Format the codebase

CONTRIBUTORS.md

@@ -1,54 +1,63 @@
-rclnodejs contributors (sorted alphabetically)
-==============================================
+# rclnodejs contributors (sorted alphabetically)
+
+- **[Alaa El Jawad](https://github.com/ejalaa12), [Ian McElroy](https://github.com/imcelroy)**
 
-* **[Alaa El Jawad](https://github.com/ejalaa12), [Ian McElroy](https://github.com/imcelroy)**
   - Fix compatibility with ROS2 parameters array types
   - Unit tests for all parameter types
   - Handle concurrent ROS2 client calls, with unit tests
 
-* **[Alex Mikhalev](https://github.com/amikhalev)**
-  * Fix build for AMENT_PREFIX_PATH with multiple entries
-
-* **[Felix Divo](https://github.com/felixdivo)**
-  * Code cleanup of index.js, tests cases & message generation
-  * Improved shutdown behavior
-  * Fixed compilation warnings
-
-* **[Hanyia](https://github.com/hanyia)**
-  * Benchmark test script
-
-* **[Kenny Yuan](https://github.com/kenny-y)**
-  * Message features: JS generation, typed arrays, plain JS object, compound msgs, many others...
-  * npm publish scripts
-  * Mac support
-
-* **[Matt Richard](https://github.com/mattrichard)**
-  * ROS2 Actions
-  * Guard conditions
-  * Node utility methods (countPublishers/subscribers...)
-  * TypeScript improvements
-  * Node 12 compatibility
-
-* **[Minggang Wang](https://github.com/minggangw)**
-  * Author, lead developer, maintainer
-  * Core, CI
-
-* **[Martins Mozeiko](https://github.com/martins-mozeiko)**
-  * QoS new/delete fix
-
-* **[Qiuzhong](https://github.com/qiuzhong)**
-  * Test coverage for actions, topics, multi-array messages, cross platform, security
-  * Converted from setTimeout to ROS2 Timer
-
-* **[Teo Koon Peng](https://github.com/koonpeng)**
-  * TypeScript improvements
-  * Added Client#waitForService
-  * Code style improvements, e.g., Prettier formatting
-  * Improved code generation smarts and efficiency
-
-* **[Wayne Parrott](https://github.com/wayneparrott)**
-  * TypeScript support with interface generation
-  * ROS2 parameter support
-  * ROS2 lifecycle node
-  * Rate class
-  * Node class hierarchy
+- **[Alex Mikhalev](https://github.com/amikhalev)**
+
+  - Fix build for AMENT_PREFIX_PATH with multiple entries
+
+- **[Felix Divo](https://github.com/felixdivo)**
+
+  - Code cleanup of index.js, tests cases & message generation
+  - Improved shutdown behavior
+  - Fixed compilation warnings
+
+- **[Hanyia](https://github.com/hanyia)**
+
+  - Benchmark test script
+
+- **[Kenny Yuan](https://github.com/kenny-y)**
+
+  - Message features: JS generation, typed arrays, plain JS object, compound msgs, many others...
+  - npm publish scripts
+  - Mac support
+
+- **[Matt Richard](https://github.com/mattrichard)**
+
+  - ROS2 Actions
+  - Guard conditions
+  - Node utility methods (countPublishers/subscribers...)
+  - TypeScript improvements
+  - Node 12 compatibility
+
+- **[Minggang Wang](https://github.com/minggangw)**
+
+  - Author, lead developer, maintainer
+  - Core, CI
+
+- **[Martins Mozeiko](https://github.com/martins-mozeiko)**
+
+  - QoS new/delete fix
+
+- **[Qiuzhong](https://github.com/qiuzhong)**
+
+  - Test coverage for actions, topics, multi-array messages, cross platform, security
+  - Converted from setTimeout to ROS2 Timer
+
+- **[Teo Koon Peng](https://github.com/koonpeng)**
+
+  - TypeScript improvements
+  - Added Client#waitForService
+  - Code style improvements, e.g., Prettier formatting
+  - Improved code generation smarts and efficiency
+
+- **[Wayne Parrott](https://github.com/wayneparrott)**
+  - TypeScript support with interface generation
+  - ROS2 parameter support
+  - ROS2 lifecycle node
+  - Rate class
+  - Node class hierarchy

README.md

@@ -3,8 +3,8 @@
 [![npm](https://img.shields.io/npm/v/rclnodejs.svg)](https://www.npmjs.com/package/rclnodejs)[![Coverage Status](https://coveralls.io/repos/github/RobotWebTools/rclnodejs/badge.svg?branch=develop)](https://coveralls.io/github/RobotWebTools/rclnodejs?branch=develop)[![npm](https://img.shields.io/npm/dm/rclnodejs)](https://www.npmjs.com/package/rclnodejs)[![GitHub license](https://img.shields.io/github/license/RobotWebTools/rclnodejs.svg)](https://github.com/RobotWebTools/rclnodejs/blob/develop/LICENSE)[![node](https://img.shields.io/node/v/rclnodejs.svg)](https://nodejs.org/en/download/releases/)[![npm type definitions](https://img.shields.io/npm/types/rclnodejs)](https://www.npmjs.com/package/rclnodejs)[![code style: prettier](https://img.shields.io/badge/code_style-prettier-ff69b4.svg?style=flat-square)](https://github.com/prettier/prettier)
 
 | **ROS Distro\*** |                                                                     **Linux**                                                                      |                                                                     **Windows**                                                                      |
-| :--------------: | :------------------------------------------------------------------------------------------------------------------------------------------------: | :------------------------------------------------------------------------------------------------------------------------------------------------: |
-|      Jazzy       |     ![GitHub Workflow Status](https://github.com/RobotWebTools/rclnodejs/actions/workflows/linux-build-and-test.yml/badge.svg?branch=jazzy)        |     ![GitHub Workflow Status](https://github.com/RobotWebTools/rclnodejs/actions/workflows/windows-build-and-test.yml/badge.svg?branch=jazzy)      |
+| :--------------: | :------------------------------------------------------------------------------------------------------------------------------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------------: |
+|      Jazzy       |      ![GitHub Workflow Status](https://github.com/RobotWebTools/rclnodejs/actions/workflows/linux-build-and-test.yml/badge.svg?branch=jazzy)       |      ![GitHub Workflow Status](https://github.com/RobotWebTools/rclnodejs/actions/workflows/windows-build-and-test.yml/badge.svg?branch=jazzy)       |
 |      Humble      | ![GitHub Workflow Status](https://github.com/RobotWebTools/rclnodejs/actions/workflows/linux-build-and-test.yml/badge.svg?branch=humble-hawksbill) | ![GitHub Workflow Status](https://github.com/RobotWebTools/rclnodejs/actions/workflows/windows-build-and-test.yml/badge.svg?branch=humble-hawksbill) |
 
 \* rclnodejs development and maintenance is limited to the ROS 2 LTS releases and the Rolling development branch
@@ -106,9 +106,9 @@ Your `tsconfig.json` file should include the following compiler options:
   "compilerOptions": {
     "module": "commonjs",
     "moduleResolution": "node",
-    "target": "es6"
+    "target": "es6",
     // your additional options here
-  }
+  },
 }
 ```
 

lib/lifecycle_publisher.js

@@ -27,7 +27,7 @@ const Publisher = require('./publisher.js');
  */
 class LifecyclePublisher extends Publisher {
   constructor(handle, typeClass, topic, options) {
-    super(handle, typeClass, /*topic=*/'', options);
+    super(handle, typeClass, /*topic=*/ '', options);
 
     this._enabled = false;
     this._loggger = Logging.getLogger('LifecyclePublisher');

lib/node.js

@@ -116,7 +116,7 @@ class Node extends rclnodejs.ShadowNode {
     // override cli parameterOverrides with those specified in options
     if (options.parameterOverrides.length > 0) {
       for (const parameter of options.parameterOverrides) {
-        if (!parameter instanceof Parameter) {
+        if ((!parameter) instanceof Parameter) {
           throw new TypeError(
             'Parameter-override must be an instance of Parameter.'
           );
@@ -1696,7 +1696,7 @@ Node.getDefaultOptions = function () {
     isRaw: false,
     qos: QoS.profileDefault,
     contentFilter: undefined,
-    willCheckConsistency: false
+    willCheckConsistency: false,
   };
 };
 

lib/service.js

@@ -75,18 +75,19 @@ class Service extends Entity {
 
     const plainObj = request.toPlainObject(this.typedArrayEnabled);
     const response = new Response(this, headerHandle);
-    Promise.resolve(this._callback(plainObj, response)).then((responseToReturn) => {
-
-      if (!response.sent && responseToReturn) {
-        responseToReturn = new this._typeClass.Response(responseToReturn);
-        const rawResponse = responseToReturn.serialize();
-        rclnodejs.sendResponse(this._handle, rawResponse, headerHandle);
+    Promise.resolve(this._callback(plainObj, response)).then(
+      (responseToReturn) => {
+        if (!response.sent && responseToReturn) {
+          responseToReturn = new this._typeClass.Response(responseToReturn);
+          const rawResponse = responseToReturn.serialize();
+          rclnodejs.sendResponse(this._handle, rawResponse, headerHandle);
+        }
+
+        debug(
+          `Service has processed the ${this._serviceName} request and sent the response.`
+        );
       }
-
-      debug(
-        `Service has processed the ${this._serviceName} request and sent the response.`
-      );
-    });
+    );
   }
 
   static createService(nodeHandle, serviceName, typeClass, options, callback) {

lib/time_source.js

@@ -102,7 +102,7 @@ class TimeSource {
    * @return {undefined}
    */
   attachNode(node) {
-    if (!node instanceof rclnodejs.ShadowNode) {
+    if ((!node) instanceof rclnodejs.ShadowNode) {
       throw new TypeError('Invalid argument, must be type of Node');
     }
 

rosidl_gen/message_translator.js

@@ -149,7 +149,10 @@ function toPlainObject(message, enableTypedArray = true) {
           // TODO(Kenny): make sure Int64 & Uint64 type can be copied here
           obj[name] = message[name];
         }
-      } else if (def.fields[i].type.isArray && def.fields[i].type.type === 'Constants') {
+      } else if (
+        def.fields[i].type.isArray &&
+        def.fields[i].type.type === 'Constants'
+      ) {
         // For a constants array, because its field is empty we just return an empty array here.
         obj[name] = [];
       } else {

rosidl_gen/packages.js

@@ -148,10 +148,10 @@ async function generateMsgForSrv(filePath, interfaceInfo, pkgMap) {
     await fsp.writeFile(path.join(packagePath, responseMsgName), arr[1]);
     let requestInfo = Object.assign({}, interfaceInfo);
     requestInfo.filePath = path.join(packagePath, requestMsgName);
-    requestInfo.interfaceName = requestInfo.interfaceName + "_Request"
+    requestInfo.interfaceName = requestInfo.interfaceName + '_Request';
     let responseInfo = Object.assign({}, interfaceInfo);
     responseInfo.filePath = path.join(packagePath, responseMsgName);
-    responseInfo.interfaceName = responseInfo.interfaceName + "_Response"
+    responseInfo.interfaceName = responseInfo.interfaceName + '_Response';
 
     addInterfaceInfo(requestInfo, 'messages', pkgMap);
     addInterfaceInfo(responseInfo, 'messages', pkgMap);
@@ -199,7 +199,7 @@ async function findAmentPackagesInDirectory(dir) {
   const rosFiles = Array.prototype.flat ? files.flat() : flat(files);
   const pkgMap = new Map();
   await Promise.all(
-    rosFiles.map(filePath => addInterfaceInfos(filePath, dir, pkgMap))
+    rosFiles.map((filePath) => addInterfaceInfos(filePath, dir, pkgMap))
   );
   return pkgMap;
 }

rosidl_gen/primitive_types.js

@@ -28,14 +28,14 @@ const StringRefStruct = StructType({
 
 function initString(str, own = false) {
   if (own) {
-    if (!str instanceof Buffer) {
+    if ((!str) instanceof Buffer) {
       throw new TypeError(
         'Invalid argument: should provide a Node Buffer to bindingsStringInit()'
       );
     }
     rclnodejs.initString(str);
   } else {
-    if (!str instanceof StringRefStruct) {
+    if ((!str) instanceof StringRefStruct) {
       throw new TypeError(
         'Invalid argument: should provide a type of StringRefStruct'
       );

rostsd_gen/index.js

@@ -363,8 +363,8 @@ function isInternalServiceEventMsgInterface(rosMsgInterface) {
   let subFolder = rosMsgInterface.type().subFolder;
   // Some package puts .srv files under srvs/, e.g., slam_toolbox.
   return (
-    (subFolder == 'srv' || subFolder == 'srvs' || subFolder == 'action')
-    && name.endsWith('_Event')
+    (subFolder == 'srv' || subFolder == 'srvs' || subFolder == 'action') &&
+    name.endsWith('_Event')
   );
 }
 

scripts/npmjs-readme.md

@@ -43,8 +43,8 @@ npm i [email protected]
 
 #### RCLNODEJS - ROS 2 Version Compatibility
 
-|                                      RCLNODEJS Version                                       |                                                               Compatible ROS 2 LTS                                                                |
-| :------------------------------------------------------------------------------------------: | :-----------------------------------------------------------------------------------------------------------------------------------------------: |
+|                                      RCLNODEJS Version                                       |                                                             Compatible ROS 2 LTS                                                             |
+| :------------------------------------------------------------------------------------------: | :------------------------------------------------------------------------------------------------------------------------------------------: |
 | latest version (currently [v0.27.4](https://github.com/RobotWebTools/rclnodejs/tree/0.27.4)) | [Humble](https://github.com/RobotWebTools/rclnodejs/tree/humble-hawksbill)<br>[Jazzy](https://github.com/RobotWebTools/rclnodejs/tree/jazzy) |
 
 ## Documentation

test/test-fixed-array.js

@@ -112,7 +112,7 @@ describe('Test message which has a fixed array of 36', function () {
     const node = rclnodejs.createNode('set_map_client');
     const client = node.createClient('nav_msgs/srv/SetMap', 'set_map');
     assert.throws(() => {
-      client.sendRequest(mapData, (response) => { });
+      client.sendRequest(mapData, (response) => {});
     }, RangeError);
     node.destroy();
     done();
@@ -126,7 +126,7 @@ describe('Test message which has a fixed array of 36', function () {
     const node = rclnodejs.createNode('set_map_client');
     const client = node.createClient('nav_msgs/srv/SetMap', 'set_map');
     assert.throws(() => {
-      client.sendRequest(mapData, (response) => { });
+      client.sendRequest(mapData, (response) => {});
     }, RangeError);
     node.destroy();
     done();
@@ -219,7 +219,7 @@ describe('Test message which has a fixed array of 36', function () {
       uint32_values_default: Uint32Array.from([0, 1, 4294967295]),
       int64_values_default: [0, 9223372036854775807, -9223372036854775808],
       uint64_values_default: [0, 1, '18446744073709551615'],
-      string_values_default: ["", "max value", "min value"],
+      string_values_default: ['', 'max value', 'min value'],
       alignment_check: 100,
       constants_values: [],
     };

test/test-node-oo.js

@@ -456,14 +456,20 @@ describe('topic & serviceName getter/setter', function () {
   it('client: serviceName property getter', function () {
     var node = new rclnodejs.Node('client', '/servicename_getter');
     var client = node.createClient(AddTwoInts, 'add_two_ints');
-    assert.deepStrictEqual(client.serviceName, '/servicename_getter/add_two_ints');
+    assert.deepStrictEqual(
+      client.serviceName,
+      '/servicename_getter/add_two_ints'
+    );
     node.destroy();
   });
 
   it('service: topic property getter', function () {
     var node = new rclnodejs.Node('service', '/servicename_getter');
     var service = node.createService(AddTwoInts, 'add_two_ints', (req) => {});
-    assert.deepStrictEqual(service.serviceName, '/servicename_getter/add_two_ints');
+    assert.deepStrictEqual(
+      service.serviceName,
+      '/servicename_getter/add_two_ints'
+    );
     node.destroy();
   });
 });

test/test-node.js

@@ -457,14 +457,20 @@ describe('topic & serviceName getter/setter', function () {
   it('client: serviceName property getter', function () {
     var node = rclnodejs.createNode('client', '/servicename_getter');
     var client = node.createClient(AddTwoInts, 'add_two_ints');
-    assert.deepStrictEqual(client.serviceName, '/servicename_getter/add_two_ints');
+    assert.deepStrictEqual(
+      client.serviceName,
+      '/servicename_getter/add_two_ints'
+    );
     node.destroy();
   });
 
   it('service: topic property getter', function () {
     var node = rclnodejs.createNode('service', '/servicename_getter');
     var service = node.createService(AddTwoInts, 'add_two_ints', (req) => {});
-    assert.deepStrictEqual(service.serviceName, '/servicename_getter/add_two_ints');
+    assert.deepStrictEqual(
+      service.serviceName,
+      '/servicename_getter/add_two_ints'
+    );
     node.destroy();
   });
 });

test/test-security-related.js

@@ -217,7 +217,9 @@ describe('Fuzzing API calls testing', function () {
     var node = rclnodejs.createNode('node1', '/inconsistent');
     const RclString = 'std_msgs/msg/String';
 
-    var publisher = node.createPublisher(RclString, 'chatter7', {willCheckConsistency: true});
+    var publisher = node.createPublisher(RclString, 'chatter7', {
+      willCheckConsistency: true,
+    });
     assertThrowsError(
       () => {
         publisher.publish({ a: 1 });
@@ -247,7 +249,9 @@ describe('Fuzzing API calls testing', function () {
     var node = rclnodejs.createNode('node2', '/inconsistent');
     const AddTwoInts = 'example_interfaces/srv/AddTwoInts';
 
-    var client = node.createClient(AddTwoInts, 'add_two_ints', {willCheckConsistency: true});
+    var client = node.createClient(AddTwoInts, 'add_two_ints', {
+      willCheckConsistency: true,
+    });
     var service = node.createService(
       AddTwoInts,
       'add_two_ints',

test/test-service-introspection.js

@@ -54,7 +54,7 @@ describe('service introspection', function () {
   let serviceEventSubscriber;
   let eventQueue;
 
-  before( function() {
+  before(function () {
     if (!isServiceIntrospectionSupported()) {
       this.skip();
     }