96,7 +96,7 @@ void Executor::Run(void* arg) {
 
   try {
     rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
-    rcl_ret_t ret = rcl_wait_set_init(&wait_set, 0, 2, 0, 0, 0,
+    rcl_ret_t ret = rcl_wait_set_init(&wait_set, 0, 2, 0, 0, 0, 0,
         executor->context_, rcl_get_default_allocator());
     if (ret != RCL_RET_OK) {
       throw std::runtime_error(std::string("Init waitset failed: ") +
@@ -119,7 +119,9 @@ void Executor::Run(void* arg) {
             0u,
             handle_manager->timer_count(),
             handle_manager->client_count(),
-            handle_manager->service_count()) != RCL_RET_OK) {
+            handle_manager->service_count(),
+            // TODO(minggang): support events.
+            0u) != RCL_RET_OK) {
               std::string error_message = std::string("Failed to resize: ")
                   + std::string(rcl_get_error_string().str);
               throw std::runtime_error(error_message);

src/rcl_bindings.cpp

@@ -390,7 +390,7 @@ NAN_METHOD(RclTake) {
   rcl_subscription_t* subscription =
       reinterpret_cast<rcl_subscription_t*>(subscription_handle->ptr());
   void* msg_taken = node::Buffer::Data(info[1]->ToObject());
-  rcl_ret_t ret = rcl_take(subscription, msg_taken, nullptr);
+  rcl_ret_t ret = rcl_take(subscription, msg_taken, nullptr, nullptr);
 
   if (ret != RCL_RET_OK && ret != RCL_RET_SUBSCRIPTION_TAKE_FAILED) {
     Nan::ThrowError(rcl_get_error_string().str);
@@ -495,7 +495,7 @@ NAN_METHOD(Publish) {
       RclHandle::Unwrap<RclHandle>(info[0]->ToObject())->ptr());
 
   void* buffer = node::Buffer::Data(info[1]->ToObject());
-  THROW_ERROR_IF_NOT_EQUAL(rcl_publish(publisher, buffer), RCL_RET_OK,
+  THROW_ERROR_IF_NOT_EQUAL(rcl_publish(publisher, buffer, nullptr), RCL_RET_OK,
                            rcl_get_error_string().str);
 
   info.GetReturnValue().Set(Nan::Undefined());