rclnodejs/rosidl_gen/templates/action-template.js

ROS2.0 JavaScript client with Node.js

// Copyright (c) 2025, The Robot Web Tools Contributors
//
// 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.

function generateAction(data) {
  const actionInfo = data.actionInfo;
  const className = `${actionInfo.pkgName}__${actionInfo.subFolder}__${actionInfo.interfaceName}`;

  return `// This file is automatically generated by rclnodejs
//
// *** DO NOT EDIT directly
//

'use strict';

class ${className} {
  static get Goal() {
    return require('./${className}_Goal.js');
  }

  static get Result() {
    return require('./${className}_Result.js');
  }

  static get Feedback() {
    return require('./${className}_Feedback.js');
  }

  static get impl() {
    return {
      get SendGoalService() {
        return require('./${className}_SendGoal.js');
      },
      get GetResultService() {
        return require('./${className}_GetResult.js');
      },
      get FeedbackMessage() {
        return require('./${className}_FeedbackMessage.js');
      },
      get CancelGoal() {
        return require('../action_msgs/action_msgs__srv__CancelGoal.js');
      },
      get GoalStatusArray() {
        return require('../action_msgs/action_msgs__msg__GoalStatusArray.js');
      }
    };
  }

  static type() {
    return {pkgName: '${actionInfo.pkgName}', subFolder: '${actionInfo.subFolder}', interfaceName: '${actionInfo.interfaceName}'};
  }
}

module.exports = ${className};
`;
}

module.exports = generateAction;