@chart-sg/node-red-ros2-manager/nodes/ros2-config.js

Shared ROS2 context manager for Node-RED plugins. Eliminates conflicts and enables multi-plugin compatibility.

module.exports = function(RED) {
    function ROS2ConfigNode(config) {
        RED.nodes.createNode(this, config);
        
        // Store configuration
        this.domain = parseInt(config.domain) || 0;
        this.namespace = config.namespace || '';
        
        // Validate domain range
        if (this.domain < 0 || this.domain > 232) {
            this.error(`Invalid domain ID: ${this.domain}. Must be between 0-232.`);
            return;
        }
        
        // Configure SharedManager with these settings
        try {
            const { getROS2Manager } = require('../index');
            const sharedManager = getROS2Manager();
            
            // Check if ROS2 is available
            if (!sharedManager.available) {
                this.status({fill:"red", shape:"ring", text:"ROS2 setup required"});
                this.warn(`ROS2 functionality not available. Please install rclnodejs with proper ROS2 environment.`);
                return;
            }
            
            // Update SharedManager configuration
            sharedManager.configure({
                domain: this.domain,
                namespace: this.namespace
            });
            
            this.status({fill:"green", shape:"dot", text:`domain: ${this.domain}`});
            this.log(`ROS2 Config initialized: domain=${this.domain}, namespace="${this.namespace}"`);
            
        } catch (error) {
            this.status({fill:"red", shape:"ring", text:"config error"});
            this.error(`Failed to configure SharedManager: ${error.message}`);
        }
        
        // Cleanup on node removal
        this.on('close', function(removed, done) {
            if (removed) {
                // Node is being deleted
                try {
                    const { getROS2Manager } = require('../index');
                    const sharedManager = getROS2Manager();
                    sharedManager.shutdown();
                    this.log('ROS2 Config shutdown completed');
                } catch (error) {
                    this.warn(`Shutdown warning: ${error.message}`);
                }
            }
            done();
        });
    }
    
    RED.nodes.registerType("ros2-config", ROS2ConfigNode);
};