rclnodejs/tools/jsdoc/publish.js

ROS2.0 JavaScript client with Node.js

// Copyright (c) 2026 The Robot Web Tools Contributors. 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';

var doop = require('jsdoc/util/doop');
var env = require('jsdoc/env');
var fs = require('jsdoc/fs');
var helper = require('jsdoc/util/templateHelper');
var logger = require('jsdoc/util/logger');
var path = require('jsdoc/path');
var taffy = require('@jsdoc/salty').taffy;
var template = require('jsdoc/template');
var util = require('util');

var htmlsafe = helper.htmlsafe;
var linkto = helper.linkto;
var resolveAuthorLinks = helper.resolveAuthorLinks;
var hasOwnProp = Object.prototype.hasOwnProperty;

var data;
var view;

var outdir = path.normalize(env.opts.destination);

function find(spec) {
  return helper.find(data, spec);
}

function tutoriallink(tutorial) {
  return helper.toTutorial(tutorial, null, {
    tag: 'em',
    classname: 'disabled',
    prefix: 'Tutorial: ',
  });
}

function getAncestorLinks(doclet) {
  return helper.getAncestorLinks(data, doclet);
}

function hashToLink(doclet, hash) {
  var url;

  if (!/^(#.+)/.test(hash)) {
    return hash;
  }

  url = helper.createLink(doclet);
  url = url.replace(/(#.+|$)/, hash);

  return '<a href="' + url + '">' + hash + '</a>';
}

function needsSignature(doclet) {
  var needsSig = false;

  // function and class definitions always get a signature
  if (doclet.kind === 'function' || doclet.kind === 'class') {
    needsSig = true;
  }
  // typedefs that contain functions get a signature, too
  else if (
    doclet.kind === 'typedef' &&
    doclet.type &&
    doclet.type.names &&
    doclet.type.names.length
  ) {
    for (var i = 0, l = doclet.type.names.length; i < l; i++) {
      if (doclet.type.names[i].toLowerCase() === 'function') {
        needsSig = true;
        break;
      }
    }
  }
  // and namespaces that are functions get a signature (but finding them is a
  // bit messy)
  else if (
    doclet.kind === 'namespace' &&
    doclet.meta &&
    doclet.meta.code &&
    doclet.meta.code.type &&
    doclet.meta.code.type.match(/[Ff]unction/)
  ) {
    needsSig = true;
  }

  return needsSig;
}

function getSignatureAttributes(item) {
  var attributes = [];

  if (item.optional) {
    attributes.push('opt');
  }

  if (item.nullable === true) {
    attributes.push('nullable');
  } else if (item.nullable === false) {
    attributes.push('non-null');
  }

  return attributes;
}

function updateItemName(item) {
  var attributes = getSignatureAttributes(item);
  var itemName = item.name || '';

  if (item.variable) {
    itemName = '&hellip;' + itemName;
  }

  if (attributes && attributes.length) {
    itemName = util.format(
      '%s<span class="signature-attributes">%s</span>',
      itemName,
      attributes.join(', ')
    );
  }

  return itemName;
}

function addParamAttributes(params) {
  return params
    .filter(function (param) {
      return param.name && param.name.indexOf('.') === -1;
    })
    .map(updateItemName);
}

function buildItemTypeStrings(item) {
  var types = [];

  if (item && item.type && item.type.names) {
    item.type.names.forEach(function (name) {
      types.push(linkto(name, htmlsafe(name)));
    });
  }

  return types;
}

function buildAttribsString(attribs) {
  var attribsString = '';

  if (attribs && attribs.length) {
    attribsString = htmlsafe(util.format('(%s) ', attribs.join(', ')));
  }

  return attribsString;
}

function addNonParamAttributes(items) {
  var types = [];

  items.forEach(function (item) {
    types = types.concat(buildItemTypeStrings(item));
  });

  return types;
}

function addSignatureParams(f) {
  var params = f.params ? addParamAttributes(f.params) : [];

  f.signature = util.format('%s(%s)', f.signature || '', params.join(', '));
}

function addSignatureReturns(f) {
  var attribs = [];
  var attribsString = '';
  var returnTypes = [];
  var returnTypesString = '';
  var source = f.yields || f.returns;

  // jam all the return-type attributes into an array. this could create odd results (for example,
  // if there are both nullable and non-nullable return types), but let's assume that most people
  // who use multiple @return tags aren't using Closure Compiler type annotations, and vice-versa.
  if (source) {
    source.forEach(function (item) {
      helper.getAttribs(item).forEach(function (attrib) {
        if (attribs.indexOf(attrib) === -1) {
          attribs.push(attrib);
        }
      });
    });

    attribsString = buildAttribsString(attribs);
  }

  if (source) {
    returnTypes = addNonParamAttributes(source);
  }
  if (returnTypes.length) {
    returnTypesString = util.format(
      ' &rarr; %s{%s}',
      attribsString,
      returnTypes.join('|')
    );
  }

  f.signature =
    '<span class="signature">' +
    (f.signature || '') +
    '</span>' +
    '<span class="type-signature">' +
    returnTypesString +
    '</span>';
}

function addSignatureTypes(f) {
  var types = f.type ? buildItemTypeStrings(f) : [];

  f.signature =
    (f.signature || '') +
    '<span class="type-signature">' +
    (types.length ? ' :' + types.join('|') : '') +
    '</span>';
}

function addAttribs(f) {
  var attribs = helper.getAttribs(f);
  var attribsString = buildAttribsString(attribs);

  f.attribs = util.format(
    '<span class="type-signature">%s</span>',
    attribsString
  );
}

function shortenPaths(files, commonPrefix) {
  Object.keys(files).forEach(function (file) {
    files[file].shortened = files[file].resolved
      .replace(commonPrefix, '')
      // always use forward slashes
      .replace(/\\/g, '/');
  });

  return files;
}

function getPathFromDoclet(doclet) {
  if (!doclet.meta) {
    return null;
  }

  return doclet.meta.path && doclet.meta.path !== 'null'
    ? path.join(doclet.meta.path, doclet.meta.filename)
    : doclet.meta.filename;
}

function generate(title, docs, filename, resolveLinks) {
  var docData;
  var html;
  var outpath;

  resolveLinks = resolveLinks !== false;

  docData = {
    env: env,
    title: title,
    docs: docs,
  };

  outpath = path.join(outdir, filename);
  html = view.render('container.tmpl', docData);

  if (resolveLinks) {
    html = helper.resolveLinks(html); // turn {@link foo} into <a href="foodoc.html">foo</a>
  }

  fs.writeFileSync(outpath, html, 'utf8');
}

function generateSourceFiles(sourceFiles, encoding) {
  encoding = encoding || 'utf8';
  Object.keys(sourceFiles).forEach(function (file) {
    var source;
    // links are keyed to the shortened path in each doclet's `meta.shortpath` property
    var sourceOutfile = helper.getUniqueFilename(sourceFiles[file].shortened);

    helper.registerLink(sourceFiles[file].shortened, sourceOutfile);

    try {
      source = {
        kind: 'source',
        code: helper.htmlsafe(
          fs.readFileSync(sourceFiles[file].resolved, encoding)
        ),
      };
    } catch (e) {
      logger.error(
        'Error while generating source file %s: %s',
        file,
        e.message
      );
    }

    generate(
      'Source: ' + sourceFiles[file].shortened,
      [source],
      sourceOutfile,
      false
    );
  });
}

function getHomepageData(members, globalUrl) {
  return {
    coreModuleUrl:
      helper.longnameToUrl['module:rclnodejs'] || 'module-rclnodejs.html',
    validatorModuleUrl:
      helper.longnameToUrl['module:validator'] || 'module-validator.html',
    globalUrl: globalUrl,
    installUrl: '#guide-installation',
    typescriptUrl: '#guide-typescript',
    generationUrl: '#guide-message-generation',
    docsUrl:
      helper.longnameToUrl['module:rclnodejs'] || 'module-rclnodejs.html',
    stats: [
      {
        value: members.modules.length,
        label: 'Modules',
        detail: 'Primary entry points and supporting package surfaces',
      },
      {
        value: members.classes.length,
        label: 'Classes',
        detail:
          'Runtime building blocks for nodes, services, actions, and time',
      },
      {
        value: members.globals.length,
        label: 'Globals',
        detail: 'Enums, constants, policies, and top-level helpers',
      },
    ],
  };
}

/**
 * Look for classes or functions with the same name as modules (which indicates that the module
 * exports only that class or function), then attach the classes or functions to the `module`
 * property of the appropriate module doclets. The name of each class or function is also updated
 * for display purposes. This function mutates the original arrays.
 *
 * @private
 * @param {Array.<module:jsdoc/doclet.Doclet>} doclets - The array of classes and functions to
 * check.
 * @param {Array.<module:jsdoc/doclet.Doclet>} modules - The array of module doclets to search.
 */
function attachModuleSymbols(doclets, modules) {
  var symbols = {};

  // build a lookup table
  doclets.forEach(function (symbol) {
    symbols[symbol.longname] = symbols[symbol.longname] || [];
    symbols[symbol.longname].push(symbol);
  });

  modules.forEach(function (module) {
    if (symbols[module.longname]) {
      module.modules = symbols[module.longname]
        // Only show symbols that have a description. Make an exception for classes, because
        // we want to show the constructor-signature heading no matter what.
        .filter(function (symbol) {
          return symbol.description || symbol.kind === 'class';
        })
        .map(function (symbol) {
          symbol = doop(symbol);

          if (symbol.kind === 'class' || symbol.kind === 'function') {
            symbol.name = symbol.name.replace('module:', '(require("') + '"))';
          }

          return symbol;
        });
    }
  });
}

function buildMemberNav(items, itemHeading, itemsSeen, linktoFn) {
  var nav = '';

  if (items.length) {
    var itemsNav = '';

    items.forEach(function (item) {
      var displayName;

      if (!hasOwnProp.call(item, 'longname')) {
        itemsNav += '<li>' + linktoFn('', item.name) + '</li>';
      } else if (!hasOwnProp.call(itemsSeen, item.longname)) {
        if (env.conf.templates.default.useLongnameInNav) {
          displayName = item.longname;
        } else {
          displayName = item.name;
        }
        itemsNav +=
          '<li>' +
          linktoFn(
            item.longname,
            displayName.replace(/\b(module|event):/g, '')
          ) +
          '</li>';

        itemsSeen[item.longname] = true;
      }
    });

    if (itemsNav !== '') {
      nav +=
        '<section class="nav-section"><h3>' +
        itemHeading +
        '</h3><ul class="nav-list">' +
        itemsNav +
        '</ul></section>';
    }
  }

  return nav;
}

function linktoTutorial(longName, name) {
  return tutoriallink(name);
}

function linktoExternal(longName, name) {
  return linkto(longName, name.replace(/(^"|"$)/g, ''));
}

/**
 * Create the navigation sidebar.
 * @param {object} members The members that will be used to create the sidebar.
 * @param {array<object>} members.classes
 * @param {array<object>} members.externals
 * @param {array<object>} members.globals
 * @param {array<object>} members.mixins
 * @param {array<object>} members.modules
 * @param {array<object>} members.namespaces
 * @param {array<object>} members.tutorials
 * @param {array<object>} members.events
 * @param {array<object>} members.interfaces
 * @return {string} The HTML for the navigation sidebar.
 */
function buildNav(members) {
  var globalNav;
  var nav = '<div class="nav-home"><a href="index.html">Overview</a></div>';
  var seen = {};
  var seenTutorials = {};

  nav += buildMemberNav(members.modules, 'Modules', {}, linkto);
  nav += buildMemberNav(members.externals, 'Externals', seen, linktoExternal);
  nav += buildMemberNav(members.classes, 'Classes', seen, linkto);
  nav += buildMemberNav(members.events, 'Events', seen, linkto);
  nav += buildMemberNav(members.namespaces, 'Namespaces', seen, linkto);
  nav += buildMemberNav(members.mixins, 'Mixins', seen, linkto);
  nav += buildMemberNav(
    members.tutorials,
    'Tutorials',
    seenTutorials,
    linktoTutorial
  );
  nav += buildMemberNav(members.interfaces, 'Interfaces', seen, linkto);

  if (members.globals.length) {
    globalNav = '';

    members.globals.forEach(function (g) {
      if (g.kind !== 'typedef' && !hasOwnProp.call(seen, g.longname)) {
        globalNav += '<li>' + linkto(g.longname, g.name) + '</li>';
      }
      seen[g.longname] = true;
    });

    if (!globalNav) {
      // turn the heading into a link so you can actually get to the global page
      nav +=
        '<section class="nav-section"><h3>' +
        linkto('global', 'Global') +
        '</h3></section>';
    } else {
      nav +=
        '<section class="nav-section"><h3>Global</h3><ul class="nav-list">' +
        globalNav +
        '</ul></section>';
    }
  }

  return nav;
}

/**
    @param {TAFFY} taffyData See <http://taffydb.com/>.
    @param {object} opts
    @param {Tutorial} tutorials
 */
exports.publish = function (taffyData, opts, tutorials) {
  var classes;
  var conf;
  var externals;
  var files;
  var fromDir;
  var globalUrl;
  var indexUrl;
  var interfaces;
  var members;
  var mixins;
  var modules;
  var namespaces;
  var outputSourceFiles;
  var packageInfo;
  var packages;
  var sourceFilePaths = [];
  var sourceFiles = {};
  var staticFileFilter;
  var staticFilePaths;
  var staticFiles;
  var staticFileScanner;
  var templatePath;

  data = taffyData;

  conf = env.conf.templates || {};
  conf.default = conf.default || {};

  templatePath = path.normalize(opts.template);
  view = new template.Template(path.join(templatePath, 'tmpl'));

  // claim some special filenames in advance, so the All-Powerful Overseer of Filename Uniqueness
  // doesn't try to hand them out later
  indexUrl = helper.getUniqueFilename('index');
  // don't call registerLink() on this one! 'index' is also a valid longname

  globalUrl = helper.getUniqueFilename('global');
  helper.registerLink('global', globalUrl);

  // set up templating
  view.layout = conf.default.layoutFile
    ? path.getResourcePath(
        path.dirname(conf.default.layoutFile),
        path.basename(conf.default.layoutFile)
      )
    : 'layout.tmpl';

  // set up tutorials for helper
  helper.setTutorials(tutorials);

  data = helper.prune(data);
  data.sort('longname, version, since');
  helper.addEventListeners(data);

  data().each(function (doclet) {
    var sourcePath;

    doclet.attribs = '';

    if (doclet.examples) {
      doclet.examples = doclet.examples.map(function (example) {
        var caption;
        var code;

        if (
          example.match(
            /^\s*<caption>([\s\S]+?)<\/caption>(\s*[\n\r])([\s\S]+)$/i
          )
        ) {
          caption = RegExp.$1;
          code = RegExp.$3;
        }

        return {
          caption: caption || '',
          code: code || example,
        };
      });
    }
    if (doclet.see) {
      doclet.see.forEach(function (seeItem, i) {
        doclet.see[i] = hashToLink(doclet, seeItem);
      });
    }

    // build a list of source files
    if (doclet.meta) {
      sourcePath = getPathFromDoclet(doclet);

      sourceFiles[sourcePath] = {
        resolved: sourcePath,
        shortened: null,
      };
      if (sourceFilePaths.indexOf(sourcePath) === -1) {
        sourceFilePaths.push(sourcePath);
      }
    }
  });

  // update outdir if necessary, then create outdir
  packageInfo = (find({ kind: 'package' }) || [])[0];
  if (packageInfo && packageInfo.version) {
    outdir = path.join(outdir, packageInfo.version);
  }
  fs.mkPath(outdir);

  // copy the template's static files to outdir
  fromDir = path.join(templatePath, 'static');
  staticFiles = fs.ls(fromDir, 3);

  staticFiles.forEach(function (fileName) {
    var toDir = fs.toDir(fileName.replace(fromDir, outdir));

    fs.mkPath(toDir);
    fs.copyFileSync(fileName, toDir);
  });

  // copy user-specified static files to outdir
  if (conf.default.staticFiles) {
    // The canonical property name is `include`. We accept `paths` for backwards compatibility
    // with a bug in JSDoc 3.2.x.
    staticFilePaths =
      conf.default.staticFiles.include || conf.default.staticFiles.paths || [];
    staticFileFilter = new (require('jsdoc/src/filter').Filter)(
      conf.default.staticFiles
    );
    staticFileScanner = new (require('jsdoc/src/scanner').Scanner)();

    staticFilePaths.forEach(function (filePath) {
      var extraStaticFiles;

      filePath = path.resolve(env.pwd, filePath);
      extraStaticFiles = staticFileScanner.scan(
        [filePath],
        10,
        staticFileFilter
      );

      extraStaticFiles.forEach(function (fileName) {
        var sourcePath = fs.toDir(filePath);
        var toDir = fs.toDir(fileName.replace(sourcePath, outdir));

        fs.mkPath(toDir);
        fs.copyFileSync(fileName, toDir);
      });
    });
  }

  if (sourceFilePaths.length) {
    sourceFiles = shortenPaths(sourceFiles, path.commonPrefix(sourceFilePaths));
  }
  data().each(function (doclet) {
    var docletPath;
    var url = helper.createLink(doclet);

    helper.registerLink(doclet.longname, url);

    // add a shortened version of the full path
    if (doclet.meta) {
      docletPath = getPathFromDoclet(doclet);
      docletPath = sourceFiles[docletPath].shortened;
      if (docletPath) {
        doclet.meta.shortpath = docletPath;
      }
    }
  });

  data().each(function (doclet) {
    var url = helper.longnameToUrl[doclet.longname];

    if (url.indexOf('#') > -1) {
      doclet.id = helper.longnameToUrl[doclet.longname].split(/#/).pop();
    } else {
      doclet.id = doclet.name;
    }

    if (needsSignature(doclet)) {
      addSignatureParams(doclet);
      addSignatureReturns(doclet);
      addAttribs(doclet);
    }
  });

  // do this after the urls have all been generated
  data().each(function (doclet) {
    doclet.ancestors = getAncestorLinks(doclet);

    if (doclet.kind === 'member') {
      addSignatureTypes(doclet);
      addAttribs(doclet);
    }

    if (doclet.kind === 'constant') {
      addSignatureTypes(doclet);
      addAttribs(doclet);
      doclet.kind = 'member';
    }
  });

  members = helper.getMembers(data);
  members.tutorials = tutorials.children;

  // output pretty-printed source files by default
  outputSourceFiles = conf.default && conf.default.outputSourceFiles !== false;

  // add template helpers
  view.find = find;
  view.linkto = linkto;
  view.resolveAuthorLinks = resolveAuthorLinks;
  view.tutoriallink = tutoriallink;
  view.htmlsafe = htmlsafe;
  view.outputSourceFiles = outputSourceFiles;
  view.packageInfo = packageInfo || null;
  view.homepage = getHomepageData(members, globalUrl);

  // once for all
  view.nav = buildNav(members);
  attachModuleSymbols(find({ longname: { left: 'module:' } }), members.modules);

  // generate the pretty-printed source files first so other pages can link to them
  if (outputSourceFiles) {
    generateSourceFiles(sourceFiles, opts.encoding);
  }

  if (members.globals.length) {
    generate('Global', [{ kind: 'globalobj' }], globalUrl);
  }

  // index page displays information from package.json and lists files
  files = find({ kind: 'file' });
  packages = find({ kind: 'package' });

  generate(
    'Home',
    packages
      .concat([
        {
          kind: 'mainpage',
          readme: opts.readme,
          longname: opts.mainpagetitle ? opts.mainpagetitle : 'Main Page',
        },
      ])
      .concat(files),
    indexUrl
  );

  // set up the lists that we'll use to generate pages
  classes = taffy(members.classes);
  modules = taffy(members.modules);
  namespaces = taffy(members.namespaces);
  mixins = taffy(members.mixins);
  externals = taffy(members.externals);
  interfaces = taffy(members.interfaces);

  Object.keys(helper.longnameToUrl).forEach(function (longname) {
    var myClasses = helper.find(classes, { longname: longname });
    var myExternals = helper.find(externals, { longname: longname });
    var myInterfaces = helper.find(interfaces, { longname: longname });
    var myMixins = helper.find(mixins, { longname: longname });
    var myModules = helper.find(modules, { longname: longname });
    var myNamespaces = helper.find(namespaces, { longname: longname });

    if (myModules.length) {
      generate(
        'Module: ' + myModules[0].name,
        myModules,
        helper.longnameToUrl[longname]
      );
    }

    if (myClasses.length) {
      generate(
        'Class: ' + myClasses[0].name,
        myClasses,
        helper.longnameToUrl[longname]
      );
    }

    if (myNamespaces.length) {
      generate(
        'Namespace: ' + myNamespaces[0].name,
        myNamespaces,
        helper.longnameToUrl[longname]
      );
    }

    if (myMixins.length) {
      generate(
        'Mixin: ' + myMixins[0].name,
        myMixins,
        helper.longnameToUrl[longname]
      );
    }

    if (myExternals.length) {
      generate(
        'External: ' + myExternals[0].name,
        myExternals,
        helper.longnameToUrl[longname]
      );
    }

    if (myInterfaces.length) {
      generate(
        'Interface: ' + myInterfaces[0].name,
        myInterfaces,
        helper.longnameToUrl[longname]
      );
    }
  });

  // TODO: move the tutorial functions to templateHelper.js
  function generateTutorial(title, tutorial, filename) {
    var tutorialData = {
      title: title,
      header: tutorial.title,
      content: tutorial.parse(),
      children: tutorial.children,
    };
    var tutorialPath = path.join(outdir, filename);
    var html = view.render('tutorial.tmpl', tutorialData);

    // yes, you can use {@link} in tutorials too!
    html = helper.resolveLinks(html); // turn {@link foo} into <a href="foodoc.html">foo</a>

    fs.writeFileSync(tutorialPath, html, 'utf8');
  }

  // tutorials can have only one parent so there is no risk for loops
  function saveChildren(node) {
    node.children.forEach(function (child) {
      generateTutorial(
        'Tutorial: ' + child.title,
        child,
        helper.tutorialToUrl(child.name)
      );
      saveChildren(child);
    });
  }

  saveChildren(tutorials);
};