rclnodejs/rosidl_gen/primitive_types.js

ROS2.0 JavaScript client with Node.js

// Copyright (c) 2017 Intel Corporation. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

'use strict';

const ref = require('@rclnodejs/ref-napi');
const StructType = require('@rclnodejs/ref-struct-di')(ref);
const rclnodejs = require('bindings')('rclnodejs');

const StringRefStruct = StructType({
  data: ref.types.CString,
  size: ref.types.size_t,
  capacity: ref.types.size_t,
});

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

    str.data = Buffer.alloc(1).fill('\u0000');
    str.size = 0;
    str.capacity = 1;
  }
}

module.exports = {
  bool: ref.types.bool,
  int8: ref.types.int8,
  uint8: ref.types.uint8,
  int16: ref.types.int16,
  uint16: ref.types.uint16,
  int32: ref.types.int32,
  uint32: ref.types.uint32,
  int64: ref.types.int64,
  uint64: ref.types.uint64,
  float64: ref.types.double,
  float32: ref.types.float,
  char: ref.types.char,
  byte: ref.types.byte,
  string: StringRefStruct,
  wstring: StringRefStruct,
  initString: initString,
};