RobotWebTools · minggangw · Mar 5, 2025 · Mar 4, 2025 · Mar 5, 2025 · Mar 5, 2025
diff --git a/.eslintrc.yml b/.eslintrc.yml
diff --git a/.github/workflows/linux-build-and-test-compatibility.yml b/.github/workflows/linux-build-and-test-compatibility.yml
@@ -35,4 +35,5 @@ jobs:
       run: |
         source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
         npm i
+        npm run lint
         npm test
diff --git a/.github/workflows/linux-build-and-test.yml b/.github/workflows/linux-build-and-test.yml
@@ -50,4 +50,5 @@ jobs:
       run: |
         source /opt/ros/${{ needs.identify-ros-distro.outputs.distro }}/setup.bash
         npm i
+        npm run lint
         npm test
diff --git a/eslint.config.mjs b/eslint.config.mjs
@@ -0,0 +1,65 @@
+import typescriptEslint from "@typescript-eslint/eslint-plugin";
+import prettier from "eslint-plugin-prettier";
+import globals from "globals";
+import tsParser from "@typescript-eslint/parser";
+import eslintPluginPrettierRecommended from 'eslint-plugin-prettier/recommended';
+import js from "@eslint/js";
+
+export default [
+    {
+        ignores: [
+            "eslint.config.mjs",
+            "types/interfaces.d.ts",
+            "test/types/index.test-d.ts",
+            "**/generated/",
+            "**/scripts/",
+            "**/benchmark/",
+            "**/docs/",
+            "**/electron_demo/",
+        ],
+    },
+    {
+        ...js.configs.recommended,
+        files: ["lib/**/*.js", "index.js"],
+    },
+    {
+        rules: {
+            'no-dupe-class-members': 'off',
+        },
+    },
+    {
+        plugins: {
+            "@typescript-eslint": typescriptEslint,
+        },
+        languageOptions: {
+            globals: {
+                ...globals.node,
+            },
+            parser: tsParser,
+            ecmaVersion: "latest",
+            sourceType: "module",
+        },
+        files: ['types/*.d.ts'],
+        rules: {
+            ...typescriptEslint.configs.recommended.rules,
+            "@typescript-eslint/no-explicit-any": "off",
+        },
+    },
+    {
+        plugins: {
+            prettier,
+        },
+        languageOptions: {
+            globals: {
+                ...globals.node,
+            },
+            ecmaVersion: "latest",
+            sourceType: "commonjs",
+        },
+        files: ["lib/**/*.js", "rosidl_parser/**/*.js", "rosidl_gen/**/*.js",
+            "rostsd_gen/**/*.js", "test/**/*.js", "example/**/*.js", "index.js"],
+        rules: {
+            ...eslintPluginPrettierRecommended.rules,
+        },
+    }
+];
diff --git a/example/publisher-content-filter-example.js b/example/publisher-content-filter-example.js
@@ -14,8 +14,6 @@
 
 'use strict';
 
-/* eslint-disable camelcase */
-
 const rclnodejs = require('../index.js');
 
 async function main() {

diff --git a/example/publisher-message-example.js b/example/publisher-message-example.js
@@ -14,8 +14,6 @@
 
 'use strict';
 
-/* eslint-disable camelcase */
-
 const rclnodejs = require('../index.js');
 
 rclnodejs

diff --git a/example/publisher-multiarray-example.js b/example/publisher-multiarray-example.js
@@ -14,8 +14,6 @@
 
 'use strict';
 
-/* eslint-disable camelcase */
-
 const rclnodejs = require('../index.js');
 
 rclnodejs

diff --git a/example/publisher-raw-message.js b/example/publisher-raw-message.js
@@ -14,8 +14,6 @@
 
 'use strict';
 
-/* eslint-disable camelcase */
-
 const rclnodejs = require('../index.js');
 
 rclnodejs

diff --git a/example/subscription-multiarray-example.js b/example/subscription-multiarray-example.js
@@ -36,7 +36,7 @@ rclnodejs
         const weightStride = dim[1].stride;
         const channel = dim[2].size;
         const channelStride = dim[2].stride;
-        // eslint-disable-next-line
+
         const offset = multiArray.layout.data_offset;
 
         for (let i = 0; i < height; i++) {

diff --git a/example/subscription-raw-message.js b/example/subscription-raw-message.js
@@ -14,8 +14,6 @@
 
 'use strict';
 
-/* eslint-disable camelcase */
-
 const rclnodejs = require('../index.js');
 
 rclnodejs.init().then(() => {

diff --git a/lib/action/client.js b/lib/action/client.js
@@ -172,7 +172,7 @@ class ActionClient extends Entity {
           goalHandle.status = status;
 
           // Remove done handles from the list
-          // eslint-disable-next-line max-depth
+
           if (
             status === ActionInterfaces.GoalStatus.STATUS_SUCCEEDED ||
             status === ActionInterfaces.GoalStatus.STATUS_CANCELED ||

diff --git a/lib/clock_type.js b/lib/clock_type.js
@@ -14,8 +14,6 @@
 
 'use strict';
 
-/* eslint-disable camelcase */
-
 /**
  * Enum for ClockType
  * @readonly

diff --git a/lib/distro.js b/lib/distro.js
@@ -63,7 +63,7 @@ const DistroUtils = {
       return process.env.ROS_DISTRO;
     }
 
-    return [...DistroNameIdMap].find(([key, val]) => val == distroId)[0];
+    return [...DistroNameIdMap].find(([, val]) => val == distroId)[0];
   },
 
   getKnownDistroNames: function () {

diff --git a/lib/interface_loader.js b/lib/interface_loader.js
@@ -59,7 +59,6 @@ let interfaceLoader = {
     // Suppose the name is a package, and traverse the path to collect the IDL files.
     let packagePath = path.join(generator.generatedRoot, name);
 
-    // eslint-disable-next-line
     let interfaces = fs.readdirSync(packagePath);
     if (interfaces.length > 0) {
       return this.loadInterfaceByPath(packagePath, interfaces);
@@ -108,7 +107,7 @@ let interfaceLoader = {
         packageName,
         packageName + '__' + type + '__' + messageName + '.js'
       );
-      // eslint-disable-next-line
+
       if (fs.existsSync(filePath)) {
         return require(filePath);
       }

diff --git a/lib/lifecycle.js b/lib/lifecycle.js
@@ -588,8 +588,6 @@ class LifecycleNode extends Node {
    * @throws {Error} If transition is invalid for the current state.
    */
   shutdown(callbackReturnValue) {
-    let state = this.currentState;
-
     return this._changeState(SHUTDOWN_TRANSITION_LABEL, callbackReturnValue);
   }
 
@@ -603,7 +601,6 @@ class LifecycleNode extends Node {
   _onGetState(request, response) {
     let result = response.template;
 
-    // eslint-disable-next-line camelcase
     result.current_state = this.currentState;
 
     response.send(result);
@@ -619,7 +616,6 @@ class LifecycleNode extends Node {
   _onGetAvailableStates(request, response) {
     let result = response.template;
 
-    // eslint-disable-next-line camelcase
     result.available_states = this.availableStates;
 
     response.send(result);
@@ -634,7 +630,6 @@ class LifecycleNode extends Node {
   _onGetAvailableTransitions(request, response) {
     let result = response.template;
 
-    // eslint-disable-next-line camelcase
     result.available_transitions = this.availableTransitions;
 
     response.send(result);

diff --git a/lib/node.js b/lib/node.js
@@ -1549,7 +1549,7 @@ class Node extends rclnodejs.ShadowNode {
       // detect invalid parameter
       try {
         parameter.validate();
-      } catch (e) {
+      } catch {
         return {
           successful: false,
           reason: `Invalid ${parameter.name}`,
@@ -1577,7 +1577,7 @@ class Node extends rclnodejs.ShadowNode {
       if (parameter.type != ParameterType.PARAMETER_NOT_SET) {
         try {
           descriptor.validateParameter(parameter);
-        } catch (e) {
+        } catch {
           return {
             successful: false,
             reason: `Parameter ${parameter.name} does not  readonly`,

diff --git a/lib/parameter.js b/lib/parameter.js
@@ -19,8 +19,6 @@
 
 'use strict';
 
-/* eslint-disable camelcase */
-
 const IsClose = require('is-close');
 
 /**
@@ -273,7 +271,6 @@ class ParameterDescriptor {
   static fromParameter(parameter) {
     const name = parameter.name;
     const type = parameter.type;
-    const value = parameter.value;
     return new ParameterDescriptor(name, type, 'Created from parameter.');
   }
 
@@ -386,7 +383,7 @@ class ParameterDescriptor {
       return;
     }
     if (!(range instanceof Range)) {
-      throw TypeException('Expected instance of Range.');
+      throw TypeError('Expected instance of Range.');
     }
     if (!range.isValidType(this.type)) {
       throw TypeError('Incompatible Range');
@@ -442,14 +439,14 @@ class ParameterDescriptor {
     // ensure parameter is valid
     try {
       parameter.validate();
-    } catch (e) {
+    } catch {
       throw new TypeError('Parameter is invalid');
     }
 
     // ensure this descriptor is valid
     try {
       this.validate();
-    } catch (e) {
+    } catch {
       throw new Error('Descriptor is invalid.');
     }
 
@@ -566,6 +563,7 @@ class Range {
    * @param {ParameterType} parameterType - The parameter type to test.
    * @return {boolean} - True if parameterType is compatible; otherwise return false.
    */
+  // eslint-disable-next-line no-unused-vars
   isValidType(parameterType) {
     return false;
   }
@@ -701,6 +699,7 @@ class IntegerRange extends Range {
  * @param {any} value - The value to infer it's ParameterType
  * @returns {ParameterType} - The ParameterType that best scribes the value.
  */
+// eslint-disable-next-line no-unused-vars
 function parameterTypeFromValue(value) {
   if (!value) return ParameterType.PARAMETER_NOT_SET;
   if (typeof value === 'boolean') return ParameterType.PARAMETER_BOOL;
@@ -777,8 +776,7 @@ function validValue(value, type) {
     case ParameterType.PARAMETER_INTEGER_ARRAY:
     case ParameterType.PARAMETER_DOUBLE_ARRAY:
     case ParameterType.PARAMETER_STRING_ARRAY:
-      const values = value;
-      result = _validArray(values, type);
+      result = _validArray(value, type);
       break;
     default:
       result = false;

diff --git a/lib/parameter_service.js b/lib/parameter_service.js
@@ -1,4 +1,3 @@
-/* eslint-disable max-depth */
 // Copyright (c) 2020 Wayne Parrott. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
@@ -15,7 +14,6 @@
 
 'use strict';
 
-const rclnodejs = require('bindings')('rclnodejs');
 const { Parameter, PARAMETER_SEPARATOR } = require('./parameter.js');
 
 /**

diff --git a/lib/qos.js b/lib/qos.js
@@ -14,8 +14,6 @@
 
 'use strict';
 
-/* eslint-disable */
-
 /**
  * Enum for HistoryPolicy
  * @readonly

diff --git a/lib/time_source.js b/lib/time_source.js
@@ -17,7 +17,6 @@
 const rclnodejs = require('bindings')('rclnodejs');
 const { Clock, ROSClock } = require('./clock.js');
 const { ClockType } = Clock;
-const Node = require('./node.js');
 const { Parameter, ParameterType } = require('./parameter.js');
 const Time = require('./time.js');
 

diff --git a/package.json b/package.json
@@ -24,7 +24,7 @@
     "postinstall": "npm run generate-messages",
     "docs": "cd docs && make",
     "test": "node --expose-gc ./scripts/run_test.js && npx tsd",
-    "lint": "eslint --max-warnings=0 --ext js,ts index.js types scripts lib example rosidl_gen rosidl_parser test benchmark/rclnodejs && node ./scripts/cpplint.js",
+    "lint": "eslint && node ./scripts/cpplint.js",
     "format": "clang-format -i -style=file ./src/*.cpp ./src/*.hpp && prettier --write \"{lib,rosidl_gen,rostsd_gen,rosidl_parser,types,example,test,scripts,benchmark}/**/*.{js,md,ts}\" ./*.{js,md,ts}",
     "prepare": "husky"
   },
@@ -43,17 +43,17 @@
     "url": "git+https://github.com/RobotWebTools/rclnodejs.git"
   },
   "devDependencies": {
-    "@babel/eslint-parser": "^7.25.9",
-    "@types/node": "^22.13.5",
+    "@eslint/js": "^10.0.0",
+    "@types/node": "^22.13.9",
     "@typescript-eslint/eslint-plugin": "^8.18.0",
     "@typescript-eslint/parser": "^8.18.0",
-    "babel-eslint": "^10.1.0",
     "clang-format": "^1.8.0",
     "commander": "^13.1.0",
     "deep-equal": "^2.2.3",
     "eslint": "^9.16.0",
-    "eslint-config-prettier": "^10.0.1",
+    "eslint-config-prettier": "^10.0.2",
     "eslint-plugin-prettier": "^5.2.1",
+    "globals": "^16.0.0",
     "husky": "^9.1.7",
     "jsdoc": "^4.0.4",
     "lint-staged": "^15.2.10",

diff --git a/rosidl_gen/action_msgs.js b/rosidl_gen/action_msgs.js
@@ -12,7 +12,6 @@
 
 'use strict';
 
-/* eslint-disable camelcase */
 const GOAL_ID_FIELD = {
   name: 'goal_id',
   type: {

diff --git a/rosidl_gen/filter.js b/rosidl_gen/filter.js
@@ -87,7 +87,6 @@ const RosPackageFilters = {
 
     if (!fs.existsSync(blocklistPath)) return;
 
-    // eslint-disable-next-line
     let blocklistData = JSON.parse(fs.readFileSync(blocklistPath, 'utf8'));
 
     let filters = blocklistData.map((pkgFilterData) => {