better typescript typings

rostsd_gen/index.js

@@ -38,7 +38,7 @@ function generateAll() {
   // load pkg and interface info (msgs and srvs)
   const generatedPath = path.join(__dirname, '../generated/');
   const pkgInfos = getPkgInfos(generatedPath);
-  
+
   // write message.d.ts file
   const messagesFilePath = path.join(__dirname, '../types/interfaces.d.ts');
   const fd = fs.openSync(messagesFilePath, 'w');
@@ -56,17 +56,19 @@ function getPkgInfos(generatedRoot) {
 
     const pkgInfo = {
       name: pkg,
-      messages: []
+      messages: [],
+      services: []
     };
 
     const pkgPath = path.join(rootDir, pkg);
-    const files = fs.readdirSync(pkgPath);
+    const files = fs.readdirSync(pkgPath).filter(fn => fn.endsWith('.js'));
 
     for (let filename of files) {
       const typeClass = fileName2Typeclass(filename);
 
       if (typeClass.type === 'srv') { // skip __srv__<action>
         if (!typeClass.name.endsWith('Request') && !typeClass.name.endsWith('Response')) {
+          pkgInfo.services.push(typeClass);
           continue;
         }
       }
@@ -93,10 +95,12 @@ function getPkgInfos(generatedRoot) {
 
 
 function savePkgInfoAsTSD(pkgInfos, fd) {
-
-  let fullMessageNames = ['string'];
+  let messagesMap = {
+    string: 'string',
+  };
 
   fs.writeSync(fd, '/* eslint-disable camelcase */\n');
+  fs.writeSync(fd, '/* eslint-disable max-len */\n');
   fs.writeSync(fd, '// DO NOT EDIT\n');
   fs.writeSync(fd, '// This file is generated by the rostsd_gen script\n\n');
 
@@ -115,7 +119,7 @@ function savePkgInfoAsTSD(pkgInfos, fd) {
     for (const msgInfo of pkgInfo.messages) {
 
       if (msgInfo.typeClass.type != curNS) {
-        if (curNS) { // close current ns 
+        if (curNS) { // close current ns
           fs.writeSync(fd, '    }\n');
         }
 
@@ -129,10 +133,11 @@ function savePkgInfoAsTSD(pkgInfos, fd) {
       }
 
       saveMsgInfoAsTSD(msgInfo, fd);
+      saveMsgWrapperAsTSD(msgInfo, fd);
 
       // full path to this msg
-      const fullMessageName = `${pkgInfo.name}.${msgInfo.typeClass.type}.${msgInfo.typeClass.name}`;
-      fullMessageNames.push(fullMessageName);
+      const fullMessageName = `${pkgInfo.name}/${msgInfo.typeClass.type}/${msgInfo.typeClass.name}`;
+      messagesMap[fullMessageName] = `${pkgInfo.name}.${msgInfo.typeClass.type}.${msgInfo.typeClass.name}`;
     }
 
     if (curNS) {
@@ -144,66 +149,112 @@ function savePkgInfoAsTSD(pkgInfos, fd) {
     fs.writeSync(fd, '  }\n\n');
   }
 
-  // write type alias for Message
-  // e.g. type Message =
-  //             string |
-  //             std_msgs.msg.Bool |
-  //             std_msgs.msg.Byte |
-  //             ...
-  fs.writeSync(fd, '  type Message = \n');
-  for (let i=0; i < fullMessageNames.length; i++) {
-    fs.writeSync(fd, '    ' +  fullMessageNames[i]);
-    if (i != fullMessageNames.length-1) {
-      fs.writeSync(fd, ' |\n');
-    } 
+  // write messages type mappings
+  fs.writeSync(fd, '  type MessagesMap = {\n');
+  for (const key in messagesMap) {
+    fs.writeSync(fd, `    '${key}': ${messagesMap[key]},\n`);
+  }
+  fs.writeSync(fd, '  };\n');
+  fs.writeSync(fd, '  type MessageTypeClassName = keyof MessagesMap;\n');
+  fs.writeSync(fd, '  type Message = MessagesMap[MessageTypeClassName];\n');
+  fs.writeSync(fd, '  type MessageType<T> = T extends MessageTypeClassName ? MessagesMap[T] : object;\n\n');
+
+  // write message wrappers mappings
+  fs.writeSync(fd, '  type MessageTypeClassWrappersMap = {\n');
+  for (const key in messagesMap) {
+    if (key === 'string') {
+      fs.writeSync(fd, "    'string': never,\n");
+      continue;
+    }
+    fs.writeSync(fd, `    '${key}': ${messagesMap[key]}_WrapperType,\n`);
+  }
+  fs.writeSync(fd, '  };\n');
+  fs.writeSync(fd, '  type MessageWrapperType<T> = T extends MessageTypeClassName ? MessageTypeClassWrappersMap[T] : object;\n\n');
+
+  // write service type class string
+  const services = [];
+  for (const pkg of pkgInfos) {
+    services.push(...pkg.services);
+  }
+  if (!services.length) {
+    fs.writeSync(fd, '  type ServiceTypeClassName = never;\n\n');
+  } else {
+    fs.writeSync(fd, '  type ServiceTypeClassName = \n');
+    for (let i = 0; i < services.length; i++) {
+      const srv = services[i];
+      const srvTypeClassStr = `${srv.package}/${srv.type}/${srv.name}`;
+      fs.writeSync(fd, `    '${srvTypeClassStr}'`);
+
+      if (i !== services.length - 1) {
+        fs.writeSync(fd, ' |\n');
+      }
+    }
+    fs.writeSync(fd, ';\n\n');
   }
-  
-  fs.writeSync(fd, ';\n');
+
+  fs.writeSync(fd, '  type TypeClassName = MessageTypeClassName | ServiceTypeClassName;\n');
 
   // close module declare
   fs.writeSync(fd, '}\n');
+
   fs.closeSync(fd);
 }
 
 
-function saveMsgInfoAsTSD(msgInfo, fd) {
-
-  // write type = xxxx {
-  const typeTemplate =
-    `      export type ${msgInfo.typeClass.name} = {\n`;
-
-  fs.writeSync(fd, typeTemplate);
-
-  // write constant definitions
-  for (let i = 0; i < msgInfo.def.constants.length; i++) {
-    const constant = msgInfo.def.constants[i];
+function saveMsgWrapperAsTSD(msgInfo, fd) {
+  const msgName = msgInfo.typeClass.name;
+  fs.writeSync(fd, `      export type ${msgName}_WrapperType = {\n`);
+  for (const constant of msgInfo.def.constants) {
     const constantType = primitiveType2JSName(constant.type);
-    const tmpl = (constantType == 'string') ?
-      `        ${constant.name}: '${constant.value}'` :
-      `        ${constant.name}: ${constant.value}`;
-    fs.writeSync(fd, tmpl);
-
-    if (i != msgInfo.def.constants.length - 1) {
-      fs.writeSync(fd, ',\n');
-    } else if (msgInfo.def.fields.length > 0) {
-      fs.writeSync(fd, ',\n');
-    }
+    fs.writeSync(fd, `        readonly ${constant.name}: ${constantType},\n`);
   }
+  fs.writeSync(fd, `        new(other?: ${msgName}): ${msgName},\n`);
+  fs.writeSync(fd, '      }\n');
+}
 
-  // write field definitions
+
+/**
+ * Writes the message fields as typescript definitions.
+ *
+ * @param {*} msgInfo ros message info
+ * @param {*} fd file descriptor
+ * @param {string} indent The amount of indent, in spaces
+ * @param {string} lineEnd The character to put at the end of each line, usually ','
+ * or ';'
+ * @param {string} typePrefix The prefix to put before the type name for
+ * non-primitive types
+ * @returns {undefined}
+ */
+function saveMsgFieldsAsTSD(msgInfo, fd, indent=0, lineEnd=',', typePrefix='') {
+  const indentStr = ' '.repeat(indent);
   for (let i = 0; i < msgInfo.def.fields.length; i++) {
     const field = msgInfo.def.fields[i];
-    const fieldType = fieldType2JSName(field);
-    const tmpl = `        ${field.name}: ${fieldType}`;
+    let fieldType = fieldType2JSName(field);
+    let tp = field.type.isPrimitiveType ? '' : typePrefix;
+    if (typePrefix === 'rclnodejs.') {
+      fieldType = 'any';
+      tp = '';
+    }
+    const tmpl = `${indentStr}${field.name}: ${tp}${fieldType}`;
     fs.writeSync(fd, tmpl);
     if (field.type.isArray) {
       fs.writeSync(fd, '[]');
     }
-    if (i != msgInfo.def.fields.length - 1) {
-      fs.writeSync(fd, ',');
-    }
+    fs.writeSync(fd, lineEnd);
     fs.writeSync(fd, '\n');
   }
+}
+
+
+function saveMsgInfoAsTSD(msgInfo, fd) {
+  // write type = xxxx {
+  const typeTemplate =
+    `      export type ${msgInfo.typeClass.name} = {\n`;
+
+  fs.writeSync(fd, typeTemplate);
+
+  // write field definitions
+  saveMsgFieldsAsTSD(msgInfo, fd, 8);
 
   // end of def
   fs.writeSync(fd, '      };\n');
@@ -223,7 +274,7 @@ function primitiveType2JSName(type) {
   switch (type) {
   case 'char':
   case 'byte':
-  case 'uin8':
+  case 'uint8':
   case 'int8':
   case 'int16':
   case 'uint16':
@@ -256,7 +307,7 @@ function fileName2Typeclass(filename) {
   const array = filename.split(regex).filter(Boolean);
 
   if (!array || array.length != 3) {
-    // todo: throw error 
+    // todo: throw error
     console.log('ERRORRROOROR', array);
     return;
   }

types/index.d.ts

@@ -1,15 +1,14 @@
-
 // eslint-disable-next-line spaced-comment
-/// <reference path="base.d.ts" /> 
+/// <reference path="base.d.ts" />
 
 declare module 'rclnodejs' {
 
 	/**
 	 * Create a node.
-	 * 
+	 *
 	 * @remarks
 	 * See {@link Node}
-	 * 
+	 *
 	 * @param nodeName - The name used to register in ROS.
 	 * @param namespace - The namespace used in ROS, default is an empty string.
 	 * @param context - The context, default is Context.defaultContext().
@@ -19,68 +18,69 @@ declare module 'rclnodejs' {
 
 	/**
 	 * Init the module.
-	 * 
+	 *
 	 * @param context - The context, default is Context.defaultContext().
 	 * @returns A Promise.
 	 */
 	function init(context?: Context): Promise<void>;
 
 	/**
 	 * Spin up the node event loop to check for incoming events.
-	 * 
+	 *
 	 * @param node - The node to be spun.
 	 * @param timeout - ms to wait, block forever if negative, return immediately when 0, default is 10.
 	 */
 	function spin(node: Node, timeout?: number): void;
 
 	/**
 	 * Stop all activity, destroy all nodes and node components.
-	 * 
+	 *
 	 * @param context - The context, default is Context.defaultContext()
 	 */
 	function shutdown(context?: Context): void;
 
 	/**
 	 * Test if the module is shutdown.
-	 * 
+	 *
 	 * @returns True if the module is shut down, otherwise return false.
 	 */
 	function isShutdown(): boolean;
 
 	/**
 	 * Get the interface package, which is used by publisher/subscription or client/service.
-	 * 
+	 *
 	 * @param  name - The name of interface to be required.
 	 * @returns The object of the required package/interface.
 	 */
+	function require<T extends MessageTypeClassName>(name: T): MessageWrapperType<T>;
 	function require(name: string): object;
 
 	/**
 	 * Generate JavaScript structs files from the IDL of
-	 * messages(.msg) and services(.srv). 
+	 * messages(.msg) and services(.srv).
 	 * Search packages which locate under path $AMENT_PREFIX_PATH
-	 * and output JS files into the 'generated' folder. 
+	 * and output JS files into the 'generated' folder.
 	 * Any existing files under the generated folder will
 	 * be overwritten.
-	 * 
+	 *
 	 * @returns A Promise.
 	 */
 	function regenerateAll(): Promise<void>;
 
 	/**
-	 * Judge if the topic or service is hidden, 
-	 * 
+	 * Judge if the topic or service is hidden,
+	 *
 	 * @remarks
 	 * See {@link http://design.ros2.org/articles/topic_and_service_names.html#hidden-topic-or-service-names}
-	 * 
+	 *
 	 * @param name - Name of topic or service.
 	 * @returns True if a given topic or service name is hidden, otherwise False.
 	 */
 	function isTopicOrServiceHidden(name: string): boolean;
 
 	/**
 	 * Expand a given topic name using given node name and namespace.
-	 * 
+	 *
 	 * @param  topicName - Topic name to be expanded.
 	 * @param  nodeName - Name of the node that this topic is associated with.
 	 * @param  nodeNamespace - Namespace that the topic is within.
@@ -91,7 +91,7 @@ declare module 'rclnodejs' {
 
 	/**
 	 * Create a plain JavaScript message object.
-	 * 
+	 *
 	 * @param type - type identifier, acceptable formats could be 'std_msgs/std/String'
 	 *                                or {package: 'std_msgs', type: 'msg', name: 'String'}
 	 * @returns A Message object or undefined if type is not recognized.