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minggangwminggangw
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Split rcl_bindings.cpp file (RobotWebTools#1100)
This PR splits the large rcl_bindings.cpp file into several smaller, dedicated binding files to improve modularity and maintainability. Key changes include the addition of new files (e.g. rcl_node_bindings.cpp, rcl_names_bindings.cpp, rcl_logging_bindings.cpp, etc.), updates to the addon.cpp and `binding.gyp` files to reference these new modules, and renaming of certain initialization functions for consistency. Meanwhile, this patch fixes the GitHub actions failure for Linux platform. Fix: RobotWebTools#1099
1 parent c21bdcd commit 88d15f4

36 files changed

+2713
-2044
lines changed

‎.github/workflows/identify-ros-distro.yml

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -27,18 +27,18 @@ jobs:
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run: |
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if ${ROLLING_VAR} == true; then
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echo "::set-output name=distro::rolling"
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echo "::set-output name=linuxos::ubuntu-24.04"
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echo "::set-output name=linuxos::ubuntu:24.04"
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elif ${JAZZY_VAR} == true; then
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echo "::set-output name=distro::jazzy"
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echo "::set-output name=linuxos::ubuntu-24.04"
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echo "::set-output name=linuxos::ubuntu:24.04"
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elif ${IRON_VAR} == true; then
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echo "::set-output name=distro::iron"
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echo "::set-output name=linuxos::ubuntu-22.04"
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echo "::set-output name=linuxos::ubuntu:22.04"
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elif ${HUMBLE_VAR} == true; then
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echo "::set-output name=distro::humble"
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echo "::set-output name=linuxos::ubuntu-22.04"
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echo "::set-output name=linuxos::ubuntu:22.04"
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else
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echo "Unable to map branch name to ROS distro, using ROLLING as default"
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echo "::set-output name=distro::rolling"
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echo "::set-output name=linuxos::ubuntu-24.04"
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echo "::set-output name=linuxos::ubuntu:24.04"
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fi

‎.github/workflows/linux-build-and-test.yml

Lines changed: 4 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -24,9 +24,9 @@ jobs:
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build:
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needs: identify-ros-distro
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runs-on: ${{ needs.identify-ros-distro.outputs.linuxos }}
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runs-on: ubuntu-latest
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container:
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image: osrf/ros:${{ needs.identify-ros-distro.outputs.distro }}-desktop
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image: ${{ needs.identify-ros-distro.outputs.linuxos }}
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strategy:
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fail-fast: false
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matrix:
@@ -39,6 +39,8 @@ jobs:
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- name: Setup ROS2
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uses: ros-tooling/setup-ros@v0.7
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with:
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required-ros-distributions: ${{ needs.identify-ros-distro.outputs.distro }}
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- name: Install test-msgs on Linux
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run: |

‎binding.gyp

Lines changed: 12 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -23,8 +23,20 @@
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'./src/handle_manager.cpp',
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'./src/rcl_action_bindings.cpp',
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'./src/rcl_bindings.cpp',
26+
'./src/rcl_client_bindings.cpp',
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'./src/rcl_context_bindings.cpp',
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'./src/rcl_graph_bindings.cpp',
29+
'./src/rcl_guard_condition_bindings.cpp',
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'./src/rcl_handle.cpp',
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'./src/rcl_lifecycle_bindings.cpp',
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'./src/rcl_logging_bindings.cpp',
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'./src/rcl_names_bindings.cpp',
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'./src/rcl_node_bindings.cpp',
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'./src/rcl_publisher_bindings.cpp',
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'./src/rcl_service_bindings.cpp',
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'./src/rcl_subscription_bindings.cpp',
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'./src/rcl_time_point_bindings.cpp',
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'./src/rcl_timer_bindings.cpp',
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'./src/rcl_utilities.cpp',
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'./src/shadow_node.cpp',
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],

‎src/addon.cpp

Lines changed: 27 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -18,8 +18,20 @@
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#include "macros.h"
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#include "rcl_action_bindings.h"
2020
#include "rcl_bindings.h"
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#include "rcl_client_bindings.h"
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#include "rcl_context_bindings.h"
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#include "rcl_graph_bindings.h"
24+
#include "rcl_guard_condition_bindings.h"
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#include "rcl_handle.h"
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#include "rcl_lifecycle_bindings.h"
27+
#include "rcl_logging_bindings.h"
28+
#include "rcl_names_bindings.h"
29+
#include "rcl_node_bindings.h"
30+
#include "rcl_publisher_bindings.h"
31+
#include "rcl_service_bindings.h"
32+
#include "rcl_subscription_bindings.h"
33+
#include "rcl_time_point_bindings.h"
34+
#include "rcl_timer_bindings.h"
2335
#include "rcl_utilities.h"
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#include "shadow_node.h"
2537

@@ -47,11 +59,23 @@ Napi::Object InitModule(Napi::Env env, Napi::Object exports) {
4759
}
4860
#endif
4961

50-
// Init the C++ bindings.
5162
rclnodejs::StoreEnv(env);
63+
// Init the C++ bindings.
5264
rclnodejs::InitBindings(env, exports);
53-
rclnodejs::InitAction(env, exports);
54-
rclnodejs::InitLifecycle(env, exports);
65+
rclnodejs::InitClientBindings(env, exports);
66+
rclnodejs::InitContextBindings(env, exports);
67+
rclnodejs::InitGraphBindings(env, exports);
68+
rclnodejs::InitGuardConditionBindings(env, exports);
69+
rclnodejs::InitLoggingBindings(env, exports);
70+
rclnodejs::InitNamesBindings(env, exports);
71+
rclnodejs::InitNodeBindings(env, exports);
72+
rclnodejs::InitPublisherBindings(env, exports);
73+
rclnodejs::InitServiceBindings(env, exports);
74+
rclnodejs::InitSubscriptionBindings(env, exports);
75+
rclnodejs::InitTimePointBindings(env, exports);
76+
rclnodejs::InitTimerBindings(env, exports);
77+
rclnodejs::InitActionBindings(env, exports);
78+
rclnodejs::InitLifecycleBindings(env, exports);
5579
rclnodejs::ShadowNode::Init(env, exports);
5680
rclnodejs::RclHandle::Init(env, exports);
5781

‎src/rcl_action_bindings.cpp

Lines changed: 1 addition & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -23,7 +23,6 @@
2323

2424
#include <memory>
2525
#include <string>
26-
#include <vector>
2726

2827
#include "handle_manager.h"
2928
#include "macros.h"
@@ -775,7 +774,7 @@ Napi::Value ActionGetNamesAndTypes(const Napi::CallbackInfo& info) {
775774
return result_list;
776775
}
777776

778-
Napi::Object InitAction(Napi::Env env, Napi::Object exports) {
777+
Napi::Object InitActionBindings(Napi::Env env, Napi::Object exports) {
779778
exports.Set("actionCreateClient",
780779
Napi::Function::New(env, ActionCreateClient));
781780
exports.Set("actionCreateServer",

‎src/rcl_action_bindings.h

Lines changed: 1 addition & 39 deletions
Original file line numberDiff line numberDiff line change
@@ -16,48 +16,10 @@
1616
#define SRC_RCL_ACTION_BINDINGS_H_
1717

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#include <napi.h>
19-
#include <rcl_action/rcl_action.h>
20-
21-
#include <memory>
22-
#include <string>
23-
#include <vector>
24-
25-
#include "rcl_bindings.h"
2619

2720
namespace rclnodejs {
2821

29-
Napi::Value ActionCreateClient(const Napi::CallbackInfo& info);
30-
Napi::Value ActionCreateServer(const Napi::CallbackInfo& info);
31-
Napi::Value ActionServerIsAvailable(const Napi::CallbackInfo& info);
32-
Napi::Value ActionSendGoalRequest(const Napi::CallbackInfo& info);
33-
Napi::Value ActionTakeGoalRequest(const Napi::CallbackInfo& info);
34-
Napi::Value ActionSendGoalResponse(const Napi::CallbackInfo& info);
35-
Napi::Value ActionTakeGoalResponse(const Napi::CallbackInfo& info);
36-
Napi::Value ActionSendCancelRequest(const Napi::CallbackInfo& info);
37-
Napi::Value ActionTakeCancelRequest(const Napi::CallbackInfo& info);
38-
Napi::Value ActionSendCancelResponse(const Napi::CallbackInfo& info);
39-
Napi::Value ActionTakeCancelResponse(const Napi::CallbackInfo& info);
40-
Napi::Value ActionSendResultRequest(const Napi::CallbackInfo& info);
41-
Napi::Value ActionTakeResultRequest(const Napi::CallbackInfo& info);
42-
Napi::Value ActionSendResultResponse(const Napi::CallbackInfo& info);
43-
Napi::Value ActionTakeResultResponse(const Napi::CallbackInfo& info);
44-
Napi::Value ActionAcceptNewGoal(const Napi::CallbackInfo& info);
45-
Napi::Value ActionUpdateGoalState(const Napi::CallbackInfo& info);
46-
Napi::Value ActionPublishStatus(const Napi::CallbackInfo& info);
47-
Napi::Value ActionTakeStatus(const Napi::CallbackInfo& info);
48-
Napi::Value ActionGoalHandleIsActive(const Napi::CallbackInfo& info);
49-
Napi::Value ActionNotifyGoalDone(const Napi::CallbackInfo& info);
50-
Napi::Value ActionGoalHandleGetStatus(const Napi::CallbackInfo& info);
51-
Napi::Value ActionPublishFeedback(const Napi::CallbackInfo& info);
52-
Napi::Value ActionTakeFeedback(const Napi::CallbackInfo& info);
53-
Napi::Value ActionProcessCancelRequest(const Napi::CallbackInfo& info);
54-
Napi::Value ActionServerGoalExists(const Napi::CallbackInfo& info);
55-
Napi::Value ActionExpireGoals(const Napi::CallbackInfo& info);
56-
Napi::Value ActionGetClientNamesAndTypesByNode(const Napi::CallbackInfo& info);
57-
Napi::Value ActionGetServerNamesAndTypesByNode(const Napi::CallbackInfo& info);
58-
Napi::Value ActionGetNamesAndTypes(const Napi::CallbackInfo& info);
59-
60-
Napi::Object InitAction(Napi::Env env, Napi::Object exports);
22+
Napi::Object InitActionBindings(Napi::Env env, Napi::Object exports);
6123

6224
} // namespace rclnodejs
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